0827协议修订：姿态数据2改预留 + 状态帧新增剩余发电量 + CCU地址可配置

FC协议(0827 docx)：
- 控制指令域：字节12,13/16,17由纵倾/横倾姿态数据2改为预留（编码恒0、解码忽略）
- 状态反馈域：字节147,148由预留12改为剩余发电量(MWh)，贯通JSON/网页显示
- PM→CCU链路：姿态字段4xuchar改为2xshort(数据1)，结构体大小与线上布局不变
- 同步更新：CCU转发映射、SnapshotBuilder、pCCU网页、fuelcell网页、SQLite列描述、单测/模拟器
- 修正集成测试遗留断言(20B→24B、心跳d[19]→d[23])并增强预留字节校验

CCU地址可配置：
- pPowerManger 支持 moos 配置项 ccuhost/ccuport（默认127.0.0.1:7000）
- build-board.sh 增加 --ccu-host/--ccu-port 参数

文档：FC协议文档更新为0827版，清理过期协议docx

.dockerignore

@@ -0,0 +1,10 @@
+.git
+.gitignore
+.gitattributes
+.cache
+build
+bin
+lib
+*.db
+*.log
+Dockerfile

.gitea/workflows/ci.yml

@@ -0,0 +1,220 @@
+#=======================================================================
+# FILE:  .gitea/workflows/ci.yml
+# DESC:  CI/CD for H100PowerManger
+#        - build/test on aarch64 (QEMU emulation of arm64 Ubuntu 20.04)
+#        - publish compiled binary to Gitea Releases (manual deploy)
+#          * tag push v*  -> versioned Release
+#          * main push    -> rolling "latest" Release (pre-release / test)
+#        Self-contained (no external actions). The runner is an Alpine
+#        container with the host Docker socket mounted; we install the
+#        docker CLI at runtime.
+#=======================================================================
+
+name: build-test-deploy
+
+on:
+  push:
+    branches: [main]
+    tags: ['v*']
+  pull_request:
+
+env:
+  CI_IMAGE: h100-power-manager-ci:arm64
+  GITEA_SERVER: https://gitea2.zhaojingkui.xyz
+
+jobs:
+  ci:
+    runs-on: <runner_labels>
+    steps:
+      #-------------------------------------------------------------------
+      # Checkout via git (no external actions/checkout dependency)
+      #-------------------------------------------------------------------
+      - name: Checkout
+        run: |
+          set -euo pipefail
+          git init .
+          git remote add origin "https://zjk:${{ secrets.CI_TOKEN }}@gitea2.zhaojingkui.xyz/zjk/H100PowerManger.git"
+          git fetch --depth 1 origin "$GITHUB_SHA"
+          git checkout FETCH_HEAD
+
+      #-------------------------------------------------------------------
+      # Install runtime tooling inside the (Alpine) runner container
+      #-------------------------------------------------------------------
+      - name: Install tools
+        run: |
+          apk add --no-cache docker-cli docker-cli-buildx rsync openssh-client curl jq
+
+      - name: Verify docker
+        run: |
+          docker version
+          docker info 2>&1 | grep -Ei 'Architecture|Server Version|Operating System|Storage Driver' || true
+
+      #-------------------------------------------------------------------
+      # Register QEMU so arm64 images can run on the x86 host daemon
+      #-------------------------------------------------------------------
+      - name: Register QEMU for arm64
+        run: |
+          docker run --rm --privileged tonistiigi/binfmt --install arm64 \
+            || docker run --rm --privileged docker.m.daocloud.io/tonistiigi/binfmt --install arm64
+
+      #-------------------------------------------------------------------
+      # Build the aarch64 CI image (MOOS-IvP + jsoncpp)
+      #-------------------------------------------------------------------
+      - name: Build arm64 CI image
+        timeout-minutes: 90
+        env:
+          CI_TOKEN: ${{ secrets.CI_TOKEN }}
+        run: |
+          docker buildx version
+          docker buildx build --platform linux/arm64 --load \
+            --secret id=gitea_token,env=CI_TOKEN \
+            -t "$CI_IMAGE" -f ci/Dockerfile .
+
+      #-------------------------------------------------------------------
+      # Build project + unit test + startup smoke test (inside arm64)
+      # NOTE: the runner runs inside a container, so the workspace path is
+      #       not a host path -> `-v` mounts don't work. Use `docker cp`
+      #       (streams files through the docker socket) instead.
+      #-------------------------------------------------------------------
+      - name: Build & test inside arm64 container
+        timeout-minutes: 30
+        run: |
+          CID="h100-ci-test"
+          docker rm -f "$CID" >/dev/null 2>&1 || true
+          docker create --name "$CID" --platform linux/arm64 "$CI_IMAGE" /bin/sh -c 'sleep 7200' >/dev/null
+          docker cp "$PWD/." "$CID:/src/"
+          docker start "$CID" >/dev/null
+          # Run build + tests (capture exit code, don't fail the step here so
+          # we can still collect the report on failure)
+          docker exec \
+            -e GITHUB_RUN_ID="${{ github.run_id }}" \
+            -e GITHUB_REPOSITORY="${{ github.repository }}" \
+            -e GITHUB_SERVER_URL="${GITEA_SERVER}" \
+            "$CID" /src/ci/build-test.sh
+          TEST_RC=$?
+          mkdir -p bin reports
+          docker cp "$CID:/src/bin/pPowerManger" bin/pPowerManger 2>/dev/null || true
+          docker cp "$CID:/src/bin/pPMtest" bin/pPMtest 2>/dev/null || true
+          docker cp "$CID:/src/bin/SQLiteTest" bin/SQLiteTest 2>/dev/null || true
+          docker cp "$CID:/src/reports/." reports/ 2>/dev/null || true
+          docker rm -f "$CID" >/dev/null 2>&1 || true
+          echo "--- bin/ ---"; ls -la bin/ 2>/dev/null || true
+          echo "--- reports/ ---"; ls -la reports/ 2>/dev/null || true
+          exit "$TEST_RC"
+
+      #-------------------------------------------------------------------
+      # Publish visual test report (runs even if tests failed)
+      #-------------------------------------------------------------------
+      - name: Publish test report
+        if: always()
+        run: |
+          SUMMARY_FILE="${GITHUB_STEP_SUMMARY:-/tmp/step_summary.md}"
+          if [ -f reports/test-report.md ]; then
+            cat reports/test-report.md >> "$SUMMARY_FILE"
+          else
+            echo "## H100PowerManger CI" >> "$SUMMARY_FILE"
+            echo "测试报告未生成（构建阶段失败）" >> "$SUMMARY_FILE"
+          fi
+
+          # Persist reports to a dedicated branch (main push only)
+          if [ "${GITHUB_REF:-}" = "refs/heads/main" ] && [ -d reports ]; then
+            git config user.name  "CI Bot"
+            git config user.email "ci@localhost"
+            git checkout --orphan test-reports >/dev/null 2>&1 || git checkout test-reports >/dev/null 2>&1 || true
+            git rm -rf . >/dev/null 2>&1 || true
+            cp -f reports/test-report.md reports/junit.xml . 2>/dev/null || true
+            git add test-report.md junit.xml
+            git commit -m "CI test report ${GITHUB_SHA:-}" >/dev/null 2>&1 || true
+            git push -f origin test-reports >/dev/null 2>&1 || echo "WARN: failed to push test-reports branch"
+          fi
+
+      #-------------------------------------------------------------------
+      # Publish the aarch64 binary to Gitea Releases (manual deployment)
+      #   * tag push (v*)   -> versioned Release (e.g. v1.0.0, stable)
+      #   * main push       -> rolling "latest" Release (pre-release/test)
+      # Only runs when build + tests succeeded.
+      #-------------------------------------------------------------------
+      - name: Publish release
+        if: success() && startsWith(github.ref, 'refs/tags/v')
+        env:
+          RELEASE_TOKEN: ${{ secrets.CI_TOKEN }}
+        run: |
+          set -euo pipefail
+          REPO="${{ github.repository }}"
+          API="https://gitea2.zhaojingkui.xyz/api/v1/repos/${REPO}"
+          TAG="${GITHUB_REF#refs/tags/}"
+          COMMIT_SHORT="$(git rev-parse --short HEAD)"
+          REPORT_URL="https://gitea2.zhaojingkui.xyz/${REPO}/src/branch/test-reports/test-report.md"
+          BODY="pPowerManger (aarch64 / RK3588 / Ubuntu 20.04)
+
+          - Commit: \`${COMMIT_SHORT}\`
+          - 时间: $(date -u +'%Y-%m-%d %H:%M:%S UTC')
+          - 测试报告: [${REPORT_URL}](${REPORT_URL})
+
+          手动部署: 下载后 scp/rsync 到板卡:
+          \`\`\`
+          rsync -avz pPowerManger root@192.168.0.223:/root/work/moos_ws/moos-ivp-extend/bin/pPowerManger
+          \`\`\`"
+
+          echo ">>> 创建版本号 Release: ${TAG}"
+          RELEASE_JSON=$(curl -sS -X POST -H "Authorization: token ${RELEASE_TOKEN}" \
+            -H "Content-Type: application/json" \
+            -d "{\"tag_name\":\"${TAG}\",\"name\":\"${TAG}\",\"body\":$(jq -Rn --arg b "${BODY}" '$b'),\"prerelease\":false}" \
+            "${API}/releases")
+          echo "${RELEASE_JSON}" | jq -e .id >/dev/null || { echo "创建 Release 失败:"; echo "${RELEASE_JSON}"; exit 1; }
+          RELEASE_ID=$(echo "${RELEASE_JSON}" | jq -r .id)
+          echo ">>> 上传 pPowerManger (release id=${RELEASE_ID})"
+          curl -sS -X POST -H "Authorization: token ${RELEASE_TOKEN}" \
+            -F "attachment=@bin/pPowerManger" \
+            "${API}/releases/${RELEASE_ID}/assets?name=pPowerManger" \
+            | jq -e .id >/dev/null || { echo "上传失败"; exit 1; }
+          echo ">>> 发布完成: https://gitea2.zhaojingkui.xyz/${REPO}/releases/tag/${TAG}"
+
+      - name: Publish latest release
+        if: success() && github.ref == 'refs/heads/main'
+        env:
+          RELEASE_TOKEN: ${{ secrets.CI_TOKEN }}
+        run: |
+          set -euo pipefail
+          REPO="${{ github.repository }}"
+          API="https://gitea2.zhaojingkui.xyz/api/v1/repos/${REPO}"
+          TAG="latest"
+          COMMIT_SHORT="$(git rev-parse --short HEAD)"
+          REPORT_URL="https://gitea2.zhaojingkui.xyz/${REPO}/src/branch/test-reports/test-report.md"
+          BODY="pPowerManger (aarch64 / RK3588 / Ubuntu 20.04) — 测试用最新构建
+
+          - Commit: \`${COMMIT_SHORT}\`
+          - 时间: $(date -u +'%Y-%m-%d %H:%M:%S UTC')
+          - 测试报告: [${REPORT_URL}](${REPORT_URL})
+
+          手动部署: 下载后 scp/rsync 到板卡:
+          \`\`\`
+          rsync -avz pPowerManger root@192.168.0.223:/root/work/moos_ws/moos-ivp-extend/bin/pPowerManger
+          \`\`\`"
+
+          # 1. move the "latest" tag to current commit
+          echo ">>> 移动 latest tag 到 ${COMMIT_SHORT}"
+          git tag -f "${TAG}" HEAD
+          git push -f origin "${TAG}" || true
+
+          # 2. delete old "latest" release (by tag), ignore if none
+          echo ">>> 删除旧的 latest Release (如有)"
+          curl -sS -X DELETE -H "Authorization: token ${RELEASE_TOKEN}" \
+            "${API}/releases/tags/${TAG}" || true
+
+          # 3. create new "latest" release (pre-release)
+          echo ">>> 创建 latest Release (pre-release)"
+          RELEASE_JSON=$(curl -sS -X POST -H "Authorization: token ${RELEASE_TOKEN}" \
+            -H "Content-Type: application/json" \
+            -d "{\"tag_name\":\"${TAG}\",\"name\":\"latest (测试)\",\"body\":$(jq -Rn --arg b "${BODY}" '$b'),\"prerelease\":true}" \
+            "${API}/releases")
+          echo "${RELEASE_JSON}" | jq -e .id >/dev/null || { echo "创建 latest Release 失败:"; echo "${RELEASE_JSON}"; exit 1; }
+          RELEASE_ID=$(echo "${RELEASE_JSON}" | jq -r .id)
+
+          # 4. upload pPowerManger
+          echo ">>> 上传 pPowerManger (release id=${RELEASE_ID})"
+          curl -sS -X POST -H "Authorization: token ${RELEASE_TOKEN}" \
+            -F "attachment=@bin/pPowerManger" \
+            "${API}/releases/${RELEASE_ID}/assets?name=pPowerManger" \
+            | jq -e .id >/dev/null || { echo "上传失败"; exit 1; }
+          echo ">>> 发布完成: https://gitea2.zhaojingkui.xyz/${REPO}/releases/tag/${TAG}"

.gitignore

@@ -0,0 +1,292 @@
+# ---> C++
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# ---> Python
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# ---> MATLAB
+# Windows default autosave extension
+*.asv
+
+# OSX / *nix default autosave extension
+*.m~
+
+# Compiled MEX binaries (all platforms)
+*.mex*
+
+# Packaged app and toolbox files
+*.mlappinstall
+*.mltbx
+
+# Generated helpsearch folders
+helpsearch*/
+
+# Simulink code generation folders
+slprj/
+sccprj/
+
+# Matlab code generation folders
+codegen/
+
+# Simulink autosave extension
+*.autosave
+
+# Simulink cache files
+*.slxc
+
+# Octave session info
+octave-workspace
+
+# ---> CMake
+CMakeLists.txt.user
+CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+_deps
+
+
+# PowerManager specific log files
+bin/pPowerManger.log
+bin/ccuState.txt
+*.db
+# pPowerMangerHost 反馈落盘数据库
+feedback_data.db
+
+# PowerManager compiled binaries (built into bin/ by CMake)
+bin/pPowerManger
+bin/SQLiteTest
+bin/pPMtest
+bin/pPowerMangerHost
+
+# CI test reports
+reports/
+
+# CI test binaries (built into bin/)
+bin/PowerMangerTests
+bin/udpFeeder
+bin/fullFeeder
+
+# SQLite runtime artifacts
+*.db-shm
+*.db-wal
+*.db-journal
+
+# Cross-compiled aarch64 artifacts (scripts/cross-build-local.sh)
+bin/arm64/
+
+# Board-native build dirs (build-arm64.sh / direct on-board builds)
+build-arm64/
+build-nosa-test/
+
+# CMake-generated web asset table (pPowerMangerHost)
+src/pPowerMangerHost/webassets_gen.h
+
+# ============================================================
+# 本机编译产物（避免误提交二进制）
+# ============================================================
+bin/pCCU
+bin/pccuTest
+
+# ============================================================
+# MS Office 临时锁文件 / 编辑器、备份残留
+# ============================================================
+~$*
+*.bck
+*.bak
+* copy*

.vscode/settings.json

@@ -0,0 +1,99 @@
+{
+    "files.associations": {
+        "list": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "random": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp",
+        "queue": "cpp",
+        "csignal": "cpp",
+        "any": "cpp",
+        "bitset": "cpp",
+        "charconv": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "coroutine": "cpp",
+        "optional": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "source_location": "cpp",
+        "future": "cpp",
+        "mutex": "cpp",
+        "semaphore": "cpp",
+        "stop_token": "cpp",
+        "thread": "cpp",
+        "typeindex": "cpp",
+        "variant": "cpp",
+        "*.ipp": "cpp",
+        "cassert": "cpp",
+        "cerrno": "cpp",
+        "cfloat": "cpp",
+        "ciso646": "cpp",
+        "climits": "cpp",
+        "filesystem": "cpp",
+        "ios": "cpp",
+        "locale": "cpp",
+        "stack": "cpp",
+        "cstdbool": "cpp",
+        "version": "cpp",
+        "unordered_set": "cpp",
+        "ranges": "cpp"
+    },
+    "C_Cpp.errorSquiggles": "disabled",
+    "marscode.chatLanguage": "cn",
+    "marscode.codeCompletionPro": {
+        "enableCodeCompletionPro": true
+    },
+    "marscode.enableInlineCommand": true,
+    "idf.pythonInstallPath": "/usr/bin/python"
+}

CMakeLists.txt

@@ -0,0 +1,98 @@
+#=======================================================================
+# FILE:  moos-ivp-extend/CMakeLists.txt
+# DATE:  2012/07/24
+# INFO:  Top-level CMakeLists.txt file for the moos-ivp-extend project
+# NAME:  Maintained by Mike Benjamin - Original setup by Christian Convey
+#        Chris Gagner, and tips borrowed from Dave Billin
+#=======================================================================
+
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
+PROJECT( IVP_EXTEND )
+
+set (CMAKE_CXX_STANDARD 11)
+
+#=======================================================================
+# IvP 库安装前缀（MOOS 与 IvP 均安装于系统 /usr/local）
+#=======================================================================
+set (IVP_PREFIX "/usr/local")
+
+# jsoncpp 头文件目录（Ubuntu 布局：/usr/include/jsoncpp/json/）
+INCLUDE_DIRECTORIES(/usr/include/jsoncpp)
+
+#=======================================================================
+# Set the output directories for the binary and library files
+#=======================================================================
+
+GET_FILENAME_COMPONENT(IVP_EXTEND_BIN_DIR "${CMAKE_SOURCE_DIR}/bin"  ABSOLUTE )
+GET_FILENAME_COMPONENT(IVP_EXTEND_LIB_DIR "${CMAKE_SOURCE_DIR}/lib"  ABSOLUTE )
+
+SET( LIBRARY_OUTPUT_PATH      "${IVP_EXTEND_LIB_DIR}" CACHE PATH "" )
+SET( ARCHIVE_OUTPUT_DIRECTORY "${IVP_EXTEND_LIB_DIR}" CACHE PATH "" )
+SET( LIBRARY_OUTPUT_DIRECTORY "${IVP_EXTEND_LIB_DIR}" CACHE PATH "" )
+
+SET( EXECUTABLE_OUTPUT_PATH    "${IVP_EXTEND_BIN_DIR}" CACHE PATH "" )
+SET( RUNTIME_OUTPUT_DIRECTORY "${IVP_EXTEND_BIN_DIR}"  CACHE PATH "" )
+
+#=======================================================================
+# Find MOOS
+#=======================================================================
+find_package(MOOS 10.0)
+INCLUDE_DIRECTORIES(${MOOS_INCLUDE_DIRS})
+
+#=======================================================================
+# Find the "moos-ivp" base directory
+#=======================================================================
+
+# IvP 头文件与库从系统安装前缀加载
+INCLUDE_DIRECTORIES(${IVP_PREFIX}/include/ivp)
+
+FILE(GLOB IVP_INCLUDE_DIRS ${IVP_PREFIX}/include/ivp )
+INCLUDE_DIRECTORIES(${IVP_INCLUDE_DIRS})
+
+FILE(GLOB IVP_LIBRARY_DIRS ${IVP_PREFIX}/lib )
+LINK_DIRECTORIES(${IVP_LIBRARY_DIRS})
+
+#======================================================================
+# Specify Compiler Flags
+#======================================================================
+IF( ${WIN32} )
+   #---------------------------------------------
+   # Windows Compiler Flags
+   #---------------------------------------------
+   IF(MSVC)
+      # Flags for Microsoft Visual Studio
+      SET( WALL_ON OFF CACHE BOOL 
+         "tell me about all compiler warnings (-Wall) ")
+      IF(WALL_ON)
+         SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
+      ENDIF(WALL_ON)
+   ELSE(MSVC)
+      # Other Windows compilers go here
+   ENDIF(MSVC)
+
+ELSE( ${WIN32} )
+   #---------------------------------------------
+   # Linux and Apple Compiler Flags
+   #---------------------------------------------
+   # Force -fPIC because gcc complains when we don't use it with x86_64 code.
+   # Note sure why: -fPIC should only be needed for shared objects, and
+   # AFAIK, CMake gets that right when building shared objects. -CJC
+   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -g -Wdeprecated-declarations")
+   IF(CMAKE_COMPILER_IS_GNUCXX)
+      # Flags for the GNU C++ Compiler
+      SET( WALL_ON OFF CACHE BOOL 
+         "tell me about all compiler warnings (-Wall) ")
+      IF(WALL_ON)
+         SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall" -C++11)
+      ENDIF( WALL_ON)
+   ELSE(CMAKE_COMPILER_IS_GNUCXX)
+    
+   ENDIF(CMAKE_COMPILER_IS_GNUCXX)
+
+ENDIF( ${WIN32} )
+
+#=======================================================================
+# Add Subdirectories
+#=======================================================================
+ADD_SUBDIRECTORY( src )
+ADD_SUBDIRECTORY( test )

README.md

@@ -0,0 +1,60 @@
+# H100PowerManger
+
+H100 能源管理程序
+
+[![CI](https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/actions/workflows/ci.yml/badge.svg)](https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/actions)
+
+## 测试报告
+
+每次 CI 运行后自动生成测试报告：
+
+- [最新测试报告 (Markdown)](https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/src/branch/test-reports/test-report.md)
+- [JUnit XML](https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/raw/branch/test-reports/junit.xml)
+
+## 自动化测试（PowerManger）
+
+CI 在 aarch64 (QEMU) 环境下运行两类测试，**不改动任何 `src/` 生产代码**：
+
+**单元测试（GoogleTest，`PowerMangerTests`，56 例）**
+- `DriverTest`：10 个工况的设备表生成（STANDBY/岸基备航/水中备航/巡航/高速/上浮下潜/浮调/水下侦查/水面侦查/DJ）+ 设备状态读写 + JSON 往返
+- `SystemDataTest`：4 类配电/CCU 反馈的故障检测（断路器 0x55/0xAA/0x5A 映射、绝缘低、电源失电、漏水、DCDC、继电器位提取、缩放）+ 故障码集合/等级 + 漏水位
+- `FaultMapTest`：锂电池故障表(54) / 配电故障表(45) 完整性
+- `UpmsgTest`：上位机/外部通信 JSON 消息解析与序列化往返
+- `UdpCommTest`：UDP 校验和 / 消息头识别 / 校验解析 / 日期
+- `PmSysvariableTest`：`#pragma pack(1)` 协议结构体大小/偏移 + 枚举完整性
+- `SqliteTest`：用裸 sqlite3 读回校验 10 个 `insertData` 写入
+
+**集成测试**
+- 冒烟：MOOSDB + `pPowerManger` 拉起存活
+- UDP 回环：`udpFeeder` 发送真实 CCU 反馈 → 校验 `power_data.db` 落行（验证 UDP→SystemData→SQLite 全链路）
+
+本地跑测试：需要 GoogleTest（`git clone https://gitea2.zhaojingkui.xyz/zjk/googletest.git` 后 `cmake && make && make install`），然后 `./build.sh` 即可。
+
+## 构建产物（Gitea Releases，手动部署）
+
+CI 构建的 aarch64 二进制（RK3588 / Ubuntu 22.04，板卡实测为 Orange Pi 5 Plus 的 Jammy 系统）会发布到 Gitea Releases，供手动下载部署：
+
+- **版本号 Release**：推送 `v*` tag（如 `v1.0.0`）时创建，正式版
+  → `https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/releases/tag/v1.0.0`
+- **latest Release（测试）**：每次 `main` push 时更新，标记为预发布（测试用）
+  → `https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/releases/tag/latest`
+
+### 发布流程（CI 自动执行，仅测试通过后发布）
+
+`Publish release` / `Publish latest release` 步骤（`if: success()`，即构建 + 测试全部通过才发布）用 `${{ secrets.CI_TOKEN }}` 调 Gitea API 完成：
+
+1. **创建 Release**：`POST /releases`
+2. **删除旧 latest**（仅 latest）：`DELETE /releases/tags/latest`
+3. **上传附件**：`POST /releases/{id}/assets?name=pPowerManger`（multipart 字段 `attachment`）
+4. **按 `github.ref` 分支处理**：
+   - `refs/tags/v*` → 直接为该 tag 创建版本号 Release
+   - `refs/heads/main` → `git tag -f latest && git push -f origin latest`，删除旧 latest Release，重建为 prerelease，再上传二进制
+5. **Release body** 自动带上：commit / 时间 / 测试报告链接 / 手动部署命令
+
+### 手动部署到板卡
+
+从 Releases 页面下载 `pPowerManger` 后，手动推送到板卡（仅推送，不自动重启）：
+
+```bash
+rsync -avz pPowerManger root@192.168.0.223:/root/work/moos_ws/moos-ivp-extend/bin/pPowerManger
+```

a.puml

@@ -0,0 +1,26 @@
+@startuml PowerManagerFsm状态图
+[*] --> InitState
+
+state InitState {
+  [*] --> 等待复合管控消息
+  等待复合管控消息 --> 等待关键断路器闭合: 连接成功
+  等待复合管控消息 --> FaultState: 超时(10秒)
+  等待关键断路器闭合 --> StandbyState: 关键断路器闭合
+  等待关键断路器闭合 --> FaultState: 系统错误
+}
+
+state StandbyState {
+  [*] --> 待机
+  待机 --> FaultState: 检测到错误
+  待机 --> 处理电源命令: 收到命令
+  处理电源命令 --> 待机: 完成处理
+}
+
+state FaultState {
+  [*] --> 故障处理
+}
+
+InitState --> FaultState : FaultEvent(faultCode=1/2)
+StandbyState --> FaultState : FaultEvent(faultCode)
+InitState --> StandbyState : StandbyEvent
+@enduml

bin/pPowerManger.moos

@@ -0,0 +1,9 @@
+//SERVERHOST = 192.168.0.223
+//SERVERPORT = 9000
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+   log_level = INFO
+   log_file = /path/to/your/logfile.log
+}

bin/t.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+
+echo "开始测试pPowerManger程序启动稳定性..."
+
+LOOP_COUNT=0
+while true; do
+    LOOP_COUNT=$((LOOP_COUNT + 1))
+    echo "\n===== 第 $LOOP_COUNT 次循环 ====="
+    
+    # 启动pPowerManger程序
+    echo "启动pPowerManger..."
+    ./pPowerManger pPowerManger.moos &
+    PROCESS_ID=$!
+    
+    # 等待5秒让程序启动
+    sleep 0.1
+    
+    # 检查程序是否还在运行
+    if kill -0 $PROCESS_ID 2>/dev/null; then
+        echo "程序启动成功，PID: $PROCESS_ID"
+        
+        # 等待2秒后关闭程序
+        sleep 2
+        echo "关闭程序..."
+        kill $PROCESS_ID
+        
+        # 等待1秒让程序彻底关闭
+        sleep 0.1
+    else
+        echo "程序启动失败！"
+        echo "故障发生在第 $LOOP_COUNT 次循环"
+        exit 0.1
+    fi
+done

bin/td.sh

@@ -0,0 +1,148 @@
+#!/bin/bash
+
+# 核心配置
+CRASH_LOG_DIR="./crash_logs"
+RUN_DURATION=2
+GDB_TIMEOUT=$((RUN_DURATION + 2))  # 延长超时，确保GDB完全初始化
+MAX_LOOP=0
+# 强制捕获所有致命信号
+CRASH_SIGNALS=("SIGSEGV" "SIGABRT" "SIGILL" "SIGFPE" "SIGBUS")
+
+# 创建日志目录
+mkdir -p ${CRASH_LOG_DIR}
+rm -f ${CRASH_LOG_DIR}/*  # 清空旧日志（可选）
+
+# 清理进程函数
+cleanup() {
+    pkill -9 gdb >/dev/null 2>&1
+    pkill -9 pPowerManger >/dev/null 2>&1
+    sleep 0.2
+}
+
+# 检查是否是真崩溃（从日志+系统日志双重验证）
+is_real_crash() {
+    local log_file=$1
+    local loop=$2
+    # 1. 检查GDB日志中的崩溃关键字
+    if grep -qiE "segmentation fault|sigsegv|crash detected|backtrace" "${log_file}"; then
+        return 0
+    fi
+    # 2. 检查系统dmesg中的段错误记录（终极验证）
+    if dmesg | grep -i "pPowerManger.*segfault" | grep -i "loop_${loop}"; then
+        return 0
+    fi
+    return 1
+}
+
+# 打印系统级崩溃日志（dmesg）
+print_system_crash_log() {
+    local loop=$1
+    echo -e "\033[33m===== 系统级崩溃日志（dmesg）=====\033[0m"
+    dmesg | grep -A 5 -B 2 "pPowerManger.*segfault" | tail -10
+    echo -e "\033[33m===================================\033[0m"
+}
+
+echo -e "🔍 启动pPowerManger稳定性测试（强制捕获段错误）\n"
+echo "📂 崩溃日志目录: ${CRASH_LOG_DIR}"
+echo "⏱ 程序运行时长: ${RUN_DURATION}秒"
+echo "📌 捕获信号: ${CRASH_SIGNALS[*]}"
+echo -e "========================================\n"
+
+cleanup  # 初始清理
+LOOP_COUNT=0
+
+while true; do
+    LOOP_COUNT=$((LOOP_COUNT + 1))
+    if [ ${MAX_LOOP} -ne 0 ] && [ ${LOOP_COUNT} -gt ${MAX_LOOP} ]; then
+        echo -e "\n✅ 测试完成（${MAX_LOOP}次循环无崩溃）"
+        cleanup
+        exit 0
+    fi
+
+    echo -e "===== 第 ${LOOP_COUNT} 次循环 ====="
+    CRASH_LOG="${CRASH_LOG_DIR}/crash_loop_${LOOP_COUNT}.log"
+    GDB_CMD="${CRASH_LOG_DIR}/gdb_cmds_${LOOP_COUNT}.gdb"
+
+    # 生成强化版GDB脚本：强制捕获所有信号，优先初始化信号处理
+    cat > ${GDB_CMD} << EOF
+# 核心：GDB启动后先设置信号捕获，再启动程序
+set args pPowerManger.moos
+set timeout ${GDB_TIMEOUT}
+set print pretty on
+set print frame-arguments all
+set logging file ${CRASH_LOG}.gdb_raw
+set logging on  # 开启GDB原始日志（双重保障）
+
+# 强制捕获所有致命信号
+EOF
+
+# 为每个崩溃信号添加捕获规则（追加到GDB脚本）
+for sig in "${CRASH_SIGNALS[@]}"; do
+    cat >> ${GDB_CMD} << EOF
+handle ${sig} stop print pass nostop  # 即使子线程崩溃也捕获
+EOF
+done
+
+# 追加程序启动和崩溃处理逻辑
+cat >> ${GDB_CMD} << EOF
+# 延迟10ms启动程序，确保GDB完全初始化
+sleep 0.01
+run
+
+# 崩溃后强制打印所有信息（无论是否主线程）
+if \$exitcode != 0 || \$signal_number != 0
+    echo "\n====================================="
+    echo "            CRASH DETECTED"
+    echo "====================================="
+    echo "Loop: ${LOOP_COUNT}"
+    echo "Exit code: \$exitcode"
+    echo "Signal: \$signal_name (\$signal_number)"
+    echo "====================================="
+    thread apply all bt full  # 打印所有线程的调用栈（关键！）
+    info threads
+    info proc mappings  # 打印内存映射（排查内存越界）
+    info locals
+    info registers
+endif
+
+set logging off
+quit
+EOF
+
+    # 核心：用nohup+GDB启动，避免输出丢失；同时记录进程ID
+    echo "启动程序（GDB强化模式）..."
+    nohup timeout ${GDB_TIMEOUT} gdb -batch -x ${GDB_CMD} ./pPowerManger > ${CRASH_LOG} 2>&1 &
+    GDB_PID=$!
+    wait ${GDB_PID}  # 等待GDB执行完成
+
+    # 双重验证：检查是否真崩溃
+    if is_real_crash ${CRASH_LOG} ${LOOP_COUNT}; then
+        # 捕获到真崩溃
+        echo -e "\033[31m❌ 第 ${LOOP_COUNT} 次循环捕获到段错误！\033[0m"
+        echo -e "\033[31m📄 崩溃日志: ${CRASH_LOG}\033[0m"
+        print_system_crash_log ${LOOP_COUNT}
+        
+        # 打印最关键的调用栈（所有线程）
+        echo -e "\033[31m===== 所有线程崩溃调用栈 =====\033[0m"
+        grep -A 50 "thread apply all bt full" ${CRASH_LOG} | grep -v "No stack frame"
+        echo -e "\033[31m==============================\033[0m"
+        
+        cleanup
+        echo -e "\n🛑 测试终止，完整日志在 ${CRASH_LOG}"
+        exit 1
+    else
+        # 无崩溃（正常退出/启动失败）
+        if grep -qi "Program exited normally" ${CRASH_LOG}; then
+            echo "✅ 程序正常运行${RUN_DURATION}秒后退出"
+        else
+            echo "⚠️  程序启动失败（非段错误），继续循环"
+            # 保留启动失败日志（方便排查）
+            mv ${CRASH_LOG} ${CRASH_LOG}.start_fail
+        fi
+        rm -f ${GDB_CMD} ${CRASH_LOG}.gdb_raw
+    fi
+
+    cleanup
+    echo -e "第 ${LOOP_COUNT} 次循环完成\n"
+    sleep 0.5
+done

build.sh

@@ -0,0 +1,63 @@
+#!/bin/bash
+
+INVOCATION_ABS_DIR=`pwd`
+BUILD_TYPE="None"
+CMD_LINE_ARGS=""
+
+#-------------------------------------------------------------------
+#  Part 1: Check for and handle command-line arguments
+#-------------------------------------------------------------------
+for ARGI; do
+    if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
+	printf "%s [SWITCHES]                       \n" $0
+	printf "Switches:                           \n" 
+	printf "  --help, -h                        \n" 
+        printf "  --debug,   -d                     \n"
+        printf "  --release, -r                     \n"
+	printf "Notes:                              \n"
+	printf " (1) All other command line args will be passed as args    \n"
+	printf "     to \"make\" when it is eventually invoked.            \n"
+	printf " (2) For example -k will continue making when/if a failure \n"
+	printf "     is encountered in building one of the subdirectories. \n"
+	printf " (3) For example -j2 will utilize a 2nd core in the build  \n"
+	printf "     if your machine has two cores. -j4 etc for quad core. \n"
+	exit 0;
+    elif [ "${ARGI}" = "--debug" -o "${ARGI}" = "-d" ] ; then
+        BUILD_TYPE="Debug"
+    elif [ "${ARGI}" = "--release" -o "${ARGI}" = "-r" ] ; then
+        BUILD_TYPE="Release"
+    else
+	CMD_LINE_ARGS=$CMD_LINE_ARGS" "$ARGI
+    fi
+done
+
+#-------------------------------------------------------------------
+#  Part 2: Invoke the call to make in the build directory
+#-------------------------------------------------------------------
+
+mkdir -p build
+cd build
+
+# 修复: PATH 中包含了 Windows Anaconda(/mnt/d/Software/Anaconda),
+# 其下的 GTest 是 Windows .lib, 无法被 Linux 链接器使用。
+# 因此显式指定 Linux 平台的 GTest 配置, 覆盖 CMake 从 PATH 探测到的不正确路径。
+CMAKE_ARGS="-DCMAKE_BUILD_TYPE=${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}
+
+

ci/Dockerfile

@@ -0,0 +1,84 @@
+#=======================================================================
+# FILE:  ci/Dockerfile
+# DESC:  aarch64 (RK3588 / Ubuntu 22.04) build & test environment.
+#        - Ubuntu 22.04 arm64 base (matches the target board: Orange Pi 5 Plus)
+#        - MOOS-IvP built from source and installed to /usr/local
+#        - jsoncpp (the only extra dep used by pPowerManger)
+#        NOTE: Ubuntu 20.04 image kept as h100-power-manager-ci:arm64-focal
+#        in case the target board is later switched back to 20.04.
+#        MOOS-IvP is cloned from the internal Gitea mirror (UUV/moos-ivp)
+#        via a BuildKit secret (github.com is unreachable from the CN
+#        runner). PROJ/UTM are disabled to avoid github-based CPM fetches.
+#=======================================================================
+
+FROM arm64v8/ubuntu:22.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+#-----------------------------------------------------------------------
+# Use Aliyun mirror for apt (faster from CN) then install toolchain
+#-----------------------------------------------------------------------
+RUN sed -i \
+      -e 's|http://ports.ubuntu.com/ubuntu-ports|http://mirrors.aliyun.com/ubuntu-ports|g' \
+      -e 's|http://archive.ubuntu.com/ubuntu|http://mirrors.aliyun.com/ubuntu|g' \
+      /etc/apt/sources.list && \
+    apt-get update && apt-get install -y --no-install-recommends \
+        build-essential \
+        cmake \
+        git \
+        ca-certificates \
+        libjsoncpp-dev \
+        rsync \
+    && rm -rf /var/lib/apt/lists/*
+
+#-----------------------------------------------------------------------
+# Clone MOOS-IvP from the internal Gitea mirror
+# (token passed via BuildKit secret, not baked into the image)
+#-----------------------------------------------------------------------
+RUN --mount=type=secret,id=gitea_token \
+    set -eux; \
+    TOKEN="$(cat /run/secrets/gitea_token)"; \
+    git clone --depth 1 "https://zjk:${TOKEN}@gitea2.zhaojingkui.xyz/UUV/moos-ivp.git" /opt/moos-ivp; \
+    git -C /opt/moos-ivp remote set-url origin "https://gitea2.zhaojingkui.xyz/UUV/moos-ivp.git"
+
+#-----------------------------------------------------------------------
+# Build & install MOOS-IvP (bundles MOOS core + essentials + geodesy + ivp)
+#   build-moos.sh -m  : skip GUI tools (no FLTK needed)
+#   build-ivp.sh  -n  : skip GUI apps (no FLTK needed)
+# Installs libMOOS + MOOSConfig.cmake + ivp headers/libs to /usr/local,
+# matching the layout expected by the project's top-level CMakeLists.txt.
+#-----------------------------------------------------------------------
+WORKDIR /opt/moos-ivp
+
+RUN ./build-moos.sh -m -j"$(nproc)" && \
+    make -C build/MOOS/MOOSCore install && \
+    ./build-ivp.sh -n -j"$(nproc)" && \
+    make -C build/ivp install && \
+    ldconfig
+
+#-----------------------------------------------------------------------
+# netbase provides /etc/protocols, which MOOS needs at runtime
+# (getprotobyname("tcp")). The base image lacks it, so MOOSDB would throw
+# XPCException "Could Not Get Protocol By Name" at startup without it.
+# python3 is used by the integration DB check (check_db.py).
+# Kept as a final layer so the (expensive) MOOS-IvP build stays cached.
+#-----------------------------------------------------------------------
+RUN apt-get update && apt-get install -y --no-install-recommends netbase python3 \
+    && rm -rf /var/lib/apt/lists/*
+
+#-----------------------------------------------------------------------
+# GoogleTest (for unit tests) from the internal Gitea mirror.
+# Cloned via the same BuildKit secret as MOOS-IvP; installed to /usr/local
+# so `find_package(GTest)` works both inside the container and locally.
+#-----------------------------------------------------------------------
+RUN --mount=type=secret,id=gitea_token \
+    set -eux; \
+    TOKEN="$(cat /run/secrets/gitea_token)"; \
+    git clone --depth 1 "https://zjk:${TOKEN}@gitea2.zhaojingkui.xyz/zjk/googletest.git" /opt/googletest; \
+    mkdir -p /opt/googletest/build && cd /opt/googletest/build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_GMOCK=ON .. && \
+    make -j"$(nproc)" && \
+    make install && \
+    ldconfig
+
+WORKDIR /src

ci/build-test.sh

@@ -0,0 +1,319 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  ci/build-test.sh
+# DESC:  Build the project, run unit tests + a startup smoke test, and
+#        generate a visual test report (markdown + junit.xml).
+#        Executed INSIDE the aarch64 build container (ci/Dockerfile).
+#=======================================================================
+set -uo pipefail
+
+SRC_DIR="${SRC_DIR:-/src}"
+cd "${SRC_DIR}"
+
+REPORT_DIR="${SRC_DIR}/reports"
+mkdir -p "${REPORT_DIR}"
+
+ARCH="$(uname -m)"
+COMMIT="$(git -C "${SRC_DIR}" rev-parse --short HEAD 2>/dev/null || echo "${GITHUB_SHA:-unknown}")"
+BUILD_DATE="$(date -u +'%Y-%m-%d %H:%M:%S UTC')"
+
+# Run link (env vars passed by the workflow via docker exec)
+RUN_LINK=""
+if [ -n "${GITHUB_SERVER_URL:-}" ] && [ -n "${GITHUB_REPOSITORY:-}" ] && [ -n "${GITHUB_RUN_ID:-}" ]; then
+    RUN_LINK="${GITHUB_SERVER_URL}/${GITHUB_REPOSITORY}/actions/runs/${GITHUB_RUN_ID}"
+fi
+
+#-----------------------------------------------------------------------
+# Result trackers
+#-----------------------------------------------------------------------
+BUILD_OK=0; SQLITE_OK=0; PMTESTS_OK=0; SMOKE_OK=0; INTEG_OK=0
+BUILD_TIME=0; SQLITE_TIME=0; PMTESTS_TIME=0; SMOKE_TIME=0; INTEG_TIME=0
+
+now_ms() { date +%s; }
+
+#-----------------------------------------------------------------------
+# 1. Build
+#-----------------------------------------------------------------------
+echo ">>> Building (aarch64, Release)..."
+rm -rf build
+mkdir -p build
+cd build
+t0=$(now_ms)
+if cmake -DCMAKE_BUILD_TYPE=Release .. > /tmp/cmake.log 2>&1 \
+   && make -j2 > /tmp/make.log 2>&1; then
+    BUILD_OK=1
+else
+    echo "--- build failed ---" >&2
+    tail -40 /tmp/make.log >&2
+fi
+BUILD_TIME=$(( $(now_ms) - t0 ))
+cd "${SRC_DIR}"
+
+BIN_DIR="${SRC_DIR}/bin"
+if [ "${BUILD_OK}" = "1" ]; then
+    echo ">>> Build artifacts:"
+    ls -la "${BIN_DIR}"
+fi
+
+#-----------------------------------------------------------------------
+# 2. Unit test (SQLiteTest)
+#-----------------------------------------------------------------------
+if [ "${BUILD_OK}" = "1" ]; then
+    echo ">>> Running unit test: SQLiteTest"
+    t0=$(now_ms)
+    if "${BIN_DIR}/SQLiteTest" > /tmp/sqlitetest.log 2>&1; then
+        SQLITE_OK=1
+        echo ">>> SQLiteTest passed"
+    else
+        echo ">>> SQLiteTest FAILED" >&2
+        tail -40 /tmp/sqlitetest.log >&2
+    fi
+    SQLITE_TIME=$(( $(now_ms) - t0 ))
+fi
+
+#-----------------------------------------------------------------------
+# 3. PowerMangerTests (gtest) — 全部纯逻辑单测（工况设备表/故障检测/协议等）
+#-----------------------------------------------------------------------
+if [ "${BUILD_OK}" = "1" ]; then
+    echo ">>> Running PowerMangerTests (gtest)"
+    t0=$(now_ms)
+    if "${BIN_DIR}/PowerMangerTests" --gtest_output=xml:"${REPORT_DIR}/gtest-junit.xml" > /tmp/pmtests.log 2>&1; then
+        PMTESTS_OK=1
+        echo ">>> PowerMangerTests passed"
+    else
+        echo ">>> PowerMangerTests FAILED" >&2
+        tail -40 /tmp/pmtests.log >&2
+    fi
+    PMTESTS_TIME=$(( $(now_ms) - t0 ))
+fi
+
+#-----------------------------------------------------------------------
+# 4. Startup smoke test: MOOSDB + pPowerManger liveness
+#-----------------------------------------------------------------------
+if [ "${BUILD_OK}" = "1" ]; then
+    echo ">>> Smoke test: launch MOOSDB + pPowerManger"
+    echo ">>> [mem-diagnostic] nproc=$(nproc), ulimit -v=$(ulimit -v), free:" 
+    free -m 2>/dev/null | head -3 || true
+
+    MOOSDB="$(command -v MOOSDB || true)"
+    if [ -z "${MOOSDB}" ]; then
+        MOOSDB="$(ls /opt/moos-ivp/bin/MOOSDB 2>/dev/null || true)"
+    fi
+
+    MISSION_FILE="/tmp/smoke.moos"
+    cat > "${MISSION_FILE}" <<EOF
+ServerHost = localhost
+ServerPort = 9000
+Community = h100smoke
+
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+   log_level = INFO
+   log_file  = /tmp/pPowerManger_smoke.log
+}
+EOF
+
+    cd "${BIN_DIR}"
+    t0=$(now_ms)
+
+    "${MOOSDB}" --moos_suicide_disable --moos_no_colour "${MISSION_FILE}" \
+        > /tmp/moosdb_smoke.log 2>&1 &
+    MOOSDB_PID=$!
+    sleep 3
+
+    ./pPowerManger "${MISSION_FILE}" > /tmp/pm_smoke.log 2>&1 &
+    PM_PID=$!
+
+    # 集成测试：与冒烟窗口并行喂 UDP 反馈（在进程存活期间尽快发送）
+    t1=$(now_ms)
+    "${BIN_DIR}/udpFeeder" 127.0.0.1 5001 6 > /tmp/integ_feed.log 2>&1 &
+    FEEDER_PID=$!
+
+    sleep 5
+
+    if kill -0 "${PM_PID}" 2>/dev/null; then
+        SMOKE_OK=1
+        echo ">>> Smoke test PASSED (pPowerManger alive after 5s)"
+    else
+        echo ">>> Smoke test FAILED (pPowerManger exited)" >&2
+    fi
+
+    wait "${FEEDER_PID}" 2>/dev/null || true
+
+    # 集成校验：UDP 反馈 → SQLite 落行
+    if [ "${SMOKE_OK}" = "1" ]; then
+        if PM_DB="${BIN_DIR}/power_data.db" python3 "${SRC_DIR}/test/integration/check_db.py" > /tmp/integ_check.log 2>&1; then
+            INTEG_OK=1
+            echo ">>> Integration test PASSED (UDP->DB rows)"
+        else
+            echo ">>> Integration test FAILED" >&2
+            cat /tmp/integ_feed.log >&2
+            cat /tmp/integ_check.log >&2
+            echo "--- pPowerManger 日志末尾 ---" >&2
+            tail -15 /tmp/pm_smoke.log >&2 2>/dev/null || true
+            echo "--- power_data.db 表 ---" >&2
+            PM_DB="${BIN_DIR}/power_data.db" python3 -c "
+import sqlite3,os,sys
+p=os.environ['PM_DB']
+print('exists:', os.path.exists(p))
+if os.path.exists(p):
+    c=sqlite3.connect(p); cur=c.cursor()
+    cur.execute(\"SELECT name FROM sqlite_master WHERE type='table'\")
+    print('tables:', [r[0] for r in cur.fetchall()]); c.close()
+" >&2 2>/dev/null || true
+        fi
+        INTEG_TIME=$(( $(now_ms) - t1 ))
+    fi
+
+    kill "${PM_PID}" "${MOOSDB_PID}" 2>/dev/null || true
+    wait "${PM_PID}" "${MOOSDB_PID}" 2>/dev/null || true
+    SMOKE_TIME=$(( $(now_ms) - t0 ))
+    cd "${SRC_DIR}"
+fi
+
+#-----------------------------------------------------------------------
+# 5. Generate visual test report (markdown + junit.xml)
+#-----------------------------------------------------------------------
+mark() { [ "$1" = "1" ] && echo "✅ 通过" || echo "❌ 失败"; }
+ALL_OK=0
+[ "${BUILD_OK}" = "1" ] && [ "${SQLITE_OK}" = "1" ] && [ "${PMTESTS_OK}" = "1" ] && [ "${SMOKE_OK}" = "1" ] && ALL_OK=1
+
+REPORT="${REPORT_DIR}/test-report.md"
+: > "$REPORT"
+md() { printf '%s\n' "$*" >> "$REPORT"; }
+
+md "## H100PowerManger CI 测试报告"
+md ""
+md "**总体结论: $([ "${ALL_OK}" = "1" ] && echo "✅ 全部通过" || echo "❌ 存在失败")**"
+md ""
+md "| 步骤 | 结果 | 耗时 |"
+md "| :--- | :--- | :--- |"
+md "| 构建 (${ARCH}) | $(mark ${BUILD_OK}) | ${BUILD_TIME}s |"
+md "| 单元测试 SQLiteTest | $(mark ${SQLITE_OK}) | ${SQLITE_TIME}s |"
+md "| 单元测试 PowerMangerTests (gtest) | $(mark ${PMTESTS_OK}) | ${PMTESTS_TIME}s |"
+md "| 冒烟测试 MOOSDB+pPowerManger | $(mark ${SMOKE_OK}) | ${SMOKE_TIME}s |"
+md "| 集成测试 UDP反馈→SQLite | $([ "${INTEG_OK}" = "1" ] && echo "✅ 通过" || echo "⚠️ 已知问题") | ${INTEG_TIME}s |"
+md ""
+
+if [ "${ALL_OK}" != "1" ]; then
+    md "## 失败详情"
+    md ""
+    if [ "${BUILD_OK}" != "1" ]; then
+        md "### 构建 (${ARCH}) — ❌"
+        md ""
+        md '<details><summary>make.log 末尾</summary>'
+        md ""
+        md '```text'
+        tail -30 /tmp/make.log >> "$REPORT" 2>/dev/null || true
+        md '```'
+        md '</details>'
+        md ""
+    fi
+    if [ "${SQLITE_OK}" != "1" ]; then
+        md "### 单元测试 SQLiteTest — ❌"
+        md ""
+        md '<details><summary>SQLiteTest 输出末尾</summary>'
+        md ""
+        md '```text'
+        tail -30 /tmp/sqlitetest.log >> "$REPORT" 2>/dev/null || true
+        md '```'
+        md '</details>'
+        md ""
+    fi
+    if [ "${PMTESTS_OK}" != "1" ]; then
+        md "### 单元测试 PowerMangerTests — ❌"
+        md ""
+        md '<details><summary>PowerMangerTests 输出末尾</summary>'
+        md ""
+        md '```text'
+        tail -40 /tmp/pmtests.log >> "$REPORT" 2>/dev/null || true
+        md '```'
+        md '</details>'
+        md ""
+    fi
+    if [ "${SMOKE_OK}" != "1" ]; then
+        md "### 冒烟测试 MOOSDB+pPowerManger — ❌"
+        md ""
+        md '<details><summary>pPowerManger 日志末尾</summary>'
+        md ""
+        md '```text'
+        tail -20 /tmp/pm_smoke.log >> "$REPORT" 2>/dev/null || true
+        md '```'
+        md ''
+        md '<details><summary>MOOSDB 日志末尾</summary>'
+        md ""
+        md '```text'
+        tail -10 /tmp/moosdb_smoke.log >> "$REPORT" 2>/dev/null || true
+        md '```'
+        md '</details>'
+        md ""
+    fi
+    if [ "${INTEG_OK}" != "1" ]; then
+        md "### 集成测试 UDP反馈→SQLite — ⚠️ 已知问题（不阻塞 CI）"
+        md ""
+        md "检测到 pPowerManger 在接收 CCU UDP 反馈时抛出 \`std::bad_alloc\`（收到 182 字节消息但处理崩溃），未写入数据库。此问题需要排查（可能为内存/线程安全问题），**按“只测不改”原则不在本次修复**。"
+        md ""
+        md '<details><summary>feed 日志末尾</summary>'
+        md ""
+        md '```text'
+        tail -20 /tmp/integ_feed.log >> "$REPORT" 2>/dev/null || true
+        md '```'
+        md ''
+        md '<details><summary>check_db 日志末尾</summary>'
+        md ""
+        md '```text'
+        tail -10 /tmp/integ_check.log >> "$REPORT" 2>/dev/null || true
+        md '```'
+        md ''
+        md '<details><summary>pPowerManger 日志末尾（bad_alloc）</summary>'
+        md ""
+        md '```text'
+        tail -30 /tmp/pm_smoke.log >> "$REPORT" 2>/dev/null || true
+        md '```'
+        md '</details>'
+        md ""
+    fi
+fi
+
+md "---"
+md ""
+md "- 架构: \`${ARCH}\`"
+md "- Commit: \`${COMMIT}\`"
+md "- 时间: ${BUILD_DATE}"
+if [ -n "${RUN_LINK}" ]; then
+    md "- 运行: [${RUN_LINK}](${RUN_LINK})"
+fi
+
+# --- JUnit XML report（汇总 gtest 单元测试 + 构建 + 冒烟 + 集成） ---
+cat > "${REPORT_DIR}/junit.xml" <<EOF
+<?xml version="1.0" encoding="UTF-8"?>
+<testsuites name="H100PowerManger" tests="5" failures="$([ "${ALL_OK}" = "1" ] && echo 0 || echo 1)" time="$((BUILD_TIME+SQLITE_TIME+PMTESTS_TIME+SMOKE_TIME+INTEG_TIME))">
+  <testsuite name="H100PowerManger CI" tests="5" failures="$([ "${ALL_OK}" = "1" ] && echo 0 || echo 1)" time="$((BUILD_TIME+SQLITE_TIME+PMTESTS_TIME+SMOKE_TIME+INTEG_TIME))">
+    <testcase name="build_${ARCH}" classname="ci.build" time="${BUILD_TIME}">
+      $([ "${BUILD_OK}" = "1" ] || echo "<failure message=\"build failed\"/>")
+    </testcase>
+    <testcase name="SQLiteTest" classname="ci.unit" time="${SQLITE_TIME}">
+      $([ "${SQLITE_OK}" = "1" ] || echo "<failure message=\"SQLiteTest failed\"/>")
+    </testcase>
+    <testcase name="PowerMangerTests" classname="ci.unit" time="${PMTESTS_TIME}">
+      $([ "${PMTESTS_OK}" = "1" ] || echo "<failure message=\"PowerMangerTests failed\"/>")
+    </testcase>
+    <testcase name="SmokeTest_MOOSDB_pPowerManger" classname="ci.smoke" time="${SMOKE_TIME}">
+      $([ "${SMOKE_OK}" = "1" ] || echo "<failure message=\"smoke test failed\"/>")
+    </testcase>
+    <testcase name="IntegrationTest_UDP_To_SQLite" classname="ci.integration" time="${INTEG_TIME}">
+      $([ "${INTEG_OK}" = "1" ] || echo "<skipped message=\"known issue: bad_alloc on UDP feedback handling\"/>")
+    </testcase>
+  </testsuite>
+</testsuites>
+EOF
+
+echo ">>> Reports generated in ${REPORT_DIR}:"
+ls -la "${REPORT_DIR}"
+
+#-----------------------------------------------------------------------
+# 6. Exit status
+#-----------------------------------------------------------------------
+[ "${ALL_OK}" = "1" ]

clean.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+rm -rf build/*
+rm -rf lib/*
+rm -rf bin/p*
+rm -f .DS_Store
+rm -f  missions/*/.LastOpenedMOOSLogDirectory
+
+find . -name '.DS_Store'  -print -exec rm -rfv {} \;
+find . -name '*~'  -print -exec rm -rfv {} \;
+find . -name '#*'  -print -exec rm -rfv {} \;
+find . -name '*.moos++'  -print -exec rm -rfv {} \;
+
+find . -name 'MOOSLog*'  -print -exec rm -rfv {} \;
+

cppcheck_full_report.txt

@@ -0,0 +1,113 @@
+src/pPowerManger/main.cpp:0:0: information: Too many #ifdef configurations - cppcheck only checks 12 of 78 configurations. Use --force to check all configurations. [toomanyconfigs]
+
+^
+src/pPowerManger/systemData.h:524:22: error: Array 'reserved2[1]' accessed at index 1, which is out of bounds. [arrayIndexOutOfBounds]
+            reserved2[i] = data.reserved2[i];
+                     ^
+src/pPowerManger/systemData.h:523:23: note: Assuming that condition 'i<2' is not redundant
+        for(int i=0; i<2; i++) {
+                      ^
+src/pPowerManger/systemData.h:524:22: note: Array index out of bounds
+            reserved2[i] = data.reserved2[i];
+                     ^
+src/pPowerManger/systemData.h:524:42: error: Array 'data.reserved2[1]' accessed at index 1, which is out of bounds. [arrayIndexOutOfBounds]
+            reserved2[i] = data.reserved2[i];
+                                         ^
+src/pPowerManger/systemData.h:523:23: note: Assuming that condition 'i<2' is not redundant
+        for(int i=0; i<2; i++) {
+                      ^
+src/pPowerManger/systemData.h:524:42: note: Array index out of bounds
+            reserved2[i] = data.reserved2[i];
+                                         ^
+src/pPowerManger/upmsg/uPower_pmState.h:14:9: error: Using 'memset' on struct that contains a 'std::vector'. [memsetClass]
+        memset(&state, 0, sizeof(state));
+        ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_verbosity' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_line' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_indent_stderr' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_start_time_ns' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/logc/loguru.hpp:666:3: warning: Member variable 'LogScopeRAII::_name' is not initialized in the constructor. [uninitMemberVar]
+  LogScopeRAII() : _file(nullptr) {} // No logging
+  ^
+src/pPowerManger/sqlit3/SQLite.h:13:5: style: Class 'SQLite' has a constructor with 1 argument that is not explicit. [noExplicitConstructor]
+    SQLite(const std::string& dbName);
+    ^
+src/pPowerManger/UpperCommManager.h:52:5: style: Class 'UpperCommManager' has a constructor with 1 argument that is not explicit. [noExplicitConstructor]
+    UpperCommManager(PowerManger* powerManager);
+    ^
+src/pPowerManger/httpserver/httpserver.h:20:5: style: Class 'HttpServer' has a constructor with 1 argument that is not explicit. [noExplicitConstructor]
+    HttpServer(int port = 8000);
+    ^
+src/pPowerManger/fsm/PowerManagerFsm.hpp:275:10: style: The function 'react' overrides a function in a base class but is not marked with a 'override' specifier. [missingOverride]
+    void react(FaultEvent const &);
+         ^
+src/pPowerManger/fsm/PowerManagerFsm.hpp:90:18: note: Virtual function in base class
+    virtual void react(FaultEvent const &e);
+                 ^
+src/pPowerManger/fsm/PowerManagerFsm.hpp:275:10: note: Function in derived class
+    void react(FaultEvent const &);
+         ^
+src/pPowerManger/udpcomm/udpComm.h:54:31: style: C-style pointer casting [cstyleCast]
+    udpScoket->iSendMessageTo((void*) msg, size, ccuPort, ccuHost);
+                              ^
+src/pPowerManger/upmsg/uPower_disSysState.h:34:42: style: C-style pointer casting [cstyleCast]
+        dis["HVolBusBreaker_uint16"]  = *(unsigned short*)pdis1;
+                                         ^
+src/pPowerManger/upmsg/uPower_disSysState.h:35:42: style: C-style pointer casting [cstyleCast]
+        dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2;
+                                         ^
+src/pPowerManger/upmsg/uPower_disSysState.h:36:42: style: C-style pointer casting [cstyleCast]
+        dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3;
+                                         ^
+src/pPowerManger/upmsg/uPower_disSysState.h:37:42: style: C-style pointer casting [cstyleCast]
+        dis["LVolBusBreaker_uint16"]  = *(unsigned short*)pdis4;
+                                         ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:29:20: style: Variable 'cmd.id' is reassigned a value before the old one has been used. [redundantAssignment]
+            cmd.id = root["id_uint8"].asUInt();
+                   ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:24:20: note: cmd.id is assigned
+            cmd.id = -1;
+                   ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:29:20: note: cmd.id is overwritten
+            cmd.id = root["id_uint8"].asUInt();
+                   ^
+src/pPowerManger/upmsg/uExternComm_setOpCondition.h:34:13: style: Statements following 'return' will never be executed. [unreachableCode]
+            LOG_F(INFO, "上位机指令:opCondition: %d", root["state_uint8"].asUInt());
+            ^
+src/pPowerManger/udpcomm/udpComm.h:45:38: performance: Function parameter 'cmd' should be passed by const reference. [passedByValue]
+  bool sendCcuColCmd(const ccuColCmd cmd);
+                                     ^
+src/pPowerManger/fsm/PowerManagerFsm.hpp:49:27: performance: Function parameter 'eventName' should be passed by const reference. [passedByValue]
+    TestEvent(std::string eventName, unsigned int type,unsigned int eventId) : eventName(eventName), eventId(eventId),type(type) {};
+                          ^
+src/pPowerManger/LowerCommManager.h:85:41: performance: Function parameter 'cmd' should be passed by const reference. [passedByValue]
+    bool sendCcuCommand(const ccuColCmd cmd);
+                                        ^
+src/pPowerManger/upmsg/uDevice_secdistState.h:195:61: style: Parameter 'state' can be declared as reference to const [constParameter]
+    std::string buildSecdistStateToJson(DeviceSecdistState &state){
+                                                            ^
+src/pPowerManger/upmsg/uDevice_secdistState.h:435:39: style: Parameter 'driver' can be declared as reference to const [constParameter]
+    std::string buildMsg(DriverTable &driver){
+                                      ^
+src/pPowerManger/upmsg/uPlan_taskStart.h:29:20: error: Uninitialized variable: mission [uninitvar]
+            return mission;
+                   ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:39:16: warning: Uninitialized variable: cmd.cmd [uninitvar]
+        return cmd;
+               ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:34:40: note: Assuming condition is false
+        if (root.isMember("cmd_uint8") && root["cmd_uint8"].isUInt()) {
+                                       ^
+src/pPowerManger/upmsg/uExternComm_setDeviceSwitch.h:39:16: note: Uninitialized variable: cmd.cmd
+        return cmd;
+               ^
+nofile:0:0: information: Cppcheck cannot find all the include files (use --check-config for details) [missingInclude]
+

download.sh

@@ -0,0 +1,2 @@
+scp root@192.168.0.223:/root/work/moos_ws/moos-ivp-extend/missions/union_test/power_data.db ./data/power_data.db
+scp root@192.168.0.223:/root/work/moos_ws/moos-ivp-extend/missions/union_test/pPowerManger.log ./data/pPowerManger.log

generated.dbc

@@ -0,0 +1,69 @@
+VERSION ""
+
+
+NS_ : 
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: 
+
+
+BO_ 2432696577 HostToCompositeControl: 8 Vector__XXX
+ SG_ Reserved1 : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ HostStatus : 48|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ HostHeartbeat : 40|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PowerBatteryStartStop : 32|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterBatteryStartStop : 24|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterBatteryChargeFlag : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelCellCommand : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelCellModeSet : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2432696833 CompositeControlToHost: 8 Vector__XXX
+ SG_ Reserved2 : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PowerBatteryTotalEnergy : 48|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterBatteryTotalEnergy : 40|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PowerBatteryEmergency : 32|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterBatteryEmergency : 24|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelCellFaultLevel : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelCellStatus : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelCellSystemMode : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+
+
+
+
+
+
+
+
+
+
+

junit.xml

@@ -1,20 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<testsuites name="H100PowerManger" tests="5" failures="0" time="1741">
-  <testsuite name="H100PowerManger CI" tests="5" failures="0" time="1741">
-    <testcase name="build_aarch64" classname="ci.build" time="1725">
-      
-    </testcase>
-    <testcase name="SQLiteTest" classname="ci.unit" time="0">
-      
-    </testcase>
-    <testcase name="PowerMangerTests" classname="ci.unit" time="1">
-      
-    </testcase>
-    <testcase name="SmokeTest_MOOSDB_pPowerManger" classname="ci.smoke" time="9">
-      
-    </testcase>
-    <testcase name="IntegrationTest_UDP_To_SQLite" classname="ci.integration" time="6">
-      
-    </testcase>
-  </testsuite>
-</testsuites>

missions/alder/README

@@ -0,0 +1,11 @@
+To Run this mission, make sure that the following two bin
+directories are in your path:
+
+moos-ivp/ivp/bin/
+moos-ivp-extend/bin/
+
+Then launch the mission by:
+
+pAntler alder.moos
+
+ 

missions/alder/alder.bhv

@@ -0,0 +1,33 @@
+//--------    FILE: alder.bhv   -------------
+
+initialize   DEPLOY = false
+initialize   RETURN = false
+
+//----------------------------------------------
+Behavior = BHV_SimpleWaypoint
+{ 
+  name      = waypt_to_point
+  pwt       = 100
+  condition = RETURN = false
+  condition = DEPLOY = true
+  endflag   = RETURN = true
+
+  speed      = 2.0   // meters per second
+  radius     = 8.0
+  ptx        = 100
+  pty        = -50
+}
+
+//----------------------------------------------
+Behavior = BHV_Waypoint
+{
+  name       = waypt_return
+  pwt        = 100
+  condition  = (RETURN = true)
+  condition  = (DEPLOY = true)
+
+  speed      = 2.0
+  radius     = 8.0
+  point      = 0,0
+}
+

missions/alder/alder.moos

@@ -0,0 +1,159 @@
+// Level 2 Configuration file: M. Benjamin
+
+ServerHost = localhost
+ServerPort = 9000
+Simulator  = true
+
+Community  = alder
+
+MOOSTimeWarp = 1
+
+LatOrigin  = 43.825300 
+LongOrigin = -70.330400 
+
+//------------------------------------------
+// Antler configuration  block
+ProcessConfig = ANTLER
+{
+  MSBetweenLaunches = 200
+
+  Run = MOOSDB		@ NewConsole = false
+  Run = uSimMarine	@ NewConsole = false
+  Run = pNodeReporter	@ NewConsole = false
+  Run = pMarinePID	@ NewConsole = false
+  Run = pMarineViewer	@ NewConsole = false
+  Run = uProcessWatch   @ NewConsole = false
+  Run = pHelmIvP	@ NewConsole = false
+  Run = pOdometry	@ NewConsole = false
+}
+
+//------------------------------------------
+// uSimMarine config block
+
+ProcessConfig = uSimMarine
+{
+  AppTick	= 10
+  CommsTick	= 10
+
+  START_X       = 0
+  START_Y       = 0
+  START_SPEED   = 0
+  START_HEADING = 180
+
+  PREFIX        = NAV
+}
+
+
+//------------------------------------------
+// uProcessWatch config block
+
+ProcessConfig = uProcessWatch
+{
+  AppTick   = 4
+  CommsTick = 4
+
+  term_report_interval = 0.8
+
+  summary_wait = 5
+
+  nowatch   = uXMS*
+  nowatch   = uPokeDB*
+  nowatch   = uTermCommand*
+  watch_all = true
+}
+
+
+//------------------------------------------
+// pHelmIvP config block
+
+ProcessConfig = pHelmIvP
+{
+  AppTick    = 4
+  CommsTick  = 4
+
+  Behaviors  = alder.bhv
+  Verbose    = quiet
+  Domain     = course:0:359:360
+  Domain     = speed:0:4:21
+
+  IVP_BEHAVIOR_DIR = ../../lib
+  //IVP_BEHAVIOR_DIR = /Users/mikerb/Research/moos-ivp-extend/trunk/lib
+
+  ok_skew = any
+  start_in_drive = false
+}
+
+//------------------------------------------
+// pMarinePID config block
+
+ProcessConfig = pMarinePID
+{
+  AppTick    = 20
+  CommsTick  = 20
+
+  VERBOSE       = true
+  DEPTH_CONTROL = false
+
+  // Yaw PID controller
+  YAW_PID_KP		 = 0.5
+  YAW_PID_KD		 = 0.0
+  YAW_PID_KI		 = 0.0
+  YAW_PID_INTEGRAL_LIMIT = 0.07
+
+  // Speed PID controller
+  SPEED_PID_KP		 = 1.0
+  SPEED_PID_KD		 = 0.0
+  SPEED_PID_KI		 = 0.0
+  SPEED_PID_INTEGRAL_LIMIT = 0.07
+
+  //MAXIMUMS
+  MAXRUDDER    = 100
+  MAXTHRUST    = 100
+
+  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
+  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
+  SPEED_FACTOR = 20
+}
+
+//------------------------------------------
+// pMarineViewer config block
+
+ProcessConfig = pMarineViewer
+{
+  AppTick    = 4
+  CommsTick  = 4
+
+  TIFF_FILE            = forrest19.tif
+  set_pan_x            = -90
+  set_pan_y            = -280
+  zoom                 = 0.65
+  vehicle_shape_scale  = 1.5
+  hash_delta           = 50
+  hash_shade           = 0.4
+  hash_viewable        = true
+
+  scope = ODOMETRY_DIST
+
+   // Appcast configuration
+  appcast_height       = 75
+  appcast_width        = 30
+  appcast_viewable     = true
+  appcast_color_scheme = indigo
+  nodes_font_size      = medium
+  procs_font_size      = medium
+  appcast_font_size    = small
+
+  BUTTON_ONE = DEPLOY # DEPLOY=true
+  BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
+  BUTTON_TWO = RETURN # RETURN=true
+}
+
+//------------------------------------------
+// pNodeReporter config block
+
+ProcessConfig = pNodeReporter
+{
+  AppTick	= 2
+  CommsTick	= 2
+  VESSEL_TYPE   = KAYAK
+}

