合并优化后的代码

.gitignore

@@ -0,0 +1,242 @@
+# ---> 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
+

.vscode/settings.json

@@ -0,0 +1,85 @@
+{
+    "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"
+    },
+    "C_Cpp.errorSquiggles": "disabled",
+    "marscode.chatLanguage": "cn",
+    "marscode.codeCompletionPro": {
+        "enableCodeCompletionPro": true
+    },
+    "marscode.enableInlineCommand": true
+}

CMakeLists.txt

@@ -0,0 +1,106 @@
+#=======================================================================
+# 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 2.8)
+PROJECT( IVP_EXTEND )
+
+set (CMAKE_CXX_STANDARD 11)
+set (MOOSIVP_SOURCE_TREE_BASE "/home/zjk/project/lib/moos-ivp")
+
+#=======================================================================
+# 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
+#=======================================================================
+
+# Search for the moos-ivp folder
+find_path( MOOSIVP_SOURCE_TREE_BASE
+           NAMES build-ivp.sh build-moos.sh configure-ivp.sh
+           PATHS "../moos-ivp" "../../moos-ivp" "../../moos-ivp/trunk/" "../moos-ivp/trunk/"
+           DOC "Base directory of the MOOS-IvP source tree"
+           NO_DEFAULT_PATH
+)
+
+if (NOT MOOSIVP_SOURCE_TREE_BASE)
+    message("Please set MOOSIVP_SOURCE_TREE_BASE to  ")
+    message("the location of the \"moos-ivp\" folder ")
+    return()
+endif()
+
+#======================================================================
+# Specify where to find IvP's headers and libraries...
+#======================================================================
+
+FILE(GLOB IVP_INCLUDE_DIRS ${MOOSIVP_SOURCE_TREE_BASE}/ivp/src/lib_* )
+INCLUDE_DIRECTORIES(${IVP_INCLUDE_DIRS})
+
+FILE(GLOB IVP_LIBRARY_DIRS ${MOOSIVP_SOURCE_TREE_BASE}/lib )
+LINK_DIRECTORIES(${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 +1,3 @@
+# H100PowerManger
+
+H100 能源管理程序

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 +1,5 @@
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+}

bin/static/script.js

@@ -0,0 +1,379 @@
+let currentDbPath = '/home/zjk/project/H100/H100PowerManger/data/power_data.db';
+
+// 数据库下载功能
+function downloadDatabase() {
+    const downloadBtn = document.getElementById('download-db');
+    const progressBar = document.getElementById('download-progress');
+    
+    downloadBtn.disabled = true;
+    progressBar.style.display = 'block';
+    progressBar.value = 0;
+
+    const xhr = new XMLHttpRequest();
+    xhr.open('GET', '/api/download-db', true);
+    xhr.responseType = 'blob';
+
+    xhr.onprogress = function(event) {
+        if (event.lengthComputable) {
+            const percentComplete = (event.loaded / event.total) * 100;
+            progressBar.value = percentComplete;
+        }
+    };
+
+    xhr.onload = function() {
+        if (this.status === 200) {
+            const blob = this.response;
+            const url = window.URL.createObjectURL(blob);
+            const a = document.createElement('a');
+            a.href = url;
+            a.download = 'power_data.db';
+            document.body.appendChild(a);
+            a.click();
+            window.URL.revokeObjectURL(url);
+            
+            progressBar.value = 100;
+            setTimeout(() => {
+                progressBar.style.display = 'none';
+                downloadBtn.disabled = false;
+            }, 500);
+        } else {
+            throw new Error('下载失败：' + this.statusText);
+        }
+    };
+
+    xhr.onerror = function() {
+        console.error('下载数据库失败:', this.statusText);
+        alert('下载数据库失败：' + this.statusText);
+        progressBar.style.display = 'none';
+        downloadBtn.disabled = false;
+    };
+
+    xhr.send();
+}
+
+document.getElementById('download-db').addEventListener('click', downloadDatabase);
+
+// WebSocket连接
+let ws = null;
+let reconnectAttempts = 0;
+const maxReconnectAttempts = 5;
+const reconnectDelay = 5000;
+
+// 初始化WebSocket连接
+function initWebSocket() {
+    ws = new WebSocket('ws://' + window.location.host + '/ws/state');
+
+    ws.onopen = () => {
+        console.log('WebSocket连接已建立');
+        reconnectAttempts = 0;
+    };
+
+    ws.onmessage = (event) => {
+        const data = JSON.parse(event.data);
+        updateUI(data);
+    };
+
+    ws.onclose = () => {
+        console.log('WebSocket连接已关闭');
+        if (reconnectAttempts < maxReconnectAttempts) {
+            setTimeout(() => {
+                reconnectAttempts++;
+                console.log(`尝试重新连接 (${reconnectAttempts}/${maxReconnectAttempts})`);
+                initWebSocket();
+            }, reconnectDelay);
+        }
+    };
+
+    ws.onerror = (error) => {
+        console.error('WebSocket错误:', error);
+        ws.close();
+    };
+}
+
+// 更新UI
+function updateUI(data) {
+    // 更新数据库状态
+    if (data.db_status) {
+        const dbStatus = document.getElementById('db-status');
+        const dbSizeElement = document.querySelector('#db-size .size-value');
+        
+        if (dbStatus) {
+            dbStatus.className = data.db_status.connected ? 'db-status connected' : 'db-status disconnected';
+            dbStatus.innerHTML = `<i class="fas fa-database"></i><span>已连接到数据库：${data.db_status.database}`;
+        }
+        
+        if (dbSizeElement && data.db_status.size) {
+            const sizeInMB = (data.db_status.size / 1024 / 1024).toFixed(2);
+            dbSizeElement.textContent = `${sizeInMB} MB`;
+        }
+    }
+    
+    // 更新MOOS数据库状态
+    if (data.moos_db_status) {
+        const moosDbStatus = document.getElementById('moos-db-status');
+        if (data.moos_db_status.connected) {
+            moosDbStatus.className = 'db-status connected';
+            moosDbStatus.innerHTML = `<i class="fas fa-database"></i><span>已连接到MOOS数据库:${data.moos_db_status.host}:${data.moos_db_status.port}</span>`;
+        } else {
+            moosDbStatus.className = 'db-status disconnected';
+            moosDbStatus.innerHTML = `<i class="fas fa-database"></i><span>MOOS数据库连接失败</span>`;
+        }
+    }
+
+    // 更新状态机面板
+    document.getElementById('state-time').textContent = data.state.time;
+    document.getElementById('state-id').textContent = data.state.state_id;
+    document.getElementById('state-name').textContent = data.state.state_name;
+    document.getElementById('state-event').textContent = data.state.event;
+    document.getElementById('state-event-id').textContent = data.state.event_id;
+    document.getElementById('state-fault-code').textContent = data.state.fault_code;
+    document.getElementById('state-note').textContent = data.state.note;
+
+    // 更新DIS系统状态
+    // document.getElementById('dis-sys-state').textContent = JSON.stringify(data.status.disSys, null, 2);
+    
+    // 更新CCU状态
+    // document.getElementById('ccu-state').textContent = JSON.stringify(data.status.ccuState, null, 2);
+    
+    // 更新进程消息面板
+    console.log('Received WebSocket message:', data);
+    if (data && data.processes && data.processes.list) {
+        console.log('Updating processes:', data.processes);
+        updateProcesses(data.processes);
+    } else {
+        console.warn('Invalid processes data received:', data);
+    }
+
+    // 更新运行日志
+    document.getElementById('log-data').textContent = data.status.logs.join('\n');
+}
+
+// MOOS通知功能
+function sendMoosNotify() {
+    const varValue = document.getElementById('moos-var').value.trim();
+    const keyValue = document.getElementById('moos-key').value.trim();
+
+    if (!varValue || !keyValue) {
+        alert('请填写Var和Key值');
+        return;
+    }
+
+    const payload = {
+        var: varValue,
+        key: keyValue
+    };
+
+    fetch('/api/moos-notify', {
+        method: 'POST',
+        headers: {
+            'Content-Type': 'application/json',
+        },
+        body: JSON.stringify(payload)
+    })
+    .then(response => response.json())
+    .then(data => {
+        if (data.success) {
+            alert('发送成功');
+        } else {
+            alert('发送失败: ' + data.message);
+        }
+    })
+    .catch(error => {
+        console.error('Error:', error);
+        alert('发送请求失败');
+    });
+}
+
+document.getElementById('moos-send-btn').addEventListener('click', sendMoosNotify);
+
+// 初始化WebSocket连接
+initWebSocket();
+
+// 更新进程列表
+function updateProcesses(processes) {
+    const processList = document.getElementById('process-list');
+    processList.innerHTML = ''; // 清空现有内容
+    
+    const totalCount = document.getElementById('process-count');
+    totalCount.textContent = processes.count;
+
+        // 创建消息详情弹窗
+        const modal = document.createElement('div');
+        modal.id = 'message-modal';
+        modal.className = 'modal';
+        modal.innerHTML = `
+            <div class="modal-content">
+                <span class="close-modal">&times;</span>
+                <h3>消息详情</h3>
+                <div class="message-details">
+                    <div class="detail-row">
+                        <label>消息名称:</label>
+                        <span id="message-name"></span>
+                    </div>
+                    <div class="detail-row">
+                        <label>消息类型:</label>
+                        <span id="message-type"></span>
+                    </div>
+                    <div class="detail-row">
+                        <label>最后更新时间:</label>
+                        <span id="message-timestamp"></span>
+                    </div>
+                    <div class="detail-row">
+                        <label>消息内容:</label>
+                        <pre id="message-content"></pre>
+                    </div>
+                </div>
+            </div>
+        `;
+        document.body.appendChild(modal);
+
+        // 添加弹窗关闭事件
+        modal.querySelector('.close-modal').addEventListener('click', () => {
+            modal.style.display = 'none';
+        });
+
+        processes.list.forEach(process => {
+            const processElement = document.createElement('div');
+            processElement.className = 'process-card';
+            
+            const header = document.createElement('div');
+            header.className = 'process-header';
+            header.innerHTML = `
+                <span class="process-name">${process.name}</span>
+                <span class="topic-count">订阅:${process.subscribed.length} 发布:${process.published.length}</span>
+            `;
+            
+            const body = document.createElement('div');
+            body.className = 'process-body';
+            body.innerHTML = `
+                <div class="topic-group">
+                    <h4>订阅主题</h4>
+                    <ul class="subscribed-list">${process.subscribed.map(t => `<li class="message-item" data-type="subscribed">${t}</li>`).join('')}</ul>
+                </div>
+                <div class="topic-group">
+                    <h4>发布主题</h4>
+                    <ul class="published-list">${process.published.map(t => `<li class="message-item" data-type="published">${t}</li>`).join('')}</ul>
+                </div>
+            `;
+
+            body.querySelectorAll('.message-item').forEach(item => {
+                let timeoutId;
+            item.addEventListener('mouseenter', function(event) {
+                timeoutId = setTimeout(async () => {
+                    const spinner = createSpinner(event.clientX, event.clientY);
+                    
+                    try {
+                        const messageName = item.textContent; // 新增获取消息名称
+                        const messageType = item.dataset.type; // 新增获取消息类型
+                        const response = await fetch(`/api/message-details?name=${encodeURIComponent(messageName)}&type=${messageType}`);
+                        const data = await response.json();
+                        
+                        if (data.success) {
+                            // 根据C++的CVar结构映射字段
+                            document.getElementById('message-name').textContent = data.name || 'N/A';
+                            document.getElementById('message-type').textContent = data.type || '未知类型';
+                            document.getElementById('message-timestamp').textContent = new Date(data.time * 1000).toLocaleString(); // 时间戳转换
+                            document.getElementById('message-content').textContent = JSON.stringify({
+                                value: data.value,
+                                source: data.source
+                            }, null, 2);
+                            modal.style.display = 'block';
+                        } else {
+                            showErrorTooltip(event, `获取失败: ${data.message || '未知错误'}`);
+                        }
+                    } catch (error) {
+                        showErrorTooltip(event, '网络连接异常，请检查后重试');
+                        console.error('获取消息详情失败:', error);
+                    } finally {
+                        spinner.remove();
+                    }
+                }, 300);
+            });
+
+            item.addEventListener('mouseleave', () => {
+                clearTimeout(timeoutId);
+                modal.style.display = 'none';
+            });
+            });
+
+            processElement.appendChild(header);
+            processElement.appendChild(body);
+            processList.appendChild(processElement);
+        });
+}
+
+// 渲染单个进程信息
+function renderProcess(process) {
+    const template = document.getElementById('process-template');
+    const clone = document.importNode(template.content, true);
+    
+    const processEntry = clone.querySelector('.process-entry');
+    processEntry.querySelector('.process-name').textContent = process.name;
+    
+    const subscribedList = processEntry.querySelector('.subscribed-list');
+    process.subscribed.forEach(topic => {
+        const li = document.createElement('li');
+        li.textContent = topic;
+        subscribedList.appendChild(li);
+    });
+    
+    const publishedList = processEntry.querySelector('.published-list');
+    process.published.forEach(topic => {
+        const li = document.createElement('li');
+        li.textContent = topic;
+        publishedList.appendChild(li);
+    });
+    
+    return processEntry;
+}
+
+// 清空进程列表
+function clearProcessList() {
+    const processLog = document.getElementById('log-data');
+    while (processLog.firstChild && processLog.firstChild.tagName !== 'TEMPLATE') {
+        processLog.removeChild(processLog.firstChild);
+    }
+}
+
+// 新增工具函数
+function createSpinner(x, y) {
+    const spinner = document.createElement('div');
+    spinner.className = 'loading-spinner';
+    spinner.style = `
+        position: fixed;
+        left: ${x + 15}px;
+        top: ${y + 15}px;
+        width: 24px;
+        height: 24px;
+        border: 3px solid rgba(97, 218, 251, 0.3);
+        border-radius: 50%;
+        border-top-color: #61dafb;
+        animation: spin 1s ease-in-out infinite;
+        z-index: 1000;
+    `;
+    document.body.appendChild(spinner);
+    return spinner;
+}
+
+function showErrorTooltip(event, message) {
+    const tooltip = document.createElement('div');
+    tooltip.className = 'error-tooltip';
+    tooltip.innerHTML = `
+        <i class="fas fa-exclamation-triangle"></i>
+        <span>${message}</span>
+    `;
+    tooltip.style = `
+        position: fixed;
+        left: ${event.clientX + 20}px;
+        top: ${event.clientY + 20}px;
+        padding: 8px 12px;
+        background: rgba(255, 87, 87, 0.9);
+        color: white;
+        border-radius: 4px;
+        font-size: 14px;
+        z-index: 1000;
+        animation: fadeIn 0.3s ease;
+    `;
+    document.body.appendChild(tooltip);
+    setTimeout(() => tooltip.remove(), 3000);
+}

bin/templates/index.html

@@ -0,0 +1,166 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>电源管理</title>
+    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/6.0.0/css/all.min.css">
+    <link rel="stylesheet" href="/static/style.css">
+</head>
+
+<body>
+    <div class="db-status-panel">
+        <div class="status-columns">
+            <div class="status-column">
+                <h3>MOOSDB</h3>
+                <div class="db-status" id="moos-db-status">
+                    <i class="fas fa-database"></i>
+                    <span>正在连接MOOSDB...</span>
+                </div>
+                <div class="moos-notify-panel">
+                    <div class="input-group">
+                        <label for="moos-var">Var:</label>
+                        <input type="text" id="moos-var" placeholder="输入Var值">
+                    </div>
+                    <div class="input-group">
+                        <label for="moos-key">Key:</label>
+                        <input type="text" id="moos-key" placeholder="输入Key值">
+                    </div>
+                    <button id="moos-send-btn">发送</button>
+                </div>
+            </div>
+            <div class="status-column">
+                <h3>本地数据库</h3>
+                <div class="db-status" id="db-status">
+                    <i class="fas fa-database"></i>
+                    <span>正在连接数据库：</span>
+                </div>
+                <div class="db-size" id="db-size">
+                    <i class="fas fa-database"></i>
+                    <span>本地数据库大小：</span>
+                    <span class="size-value">0.00 MB</span>
+                </div>
+                <div class="db-download">
+                    <button id="download-db">
+                        <i class="fas fa-download"></i>
+                        下载数据库
+                    </button>
+                    <progress id="download-progress" value="0" max="100" style="display: none;"></progress>
+                </div>
+            </div>
+        </div>
+    </div>
+
+    <div class="control-panel">
+        <button id="mode-switch">
+            <i class="fas fa-exchange-alt"></i>
+            系统模式切换
+        </button>
+        <button id="condition-switch">
+            <i class="fas fa-cogs"></i>
+            系统工况切换
+        </button>
+        <button id="system-reset">
+            <i class="fas fa-redo"></i>
+            系统复位操作
+        </button>
+    </div>
+
+    <div class="panel log-panel">
+        <h2>进程消息 <span class="badge" id="process-count">0</span></h2>
+        <div id="process-list" class="process-container"></div>
+        <pre id="log-data" class="process-log">
+            <template id="process-template">
+                <div class="process-entry">
+                    <div class="process-name"></div>
+                    <div class="message-list">
+                        <div class="message-type">订阅的消息</div>
+                        <ul class="subscribed-list"></ul>
+                        <div class="message-type">发布的消息</div>
+                        <ul class="published-list"></ul>
+                    </div>
+                </div>
+            </template>
+        </pre>
+    </div>
+
+    <div class="panel state-machine-panel">
+        <h2>状态机状态</h2>
+        <div class="state-info">
+            <div class="state-row">
+                <span class="state-label"><i class="fas fa-clock"></i> 更新时间：</span>
+                <span class="state-value" id="state-time">正在加载...</span>
+            </div>
+            <div class="state-row">
+                <span class="state-label"><i class="fas fa-hashtag"></i> 状态ID:</span>
+                <span class="state-value" id="state-id">正在加载...</span>
+            </div>
+            <div class="state-row">
+                <span class="state-label"><i class="fas fa-tag"></i> 状态名称：</span>
+                <span class="state-value" id="state-name">正在加载...</span>
+            </div>
+            <div class="state-row">
+                <span class="state-label"><i class="fas fa-bolt"></i> 事件：</span>
+                <span class="state-value" id="state-event">正在加载...</span>
+            </div>
+            <div class="state-row">
+                <span class="state-label"><i class="fas fa-barcode"></i> 事件ID:</span>
+                <span class="state-value" id="state-event-id">正在加载...</span>
+            </div>
+            <div class="state-row">
+                <span class="state-label"><i class="fas fa-exclamation-triangle"></i> 故障代码：</span>
+                <span class="state-value" id="state-fault-code">正在加载...</span>
+            </div>
+            <div class="state-row">
+                <span class="state-label"><i class="fas fa-sticky-note"></i> 备注：</span>
+                <span class="state-value" id="state-note">正在加载...</span>
+            </div>
+        </div>
+    </div>
+    
+    <div class="panel dis-sys-panel">
+        <h2>DIS系统状态</h2>
+        <pre id="dis-sys-state">正在加载...</pre>
+    </div>
+
+    <div class="panel ccu-state-panel">
+        <h2>CCU状态</h2>
+        <pre id="ccu-state">正在加载...</pre>
+    </div>
+
+    <!-- 消息详情弹窗 -->
+    <div class="message-detail-overlay" id="message-detail-overlay" style="display: none;"></div>
+    <div class="message-detail-modal" id="message-detail-modal" style="display: none;">
+        <div class="message-detail-header">
+            <div class="message-detail-title">消息详情</div>
+            <div class="message-detail-close" id="message-detail-close">&times;</div>
+        </div>
+        <div class="message-detail-content">
+            <div class="message-detail-item">
+                <div class="message-detail-label">消息名称</div>
+                <div class="message-detail-value" id="message-name"></div>
+            </div>
+            <div class="message-detail-item">
+                <div class="message-detail-label">消息类型</div>
+                <div class="message-detail-value" id="message-type"></div>
+            </div>
+            <div class="message-detail-item">
+                <div class="message-detail-label">消息内容</div>
+                <div class="message-detail-value" id="message-content"></div>
+            </div>
+            <div class="message-detail-item">
+                <div class="message-detail-label">时间戳</div>
+                <div class="message-detail-value" id="message-timestamp"></div>
+            </div>
+            <div class="message-detail-item">
+                <div class="message-detail-label">来源</div>
+                <div class="message-detail-value" id="message-source"></div>
+            </div>
+        </div>
+    </div>
+
+    <script src="/static/script.js"></script>
+</body>
+
+</html>

build.sh

@@ -0,0 +1,46 @@
+#!/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" "$ARGI
+    fi
+done
+
+#-------------------------------------------------------------------
+#  Part 2: Invoke the call to make in the build directory
+#-------------------------------------------------------------------
+
+mkdir -p build
+cd build
+
+cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ../
+
+make ${CMD_LINE_ARGS}
+cd ${INVOCATION_ABS_DIR}
+
+