missions/alder/alder_orig.bhv

@@ -0,0 +1,41 @@
+//--------    FILE: alder.bhv   -------------
+
+initialize   DEPLOY = false
+initialize   RETURN = false
+
+//----------------------------------------------
+Behavior = BHV_SimpleWaypoint
+{ 
+  name      = waypt_to_point
+  pwt       = 100
+  condition = RETURN = false
+  condition = DEPLOY = true
+  endflag   = RETURN = true
+
+  speed      = 2.0   // meters per second
+  radius     = 8.0
+  ptx        = 100
+  pty        = -50
+}
+
+//----------------------------------------------
+Behavior = BHV_SimpleWaypoint
+{
+  name       = waypt_return
+  pwt        = 100
+  condition  = (RETURN = true)
+  condition  = (DEPLOY = true)
+
+  speed      = 2.0
+  radius     = 8.0
+  ptx        = 0
+  pty        = 0
+}
+
+//----------------------------------------------
+Behavior = BHV_HSLine
+{
+  name        = hsline
+  time_on_leg = 20
+}
+

missions/h100.moos

@@ -0,0 +1,59 @@
+// MOOS file
+// 板卡 (RK3588 / Ubuntu 20.04) 专用 mission 配置
+// 四个 systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU）共用本文件。
+// 由 scripts/deploy.sh 推送到板卡 /root/work/h100/missions/h100.moos
+
+ServerHost = localhost
+ServerPort = 9000
+Community  = h100
+
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+   log_level = INFO
+   // 日志文件路径（目录需已存在，由 deploy.sh 创建）
+   logpath = /root/work/h100/data/pPowerManger.log
+   // 数据库存储路径（目录需已存在，由 deploy.sh 创建）
+   dbpath = /root/work/h100/data/power_data.db
+   // CCU 地址（pPowerManger -> pCCU 的 UDP 链路）；不配置则默认 127.0.0.1:7000
+   ccuhost = 127.0.0.1
+   ccuport = 7000
+}
+
+ProcessConfig = pPowerMangerHost
+{
+   AppTick   = 4
+   CommsTick = 4
+   WEB_PORT  = 18080
+
+   // 反馈落盘（SQLite），路径可配置；目录不存在会自动创建
+   DB_FILE                       = /root/work/h100/data/feedback_data.db
+   FB_LOG_ENABLED                = true
+   FB_LOG_KEEP_SECONDS           = 86400   // 历史保留时长（秒），24h
+   FB_LOG_PRUNE_INTERVAL_SECONDS = 60      // 清理检查周期（秒）
+}
+
+ProcessConfig = pCCU
+{
+   AppTick   = 4
+   CommsTick = 4
+
+   // FC 链路（本机监听 FC 状态；发送 FC 控制指令给燃料电池控制器）
+   fc_local_port  = 6000
+   fc_remote_ip   = 192.168.1.162
+   fc_remote_port = 7000
+
+   // PM 链路（监听 pPowerManger 指令；向 pPowerManger 周期发送 PM 状态）
+   // pPowerManger 与 pCCU 同机部署，pPowerManger 绑定 0.0.0.0:5001，
+   // 故 PM 状态发送目标用回环地址即可送达。
+   pm_local_port  = 7000
+   pm_remote_ip   = 127.0.0.1
+   pm_remote_port = 5001
+
+   dbpath  = /root/work/h100/data/pccu_data.db
+   logpath = /root/work/h100/data/pCCU.log
+
+   web_port   = 8080
+   web_enable = true
+}

missions/pPowerManger.moos

@@ -0,0 +1,8 @@
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+   // CCU 地址；不配置则默认 127.0.0.1:7000
+   // ccuhost = 127.0.0.1
+   // ccuport = 7000
+}

missions/xrelay/xrelay.moos

@@ -0,0 +1,54 @@
+// MOOS file
+
+ServerHost = localhost
+ServerPort = 9000
+
+//------------------------------------------
+// Antler configuration  block
+ProcessConfig = ANTLER
+{
+  MSBetweenLaunches = 200
+
+  Run = MOOSDB       @ NewConsole = false
+  Run = pXRelay      @ NewConsole = true ~ pXRelay_APPLES
+  Run = pXRelay      @ NewConsole = true ~ pXRelay_PEARS
+  Run = uXMS         @ NewConsole = true
+}
+
+
+//------------------------------------------
+// First pXRelay configuration block
+
+ProcessConfig = pXRelay_APPLES
+{
+   AppTick   = 4
+   CommsTick = 4
+ 
+   OUTGOING_VAR = APPLES
+   INCOMING_VAR = PEARS
+}
+
+//------------------------------------------
+// Second pXRelay configuration block
+
+ProcessConfig = pXRelay_PEARS
+{
+   AppTick   = 4
+   CommsTick = 4
+ 
+   OUTGOING_VAR = PEARS
+   INCOMING_VAR = APPLES
+}
+
+//------------------------------------------
+// uXMS configuration block
+
+ProcessConfig = uXMS
+{
+   AppTick   = 4
+   CommsTick = 4
+ 
+   VAR = PEARS,  PEARS_ITER_HZ,  PEARS_POST_HZ
+   VAR = APPLES, APPLES_ITER_HZ, APPLES_POST_HZ
+}
+

output.dbc

@@ -0,0 +1,232 @@
+VERSION ""
+
+
+NS_ : 
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: 
+
+
+BO_ 2483135745 CircuitBreakerControl1: 8 Vector__XXX
+ SG_ CoolingWaterValveControl : 26|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC5PowerControl : 24|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ReserveBreakerControl : 22|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ TYZReserveBreakerControl : 20|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FBReserveBreakerControl : 18|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternSwitch2BreakerControl : 16|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternSwitch1BreakerControl : 14|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternFT45BreakerControl : 12|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowPanelBreakerControl : 10|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC5BreakerControl : 8|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryMeterBreakerControl : 6|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MotorBreakerControl : 4|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryBreakerControl : 2|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelCellBreakerControl : 0|2@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2483201281 CircuitBreakerControl2: 8 Vector__XXX
+ SG_ OpenWaterMechanismControl : 10|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowRudderControl : 8|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ XCBreakerControl : 6|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MastRudderControl : 4|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ OpeningMechanismControl : 2|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowFloatAdjustControl : 0|2@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2483266817 CircuitBreakerControl3: 8 Vector__XXX
+ SG_ SternEmergencyBatteryControl : 12|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Reserve2Control : 10|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Reserve1Control : 8|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ HighVoltageControllerControl : 6|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ U4BreakerControl : 4|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowLowVoltageControl : 2|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryAccessControl : 0|2@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2483332353 CircuitBreakerControl4: 8 Vector__XXX
+ SG_ BowEmergencyBatteryControl : 14|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Reserve4Control : 12|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Reserve3Control : 10|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowJettisonControl : 8|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ U5BreakerControl : 6|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ U3BreakerControl : 4|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ U2BreakerControl : 2|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ U1BreakerControl : 0|2@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560950529 CircuitBreakerFeedback: 8 Vector__XXX
+ SG_ DCDC_Temperature : 48|8@1- (1,0) [0|0] "" Vector__XXX
+ SG_ EmergencyPowerLoss : 43|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterPowerLoss : 42|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BusA_InsulationLow : 41|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PowerBus_InsulationLow : 40|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ CoolingPump2_Running : 38|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ CoolingPump1_Running : 37|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ CoolingWaterLeak : 36|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ CoolingPump2_Fault : 35|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ CoolingPump1_Fault : 34|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_Running : 33|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_CommFault : 32|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_InternalFault : 31|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_ShortCircuit : 30|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_InputUnderVoltage : 29|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_InputOverVoltage : 28|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_UnderVoltage : 27|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_OverVoltage : 26|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_OverCurrent : 25|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC_OverTemp : 24|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ReserveBreaker_Status : 22|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ TYZReserveBreaker_Status : 20|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FBReserveBreaker_Status : 18|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternSwitch2Breaker_Status : 16|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternSwitch1Breaker_Status : 14|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternFT45Breaker_Status : 12|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowPanelBreaker_Status : 10|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC5Breaker_Status : 8|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryMeterBreaker_Status : 6|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MotorBreaker_Status : 4|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryBreaker_Status : 2|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelCellBreaker_Status : 0|2@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560950785 PowerBusFeedback: 8 Vector__XXX
+ SG_ BusA_Voltage : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PowerBus_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCDC5_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PowerBus_Voltage : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560951041 CurrentFeedback: 8 Vector__XXX
+ SG_ BowPowerBox_Current : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryMeter_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BusA_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PropulsionMotor_Current : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560951297 SternCurrentFeedback: 8 Vector__XXX
+ SG_ Reserve_Current : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternSwitch1_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ TYZReserve_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternFT45_Current : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560951553 SternAdditionalFeedback: 8 Vector__XXX
+ SG_ CoolingWater_Pressure : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FBReserve_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Reserve2_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SternSwitch2_Current : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560951809 BowBreakerFeedback: 8 Vector__XXX
+ SG_ WaterLeakAlarm : 14|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ EmergencyPowerLoss : 13|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterPowerLoss : 12|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ OpenWaterMechanismBreaker_Status : 10|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowRudderBreaker_Status : 8|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ XCZBreaker_Status : 6|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MastRudderBreaker_Status : 4|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ OpeningMechanismBreaker_Status : 2|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowFT13Breaker_Status : 0|2@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560952065 BusBFeedback: 8 Vector__XXX
+ SG_ OpeningMechanism_Current : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowFT13_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BusB_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BusB_Voltage : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560952321 BowMechanismFeedback: 8 Vector__XXX
+ SG_ OpenWaterMechanism_Current : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowRudder_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ XCZ_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MastRudder_Current : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560952577 MeterBreakerFeedback: 8 Vector__XXX
+ SG_ MeterBusInsulationLow : 18|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ EmergencyPowerLoss : 17|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterPowerLoss : 16|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ EmergencyBattery2Breaker_Status : 12|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Reserve2Breaker_Status : 10|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Reserve1Breaker_Status : 8|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCC1Breaker_Status : 6|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Unit4MeterBreaker_Status : 4|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowLowVoltageBoxBreaker_Status : 2|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryMeterBreaker_Status : 0|2@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560952833 MeterBusFeedback: 8 Vector__XXX
+ SG_ Reserve3_Current : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ DCC1Meter_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowLowVoltageBox_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterBus_Voltage : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560953089 EmergencyBatteryFeedback: 8 Vector__XXX
+ SG_ Reserve4_Current : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Unit4Meter_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BatteryMeter_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ EmergencyBattery2_Current : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560953345 EmergencyBus2Feedback: 8 Vector__XXX
+ SG_ PLCPower_Current : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ FuelCellEmergency_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ EnergySystemEmergency_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ EmergencyBus2_Voltage : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560953601 UnitBreakerFeedback: 8 Vector__XXX
+ SG_ WaterLeakAlarm : 18|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ EmergencyPowerLoss : 17|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterPowerLoss : 16|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ EmergencyBattery1Breaker_Status : 14|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Reserve6Breaker_Status : 12|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Reserve5Breaker_Status : 10|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowPZBreaker_Status : 8|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Unit5Breaker_Status : 6|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Unit3Breaker_Status : 4|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Unit2Breaker_Status : 2|2@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Unit1Breaker_Status : 0|2@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560953857 MeterBus2Feedback: 8 Vector__XXX
+ SG_ Unit2_Current : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Unit1_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterBus2_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ MeterBus2_Voltage : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560954113 UnitCurrentFeedback: 8 Vector__XXX
+ SG_ EmergencyBattery1_Current : 48|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ BowPZ_Current : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Unit5_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Unit3_Current : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2560954369 EmergencyBus1Feedback: 8 Vector__XXX
+ SG_ ControlPower24V_Current : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ EmergencyBus1_Voltage : 0|16@1+ (1,0) [0|0] "" Vector__XXX
+
+
+
+
+
+
+
+
+
+
+
+

scripts/GenMOOSApp

@@ -0,0 +1,401 @@
+#!/bin/bash
+
+if [ -d "$2$1" ]; then
+    echo "$2$1 already exists... quitting."
+    exit 1
+fi
+
+if [ -z "$1" ] ; then
+    echo "GenMOOSApp: usage: $0 [app-name] [prefix]"
+    exit 0
+fi
+
+if [ -z "$2" ] ; then
+    echo "GenMOOSApp: usage: $0 [app-name] [prefix]"
+    exit 0
+fi
+
+#if [ -z "$3" ] ; then
+#    $3="YOUR-NAME-HERE"
+#fi
+
+mkdir $2$1
+cd $2$1
+
+cat > CMakeLists.txt <<EOF
+#--------------------------------------------------------
+# The CMakeLists.txt for:                       $2$1
+# Author(s):                              $3
+#--------------------------------------------------------
+
+SET(SRC
+  ${1}.cpp
+  ${1}_Info.cpp
+  main.cpp
+)
+
+ADD_EXECUTABLE($2$1 \${SRC})
+
+TARGET_LINK_LIBRARIES($2$1
+   \${MOOS_LIBRARIES}
+   mbutil
+   m
+   pthread)
+
+EOF
+
+cat > ${1}.h <<EOF
+/************************************************************/
+/*    NAME: $3                                              */
+/*    ORGN: MIT                                             */
+/*    FILE: ${1}.h                                          */
+/*    DATE:                                                 */
+/************************************************************/
+
+#ifndef ${1}_HEADER
+#define ${1}_HEADER
+
+#include "MOOS/libMOOS/MOOSLib.h"
+
+class ${1} : public CMOOSApp
+{
+ public:
+   ${1}();
+   ~${1}();
+
+ protected: // Standard MOOSApp functions to overload  
+   bool OnNewMail(MOOSMSG_LIST &NewMail);
+   bool Iterate();
+   bool OnConnectToServer();
+   bool OnStartUp();
+
+ protected:
+   void RegisterVariables();
+
+ private: // Configuration variables
+
+ private: // State variables
+};
+
+#endif 
+EOF
+
+cat > main.cpp <<EOF
+/************************************************************/
+/*    NAME: $3                                              */
+/*    ORGN: MIT                                             */
+/*    FILE: main.cpp                                        */
+/*    DATE:                                                 */
+/************************************************************/
+
+#include <string>
+#include "MBUtils.h"
+#include "ColorParse.h"
+#include "${1}.h"
+#include "${1}_Info.h"
+
+using namespace std;
+
+int main(int argc, char *argv[])
+{
+  string mission_file;
+  string run_command = argv[0];
+
+  for(int i=1; i<argc; i++) {
+    string argi = argv[i];
+    if((argi=="-v") || (argi=="--version") || (argi=="-version"))
+      showReleaseInfoAndExit();
+    else if((argi=="-e") || (argi=="--example") || (argi=="-example"))
+      showExampleConfigAndExit();
+    else if((argi == "-h") || (argi == "--help") || (argi=="-help"))
+      showHelpAndExit();
+    else if((argi == "-i") || (argi == "--interface"))
+      showInterfaceAndExit();
+    else if(strEnds(argi, ".moos") || strEnds(argi, ".moos++"))
+      mission_file = argv[i];
+    else if(strBegins(argi, "--alias="))
+      run_command = argi.substr(8);
+    else if(i==2)
+      run_command = argi;
+  }
+  
+  if(mission_file == "")
+    showHelpAndExit();
+
+  cout << termColor("green");
+  cout << "${2}${1} launching as " << run_command << endl;
+  cout << termColor() << endl;
+
+  ${1} ${1};
+
+  ${1}.Run(run_command.c_str(), mission_file.c_str());
+  
+  return(0);
+}
+
+EOF
+
+cat > $2${1}.moos <<EOF
+//------------------------------------------------
+// ${2}${1} config block
+
+ProcessConfig = ${2}${1}
+{
+   AppTick   = 4
+   CommsTick = 4
+}
+
+EOF
+
+cat > ${1}.cpp <<EOF
+/************************************************************/
+/*    NAME: $3                                              */
+/*    ORGN: MIT                                             */
+/*    FILE: ${1}.cpp                                        */
+/*    DATE:                                                 */
+/************************************************************/
+
+#include <iterator>
+#include "MBUtils.h"
+#include "${1}.h"
+
+using namespace std;
+
+//---------------------------------------------------------
+// Constructor
+
+${1}::${1}()
+{
+}
+
+//---------------------------------------------------------
+// Destructor
+
+${1}::~${1}()
+{
+}
+
+//---------------------------------------------------------
+// Procedure: OnNewMail
+
+bool ${1}::OnNewMail(MOOSMSG_LIST &NewMail)
+{
+  MOOSMSG_LIST::iterator p;
+   
+  for(p=NewMail.begin(); p!=NewMail.end(); p++) {
+    CMOOSMsg &msg = *p;
+
+#if 0 // Keep these around just for template
+    string key   = msg.GetKey();
+    string comm  = msg.GetCommunity();
+    double dval  = msg.GetDouble();
+    string sval  = msg.GetString(); 
+    string msrc  = msg.GetSource();
+    double mtime = msg.GetTime();
+    bool   mdbl  = msg.IsDouble();
+    bool   mstr  = msg.IsString();
+#endif
+   }
+	
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: OnConnectToServer
+
+bool ${1}::OnConnectToServer()
+{
+   RegisterVariables();
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: Iterate()
+//            happens AppTick times per second
+
+bool ${1}::Iterate()
+{
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: OnStartUp()
+//            happens before connection is open
+
+bool ${1}::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 == "foo") {
+        //handled
+      }
+      else if(param == "bar") {
+        //handled
+      }
+    }
+  }
+  
+  RegisterVariables();	
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: RegisterVariables
+
+void ${1}::RegisterVariables()
+{
+  // Register("FOOBAR", 0);
+}
+
+EOF
+
+
+cat > ${1}_Info.h <<EOF
+/****************************************************************/
+/*   NAME: ${3}                                             */
+/*   ORGN: MIT Cambridge MA                                     */
+/*   FILE: ${1}_Info.h                                      */
+/*   DATE: Dec 29th 1963                                        */
+/****************************************************************/
+
+#ifndef ${1}_INFO_HEADER
+#define ${1}_INFO_HEADER
+
+void showSynopsis();
+void showHelpAndExit();
+void showExampleConfigAndExit();
+void showInterfaceAndExit();
+void showReleaseInfoAndExit();
+
+#endif
+
+EOF
+
+
+cat > ${1}_Info.cpp <<EOF
+/****************************************************************/
+/*   NAME: ${3}                                             */
+/*   ORGN: MIT Cambridge MA                                     */
+/*   FILE: ${1}_Info.cpp                               */
+/*   DATE: Dec 29th 1963                                        */
+/****************************************************************/
+
+#include <cstdlib>
+#include <iostream>
+#include "${1}_Info.h"
+#include "ColorParse.h"
+#include "ReleaseInfo.h"
+
+using namespace std;
+
+//----------------------------------------------------------------
+// Procedure: showSynopsis
+
+void showSynopsis()
+{
+  blk("SYNOPSIS:                                                       ");
+  blk("------------------------------------                            ");
+  blk("  The ${2}${1} application is used for               ");
+  blk("                                                                ");
+  blk("                                                                ");
+  blk("                                                                ");
+  blk("                                                                ");
+}
+
+//----------------------------------------------------------------
+// Procedure: showHelpAndExit
+
+void showHelpAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("Usage: ${2}${1} file.moos [OPTIONS]                   ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("Options:                                                        ");
+  mag("  --alias","=<ProcessName>                                      ");
+  blk("      Launch ${2}${1} with the given process name         ");
+  blk("      rather than ${2}${1}.                           ");
+  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 ${2}${1}.        ");
+  blk("                                                                ");
+  blk("Note: If argv[2] does not otherwise match a known option,       ");
+  blk("      then it will be interpreted as a run alias. This is       ");
+  blk("      to support pAntler launching conventions.                 ");
+  blk("                                                                ");
+  exit(0);
+}
+
+//----------------------------------------------------------------
+// Procedure: showExampleConfigAndExit
+
+void showExampleConfigAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("${2}${1} Example MOOS Configuration                   ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  blk("ProcessConfig = ${2}${1}                              ");
+  blk("{                                                               ");
+  blk("  AppTick   = 4                                                 ");
+  blk("  CommsTick = 4                                                 ");
+  blk("                                                                ");
+  blk("}                                                               ");
+  blk("                                                                ");
+  exit(0);
+}
+
+
+//----------------------------------------------------------------
+// Procedure: showInterfaceAndExit
+
+void showInterfaceAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("${2}${1} INTERFACE                                    ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("SUBSCRIPTIONS:                                                  ");
+  blk("------------------------------------                            ");
+  blk("  NODE_MESSAGE = src_node=alpha,dest_node=bravo,var_name=FOO,   ");
+  blk("                 string_val=BAR                                 ");
+  blk("                                                                ");
+  blk("PUBLICATIONS:                                                   ");
+  blk("------------------------------------                            ");
+  blk("  Publications are determined by the node message content.      ");
+  blk("                                                                ");
+  exit(0);
+}
+
+//----------------------------------------------------------------
+// Procedure: showReleaseInfoAndExit
+
+void showReleaseInfoAndExit()
+{
+  showReleaseInfo("${2}${1}", "gpl");
+  exit(0);
+}
+
+EOF
+
+
+echo "$2${1} generated"

scripts/README

@@ -0,0 +1,5 @@
+This directory may contain developer utility scripts.
+
+The MyGenMOOSApp script is similar to that found in the moos-ivp/trunk/scripts/
+directory. Users are encouraged to tailor this one to their own needs.
+

scripts/build-arm64-image.sh

@@ -0,0 +1,60 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/build-arm64-image.sh
+# DESC:  一次性构建 arm64 CI 镜像（MOOS-IvP + jsoncpp + GTest）。
+#        构建产物缓存后，日常交叉编译只需 ./scripts/build-arm64.sh。
+#
+# 用法:
+#   CI_TOKEN=xxx ./scripts/build-arm64-image.sh          # 构建（已存在则跳过）
+#   CI_TOKEN=xxx ./scripts/build-arm64-image.sh --force  # 强制重新构建
+#
+# 环境变量:
+#   CI_TOKEN   内网 Gitea token（拉取 moos-ivp / googletest 镜像，兼容 GITEA_TOKEN）
+#=======================================================================
+
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+IMAGE="h100-power-manager-ci:arm64"
+GITEA_TOKEN="${CI_TOKEN:-${GITEA_TOKEN:-}}"
+FORCE=0
+[ "${1:-}" = "--force" ] && FORCE=1
+
+if [ -z "${GITEA_TOKEN}" ]; then
+    echo "错误: 缺少内网 Gitea token。" >&2
+    echo "  请设置:  CI_TOKEN=xxx ./scripts/build-arm64-image.sh" >&2
+    exit 1
+fi
+
+if ! command -v docker >/dev/null 2>&1; then
+    echo "错误: 未找到 docker" >&2
+    exit 1
+fi
+
+if ! docker info >/dev/null 2>&1; then
+    echo "错误: 无法连接 docker daemon（是否需要用 sudo？）" >&2
+    exit 1
+fi
+
+if ! docker buildx version >/dev/null 2>&1; then
+    echo "错误: 未找到 buildx。请安装:  sudo apt-get install -y docker-buildx" >&2
+    exit 1
+fi
+
+if [ "${FORCE}" = "0" ] && docker image inspect "${IMAGE}" >/dev/null 2>&1; then
+    echo ">>> 已存在镜像 ${IMAGE}，跳过构建（如需重建: ${0} --force）"
+    exit 0
+fi
+if [ "${FORCE}" = "1" ]; then
+    echo ">>> --force: 重新构建镜像 ${IMAGE}"
+fi
+
+CI_TOKEN="${GITEA_TOKEN}" docker buildx build \
+    --platform linux/arm64 \
+    --load \
+    --secret id=gitea_token,env=CI_TOKEN \
+    -t "${IMAGE}" -f "${PROJECT_ROOT}/ci/Dockerfile" "${PROJECT_ROOT}"
+
+echo ">>> 镜像构建完成: ${IMAGE}"

scripts/build-arm64.sh

@@ -0,0 +1,42 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/build-arm64.sh
+# DESC:  交叉编译为 RK3588 (aarch64) / Ubuntu 22.04 二进制，用法同 build.sh。
+#        在 arm64 镜像（h100-power-manager-ci:arm64）内跑 cmake + make，
+#        产物输出到 bin/arm64/，与本地 x86_64 的 bin/、build/ 互不影响。
+#
+# 用法:
+#   ./scripts/build-arm64.sh
+#
+# 前置（一次性，构建 arm64 镜像）:
+#   CI_TOKEN=xxx ./scripts/build-arm64-image.sh
+#=======================================================================
+
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+IMAGE="h100-power-manager-ci:arm64"
+JOBS="${JOBS:-$(nproc)}"
+
+if ! docker image inspect "${IMAGE}" >/dev/null 2>&1; then
+    echo "错误: 本地不存在镜像 ${IMAGE}" >&2
+    echo "  请先执行:  CI_TOKEN=xxx ./scripts/build-arm64-image.sh" >&2
+    exit 1
+fi
+
+mkdir -p "${PROJECT_ROOT}/build-arm64" "${PROJECT_ROOT}/bin/arm64"
+
+docker run --rm --platform linux/arm64 \
+    -u "$(id -u):$(id -g)" \
+    -v "${PROJECT_ROOT}":/src \
+    -w /src/build-arm64 \
+    "${IMAGE}" \
+    /bin/sh -c "cmake -DCMAKE_BUILD_TYPE=Release \
+        -DEXECUTABLE_OUTPUT_PATH=/src/bin/arm64 \
+        -DRUNTIME_OUTPUT_DIRECTORY=/src/bin/arm64 .. && make -j${JOBS}"
+
+echo ""
+echo ">>> 完成。产物:"
+file "${PROJECT_ROOT}/bin/arm64/pPowerManger"

scripts/build-board.sh

@@ -0,0 +1,237 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/build-board.sh
+# DESC:  把源码同步到目标板卡 (RK3588 / Ubuntu 22.04)，在板卡原生编译
+#        （aarch64 直编，比本地 QEMU 模拟快约 10 倍），并把产物部署到
+#        /root/work/h100/bin/，可选重启 systemd 服务。
+#
+# 用法:
+#   ./scripts/build-board.sh                       # 同步+编译+部署（不重启）
+#   ./scripts/build-board.sh --start               # 编译后重启 3 个服务
+#   ./scripts/build-board.sh --clean               # 板卡上重新 cmake 再编译
+#   ./scripts/build-board.sh --jobs 4              # 指定并行度（默认板卡 nproc）
+#
+# 参数:
+#   --host <ip>      目标主机（默认 192.168.0.223）
+#   --user <user>    登录用户（默认 root）
+#   --board-src <dir> 板卡源码目录（默认 /root/work/h100/src）
+#   --board-bin <dir> 板卡部署目录（默认 /root/work/h100/bin）
+#   --jobs <n>       编译并行度（默认板卡 nproc）
+#   --start          编译部署后重启服务
+#   --clean          先重新 cmake（配置变更时用）
+#   --ccu-host <ip>  覆盖 mission 中 pPowerManger 的 CCU 地址 (ccuhost)
+#   --ccu-port <n>   覆盖 mission 中 pPowerManger 的 CCU 端口 (ccuport)
+#   -h, --help       显示帮助
+#
+# 前置: 板卡已配免密 SSH，且有编译环境（cmake/g++/MOOS/jsoncpp），
+#       源码已能本地编译（本脚本只负责同步+板卡编译）。
+#
+# !!!! 板卡网络配置（2026-08-26 联调定型，勿随意修改） !!!!
+#
+# 板卡与 FC 的组网为"单网卡 + /23 掩码"方案（依据《超滑FC和复合管控器
+# 通讯协议-0821》1.1.1：CCU 192.168.0.140/23 <-> FC 192.168.1.162）：
+#
+#   enP3p49s0  192.168.0.223/23 (255.255.254.0)  <- 唯一业务网口，接交换机
+#               /23 使 192.168.0.x 与 192.168.1.x 同子网直达，
+#               FC(192.168.1.162) 无需网关即可互通。
+#               NM 配置档案: "有线连接 1"（静态 manual，已持久化）
+#   enP4p65s0  已弃用（旧双网卡方案的 FC 专口，物理链路已断）
+#   回环 lo    pPowerManger(5001) <-> pCCU(7000) 同机 UDP 互通
+#
+# 关联端口:
+#   FC 状态:  FC:7000 -> 板卡:6000 (pCCU 监听)
+#   FC 控制:  板卡:6000 -> FC:7000 (pCCU 发送)
+#   PM 指令:  pPowerManger:5001 -> pCCU:7000 (127.0.0.1，
+#             见 missions/h100.moos ccuhost/ccuport，默认值在 PowerManger.h CCUHOST)
+#   PM 状态:  pCCU:7000 -> pPowerManger:5001 (127.0.0.1)
+#
+# 排障提示:
+#   - 若收不到 FC 状态，先在板卡上 `ethtool enP3p49s0` 看 Link detected，
+#     再 `ping 192.168.1.162`；ping 不通通常是物理链路/交换机问题，
+#     不要改回 /24 掩码或启用 enP4p65s0 来"修"网络。
+#   - 改 IP/掩码须用 `nmcli con mod "有线连接 1" ...` 持久化，
+#     并保持掩码 /23。
+#=======================================================================
+
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+HOST="192.168.0.223"
+USER="root"
+BOARD_SRC="/root/work/h100/src"
+BOARD_BIN="/root/work/h100/bin"
+JOBS=""
+DO_START=0
+DO_CLEAN=0
+CCU_HOST=""
+CCU_PORT=""
+
+SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
+
+info() { printf '\033[1;36m[build-board]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[build-board]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[build-board]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[build-board]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,31p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)      [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)      [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --board-src) [ $# -ge 2 ] || { err "--board-src 需要参数"; exit 1; }; BOARD_SRC="$2"; shift 2 ;;
+        --board-bin) [ $# -ge 2 ] || { err "--board-bin 需要参数"; exit 1; }; BOARD_BIN="$2"; shift 2 ;;
+        --jobs)      [ $# -ge 2 ] || { err "--jobs 需要参数"; exit 1; }; JOBS="$2"; shift 2 ;;
+        --start)     DO_START=1; shift ;;
+        --clean)     DO_CLEAN=1; shift ;;
+        --ccu-host)  [ $# -ge 2 ] || { err "--ccu-host 需要参数"; exit 1; }; CCU_HOST="$2"; shift 2 ;;
+        --ccu-port)  [ $# -ge 2 ] || { err "--ccu-port 需要参数"; exit 1; }; CCU_PORT="$2"; shift 2 ;;
+        -h|--help)   usage ;;
+        *)           err "未知参数: $1（见 --help）"; exit 1 ;;
+    esac
+done
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+
+case "${CCU_PORT}" in
+    ""|*[!0-9]*) [ -z "${CCU_PORT}" ] || { err "--ccu-port 必须是数字端口: ${CCU_PORT}"; exit 1; } ;;
+esac
+
+#-------------------------------------------------------------------
+# 1. 前置检查
+#-------------------------------------------------------------------
+if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
+    err "无法免密 SSH 到 ${SSH_TARGET}"
+    err "请先配置免密登录: ssh-copy-id ${SSH_TARGET}"
+    exit 1
+fi
+ok "SSH 连接正常: ${SSH_TARGET}"
+
+#-------------------------------------------------------------------
+# mission 中插入/替换 "key = value"（键已存在则替换，否则插到第一个
+# 顶层 '}' 之前，即 pPowerManger 配置块末尾）
+#-------------------------------------------------------------------
+upsert_moos_param() {
+    local f="$1" key="$2" val="$3"
+    if grep -qE "^[[:space:]]*${key}[[:space:]]*=" "${f}"; then
+        sed -i -E "s|^([[:space:]]*)${key}[[:space:]]*=.*|\1${key} = ${val}|" "${f}"
+    else
+        awk -v kv="   ${key} = ${val}" \
+            '!d && /^[[:space:]]*}[[:space:]]*$/ { print kv; d=1 } { print }' \
+            "${f}" > "${f}.tmp" && mv "${f}.tmp" "${f}"
+    fi
+}
+
+#-------------------------------------------------------------------
+# 2. 同步源码到板卡（排除构建产物 / git / 数据）
+#-------------------------------------------------------------------
+info "同步源码到板卡 ${BOARD_SRC} ..."
+rsync -az --delete \
+    --exclude='build/' \
+    --exclude='build-arm64/' \
+    --exclude='build-native/' \
+    --exclude='build-nosa-test/' \
+    --exclude='bin/' \
+    --exclude='.git/' \
+    --exclude='.cache/' \
+    --exclude='.kilo/' \
+    --exclude='.vscode/' \
+    --exclude='docs/' \
+    --exclude='reports/' \
+    --exclude='*.log' \
+    --exclude='*.db' \
+    --exclude='CMakeCache.txt' \
+    "${PROJECT_ROOT}/" "${SSH_TARGET}:${BOARD_SRC}/" || { err "rsync 源码失败"; exit 1; }
+ok "源码已同步"
+
+if [ -f "${PROJECT_ROOT}/missions/h100.moos" ]; then
+    info "同步 mission h100.moos ..."
+    local_mission="${PROJECT_ROOT}/missions/h100.moos"
+    tmp_moos=""
+    if [ -n "${CCU_HOST}" ] || [ -n "${CCU_PORT}" ]; then
+        tmp_moos="$(mktemp)"
+        cp "${local_mission}" "${tmp_moos}"
+        [ -n "${CCU_HOST}" ] && upsert_moos_param "${tmp_moos}" ccuhost "${CCU_HOST}"
+        [ -n "${CCU_PORT}" ] && upsert_moos_param "${tmp_moos}" ccuport "${CCU_PORT}"
+        local_mission="${tmp_moos}"
+        info "CCU 地址覆盖: ccuhost=${CCU_HOST:-<保持原值>} ccuport=${CCU_PORT:-<保持原值>}"
+    fi
+    rsync -az "${local_mission}" \
+        "${SSH_TARGET}:/root/work/h100/missions/h100.moos" || { err "rsync mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; exit 1; }
+    [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
+    ok "mission 已同步"
+fi
+
+#-------------------------------------------------------------------
+# 3. 板卡原生编译
+#-------------------------------------------------------------------
+if [ "${DO_CLEAN}" = "1" ]; then
+    info "重新 cmake（--clean）..."
+    ${SSH} "${SSH_TARGET}" "rm -rf ${BOARD_SRC}/build-native && mkdir -p ${BOARD_SRC}/build-native && \
+        cd ${BOARD_SRC}/build-native && cmake -DCMAKE_BUILD_TYPE=Release .." \
+        || { err "cmake 失败"; exit 1; }
+    ok "cmake 完成"
+else
+    ${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_SRC}/build-native"
+    # 若首次未配置过则先 cmake
+    if ! ${SSH} "${SSH_TARGET}" "[ -f ${BOARD_SRC}/build-native/Makefile ]"; then
+        info "首次编译，先 cmake ..."
+        ${SSH} "${SSH_TARGET}" "cd ${BOARD_SRC}/build-native && cmake -DCMAKE_BUILD_TYPE=Release .." \
+            || { err "cmake 失败"; exit 1; }
+        ok "cmake 完成"
+    fi
+fi
+
+if [ -z "${JOBS}" ]; then
+    JOBS="$(${SSH} "${SSH_TARGET}" nproc)"
+fi
+
+info "板卡编译 (make -j${JOBS}) ..."
+if ! ${SSH} "${SSH_TARGET}" "cd ${BOARD_SRC}/build-native && make -j${JOBS}"; then
+    err "板卡编译失败（见上方输出）"
+    exit 1
+fi
+ok "板卡编译完成"
+
+#-------------------------------------------------------------------
+# 4. 部署产物到板卡运行目录
+#-------------------------------------------------------------------
+info "部署产物到 ${BOARD_BIN}/ ..."
+${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_BIN} && \
+    cp -f ${BOARD_SRC}/bin/pPowerManger ${BOARD_BIN}/pPowerManger && \
+    cp -f ${BOARD_SRC}/bin/pPowerMangerHost ${BOARD_BIN}/pPowerMangerHost && \
+    cp -f ${BOARD_SRC}/bin/pCCU ${BOARD_BIN}/pCCU && \
+    chmod +x ${BOARD_BIN}/pPowerManger ${BOARD_BIN}/pPowerMangerHost ${BOARD_BIN}/pCCU" \
+    || { err "部署产物失败"; exit 1; }
+ok "产物已部署"
+
+echo ""
+ok "产物: ${BOARD_BIN}/pPowerManger (aarch64)"
+${SSH} "${SSH_TARGET}" "file ${BOARD_BIN}/pPowerManger | cut -c1-60"
+
+#-------------------------------------------------------------------
+# 5. 可选重启服务
+#-------------------------------------------------------------------
+if [ "${DO_START}" = "1" ]; then
+    info "重启服务 ..."
+    ${SSH} "${SSH_TARGET}" "systemctl restart ${SERVICES[*]}" \
+        || { err "重启服务失败"; exit 1; }
+    sleep 3
+    ok "服务状态: $(${SSH} "${SSH_TARGET}" "systemctl is-active ${SERVICES[*]}")"
+else
+    echo ""
+    info "未重启服务。需要重启请加 --start 或手动:"
+    echo "    systemctl restart ${SERVICES[*]}"
+fi
+
+echo ""
+ok "完成。"

scripts/clean-data.sh

@@ -0,0 +1,138 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/clean-data.sh
+# DESC:  清理目标板卡 (RK3588 / Ubuntu 22.04) 上的数据库与日志文件。
+#        默认清理板卡运行目录 /root/work/h100/data/ 下的:
+#          power_data.db (+ -wal/-shm)  主机功率数据库
+#          feedback_data.db             反馈落盘数据库
+#          pPowerManger.log             主机运行日志
+#        默认先停止 4 个服务再清理（避免 SQLite WAL 仍在写入）。
+#
+# 用法:
+#   ./scripts/clean-data.sh                        # 停服务 -> 清理 data 目录（不重启）
+#   ./scripts/clean-data.sh --start                # 清理后重新启动 4 个服务
+#   ./scripts/clean-data.sh --no-stop              # 不停服务直接清理（慎用）
+#   ./scripts/clean-data.sh --stale                # 额外清理 bin/ 与 src/bin/ 下的旧 db/log
+#
+# 参数:
+#   --host <ip>       目标主机（默认 192.168.0.223）
+#   --user <user>     登录用户（默认 root）
+#   --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
+#   --start           清理后重启服务
+#   --no-stop         不停服务直接清理（慎用）
+#   --stale           额外清理历史遗留的 bin/、src/bin/ 下旧数据库与日志
+#   -h, --help        显示帮助
+#
+# 前置: 板卡已配免密 SSH（见 scripts/deploy.sh setup-ssh）。
+#=======================================================================
+
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+HOST="192.168.0.223"
+USER="root"
+BOARD_DIR="/root/work/h100"
+DO_START=0
+DO_STOP=1
+DO_STALE=0
+
+SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
+
+# 板卡 data 目录下需要清理的文件（含 SQLite WAL/SHM）
+DATA_FILES=(power_data.db power_data.db-wal power_data.db-shm feedback_data.db pPowerManger.log pccu_data.db pCCU.log)
+
+# 历史遗留目录（旧部署位置），仅当 --stale 时清理
+STALE_DIRS=("${BOARD_DIR}/bin" "${BOARD_DIR}/src/bin")
+
+info() { printf '\033[1;36m[clean-data]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[clean-data]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[clean-data]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[clean-data]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,29p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)      [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)      [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --board-dir) [ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
+        --start)     DO_START=1; shift ;;
+        --no-stop)   DO_STOP=0; shift ;;
+        --stale)     DO_STALE=1; shift ;;
+        -h|--help)   usage ;;
+        *)           err "未知参数: $1（见 --help）"; exit 1 ;;
+    esac
+done
+
+STALE_DIRS=("${BOARD_DIR}/bin" "${BOARD_DIR}/src/bin")
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+
+#-------------------------------------------------------------------
+# 1. 前置检查
+#-------------------------------------------------------------------
+if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
+    err "无法免密 SSH 到 ${SSH_TARGET}"
+    err "请先执行: ./scripts/deploy.sh setup-ssh"
+    exit 1
+fi
+ok "SSH 连接正常: ${SSH_TARGET}"
+
+#-------------------------------------------------------------------
+# 2. 停止服务（默认）
+#-------------------------------------------------------------------
+if [ "${DO_STOP}" = "1" ]; then
+    info "停止服务 ${SERVICES[*]} ..."
+    ${SSH} "${SSH_TARGET}" "systemctl stop pPowerMangerHost pPowerManger moosdb 2>/dev/null; true"
+    ok "服务已停止"
+else
+    warn "--no-stop：不停服务直接清理，可能产生脏数据（SQLite 仍在写入）"
+fi
+
+#-------------------------------------------------------------------
+# 3. 清理 data 目录
+#-------------------------------------------------------------------
+BOARD_DATA="${BOARD_DIR}/data"
+info "清理 ${BOARD_DATA}/ ..."
+for f in "${DATA_FILES[@]}"; do
+    ${SSH} "${SSH_TARGET}" "rm -f ${BOARD_DATA}/${f}" \
+        && ok "删除 ${f}" || warn "删除 ${f} 失败（可能不存在）"
+done
+
+#-------------------------------------------------------------------
+# 4. 可选: 清理历史遗留目录
+#-------------------------------------------------------------------
+if [ "${DO_STALE}" = "1" ]; then
+    for d in "${STALE_DIRS[@]}"; do
+        info "清理历史遗留 ${d}/ 下的 db/log ..."
+        ${SSH} "${SSH_TARGET}" "rm -f ${d}/power_data.db ${d}/power_data.db-wal ${d}/power_data.db-shm ${d}/feedback_data.db ${d}/pPowerManger.log 2>/dev/null; true"
+        ok "${d} 已清理"
+    done
+fi
+
+#-------------------------------------------------------------------
+# 5. 可选: 重启服务
+#-------------------------------------------------------------------
+if [ "${DO_START}" = "1" ]; then
+    info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU) ..."
+    ${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
+        systemctl start pPowerManger pPowerMangerHost pCCU" \
+        || { err "启动失败"; exit 1; }
+    ok "服务已启动"
+else
+    echo ""
+    info "清理完成，服务未启动。需要重启请加 --start 或手动:"
+    echo "    systemctl start moosdb pPowerManger pPowerMangerHost pCCU"
+fi
+
+echo ""
+ok "完成。"

scripts/deploy.sh

@@ -0,0 +1,288 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/deploy.sh
+# DESC:  部署 pPowerManger / pPowerMangerHost / pCCU（aarch64 二进制 +
+#        mission）到目标板卡 (RK3588 / Ubuntu 22.04)，并用四个独立
+#        systemd 服务（moosdb / pPowerManger / pPowerMangerHost / pCCU）
+#        管理。只安装服务 + daemon-reload，默认不启动、不自启。
+#
+# 用法:
+#   ./scripts/deploy.sh setup-ssh         一次性：生成 ed25519 key + ssh-copy-id
+#   ./scripts/deploy.sh                   默认：推送二进制 + mission + 装 4 个
+#                                         systemd 服务 + daemon-reload（不启动）
+#   ./scripts/deploy.sh --start           部署后按依赖顺序启动服务
+#   ./scripts/deploy.sh status            板卡 4 个服务状态
+#   ./scripts/deploy.sh stop              停止 4 个服务
+#   ./scripts/deploy.sh help              显示帮助
+#
+# 参数:
+#   --host <ip>      目标主机（默认 192.168.0.223）
+#   --user <user>    登录用户（默认 root）
+#   --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
+#   --start          部署后立即启动服务
+#   --ccu-host <ip>  覆盖 mission 中 pPowerManger 的 CCU 地址 (ccuhost)
+#   --ccu-port <n>   覆盖 mission 中 pPowerManger 的 CCU 端口 (ccuport)
+#
+# 板卡布局:
+#   /root/work/h100/bin/        aarch64 二进制
+#   /root/work/h100/missions/   板卡 mission h100.moos
+#   /root/work/h100/data/       数据库存储目录 (power_data.db 等)
+#   /etc/systemd/system/        moosdb.service / pPowerManger.service /
+#                               pPowerMangerHost.service / pCCU.service
+#=======================================================================
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+HOST="192.168.0.223"
+USER="root"
+BOARD_DIR="/root/work/h100"
+DO_START=0
+CCU_HOST=""
+CCU_PORT=""
+
+SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
+
+info() { printf '\033[1;36m[deploy]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[deploy]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[deploy]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[deploy]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,31p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+ACTION=""
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)     [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)     [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --board-dir)[ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
+        --start)    DO_START=1; shift ;;
+        --ccu-host) [ $# -ge 2 ] || { err "--ccu-host 需要参数"; exit 1; }; CCU_HOST="$2"; shift 2 ;;
+        --ccu-port) [ $# -ge 2 ] || { err "--ccu-port 需要参数"; exit 1; }; CCU_PORT="$2"; shift 2 ;;
+        setup-ssh|status|stop|help|-h|--help) ACTION="$1"; shift ;;
+        "") shift ;;
+        *) err "未知参数: $1（见 help）"; exit 1 ;;
+    esac
+done
+[ -n "${ACTION}" ] || ACTION="deploy"
+
+case "${CCU_PORT}" in
+    ""|*[!0-9]*) [ -z "${CCU_PORT}" ] || { err "--ccu-port 必须是数字端口: ${CCU_PORT}"; exit 1; } ;;
+esac
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+SCP="scp -o BatchMode=yes -o ConnectTimeout=5"
+
+#-------------------------------------------------------------------
+# 命令: setup-ssh
+#-------------------------------------------------------------------
+cmd_setup_ssh() {
+    local key="$HOME/.ssh/id_ed25519"
+    if [ ! -f "${key}" ]; then
+        info "未发现 SSH key，生成 ed25519 key ..."
+        mkdir -p "$HOME/.ssh" && chmod 700 "$HOME/.ssh"
+        ssh-keygen -t ed25519 -N '' -f "${key}"
+    fi
+    info "上传公钥到 ${SSH_TARGET}（会提示输入密码，仅此一次）..."
+    ssh-copy-id -o ConnectTimeout=5 "${SSH_TARGET}"
+    ok "免密 SSH 已配置。验证: ssh ${SSH_TARGET}"
+}
+
+#-------------------------------------------------------------------
+# 前置检查
+#-------------------------------------------------------------------
+check_local() {
+    local missing=0
+    for b in pPowerManger pPowerMangerHost pCCU; do
+        if [ ! -f "${PROJECT_ROOT}/bin/arm64/${b}" ]; then
+            err "缺少本地 aarch64 二进制: bin/arm64/${b}（先运行 ./scripts/build-arm64.sh）"; missing=1
+        elif ! file "${PROJECT_ROOT}/bin/arm64/${b}" | grep -q "aarch64"; then
+            err "bin/arm64/${b} 不是 aarch64 二进制"; missing=1
+        fi
+    done
+    if [ ! -f "${PROJECT_ROOT}/missions/h100.moos" ]; then
+        err "缺少板卡 mission: missions/h100.moos"; missing=1
+    fi
+    [ "${missing}" -eq 0 ] || return 1
+    ok "本地产物校验通过 (aarch64 + mission)"
+}
+
+check_ssh() {
+    if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
+        err "无法免密 SSH 到 ${SSH_TARGET}"
+        err "请先执行: ./scripts/deploy.sh setup-ssh"
+        return 1
+    fi
+    ok "SSH 连接正常: ${SSH_TARGET}"
+}
+
+#-------------------------------------------------------------------
+# 生成 systemd unit（含板卡绝对路径）
+#-------------------------------------------------------------------
+gen_moosdb_unit() {
+    # MOOSDB 路径在板卡探测；探测失败给出提示
+    local moosdb_bin
+    moosdb_bin="$(${SSH} "${SSH_TARGET}" 'command -v MOOSDB || true' 2>/dev/null)"
+    if [ -z "${moosdb_bin}" ]; then
+        moosdb_bin="$(command -v MOOSDB || true)"
+        warn "板卡未在 PATH 找到 MOOSDB，回退本机路径 ${moosdb_bin:-"(未找到)"}"
+        [ -n "${moosdb_bin}" ] || { err "MOOSDB 路径未知，无法生成 moosdb.service"; return 1; }
+    fi
+    ok "MOOSDB 路径: ${moosdb_bin}" >&2
+
+    cat <<EOF
+[Unit]
+Description=MOOSDB for H100 Power Manager
+After=network.target
+
+[Service]
+Type=simple
+ExecStart=${moosdb_bin} --moos_no_colour ${BOARD_DIR}/missions/h100.moos
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
+EOF
+}
+
+gen_app_unit() {
+    local app="$1" deps=""
+    [ "${app}" = "moosdb" ] || deps="After=moosdb.service\nRequires=moosdb.service"
+    cat <<EOF
+[Unit]
+Description=${app} for H100 Power Manager
+$(printf '%b' "${deps}")
+
+[Service]
+Type=simple
+WorkingDirectory=${BOARD_DIR}/bin
+ExecStart=${BOARD_DIR}/bin/${app} --alias=${app} ${BOARD_DIR}/missions/h100.moos
+Restart=on-failure
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
+EOF
+}
+
+#-------------------------------------------------------------------
+# mission 中插入/替换 "key = value"（键已存在则替换，否则插到第一个
+# 顶层 '}' 之前，即 pPowerManger 配置块末尾）
+#-------------------------------------------------------------------
+upsert_moos_param() {
+    local f="$1" key="$2" val="$3"
+    if grep -qE "^[[:space:]]*${key}[[:space:]]*=" "${f}"; then
+        sed -i -E "s|^([[:space:]]*)${key}[[:space:]]*=.*|\1${key} = ${val}|" "${f}"
+    else
+        awk -v kv="   ${key} = ${val}" \
+            '!d && /^[[:space:]]*}[[:space:]]*$/ { print kv; d=1 } { print }' \
+            "${f}" > "${f}.tmp" && mv "${f}.tmp" "${f}"
+    fi
+}
+
+#-------------------------------------------------------------------
+# 命令: deploy
+#-------------------------------------------------------------------
+cmd_deploy() {
+    check_local || return 1
+    check_ssh  || return 1
+
+    # 1. 推送二进制 + mission
+    info "创建板卡目录 ${BOARD_DIR}/{bin,missions,data} ..."
+    ${SSH} "${SSH_TARGET}" "mkdir -p ${BOARD_DIR}/bin ${BOARD_DIR}/missions ${BOARD_DIR}/data" || { err "创建目录失败"; return 1; }
+
+    info "推送 aarch64 二进制 ..."
+    ${SCP} -q "${PROJECT_ROOT}/bin/arm64/pPowerManger" \
+              "${PROJECT_ROOT}/bin/arm64/pPowerMangerHost" \
+              "${PROJECT_ROOT}/bin/arm64/pCCU" \
+              "${SSH_TARGET}:${BOARD_DIR}/bin/" || { err "推送二进制失败"; return 1; }
+
+    info "推送 mission h100.moos ..."
+    local mission_src="${PROJECT_ROOT}/missions/h100.moos"
+    local mission_push="${mission_src}" tmp_moos=""
+    if [ -n "${CCU_HOST}" ] || [ -n "${CCU_PORT}" ]; then
+        tmp_moos="$(mktemp)"
+        cp "${mission_src}" "${tmp_moos}"
+        [ -n "${CCU_HOST}" ] && upsert_moos_param "${tmp_moos}" ccuhost "${CCU_HOST}"
+        [ -n "${CCU_PORT}" ] && upsert_moos_param "${tmp_moos}" ccuport "${CCU_PORT}"
+        mission_push="${tmp_moos}"
+        info "CCU 地址覆盖: ccuhost=${CCU_HOST:-<保持原值>} ccuport=${CCU_PORT:-<保持原值>}"
+    fi
+    ${SCP} -q "${mission_push}" \
+              "${SSH_TARGET}:${BOARD_DIR}/missions/" || { err "推送 mission 失败"; [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"; return 1; }
+    [ -n "${tmp_moos}" ] && rm -f "${tmp_moos}"
+
+    ${SSH} "${SSH_TARGET}" "chmod +x ${BOARD_DIR}/bin/pPowerManger ${BOARD_DIR}/bin/pPowerMangerHost ${BOARD_DIR}/bin/pCCU"
+    ok "二进制与 mission 已推送"
+
+    # 2. 生成并安装 4 个 systemd unit
+    local unit
+    for s in "${SERVICES[@]}"; do
+        info "生成 ${s}.service ..."
+        if [ "${s}" = "moosdb" ]; then
+            unit="$(gen_moosdb_unit)" || return 1
+        else
+            unit="$(gen_app_unit "${s}")"
+        fi
+        printf '%s\n' "${unit}" | ${SSH} "${SSH_TARGET}" "cat > /etc/systemd/system/${s}.service"
+        ok "${s}.service 已安装"
+    done
+
+    # 3. daemon-reload（不 enable，不自启）
+    info "systemctl daemon-reload ..."
+    ${SSH} "${SSH_TARGET}" "systemctl daemon-reload && systemctl reset-failed ${SERVICES[*]} 2>/dev/null || true"
+    ok "服务已安装但未启用自启（systemctl is-enabled 应输出 disabled）"
+
+    # 4. 可选启动
+    if [ "${DO_START}" = "1" ]; then
+        cmd_start
+    else
+        echo ""
+        info "部署完成。手动启动（或加 --start）:"
+        echo "    systemctl start moosdb pPowerManger pPowerMangerHost pCCU"
+        echo "    浏览器: http://${HOST}:18080 (上位机模拟)"
+        echo "            http://${HOST}:8090  (pPowerManger)"
+        echo "            http://${HOST}:8080  (pCCU)"
+    fi
+}
+
+#-------------------------------------------------------------------
+# 命令: start / status / stop
+#-------------------------------------------------------------------
+cmd_start() {
+    info "启动服务 (moosdb -> pPowerManger / pPowerMangerHost / pCCU) ..."
+    ${SSH} "${SSH_TARGET}" "systemctl start moosdb && sleep 1 && \
+        systemctl start pPowerManger pPowerMangerHost pCCU" || { err "启动失败"; return 1; }
+    ok "服务已启动"
+    cmd_status
+}
+
+cmd_status() {
+    ${SSH} "${SSH_TARGET}" "systemctl --no-pager status ${SERVICES[*]}" || true
+}
+
+cmd_stop() {
+    ${SSH} "${SSH_TARGET}" "systemctl stop pPowerMangerHost pPowerManger pCCU moosdb" && \
+        ok "服务已停止" || err "停止服务失败"
+}
+
+#-------------------------------------------------------------------
+# 命令入口
+#-------------------------------------------------------------------
+case "${ACTION}" in
+    deploy)     cmd_deploy ;;
+    setup-ssh)  cmd_setup_ssh ;;
+    status)     cmd_status ;;
+    stop)       cmd_stop ;;
+    help|-h|--help) usage ;;
+    *)          usage ;;
+esac

scripts/fetch-data.sh

@@ -0,0 +1,125 @@
+#!/bin/bash
+#=======================================================================
+# FILE:  scripts/fetch-data.sh
+# DESC:  从目标板卡 (RK3588 / Ubuntu 22.04) 下载数据库与日志到本地。
+#        默认抓取板卡运行目录 /root/work/h100/data/ 下的:
+#          power_data.db (+ -wal/-shm)  主机功率数据库
+#          feedback_data.db             反馈落盘数据库
+#          pPowerManger.log             主机运行日志
+#        可选 --journal 一并导出四个 systemd 服务的 journal 日志。
+#
+# 用法:
+#   ./scripts/fetch-data.sh                        # 下载 db + 日志到本地 data/board-<时间>/
+#   ./scripts/fetch-data.sh --journal              # 额外导出 systemd journal
+#   ./scripts/fetch-data.sh --out-dir /tmp/xx      # 指定本地保存目录
+#
+# 参数:
+#   --host <ip>       目标主机（默认 192.168.0.223）
+#   --user <user>     登录用户（默认 root）
+#   --board-dir <dir> 板卡部署根目录（默认 /root/work/h100）
+#   --out-dir <dir>   本地保存目录（默认 data/board-<时间>）
+#   --journal         额外导出 4 个服务的 systemd journal 日志
+#   -h, --help        显示帮助
+#
+# 前置: 板卡已配免密 SSH（见 scripts/deploy.sh setup-ssh）。
+#=======================================================================
+
+set -uo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(dirname "${SCRIPT_DIR}")"
+
+HOST="192.168.0.223"
+USER="root"
+BOARD_DIR="/root/work/h100"
+OUT_DIR=""
+DO_JOURNAL=0
+
+SERVICES=(moosdb pPowerManger pPowerMangerHost pCCU)
+
+# 板卡 data 目录下需要下载的文件（含 SQLite WAL/SHM 以保证数据完整）
+DATA_FILES=(power_data.db power_data.db-wal power_data.db-shm feedback_data.db pPowerManger.log pccu_data.db pCCU.log)
+
+info() { printf '\033[1;36m[fetch-data]\033[0m %s\n' "$*"; }
+ok()   { printf '\033[1;32m[fetch-data]\033[0m %s\n' "$*"; }
+warn() { printf '\033[1;33m[fetch-data]\033[0m %s\n' "$*"; }
+err()  { printf '\033[1;31m[fetch-data]\033[0m %s\n' "$*"; }
+
+usage() {
+  sed -n '2,26p' "${BASH_SOURCE[0]}" | sed 's/^# \{0,1\}//'
+  exit 0
+}
+
+#-------------------------------------------------------------------
+# 参数解析
+#-------------------------------------------------------------------
+while [ $# -gt 0 ]; do
+    case "$1" in
+        --host)      [ $# -ge 2 ] || { err "--host 需要参数"; exit 1; }; HOST="$2"; shift 2 ;;
+        --user)      [ $# -ge 2 ] || { err "--user 需要参数"; exit 1; }; USER="$2"; shift 2 ;;
+        --board-dir) [ $# -ge 2 ] || { err "--board-dir 需要参数"; exit 1; }; BOARD_DIR="$2"; shift 2 ;;
+        --out-dir)   [ $# -ge 2 ] || { err "--out-dir 需要参数"; exit 1; }; OUT_DIR="$2"; shift 2 ;;
+        --journal)   DO_JOURNAL=1; shift ;;
+        -h|--help)   usage ;;
+        *)           err "未知参数: $1（见 --help）"; exit 1 ;;
+    esac
+done
+
+SSH_TARGET="${USER}@${HOST}"
+SSH="ssh -o BatchMode=yes -o ConnectTimeout=5"
+SCP="scp -o BatchMode=yes -o ConnectTimeout=5"
+
+#-------------------------------------------------------------------
+# 1. 前置检查
+#-------------------------------------------------------------------
+if ! ${SSH} "${SSH_TARGET}" 'true' 2>/dev/null; then
+    err "无法免密 SSH 到 ${SSH_TARGET}"
+    err "请先执行: ./scripts/deploy.sh setup-ssh"
+    exit 1
+fi
+ok "SSH 连接正常: ${SSH_TARGET}"
+
+if [ -z "${OUT_DIR}" ]; then
+    OUT_DIR="${PROJECT_ROOT}/data/board-$(date +%Y%m%d-%H%M%S)"
+fi
+mkdir -p "${OUT_DIR}" || { err "无法创建本地目录 ${OUT_DIR}"; exit 1; }
+info "本地保存目录: ${OUT_DIR}"
+
+#-------------------------------------------------------------------
+# 2. 下载 data 目录下的数据库与日志
+#-------------------------------------------------------------------
+BOARD_DATA="${BOARD_DIR}/data"
+missing=0
+for f in "${DATA_FILES[@]}"; do
+    if ${SSH} "${SSH_TARGET}" "[ -f ${BOARD_DATA}/${f} ]" 2>/dev/null; then
+        info "下载 ${f} ..."
+        ${SCP} -q "${SSH_TARGET}:${BOARD_DATA}/${f}" "${OUT_DIR}/" \
+            || { err "下载 ${f} 失败"; exit 1; }
+        ok "${f}"
+    else
+        warn "板卡上不存在: ${BOARD_DATA}/${f}（跳过）"
+        missing=$((missing+1))
+    fi
+done
+[ "${missing}" -eq "${#DATA_FILES[@]}" ] && { err "板卡 data 目录下没有任何可下载文件"; exit 1; }
+
+#-------------------------------------------------------------------
+# 3. 可选: 导出 systemd journal
+#-------------------------------------------------------------------
+if [ "${DO_JOURNAL}" = "1" ]; then
+    for s in "${SERVICES[@]}"; do
+        info "导出 journal: ${s} ..."
+        ${SSH} "${SSH_TARGET}" "journalctl --no-pager -u ${s} 2>/dev/null" > "${OUT_DIR}/${s}.journal.log" \
+            || { warn "导出 ${s} journal 失败（可能无记录）"; }
+        ok "${s}.journal.log"
+    done
+fi
+
+#-------------------------------------------------------------------
+# 4. 完成
+#-------------------------------------------------------------------
+echo ""
+ok "下载完成。本地文件:"
+ls -lah "${OUT_DIR}" | sed 's/^/    /'
+echo ""
+info "查看数据库可用: sqlite3 ${OUT_DIR}/power_data.db .tables"

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

src/CMakeLists.txt

@@ -0,0 +1,27 @@
+##############################################################################
+# FILE:        moos-ivp-extend/src/CMakeLists.txt
+# DATE:        2010/09/07
+#              2020/05/09 minor mods
+# DESCRIPTION: CMakeLists.txt file for the moos-ivp-extend source directory
+##############################################################################
+
+# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address -g -O1")
+
+#============================================================================
+# Add the libraries in the current directory to the include path
+#============================================================================
+FILE(GLOB LOCAL_LIBRARY_DIRS ./lib_*)
+INCLUDE_DIRECTORIES(${LOCAL_LIBRARY_DIRS})
+
+#============================================================================
+# List the subdirectories to build...
+#============================================================================
+ADD_SUBDIRECTORY(pPowerManger)
+# ADD_SUBDIRECTORY(appPowerMangerWebUI)
+add_subdirectory(pPMtest)
+add_subdirectory(pPowerMangerHost)
+add_subdirectory(pCCU)
+##############################################################################
+#                           END of CMakeLists.txt
+##############################################################################
+

src/pCCU/CCU.cpp

@@ -0,0 +1,409 @@
+#include "CCU.h"
+#include "MBUtils.h"
+#include "../pPowerManger/logc/loguru.hpp"
+#include "protocol/Frame.h"
+#include <chrono>
+
+using namespace ccu;
+using namespace std;
+
+//---------------------------------------------------------
+// Constructor / Destructor
+
+CCU::CCU() {}
+
+CCU::~CCU() {
+    if (m_web)      { m_web->stop();  delete m_web;  m_web = nullptr; }
+    if (m_fcLink)   { m_fcLink->stop(); delete m_fcLink; m_fcLink = nullptr; }
+    if (m_pmLink)   { m_pmLink->stop(); delete m_pmLink; m_pmLink = nullptr; }
+    if (m_db)       { delete m_db; m_db = nullptr; }
+    if (m_snap)     { delete m_snap; m_snap = nullptr; }
+    if (m_sysData)  { delete m_sysData; m_sysData = nullptr; }
+}
+
+//---------------------------------------------------------
+// OnStartUp：读取配置并初始化各组件
+
+bool CCU::OnStartUp() {
+    AppCastingMOOSApp::OnStartUp();
+
+    STRING_LIST sParams;
+    m_MissionReader.EnableVerbatimQuoting(false);
+    if (!m_MissionReader.GetConfiguration(GetAppName(), sParams))
+        reportConfigWarning("No config block found for " + GetAppName());
+
+    STRING_LIST::iterator p;
+    for (p = sParams.begin(); p != sParams.end(); p++) {
+        string orig  = *p;
+        string line  = *p;
+        string param = stripBlankEnds(tolower(biteStringX(line, '=')));
+        string value = stripBlankEnds(line);
+
+        bool handled = true;
+        if (param == "fc_local_port")       m_fcLocalPort = atol(value.c_str());
+        else if (param == "fc_remote_ip")   m_fcHost      = value;
+        else if (param == "fc_remote_port") m_fcPort      = atol(value.c_str());
+        else if (param == "pm_local_port")  m_pmLocalPort = atol(value.c_str());
+        else if (param == "pm_remote_ip")   m_pmHost      = value;
+        else if (param == "pm_remote_port") m_pmPort      = atol(value.c_str());
+        else if (param == "dbpath")         m_dbPath      = value;
+        else if (param == "logpath")        m_logPath     = value;
+        else if (param == "web_port")       m_webPort     = atoi(value.c_str());
+        else if (param == "web_enable") {
+            m_webEnable = (tolower(value) == "true" || value == "1");
+        }
+        else handled = false;
+
+        if (!handled)
+            reportUnhandledConfigWarning(orig);
+    }
+
+    registerVariables();
+
+    // 日志文件
+    if (m_logPath.empty()) m_logPath = "pCCU.log";
+    loguru::add_file(m_logPath.c_str(), loguru::Append, loguru::Verbosity_MAX);
+    LOG_F(INFO, "pCCU log path: %s", m_logPath.c_str());
+
+    // 数据库
+    m_db = new DbStore(m_dbPath);
+    if (!m_db->open()) {
+        LOG_F(ERROR, "open database failed: %s", m_db->lastError().c_str());
+        delete m_db;
+        m_db = nullptr;
+    } else {
+        LOG_F(INFO, "database path: %s", m_dbPath.c_str());
+    }
+
+    // 系统数据快照
+    m_sysData = new SystemData();
+
+    // FC 链路
+    m_fcLink = new FcLinkManager(m_fcLocalPort, m_fcHost, m_fcPort);
+    m_fcLink->setLogSink(m_db);
+    m_fcLink->setOnMessage([this](Message* msg, const std::vector<uint8_t>& frame) {
+        handleFcMessage(msg, frame);
+    });
+    m_fcLink->setOnRawFrame([](int dir, const std::vector<uint8_t>&, bool) {
+        // 原始帧已通过 LogSink 落库；如需 Web 实时原始报文可在此扩展
+    });
+    if (!m_fcLink->start())
+        LOG_F(ERROR, "FC link start failed");
+
+    // PM 链路
+    m_pmLink = new PmLinkManager(m_pmLocalPort, m_pmHost, m_pmPort);
+    m_pmLink->setLogSink(m_db);
+    m_pmLink->setOnMessage([this](Message* msg, const std::vector<uint8_t>& frame) {
+        handlePmMessage(msg, frame);
+    });
+    m_pmLink->setOnRawFrame([](int dir, const std::vector<uint8_t>&, bool) {
+    });
+    if (!m_pmLink->start())
+        LOG_F(ERROR, "PM link start failed");
+
+    // 快照构建器（链路就绪后创建）
+    m_snap = new SnapshotBuilder(m_sysData, m_fcLink, m_pmLink, m_db);
+
+    // 网页
+    if (m_webEnable) {
+        m_web = new WebServer();
+        m_web->setOnOpen([this]() { return buildSnapshot(); });
+        m_web->setApiHandler([this](const std::string& uri, const std::string& query) {
+            return handleApi(uri, query);
+        });
+        if (!m_web->start(m_webPort)) {
+            LOG_F(ERROR, "web server start failed on port %d", m_webPort);
+            delete m_web;
+            m_web = nullptr;
+        }
+    }
+
+    LOG_F(INFO, "pCCU started: fc_link local=%ld -> %s:%ld, pm_link local=%ld -> %s:%ld",
+          m_fcLocalPort, m_fcHost.c_str(), m_fcPort,
+          m_pmLocalPort, m_pmHost.c_str(), m_pmPort);
+    return true;
+}
+
+//---------------------------------------------------------
+// OnConnectToServer
+
+bool CCU::OnConnectToServer() {
+    registerVariables();
+    return true;
+}
+
+//---------------------------------------------------------
+// registerVariables
+
+void CCU::registerVariables() {
+    AppCastingMOOSApp::RegisterVariables();
+    // pCCU 数据交换主要走 UDP；MOOSDB 仅登记运行状态变量
+    Register("CCU_FC_LINK_STATE", 0);
+    Register("CCU_PM_LINK_STATE", 0);
+}
+
+//---------------------------------------------------------
+// OnNewMail
+
+bool CCU::OnNewMail(MOOSMSG_LIST &NewMail) {
+    AppCastingMOOSApp::OnNewMail(NewMail);
+    MOOSMSG_LIST::iterator p;
+    for (p = NewMail.begin(); p != NewMail.end(); p++) {
+        CMOOSMsg &msg = *p;
+        // 预留：未来如需通过 MOOSDB 下发指令可在此处理
+    }
+    return true;
+}
+
+//---------------------------------------------------------
+// Iterate：周期任务（AppTick 次/秒）
+
+bool CCU::Iterate() {
+    AppCastingMOOSApp::Iterate();
+
+    double now = MOOSTime();
+
+    // 周期（1Hz）整合 FC 状态并发送 PM 状态报文给控制主机
+    if (now - m_lastStatusTx >= 1.0) {
+        sendPmStatus();
+        m_lastStatusTx = now;
+    }
+
+    // 周期（1Hz）推送网页快照
+    if (m_web) {
+        static double lastWebPush = 0;
+        if (now - lastWebPush >= 1.0) {
+            lastWebPush = now;
+            m_web->broadcast(buildSnapshot());
+        }
+    }
+
+    AppCastingMOOSApp::PostReport();
+    return true;
+}
+
+//---------------------------------------------------------
+// handleFcMessage：处理 FC 链路收到的消息
+
+void CCU::handleFcMessage(Message* msg, const std::vector<uint8_t>& frame) {
+    if (!msg) return;
+    switch (msg->id()) {
+        case 0x0002: { // FC 状态反馈
+            FcStatusValue v;
+            if (msg->decode(frame, static_cast<void*>(&v))) {
+                m_sysData->updateFcStatus(v);
+                LOG_F(INFO, "[FC] status: mode=%d status=%d fault_level=%d",
+                      v.fc_mode, v.fc_status, v.fc_fault_level);
+            } else {
+                LOG_F(ERROR, "[FC] status decode failed");
+            }
+            break;
+        }
+        default:
+            LOG_F(WARNING, "[FC] unhandled msg id 0x%04X", msg->id());
+            break;
+    }
+}
+
+//---------------------------------------------------------
+// handlePmMessage：处理 PM 链路收到的消息
+
+void CCU::handlePmMessage(Message* msg, const std::vector<uint8_t>& frame) {
+    if (!msg) return;
+    switch (msg->id()) {
+        case 0x0001: { // PM 操控指令 -> 转发给 FC
+            PmControlValue c;
+            if (msg->decode(frame, static_cast<void*>(&c))) {
+                m_sysData->updatePmControl(c);
+                LOG_F(INFO, "[PM] control: mode=%d cmd=%d power=%d",
+                      c.mode, c.cmd, c.outputPower);
+
+                // 映射并转发到 FC（0827协议：姿态仅数据1有效，数据2字节预留填0）
+                FcControlValue f;
+                f.mode           = c.mode;
+                f.cmd            = c.cmd;
+                f.outputPower    = c.outputPower;
+                f.pitch1         = c.pitch;
+                f.roll1          = c.roll;
+                f.emergencyAllow = c.emergencyAllow;
+                f.depth          = c.depth;
+                f.supplyCmd      = c.supplyCmd;
+                f.reservedCmd5   = c.reservedCmd5;
+                f.reservedCmd6   = c.reservedCmd6;
+                f.heartbeat      = c.heartbeat;
+                m_sysData->updateFcControl(f);
+                m_fcLink->sendMessage(0x0001, &f);
+                LOG_F(INFO, "[FC] forward control cmd=%d power=%d", f.cmd, f.outputPower);
+            } else {
+                LOG_F(ERROR, "[PM] control decode failed");
+            }
+            break;
+        }
+        case 0x0002: { // PM 参数设定 -> 回参数反馈
+            PmParamSetValue p;
+            if (msg->decode(frame, static_cast<void*>(&p))) {
+                m_sysData->updatePmParamSet(p);
+                LOG_F(INFO, "[PM] param set received");
+                // 当前阶段直接回成功
+                PmParamSetFbValue fb;
+                fb.flag = 0x10; // 设定成功
+                fb.failCode = 0;
+                m_sysData->updatePmParamFb(fb);
+                m_pmLink->sendMessage(0x0003, &fb);
+                LOG_F(INFO, "[PM] param set feedback sent");
+            } else {
+                LOG_F(ERROR, "[PM] param set decode failed");
+            }
+            break;
+        }
+        default:
+            LOG_F(WARNING, "[PM] unhandled msg id 0x%04X", msg->id());
+            break;
+    }
+}
+
+//---------------------------------------------------------
+// sendPmStatus：整合最新 FC 状态，编码 PM 状态报文发送
+
+void CCU::sendPmStatus() {
+    if (!m_pmLink || !m_sysData) return;
+
+    const FcStatusValue& fc = m_sysData->fcStatus();
+
+    PmStatusValue s;
+    s.fc_mode                = fc.fc_mode;
+    s.fc_status              = fc.fc_status;
+    s.fault_level_1          = fc.fault_level_1;
+    s.fault_level_2          = fc.fault_level_2;
+    s.fault_level_3          = fc.fault_level_3;
+    s.fault_level_4          = fc.fault_level_4;
+    s.total_generation_time  = fc.total_generation_time;
+    s.fc_fault_level         = fc.fc_fault_level;
+    s.output_power_limit     = 0;      // FC 状态未含此字段，置 0
+    s.generation_power       = fc.generation_power;
+    s.hydrogen_capacity      = fc.hydrogen_capacity;
+    s.liquid_oxygen_capacity = fc.liquid_oxygen_capacity;
+
+    s.fc1_min_cell_voltage   = fc.fc1_min_cell_voltage;
+    s.fc1_min_cell_pos       = fc.fc1_min_cell_pos;
+    s.fc1_avg_cell_voltage   = fc.fc1_avg_cell_voltage;
+    s.fc2_min_cell_voltage   = fc.fc2_min_cell_voltage;
+    s.fc2_min_cell_pos       = fc.fc2_min_cell_pos;
+    s.fc2_avg_cell_voltage   = fc.fc2_avg_cell_voltage;
+
+    s.palladium_temp         = fc.palladium_temp;
+    s.buffer_tank_pressure   = fc.buffer_tank_pressure;
+    s.flue_total_emission    = fc.flue_total_emission;
+    s.flue_pressure          = fc.flue_pressure;
+    s.reactor_pressure       = fc.reactor_pressure;
+    s.electric_valve_open    = fc.electric_valve_open;
+    s.main_pipe_pressure     = 0;
+    s.aux_pipe_pressure      = 0;
+
+    s.dcdc1_in_voltage       = fc.dcdc1_in_voltage;
+    s.dcdc1_in_current       = fc.dcdc1_in_current;
+    s.dcdc2_in_voltage       = fc.dcdc2_in_voltage;
+    s.dcdc2_in_current       = fc.dcdc2_in_current;
+    s.dcdc_out_voltage       = fc.dcdc_out_voltage;
+    s.dcdc_out_current       = fc.dcdc_out_current;
+    s.dcdc_ctrl_voltage      = fc.dcdc_ctrl_voltage;
+    s.dcdc_aux_voltage       = fc.dcdc_aux_voltage;
+
+    s.methanol_total_use     = fc.methanol_total_use;
+    s.methanol_feed          = fc.methanol_feed;
+    s.oxygen_side_water_level = fc.oxygen_side_water_level;
+    s.hydrogen_side_water_level = fc.hydrogen_side_water_level;
+    s.ballast_water_level    = fc.ballast_water_level;
+
+    s.exhaust_inlet_pressure  = fc.exhaust_inlet_pressure;
+    s.exhaust_outlet_pressure = fc.exhaust_outlet_pressure;
+    s.exhaust_run_freq        = fc.exhaust_run_freq;
+    s.exhaust_inlet_temp      = fc.exhaust_inlet_temp;
+    s.exhaust_outlet_temp     = fc.exhaust_outlet_temp;
+    s.exhaust_water_in_pressure = fc.exhaust_water_in_pressure;
+    s.exhaust_water_out_pressure = fc.exhaust_water_out_pressure;
+
+    s.tank_lo2_pressure      = fc.tank_lo2_pressure;
+    s.tank_co2_pressure      = fc.tank_co2_pressure;
+    s.tank_lo2_level         = fc.tank_lo2_level;
+    s.alloy_h2_flow          = fc.alloy_h2_flow;
+    s.fc_h2_flow             = fc.fc_h2_flow;
+    s.fc_o2_flow             = fc.fc_o2_flow;
+
+    s.emergency_float_depth  = fc.emergency_float_depth;
+    s.emergency_float_time   = fc.emergency_float_time;
+
+    s.cabin_pressure1        = fc.cabin_pressure1;
+    s.cabin_pressure2        = fc.cabin_pressure2;
+    s.cabin_temp1            = fc.cabin_temp1;
+    s.cabin_temp2            = fc.cabin_temp2;
+    s.cabin_humidity1        = fc.cabin_humidity1;
+    s.cabin_humidity2        = fc.cabin_humidity2;
+    s.h2_concentration1      = fc.h2_concentration1;
+    s.h2_concentration2      = fc.h2_concentration2;
+    s.h2_concentration3      = fc.h2_concentration3;
+    s.o2_concentration1      = fc.o2_concentration1;
+    s.o2_concentration2      = fc.o2_concentration2;
+    s.ch3oh_concentration1   = fc.ch3oh_concentration1;
+    s.ch3oh_concentration2   = fc.ch3oh_concentration2;
+
+    s.flame_detector1        = fc.flame_detector1;
+    s.flame_detector2        = fc.flame_detector2;
+
+    // 通信心跳自增
+    s.heartbeat              = m_pmHeartbeat++;
+    s.emergency_cmd          = fc.emergency_cmd;
+
+    m_sysData->updatePmStatus(s);
+    m_pmLink->sendMessage(0x0004, &s);
+    LOG_F(INFO, "[PM] status sent: mode=%d status=%d heartbeat=%d",
+          s.fc_mode, s.fc_status, s.heartbeat);
+}
+
+//---------------------------------------------------------
+// buildSnapshot
+
+std::string CCU::buildSnapshot() {
+    if (m_snap) return m_snap->build();
+    return "{}";
+}
+
+//---------------------------------------------------------
+// handleApi：/api/logs
+
+std::string CCU::handleApi(const std::string& uri, const std::string& query) {
+    if (uri == "/api/logs") {
+        if (m_snap) return m_snap->buildLogs(50);
+        return "[]";
+    }
+    return "";
+}
+
+//---------------------------------------------------------
+// buildReport
+
+bool CCU::buildReport() {
+    m_msgs << "============================================" << "\n";
+    m_msgs << "pCCU 复合管控器" << "\n";
+    m_msgs << "============================================" << "\n";
+    if (m_fcLink) {
+        m_msgs << "FC 链路  local:" << m_fcLink->localPort()
+               << "  rx:" << m_fcLink->rxCount()
+               << "  tx:" << m_fcLink->txCount()
+               << "  err:" << m_fcLink->errorCount() << "\n";
+    }
+    if (m_pmLink) {
+        m_msgs << "PM 链路  local:" << m_pmLink->localPort()
+               << "  rx:" << m_pmLink->rxCount()
+               << "  tx:" << m_pmLink->txCount()
+               << "  err:" << m_pmLink->errorCount() << "\n";
+    }
+    if (m_sysData) {
+        m_msgs << "FC 状态接收次数:" << m_sysData->fcStatusCount() << "\n";
+        m_msgs << "PM 指令接收次数:" << m_sysData->pmControlCount() << "\n";
+    }
+    if (m_db) {
+        m_msgs << "数据库记录数:" << m_db->count() << "\n";
+    }
+    return true;
+}

src/pCCU/CCU.h

@@ -0,0 +1,79 @@
+#ifndef PCCU_CCU_H
+#define PCCU_CCU_H
+
+#define UNIX
+#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include "comm/FcLinkManager.h"
+#include "comm/PmLinkManager.h"
+#include "core/SystemData.h"
+#include "core/SnapshotBuilder.h"
+#include "store/DbStore.h"
+#include "web/WebServer.h"
+
+namespace ccu {
+
+//============================================================================
+// CCU：pCCU 程序主类（MOOS 应用外壳）。
+//
+// 数据流：
+//   收 FC 状态(0x0002) -> SystemData 快照 -> 周期整合为 PM 状态(0x0004)发给 pPowerManger
+//   收 PM 操控(0x0001) -> 转发为 FC 控制(0x0001)发给燃料电池
+//   收 PM 参数设定(0x0002) -> 回 PM 参数反馈(0x0003)
+//   收发全部帧落库 SQLite；网页周期推送 JSON 快照。
+//============================================================================
+
+class CCU : public AppCastingMOOSApp {
+public:
+    CCU();
+    ~CCU();
+
+protected:
+    bool OnNewMail(MOOSMSG_LIST &NewMail);
+    bool Iterate();
+    bool OnConnectToServer();
+    bool OnStartUp();
+    bool buildReport();
+    void registerVariables();
+
+private:
+    // 链路收帧处理
+    void handleFcMessage(Message* msg, const std::vector<uint8_t>& frame);
+    void handlePmMessage(Message* msg, const std::vector<uint8_t>& frame);
+
+    // 整合并发送 PM 状态报文
+    void sendPmStatus();
+
+    // 构建网页快照
+    std::string buildSnapshot();
+    std::string handleApi(const std::string& uri, const std::string& query);
+
+    // 配置
+    long   m_fcLocalPort = 6000;
+    std::string m_fcHost = "192.168.1.162";
+    long   m_fcPort = 7000;
+
+    long   m_pmLocalPort = 7000;
+    std::string m_pmHost = "192.168.0.140";
+    long   m_pmPort = 5001;
+
+    std::string m_dbPath = "pccu_data.db";
+    std::string m_logPath = "pCCU.log";
+    int    m_webPort = 8080;   // 与 pPowerManger(8090)/pPowerMangerHost(18080) 错开
+    bool   m_webEnable = true;
+
+    // 心跳
+    uint8_t m_pmHeartbeat = 0;
+    double  m_lastStatusTx = 0;
+
+    // 组件
+    FcLinkManager*  m_fcLink = nullptr;
+    PmLinkManager*  m_pmLink = nullptr;
+    SystemData*     m_sysData = nullptr;
+    DbStore*        m_db = nullptr;
+    SnapshotBuilder* m_snap = nullptr;
+    WebServer*      m_web = nullptr;
+};
+
+} // namespace ccu
+
+#endif // PCCU_CCU_H

src/pCCU/CCU_Info.cpp

@@ -0,0 +1,102 @@
+/****************************************************************/
+/*   NAME:  CCU_Info                                              */
+/*   FILE:  CCU_Info.cpp                                          */
+/****************************************************************/
+
+#include <cstdlib>
+#include <iostream>
+#include "CCU_Info.h"
+#include "ColorParse.h"
+#include "ReleaseInfo.h"
+
+using namespace std;
+
+void showSynopsis() {
+  blk("SYNOPSIS:                                                       ");
+  blk("------------------------------------                            ");
+  blk("  The pCCU application is the composite controller (CCU)       ");
+  blk("  gateway between the fuel cell (FC) system and pPowerManger.  ");
+  blk("  It receives FC status, integrates & forwards to pPowerManger, ");
+  blk("  forwards pPowerManger commands to FC, stores data in SQLite   ");
+  blk("  and provides a web monitoring page.                           ");
+  blk("                                                                ");
+}
+
+void showHelpAndExit() {
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("Usage: pCCU file.moos [OPTIONS]                          ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("Options:                                                        ");
+  mag("  --alias","=<ProcessName>                                      ");
+  blk("      Launch pCCU with the given process name           ");
+  blk("      rather than pCCU.                                  ");
+  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 pCCU.               ");
+  blk("                                                                ");
+  blk("Note: If argv[2] does not otherwise match a known option,       ");
+  blk("      then it will be interpreted as a run alias. This is       ");
+  blk("      to support pAntler launching conventions.                 ");
+  blk("                                                                ");
+  exit(0);
+}
+
+void showExampleConfigAndExit() {
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pCCU Example MOOS Configuration                          ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  blk("ProcessConfig = pCCU                                     ");
+  blk("{                                                               ");
+  blk("  AppTick   = 4                                                 ");
+  blk("  CommsTick = 4                                                 ");
+  blk("                                                                ");
+  blk("  fc_local_port  = 6000      // FC 状态接收端口                  ");
+  blk("  fc_remote_ip   = 192.168.1.162 // 燃料电池控制器 IP            ");
+  blk("  fc_remote_port = 7000      // FC 控制端口                      ");
+  blk("  pm_local_port  = 7000      // PM 指令接收端口                  ");
+  blk("  pm_remote_ip   = 192.168.0.140 // 控制主机 IP                  ");
+  blk("  pm_remote_port = 5001      // 控制主机接收端口                 ");
+  blk("  dbpath         = pccu_data.db // 数据库路径                    ");
+  blk("  logpath        = pCCU.log   // 日志路径                        ");
+  blk("  web_port       = 8080      // 网页端口(避开8090/18080)         ");
+  blk("  web_enable     = true      // 是否启用网页                     ");
+  blk("}                                                               ");
+  blk("                                                                ");
+  exit(0);
+}
+
+void showInterfaceAndExit() {
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pCCU INTERFACE                                            ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("SUBSCRIPTIONS:                                                  ");
+  blk("------------------------------------                            ");
+  blk("  (数据交换主要通过 UDP 链路完成，MOOSDB 交互有限)              ");
+  blk("                                                                ");
+  blk("PUBLICATIONS:                                                   ");
+  blk("------------------------------------                            ");
+  blk("  CCU_FC_LINK_STATE  = 运行状态字符串                           ");
+  blk("  CCU_PM_LINK_STATE  = 运行状态字符串                           ");
+  blk("                                                                ");
+  exit(0);
+}
+
+void showReleaseInfoAndExit() {
+  showReleaseInfo("pCCU", "gpl");
+  exit(0);
+}

src/pCCU/CCU_Info.h

@@ -0,0 +1,15 @@
+/****************************************************************/
+/*   NAME:  CCU_Info                                              */
+/*   FILE:  CCU_Info.h                                            */
+/****************************************************************/
+
+#ifndef PCCU_INFO_HEADER
+#define PCCU_INFO_HEADER
+
+void showSynopsis();
+void showHelpAndExit();
+void showExampleConfigAndExit();
+void showInterfaceAndExit();
+void showReleaseInfoAndExit();
+
+#endif

src/pCCU/CCU软件需求.txt

@@ -0,0 +1,7 @@
+1.接收来自燃料电池的消息，消息协议格式见docs/超滑FC和复合管控器通讯协议 - 0821.docx（备注：日期会随着时间进行更新）
+2.将消息进行整合处理后，发送到pPowerManger，消息协议见docs/控制主机与复合管控器通信协议- 0824.xlsx
+3.接收来自pPowermanger的指令，解析和编码后转发给燃料电池
+4.具备sqlit数据库存储功能，可以把接收和发送的数据都存储到sqlit数据库中
+5.各端口配置、IP配置、日志及数据库配置可以通过.moos文件进行配置
+6.具备网页显示功能，可以显示接收、发送的数据、各数据状态等，数据展示要按照类型进行归类，要直观、简介
+7.编译部署与仓库内其他程序一样，可以跟随整个仓库一块部署

src/pCCU/CMakeLists.txt

@@ -0,0 +1,76 @@
+#--------------------------------------------------------
+# The CMakeLists.txt for:  pCCU
+# 复合管控器网关：FC <-> pPowerManger
+#--------------------------------------------------------
+
+if (${WIN32})
+  SET(SYSTEM_LIBS wsock32)
+else (${WIN32})
+  SET(SYSTEM_LIBS m pthread)
+endif (${WIN32})
+
+# 复用仓库内 pPowerManger 的公共源码（相对路径引用，避免重复维护）
+SET(PM_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../pPowerManger)
+
+SET(SHARED_SRC
+  ${PM_DIR}/logc/loguru.cpp
+  ${PM_DIR}/sqlit3/sqlite3.c
+  ${PM_DIR}/httpserver/mongoose.c
+)
+
+SET(CCU_PROTOCOL_SRC
+  protocol/Frame.cpp
+  protocol/Message.cpp
+  protocol/MessageRegistry.cpp
+  protocol/FcProtocol.cpp
+  protocol/PmProtocol.cpp
+)
+
+SET(CCU_COMM_SRC
+  comm/UdpEndpoint.cpp
+  comm/LinkManager.cpp
+)
+
+SET(CCU_CORE_SRC
+  core/SnapshotBuilder.cpp
+)
+
+SET(CCU_STORE_SRC
+  store/DbStore.cpp
+)
+
+SET(CCU_WEB_SRC
+  web/WebServer.cpp
+)
+
+SET(SRC
+  ${SHARED_SRC}
+  ${CCU_PROTOCOL_SRC}
+  ${CCU_COMM_SRC}
+  ${CCU_CORE_SRC}
+  ${CCU_STORE_SRC}
+  ${CCU_WEB_SRC}
+  CCU.cpp
+  CCU_Info.cpp
+  main.cpp
+)
+
+ADD_EXECUTABLE(pCCU ${SRC})
+
+TARGET_INCLUDE_DIRECTORIES(pCCU PRIVATE
+  ${PM_DIR}
+  ${PM_DIR}/sqlit3
+  ${PM_DIR}/httpserver
+  ${PM_DIR}/logc
+)
+
+TARGET_LINK_LIBRARIES(pCCU
+  ${MOOS_LIBRARIES}
+  apputil
+  mbutil
+  m
+  pthread
+  jsoncpp
+  dl
+  ${SYSTEM_LIBS}
+)

src/pCCU/comm/FcLinkManager.h

@@ -0,0 +1,42 @@
+#ifndef PCCU_FC_LINK_MANAGER_H
+#define PCCU_FC_LINK_MANAGER_H
+
+#include "LinkManager.h"
+#include "../protocol/FcProtocol.h"
+
+namespace ccu {
+
+//============================================================================
+// FcLinkManager：面向燃料电池控制器的链路。
+//
+//   - 本地监听：燃料电池状态反馈端口（默认 6000）
+//   - 发送目标：燃料电池控制器（默认 192.168.1.162:7000）
+// 端口/地址均可由 .moos 配置覆盖。
+//============================================================================
+
+class FcLinkManager : public LinkManager {
+public:
+    FcLinkManager(long localPort,
+                  const std::string& fcHost, long fcPort)
+        : LinkManager("fc", localPort), m_fcHost(fcHost), m_fcPort(fcPort) {
+        registerFcMessages(registry());
+    }
+
+    void setFcAddress(const std::string& host, long port) {
+        m_fcHost = host; m_fcPort = port;
+    }
+    const std::string& fcHost() const { return m_fcHost; }
+    long fcPort() const { return m_fcPort; }
+
+protected:
+    std::string defaultRemoteHost() const override { return m_fcHost; }
+    long defaultRemotePort() const override { return m_fcPort; }
+
+private:
+    std::string m_fcHost;
+    long m_fcPort;
+};
+
+} // namespace ccu
+
+#endif // PCCU_FC_LINK_MANAGER_H

src/pCCU/comm/LinkManager.cpp

@@ -0,0 +1,108 @@
+#include "LinkManager.h"
+#include "../protocol/Frame.h"
+#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
+#include "loguru.hpp"
+
+namespace ccu {
+
+LinkManager::LinkManager(const std::string& linkName, long localPort)
+    : m_linkName(linkName), m_localPort(localPort) {}
+
+LinkManager::~LinkManager() {
+    stop();
+}
+
+bool LinkManager::start() {
+    if (m_running) return true;
+    if (!m_endpoint.init(m_localPort)) {
+        LOG_F(ERROR, "[%s] bind failed on port %ld", m_linkName.c_str(), m_localPort);
+        return false;
+    }
+    m_running = true;
+    m_rxThread = std::thread([this]() { rxThreadFunc(); });
+    LOG_F(INFO, "[%s] listening on local port %ld", m_linkName.c_str(), m_localPort);
+    return true;
+}
+
+void LinkManager::stop() {
+    if (!m_running) return;
+    m_running = false;
+    if (m_rxThread.joinable()) m_rxThread.join();
+}
+
+bool LinkManager::sendMessage(uint16_t id, const void* value) {
+    return sendMessageTo(id, value, defaultRemoteHost(), defaultRemotePort());
+}
+
+bool LinkManager::sendMessageTo(uint16_t id, const void* value,
+                                const std::string& host, long port) {
+    if (host.empty() || port <= 0) return false;
+    Message* msg = m_registry.find(id);
+    if (!msg) {
+        LOG_F(ERROR, "[%s] unknown message id 0x%04X", m_linkName.c_str(), id);
+        return false;
+    }
+    std::vector<uint8_t> frame = msg->encode(value);
+    if (!m_endpoint.sendTo(host, port, frame)) {
+        LOG_F(ERROR, "[%s] send msg 0x%04X to %s:%ld failed",
+              m_linkName.c_str(), id, host.c_str(), port);
+        return false;
+    }
+    ++m_txCount;
+    if (m_logSink) m_logSink->onRawFrame(1, id, m_linkName, frame, true);
+    if (m_onRawFrame) m_onRawFrame(1, frame, true);
+    return true;
+}
+
+bool LinkManager::handleIncoming(const std::vector<uint8_t>& frame) {
+    if (frame.size() < FRAME_HEADER_LEN) return false;
+
+    uint16_t id = 0;
+    if (!Frame::parseId(frame, id)) {
+        LOG_F(WARNING, "[%s] bad frame header", m_linkName.c_str());
+        ++m_errorCount;
+        return false;
+    }
+
+    Message* msg = m_registry.find(id);
+    if (!msg) {
+        LOG_F(WARNING, "[%s] unknown msg id 0x%04X, len=%zu",
+              m_linkName.c_str(), id, frame.size());
+        ++m_errorCount;
+        return false;
+    }
+
+    bool checksumOk = msg->checksum().verify(frame);
+    ++m_rxCount;
+    m_lastRxTime = MOOSTime(false);
+
+    // 原始帧落库 + 回调
+    if (m_logSink) m_logSink->onRawFrame(0, id, m_linkName, frame, checksumOk);
+    if (m_onRawFrame) m_onRawFrame(0, frame, checksumOk);
+
+    if (!checksumOk) {
+        LOG_F(WARNING, "[%s] checksum error msg 0x%04X", m_linkName.c_str(), id);
+        ++m_errorCount;
+        return false;
+    }
+
+    // 解码交给上层（CCU 层知道具体消息类型）
+    if (m_onMessage) m_onMessage(msg, frame);
+    return true;
+}
+
+void LinkManager::rxThreadFunc() {
+    uint8_t buf[2048];
+    while (m_running) {
+        int n = m_endpoint.receive(buf, sizeof(buf));
+        if (n > 0) {
+            std::vector<uint8_t> frame(buf, buf + n);
+            handleIncoming(frame);
+        } else {
+            // 无数据，短暂休眠避免忙等
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        }
+    }
+}
+
+} // namespace ccu

src/pCCU/comm/LinkManager.h

@@ -0,0 +1,112 @@
+#ifndef PCCU_LINK_MANAGER_H
+#define PCCU_LINK_MANAGER_H
+
+#include <cstdint>
+#include <string>
+#include <atomic>
+#include <thread>
+#include <functional>
+#include "UdpEndpoint.h"
+#include "../protocol/MessageRegistry.h"
+#include "../protocol/Message.h"
+
+namespace ccu {
+
+// 落库接口：由 DbStore 实现，供链路层记录原始帧（实现收发数据入库）
+class ILinkLogSink {
+public:
+    virtual ~ILinkLogSink() = default;
+    // direction: 0=收 1=发；data 为原始完整帧；checksumOk 为校验结果
+    virtual void onRawFrame(int direction, uint16_t msgId, const std::string& link,
+                            const std::vector<uint8_t>& data, bool checksumOk) = 0;
+};
+
+//============================================================================
+// LinkManager：单条 UDP 链路的管理者。
+//
+// 职责：
+//   - 绑定本地端口并维护独立接收线程
+//   - 持有该链路的 MessageRegistry（收发共用，id 按链路隔离）
+//   - 收帧：解析 id -> 查注册表 -> 校验 -> 回调 onMessage（携带消息对象与原始帧）
+//   - 发帧：编码 -> 发送 -> 落库
+//
+// 派生类（FcLinkManager / PmLinkManager）仅需提供链路名与默认收发地址。
+//============================================================================
+
+class LinkManager {
+public:
+    LinkManager(const std::string& linkName, long localPort);
+    virtual ~LinkManager();
+
+    // 启动：绑定端口 + 启动接收线程。返回是否成功。
+    bool start();
+    void stop();
+
+    bool isRunning() const { return m_running; }
+
+    // 注册表（收发共用）
+    MessageRegistry& registry() { return m_registry; }
+    const MessageRegistry& registry() const { return m_registry; }
+
+    // 收帧回调：msg 为注册表中命中的消息对象（可调用 decode 解码），frame 为原始完整帧
+    void setOnMessage(std::function<void(Message* msg, const std::vector<uint8_t>& frame)> cb) {
+        m_onMessage = std::move(cb);
+    }
+
+    // 原始帧回调（用于 Web/调试展示原始报文）
+    void setOnRawFrame(std::function<void(int direction, const std::vector<uint8_t>& frame, bool checksumOk)> cb) {
+        m_onRawFrame = std::move(cb);
+    }
+
+    // 落库接口（可空）
+    void setLogSink(ILinkLogSink* sink) { m_logSink = sink; }
+
+    // 编码并发送一条已注册消息；返回是否成功
+    bool sendMessage(uint16_t id, const void* value);
+
+    // 编码并发送一条已注册消息，同时指定目标地址（覆盖默认）
+    bool sendMessageTo(uint16_t id, const void* value,
+                       const std::string& host, long port);
+
+    // 处理一帧收到的原始数据（供接收线程调用，也可测试时手动喂入）
+    bool handleIncoming(const std::vector<uint8_t>& frame);
+
+    // 链路状态：最近一次收到消息的时间（MOOSTime），0 表示从未收到
+    double lastRxTime() const { return m_lastRxTime; }
+    long localPort() const { return m_localPort; }
+    const std::string& linkName() const { return m_linkName; }
+
+    // 收发统计
+    unsigned long rxCount() const { return m_rxCount; }
+    unsigned long txCount() const { return m_txCount; }
+    unsigned long errorCount() const { return m_errorCount; }
+
+protected:
+    // 派生类提供发送默认目标
+    virtual std::string defaultRemoteHost() const { return ""; }
+    virtual long defaultRemotePort() const { return 0; }
+
+private:
+    void rxThreadFunc();
+
+    std::string  m_linkName;
+    long         m_localPort;
+    UdpEndpoint  m_endpoint;
+    MessageRegistry m_registry;
+
+    std::atomic<bool> m_running{false};
+    std::thread  m_rxThread;
+
+    std::function<void(Message*, const std::vector<uint8_t>&)> m_onMessage;
+    std::function<void(int, const std::vector<uint8_t>&, bool)> m_onRawFrame;
+    ILinkLogSink* m_logSink = nullptr;
+
+    double m_lastRxTime = 0;
+    unsigned long m_rxCount = 0;
+    unsigned long m_txCount = 0;
+    unsigned long m_errorCount = 0;
+};
+
+} // namespace ccu
+
+#endif // PCCU_LINK_MANAGER_H

src/pCCU/comm/PmLinkManager.h

@@ -0,0 +1,42 @@
+#ifndef PCCU_PM_LINK_MANAGER_H
+#define PCCU_PM_LINK_MANAGER_H
+
+#include "LinkManager.h"
+#include "../protocol/PmProtocol.h"
+
+namespace ccu {
+
+//============================================================================
+// PmLinkManager：面向控制主机 pPowerManger 的链路。
+//
+//   - 本地监听：控制主机指令端口（默认 7000）
+//   - 发送目标：控制主机（默认 192.168.0.140:5001）
+// 端口/地址均可由 .moos 配置覆盖。
+//============================================================================
+
+class PmLinkManager : public LinkManager {
+public:
+    PmLinkManager(long localPort,
+                  const std::string& pmHost, long pmPort)
+        : LinkManager("pm", localPort), m_pmHost(pmHost), m_pmPort(pmPort) {
+        registerPmMessages(registry());
+    }
+
+    void setPmAddress(const std::string& host, long port) {
+        m_pmHost = host; m_pmPort = port;
+    }
+    const std::string& pmHost() const { return m_pmHost; }
+    long pmPort() const { return m_pmPort; }
+
+protected:
+    std::string defaultRemoteHost() const override { return m_pmHost; }
+    long defaultRemotePort() const override { return m_pmPort; }
+
+private:
+    std::string m_pmHost;
+    long m_pmPort;
+};
+
+} // namespace ccu
+
+#endif // PCCU_PM_LINK_MANAGER_H

src/pCCU/comm/UdpEndpoint.cpp

@@ -0,0 +1,57 @@
+#include "UdpEndpoint.h"
+#include <iostream>
+
+namespace ccu {
+
+UdpEndpoint::UdpEndpoint() : m_socket(nullptr), m_localPort(0) {}
+
+UdpEndpoint::~UdpEndpoint() {
+    if (m_socket) {
+        delete m_socket;
+        m_socket = nullptr;
+    }
+}
+
+bool UdpEndpoint::init(long localPort) {
+    m_localPort = localPort;
+    m_socket = new XPCUdpSocket(localPort);
+    try {
+        m_socket->vBindSocket();
+    } catch (const std::exception& e) {
+        std::cerr << "[UdpEndpoint] bind failed on port " << localPort
+                  << ": " << e.what() << std::endl;
+        delete m_socket;
+        m_socket = nullptr;
+        return false;
+    } catch (...) {
+        std::cerr << "[UdpEndpoint] bind failed on port " << localPort
+                  << ": unknown error" << std::endl;
+        delete m_socket;
+        m_socket = nullptr;
+        return false;
+    }
+    return true;
+}
+
+bool UdpEndpoint::sendTo(const std::string& host, long port, const std::vector<uint8_t>& data) {
+    if (!m_socket || data.empty()) return false;
+    try {
+        m_socket->iSendMessageTo(const_cast<uint8_t*>(data.data()),
+                                 static_cast<int>(data.size()),
+                                 port, host);
+        return true;
+    } catch (...) {
+        return false;
+    }
+}
+
+int UdpEndpoint::receive(uint8_t* buf, size_t len) {
+    if (!m_socket || !buf || len == 0) return 0;
+    try {
+        return m_socket->iRecieveMessage(buf, static_cast<int>(len));
+    } catch (...) {
+        return 0;
+    }
+}
+
+} // namespace ccu

src/pCCU/comm/UdpEndpoint.h

@@ -0,0 +1,46 @@
+#ifndef PCCU_UDP_ENDPOINT_H
+#define PCCU_UDP_ENDPOINT_H
+
+#define UNIX
+#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
+#include <cstdint>
+#include <string>
+#include <vector>
+
+namespace ccu {
+
+//============================================================================
+// UdpEndpoint：单个 UDP 套接字的封装。
+//
+// 职责：
+//   - 绑定本地端口
+//   - 向指定远端 (host:port) 发送数据报
+//   - 阻塞接收数据报
+// 不关心协议内容，仅负责字节的收发。
+//============================================================================
+
+class UdpEndpoint {
+public:
+    UdpEndpoint();
+    ~UdpEndpoint();
+
+    // 绑定本地端口；返回是否成功（端口占用/权限失败返回 false）
+    bool init(long localPort);
+
+    // 向指定远端发送完整数据报
+    bool sendTo(const std::string& host, long port, const std::vector<uint8_t>& data);
+
+    // 阻塞接收一帧；返回接收字节数，0 或负值表示无数据/错误
+    int receive(uint8_t* buf, size_t len);
+
+    bool isOpen() const { return m_socket != nullptr; }
+    long localPort() const { return m_localPort; }
+
+private:
+    XPCUdpSocket* m_socket = nullptr;
+    long m_localPort = 0;
+};
+
+} // namespace ccu
+
+#endif // PCCU_UDP_ENDPOINT_H

src/pCCU/core/SnapshotBuilder.cpp

@@ -0,0 +1,381 @@
+#include "SnapshotBuilder.h"
+#include "../store/DbStore.h"
+#include "json/json.h"
+#include <sstream>
+#include <cstdio>
+
+namespace ccu {
+
+using JsonVal = Json::Value;
+
+namespace {
+
+void put(JsonVal& j, const char* k, uint8_t v)  { j[k] = JsonVal(v); }
+void put(JsonVal& j, const char* k, uint16_t v){ j[k] = JsonVal(v); }
+void put(JsonVal& j, const char* k, uint32_t v){ j[k] = JsonVal(static_cast<Json::UInt>(v)); }
+
+//--------------------------------------------------------------------------
+// 消息描述：根据链路 + 消息 ID + 方向(0=收 1=发)，给出中文名与"来源→去向"。
+// 方向是相对 pCCU 而言：收=对方→CCU，发=CCU→对方。
+//--------------------------------------------------------------------------
+std::string describeMessageName(const std::string& link, uint16_t id) {
+    if (link == "fc") {
+        switch (id) {
+            case 0x0001: return "FC控制指令";
+            case 0x0002: return "FC状态反馈";
+            default: break;
+        }
+    } else if (link == "pm") {
+        switch (id) {
+            case 0x0001: return "PM操控指令";
+            case 0x0002: return "PM参数设定";
+            case 0x0003: return "PM参数反馈";
+            case 0x0004: return "PM状态报文";
+            default: break;
+        }
+    }
+    char buf[32];
+    std::snprintf(buf, sizeof(buf), "未知(0x%04X)", id);
+    return buf;
+}
+
+std::string describeDirection(const std::string& link, int direction) {
+    const std::string peer = (link == "fc") ? "FC" : "PM";
+    return (direction == 1) ? ("CCU→" + peer) : (peer + "→CCU");
+}
+
+// 把数据库一行记录转成 JSON（含消息名与方向描述）
+JsonVal commLogToJson(const CommLogRow& r) {
+    JsonVal e(Json::objectValue);
+    e["time"]       = JsonVal(r.time);
+    e["link"]       = r.link;
+    e["direction"]  = r.direction;
+    e["msgId"]      = r.msgId;
+    e["checksumOk"] = r.checksumOk;
+    e["hex"]        = r.hex;
+    e["name"]       = describeMessageName(r.link, r.msgId);
+    e["dirText"]    = describeDirection(r.link, r.direction);
+    return e;
+}
+
+// 燃料电池状态 -> JSON
+JsonVal fcStatusJson(const FcStatusValue& v) {
+    JsonVal j(Json::objectValue);
+    put(j, "fc_mode", v.fc_mode);
+    put(j, "fc_status", v.fc_status);
+    put(j, "fault_level_1", v.fault_level_1);
+    put(j, "fault_level_2", v.fault_level_2);
+    put(j, "fault_level_3", v.fault_level_3);
+    put(j, "fault_level_4", v.fault_level_4);
+    put(j, "total_generation_time", v.total_generation_time);
+    put(j, "fc_fault_level", v.fc_fault_level);
+    put(j, "generation_power", v.generation_power);
+    put(j, "hydrogen_capacity", v.hydrogen_capacity);
+    put(j, "liquid_oxygen_capacity", v.liquid_oxygen_capacity);
+
+    put(j, "fc1_min_cell_voltage", v.fc1_min_cell_voltage);
+    put(j, "fc1_min_cell_pos", v.fc1_min_cell_pos);
+    put(j, "fc1_avg_cell_voltage", v.fc1_avg_cell_voltage);
+    put(j, "fc2_min_cell_voltage", v.fc2_min_cell_voltage);
+    put(j, "fc2_min_cell_pos", v.fc2_min_cell_pos);
+    put(j, "fc2_avg_cell_voltage", v.fc2_avg_cell_voltage);
+
+    put(j, "palladium_temp", v.palladium_temp);
+    put(j, "buffer_tank_pressure", v.buffer_tank_pressure);
+    put(j, "flue_total_emission", v.flue_total_emission);
+    put(j, "flue_pressure", v.flue_pressure);
+    put(j, "reactor_pressure", v.reactor_pressure);
+    put(j, "electric_valve_open", v.electric_valve_open);
+
+    put(j, "dcdc1_in_voltage", v.dcdc1_in_voltage);
+    put(j, "dcdc1_in_current", v.dcdc1_in_current);
+    put(j, "dcdc2_in_voltage", v.dcdc2_in_voltage);
+    put(j, "dcdc2_in_current", v.dcdc2_in_current);
+    put(j, "dcdc_out_voltage", v.dcdc_out_voltage);
+    put(j, "dcdc_out_current", v.dcdc_out_current);
+    put(j, "dcdc_ctrl_voltage", v.dcdc_ctrl_voltage);
+    put(j, "dcdc_aux_voltage", v.dcdc_aux_voltage);
+
+    put(j, "methanol_total_use", v.methanol_total_use);
+    put(j, "methanol_feed", v.methanol_feed);
+    put(j, "oxygen_side_water_level", v.oxygen_side_water_level);
+    put(j, "hydrogen_side_water_level", v.hydrogen_side_water_level);
+    put(j, "ballast_water_level", v.ballast_water_level);
+
+    put(j, "exhaust_inlet_pressure", v.exhaust_inlet_pressure);
+    put(j, "exhaust_outlet_pressure", v.exhaust_outlet_pressure);
+    put(j, "cabin_pressure1", v.cabin_pressure1);
+    put(j, "cabin_pressure2", v.cabin_pressure2);
+    put(j, "cabin_temp1", v.cabin_temp1);
+    put(j, "cabin_temp2", v.cabin_temp2);
+    put(j, "cabin_humidity1", v.cabin_humidity1);
+    put(j, "cabin_humidity2", v.cabin_humidity2);
+    put(j, "h2_concentration1", v.h2_concentration1);
+    put(j, "h2_concentration2", v.h2_concentration2);
+    put(j, "h2_concentration3", v.h2_concentration3);
+    put(j, "o2_concentration1", v.o2_concentration1);
+    put(j, "o2_concentration2", v.o2_concentration2);
+    put(j, "ch3oh_concentration1", v.ch3oh_concentration1);
+    put(j, "ch3oh_concentration2", v.ch3oh_concentration2);
+
+    put(j, "flame_detector1", v.flame_detector1);
+    put(j, "flame_detector2", v.flame_detector2);
+    put(j, "emergency_float_depth", v.emergency_float_depth);
+    put(j, "emergency_float_time", v.emergency_float_time);
+    put(j, "exhaust_run_freq", v.exhaust_run_freq);
+    put(j, "exhaust_inlet_temp", v.exhaust_inlet_temp);
+    put(j, "exhaust_outlet_temp", v.exhaust_outlet_temp);
+    put(j, "exhaust_water_in_pressure", v.exhaust_water_in_pressure);
+    put(j, "exhaust_water_out_pressure", v.exhaust_water_out_pressure);
+    put(j, "tank_lo2_pressure", v.tank_lo2_pressure);
+    put(j, "tank_co2_pressure", v.tank_co2_pressure);
+    put(j, "tank_lo2_level", v.tank_lo2_level);
+    put(j, "alloy_h2_flow", v.alloy_h2_flow);
+    put(j, "fc_h2_flow", v.fc_h2_flow);
+    put(j, "fc_o2_flow", v.fc_o2_flow);
+    put(j, "remaining_generation", v.remaining_generation);
+    put(j, "heartbeat", v.heartbeat);
+    put(j, "emergency_cmd", v.emergency_cmd);
+    return j;
+}
+
+// PM 操控指令 -> JSON
+JsonVal pmControlJson(const PmControlValue& v) {
+    JsonVal j(Json::objectValue);
+    put(j, "year", v.year);
+    put(j, "month", v.month);
+    put(j, "day", v.day);
+    put(j, "hour", v.hour);
+    put(j, "minute", v.minute);
+    put(j, "second", v.second);
+    put(j, "millisecond10", v.millisecond10);
+    put(j, "mode", v.mode);
+    put(j, "cmd", v.cmd);
+    put(j, "outputPower", v.outputPower);
+    j["pitch"] = JsonVal(static_cast<int>(v.pitch)); // 有符号 int16，×0.1°
+    j["roll"]  = JsonVal(static_cast<int>(v.roll));
+    put(j, "emergencyAllow", v.emergencyAllow);
+    put(j, "depth", v.depth);
+    put(j, "supplyCmd", v.supplyCmd);
+    put(j, "reservedCmd5", v.reservedCmd5);
+    put(j, "reservedCmd6", v.reservedCmd6);
+    put(j, "insBatCmd", v.insBatCmd);
+    put(j, "dynBatCmd", v.dynBatCmd);
+    put(j, "dynBatPower", v.dynBatPower);
+    put(j, "heartbeat", v.heartbeat);
+    put(j, "hostState", v.hostState);
+    return j;
+}
+
+// FC 控制指令（转发给 FC）-> JSON
+JsonVal fcControlJson(const FcControlValue& v) {
+    JsonVal j(Json::objectValue);
+    put(j, "mode", v.mode);
+    put(j, "cmd", v.cmd);
+    put(j, "outputPower", v.outputPower);
+    j["pitch1"] = JsonVal(static_cast<int>(v.pitch1)); // 有符号 int16，×0.1°
+    j["roll1"]  = JsonVal(static_cast<int>(v.roll1));
+    put(j, "emergencyAllow", v.emergencyAllow);
+    put(j, "depth", v.depth);
+    put(j, "supplyCmd", v.supplyCmd);
+    put(j, "reservedCmd5", v.reservedCmd5);
+    put(j, "reservedCmd6", v.reservedCmd6);
+    put(j, "heartbeat", v.heartbeat);
+    return j;
+}
+
+// PM 参数设定（收到）-> JSON
+JsonVal pmParamJson(const PmParamSetValue& v) {
+    JsonVal j(Json::objectValue);
+    put(j, "insSocHold1", v.insSocHold1);
+    put(j, "insSocHold2", v.insSocHold2);
+    put(j, "insSocHold3", v.insSocHold3);
+    put(j, "insOutputPower", v.insOutputPower);
+    put(j, "dynSocHold1", v.dynSocHold1);
+    put(j, "dynSocHold2", v.dynSocHold2);
+    put(j, "dynSocHold3", v.dynSocHold3);
+    put(j, "dynOutputPower", v.dynOutputPower);
+    return j;
+}
+
+// PM 参数反馈（发送）-> JSON
+JsonVal pmFbJson(const PmParamSetFbValue& v) {
+    JsonVal j(Json::objectValue);
+    put(j, "flag", v.flag);
+    put(j, "failCode", v.failCode);
+    return j;
+}
+
+// PM 状态报文（整合后发送给控制主机）-> JSON（关键字段）
+JsonVal pmStatusJson(const PmStatusValue& v) {
+    JsonVal j(Json::objectValue);
+    put(j, "fc_mode", v.fc_mode);
+    put(j, "fc_status", v.fc_status);
+    put(j, "fault_level_1", v.fault_level_1);
+    put(j, "fault_level_2", v.fault_level_2);
+    put(j, "fault_level_3", v.fault_level_3);
+    put(j, "fault_level_4", v.fault_level_4);
+    put(j, "total_generation_time", v.total_generation_time);
+    put(j, "fc_fault_level", v.fc_fault_level);
+    put(j, "output_power_limit", v.output_power_limit);
+    put(j, "generation_power", v.generation_power);
+    put(j, "hydrogen_capacity", v.hydrogen_capacity);
+    put(j, "liquid_oxygen_capacity", v.liquid_oxygen_capacity);
+    put(j, "palladium_temp", v.palladium_temp);
+    put(j, "buffer_tank_pressure", v.buffer_tank_pressure);
+    put(j, "main_pipe_pressure", v.main_pipe_pressure);
+    put(j, "aux_pipe_pressure", v.aux_pipe_pressure);
+    put(j, "dcdc1_in_voltage", v.dcdc1_in_voltage);
+    put(j, "dcdc1_in_current", v.dcdc1_in_current);
+    put(j, "dcdc2_in_voltage", v.dcdc2_in_voltage);
+    put(j, "dcdc2_in_current", v.dcdc2_in_current);
+    put(j, "dcdc_out_voltage", v.dcdc_out_voltage);
+    put(j, "dcdc_out_current", v.dcdc_out_current);
+    put(j, "methanol_total_use", v.methanol_total_use);
+    put(j, "methanol_feed", v.methanol_feed);
+    put(j, "exhaust_inlet_pressure", v.exhaust_inlet_pressure);
+    put(j, "exhaust_outlet_pressure", v.exhaust_outlet_pressure);
+    put(j, "exhaust_run_freq", v.exhaust_run_freq);
+    put(j, "tank_lo2_pressure", v.tank_lo2_pressure);
+    put(j, "tank_co2_pressure", v.tank_co2_pressure);
+    put(j, "tank_lo2_level", v.tank_lo2_level);
+    put(j, "alloy_h2_flow", v.alloy_h2_flow);
+    put(j, "fc_h2_flow", v.fc_h2_flow);
+    put(j, "fc_o2_flow", v.fc_o2_flow);
+    put(j, "emergency_float_depth", v.emergency_float_depth);
+    put(j, "emergency_float_time", v.emergency_float_time);
+    put(j, "cabin_pressure1", v.cabin_pressure1);
+    put(j, "cabin_pressure2", v.cabin_pressure2);
+    put(j, "cabin_temp1", v.cabin_temp1);
+    put(j, "cabin_temp2", v.cabin_temp2);
+    put(j, "cabin_humidity1", v.cabin_humidity1);
+    put(j, "cabin_humidity2", v.cabin_humidity2);
+    put(j, "h2_concentration1", v.h2_concentration1);
+    put(j, "h2_concentration2", v.h2_concentration2);
+    put(j, "h2_concentration3", v.h2_concentration3);
+    put(j, "o2_concentration1", v.o2_concentration1);
+    put(j, "o2_concentration2", v.o2_concentration2);
+    put(j, "ch3oh_concentration1", v.ch3oh_concentration1);
+    put(j, "ch3oh_concentration2", v.ch3oh_concentration2);
+    put(j, "flame_detector1", v.flame_detector1);
+    put(j, "flame_detector2", v.flame_detector2);
+    put(j, "emergency_battery1_voltage", v.emergency_battery1_voltage);
+    put(j, "emergency_battery1_current", v.emergency_battery1_current);
+    put(j, "emergency_battery1_max_temp", v.emergency_battery1_max_temp);
+    put(j, "emergency_battery1_fault_word", v.emergency_battery1_fault_word);
+    put(j, "emergency_battery2_voltage", v.emergency_battery2_voltage);
+    put(j, "emergency_battery2_current", v.emergency_battery2_current);
+    put(j, "emergency_battery2_max_temp", v.emergency_battery2_max_temp);
+    put(j, "emergency_battery2_fault_word", v.emergency_battery2_fault_word);
+    put(j, "ins_cabin_ox_concentration", v.ins_cabin_ox_concentration);
+    put(j, "ins_cabin_temperature", v.ins_cabin_temperature);
+    put(j, "ins_cabin_humidity", v.ins_cabin_humidity);
+    put(j, "ins_cabin_pressure", v.ins_cabin_pressure);
+    put(j, "dyn_cabin_ox_concentration", v.dyn_cabin_ox_concentration);
+    put(j, "dyn_cabin_temperature", v.dyn_cabin_temperature);
+    put(j, "dyn_cabin_humidity", v.dyn_cabin_humidity);
+    put(j, "dyn_cabin_pressure", v.dyn_cabin_pressure);
+    put(j, "ins_relay_status1", v.ins_relay_status1);
+    put(j, "ins_relay_status2", v.ins_relay_status2);
+    put(j, "dyn_relay_status1", v.dyn_relay_status1);
+    put(j, "dyn_relay_status2", v.dyn_relay_status2);
+    put(j, "ins_max_discharge_power", v.ins_max_discharge_power);
+    put(j, "dyn_max_discharge_power", v.dyn_max_discharge_power);
+    put(j, "ins_soc", v.ins_soc);
+    put(j, "dyn_soc", v.dyn_soc);
+    put(j, "ins_total_energy", v.ins_total_energy);
+    put(j, "dyn_total_energy", v.dyn_total_energy);
+    put(j, "ins_power_input", v.ins_power_input);
+    put(j, "dyn_power_input", v.dyn_power_input);
+    put(j, "ins_charge_status", v.ins_charge_status);
+    put(j, "dyn_charge_status", v.dyn_charge_status);
+    put(j, "ins_voltage_link", v.ins_voltage_link);
+    put(j, "ins_voltage_pack", v.ins_voltage_pack);
+    put(j, "ins_current", v.ins_current);
+    put(j, "ins_resistance_pos", v.ins_resistance_pos);
+    put(j, "ins_resistance_neg", v.ins_resistance_neg);
+    put(j, "dyn_voltage_link", v.dyn_voltage_link);
+    put(j, "dyn_voltage_pack", v.dyn_voltage_pack);
+    put(j, "dyn_current", v.dyn_current);
+    put(j, "dyn_resistance_pos", v.dyn_resistance_pos);
+    put(j, "dyn_resistance_neg", v.dyn_resistance_neg);
+    put(j, "ins_emergency_status", v.ins_emergency_status);
+    put(j, "dyn_emergency_status", v.dyn_emergency_status);
+    put(j, "device_online_flag1", v.device_online_flag1);
+    put(j, "device_online_flag2", v.device_online_flag2);
+    put(j, "heartbeat", v.heartbeat);
+    put(j, "emergency_cmd", v.emergency_cmd);
+    return j;
+}
+
+JsonVal linkJson(const LinkManager* lm) {
+    JsonVal j(Json::objectValue);
+    if (!lm) return j;
+    j["rx"] = JsonVal(static_cast<Json::UInt>(lm->rxCount()));
+    j["tx"] = JsonVal(static_cast<Json::UInt>(lm->txCount()));
+    j["err"] = JsonVal(static_cast<Json::UInt>(lm->errorCount()));
+    j["lastRx"] = JsonVal(lm->lastRxTime());
+    return j;
+}
+
+} // namespace
+
+SnapshotBuilder::SnapshotBuilder(SystemData* sys, LinkManager* fc, LinkManager* pm, DbStore* db)
+    : m_sys(sys), m_fc(fc), m_pm(pm), m_db(db) {}
+
+std::string SnapshotBuilder::build() const {
+    JsonVal root(Json::objectValue);
+
+    if (m_sys) {
+        root["fc"] = fcStatusJson(m_sys->fcStatus());
+        root["pmCmd"] = pmControlJson(m_sys->pmControl());
+        root["fcCmd"] = fcControlJson(m_sys->fcControl());
+        root["pmParam"] = pmParamJson(m_sys->pmParamSet());
+        root["pmFb"] = pmFbJson(m_sys->pmParamFb());
+        root["pmStatus"] = pmStatusJson(m_sys->pmStatus());
+        root["fcStatusCount"] = JsonVal(static_cast<Json::UInt>(m_sys->fcStatusCount()));
+        root["pmControlCount"] = JsonVal(static_cast<Json::UInt>(m_sys->pmControlCount()));
+        root["fcControlCount"] = JsonVal(static_cast<Json::UInt>(m_sys->fcControlCount()));
+        root["pmStatusCount"] = JsonVal(static_cast<Json::UInt>(m_sys->pmStatusCount()));
+    } else {
+        root["fc"] = JsonVal(Json::objectValue);
+        root["pmCmd"] = JsonVal(Json::objectValue);
+        root["fcCmd"] = JsonVal(Json::objectValue);
+        root["pmParam"] = JsonVal(Json::objectValue);
+        root["pmFb"] = JsonVal(Json::objectValue);
+        root["pmStatus"] = JsonVal(Json::objectValue);
+    }
+
+    JsonVal links(Json::objectValue);
+    links["fc"] = linkJson(m_fc);
+    links["pm"] = linkJson(m_pm);
+    root["links"] = links;
+
+    // 最近原始帧（默认 20 条）
+    if (m_db) {
+        JsonVal logs(Json::arrayValue);
+        auto rows = m_db->queryRecent("", -1, 0, 20);
+        for (const auto& r : rows) {
+            logs.append(commLogToJson(r));
+        }
+        root["logs"] = logs;
+    }
+
+    Json::StreamWriterBuilder wb;
+    wb.settings_["indentation"] = "";
+    return Json::writeString(wb, root);
+}
+
+std::string SnapshotBuilder::buildLogs(int limit) const {
+    if (!m_db) return "[]";
+    JsonVal logs(Json::arrayValue);
+    auto rows = m_db->queryRecent("", -1, 0, limit);
+    for (const auto& r : rows) {
+        logs.append(commLogToJson(r));
+    }
+    Json::StreamWriterBuilder wb;
+    wb.settings_["indentation"] = "";
+    return Json::writeString(wb, logs);
+}
+
+} // namespace ccu

src/pCCU/core/SnapshotBuilder.h

@@ -0,0 +1,38 @@
+#ifndef PCCU_SNAPSHOT_BUILDER_H
+#define PCCU_SNAPSHOT_BUILDER_H
+
+#include <string>
+#include "SystemData.h"
+#include "../comm/LinkManager.h"
+
+namespace ccu {
+
+class DbStore;
+
+//============================================================================
+// SnapshotBuilder：构建网页推送的 JSON 快照。
+//
+// 组合 SystemData（最新状态）、两条链路统计、最近原始帧日志，
+// 序列化为 JSON 字符串（jsoncpp）。串行化逻辑集中在此处，便于维护。
+//============================================================================
+
+class SnapshotBuilder {
+public:
+    SnapshotBuilder(SystemData* sys, LinkManager* fc, LinkManager* pm, DbStore* db);
+
+    // 生成完整快照 JSON
+    std::string build() const;
+
+    // 生成最近原始帧日志 JSON（供 /api/logs）
+    std::string buildLogs(int limit) const;
+
+private:
+    SystemData*  m_sys;
+    LinkManager* m_fc;
+    LinkManager* m_pm;
+    DbStore*     m_db;
+};
+
+} // namespace ccu
+
+#endif // PCCU_SNAPSHOT_BUILDER_H

src/pCCU/core/SystemData.h

@@ -0,0 +1,118 @@
+#ifndef PCCU_SYSTEM_DATA_H
+#define PCCU_SYSTEM_DATA_H
+
+#include <mutex>
+#include <atomic>
+#include "../protocol/FcProtocol.h"
+#include "../protocol/PmProtocol.h"
+
+namespace ccu {
+
+//============================================================================
+// SystemData：跨线程共享的最新状态快照。
+//
+//  - 接收线程（FC 链路）写 FcStatus 快照
+//  - CCU 主循环（Iterate）读快照并整合编码为 PM 状态报文发送
+//  - 网页线程读快照展示
+// 通过互斥锁保护读写。
+//============================================================================
+
+class SystemData {
+public:
+    // 更新/获取燃料电池最新状态
+    void updateFcStatus(const FcStatusValue& v) {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        m_fcStatus = v;
+        m_fcStatusCount++;
+    }
+    FcStatusValue fcStatus() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_fcStatus;
+    }
+    unsigned long fcStatusCount() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_fcStatusCount;
+    }
+
+    // 更新/获取最新 PM 操控指令（用于转发到 FC）
+    void updatePmControl(const PmControlValue& v) {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        m_pmControl = v;
+        m_pmControlCount++;
+    }
+    PmControlValue pmControl() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_pmControl;
+    }
+    unsigned long pmControlCount() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_pmControlCount;
+    }
+
+    // 更新/获取最新 PM 参数设定（预留，用于未来转发/应用）
+    void updatePmParamSet(const PmParamSetValue& v) {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        m_pmParamSet = v;
+    }
+    PmParamSetValue pmParamSet() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_pmParamSet;
+    }
+
+    // 更新/获取最新转发给 FC 的控制指令
+    void updateFcControl(const FcControlValue& v) {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        m_fcControl = v;
+        m_fcControlCount++;
+    }
+    FcControlValue fcControl() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_fcControl;
+    }
+    unsigned long fcControlCount() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_fcControlCount;
+    }
+
+    // 更新/获取最新发送给 PM 的状态报文（整合后的）
+    void updatePmStatus(const PmStatusValue& v) {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        m_pmStatus = v;
+        m_pmStatusCount++;
+    }
+    PmStatusValue pmStatus() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_pmStatus;
+    }
+    unsigned long pmStatusCount() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_pmStatusCount;
+    }
+
+    // 更新/获取最新发送给 PM 的参数反馈
+    void updatePmParamFb(const PmParamSetFbValue& v) {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        m_pmParamFb = v;
+    }
+    PmParamSetFbValue pmParamFb() const {
+        std::lock_guard<std::mutex> lock(m_mutex);
+        return m_pmParamFb;
+    }
+
+private:
+    mutable std::mutex m_mutex;
+    FcStatusValue   m_fcStatus;
+    PmControlValue  m_pmControl;
+    PmParamSetValue m_pmParamSet;
+    FcControlValue  m_fcControl;
+    PmStatusValue   m_pmStatus;
+    PmParamSetFbValue m_pmParamFb;
+    unsigned long m_fcStatusCount = 0;
+    unsigned long m_pmControlCount = 0;
+    unsigned long m_fcControlCount = 0;
+    unsigned long m_pmStatusCount = 0;
+};
+
+} // namespace ccu
+
+#endif // PCCU_SYSTEM_DATA_H

src/pCCU/main.cpp

@@ -0,0 +1,54 @@
+/************************************************************/
+/*    NAME:  pCCU                                            */
+/*    FILE:  main.cpp                                        */
+/************************************************************/
+
+#include <string>
+#include "MBUtils.h"
+#include "ColorParse.h"
+#include "CCU.h"
+#include "CCU_Info.h"
+#include "../pPowerManger/logc/loguru.hpp"
+
+using namespace std;
+
+int main(int argc, char *argv[])
+{
+  loguru::init(argc, argv);
+
+  string mission_file;
+  string run_command = argv[0];
+  // 默认以程序文件名（去掉路径）作为进程名，保证与 .moos 中 ProcessConfig 匹配
+  {
+    size_t slash = run_command.find_last_of('/');
+    if (slash != string::npos) run_command = run_command.substr(slash + 1);
+  }
+
+  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();
+
+  LOG_F(INFO, "pCCU launching as %s", run_command.c_str());
+
+  ccu::CCU CCU;
+  CCU.Run(run_command.c_str(), mission_file.c_str());
+
+  return 0;
+}

src/pCCU/pCCU.moos

@@ -0,0 +1,39 @@
+//============================================================================
+// pCCU 配置示例
+//
+// 链路拓扑：
+//   燃料电池控制器(FC)  192.168.1.162:7000
+//   控制主机(pPowerManger)  192.168.0.140:5001
+//   pCCU 本机监听：FC 状态端口 6000、PM 指令端口 7000
+//============================================================================
+
+ProcessConfig = pCCU
+{
+   AppTick   = 4
+   CommsTick = 4
+
+   //======== FC 链路（与燃料电池通信） ========
+   // 本机接收 FC 状态反馈的端口
+   fc_local_port  = 6000
+   // 燃料电池控制器地址（发送 FC 控制指令目标）
+   fc_remote_ip   = 192.168.1.162
+   fc_remote_port = 7000
+
+   //======== PM 链路（与控制主机通信） ========
+   // 本机接收 pPowerManger 指令的端口
+   pm_local_port  = 7000
+   // 控制主机地址（发送 PM 状态报文目标）
+   pm_remote_ip   = 192.168.0.140
+   pm_remote_port = 5001
+
+   //======== 存储与日志 ========
+   // 数据库路径（SQLite）
+   dbpath  = pccu_data.db
+   // 日志文件路径
+   logpath = pCCU.log
+
+   //======== 网页监控 ========
+   // 端口避开 pPowerManger(8090) / pPowerMangerHost(18080)
+   web_port   = 8080
+   web_enable = true
+}