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 {} \;
+

data/msg/subDisSysCmd.json

@@ -0,0 +1,64 @@
+{
+	"DVL" : 0,
+	"USBL" : 0,
+	"bowCover1" : 0,
+	"bowCover2" : 0,
+	"bowCover3" : 0,
+	"bowCover4" : 0,
+	"bowCover5" : 0,
+	"bowCover6" : 0,
+	"bowRudderDeploy" : 0,
+	"bowRudderServo1" : 0,
+	"bowRudderServo2" : 0,
+	"bowThrow" : 0,
+	"bowWaterlnet1" : 0,
+	"bowWaterlnet2" : 0,
+	"bowWaterlnet3" : 0,
+	"bowWaterlnet4" : 0,
+	"bowWaterlnet5" : 0,
+	"bowWaterlnet6" : 0,
+	"bowWaterlnet7" : 0,
+	"bowWaterlnet8" : 0,
+	"buoyage" : 0,
+	"buoyancyAdjust1" : 0,
+	"buoyancyAdjust2" : 0,
+	"buoyancyAdjust3" : 0,
+	"buoyancyAdjust4" : 0,
+	"buoyancyAdjust5" : 0,
+	"commMast" : 0,
+	"ctd1" : 0,
+	"ctd2" : 0,
+	"depth1" : 0,
+	"depth2" : 0,
+	"depth3" : 0,
+	"electSensor" : 0,
+	"forwardSonar" : 0,
+	"inputWaterSensor1" : 0,
+	"inputWaterSensor2" : 0,
+	"inputWaterSensor3" : 0,
+	"ins" : 0,
+	"launchControler" : 0,
+	"lowFreqSonar" : 0,
+	"mastLiftingServo" : 0,
+	"ntp" : 0,
+	"overDeep1" : 0,
+	"overDeep2" : 0,
+	"photoSensor" : 0,
+	"sideSonar" : 0,
+	"singleBeamSonar1" : 0,
+	"singleBeamSonar2" : 0,
+	"singleBeamSonar3" : 0,
+	"singleBeamSonar4" : 0,
+	"singleBeamSonar5" : 0,
+	"singleBeamSonar6" : 0,
+	"singleBeamSonar7" : 0,
+	"singleBeamSonar8" : 0,
+	"soundVeloc" : 0,
+	"sternRudderServo1" : 0,
+	"sternRudderServo2" : 0,
+	"sternRudderServo3" : 0,
+	"sternRudderServo4" : 0,
+	"sternThrow" : 0,
+	"thruster" : 0,
+	"waterInject" : 0
+}

data/msg/uDevice_depth_st.json

@@ -0,0 +1,3 @@
+{
+    "value_array_uint16" :[2,1,3]
+}

data/msg/uPower_currentState_st.json

@@ -0,0 +1,47 @@
+{
+  "HVABFTDev123Cur_uint16": 0,
+  "HVABactCur_uint16": 0,
+  "HVABbowRudCur_uint16": 0,
+  "HVABbusBCur_uint16": 0,
+  "HVABbusBVol_uint16": 0,
+  "HVABmastSteGeaCur_uint16": 0,
+  "HVABopenWaterCur_uint16": 0,
+  "HVABxczCur_uint16": 1,
+  "HVBBCCUCur_uint16": 0,
+  "HVBBFCSSecurSysCur_uint16": 0,
+  "HVBBbatInsCur_uint16": 0,
+  "HVBBbowLowVolDisBoxCur_uint16": 0,
+  "HVBBdcC1InsCur_uint16": 0,
+  "HVBBemer2BusVol_uint16": 0,
+  "HVBBemerBatCur_uint16": 0,
+  "HVBBinsBusVol_uint16": 0,
+  "HVBBplcCur_uint16": 0,
+  "HVBBreservedCur1_uint16": 0,
+  "HVBBreservedCur2_uint16": 0,
+  "HVBBunit4Cur_uint16": 0,
+  "HVBFTDev45Cur_uint16": 0,
+  "HVBbatGroupCur_uint16": 0,
+  "HVBbowHVolDisBoxCur_uint16": 0,
+  "HVBbusACur_uint16": 0,
+  "HVBbusAVol_uint16": 0,
+  "HVBdcDc5Cur_uint16": 0,
+  "HVBfbCur_uint16": 0,
+  "HVBmotorCur_uint16": 0,
+  "HVBpowerBusCur_uint16": 0,
+  "HVBpowerBusVol_uint16": 0,
+  "HVBreservedCur1_uint16": 0,
+  "HVBreservedCur2_uint16": 0,
+  "HVBreservedCur3_uint16": 0,
+  "HVBsternRud1Cur_uint16": 0,
+  "HVBsternRud2Cur_uint16": 0,
+  "HVBtyzCur_uint16": 0,
+  "LVBBbowPZDevCur_uint16": 0,
+  "LVBBemerBatCur_uint16": 0,
+  "LVBBemerBusVol_uint16": 0,
+  "LVBBinsBusCur_uint16": 0,
+  "LVBBunit1Cur_uint16": 0,
+  "LVBBunit2Cur_uint16": 0,
+  "LVBBunit3Cur_uint16": 0,
+  "LVBBunit5Cur_uint16": 0,
+  "LVBinsBusVol_uint16": 0
+}

data/msg/uPower_disSysState_st.json

@@ -0,0 +1,10 @@
+{
+  "HVolABusBreaker_unit16": 0,
+  "HVolBBusBreaker_unit16": 79,
+  "HVolBusBreaker_uint16": 58,
+  "LVolBusBreaker_uint16": 159,
+  "faultCode_array": 
+  [
+    0
+  ]
+}

data/msg/uPower_fcsState_st.json

@@ -0,0 +1,30 @@
+{
+  "backpressure1_fp32": 1.0,
+  "backpressure2_fp32": 2.0,
+  "ch4oConcent1_fp32": 29.0,
+  "ch4oConcent2_fp32": 96.0,
+  "ch4o_fp32": 0.0,
+  "excTemp_fp32": 23.0,
+  "faultCode1_uint16": 0,
+  "faultCode2_uint16": 0,
+  "faultCode3_uint16": 0,
+  "fcuCurIns_fp32": 0.0,
+  "fcuCurPower_fp32": 0.0,
+  "fcuCur_fp32": 84.0,
+  "fcuFaultLeve_uint8": 0,
+  "fcuOutIns_fp32": 53.0,
+  "fcuOutPower_fp32": 100.0,
+  "fcuState_uint8": 0,
+  "fcuVolIns_fp32": 0.0,
+  "fcuVolPower_fp32": 0.0,
+  "fcuVol_fp32": 377.0,
+  "flameDet_uint8": 1,
+  "h2Concent1_fp32": 89.0,
+  "h2Concent2_fp32": 62.0,
+  "o2Concent1_fp32": 74.0,
+  "o2Concent2_fp32": 21.0,
+  "o2Level_fp32": 0.0,
+  "o2_fp32": 0.0,
+  "powLimit_fp32": 88.0,
+  "powerGen_fp32": 622.0
+}

data/msg/uPower_liBatState_st.json

@@ -0,0 +1,38 @@
+{
+  "fcuCurToInsLimit1_uint8": 0,
+  "fcuCurToinsLimit2_uint8": 0,
+  "insBatCurElect_uint16": 0,
+  "insBatLimit_uint16": 41,
+  "insBatSoc_uint8": 42,
+  "insBatTotalElect_uint16": 617,
+  "insChargeState_uint8": 0,
+  "insCurSocHold1_uint8": 0,
+  "insCurSocHold2_uint8": 0,
+  "insCurSocHold3_uint8": 0,
+  "insCurrent_uint16": 2,
+  "insLinkVol_uint16": 0,
+  "insNegRelayState_uint8": 0,
+  "insNegRes_uint16": 0,
+  "insPackVol_uint16": 0,
+  "insPosRelayState_uint8": 1,
+  "insPosRes_uint16": 0,
+  "insfaultCode_uint8": 0,
+  "powBatCurElect_uint16": 0,
+  "powBatSoc_uint8": 31,
+  "powBatTotalElect_uint16": 763,
+  "powChargeState_uint8": 0,
+  "powCurSocHold1_uint8": 0,
+  "powCurSocHold2_uint8": 0,
+  "powCurSocHold3_uint8": 0,
+  "powCurToInsLimit1_uint8": 0,
+  "powCurToinsLimit2_uint8": 0,
+  "powCur_uint16": 21,
+  "powLinkVol_uint16": 0,
+  "powNegRelayState_uint8": 1,
+  "powNegRes_uint16": 0,
+  "powPosRelayState_uint8": 1,
+  "powPosRes_uint16": 0,
+  "powerBatLimit_uint16": 13,
+  "powerPackVol_uint16": 0,
+  "powfaultCode_uint8": 0
+}

data/msg/uPower_pmState_st.json

@@ -0,0 +1,12 @@
+{
+  "currentMod_uint8": 0,
+  "falutLevel_uint8": 0,
+  "faultCode_array": 
+  [
+    0
+  ],
+  "powerState_uint8": 0,
+  "soc_uint32": 0,
+  "sustainableTime_uint32": 0,
+  "workCondition_uint8": 0
+}

data/msg/uPower_sysState_cmd.json

@@ -0,0 +1,5 @@
+{
+    "powerCMD":0,
+    "modCMD":0,
+    "workCMD":0
+}

data/protocol-specs/udp/ccu_set_param_fb.json

@@ -0,0 +1,52 @@
+{
+  "protocol_name": "CCU参数设置反馈",
+  "message_id": "0x0040",
+  "length": 10,
+  "checksum": {
+    "start_offset": 0,
+    "end_offset": 6,
+    "algorithm": "sum"
+  },
+  "fields": [
+    {
+      "name": "start1",
+      "offset": 0,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节1"
+    },
+    {
+      "name": "start2",
+      "offset": 1,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节2"
+    },
+    {
+      "name": "id",
+      "offset": 2,
+      "type": "uint16",
+      "value": "0x0040",
+      "description": "消息ID"
+    },
+    {
+      "name": "length",
+      "offset": 4,
+      "type": "uint16",
+      "value": 10,
+      "description": "消息长度"
+    },
+    {
+      "name": "flag",
+      "offset": 6,
+      "type": "uint8",
+      "description": "设置标志位"
+    },
+    {
+      "name": "failvreCode",
+      "offset": 7,
+      "type": "uint8",
+      "description": "故障代码"
+    }
+  ]
+}

data/protocol-specs/udp/ccu_state_fb.json

@@ -0,0 +1,637 @@
+{
+  "message_name": "CCUStateFbMsg",
+  "protocol_id": "0x0041",
+  "endianness": "little",
+  "fields": [
+    {
+      "name": "start1",
+      "offset": 0,
+      "length": 1,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节1"
+    },
+    {
+      "name": "start2",
+      "offset": 1,
+      "length": 1,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节2"
+    },
+    {
+      "name": "id",
+      "offset": 2,
+      "length": 2,
+      "type": "uint16",
+      "value": "0x0041",
+      "description": "消息ID"
+    },
+    {
+      "name": "length",
+      "offset": 4,
+      "length": 2,
+      "type": "uint16",
+      "dynamic": true,
+      "description": "数据长度（自动计算）"
+    },
+    {
+      "name": "currentWorkCondition",
+      "offset": 6,
+      "length": 1,
+      "type": "uint8",
+      "enum": {"0x00":"待机","0x01":"运行","0x02":"故障"},
+      "description": "当前工作状态"
+    },
+    {
+      "name": "fcuState",
+      "offset": 7,
+      "length": 1,
+      "type": "uint8",
+      "unit": "%",
+      "description": "燃料电池状态"
+    },
+    {
+      "name": "fcuFaultLeve",
+      "offset": 8,
+      "length": 1,
+      "type": "uint8",
+      "description": "故障等级"
+    },
+    {
+      "name": "powerLimit",
+      "offset": 9,
+      "length": 4,
+      "type": "float32",
+      "unit": "kW",
+      "description": "功率限制值"
+    },
+    {
+      "name": "totalPowerGeneration",
+      "offset": 13,
+      "length": 4,
+      "type": "float32",
+      "unit": "kWh",
+      "description": "总发电量"
+    },
+    {
+      "name": "ch4o",
+      "offset": 17,
+      "length": 4,
+      "type": "float32",
+      "unit": "ppm",
+      "description": "甲醇浓度"
+    },
+    {
+      "name": "o2",
+      "offset": 21,
+      "length": 4,
+      "type": "float32",
+      "unit": "%",
+      "description": "氧气浓度"
+    },
+    {
+      "name": "fcuVoltage",
+      "offset": 25,
+      "length": 4,
+      "type": "float32",
+      "unit": "V",
+      "description": "燃料电池电压"
+    },
+    {
+      "name": "fcuCurrent",
+      "offset": 29,
+      "length": 4,
+      "type": "float32",
+      "unit": "A",
+      "description": "燃料电池电流"
+    },
+    {
+      "name": "o2Level",
+      "offset": 33,
+      "length": 4,
+      "type": "float32",
+      "unit": "%",
+      "description": "氧气含量"
+    },
+    {
+      "name": "placeholder1",
+      "offset": 37,
+      "length": 4,
+      "type": "float32",
+      "description": "预留字段1"
+    },
+    {
+      "name": "exchangerTemperature",
+      "offset": 41,
+      "length": 4,
+      "type": "float32",
+      "unit": "°C",
+      "description": "换热器温度"
+    },
+    {
+      "name": "fcuOutPower",
+      "offset": 45,
+      "length": 4,
+      "type": "float32",
+      "unit": "kW",
+      "description": "燃料电池输出功率"
+    },
+    {
+      "name": "fcuOutIns",
+      "offset": 49,
+      "length": 4,
+      "type": "float32",
+      "unit": "kΩ",
+      "description": "绝缘电阻"
+    },
+    {
+      "name": "fcuVoltageIns",
+      "offset": 53,
+      "length": 4,
+      "type": "float32",
+      "unit": "V",
+      "description": "绝缘监测电压"
+    },
+    {
+      "name": "fcuVoltagePower",
+      "offset": 57,
+      "length": 4,
+      "type": "float32",
+      "unit": "V",
+      "description": "功率电压"
+    },
+    {
+      "name": "fcuCurrentIns",
+      "offset": 61,
+      "length": 4,
+      "type": "float32",
+      "unit": "A",
+      "description": "绝缘监测电流"
+    },
+    {
+      "name": "fcuCurrentPower",
+      "offset": 65,
+      "length": 4,
+      "type": "float32",
+      "unit": "A",
+      "description": "功率电流"
+    },
+    {
+      "name": "h2Concentration1",
+      "offset": 69,
+      "length": 4,
+      "type": "float32",
+      "unit": "ppm",
+      "description": "氢气浓度1"
+    },
+    {
+      "name": "h2Concentration2",
+      "offset": 73,
+      "length": 4,
+      "type": "float32",
+      "unit": "ppm",
+      "description": "氢气浓度2"
+    },
+    {
+      "name": "o2Concentration1",
+      "offset": 77,
+      "length": 4,
+      "type": "float32",
+      "unit": "%",
+      "description": "氧气浓度1"
+    },
+    {
+      "name": "o2Concentration2",
+      "offset": 81,
+      "length": 4,
+      "type": "float32",
+      "unit": "%",
+      "description": "氧气浓度2"
+    },
+    {
+      "name": "ch4oConcentration1",
+      "offset": 85,
+      "length": 4,
+      "type": "float32",
+      "unit": "ppm",
+      "description": "甲醇浓度1"
+    },
+    {
+      "name": "ch4oConcentration2",
+      "offset": 89,
+      "length": 4,
+      "type": "float32",
+      "unit": "ppm",
+      "description": "甲醇浓度2"
+    },
+    {
+      "name": "backpressure1",
+      "offset": 93,
+      "length": 4,
+      "type": "float32",
+      "unit": "kPa",
+      "description": "背压1"
+    },
+    {
+      "name": "backpressure2",
+      "offset": 97,
+      "length": 4,
+      "type": "float32",
+      "unit": "kPa",
+      "description": "背压2"
+    },
+    {
+      "name": "flameDetection",
+      "offset": 101,
+      "length": 1,
+      "type": "uint8",
+      "description": "火焰检测状态"
+    },
+    {
+      "name": "fcuGZ_1L",
+      "offset": 102,
+      "length": 1,
+      "type": "uint8",
+      "description": "故障字1低字节"
+    },
+    {
+      "name": "fcuGZ_1H",
+      "offset": 103,
+      "length": 1,
+      "type": "uint8",
+      "description": "故障字1高字节"
+    },
+    {
+      "name": "fcuGZ_2L",
+      "offset": 104,
+      "length": 1,
+      "type": "uint8",
+      "description": "故障字2低字节"
+    },
+    {
+      "name": "fcuGZ_2H",
+      "offset": 105,
+      "length": 1,
+      "type": "uint8",
+      "description": "故障字2高字节"
+    },
+    {
+      "name": "fcuGZ_3L",
+      "offset": 106,
+      "length": 1,
+      "type": "uint8",
+      "description": "故障字3低字节"
+    },
+    {
+      "name": "fcuGZ_3H",
+      "offset": 107,
+      "length": 1,
+      "type": "uint8",
+      "description": "故障字3高字节"
+    },
+    {
+      "name": "insPosRelayState",
+      "offset": 108,
+      "length": 1,
+      "type": "uint8",
+      "description": "绝缘正极继电器状态"
+    },
+    {
+      "name": "insNegRelayState",
+      "offset": 109,
+      "length": 1,
+      "type": "uint8",
+      "description": "绝缘负极继电器状态"
+    },
+    {
+      "name": "powerPosRelayState",
+      "offset": 110,
+      "length": 1,
+      "type": "uint8",
+      "description": "功率正极继电器状态"
+    },
+    {
+      "name": "powerNegRelayState",
+      "offset": 111,
+      "length": 1,
+      "type": "uint8",
+      "description": "功率负极继电器状态"
+    },
+    {
+      "name": "insBatLimit",
+      "offset": 112,
+      "length": 2,
+      "type": "uint16",
+      "unit": "A",
+      "description": "绝缘电池电流限制"
+    },
+    {
+      "name": "powerBatLimit",
+      "offset": 114,
+      "length": 2,
+      "type": "uint16",
+      "unit": "A",
+      "description": "功率电池电流限制"
+    },
+    {
+      "name": "insBatSoc",
+      "offset": 116,
+      "length": 1,
+      "type": "uint8",
+      "unit": "%",
+      "description": "绝缘电池SOC"
+    },
+    {
+      "name": "powerBatSoc",
+      "offset": 117,
+      "length": 1,
+      "type": "uint8",
+      "unit": "%",
+      "description": "功率电池SOC"
+    },
+    {
+      "name": "insBatTotalElectricity",
+      "offset": 118,
+      "length": 2,
+      "type": "uint16",
+      "unit": "kWh",
+      "description": "绝缘电池总电量"
+    },
+    {
+      "name": "powerBatTotalElectricity",
+      "offset": 120,
+      "length": 2,
+      "type": "uint16",
+      "unit": "kWh",
+      "description": "功率电池总电量"
+    },
+    {
+      "name": "insBatCurrentElectricity",
+      "offset": 122,
+      "length": 2,
+      "type": "uint16",
+      "unit": "A",
+      "description": "绝缘电池当前电流"
+    },
+    {
+      "name": "powerBatCurrentElectricity",
+      "offset": 124,
+      "length": 2,
+      "type": "uint16",
+      "unit": "A",
+      "description": "功率电池当前电流"
+    },
+    {
+      "name": "insChargeState",
+      "offset": 126,
+      "length": 1,
+      "type": "uint8",
+      "description": "绝缘电池充电状态"
+    },
+    {
+      "name": "powerChargeState",
+      "offset": 127,
+      "length": 1,
+      "type": "uint8",
+      "description": "功率电池充电状态"
+    },
+    {
+      "name": "insLinkVoltage",
+      "offset": 128,
+      "length": 2,
+      "type": "uint16",
+      "unit": "V",
+      "description": "绝缘链路电压"
+    },
+    {
+      "name": "insPackVoltage",
+      "offset": 130,
+      "length": 2,
+      "type": "uint16",
+      "unit": "V",
+      "description": "绝缘电池组电压"
+    },
+    {
+      "name": "insCurrent",
+      "offset": 132,
+      "length": 2,
+      "type": "uint16",
+      "unit": "A",
+      "description": "绝缘电流"
+    },
+    {
+      "name": "insPosInsulationResistance",
+      "offset": 134,
+      "length": 2,
+      "type": "uint16",
+      "unit": "kΩ",
+      "description": "正极绝缘电阻"
+    },
+    {
+      "name": "insNegInsulationResistance",
+      "offset": 136,
+      "length": 2,
+      "type": "uint16",
+      "unit": "kΩ",
+      "description": "负极绝缘电阻"
+    },
+    {
+      "name": "powerLinkVoltage",
+      "offset": 138,
+      "length": 2,
+      "type": "uint16",
+      "unit": "V",
+      "description": "功率链路电压"
+    },
+    {
+      "name": "powerPackVoltage",
+      "offset": 140,
+      "length": 2,
+      "type": "uint16",
+      "unit": "V",
+      "description": "功率电池组电压"
+    },
+    {
+      "name": "powerCurrent",
+      "offset": 142,
+      "length": 2,
+      "type": "uint16",
+      "unit": "A",
+      "description": "功率电流"
+    },
+    {
+      "name": "powerPosInsulationResistance",
+      "offset": 144,
+      "length": 2,
+      "type": "uint16",
+      "unit": "kΩ",
+      "description": "功率正极绝缘电阻"
+    },
+    {
+      "name": "powerNegInsulationResistance",
+      "offset": 146,
+      "length": 2,
+      "type": "uint16",
+      "unit": "kΩ",
+      "description": "功率负极绝缘电阻"
+    },
+    {
+      "name": "insEmergencyStatusWord",
+      "offset": 148,
+      "length": 1,
+      "type": "uint8",
+      "description": "绝缘紧急状态字"
+    },
+    {
+      "name": "powerEmergencyStatusWord",
+      "offset": 149,
+      "length": 1,
+      "type": "uint8",
+      "description": "功率紧急状态字"
+    },
+    {
+      "name": "insAlarmIdentificationWord",
+      "offset": 150,
+      "length": 1,
+      "type": "uint8",
+      "description": "绝缘报警标识字"
+    },
+    {
+      "name": "powerAlarmIdentificationWord",
+      "offset": 151,
+      "length": 1,
+      "type": "uint8",
+      "description": "功率报警标识字"
+    },
+    {
+      "name": "insCurrentSocHold1",
+      "offset": 152,
+      "length": 1,
+      "type": "uint8",
+      "unit": "%",
+      "description": "绝缘电流SOC保持1"
+    },
+    {
+      "name": "insCurrentSocHold2",
+      "offset": 153,
+      "length": 1,
+      "type": "uint8",
+      "unit": "%",
+      "description": "绝缘电流SOC保持2"
+    },
+    {
+      "name": "insCurrentSocHold3",
+      "offset": 154,
+      "length": 1,
+      "type": "uint8",
+      "unit": "%",
+      "description": "绝缘电流SOC保持3"
+    },
+    {
+      "name": "fcuCurrentToInsLimit1",
+      "offset": 155,
+      "length": 1,
+      "type": "uint8",
+      "unit": "A",
+      "description": "FCU到绝缘限制1"
+    },
+    {
+      "name": "fcuCurrentToinsLimit2",
+      "offset": 156,
+      "length": 1,
+      "type": "uint8",
+      "unit": "A",
+      "description": "FCU到绝缘限制2"
+    },
+    {
+      "name": "powerCurrentSocHold1",
+      "offset": 157,
+      "length": 1,
+      "type": "uint8",
+      "unit": "%",
+      "description": "功率电流SOC保持1"
+    },
+    {
+      "name": "powerCurrentSocHold2",
+      "offset": 158,
+      "length": 1,
+      "type": "uint8",
+      "unit": "%",
+      "description": "功率电流SOC保持2"
+    },
+    {
+      "name": "powerCurrentSocHold3",
+      "offset": 159,
+      "length": 1,
+      "type": "uint8",
+      "unit": "%",
+      "description": "功率电流SOC保持3"
+    },
+    {
+      "name": "powerCurrentToInsLimit1",
+      "offset": 160,
+      "length": 1,
+      "type": "uint8",
+      "unit": "A",
+      "description": "功率到绝缘限制1"
+    },
+    {
+      "name": "powerCurrentToinsLimit2",
+      "offset": 161,
+      "length": 1,
+      "type": "uint8",
+      "unit": "A",
+      "description": "功率到绝缘限制2"
+    },
+    {
+      "name": "placeholder2",
+      "offset": 162,
+      "length": 4,
+      "type": "float32",
+      "description": "预留字段2"
+    },
+    {
+      "name": "placeholder3",
+      "offset": 166,
+      "length": 4,
+      "type": "float32",
+      "description": "预留字段3"
+    },
+    {
+      "name": "placeholder4",
+      "offset": 170,
+      "length": 4,
+      "type": "float32",
+      "description": "预留字段4"
+    },
+    {
+      "name": "placeholder5",
+      "offset": 174,
+      "length": 4,
+      "type": "float32",
+      "description": "预留字段5"
+    },
+    {
+      "name": "checkCode",
+      "offset": 178,
+      "length": 4,
+      "type": "uint32",
+      "description": "校验码（从start1到placeholder5的字节累加和）"
+    }
+  ],
+  "metadata": {
+    "total_length": 182,
+    "data_section_start": 6,
+    "data_section_end": 178,
+    "checksum_range": "0-178",
+    "float_precision": "IEEE-754单精度",
+    "reserved_fields": [
+      "placeholder1",
+      "placeholder2",
+      "placeholder3",
+      "placeholder4",
+      "placeholder5"
+    ]
+  }
+}