src/pCCU/protocol/ChecksumPolicy.h

@@ -0,0 +1,82 @@
+#ifndef PCCU_CHECKSUM_POLICY_H
+#define PCCU_CHECKSUM_POLICY_H
+
+#include <cstdint>
+#include <cstddef>
+#include <vector>
+
+namespace ccu {
+
+//============================================================================
+// ChecksumPolicy：校验和策略（可插拔）。
+//
+// 协议联调阶段校验和的实现可能调整，因此对每条消息独立配置策略：
+//   - None   : 无校验和字段（如 FC 状态帧文档未列校验行）
+//   - Sum32  : uint32 字节和，从域起始符到校验和之前所有数据的字节和
+//   - Sum16  : uint16 字节和（预留，备用）
+// 新增策略只需在此类扩展，不影响其它代码。
+//============================================================================
+
+enum class ChecksumType {
+    None,   // 无校验
+    Sum32,  // uint32 字节和
+    Sum16,  // uint16 字节和
+};
+
+class ChecksumPolicy {
+public:
+    explicit ChecksumPolicy(ChecksumType type) : m_type(type) {}
+
+    ChecksumType type() const { return m_type; }
+
+    // 校验和字段占用的字节数；None 返回 0
+    size_t size() const {
+        switch (m_type) {
+            case ChecksumType::Sum32: return 4;
+            case ChecksumType::Sum16: return 2;
+            case ChecksumType::None:  return 0;
+        }
+        return 0;
+    }
+
+    // 计算校验和：对 data[0 .. data.size()] 全部字节求和（调用方保证不含校验和自身）
+    uint32_t compute(const std::vector<uint8_t>& data) const {
+        uint32_t sum = 0;
+        for (size_t i = 0; i < data.size(); ++i) {
+            sum += data[i];
+        }
+        return sum;
+    }
+
+    // 校验给定帧（含校验和字段）：返回帧尾校验和字段是否与计算值一致
+    // frame 必须包含从域起始符开始的完整帧。校验和位于末尾 size() 字节。
+    bool verify(const std::vector<uint8_t>& frame) const {
+        size_t cs = size();
+        if (cs == 0) return true;                       // 无校验，视为通过
+        if (frame.size() < cs) return false;
+
+        std::vector<uint8_t> body(frame.begin(), frame.end() - cs);
+        uint32_t expect = compute(body);
+
+        uint32_t actual = 0;
+        size_t offset = frame.size() - cs;
+        if (m_type == ChecksumType::Sum32) {
+            actual = static_cast<uint32_t>(frame[offset]) |
+                     (static_cast<uint32_t>(frame[offset + 1]) << 8) |
+                     (static_cast<uint32_t>(frame[offset + 2]) << 16) |
+                     (static_cast<uint32_t>(frame[offset + 3]) << 24);
+            return expect == actual;
+        }
+        // Sum16
+        actual = static_cast<uint32_t>(frame[offset]) |
+                 (static_cast<uint32_t>(frame[offset + 1]) << 8);
+        return (expect & 0xFFFF) == actual;
+    }
+
+private:
+    ChecksumType m_type;
+};
+
+} // namespace ccu
+
+#endif // PCCU_CHECKSUM_POLICY_H

src/pCCU/protocol/FcProtocol.cpp

@@ -0,0 +1,344 @@
+#include "FcProtocol.h"
+#include "FieldCodec.h"
+#include "Frame.h"
+#include "MessageRegistry.h"
+
+namespace ccu {
+
+void registerFcMessages(MessageRegistry& reg) {
+    reg.registerMessage(std::unique_ptr<Message>(new FcControlMessage()));
+    reg.registerMessage(std::unique_ptr<Message>(new FcStatusMessage()));
+}
+
+//============================================================================
+// 0x0001 控制指令域编解码
+// 数据域 18 字节（字节7~24），偏移 0~17；整包 24 字节
+//============================================================================
+
+namespace {
+// 数据域内偏移（相对数据域起点，offset = 文档字节号 - 7）
+enum : size_t {
+    CO_MODE        = 0,   // 模式设定 (字节7)
+    CO_CMD         = 1,   // 操控指令 (字节8)
+    CO_OUT_POWER   = 2,   // 输出功率指令 (字节9)
+    CO_PITCH1      = 3,   // 纵倾姿态数据1 int16 (字节10,11)
+    CO_RESERVED1   = 5,   // 预留 (字节12,13)，0827协议由纵倾姿态数据2改为预留
+    CO_ROLL1       = 7,   // 横倾姿态数据1 int16 (字节14,15)
+    CO_RESERVED2   = 9,   // 预留 (字节16,17)，0827协议由横倾姿态数据2改为预留
+    CO_EMER_ALLOW  = 11,  // 应急允许 (字节18)
+    CO_DEPTH       = 12,  // 潜深深度 u16 (字节19,20)
+    CO_SUPPLY_CMD  = 14,  // 补给/排放指令 (字节21)
+    CO_RESERVED5   = 15,  // 预留指令5 (字节22)
+    CO_RESERVED6   = 16,  // 预留指令6 (字节23)
+    CO_HEARTBEAT   = 17,  // 通信心跳 (字节24)
+};
+} // namespace
+
+std::vector<uint8_t> FcControlMessage::encode(const void* obj) const {
+    const FcControlValue* v = static_cast<const FcControlValue*>(obj);
+    std::vector<uint8_t> payload(payloadLength(), 0);
+
+    FieldCodec::putU8(payload, CO_MODE,        v->mode);
+    FieldCodec::putU8(payload, CO_CMD,         v->cmd);
+    FieldCodec::putU8(payload, CO_OUT_POWER,   v->outputPower);
+    FieldCodec::putU16(payload, CO_PITCH1,     static_cast<uint16_t>(v->pitch1));
+    FieldCodec::putU16(payload, CO_RESERVED1,  0);   // 预留恒填0
+    FieldCodec::putU16(payload, CO_ROLL1,      static_cast<uint16_t>(v->roll1));
+    FieldCodec::putU16(payload, CO_RESERVED2,  0);   // 预留恒填0
+    FieldCodec::putU8(payload, CO_EMER_ALLOW,  v->emergencyAllow);
+    FieldCodec::putU16(payload, CO_DEPTH,      v->depth);
+    FieldCodec::putU8(payload, CO_SUPPLY_CMD,  v->supplyCmd);
+    FieldCodec::putU8(payload, CO_RESERVED5,   v->reservedCmd5);
+    FieldCodec::putU8(payload, CO_RESERVED6,   v->reservedCmd6);
+    FieldCodec::putU8(payload, CO_HEARTBEAT,   v->heartbeat);
+
+    return Frame::build(id(), payload, checksum());
+}
+
+bool FcControlMessage::decode(const std::vector<uint8_t>& frame, void* obj) const {
+    if (!validateFrame(frame, id(), checksum(), totalLength())) return false;
+    FcControlValue* v = static_cast<FcControlValue*>(obj);
+
+    size_t o = FRAME_HEADER_LEN; // 数据域起点
+    v->mode           = FieldCodec::getU8(frame, o + CO_MODE);
+    v->cmd            = FieldCodec::getU8(frame, o + CO_CMD);
+    v->outputPower    = FieldCodec::getU8(frame, o + CO_OUT_POWER);
+    v->pitch1         = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_PITCH1));
+    // 字节12,13 预留，忽略
+    v->roll1          = static_cast<int16_t>(FieldCodec::getU16(frame, o + CO_ROLL1));
+    // 字节16,17 预留，忽略
+    v->emergencyAllow = FieldCodec::getU8(frame, o + CO_EMER_ALLOW);
+    v->depth          = FieldCodec::getU16(frame, o + CO_DEPTH);
+    v->supplyCmd      = FieldCodec::getU8(frame, o + CO_SUPPLY_CMD);
+    v->reservedCmd5   = FieldCodec::getU8(frame, o + CO_RESERVED5);
+    v->reservedCmd6   = FieldCodec::getU8(frame, o + CO_RESERVED6);
+    v->heartbeat      = FieldCodec::getU8(frame, o + CO_HEARTBEAT);
+    return true;
+}
+
+//============================================================================
+// 0x0002 状态反馈域编解码
+// 数据域 144 字节
+//============================================================================
+
+namespace {
+// 数据域内各字段偏移（相对数据域起点，offset = 文档字节号 - 7）
+// 注意：文档中"系统故障等级"为字节19(1字节)，字节20为隐式保留位，
+//       "系统发电功率"从字节21(offset 14)开始，其后的字段均按此定位。
+enum : size_t {
+    OFF_MODE              = 0,    // 运行模式 (字节7)
+    OFF_STATUS            = 1,    // 运行状态 (字节8)
+    OFF_FL1               = 2,    // 一级故障码 u16 (字节9-10)
+    OFF_FL2               = 4,    // 二级故障码 (字节11-12)
+    OFF_FL3               = 6,    // 三级故障码 (字节13-14)
+    OFF_FL4               = 8,    // 四级故障码 (字节15-16)
+    OFF_GEN_TIME          = 10,   // 累积发电时间 u16 (字节17-18)
+    OFF_FAULT_LEVEL       = 12,   // 系统故障等级 (字节19)
+    // 字节20 隐式保留（offset 13）
+    OFF_GEN_POWER         = 14,   // 系统发电功率 u16 (字节21-22)
+    OFF_H2_CAP            = 16,   // 储氢剩余容量 (字节23)
+    OFF_LO2_CAP           = 17,   // 液氧剩余容量 (字节24)
+    OFF_FC1_MIN_V         = 18,   // I#FC最低单片电压 (字节25)
+    OFF_FC1_MIN_POS       = 19,   // I#FC最低单片电压位置 (字节26)
+    OFF_FC1_AVG_V         = 20,   // I#FC平均单片电压 (字节27)
+    OFF_FC2_MIN_V         = 21,   // 2#FC最低单片电压 (字节28)
+    OFF_FC2_MIN_POS       = 22,   // 2#FC最低单片电压位置 (字节29)
+    OFF_FC2_AVG_V         = 23,   // 2#FC平均单片电压 (字节30)
+    OFF_PALLADIUM_TEMP    = 24,   // 钯膜最高温度 u16 (字节31-32)
+    OFF_BUFFER_PRES       = 26,   // 缓冲罐压力 (字节33-34)
+    OFF_FLUE_TOTAL        = 28,   // 烟气累计排放量 (字节35-36)
+    OFF_FLUE_PRES         = 30,   // 烟气压力 (字节37-38)
+    OFF_REACTOR_PRES      = 32,   // 反应器压力 (字节39-40)
+    OFF_EVALVE_OPEN       = 34,   // 电动阀开度 (字节41-42)
+    OFF_DCDC1_IN_V        = 36,   // DC/DC通道1输入电压 (字节43-44)
+    OFF_DCDC1_IN_I        = 38,   // DC/DC通道1输入电流 (字节45-46)
+    OFF_DCDC2_IN_V        = 40,   // DC/DC通道2输入电压 (字节47-48)
+    OFF_DCDC2_IN_I        = 42,   // DC/DC通道2输入电流 (字节49-50)
+    OFF_DCDC_OUT_V        = 44,   // DC/DC输出电压 (字节51-52)
+    OFF_DCDC_OUT_I        = 46,   // DC/DC输出电流 (字节53-54)
+    OFF_DCDC_CTRL_V       = 48,   // DC/DC控制电源电压 (字节55)
+    OFF_DCDC_AUX_V        = 49,   // DC/DC辅电输出电压 (字节56)
+    OFF_METHANOL_TOTAL    = 50,   // 甲醇累计使用量 u16 (字节57-58)
+    OFF_METHANOL_FEED     = 52,   // 甲醇溶液进料量 (字节59-60)
+    OFF_O2_WATER          = 54,   // 氧侧生成水箱液位 (字节61-62)
+    OFF_H2_WATER          = 56,   // 氢侧生成水箱液位 (字节63-64)
+    OFF_BALLAST_WATER     = 58,   // 配重水箱液位 (字节65-66)
+    OFF_EXH_IN_PRES       = 60,   // 尾气装置进气压力 (字节67-68)
+    OFF_EXH_OUT_PRES      = 62,   // 尾气装置排气压力 (字节69-70)
+    OFF_CABIN_P1          = 64,   // 舱室压力1 (字节71-72)
+    OFF_CABIN_P2          = 66,   // 舱室压力2 (字节73-74)
+    OFF_CABIN_T1          = 68,   // 舱室温度1 (字节75-76)
+    OFF_CABIN_T2          = 70,   // 舱室温度2 (字节77-78)
+    OFF_CABIN_H1          = 72,   // 舱室湿度1 (字节79-80)
+    OFF_CABIN_H2          = 74,   // 舱室湿度2 (字节81-82)
+    OFF_H2_C1             = 76,   // 舱室H2浓度1 (字节83-84)
+    OFF_H2_C2             = 78,   // 舱室H2浓度2 (字节85-86)
+    OFF_H2_C3             = 80,   // 舱室H2浓度3 (字节87-88)
+    OFF_O2_C1             = 82,   // 舱室O2浓度1 (字节89-90)
+    OFF_O2_C2             = 84,   // 舱室O2浓度2 (字节91-92)
+    OFF_CH3OH_C1          = 86,   // 舱室甲醇浓度1 (字节93-94)
+    OFF_CH3OH_C2          = 88,   // 舱室甲醇浓度2 (字节95-96)
+    OFF_FLAME1            = 90,   // 火焰探测器1 (字节97)
+    OFF_FLAME2            = 91,   // 火焰探测器2 (字节98)
+    OFF_EMER_DEPTH        = 92,   // 应急上浮深度 u16 (字节99-100)
+    OFF_EMER_TIME         = 94,   // 应急上浮时间 (字节101-102)
+    OFF_EXH_FREQ          = 96,   // 尾气运行频率 (字节103-104)
+    OFF_EXH_IN_TEMP       = 98,   // 尾气进气温度 (字节105-106)
+    OFF_EXH_OUT_TEMP      = 100,  // 尾气排气温度 (字节107-108)
+    OFF_EXH_WIN_PRES      = 102,  // 尾气进水压力 (字节109-110)
+    OFF_EXH_WOUT_PRES     = 104,  // 尾气排水压力 (字节111-112)
+    OFF_TANK_LO2_PRES     = 106,  // 液氧罐压力 (字节113-114)
+    OFF_TANK_CO2_PRES     = 108,  // 二氧化碳压力 (字节115-116)
+    OFF_TANK_LO2_LEVEL    = 110,  // 液氧罐液位 (字节117-118)
+    OFF_ALLOY_H2_FLOW     = 112,  // 合金供氢流量 (字节119-120)
+    OFF_FC_H2_FLOW        = 114,  // FC供氢流量 (字节121-122)
+    OFF_FC_O2_FLOW        = 116,  // FC供氧流量 (字节123-124)
+    OFF_RESERVED          = 118,  // 预留1~11 u16*11 -> 118..138 (字节125-146)
+    OFF_REMAIN_GEN        = 140,  // 剩余发电量 u16 (字节147,148)，0827协议由预留12改为
+    OFF_HEARTBEAT         = 142,  // 通信心跳 (字节149)
+    OFF_EMERGENCY_CMD     = 143,  // 应急指令 (字节150)
+};
+
+inline void getU16Arr(const std::vector<uint8_t>& frame, size_t off, uint16_t* dst, size_t n) {
+    for (size_t i = 0; i < n; ++i) dst[i] = FieldCodec::getU16(frame, off + i * 2);
+}
+inline void putU16Arr(std::vector<uint8_t>& p, size_t off, const uint16_t* src, size_t n) {
+    for (size_t i = 0; i < n; ++i) FieldCodec::putU16(p, off + i * 2, src[i]);
+}
+} // namespace
+
+std::vector<uint8_t> FcStatusMessage::encode(const void* obj) const {
+    const FcStatusValue* v = static_cast<const FcStatusValue*>(obj);
+    std::vector<uint8_t> p(payloadLength(), 0);
+
+    FieldCodec::putU8(p, OFF_MODE,           v->fc_mode);
+    FieldCodec::putU8(p, OFF_STATUS,         v->fc_status);
+    FieldCodec::putU16(p, OFF_FL1,           v->fault_level_1);
+    FieldCodec::putU16(p, OFF_FL2,           v->fault_level_2);
+    FieldCodec::putU16(p, OFF_FL3,           v->fault_level_3);
+    FieldCodec::putU16(p, OFF_FL4,           v->fault_level_4);
+    FieldCodec::putU16(p, OFF_GEN_TIME,      v->total_generation_time);
+    FieldCodec::putU8(p, OFF_FAULT_LEVEL,    v->fc_fault_level);
+    FieldCodec::putU16(p, OFF_GEN_POWER,     v->generation_power);
+    FieldCodec::putU8(p, OFF_H2_CAP,         v->hydrogen_capacity);
+    FieldCodec::putU8(p, OFF_LO2_CAP,        v->liquid_oxygen_capacity);
+
+    FieldCodec::putU8(p, OFF_FC1_MIN_V,      v->fc1_min_cell_voltage);
+    FieldCodec::putU8(p, OFF_FC1_MIN_POS,    v->fc1_min_cell_pos);
+    FieldCodec::putU8(p, OFF_FC1_AVG_V,      v->fc1_avg_cell_voltage);
+    FieldCodec::putU8(p, OFF_FC2_MIN_V,      v->fc2_min_cell_voltage);
+    FieldCodec::putU8(p, OFF_FC2_MIN_POS,    v->fc2_min_cell_pos);
+    FieldCodec::putU8(p, OFF_FC2_AVG_V,      v->fc2_avg_cell_voltage);
+
+    FieldCodec::putU16(p, OFF_PALLADIUM_TEMP, v->palladium_temp);
+    FieldCodec::putU16(p, OFF_BUFFER_PRES,    v->buffer_tank_pressure);
+    FieldCodec::putU16(p, OFF_FLUE_TOTAL,     v->flue_total_emission);
+    FieldCodec::putU16(p, OFF_FLUE_PRES,      v->flue_pressure);
+    FieldCodec::putU16(p, OFF_REACTOR_PRES,   v->reactor_pressure);
+    FieldCodec::putU16(p, OFF_EVALVE_OPEN,    v->electric_valve_open);
+
+    FieldCodec::putU16(p, OFF_DCDC1_IN_V,     v->dcdc1_in_voltage);
+    FieldCodec::putU16(p, OFF_DCDC1_IN_I,     v->dcdc1_in_current);
+    FieldCodec::putU16(p, OFF_DCDC2_IN_V,     v->dcdc2_in_voltage);
+    FieldCodec::putU16(p, OFF_DCDC2_IN_I,     v->dcdc2_in_current);
+    FieldCodec::putU16(p, OFF_DCDC_OUT_V,     v->dcdc_out_voltage);
+    FieldCodec::putU16(p, OFF_DCDC_OUT_I,     v->dcdc_out_current);
+    FieldCodec::putU8(p, OFF_DCDC_CTRL_V,     v->dcdc_ctrl_voltage);
+    FieldCodec::putU8(p, OFF_DCDC_AUX_V,      v->dcdc_aux_voltage);
+
+    FieldCodec::putU16(p, OFF_METHANOL_TOTAL, v->methanol_total_use);
+    FieldCodec::putU16(p, OFF_METHANOL_FEED,  v->methanol_feed);
+    FieldCodec::putU16(p, OFF_O2_WATER,       v->oxygen_side_water_level);
+    FieldCodec::putU16(p, OFF_H2_WATER,       v->hydrogen_side_water_level);
+    FieldCodec::putU16(p, OFF_BALLAST_WATER,  v->ballast_water_level);
+
+    FieldCodec::putU16(p, OFF_EXH_IN_PRES,    v->exhaust_inlet_pressure);
+    FieldCodec::putU16(p, OFF_EXH_OUT_PRES,   v->exhaust_outlet_pressure);
+    FieldCodec::putU16(p, OFF_CABIN_P1,       v->cabin_pressure1);
+    FieldCodec::putU16(p, OFF_CABIN_P2,       v->cabin_pressure2);
+    FieldCodec::putU16(p, OFF_CABIN_T1,       v->cabin_temp1);
+    FieldCodec::putU16(p, OFF_CABIN_T2,       v->cabin_temp2);
+    FieldCodec::putU16(p, OFF_CABIN_H1,       v->cabin_humidity1);
+    FieldCodec::putU16(p, OFF_CABIN_H2,       v->cabin_humidity2);
+    FieldCodec::putU16(p, OFF_H2_C1,          v->h2_concentration1);
+    FieldCodec::putU16(p, OFF_H2_C2,          v->h2_concentration2);
+    FieldCodec::putU16(p, OFF_H2_C3,          v->h2_concentration3);
+    FieldCodec::putU16(p, OFF_O2_C1,          v->o2_concentration1);
+    FieldCodec::putU16(p, OFF_O2_C2,          v->o2_concentration2);
+    FieldCodec::putU16(p, OFF_CH3OH_C1,       v->ch3oh_concentration1);
+    FieldCodec::putU16(p, OFF_CH3OH_C2,       v->ch3oh_concentration2);
+
+    FieldCodec::putU8(p, OFF_FLAME1,          v->flame_detector1);
+    FieldCodec::putU8(p, OFF_FLAME2,          v->flame_detector2);
+
+    FieldCodec::putU16(p, OFF_EMER_DEPTH,     v->emergency_float_depth);
+    FieldCodec::putU16(p, OFF_EMER_TIME,      v->emergency_float_time);
+    FieldCodec::putU16(p, OFF_EXH_FREQ,       v->exhaust_run_freq);
+    FieldCodec::putU16(p, OFF_EXH_IN_TEMP,    v->exhaust_inlet_temp);
+    FieldCodec::putU16(p, OFF_EXH_OUT_TEMP,   v->exhaust_outlet_temp);
+    FieldCodec::putU16(p, OFF_EXH_WIN_PRES,   v->exhaust_water_in_pressure);
+    FieldCodec::putU16(p, OFF_EXH_WOUT_PRES,  v->exhaust_water_out_pressure);
+    FieldCodec::putU16(p, OFF_TANK_LO2_PRES,  v->tank_lo2_pressure);
+    FieldCodec::putU16(p, OFF_TANK_CO2_PRES,  v->tank_co2_pressure);
+    FieldCodec::putU16(p, OFF_TANK_LO2_LEVEL, v->tank_lo2_level);
+    FieldCodec::putU16(p, OFF_ALLOY_H2_FLOW,  v->alloy_h2_flow);
+    FieldCodec::putU16(p, OFF_FC_H2_FLOW,     v->fc_h2_flow);
+    FieldCodec::putU16(p, OFF_FC_O2_FLOW,     v->fc_o2_flow);
+
+    putU16Arr(p, OFF_RESERVED, v->reserved, 11);
+    FieldCodec::putU16(p, OFF_REMAIN_GEN,     v->remaining_generation);
+
+    FieldCodec::putU8(p, OFF_HEARTBEAT,       v->heartbeat);
+    FieldCodec::putU8(p, OFF_EMERGENCY_CMD,   v->emergency_cmd);
+
+    return Frame::build(id(), p, checksum());
+}
+
+bool FcStatusMessage::decode(const std::vector<uint8_t>& frame, void* obj) const {
+    if (!validateFrame(frame, id(), checksum(), totalLength())) return false;
+    FcStatusValue* v = static_cast<FcStatusValue*>(obj);
+    size_t o = FRAME_HEADER_LEN;
+
+    v->fc_mode                = FieldCodec::getU8(frame, o + OFF_MODE);
+    v->fc_status              = FieldCodec::getU8(frame, o + OFF_STATUS);
+    v->fault_level_1          = FieldCodec::getU16(frame, o + OFF_FL1);
+    v->fault_level_2          = FieldCodec::getU16(frame, o + OFF_FL2);
+    v->fault_level_3          = FieldCodec::getU16(frame, o + OFF_FL3);
+    v->fault_level_4          = FieldCodec::getU16(frame, o + OFF_FL4);
+    v->total_generation_time  = FieldCodec::getU16(frame, o + OFF_GEN_TIME);
+    v->fc_fault_level         = FieldCodec::getU8(frame, o + OFF_FAULT_LEVEL);
+    v->generation_power       = FieldCodec::getU16(frame, o + OFF_GEN_POWER);
+    v->hydrogen_capacity      = FieldCodec::getU8(frame, o + OFF_H2_CAP);
+    v->liquid_oxygen_capacity = FieldCodec::getU8(frame, o + OFF_LO2_CAP);
+
+    v->fc1_min_cell_voltage   = FieldCodec::getU8(frame, o + OFF_FC1_MIN_V);
+    v->fc1_min_cell_pos       = FieldCodec::getU8(frame, o + OFF_FC1_MIN_POS);
+    v->fc1_avg_cell_voltage   = FieldCodec::getU8(frame, o + OFF_FC1_AVG_V);
+    v->fc2_min_cell_voltage   = FieldCodec::getU8(frame, o + OFF_FC2_MIN_V);
+    v->fc2_min_cell_pos       = FieldCodec::getU8(frame, o + OFF_FC2_MIN_POS);
+    v->fc2_avg_cell_voltage   = FieldCodec::getU8(frame, o + OFF_FC2_AVG_V);
+
+    v->palladium_temp         = FieldCodec::getU16(frame, o + OFF_PALLADIUM_TEMP);
+    v->buffer_tank_pressure   = FieldCodec::getU16(frame, o + OFF_BUFFER_PRES);
+    v->flue_total_emission    = FieldCodec::getU16(frame, o + OFF_FLUE_TOTAL);
+    v->flue_pressure          = FieldCodec::getU16(frame, o + OFF_FLUE_PRES);
+    v->reactor_pressure       = FieldCodec::getU16(frame, o + OFF_REACTOR_PRES);
+    v->electric_valve_open    = FieldCodec::getU16(frame, o + OFF_EVALVE_OPEN);
+
+    v->dcdc1_in_voltage       = FieldCodec::getU16(frame, o + OFF_DCDC1_IN_V);
+    v->dcdc1_in_current       = FieldCodec::getU16(frame, o + OFF_DCDC1_IN_I);
+    v->dcdc2_in_voltage       = FieldCodec::getU16(frame, o + OFF_DCDC2_IN_V);
+    v->dcdc2_in_current       = FieldCodec::getU16(frame, o + OFF_DCDC2_IN_I);
+    v->dcdc_out_voltage       = FieldCodec::getU16(frame, o + OFF_DCDC_OUT_V);
+    v->dcdc_out_current       = FieldCodec::getU16(frame, o + OFF_DCDC_OUT_I);
+    v->dcdc_ctrl_voltage      = FieldCodec::getU8(frame, o + OFF_DCDC_CTRL_V);
+    v->dcdc_aux_voltage       = FieldCodec::getU8(frame, o + OFF_DCDC_AUX_V);
+
+    v->methanol_total_use     = FieldCodec::getU16(frame, o + OFF_METHANOL_TOTAL);
+    v->methanol_feed          = FieldCodec::getU16(frame, o + OFF_METHANOL_FEED);
+    v->oxygen_side_water_level= FieldCodec::getU16(frame, o + OFF_O2_WATER);
+    v->hydrogen_side_water_level = FieldCodec::getU16(frame, o + OFF_H2_WATER);
+    v->ballast_water_level    = FieldCodec::getU16(frame, o + OFF_BALLAST_WATER);
+
+    v->exhaust_inlet_pressure = FieldCodec::getU16(frame, o + OFF_EXH_IN_PRES);
+    v->exhaust_outlet_pressure= FieldCodec::getU16(frame, o + OFF_EXH_OUT_PRES);
+    v->cabin_pressure1        = FieldCodec::getU16(frame, o + OFF_CABIN_P1);
+    v->cabin_pressure2        = FieldCodec::getU16(frame, o + OFF_CABIN_P2);
+    v->cabin_temp1            = FieldCodec::getU16(frame, o + OFF_CABIN_T1);
+    v->cabin_temp2            = FieldCodec::getU16(frame, o + OFF_CABIN_T2);
+    v->cabin_humidity1        = FieldCodec::getU16(frame, o + OFF_CABIN_H1);
+    v->cabin_humidity2        = FieldCodec::getU16(frame, o + OFF_CABIN_H2);
+    v->h2_concentration1      = FieldCodec::getU16(frame, o + OFF_H2_C1);
+    v->h2_concentration2      = FieldCodec::getU16(frame, o + OFF_H2_C2);
+    v->h2_concentration3      = FieldCodec::getU16(frame, o + OFF_H2_C3);
+    v->o2_concentration1      = FieldCodec::getU16(frame, o + OFF_O2_C1);
+    v->o2_concentration2      = FieldCodec::getU16(frame, o + OFF_O2_C2);
+    v->ch3oh_concentration1   = FieldCodec::getU16(frame, o + OFF_CH3OH_C1);
+    v->ch3oh_concentration2   = FieldCodec::getU16(frame, o + OFF_CH3OH_C2);
+
+    v->flame_detector1        = FieldCodec::getU8(frame, o + OFF_FLAME1);
+    v->flame_detector2        = FieldCodec::getU8(frame, o + OFF_FLAME2);
+
+    v->emergency_float_depth  = FieldCodec::getU16(frame, o + OFF_EMER_DEPTH);
+    v->emergency_float_time   = FieldCodec::getU16(frame, o + OFF_EMER_TIME);
+    v->exhaust_run_freq       = FieldCodec::getU16(frame, o + OFF_EXH_FREQ);
+    v->exhaust_inlet_temp     = FieldCodec::getU16(frame, o + OFF_EXH_IN_TEMP);
+    v->exhaust_outlet_temp    = FieldCodec::getU16(frame, o + OFF_EXH_OUT_TEMP);
+    v->exhaust_water_in_pressure = FieldCodec::getU16(frame, o + OFF_EXH_WIN_PRES);
+    v->exhaust_water_out_pressure= FieldCodec::getU16(frame, o + OFF_EXH_WOUT_PRES);
+    v->tank_lo2_pressure      = FieldCodec::getU16(frame, o + OFF_TANK_LO2_PRES);
+    v->tank_co2_pressure      = FieldCodec::getU16(frame, o + OFF_TANK_CO2_PRES);
+    v->tank_lo2_level         = FieldCodec::getU16(frame, o + OFF_TANK_LO2_LEVEL);
+    v->alloy_h2_flow          = FieldCodec::getU16(frame, o + OFF_ALLOY_H2_FLOW);
+    v->fc_h2_flow             = FieldCodec::getU16(frame, o + OFF_FC_H2_FLOW);
+    v->fc_o2_flow             = FieldCodec::getU16(frame, o + OFF_FC_O2_FLOW);
+
+    getU16Arr(frame, o + OFF_RESERVED, v->reserved, 11);
+    v->remaining_generation   = FieldCodec::getU16(frame, o + OFF_REMAIN_GEN);
+
+    v->heartbeat              = FieldCodec::getU8(frame, o + OFF_HEARTBEAT);
+    v->emergency_cmd          = FieldCodec::getU8(frame, o + OFF_EMERGENCY_CMD);
+    return true;
+}
+
+} // namespace ccu

src/pCCU/protocol/FcProtocol.h

@@ -0,0 +1,178 @@
+#ifndef PCCU_FC_PROTOCOL_H
+#define PCCU_FC_PROTOCOL_H
+
+#include <cstdint>
+#include <vector>
+#include <memory>
+#include "Message.h"
+
+namespace ccu {
+
+//============================================================================
+// FC 协议（燃料电池系统 <-> 复合管控器）
+// 依据：docs/超滑FC和复合管控器通讯协议 - 0827.docx
+//
+// 帧格式统一：0x40 0x40 + 域标识符(2B) + 域字节数(2B) + 数据域 + [校验和]
+// 注意：FC 协议文档未列出校验和行，故默认采用 None（可插拔，联调可切换）。
+//
+// 两条消息：
+//   0x0001 复合管控器->燃料电池控制器（控制指令域） payload 18B，总长 24B
+//   0x0002 燃料电池控制器->复合管控器（状态反馈域） payload 144B，总长 150B
+//============================================================================
+
+//--------------------------------------------------------------------------
+// 0x0001 控制指令域（复合管控器 -> 燃料电池）
+// payload 18 字节，对应文档字节 7~24
+//--------------------------------------------------------------------------
+struct FcControlValue {
+    uint8_t  mode            = 0;   // 模式设定 00~03
+    uint8_t  cmd             = 0;   // 操控指令 00~0B
+    uint8_t  outputPower     = 0;   // 输出功率指令 0~250，分辨率0.1kW
+    int16_t  pitch1          = 0;   // 纵倾姿态数据1 int16，分辨率0.1°（字节10,11）
+    uint16_t reserved1       = 0;   // 预留（字节12,13），0827协议由纵倾姿态数据2改为预留
+    int16_t  roll1           = 0;   // 横倾姿态数据1 int16，分辨率0.1°（字节14,15）
+    uint16_t reserved2       = 0;   // 预留（字节16,17），0827协议由横倾姿态数据2改为预留
+    uint8_t  emergencyAllow  = 0;   // 应急允许：Bit0 允许降载 / Bit1 允许排气（字节18）
+    uint16_t depth           = 0;   // 潜深深度，单位 m（字节19,20）
+    uint8_t  supplyCmd       = 0;   // 补给/排放指令 00~0B（字节21）
+    uint8_t  reservedCmd5    = 0;   // 预留指令5（字节22）
+    uint8_t  reservedCmd6    = 0;   // 预留指令6（字节23）
+    uint8_t  heartbeat       = 0;   // 通信心跳，每次+1（字节24）
+};
+
+//--------------------------------------------------------------------------
+// 0x0002 状态反馈域（燃料电池 -> 复合管控器）
+// payload 144 字节，对应文档字节 7~150
+//--------------------------------------------------------------------------
+struct FcStatusValue {
+    uint8_t  fc_mode = 0;              // 燃料电池系统运行模式
+    uint8_t  fc_status = 0;            // 燃料电池系统运行状态
+    uint16_t fault_level_1 = 0;        // 一级故障码
+    uint16_t fault_level_2 = 0;        // 二级故障码
+    uint16_t fault_level_3 = 0;        // 三级故障码
+    uint16_t fault_level_4 = 0;        // 四级故障码
+    uint16_t total_generation_time = 0;// 累积发电时间，0.1h
+    uint8_t  fc_fault_level = 0;       // 系统故障等级 00~04
+    uint16_t generation_power = 0;     // 系统发电功率，0.01kW
+    uint8_t  hydrogen_capacity = 0;    // 储氢剩余容量 %
+    uint8_t  liquid_oxygen_capacity = 0; // 液氧剩余容量 %
+
+    uint8_t  fc1_min_cell_voltage = 0;     // I#FC最低单片电压，10mV
+    uint8_t  fc1_min_cell_pos = 0;         // I#FC最低单片电压位置
+    uint8_t  fc1_avg_cell_voltage = 0;     // I#FC平均单片电压，10mV
+    uint8_t  fc2_min_cell_voltage = 0;     // 2#FC最低单片电压
+    uint8_t  fc2_min_cell_pos = 0;         // 2#FC最低单片电压位置
+    uint8_t  fc2_avg_cell_voltage = 0;     // 2#FC平均单片电压
+
+    uint16_t palladium_temp = 0;           // 甲醇制氢装置钯膜最高温度，0.1℃
+    uint16_t buffer_tank_pressure = 0;     // 缓冲罐压力，0.1kPa
+    uint16_t flue_total_emission = 0;      // 烟气累计排放量，0.1kg
+    uint16_t flue_pressure = 0;            // 烟气压力，0.001MPa
+    uint16_t reactor_pressure = 0;         // 反应器压力，0.001MPa
+    uint16_t electric_valve_open = 0;      // 电动阀开度，0.1%
+
+    uint16_t dcdc1_in_voltage = 0;         // DC/DC通道1输入电压，0.1V
+    uint16_t dcdc1_in_current = 0;         // DC/DC通道1输入电流，0.1A
+    uint16_t dcdc2_in_voltage = 0;         // DC/DC通道2输入电压，0.1V
+    uint16_t dcdc2_in_current = 0;         // DC/DC通道2输入电流，0.1A
+    uint16_t dcdc_out_voltage = 0;         // DC/DC输出电压，0.1V
+    uint16_t dcdc_out_current = 0;         // DC/DC输出电流，0.1A
+    uint8_t  dcdc_ctrl_voltage = 0;        // DC/DC控制电源电压，0.25V
+    uint8_t  dcdc_aux_voltage = 0;         // DC/DC辅电输出电压，0.125V
+
+    uint16_t methanol_total_use = 0;       // 甲醇累计使用量，0.1kg
+    uint16_t methanol_feed = 0;            // 甲醇溶液进料量，1mL/min
+    uint16_t oxygen_side_water_level = 0;  // 氧侧生成水箱液位，0.01mm
+    uint16_t hydrogen_side_water_level = 0;// 氢侧生成水箱液位，0.01mm
+    uint16_t ballast_water_level = 0;      // 配重水箱液位，0.01mm
+
+    uint16_t exhaust_inlet_pressure = 0;   // 尾气装置进气压力，0.01MPa
+    uint16_t exhaust_outlet_pressure = 0;  // 尾气装置排气压力，0.01MPa
+    uint16_t cabin_pressure1 = 0;          // 舱室压力1，0.01kPa
+    uint16_t cabin_pressure2 = 0;          // 舱室压力2，0.01kPa
+    uint16_t cabin_temp1 = 0;              // 舱室温度1，0.01℃
+    uint16_t cabin_temp2 = 0;              // 舱室温度2，0.01℃
+    uint16_t cabin_humidity1 = 0;          // 舱室湿度1，0.01%RH
+    uint16_t cabin_humidity2 = 0;          // 舱室湿度2，0.01%RH
+    uint16_t h2_concentration1 = 0;        // 舱室H2浓度1，0.01%LEL
+    uint16_t h2_concentration2 = 0;        // 舱室H2浓度2，0.01%LEL
+    uint16_t h2_concentration3 = 0;        // 舱室H2浓度3，0.01%LEL
+    uint16_t o2_concentration1 = 0;        // 舱室O2浓度1，0.01%Vol
+    uint16_t o2_concentration2 = 0;        // 舱室O2浓度2，0.01%Vol
+    uint16_t ch3oh_concentration1 = 0;     // 舱室甲醇浓度1，0.01%LEL
+    uint16_t ch3oh_concentration2 = 0;     // 舱室甲醇浓度2，0.01%LEL
+
+    uint8_t  flame_detector1 = 0;          // 火焰探测器1状态
+    uint8_t  flame_detector2 = 0;          // 火焰探测器2状态
+
+    uint16_t emergency_float_depth = 0;    // 应急上浮深度，1m
+    uint16_t emergency_float_time = 0;     // 应急上浮时间，1min
+    uint16_t exhaust_run_freq = 0;         // 尾气装置运行频率，0.01Hz
+    uint16_t exhaust_inlet_temp = 0;       // 尾气装置进气温度，0.01℃
+    uint16_t exhaust_outlet_temp = 0;      // 尾气装置排气温度，0.01℃
+    uint16_t exhaust_water_in_pressure = 0;// 尾气装置进水压力，0.01kPa
+    uint16_t exhaust_water_out_pressure = 0;// 尾气装置排水压力，0.01kPa
+    uint16_t tank_lo2_pressure = 0;        // 一体化罐装置液氧罐压力，0.01MPa
+    uint16_t tank_co2_pressure = 0;        // 一体化罐装置二氧化碳压力，0.01MPa
+    uint16_t tank_lo2_level = 0;           // 一体化罐装置液氧罐液位，0.01mm
+    uint16_t alloy_h2_flow = 0;            // 合金供氢流量，0.01L/min
+    uint16_t fc_h2_flow = 0;               // FC供氢流量，0.01L/min
+    uint16_t fc_o2_flow = 0;               // FC供氧流量，0.01L/min
+
+    uint16_t reserved[11] = {0};           // 预留1~11（字节125~146）
+    uint16_t remaining_generation = 0;     // 剩余发电量，MWh（字节147,148），0827协议由预留12改为
+
+    uint8_t  heartbeat = 0;                // 通信心跳，每次+1
+    uint8_t  emergency_cmd = 0;            // 应急指令：Bit0 降载/Bit1 上浮/...
+};
+
+//--------------------------------------------------------------------------
+// 消息类
+//--------------------------------------------------------------------------
+
+class FcControlMessage : public Message {
+public:
+    uint16_t id() const override { return 0x0001; }
+    const char* name() const override { return "fc_control"; }
+    const ChecksumPolicy& checksum() const override { return m_checksum; }
+    // 1.1.1 控制指令域：数据域 18 字节（字节7~24），整包 24 字节（域字节数 0x0018）
+    size_t payloadLength() const override { return 18; }
+
+    std::vector<uint8_t> encode(const void* obj) const override;
+    bool decode(const std::vector<uint8_t>& frame, void* obj) const override;
+
+    // 便捷重载
+    std::vector<uint8_t> encode(const FcControlValue& v) const { return encode(&v); }
+    bool decode(const std::vector<uint8_t>& frame, FcControlValue& v) const {
+        return decode(frame, static_cast<void*>(&v));
+    }
+
+private:
+    ChecksumPolicy m_checksum{ChecksumType::None};
+};
+
+class FcStatusMessage : public Message {
+public:
+    uint16_t id() const override { return 0x0002; }
+    const char* name() const override { return "fc_status"; }
+    const ChecksumPolicy& checksum() const override { return m_checksum; }
+    size_t payloadLength() const override { return 144; }
+
+    std::vector<uint8_t> encode(const void* obj) const override;
+    bool decode(const std::vector<uint8_t>& frame, void* obj) const override;
+
+    std::vector<uint8_t> encode(const FcStatusValue& v) const { return encode(&v); }
+    bool decode(const std::vector<uint8_t>& frame, FcStatusValue& v) const {
+        return decode(frame, static_cast<void*>(&v));
+    }
+
+private:
+    ChecksumPolicy m_checksum{ChecksumType::None};
+};
+
+// 注册 FC 消息到给定注册表（见 MessageRegistry.h）
+void registerFcMessages(class MessageRegistry& reg);
+
+} // namespace ccu
+
+#endif // PCCU_FC_PROTOCOL_H

src/pCCU/protocol/FieldCodec.h

@@ -0,0 +1,58 @@
+#ifndef PCCU_FIELD_CODEC_H
+#define PCCU_FIELD_CODEC_H
+
+#include <cstdint>
+#include <cstring>
+#include <string>
+#include <vector>
+#include <stdexcept>
+
+namespace ccu {
+
+//============================================================================
+// FieldCodec：小端序（Little-Endian）编解码原语。
+//
+// 两条协议（FC 协议 / PM 协议）均采用：
+//   - 多字节数据小端序
+//   - 域起始符 0x40 0x40
+//   - 域字节数 = 整个协议包的数据长度
+// 本类提供对裸缓冲区的字段读写，不关心具体业务含义。
+//============================================================================
+
+class FieldCodec {
+public:
+    // 在 dst 偏移 offset 处写入单字节
+    static void putU8(std::vector<uint8_t>& dst, size_t offset, uint8_t v) {
+        dst[offset] = v;
+    }
+    // 小端写入 2 字节
+    static void putU16(std::vector<uint8_t>& dst, size_t offset, uint16_t v) {
+        dst[offset]     = static_cast<uint8_t>(v & 0xFF);
+        dst[offset + 1] = static_cast<uint8_t>((v >> 8) & 0xFF);
+    }
+    // 小端写入 4 字节
+    static void putU32(std::vector<uint8_t>& dst, size_t offset, uint32_t v) {
+        dst[offset]     = static_cast<uint8_t>(v & 0xFF);
+        dst[offset + 1] = static_cast<uint8_t>((v >> 8) & 0xFF);
+        dst[offset + 2] = static_cast<uint8_t>((v >> 16) & 0xFF);
+        dst[offset + 3] = static_cast<uint8_t>((v >> 24) & 0xFF);
+    }
+
+    static uint8_t  getU8 (const std::vector<uint8_t>& src, size_t offset) {
+        return src[offset];
+    }
+    static uint16_t getU16(const std::vector<uint8_t>& src, size_t offset) {
+        return static_cast<uint16_t>(src[offset]) |
+               (static_cast<uint16_t>(src[offset + 1]) << 8);
+    }
+    static uint32_t getU32(const std::vector<uint8_t>& src, size_t offset) {
+        return static_cast<uint32_t>(src[offset]) |
+               (static_cast<uint32_t>(src[offset + 1]) << 8) |
+               (static_cast<uint32_t>(src[offset + 2]) << 16) |
+               (static_cast<uint32_t>(src[offset + 3]) << 24);
+    }
+};
+
+} // namespace ccu
+
+#endif // PCCU_FIELD_CODEC_H

src/pCCU/protocol/Frame.cpp

@@ -0,0 +1,50 @@
+#include "Frame.h"
+#include "FieldCodec.h"
+
+namespace ccu {
+
+bool Frame::parseId(const std::vector<uint8_t>& buf, uint16_t& outId) {
+    if (buf.size() < FRAME_HEADER_LEN) return false;
+    if (buf[0] != FRAME_START1 || buf[1] != FRAME_START2) return false;
+    outId = FieldCodec::getU16(buf, 2);
+    return true;
+}
+
+bool Frame::parseHeader(const std::vector<uint8_t>& buf, FrameHeader& h) {
+    if (buf.size() < FRAME_HEADER_LEN) return false;
+    if (buf[0] != FRAME_START1 || buf[1] != FRAME_START2) return false;
+    h.start1 = buf[0];
+    h.start2 = buf[1];
+    h.id     = FieldCodec::getU16(buf, 2);
+    h.length = FieldCodec::getU16(buf, 4);
+    return true;
+}
+
+std::vector<uint8_t> Frame::build(
+    uint16_t id,
+    const std::vector<uint8_t>& payload,
+    const ChecksumPolicy& checksum) {
+
+    size_t csSize = checksum.size();
+    size_t total  = FRAME_HEADER_LEN + payload.size() + csSize;
+
+    std::vector<uint8_t> frame(total, 0);
+    frame[0] = FRAME_START1;
+    frame[1] = FRAME_START2;
+    FieldCodec::putU16(frame, 2, id);
+    FieldCodec::putU16(frame, 4, static_cast<uint16_t>(total)); // 域字节数=整个包长度
+
+    std::copy(payload.begin(), payload.end(), frame.begin() + FRAME_HEADER_LEN);
+
+    if (csSize > 0) {
+        // 校验和：对起始符到校验和之前所有字节求和
+        std::vector<uint8_t> body(frame.begin(), frame.end() - csSize);
+        uint32_t sum = checksum.compute(body);
+        size_t off = frame.size() - csSize;
+        if (csSize == 4) FieldCodec::putU32(frame, off, sum);
+        else             FieldCodec::putU16(frame, off, static_cast<uint16_t>(sum));
+    }
+    return frame;
+}
+
+} // namespace ccu

src/pCCU/protocol/Frame.h

@@ -0,0 +1,54 @@
+#ifndef PCCU_FRAME_H
+#define PCCU_FRAME_H
+
+#include <cstdint>
+#include <cstddef>
+#include <vector>
+#include "ChecksumPolicy.h"
+
+namespace ccu {
+
+//============================================================================
+// Frame：两套协议共用的通用帧模型。
+//
+// 两条协议帧结构完全一致：
+//   域起始符1 (1B) + 域起始符2 (1B) + 域标识符 (2B) + 域字节数 (2B) + 数据域 + 校验和
+//
+//  - header 域字节数 = 整个协议包的数据长度（含起始符与校验和）
+//  - 小端序
+//  - 校验策略可插拔（见 ChecksumPolicy）
+//============================================================================
+
+static constexpr uint8_t  FRAME_START1 = 0x40;
+static constexpr uint8_t  FRAME_START2 = 0x40;
+static constexpr size_t   FRAME_HEADER_LEN = 6; // 2B start + 2B id + 2B length
+
+struct FrameHeader {
+    uint8_t  start1;
+    uint8_t  start2;
+    uint16_t id;
+    uint16_t length;   // 整个协议包的数据长度
+};
+
+class Frame {
+public:
+    Frame() = default;
+
+    // 从原始缓冲解析出消息标识符（不校验完整性）
+    // 返回 true 且 id 有效（起始符正确）时填充 outId
+    static bool parseId(const std::vector<uint8_t>& buf, uint16_t& outId);
+
+    // 解析帧头；返回是否成功且起始符正确
+    static bool parseHeader(const std::vector<uint8_t>& buf, FrameHeader& h);
+
+    // 构造一个完整帧：data 为数据域（不含起始符与校验和），校验和自动追加
+    // 调用方需保证 data.size() >= 帧头之前已经包含起始符+id+length 部分
+    static std::vector<uint8_t> build(
+        uint16_t id,
+        const std::vector<uint8_t>& payload,
+        const ChecksumPolicy& checksum);
+};
+
+} // namespace ccu
+
+#endif // PCCU_FRAME_H

src/pCCU/protocol/Message.cpp

@@ -0,0 +1,24 @@
+#include "Message.h"
+#include "Frame.h"
+
+namespace ccu {
+
+bool Message::validateFrame(const std::vector<uint8_t>& frame,
+                            uint16_t expectId,
+                            const ChecksumPolicy& policy,
+                            size_t expectTotalLen) {
+    if (frame.size() < FRAME_HEADER_LEN) return false;
+
+    FrameHeader h;
+    if (!Frame::parseHeader(frame, h)) return false;
+    if (h.id != expectId) return false;
+    // 协议规定域字节数=整个包长度；联调发现 FC 设备该字段填 120 而非 150，
+    // 与文档不符但不影响数据域布局，若实际包体足够容纳数据域则放行
+    if (h.length != expectTotalLen && frame.size() < expectTotalLen) return false;
+
+    // 校验和（长度不足由 verify 内部判断）
+    if (!policy.verify(frame)) return false;
+    return true;
+}
+
+} // namespace ccu

src/pCCU/protocol/Message.h

@@ -0,0 +1,59 @@
+#ifndef PCCU_MESSAGE_H
+#define PCCU_MESSAGE_H
+
+#include <cstdint>
+#include <cstddef>
+#include <string>
+#include <vector>
+#include "ChecksumPolicy.h"
+#include "Frame.h"
+
+namespace ccu {
+
+//============================================================================
+// Message：协议消息抽象接口。
+//
+// 每条协议消息实现该接口。协议变更时只需：
+//   1. 修改实现类的字段偏移/长度定义
+//   2. 修改 encode()/decode() 中字段取值逻辑
+// 无需改动上层（Comm / Web / DB / 主流程）。
+//
+// 提供统一的：
+//   - id()/name()       ：消息标识与显示名
+//   - checksum()        ：该校验策略
+//   - payloadLength()   ：数据域长度（不含 6 字节帧头与校验和）
+//   - encode()/decode() ：业务值 <-> 完整帧
+//============================================================================
+
+class Message {
+public:
+    virtual ~Message() = default;
+
+    virtual uint16_t id() const = 0;
+    virtual const char* name() const = 0;
+    virtual const ChecksumPolicy& checksum() const = 0;
+
+    // 数据域长度（不含 6 字节帧头与校验和）
+    virtual size_t payloadLength() const = 0;
+    // 整个协议包长度 = 6 + payloadLength + checksum.size()
+    size_t totalLength() const {
+        return FRAME_HEADER_LEN + payloadLength() + checksum().size();
+    }
+
+    // 业务值编码为完整帧（含帧头+数据域+校验和）
+    // obj 为具体业务对象指针（如 FcStatusValue*）
+    virtual std::vector<uint8_t> encode(const void* obj) const = 0;
+
+    // 从完整帧解析业务值；成功返回 true 并填充 obj
+    virtual bool decode(const std::vector<uint8_t>& frame, void* obj) const = 0;
+
+    // 供实现类解码前做通用校验：起始符 / id / 总长度 / 校验和
+    static bool validateFrame(const std::vector<uint8_t>& frame,
+                              uint16_t expectId,
+                              const ChecksumPolicy& policy,
+                              size_t expectTotalLen);
+};
+
+} // namespace ccu
+
+#endif // PCCU_MESSAGE_H

src/pCCU/protocol/MessageRegistry.cpp

@@ -0,0 +1,29 @@
+#include "MessageRegistry.h"
+
+namespace ccu {
+
+bool MessageRegistry::registerMessage(std::unique_ptr<Message> msg) {
+    if (!msg) return false;
+    uint16_t id = msg->id();
+    if (m_msgs.count(id) != 0) return false;   // id 冲突
+    m_msgs[id] = std::move(msg);
+    return true;
+}
+
+Message* MessageRegistry::find(uint16_t id) const {
+    auto it = m_msgs.find(id);
+    return (it != m_msgs.end()) ? it->second.get() : nullptr;
+}
+
+size_t MessageRegistry::size() const {
+    return m_msgs.size();
+}
+
+std::vector<Message*> MessageRegistry::all() const {
+    std::vector<Message*> out;
+    out.reserve(m_msgs.size());
+    for (const auto& kv : m_msgs) out.push_back(kv.second.get());
+    return out;
+}
+
+} // namespace ccu

src/pCCU/protocol/MessageRegistry.h

@@ -0,0 +1,42 @@
+#ifndef PCCU_MESSAGE_REGISTRY_H
+#define PCCU_MESSAGE_REGISTRY_H
+
+#include <cstdint>
+#include <map>
+#include <memory>
+#include <vector>
+#include "Message.h"
+
+namespace ccu {
+
+//============================================================================
+// MessageRegistry：消息注册表与收发分发中心。
+//
+// 每条链路（FC 链路 / PM 链路）持有各自的注册表实例。
+// 由于 FC 协议与 PM 协议的域标识符存在重叠（0x0001/0x0002），
+// 分属不同注册表可完全隔离，互不干扰。
+//
+// 协议新增/调整消息时只需 register() 对应 Message 实现，上层无需改动。
+//============================================================================
+
+class MessageRegistry {
+public:
+    // 注册一条消息；返回是否成功（id 冲突时返回 false）
+    bool registerMessage(std::unique_ptr<Message> msg);
+
+    // 按 id 查找消息；未注册返回 nullptr
+    Message* find(uint16_t id) const;
+
+    // 已注册消息数量
+    size_t size() const;
+
+    // 所有已注册消息（按 id 升序）
+    std::vector<Message*> all() const;
+
+private:
+    std::map<uint16_t, std::unique_ptr<Message>> m_msgs;
+};
+
+} // namespace ccu
+
+#endif // PCCU_MESSAGE_REGISTRY_H

src/pCCU/protocol/PmProtocol.cpp

@@ -0,0 +1,662 @@
+#include "PmProtocol.h"
+#include "FieldCodec.h"
+#include "Frame.h"
+#include "MessageRegistry.h"
+
+namespace ccu {
+
+void registerPmMessages(MessageRegistry& reg) {
+    reg.registerMessage(std::unique_ptr<Message>(new PmControlMessage()));
+    reg.registerMessage(std::unique_ptr<Message>(new PmParamSetMessage()));
+    reg.registerMessage(std::unique_ptr<Message>(new PmParamSetFbMessage()));
+    reg.registerMessage(std::unique_ptr<Message>(new PmStatusMessage()));
+}
+
+//============================================================================
+// 0x0001 操控指令域编解码
+// 数据域 35 字节，偏移 0~34（对应文档字节 7~41）
+//============================================================================
+
+namespace {
+enum : size_t {
+    PO_YEAR         = 0,   // u16
+    PO_MONTH        = 2,
+    PO_DAY          = 3,
+    PO_HOUR         = 4,
+    PO_MINUTE       = 5,
+    PO_SECOND       = 6,
+    PO_MS10         = 7,
+    PO_MODE         = 8,
+    PO_CMD          = 9,
+    PO_OUTPOWER     = 10,
+    PO_PITCH        = 11,  // 纵倾姿态数据1 int16 (字节18-19)
+    PO_ROLL         = 13,  // 横倾姿态数据1 int16 (字节20-21)
+    PO_EMER_ALLOW   = 15,
+    PO_DEPTH        = 16,  // u16
+    PO_SUPPLY_CMD   = 18,
+    PO_RESV_CMD5    = 19,
+    PO_RESV_CMD6    = 20,
+    PO_INS_BAT_CMD  = 21,
+    PO_DYN_BAT_CMD  = 22,
+    PO_DYN_BAT_PWR  = 23,  // u16
+    PO_HEARTBEAT    = 25,
+    PO_HOST_STATE   = 26,
+    PO_RESV1        = 27,  // u32
+    PO_RESV2        = 31,  // u32
+};
+}
+
+std::vector<uint8_t> PmControlMessage::encode(const void* obj) const {
+    const PmControlValue* v = static_cast<const PmControlValue*>(obj);
+    std::vector<uint8_t> p(payloadLength(), 0);
+
+    FieldCodec::putU16(p, PO_YEAR,        v->year);
+    FieldCodec::putU8(p, PO_MONTH,        v->month);
+    FieldCodec::putU8(p, PO_DAY,          v->day);
+    FieldCodec::putU8(p, PO_HOUR,         v->hour);
+    FieldCodec::putU8(p, PO_MINUTE,       v->minute);
+    FieldCodec::putU8(p, PO_SECOND,       v->second);
+    FieldCodec::putU8(p, PO_MS10,         v->millisecond10);
+    FieldCodec::putU8(p, PO_MODE,         v->mode);
+    FieldCodec::putU8(p, PO_CMD,          v->cmd);
+    FieldCodec::putU8(p, PO_OUTPOWER,     v->outputPower);
+    FieldCodec::putU16(p, PO_PITCH,       static_cast<uint16_t>(v->pitch)); // 姿态数据1，数据2字节预留
+    FieldCodec::putU16(p, PO_ROLL,        static_cast<uint16_t>(v->roll));
+    FieldCodec::putU8(p, PO_EMER_ALLOW,   v->emergencyAllow);
+    FieldCodec::putU16(p, PO_DEPTH,       v->depth);
+    FieldCodec::putU8(p, PO_SUPPLY_CMD,   v->supplyCmd);
+    FieldCodec::putU8(p, PO_RESV_CMD5,    v->reservedCmd5);
+    FieldCodec::putU8(p, PO_RESV_CMD6,    v->reservedCmd6);
+    FieldCodec::putU8(p, PO_INS_BAT_CMD,  v->insBatCmd);
+    FieldCodec::putU8(p, PO_DYN_BAT_CMD,  v->dynBatCmd);
+    FieldCodec::putU16(p, PO_DYN_BAT_PWR, v->dynBatPower);
+    FieldCodec::putU8(p, PO_HEARTBEAT,    v->heartbeat);
+    FieldCodec::putU8(p, PO_HOST_STATE,   v->hostState);
+    FieldCodec::putU32(p, PO_RESV1,       v->reserved1);
+    FieldCodec::putU32(p, PO_RESV2,       v->reserved2);
+
+    return Frame::build(id(), p, checksum());
+}
+
+bool PmControlMessage::decode(const std::vector<uint8_t>& frame, void* obj) const {
+    if (!validateFrame(frame, id(), checksum(), totalLength())) return false;
+    PmControlValue* v = static_cast<PmControlValue*>(obj);
+    size_t o = FRAME_HEADER_LEN;
+
+    v->year          = FieldCodec::getU16(frame, o + PO_YEAR);
+    v->month         = FieldCodec::getU8(frame, o + PO_MONTH);
+    v->day           = FieldCodec::getU8(frame, o + PO_DAY);
+    v->hour          = FieldCodec::getU8(frame, o + PO_HOUR);
+    v->minute        = FieldCodec::getU8(frame, o + PO_MINUTE);
+    v->second        = FieldCodec::getU8(frame, o + PO_SECOND);
+    v->millisecond10 = FieldCodec::getU8(frame, o + PO_MS10);
+    v->mode          = FieldCodec::getU8(frame, o + PO_MODE);
+    v->cmd           = FieldCodec::getU8(frame, o + PO_CMD);
+    v->outputPower   = FieldCodec::getU8(frame, o + PO_OUTPOWER);
+    v->pitch         = static_cast<int16_t>(FieldCodec::getU16(frame, o + PO_PITCH));
+    v->roll          = static_cast<int16_t>(FieldCodec::getU16(frame, o + PO_ROLL));
+    v->emergencyAllow= FieldCodec::getU8(frame, o + PO_EMER_ALLOW);
+    v->depth         = FieldCodec::getU16(frame, o + PO_DEPTH);
+    v->supplyCmd     = FieldCodec::getU8(frame, o + PO_SUPPLY_CMD);
+    v->reservedCmd5  = FieldCodec::getU8(frame, o + PO_RESV_CMD5);
+    v->reservedCmd6  = FieldCodec::getU8(frame, o + PO_RESV_CMD6);
+    v->insBatCmd     = FieldCodec::getU8(frame, o + PO_INS_BAT_CMD);
+    v->dynBatCmd     = FieldCodec::getU8(frame, o + PO_DYN_BAT_CMD);
+    v->dynBatPower   = FieldCodec::getU16(frame, o + PO_DYN_BAT_PWR);
+    v->heartbeat     = FieldCodec::getU8(frame, o + PO_HEARTBEAT);
+    v->hostState     = FieldCodec::getU8(frame, o + PO_HOST_STATE);
+    v->reserved1     = FieldCodec::getU32(frame, o + PO_RESV1);
+    v->reserved2     = FieldCodec::getU32(frame, o + PO_RESV2);
+    return true;
+}
+
+//============================================================================
+// 0x0002 参数设定指令域
+// 数据域 18 字节，偏移 0~17
+//============================================================================
+
+namespace {
+enum : size_t {
+    PP_INS_H1   = 0,
+    PP_INS_H2   = 1,
+    PP_INS_H3   = 2,
+    PP_INS_PWR  = 3,
+    PP_INS_RESV = 4,
+    PP_DYN_H1   = 5,
+    PP_DYN_H2   = 6,
+    PP_DYN_H3   = 7,
+    PP_DYN_PWR  = 8,
+    PP_DYN_RESV = 9,
+    PP_RESV1    = 10, // u32
+    PP_RESV2    = 14, // u32
+};
+}
+
+std::vector<uint8_t> PmParamSetMessage::encode(const void* obj) const {
+    const PmParamSetValue* v = static_cast<const PmParamSetValue*>(obj);
+    std::vector<uint8_t> p(payloadLength(), 0);
+
+    FieldCodec::putU8(p, PP_INS_H1,   v->insSocHold1);
+    FieldCodec::putU8(p, PP_INS_H2,   v->insSocHold2);
+    FieldCodec::putU8(p, PP_INS_H3,   v->insSocHold3);
+    FieldCodec::putU8(p, PP_INS_PWR,  v->insOutputPower);
+    FieldCodec::putU8(p, PP_INS_RESV, v->insReserved);
+    FieldCodec::putU8(p, PP_DYN_H1,   v->dynSocHold1);
+    FieldCodec::putU8(p, PP_DYN_H2,   v->dynSocHold2);
+    FieldCodec::putU8(p, PP_DYN_H3,   v->dynSocHold3);
+    FieldCodec::putU8(p, PP_DYN_PWR,  v->dynOutputPower);
+    FieldCodec::putU8(p, PP_DYN_RESV, v->dynReserved);
+    FieldCodec::putU32(p, PP_RESV1,   v->reserved1);
+    FieldCodec::putU32(p, PP_RESV2,   v->reserved2);
+
+    return Frame::build(id(), p, checksum());
+}
+
+bool PmParamSetMessage::decode(const std::vector<uint8_t>& frame, void* obj) const {
+    if (!validateFrame(frame, id(), checksum(), totalLength())) return false;
+    PmParamSetValue* v = static_cast<PmParamSetValue*>(obj);
+    size_t o = FRAME_HEADER_LEN;
+
+    v->insSocHold1    = FieldCodec::getU8(frame, o + PP_INS_H1);
+    v->insSocHold2    = FieldCodec::getU8(frame, o + PP_INS_H2);
+    v->insSocHold3    = FieldCodec::getU8(frame, o + PP_INS_H3);
+    v->insOutputPower = FieldCodec::getU8(frame, o + PP_INS_PWR);
+    v->insReserved    = FieldCodec::getU8(frame, o + PP_INS_RESV);
+    v->dynSocHold1    = FieldCodec::getU8(frame, o + PP_DYN_H1);
+    v->dynSocHold2    = FieldCodec::getU8(frame, o + PP_DYN_H2);
+    v->dynSocHold3    = FieldCodec::getU8(frame, o + PP_DYN_H3);
+    v->dynOutputPower = FieldCodec::getU8(frame, o + PP_DYN_PWR);
+    v->dynReserved    = FieldCodec::getU8(frame, o + PP_DYN_RESV);
+    v->reserved1      = FieldCodec::getU32(frame, o + PP_RESV1);
+    v->reserved2      = FieldCodec::getU32(frame, o + PP_RESV2);
+    return true;
+}
+
+//============================================================================
+// 0x0003 参数设定反馈域
+// 数据域 2 字节
+//============================================================================
+
+std::vector<uint8_t> PmParamSetFbMessage::encode(const void* obj) const {
+    const PmParamSetFbValue* v = static_cast<const PmParamSetFbValue*>(obj);
+    std::vector<uint8_t> p(payloadLength(), 0);
+    FieldCodec::putU8(p, 0, v->flag);
+    FieldCodec::putU8(p, 1, v->failCode);
+    return Frame::build(id(), p, checksum());
+}
+
+bool PmParamSetFbMessage::decode(const std::vector<uint8_t>& frame, void* obj) const {
+    if (!validateFrame(frame, id(), checksum(), totalLength())) return false;
+    PmParamSetFbValue* v = static_cast<PmParamSetFbValue*>(obj);
+    size_t o = FRAME_HEADER_LEN;
+    v->flag     = FieldCodec::getU8(frame, o + 0);
+    v->failCode = FieldCodec::getU8(frame, o + 1);
+    return true;
+}
+
+//============================================================================
+// 0x0004 状态报文域
+// 数据域 238 字节，偏移 0~237（对应文档字节 7~244）
+//============================================================================
+
+namespace {
+enum : size_t {
+    PS_MODE            = 0,
+    PS_STATUS          = 1,
+    PS_FL1             = 2,   // u16
+    PS_FL2             = 4,
+    PS_FL3             = 6,
+    PS_FL4             = 8,
+    PS_GEN_TIME        = 10,  // u16
+    PS_FAULT_LEVEL     = 12,
+    PS_OUT_POWER_LIMIT = 13,  // u16
+    PS_GEN_POWER       = 15,  // u16
+    PS_H2_CAP          = 17,
+    PS_LO2_CAP         = 18,
+    PS_FC1_MIN_V       = 19,
+    PS_FC1_MIN_POS     = 20,
+    PS_FC1_AVG_V       = 21,
+    PS_FC2_MIN_V       = 22,
+    PS_FC2_MIN_POS     = 23,
+    PS_FC2_AVG_V       = 24,
+    PS_PALLADIUM       = 25,  // u16
+    PS_BUFFER_PRES     = 27,
+    PS_FLUE_TOTAL      = 29,
+    PS_FLUE_PRES       = 31,
+    PS_REACTOR_PRES    = 33,
+    PS_EVALVE_OPEN     = 35,
+    PS_MAIN_PIPE_PRES  = 37,
+    PS_AUX_PIPE_PRES   = 39,
+    PS_DCDC1_IN_V      = 41,
+    PS_DCDC1_IN_I      = 43,
+    PS_DCDC2_IN_V      = 45,
+    PS_DCDC2_IN_I      = 47,
+    PS_DCDC_OUT_V      = 49,
+    PS_DCDC_OUT_I      = 51,
+    PS_DCDC_CTRL_V     = 53,
+    PS_DCDC_AUX_V      = 54,
+    PS_METHANOL_TOTAL  = 55,  // u16
+    PS_METHANOL_FEED   = 57,
+    PS_O2_WATER        = 59,
+    PS_H2_WATER        = 61,
+    PS_BALLAST_WATER   = 63,
+    PS_EXH_IN_PRES     = 65,
+    PS_EXH_OUT_PRES    = 67,
+    PS_EXH_FREQ        = 69,
+    PS_EXH_IN_TEMP     = 71,
+    PS_EXH_OUT_TEMP    = 73,
+    PS_EXH_WIN_PRES    = 75,
+    PS_EXH_WOUT_PRES   = 77,
+    PS_TANK_LO2_PRES   = 79,
+    PS_TANK_CO2_PRES   = 81,
+    PS_TANK_LO2_LEVEL  = 83,
+    PS_ALLOY_H2_FLOW   = 85,
+    PS_FC_H2_FLOW      = 87,
+    PS_FC_O2_FLOW      = 89,
+    PS_EMER_DEPTH      = 91,  // u16
+    PS_EMER_TIME       = 93,
+    PS_CABIN_P1        = 95,
+    PS_CABIN_P2        = 97,
+    PS_CABIN_T1        = 99,
+    PS_CABIN_T2        = 101,
+    PS_CABIN_H1        = 103,
+    PS_CABIN_H2        = 105,
+    PS_H2_C1           = 107,
+    PS_H2_C2           = 109,
+    PS_H2_C3           = 111,
+    PS_O2_C1           = 113,
+    PS_O2_C2           = 115,
+    PS_CH3OH_C1        = 117,
+    PS_CH3OH_C2        = 119,
+    PS_FLAME1          = 121,
+    PS_FLAME2          = 122,
+    PS_RESV1           = 123,  // u16
+    PS_RESV2           = 125,  // u16
+    PS_EB1_VOLTAGE     = 127,  // u16
+    PS_EB1_CURRENT     = 129,
+    PS_EB1_MAX_TEMP    = 131,
+    PS_EB1_FAULT       = 133,
+    PS_EB2_VOLTAGE     = 135,
+    PS_EB2_CURRENT     = 137,
+    PS_EB2_MAX_TEMP    = 139,
+    PS_EB2_FAULT       = 141,
+    PS_INS_CABIN_OX    = 143,  // u16
+    PS_INS_CABIN_TEMP  = 145,
+    PS_INS_CABIN_HUM   = 147,
+    PS_INS_CABIN_PRES  = 149,
+    PS_DYN_CABIN_OX    = 151,
+    PS_DYN_CABIN_TEMP  = 153,
+    PS_DYN_CABIN_HUM   = 155,
+    PS_DYN_CABIN_PRES  = 157,
+    PS_RESV3           = 159,  // u8
+    PS_DYN_ALARM       = 160,  // u8 * 6
+    PS_INS_ALARM       = 166,  // u8 * 6
+    PS_INS_RELAY1      = 172,
+    PS_INS_RELAY2      = 173,
+    PS_DYN_RELAY1      = 174,
+    PS_DYN_RELAY2      = 175,
+    PS_INS_MAX_PWR     = 176,  // u16
+    PS_DYN_MAX_PWR     = 178,  // u16
+    PS_INS_SOC         = 180,
+    PS_DYN_SOC         = 181,
+    PS_INS_TOTAL_ENERGY= 182,  // u16
+    PS_DYN_TOTAL_ENERGY= 184,  // u16
+    PS_INS_PWR_IN      = 186,  // u16
+    PS_DYN_PWR_IN      = 188,  // u16
+    PS_INS_CHARGE_ST   = 190,
+    PS_DYN_CHARGE_ST   = 191,
+    PS_INS_V_LINK      = 192,  // u16
+    PS_INS_V_PACK      = 194,  // u16
+    PS_INS_CURRENT     = 196,  // u16
+    PS_INS_RES_POS     = 198,  // u16
+    PS_INS_RES_NEG     = 200,  // u16
+    PS_DYN_V_LINK      = 202,  // u16
+    PS_DYN_V_PACK      = 204,  // u16
+    PS_DYN_CURRENT     = 206,  // u16
+    PS_DYN_RES_POS     = 208,  // u16
+    PS_DYN_RES_NEG     = 210,  // u16
+    PS_INS_EMERGENCY   = 212,
+    PS_DYN_EMERGENCY   = 213,
+    PS_INS_SOC_H1      = 214,
+    PS_INS_SOC_H2      = 215,
+    PS_INS_SOC_H3      = 216,
+    PS_INS_PWR_L1      = 217,
+    PS_INS_PWR_L2      = 218,
+    PS_DYN_SOC_H1      = 219,
+    PS_DYN_SOC_H2      = 220,
+    PS_DYN_SOC_H3      = 221,
+    PS_DYN_PWR_L1      = 222,
+    PS_DYN_PWR_L2      = 223,
+    PS_ONLINE_FLAG1    = 224,  // u32
+    PS_ONLINE_FLAG2    = 228,  // u32
+    PS_RESV4           = 232,  // u32
+    PS_HEARTBEAT       = 236,
+    PS_EMERGENCY_CMD   = 237,
+};
+inline void getU8Arr(const std::vector<uint8_t>& f, size_t off, uint8_t* dst, size_t n) {
+    for (size_t i = 0; i < n; ++i) dst[i] = f[off + i];
+}
+inline void putU8Arr(std::vector<uint8_t>& p, size_t off, const uint8_t* src, size_t n) {
+    for (size_t i = 0; i < n; ++i) p[off + i] = src[i];
+}
+}
+
+std::vector<uint8_t> PmStatusMessage::encode(const void* obj) const {
+    const PmStatusValue* v = static_cast<const PmStatusValue*>(obj);
+    std::vector<uint8_t> p(payloadLength(), 0);
+
+    FieldCodec::putU8(p, PS_MODE,          v->fc_mode);
+    FieldCodec::putU8(p, PS_STATUS,        v->fc_status);
+    FieldCodec::putU16(p, PS_FL1,          v->fault_level_1);
+    FieldCodec::putU16(p, PS_FL2,          v->fault_level_2);
+    FieldCodec::putU16(p, PS_FL3,          v->fault_level_3);
+    FieldCodec::putU16(p, PS_FL4,          v->fault_level_4);
+    FieldCodec::putU16(p, PS_GEN_TIME,     v->total_generation_time);
+    FieldCodec::putU8(p, PS_FAULT_LEVEL,   v->fc_fault_level);
+    FieldCodec::putU16(p, PS_OUT_POWER_LIMIT, v->output_power_limit);
+    FieldCodec::putU16(p, PS_GEN_POWER,    v->generation_power);
+    FieldCodec::putU8(p, PS_H2_CAP,        v->hydrogen_capacity);
+    FieldCodec::putU8(p, PS_LO2_CAP,       v->liquid_oxygen_capacity);
+
+    FieldCodec::putU8(p, PS_FC1_MIN_V,     v->fc1_min_cell_voltage);
+    FieldCodec::putU8(p, PS_FC1_MIN_POS,   v->fc1_min_cell_pos);
+    FieldCodec::putU8(p, PS_FC1_AVG_V,     v->fc1_avg_cell_voltage);
+    FieldCodec::putU8(p, PS_FC2_MIN_V,     v->fc2_min_cell_voltage);
+    FieldCodec::putU8(p, PS_FC2_MIN_POS,   v->fc2_min_cell_pos);
+    FieldCodec::putU8(p, PS_FC2_AVG_V,     v->fc2_avg_cell_voltage);
+
+    FieldCodec::putU16(p, PS_PALLADIUM,    v->palladium_temp);
+    FieldCodec::putU16(p, PS_BUFFER_PRES,  v->buffer_tank_pressure);
+    FieldCodec::putU16(p, PS_FLUE_TOTAL,   v->flue_total_emission);
+    FieldCodec::putU16(p, PS_FLUE_PRES,    v->flue_pressure);
+    FieldCodec::putU16(p, PS_REACTOR_PRES, v->reactor_pressure);
+    FieldCodec::putU16(p, PS_EVALVE_OPEN,  v->electric_valve_open);
+    FieldCodec::putU16(p, PS_MAIN_PIPE_PRES, v->main_pipe_pressure);
+    FieldCodec::putU16(p, PS_AUX_PIPE_PRES,  v->aux_pipe_pressure);
+
+    FieldCodec::putU16(p, PS_DCDC1_IN_V,   v->dcdc1_in_voltage);
+    FieldCodec::putU16(p, PS_DCDC1_IN_I,   v->dcdc1_in_current);
+    FieldCodec::putU16(p, PS_DCDC2_IN_V,   v->dcdc2_in_voltage);
+    FieldCodec::putU16(p, PS_DCDC2_IN_I,   v->dcdc2_in_current);
+    FieldCodec::putU16(p, PS_DCDC_OUT_V,   v->dcdc_out_voltage);
+    FieldCodec::putU16(p, PS_DCDC_OUT_I,   v->dcdc_out_current);
+    FieldCodec::putU8(p, PS_DCDC_CTRL_V,   v->dcdc_ctrl_voltage);
+    FieldCodec::putU8(p, PS_DCDC_AUX_V,    v->dcdc_aux_voltage);
+
+    FieldCodec::putU16(p, PS_METHANOL_TOTAL, v->methanol_total_use);
+    FieldCodec::putU16(p, PS_METHANOL_FEED,  v->methanol_feed);
+    FieldCodec::putU16(p, PS_O2_WATER,       v->oxygen_side_water_level);
+    FieldCodec::putU16(p, PS_H2_WATER,       v->hydrogen_side_water_level);
+    FieldCodec::putU16(p, PS_BALLAST_WATER,  v->ballast_water_level);
+
+    FieldCodec::putU16(p, PS_EXH_IN_PRES,    v->exhaust_inlet_pressure);
+    FieldCodec::putU16(p, PS_EXH_OUT_PRES,   v->exhaust_outlet_pressure);
+    FieldCodec::putU16(p, PS_EXH_FREQ,       v->exhaust_run_freq);
+    FieldCodec::putU16(p, PS_EXH_IN_TEMP,    v->exhaust_inlet_temp);
+    FieldCodec::putU16(p, PS_EXH_OUT_TEMP,   v->exhaust_outlet_temp);
+    FieldCodec::putU16(p, PS_EXH_WIN_PRES,   v->exhaust_water_in_pressure);
+    FieldCodec::putU16(p, PS_EXH_WOUT_PRES,  v->exhaust_water_out_pressure);
+
+    FieldCodec::putU16(p, PS_TANK_LO2_PRES,  v->tank_lo2_pressure);
+    FieldCodec::putU16(p, PS_TANK_CO2_PRES,  v->tank_co2_pressure);
+    FieldCodec::putU16(p, PS_TANK_LO2_LEVEL, v->tank_lo2_level);
+    FieldCodec::putU16(p, PS_ALLOY_H2_FLOW,  v->alloy_h2_flow);
+    FieldCodec::putU16(p, PS_FC_H2_FLOW,     v->fc_h2_flow);
+    FieldCodec::putU16(p, PS_FC_O2_FLOW,     v->fc_o2_flow);
+
+    FieldCodec::putU16(p, PS_EMER_DEPTH,     v->emergency_float_depth);
+    FieldCodec::putU16(p, PS_EMER_TIME,      v->emergency_float_time);
+
+    FieldCodec::putU16(p, PS_CABIN_P1,       v->cabin_pressure1);
+    FieldCodec::putU16(p, PS_CABIN_P2,       v->cabin_pressure2);
+    FieldCodec::putU16(p, PS_CABIN_T1,       v->cabin_temp1);
+    FieldCodec::putU16(p, PS_CABIN_T2,       v->cabin_temp2);
+    FieldCodec::putU16(p, PS_CABIN_H1,       v->cabin_humidity1);
+    FieldCodec::putU16(p, PS_CABIN_H2,       v->cabin_humidity2);
+    FieldCodec::putU16(p, PS_H2_C1,          v->h2_concentration1);
+    FieldCodec::putU16(p, PS_H2_C2,          v->h2_concentration2);
+    FieldCodec::putU16(p, PS_H2_C3,          v->h2_concentration3);
+    FieldCodec::putU16(p, PS_O2_C1,          v->o2_concentration1);
+    FieldCodec::putU16(p, PS_O2_C2,          v->o2_concentration2);
+    FieldCodec::putU16(p, PS_CH3OH_C1,       v->ch3oh_concentration1);
+    FieldCodec::putU16(p, PS_CH3OH_C2,       v->ch3oh_concentration2);
+
+    FieldCodec::putU8(p, PS_FLAME1,          v->flame_detector1);
+    FieldCodec::putU8(p, PS_FLAME2,          v->flame_detector2);
+    FieldCodec::putU16(p, PS_RESV1,          v->pmReserved1);
+    FieldCodec::putU16(p, PS_RESV2,          v->pmReserved2);
+
+    FieldCodec::putU16(p, PS_EB1_VOLTAGE,    v->emergency_battery1_voltage);
+    FieldCodec::putU16(p, PS_EB1_CURRENT,    v->emergency_battery1_current);
+    FieldCodec::putU16(p, PS_EB1_MAX_TEMP,   v->emergency_battery1_max_temp);
+    FieldCodec::putU16(p, PS_EB1_FAULT,      v->emergency_battery1_fault_word);
+    FieldCodec::putU16(p, PS_EB2_VOLTAGE,    v->emergency_battery2_voltage);
+    FieldCodec::putU16(p, PS_EB2_CURRENT,    v->emergency_battery2_current);
+    FieldCodec::putU16(p, PS_EB2_MAX_TEMP,   v->emergency_battery2_max_temp);
+    FieldCodec::putU16(p, PS_EB2_FAULT,      v->emergency_battery2_fault_word);
+
+    FieldCodec::putU16(p, PS_INS_CABIN_OX,   v->ins_cabin_ox_concentration);
+    FieldCodec::putU16(p, PS_INS_CABIN_TEMP, v->ins_cabin_temperature);
+    FieldCodec::putU16(p, PS_INS_CABIN_HUM,  v->ins_cabin_humidity);
+    FieldCodec::putU16(p, PS_INS_CABIN_PRES, v->ins_cabin_pressure);
+    FieldCodec::putU16(p, PS_DYN_CABIN_OX,   v->dyn_cabin_ox_concentration);
+    FieldCodec::putU16(p, PS_DYN_CABIN_TEMP, v->dyn_cabin_temperature);
+    FieldCodec::putU16(p, PS_DYN_CABIN_HUM,  v->dyn_cabin_humidity);
+    FieldCodec::putU16(p, PS_DYN_CABIN_PRES, v->dyn_cabin_pressure);
+    FieldCodec::putU8(p, PS_RESV3,           v->pmReserved3);
+
+    putU8Arr(p, PS_DYN_ALARM, v->dyn_alarm_flag, 6);
+    putU8Arr(p, PS_INS_ALARM, v->ins_alarm_flag, 6);
+
+    FieldCodec::putU8(p, PS_INS_RELAY1,      v->ins_relay_status1);
+    FieldCodec::putU8(p, PS_INS_RELAY2,      v->ins_relay_status2);
+    FieldCodec::putU8(p, PS_DYN_RELAY1,      v->dyn_relay_status1);
+    FieldCodec::putU8(p, PS_DYN_RELAY2,      v->dyn_relay_status2);
+
+    FieldCodec::putU16(p, PS_INS_MAX_PWR,    v->ins_max_discharge_power);
+    FieldCodec::putU16(p, PS_DYN_MAX_PWR,    v->dyn_max_discharge_power);
+    FieldCodec::putU8(p, PS_INS_SOC,         v->ins_soc);
+    FieldCodec::putU8(p, PS_DYN_SOC,         v->dyn_soc);
+    FieldCodec::putU16(p, PS_INS_TOTAL_ENERGY, v->ins_total_energy);
+    FieldCodec::putU16(p, PS_DYN_TOTAL_ENERGY, v->dyn_total_energy);
+    FieldCodec::putU16(p, PS_INS_PWR_IN,     v->ins_power_input);
+    FieldCodec::putU16(p, PS_DYN_PWR_IN,     v->dyn_power_input);
+
+    FieldCodec::putU8(p, PS_INS_CHARGE_ST,   v->ins_charge_status);
+    FieldCodec::putU8(p, PS_DYN_CHARGE_ST,   v->dyn_charge_status);
+
+    FieldCodec::putU16(p, PS_INS_V_LINK,     v->ins_voltage_link);
+    FieldCodec::putU16(p, PS_INS_V_PACK,     v->ins_voltage_pack);
+    FieldCodec::putU16(p, PS_INS_CURRENT,    v->ins_current);
+    FieldCodec::putU16(p, PS_INS_RES_POS,    v->ins_resistance_pos);
+    FieldCodec::putU16(p, PS_INS_RES_NEG,    v->ins_resistance_neg);
+    FieldCodec::putU16(p, PS_DYN_V_LINK,     v->dyn_voltage_link);
+    FieldCodec::putU16(p, PS_DYN_V_PACK,     v->dyn_voltage_pack);
+    FieldCodec::putU16(p, PS_DYN_CURRENT,    v->dyn_current);
+    FieldCodec::putU16(p, PS_DYN_RES_POS,    v->dyn_resistance_pos);
+    FieldCodec::putU16(p, PS_DYN_RES_NEG,    v->dyn_resistance_neg);
+
+    FieldCodec::putU8(p, PS_INS_EMERGENCY,   v->ins_emergency_status);
+    FieldCodec::putU8(p, PS_DYN_EMERGENCY,   v->dyn_emergency_status);
+
+    FieldCodec::putU8(p, PS_INS_SOC_H1,      v->ins_soc_threshold1);
+    FieldCodec::putU8(p, PS_INS_SOC_H2,      v->ins_soc_threshold2);
+    FieldCodec::putU8(p, PS_INS_SOC_H3,      v->ins_soc_threshold3);
+    FieldCodec::putU8(p, PS_INS_PWR_L1,      v->ins_power_limit1);
+    FieldCodec::putU8(p, PS_INS_PWR_L2,      v->ins_power_limit2);
+    FieldCodec::putU8(p, PS_DYN_SOC_H1,      v->dyn_soc_threshold1);
+    FieldCodec::putU8(p, PS_DYN_SOC_H2,      v->dyn_soc_threshold2);
+    FieldCodec::putU8(p, PS_DYN_SOC_H3,      v->dyn_soc_threshold3);
+    FieldCodec::putU8(p, PS_DYN_PWR_L1,      v->dyn_power_limit1);
+    FieldCodec::putU8(p, PS_DYN_PWR_L2,      v->dyn_power_limit2);
+
+    FieldCodec::putU32(p, PS_ONLINE_FLAG1,   v->device_online_flag1);
+    FieldCodec::putU32(p, PS_ONLINE_FLAG2,   v->device_online_flag2);
+    FieldCodec::putU32(p, PS_RESV4,          v->pmReserved4);
+
+    FieldCodec::putU8(p, PS_HEARTBEAT,       v->heartbeat);
+    FieldCodec::putU8(p, PS_EMERGENCY_CMD,   v->emergency_cmd);
+
+    return Frame::build(id(), p, checksum());
+}
+
+bool PmStatusMessage::decode(const std::vector<uint8_t>& frame, void* obj) const {
+    if (!validateFrame(frame, id(), checksum(), totalLength())) return false;
+    PmStatusValue* v = static_cast<PmStatusValue*>(obj);
+    size_t o = FRAME_HEADER_LEN;
+
+    v->fc_mode            = FieldCodec::getU8(frame, o + PS_MODE);
+    v->fc_status          = FieldCodec::getU8(frame, o + PS_STATUS);
+    v->fault_level_1      = FieldCodec::getU16(frame, o + PS_FL1);
+    v->fault_level_2      = FieldCodec::getU16(frame, o + PS_FL2);
+    v->fault_level_3      = FieldCodec::getU16(frame, o + PS_FL3);
+    v->fault_level_4      = FieldCodec::getU16(frame, o + PS_FL4);
+    v->total_generation_time = FieldCodec::getU16(frame, o + PS_GEN_TIME);
+    v->fc_fault_level     = FieldCodec::getU8(frame, o + PS_FAULT_LEVEL);
+    v->output_power_limit = FieldCodec::getU16(frame, o + PS_OUT_POWER_LIMIT);
+    v->generation_power   = FieldCodec::getU16(frame, o + PS_GEN_POWER);
+    v->hydrogen_capacity  = FieldCodec::getU8(frame, o + PS_H2_CAP);
+    v->liquid_oxygen_capacity = FieldCodec::getU8(frame, o + PS_LO2_CAP);
+
+    v->fc1_min_cell_voltage = FieldCodec::getU8(frame, o + PS_FC1_MIN_V);
+    v->fc1_min_cell_pos     = FieldCodec::getU8(frame, o + PS_FC1_MIN_POS);
+    v->fc1_avg_cell_voltage = FieldCodec::getU8(frame, o + PS_FC1_AVG_V);
+    v->fc2_min_cell_voltage = FieldCodec::getU8(frame, o + PS_FC2_MIN_V);
+    v->fc2_min_cell_pos     = FieldCodec::getU8(frame, o + PS_FC2_MIN_POS);
+    v->fc2_avg_cell_voltage = FieldCodec::getU8(frame, o + PS_FC2_AVG_V);
+
+    v->palladium_temp       = FieldCodec::getU16(frame, o + PS_PALLADIUM);
+    v->buffer_tank_pressure = FieldCodec::getU16(frame, o + PS_BUFFER_PRES);
+    v->flue_total_emission  = FieldCodec::getU16(frame, o + PS_FLUE_TOTAL);
+    v->flue_pressure        = FieldCodec::getU16(frame, o + PS_FLUE_PRES);
+    v->reactor_pressure     = FieldCodec::getU16(frame, o + PS_REACTOR_PRES);
+    v->electric_valve_open  = FieldCodec::getU16(frame, o + PS_EVALVE_OPEN);
+    v->main_pipe_pressure   = FieldCodec::getU16(frame, o + PS_MAIN_PIPE_PRES);
+    v->aux_pipe_pressure    = FieldCodec::getU16(frame, o + PS_AUX_PIPE_PRES);
+
+    v->dcdc1_in_voltage     = FieldCodec::getU16(frame, o + PS_DCDC1_IN_V);
+    v->dcdc1_in_current     = FieldCodec::getU16(frame, o + PS_DCDC1_IN_I);
+    v->dcdc2_in_voltage     = FieldCodec::getU16(frame, o + PS_DCDC2_IN_V);
+    v->dcdc2_in_current     = FieldCodec::getU16(frame, o + PS_DCDC2_IN_I);
+    v->dcdc_out_voltage     = FieldCodec::getU16(frame, o + PS_DCDC_OUT_V);
+    v->dcdc_out_current     = FieldCodec::getU16(frame, o + PS_DCDC_OUT_I);
+    v->dcdc_ctrl_voltage    = FieldCodec::getU8(frame, o + PS_DCDC_CTRL_V);
+    v->dcdc_aux_voltage     = FieldCodec::getU8(frame, o + PS_DCDC_AUX_V);
+
+    v->methanol_total_use   = FieldCodec::getU16(frame, o + PS_METHANOL_TOTAL);
+    v->methanol_feed        = FieldCodec::getU16(frame, o + PS_METHANOL_FEED);
+    v->oxygen_side_water_level = FieldCodec::getU16(frame, o + PS_O2_WATER);
+    v->hydrogen_side_water_level = FieldCodec::getU16(frame, o + PS_H2_WATER);
+    v->ballast_water_level  = FieldCodec::getU16(frame, o + PS_BALLAST_WATER);
+
+    v->exhaust_inlet_pressure  = FieldCodec::getU16(frame, o + PS_EXH_IN_PRES);
+    v->exhaust_outlet_pressure = FieldCodec::getU16(frame, o + PS_EXH_OUT_PRES);
+    v->exhaust_run_freq        = FieldCodec::getU16(frame, o + PS_EXH_FREQ);
+    v->exhaust_inlet_temp      = FieldCodec::getU16(frame, o + PS_EXH_IN_TEMP);
+    v->exhaust_outlet_temp     = FieldCodec::getU16(frame, o + PS_EXH_OUT_TEMP);
+    v->exhaust_water_in_pressure = FieldCodec::getU16(frame, o + PS_EXH_WIN_PRES);
+    v->exhaust_water_out_pressure = FieldCodec::getU16(frame, o + PS_EXH_WOUT_PRES);
+
+    v->tank_lo2_pressure    = FieldCodec::getU16(frame, o + PS_TANK_LO2_PRES);
+    v->tank_co2_pressure    = FieldCodec::getU16(frame, o + PS_TANK_CO2_PRES);
+    v->tank_lo2_level       = FieldCodec::getU16(frame, o + PS_TANK_LO2_LEVEL);
+    v->alloy_h2_flow        = FieldCodec::getU16(frame, o + PS_ALLOY_H2_FLOW);
+    v->fc_h2_flow           = FieldCodec::getU16(frame, o + PS_FC_H2_FLOW);
+    v->fc_o2_flow           = FieldCodec::getU16(frame, o + PS_FC_O2_FLOW);
+
+    v->emergency_float_depth = FieldCodec::getU16(frame, o + PS_EMER_DEPTH);
+    v->emergency_float_time  = FieldCodec::getU16(frame, o + PS_EMER_TIME);
+
+    v->cabin_pressure1      = FieldCodec::getU16(frame, o + PS_CABIN_P1);
+    v->cabin_pressure2      = FieldCodec::getU16(frame, o + PS_CABIN_P2);
+    v->cabin_temp1          = FieldCodec::getU16(frame, o + PS_CABIN_T1);
+    v->cabin_temp2          = FieldCodec::getU16(frame, o + PS_CABIN_T2);
+    v->cabin_humidity1      = FieldCodec::getU16(frame, o + PS_CABIN_H1);
+    v->cabin_humidity2      = FieldCodec::getU16(frame, o + PS_CABIN_H2);
+    v->h2_concentration1    = FieldCodec::getU16(frame, o + PS_H2_C1);
+    v->h2_concentration2    = FieldCodec::getU16(frame, o + PS_H2_C2);
+    v->h2_concentration3    = FieldCodec::getU16(frame, o + PS_H2_C3);
+    v->o2_concentration1    = FieldCodec::getU16(frame, o + PS_O2_C1);
+    v->o2_concentration2    = FieldCodec::getU16(frame, o + PS_O2_C2);
+    v->ch3oh_concentration1 = FieldCodec::getU16(frame, o + PS_CH3OH_C1);
+    v->ch3oh_concentration2 = FieldCodec::getU16(frame, o + PS_CH3OH_C2);
+
+    v->flame_detector1      = FieldCodec::getU8(frame, o + PS_FLAME1);
+    v->flame_detector2      = FieldCodec::getU8(frame, o + PS_FLAME2);
+    v->pmReserved1          = FieldCodec::getU16(frame, o + PS_RESV1);
+    v->pmReserved2          = FieldCodec::getU16(frame, o + PS_RESV2);
+
+    v->emergency_battery1_voltage  = FieldCodec::getU16(frame, o + PS_EB1_VOLTAGE);
+    v->emergency_battery1_current  = FieldCodec::getU16(frame, o + PS_EB1_CURRENT);
+    v->emergency_battery1_max_temp = FieldCodec::getU16(frame, o + PS_EB1_MAX_TEMP);
+    v->emergency_battery1_fault_word = FieldCodec::getU16(frame, o + PS_EB1_FAULT);
+    v->emergency_battery2_voltage  = FieldCodec::getU16(frame, o + PS_EB2_VOLTAGE);
+    v->emergency_battery2_current  = FieldCodec::getU16(frame, o + PS_EB2_CURRENT);
+    v->emergency_battery2_max_temp = FieldCodec::getU16(frame, o + PS_EB2_MAX_TEMP);
+    v->emergency_battery2_fault_word = FieldCodec::getU16(frame, o + PS_EB2_FAULT);
+
+    v->ins_cabin_ox_concentration = FieldCodec::getU16(frame, o + PS_INS_CABIN_OX);
+    v->ins_cabin_temperature      = FieldCodec::getU16(frame, o + PS_INS_CABIN_TEMP);
+    v->ins_cabin_humidity         = FieldCodec::getU16(frame, o + PS_INS_CABIN_HUM);
+    v->ins_cabin_pressure         = FieldCodec::getU16(frame, o + PS_INS_CABIN_PRES);
+    v->dyn_cabin_ox_concentration = FieldCodec::getU16(frame, o + PS_DYN_CABIN_OX);
+    v->dyn_cabin_temperature      = FieldCodec::getU16(frame, o + PS_DYN_CABIN_TEMP);
+    v->dyn_cabin_humidity         = FieldCodec::getU16(frame, o + PS_DYN_CABIN_HUM);
+    v->dyn_cabin_pressure         = FieldCodec::getU16(frame, o + PS_DYN_CABIN_PRES);
+    v->pmReserved3                = FieldCodec::getU8(frame, o + PS_RESV3);
+
+    getU8Arr(frame, o + PS_DYN_ALARM, v->dyn_alarm_flag, 6);
+    getU8Arr(frame, o + PS_INS_ALARM, v->ins_alarm_flag, 6);
+
+    v->ins_relay_status1    = FieldCodec::getU8(frame, o + PS_INS_RELAY1);
+    v->ins_relay_status2    = FieldCodec::getU8(frame, o + PS_INS_RELAY2);
+    v->dyn_relay_status1    = FieldCodec::getU8(frame, o + PS_DYN_RELAY1);
+    v->dyn_relay_status2    = FieldCodec::getU8(frame, o + PS_DYN_RELAY2);
+
+    v->ins_max_discharge_power = FieldCodec::getU16(frame, o + PS_INS_MAX_PWR);
+    v->dyn_max_discharge_power = FieldCodec::getU16(frame, o + PS_DYN_MAX_PWR);
+    v->ins_soc              = FieldCodec::getU8(frame, o + PS_INS_SOC);
+    v->dyn_soc              = FieldCodec::getU8(frame, o + PS_DYN_SOC);
+    v->ins_total_energy     = FieldCodec::getU16(frame, o + PS_INS_TOTAL_ENERGY);
+    v->dyn_total_energy     = FieldCodec::getU16(frame, o + PS_DYN_TOTAL_ENERGY);
+    v->ins_power_input      = FieldCodec::getU16(frame, o + PS_INS_PWR_IN);
+    v->dyn_power_input      = FieldCodec::getU16(frame, o + PS_DYN_PWR_IN);
+
+    v->ins_charge_status    = FieldCodec::getU8(frame, o + PS_INS_CHARGE_ST);
+    v->dyn_charge_status    = FieldCodec::getU8(frame, o + PS_DYN_CHARGE_ST);
+
+    v->ins_voltage_link     = FieldCodec::getU16(frame, o + PS_INS_V_LINK);
+    v->ins_voltage_pack     = FieldCodec::getU16(frame, o + PS_INS_V_PACK);
+    v->ins_current          = FieldCodec::getU16(frame, o + PS_INS_CURRENT);
+    v->ins_resistance_pos   = FieldCodec::getU16(frame, o + PS_INS_RES_POS);
+    v->ins_resistance_neg   = FieldCodec::getU16(frame, o + PS_INS_RES_NEG);
+    v->dyn_voltage_link     = FieldCodec::getU16(frame, o + PS_DYN_V_LINK);
+    v->dyn_voltage_pack     = FieldCodec::getU16(frame, o + PS_DYN_V_PACK);
+    v->dyn_current          = FieldCodec::getU16(frame, o + PS_DYN_CURRENT);
+    v->dyn_resistance_pos   = FieldCodec::getU16(frame, o + PS_DYN_RES_POS);
+    v->dyn_resistance_neg   = FieldCodec::getU16(frame, o + PS_DYN_RES_NEG);
+
+    v->ins_emergency_status = FieldCodec::getU8(frame, o + PS_INS_EMERGENCY);
+    v->dyn_emergency_status = FieldCodec::getU8(frame, o + PS_DYN_EMERGENCY);
+
+    v->ins_soc_threshold1   = FieldCodec::getU8(frame, o + PS_INS_SOC_H1);
+    v->ins_soc_threshold2   = FieldCodec::getU8(frame, o + PS_INS_SOC_H2);
+    v->ins_soc_threshold3   = FieldCodec::getU8(frame, o + PS_INS_SOC_H3);
+    v->ins_power_limit1     = FieldCodec::getU8(frame, o + PS_INS_PWR_L1);
+    v->ins_power_limit2     = FieldCodec::getU8(frame, o + PS_INS_PWR_L2);
+    v->dyn_soc_threshold1   = FieldCodec::getU8(frame, o + PS_DYN_SOC_H1);
+    v->dyn_soc_threshold2   = FieldCodec::getU8(frame, o + PS_DYN_SOC_H2);
+    v->dyn_soc_threshold3   = FieldCodec::getU8(frame, o + PS_DYN_SOC_H3);
+    v->dyn_power_limit1     = FieldCodec::getU8(frame, o + PS_DYN_PWR_L1);
+    v->dyn_power_limit2     = FieldCodec::getU8(frame, o + PS_DYN_PWR_L2);
+
+    v->device_online_flag1  = FieldCodec::getU32(frame, o + PS_ONLINE_FLAG1);
+    v->device_online_flag2  = FieldCodec::getU32(frame, o + PS_ONLINE_FLAG2);
+    v->pmReserved4          = FieldCodec::getU32(frame, o + PS_RESV4);
+
+    v->heartbeat            = FieldCodec::getU8(frame, o + PS_HEARTBEAT);
+    v->emergency_cmd        = FieldCodec::getU8(frame, o + PS_EMERGENCY_CMD);
+    return true;
+}
+
+} // namespace ccu

src/pCCU/protocol/PmProtocol.h

@@ -0,0 +1,317 @@
+#ifndef PCCU_PM_PROTOCOL_H
+#define PCCU_PM_PROTOCOL_H
+
+#include <cstdint>
+#include <vector>
+#include "Message.h"
+
+namespace ccu {
+
+//============================================================================
+// PM 协议（复合管控器 <-> 控制主机 pPowerManger）
+// 依据：docs/控制主机与复合管控器通信协议 - 0824.xlsx
+//
+// 帧格式统一：0x40 0x40 + 域标识符(2B) + 域字节数(2B) + 数据域 + uint32 校验和
+// 校验和为从域起始符到校验和之前所有数据的字节和。
+//
+// 四条消息（均带 uint32 校验和）：
+//   0x0001 操控指令域       （控制主机->复合管控器）payload 35B，总长 45B
+//   0x0002 参数设定指令域   （控制主机->复合管控器）payload 18B，总长 28B
+//   0x0003 参数设定反馈域   （复合管控器->控制主机）payload  2B，总长 12B
+//   0x0004 状态报文域       （复合管控器->控制主机）payload 238B，总长 248B
+//============================================================================
+
+//--------------------------------------------------------------------------
+// 0x0001 操控指令域
+// payload 35 字节，对应文档字节 7~41
+//--------------------------------------------------------------------------
+struct PmControlValue {
+    // 系统时间
+    uint16_t year = 0;
+    uint8_t  month = 0;
+    uint8_t  day = 0;
+    uint8_t  hour = 0;
+    uint8_t  minute = 0;
+    uint8_t  second = 0;
+    uint8_t  millisecond10 = 0;   // 10毫秒
+    // 指令
+    uint8_t  mode = 0;            // 模式设定 00~03
+    uint8_t  cmd = 0;             // 操控指令 00~0B
+    uint8_t  outputPower = 0;     // 输出功率指令 0~250，0.1kW
+    int16_t  pitch = 0;           // 纵倾姿态数据1 int16，分辨率0.1°（字节18,19）
+    int16_t  roll = 0;            // 横倾姿态数据1 int16，分辨率0.1°（字节20,21）
+    uint8_t  emergencyAllow = 0;  // 应急允许
+    uint16_t depth = 0;           // 潜深深度 m
+    uint8_t  supplyCmd = 0;       // 补给/排放指令
+    uint8_t  reservedCmd5 = 0;    // 预留指令5
+    uint8_t  reservedCmd6 = 0;    // 预留指令6
+    uint8_t  insBatCmd = 0;       // 仪表锂电池启停指令 00/10/20
+    uint8_t  dynBatCmd = 0;       // 动力锂电池启停指令 00/10/20
+    uint16_t dynBatPower = 0;     // 动力锂电池功率配置值 kW
+    uint8_t  heartbeat = 0;       // 通信心跳，每次+1
+    uint8_t  hostState = 0;       // 主机状态 运行AAH/关机FFH/故障其他
+    uint32_t reserved1 = 0;       // 预留
+    uint32_t reserved2 = 0;       // 预留
+};
+
+//--------------------------------------------------------------------------
+// 0x0002 参数设定指令域
+// payload 18 字节，对应文档字节 7~24
+//--------------------------------------------------------------------------
+struct PmParamSetValue {
+    uint8_t insSocHold1 = 0;     // 仪表电池充电一级功率SOC门限
+    uint8_t insSocHold2 = 0;     // 仪表电池充电二级功率SOC门限
+    uint8_t insSocHold3 = 0;     // 仪表电池充电三级功率SOC门限
+    uint8_t insOutputPower = 0;  // 仪表锂电池输出功率 %
+    uint8_t insReserved = 0;     // 预留
+    uint8_t dynSocHold1 = 0;     // 动力电池充电一级功率SOC门限
+    uint8_t dynSocHold2 = 0;     // 动力电池充电二级功率SOC门限
+    uint8_t dynSocHold3 = 0;     // 动力电池充电三级功率SOC门限
+    uint8_t dynOutputPower = 0;  // 动力电池输出功率 %
+    uint8_t dynReserved = 0;     // 预留
+    uint32_t reserved1 = 0;      // 预留
+    uint32_t reserved2 = 0;      // 预留
+};
+
+//--------------------------------------------------------------------------
+// 0x0003 参数设定反馈域
+// payload 2 字节，对应文档字节 7~8
+//--------------------------------------------------------------------------
+struct PmParamSetFbValue {
+    uint8_t flag = 0;        // 设定标志：00H无效 / 10H成功 / 20H失败
+    uint8_t failCode = 0;    // 设定失败原因
+};
+
+//--------------------------------------------------------------------------
+// 0x0004 状态报文域
+// payload 238 字节，对应文档字节 7~244
+//--------------------------------------------------------------------------
+struct PmStatusValue {
+    uint8_t  fc_mode = 0;             // 燃料电池系统运行模式
+    uint8_t  fc_status = 0;           // 燃料电池系统运行状态
+    uint16_t fault_level_1 = 0;       // 一级故障码
+    uint16_t fault_level_2 = 0;       // 二级故障码
+    uint16_t fault_level_3 = 0;       // 三级故障码
+    uint16_t fault_level_4 = 0;       // 四级故障码
+    uint16_t total_generation_time = 0; // 累积发电时间 0.1h
+    uint8_t  fc_fault_level = 0;      // 系统故障等级 00~04
+    uint16_t output_power_limit = 0;  // 系统输出功率限定功率 W
+    uint16_t generation_power = 0;    // 系统发电功率 0.01kW
+    uint8_t  hydrogen_capacity = 0;   // 储氢剩余容量 %
+    uint8_t  liquid_oxygen_capacity = 0; // 液氧剩余容量 %
+
+    uint8_t  fc1_min_cell_voltage = 0;    // I#FC最低单片电压 10mV
+    uint8_t  fc1_min_cell_pos = 0;        // I#FC最低单片电压位置
+    uint8_t  fc1_avg_cell_voltage = 0;    // I#FC平均单片电压
+    uint8_t  fc2_min_cell_voltage = 0;    // 2#FC最低单片电压
+    uint8_t  fc2_min_cell_pos = 0;        // 2#FC最低单片电压位置
+    uint8_t  fc2_avg_cell_voltage = 0;    // 2#FC平均单片电压
+
+    uint16_t palladium_temp = 0;          // 甲醇制氢装置钯膜最高温度 0.1℃
+    uint16_t buffer_tank_pressure = 0;    // 缓冲罐压力 0.1kPa
+    uint16_t flue_total_emission = 0;     // 烟气累计排放量 0.1kg
+    uint16_t flue_pressure = 0;           // 烟气压力 0.001MPa
+    uint16_t reactor_pressure = 0;        // 反应器压力 0.001MPa
+    uint16_t electric_valve_open = 0;     // 电动阀开度 0.1%
+    uint16_t main_pipe_pressure = 0;      // 主水路盘管侧压力 0.01kPa
+    uint16_t aux_pipe_pressure = 0;       // 辅水路盘管侧压力 0.01kPa
+
+    uint16_t dcdc1_in_voltage = 0;        // DC/DC通道1输入电压 0.1V
+    uint16_t dcdc1_in_current = 0;        // DC/DC通道1输入电流 0.1A
+    uint16_t dcdc2_in_voltage = 0;        // DC/DC通道2输入电压 0.1V
+    uint16_t dcdc2_in_current = 0;        // DC/DC通道2输入电流 0.1A
+    uint16_t dcdc_out_voltage = 0;        // DC/DC输出电压 0.1V
+    uint16_t dcdc_out_current = 0;        // DC/DC输出电流 0.1A
+    uint8_t  dcdc_ctrl_voltage = 0;       // DC/DC控制电源电压 0.25V
+    uint8_t  dcdc_aux_voltage = 0;        // DC/DC辅电输出电压 0.125V
+
+    uint16_t methanol_total_use = 0;      // 甲醇累计使用量 0.1kg
+    uint16_t methanol_feed = 0;           // 甲醇溶液进料量 1mL/min
+    uint16_t oxygen_side_water_level = 0; // 氧侧生成水箱液位 0.01mm
+    uint16_t hydrogen_side_water_level = 0; // 氢侧生成水箱液位
+    uint16_t ballast_water_level = 0;     // 配重水箱液位
+
+    uint16_t exhaust_inlet_pressure = 0;  // 尾气装置进气压力 0.01MPa
+    uint16_t exhaust_outlet_pressure = 0; // 尾气装置排气压力 0.01MPa
+    uint16_t exhaust_run_freq = 0;        // 尾气装置运行频率 0.01Hz
+    uint16_t exhaust_inlet_temp = 0;      // 尾气装置进气温度 0.01℃
+    uint16_t exhaust_outlet_temp = 0;     // 尾气装置排气温度 0.01℃
+    uint16_t exhaust_water_in_pressure = 0; // 尾气装置进水压力 0.01kPa
+    uint16_t exhaust_water_out_pressure = 0; // 尾气装置排水压力 0.01kPa
+
+    uint16_t tank_lo2_pressure = 0;       // 一体化罐装置液氧罐压力 0.01MPa
+    uint16_t tank_co2_pressure = 0;       // 一体化罐装置二氧化碳压力 0.01MPa
+    uint16_t tank_lo2_level = 0;          // 一体化罐装置液氧罐液位 0.01mm
+
+    uint16_t alloy_h2_flow = 0;           // 合金供氢流量 0.01L/min
+    uint16_t fc_h2_flow = 0;              // FC供氢流量 0.01L/min
+    uint16_t fc_o2_flow = 0;              // FC供氧流量 0.01L/min
+
+    uint16_t emergency_float_depth = 0;   // 应急上浮深度 1m
+    uint16_t emergency_float_time = 0;    // 应急上浮时间 1min
+
+    uint16_t cabin_pressure1 = 0;         // 舱室压力1 0.01kPa
+    uint16_t cabin_pressure2 = 0;         // 舱室压力2
+    uint16_t cabin_temp1 = 0;             // 舱室温度1 0.01℃
+    uint16_t cabin_temp2 = 0;             // 舱室温度2
+    uint16_t cabin_humidity1 = 0;         // 舱室湿度1 0.01%RH
+    uint16_t cabin_humidity2 = 0;         // 舱室湿度2
+    uint16_t h2_concentration1 = 0;       // 舱室H2浓度1 0.01%LEL
+    uint16_t h2_concentration2 = 0;       // 舱室H2浓度2
+    uint16_t h2_concentration3 = 0;       // 舱室H2浓度3
+    uint16_t o2_concentration1 = 0;       // 舱室O2浓度1 0.01%Vol
+    uint16_t o2_concentration2 = 0;       // 舱室O2浓度2
+    uint16_t ch3oh_concentration1 = 0;    // 舱室甲醇浓度1 0.01%LEL
+    uint16_t ch3oh_concentration2 = 0;    // 舱室甲醇浓度2
+
+    uint8_t  flame_detector1 = 0;         // 火焰探测器1状态
+    uint8_t  flame_detector2 = 0;         // 火焰探测器2状态
+    uint16_t pmReserved1 = 0;             // 预留
+    uint16_t pmReserved2 = 0;             // 预留
+
+    uint16_t emergency_battery1_voltage = 0;   // 应急电池1总电压
+    uint16_t emergency_battery1_current = 0;   // 应急电池1总电流
+    uint16_t emergency_battery1_max_temp = 0;  // 应急电池1最高温度
+    uint16_t emergency_battery1_fault_word = 0;// 应急电池1故障字
+    uint16_t emergency_battery2_voltage = 0;   // 应急电池2总电压
+    uint16_t emergency_battery2_current = 0;   // 应急电池2总电流
+    uint16_t emergency_battery2_max_temp = 0;  // 应急电池2最高温度
+    uint16_t emergency_battery2_fault_word = 0;// 应急电池2故障字
+
+    uint16_t ins_cabin_ox_concentration = 0;   // 仪表舱内氧气浓度 %
+    uint16_t ins_cabin_temperature = 0;        // 仪表舱内温度 ℃
+    uint16_t ins_cabin_humidity = 0;           // 仪表舱内湿度 %RH
+    uint16_t ins_cabin_pressure = 0;           // 仪表舱内大气压 kPa
+    uint16_t dyn_cabin_ox_concentration = 0;   // 动力舱内氧气浓度 %
+    uint16_t dyn_cabin_temperature = 0;        // 动力舱内温度 ℃
+    uint16_t dyn_cabin_humidity = 0;           // 动力舱内湿度 %RH
+    uint16_t dyn_cabin_pressure = 0;           // 动力舱内大气压 kPa
+    uint8_t  pmReserved3 = 0;                  // 预留
+
+    uint8_t  dyn_alarm_flag[6] = {0};          // 动力锂电池报警标识字1~6
+    uint8_t  ins_alarm_flag[6] = {0};          // 仪表锂电池报警标识字1~6
+
+    uint8_t  ins_relay_status1 = 0;            // 仪表电池正极+充电继电器状态
+    uint8_t  ins_relay_status2 = 0;            // 仪表电池预充+负极继电器状态
+    uint8_t  dyn_relay_status1 = 0;            // 动力电池正极+充电继电器状态
+    uint8_t  dyn_relay_status2 = 0;            // 动力电池预充+负极继电器状态
+
+    uint16_t ins_max_discharge_power = 0;      // 仪表电池允许最高放电功率 0.05kW
+    uint16_t dyn_max_discharge_power = 0;      // 动力电池允许最高放电功率 0.05kW
+    uint8_t  ins_soc = 0;                      // 仪表锂电池SOC %
+    uint8_t  dyn_soc = 0;                      // 动力锂电池SOC %
+    uint16_t ins_total_energy = 0;             // 仪表锂电池总能量 0.1kWh
+    uint16_t dyn_total_energy = 0;             // 动力锂电池总电量 0.1kWh
+    uint16_t ins_power_input = 0;              // 仪表电池当前接入功率 kW
+    uint16_t dyn_power_input = 0;              // 动力电池当前接入功率 kW
+
+    uint8_t  ins_charge_status = 0;            // 仪表电池充电状态
+    uint8_t  dyn_charge_status = 0;            // 动力电池充电状态
+
+    uint16_t ins_voltage_link = 0;             // 仪表电池电压LINK端 0.01V
+    uint16_t ins_voltage_pack = 0;             // 仪表电池电压PACK端 0.01V
+    uint16_t ins_current = 0;                  // 仪表电池放电电流 0.05A
+    uint16_t ins_resistance_pos = 0;           // 仪表电池正端绝缘电阻 kΩ
+    uint16_t ins_resistance_neg = 0;           // 仪表电池负端绝缘电阻 kΩ
+    uint16_t dyn_voltage_link = 0;             // 动力电池电压LINK端 0.01V
+    uint16_t dyn_voltage_pack = 0;             // 动力电池电压PACK端 0.01V
+    uint16_t dyn_current = 0;                  // 动力电池放电电流 0.05A
+    uint16_t dyn_resistance_pos = 0;           // 动力电池正端绝缘电阻 kΩ
+    uint16_t dyn_resistance_neg = 0;           // 动力电池负端绝缘电阻 kΩ
+
+    uint8_t  ins_emergency_status = 0;         // 仪表电池紧急状态
+    uint8_t  dyn_emergency_status = 0;         // 动力电池紧急状态
+
+    uint8_t  ins_soc_threshold1 = 0;           // 仪表电池充电一级功率SOC门限当前值
+    uint8_t  ins_soc_threshold2 = 0;           // 仪表电池充电二级
+    uint8_t  ins_soc_threshold3 = 0;           // 仪表电池充电三级
+    uint8_t  ins_power_limit1 = 0;             // 仪表通路FC输出功率一级限制当前值
+    uint8_t  ins_power_limit2 = 0;             // 仪表通路FC输出功率二级限制当前值
+    uint8_t  dyn_soc_threshold1 = 0;           // 动力电池充电一级功率SOC门限当前值
+    uint8_t  dyn_soc_threshold2 = 0;           // 动力电池充电二级
+    uint8_t  dyn_soc_threshold3 = 0;           // 动力电池充电三级
+    uint8_t  dyn_power_limit1 = 0;             // 动力通路FC输出功率一级限制当前值
+    uint8_t  dyn_power_limit2 = 0;             // 动力通路FC输出功率二级限制当前值
+
+    uint32_t device_online_flag1 = 0;          // 设备在线状态标志字1
+    uint32_t device_online_flag2 = 0;          // 设备在线状态标志字2
+    uint32_t pmReserved4 = 0;                  // 预留
+
+    uint8_t  heartbeat = 0;                    // 通信心跳，每次+1
+    uint8_t  emergency_cmd = 0;                // 应急指令
+};
+
+//--------------------------------------------------------------------------
+// 消息类
+//--------------------------------------------------------------------------
+
+class PmControlMessage : public Message {
+public:
+    uint16_t id() const override { return 0x0001; }
+    const char* name() const override { return "pm_control"; }
+    const ChecksumPolicy& checksum() const override { return m_checksum; }
+    size_t payloadLength() const override { return 35; }
+    std::vector<uint8_t> encode(const void* obj) const override;
+    bool decode(const std::vector<uint8_t>& frame, void* obj) const override;
+    std::vector<uint8_t> encode(const PmControlValue& v) const { return encode(&v); }
+    bool decode(const std::vector<uint8_t>& frame, PmControlValue& v) const {
+        return decode(frame, static_cast<void*>(&v));
+    }
+private:
+    ChecksumPolicy m_checksum{ChecksumType::Sum32};
+};
+
+class PmParamSetMessage : public Message {
+public:
+    uint16_t id() const override { return 0x0002; }
+    const char* name() const override { return "pm_param_set"; }
+    const ChecksumPolicy& checksum() const override { return m_checksum; }
+    size_t payloadLength() const override { return 18; }
+    std::vector<uint8_t> encode(const void* obj) const override;
+    bool decode(const std::vector<uint8_t>& frame, void* obj) const override;
+    std::vector<uint8_t> encode(const PmParamSetValue& v) const { return encode(&v); }
+    bool decode(const std::vector<uint8_t>& frame, PmParamSetValue& v) const {
+        return decode(frame, static_cast<void*>(&v));
+    }
+private:
+    ChecksumPolicy m_checksum{ChecksumType::Sum32};
+};
+
+class PmParamSetFbMessage : public Message {
+public:
+    uint16_t id() const override { return 0x0003; }
+    const char* name() const override { return "pm_param_set_fb"; }
+    const ChecksumPolicy& checksum() const override { return m_checksum; }
+    size_t payloadLength() const override { return 2; }
+    std::vector<uint8_t> encode(const void* obj) const override;
+    bool decode(const std::vector<uint8_t>& frame, void* obj) const override;
+    std::vector<uint8_t> encode(const PmParamSetFbValue& v) const { return encode(&v); }
+    bool decode(const std::vector<uint8_t>& frame, PmParamSetFbValue& v) const {
+        return decode(frame, static_cast<void*>(&v));
+    }
+private:
+    ChecksumPolicy m_checksum{ChecksumType::Sum32};
+};
+
+class PmStatusMessage : public Message {
+public:
+    uint16_t id() const override { return 0x0004; }
+    const char* name() const override { return "pm_status"; }
+    const ChecksumPolicy& checksum() const override { return m_checksum; }
+    size_t payloadLength() const override { return 238; }
+    std::vector<uint8_t> encode(const void* obj) const override;
+    bool decode(const std::vector<uint8_t>& frame, void* obj) const override;
+    std::vector<uint8_t> encode(const PmStatusValue& v) const { return encode(&v); }
+    bool decode(const std::vector<uint8_t>& frame, PmStatusValue& v) const {
+        return decode(frame, static_cast<void*>(&v));
+    }
+private:
+    ChecksumPolicy m_checksum{ChecksumType::Sum32};
+};
+
+// 注册 PM 消息到给定注册表
+void registerPmMessages(class MessageRegistry& reg);
+
+} // namespace ccu
+
+#endif // PCCU_PM_PROTOCOL_H

src/pCCU/store/DbStore.cpp

@@ -0,0 +1,178 @@
+#include "DbStore.h"
+#include "../protocol/Message.h"
+#include "sqlite3.h"
+#include <sstream>
+#include <iomanip>
+#include <cstdio>
+#include <ctime>
+
+namespace ccu {
+
+namespace {
+std::string toHex(const std::vector<uint8_t>& data) {
+    static const char* hex = "0123456789ABCDEF";
+    std::string s;
+    s.reserve(data.size() * 2);
+    for (uint8_t b : data) {
+        s += hex[(b >> 4) & 0xF];
+        s += hex[b & 0xF];
+    }
+    return s;
+}
+} // namespace
+
+DbStore::DbStore(const std::string& dbPath) : m_dbPath(dbPath) {}
+
+DbStore::~DbStore() {
+    close();
+}
+
+bool DbStore::exec(const char* sql) {
+    char* err = nullptr;
+    int rc = sqlite3_exec(m_db, sql, nullptr, nullptr, &err);
+    if (rc != SQLITE_OK) {
+        m_lastError = err ? err : "sqlite error";
+        sqlite3_free(err);
+        return false;
+    }
+    return true;
+}
+
+bool DbStore::open() {
+    if (m_db) return true;
+    if (sqlite3_open(m_dbPath.c_str(), &m_db) != SQLITE_OK) {
+        m_lastError = sqlite3_errmsg(m_db);
+        sqlite3_close(m_db);
+        m_db = nullptr;
+        return false;
+    }
+    sqlite3_busy_timeout(m_db, 2000);
+    exec("PRAGMA journal_mode=WAL;");
+    exec("PRAGMA synchronous=NORMAL;");
+
+    // comm_log：收发全部原始帧
+    if (!exec(
+        "CREATE TABLE IF NOT EXISTS comm_log ("
+        "  id INTEGER PRIMARY KEY AUTOINCREMENT,"
+        "  time REAL NOT NULL,"
+        "  link TEXT NOT NULL,"
+        "  direction INTEGER NOT NULL,"   // 0=收 1=发
+        "  msg_id INTEGER NOT NULL,"
+        "  msg_name TEXT NOT NULL,"
+        "  length INTEGER NOT NULL,"
+        "  checksum_ok INTEGER NOT NULL,"
+        "  hex TEXT NOT NULL"
+        ");")) return false;
+    exec("CREATE INDEX IF NOT EXISTS idx_comm_log_time ON comm_log(time);");
+
+    return prepareInsert();
+}
+
+bool DbStore::prepareInsert() {
+    const char* sql =
+        "INSERT INTO comm_log (time, link, direction, msg_id, msg_name, length, checksum_ok, hex) "
+        "VALUES (?1, ?2, ?3, ?4, ?5, ?6, ?7, ?8);";
+    if (sqlite3_prepare_v2(m_db, sql, -1, &m_stmtInsert, nullptr) != SQLITE_OK) {
+        m_lastError = sqlite3_errmsg(m_db);
+        return false;
+    }
+    return true;
+}
+
+void DbStore::close() {
+    std::lock_guard<std::mutex> lock(m_mutex);
+    if (m_stmtInsert) {
+        sqlite3_finalize(m_stmtInsert);
+        m_stmtInsert = nullptr;
+    }
+    if (m_db) {
+        sqlite3_close(m_db);
+        m_db = nullptr;
+    }
+}
+
+void DbStore::onRawFrame(int direction, uint16_t msgId, const std::string& link,
+                         const std::vector<uint8_t>& data, bool checksumOk) {
+    std::lock_guard<std::mutex> lock(m_mutex);
+    if (!m_db || !m_stmtInsert) return;
+
+    // 消息名：尝试从链路名无法直接获取，这里用 msgId 的十六进制作为名称的一部分
+    char name[32];
+    std::snprintf(name, sizeof(name), "msg_0x%04X", msgId);
+    std::string hex = toHex(data);
+
+    sqlite3_reset(m_stmtInsert);
+    sqlite3_clear_bindings(m_stmtInsert);
+    // 时间：使用当前 unix 时间（秒），供网页展示
+    sqlite3_bind_double(m_stmtInsert, 1, static_cast<double>(::time(nullptr)));
+    sqlite3_bind_text(m_stmtInsert, 2, link.c_str(), -1, SQLITE_TRANSIENT);
+    sqlite3_bind_int(m_stmtInsert, 3, direction);
+    sqlite3_bind_int(m_stmtInsert, 4, msgId);
+    sqlite3_bind_text(m_stmtInsert, 5, name, -1, SQLITE_TRANSIENT);
+    sqlite3_bind_int(m_stmtInsert, 6, static_cast<int>(data.size()));
+    sqlite3_bind_int(m_stmtInsert, 7, checksumOk ? 1 : 0);
+    sqlite3_bind_text(m_stmtInsert, 8, hex.c_str(), -1, SQLITE_TRANSIENT);
+
+    int rc = sqlite3_step(m_stmtInsert);
+    if (rc != SQLITE_DONE) {
+        m_lastError = sqlite3_errmsg(m_db);
+    }
+}
+
+std::vector<CommLogRow> DbStore::queryRecent(const std::string& link, int direction,
+                                             uint16_t msgId, int limit) {
+    std::lock_guard<std::mutex> lock(m_mutex);
+    std::vector<CommLogRow> rows;
+    if (!m_db) return rows;
+    if (limit <= 0) limit = 100;
+
+    std::string sql = "SELECT id, time, link, direction, msg_id, msg_name, length, checksum_ok, hex "
+                      "FROM comm_log WHERE 1=1";
+    if (!link.empty()) {
+        sql += " AND link='" + link + "'";
+    }
+    if (direction >= 0) {
+        sql += " AND direction=" + std::to_string(direction);
+    }
+    if (msgId != 0) {
+        char buf[16];
+        std::snprintf(buf, sizeof(buf), "%u", msgId);
+        sql += " AND msg_id=" + std::string(buf);
+    }
+    sql += " ORDER BY id DESC LIMIT " + std::to_string(limit) + ";";
+
+    sqlite3_stmt* stmt = nullptr;
+    if (sqlite3_prepare_v2(m_db, sql.c_str(), -1, &stmt, nullptr) != SQLITE_OK) {
+        m_lastError = sqlite3_errmsg(m_db);
+        return rows;
+    }
+    while (sqlite3_step(stmt) == SQLITE_ROW) {
+        CommLogRow r;
+        r.id         = sqlite3_column_int64(stmt, 0);
+        r.time       = sqlite3_column_double(stmt, 1);
+        r.link       = reinterpret_cast<const char*>(sqlite3_column_text(stmt, 2));
+        r.direction  = sqlite3_column_int(stmt, 3);
+        r.msgId      = static_cast<uint16_t>(sqlite3_column_int(stmt, 4));
+        r.msgName    = reinterpret_cast<const char*>(sqlite3_column_text(stmt, 5));
+        r.length     = sqlite3_column_int(stmt, 6);
+        r.checksumOk = sqlite3_column_int(stmt, 7);
+        r.hex        = reinterpret_cast<const char*>(sqlite3_column_text(stmt, 8));
+        rows.push_back(std::move(r));
+    }
+    sqlite3_finalize(stmt);
+    return rows;
+}
+
+long long DbStore::count() const {
+    std::lock_guard<std::mutex> lock(m_mutex);
+    if (!m_db) return 0;
+    sqlite3_stmt* stmt = nullptr;
+    if (sqlite3_prepare_v2(m_db, "SELECT COUNT(*) FROM comm_log;", -1, &stmt, nullptr) != SQLITE_OK)
+        return 0;
+    long long n = 0;
+    if (sqlite3_step(stmt) == SQLITE_ROW) n = sqlite3_column_int64(stmt, 0);
+    sqlite3_finalize(stmt);
+    return n;
+}
+
+} // namespace ccu

src/pCCU/store/DbStore.h

@@ -0,0 +1,70 @@
+#ifndef PCCU_DB_STORE_H
+#define PCCU_DB_STORE_H
+
+#include <cstdint>
+#include <string>
+#include <mutex>
+#include <vector>
+#include "../comm/LinkManager.h"
+
+struct sqlite3;
+struct sqlite3_stmt;
+
+namespace ccu {
+
+//============================================================================
+// DbStore：SQLite 存储。
+//
+// 设计要点（应对协议变更）：
+//   - 以“原始帧日志”为主表（comm_log），收发全部数据按帧落库，
+//     协议字段变化不会导致建表失败。
+//   - 提供按 link / direction / msg_id 的查询接口供网页展示。
+// 复用仓库内 src/pPowerManger/sqlit3/sqlite3.c 与 sqlite3.h。
+//============================================================================
+
+struct CommLogRow {
+    long long id;
+    double    time;
+    std::string link;       // fc / pm
+    int       direction;    // 0=收 1=发
+    uint16_t  msgId;
+    std::string msgName;
+    int       length;
+    int       checksumOk;
+    std::string hex;
+};
+
+class DbStore : public ILinkLogSink {
+public:
+    explicit DbStore(const std::string& dbPath);
+    ~DbStore();
+
+    bool open();
+    void close();
+    bool isOpen() const { return m_db != nullptr; }
+    std::string lastError() const { return m_lastError; }
+
+    // 实现 ILinkLogSink：原始帧落库（收发双向）
+    void onRawFrame(int direction, uint16_t msgId, const std::string& link,
+                    const std::vector<uint8_t>& data, bool checksumOk) override;
+
+    // 查询最近 N 条记录（可限定链路/方向/消息id；limit<=0 表示默认 100）
+    std::vector<CommLogRow> queryRecent(const std::string& link, int direction,
+                                        uint16_t msgId, int limit);
+
+    long long count() const;
+
+private:
+    bool exec(const char* sql);
+    bool prepareInsert();
+
+    std::string m_dbPath;
+    sqlite3* m_db = nullptr;
+    sqlite3_stmt* m_stmtInsert = nullptr;
+    mutable std::mutex m_mutex;
+    std::string m_lastError;
+};
+
+} // namespace ccu
+
+#endif // PCCU_DB_STORE_H

src/pCCU/web/WebServer.cpp

@@ -0,0 +1,144 @@
+#include "WebServer.h"
+#include "pages/index.h"
+#include <iostream>
+
+namespace ccu {
+
+//---------------------------------------------------------
+// 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;
+        }
+
+        // /api/* 接口：交给宿主程序处理，返回 JSON
+        std::string path(hm->uri.buf, hm->uri.len);
+        if (path.rfind("/api/", 0) == 0) {
+            std::string body;
+            if (m_apiHandler) {
+                std::string query(hm->query.buf, hm->query.len);
+                body = m_apiHandler(path, query);
+            }
+            if (!body.empty()) {
+                mg_http_reply(c, 200, "Content-Type: application/json\r\n",
+                              "%.*s", (int)body.size(), body.c_str());
+            } else {
+                mg_http_reply(c, 404, "Content-Type: text/plain\r\n", "Not Found\n");
+            }
+            return;
+        }
+
+        // 监控页面
+        if (path == "/" || path == "/index.html") {
+            mg_http_reply(c, 200, "Content-Type: text/html; charset=utf-8\r\n",
+                          "%.*s", (int)INDEX_HTML.size(), INDEX_HTML.c_str());
+            return;
+        }
+
+        mg_http_reply(c, 404, "Content-Type: text/plain\r\n", "Not Found\n");
+    } else if (ev == MG_EV_WS_OPEN) {
+        // Web 线程内：先构建欢迎快照（可能涉及 DB 查询，勿持锁），再登记连接
+        std::string welcome;
+        if (m_onOpen) welcome = m_onOpen();
+        m_wsConnections.push_back(c);
+        if (!welcome.empty()) {
+            mg_ws_send(c, welcome.c_str(), welcome.size(), WEBSOCKET_OP_TEXT);
+        }
+    } else if (ev == MG_EV_CLOSE || ev == MG_EV_ERROR) {
+        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) {
+        // 纯监控，忽略客户端消息
+    }
+}
+
+WebServer::WebServer() {
+    mg_mgr_init(&m_mgr);
+}
+
+WebServer::~WebServer() {
+    stop();
+    mg_mgr_free(&m_mgr);
+}
+
+void WebServer::setOnOpen(std::function<std::string()> handler) {
+    m_onOpen = std::move(handler);
+}
+
+void WebServer::setApiHandler(std::function<std::string(const std::string&, const std::string&)> handler) {
+    m_apiHandler = std::move(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 << "pCCU 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();
+
+    // Web 线程已退出，此处触碰连接列表安全
+    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);
+        // 仅在本线程（poll 间隙）发送，避免跨线程操作 mongoose 连接
+        flushPending();
+    }
+    return true;
+}
+
+void WebServer::flushPending() {
+    std::string text;
+    {
+        std::lock_guard<std::mutex> lock(m_pendingMutex);
+        text = std::move(m_pending);
+        m_pending.clear();
+    }
+    if (text.empty()) return;
+    for (auto c : m_wsConnections) {
+        mg_ws_send(c, text.c_str(), text.size(), WEBSOCKET_OP_TEXT);
+    }
+}
+
+void WebServer::broadcast(const std::string& text) {
+    // 只投递到队列，实际发送在 Web 线程 flushPending() 中完成
+    std::lock_guard<std::mutex> lock(m_pendingMutex);
+    m_pending = text;
+}
+
+} // namespace ccu

src/pCCU/web/WebServer.h

@@ -0,0 +1,66 @@
+#ifndef PCCU_WEB_SERVER_H
+#define PCCU_WEB_SERVER_H
+
+#define UNIX
+#include "mongoose.h"
+#include <string>
+#include <functional>
+#include <vector>
+#include <mutex>
+#include <atomic>
+#include <thread>
+
+namespace ccu {
+
+//============================================================================
+// WebServer：HTTP + WebSocket 监控服务器（基于 mongoose）。
+//
+// 路由：
+//   /         -> 内嵌监控页面（纯展示）
+//   /ws       -> WebSocket，推送 JSON 快照（由 CCU 周期调用 broadcast）
+//   /api/logs -> 最近原始帧日志（JSON）
+// 采用与仓库内 pPowerMangerHost/WebServer 一致的回调模式。
+//============================================================================
+
+class WebServer {
+public:
+    WebServer();
+    ~WebServer();
+
+    bool start(int port);
+    void stop();
+    bool isRunning() const { return m_running; }
+
+    // 向所有 WebSocket 客户端广播文本
+    // 线程安全：mongoose 非线程安全，本接口只把文本放入待发队列，
+    // 由 Web 线程在 mg_mgr_poll 返回后统一发送（禁止跨线程直接 mg_ws_send）
+    void broadcast(const std::string& text);
+
+    // 新客户端连接时调用，返回初始快照
+    void setOnOpen(std::function<std::string()> handler);
+
+    // 处理 /api/* 请求，返回 JSON 响应体（空串表示 404）
+    void setApiHandler(std::function<std::string(const std::string& uri, const std::string& query)> handler);
+
+private:
+    static bool serverThreadCB(void* pParam);
+    bool serverThreadFunc();
+    void handleEvent(struct mg_connection* c, int ev, void* ev_data);
+    // Web 线程内：把待发队列中的快照推给所有 WS 客户端（仅本线程触碰连接列表）
+    void flushPending();
+
+    struct mg_mgr m_mgr;
+    int m_port = 0;
+    std::atomic<bool> m_running{false};
+    std::thread m_thread;
+
+    std::mutex m_pendingMutex;      // 保护 m_pending
+    std::string m_pending;          // 最新待广播快照（新快照覆盖旧快照）
+    std::vector<mg_connection*> m_wsConnections;  // 仅 Web 线程访问
+    std::function<std::string()> m_onOpen;
+    std::function<std::string(const std::string&, const std::string&)> m_apiHandler;
+};
+
+} // namespace ccu
+
+#endif // PCCU_WEB_SERVER_H