data/protocol-specs/udp/dis_high_a_vol_bus_fb.json

@@ -0,0 +1,142 @@
+{
+  "protocol_name": "高压A母线状态反馈",
+  "message_id": "0x0006",
+  "length": 10,
+  "checksum": {
+    "start_offset": 0,
+    "end_offset": 30,
+    "algorithm": "sum_low_byte"
+  },
+  "fields": [
+    {
+      "name": "start1",
+      "offset": 0,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节1"
+    },
+    {
+      "name": "start2",
+      "offset": 1,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节2"
+    },
+    {
+      "name": "id",
+      "offset": 2,
+      "type": "uint16",
+      "value": "0x0006",
+      "description": "消息ID"
+    },
+    {
+      "name": "length",
+      "offset": 4,
+      "type": "uint16",
+      "value": 10,
+      "description": "消息长度"
+    },
+    {
+      "name": "bowFTDevice123CircuitBreaker",
+      "offset": 6,
+      "type": "uint8",
+      "description": "艏部FT设备123断路器"
+    },
+    {
+      "name": "actuatorCircuitBreaker",
+      "offset": 7,
+      "type": "uint8",
+      "description": "执行机构断路器"
+    },
+    {
+      "name": "mastSteeringGearControlBoxCircuitBreaker",
+      "offset": 8,
+      "type": "uint8",
+      "description": "桅杆舵机控制箱断路器"
+    },
+    {
+      "name": "xczCircuitBreaker",
+      "offset": 9,
+      "type": "uint8",
+      "description": "XCZ断路器"
+    },
+    {
+      "name": "bowRudderControlBoxCircuitBreaker",
+      "offset": 10,
+      "type": "uint8",
+      "description": "艏舵控制箱断路器"
+    },
+    {
+      "name": "openWaterCoverStartCylinderCircuitBreaker",
+      "offset": 11,
+      "type": "uint8",
+      "description": "开盖启动气缸断路器"
+    },
+    {
+      "name": "instrumentPowerFailureSignal",
+      "offset": 12,
+      "type": "uint8",
+      "description": "仪表电源失效信号"
+    },
+    {
+      "name": "emergencyPowerFailureSignal",
+      "offset": 13,
+      "type": "uint8",
+      "description": "应急电源失效信号"
+    },
+    {
+      "name": "waterIngressionAlarm",
+      "offset": 14,
+      "type": "uint8",
+      "description": "进水报警"
+    },
+    {
+      "name": "busbarBVoltage",
+      "offset": 15,
+      "type": "uint16",
+      "description": "B排电压（V）"
+    },
+    {
+      "name": "busbarBCurrent",
+      "offset": 17,
+      "type": "uint16",
+      "description": "B排电流（A）"
+    },
+    {
+      "name": "bowFTDevice123Current",
+      "offset": 19,
+      "type": "uint16",
+      "description": "艏部FT设备123电流（A）"
+    },
+    {
+      "name": "actuatorCurrent",
+      "offset": 21,
+      "type": "uint16",
+      "description": "执行机构电流（A）"
+    },
+    {
+      "name": "mastSteeringGearControlBoxCurrent",
+      "offset": 23,
+      "type": "uint16",
+      "description": "桅杆舵机控制箱电流（A）"
+    },
+    {
+      "name": "xczCurrent",
+      "offset": 25,
+      "type": "uint16",
+      "description": "XCZ电流（A）"
+    },
+    {
+      "name": "bowRudderControlBoxCurrent",
+      "offset": 27,
+      "type": "uint16",
+      "description": "艏舵控制箱电流（A）"
+    },
+    {
+      "name": "openWaterCoverStartCylinderCurrent",
+      "offset": 29,
+      "type": "uint16",
+      "description": "开盖启动气缸电流（A）"
+    }
+  ]
+}

data/protocol-specs/udp/dis_high_b_vol_bus_fb.json

@@ -0,0 +1,154 @@
+{
+  "protocol_name": "高压B母线状态反馈",
+  "message_id": "0x0007",
+  "length": 36,
+  "checksum": {
+    "start_offset": 0,
+    "end_offset": 34,
+    "algorithm": "sum_low_byte"
+  },
+  "fields": [
+    {
+      "name": "start1",
+      "offset": 0,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节1"
+    },
+    {
+      "name": "start2",
+      "offset": 1,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节2"
+    },
+    {
+      "name": "id",
+      "offset": 2,
+      "type": "uint16",
+      "value": "0x0007",
+      "description": "消息ID"
+    },
+    {
+      "name": "length",
+      "offset": 4,
+      "type": "uint16",
+      "value": 36,
+      "description": "消息长度（包含校验码）"
+    },
+    {
+      "name": "lithiumBatteryGroupInstrumentCircuitBreaker",
+      "offset": 6,
+      "type": "uint8",
+      "description": "锂电池组仪表断路器"
+    },
+    {
+      "name": "bowLowVoltageDistributionBoxCircuitBreaker",
+      "offset": 7,
+      "type": "uint8",
+      "description": "艏部低压配电箱断路器"
+    },
+    {
+      "name": "unit4InstrumentDC48VCircuitBreaker",
+      "offset": 8,
+      "type": "uint8",
+      "description": "单元4仪表DC48V断路器"
+    },
+    {
+      "name": "dcC1DCDistributionPanelCircuitBreaker",
+      "offset": 9,
+      "type": "uint8",
+      "description": "DC C1直流配电板断路器"
+    },
+    {
+      "name": "reservedCircuitBreaker1",
+      "offset": 10,
+      "type": "uint8",
+      "description": "备用断路器1"
+    },
+    {
+      "name": "reservedCircuitBreaker2",
+      "offset": 11,
+      "type": "uint8",
+      "description": "备用断路器2"
+    },
+    {
+      "name": "emergencyLithiumBatteryGroup2CircuitBreaker",
+      "offset": 12,
+      "type": "uint8",
+      "description": "应急锂电池组2断路器"
+    },
+    {
+      "name": "instrumentPowerFailureSignal",
+      "offset": 13,
+      "type": "uint8",
+      "description": "仪表电源故障信号"
+    },
+    {
+      "name": "emergencyPowerFailureSignal",
+      "offset": 14,
+      "type": "uint8",
+      "description": "应急电源故障信号"
+    },
+    {
+      "name": "instrumentBusbarVoltage",
+      "offset": 15,
+      "type": "uint16",
+      "description": "仪表母线电压（V）"
+    },
+    {
+      "name": "bowLowVoltageDistributionBoxCurrent",
+      "offset": 17,
+      "type": "uint16",
+      "description": "艏部低压配电箱电流（A）"
+    },
+    {
+      "name": "dcC1InstrumentDC48VCurrent",
+      "offset": 19,
+      "type": "uint16",
+      "description": "DC C1仪表DC48V电流（A）"
+    },
+    {
+      "name": "reservedCurrent1",
+      "offset": 21,
+      "type": "uint16",
+      "description": "备用电流1（A）"
+    },
+    {
+      "name": "emergencyLithiumBatteryGroup2Current",
+      "offset": 23,
+      "type": "uint16",
+      "description": "应急锂电池组2电流（A）"
+    },
+    {
+      "name": "lithiumBatteryGroupInstrumentCurrent",
+      "offset": 25,
+      "type": "uint16",
+      "description": "锂电池组仪表电流（A）"
+    },
+    {
+      "name": "unit4InstrumentDC48VCurrent",
+      "offset": 27,
+      "type": "uint16",
+      "description": "单元4仪表DC48V电流（A）"
+    },
+    {
+      "name": "reservedCurrent2",
+      "offset": 29,
+      "type": "uint16",
+      "description": "备用电流2（A）"
+    },
+    {
+      "name": "emergency2BusbarVoltage",
+      "offset": 31,
+      "type": "uint16",
+      "description": "应急2母线电压（V）"
+    },
+    {
+      "name": "compositeEnergyManagementSystemEmergencyDC48VCurrent",
+      "offset": 33,
+      "type": "uint16",
+      "description": "综合能源管理系统应急DC48V电流（A）"
+    }
+  ]
+}

data/protocol-specs/udp/dis_high_vol_bus_fb.json

@@ -0,0 +1,184 @@
+{
+  "protocol_name": "高压母线状态反馈",
+  "message_id": "0x0005",
+  "length": 38,
+  "checksum": {
+    "start_offset": 0,
+    "end_offset": 37,
+    "algorithm": "sum_low_byte"
+  },
+  "fields": [
+    {
+      "name": "start1",
+      "offset": 0,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节1"
+    },
+    {
+      "name": "start2",
+      "offset": 1,
+      "type": "uint8",
+      "value": "0x20",
+      "description": "起始字节2"
+    },
+    {
+      "name": "id",
+      "offset": 2,
+      "type": "uint16",
+      "value": "0x0005",
+      "description": "消息ID"
+    },
+    {
+      "name": "length",
+      "offset": 4,
+      "type": "uint16",
+      "value": 38,
+      "description": "消息长度"
+    },
+    {
+      "name": "DCB1",
+      "offset": 6,
+      "type": "uint8",
+      "description": "直流断路器1状态"
+    },
+    {
+      "name": "DCB2",
+      "offset": 7,
+      "type": "uint8",
+      "description": "直流断路器2状态"
+    },
+    {
+      "name": "ZK1",
+      "offset": 8,
+      "type": "uint8",
+      "description": "真空接触器1状态"
+    },
+    {
+      "name": "ZK2",
+      "offset": 9,
+      "type": "uint8",
+      "description": "真空接触器2状态"
+    },
+    {
+      "name": "ZK3",
+      "offset": 10,
+      "type": "uint8",
+      "description": "真空接触器3状态"
+    },
+    {
+      "name": "ZK4",
+      "offset": 11,
+      "type": "uint8",
+      "description": "真空接触器4状态"
+    },
+    {
+      "name": "ZK5",
+      "offset": 12,
+      "type": "uint8",
+      "description": "真空接触器5状态"
+    },
+    {
+      "name": "ZK6",
+      "offset": 13,
+      "type": "uint8",
+      "description": "真空接触器6状态"
+    },
+    {
+      "name": "ZK7",
+      "offset": 14,
+      "type": "uint8",
+      "description": "真空接触器7状态"
+    },
+    {
+      "name": "ZK8",
+      "offset": 15,
+      "type": "uint8",
+      "description": "真空接触器8状态"
+    },
+    {
+      "name": "ZK9",
+      "offset": 16,
+      "type": "uint8",
+      "description": "真空接触器9状态"
+    },
+    {
+      "name": "ZK10",
+      "offset": 17,
+      "type": "uint8",
+      "description": "真空接触器10状态"
+    },
+    {
+      "name": "busInsulationLow",
+      "offset": 18,
+      "type": "uint8",
+      "description": "母线绝缘低报警"
+    },
+    {
+      "name": "busAInsulationHigh",
+      "offset": 19,
+      "type": "uint8",
+      "description": "A母线绝缘高报警"
+    },
+    {
+      "name": "lostPower",
+      "offset": 20,
+      "type": "uint8",
+      "description": "失电信号"
+    },
+    {
+      "name": "lostEmerPower",
+      "offset": 21,
+      "type": "uint8",
+      "description": "应急失电信号"
+    },
+    {
+      "name": "powerBusVoltage",
+      "offset": 22,
+      "type": "uint16",
+      "description": "动力母线电压（V）"
+    },
+    {
+      "name": "dcDc5ModuleCurrent",
+      "offset": 24,
+      "type": "uint16",
+      "description": "DC/DC5模块电流（A）"
+    },
+    {
+      "name": "powerBusCurrent",
+      "offset": 26,
+      "type": "uint16",
+      "description": "动力母线电流（A）"
+    },
+    {
+      "name": "busbarAVoltage",
+      "offset": 28,
+      "type": "uint16",
+      "description": "A排电压（V）"
+    },
+    {
+      "name": "propulsionMotorControlBoxCurrent",
+      "offset": 30,
+      "type": "uint16",
+      "description": "推进电机控制箱电流（A）"
+    },
+    {
+      "name": "busbarACurrent",
+      "offset": 32,
+      "type": "uint16",
+      "description": "A排电流（A）"
+    },
+    {
+      "name": "lithiumBatteryGroupMeterCurrent",
+      "offset": 34,
+      "type": "uint16",
+      "description": "锂电池组表计电流（A）"
+    },
+    {
+      "name": "bowHighVoltageDistributionBoxCurrent",
+      "offset": 36,
+      "type": "uint16",
+      "description": "艏部高压配电箱电流（A）"
+    }
+  ]
+}

docs/PowerManager_Optimization_Design.md

@@ -0,0 +1,128 @@
+# PowerManager系统架构优化设计方案
+
+## 1. 总体架构
+```mermaid
+classDiagram
+    class PowerManagerCore {
+        +startup()
+        +shutdown()
+        +getSystemState()
+    }
+
+    class StateMachineService {
+        +triggerEvent()
+        +getCurrentState()
+        +addStateListener()
+    }
+
+    class CommunicationMediator {
+        +registerHandler()
+        +sendMessage()
+        +addMessageListener()
+    }
+
+    PowerManagerCore --> StateMachineService
+    PowerManagerCore --> CommunicationMediator
+```
+
+## 2. 状态机重构方案
+
+### 2.1 状态设计模式
+```cpp
+class IPowerState {
+public:
+    virtual void onEntry(PowerContext&) = 0;
+    virtual void handleEvent(PowerContext&, const Event&) = 0;
+    virtual void onExit(PowerContext&) = 0;
+};
+```
+
+### 2.2 状态转换规则
+```yaml
+# states_config.yaml
+transitions:
+  - from: STANDBY
+    event: START_CMD
+    to: OPERATING
+  - from: OPERATING
+    event: STOP_CMD
+    to: STANDBY
+```
+
+## 3. 通信中介者设计
+
+### 3.1 核心架构
+```mermaid
+sequenceDiagram
+    participant Upper as 上位机
+    participant Mediator as 通信中介者
+    participant Lower as 下位机
+    
+    Upper->>Mediator: 控制命令(JSON)
+    Mediator->>Lower: 设备指令(ProtocolBuffer)
+    Lower->>Mediator: 状态更新
+    Mediator->>Upper: 系统报告
+```
+
+### 3.2 关键实现
+```cpp
+class CommunicationMediator {
+    // 线程安全消息队列
+    moodycamel::ConcurrentQueue<Message> queue;
+    
+    // 消息处理线程
+    void processMessages() {
+        while (running) {
+            Message msg;
+            if (queue.try_dequeue(msg)) {
+                handlers[msg.type]->handle(msg);
+            }
+        }
+    }
+};
+```
+
+## 4. 数据库服务设计
+
+### 4.1 日志策略模式
+```cpp
+class ILogStrategy {
+public:
+    virtual bool log(const SystemLog& log) = 0;
+};
+
+class SQLiteLogStrategy : public ILogStrategy {
+    // SQLite实现...
+};
+
+class FileLogStrategy : public ILogStrategy {
+    // 文件系统实现...
+};
+```
+
+## 5. 实施计划
+
+### 5.1 阶段划分
+```mermaid
+gantt
+    title 重构实施甘特图
+    section 核心框架
+    接口定义     :2025-04-08, 3d
+    基础实现     :2025-04-11, 5d
+    
+    section 模块重构
+    状态机      :2025-04-16, 5d
+    通信模块    :2025-04-21, 5d
+    
+    section 测试验证
+    单元测试    :2025-04-26, 3d
+    集成测试    :2025-04-29, 5d
+```
+
+## 6. 性能指标
+
+| 模块           | 当前QPS | 目标QPS | 优化手段               |
+|----------------|---------|---------|-----------------------|
+| 状态机处理     | 100     | 500     | 无锁状态转换          |
+| 消息处理       | 200     | 1000    | 批量处理+线程池       |
+| 数据库写入     | 50      | 300     | 异步写入+批量提交     |