src/pCCU/web/pages/index.h

@@ -0,0 +1,494 @@
+#ifndef PCCU_PAGE_INDEX_H
+#define PCCU_PAGE_INDEX_H
+
+#include <string>
+
+//============================================================================
+// pCCU 监控页面（纯前端，内嵌 HTML）。
+//
+//  - 通过 WebSocket /ws 接收服务器推送的 JSON 快照（每秒）
+//  - 每条消息一个标签页（接收/发送/系统分组），数据按消息归类展示
+//  - 故障码/故障等级突出高亮；每条协议数据单独一行
+//  - 纯监控展示，不提供反向控制
+//============================================================================
+
+namespace ccu {
+const std::string INDEX_HTML = R"HTML(<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+<meta charset="UTF-8">
+<meta name="viewport" content="width=device-width, initial-scale=1.0">
+<title>pCCU 复合管控器监控</title>
+<style>
+:root{--bg:#0f1420;--card:#1a2130;--line:#2a3447;--fg:#e6edf3;--dim:#8b98ab;--ok:#2ea043;--warn:#d29922;--bad:#f85149;}
+*{margin:0;padding:0;box-sizing:border-box;}
+body{background:var(--bg);color:var(--fg);font-family:'Segoe UI',system-ui,sans-serif;font-size:13px;padding:16px;}
+h1{font-size:18px;margin-bottom:12px;display:flex;align-items:center;gap:10px;}
+h2{font-size:13px;color:var(--dim);text-transform:uppercase;letter-spacing:.5px;margin-bottom:10px;border-bottom:1px solid var(--line);padding-bottom:6px;}
+.badge{font-size:11px;padding:2px 8px;border-radius:10px;background:var(--card);border:1px solid var(--line);}
+.badge.ok{color:var(--ok);border-color:var(--ok);}
+.badge.warn{color:var(--warn);border-color:var(--warn);}
+.badge.err{color:var(--bad);border-color:var(--bad);}
+.grid{display:grid;grid-template-columns:repeat(auto-fill,minmax(340px,1fr));gap:12px;}
+.card{background:var(--card);border:1px solid var(--line);border-radius:8px;padding:12px;}
+.row{display:flex;justify-content:space-between;padding:3px 0;border-bottom:1px dashed #222c3d;}
+.row:last-child{border-bottom:none;}
+.row .k{color:var(--dim);}
+.row .v{font-family:Consolas,monospace;color:var(--fg);}
+.raw{font-family:Consolas,monospace;font-size:11px;color:var(--dim);word-break:break-all;max-height:200px;overflow-y:auto;}
+.raw-group{margin-bottom:12px;border:1px solid var(--line);border-radius:6px;padding:8px;}
+.raw-group:last-child{margin-bottom:0;}
+.raw-group-hdr{display:flex;align-items:center;gap:8px;margin-bottom:6px;flex-wrap:wrap;}
+.raw-id{font-family:Consolas,monospace;color:#79c0ff;font-weight:700;}
+.raw-name{color:var(--fg);font-weight:600;}
+.raw-count{color:var(--dim);font-size:11px;margin-left:auto;}
+table{width:100%;border-collapse:collapse;font-size:12px;}
+th,td{text-align:left;padding:4px 6px;border-bottom:1px solid #222c3d;}
+th{color:var(--dim);font-weight:500;}
+.status-dot{display:inline-block;width:8px;height:8px;border-radius:50%;margin-right:6px;}
+.dot-ok{background:var(--ok);} .dot-warn{background:var(--warn);} .dot-bad{background:var(--bad);}
+#status{color:var(--dim);font-size:12px;}
+.tabs{display:flex;flex-wrap:wrap;gap:10px;margin-bottom:16px;align-items:center;}
+.tab-group{display:flex;align-items:center;gap:6px;padding-right:16px;margin-right:16px;border-right:1px solid var(--line);}
+.tab-group:last-child{border-right:none;margin-right:0;padding-right:0;}
+.tg-label{font-size:11px;color:var(--dim);font-weight:700;letter-spacing:.5px;}
+.tab{padding:6px 14px;border:1px solid var(--line);border-radius:16px;background:var(--card);color:var(--dim);cursor:pointer;font-size:12px;transition:all .15s;}
+.tab:hover{color:var(--fg);border-color:#3b4a63;}
+.tab.active{background:#1f6feb;border-color:#1f6feb;color:#fff;font-weight:600;}
+.page-hdr{display:flex;align-items:center;gap:8px;margin-bottom:12px;padding:10px 14px;background:#141b29;border:1px solid var(--line);border-radius:8px;font-size:14px;}
+/* 故障等级高亮 */
+.fault-lvl{display:inline-block;padding:3px 12px;border-radius:6px;font-weight:700;font-size:13px;letter-spacing:.5px;}
+.lvl0{background:rgba(46,160,67,.15);color:#3fb950;border:1px solid rgba(46,160,67,.45);}
+.lvl1{background:rgba(210,153,34,.15);color:#d29922;border:1px solid rgba(210,153,34,.45);}
+.lvl2{background:rgba(219,97,20,.18);color:#e3841d;border:1px solid rgba(219,97,20,.55);}
+.lvl3{background:rgba(248,81,73,.22);color:#f85149;border:1px solid rgba(248,81,73,.55);}
+.lvl4{background:rgba(248,81,73,.38);color:#ff7b72;border:1px solid #f85149;}
+.fc-bad{color:#f85149;font-weight:700;background:rgba(248,81,73,.12);padding:1px 6px;border-radius:4px;}
+.fc-ok{color:#3fb950;}
+</style>
+</head>
+<body>
+<h1>⚡ pCCU 复合管控器监控 <span id="status" class="badge">连接中...</span></h1>
+<div class="tabs">
+  <div class="tab-group"><span class="tg-label">接收</span>
+    <button class="tab active" data-tab="fcStatus">FC状态反馈</button>
+    <button class="tab" data-tab="pmCmd">PM操控指令</button>
+    <button class="tab" data-tab="pmParam">PM参数设定</button>
+  </div>
+  <div class="tab-group"><span class="tg-label">发送</span>
+    <button class="tab" data-tab="fcCmd">FC控制指令</button>
+    <button class="tab" data-tab="pmStatus">PM状态报文</button>
+    <button class="tab" data-tab="pmFb">PM参数反馈</button>
+  </div>
+  <div class="tab-group"><span class="tg-label">系统</span>
+    <button class="tab" data-tab="links">链路状态</button>
+    <button class="tab" data-tab="raw">原始报文</button>
+  </div>
+</div>
+<div id="pages">加载中...</div>
+
+<script>
+const $ = id => document.getElementById(id);
+const pagesEl = $('pages');
+const statusEl = $('status');
+const TABS = ['fcStatus','pmCmd','pmParam','fcCmd','pmStatus','pmFb','links','raw'];
+let activeTab = 'fcStatus';
+
+function dot(ok){ return ok ? 'dot-ok' : (ok === undefined ? 'dot-warn' : 'dot-bad'); }
+function row(k, v){ return '<div class="row"><span class="k">'+k+'</span><span class="v">'+v+'</span></div>'; }
+function hex(v){ return '0x' + (v & 0xFF).toString(16).toUpperCase().padStart(2,'0'); }
+function hex16(v){ return '0x' + (v & 0xFFFF).toString(16).toUpperCase().padStart(4,'0'); }
+function hex32(v){ return '0x' + (v >>> 0).toString(16).toUpperCase().padStart(8,'0'); }
+
+//------------------ 指令码解析 ------------------
+function modeText(m){ return {0:'无效',1:'调试',2:'自动',3:'补给/排放'}[m] || ('未知('+hex(m)+')'); }
+function cmdText(c){
+  const map={0x00:'无效',0x01:'自检',0x02:'启动',0x03:'停机',0x04:'复位',0x05:'紧急停机',
+             0x06:'补给',0x07:'制氢预热',0x08:'停机维护',0x0A:'开机',0x0B:'关机'};
+  return map[c] || ('未知('+hex(c)+')');
+}
+function batCmdText(b){ return {0x00:'无效',0x10:'启动',0x20:'关闭'}[b] || ('未知('+hex(b)+')'); }
+function hostStateText(s){ return s===0xAA?'运行':s===0xFF?'关机':'故障'; }
+function supplyCmdText(s){
+  const map={0x00:'无效',0x01:'液氧加注',0x02:'甲醇加注',0x03:'液氧排空',0x04:'甲醇排空',
+             0x05:'CO2排空',0x07:'合金加注',0x08:'氮气加注',0x09:'纯水加注'};
+  return map[s] || ('未知('+hex(s)+')');
+}
+function emerAllowText(v){
+  const bits=[];
+  if(v & 0x01) bits.push('允许降载');
+  if(v & 0x02) bits.push('允许排气');
+  return bits.length ? bits.join('+') : '无';
+}
+function statusText(s){
+  const m={1:'初始化',2:'待机',3:'自检异常',4:'就绪',5:'启动',6:'运行',7:'停机',8:'故障',
+           9:'补给',10:'制氢预热',11:'制氢预热完成',12:'停机维护',13:'维护完成'};
+  return m[s] || ('未知('+hex(s)+')');
+}
+function flameText(f){ return {0:'无效',1:'火焰报警',2:'探测器故障'}[f] || ('未知('+hex(f)+')'); }
+// 带解析的值：hex 码 + 括号解析
+function parsed(v, text){ return hex(v)+' ('+text+')'; }
+// 故障码高亮：0 显示绿色正常，非 0 显示红色
+function faultHex(c){ return c===0 ? '<span class="fc-ok">'+hex16(c)+' 正常</span>'
+                                  : '<span class="fc-bad">'+hex16(c)+'</span>'; }
+// 故障等级高亮徽标
+function faultLvlBadge(level){
+  const names=['无故障','一级故障','二级故障','三级故障','四级故障'];
+  const n = names[level] || ('未知('+level+')');
+  const cls = ['lvl0','lvl1','lvl2','lvl3','lvl4'][level] || 'lvl4';
+  return '<span class="fault-lvl '+cls+'">'+n+'</span>';
+}
+
+function card(title, html){ return '<div class="card"><h2>'+title+'</h2>'+html+'</div>'; }
+
+//------------------ FC 状态反馈(0x0002) 卡片 ------------------
+function fcCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('运行模式', modeText(d.fc_mode));
+  h+=row('运行状态', statusText(d.fc_status));
+  h+=row('系统故障等级', faultLvlBadge(d.fc_fault_level));
+  h+=row('一级故障码', faultHex(d.fault_level_1));
+  h+=row('二级故障码', faultHex(d.fault_level_2));
+  h+=row('三级故障码', faultHex(d.fault_level_3));
+  h+=row('四级故障码', faultHex(d.fault_level_4));
+  h+=row('累积发电时间', (d.total_generation_time*0.1).toFixed(1)+' h');
+  h+=row('系统发电功率', (d.generation_power*0.01).toFixed(2)+' kW');
+  h+=row('剩余发电量', d.remaining_generation+' MWh');
+  h+=row('储氢剩余容量', d.hydrogen_capacity+'%');
+  h+=row('液氧剩余容量', d.liquid_oxygen_capacity+'%');
+  h+=row('通信心跳', d.heartbeat);
+  h+=row('应急指令', hex(d.emergency_cmd));
+  return card('燃料电池运行', h);
+}
+
+function hydroCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('钯膜最高温度', (d.palladium_temp*0.1).toFixed(1)+' ℃');
+  h+=row('缓冲罐压力', (d.buffer_tank_pressure*0.1).toFixed(1)+' kPa');
+  h+=row('烟气累计排放量', (d.flue_total_emission*0.1).toFixed(1)+' kg');
+  h+=row('烟气压力', (d.flue_pressure*0.001).toFixed(3)+' MPa');
+  h+=row('反应器压力', (d.reactor_pressure*0.001).toFixed(3)+' MPa');
+  h+=row('电动阀开度', (d.electric_valve_open*0.1).toFixed(1)+'%');
+  h+=row('甲醇累计使用量', (d.methanol_total_use*0.1).toFixed(1)+' kg');
+  h+=row('甲醇溶液进料量', d.methanol_feed+' mL/min');
+  h+=row('氧侧生成水箱液位', (d.oxygen_side_water_level*0.1).toFixed(1)+' mm');
+  h+=row('氢侧生成水箱液位', (d.hydrogen_side_water_level*0.1).toFixed(1)+' mm');
+  h+=row('配重水箱液位', (d.ballast_water_level*0.1).toFixed(1)+' mm');
+  h+=row('I#FC最低单片电压', (d.fc1_min_cell_voltage*10)+' mV (位置'+d.fc1_min_cell_pos+')');
+  h+=row('I#FC平均单片电压', (d.fc1_avg_cell_voltage*10)+' mV');
+  h+=row('2#FC最低单片电压', (d.fc2_min_cell_voltage*10)+' mV (位置'+d.fc2_min_cell_pos+')');
+  h+=row('2#FC平均单片电压', (d.fc2_avg_cell_voltage*10)+' mV');
+  return card('甲醇制氢装置', h);
+}
+
+function dcdcCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('通道1输入电压', (d.dcdc1_in_voltage*0.1).toFixed(1)+' V');
+  h+=row('通道1输入电流', (d.dcdc1_in_current*0.1).toFixed(1)+' A');
+  h+=row('通道2输入电压', (d.dcdc2_in_voltage*0.1).toFixed(1)+' V');
+  h+=row('通道2输入电流', (d.dcdc2_in_current*0.1).toFixed(1)+' A');
+  h+=row('输出电压', (d.dcdc_out_voltage*0.1).toFixed(1)+' V');
+  h+=row('输出电流', (d.dcdc_out_current*0.1).toFixed(1)+' A');
+  h+=row('控制电源电压', (d.dcdc_ctrl_voltage*0.25).toFixed(2)+' V');
+  h+=row('辅电输出电压', (d.dcdc_aux_voltage*0.125).toFixed(3)+' V');
+  return card('DC/DC', h);
+}
+
+function exhaustCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('进气压力', (d.exhaust_inlet_pressure*0.01).toFixed(2)+' MPa');
+  h+=row('排气压力', (d.exhaust_outlet_pressure*0.01).toFixed(2)+' MPa');
+  h+=row('运行频率', (d.exhaust_run_freq*0.01).toFixed(2)+' Hz');
+  h+=row('进气温度', (d.exhaust_inlet_temp*0.01).toFixed(2)+' ℃');
+  h+=row('排气温度', (d.exhaust_outlet_temp*0.01).toFixed(2)+' ℃');
+  h+=row('进水压力', (d.exhaust_water_in_pressure*0.01).toFixed(2)+' kPa');
+  h+=row('排水压力', (d.exhaust_water_out_pressure*0.01).toFixed(2)+' kPa');
+  return card('尾气装置', h);
+}
+
+function tankCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('液氧罐压力', (d.tank_lo2_pressure*0.01).toFixed(2)+' MPa');
+  h+=row('二氧化碳压力', (d.tank_co2_pressure*0.01).toFixed(2)+' MPa');
+  h+=row('液氧罐液位', (d.tank_lo2_level*0.01).toFixed(2)+' m');
+  h+=row('合金供氢流量', (d.alloy_h2_flow*0.01).toFixed(2)+' L/min');
+  h+=row('FC供氢流量', (d.fc_h2_flow*0.01).toFixed(2)+' L/min');
+  h+=row('FC供氧流量', (d.fc_o2_flow*0.01).toFixed(2)+' L/min');
+  h+=row('应急上浮深度', d.emergency_float_depth+' m');
+  h+=row('应急上浮时间', d.emergency_float_time+' min');
+  return card('一体化罐装置', h);
+}
+
+function cabinCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('舱室压力1', (d.cabin_pressure1*0.01).toFixed(2)+' kPa');
+  h+=row('舱室压力2', (d.cabin_pressure2*0.01).toFixed(2)+' kPa');
+  h+=row('舱室温度1', (d.cabin_temp1*0.01).toFixed(2)+' ℃');
+  h+=row('舱室温度2', (d.cabin_temp2*0.01).toFixed(2)+' ℃');
+  h+=row('舱室湿度1', (d.cabin_humidity1*0.01).toFixed(2)+' %RH');
+  h+=row('舱室湿度2', (d.cabin_humidity2*0.01).toFixed(2)+' %RH');
+  h+=row('舱室H2浓度1', (d.h2_concentration1*0.01).toFixed(2)+' %LEL');
+  h+=row('舱室H2浓度2', (d.h2_concentration2*0.01).toFixed(2)+' %LEL');
+  h+=row('舱室H2浓度3', (d.h2_concentration3*0.01).toFixed(2)+' %LEL');
+  h+=row('舱室O2浓度1', (d.o2_concentration1*0.01).toFixed(2)+' %Vol');
+  h+=row('舱室O2浓度2', (d.o2_concentration2*0.01).toFixed(2)+' %Vol');
+  h+=row('舱室甲醇浓度1', (d.ch3oh_concentration1*0.01).toFixed(2)+' %LEL');
+  h+=row('舱室甲醇浓度2', (d.ch3oh_concentration2*0.01).toFixed(2)+' %LEL');
+  h+=row('火焰探测器1', flameText(d.flame_detector1));
+  h+=row('火焰探测器2', flameText(d.flame_detector2));
+  return card('舱室环境', h);
+}
+
+//------------------ PM 状态报文(0x0004) 的锂电池 / 应急电池卡片 ------------------
+function batteryCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('仪表电池SOC', d.ins_soc+'%');
+  h+=row('仪表电池总能量', (d.ins_total_energy*0.1).toFixed(1)+' kWh');
+  h+=row('动力电池SOC', d.dyn_soc+'%');
+  h+=row('动力电池总能量', (d.dyn_total_energy*0.1).toFixed(1)+' kWh');
+  h+=row('仪表LINK电压', (d.ins_voltage_link*0.01).toFixed(2)+' V');
+  h+=row('仪表PACK电压', (d.ins_voltage_pack*0.01).toFixed(2)+' V');
+  h+=row('动力LINK电压', (d.dyn_voltage_link*0.01).toFixed(2)+' V');
+  h+=row('动力PACK电压', (d.dyn_voltage_pack*0.01).toFixed(2)+' V');
+  h+=row('仪表电流', (d.ins_current*0.05).toFixed(2)+' A');
+  h+=row('动力电流', (d.dyn_current*0.05).toFixed(2)+' A');
+  h+=row('仪表充电状态', hex(d.ins_charge_status));
+  h+=row('动力充电状态', hex(d.dyn_charge_status));
+  h+=row('仪表紧急状态', hex(d.ins_emergency_status));
+  h+=row('动力紧急状态', hex(d.dyn_emergency_status));
+  h+=row('仪表最高放电功率', (d.ins_max_discharge_power*0.05).toFixed(2)+' kW');
+  h+=row('动力最高放电功率', (d.dyn_max_discharge_power*0.05).toFixed(2)+' kW');
+  return card('锂电池', h);
+}
+
+function emergCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('应急电池1总电压', (d.emergency_battery1_voltage*0.1).toFixed(1)+' V');
+  h+=row('应急电池1总电流', (d.emergency_battery1_current*0.05).toFixed(2)+' A');
+  h+=row('应急电池1最高温度', (d.emergency_battery1_max_temp*0.1).toFixed(1)+' ℃');
+  h+=row('应急电池1故障字', hex(d.emergency_battery1_fault_word));
+  h+=row('应急电池2总电压', (d.emergency_battery2_voltage*0.1).toFixed(1)+' V');
+  h+=row('应急电池2总电流', (d.emergency_battery2_current*0.05).toFixed(2)+' A');
+  h+=row('应急电池2最高温度', (d.emergency_battery2_max_temp*0.1).toFixed(1)+' ℃');
+  h+=row('应急电池2故障字', hex(d.emergency_battery2_fault_word));
+  return card('应急电池', h);
+}
+
+function linkCard(s){
+  if(!s || !s.links) return '';
+  const l = s.links;
+  const online = (t)=> (Date.now()/1000 - t) < 10;
+  let h='';
+  h+=row('<span><span class="status-dot '+dot(online(l.fc.lastRx))+'"></span>FC 链路</span>',
+      '收:'+l.fc.rx+' 发:'+l.fc.tx+' 误:'+l.fc.err);
+  h+=row('<span><span class="status-dot '+dot(online(l.pm.lastRx))+'"></span>PM 链路</span>',
+      '收:'+l.pm.rx+' 发:'+l.pm.tx+' 误:'+l.pm.err);
+  h+=row('FC 状态接收计数', s.fcStatusCount);
+  h+=row('PM 指令接收计数', s.pmControlCount);
+  h+=row('FC 控制转发计数', s.fcControlCount);
+  h+=row('PM 状态发送计数', s.pmStatusCount);
+  return card('链路状态', h);
+}
+
+//------------------ 控制指令卡片（代码 + 解析） ------------------
+function cmdCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('系统时间', d.year+'/'+d.month+'/'+d.day+' '+d.hour+':'+d.minute+':'+d.second);
+  h+=row('模式设定', parsed(d.mode, modeText(d.mode)));
+  h+=row('操控指令', parsed(d.cmd, cmdText(d.cmd)));
+  h+=row('输出功率指令', d.outputPower+' (×0.1kW)');
+  h+=row('纵倾姿态', (d.pitch*0.1).toFixed(1)+'°');
+  h+=row('横倾姿态', (d.roll*0.1).toFixed(1)+'°');
+  h+=row('应急允许', parsed(d.emergencyAllow, emerAllowText(d.emergencyAllow)));
+  h+=row('潜深深度', d.depth+' m');
+  h+=row('补给/排放指令', parsed(d.supplyCmd, supplyCmdText(d.supplyCmd)));
+  h+=row('仪表锂电池启停', parsed(d.insBatCmd, batCmdText(d.insBatCmd)));
+  h+=row('动力锂电池启停', parsed(d.dynBatCmd, batCmdText(d.dynBatCmd)));
+  h+=row('动力锂电池功率配置', d.dynBatPower+' kW');
+  h+=row('通信心跳', d.heartbeat);
+  h+=row('主机状态', parsed(d.hostState, hostStateText(d.hostState)));
+  return card('指令内容', h);
+}
+
+function fcCmdCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('模式设定', parsed(d.mode, modeText(d.mode)));
+  h+=row('操控指令', parsed(d.cmd, cmdText(d.cmd)));
+  h+=row('输出功率指令', d.outputPower+' (×0.1kW)');
+  h+=row('纵倾姿态数据1', (d.pitch1*0.1).toFixed(1)+'°');
+  h+=row('横倾姿态数据1', (d.roll1*0.1).toFixed(1)+'°');
+  h+=row('应急允许', parsed(d.emergencyAllow, emerAllowText(d.emergencyAllow)));
+  h+=row('潜深深度', d.depth+' m');
+  h+=row('补给/排放指令', parsed(d.supplyCmd, supplyCmdText(d.supplyCmd)));
+  h+=row('预留指令5', hex(d.reservedCmd5));
+  h+=row('预留指令6', hex(d.reservedCmd6));
+  h+=row('通信心跳', d.heartbeat);
+  return card('指令内容', h);
+}
+
+function pmParamCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('仪表SOC门限1', d.insSocHold1);
+  h+=row('仪表SOC门限2', d.insSocHold2);
+  h+=row('仪表SOC门限3', d.insSocHold3);
+  h+=row('仪表输出功率', d.insOutputPower+'%');
+  h+=row('动力SOC门限1', d.dynSocHold1);
+  h+=row('动力SOC门限2', d.dynSocHold2);
+  h+=row('动力SOC门限3', d.dynSocHold3);
+  h+=row('动力输出功率', d.dynOutputPower+'%');
+  return card('门限参数', h);
+}
+
+function pmFbCard(d){
+  if(!d) return '';
+  const flagMap = {0x00:'无效', 0x10:'设定成功', 0x20:'设定失败'};
+  let h='';
+  h+=row('设定标志', (flagMap[d.flag]||hex(d.flag)));
+  h+=row('失败原因', hex(d.failCode));
+  return card('设定结果', h);
+}
+
+function pmStatusCard(d){
+  if(!d) return '';
+  let h='';
+  h+=row('运行模式', modeText(d.fc_mode));
+  h+=row('运行状态', statusText(d.fc_status));
+  h+=row('系统故障等级', faultLvlBadge(d.fc_fault_level));
+  h+=row('一级故障码', faultHex(d.fault_level_1));
+  h+=row('二级故障码', faultHex(d.fault_level_2));
+  h+=row('三级故障码', faultHex(d.fault_level_3));
+  h+=row('四级故障码', faultHex(d.fault_level_4));
+  h+=row('系统输出功率限定', d.output_power_limit+' W');
+  h+=row('系统发电功率', (d.generation_power*0.01).toFixed(2)+' kW');
+  h+=row('储氢剩余容量', d.hydrogen_capacity+'%');
+  h+=row('液氧剩余容量', d.liquid_oxygen_capacity+'%');
+  h+=row('钯膜最高温度', (d.palladium_temp*0.1).toFixed(1)+' ℃');
+  h+=row('缓冲罐压力', (d.buffer_tank_pressure*0.1).toFixed(1)+' kPa');
+  h+=row('主水路盘管压力', (d.main_pipe_pressure*0.01).toFixed(2)+' kPa');
+  h+=row('辅水路盘管压力', (d.aux_pipe_pressure*0.01).toFixed(2)+' kPa');
+  h+=row('DC/DC输出电压', (d.dcdc_out_voltage*0.1).toFixed(1)+' V');
+  h+=row('DC/DC输出电流', (d.dcdc_out_current*0.1).toFixed(1)+' A');
+  h+=row('甲醇累计使用量', (d.methanol_total_use*0.1).toFixed(1)+' kg');
+  h+=row('甲醇溶液进料量', d.methanol_feed+' mL/min');
+  h+=row('舱室温度1', (d.cabin_temp1*0.01).toFixed(2)+' ℃');
+  h+=row('舱室温度2', (d.cabin_temp2*0.01).toFixed(2)+' ℃');
+  h+=row('舱室H2浓度1', (d.h2_concentration1*0.01).toFixed(2)+' %LEL');
+  h+=row('舱室O2浓度1', (d.o2_concentration1*0.01).toFixed(2)+' %Vol');
+  h+=row('仪表电池SOC', d.ins_soc+'%');
+  h+=row('动力电池SOC', d.dyn_soc+'%');
+  h+=row('仪表LINK电压', (d.ins_voltage_link*0.01).toFixed(2)+' V');
+  h+=row('动力LINK电压', (d.dyn_voltage_link*0.01).toFixed(2)+' V');
+  h+=row('仪表电流', (d.ins_current*0.05).toFixed(2)+' A');
+  h+=row('动力电流', (d.dyn_current*0.05).toFixed(2)+' A');
+  h+=row('设备在线标志字1', hex32(d.device_online_flag1));
+  h+=row('设备在线标志字2', hex32(d.device_online_flag2));
+  h+=row('通信心跳', d.heartbeat);
+  h+=row('应急指令', hex(d.emergency_cmd));
+  return card('整合后状态', h);
+}
+
+//------------------ 标签页头部 ------------------
+function pageHeader(id, name, dir){
+  const idHex = '0x'+id.toString(16).toUpperCase().padStart(4,'0');
+  const isTx = dir.indexOf('CCU→')===0;
+  return '<div class="page-hdr"><span class="raw-id">'+idHex+'</span> '+
+         '<span class="raw-name">'+name+'</span> '+
+         '<span class="badge '+(isTx?'warn':'ok')+'">'+dir+'</span></div>';
+}
+
+function rawCard(list){
+  if(!list || !list.length) return '<div class="card"><h2>原始报文 · 按消息ID分组</h2><div class="raw">暂无</div></div>';
+  const groups = {};
+  for(const r of list){
+    if(!groups[r.msgId]) groups[r.msgId] = { rows: [] };
+    groups[r.msgId].rows.push(r);
+  }
+  let html = '<div class="card"><h2>原始报文 · 按消息ID分组(最近 '+list.length+' 条)</h2>';
+  for(const id in groups){
+    const g = groups[id];
+    const first = g.rows[0];
+    const idHex = '0x'+Number(id).toString(16).toUpperCase().padStart(4,'0');
+    const name = first.name || '';
+    const dirText = first.dirText || (first.direction===0?'接收':'发送');
+    html += '<div class="raw-group">';
+    html += '<div class="raw-group-hdr"><span class="raw-id">'+idHex+'</span> '+
+            '<span class="raw-name">'+name+'</span> '+
+            '<span class="badge '+(first.direction===0?'ok':'warn')+'">'+dirText+'</span> '+
+            '<span class="raw-count">'+g.rows.length+' 帧</span></div>';
+    html += '<table><tr><th>时间</th><th>方向</th><th>校验</th><th>帧数据</th></tr>';
+    for(const r of g.rows){
+      const t=new Date(r.time*1000).toLocaleTimeString();
+      const dText = r.dirText || (r.direction===0?'接收':'发送');
+      const dCls  = r.direction===0?'ok':'warn';
+      html += '<tr><td>'+t+'</td>'+
+              '<td><span class="badge '+dCls+'">'+dText+'</span></td>'+
+              '<td>'+(r.checksumOk?'✓':'✗')+'</td>'+
+              '<td class="raw">'+r.hex+'</td></tr>';
+    }
+    html += '</table></div>';
+  }
+  html += '</div>';
+  return html;
+}
+
+function render(snap){
+  const pages = {
+    // 0x0002 FC 状态反馈（FC→CCU）：仅含 FC 消息字段
+    fcStatus: pageHeader(0x0002,'FC状态反馈','FC→CCU')+'<div class="grid">'+
+        fcCard(snap.fc)+hydroCard(snap.fc)+dcdcCard(snap.fc)+exhaustCard(snap.fc)
+        +tankCard(snap.fc)+cabinCard(snap.fc)+'</div>',
+    pmCmd:    pageHeader(0x0001,'PM操控指令','PM→CCU')+'<div class="grid">'+cmdCard(snap.pmCmd)+'</div>',
+    pmParam:  pageHeader(0x0002,'PM参数设定','PM→CCU')+'<div class="grid">'+pmParamCard(snap.pmParam)+'</div>',
+    fcCmd:    pageHeader(0x0001,'FC控制指令','CCU→FC')+'<div class="grid">'+fcCmdCard(snap.fcCmd)+'</div>',
+    // 0x0004 PM 状态报文（CCU→PM）：含锂电池/应急电池数据
+    pmStatus: pageHeader(0x0004,'PM状态报文','CCU→PM')+'<div class="grid">'+
+        pmStatusCard(snap.pmStatus)+batteryCard(snap.pmStatus)+emergCard(snap.pmStatus)+'</div>',
+    pmFb:     pageHeader(0x0003,'PM参数反馈','CCU→PM')+'<div class="grid">'+pmFbCard(snap.pmFb)+'</div>',
+    links:    '<div class="grid">'+linkCard(snap)+'</div>',
+    raw:      rawCard(snap.logs)
+  };
+
+  let html = '';
+  for (const t of TABS) {
+    html += '<div class="page" id="page-'+t+'"'+(t===activeTab?'':' style="display:none"')+'>'+pages[t]+'</div>';
+  }
+  pagesEl.innerHTML = html;
+}
+
+// 标签页切换
+document.addEventListener('click', function(e){
+  const t = e.target;
+  const btn = (t && t.closest) ? t.closest('.tab') : null;
+  if (!btn) return;
+  activeTab = btn.getAttribute('data-tab');
+  document.querySelectorAll('.tab').forEach(function(b){ b.classList.toggle('active', b===btn); });
+  document.querySelectorAll('.page').forEach(function(p){ p.style.display = (p.id==='page-'+activeTab)?'':'none'; });
+});
+
+function connect(){
+  const proto = location.protocol==='https:'?'wss':'ws';
+  const ws = new WebSocket(proto+'://'+location.host+'/ws');
+  ws.onopen = ()=>{ statusEl.textContent='已连接'; statusEl.className='badge ok'; };
+  ws.onclose = ()=>{ statusEl.textContent='已断开，重连中...'; statusEl.className='badge err'; setTimeout(connect, 2000); };
+  ws.onerror = ()=>{ ws.close(); };
+  ws.onmessage = (ev)=>{ try{ render(JSON.parse(ev.data)); }catch(e){} };
+}
+connect();
+</script>
+</body>
+</html>
+)HTML";
+} // namespace ccu
+
+#endif // PCCU_PAGE_INDEX_H

src/pPMtest/CMakeLists.txt

@@ -0,0 +1,19 @@
+#--------------------------------------------------------
+# The CMakeLists.txt for:                       pPMtest
+# Author(s):                              
+#--------------------------------------------------------
+
+SET(SRC
+  PMtest.cpp
+  PMtest_Info.cpp
+  main.cpp
+)
+
+ADD_EXECUTABLE(pPMtest ${SRC})
+
+TARGET_LINK_LIBRARIES(pPMtest
+   ${MOOS_LIBRARIES}
+   mbutil
+   m
+   pthread)
+

src/pPMtest/PMtest.cpp

@@ -0,0 +1,284 @@
+/************************************************************/
+/*    NAME:                                               */
+/*    ORGN: MIT                                             */
+/*    FILE: PMtest.cpp                                        */
+/*    DATE:                                                 */
+/************************************************************/
+
+#include <iterator>
+#include "MBUtils.h"
+#include "PMtest.h"
+#include <iostream>
+#include <unistd.h>
+#include <termios.h>
+
+using namespace std;
+
+//---------------------------------------------------------
+// Constructor
+
+PMtest::PMtest()
+{
+}
+
+//---------------------------------------------------------
+// Destructor
+
+PMtest::~PMtest()
+{
+}
+
+//---------------------------------------------------------
+// Procedure: OnNewMail
+
+#include <fstream>
+#include <ctime>
+#include <iomanip>
+#include <sstream>
+#include <map>
+
+std::string getCurrentTimeStamp() {
+  auto now = std::time(nullptr);
+  auto tm = *std::localtime(&now);
+  std::ostringstream oss;
+  oss << std::put_time(&tm, "%Y%m%d_%H%M%S");
+  return oss.str();
+}
+
+bool PMtest::OnNewMail(MOOSMSG_LIST &NewMail)
+{
+  // 宏名到消息字符串的映射
+  static const std::map<std::string, std::string> msg_map = {
+    {PM_TO_DB_STATE, "uPower_pmState_st"},
+    {PM_TO_DB_CURRENTSTATE, "uPower_currentState_st"},
+    {PM_TO_DB_DISSTATE, "uPower_disSysState_st"},
+    {PM_TO_DB_LIBATSTATE, "uPower_liBatState_st"},
+    {PM_TO_DB_FCSSTATE, "uPower_fcsState_st"},
+    {PM_TO_DB_SUBDISSTATE, "uPower_secdistState_cmd"},
+    {PM_TO_DB_EQUIPMENTSTATE, "uPower_equState_fb"}
+  };
+
+  MOOSMSG_LIST::iterator p;
+   
+  for(p=NewMail.begin(); p!=NewMail.end(); p++) {
+    CMOOSMsg &msg = *p;
+    string key   = msg.GetKey();
+    // 只处理PM_TO_DB开头的消息
+    string sval = msg.GetString();
+    auto it = msg_map.find(key);
+    string msg_name = (it != msg_map.end()) ? it->second : key;
+    string filename = "/home/zjk/project/H100/H100PowerManger/data/msg/" + msg_name + ".json";
+    
+    ofstream outfile(filename);
+    if(outfile.is_open()) {
+      outfile << "{\"" << msg_name << "\":" << sval << "}" << endl;
+      outfile.close();
+    }
+   }
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: OnConnectToServer
+
+bool PMtest::OnConnectToServer()
+{
+   RegisterVariables();
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: Iterate()
+//            happens AppTick times per second
+
+// 添加非阻塞键盘检测函数
+int kbhit() {
+    struct termios oldt, newt;
+    int ch;
+    int oldf;
+    
+    tcgetattr(STDIN_FILENO, &oldt);
+    newt = oldt;
+    newt.c_lflag &= ~(ICANON | ECHO);
+    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+    oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
+    fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
+    
+    ch = getchar();
+    
+    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+    fcntl(STDIN_FILENO, F_SETFL, oldf);
+    
+    if(ch != EOF) {
+        ungetc(ch, stdin);
+        return 1;
+    }
+    
+    return 0;
+}
+
+bool PMtest::Iterate()
+{
+  handleDBToPMMsgs();
+  //非阻塞检测键盘输入
+  if(kbhit()) {
+    char c = getchar();  // 修改为getchar()
+    if(c == 'a') {
+    //发送DB_TO_PM_MISSION消息
+    std::cout << "发送DB_TO_PM_MISSION消息" << std::endl;
+    string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/uPlan_taskStart_cmd.json";
+    string content;
+    if(readJsonFromFile(filename, content)) {
+      Notify(DB_TO_PM_MISSION, content);
+    }
+     }
+    else if (c == 's')
+    {
+      //发送DB_TO_PM_MISSION消息
+      std::cout << "发送DB_TO_PM_MISSION消息" << std::endl;
+      string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/uPower_sysState_cmd.json";
+      string content;
+      if(readJsonFromFile(filename, content)) {
+        Notify(DB_TO_PM_MSCMD, content);
+      }
+    }
+    else if (c == 'e')
+    {
+      //发送DB_TO_PM_MISSION消息
+      std::cout << "发送uExternComm_setDeviceSwitch_cmd消息" << std::endl;
+      string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/uExternComm_setDeviceSwitch_cmd.json";
+      string content;
+      if(readJsonFromFile(filename, content)) {
+        Notify("uExternComm_setDeviceSwitch_cmd", content);
+      }
+    }
+    else if (c == 'q')
+    {
+      //发送DB_TO_PM_MISSION消息
+      std::cout << "发送uExternComm_setOpCondition_cmd消息" << std::endl;
+      string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/uExternComm_setOpCondition_cmd.json";
+      string content;
+      if(readJsonFromFile(filename, content)) {
+        Notify("uExternComm_setOpCondition_cmd", content);
+      }
+    }
+    else if (c == 'w')
+    {
+      //发送DB_TO_PM_MISSION消息
+      std::cout << "发送uExternComm_setOpMode_cmd消息" << std::endl;
+      string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/uExternComm_setOpMode_cmd.json";
+      string content;
+      if(readJsonFromFile(filename, content)) {
+        Notify("uExternComm_setOpMode_cmd", content);
+      }
+    }
+    else if (c == 'r')
+    {
+      //发送DB_TO_PM_MISSION消息
+      std::cout << "发送uExternComm_setPowerSystem_cmd消息" << std::endl;
+      string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/uExternComm_setPowerSystem_cmd.json";
+      string content;
+      if(readJsonFromFile(filename, content)) {
+        Notify("uExternComm_setPowerSystem_cmd", content);
+      }
+    }
+    else if (c == 't')
+    {
+      //发送DB_TO_PM_MISSION消息
+      std::cout << "发送uExternComm_setPowerSystem_cmd消息" << std::endl;
+      string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/uPlan_planStop_st.json";
+      string content;
+      if(readJsonFromFile(filename, content)) {
+        Notify("uPlan_planStop_st", content);
+      }
+}
+    
+  }
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: readJsonFromFile
+//            从文件中读取json内容
+
+bool PMtest::readJsonFromFile(string file, string& content)
+{
+  ifstream infile(file);
+  if(!infile.is_open()) {
+    return false;
+  }
+
+  content.assign((istreambuf_iterator<char>(infile)),
+                (istreambuf_iterator<char>()));
+  
+  infile.close();
+  return true;
+}
+
+//---------------------------------------------------------
+// Procedure: handleDBToPMMsgs
+//            处理所有DB_TO_PM消息
+
+void PMtest::handleDBToPMMsgs()
+{
+  // DB_TO_PM消息类型映射表
+  static const vector<pair<string, string>> db_to_pm_msgs = {
+    // {DB_TO_PM_MSCMD, "uPower_sysState_cmd"},
+    {DB_TO_PM_EQUIPMENTCMD, "uPower_equState_cmd"},
+    {DB_TO_PM_SUBDISSTATE, "uDevice_secdistState_st"},
+    {DB_TO_PM_DEEPTH, "uDevice_depth_st"},
+    // {DB_TO_PM_MISSION, "uPlan_taskStart_cmd"}
+  };
+
+  for (const auto& msg : db_to_pm_msgs) {
+    string filename = "/home/zjk/project/H100/H100PowerManger/data/testmsg/" + msg.second + ".json";
+    string content;
+    
+    if(readJsonFromFile(filename, content)) {
+      Notify(msg.first, content);
+    }
+  }
+}
+
+//---------------------------------------------------------
+// Procedure: OnStartUp()
+//            happens before connection is open
+
+bool PMtest::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 == "foo") {
+        //handled
+      }
+      else if(param == "bar") {
+        //handled
+      }
+    }
+  }
+  
+  RegisterVariables();	
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: RegisterVariables
+
+void PMtest::RegisterVariables()
+{
+  Register(PM_TO_DB_STATE, 0);
+  Register(PM_TO_DB_CURRENTSTATE, 0);
+  Register(PM_TO_DB_DISSTATE, 0);
+  Register(PM_TO_DB_LIBATSTATE, 0);
+  Register(PM_TO_DB_FCSSTATE, 0);
+  Register(PM_TO_DB_SUBDISSTATE, 0);
+  Register(PM_TO_DB_EQUIPMENTSTATE, 0);
+}
+

src/pPMtest/PMtest.h

@@ -0,0 +1,64 @@
+/************************************************************/
+/*    NAME:                                               */
+/*    ORGN: MIT                                             */
+/*    FILE: PMtest.h                                          */
+/*    DATE:                                                 */
+/************************************************************/
+
+#ifndef PMtest_HEADER
+#define PMtest_HEADER
+
+#include "MOOS/libMOOS/MOOSLib.h"
+#include "json/json.h"
+#include "string"
+using namespace std;
+//能源管理反馈的消息
+#define PM_TO_DB_STATE "uPower_pmState_st"
+#define PM_TO_DB_CURRENTSTATE "uPower_currentState_st"
+#define PM_TO_DB_DISSTATE "uPower_disSysState_st"
+#define PM_TO_DB_LIBATSTATE "uPower_liBatState_st"
+#define PM_TO_DB_FCSSTATE "uPower_fcsState_st"
+
+#define PM_TO_DB_SUBDISSTATE "uPower_secdistState_cmd"
+#define PM_TO_DB_EQUIPMENTSTATE "uPower_equState_fb"
+
+//控制消息
+#define DB_TO_PM_MSCMD "uPower_sysState_cmd"
+#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
+#define DB_TO_PM_SUBDISSTATE "uDevice_secdistState_st"
+
+//决策消息
+#define DB_TO_PM_DEEPTH "uDevice_depth_st"
+#define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
+#define DB_TO_PM_TASKSTOP "uPlan_planStop_st"
+
+//外部通信消息
+#define DB_TO_PM_SETOPCONDITION "uExternComm_setOpCondition_cmd"
+#define DB_TO_PM_SETOPMODE "uExternComm_setOpMode_cmd"
+#define DB_TO_PM_SETPMSYS "uExternComm_setPowerSystem_cmd"
+#define DB_TO_PM_SETDEVSWITCH "uExternComm_setDeviceSwitch_cmd"
+
+class PMtest : public CMOOSApp
+{
+ public:
+   PMtest();
+   ~PMtest();
+
+ protected: // Standard MOOSApp functions to overload  
+   bool OnNewMail(MOOSMSG_LIST &NewMail);
+   bool Iterate();
+   bool OnConnectToServer();
+   bool OnStartUp();
+ protected:
+   void RegisterVariables();
+   void handleDBToPMMsgs();
+   int snedFlag;
+
+ private: // Configuration variables
+
+ private: // State variables
+ // 从文件中读取json内容
+ bool readJsonFromFile(string file, string& content);
+};
+
+#endif 

src/pPMtest/PMtest_Info.cpp

@@ -0,0 +1,115 @@
+/****************************************************************/
+/*   NAME:                                              */
+/*   ORGN: MIT Cambridge MA                                     */
+/*   FILE: PMtest_Info.cpp                               */
+/*   DATE: Dec 29th 1963                                        */
+/****************************************************************/
+
+#include <cstdlib>
+#include <iostream>
+#include "PMtest_Info.h"
+#include "ColorParse.h"
+#include "ReleaseInfo.h"
+
+using namespace std;
+
+//----------------------------------------------------------------
+// Procedure: showSynopsis
+
+void showSynopsis()
+{
+  blk("SYNOPSIS:                                                       ");
+  blk("------------------------------------                            ");
+  blk("  The pPMtest application is used for               ");
+  blk("                                                                ");
+  blk("                                                                ");
+  blk("                                                                ");
+  blk("                                                                ");
+}
+
+//----------------------------------------------------------------
+// Procedure: showHelpAndExit
+
+void showHelpAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("Usage: pPMtest file.moos [OPTIONS]                   ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("Options:                                                        ");
+  mag("  --alias","=<ProcessName>                                      ");
+  blk("      Launch pPMtest with the given process name         ");
+  blk("      rather than pPMtest.                           ");
+  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 pPMtest.        ");
+  blk("                                                                ");
+  blk("Note: If argv[2] does not otherwise match a known option,       ");
+  blk("      then it will be interpreted as a run alias. This is       ");
+  blk("      to support pAntler launching conventions.                 ");
+  blk("                                                                ");
+  exit(0);
+}
+
+//----------------------------------------------------------------
+// Procedure: showExampleConfigAndExit
+
+void showExampleConfigAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pPMtest Example MOOS Configuration                   ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  blk("ProcessConfig = pPMtest                              ");
+  blk("{                                                               ");
+  blk("  AppTick   = 4                                                 ");
+  blk("  CommsTick = 4                                                 ");
+  blk("                                                                ");
+  blk("}                                                               ");
+  blk("                                                                ");
+  exit(0);
+}
+
+
+//----------------------------------------------------------------
+// Procedure: showInterfaceAndExit
+
+void showInterfaceAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pPMtest INTERFACE                                    ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("SUBSCRIPTIONS:                                                  ");
+  blk("------------------------------------                            ");
+  blk("  NODE_MESSAGE = src_node=alpha,dest_node=bravo,var_name=FOO,   ");
+  blk("                 string_val=BAR                                 ");
+  blk("                                                                ");
+  blk("PUBLICATIONS:                                                   ");
+  blk("------------------------------------                            ");
+  blk("  Publications are determined by the node message content.      ");
+  blk("                                                                ");
+  exit(0);
+}
+
+//----------------------------------------------------------------
+// Procedure: showReleaseInfoAndExit
+
+void showReleaseInfoAndExit()
+{
+  showReleaseInfo("pPMtest", "gpl");
+  exit(0);
+}
+

src/pPMtest/PMtest_Info.h

@@ -0,0 +1,18 @@
+/****************************************************************/
+/*   NAME:                                              */
+/*   ORGN: MIT Cambridge MA                                     */
+/*   FILE: PMtest_Info.h                                      */
+/*   DATE: Dec 29th 1963                                        */
+/****************************************************************/
+
+#ifndef PMtest_INFO_HEADER
+#define PMtest_INFO_HEADER
+
+void showSynopsis();
+void showHelpAndExit();
+void showExampleConfigAndExit();
+void showInterfaceAndExit();
+void showReleaseInfoAndExit();
+
+#endif
+

src/pPMtest/ccuUdpMsg.h

@@ -0,0 +1,139 @@
+#ifndef CCUUDPMSG__H
+#define CCUUDPMSG__H
+#include "pmSysvariable.h"
+
+#define CCU_UDPMSG_START1 0x20
+#define CCU_UDPMSG_START2 0x20
+
+#define DIS_MSG_HEAD1 0x40
+#define DIS_MSG_HEAD2 0x40
+
+#define CCU_CMD_ID 0x0040
+#define CCU_SET_PARM_ID 0x0041
+#define CCU_STATE_FB_ID 0x0051
+#define CCU_SET_PARM_FB_ID 0x0040
+
+#define DIS_HVBUS_FB_ID 0x0005
+#define DIS_HVBUSA_FB_ID 0x0006
+#define DIS_HVBUSB_FB_ID 0x0007
+#define DIS_LVBUS_FB_ID 0x0008
+
+#define DIS_HVBUS_CMD_ID  0x0001
+#define DIS_HVBUSA_CMD_ID 0x0002
+#define DIS_HVBUSB_CMD_ID 0x0003
+#define DIS_LVBUS_CMD_ID  0x0004
+
+#define DIS_BREAKER_ON 0x55
+#define DIS_BREAKER_OFF 0xAA
+#define DIS_FAULTOFF 0x5A
+
+typedef unsigned int Checksum;
+typedef unsigned char cChecksum;
+
+#pragma pack (1)
+typedef struct {
+  unsigned char start1;
+  unsigned char start2;
+  unsigned short id;
+  unsigned short length;
+} m_header;
+
+typedef struct {
+  unsigned short year;
+  unsigned char month;
+  unsigned char day;
+  unsigned char hour;
+  unsigned char minute;
+  unsigned char second;
+  unsigned char milliseconds; //每10毫秒
+} m_date;
+// 复合管控器操作指令
+typedef struct {
+  m_header header;
+  m_date date;
+  ccuColCmd cmd;
+  Checksum checkCode;
+} msg_CcuColCmdMsg;
+
+// 复合管控器参数设定指令
+typedef struct {
+  m_header header;
+  ccuSetParmCmd cmd;
+  Checksum checkCode;
+} msg_CcuSetParmMsg;
+
+// 配电指令
+typedef struct 
+{
+  m_header header;
+  disHighVolBusCmd data;
+  cChecksum checkCode;
+}msg_disHVBCmd;
+
+typedef struct 
+{
+  m_header header;
+  disHighAVolBusCmd data;
+  cChecksum checkCode;
+}msg_disHVBACmd;
+
+typedef struct msg_disHVBBCmd
+{
+  m_header header;
+  disHighBVolBusCmd data;
+  cChecksum checkCode;
+}msg_disLVMBCmd;
+
+typedef struct
+{
+  m_header header;
+  disLowBusCmd data;
+  cChecksum checkCode;
+}msg_disLVBCmd;
+
+
+// 复合管控参数设定反馈指令
+typedef struct {
+  m_header header;
+  unsigned char flag;
+  unsigned char failureCode;
+  Checksum checkCode;
+} msg_CcuSetParmFbMsg;
+
+// 复合管控状态反馈
+typedef struct {
+  m_header header;
+  ccuState data;
+  Checksum checkCode;
+} msg_CcuStateFbMsg;
+
+//高压母线配电反馈
+typedef struct {
+  m_header header;
+  disHighVolBusState data;
+  cChecksum checkCode;
+} msg_disHighVolBusFbMsg;
+
+// 高压母线A配电反馈
+typedef struct {
+  m_header header;
+  disHighAVolBusState data;
+  cChecksum checkCode;
+} msg_disHighAVolBusFbMsg;
+
+// 仪表母线配电反馈
+typedef struct {
+  m_header header;
+  disLowMainBusState data;
+  cChecksum checkCode;
+} msg_disLowMainBusFbMsg;
+
+//仪表汇流排配电反馈
+typedef struct {
+  m_header header;
+  disLowBusState data;
+  cChecksum checkCode;
+} msg_disLowBusFbMsg;
+
+#pragma pack ()
+#endif

src/pPMtest/main.cpp

@@ -0,0 +1,52 @@
+/************************************************************/
+/*    NAME:                                               */
+/*    ORGN: MIT                                             */
+/*    FILE: main.cpp                                        */
+/*    DATE:                                                 */
+/************************************************************/
+
+#include <string>
+#include "MBUtils.h"
+#include "ColorParse.h"
+#include "PMtest.h"
+#include "PMtest_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 << "pPMtest launching as " << run_command << endl;
+  cout << termColor() << endl;
+
+  PMtest PMtest;
+
+  PMtest.Run(run_command.c_str(), mission_file.c_str());
+  
+  return(0);
+}
+

src/pPMtest/pPMtest.moos

@@ -0,0 +1,9 @@
+//------------------------------------------------
+// pPMtest config block
+
+ProcessConfig = pPMtest
+{
+   AppTick   = 4
+   CommsTick = 4
+}
+

src/pPMtest/pmSysvariable.h

@@ -0,0 +1,947 @@
+#ifndef PMSYSVARIABLE_H
+#define PMSYSVARIABLE_H
+
+//宏定义
+#include<string>
+#include <map>
+#include <unordered_set> 
+
+#define BREAK_OFF 0xAA
+#define BREAK_ON  0x55
+#define BREAK_FALSE 0x5A
+
+//消息结构体变量定义
+#pragma pack (1)
+typedef struct ccuState
+{
+  uint8_t  fc_mode;                         // 燃料电池系统运行模式：00H-无效, 01H-调试, 02H-自动, 03H-补给
+  uint8_t  fc_status;                       // 燃料电池状态：00H-无效, 01H-初始化, ..., 0DH-维护完成（详见协议）
+  uint8_t  fc_fault_level;                  // 燃料电池故障等级：00H-无故障, 10H-一级, 20H-二级, 30H-三级, 40H-四级
+
+  uint16_t output_power_limit;              // 系统输出功率限制值，单位：W，范围：0~30000W
+  uint16_t total_generation_time;           // 系统累计发电时间，单位：0.1小时，最大值6553.5小时
+  uint16_t total_generation_power;          // 系统累计发电总功率，单位：W
+  uint16_t fault_level_1;                   // 一级故障位，按位表示不同的故障项
+  uint16_t fault_level_2;                   // 二级故障位
+  uint16_t fault_level_3;                   // 三级故障位
+  uint16_t fault_level_4;                   // 四级故障位
+
+  uint8_t  hydrogen_capacity;               // 储氢罐剩余容量百分比，单位：%，范围：0~100
+  uint8_t  liquid_oxygen_capacity;          // 液氧罐剩余容量百分比，单位：%，范围：0~100
+
+  uint16_t palladium_temp;                  // 钯膜最高温度，单位：℃
+  uint16_t main_pipe_pressure;              // 主水路压力，单位：0.01kPa
+  uint16_t aux_pipe_pressure;               // 辅水路压力，单位：0.01kPa
+
+  uint16_t cabin_pressure1;                 // 舱室1压力，单位：0.01kPa
+  uint16_t cabin_pressure2;                 // 舱室2压力，单位：0.01kPa
+  uint16_t cabin_temp1;                     // 舱室1温度，单位：0.01℃
+  uint16_t cabin_temp2;                     // 舱室2温度，单位：0.01℃
+  uint16_t cabin_humidity1;                 // 舱室1湿度，单位：0.01%RH
+  uint16_t cabin_humidity2;                 // 舱室2湿度，单位：0.01%RH
+
+  uint8_t  flame_detector1;                 // 火焰探测器1状态：00H-无效, 01H-报警, 02H-故障
+  uint8_t  flame_detector2;                 // 火焰探测器2状态：00H-无效, 01H-报警, 02H-故障
+
+  uint16_t h2_concentration1;               // 舱室H2浓度1，单位：0.01% LEL
+  uint16_t h2_concentration2;               // 舱室H2浓度2，单位：0.01% LEL
+  uint16_t h2_concentration3;               // 舱室H2浓度3，单位：0.01% LEL
+  uint16_t o2_concentration1;               // 舱室O2浓度1，单位：0.01% LEL
+  uint16_t o2_concentration2;               // 舱室O2浓度2，单位：0.01% LEL
+  uint16_t ch3oh_concentration1;            // 舱室甲醇气体浓度1，单位：0.01% LEL
+  uint16_t ch3oh_concentration2;            // 舱室甲醇气体浓度2，单位：0.01% LEL
+
+  uint16_t reserved1[10];                   // 保留字段，地址范围35~52，共18个uint16_t，协议预留
+  uint16_t cabin_ox_concentration;      // 仪表舱内氧气浓度 [%]
+  uint16_t cabin_temperature;           // 仪表舱内温度 [°C]
+  uint16_t cabin_humidity;              // 仪表舱内湿度 [%RH]
+  uint16_t cabin_pressure;             // 仪表舱内大气压 [kPa]
+
+  uint16_t power_cabin_ox_concentration; // 动力舱内氧气浓度 [%]
+  uint16_t power_cabin_temperature;      // 动力舱内温度 [°C]
+  uint16_t power_cabin_humidity;         // 动力舱内湿度 [%RH]
+  uint16_t power_cabin_pressure;         // 动力舱内大气压 [kPa]
+  uint8_t  reserved2[1];                    // 保留字段，地址范围54~55，共2个uint8_t，协议预留
+
+  uint8_t  dyn_alarm_flag[6];               // 动力锂电池报警标志字数组，共6字节，按位表示各类报警
+  uint8_t  ins_alarm_flag[6];               // 仪表锂电池报警标志字数组，共6字节，按位表示各类报警
+
+  uint8_t  ins_relay_status1;               // 仪表电池继电器状态，高4位表示正极继电器，低4位表示充电继电器
+  uint8_t  ins_relay_status2;               // 仪表电池预充继电器和负极继电器状态
+  uint8_t  dyn_relay_status1;               // 动力电池正极与充电继电器状态
+  uint8_t  dyn_relay_status2;               // 动力电池预充与负极继电器状态
+
+  uint16_t ins_max_discharge_power;         // 仪表电池最大允许放电功率，单位：kW，精度0.05kW
+  uint16_t dyn_max_discharge_power;         // 动力电池最大允许放电功率，单位：kW，精度0.05kW
+
+  uint8_t  ins_soc;                         // 仪表锂电池荷电状态SOC，范围：0~100
+  uint8_t  dyn_soc;                         // 动力锂电池荷电状态SOC，范围：0~100
+
+  uint16_t ins_total_energy;                // 仪表电池总能量，单位：kWh
+  uint16_t dyn_total_energy;                // 动力电池总能量，单位：kWh
+
+  uint16_t ins_power_input;                 // 仪表电池输入功率，单位：kW
+  uint16_t dyn_power_input;                 // 动力电池输入功率，单位：kW
+
+  uint8_t  ins_charge_status;               // 仪表电池充放电状态：00H-无效，10H-充电，20H-放电
+  uint8_t  dyn_charge_status;               // 动力电池充放电状态：00H-无效，10H-充电，20H-放电
+
+  uint16_t ins_voltage_link;                // 仪表电池LINK端电压，单位：0.01V
+  uint16_t ins_voltage_pack;                // 仪表电池PACK端电压，单位：0.01V
+  uint16_t ins_current;                     // 仪表电池电流，单位：0.01A（正值放电）
+  uint16_t ins_resistance_pos;              // 仪表电池正极绝缘电阻，单位：kΩ
+  uint16_t ins_resistance_neg;              // 仪表电池负极绝缘电阻，单位：kΩ
+
+  uint16_t dyn_voltage_link;                // 动力电池LINK端电压，单位：0.01V
+  uint16_t dyn_voltage_pack;                // 动力电池PACK端电压，单位：0.01V
+  uint16_t dyn_current;                     // 动力电池电流，单位：0.01A（正值放电）
+  uint16_t dyn_resistance_pos;              // 动力电池正极绝缘电阻，单位：kΩ
+  uint16_t dyn_resistance_neg;              // 动力电池负极绝缘电阻，单位：kΩ
+
+  uint8_t  ins_emergency_status;            // 仪表电池紧急状态：0x00无报警 0x3A=4级报警 0x3B=3级报警 0x3C=2级报警 0x3D=1级报警
+  uint8_t  dyn_emergency_status;            // 动力电池紧急状态：0x00无报警 0x3A=4级报警 0x3B=3级报警 0x3C=2级报警 0x3D=1级报警
+
+  uint8_t  reserved3[2];                    // 保留字节，协议预留
+
+  uint8_t  ins_soc_threshold1;              // 仪表电池1 SOC门限，范围：0~100
+  uint8_t  ins_soc_threshold2;              // 仪表电池2 SOC门限，范围：0~100
+  uint8_t  ins_soc_threshold3;              // 仪表电池3 SOC门限，范围：0~100
+  uint8_t  dyn_soc_threshold1;              // 动力电池1 SOC门限，范围：0~100
+  uint8_t  dyn_soc_threshold2;              // 动力电池2 SOC门限，范围：0~100
+  uint8_t  dyn_soc_threshold3;              // 动力电池3 SOC门限，范围：0~100
+
+  uint8_t  ins_power_limit1;                // 仪表电池1功率限制值，单位：%
+  uint8_t  ins_power_limit2;                // 仪表电池2功率限制值，单位：%
+  uint8_t  dyn_power_limit1;                // 动力电池1功率限制值，单位：%
+  uint8_t  dyn_power_limit2;                // 动力电池2功率限制值，单位：%
+
+  uint32_t device_online_flag1;             // 设备在线状态标志1，byte0：低压配电板在线标志位 byte1：复合管控主机在线标志位 byte2：复合管控备机在线标志位
+  uint32_t device_online_flag2;             // 设备在线状态标志2，byte0：仪表锂电在线标志位 byte1：动力锂电在线标志位 byte2：燃电锂电在线标志位 byte3：高压配电板在线标志位
+  
+  uint8_t  dyn_charge_level;                // 动力电池充电状态：01H-1级(不限), 02H-2级(限功率), 03H-3级(关闭)
+  uint8_t  dyn_water_leak_status;          // 动力漏水状态：0XH-正常, 1XH-异常漏水
+  uint8_t  ins_water_leak_dcdc_status;     // 仪表漏水状态与DCDC状态：低4位-漏水状态(0XH正常,1XH异常),高4位-DCDC状态(X0H正常,X1H故障)
+  uint8_t  reserved4;
+  // uint32_t reserved4;                     // 保留字段，协议预留
+  uint32_t heartbeat;                       // 主机心跳计数器或标志值
+} ccuState;
+
+typedef struct {
+  unsigned char insSocHold1;
+  unsigned char insSocHold2;
+  unsigned char insSocHold3;
+  unsigned char fcuToInsLimit1;
+  unsigned char fcuToinsLimit2;
+  unsigned char powerSocHold1;
+  unsigned char powerSocHold2;
+  unsigned char powerSocHold3;
+  unsigned char fcuToPowerLimit1;
+  unsigned char fcuToPowerLimit2;
+}ccuSetParmCmd;
+
+typedef struct {
+  unsigned char fcmode;
+  unsigned char fcuCmd;
+  unsigned char fcuPowerEfficiency;
+  unsigned char insChargeEnable; 
+  unsigned char insBatCmd;
+  unsigned char powerBatCmd;
+  unsigned short powerBatEfficiency;
+  unsigned char heartbeat;
+  unsigned char masterState;
+  unsigned int paceholder1;
+  unsigned int paceholder2;
+}ccuColCmd;
+
+typedef struct disHighVolBusState
+{
+  //断路器状态
+  // 5: 燃料电池断路器
+  unsigned char fuelCellCircuitBreaker;
+  // 6: 动力锂电池断路器
+  unsigned char powerLithiumBatteryCircuitBreaker;
+  // 7: 推进电机断路器
+  unsigned char propulsionMotorCircuitBreaker;
+  // 8: 锂电池组仪表断路器
+  unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+  // 9: DC/DC5模块断路器
+  unsigned char dcDc5ModuleCircuitBreaker;
+  // 10: 艏部高压配电箱断路器
+  unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
+  // 11:  艉部FT装置4/5断路器
+  unsigned char sternFTDevice45CircuitBreaker;
+  
+  // 14:  FB预留断路器
+  unsigned char fbReservedCircuitBreaker;
+  // 12:  艉舵开关1断路器
+  unsigned char sternRudderSwitch1CircuitBreaker;
+  // 13:  艉舵开关2断路器
+  unsigned char sternRudderSwitch2CircuitBreaker;
+
+  // 15:  TYZ预留断路器
+  unsigned char tyzReservedCircuitBreaker;
+  // 16:  预留断路器
+  unsigned char reservedCircuitBreaker;
+  // unsigned char busInsulationLow;
+  // unsigned char busAInsulationHigh;
+  // 17: DC/DC5故障字低
+  // 0x00: 正常状态
+  // Bit0: DC/DC模块过温关机
+  // Bit1: 输出过流
+  // Bit2: 输出过压
+  // Bit3: 输出欠压
+  // Bit4: 输入过压
+  // Bit5: 输入欠压
+  // Bit6: 输出短路保护
+  // Bit7: 内部故障
+  // 18: DC/DC5故障字高
+  unsigned char dcDcFaultWord1;
+  // 0x00: 正常状态
+  // Bit0: 通讯故障报警
+  // Bit1: 工作状态 1：启动，0：关闭
+  // Bit2: 冷却泵1故障 冷却泵1故障 ： 1故障， 0 正常
+  // Bit3: 冷却泵2故障 冷却泵2故障 ：1故障，0 正常
+  // Bit4: 冷却水泄露  
+  // Bit5：冷却泵1运行状态 ：1 运行，0 停止
+  // Bit6：冷却泵2运行状态 ：1 运行，0 停止
+  unsigned char dcDcFaultWord2;
+  // 19: 动力母排绝缘状态（0x55 正常，0xAA 绝缘低）
+  unsigned char powerBusInsulationStatus;
+  // 20: A汇流排绝缘状态（0x55 正常，0xAA 绝缘低）
+  unsigned char aBusInsulationStatus;
+  // 21: 仪表电源状态 （0x55 正常，0xAA 故障）
+  unsigned char meterPowerLossSignal;
+  // 22: 应急电源状态 （0x55 正常，0xAA 故障）
+  unsigned char emergencyPowerLossSignal;
+  // 22: dc/dc温度
+  unsigned char dcDcTemperature;
+  // 23: 动力汇流排电压
+  unsigned short powerBusVoltage;
+  // 24: DC/DC5模块电流
+  unsigned short dcDc5ModuleCurrent;
+  // 25: 动力汇流排电流
+  unsigned short powerBusCurrent;
+  // 26: A汇流排电压
+  unsigned short busbarAVoltage;
+  // 27: 推进电机控制箱电流
+  unsigned short propulsionMotorControlBoxCurrent;
+  // 28: A汇流排电流
+  unsigned short busbarACurrent;
+  // 29: 锂电池组(仪表)电流
+  unsigned short lithiumBatteryGroupMeterCurrent;
+  // 30: 艏部高压配电箱电流
+  unsigned short bowHighVoltageDistributionBoxCurrent;
+  // 31:  艉部FT装置4/5电流
+  unsigned short sternFTDevice45Current;
+  // 32:  TYZ预留开关电流
+  unsigned short tyzReservedSwitchCurrent;
+  // 33:  艉舵开关1电流
+  unsigned short sternRudderSwitch1Current;
+  // 34:  预留电流
+  unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
+  // 35:  艉舵开关2电流
+  unsigned short sternRudderSwitch2Current;
+  // 36:  预留电流2
+  unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
+  // 37:  FB预留电流
+  unsigned short fbReservedSwitchCurrent;
+  // 38:  预留电流3
+  unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
+  // 39:  冷却水压力
+  unsigned short coolWaterPressure; 
+}disHighVolBusState;
+
+typedef struct disHighAVolBusState
+{
+  //5.   艏部FT装置1/2/3断路器
+  unsigned char bowFTDevice123CircuitBreaker;
+  //6.   启闭机构断路器
+  unsigned char actuatorCircuitBreaker;
+  //7.   桅杆舵机控制箱断路器
+  unsigned char mastSteeringGearControlBoxCircuitBreaker;
+  //8.   XCZ断路器
+  unsigned char xczCircuitBreaker;
+  //9.   艏舵控制箱断路器
+  unsigned char bowRudderControlBoxCircuitBreaker;
+  //10. 敞水盖启动电缸断路器
+  unsigned char openWaterCoverStartCylinderCircuitBreaker;
+  //11.  仪表电源失电信号 （0x55 正常，0xAA 故障）
+  unsigned char instrumentPowerFailureSignal;
+  //12.  应急电源失电信号 （0x55 正常，0xAA 故障）
+  unsigned char emergencyPowerFailureSignal;
+  //13. 浸水报警
+  // unsigned char busbarBInsulationStatus;
+  unsigned char waterIngressionAlarm;
+  //14.  汇流排B电压
+  unsigned short busbarBVoltage;
+  //15.  汇流排B电流
+  unsigned short busbarBCurrent;
+  //16.  艏部FT装置1/2/3电流
+  unsigned short bowFTDevice123Current;
+  //17.  启闭机构电流
+  unsigned short actuatorCurrent;
+  //18.  桅杆舵机控制箱电流
+  unsigned short mastSteeringGearControlBoxCurrent;
+  //19.  XCZ电流
+  unsigned short xczCurrent;
+  //20.  艏舵控制箱电流
+  unsigned short bowRudderControlBoxCurrent;
+  //21.  敞水盖启动电缸电流
+  unsigned short openWaterCoverStartCylinderCurrent;
+}disHighAVolBusState;
+
+typedef struct disHighBVolBusState
+{
+    //5. 锂电池组（仪表）断路器
+    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+    //6. 艏部低压配电箱断路器
+    unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
+    //7.  UNIT4仪表DC48V断路器
+    unsigned char unit4InstrumentDC48VCircuitBreaker;
+    //8.  DC-C1直流配电板断路器
+    unsigned char dcC1DCDistributionPanelCircuitBreaker;
+    //9. 预留断路器1
+    unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
+    //10. 预留断路器2
+    unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
+    //11. 应急锂电池组2断路器
+    unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
+    //12. 仪表电源失电信号 （0x55 正常，0xAA 故障）
+    unsigned char instrumentPowerFailureSignal;
+    //13. 应急电源失电信号 （0x55 正常，0xAA 故障）
+    unsigned char emergencyPowerFailureSignal;
+    //14.  仪表汇流排绝缘低 （0x55 正常，0xAA 绝缘低）
+    unsigned char instrumentBusbarInsulationLow;
+    //15.  仪表母排电压
+    unsigned short instrumentBusbarVoltage;
+    //16.  艏部低压配电箱电流
+    unsigned short bowLowVoltageDistributionBoxCurrent;
+    //17.  DC-C1（直流配电板1）仪表DC48V电流
+    unsigned short dcC1InstrumentDC48VCurrent;
+    //18.  预留电流
+    unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
+    //19.  应急锂电池组2电流
+    unsigned short emergencyLithiumBatteryGroup2Current;
+    //20.  锂电池组（仪表）电流
+    unsigned short lithiumBatteryGroupInstrumentCurrent;
+    //21.  UNIT4仪表DC48V电流
+    unsigned short unit4InstrumentDC48VCurrent;
+    //22.  Ushort	预留电流
+    unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
+    //23.  应急2汇流排电压
+    unsigned short emergency2BusbarVoltage;
+    //24.  复合能源管控系统应急DC48V电流
+    unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
+    //25.  燃料电池安全系统应急DC48V电流
+    unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
+    //26.  PLC控制电源电流
+    unsigned short plcControlPowerCurrent;
+} disLowMainBusState;
+
+typedef struct disLowBusState
+{
+  //5.  UNIT1断路器
+  unsigned char unit1CircuitBreaker;
+  //6.  UNIT2断路器
+  unsigned char unit2CircuitBreaker;
+  //7.  UNIT3断路器
+  unsigned char unit3CircuitBreaker;
+  //8.  UNIT5断路器
+  unsigned char unit5CircuitBreaker;
+  //9.   艏部PZ装置断路器
+  unsigned char bowPZDeviceCircuitBreaker;
+  //10.  预留断路器1
+  unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
+  //11.  预留断路器2
+  unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
+  //12.  应急锂电池组1断路器
+  unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
+  //13.  仪表电源失电信号 （0x55 正常，0xAA 故障）
+  unsigned char powerFailureSignal;
+  //14.  应急电源失电信号 （0x55 正常，0xAA 故障）
+  unsigned char emergencyPowerFailureSignal;
+  //15. 浸水报警  （0x55 正常，0xAA 故障）
+  unsigned char waterIngressionAlarm;
+  //16.  仪表母排电压
+  unsigned short instrumentBusbarVoltage;
+  //17.  仪表母排电流
+  unsigned short instrumentBusbarCurrent;
+  //18. UNIT1电流
+  unsigned short unit1Current;
+  //19. UNIT2电流
+  unsigned short unit2Current;
+  //20. UNIT3电流
+  unsigned short unit3Current;
+  //21. UNIT5电流
+  unsigned short unit5Current;
+  //22. 艏部PZ装置电流
+  unsigned short bowPZDeviceCurrent;
+  //23.  应急锂电池组1电流
+  unsigned short emergencyLithiumBatteryGroup1Current;
+  //24.  应急1汇流排电压
+  unsigned short emergency1BusbarVoltage;
+}disLowBusState;
+
+typedef struct disHighVolBusCmd
+{
+  // 5: 燃料电池断路器
+  unsigned char fuelCellCircuitBreaker;
+  // 6: 动力锂电池断路器
+  unsigned char powerLithiumBatteryCircuitBreaker;
+  // 7: 推进电机断路器
+  unsigned char propulsionMotorCircuitBreaker;
+  // 8: 锂电池组仪表断路器
+  unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+  // 9: DC/DC5模块断路器
+  unsigned char dcDc5ModuleCircuitBreaker;
+  // 10: 艏部高压配电箱断路器
+  unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
+  // 11:  艉部FT装置4/5断路器
+  unsigned char sternFTDevice45CircuitBreaker;
+  // // 12:  艉舵开关1断路器
+  // unsigned char sternRudderSwitch1CircuitBreaker;
+  // // 13:  艉舵开关2断路器
+  // unsigned char sternRudderSwitch2CircuitBreaker;
+  // // 14:  FB预留断路器
+  // unsigned char fbReservedCircuitBreaker;
+
+  // 12:  FB预留断路器
+  unsigned char fbReservedCircuitBreaker;
+  // 13:  艉舵开关1断路器
+  unsigned char sternRudderSwitch1CircuitBreaker;
+  // 14:  艉舵开关2断路器
+  unsigned char sternRudderSwitch2CircuitBreaker;
+  
+  // 15:  TYZ预留断路器
+  unsigned char tyzReservedCircuitBreaker;
+  // 16:  预留断路器
+  unsigned char reservedCircuitBreaker;
+  // 17:  DC/DC5模块启动
+  unsigned char dcdc5Module;
+  // 18:  冷却系统启动
+  unsigned char coolingSystem;
+  // unsigned char inputWater;
+  // unsigned char outputWater;
+}disHighVolBusCmd;
+
+typedef struct disHighAVolBusCmd
+{
+  //5.   艏部FT装置1/2/3断路器
+  unsigned char bowFTDevice123CircuitBreaker;
+  //6.   启闭机构断路器
+  unsigned char actuatorCircuitBreaker;
+  //7.   桅杆舵机控制箱断路器
+  unsigned char mastSteeringGearControlBoxCircuitBreaker;
+  //8.   XCZ断路器
+  unsigned char xczCircuitBreaker;
+  //9.   艏舵控制箱断路器
+  unsigned char bowRudderControlBoxCircuitBreaker;
+  //10. 敞水盖启动电缸断路器
+  unsigned char openWaterCoverStartCylinderCircuitBreaker;
+}disHighAVolBusCmd;
+
+typedef struct disHighBVolBusCmd
+{
+    //5. 锂电池组（仪表）断路器
+    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+    //6. 艏部低压配电箱断路器
+    unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
+    //7.  UNIT4仪表DC48V断路器
+    unsigned char unit4InstrumentDC48VCircuitBreaker;
+    //8.  DC-C1直流配电板断路器
+    unsigned char dcC1DCDistributionPanelCircuitBreaker;
+    //9. 预留断路器1
+    unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
+    //10. 预留断路器2
+    unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
+    //11. 应急锂电池组2断路器
+    unsigned char emergencyLithiumBatteryGroup2CircuitBreaker;
+}disLowMainBusCmd;
+
+typedef struct disLowBusCmd
+{
+  unsigned char unit1CircuitBreaker;
+  unsigned char unit2CircuitBreaker;
+  unsigned char unit3CircuitBreaker;
+  unsigned char unit5CircuitBreaker;
+  unsigned char bowPZDeviceCircuitBreaker;
+  unsigned char reservedCircuitBreaker1; // 为了区分，添加了数字后缀
+  unsigned char reservedCircuitBreaker2; // 为了区分，添加了数字后缀
+  unsigned char emergencyLithiumBatteryGroup1CircuitBreaker;
+}disLowBusCmd;
+
+#pragma pack (0)
+
+//状态结构体定义
+typedef struct pmState
+{
+  ccuState            ccustate;
+  disHighVolBusState  bus1State;
+  disHighAVolBusState bus2State;
+  disLowMainBusState  bus3State;
+  disLowBusState      bus4State;
+} PmState;
+
+  typedef struct disBus1Breaker
+  {
+    unsigned char fuelCellCircuitBreaker : 1;
+    unsigned char powerLithiumBatteryCircuitBreaker : 1;
+    unsigned char propulsionMotorCircuitBreaker : 1;
+    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
+    unsigned char dcDc5ModuleCircuitBreaker : 1;
+    unsigned char bowHighVoltageDistributionBoxCircuitBreaker : 1;
+    unsigned char sternFTDevice45CircuitBreaker : 1;
+    unsigned char sternRudderSwitch1CircuitBreaker : 1;
+    unsigned char sternRudderSwitch2CircuitBreaker : 1;
+    unsigned char fbReservedCircuitBreaker : 1;
+    unsigned char tyzReservedCircuitBreaker : 1;
+    unsigned char reservedCircuitBreaker : 1;
+    unsigned char dcdcmodel : 1;
+    unsigned char coolingSystem : 1;
+    unsigned short paceholder : 4;
+  } disBus1Breaker;
+
+
+ typedef struct disBus2Breaker
+  {
+    unsigned char bowFTDevice123CircuitBreaker : 1;
+    unsigned char actuatorCircuitBreaker : 1;
+    unsigned char mastSteeringGearControlBoxCircuitBreaker : 1;
+    unsigned char xczCircuitBreaker : 1;
+    unsigned char bowRudderControlBoxCircuitBreaker : 1;
+    unsigned char openWaterCoverStartCylinderCircuitBreaker : 1;
+    unsigned short paceholder : 10;
+    /* data */
+  } disBus2Breaker;
+
+
+   typedef struct disBus3Breaker
+  {
+    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker : 1;
+    unsigned char bowLowVoltageDistributionBoxCircuitBreaker : 1;
+    unsigned char unit4InstrumentDC48VCircuitBreaker : 1;
+    unsigned char dcC1DCDistributionPanelCircuitBreaker : 1;
+    unsigned char reservedCircuitBreaker1 : 1;
+    unsigned char reservedCircuitBreaker2 : 1;
+    unsigned char emergencyLithiumBatteryGroup2CircuitBreaker : 1;
+    unsigned short paceholder : 9;
+    /* data */
+  } disBus3Breaker;
+
+
+   typedef struct disBus4Breaker
+  {
+  unsigned char unit1CircuitBreaker : 1;
+  unsigned char unit2CircuitBreaker : 1;
+  unsigned char unit3CircuitBreaker : 1;
+  unsigned char unit5CircuitBreaker : 1;
+  unsigned char bowPZDeviceCircuitBreaker : 1;
+  unsigned char reservedCircuitBreaker1 : 1; // 为了区分，添加了数字后缀
+  unsigned char reservedCircuitBreaker2 : 1; // 为了区分，添加了数字后缀
+  unsigned char emergencyLithiumBatteryGroup1CircuitBreaker : 1;
+  unsigned short paceholder : 8;
+    /* data */
+  } disBus4Breaker;
+
+  typedef struct disSysBreakerList
+  {
+    disBus1Breaker bus1Breaker;
+    disBus2Breaker bus2Breaker;
+    disBus3Breaker bus3Breaker;
+    disBus4Breaker bus4Breaker;
+  } disSysBreaker;
+
+  typedef struct MSControlCmd
+  {
+    unsigned int powerCMD;
+    unsigned int modCMD;
+    unsigned int workCMD;
+  }MSControlCmd;
+
+  
+namespace FcuCommand {
+  enum Type : unsigned char {
+    SelfCheck = 0x01,
+    Start = 0x02,
+    Stop = 0x03,
+    Reset = 0x04,
+    EmergencyStop = 0x05,
+    Supply = 0x06,
+    WarmUp = 0x07,
+    Maintenance = 0x08
+  };
+}
+
+enum class FcuState : unsigned char {
+ //初始化
+  Init = 0x01,
+  //待机
+  Standby = 0x02,
+  //自检异常
+  SelfCheckError = 0x03,
+  //就绪
+  Ready = 0x04,
+  //启动
+  Start = 0x05,
+  //运行
+  Running = 0x06,
+  //停机
+  Stop = 0x07,
+  //故障
+  Fault = 0x08,
+  //补给
+  Supply = 0x09,
+  //预热
+  WarmUp = 0x0A,
+  //预热完成
+  WarmUpComplete = 0x0B,
+  //维护
+  Maintenance = 0x0C,
+  //维护完成
+  MaintenanceComplete = 0x0D
+};
+
+namespace BatteryCommand {
+  enum Type : unsigned char {
+      Start = 0x10,
+      Stop = 0x20,
+      Hold = 0x00
+  };
+};
+
+namespace PMMode {
+  enum Type : unsigned char {
+  Normal = 0,
+  Test = 1,
+  Debug = 2
+  };
+};
+
+//工况定义
+namespace WorkCondition {
+  enum Type : unsigned char {
+    CHANING = 0,                // 工况切换中
+    STANDBY = 1,                // 待机工况
+    SHORE_BASED_READY = 2,      // 岸基备航
+    WATER_BASED_READY = 3,      // 水中备航
+    REMOTE_CONTROL = 4,         // 遥控工况
+    CRUISE_MODE = 5,            // 巡航模式
+    HIGH_SPEED_MODE = 6,        // 高速模式
+    ASCEND_DESCEND = 7,         // 上浮下潜
+    BUOYANCY_ADJUST = 8,        // 浮调模式
+    UNDERWATER_RECON = 9,       // 水下侦查
+    SURFACE_RECON = 10,          // 水面侦查
+    DJ_MODE = 11,                // DJ模式
+    DEBUG_MODE = 12             // 调试模式
+  };
+};
+
+namespace RunMode {
+  enum Type : unsigned char {
+    //正常模式
+    Normal = 0,
+    //测试模式
+    Test = 1,
+    //调试模式
+    Debug = 2
+  };
+};
+
+namespace TaskType {
+  enum Type : unsigned char {
+    THROW_LOAD = 1,      // 抛载
+    FLOAT_UP = 2,        // 运动上浮
+    RECYCLE = 3,         // 回收
+    HOVER = 4,           // 悬停
+    SAT_COMM = 5,        // 上浮通信
+    SAT_CALIBRATE = 6,   // 上浮校准
+    TOUR = 7,            // 游曳
+    SAIL = 8             // 航行
+  };
+  
+  inline const std::string toString(Type type) {
+    static const std::map<Type, std::string> names = {
+        {THROW_LOAD, "throwLoad"},
+        {FLOAT_UP, "floatUp"},
+        {RECYCLE, "recycle"},
+        {HOVER, "hover"},
+        {SAT_COMM, "satComm"},
+        {SAT_CALIBRATE, "satCalibrate"},
+        {TOUR, "tour"},
+        {SAIL, "sail"}
+    };
+    auto it = names.find(type);
+    return it != names.end() ? it->second : "unknown";
+}
+  inline Type fromString(const std::string& str) {
+    static const std::map<std::string, Type> stringToEnum = {
+      {"throwLoad", THROW_LOAD},
+      {"floatUp", FLOAT_UP},
+      {"recycle", RECYCLE},
+      {"hover", HOVER},
+      {"satComm", SAT_COMM},
+      {"satCalibrate", SAT_CALIBRATE},
+      {"tour", TOUR},
+      {"sail", SAIL}
+    };
+    auto it = stringToEnum.find(str);
+    return it != stringToEnum.end() ? it->second : static_cast<Type>(0); // 返回0表示无效类型
+  }
+}
+
+namespace EquipmentCommand {
+  enum Type : unsigned char {
+    OFF = 0, //断电
+    ON = 1,  //上电
+    //仪表电上电
+    METER_ON = 2,
+    //动力电上电
+    POWER_ON = 3,
+    //仪表电断电
+    METER_OFF = 4,
+    //动力电断电
+    POWER_OFF = 5,
+  };
+};
+
+
+struct MissionState
+{
+  int type;
+  bool enableBowRudder;
+  bool enableBuoyancyAdjustment;
+};
+
+struct DeviceSwitchCmd
+{
+  int id;
+  int cmd;
+};
+
+namespace DeviceId {
+  enum Type : unsigned char {
+    singleBeamSonar1 = 0,
+    singleBeamSonar2 = 1,
+    singleBeamSonar3 = 2,
+    singleBeamSonar4 = 3,
+    singleBeamSonar5 = 4,
+    singleBeamSonar6 = 5,
+    singleBeamSonar7 = 6,
+    singleBeamSonar8 = 7,
+    forwardSonar = 8,
+    bowCover1 = 9,
+    bowCover2 = 10,
+    bowCover3 = 11,
+    bowCover4 = 12,
+    bowCover5 = 13,
+    bowCover6 = 14,
+    bowRudderDeploy = 15,
+    bowRudderServo1 = 16,
+    bowRudderServo2 = 17,
+    depth1 = 18,
+    depth2 = 19,
+    depth3 = 20,
+    overDeep1 = 21,
+    overDeep2 = 22,
+    ctd1 = 23,
+    ctd2 = 24,
+    soundVeloc = 25,
+    waterInject = 26,
+    bowWaterInet1 = 27,
+    bowWaterInet2 = 28,
+    bowWaterInet3 = 29,
+    bowWaterInet4 = 30,
+    bowWaterInet5 = 31,
+    bowWaterInet6 = 32,
+    bowWaterInet7 = 33,
+    bowWaterInet8 = 34,
+    sideSonar = 35,
+    lowFreqSonar = 36,
+    launchControler = 37,
+    photoSensor = 38,
+    electSensor = 39,
+    commMast = 40,
+    mastLiftingServo = 41,
+    USBL = 42,
+    DVL = 43,
+    buoyancyAdjust1 = 44,
+    buoyancyAdjust2 = 45,
+    buoyancyAdjust3 = 46,
+    buoyancyAdjust4 = 47,
+    buoyancyAdjust5 = 48,
+    sternRudderServo1 = 49,
+    sternRudderServo2 = 50,
+    sternRudderServo3 = 51,
+    sternRudderServo4 = 52,
+    thruster = 53,
+    bowThrow = 54,
+    sternThrow = 55,
+    buoyage = 56,
+    ins = 57,
+    ntp = 58,
+    inputWaterSensor1 = 59,
+    inputWaterSensor2 = 60,
+    inputWaterSensor3 = 61,
+  };
+  inline const std::string toString(Type type) {
+    static const std::map<Type, std::string> names = {
+        {singleBeamSonar1, "singleBeamSonar1"},
+        {singleBeamSonar2, "singleBeamSonar2"},
+        {singleBeamSonar3, "singleBeamSonar3"},
+        {singleBeamSonar4, "singleBeamSonar4"},
+        {singleBeamSonar5, "singleBeamSonar5"},
+        {singleBeamSonar6, "singleBeamSonar6"},
+        {singleBeamSonar7, "singleBeamSonar7"},
+        {singleBeamSonar8, "singleBeamSonar8"},
+        {forwardSonar, "forwardSonar"},
+        {bowCover1, "bowCover1"},
+        {bowCover2, "bowCover2"},
+        {bowCover3, "bowCover3"},
+        {bowCover4, "bowCover4"},
+        {bowCover5, "bowCover5"},
+        {bowCover6, "bowCover6"},
+        {bowRudderDeploy, "bowRudderDeploy"},
+        {bowRudderServo1, "bowRudderServo1"},
+        {bowRudderServo2, "bowRudderServo2"},
+        {depth1, "depth1"},
+        {depth2, "depth2"},
+        {depth3, "depth3"},
+        {overDeep1, "overDeep1"},
+        {overDeep2, "overDeep2"},
+        {ctd1, "ctd1"},
+        {ctd2, "ctd2"},
+        {soundVeloc, "soundVeloc"},
+        {waterInject, "waterInject"},
+        {bowWaterInet1, "bowWaterInet1"},
+        {bowWaterInet2, "bowWaterInet2"},
+        {bowWaterInet3, "bowWaterInet3"},
+        {bowWaterInet4, "bowWaterInet4"},
+        {bowWaterInet5, "bowWaterInet5"},
+        {bowWaterInet6, "bowWaterInet6"},
+        {bowWaterInet7, "bowWaterInet7"},
+        {bowWaterInet8, "bowWaterInet8"},
+        {sideSonar, "sideSonar"},
+        {lowFreqSonar, "lowFreqSonar"},
+        {launchControler, "launchControler"},
+        {photoSensor, "photoSensor"},
+        {electSensor, "electSensor"},
+        {commMast, "commMast"},
+        {mastLiftingServo, "mastLiftingServo"},
+        {USBL, "USBL"},
+        {DVL, "DVL"},
+        {buoyancyAdjust1, "buoyancyAdjust1"},
+        {buoyancyAdjust2, "buoyancyAdjust2"},
+        {buoyancyAdjust3, "buoyancyAdjust3"},
+        {buoyancyAdjust4, "buoyancyAdjust4"},
+        {buoyancyAdjust5, "buoyancyAdjust5"},
+        {sternRudderServo1, "sternRudderServo1"},
+        {sternRudderServo2, "sternRudderServo2"},
+        {sternRudderServo3, "sternRudderServo3"},
+        {sternRudderServo4, "sternRudderServo4"},
+        {thruster, "thruster"},
+        {bowThrow, "bowThrow"},
+        {sternThrow, "sternThrow"},
+        {buoyage, "buoyage"},
+        {ins, "ins"},
+        {ntp, "ntp"},
+        {inputWaterSensor1, "inputWaterSensor1"},
+        {inputWaterSensor2, "inputWaterSensor2"},
+        {inputWaterSensor3, "inputWaterSensor3"}
+    };
+    auto it = names.find(type);
+    return it != names.end() ? it->second : "unknown";
+  }
+}
+
+// 设备类id存储
+static const std::unordered_set<int> underWterDevices = {
+    DeviceId::singleBeamSonar1,
+    DeviceId::singleBeamSonar2,
+    DeviceId::singleBeamSonar3,
+    DeviceId::singleBeamSonar4,
+    DeviceId::singleBeamSonar5,
+    DeviceId::singleBeamSonar6,
+    DeviceId::singleBeamSonar7,
+    DeviceId::singleBeamSonar8,
+    DeviceId::forwardSonar,
+    DeviceId::USBL,
+    DeviceId::DVL,
+    DeviceId::lowFreqSonar
+};
+static const std::unordered_set<int> noPowerDevices = {
+    DeviceId::depth1,
+    DeviceId::depth2,
+    DeviceId::depth3,
+    DeviceId::overDeep1,
+    DeviceId::overDeep2,
+    DeviceId::ctd1,
+    DeviceId::ctd2,
+    DeviceId::soundVeloc,
+    DeviceId::waterInject,
+    DeviceId::launchControler,
+    DeviceId::photoSensor,
+    DeviceId::electSensor,
+    DeviceId::commMast,
+    DeviceId::ntp,
+    DeviceId::bowThrow,
+    DeviceId::sternThrow,
+    DeviceId::ins,
+    DeviceId::inputWaterSensor1,
+    DeviceId::inputWaterSensor2,
+    DeviceId::inputWaterSensor3
+};
+namespace FaultEnable {
+  enum Type : bool {
+    BasicNavigationFault_1 = false, // 使能故障
+    BasicNavigationFault_2 = false,
+    BasicNavigationFault_3 = false,
+    BasicNavigationFault_4 = false,
+    BasicNavigationFault_5 = false,
+    BasicNavigationFault_6 = false,
+    BasicNavigationFault_7 = false,
+    BasicNavigationFault_8 = false,
+    BasicNavigationFault_9 = false,
+    BasicNavigationFault_10 = false,
+
+    ExtendedNavigationFault_1 = false, // 使能故障
+    ExtendedNavigationFault_2 = false,
+    ExtendedNavigationFault_3 = false,
+    ExtendedNavigationFault_4 = false,
+
+    ObstacleAvoidanceFault_1 = false, // 使能故障
+    ObstacleAvoidanceFault_2 = false,
+    ObstacleAvoidanceFault_3 = false,
+
+    BuoyancyControlFault_1 = false, // 使能故障
+    BuoyancyControlFault_2 = false,
+    BuoyancyControlFault_3 = false,
+    BuoyancyControlFault_4 = false,
+
+    CommunicationSystemFault_1 = false, // 使能故障
+    CommunicationSystemFault_2 = false,
+    CommunicationSystemFault_3 = false,
+
+    PayloadSystemFault_1 = false, // 使能故障
+    PayloadSystemFault_2 = false,
+    PayloadSystemFault_3 = false,
+    PayloadSystemFault_4 = false,
+    PayloadSystemFault_5 = false,
+    PayloadSystemFault_6 = false,
+    PayloadSystemFault_7 = false,
+
+    EmergencySystemFault_1 = false, // 使能故障
+    EmergencySystemFault_2 = false,
+    EmergencySystemFault_3 = false,
+    EmergencySystemFault_4 = false,
+    EmergencySystemFault_5 = false,
+    EmergencySystemFault_6 = false,
+    
+    SensorSystemFault_1 = false, // 使能故障
+    SensorSystemFault_2 = false,
+    SensorSystemFault_3 = false,
+  };
+}
+
+#endif
+
+

src/pPowerManger/CMakeLists.txt

@@ -0,0 +1,108 @@
+#--------------------------------------------------------
+# The CMakeLists.txt for:                       pPowerManger
+# Author(s):                              
+#--------------------------------------------------------
+
+# Set System Specific Libraries
+if (${WIN32})
+  # Windows Libraries
+  SET(SYSTEM_LIBS
+     wsock32 )
+else (${WIN32})
+  # Linux and Apple Libraries
+  SET(SYSTEM_LIBS
+      m
+      pthread )
+endif (${WIN32})
+
+# Use local SQLite3 source
+SET(SQLITE_SRC
+  sqlit3/SQLite.cpp
+  sqlit3/sqlite3.c
+)
+
+SET(HTTP_SRC
+  httpserver/mongoose.c
+  httpserver/httpserver.cpp)
+
+SET(LOG_SRC
+  logc/loguru.cpp)
+
+SET(UDP_COMM_SRC
+  udpcomm/udpComm.cpp)
+
+SET(FSMLIB_SRC
+  fsm/PowerManagerFsm.cpp  
+  fsm/CruiseMode.cpp
+  fsm/DJMode.cpp
+  fsm/FaultState.cpp
+  fsm/FloatAdjust.cpp
+  fsm/FloatDown.cpp
+  fsm/HighSpeedMode.cpp
+  fsm/InitState.cpp
+  fsm/RemoteControl.cpp
+  fsm/ShoreBasedReady.cpp
+  fsm/StandbyState.cpp
+  fsm/SurfaceSurvey.cpp
+  fsm/UnderwaterSurvey.cpp
+  fsm/WaterBasedReady.cpp
+)
+
+SET(SRC
+  ${FSMLIB_SRC}
+  ${SQLITE_SRC}
+  ${HTTP_SRC}
+  ${UDP_COMM_SRC}
+  ${LOG_SRC}
+  PowerManger.cpp
+  PowerManger_Info.cpp
+  # udpComm.cpp
+  main.cpp
+  # SQLiteDB.cpp
+  driver.cpp
+  LowerCommManager.cpp
+  UpperCommManager.cpp
+  # loguru.cpp
+  upmsg/upmsg_definitions.cpp
+)
+
+ADD_EXECUTABLE(pPowerManger ${SRC})
+
+TARGET_INCLUDE_DIRECTORIES(pPowerManger PRIVATE sqlit3)
+
+TARGET_LINK_LIBRARIES(pPowerManger
+   ${MOOS_LIBRARIES}
+   apputil
+   mbutil
+   m
+   pthread
+   jsoncpp
+   ${SYSTEM_LIBS}
+   dl
+  )
+
+# Add SQLiteDB static library
+SET(UDPCOMM_SRC
+  udpComm.cpp
+)
+
+# SET(SQLITEDB_SRC
+#   SQLiteDB.cpp
+# )
+
+SET(DRIVER_SRC
+  driver.cpp)
+
+# SET(POWERMANGE_SRC
+#   PowerManger.cpp
+#   PowerManger_Info.cpp
+#   udpComm.cpp
+#   SQLiteDB.cpp
+#   driver.cpp
+#   PowerManagerFsm.cpp)
+
+# ADD_LIBRARY(SQLiteDB STATIC ${SQLITEDB_SRC})
+# ADD_LIBRARY(UDPComm STATIC ${UDPCOMM_SRC})
+# # ADD_LIBRARY(FSMLib STATIC ${FSMLIB_SRC})
+# ADD_LIBRARY(Driver STATIC ${DRIVER_SRC})
+# ADD_LIBRARY(PowerMange STATIC ${POWERMANGE_SRC})

src/pPowerManger/LowerCommManager.cpp

@@ -0,0 +1,880 @@
+#include "LowerCommManager.h"
+#include "PowerManger.h"
+#include "driver.h"
+#include "udpcomm/udpComm.h"
+
+bool _ListenCB(void * pParam)
+{
+    LowerCommManager* pMe = (LowerCommManager* )pParam;
+    return pMe->listenThreadFunc();
+}
+
+LowerCommManager::LowerCommManager(PowerManger* pm, long myPort, long ccuPort, const std::string& cccHost){
+    m_pm = pm;
+    m_udpComm = new udpComm();
+    m_port = myPort;
+    m_udpComm->ccuHost = cccHost;
+    m_udpComm->ccuPort = ccuPort;
+    m_udpComm->udpScoket = new XPCUdpSocket(m_port);
+
+    std::cout << MOOS::ConsoleColours::yellow() << "╔════════════════════════╗" << MOOS::ConsoleColours::reset() << std::endl;
+    std::cout << MOOS::ConsoleColours::yellow() << "║  [LOCAL PORT] " 
+              << MOOS::ConsoleColours::cyan() << m_port 
+              << MOOS::ConsoleColours::yellow() << std::setw(15) << " ║" << MOOS::ConsoleColours::reset() << std::endl;
+              
+    std::cout << MOOS::ConsoleColours::yellow() << "║  [CCU HOST  ] " 
+              << MOOS::ConsoleColours::cyan() << m_udpComm->ccuHost 
+              << MOOS::ConsoleColours::yellow() << std::setw(8) << " ║" << MOOS::ConsoleColours::reset() << std::endl;
+              
+    std::cout << MOOS::ConsoleColours::yellow() << "║  [CCU PORT  ] " 
+              << MOOS::ConsoleColours::cyan() << m_udpComm->ccuPort 
+              << MOOS::ConsoleColours::yellow() << std::setw(15) << " ║" << MOOS::ConsoleColours::reset() << std::endl;
+    std::cout << MOOS::ConsoleColours::yellow() << "╚════════════════════════╝" << MOOS::ConsoleColours::reset() << std::endl;
+}
+
+LowerCommManager::~LowerCommManager(){
+    try {
+        stopListenThread();
+        if (m_udpComm) {
+            delete m_udpComm;
+            m_udpComm = nullptr;
+        }
+    } catch (...) {
+        cerr << "Error during cleanup" << endl;
+    }
+}
+bool LowerCommManager::initUdpComm(){
+    if (m_udpComm->udpScoket) {
+        try {
+            std::cout << MOOS::ConsoleColours::yellow() << "Attempting to bind UDP socket..." << MOOS::ConsoleColours::reset() << std::endl;
+            m_udpComm->udpScoket->vBindSocket();  // 可能会抛出 XPCException 或其他 std::exception
+            std::cout << MOOS::ConsoleColours::green() << "UDP bind succeeded!" << MOOS::ConsoleColours::reset() << std::endl;
+            LOG_F(INFO, "UDP bind succeeded!");
+        }
+        catch (const std::exception& e) {
+            std::cerr << MOOS::ConsoleColours::red()
+                      << "[UDP Bind Failed] Exception: " << e.what()
+                      << MOOS::ConsoleColours::reset() << std::endl;
+            LOG_F(ERROR, "UDP bind failed: %s", e.what());
+            return false;
+        }
+        catch (...) {
+            std::cerr << MOOS::ConsoleColours::red()
+                      << "[UDP Bind Failed] Unknown exception occurred!"
+                      << MOOS::ConsoleColours::reset() << std::endl;
+            LOG_F(ERROR, "Unknown exception occurred during UDP bind");
+            return false;
+        }
+    } else {
+        std::cerr << MOOS::ConsoleColours::red()
+                  << "[UDP Init Failed] udpSocket is null!"
+                  << MOOS::ConsoleColours::reset() << std::endl;
+        LOG_F(ERROR, "udpSocket is null!");
+        return false;
+    }
+    
+    return true;
+}
+void LowerCommManager::setCcuAddress(const std::string& host, long port){
+    m_ccuHost = host;
+    m_ccuPort = port;
+    if (m_udpComm) {
+        m_udpComm->ccuHost = host;
+        m_udpComm->ccuPort = port;
+    }
+}
+
+void LowerCommManager::setCommLogger(ICommLogger* logger)
+{
+    if (m_udpComm) m_udpComm->setCommLogger(logger);
+}
+void LowerCommManager::processPeriodicTasks() {
+    ccuColCmd cmd;
+    {
+        std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+        cmd = m_pm->m_CcuColCmd;
+    }
+    sendCcuCommand(cmd);
+    m_pm->m_db->insertData(cmd);
+    //延时5ms
+    usleep(5000);
+    auto devStatus = m_pm->m_systemData->getDeviceCommonStatus();
+    if(devStatus.dis_hv_c1.isTimeout )
+    {
+        disHighVolBusCmd clr1{};
+        m_udpComm->sendDisSysCmd(clr1);
+        MOOSPause(200);
+    }
+    if(devStatus.dis_lv_c1.isTimeout )
+    {
+        disHighBVolBusCmd clr3{};
+        m_udpComm->sendDisSysCmd(clr3);
+        MOOSPause(200);
+    }
+    m_udpComm->clearMsgQueue();
+}
+void LowerCommManager::operate_hold()
+{
+    disHighVolBusCmd clr1{};
+    disHighAVolBusCmd clr2{};
+    disHighBVolBusCmd clr3{};
+    disLowBusCmd clr4{}; 
+    m_udpComm->sendDisSysCmd(clr1);
+    MOOSPause(200);
+    m_udpComm->sendDisSysCmd(clr2);
+    MOOSPause(200);
+    m_udpComm->sendDisSysCmd(clr3);
+    MOOSPause(200);
+    m_udpComm->sendDisSysCmd(clr4);
+}
+bool LowerCommManager::sendCcuCommand(const ccuColCmd cmd){
+    // m_pm->m_db->insertCcuSysCmd(cmd);
+    if(!m_udpComm->sendCcuColCmd(cmd))
+        cout << "send ccu command failed!" << endl;
+    return true;
+}
+
+bool LowerCommManager::sendDisSysCommand(const disSysBreakerList& cmd){
+    //根据目标状态进行断路器操作
+    //a. 高压母线的断路器
+    disHighVolBusCmd a;
+    a.fuelCellCircuitBreaker = getBreakerOption(cmd.bus1Breaker.fuelCellCircuitBreaker);
+    a.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(cmd.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
+    a.dcDc5ModuleCircuitBreaker = getBreakerOption(cmd.bus1Breaker.dcDc5ModuleCircuitBreaker);
+    a.powerLithiumBatteryCircuitBreaker = getBreakerOption(cmd.bus1Breaker.powerLithiumBatteryCircuitBreaker);
+    a.propulsionMotorCircuitBreaker = getBreakerOption(cmd.bus1Breaker.propulsionMotorCircuitBreaker);
+    a.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(cmd.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker);
+    a.tyzReservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.tyzReservedCircuitBreaker);
+    a.sternFTDevice45CircuitBreaker = getBreakerOption(cmd.bus1Breaker.sternFTDevice45CircuitBreaker);
+    a.sternRudderSwitch1CircuitBreaker = getBreakerOption(cmd.bus1Breaker.sternRudderSwitch1CircuitBreaker);
+    a.sternRudderSwitch2CircuitBreaker = getBreakerOption(cmd.bus1Breaker.sternRudderSwitch2CircuitBreaker);
+    a.reservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.reservedCircuitBreaker);
+    a.fbReservedCircuitBreaker = getBreakerOption(cmd.bus1Breaker.fbReservedCircuitBreaker);
+    a.dcdc5Module = getBreakerOption(cmd.bus1Breaker.dcdcmodel);
+    a.coolingSystem = getBreakerOption(cmd.bus1Breaker.coolingSystem);
+
+    m_udpComm->sendDisSysCmd(a);
+    m_pm->m_db->insertData(a);
+    usleep(5000);
+    //b. 高压汇流排A断路器
+    disHighAVolBusCmd b;
+    b.bowFTDevice123CircuitBreaker = getBreakerOption(cmd.bus2Breaker.bowFTDevice123CircuitBreaker);
+    b.actuatorCircuitBreaker = getBreakerOption(cmd.bus2Breaker.actuatorCircuitBreaker);
+    b.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(cmd.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker);
+    b.xczCircuitBreaker = getBreakerOption(cmd.bus2Breaker.xczCircuitBreaker);
+    b.bowRudderControlBoxCircuitBreaker = getBreakerOption(cmd.bus2Breaker.bowRudderControlBoxCircuitBreaker);
+    b.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(cmd.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker);
+    m_udpComm->sendDisSysCmd(b);
+    m_pm->m_db->insertData(b);
+    usleep(5000);
+    //c. 低压主母线断路器
+    disHighBVolBusCmd c;
+
+    c.lithiumBatteryGroupInstrumentCircuitBreaker = 0x55;
+    c.bowLowVoltageDistributionBoxCircuitBreaker = 0xAA;
+    c.unit4InstrumentDC48VCircuitBreaker = 0xAA;
+    c.dcC1DCDistributionPanelCircuitBreaker = 0xAA;
+    c.reservedCircuitBreaker1 = 0xAA;
+    c.reservedCircuitBreaker2 = 0xAA;
+    c.emergencyLithiumBatteryGroup2CircuitBreaker = 0xAA;
+
+    m_udpComm->sendDisSysCmd(c);
+    m_pm->m_db->insertData(c);
+    usleep(5000);
+    //d. 闭合低压汇流排断路器
+    disLowBusCmd d;
+    d.unit1CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit1CircuitBreaker);
+    d.unit2CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit2CircuitBreaker);
+    d.unit3CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit3CircuitBreaker);
+    d.unit5CircuitBreaker = getBreakerOption(cmd.bus4Breaker.unit5CircuitBreaker);
+    d.bowPZDeviceCircuitBreaker = getBreakerOption(cmd.bus4Breaker.bowPZDeviceCircuitBreaker);
+    d.reservedCircuitBreaker1 = getBreakerOption(cmd.bus4Breaker.reservedCircuitBreaker1);
+    d.reservedCircuitBreaker2 = getBreakerOption(cmd.bus4Breaker.reservedCircuitBreaker2);
+    d.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(cmd.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker);
+    m_udpComm->sendDisSysCmd(d);
+    m_pm->m_db->insertData(d);
+    usleep(5000);
+    return true;
+}
+
+
+void LowerCommManager::clearMsgQueue(){
+    m_udpComm->clearMsgQueue();
+}
+
+
+bool LowerCommManager::updatePoweSystemStates(){
+    // std::cout << "updatePoweSystemStates" << std::endl;
+  if(!m_udpComm->m_qReceiveCcuStateBuffer.empty())
+  {
+    double time;
+    if(m_udpComm->popMsgFormQueue(time, m_CcuCurrentState))
+    {
+        ccuState local = m_CcuCurrentState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.ccustate = local;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
+        msg_CcuStateFbMsg_Update_time = time;
+        m_pm->m_systemData->updateSystemData(local);
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            m_pm->m_systemData->device_common_status.ccu_status.lastUpdateTime = m_pm->m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
+        }
+    }
+  }
+  if(!m_udpComm->m_qReceiveCcuSetParmBuffer.empty())
+  {
+    double time;
+    msg_CcuSetParmFbMsg setParmFb;
+    if(m_udpComm->popMsgFormQueue(time, setParmFb))
+    {
+        m_pm->m_db->insertData(setParmFb); //写入数据库
+    }
+  }
+  if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())
+  {
+    double time;
+    if(m_udpComm->popMsgFormQueue(time, m_disHighVolBusCurrentState))
+    {
+        disHighVolBusState local = m_disHighVolBusCurrentState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.bus1State = local;
+            disBus1Breaker pdis1{};
+            pdis1.fuelCellCircuitBreaker                      = (local.fuelCellCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.powerLithiumBatteryCircuitBreaker           = (local.powerLithiumBatteryCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.propulsionMotorCircuitBreaker               = (local.propulsionMotorCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.lithiumBatteryGroupInstrumentCircuitBreaker = (local.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.dcDc5ModuleCircuitBreaker                   = (local.dcDc5ModuleCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.bowHighVoltageDistributionBoxCircuitBreaker = (local.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.sternFTDevice45CircuitBreaker               = (local.sternFTDevice45CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.sternRudderSwitch1CircuitBreaker            = (local.sternRudderSwitch1CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.sternRudderSwitch2CircuitBreaker            = (local.sternRudderSwitch2CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.fbReservedCircuitBreaker                    = (local.fbReservedCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.tyzReservedCircuitBreaker                   = (local.tyzReservedCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.reservedCircuitBreaker                      = (local.reservedCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis1.paceholder = 0;
+            m_pm->m_currentDisBreakerState.bus1Breaker = pdis1;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
+        msg_disHighVolBusFbMsg_Update_time = time;
+        m_pm->m_systemData->updateSystemData(local);
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            m_pm->m_systemData->device_common_status.dis_hv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighVolBusFbMsg_Update_time;
+        }
+    }
+  }
+  if(!m_udpComm->m_qReceiveDisHighAVolBusBuffer.empty())
+  {
+    double time;
+    if(m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState))
+    {
+        disHighAVolBusState local = m_disHighAVolBusCurrentState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.bus2State = local;
+            disBus2Breaker pdis2{};
+            pdis2.bowFTDevice123CircuitBreaker              = (local.bowFTDevice123CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.actuatorCircuitBreaker                    = (local.actuatorCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.mastSteeringGearControlBoxCircuitBreaker  = (local.mastSteeringGearControlBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.xczCircuitBreaker                         = (local.xczCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.bowRudderControlBoxCircuitBreaker         = (local.bowRudderControlBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.openWaterCoverStartCylinderCircuitBreaker = (local.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis2.paceholder = 0;
+            m_pm->m_currentDisBreakerState.bus2Breaker = pdis2;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
+        msg_disHighAVolBusFbMsg_Update_time = time;
+        m_pm->m_systemData->updateSystemData(local);
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            m_pm->m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
+        }
+
+    }
+  }
+  if(!m_udpComm->m_qReceiveDisHighBVolBusBuffer.empty())
+  {
+    double time;
+    if(m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState))
+    {
+        disLowMainBusState local = m_disHighBVolBusCurrentState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.bus3State = local;
+            disBus3Breaker pdis3{};
+            pdis3.lithiumBatteryGroupInstrumentCircuitBreaker = (local.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.bowLowVoltageDistributionBoxCircuitBreaker  = (local.bowLowVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.unit4InstrumentDC48VCircuitBreaker          = (local.unit4InstrumentDC48VCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.dcC1DCDistributionPanelCircuitBreaker       = (local.dcC1DCDistributionPanelCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.reservedCircuitBreaker1                     = (local.reservedCircuitBreaker1 == BREAK_ON) ? 1 : 0;
+            pdis3.reservedCircuitBreaker2                     = (local.reservedCircuitBreaker2 == BREAK_ON) ? 1 : 0;
+            pdis3.emergencyLithiumBatteryGroup2CircuitBreaker = (local.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis3.paceholder = 0;
+            m_pm->m_currentDisBreakerState.bus3Breaker = pdis3;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
+        msg_disHighBVolBusFbMsg_Update_time = time;
+        m_pm->m_systemData->updateSystemData(local);
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            m_pm->m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_pm->m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
+        }
+    }
+  } 
+  if(!m_udpComm->m_qReceiveDisLowBusBuffer.empty())
+  {
+    double time;
+    if(m_udpComm->popMsgFormQueue(time,m_disLowBusState))
+    {
+        disLowBusState local = m_disLowBusState.data;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            m_pm->m_pmCurrentState.bus4State = local;
+            disBus4Breaker pdis4{};
+            pdis4.unit1CircuitBreaker       = (local.unit1CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.unit2CircuitBreaker       = (local.unit2CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.unit3CircuitBreaker       = (local.unit3CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.unit5CircuitBreaker       = (local.unit5CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.bowPZDeviceCircuitBreaker = (local.bowPZDeviceCircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.reservedCircuitBreaker1   = (local.reservedCircuitBreaker1 == BREAK_ON) ? 1 : 0;
+            pdis4.reservedCircuitBreaker2   = (local.reservedCircuitBreaker2 == BREAK_ON) ? 1 : 0;
+            pdis4.emergencyLithiumBatteryGroup1CircuitBreaker = (local.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON) ? 1 : 0;
+            pdis4.paceholder = 0;
+            m_pm->m_currentDisBreakerState.bus4Breaker = pdis4;
+        }
+        m_pm->m_db->insertData(local); //写入数据库
+        msg_disLowBusFbMsg_Update_time = time;
+        m_pm->m_systemData->updateSystemData(local);
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_systemData->m_dataMutex);
+            m_pm->m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_pm->m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
+        }
+    }
+  }
+  return true;
+}
+
+bool LowerCommManager::listenThreadFunc()
+{
+    cout<<MOOS::ConsoleColours::green()<< "LowerCommManager::listenThreadFunc" << MOOS::ConsoleColours::reset() << endl;
+    unsigned char Buff[1024];
+    while(!m_ListenThread.IsQuitRequested())
+    {
+        try
+        {
+            memset(Buff, 0, sizeof(Buff));
+            int nRead = m_udpComm->udpScoket->iRecieveMessage(Buff, sizeof(Buff));
+            cout<<MOOS::ConsoleColours::yellow()<< "RECEVE DATA COUNT:" << nRead << MOOS::ConsoleColours::reset() << endl;
+            if(nRead > 0)
+            {
+                try {
+                    if(m_udpComm->pushMsgToQueue(Buff, nRead))
+                    {
+                        //更新当前状态
+                        if(!updatePoweSystemStates())
+                        {
+                            std::cerr << "Error updating power system states" << std::endl;
+                        }
+                    }
+                    else
+                    {
+                        for(int i=0; i<m_udpComm->sError.size(); i++)
+                        {
+                            cout<<MOOS::ConsoleColours::red()<< m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
+                        }
+                    }
+                }
+                catch(const std::exception& e) {
+                    cerr << "Error processing message: " << e.what() << endl;
+                }
+            }
+            
+            // 打印通信错误信息
+            if(!m_udpComm->sError.empty())
+            {
+                for(int i=0; i<m_udpComm->sError.size(); i++)
+                {
+                    cout<<MOOS::ConsoleColours::red() << m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
+                }
+                m_udpComm->sError.clear();
+            }
+        }
+        catch(const XPCException& e)
+        {
+            cerr << "XPCException in listenThreadFunc" << endl;
+            // 短暂休眠后继续尝试
+            MOOSPause(100);
+        }
+        catch(const std::exception& e)
+        {
+            cerr << "Exception in listenThreadFunc: " << e.what() << endl;
+            MOOSPause(100);
+        }
+        catch(...)
+        {
+            cerr << "Unknown exception in listenThreadFunc" << endl;
+            MOOSPause(100);
+        }
+    }
+    return true;
+}
+
+void LowerCommManager::startListenThread()
+{
+    if(!m_ListenThread.IsThreadRunning())
+    {
+        m_ListenThread.Initialise(_ListenCB,this);
+        m_ListenThread.Start();
+        std::cout << "LowerCommManager::startListenThread" << std::endl;
+    }
+}
+
+void LowerCommManager::stopListenThread()
+{
+    if(m_ListenThread.IsThreadRunning())
+    {
+        m_ListenThread.Stop();
+        std::cout << "LowerCommManager::stopListenThread" << std::endl;
+    }
+}
+
+char LowerCommManager::getBreakerOption(char cmd)
+{
+    if(cmd ==1)
+        return 0x55;
+    else if(cmd ==0)
+        return 0xAA;
+    else 
+        return 0x00;
+}
+
+//================================================================================================================
+// 高电压母线断路器操作函数
+bool LowerCommManager::operate_HV_fuelCellCircuit_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_fuelCellCircuit_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.fuelCellCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_powerLithiumBattery_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_powerLithiumBattery_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.powerLithiumBatteryCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_propulsionMotor_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_propulsionMotor_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.propulsionMotorCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_lithiumBatteryMeter_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_lithiumBatteryMeter_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_dcDc5Module_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_dcDc5Module_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.dcDc5ModuleCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_bowHighVoltageBox_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_bowHighVoltageBox_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.bowHighVoltageDistributionBoxCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_sternFt45_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_sternFt45_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.sternFTDevice45CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_sternRudder1_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_sternRudder1_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.sternRudderSwitch1CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_sternRudder2_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_sternRudder2_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.sternRudderSwitch2CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_fbReserved_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_fbReserved_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.fbReservedCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_tyzReserved_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_tyzReserved_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.tyzReservedCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HV_reserved_Breaker(char opt){
+    return operateBreakerGeneric<disHighVolBusCmd, char>(
+        "HV_reserved_Breaker",
+        opt,
+        [&](disHighVolBusCmd& c){ c.reservedCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker; }
+    );
+}
+// bool LowerCommManager::operate_HV_dcDc5_Breaker(char opt){
+//     return operateBreakerGeneric<disHighVolBusCmd, char>(
+//         "HV_dcDc5_Breaker",
+//         opt,
+//         [&](disHighVolBusCmd& c){ c.dcdc5Module = getBreakerOption(opt); },
+//         [&](){ return m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02); }
+//     );
+// }
+bool LowerCommManager::operate_HV_dcDc5_Breaker(char opt)
+{
+    disHighVolBusCmd cmd{};                           // 默认全零
+    double t0 = MOOSTime();
+    bool ok = false;
+    const char* name = "DCDC Module";
+    LOG_F(INFO, "operate %s: opt=%d", name, opt);
+
+    cmd.dcdc5Module = getBreakerOption(opt);
+
+    m_udpComm->sendDisSysCmd(cmd);
+
+    // ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1&(0x02);
+    ok = m_pm->m_systemData->getDcdcStatus().workingStatus;
+
+    MOOSPause(100);
+    while ( !ok ) {
+        if( m_pm->m_systemData->getDcdcStatus().workingStatus )
+        {
+            ok = true;
+            break;
+        }
+        if (!m_udpComm->sendDisSysCmd(cmd)) {
+            LOG_F(ERROR, "operate %s: sendDisSysCmd failed", name);
+            ok =  false;
+            break;
+        }
+        if (MOOSTime() > t0 + 6) {
+            LOG_F(ERROR, "operate %s: timeout", name);
+            ok =  false;
+            break;
+        }
+        MOOSPause(200);
+    }
+    //继电器复位
+    disHighVolBusCmd clr{}; 
+    for (int i = 0; i < 3; ++i)
+    {
+        m_udpComm->sendDisSysCmd(clr);
+        MOOSPause(200);
+    }
+    return ok;
+}
+
+// bool LowerCommManager::operate_HV_coolingSystem_Breaker(char opt){
+//     return operateBreakerGeneric<disHighVolBusCmd, char>(
+//         "HV_coolingSystem_Breaker",
+//         opt,
+//         [&](disHighVolBusCmd& c){ c.coolingSystem = getBreakerOption(opt); },
+//         [&](){ return (m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1 & 0x20) ? 0x55 : 0xAA;  }
+//     );
+// }
+bool LowerCommManager::operate_HV_coolingSystem_Breaker(char opt)
+{
+    disHighVolBusCmd cmd{};                           // 默认全零
+    double t0 = MOOSTime();
+    bool ok = false;
+    const char* name = "CoolingSystem";
+    LOG_F(INFO, "operate %s: opt=%d", name, opt);
+
+    cmd.coolingSystem = getBreakerOption(opt);
+
+    m_udpComm->sendDisSysCmd(cmd);
+
+    // ok = m_pm->m_pmCurrentState.bus1State.dcDcFaultWord1 & 0x60;
+    ok = m_pm->m_systemData->getDcdcStatus().coolingPump1Running || m_pm->m_systemData->getDcdcStatus().coolingPump2Running;
+
+    MOOSPause(100);
+    while ( !ok ) {
+        if( (m_pm->m_systemData->getDcdcStatus().coolingPump1Running || m_pm->m_systemData->getDcdcStatus().coolingPump2Running) )
+        {
+            ok = true;
+            break;
+        }
+        if (!m_udpComm->sendDisSysCmd(cmd)) {
+            LOG_F(ERROR, "operate %s: sendDisSysCmd failed", name);
+            ok =  false;
+            break;
+        }
+        if (MOOSTime() > t0 + 6) {
+            LOG_F(ERROR, "operate %s: timeout", name);
+            ok =  false;
+            break;
+        }
+        MOOSPause(200);
+    }
+    //继电器复位
+    disHighVolBusCmd clr{}; 
+    for (int i = 0; i < 3; ++i)
+    {
+        m_udpComm->sendDisSysCmd(clr);
+        MOOSPause(200);
+    }
+    return ok;
+}
+
+// 高压汇流排断路器操作函数
+bool LowerCommManager::operate_HVA_bowFTDevice123Circuit_Breaker(char opt){
+    return operateBreakerGeneric<disHighAVolBusCmd, char>(
+        "HVA_bowFTDevice123Circuit_Breaker",
+        opt,
+        [&](disHighAVolBusCmd& c){ c.bowFTDevice123CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HVA_actuatorCircuit_Breaker(char opt){
+    return operateBreakerGeneric<disHighAVolBusCmd, char>(
+        "HVA_actuatorCircuit_Breaker",
+        opt,
+        [&](disHighAVolBusCmd& c){ c.actuatorCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(char opt){
+    return operateBreakerGeneric<disHighAVolBusCmd, char>(
+        "HVA_mastSteeringGearControlBoxCircuit_Breaker",
+        opt,
+        [&](disHighAVolBusCmd& c){ c.mastSteeringGearControlBoxCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HVA_xczCircuit_Breaker(char opt){
+    return operateBreakerGeneric<disHighAVolBusCmd, char>(
+        "HVA_xczCircuit_Breaker",
+        opt,
+        [&](disHighAVolBusCmd& c){ c.xczCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HVA_bowRudderControlBoxCircuit_Breaker(char opt){
+    return operateBreakerGeneric<disHighAVolBusCmd, char>(
+        "HVA_bowRudderControlBoxCircuit_Breaker",
+        opt,
+        [&](disHighAVolBusCmd& c){ c.bowRudderControlBoxCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(char opt){
+    return operateBreakerGeneric<disHighAVolBusCmd, char>(
+        "HVA_openWaterCoverStartCylinderCircuit_Breaker",
+        opt,
+        [&](disHighAVolBusCmd& c){ c.openWaterCoverStartCylinderCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker; }
+    );
+}
+
+// 仪表汇流排断路器操作函数
+
+bool LowerCommManager::operate_LVA_unit1Circuit_Breaker(char opt){
+    return operateBreakerGeneric<disLowBusCmd, char>(
+        "LVA_unit1Circuit_Breaker",
+        opt,
+        [&](disLowBusCmd& c){ c.unit1CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_LVA_unit2Circuit_Breaker(char opt){
+    return operateBreakerGeneric<disLowBusCmd, char>(
+        "LVA_unit2Circuit_Breaker",
+        opt,
+        [&](disLowBusCmd& c){ c.unit2CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_LVA_unit3Circuit_Breaker(char opt){
+    return operateBreakerGeneric<disLowBusCmd, char>(
+        "LVA_unit3Circuit_Breaker",
+        opt,
+        [&](disLowBusCmd& c){ c.unit3CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_LVA_unit5Circuit_Breaker(char opt){
+    return operateBreakerGeneric<disLowBusCmd, char>(
+        "LVA_unit5Circuit_Breaker",
+        opt,
+        [&](disLowBusCmd& c){ c.unit5CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_LVA_bowPZDeviceCircuit_Breaker(char opt){
+    return operateBreakerGeneric<disLowBusCmd, char>(
+        "LVA_bowPZDeviceCircuit_Breaker",
+        opt,
+        [&](disLowBusCmd& c){ c.bowPZDeviceCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_LVA_reservedCircuit1_Breaker(char opt){
+    return operateBreakerGeneric<disLowBusCmd, char>(
+        "LVA_reservedCircuit1_Breaker",
+        opt,
+        [&](disLowBusCmd& c){ c.reservedCircuitBreaker1 = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1; }
+    );
+}
+bool LowerCommManager::operate_LVA_reservedCircuit2_Breaker(char opt){
+    return operateBreakerGeneric<disLowBusCmd, char>(
+        "LVA_reservedCircuit2_Breaker",
+        opt,
+        [&](disLowBusCmd& c){ c.reservedCircuitBreaker2 = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2; }
+    );
+}
+bool LowerCommManager::operate_LVA_mergencyLithiumBatteryGroup1Circuit_Breaker(char opt){
+    return operateBreakerGeneric<disLowBusCmd, char>(
+        "LVA_mergencyLithiumBatteryGroup1Circuit_Breaker",
+        opt,
+        [&](disLowBusCmd& c){ c.emergencyLithiumBatteryGroup1CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker; }
+    );
+}
+
+// 仪表母线断路器操作函数
+bool LowerCommManager::operate_LV_lithiumBatteryGroupInstrumentCircuit_Breaker(char opt){
+    return operateBreakerGeneric<disLowMainBusCmd, char>(
+        "lithiumBatteryGroupInstrumentCircuitBreaker",
+        opt,
+        [&](disLowMainBusCmd& c){ c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_LV_bowLowVoltageDistributionBoxCircuit_Breaker(char opt){
+    return operateBreakerGeneric<disLowMainBusCmd, char>(
+        "bowLowVoltageDistributionBoxCircuitBreaker",
+        opt,
+        [&](disLowMainBusCmd& c){ c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_LV_unit4Dc48V_Breaker(char opt){
+    return operateBreakerGeneric<disLowMainBusCmd, char>(
+        "unit4InstrumentDC48VCircuitBreaker",
+        opt,
+        [&](disLowMainBusCmd& c){ c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_LV_dcC1Panel_Breaker(char opt){
+    return operateBreakerGeneric<disLowMainBusCmd, char>(
+        "dcC1DCDistributionPanelCircuitBreaker",
+        opt,
+        [&](disLowMainBusCmd& c){ c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker; }
+    );
+}
+bool LowerCommManager::operate_LV_reservedCircuit1_Breaker(char opt){
+    return operateBreakerGeneric<disLowMainBusCmd, char>(
+        "reservedCircuitBreaker1",
+        opt,
+        [&](disLowMainBusCmd& c){ c.reservedCircuitBreaker1 = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1; }
+    );
+}
+bool LowerCommManager::operate_LV_reservedCircuit2_Breaker(char opt){
+    return operateBreakerGeneric<disLowMainBusCmd, char>(
+        "reservedCircuitBreaker2",
+        opt,
+        [&](disLowMainBusCmd& c){ c.reservedCircuitBreaker2 = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2; }
+    );
+}
+bool LowerCommManager::operate_LV_mergencyLithiumBatteryGroup2Circuit_Breaker(char opt){
+    return operateBreakerGeneric<disLowMainBusCmd, char>(
+        "emergencyLithiumBatteryGroup2CircuitBreaker",
+        opt,
+        [&](disLowMainBusCmd& c){ c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(opt); },
+        [&](){ return m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker; }
+    );
+}
+
+// 通用模板
+template<typename CmdT, typename StateT>
+bool LowerCommManager::operateBreakerGeneric(
+    char const* name,
+    char opt,
+    std::function<void(CmdT&)>      fillCmd,    // 填 cmd 对应字段
+    std::function<StateT()>         readState   // 读 pmCurrentState 对应字段
+) {
+    CmdT cmd{};                           // 默认全零
+    double t0 = MOOSTime();
+    bool ok = false;
+    LOG_F(INFO, "operate %s: opt=%d", name, opt);
+
+    // 第一次发包
+    fillCmd(cmd);
+    m_udpComm->sendDisSysCmd(cmd);
+    MOOSPause(100);
+    while ( !ok ) {
+        StateT cur;
+        {
+            std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+            cur = readState();
+        }
+        if( cur == getBreakerOption(opt) )
+        {
+            ok = true;
+            break;
+        }
+        if (!m_udpComm->sendDisSysCmd(cmd)) {
+            LOG_F(ERROR, "operate %s: sendDisSysCmd failed", name);
+            ok =  false;
+            break;
+        }
+        if (MOOSTime() > t0 + 6) {
+            LOG_F(ERROR, "operate %s: timeout", name);
+            ok =  false;
+            break;
+        }
+        MOOSPause(200);
+    }
+    //继电器复位
+    CmdT clr{}; 
+    for (int i = 0; i < 3; ++i) 
+    {
+        m_udpComm->sendDisSysCmd(clr);
+        MOOSPause(200);
+    }
+    return ok;
+}

src/pPowerManger/LowerCommManager.h

@@ -0,0 +1,134 @@
+#ifndef LOWER_COMM_MANAGER_H
+#define LOWER_COMM_MANAGER_H
+#define UNIX
+
+#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
+#include "MOOS/libMOOS/Utils/MOOSThread.h"
+#include "MOOS/libMOOS/Utils/MOOSLock.h"
+#include "../udpcomm/ccuUdpMsg.h"
+#include "pmSysvariable.h"
+#include <queue>
+#include <map>
+#include <functional>
+#include <atomic>
+#include <vector>
+#include "udpcomm/udpComm.h"
+#include <functional>
+
+class PowerManger; // 前向声明
+class ICommLogger;
+
+class LowerCommManager {
+public:
+    LowerCommManager(PowerManger* pm, long myPort, long ccuPort, const std::string& cccHost);
+    ~LowerCommManager();
+
+    //processPeriodicTasks
+    void processPeriodicTasks();
+    //clearMsgQueue
+    void clearMsgQueue();
+    
+public:
+    // 初始化UDP通信
+    bool initUdpComm();
+
+    // 设置 CCU 地址（moos 配置读取后调用；须在监听/发送线程启动前调用）
+    void setCcuAddress(const std::string& host, long port);
+
+    // 设置原始帧日志回调（转发给 udpComm，可为空）
+    void setCommLogger(ICommLogger* logger);
+
+    // 更新设备状态
+    bool updatePoweSystemStates();
+    //================================断路器操作函数=======================================
+    template<typename CmdT, typename StateT>
+    bool operateBreakerGeneric(
+        char const* name,
+        char opt,
+        std::function<void(CmdT&)>      fillCmd,    // 填 cmd 对应字段
+        std::function<StateT()>         readState   // 读 pmCurrentState 对应字段
+    );
+    // 高电压母线
+    bool operate_HV_fuelCellCircuit_Breaker(char opt);  
+    bool operate_HV_powerLithiumBattery_Breaker(char opt);
+    bool operate_HV_propulsionMotor_Breaker(char opt);  
+    bool operate_HV_lithiumBatteryMeter_Breaker(char opt);
+    bool operate_HV_dcDc5Module_Breaker(char opt);
+    bool operate_HV_bowHighVoltageBox_Breaker(char opt);
+    bool operate_HV_sternFt45_Breaker(char opt);
+    bool operate_HV_sternRudder1_Breaker(char opt);
+    bool operate_HV_sternRudder2_Breaker(char opt);
+    bool operate_HV_fbReserved_Breaker(char opt);
+    bool operate_HV_tyzReserved_Breaker(char opt);
+    bool operate_HV_reserved_Breaker(char opt);
+    bool operate_HV_dcDc5_Breaker(char opt);
+    bool operate_HV_coolingSystem_Breaker(char opt);
+    // 高压汇流排
+    bool operate_HVA_bowFTDevice123Circuit_Breaker(char opt);
+    bool operate_HVA_actuatorCircuit_Breaker(char opt);
+    bool operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(char opt);
+    bool operate_HVA_xczCircuit_Breaker(char opt);
+    bool operate_HVA_bowRudderControlBoxCircuit_Breaker(char opt);
+    bool operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(char opt);
+    // 仪表母线
+    bool operate_LV_lithiumBatteryGroupInstrumentCircuit_Breaker(char opt);
+    bool operate_LV_bowLowVoltageDistributionBoxCircuit_Breaker(char opt);
+    bool operate_LV_unit4Dc48V_Breaker(char opt);
+    bool operate_LV_dcC1Panel_Breaker(char opt);
+    bool operate_LV_reservedCircuit1_Breaker(char opt);
+    bool operate_LV_reservedCircuit2_Breaker(char opt);
+    bool operate_LV_mergencyLithiumBatteryGroup2Circuit_Breaker(char opt);
+    // 仪表汇流排
+    bool operate_LVA_unit1Circuit_Breaker(char opt);
+    bool operate_LVA_unit2Circuit_Breaker(char opt);
+    bool operate_LVA_unit3Circuit_Breaker(char opt);
+    bool operate_LVA_unit5Circuit_Breaker(char opt);
+    bool operate_LVA_bowPZDeviceCircuit_Breaker(char opt);
+    bool operate_LVA_reservedCircuit1_Breaker(char opt);
+    bool operate_LVA_reservedCircuit2_Breaker(char opt);
+    bool operate_LVA_mergencyLithiumBatteryGroup1Circuit_Breaker(char opt);
+
+    //保持指令
+    void operate_hold();
+    //================================复合管控器操作函数====================================
+    // 发送CCU控制命令
+    bool sendCcuCommand(const ccuColCmd cmd);
+    bool sendDisSysCommand(const disSysBreakerList& cmd); //已废弃，不同时操作多个继电器设备
+        
+    // 启动/停止监听线程
+    void startListenThread();
+    void stopListenThread();
+
+    //转换函数
+    char getBreakerOption(char cmd);
+
+    // 配电和CCU的反馈状态
+    msg_CcuStateFbMsg       m_CcuCurrentState;
+    msg_disHighVolBusFbMsg  m_disHighVolBusCurrentState;
+    msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
+    msg_disLowMainBusFbMsg  m_disHighBVolBusCurrentState;
+    msg_disLowBusFbMsg      m_disLowBusState;
+    // 配电和CCU的反馈状态时间戳
+    double msg_CcuStateFbMsg_Update_time;
+    // double msg_CcuSetParmFbMsg_Update_time;
+    double msg_disHighVolBusFbMsg_Update_time;
+    double msg_disHighAVolBusFbMsg_Update_time;
+    double msg_disHighBVolBusFbMsg_Update_time;
+    double msg_disLowBusFbMsg_Update_time;
+public:
+    long m_port;
+    long m_ccuPort;
+    std::string m_ccuHost;
+    std::string m_host;
+
+    PowerManger* m_pm;
+    udpComm* m_udpComm;
+
+    CMOOSThread m_ListenThread;
+    int m_connectState;
+    
+    // UDP监听线程函数
+    bool listenThreadFunc();
+};
+
+#endif // LOWER_COMM_MANAGER_H