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/pPowerManger.moos

@@ -0,0 +1,5 @@
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+}

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
+}
+

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.
+

src/CMakeLists.txt

@@ -0,0 +1,24 @@
+##############################################################################
+# 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
+##############################################################################
+
+
+#============================================================================
+# 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)
+
+##############################################################################
+#                           END of CMakeLists.txt
+##############################################################################
+

src/appPowerMangerWebUI/CMakeLists.txt

@@ -0,0 +1,37 @@
+#--------------------------------------------------------
+# The CMakeLists.txt for:                       appPowerMangerWebUI
+# Author(s):                              
+#--------------------------------------------------------
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# 设置 vcpkg 工具链文件路径
+set(CMAKE_TOOLCHAIN_FILE "/home/zjk/project/lib/vcpkg/scripts/buildsystems/vcpkg.cmake" CACHE STRING "")
+
+# 查找Boost库
+find_package(Boost REQUIRED COMPONENTS system thread)
+
+#find crow库
+find_package(Crow CONFIG REQUIRED)
+# Find SQLite3 package
+find_package(SQLite3 REQUIRED)
+
+SET(SRC
+  main.cpp
+  DBImage.cpp
+)
+
+ADD_EXECUTABLE(appPowerMangerWebUI ${SRC})
+
+TARGET_LINK_LIBRARIES(appPowerMangerWebUI
+   ${MOOS_LIBRARIES}
+   mbutil
+   m
+   pthread
+   Crow::Crow 
+   asio::asio
+   jsoncpp
+   SQLiteDB
+   sqlite3
+   Boost::system
+   Boost::thread)

src/appPowerMangerWebUI/DBImage.cpp

@@ -0,0 +1,230 @@
+///////////////////////////////////////////////////////////////////////////
+//
+//   MOOS - Mission Oriented Operating Suite 
+//  
+//   A suit of Applications and Libraries for Mobile Robotics Research 
+//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
+//   Oxford University. 
+//    
+//   This software was written by Paul Newman at MIT 2001-2002 and Oxford 
+//   University 2003-2005. email: pnewman@robots.ox.ac.uk. 
+//      
+//   This file is part of a  MOOS Utility Component. 
+//        
+//   This program is free software; you can redistribute it and/or 
+//   modify it under the terms of the GNU General Public License as 
+//   published by the Free Software Foundation; either version 2 of the 
+//   License, or (at your option) any later version. 
+//          
+//   This program is distributed in the hope that it will be useful, 
+//   but WITHOUT ANY WARRANTY; without even the implied warranty of 
+//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
+//   General Public License for more details. 
+//            
+//   You should have received a copy of the GNU General Public License 
+//   along with this program; if not, write to the Free Software 
+//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
+//   02111-1307, USA. 
+//
+//////////////////////////    END_GPL    //////////////////////////////////
+// DBImage.cpp: implementation of the CDBImage class.
+
+
+
+//
+
+
+//////////////////////////////////////////////////////////////////////
+
+#include "DBImage.h"
+
+//////////////////////////////////////////////////////////////////////
+// Construction/Destruction
+//////////////////////////////////////////////////////////////////////
+
+bool CDBImage::Set(MOOSMSG_LIST & InMail)
+{
+    MOOSMSG_LIST::iterator p;
+
+
+    m_Lock.Lock();
+    //MOOSTrace("Rx'd %d \n",InMail.size());
+
+    for(p = InMail.begin();p!=InMail.end();p++)
+    {
+        CMOOSMsg & rMsg= *p;
+        //MOOSTrace("Rx'd %s \n",rMsg.m_sKey.c_str());
+
+        if(!m_Mask.empty() && m_Mask.find(rMsg.GetSource())!=m_Mask.end())
+        {
+            continue;
+        }
+
+        if(rMsg.IsDataType(MOOS_NOT_SET) && !m_bShowPending)
+        {
+            continue;
+        }
+
+        int nNdx = GetIndex(rMsg.m_sKey);        
+        if(nNdx<0)
+        {
+            m_IndexMap[rMsg.m_sKey] = m_DBData.size();
+            m_DBData.push_back(CVar(rMsg));
+        }
+        else
+        {
+            bool bChanging = !( rMsg.GetTime()==m_DBData[nNdx].GetTimeVal());
+            m_DBData[nNdx]= CVar(rMsg);
+            m_DBData[nNdx].Changed(bChanging);
+        }                
+    }
+    m_Lock.UnLock();
+
+    return true;
+
+}
+
+
+
+
+
+
+
+
+int CDBImage::GetIndex(const std::string & sName)
+{
+    std::map<std::string,int>::iterator q = m_IndexMap.find(sName);    
+
+    if(q!=m_IndexMap.end())
+    {
+        int n = q->second; 
+        return n;
+    }
+    else
+    {
+        return -1;
+    }
+
+}
+
+bool CDBImage:: HasChanged(int n)
+{
+    if(n >= static_cast<int> (m_DBData.size()) || n<0)
+        return false;
+    return m_DBData[n].IsChanged();
+}
+
+
+bool CDBImage::Get(CVar & rVar, int n)
+{
+    m_Lock.Lock();
+
+    if(n>=static_cast<int> (m_DBData.size()) || n<0)
+    {
+        m_Lock.UnLock();
+        return false;
+    }
+
+    rVar = m_DBData[n];
+
+    m_Lock.UnLock();
+
+    return true;    
+}
+
+
+bool CDBImage::SetProcInfo(MOOSMSG_LIST & InMail) 
+{
+    m_Lock.Lock();
+    // TODO: Add your control notification handler code here
+    m_nClients = InMail.size();
+    m_Processes.clear();
+    MOOSMSG_LIST::iterator p;
+    for(p=InMail.begin();p!=InMail.end();p++)
+    {
+
+        CMOOSMsg & rMsg = *p;
+        std::string sTmp =  rMsg.m_sVal;
+        std::string sWho = MOOSChomp(sTmp,":");
+
+        if(m_Processes.find(sWho)==m_Processes.end())
+        {
+            ProcInfo Info;
+            m_Processes[sWho] = Info;
+        }
+
+        std::string sSubscribed,sPublished;
+        sSubscribed = MOOSChomp(sTmp,"PUBLISHED=");
+        sPublished = sTmp;
+        MOOSChomp(sSubscribed,"SUBSCRIBED=");
+
+        while(!sSubscribed.empty())
+        {
+            sTmp = MOOSChomp(sSubscribed,",");
+            if(!sTmp.empty())
+            {
+                m_Processes[sWho].m_Subscribed.push_front(sTmp);
+            }
+        }
+
+        while(!sPublished.empty())
+        {
+            sTmp = MOOSChomp(sPublished,",");
+            if(!sTmp.empty())
+            {
+                m_Processes[sWho].m_Published.push_front(sTmp);
+            }
+        }
+    }
+    m_Lock.UnLock();
+    return true;
+}
+
+bool CDBImage::GetProcInfo(const std::string & sWhat,STRING_LIST & sSubs,STRING_LIST & sPubs)
+{
+    bool bRes = false;
+    m_Lock.Lock();
+    PROC_INFO_MAP::iterator q = m_Processes.find(sWhat);
+    if(q!=m_Processes.end())
+    {
+        sSubs = q->second.m_Subscribed;
+        sPubs = q->second.m_Published;
+        bRes = true;
+    }
+    m_Lock.UnLock();
+    return bRes;
+
+}
+
+bool CDBImage::GetProcesses(STRING_LIST & sProcs)
+{
+    m_Lock.Lock();
+
+    sProcs.clear();    
+
+    PROC_INFO_MAP::iterator q;
+    for(q=m_Processes.begin();q!=m_Processes.end();q++)
+    {
+        sProcs.push_back(q->first.c_str());    
+    }
+    m_Lock.UnLock();
+
+    return true;
+}
+
+
+bool CDBImage::SetMask(std::set<std::string> Mask)
+{
+    m_Mask = Mask;
+    return true;
+}
+
+bool CDBImage::Clear()
+{
+    m_Lock.Lock();
+    m_DBData.clear();
+    m_IndexMap.clear();
+    m_Lock.UnLock();
+
+    return true;
+}

src/appPowerMangerWebUI/DBImage.h

@@ -0,0 +1,170 @@
+///////////////////////////////////////////////////////////////////////////
+//
+//   MOOS - Mission Oriented Operating Suite 
+//  
+//   A suit of Applications and Libraries for Mobile Robotics Research 
+//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
+//   Oxford University. 
+//    
+//   This software was written by Paul Newman at MIT 2001-2002 and Oxford 
+//   University 2003-2005. email: pnewman@robots.ox.ac.uk. 
+//      
+//   This file is part of a  MOOS Utility Component. 
+//        
+//   This program is free software; you can redistribute it and/or 
+//   modify it under the terms of the GNU General Public License as 
+//   published by the Free Software Foundation; either version 2 of the 
+//   License, or (at your option) any later version. 
+//          
+//   This program is distributed in the hope that it will be useful, 
+//   but WITHOUT ANY WARRANTY; without even the implied warranty of 
+//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
+//   General Public License for more details. 
+//            
+//   You should have received a copy of the GNU General Public License 
+//   along with this program; if not, write to the Free Software 
+//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
+//   02111-1307, USA. 
+//
+//////////////////////////    END_GPL    //////////////////////////////////
+// DBImage.h: interface for the CDBImage class.
+
+//
+
+//////////////////////////////////////////////////////////////////////
+
+#ifdef _WIN32
+    #pragma warning(disable : 4786)
+#endif
+
+
+#if !defined(AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_)
+
+#define AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_
+
+#if _MSC_VER > 1000
+#pragma once
+#endif // _MSC_VER > 1000
+
+#include "MOOS/libMOOS/MOOSLib.h"
+#include <string>
+#include <map>
+#include <vector>
+
+
+class CDBImage
+{
+public:
+    bool Clear();
+
+    CDBImage()
+    {
+        m_bShowPending = false;
+    }
+
+    struct ProcInfo
+    {
+        std::string m_sName;
+        STRING_LIST m_Published;
+        STRING_LIST m_Subscribed;
+    };
+
+    typedef std::map<std::string,ProcInfo> PROC_INFO_MAP;
+
+    class CVar
+
+    {
+    public:
+        CVar()
+        {
+            m_dfTime = -1;
+        }
+
+        CVar(CMOOSMsg & rMsg)
+        {
+            m_dfTime = rMsg.m_dfTime;
+            switch(rMsg.m_cDataType)
+            {
+            case MOOS_STRING:
+                m_eType = STR;
+                break;
+            case MOOS_DOUBLE:
+                m_eType = DBL;
+                break;
+            case MOOS_BINARY_STRING:
+                m_eType = BIN;
+                break;
+            default:
+                m_eType = UNKNOWN;
+            }
+            m_sStr = rMsg.GetAsString();
+            m_sCommunity = rMsg.m_sOriginatingCommunity;
+            m_sName = rMsg.m_sKey;
+            m_sFreq = MOOSFormat("%.1f",rMsg.m_dfVal2);
+            m_sSource = rMsg.m_sSrc;
+            m_bChanged = false;
+        }
+
+        std::string GetTime(){return MOOSFormat("%.3f",m_dfTime);};
+        double GetTimeVal(){return m_dfTime;};
+        std::string GetValue(){return m_eType==UNKNOWN?"":m_sStr;};
+        std::string GetCommunity(){return m_sCommunity;};
+        std::string GetName(){return m_sName;};
+        std::string GetFrequency(){return m_sFreq;};
+        std::string GetSource(){return m_sSource;};
+        bool IsChanged(){return m_bChanged;};
+        void Changed(bool b){m_bChanged = b;};
+        std::string GetType()
+        {
+            switch(m_eType)
+            {
+            case STR:
+                return "$";
+            case DBL:
+                return "D";
+            case BIN:
+                return "B";
+            default:
+                return "?";
+            }
+        }
+
+
+    protected:
+        double m_dfTime;
+        std::string m_sStr;
+        enum Type{ STR,DBL,BIN,UNKNOWN};
+        Type m_eType;
+        std::string m_sCommunity;
+        std::string m_sSrc;
+        std::string m_sName;
+        std::string m_sFreq;
+        std::string m_sSource;
+        bool m_bChanged;
+    };
+
+    bool Set(MOOSMSG_LIST & InMail);
+    bool Get(CVar & rVar, int n);
+    bool HasChanged(int n);
+    bool SetProcInfo(MOOSMSG_LIST & InMail) ;
+    bool GetProcesses(STRING_LIST & sProcs);
+    int GetNumVariables(){return m_DBData.size();}
+    bool GetProcInfo(const std::string & sWhat,STRING_LIST & sSubs,STRING_LIST & sPubs);
+    bool SetMask(std::set<std::string> Mask);
+    bool ShowPending(bool b){m_bShowPending = b;return true;};
+protected:
+    int GetIndex(const std::string & sName);
+    std::vector<CVar> m_DBData;
+    std::map<std::string,int> m_IndexMap;
+    std::set<std::string> m_Mask;
+
+    bool m_bShowPending ;
+    int m_nClients;
+    int m_nVariables;
+    PROC_INFO_MAP m_Processes;
+    CMOOSLock m_Lock;
+};
+
+
+#endif // !defined(AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_)
+

src/appPowerMangerWebUI/main.cpp

@@ -0,0 +1,305 @@
+#include <string>
+#include "crow.h"
+#include <iostream>
+#include "json/json.h"
+#include <sys/inotify.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <fstream>
+#include <vector>
+#include <thread>
+#include <mutex>
+#include <memory>
+#include "../pPowerManger/SQLiteDB.h"
+#include "../pPowerManger/pmSysvariable.h"
+#include <MOOS/libMOOS/Comms/MOOSAsyncCommClient.h>
+#include "DBImage.h"
+
+using namespace std;
+
+// 定义全局变量
+ccuState ccustate;
+StateData stateData;
+mutex wsMutex;
+vector<crow::websocket::connection*> wsConnections;
+shared_ptr<SQLiteDB> db;
+shared_ptr<MOOS::MOOSAsyncCommClient>  moosClient;
+shared_ptr<CDBImage> dbImage;
+
+bool bContinue = true;
+
+// WebSocket消息处理
+void sendStateUpdate() {
+    crow::json::wvalue msg;
+    string time;
+    {
+        lock_guard<mutex> lock(wsMutex);
+        db->getStateData(stateData, time);
+    }
+    
+    // 基本状态信息
+    msg["state"] = {
+        {"time", time},
+        {"state_id", stateData.state_id},
+        {"state_name", stateData.state_name},
+        {"event", stateData.event},
+        {"event_id", stateData.event_id},
+        {"fault_code", stateData.fault_code},
+        {"note", stateData.note}
+    };
+    
+    // 数据库状态信息
+    msg["db_status"] = {
+        {"connected", db->isDatabaseConnected("/home/zjk/project/H100/H100PowerManger/data", "power_data.db")},
+        {"database", db->getDBPatch()},
+        {"size", db->getDatabaseSize()}
+    };
+    
+    // MOOS数据库状态信息
+    msg["moos_db_status"] = {
+        {"connected", moosClient->IsConnected()},
+        {"host", "localhost"},
+        {"port", 9000}
+    };
+
+    // 进程详细信息
+    {
+        lock_guard<mutex> lock(wsMutex);
+        STRING_LIST processes;
+        dbImage->GetProcesses(processes);
+        
+        crow::json::wvalue::list processList;
+        for(const auto& proc : processes) {
+            STRING_LIST subs, pubs;
+            if(dbImage->GetProcInfo(proc, subs, pubs)) {
+                crow::json::wvalue processInfo;
+                processInfo["name"] = proc;
+                std::vector<std::string> subs_vec(subs.begin(), subs.end());
+                std::vector<std::string> pubs_vec(pubs.begin(), pubs.end());
+                processInfo["subscribed"] = subs_vec;
+                processInfo["published"] = pubs_vec;
+                processList.push_back(std::move(processInfo));
+            }
+        }
+        
+        msg["processes"] = {
+            {"count", processes.size()},
+            {"list", std::move(processList)}
+        };
+    }
+
+    // 数据库变量信息
+    {
+        lock_guard<mutex> lock(wsMutex);
+        int varCount = dbImage->GetNumVariables();
+        crow::json::wvalue::list varList;
+        
+        // 遍历所有变量
+        for(int i = 0; i < varCount; i++) {
+            CDBImage::CVar var;
+            if(dbImage->Get(var, i)) {
+                varList.push_back({
+                    {"name", var.GetName()},
+                    {"value", var.GetValue()},
+                    {"time", var.GetTime()},
+                    {"type", var.GetType()},
+                    {"source", var.GetSource()}
+                });
+            }
+        }
+        
+        msg["variables"] = {
+            {"count", varCount},
+            {"data", std::move(varList)}  // 包含所有变量的数组
+        };
+    }
+
+    // 发送WebSocket消息
+    {
+        lock_guard<mutex> lock(wsMutex);
+        for(auto conn : wsConnections) {
+            conn->send_text(msg.dump());
+        }
+    }
+}
+
+// 订阅MOOS变量
+bool FetchLoop(MOOS::MOOSAsyncCommClient* comms, CDBImage* m_DBImage)
+{
+    int nCounts = 0;
+    while(true) // 外部需要控制循环退出条件
+    {
+        if(comms->IsConnected())
+        {
+            // 每5次循环获取一次进程摘要
+            if(nCounts++ % 5 == 0)
+            {
+                MOOSMSG_LIST procMail;
+                if(comms->ServerRequest("PROC_SUMMARY", procMail))
+                {
+                    m_DBImage->SetProcInfo(procMail);
+                    
+                    // 打印进程信息
+                    // STRING_LIST processes;
+                    // m_DBImage->GetProcesses(processes);
+                    // std::cout << "Active processes: " << processes.size() << std::endl;
+                }
+            }
+            
+            // 每次循环都获取数据库摘要
+            MOOSMSG_LIST dbMail;
+            if(comms->ServerRequest("ALL", dbMail))
+            {
+                m_DBImage->Set(dbMail);
+                
+                // 打印数据库变量信息
+                int varCount = m_DBImage->GetNumVariables();
+                // std::cout << "Database variables: " << varCount << std::endl;
+                
+                // 打印最近更新的变量
+                if(varCount > 0) {
+                    CDBImage::CVar lastVar;
+                    if(m_DBImage->Get(lastVar, varCount-1)) {
+                        // std::cout << "Last updated variable: " 
+                        //         << lastVar.GetName() << " = " 
+                        //         << lastVar.GetValue() << std::endl;
+                    }
+                }
+            }
+        }
+        
+        // 保持大约4Hz的频率
+        MOOSPause(250);
+    }
+    return true;
+}
+
+int main() {
+    crow::SimpleApp app;
+    db = make_shared<SQLiteDB>("/home/zjk/project/H100/H100PowerManger/data/power_data.db");
+    moosClient = make_shared<MOOS::MOOSAsyncCommClient>();
+    dbImage = make_shared<CDBImage>();
+    moosClient->Run("localhost", 9000, "appPowerMangerWebUI");
+
+    // WebSocket路由
+    CROW_WEBSOCKET_ROUTE(app, "/ws/state")
+    .onopen([&](crow::websocket::connection& conn){
+        lock_guard<mutex> lock(wsMutex);
+        wsConnections.push_back(&conn);
+        cout << "New WebSocket connection" << endl;
+    })
+    .onclose([&](crow::websocket::connection& conn, const string& /*reason*/, uint16_t /*code*/){
+        lock_guard<mutex> lock(wsMutex);
+        wsConnections.erase(
+            remove(wsConnections.begin(), wsConnections.end(), &conn),
+            wsConnections.end());
+        cout << "WebSocket connection closed" << endl;
+    })
+    .onmessage([&](crow::websocket::connection& conn, const string& data, bool is_binary){
+        cout << "Received WebSocket message: " << data << endl;
+    });
+
+    // 状态更新定时器
+    thread([](){
+        while(true) {
+            sendStateUpdate();
+            this_thread::sleep_for(chrono::seconds(1));
+        }
+    }).detach();
+
+    //MOOS数据库更新定时器
+    std::thread fetchThread([&](){
+        while(bContinue) {
+            FetchLoop(moosClient.get(), dbImage.get());
+        }
+    });
+
+    // 绑定主页路由
+    CROW_ROUTE(app, "/")([]() {
+        auto page = crow::mustache::load_text("index.html");
+        return page;
+    });
+
+    // MOOS通知API
+    CROW_ROUTE(app, "/api/moos-notify")
+    .methods("POST"_method)
+    ([](const crow::request& req) {
+        auto json = crow::json::load(req.body);
+        if (!json) {
+            return crow::response(400, "Invalid JSON");
+        }
+
+        string var = json["var"].s();
+        string key = json["key"].s();
+
+        if (var.empty() || key.empty()) {
+            return crow::response(400, "Var and Key are required");
+        }
+
+        try {
+            moosClient->Notify(var, key);
+            return crow::response(200, "{\"success\":true}");
+        } catch (const exception& e) {
+            return crow::response(500, 
+                crow::json::wvalue{{"success", false}, {"message", e.what()}}.dump());
+        }
+    });
+
+    // 下载数据库API
+    CROW_ROUTE(app, "/api/download-db")
+    ([]() {
+        const std::string dbPath = "/home/zjk/project/H100/H100PowerManger/data/power_data.db";
+        const size_t chunkSize = 4096; // 4KB chunks
+        
+        std::ifstream file(dbPath, std::ios::binary | std::ios::ate);
+        if (!file) {
+            return crow::response(404, "Database file not found");
+        }
+        
+        // 获取文件大小
+        std::streamsize fileSize = file.tellg();
+        file.seekg(0, std::ios::beg);
+        
+        if (fileSize == 0) {
+            return crow::response(500, "Database file is empty");
+        }
+        
+        // 创建响应
+        crow::response res;
+        res.code = 200;
+        res.set_header("Content-Type", "application/octet-stream");
+        res.set_header("Content-Disposition", "attachment; filename=power_data.db");
+        res.set_header("Content-Length", std::to_string(fileSize));
+        
+        try {
+            // 分块读取和写入文件
+            auto buffer = std::make_unique<char[]>(chunkSize);
+            size_t totalSent = 0;
+            
+            while (totalSent < fileSize) {
+                size_t remaining = fileSize - totalSent;
+                size_t readSize = std::min(remaining, chunkSize);
+                
+                file.read(buffer.get(), readSize);
+                if (file.gcount() <= 0) break;
+                
+                res.write(std::string(buffer.get(), file.gcount()));
+                totalSent += file.gcount();
+            }
+            
+            file.close();
+            return res;
+        } catch (const std::exception& e) {
+            file.close();
+            return crow::response(500, std::string("Download failed: ") + e.what());
+        }
+    });
+
+    // 启动服务器
+    app.port(18080)
+    .multithreaded()
+    .concurrency(16)
+    .run();
+
+    return 0;
+}

src/pPowerManger/CMakeLists.txt

@@ -0,0 +1,75 @@
+#--------------------------------------------------------
+# 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})
+
+# Find SQLite3 package
+find_package(SQLite3 REQUIRED)
+
+SET(SRC
+  PowerManagerFsm.cpp
+  PowerManger.cpp
+  PowerManger_Info.cpp
+  udpComm.cpp
+  main.cpp
+  SQLiteDB.cpp
+  driver.cpp
+  LowerCommManager.cpp
+  UpperCommManager.cpp
+)
+
+ADD_EXECUTABLE(pPowerManger ${SRC})
+
+TARGET_LINK_LIBRARIES(pPowerManger
+   ${MOOS_LIBRARIES}
+   apputil
+   mbutil
+   m
+   pthread
+   jsoncpp
+   ${SYSTEM_LIBS}
+   SQLiteDB
+   sqlite3)
+
+# Add SQLiteDB static library
+SET(UDPCOMM_SRC
+  udpComm.cpp
+)
+
+SET(SQLITEDB_SRC
+  SQLiteDB.cpp
+)
+
+SET(FSMLIB_SRC
+  PowerManagerFsm.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 +1,326 @@
+#include "LowerCommManager.h"
+#include "PowerManger.h"
+#include "driver.h"
+#include "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 << "PORT = " << m_port << std::endl;
+    std::cout << "CCUHOST = " << m_udpComm->ccuHost << std::endl;
+    std::cout << "CCUPORT = " << m_udpComm->ccuPort << std::endl;
+}
+
+LowerCommManager::~LowerCommManager(){
+    try {
+        stopListenThread();
+        if (m_udpComm) {
+            delete m_udpComm;
+            m_udpComm = nullptr;
+        }
+    } catch (...) {
+        cerr << "Error during cleanup" << endl;
+    }
+}
+bool LowerCommManager::initUdpComm(){
+  //设置UDP监听端口
+  if(m_udpComm->udpScoket)
+  {
+    try
+    {
+        m_udpComm->udpScoket->vBindSocket();
+        cout<<MOOS::ConsoleColours::green()<< "UDP set succeed!"<< MOOS::ConsoleColours::reset() << endl;
+    }
+    catch(const std::exception& e)
+    {
+        std::cerr << e.what() << '\n';
+        cout<<MOOS::ConsoleColours::red()<< "UDP set Fild!"<< MOOS::ConsoleColours::reset() << endl;
+
+        return false;
+    }
+  }
+  else
+  {
+    cout<<MOOS::ConsoleColours::red()<< "UDP set Fild!"<< MOOS::ConsoleColours::reset() << endl;
+    return false;
+  }
+  return true;
+}
+void LowerCommManager::processPeriodicTasks() {
+    sendCcuCommand(m_pm->m_CcuColCmd);
+    sendDisSysCommand(m_pm->m_targetDisBreakerState);
+    m_udpComm->clearMsgQueue();
+}
+
+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);
+    m_udpComm->sendDisSysCmd(a);
+    //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);
+    //c. 高压汇流排B断路器
+    disHighBVolBusCmd c;
+    c.lithiumBatteryGroupInstrumentCircuitBreaker = getBreakerOption(cmd.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker);
+    c.bowLowVoltageDistributionBoxCircuitBreaker = getBreakerOption(cmd.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker);
+    c.unit4InstrumentDC48VCircuitBreaker = getBreakerOption(cmd.bus3Breaker.unit4InstrumentDC48VCircuitBreaker);
+    c.dcC1DCDistributionPanelCircuitBreaker = getBreakerOption(cmd.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker);
+    c.reservedCircuitBreaker1 = getBreakerOption(cmd.bus3Breaker.reservedCircuitBreaker1);
+    c.reservedCircuitBreaker2 = getBreakerOption(cmd.bus3Breaker.reservedCircuitBreaker2);
+    c.emergencyLithiumBatteryGroup2CircuitBreaker = getBreakerOption(cmd.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker);
+    m_udpComm->sendDisSysCmd(c);
+    //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);
+    //将指令写入数据库
+    m_pm->m_db->insertDisSysCmd(a);
+    m_pm->m_db->insertDisSysCmd(b);
+    m_pm->m_db->insertDisSysCmd(c);
+    m_pm->m_db->insertDisSysCmd(d);
+    return true;
+}
+
+
+void LowerCommManager::clearMsgQueue(){
+    m_udpComm->clearMsgQueue();
+}
+
+
+bool LowerCommManager::updatePoweSystemStates(){
+    // std::cout << "updatePoweSystemStates" << std::endl;
+  if(!m_udpComm->m_qReceiveCcuStateBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_CcuCurrentState);
+    m_pm->m_pmCurrentState.ccustate = m_CcuCurrentState.data;
+    // m_db->insertCcuData(m_CcuCurrentState.data); //写入数据库
+    msg_CcuStateFbMsg_Update_time = time;
+  }
+  if(!m_udpComm->m_qReceiveDisHighVolBusBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_disHighVolBusCurrentState);
+    m_pm->m_pmCurrentState.bus1State = m_disHighVolBusCurrentState.data;
+    // m_db->insertDisHighVolBusData(m_disHighVolBusCurrentState.data); //写入数据库
+    msg_disHighVolBusFbMsg_Update_time = time;
+
+    disBus1Breaker* pdis1=new disBus1Breaker;
+    (m_pm->m_pmCurrentState.bus1State.fuelCellCircuitBreaker                      == BREAK_ON) ? pdis1 -> fuelCellCircuitBreaker = 1 : pdis1 -> fuelCellCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.powerLithiumBatteryCircuitBreaker           == BREAK_ON) ? pdis1 -> powerLithiumBatteryCircuitBreaker = 1 : pdis1 -> powerLithiumBatteryCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.propulsionMotorCircuitBreaker               == BREAK_ON) ? pdis1 -> propulsionMotorCircuitBreaker = 1 : pdis1 -> propulsionMotorCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON) ? pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis1 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCircuitBreaker                   == BREAK_ON) ? pdis1 -> dcDc5ModuleCircuitBreaker = 1 : pdis1 -> dcDc5ModuleCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCircuitBreaker == BREAK_ON) ? pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 1 : pdis1 -> bowHighVoltageDistributionBoxCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.sternFTDevice45CircuitBreaker               == BREAK_ON) ? pdis1 -> sternFTDevice45CircuitBreaker = 1 : pdis1 -> sternFTDevice45CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch1CircuitBreaker = 1 : pdis1 -> sternRudderSwitch1CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2CircuitBreaker            == BREAK_ON) ? pdis1 -> sternRudderSwitch2CircuitBreaker = 1 : pdis1 -> sternRudderSwitch2CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.fbReservedCircuitBreaker                    == BREAK_ON) ? pdis1 -> fbReservedCircuitBreaker = 1 : pdis1 -> fbReservedCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.tyzReservedCircuitBreaker                   == BREAK_ON) ? pdis1 -> tyzReservedCircuitBreaker = 1 : pdis1 -> tyzReservedCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus1State.reservedCircuitBreaker                      == BREAK_ON) ? pdis1 -> reservedCircuitBreaker = 1 : pdis1 -> reservedCircuitBreaker = 0;
+    pdis1 -> paceholder = 0;
+    m_pm->m_currentDisBreakerState.bus1Breaker = *pdis1;
+    delete pdis1;
+  }
+  if(!m_udpComm->m_qReceiveDisHighAVolBusBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_disHighAVolBusCurrentState);
+    m_pm->m_pmCurrentState.bus2State = m_disHighAVolBusCurrentState.data;
+    // m_db->insertDisHighAVolBusData(m_disHighAVolBusCurrentState.data); //写入数据库
+    msg_disHighAVolBusFbMsg_Update_time = time;
+
+    disBus2Breaker* pdis2=new disBus2Breaker;
+    (m_pm->m_pmCurrentState.bus2State.bowFTDevice123CircuitBreaker              == BREAK_ON)? pdis2 -> bowFTDevice123CircuitBreaker = 1 : pdis2 -> bowFTDevice123CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.actuatorCircuitBreaker                    == BREAK_ON)? pdis2 -> actuatorCircuitBreaker = 1 : pdis2 -> actuatorCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCircuitBreaker  == BREAK_ON)? pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 1 : pdis2 -> mastSteeringGearControlBoxCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.xczCircuitBreaker                         == BREAK_ON)? pdis2 -> xczCircuitBreaker = 1 : pdis2 -> xczCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCircuitBreaker         == BREAK_ON)? pdis2 -> bowRudderControlBoxCircuitBreaker = 1 : pdis2 -> bowRudderControlBoxCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCircuitBreaker == BREAK_ON)? pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 1 : pdis2 -> openWaterCoverStartCylinderCircuitBreaker = 0;
+    pdis2 -> paceholder = 0;
+    m_pm->m_currentDisBreakerState.bus2Breaker = *pdis2;
+    delete pdis2;
+  }
+  if(!m_udpComm->m_qReceiveDisHighBVolBusBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_disHighBVolBusCurrentState);
+    m_pm->m_pmCurrentState.bus3State = m_disHighBVolBusCurrentState.data;
+    // m_db->insertDisHighBVolBusData(m_disHighBVolBusCurrentState.data); //写入数据库
+    msg_disHighBVolBusFbMsg_Update_time = time;
+
+    disBus3Breaker* pdis3=new disBus3Breaker;
+    (m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCircuitBreaker == BREAK_ON)? pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 1 : pdis3 -> lithiumBatteryGroupInstrumentCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCircuitBreaker  == BREAK_ON)? pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 1 : pdis3 -> bowLowVoltageDistributionBoxCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCircuitBreaker          == BREAK_ON)? pdis3 -> unit4InstrumentDC48VCircuitBreaker = 1 : pdis3 -> unit4InstrumentDC48VCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus3State.dcC1DCDistributionPanelCircuitBreaker       == BREAK_ON)? pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 1 : pdis3 -> dcC1DCDistributionPanelCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker1                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker1 = 1 : pdis3 -> reservedCircuitBreaker1 = 0;
+    (m_pm->m_pmCurrentState.bus3State.reservedCircuitBreaker2                     == BREAK_ON)? pdis3 -> reservedCircuitBreaker2 = 1 : pdis3 -> reservedCircuitBreaker2 = 0;
+    (m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2CircuitBreaker == BREAK_ON)? pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 1 : pdis3 -> emergencyLithiumBatteryGroup2CircuitBreaker = 0;
+    pdis3->paceholder = 0;
+    m_pm->m_currentDisBreakerState.bus3Breaker = *pdis3;
+    delete pdis3;
+  } 
+  if(!m_udpComm->m_qReceiveDisLowBusBuffer.empty())
+  {
+    double time;
+    m_udpComm->popMsgFormQueue(time,m_disLowBusState);
+    m_pm->m_pmCurrentState.bus4State = m_disLowBusState.data;
+    // m_db->insertDisLowBusData(m_disLowBusState.data); //写入数据库
+    msg_disLowBusFbMsg_Update_time = time;
+
+    disBus4Breaker* pdis4=new disBus4Breaker;
+    (m_pm->m_pmCurrentState.bus4State.unit1CircuitBreaker       == BREAK_ON)? pdis4 -> unit1CircuitBreaker = 1 : pdis4 -> unit1CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.unit2CircuitBreaker       == BREAK_ON)? pdis4 -> unit2CircuitBreaker = 1 : pdis4 -> unit2CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.unit3CircuitBreaker       == BREAK_ON)? pdis4 -> unit3CircuitBreaker = 1 : pdis4 -> unit3CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.unit5CircuitBreaker       == BREAK_ON)? pdis4 -> unit5CircuitBreaker = 1 : pdis4 -> unit5CircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.bowPZDeviceCircuitBreaker == BREAK_ON)? pdis4 -> bowPZDeviceCircuitBreaker = 1 : pdis4 -> bowPZDeviceCircuitBreaker = 0;
+    (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker1   == BREAK_ON)? pdis4 -> reservedCircuitBreaker1 = 1 : pdis4 -> reservedCircuitBreaker1 = 0;
+    (m_pm->m_pmCurrentState.bus4State.reservedCircuitBreaker2   == BREAK_ON)? pdis4 -> reservedCircuitBreaker2 = 1 : pdis4 -> reservedCircuitBreaker2 = 0;
+    (m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1CircuitBreaker == BREAK_ON)? pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 1 : pdis4 -> emergencyLithiumBatteryGroup1CircuitBreaker = 0;
+    pdis4 -> paceholder = 0;
+    m_pm->m_currentDisBreakerState.bus4Breaker = *pdis4;
+    delete pdis4;
+  }
+  return true;
+}
+
+bool LowerCommManager::listenThreadFunc()
+{
+    cout<<MOOS::ConsoleColours::green()<< "LowerCommManager::listenThreadFunc" << MOOS::ConsoleColours::reset() << endl;
+    unsigned char Buff[1024];
+    while(!m_ListenThread.IsQuitRequested())
+    {
+        try
+        {
+            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))
+                    {
+                        for(int i=0; i<m_udpComm->sError.size(); i++)
+                        {
+                            cout<<MOOS::ConsoleColours::red()<< m_udpComm->sError[i] << MOOS::ConsoleColours::reset() << endl;
+                        }
+                    }
+                    //更新当前状态
+                    if(!updatePoweSystemStates())
+                    {
+                        std::cerr << "Error updating power system states" << std::endl;
+                    }
+                }
+                catch(const std::exception& e) {
+                    cerr << "Error processing message: " << e.what() << endl;
+                }
+            }
+            
+            // 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;
+}
+
+//TODO:根据心跳检查连接状态
+bool LowerCommManager::checkConnection()
+{
+    m_pm->connectState =5;
+}

src/pPowerManger/LowerCommManager.h

@@ -0,0 +1,82 @@
+#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 "ccuUdpMsg.h"
+#include "pmSysvariable.h"
+#include <queue>
+#include <map>
+#include <functional>
+#include <atomic>
+#include <vector>
+#include "udpComm.h"
+
+class PowerManger; // 前向声明
+
+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();
+
+    // TODO:实现连接检查功能
+    bool checkConnection();
+        
+    // 更新设备状态
+    bool updatePoweSystemStates();
+    
+    // 发送CCU控制命令
+    bool sendCcuCommand(const ccuColCmd cmd);
+    bool sendDisSysCommand(const disSysBreakerList& cmd);
+
+    // 获取通信状态
+    int getConnectionState() const { return m_connectState; }
+    
+    // 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_disHighBVolBusFbMsg 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/PowerManagerFsm.cpp