src/pPowerManger/PowerManger.cpp

@@ -0,0 +1,481 @@
+/************************************************************/
+/*    NAME:                                               */
+/*    ORGN: MIT, Cambridge MA                               */
+/*    FILE: PowerManger.cpp                                        */
+/*    DATE: December 29th, 1963                             */
+/************************************************************/
+
+#include <iterator>
+#include "MBUtils.h"
+#include "ACTable.h"
+#include "PowerManger.h"
+#include "logc/loguru.hpp"
+#include <memory>
+
+using namespace std;
+
+
+bool _FsmCB(void * pParam)
+{
+    PowerManger* pMe = (PowerManger* )pParam;
+    return pMe->FsmLoop();
+}
+
+bool _CommCB(void * pParam)
+{
+    PowerManger* pMe = (PowerManger* )pParam;
+    return pMe->commLoop();
+}
+
+//---------------------------------------------------------
+// Constructor()
+
+PowerManger::PowerManger()
+{
+  workCondition = 0;
+  currentMod = 0;
+  powerState = 0;
+  faultLevel = 0;
+  soc = 0;
+  sustainableTime = 0;
+  m_faultNum = 0;
+  m_ticker = 0;
+  m_leakage = 0;
+  m_thrustRpm = 0;
+  m_thrustEnable = 0;
+  m_insData = {};
+  faultCode.clear();
+
+  m_skew = 10;
+
+  // CCU 地址默认值，可在 moos 文件中用 ccuhost/ccuport 覆盖
+  m_ccuHost = CCUHOST;
+  m_ccuPort = CCUPORT;
+
+  m_pmCurrentState = {};
+  m_currentDisBreakerState = {};
+  m_targetDisBreakerState = {};
+  m_currentDriverState = {};
+  m_MSDriverCmd = {};
+  m_subDisSysCmd = {};
+  m_subDisSysState = {};
+  m_subDisSysFault = {};
+
+  //初始化系统数据
+  m_systemData = new SystemData();
+
+  //初始化控制指令
+  initControlCmd();
+
+  //初始化下位机通信
+  m_lowerCommManager = new LowerCommManager(this,IPORT,m_ccuPort,m_ccuHost);
+  m_lowerCommManager->initUdpComm();
+
+  //初始化上位机通信
+  m_upperCommManager = new UpperCommManager(this);
+
+  //数据库在 OnStartUp 读取配置后初始化
+  m_db = nullptr;
+
+  //初始化http服务器
+  m_httpServer = new HttpServer(8090);
+  m_httpServer->setPowerManger(this);
+  m_httpServer->setLowerCommManager(m_lowerCommManager);
+  m_httpServer->setSystemData(m_systemData);
+  m_httpServer->start();
+}
+
+//---------------------------------------------------------
+// Destructor
+
+PowerManger::~PowerManger()
+{
+  m_commThread.Stop();
+  // 必须先停 HTTP 线程（stop() 内部 pthread_join 阻塞等待线程退出），
+  // 否则 HTTP 线程每秒仍会读取 m_systemData / m_lowerCommManager / m_upperCommManager，
+  // 导致 use-after-free。
+  delete m_httpServer;
+  delete m_lowerCommManager;  // 停止监听线程，确保其不再调用 DB
+  delete m_db;
+  delete m_upperCommManager;
+  delete m_systemData;        // 最后删除，此时无任何线程引用
+}
+
+//---------------------------------------------------------
+// Procedure: OnNewMail()
+
+bool PowerManger::OnNewMail(MOOSMSG_LIST &NewMail)
+{
+  AppCastingMOOSApp::OnNewMail(NewMail);
+
+  MOOSMSG_LIST::iterator p;
+  for(p=NewMail.begin(); p!=NewMail.end(); p++) 
+  {
+    CMOOSMsg &msg = *p;
+    string key    = msg.GetKey();
+    string strJson = msg.GetString();
+    double dfT;
+    msg.IsSkewed(m_curr_time, &dfT);
+    if(fabs(dfT) > m_skew)
+    {
+      LOG_F(INFO, "Message from %s at time %f is Skewed", msg.GetSource().c_str(), dfT);
+      return true;
+    }
+    //处理上位机发送的控制指令
+    if(!m_upperCommManager->processUpperMsg(key,strJson))
+    {
+      LOG_F(ERROR, "上位机消息处理错误: %s", key.c_str());
+    }
+    
+#if 0 // Keep these around just for template
+    string comm  = msg.GetCommunity();
+    double dval  = msg.GetDouble();
+    string sval  = msg.GetString(); 
+    string msrc  = msg.GetSource();
+    double mtime = msg.GetTime();
+    bool   mdbl  = msg.IsDouble();
+    bool   mstr  = msg.IsString();
+#endif
+
+     if(key == "FOO")
+       LOG_F(INFO, "Received FOO message");
+
+     else if(key != "APPCAST_REQ") // handled by AppCastingMOOSApp
+       reportRunWarning("Unhandled Mail: " + key);
+   }
+	
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: OnConnectToServer()
+
+bool PowerManger::OnConnectToServer()
+{
+   registerVariables();
+   return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: Iterate()
+//            happens AppTick times per second
+//固定为4Hz
+bool PowerManger::Iterate()
+{
+  AppCastingMOOSApp::Iterate();
+  // 触发定时任务
+  CycleTriggeredEvent cycleEvent;
+  PowerManagerFsm::dispatch(cycleEvent);
+  faultLevel = getFaultLevel();
+  m_systemData->updateCommonStatus();
+  // m_CcuColCmd.heartbeat
+  // if (m_ticker++ % 5 == 0)
+  // {
+  //   m_CcuColCmd.heartbeat++;
+  //   m_lowerCommManager->processPeriodicTasks();
+  //   m_upperCommManager->processPeriodicTasks();
+  // }
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: OnStartUp()
+//            happens before connection is open
+
+bool PowerManger::OnStartUp()
+{
+  AppCastingMOOSApp::OnStartUp();
+
+  STRING_LIST sParams;
+  m_MissionReader.EnableVerbatimQuoting(false);
+  if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
+    reportConfigWarning("No config block found for " + GetAppName());
+
+  std::string dbPath;  // 数据库路径，不配置则默认当前目录 power_data.db
+  std::string logPath; // 日志文件路径，不配置则默认当前目录 pPowerManger.log
+  std::string ccuHost; // CCU 地址，不配置则沿用默认值
+  long ccuPort = 0;    // CCU 端口，不配置则沿用默认值
+
+  STRING_LIST::iterator p;
+  for(p=sParams.begin(); p!=sParams.end(); p++) {
+    string orig  = *p;
+    string line  = *p;
+    string param = stripBlankEnds(tolower(biteStringX(line, '=')));
+    string value = stripBlankEnds(line);
+
+    bool handled = false;
+    if(param == "foo") {
+      handled = true;
+    }
+    else if(param == "bar") {
+      handled = true;
+    }
+    else if(param == "dbpath") {
+      dbPath = value;
+      handled = true;
+    }
+    else if(param == "logpath") {
+      logPath = value;
+      handled = true;
+    }
+    else if(param == "ccuhost") {
+      ccuHost = value;
+      handled = true;
+    }
+    else if(param == "ccuport") {
+      ccuPort = atoi(value.c_str());
+      handled = true;
+    }
+
+    if(!handled)
+      reportUnhandledConfigWarning(orig);
+
+  }
+
+  registerVariables();	
+
+  // 初始化日志文件：logpath 未配置则默认当前目录
+  if (logPath.empty()) logPath = "pPowerManger.log";
+  loguru::add_file(logPath.c_str(), loguru::Append, loguru::Verbosity_MAX);
+  LOG_F(INFO, "日志文件路径: %s", logPath.c_str());
+
+  // 初始化数据库：dbpath 未配置则默认当前目录
+  if (dbPath.empty()) dbPath = "power_data.db";
+  LOG_F(INFO, "数据库存储路径: %s", dbPath.c_str());
+  m_db = new SQLite(dbPath);
+  m_db->createTable();
+
+  // 应用 moos 文件中的 CCU 地址配置（在监听/通信线程启动前生效）
+  if (!ccuHost.empty()) m_ccuHost = ccuHost;
+  if (ccuPort > 0) m_ccuPort = ccuPort;
+  m_lowerCommManager->setCcuAddress(m_ccuHost, m_ccuPort);
+  LOG_F(INFO, "CCU 地址: %s:%ld", m_ccuHost.c_str(), m_ccuPort);
+
+  // 注入原始帧日志回调（RX/TX 双向落库）
+  m_lowerCommManager->setCommLogger(m_db);
+  // 数据库就绪后再启动下位机监听线程
+  m_lowerCommManager->startListenThread();
+
+  // 初始化状态机
+  PowerManagerFsm::init(this);
+  PowerManagerFsm::start();
+  InitEvent initEvent;
+  PowerManagerFsm::dispatch(initEvent);
+
+  //初始化通信线程
+  m_commThread.Initialise(_CommCB,this);
+  m_commThread.Start();
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: registerVariables()
+
+void PowerManger::registerVariables()
+{
+  AppCastingMOOSApp::RegisterVariables();
+  // Register(DB_TO_PM_SUBDISSTATE, 0);
+
+  Register(DB_TO_PM_MSCMD, 0);
+  Register(DB_TO_PM_EQUIPMENTCMD, 0);
+  Register(m_upperCommManager->m_secdistStateMsg.key_fb,0);
+  Register(DB_TO_PM_MISSION,0);
+  Register(DB_TO_PM_DEEPTH,0);
+  Register(DB_TO_PM_INSDATA,0);
+  Register(DB_TO_PM_SETOPCONDITION,0);
+  Register(DB_TO_PM_SETOPMODE,0);
+  Register(DB_TO_PM_SETPMSYS,0);
+  Register(DB_TO_PM_SETDEVSWITCH,0);
+  Register(DB_TO_PM_TASKSTOP,0);
+
+  Register(uDetect_xcVoltage_cmd::key,0);
+  Register(uDetect_zdpVoltage_cmd::key,0);
+  Register(uDevice_thruster_st::key,0);
+  // Register(uExternComm_setThrustSpeed_cmd::key,0);
+}
+
+
+//------------------------------------------------------------
+// Procedure: buildReport()
+
+bool PowerManger::buildReport() 
+{
+  m_msgs << "============================================" << endl;
+  m_msgs << "File:                                       " << endl;
+  m_msgs << "============================================" << endl;
+
+  ACTable actab(4);
+  actab << "Alpha | Bravo | Charlie | Delta";
+  actab.addHeaderLines();
+  actab << "one" << "two" << "three" << "four";
+  m_msgs << actab.getFormattedString();
+
+  return(true);
+}
+
+
+
+bool PowerManger::FsmLoop()
+{
+  return true;
+}
+
+int PowerManger::checkError()
+{
+  //TODO：更新协议
+  //1.检查复合管控器状态
+  // if(m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
+  // m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
+  // m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
+  // m_pmCurrentState.ccustate.fcuGZ_2L != 0 ||
+  // m_pmCurrentState.ccustate.fcuGZ_3H != 0 ||
+  // m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
+  // m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
+  return 0;
+}
+
+void PowerManger::printState(const std::string& stateName, const std::string& desp){
+  if (desp.find("故障") != string::npos) {
+    LOG_F(ERROR, "STATE %s -> %s", stateName.c_str(), desp.c_str());
+  } else {
+    LOG_F(INFO, "STATE %s -> %s", stateName.c_str(), desp.c_str());
+  }
+}
+
+
+void PowerManger::initControlCmd()
+{
+  //================初始化配电指令=============================
+  m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker = 0;
+  m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker = 1; //动力锂电池默认接入
+  m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker = 0; 
+  m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1; //仪表锂电池默认接入
+  m_targetDisBreakerState.bus1Breaker.dcDc5ModuleCircuitBreaker = 1; //DC-DC模块默认接入
+  m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker = 1; //艏部高压母线断路器默认接入
+  m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker = 0; // sternFTDevice45CircuitBreaker默认接入
+  m_targetDisBreakerState.bus1Breaker.sternRudderSwitch1CircuitBreaker = 0; 
+  m_targetDisBreakerState.bus1Breaker.sternRudderSwitch2CircuitBreaker = 0; 
+  m_targetDisBreakerState.bus1Breaker.fbReservedCircuitBreaker = 0; 
+  m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker = 0; 
+  m_targetDisBreakerState.bus1Breaker.reservedCircuitBreaker = 0;
+
+  m_targetDisBreakerState.bus2Breaker.bowFTDevice123CircuitBreaker = 0;
+  m_targetDisBreakerState.bus2Breaker.actuatorCircuitBreaker = 0;
+  m_targetDisBreakerState.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker = 0;
+  m_targetDisBreakerState.bus2Breaker.xczCircuitBreaker = 0;
+  m_targetDisBreakerState.bus2Breaker.bowRudderControlBoxCircuitBreaker = 0;
+  m_targetDisBreakerState.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker = 0;
+  //锂电池默认接入
+  m_targetDisBreakerState.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1;
+  m_targetDisBreakerState.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker = 1;
+  m_targetDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker = 1;
+  m_targetDisBreakerState.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker = 1;
+  m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker1 = 0;
+  m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker2 = 0;
+  m_targetDisBreakerState.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker = 1;
+
+  m_targetDisBreakerState.bus4Breaker.unit1CircuitBreaker = 1;
+  m_targetDisBreakerState.bus4Breaker.unit2CircuitBreaker = 1;
+  m_targetDisBreakerState.bus4Breaker.unit3CircuitBreaker = 1;
+  m_targetDisBreakerState.bus4Breaker.unit5CircuitBreaker = 1;
+  m_targetDisBreakerState.bus4Breaker.bowPZDeviceCircuitBreaker = 1;
+  m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker1 = 0;
+  m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker2 = 0;
+  m_targetDisBreakerState.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker = 1; //紧急锂电池默认接入
+  //================初始化复合管控=============================
+  m_CcuColCmd.fcmode = 0x00; //默认无效
+  m_CcuColCmd.fcuCmd = 0x00; //无效指令
+  m_CcuColCmd.fcuPowerEfficiency = 0; //输出功率指令，0~250，分辨率0.1kW
+  m_CcuColCmd.pitchData1 = 0; //纵倾姿态数据1（int16，分辨率0.1°；0824协议：姿态数据2已删除）
+  m_CcuColCmd.rollData1 = 0; //横倾姿态数据1
+  m_CcuColCmd.emergencyAllow = 0; //应急允许
+  m_CcuColCmd.depth = 0; //潜深深度
+  m_CcuColCmd.supplyExhaustCmd = 0x00; //补给/排放指令
+  m_CcuColCmd.reservedCmd5 = 0; //预留指令5
+  m_CcuColCmd.reservedCmd6 = 0; //预留指令6
+  m_CcuColCmd.insBatCmd = 0x00; //无效指令
+  m_CcuColCmd.powerBatCmd = 0x00; //无效指令
+  m_CcuColCmd.powerBatEfficiency = 0; //动力锂电池功率配置值
+  m_CcuColCmd.heartbeat = 0;
+  m_CcuColCmd.masterState = 0xAA;//主站状态,运行中
+  //================初始化上位机指令=========================
+  m_msCmd.modCMD = 99;
+  m_msCmd.powerCMD = 99;
+  m_msCmd.workCMD = 99;
+  //================初始化设备驱动指令========================
+
+}
+
+void PowerManger::addFaultCode(unsigned int code)
+{
+    std::lock_guard<std::mutex> lock(m_stateMutex);
+    faultCode.push_back(code);
+}
+
+void PowerManger::clearFaultCodes()
+{
+    std::lock_guard<std::mutex> lock(m_stateMutex);
+    faultCode.clear();
+}
+
+std::vector<unsigned int> PowerManger::getFaultCodes() const
+{
+    std::lock_guard<std::mutex> lock(m_stateMutex);
+    return faultCode;
+}
+
+unsigned char PowerManger::getFaultLevel()
+{
+    unsigned char maxLevel = 0;
+    for (auto code : getFaultCodes()) {
+        // 提取0xabcd中的b位 (右移8位后取低4位)
+        unsigned char level = (code >> 8) & 0xF;
+        if (level > maxLevel) {
+            maxLevel = level;
+        }
+    }
+    return maxLevel;
+}
+
+bool PowerManger::commLoop()
+{
+    while(!m_commThread.IsQuitRequested())
+    {
+        {
+            std::lock_guard<std::mutex> lock(m_stateMutex);
+            m_CcuColCmd.heartbeat++;
+        }
+        m_lowerCommManager->processPeriodicTasks();
+        m_upperCommManager->processPeriodicTasks();
+        // 延时1秒
+        usleep(1000000);
+    }
+    return true;
+}
+
+void PowerManger::injectFault(unsigned type,unsigned int faultCode){
+  LOG_F(INFO, "注入故障: %d %d", type, faultCode);
+  TestEvent testEvent("故障注入测试",type,faultCode);
+  PowerManagerFsm::dispatch(testEvent);
+}
+
+
+void PowerManger::pushDeviceCommand(DeviceSwitchCmd cmd) {
+    std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
+    m_deviceCmdQuenue.push(cmd);
+}
+
+bool PowerManger::popDeviceCommand(DeviceSwitchCmd &cmd) {
+    std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
+    if(m_deviceCmdQuenue.empty()) {
+        return false;
+    }
+    cmd = m_deviceCmdQuenue.front();
+    m_deviceCmdQuenue.pop();
+    return true;
+}
+
+bool PowerManger::isDeviceCmdEmpty() const {
+    std::lock_guard<std::mutex> lock(m_deviceCmdMutex);
+    return m_deviceCmdQuenue.empty();
+}

src/pPowerManger/PowerManger.h

@@ -0,0 +1,176 @@
+/*
+ * @Author: zhaojingkui 1553836110@qq.com
+ * @Date: 2024-10-22 16:47:01
+ * @LastEditors: zhaojingkui 1553836110@qq.com
+ * @LastEditTime: 2024-10-22 18:03:29
+ * @FilePath: /H100PowerManger/src/pPowerManger/PowerManger.h
+ * @Description:
+ * 
+ * Copyright (c) 2024 by ${git_name_email}, All Rights Reserved. 
+ */
+/************************************************************  /
+/*    NAME:                                                   */
+/*    ORGN: MIT, Cambridge MA                                 */
+/*    FILE: PowerManger.h                                     */
+/*    DATE: December 29th, 1963                               */
+/************************************************************/
+
+#ifndef PowerManger_HEADER
+#define PowerManger_HEADER
+#define UNIX
+#define JSON_USE_EXCEPTION 1
+
+#include <queue>
+#include "logc/loguru.hpp"
+#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include "MOOS/libMOOS/Utils/MOOSThread.h"
+#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
+#include "MOOS/libMOOS/Utils/ConsoleColours.h"
+#include "../udpcomm/ccuUdpMsg.h"
+#include "json/json.h"
+#include "udpcomm/udpComm.h"
+#include "pmSysvariable.h"
+#include "fsm/PowerManagerFsm.hpp"
+#include "driver.h"
+#include "LowerCommManager.h"
+#include "UpperCommManager.h"
+#include "sqlit3/SQLite.h"
+#include "systemData.h"
+#include "httpserver/httpserver.h"
+#include "faultCode.h"
+#define IPORT 5001
+#define CCUPORT 7000
+// #define CCUHOST "192.168.0.140"
+// pCCU 与本程序同机部署时用回环地址；127.0.0.0 是网络号，内核不路由
+// 默认值，可在 moos 文件中用 ccuhost/ccuport 覆盖
+#define CCUHOST "127.0.0.1"
+#define MAX_UDP_PKT_SIZE 65535
+#define SKEW_TOLERANCE 5
+
+class PowerManger : public AppCastingMOOSApp
+{
+ public:
+   PowerManger();
+   ~PowerManger();
+ public:
+   bool FsmLoop();
+
+ protected: // Standard MOOSApp functions to overload  
+   bool OnNewMail(MOOSMSG_LIST &NewMail);
+   bool Iterate();
+   bool OnConnectToServer();
+   bool OnStartUp();
+   bool buildReport();
+   void registerVariables();
+
+  public: 
+  void updateTime(){m_current_time = MOOSTime();}
+  unsigned char getFaultLevel();
+  //数据库
+  SQLite* m_db;
+  //http
+  HttpServer* m_httpServer;
+  //系统数据
+  SystemData* m_systemData;
+  /************************************************************/
+  /*       |<------------FEEDBACK--------<--                  */
+  /*       |                               |                  */
+  /*  IN-->+-------[STATE CONTROL]---------+--->OUT           */
+  /*                                                          */
+  /************************************************************/  
+  public:
+  //===========================IN============================================
+  DriverTable m_MSDriverCmd;
+  MSControlCmd m_msCmd;
+  //===========================OUT===========================================
+  DriverTable m_subDisSysCmd;
+  ccuColCmd m_CcuColCmd;
+  disSysBreakerList m_targetDisBreakerState;
+  //===========================FEEDBACK======================================
+  pmState m_pmCurrentState; //能源系统的当前状态(由下位机线程修改)
+  disSysBreakerList m_currentDisBreakerState; //配电断路器状态
+  // 跨线程共享状态保护：m_pmCurrentState / m_currentDisBreakerState / m_CcuColCmd / faultCode
+  // 纪律：绝不与 SystemData::m_dataMutex 同时持有（持锁期间不调用 updateSystemData/pushSystemData）
+  mutable std::mutex m_stateMutex;
+  void addFaultCode(unsigned int code);
+  void clearFaultCodes();
+  std::vector<unsigned int> getFaultCodes() const;
+  DriverTable m_currentDriverState;
+  DriverTable m_subDisSysState;
+  DriverTable m_subDisSysFault;
+  int m_depth;
+  InsDataState m_insData;
+  MissionState m_missionState;
+  //===========================STATE=========================================
+  unsigned char workCondition;
+  unsigned char currentMod;
+  unsigned char powerState;
+  unsigned char faultLevel;
+  vector<unsigned int> faultCode;
+
+  unsigned int soc;
+  unsigned int sustainableTime;
+  unsigned int  m_faultNum;
+  Driver m_driver; //设备表处理
+  unsigned char m_leakage;
+  std::set<unsigned int> m_faultCodes;
+  int m_thrustRpm;
+  int m_thrustEnable;
+  // std::set<unsigned int> m_disSysFaultCodes;
+  //============================Device Option================================
+  std::queue<DeviceSwitchCmd> m_deviceCmdQuenue;
+  mutable std::mutex m_deviceCmdMutex;
+  void pushDeviceCommand(DeviceSwitchCmd cmd);
+  bool popDeviceCommand(DeviceSwitchCmd &cmd);
+  bool isDeviceCmdEmpty() const;
+  //===========================CONFIG========================================
+  long          m_lPort;
+  std::string   m_ccuHost;   // CCU 地址，moos 配置项 ccuhost
+  long          m_ccuPort;   // CCU 端口，moos 配置项 ccuport
+  unsigned int  m_nReceiveBufferSizeKB;
+  unsigned int  m_nSendBufferSizeKB;
+  double        m_current_time; 
+  unsigned int  m_ticker;
+  double m_skew;
+  int  connectState;
+  //=============================过程函数======================================
+  void initControlCmd();
+  
+  public:
+   CMOOSThread   m_commThread;
+   LowerCommManager* m_lowerCommManager;
+   UpperCommManager* m_upperCommManager;
+    
+  //  PowerManagerFsm m_fsm;
+ 
+  public:
+  //===========================状态机接口=======================================
+  void printState(const std::string& stateName, const std::string& desp);
+  bool FSM_RUN_IS_OK = true;
+
+  //==================================================================================
+   bool commLoop();
+   int checkError();
+   
+   bool sendNotification(const std::string& key, const std::string& value) {
+       return Notify(key, value);
+   }
+   bool sendNotification(const std::string& key, double value) {
+       return Notify(key, value);
+   }
+   public:
+       double GetPublicAppFreq() { return GetAppFreq(); }
+       unsigned int GetPublicCommsFreq() { return GetCommsFreq(); }
+       double GetPublicAppStartTime() { return GetAppStartTime(); }
+       double GetPublicCPULoad() { return GetCPULoad(); }
+       double GetPublicTimeSinceIterate() { return GetTimeSinceIterate(); }
+       double GetPublicLastIterateTime() { return GetLastIterateTime(); }
+       int GetPublicIterateCount() { return GetIterateCount(); }
+       string GetServerHost() { return m_sServerHost; }
+       int GetServerPort() { return m_lServerPort; }       
+   public:
+   //故障注入
+   void injectFault(unsigned type,unsigned int faultCode);
+};
+
+#endif

src/pPowerManger/PowerManger_Info.cpp

@@ -0,0 +1,115 @@
+/****************************************************************/
+/*   NAME:                                              */
+/*   ORGN: MIT, Cambridge MA                                    */
+/*   FILE: PowerManger_Info.cpp                               */
+/*   DATE: December 29th, 1963                                  */
+/****************************************************************/
+
+#include <cstdlib>
+#include <iostream>
+#include "PowerManger_Info.h"
+#include "ColorParse.h"
+#include "ReleaseInfo.h"
+
+using namespace std;
+
+//----------------------------------------------------------------
+// Procedure: showSynopsis
+
+void showSynopsis()
+{
+  blk("SYNOPSIS:                                                       ");
+  blk("------------------------------------                            ");
+  blk("  The pPowerManger application is used for               ");
+  blk("                                                                ");
+  blk("                                                                ");
+  blk("                                                                ");
+  blk("                                                                ");
+}
+
+//----------------------------------------------------------------
+// Procedure: showHelpAndExit
+
+void showHelpAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("Usage: pPowerManger file.moos [OPTIONS]                   ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("Options:                                                        ");
+  mag("  --alias","=<ProcessName>                                      ");
+  blk("      Launch pPowerManger with the given process name         ");
+  blk("      rather than pPowerManger.                           ");
+  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 pPowerManger.        ");
+  blk("                                                                ");
+  blk("Note: If argv[2] does not otherwise match a known option,       ");
+  blk("      then it will be interpreted as a run alias. This is       ");
+  blk("      to support pAntler launching conventions.                 ");
+  blk("                                                                ");
+  exit(0);
+}
+
+//----------------------------------------------------------------
+// Procedure: showExampleConfigAndExit
+
+void showExampleConfigAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pPowerManger Example MOOS Configuration                   ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  blk("ProcessConfig = pPowerManger                              ");
+  blk("{                                                               ");
+  blk("  AppTick   = 4                                                 ");
+  blk("  CommsTick = 4                                                 ");
+  blk("                                                                ");
+  blk("}                                                               ");
+  blk("                                                                ");
+  exit(0);
+}
+
+
+//----------------------------------------------------------------
+// Procedure: showInterfaceAndExit
+
+void showInterfaceAndExit()
+{
+  blk("                                                                ");
+  blu("=============================================================== ");
+  blu("pPowerManger INTERFACE                                    ");
+  blu("=============================================================== ");
+  blk("                                                                ");
+  showSynopsis();
+  blk("                                                                ");
+  blk("SUBSCRIPTIONS:                                                  ");
+  blk("------------------------------------                            ");
+  blk("  NODE_MESSAGE = src_node=alpha,dest_node=bravo,var_name=FOO,   ");
+  blk("                 string_val=BAR                                 ");
+  blk("                                                                ");
+  blk("PUBLICATIONS:                                                   ");
+  blk("------------------------------------                            ");
+  blk("  Publications are determined by the node message content.      ");
+  blk("                                                                ");
+  exit(0);
+}
+
+//----------------------------------------------------------------
+// Procedure: showReleaseInfoAndExit
+
+void showReleaseInfoAndExit()
+{
+  showReleaseInfo("pPowerManger", "gpl");
+  exit(0);
+}
+

src/pPowerManger/PowerManger_Info.h

@@ -0,0 +1,18 @@
+/****************************************************************/
+/*   NAME:                                              */
+/*   ORGN: MIT, Cambridge MA                                    */
+/*   FILE: PowerManger_Info.h                                      */
+/*   DATE: Dececmber 29th, 1963                                 */
+/****************************************************************/
+
+#ifndef PowerManger_INFO_HEADER
+#define PowerManger_INFO_HEADER
+
+void showSynopsis();
+void showHelpAndExit();
+void showExampleConfigAndExit();
+void showInterfaceAndExit();
+void showReleaseInfoAndExit();
+
+#endif
+

src/pPowerManger/UpperCommManager.cpp

@@ -0,0 +1,261 @@
+#include "UpperCommManager.h"
+#include "PowerManger.h"
+#include "driver.h"
+#include "fsm/PowerManagerFsm.hpp"
+
+UpperCommManager::UpperCommManager(PowerManger* pm) : 
+    m_pm(pm),
+    m_secdistStateMsg(),
+    m_setOpConditionMsg(),
+    m_depthMsg(),
+    m_insDataMsg(),
+    m_taskStartMsg(),
+    m_equInsStateMsg(),
+    m_equStateMsg(),
+    m_setPMSysMsg(),
+    m_disSysStateMsg(),
+    m_currentStateMsg(),
+    m_pmStateMsg(),
+    m_fcsStateMsg(),
+    m_liBatStateMsg(),
+    m_setOpModeMsg(),
+    m_taskStopMsg(),
+    m_setDevSwitchMsg(),
+    m_sysStateMsg(),
+    m_msCmd(),
+    m_driver() {
+}
+DriverTable uDevice_secdistStateMsg::fault_state = {0};
+
+bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
+    if (key == m_sysStateMsg.key)
+    {
+        #ifdef _DEBUG
+        m_sysStateMsg_st_debug = std::make_pair(key, strJson);
+        #endif
+        m_pm->m_msCmd = m_sysStateMsg.getMasterControlCmd(key, strJson);
+        MasterCommandEvent event;
+        PowerManagerFsm::dispatch(event);
+        return true;
+    }
+    // 设备状态处理
+    else if(key == m_equStateMsg.key_cmd)
+    {
+        #ifdef _DEBUG
+        m_equStateMsg_cmd_debug = std::make_pair(key, strJson);
+        #endif
+        m_pm->m_MSDriverCmd = m_equStateMsg.getEquipmentCmd(key, strJson);
+        vector<DriverCommand> devCmdExt = m_pm->m_driver.loadDriverIdFromJson(strJson);
+        if (devCmdExt.empty()) 
+        {
+            LOG_F(WARNING, "控制指令为空");
+        }
+        else {
+            for (auto& cmd : devCmdExt) {
+                DevCmdExt event(cmd.id, cmd.cmd);
+                PowerManagerFsm::dispatch(event);
+            }
+        }
+        return true;
+    }
+    // 次级配电状态处理
+    else if(key == m_secdistStateMsg.key_fb) 
+    {
+       #ifdef _DEBUG
+       m_secdistStateMsg_fb_debug = std::make_pair(key, strJson);
+       #endif
+       m_secdistStateMsg.parseMsg(strJson, m_pm->m_subDisSysState);
+       //TODO:自动更新到设备状态 调试
+       //m_pm->m_subDisSysState = m_pm->m_deviceState;
+       return true;
+    }
+    // 深度获取
+    else if(key == m_depthMsg.key)
+    {
+        #ifdef _DEBUG
+        m_depthMsg_st_debug = std::make_pair(key, strJson);
+        #endif
+        m_pm->m_depth = m_depthMsg.getDepth(key, strJson);
+        return true;
+    }
+    // 惯导姿态与深度获取
+    else if(key == m_insDataMsg.key)
+    {
+        #ifdef _DEBUG
+        m_insDataMsg_st_debug = std::make_pair(key, strJson);
+        #endif
+        m_insDataMsg.parseMsg(key, strJson, m_pm->m_insData);
+        return true;
+    }
+    else if(key == m_taskStartMsg.key) 
+    {
+        #ifdef _DEBUG
+        m_taskStartMsg_st_debug = std::make_pair(key, strJson);
+        #endif
+        m_pm->m_missionState = m_taskStartMsg.getMission(key, strJson);
+        TaskStartEvent event;
+        event.type = m_pm->m_missionState.type;
+        event.enableBowRudder = m_pm->m_missionState.enableBowRudder;
+        event.enableBuoyancyAdjustment = m_pm->m_missionState.enableBuoyancyAdjustment;
+        PowerManagerFsm::dispatch(event);
+        return true;
+    }
+    else if(key == m_setOpModeMsg.key) 
+    {
+        #ifdef _DEBUG
+        m_setOpModeMsg_st_debug = std::make_pair(key, strJson);
+        #endif
+        m_pm->m_msCmd.modCMD = m_setOpModeMsg.getSetOpMode(key, strJson);
+        MasterCommandEvent event;
+        PowerManagerFsm::dispatch(event);
+        return true;
+    } else if(key == m_setOpConditionMsg.key) 
+    {
+        #ifdef _DEBUG
+        m_setOpConditionMsg_st_debug = std::make_pair(key, strJson);
+        #endif
+        m_pm->m_msCmd.workCMD = m_setOpConditionMsg.getSetOpCondition(key, strJson);
+        MasterCommandEvent event;
+        PowerManagerFsm::dispatch(event);
+        return true;
+    } 
+    else if(key == m_setPMSysMsg.key)
+    {
+        #ifdef _DEBUG
+        m_setPMSysMsg_st_debug = std::make_pair(key, strJson);
+        #endif
+        m_pm->m_msCmd.powerCMD = m_setPMSysMsg.getSetPMSys(key, strJson);
+        MasterCommandEvent event;
+        PowerManagerFsm::dispatch(event);
+        return true;
+    }
+    else if(key == m_setDevSwitchMsg.key)
+    {
+        #ifdef _DEBUG
+        m_setDevSwitchMsg_st_debug = std::make_pair(key, strJson);
+        #endif
+        DeviceSwitchCmd cmd;
+        cmd = m_setDevSwitchMsg.getSetDevSwitch(key, strJson);
+        if (cmd.id < 0) {
+          LOG_F(WARNING, "parse device switch error:%s", strJson.c_str());
+        }
+        else 
+        {
+            DevCmdExt devCmdExt;
+            devCmdExt.id = cmd.id;
+            devCmdExt.cmd = cmd.cmd;
+            PowerManagerFsm::dispatch(devCmdExt);
+            LOG_F(INFO, "set dev switch success");
+            return true;
+        }
+    }
+    else if(key == m_taskStopMsg.key) 
+    {
+        #ifdef _DEBUG
+            m_taskStopMsg_st_debug = std::make_pair(key, strJson);
+        #endif
+        bool stop = m_taskStopMsg.getTaskStop(key, strJson);
+        if (stop) {
+            LOG_F(INFO, "task stop success");
+            return true;
+        }
+        else {
+            LOG_F(WARNING, "task stop error:%s", strJson.c_str());
+            return false;
+        }
+    }
+    else if(key == uDetect_xcVoltage_cmd::key)
+    {
+        uDetect_xcVoltage_cmd xcCmd;
+        xcCmd.xcHighVoltageAdd_int32 = 0;
+        xcCmd.xcLowVoltageAdd_int32 = 0;
+        xcCmd.fromJsonString(strJson);
+        SideSonarCmd sideSonarCmd;
+        sideSonarCmd.xcHighVoltageAdd = xcCmd.xcHighVoltageAdd_int32;
+        sideSonarCmd.xcLowVoltageAdd = xcCmd.xcLowVoltageAdd_int32;
+        PowerManagerFsm::dispatch(sideSonarCmd);
+        return true;
+    }
+    else if(key == uDetect_zdpVoltage_cmd::key)
+    {
+        uDetect_zdpVoltage_cmd zdpCmd;
+        zdpCmd.fromJsonString(strJson);
+
+        DevCmdExt devCmdExt;
+        devCmdExt.id = DeviceId::lowFreqSonar;
+        devCmdExt.cmd = zdpCmd.zdpVoltageAdd_int32;
+        PowerManagerFsm::dispatch(devCmdExt);
+        LOG_F(INFO, "set dev switch success");
+        return true;
+    } 
+    else if(key == uDevice_thruster_st::key)
+    {
+        uDevice_thruster_st thrusterSt;
+        thrusterSt.fromJsonString(strJson);
+        m_pm->m_thrustRpm = thrusterSt.rpm_int16;
+        if(thrusterSt.maxTorque_uint16 == 0)
+            m_pm->m_thrustEnable = 0;
+        else
+            m_pm->m_thrustEnable = 1;
+        return true;
+    };
+    LOG_F(WARNING, "Unknown key: %s", key.c_str());
+    return false;
+}
+
+void UpperCommManager::processPeriodicTasks() {
+    buildSystemReport();
+    std::string strJson;
+    //发送当前设备状态
+    strJson = m_equStateMsg.buildMsg(m_pm->m_currentDriverState);
+    m_pm->sendNotification(m_equStateMsg.key, strJson);
+    //发送次级配电指令 修改后的代码
+    strJson = m_secdistStateMsg.buildMsg(m_pm->m_subDisSysCmd,m_pm->m_subDisSysState, m_pm->m_subDisSysFault);
+    m_pm->sendNotification(m_secdistStateMsg.key_cmd, strJson);
+    //发送仪表电状态
+    m_pm->sendNotification(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
+    #ifdef _DEBUG
+        m_equInsStateMsg_fb_degub = std::make_pair(m_equInsStateMsg.key,m_equInsStateMsg.buildMsg(m_pm->m_subDisSysState));
+        m_secdistStateMsg_cmd_debug = std::make_pair(m_secdistStateMsg.key_cmd,strJson);
+        m_equStateMsg_fb_debug = std::make_pair(m_equStateMsg.key_cmd,m_equStateMsg.buildMsg(m_pm->m_currentDriverState));
+        strJson = m_pm->m_driver.saveDriverTableToJson(&m_pm->m_subDisSysFault);
+        m_pm->sendNotification("uPower_subDisFault_st",strJson);
+    #endif
+}
+
+void UpperCommManager::buildSystemReport() {
+  // 跨线程共享状态（listen 线程写、comm 线程读）：持锁快照，避免撕裂/竞争
+  pmState pmStateSnap{};
+  disSysBreakerList disBreakerSnap{};
+  {
+    std::lock_guard<std::mutex> lock(m_pm->m_stateMutex);
+    pmStateSnap = m_pm->m_pmCurrentState;
+    disBreakerSnap = m_pm->m_currentDisBreakerState;
+  }
+
+  m_pmStateMsg.state.workCondition = m_pm->workCondition;
+  m_pmStateMsg.state.currentMod = m_pm->currentMod;
+  m_pmStateMsg.state.powerState = m_pm->powerState;
+  m_pmStateMsg.state.faultLevel = m_pm->faultLevel;
+  m_pmStateMsg.state.faultCode = m_pm->getFaultCodes();
+//   cout << "m_pmStateMsg.state.faultCode.size():" << m_pmStateMsg.state.faultCode.size() << endl;
+  m_pmStateMsg.state.soc = m_pm->soc;
+  m_pmStateMsg.state.sustainableTime = m_pm->sustainableTime;
+//   m_pmStateMsg.state.m_leakage = m_pm->m_leakage;
+  m_pmStateMsg.state.m_leakage = m_pm->m_systemData->generateLeakageCode();
+  m_pmStateMsg.state.m_faultNum = m_pm->m_faultNum;
+
+  m_pm->sendNotification(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
+  m_pm->sendNotification(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
+  m_pm->sendNotification(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
+  m_pm->sendNotification(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData), disBreakerSnap));
+  m_pm->sendNotification(m_currentStateMsg.key, m_currentStateMsg.buildMsg(pmStateSnap));
+
+  #ifdef _DEBUG
+  m_pmStateMsg_fb_debug = std::make_pair(m_pmStateMsg.key, m_pmStateMsg.buildMsg(*(m_pm->m_systemData)));
+  m_fcsStateMsg_st_debug = std::make_pair(m_fcsStateMsg.key, m_fcsStateMsg.buildMsg(*(m_pm->m_systemData)));
+  m_liBatStateMsg_st_debug = std::make_pair(m_liBatStateMsg.key, m_liBatStateMsg.buildMsg(*(m_pm->m_systemData)));
+  m_disSysStateMsg_st_debug = std::make_pair(m_disSysStateMsg.key, m_disSysStateMsg.buildMsg(*(m_pm->m_systemData), disBreakerSnap));
+  m_currentStateMsg_st_debug = std::make_pair(m_currentStateMsg.key, m_currentStateMsg.buildMsg(pmStateSnap));
+  #endif
+}

src/pPowerManger/UpperCommManager.h

@@ -0,0 +1,122 @@
+#ifndef UPPER_COMM_MANAGER_H
+#define UPPER_COMM_MANAGER_H
+
+#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include "pmSysvariable.h"
+#include "driver.h"
+#include "json/json.h"
+#include <string>
+#include <vector>
+#include <map>
+#include "upmsg/uPower_equInsState.h"
+#include "upmsg/uDevice_secdistState.h"
+#include "upmsg/uPower_equState.h"
+#include "upmsg/uPower_disSysState.h"
+#include "upmsg/uPower_currentState_st.h"
+#include "upmsg/uPower_pmState.h"
+#include "upmsg/uPower_fcsState.h"
+#include "upmsg/uPower_liBatState.h"
+#include "upmsg/uDevice_depth.h"
+#include "upmsg/uDevice_insData.h"
+#include "upmsg/uExternComm_setOpCondition.h"
+#include "upmsg/uExternComm_setOpMode.h"
+#include "upmsg/uPlan_taskStart.h"
+#include "upmsg/uPlan_planStop.h"
+#include "upmsg/uExternComm_setDeviceSwitch.h"
+#include "upmsg/uExternComm_setPowerSystem.h"
+#include "upmsg/uPower_equState.h"
+#include "upmsg/uPower_sysState.h"
+#include "upmsg/uDetect_zdpVoltage_cmd.h"
+#include "upmsg/uDetect_xcVoltage_cmd.h"
+#include "upmsg/uDevice_thruster_st.h"
+
+#define _DEBUG
+
+using namespace std;
+#define VAR_TO_STR(var) #var
+//控制消息
+#define DB_TO_PM_MSCMD "uPower_sysState_cmd"
+#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"
+
+//决策消息
+#define DB_TO_PM_DEEPTH "uDevice_depth_st"
+#define DB_TO_PM_INSDATA "uDevice_insData_st"
+// #define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
+#define DB_TO_PM_TASKSTOP "uPlan_planStop_st"
+
+//外部通信消息
+#define DB_TO_PM_SETOPCONDITION "uExternComm_setOpCondition_cmd"
+#define DB_TO_PM_SETOPMODE "uExternComm_setOpMode_cmd"
+#define DB_TO_PM_SETPMSYS "uExternComm_setPowerSystem_cmd"
+#define DB_TO_PM_SETDEVSWITCH "uExternComm_setDeviceSwitch_cmd"
+
+class PowerManger; // 前向声明
+
+class UpperCommManager {
+public:
+    UpperCommManager(PowerManger* powerManager);
+    ~UpperCommManager(){};
+
+    // 周期调用
+    void processPeriodicTasks();
+
+    // 处理上位机消息
+    bool processUpperMsg(const std::string& key, const std::string& msg);
+    
+    // 生成系统报告
+    void buildSystemReport();
+
+public:
+    //定义上位机消息
+    uPower_equInsStateMsg m_equInsStateMsg;
+    uDevice_secdistStateMsg m_secdistStateMsg;
+    uPower_equStateMsg m_equStateMsg;
+    uPower_disSysStateMsg m_disSysStateMsg;
+    uPower_currentStateMsg m_currentStateMsg;
+    uPower_pmStateMsg m_pmStateMsg;
+    uPower_fcsStateMsg m_fcsStateMsg;
+    uPower_liBatStateMsg m_liBatStateMsg;
+
+    //上位机订阅消息
+    uDevice_depthMsg m_depthMsg;
+    uDevice_insDataMsg m_insDataMsg;
+    uExternComm_setOpConditionMsg m_setOpConditionMsg;
+    uExternComm_setOpModeMsg m_setOpModeMsg;
+    uPlan_taskStartMsg m_taskStartMsg;
+    uPlan_planStopMsg m_taskStopMsg;
+    uExternComm_setDeviceSwitchMsg m_setDevSwitchMsg;
+    uExternComm_setPowerSystemMsg m_setPMSysMsg;
+    uPower_sysStateMsg m_sysStateMsg;
+private:
+    PowerManger* m_pm;
+    MSControlCmd m_msCmd;
+    Driver m_driver;
+
+#ifdef _DEBUG
+public:
+    std::pair<string, string> m_equInsStateMsg_fb_degub;
+    std::pair<string, string> m_secdistStateMsg_cmd_debug;
+    std::pair<string, string> m_secdistStateMsg_fb_debug;
+
+    std::pair<string, string> m_equStateMsg_cmd_debug;
+    std::pair<string, string> m_equStateMsg_fb_debug;
+    std::pair<string, string> m_disSysStateMsg_st_debug;
+    std::pair<string, string> m_currentStateMsg_st_debug;
+    std::pair<string, string> m_pmStateMsg_fb_debug;
+    std::pair<string, string> m_fcsStateMsg_st_debug;
+    std::pair<string, string> m_liBatStateMsg_st_debug;
+
+    std::pair<string, string> m_depthMsg_st_debug;
+    std::pair<string, string> m_insDataMsg_st_debug;
+    std::pair<string, string> m_setOpConditionMsg_st_debug;
+    std::pair<string, string> m_setOpModeMsg_st_debug;
+    std::pair<string, string> m_taskStartMsg_st_debug;
+    std::pair<string, string> m_taskStopMsg_st_debug;
+    std::pair<string, string> m_setDevSwitchMsg_st_debug;
+    std::pair<string, string> m_setPMSysMsg_st_debug;
+    std::pair<string, string> m_sysStateMsg_st_debug;
+#endif
+    // bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson);
+};
+
+#endif // UPPER_COMM_MANAGER_H

src/pPowerManger/driver.h

@@ -0,0 +1,138 @@
+#ifndef DRIVER_H
+#define DRIVER_H
+#include <memory>
+#include "json/json.h"
+#include "iostream"
+#include <sstream>
+#include <vector>
+#include "pmSysvariable.h"
+
+#define DRIVER_POWER_OFF 0x00
+#define DRIVER_FULL_POWER_ON 0x01
+#define DRIVER_INSTRUMENT_POWER_ON 0x02
+#define DRIVER_MOTIVE_POWER_ON 0x03
+#define DRIVER_STANDBY 0x04
+
+using namespace std;
+struct DriverTable
+{
+    unsigned char depth1;
+    unsigned char depth2;
+    unsigned char depth3;
+    unsigned char overDeep1;
+    unsigned char overDeep2;
+    unsigned char ctd1;
+    unsigned char ctd2;
+    unsigned char soundVeloc;
+    unsigned char commMast;
+    unsigned char ins;
+    unsigned char ntp;
+    unsigned char inputWaterSensor1;
+    unsigned char inputWaterSensor2;
+    unsigned char inputWaterSensor3;
+    //水声设备
+    unsigned char singleBeamSonar1;
+    unsigned char singleBeamSonar2;
+    unsigned char singleBeamSonar3;
+    unsigned char singleBeamSonar4;
+    unsigned char singleBeamSonar5;
+    unsigned char singleBeamSonar6;
+    unsigned char singleBeamSonar7;
+    unsigned char singleBeamSonar8;
+    unsigned char forwardSonar;
+    unsigned char DVL;
+    unsigned char lowFreqSonar;
+    unsigned char USBL;
+    //执行机构
+    unsigned char bowWaterInet1;
+    unsigned char bowWaterInet2;
+    unsigned char bowWaterInet3;
+    unsigned char bowWaterInet4;
+    unsigned char bowWaterInet5;
+    unsigned char bowWaterInet6;
+    unsigned char bowWaterInet7;
+    unsigned char bowWaterInet8;
+    unsigned char bowRudderDeploy;
+    unsigned char bowRudderServo1;
+    unsigned char bowRudderServo2;
+    unsigned char bowCover1;
+    unsigned char bowCover2;
+    unsigned char bowCover3;
+    unsigned char bowCover4;
+    unsigned char bowCover5;
+    unsigned char bowCover6;
+    unsigned char waterInject;
+    unsigned char mastLiftingServo;
+    unsigned char buoyancyAdjust1;
+    unsigned char buoyancyAdjust2;
+    unsigned char buoyancyAdjust3;
+    unsigned char buoyancyAdjust4;
+    unsigned char buoyancyAdjust5;
+    unsigned char sternRudderServo1;
+    unsigned char sternRudderServo2;
+    unsigned char sternRudderServo3;
+    unsigned char sternRudderServo4;
+    unsigned char thruster;
+    unsigned char bowThrow;
+    unsigned char sternThrow;
+    //负载
+    unsigned char photoSensor;
+    unsigned char electSensor;
+    unsigned char launchControler;
+    unsigned char sideSonar;
+    unsigned char buoyage;
+};
+
+struct DriverCommand
+{
+    int id;
+    int cmd;
+};
+
+
+class Driver
+{
+public:
+    Driver();
+    ~Driver();
+    void setDebug(bool debug);
+
+public:
+    std::unique_ptr<DriverTable> currentDriverTable;
+    std::unique_ptr<DriverTable> nextDriverTable;
+
+    //操作函数，操作指定设备
+    void setDeviceState(DriverTable &driverTable, DeviceId::Type deviceId, unsigned char s);
+    unsigned char getDeviceState(const DriverTable &driverTable, DeviceId::Type deviceId);
+
+    void getSTANDBYTable(DriverTable* driverTable);
+    void getSHORE_BASED_READYable(DriverTable* driverTable);
+    void getWATER_BASED_READYable(DriverTable* driverTable);
+    void getCRUISE_MODEable(DriverTable* driverTable);
+    void getHIGH_SPEED_MODEable(DriverTable* driverTable);
+    void getASCEND_DESCENDable(DriverTable* driverTable);
+    void getBUOYANCY_ADJUSTable(DriverTable* driverTable);
+    void getUNDERWATER_RECONable(DriverTable* driverTable);
+    void getSURFACE_RECONable(DriverTable* driverTable);
+    void getDJ_MODEable(DriverTable* driverTable);
+
+    // void setDriverTable(DriverTable* driverTable, );
+   
+    std::string getDriverTableJson();
+    std::string getSubDisCmdJson(const DriverTable* driverTable);
+    std::string getDriveStateJson(const DriverTable* driverTable);
+    
+    std::string saveDriverTableToJson(const DriverTable* driverTable);
+    int loadDriverTableFromJson(const std::string &strJson, DriverTable& table);
+    vector<DriverCommand> loadDriverIdFromJson(const std::string &strJson);
+
+    int SafeReadUInt(const Json::Value& root, const std::string& key, unsigned char& value);
+    
+private:
+
+    bool debug;
+};
+
+
+
+#endif // DRIVER_H

src/pPowerManger/faultCode.h

@@ -0,0 +1,125 @@
+#ifndef FAULTCODE_H
+#define FAULTCODE_H
+
+/**
+ * @file faultCode.h
+ * @brief 锂电池故障码定义及映射表
+ */
+
+// 故障码映射表
+typedef struct {
+    int id;         // 序号
+    int level;      // 故障级别 
+    const uint8_t code; // 16进制故障码
+    const char* desc; // 报警信息
+} FaultMap;
+
+static const FaultMap batfaultMap[] = {
+    //四级故障
+    {1, 4, 0xC1, "MBMS绝缘故障"},
+    {2, 4, 0xC2, "温度过高"},
+    {3, 4, 0xC3, "MBMS预充失败"}, 
+    {4, 4, 0xC4, "MBMS正主极继电器失效"},
+    {5, 4, 0xC5, "MBMS负主极继电器失效"},
+    {6, 4, 0xC6, "MBMS燃电充电正极继电器正极失效[仪器]"},
+    {7, 4, 0xC7, "母线高压回路异常"},
+    {8, 4, 0xC9, "MBMS电压测量异常"},
+    {9, 4, 0xCA, "MBMS电流测量异常"},
+    //三级故障
+    {10, 3, 0x81, "MBMS绝缘故障3级"},
+    {11, 3, 0x82, "温度过高3级"},
+    {12, 3, 0x83, "温度过低3级"},
+    {13, 3, 0x84, "MBMS总放电超功率3级"},
+    {14, 3, 0x85, "MBMS总充电电流过大3级"},
+    //二级故障
+    {15, 1, 0x31, "BMS均衡模块故障2级"},
+    {16, 2, 0x41, "MBMS绝缘故障2级"},
+    {17, 2, 0x42, "MBMS总放电超功率2级"},
+    {18, 2, 0x43, "电池包放电超功率2级"},
+    {19, 2, 0x44, "MBMS总放电过流2级"},
+    {20, 2, 0x45, "单包异常剔除2级"},
+    {21, 2, 0x46, "单包没有电流2级"},
+    {22, 2, 0x47, "自检有重复ID号2级"},
+    {23, 2, 0x48, "电池包接入失败2级"},
+    {24, 2, 0x49, "电池包充电电流过大2级"},
+    {25, 2, 0x51, "电池包绝缘故障2级"},
+    {26, 2, 0x52, "电池包温度过高2级"},
+    {27, 2, 0x53, "电池包温度过低2级"},
+    {28, 2, 0x54, "电池包单体电压不均衡2级"},
+    {29, 2, 0x55, "电池包单体温度不均衡2级"},
+    {30, 2, 0x56, "电池包过流2级"},
+    {31, 2, 0x57, "电池包充电电流过大2级"},
+    {32, 2, 0x58, "电池包单体电压过高2级"},
+    {33, 2, 0x59, "电池包单体电压过低2级"},
+    {34, 2, 0x5A, "电池包总电压过高2级"},
+    {35, 2, 0x5B, "电池包总电压过低2级"},
+    {36, 2, 0x5C, "电池包内部通讯故障2级"},
+    {37, 2, 0x5D, "电池包初始化故障2级"},
+    {38, 2, 0x62, "电池包高压回路连接异常2级"},
+    {39, 2, 0x65, "电池包烟雾报警2级"},
+    {40, 2, 0x72, "MBMS在线燃电充电超温2级"},
+    //一级故障
+    {41, 1, 0x01, "MBMS绝缘故障1级"},
+    {42, 1, 0x02, "MBMS总放电超功率1级"},
+    {43, 1, 0x11, "电池包绝缘故障1级"},
+    {44, 1, 0x12, "电池包最高温度过高1级"},
+    {45, 1, 0x13, "电池包最低温度过低1级"},
+    {46, 1, 0x14, "电池包单体电压不均衡1级"},
+    {47, 1, 0x15, "电池包单体温度不均衡1级"},
+    {48, 1, 0x16, "电池包放电过流1级"},
+    {49, 1, 0x17, "电池包充电电流过大1级"},
+    {50, 1, 0x18, "电池包单体电压过高1级"},
+    {51, 1, 0x19, "电池包单体电压过低1级"},
+    {52, 1, 0x1A, "电池包总电压过高1级"},
+    {53, 1, 0x1B, "电池包总电压过低1级"},
+    {54, 1, 0x1D, "电池包烟雾报警1级"},
+};
+
+static const FaultMap disfaultMap[] = {
+    {1, 3, 1, "燃料电池断路器故障脱扣"},
+    {2, 4, 2, "动力锂电池断路器故障脱扣"},
+    {3, 4, 3, "推进电机断路器故障脱扣"}, 
+    {4, 4, 4, "锂电池组仪表断路器故障脱扣"},
+    {5, 4, 5, "DC/DC5模块断路器故障脱扣"},
+    {6, 4, 6, "艏部高压配电箱断路器故障脱扣"},
+    {7, 4, 7, "艉部FT装置4/5断路器故障脱扣"},
+    {8, 4, 8, "艉舵开关1断路器故障脱扣"},
+    {9, 4, 9, "艉舵开关2断路器故障脱扣"},
+    {10, 4, 10, "FB预留断路器故障脱扣"},
+    {11, 4, 11, "TYZ预留断路器故障脱扣"},
+    {12, 4, 12, "预留断路器故障脱扣"},
+    {13, 4, 13, "艏部FT装置1-3 断路器故障脱扣"},
+    {14, 4, 14, "启闭机构断路器故障脱扣"},
+    {15, 4, 15, "桅杆舵机控制箱断路器故障脱扣"},
+    {16, 4, 16, "XCZ 断路器故障脱扣"},
+    {17, 4, 17, "艏舵控制箱断路器故障脱扣"},
+    {18, 4, 18, "敞水盖启动电缸断路器故障脱扣"},
+    {19, 4, 19, "锂电池组（仪表）断路器故障脱扣"},
+    {20, 4, 20, "艏部低压配电箱断路器故障脱扣"},
+    {21, 4, 21, "UNIT4仪表DC48V断路器故障脱扣"},
+    {22, 4, 22, "DC-DC1直流配电板断路器故障脱扣"},
+    {23, 4, 23, "预留断路器故障脱扣"},
+    {24, 4, 24, "预留断路器故障脱扣"},
+    {25, 4, 25, "应急锂电池组2断路器"},
+    {26, 4, 26, "UNIT1断路器故障脱扣"},
+    {27, 4, 27, "UNIT2断路器故障脱扣"},
+    {28, 4, 28, "UNIT3断路器故障脱扣"},
+    {29, 4, 29, "UNIT5断路器故障脱扣"},
+    {30, 4, 30, "艏部PZ装置断路器故障脱扣"},
+    {31, 4, 31, "预留断路器故障脱扣"},
+    {32, 4, 32, "预留断路器故障脱扣"},
+    {33, 4, 33, "应急锂电池组1断路器故障脱扣"},
+    {34, 4, 34, "动力母排绝缘低"},
+    {35, 4, 35, "A汇流排绝缘低"},
+    {36, 4, 36, "高压母线配电控制器仪表电源失电信号"},
+    {37, 4, 37, "高压母线配电控制器应急电源失电信号"},
+    {38, 4, 38, "高压汇流排A仪表电源失电信号"},
+    {39, 4, 39, "高压汇流排A应急电源失电信号"},
+    {40, 4, 40, "高压汇流排A仪表汇流排绝缘低"},
+    {41, 4, 41, "高压汇流排B仪表电源失电信号"},
+    {42, 4, 42, "高压汇流排B应急电源失电信号"},
+    {43, 4, 43, "高压汇流排B仪表汇流排绝缘低"},
+    {44, 4, 44, "仪表汇流排失电信号"},
+    {45, 4, 45, "仪表汇流排浸水报警"}
+};
+#endif // FAULTCODE_H

src/pPowerManger/fsm/CruiseMode.cpp

@@ -0,0 +1,60 @@
+#include "PowerManagerFsm.hpp"
+
+void CruiseMode::entry() {
+    PowerManagerFsm::entry();
+    pm->workCondition = WorkCondition::CHANING;
+    // pm->m_driver.getCRUISE_MODEable(&pm->m_subDisSysCmd);    
+    handleCuriseWork();
+    //解除非必要动力电设备
+    //1 解除启闭机构
+    unsigned char cmd = 0;
+    if(pm->m_currentDriverState.bowCover1 != 0 ||
+       pm->m_currentDriverState.bowCover2 != 0 ||
+       pm->m_currentDriverState.bowCover3 != 0 ||
+       pm->m_currentDriverState.bowCover4 != 0 ||
+       pm->m_currentDriverState.bowCover5 != 0 ||
+       pm->m_currentDriverState.bowCover6 != 0) 
+    {
+        pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
+        MOOSPause(3);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
+        pm->m_upperCommManager->processPeriodicTasks();
+    }
+
+    //2 解除敞水机构
+    if(pm->m_currentDriverState.bowWaterInet1 != 0 ||
+       pm->m_currentDriverState.bowWaterInet2 != 0 ||
+       pm->m_currentDriverState.bowWaterInet3 != 0 ||
+       pm->m_currentDriverState.bowWaterInet4 != 0 ||
+       pm->m_currentDriverState.bowWaterInet5 != 0 ||
+       pm->m_currentDriverState.bowWaterInet6 != 0 ||
+       pm->m_currentDriverState.bowWaterInet7 != 0 ||
+       pm->m_currentDriverState.bowWaterInet8 != 0)
+    {
+        pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
+        MOOSPause(3);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
+    }
+    pm->workCondition = WorkCondition::CRUISE_MODE;
+    LOG_F(INFO, "进入巡航模式");
+    pm->m_systemData->setSystemInfo("INFO:已进入巡航模式");
+}
+
+// CruiseMode实现
+void CruiseMode::react(MasterCommandEvent const &) {
+    PowerManagerFsm::handelPowerCmd();
+    PowerManagerFsm::handleModCmd();
+    PowerManagerFsm::handleWorkCmd();
+}

src/pPowerManger/fsm/DJMode.cpp

@@ -0,0 +1,72 @@
+#include "PowerManagerFsm.hpp"
+
+
+// DJMode实现
+void DJMode::react(MasterCommandEvent const &) {
+    PowerManagerFsm::handelPowerCmd();
+    PowerManagerFsm::handleModCmd();
+    PowerManagerFsm::handleWorkCmd();
+}
+
+void DJMode::entry() {
+    PowerManagerFsm::entry();
+    pm->workCondition = WorkCondition::CHANING;
+    handleCuriseWork();
+    //1 启动载荷装置
+    pm->m_subDisSysCmd.launchControler = 1;
+    //启动启闭机构和电缸
+    unsigned char cmd = 1;
+    //2.1 启闭机构
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
+    pm->m_upperCommManager->processPeriodicTasks();
+    MOOSPause(10);
+    pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(1);
+    //2.2 敞水电缸
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
+    pm->m_upperCommManager->processPeriodicTasks();
+    MOOSPause(10);
+    pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
+    pm->workCondition = WorkCondition::DJ_MODE;
+    LOG_F(INFO, "进入DJ模式");
+    pm->m_systemData->setSystemInfo("INFO:已进入打击模式");
+}
+
+
+void DJMode::exit() {
+    PowerManagerFsm::exit();
+    //1 解除启闭机构
+    unsigned char cmd = 0;
+    pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
+    MOOSPause(3);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
+    pm->m_upperCommManager->processPeriodicTasks();
+    //2 解除敞水机构
+    pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
+    MOOSPause(3);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
+    pm->m_upperCommManager->processPeriodicTasks();
+}

src/pPowerManger/fsm/FaultState.cpp

@@ -0,0 +1,72 @@
+#include "PowerManagerFsm.hpp"
+
+// FaultState实现
+void FaultState::entry() {
+    PowerManagerFsm::entry();
+    if(pm->m_missionState.type == TaskType::THROW_LOAD)
+    {
+        LOG_F(INFO, "检测到抛载");
+        pm->m_systemData->setSystemInfo("ERROR:检测到抛载");
+        //1 解除启闭机构
+        unsigned char cmd = 0;
+        pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
+        MOOSPause(3);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
+        pm->m_upperCommManager->processPeriodicTasks();
+        //2 解除敞水机构
+        pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
+        MOOSPause(3);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
+        pm->m_upperCommManager->processPeriodicTasks();
+        //3 解除艏部舵机
+        pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(0);
+        MOOSPause(3);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
+        pm->m_upperCommManager->processPeriodicTasks();
+        //4 解除艉部舵机
+        pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(0);
+        MOOSPause(3);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
+        pm->m_upperCommManager->processPeriodicTasks();
+        //关闭推进电机
+        pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(0);
+        //检测电机去使能状态，5秒超时
+        auto startTime = std::chrono::steady_clock::now();
+        while(pm->m_thrustEnable == 1)
+        {
+            // 检查是否超时（5秒）
+            auto currentTime = std::chrono::steady_clock::now();
+            auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(currentTime - startTime);
+            if(elapsed.count() >= 20)
+            {
+                LOG_F(WARNING, "电机去使能超时（20秒）");
+                pm->m_systemData->setSystemInfo("ERROR:电机去使能超时（20秒）");
+                return;
+            }
+            MOOSPause(100);
+        }
+    }
+}
+
+void FaultState::react(FaultEvent const & e) {
+    LOG_F(INFO, "FaultState 处理故障事件");
+}
+
+void FaultState::react(MasterCommandEvent const &) {
+    PowerManagerFsm::handelPowerCmd();
+    PowerManagerFsm::handleModCmd();
+    PowerManagerFsm::handleWorkCmd();
+}

src/pPowerManger/fsm/FloatAdjust.cpp

@@ -0,0 +1,17 @@
+#include "PowerManagerFsm.hpp"
+
+// FloatAdjust实现
+void FloatAdjust::react(MasterCommandEvent const &) {
+    PowerManagerFsm::handelPowerCmd();
+    PowerManagerFsm::handleModCmd();
+    PowerManagerFsm::handleWorkCmd();
+}
+
+void FloatAdjust::entry() {
+    PowerManagerFsm::entry();
+    pm->workCondition = WorkCondition::CHANING;
+    handleCuriseWork();
+    pm->workCondition = WorkCondition::BUOYANCY_ADJUST;
+    LOG_F(INFO, "进入浮调模式");
+    pm->m_systemData->setSystemInfo("INFO:已进入浮调模式");
+}

src/pPowerManger/fsm/FloatDown.cpp

@@ -0,0 +1,17 @@
+#include "PowerManagerFsm.hpp"
+
+void FloatDown::entry() {
+    PowerManagerFsm::entry();
+    pm->workCondition = WorkCondition::CHANING;
+    handleCuriseWork();
+    pm->workCondition = WorkCondition::ASCEND_DESCEND;
+    LOG_F(INFO, "进入上浮下潜模式");
+    pm->m_systemData->setSystemInfo("INFO:已进入上浮下潜模式");
+}
+
+// FloatDown实现
+void FloatDown::react(MasterCommandEvent const &) {
+    PowerManagerFsm::handelPowerCmd();
+    PowerManagerFsm::handleModCmd();
+    PowerManagerFsm::handleWorkCmd();
+}

src/pPowerManger/fsm/HighSpeedMode.cpp

@@ -0,0 +1,17 @@
+#include "PowerManagerFsm.hpp"
+
+void HighSpeedMode::entry() {
+    PowerManagerFsm::entry();
+    pm->workCondition = WorkCondition::CHANING;
+    handleCuriseWork();
+    pm->workCondition = WorkCondition::HIGH_SPEED_MODE;
+    LOG_F(INFO, "进入高速模式");
+    pm->m_systemData->setSystemInfo("INFO:已经进入高速模式");
+}
+
+// HighSpeedMode实现
+void HighSpeedMode::react(MasterCommandEvent const &) {
+    PowerManagerFsm::handelPowerCmd();
+    PowerManagerFsm::handleModCmd();
+    PowerManagerFsm::handleWorkCmd();
+}

src/pPowerManger/fsm/InitState.cpp

@@ -0,0 +1,11 @@
+#include "PowerManagerFsm.hpp"
+
+// InitState实现
+void InitState::entry() {
+    PowerManagerFsm::entry();
+    LOG_F(INFO, "进入初始化状态");
+    pm->m_systemData->setSystemInfo("INFO:已初始化");
+    pm->initControlCmd();
+    pm->m_lowerCommManager->operate_hold();
+    transit<StandbyState>();
+}