@@ -0,0 +1,65 @@
+#include "PowerManagerFsm.hpp"
+#include "PowerManger.h"
+#include <string>
+#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
+
+// 定义静态成员
+PowerManger* PowerManagerFsm::pm = nullptr;
+
+// InitState实现
+void InitState::entry() {
+    PowerManagerFsm::entry();
+    std::cout << "初始化配电指令" << std::endl;
+    pm->initControlCmd();
+    // PowerManagerFsm::pm->printState("InitState", "进入初始化状态");
+    transit<StandbyState>();
+}
+
+// StandbyState实现
+void StandbyState::entry() {
+    PowerManagerFsm::entry();
+    pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);  
+    pm->m_CcuColCmd.fcuCmd = FcuCommand::Stop;
+    pm->m_CcuColCmd.powerBatCmd = BatteryCommand::Stop;
+}
+
+void StandbyState::react(StandbyEvent const &) {
+    transit<StandbyState>();
+}
+
+
+void StandbyState::handlePowerCommands() {
+    switch (PowerManagerFsm::pm->m_msCmd.powerCMD) {
+        case 0: PowerManagerFsm::pm->m_pmEvent = "收到上位机控制指令:关机"; break;
+        case 1: handlePowerOn(); break;
+    }
+}
+
+void StandbyState::handlePowerOn() {
+    PowerManagerFsm::pm->m_pmEvent = "动力电上电";
+    PowerManagerFsm::pm->m_CcuColCmd.powerBatCmd = 0x10;
+    if(PowerManagerFsm::pm->m_pmCurrentState.ccustate.fcuState == 0x04)
+        PowerManagerFsm::pm->m_CcuColCmd.fcuCmd = 0x02;
+}
+
+// FaultState实现
+void FaultState::entry() {
+    PowerManagerFsm::entry();
+    PowerManagerFsm::pm->printState("FaultState", "进入故障状态");
+}
+
+void FaultState::react(FaultEvent const & e) {
+    switch (e.faultCode) {
+        case 1: 
+            PowerManagerFsm::pm->m_pmEvent = "复合管控连接超时";
+            PowerManagerFsm::pm->printState("FaultState", "通信故障");
+            break;
+        case 2:
+            PowerManagerFsm::pm->m_pmEvent = "能源系统故障";
+            PowerManagerFsm::pm->printState("FaultState", "能源故障");
+            break;
+    }
+}
+
+// 设置初始状态
+FSM_INITIAL_STATE(PowerManagerFsm, InitState);

src/pPowerManger/PowerManagerFsm.hpp

@@ -0,0 +1,106 @@
+#ifndef POWER_MANAGER_FSM_HPP
+#define POWER_MANAGER_FSM_HPP
+#include "tinyfsm.hpp"
+#include <iostream>
+#include <chrono>      // 新增头文件
+#include <iomanip>     // 新增头文件
+#include <ctime>       // 新增头文件，用于localtime函数
+#include <cxxabi.h>  // 新增头文件，用于demangle功能
+#include "pmSysvariable.h"
+#include "driver.h"
+// 前向声明
+class PowerManger;
+
+enum class PowerSystemState {
+    INIT,
+    STANDBY,
+    FAULT,
+};
+
+//==================状态切换事件=============================
+struct InitEvent : tinyfsm::Event { };
+struct StandbyEvent : tinyfsm::Event { };
+struct FaultEvent : tinyfsm::Event { 
+    unsigned int faultCode;
+    FaultEvent(unsigned int code) : faultCode(code) {}
+};
+//==================状态流程事件============================
+struct MasterCommandEvent : tinyfsm::Event {};
+struct TaskStart : tinyfsm::Event { };
+struct DeviceCmd : tinyfsm::Event { };
+
+class PowerManagerFsm : public tinyfsm::Fsm<PowerManagerFsm> {
+protected:
+    static PowerManger* pm;
+    static DriverTable m_currentDriver;
+    
+public:
+    static void init(PowerManger* powerManager) {
+        pm = powerManager;
+    }
+    // 响应事件默认实现
+    virtual void react(tinyfsm::Event const &) { std::cout << "[ Reseve Envt ] " << "No Idear" << std::endl; }
+    virtual void react(InitEvent const &) {};
+    virtual void react(StandbyEvent const &) {};
+    virtual void react(FaultEvent const &) {};
+    virtual void react(MasterCommandEvent const &) {};
+    virtual void react(TaskStart const &) {};
+    virtual void react(DeviceCmd const &) {};
+
+    // 状态机生命周期方法
+    virtual void entry() {
+        auto now = std::chrono::system_clock::now();
+        auto now_time = std::chrono::system_clock::to_time_t(now);
+        
+        int status = 0;
+        char* demangled = abi::__cxa_demangle(typeid(*this).name(), nullptr, nullptr, &status);
+        std::string typeName = (status == 0) ? demangled : typeid(*this).name();
+        if (demangled) free(demangled);
+        
+        std::cout << "\033[1;38;5;51m╭──────────────────────────────────────────────────────\n"
+                  << "│ \033[1;38;5;226m⮞⮞⮞ \033[0;38;5;51m[" << std::put_time(std::localtime(&now_time), "%Y-%m-%d %H:%M:%S") 
+                  << "] \033[1;38;5;255m进入状态: \033[1;38;5;213m" << typeName << "\n"
+                  << "│                                                      \033[0m" << std::endl;
+    }
+    
+    virtual void exit() {
+        auto now = std::chrono::system_clock::now();
+        auto now_time = std::chrono::system_clock::to_time_t(now);
+        
+        int status = 0;
+        char* demangled = abi::__cxa_demangle(typeid(*this).name(), nullptr, nullptr, &status);
+        std::string typeName = (status == 0) ? demangled : typeid(*this).name();
+        if (demangled) free(demangled);
+        
+        std::cout << "\033[1;38;5;203m│                                                      \n"
+                  << "│ \033[1;38;5;208m⮜⮜⮜ \033[0;38;5;203m[" << std::put_time(std::localtime(&now_time), "%Y-%m-%d %H:%M:%S") 
+                  << "] \033[1;38;5;255m离开状态: \033[1;38;5;213m" << typeName << "\n"
+                  << "╰──────────────────────────────────────────────────────\033[0m" << std::endl;
+    }
+};
+
+
+class InitState : public PowerManagerFsm {
+public:
+    void entry() override;
+};
+
+class StandbyState : public PowerManagerFsm {
+public:
+    void entry() override;
+    void react(StandbyEvent const &) override;
+    // void react(MasterCommandEvent const &) override;
+    // void react(DeviceCmd const &) override;
+private:
+    void handlePowerCommands();
+    void handlePowerOn();
+};
+
+class FaultState : public PowerManagerFsm {
+public:
+    void entry() override;
+    void react(FaultEvent const &);
+};
+
+
+#endif // POWER_MANAGER_FSM_HPP

src/pPowerManger/PowerManger.cpp

@@ -0,0 +1,343 @@
+/************************************************************/
+/*    NAME:                                               */
+/*    ORGN: MIT, Cambridge MA                               */
+/*    FILE: PowerManger.cpp                                        */
+/*    DATE: December 29th, 1963                             */
+/************************************************************/
+
+#include <iterator>
+#include "MBUtils.h"
+#include "ACTable.h"
+#include "PowerManger.h"
+#include <memory>
+
+using namespace std;
+
+
+bool _FsmCB(void * pParam)
+{
+    PowerManger* pMe = (PowerManger* )pParam;
+    return pMe->FsmLoop();
+}
+
+//---------------------------------------------------------
+// Constructor()
+
+PowerManger::PowerManger()
+{
+  workCondition = 0;
+  currentMod = 0;
+  powerState = 0;
+  falutLevel = 0;
+  soc = 0;
+  sustainableTime = 0;
+  m_faultNum = 0;
+  m_ticker = 0;
+  faultCode.push_back(0);
+
+  m_pmCurrentState = {};
+  m_currentDisBreakerState = {};
+  m_targetDisBreakerState = {};
+  m_currentDriverState = {};
+  m_MSDriverCmd = {};
+  m_subDisSysCmd = {};
+  m_subDisSysState = {};
+  //初始化控制指令
+  initControlCmd();
+
+  //初始化数据库
+  string dbPath = "/home/zjk/project/H100/H100PowerManger/data/power_data.db";
+  m_db = new SQLiteDB(dbPath);
+  m_db->createPowerDataTables();
+  m_db->createStateTables();
+  m_db->createDisCcuSysTables();
+  m_db->createDriversTables(VAR_TO_STR(m_currentDriverState));
+  m_db->createDriversTables(VAR_TO_STR(m_subDisSysState));
+  m_db->createDriversTables(VAR_TO_STR(m_subDisSysCmd));
+  m_db->createDriversTables(VAR_TO_STR(m_MSDriverCmd));
+
+}
+
+//---------------------------------------------------------
+// Destructor
+
+PowerManger::~PowerManger()
+{
+  delete m_db;
+  delete m_lowerCommManager;
+}
+
+//---------------------------------------------------------
+// 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();
+    //处理上位机发送的控制指令
+    if(!m_upperCommManager->processUpperMsg(key,strJson))
+    {
+      cout << "processUpperMsg failed" << endl;
+    }
+    
+#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") 
+       cout << "great!";
+
+     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();
+  // 打印当前状态
+  // cout << " Current State : " << (int)PowerManagerFsm::current_state_ptr->getCurrentState();
+  if (m_ticker++ % 5 == 0)
+  {
+    m_CcuColCmd.heartbeat++;
+    m_lowerCommManager->processPeriodicTasks();
+    m_upperCommManager->processPeriodicTasks();
+    writeDataToDB();
+  }
+  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());
+
+  STRING_LIST::iterator p;
+  for(p=sParams.begin(); p!=sParams.end(); p++) {
+    string orig  = *p;
+    string line  = *p;
+    string param = tolower(biteStringX(line, '='));
+    string value = line;
+
+    bool handled = false;
+    if(param == "foo") {
+      handled = true;
+    }
+    else if(param == "bar") {
+      handled = true;
+    }
+
+    if(!handled)
+      reportUnhandledConfigWarning(orig);
+
+  }
+
+  registerVariables();	
+  //初始化UDP通信
+  m_lowerCommManager = new LowerCommManager(this,IPORT,CCUPORT,CCUHOST);
+  m_lowerCommManager->initUdpComm();
+  m_lowerCommManager->startListenThread();
+
+  //初始化上位机通信
+  m_upperCommManager = new UpperCommManager(this);
+    
+  // 初始化状态机
+  PowerManagerFsm::init(this);
+  PowerManagerFsm::start();
+  InitEvent initEvent;
+  PowerManagerFsm::dispatch(initEvent);
+  return(true);
+}
+
+//---------------------------------------------------------
+// Procedure: registerVariables()
+
+void PowerManger::registerVariables()
+{
+  AppCastingMOOSApp::RegisterVariables();
+  Register(DB_TO_PM_MSCMD, 0);
+  Register(DB_TO_PM_EQUIPMENTCMD, 0);
+  Register(DB_TO_PM_SUBDISSTATE, 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()
+{
+  //状态机循环
+  // while (!m_FsmThread.IsQuitRequested())
+  // {
+  //   // // 检查故障并触发事件
+  //   // if(int error = checkError()) {
+  //   //   m_fsm.triggerFaultEvent(error);
+  //   // } else {
+  //   //   // 自动状态转换由状态机内部处理
+  //   //   MOOSPause(1000);
+  //   // }
+    
+  //   //延时1s
+  //   usleep(1000000);
+  // }
+  return true;
+}
+
+bool PowerManger::writeDataToDB()
+{
+  //写入设备状态
+  if(!m_db->insertDriverTables(m_currentDriverState,VAR_TO_STR(m_currentDriverState)))
+    return false;
+  if(!m_db->insertDriverTables(m_subDisSysState,VAR_TO_STR(m_subDisSysState)))
+    return false;
+  if(!m_db->insertDriverTables(m_subDisSysCmd,VAR_TO_STR(m_subDisSysCmd)))
+    return false;
+  if(!m_db->insertDriverTables(m_MSDriverCmd,VAR_TO_STR(m_MSDriverCmd)))
+    return false;
+
+  return true;
+
+}
+
+int PowerManger::checkError()
+{
+  //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;
+  //2.检查断路器状态
+}
+
+void PowerManger::printState(const std::string& stateName, const std::string& desp){
+  cout << MOOS::ConsoleColours::Yellow() << "STATE " << stateName << " " << MOOS::ConsoleColours::reset();
+  cout << MOOS::ConsoleColours::Blue() <<  " -> " << MOOS::ConsoleColours::reset();
+  // 检查desp是否有“故障”
+  if (desp.find("故障") != string::npos) {
+    cout << MOOS::ConsoleColours::Red() << desp << MOOS::ConsoleColours::reset() << endl;
+    return;
+  }
+  cout << MOOS::ConsoleColours::Green() << desp << MOOS::ConsoleColours::reset() << endl;
+}
+
+
+//==============================系统操作函数====================
+bool PowerManger::shutdown()
+{
+  m_CcuColCmd.masterState = 0xFF; //关机 
+  return true;
+}
+
+
+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.workCondition = 0x00; //默认无效
+  m_CcuColCmd.fcuCmd = 0x00; //无效指令
+  m_CcuColCmd.fcuPowerEfficiency = 15; //默认为15kw
+  m_CcuColCmd.fcuInsEfficiency = 00; //预留指令，无效
+  m_CcuColCmd.insBatCmd = 0x00; //无效指令
+  m_CcuColCmd.powerBatCmd = 0x00; //无效指令
+  m_CcuColCmd.powerBatEfficiency = 230; //默认为最大
+  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========================
+
+} 

src/pPowerManger/PowerManger.h

@@ -0,0 +1,136 @@
+/*
+ * @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 "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
+#include "MOOS/libMOOS/Utils/MOOSThread.h"
+// #include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
+#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
+#include "MOOS/libMOOS/Utils/ConsoleColours.h"
+#include "ccuUdpMsg.h"
+#include "json/json.h"
+#include "udpComm.h"
+#include "pmSysvariable.h"
+#include "PowerManagerFsm.hpp"
+#include "SQLiteDB.h"
+#include "driver.h"
+#include "LowerCommManager.h"
+#include "UpperCommManager.h"
+
+
+#define IPORT 5000
+#define CCUPORT 5001
+#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();}
+  //数据库
+  SQLiteDB* m_db;
+  bool writeDataToDB();
+
+  /************************************************************/
+  /*       |<------------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
+  disSysBreakerList m_currentDisBreakerState; //配电断路器状态
+  DriverTable m_currentDriverState;
+  DriverTable m_subDisSysState;
+
+  int m_depth;
+  int m_missionCode;
+  //===========================STATE=========================================
+  unsigned char workCondition;
+  unsigned char currentMod;
+  unsigned char powerState;
+  unsigned char falutLevel;
+  vector<unsigned int> faultCode;
+  unsigned int soc;
+  unsigned int sustainableTime;
+  unsigned int  m_faultNum;
+  Driver m_driver; //设备表处理
+  std::string m_pmEvent;  // 状态机事件描述
+  //===========================CONFIG========================================
+  long          m_lPort;
+  unsigned int  m_nReceiveBufferSizeKB;
+  unsigned int  m_nSendBufferSizeKB;
+  double        m_current_time; 
+  unsigned int  m_ticker;
+  int  connectState;
+
+  //=============================过程函数======================================
+  void initControlCmd();
+ 
+  private:
+  //  CMOOSThread   m_FsmThread;
+   LowerCommManager* m_lowerCommManager;
+   UpperCommManager* m_upperCommManager;
+    
+  //  // 状态机实例
+  //  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;
+
+  //==================================================================================
+   int checkError();
+   bool shutdown();
+   bool powerOn();
+   bool powerOff();
+   
+   bool sendNotification(const std::string& key, const std::string& value) {
+       return Notify(key, value);
+   }
+};
+
+#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/SQLiteDB.h

@@ -0,0 +1,91 @@
+#ifndef SQLITEDB_H
+#define SQLITEDB_H
+
+#include <sqlite3.h>
+#include <string>
+#include <vector>
+#include "json/json.h"
+#include "ccuUdpMsg.h"
+#include "pmSysvariable.h"
+#include "driver.h"
+
+
+using namespace std;
+struct PowerData {
+    double voltage;
+    double current;
+    double power;
+    double temperature;
+};
+
+struct StateData {
+    int state_id;
+    std::string state_name;
+    std::string event;
+    int event_id;
+    int fault_code;
+    std::string note;
+};
+
+class SQLiteDB {
+public:
+    SQLiteDB(const std::string& dbPath);
+    ~SQLiteDB();
+
+    // 模板函数声明
+    template<typename T>
+    bool executeInsert(const char* sql, const T& data);
+
+    template<typename T>
+    bool bindParameters(sqlite3_stmt* stmt, const T& data);
+    // 数据库操作函数
+    bool createPowerDataTables();
+    bool createStateTables();
+    bool createDisCcuSysTables();
+    bool createDriversTables(string tableName);
+
+    bool clearPowerData();
+    bool clearStateData();
+
+    // 插入数据函数
+    bool insertPowerData(const PowerData& powerData);
+    bool insertStateData(StateData stateData,bool filter=true);
+
+
+    bool insertCcuData(ccuState s);
+    bool insertDisHighVolBusData(disHighVolBusState s);
+    bool insertDisHighAVolBusData(disHighAVolBusState s);
+    bool insertDisHighBVolBusData(disHighBVolBusState s);
+    bool insertDisLowBusData(disLowBusState s);
+
+    bool insertCcuSysCmd(ccuColCmd cmd);
+    bool insertDisSysCmd(disHighVolBusCmd cmd);
+    bool insertDisSysCmd(disHighAVolBusCmd cmd);
+    bool insertDisSysCmd(disHighBVolBusCmd cmd);
+    bool insertDisSysCmd(disLowBusCmd cmd);
+
+    bool insertDriverTables(DriverTable driverTable,string tableName);
+
+    bool insertDisCcuData(pmState s,bool filter=true);//由于信息同步原因，暂时不使用该函数
+
+    // 获取最新的状态数据
+    bool getStateData(StateData &stateData);
+    bool getStateData(StateData &stateData,string &time);
+
+    // 使用函数
+    bool isDatabaseConnected(const std::string& path, const std::string& dbName);
+    std::vector<PowerData> getPowerData(int limit = 100);
+
+    // 获取数据库状态函数
+    string getDBPatch();
+    
+    // 获取数据库大小
+    long getDatabaseSize();
+
+private:
+    sqlite3* m_db;
+    string m_dbPath;
+    
+};
+
+#endif // SQLITEDB_H

src/pPowerManger/UpperCommManager.cpp

@@ -0,0 +1,586 @@
+#include "UpperCommManager.h"
+#include "PowerManger.h"
+#include "driver.h"
+
+UpperCommManager::UpperCommManager(PowerManger* pm) : m_pm(pm) {}
+
+bool UpperCommManager::processUpperMsg(const string& key, const string& strJson) {
+    if(key == DB_TO_PM_MSCMD) {
+        m_pm->m_msCmd = getMasterControlCmd(key, strJson);
+        return true;
+    }
+    else if(key == DB_TO_PM_EQUIPMENTCMD) {
+        m_pm->m_MSDriverCmd = getEquipmentCmd(key, strJson);
+        return true;
+    }
+    else if(key == DB_TO_PM_SUBDISSTATE) {
+        m_pm->m_subDisSysState = getSubDisState(key, strJson);
+        return true;
+    }
+    else if(key == DB_TO_PM_DEEPTH) {
+        m_pm->m_depth = getDeepth(key, strJson);
+        return true;
+    }
+    std::cout << "Unknown key: " << key << std::endl;
+    return false;
+}
+
+const MSControlCmd UpperCommManager::getMasterControlCmd(const std::string& key, const std::string& msg)
+{
+    MSControlCmd cmd;
+    if (parseControlCmdFromJson(cmd, msg)) {
+        
+        return cmd;
+    }
+    else
+    {
+        cout << MOOS::ConsoleColours::Red << "parse control cmd error:" << msg
+             << MOOS::ConsoleColours::reset << endl;
+    }
+}
+
+const DriverTable UpperCommManager::getEquipmentCmd(const std::string& key, const std::string& msg)
+{
+    DriverTable cmd;
+    if (m_pm->m_driver.loadDriverTableFromJson(msg, cmd) < 0) {
+        cout << MOOS::ConsoleColours::Red << "get equipment cmd error:" << msg
+             << MOOS::ConsoleColours::reset << endl;
+    }
+    return cmd;
+}
+
+const DriverTable UpperCommManager::getSubDisState(const std::string& key, const std::string& msg)
+{
+    DriverTable state;
+    if (m_pm->m_driver.loadDriverTableFromJson(msg, state) < 0) {
+        cout << MOOS::ConsoleColours::Red << "get sub dis state error:" << msg
+             << MOOS::ConsoleColours::reset << endl;
+    }
+}
+
+const int UpperCommManager::getDeepth(const std::string& key, const std::string& msg){
+    int deepth;
+    Json::Value root;
+    Json::CharReaderBuilder builder;
+    JSONCPP_STRING errs;
+    
+    // 解析JSON字符串
+    std::istringstream stream(msg);
+    if (!Json::parseFromStream(builder, stream, &root, &errs)) {
+        std::cerr << "JSON解析失败: " << errs << std::endl;
+        return -1;
+    }
+
+    // 检查并读取深度数组
+    if (root.isMember("value_array_uint16") && root["value_array_uint16"].isArray()) {
+        const Json::Value& array = root["value_array_uint16"];
+        if (array.size() >= 3) {
+            // 计算三个深度值的平均值
+            deepth = (array[0].asInt() + array[1].asInt() + array[2].asInt()) / 3;
+        } else {
+            std::cerr << "深度数组元素不足3个" << std::endl;
+            return -1;
+        }
+    } else {
+        std::cerr << "JSON格式错误" << std::endl;
+        return -1;
+    }
+    
+    return deepth;
+}
+
+const std::string UpperCommManager::getCurrentEquState(DriverTable& driver)
+{
+    return m_pm->m_driver.saveDriverTableToJson(&driver);
+}
+
+const std::string UpperCommManager::getSubDisCmd(DriverTable& driver)
+{
+    return m_pm->m_driver.saveDriverTableToJson(&driver);
+}
+
+void UpperCommManager::processPeriodicTasks() {
+    buildSystemReport();
+    std::string strJson;
+    strJson = getCurrentEquState(m_pm->m_currentDriverState);
+    m_pm->sendNotification(PM_TO_DB_EQUIPMENTSTATE, strJson);
+    strJson = getSubDisCmd(m_pm->m_subDisSysCmd);
+    m_pm->sendNotification(PM_TO_DB_SUBDISCMD, strJson);
+}
+bool UpperCommManager::parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson)
+{
+  Json::CharReaderBuilder builder;
+  Json::Value root;
+  std::string errs;
+
+  // 解析JSON字符串
+  std::istringstream s(strJson);
+  if (!Json::parseFromStream(builder, s, &root, &errs))
+  {
+      std::cerr << "JSON解析失败: " << errs << std::endl;
+      return false; // 解析失败
+  }
+  if (root.isMember("powerCMD") && root["powerCMD"].isUInt())
+  {
+      cmd.powerCMD = root["powerCMD"].asUInt();
+  }
+  else
+  {
+      std::cerr << "缺少或类型不匹配: powerCMD" << std::endl;
+      return false; // 缺少或类型不匹配
+  }
+
+  if (root.isMember("modCMD") && root["modCMD"].isUInt())
+  {
+      cmd.modCMD = root["modCMD"].asUInt();
+  }
+  else
+  {
+      std::cerr << "缺少或类型不匹配: modCMD" << std::endl;
+      return false; // 缺少或类型不匹配
+  }
+
+  if (root.isMember("workCMD") && root["workCMD"].isUInt())
+  {
+      cmd.workCMD = root["workCMD"].asUInt();
+  }
+  else
+  {
+      std::cerr << "缺少或类型不匹配: workCMD" << std::endl;
+      return false; // 缺少或类型不匹配
+  }
+  return true; // 成功
+}
+void UpperCommManager::buildSystemReport() {
+  string suffix;
+  Json::Value pms;
+  Json::Value fcs;
+  Json::Value lbs;
+  Json::Value dis;
+  // 构建能源系统报告
+  //1.构建系统状态报告
+  suffix = getTypeName(typeid(m_pm->workCondition).name());
+  pms[VAR_TO_STR(workCondition)+suffix] = m_pm->workCondition;
+
+  suffix = getTypeName(typeid(m_pm->currentMod).name());
+  pms[VAR_TO_STR(currentMod)+suffix] = m_pm->currentMod;
+
+  suffix = getTypeName(typeid(m_pm->powerState).name());
+  pms[VAR_TO_STR(powerState)+suffix] = m_pm->powerState;
+
+  suffix = getTypeName(typeid(m_pm->falutLevel).name());
+  pms[VAR_TO_STR(falutLevel)+suffix] = m_pm->falutLevel;
+
+  Json::Value faultCode_array;
+  for(auto val : m_pm->faultCode)
+  {
+    faultCode_array.append(val);
+  }
+  pms[VAR_TO_STR(faultCode_array)] = faultCode_array;
+
+  suffix = getTypeName(typeid(m_pm->soc).name());
+  pms[VAR_TO_STR(soc)+suffix] = m_pm->soc;
+
+  suffix = getTypeName(typeid(m_pm->sustainableTime).name());
+  pms[VAR_TO_STR(sustainableTime)+suffix] = m_pm->sustainableTime;
+  
+  //2.构建燃料电池状态报告
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuState).name());
+  fcs[VAR_TO_STR(fcuState)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuFaultLeve).name());
+  fcs[VAR_TO_STR(fcuFaultLeve)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuFaultLeve;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLimit).name());
+  fcs[VAR_TO_STR(powLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLimit;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.totalPowerGeneration).name());
+  fcs[VAR_TO_STR(powerGen)+suffix] = m_pm->m_pmCurrentState.ccustate.totalPowerGeneration;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4o).name());
+  fcs[VAR_TO_STR(ch4o)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4o;
+ 
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2).name());
+  fcs[VAR_TO_STR(o2)+suffix] = m_pm->m_pmCurrentState.ccustate.o2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltage).name());
+  fcs[VAR_TO_STR(fcuVol)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrent).name());
+  fcs[VAR_TO_STR(fcuCur)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Level).name());
+  fcs[VAR_TO_STR(o2Level)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Level;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.exchangerTemperature).name());
+  fcs[VAR_TO_STR(excTemp)+suffix] = m_pm->m_pmCurrentState.ccustate.exchangerTemperature;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuOutPower).name());
+  fcs[VAR_TO_STR(fcuOutPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuOutPower;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuOutIns).name());
+  fcs[VAR_TO_STR(fcuOutIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuOutIns;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltageIns).name());
+  fcs[VAR_TO_STR(fcuVolIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltageIns;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuVoltagePower).name());
+  fcs[VAR_TO_STR(fcuVolPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuVoltagePower;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentIns).name());
+  fcs[VAR_TO_STR(fcuCurIns)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentIns;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentPower).name());
+  fcs[VAR_TO_STR(fcuCurPower)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentPower;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.h2Concentration1).name());
+  fcs[VAR_TO_STR(h2Concent1)+suffix] = m_pm->m_pmCurrentState.ccustate.h2Concentration1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.h2Concentration2).name());
+  fcs[VAR_TO_STR(h2Concent2)+suffix] = m_pm->m_pmCurrentState.ccustate.h2Concentration2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Concentration1).name());
+  fcs[VAR_TO_STR(o2Concent1)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Concentration1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.o2Concentration2).name());
+  fcs[VAR_TO_STR(o2Concent2)+suffix] = m_pm->m_pmCurrentState.ccustate.o2Concentration2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4oConcentration1).name());
+  fcs[VAR_TO_STR(ch4oConcent1)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4oConcentration1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.ch4oConcentration2).name());
+  fcs[VAR_TO_STR(ch4oConcent2)+suffix] = m_pm->m_pmCurrentState.ccustate.ch4oConcentration2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.backpressure1).name());
+  fcs[VAR_TO_STR(backpressure1)+suffix] = m_pm->m_pmCurrentState.ccustate.backpressure1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.backpressure2).name());
+  fcs[VAR_TO_STR(backpressure2)+suffix] = m_pm->m_pmCurrentState.ccustate.backpressure2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.flameDetection).name());
+  fcs[VAR_TO_STR(flameDet)+suffix] = m_pm->m_pmCurrentState.ccustate.flameDetection;
+
+  unsigned short faultCode1;
+  unsigned short faultCode2;
+  unsigned short faultCode3;
+  faultCode1 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_1H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_1L;
+  faultCode2 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_2H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_2L;
+  faultCode3 = (m_pm->m_pmCurrentState.ccustate.fcuGZ_3H << 8) | m_pm->m_pmCurrentState.ccustate.fcuGZ_3L;
+
+  suffix = getTypeName(typeid(faultCode1).name());
+  fcs[VAR_TO_STR(faultCode1)+suffix] = faultCode1;
+  suffix = getTypeName(typeid(faultCode2).name());
+  fcs[VAR_TO_STR(faultCode2)+suffix] = faultCode2;
+  suffix = getTypeName(typeid(faultCode3).name());
+  fcs[VAR_TO_STR(faultCode3)+suffix] = faultCode3;
+
+  //4.构建动力锂电池状态报告
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosRelayState).name());
+  lbs[VAR_TO_STR(insPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosRelayState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegRelayState).name());
+  lbs[VAR_TO_STR(insNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegRelayState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosRelayState).name());
+  lbs[VAR_TO_STR(powPosRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosRelayState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegRelayState).name());
+  lbs[VAR_TO_STR(powNegRelayState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegRelayState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatLimit).name());
+  lbs[VAR_TO_STR(insBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatLimit;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatLimit).name());
+  lbs[VAR_TO_STR(powerBatLimit)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatLimit;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatSoc).name());
+  lbs[VAR_TO_STR(insBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatSoc;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatSoc).name());
+  lbs[VAR_TO_STR(powBatSoc)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatSoc;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity).name());
+  lbs[VAR_TO_STR(insBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatTotalElectricity;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity).name());
+  lbs[VAR_TO_STR(powBatTotalElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatTotalElectricity;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity).name());
+  lbs[VAR_TO_STR(insBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.insBatCurrentElectricity;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity).name());
+  lbs[VAR_TO_STR(powBatCurElect)+suffix] = m_pm->m_pmCurrentState.ccustate.powerBatCurrentElectricity;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insChargeState).name());
+  lbs[VAR_TO_STR(insChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.insChargeState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerChargeState).name());
+  lbs[VAR_TO_STR(powChargeState)+suffix] = m_pm->m_pmCurrentState.ccustate.powerChargeState;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insLinkVoltage).name());
+  lbs[VAR_TO_STR(insLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insLinkVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPackVoltage).name());
+  lbs[VAR_TO_STR(insPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.insPackVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrent).name());
+  lbs[VAR_TO_STR(insCurrent)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance).name());
+  lbs[VAR_TO_STR(insPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insPosInsulationResistance;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance).name());
+  lbs[VAR_TO_STR(insNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.insNegInsulationResistance;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerLinkVoltage).name());
+  lbs[VAR_TO_STR(powLinkVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerLinkVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPackVoltage).name());
+  lbs[VAR_TO_STR(powerPackVol)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPackVoltage;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrent).name());
+  lbs[VAR_TO_STR(powCur)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance).name());
+  lbs[VAR_TO_STR(powPosRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerPosInsulationResistance;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance).name());
+  lbs[VAR_TO_STR(powNegRes)+suffix] = m_pm->m_pmCurrentState.ccustate.powerNegInsulationResistance;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1).name());
+  lbs[VAR_TO_STR(insCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2).name());
+  lbs[VAR_TO_STR(insCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3).name());
+  lbs[VAR_TO_STR(insCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.insCurrentSocHold3;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1).name());
+  lbs[VAR_TO_STR(fcuCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToInsLimit1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2).name());
+  lbs[VAR_TO_STR(fcuCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.fcuCurrentToinsLimit2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1).name());
+  lbs[VAR_TO_STR(powCurSocHold1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2).name());
+  lbs[VAR_TO_STR(powCurSocHold2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3).name());
+  lbs[VAR_TO_STR(powCurSocHold3)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentSocHold3;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1).name());
+  lbs[VAR_TO_STR(powCurToInsLimit1)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToInsLimit1;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2).name());
+  lbs[VAR_TO_STR(powCurToinsLimit2)+suffix] = m_pm->m_pmCurrentState.ccustate.powerCurrentToinsLimit2;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord).name());
+  lbs[VAR_TO_STR(insfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.insAlarmIdentificationWord;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord).name());
+  lbs[VAR_TO_STR(powfaultCode)+suffix] = m_pm->m_pmCurrentState.ccustate.powerAlarmIdentificationWord;
+
+  //5.构建配电系统状态报告
+  disBus1Breaker* pdis1=new disBus1Breaker;
+  disBus2Breaker* pdis2=new disBus2Breaker;
+  disBus3Breaker* pdis3=new disBus3Breaker;
+  disBus4Breaker* pdis4=new disBus4Breaker;
+
+  *pdis1 = m_pm->m_currentDisBreakerState.bus1Breaker;
+  *pdis2 = m_pm->m_currentDisBreakerState.bus2Breaker;
+  *pdis3 = m_pm->m_currentDisBreakerState.bus3Breaker;
+  *pdis4 = m_pm->m_currentDisBreakerState.bus4Breaker;
+
+  dis["HVolBusBreaker_uint16"]  = *(unsigned short*)pdis1;
+  dis["HVolABusBreaker_unit16"] = *(unsigned short*)pdis2;
+  dis["HVolBBusBreaker_unit16"] = *(unsigned short*)pdis3;
+  dis["LVolBusBreaker_uint16"]  = *(unsigned short*)pdis4;
+  
+  //TODO: 构建配电系统故障码
+  Json::Value faultCodeDis_array;
+  for(auto val : m_pm->faultCode)
+  {
+    faultCodeDis_array.append(val);
+  }
+  dis[VAR_TO_STR(faultCode_array)] = faultCodeDis_array;
+
+
+  Json::Value currentBusState;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.powerBusVoltage).name());
+  currentBusState[VAR_TO_STR(HVBpowerBusVol)+suffix] = m_pm->m_pmCurrentState.bus1State.powerBusVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCurrent).name());
+  currentBusState[VAR_TO_STR(HVBdcDc5Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.dcDc5ModuleCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.powerBusCurrent).name());
+  currentBusState[VAR_TO_STR(HVBpowerBusCur)+suffix] = m_pm->m_pmCurrentState.bus1State.powerBusCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.busbarAVoltage).name());
+  currentBusState[VAR_TO_STR(HVBbusAVol)+suffix] = m_pm->m_pmCurrentState.bus1State.busbarAVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVBmotorCur)+suffix] = m_pm->m_pmCurrentState.bus1State.propulsionMotorControlBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.busbarACurrent).name());
+  currentBusState[VAR_TO_STR(HVBbusACur)+suffix] = m_pm->m_pmCurrentState.bus1State.busbarACurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent).name());
+  currentBusState[VAR_TO_STR(HVBbatGroupCur)+suffix] = m_pm->m_pmCurrentState.bus1State.lithiumBatteryGroupMeterCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVBbowHVolDisBoxCur)+suffix] = m_pm->m_pmCurrentState.bus1State.bowHighVoltageDistributionBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternFTDevice45Current).name());
+  currentBusState[VAR_TO_STR(HVBFTDev45Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternFTDevice45Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.tyzReservedSwitchCurrent).name());
+  currentBusState[VAR_TO_STR(HVBtyzCur)+suffix] = m_pm->m_pmCurrentState.bus1State.tyzReservedSwitchCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1Current).name());
+  currentBusState[VAR_TO_STR(HVBsternRud1Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternRudderSwitch1Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent1).name());
+  currentBusState[VAR_TO_STR(HVBreservedCur1)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent1;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2Current).name());
+  currentBusState[VAR_TO_STR(HVBsternRud2Cur)+suffix] = m_pm->m_pmCurrentState.bus1State.sternRudderSwitch2Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent2).name());
+  currentBusState[VAR_TO_STR(HVBreservedCur2)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent2;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.fbReservedSwitchCurrent).name());
+  currentBusState[VAR_TO_STR(HVBfbCur)+suffix] = m_pm->m_pmCurrentState.bus1State.fbReservedSwitchCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus1State.reservedCurrent3).name());
+  currentBusState[VAR_TO_STR(HVBreservedCur3)+suffix] = m_pm->m_pmCurrentState.bus1State.reservedCurrent3;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.busbarBVoltage).name());
+  currentBusState[VAR_TO_STR(HVABbusBVol)+suffix] = m_pm->m_pmCurrentState.bus2State.busbarBVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.busbarBCurrent).name());
+  currentBusState[VAR_TO_STR(HVABbusBCur)+suffix] = m_pm->m_pmCurrentState.bus2State.busbarBCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.bowFTDevice123Current).name());
+  currentBusState[VAR_TO_STR(HVABFTDev123Cur)+suffix] = m_pm->m_pmCurrentState.bus2State.bowFTDevice123Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.actuatorCurrent).name());
+  currentBusState[VAR_TO_STR(HVABactCur)+suffix] = m_pm->m_pmCurrentState.bus2State.actuatorCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVABmastSteGeaCur)+suffix] = m_pm->m_pmCurrentState.bus2State.mastSteeringGearControlBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.xczCurrent).name());
+  currentBusState[VAR_TO_STR(HVABxczCur)+suffix] = m_pm->m_pmCurrentState.bus2State.xczCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVABbowRudCur)+suffix] = m_pm->m_pmCurrentState.bus2State.bowRudderControlBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent).name());
+  currentBusState[VAR_TO_STR(HVABopenWaterCur)+suffix] = m_pm->m_pmCurrentState.bus2State.openWaterCoverStartCylinderCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.instrumentBusbarVoltage).name());
+  currentBusState[VAR_TO_STR(HVBBinsBusVol)+suffix] = m_pm->m_pmCurrentState.bus3State.instrumentBusbarVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBbowLowVolDisBoxCur)+suffix] = m_pm->m_pmCurrentState.bus3State.bowLowVoltageDistributionBoxCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBdcC1InsCur)+suffix] = m_pm->m_pmCurrentState.bus3State.dcC1InstrumentDC48VCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.reservedCurrent1).name());
+  currentBusState[VAR_TO_STR(HVBBreservedCur1)+suffix] = m_pm->m_pmCurrentState.bus3State.reservedCurrent1;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current).name());
+  currentBusState[VAR_TO_STR(HVBBemerBatCur)+suffix] = m_pm->m_pmCurrentState.bus3State.emergencyLithiumBatteryGroup2Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBbatInsCur)+suffix] = m_pm->m_pmCurrentState.bus3State.lithiumBatteryGroupInstrumentCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBunit4Cur)+suffix] = m_pm->m_pmCurrentState.bus3State.unit4InstrumentDC48VCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.reservedCurrent2).name());
+  currentBusState[VAR_TO_STR(HVBBreservedCur2)+suffix] = m_pm->m_pmCurrentState.bus3State.reservedCurrent2;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.emergency2BusbarVoltage).name());
+  currentBusState[VAR_TO_STR(HVBBemer2BusVol)+suffix] = m_pm->m_pmCurrentState.bus3State.emergency2BusbarVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBCCUCur)+suffix] = m_pm->m_pmCurrentState.bus3State.compositeEnergyManagementSystemEmergencyDC48VCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBFCSSecurSysCur)+suffix] = m_pm->m_pmCurrentState.bus3State.fuelCellSecuritySystemEmergencyDC48VCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus3State.plcControlPowerCurrent).name());
+  currentBusState[VAR_TO_STR(HVBBplcCur)+suffix] = m_pm->m_pmCurrentState.bus3State.plcControlPowerCurrent;
+
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.instrumentBusbarVoltage).name());
+  currentBusState[VAR_TO_STR(LVBinsBusVol)+suffix] = m_pm->m_pmCurrentState.bus4State.instrumentBusbarVoltage;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.instrumentBusbarCurrent).name());
+  currentBusState[VAR_TO_STR(LVBBinsBusCur)+suffix] = m_pm->m_pmCurrentState.bus4State.instrumentBusbarCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit1Current).name());
+  currentBusState[VAR_TO_STR(LVBBunit1Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit1Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit2Current).name());
+  currentBusState[VAR_TO_STR(LVBBunit2Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit2Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit3Current).name());
+  currentBusState[VAR_TO_STR(LVBBunit3Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit3Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.unit5Current).name());
+  currentBusState[VAR_TO_STR(LVBBunit5Cur)+suffix] = m_pm->m_pmCurrentState.bus4State.unit5Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.bowPZDeviceCurrent).name());
+  currentBusState[VAR_TO_STR(LVBBbowPZDevCur)+suffix] = m_pm->m_pmCurrentState.bus4State.bowPZDeviceCurrent;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current).name());
+  currentBusState[VAR_TO_STR(LVBBemerBatCur)+suffix] = m_pm->m_pmCurrentState.bus4State.emergencyLithiumBatteryGroup1Current;
+  suffix = getTypeName(typeid(m_pm->m_pmCurrentState.bus4State.emergency1BusbarVoltage).name());
+  currentBusState[VAR_TO_STR(LVBBemerBusVol)+suffix] = m_pm->m_pmCurrentState.bus4State.emergency1BusbarVoltage;
+
+  // dis["currentBusState"] = currentBusState;
+
+  // pms[VAR_TO_STR(fcs_obj)] = fcs;
+  // pms[VAR_TO_STR(lbs_obj)] = lbs;
+  // pms[VAR_TO_STR(dis_obj)] = dis;
+
+  m_pm->sendNotification(PM_TO_DB_STATE,    pms.toStyledString());
+  m_pm->sendNotification(PM_TO_DB_FCSSTATE, fcs.toStyledString());
+  m_pm->sendNotification(PM_TO_DB_LIBATSTATE, lbs.toStyledString());
+  m_pm->sendNotification(PM_TO_DB_DISSTATE, dis.toStyledString());
+  m_pm->sendNotification(PM_TO_DB_CURRENTSTATE, currentBusState.toStyledString());
+  
+  // 使用StreamWriterBuilder来设置保持插入顺序
+  Json::StreamWriterBuilder builder;
+  builder["indentation"] = "  "; // 设置不缩进，保持紧凑格式
+  builder["enableYAMLCompatibility"] = true; // 保持插入顺序
+
+  // 将Json::Value对象转换为字符串
+  string pathFile = "/home/zjk/project/H100/H100PowerManger/data/msg/";
+  string jsonStr = Json::writeString(builder, pms);
+
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_STATE+".json");
+
+  jsonStr = Json::writeString(builder, fcs);
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_FCSSTATE+".json");
+
+  jsonStr = Json::writeString(builder, lbs);
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_LIBATSTATE+".json");
+
+  jsonStr = Json::writeString(builder, dis);
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_DISSTATE + ".json");
+
+  jsonStr = Json::writeString(builder, currentBusState);
+  saveStringToJsonFile(jsonStr, pathFile+PM_TO_DB_CURRENTSTATE + ".json");
+
+//   return true;
+}
+bool UpperCommManager::saveStringToJsonFile(const string &strJson, const string &filePath)
+{
+  std::ofstream file(filePath, std::ios::trunc);
+  if (file.is_open()) {
+      file << strJson;
+      file.close();
+      // std::cout << "字符串已成功保存到文件中。" << std::endl;
+      return true;
+  } else {
+      std::cerr << "无法打开文件！" << std::endl;
+      return false;
+  }
+}
+string UpperCommManager::getTypeName(const string typeName)
+{
+    // 映射类型名称到指定的字符串
+    if (typeName == "i" || typeName == "c") {
+        return "_int8";
+    } else if (typeName == "h" || typeName == "C") {
+        return "_uint8";
+    } else if (typeName == "s" || typeName == "S") {
+        return "_int16";
+    } else if (typeName == "t" || typeName == "T") {
+        return "_uint16";
+    } else if (typeName == "i" || typeName == "I") {
+        return "_int32";
+    } else if (typeName == "j" || typeName == "J") {
+        return "_uint32";
+    } else if (typeName == "x" || typeName == "X") {
+        return "_int64";
+    } else if (typeName == "f" || typeName == "F") {
+        return "_fp32";
+    } else if (typeName == "d" || typeName == "D") {
+        return "_fp64";
+    } else if (typeName == "b" || typeName == "B") {
+        return "_bool";
+    } else if (typeName == "NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE") {
+        return "_str";
+    } else if (typeName == "St6vector" || typeName == "St5deque" || typeName == "St4list" || typeName == "St4pair") {
+        return "_array";
+    } else {
+        // 默认情况
+        return "_obj";
+    }
+}

src/pPowerManger/UpperCommManager.h

@@ -0,0 +1,70 @@
+#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>
+using namespace std;
+#define VAR_TO_STR(var) #var
+//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_SUBDISCMD "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"
+
+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();
+    
+    // 消息处理函数
+    const MSControlCmd getMasterControlCmd(const std::string& key, const std::string& msg);
+    const DriverTable getEquipmentCmd(const std::string& key, const std::string& msg);
+    const DriverTable getSubDisState(const std::string& key, const std::string& msg);
+    const int getDeepth(const std::string& key, const std::string& msg);
+
+
+    const std::string getCurrentEquState(DriverTable& driver);
+    const std::string getSubDisCmd(DriverTable& driver);
+    // 其他公共函数
+    string getTypeName(const string typeName);
+    bool saveStringToJsonFile(const string &strJson, const string &filePath);
+
+private:
+    PowerManger* m_pm;
+    MSControlCmd m_msCmd;
+    Driver m_driver;
+    
+    // 从JSON解析控制命令
+    bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson);
+};
+
+#endif // UPPER_COMM_MANAGER_H

src/pPowerManger/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 0x0050
+#define CCU_SET_PARM_ID 0x0051
+#define CCU_STATE_FB_ID 0x0041
+#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 
+{
+  m_header header;
+  disHighBVolBusCmd data;
+  cChecksum checkCode;
+}msg_disHVBBCmd;
+
+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;
+
+// 高压母线B配电反馈
+typedef struct {
+  m_header header;
+  disHighBVolBusState data;
+  cChecksum checkCode;
+} msg_disHighBVolBusFbMsg;
+
+//仪表汇流排配电反馈
+typedef struct {
+  m_header header;
+  disLowBusState data;
+  cChecksum checkCode;
+} msg_disLowBusFbMsg;
+
+#pragma pack ()
+#endif

src/pPowerManger/driver.h

@@ -0,0 +1,146 @@
+#ifndef DRIVER_H
+#define DRIVER_H
+#include "json/json.h"
+#include "iostream"
+#include <sstream>
+
+
+#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
+
+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 bowWaterlnet1;
+    unsigned char bowWaterlnet2;
+    unsigned char bowWaterlnet3;
+    unsigned char bowWaterlnet4;
+    unsigned char bowWaterlnet5;
+    unsigned char bowWaterlnet6;
+    unsigned char bowWaterlnet7;
+    unsigned char bowWaterlnet8;
+    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;
+};
+
+enum DriverState
+{
+    POWER_OFF,               // 断电
+    FULL_POWER_ON,           // 全电
+    INSTRUMENT_POWER_ON,     // 仪表电上电
+    MOTIVE_POWER_ON,         // 动力电上电
+};
+
+enum workCondition
+{
+    STANDBY,                // 待机工况
+    SHORE_BASED_READY,      // 岸基备航
+    WATER_BASED_READY,      // 水中备航
+    CRUISE_MODE,            // 巡航模式
+    HIGH_SPEED_MODE,        // 高速模式
+    ASCEND_DESCEND,         // 上浮下潜
+    BUOYANCY_ADJUST,        // 浮调模式
+    UNDERWATER_RECON,       // 水下侦查
+    SURFACE_RECON,          // 水面侦查
+    DJ_MODE,                // DJ模式
+    DEBUG_MODE              // 调试模式
+};
+
+class Driver
+{
+public:
+    Driver();
+    ~Driver();
+    void setDebug(bool debug);
+
+public:
+    DriverTable* currentDriverTable;
+    DriverTable* nextDriverTable;
+
+    int getDriverTable(workCondition condition, DriverTable* driverTable);
+
+    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);
+   
+    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);
+
+    int SafeReadUInt(const Json::Value& root, const std::string& key, unsigned char& value);
+
+private:
+
+    bool debug;
+};
+
+
+
+#endif // DRIVER_H

src/pPowerManger/main.cpp

@@ -0,0 +1,52 @@
+/************************************************************/
+/*    NAME:                                               */
+/*    ORGN: MIT, Cambridge MA                               */
+/*    FILE: main.cpp, Cambridge MA                          */
+/*    DATE: December 29th, 1963                             */
+/************************************************************/
+
+#include <string>
+#include "MBUtils.h"
+#include "ColorParse.h"
+#include "PowerManger.h"
+#include "PowerManger_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 << "pPowerManger launching as " << run_command << endl;
+  cout << termColor() << endl;
+
+  PowerManger PowerManger;
+
+  PowerManger.Run(run_command.c_str(), mission_file.c_str());
+  
+  return(0);
+}
+

src/pPowerManger/pmSysvariable.h

@@ -0,0 +1,413 @@
+#ifndef PMSYSVARIABLE_H
+#define PMSYSVARIABLE_H
+
+//宏定义
+
+
+#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
+{
+  unsigned char currentWorkCondition;
+  unsigned char fcuState;
+  unsigned char fcuFaultLeve;
+  float powerLimit;
+  float totalPowerGeneration;
+  float ch4o;
+  float o2;
+  float fcuVoltage;
+  float fcuCurrent;
+  float o2Level;
+  float placeholder1;
+  float exchangerTemperature;
+  float fcuOutPower;
+  float fcuOutIns;
+  float fcuVoltageIns;
+  float fcuVoltagePower;
+  float fcuCurrentIns;
+  float fcuCurrentPower;
+  float h2Concentration1;
+  float h2Concentration2;
+  float o2Concentration1;
+  float o2Concentration2;
+  float ch4oConcentration1;
+  float ch4oConcentration2;
+  float backpressure1;
+  float backpressure2;
+  unsigned char flameDetection;
+  unsigned char fcuGZ_1L;
+  unsigned char fcuGZ_1H;
+  unsigned char fcuGZ_2L;
+  unsigned char fcuGZ_2H;
+  unsigned char fcuGZ_3L;
+  unsigned char fcuGZ_3H;
+  unsigned char insPosRelayState;
+  unsigned char insNegRelayState;
+  unsigned char powerPosRelayState;
+  unsigned char powerNegRelayState;
+  unsigned short insBatLimit;
+  unsigned short powerBatLimit;
+  unsigned char insBatSoc;
+  unsigned char powerBatSoc;
+  unsigned short insBatTotalElectricity;
+  unsigned short powerBatTotalElectricity;
+  unsigned short insBatCurrentElectricity;
+  unsigned short powerBatCurrentElectricity;
+  unsigned char insChargeState;
+  unsigned char powerChargeState;
+  unsigned short insLinkVoltage;
+  unsigned short insPackVoltage;
+  unsigned short insCurrent;
+  unsigned short insPosInsulationResistance;
+  unsigned short insNegInsulationResistance;
+  unsigned short powerLinkVoltage;
+  unsigned short powerPackVoltage;
+  unsigned short powerCurrent;
+  unsigned short powerPosInsulationResistance;
+  unsigned short powerNegInsulationResistance;
+  unsigned char insEmergencyStatusWord;
+  unsigned char powerEmergencyStatusWord;
+  unsigned char insAlarmIdentificationWord;
+  unsigned char powerAlarmIdentificationWord;
+  unsigned char insCurrentSocHold1;
+  unsigned char insCurrentSocHold2;
+  unsigned char insCurrentSocHold3;
+  unsigned char fcuCurrentToInsLimit1;
+  unsigned char fcuCurrentToinsLimit2;
+  unsigned char powerCurrentSocHold1;
+  unsigned char powerCurrentSocHold2;
+  unsigned char powerCurrentSocHold3;
+  unsigned char powerCurrentToInsLimit1;
+  unsigned char powerCurrentToinsLimit2;
+  float placeholder2;
+  float placeholder3;
+  float placeholder4;
+  float placeholder5;  
+} 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 workCondition;
+  unsigned char fcuCmd;
+  unsigned char fcuPowerEfficiency;
+  unsigned char fcuInsEfficiency;
+  unsigned char insBatCmd;
+  unsigned char powerBatCmd;
+  unsigned char powerBatEfficiency;
+  unsigned char heartbeat;
+  unsigned char masterState;
+}ccuColCmd;
+
+typedef struct disHighVolBusState
+{
+  unsigned char fuelCellCircuitBreaker;
+  unsigned char powerLithiumBatteryCircuitBreaker;
+  unsigned char propulsionMotorCircuitBreaker;
+  unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+  unsigned char dcDc5ModuleCircuitBreaker;
+  unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
+  unsigned char sternFTDevice45CircuitBreaker;
+  unsigned char sternRudderSwitch1CircuitBreaker;
+  unsigned char sternRudderSwitch2CircuitBreaker;
+  unsigned char fbReservedCircuitBreaker;
+  unsigned char tyzReservedCircuitBreaker;
+  unsigned char reservedCircuitBreaker;
+  unsigned char busInsulationLow;
+  unsigned char busAInsulationHigh;
+  unsigned char lostPower;
+  unsigned char lostEmerPower;
+  unsigned short powerBusVoltage;
+  unsigned short dcDc5ModuleCurrent;
+  unsigned short powerBusCurrent;
+  unsigned short busbarAVoltage;
+  unsigned short propulsionMotorControlBoxCurrent;
+  unsigned short busbarACurrent;
+  unsigned short lithiumBatteryGroupMeterCurrent;
+  unsigned short bowHighVoltageDistributionBoxCurrent;
+  unsigned short sternFTDevice45Current;
+  unsigned short tyzReservedSwitchCurrent;
+  unsigned short sternRudderSwitch1Current;
+  unsigned short reservedCurrent1; // 改为 reservedCurrent1 以避免重名
+  unsigned short sternRudderSwitch2Current;
+  unsigned short reservedCurrent2; // 改为 reservedCurrent2 以避免重名
+  unsigned short fbReservedSwitchCurrent;
+  unsigned short reservedCurrent3; // 改为 reservedCurrent3 以避免重名
+}disHighVolBusState;
+
+typedef struct disHighAVolBusState
+{
+  unsigned char bowFTDevice123CircuitBreaker;
+  unsigned char actuatorCircuitBreaker;
+  unsigned char mastSteeringGearControlBoxCircuitBreaker;
+  unsigned char xczCircuitBreaker;
+  unsigned char bowRudderControlBoxCircuitBreaker;
+  unsigned char openWaterCoverStartCylinderCircuitBreaker;
+  unsigned char instrumentPowerFailureSignal;
+  unsigned char emergencyPowerFailureSignal;
+  unsigned char waterIngressionAlarm;
+  unsigned short busbarBVoltage;
+  unsigned short busbarBCurrent;
+  unsigned short bowFTDevice123Current;
+  unsigned short actuatorCurrent;
+  unsigned short mastSteeringGearControlBoxCurrent;
+  unsigned short xczCurrent;
+  unsigned short bowRudderControlBoxCurrent;
+  unsigned short openWaterCoverStartCylinderCurrent;
+}disHighAVolBusState;
+
+typedef struct disHighBVolBusState
+{
+    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+    unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
+    unsigned char unit4InstrumentDC48VCircuitBreaker;
+    unsigned char dcC1DCDistributionPanelCircuitBreaker;
+    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 emergencyLithiumBatteryGroup2CircuitBreaker;
+    unsigned char instrumentPowerFailureSignal;
+    unsigned char emergencyPowerFailureSignal;
+    unsigned char instrumentBusbarInsulationLow;
+    unsigned short instrumentBusbarVoltage;
+    unsigned short bowLowVoltageDistributionBoxCurrent;
+    unsigned short dcC1InstrumentDC48VCurrent;
+    unsigned short reservedCurrent1; // 为了区分，添加了数字后缀
+    unsigned short emergencyLithiumBatteryGroup2Current;
+    unsigned short lithiumBatteryGroupInstrumentCurrent;
+    unsigned short unit4InstrumentDC48VCurrent;
+    unsigned short reservedCurrent2; // 为了区分，添加了数字后缀
+    unsigned short emergency2BusbarVoltage;
+    unsigned short compositeEnergyManagementSystemEmergencyDC48VCurrent;
+    unsigned short fuelCellSecuritySystemEmergencyDC48VCurrent;
+    unsigned short plcControlPowerCurrent;
+}disHighBVolBusState;
+
+typedef struct disLowBusState
+{
+  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;
+  unsigned char powerFailureSignal;
+  unsigned char waterIngressionAlarm;
+  unsigned short instrumentBusbarVoltage;
+  unsigned short instrumentBusbarCurrent;
+  unsigned short unit1Current;
+  unsigned short unit2Current;
+  unsigned short unit3Current;
+  unsigned short unit5Current;
+  unsigned short bowPZDeviceCurrent;
+  unsigned short emergencyLithiumBatteryGroup1Current;
+  unsigned short emergency1BusbarVoltage;
+}disLowBusState;
+
+typedef struct disHighVolBusCmd
+{
+  unsigned char fuelCellCircuitBreaker;
+  unsigned char powerLithiumBatteryCircuitBreaker;
+  unsigned char propulsionMotorCircuitBreaker;
+  unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+  unsigned char dcDc5ModuleCircuitBreaker;
+  unsigned char bowHighVoltageDistributionBoxCircuitBreaker;
+  unsigned char sternFTDevice45CircuitBreaker;
+  unsigned char sternRudderSwitch1CircuitBreaker;
+  unsigned char sternRudderSwitch2CircuitBreaker;
+  unsigned char fbReservedCircuitBreaker;
+  unsigned char tyzReservedCircuitBreaker;
+  unsigned char reservedCircuitBreaker;
+  unsigned char dcdc5Module;
+  unsigned char inputWater;
+  unsigned char outputWater;
+}disHighVolBusCmd;
+
+typedef struct disHighAVolBusCmd
+{
+  unsigned char bowFTDevice123CircuitBreaker;
+  unsigned char actuatorCircuitBreaker;
+  unsigned char mastSteeringGearControlBoxCircuitBreaker;
+  unsigned char xczCircuitBreaker;
+  unsigned char bowRudderControlBoxCircuitBreaker;
+  unsigned char openWaterCoverStartCylinderCircuitBreaker;
+}disHighAVolBusCmd;
+
+typedef struct disHighBVolBusCmd
+{
+    unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+    unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
+    unsigned char unit4InstrumentDC48VCircuitBreaker;
+    unsigned char dcC1DCDistributionPanelCircuitBreaker;
+    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 emergencyLithiumBatteryGroup2CircuitBreaker;
+}disHighBVolBusCmd;
+
+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;
+  disHighBVolBusState 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 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
+  };
+}
+
+#endif

src/pPowerManger/tinyfsm.hpp

@@ -0,0 +1,251 @@
+/*
+ * TinyFSM - Tiny Finite State Machine Processor
+ *
+ * Copyright (c) 2012-2022 Axel Burri
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+/* ---------------------------------------------------------------------
+ * Version: 0.3.3
+ *
+ * API documentation: see "../doc/50-API.md"
+ *
+ * The official TinyFSM website is located at:
+ * https://digint.ch/tinyfsm/
+ *
+ * Author:
+ * Axel Burri <axel@tty0.ch>
+ * ---------------------------------------------------------------------
+ */
+
+#ifndef TINYFSM_HPP_INCLUDED
+#define TINYFSM_HPP_INCLUDED
+
+#ifndef TINYFSM_NOSTDLIB
+#include <type_traits>
+#endif
+
+// #include <iostream>
+// #define DBG(str) do { std::cerr << str << std::endl; } while( false )
+// DBG("*** dbg_example *** " << __PRETTY_FUNCTION__);
+
+namespace tinyfsm
+{
+
+  // --------------------------------------------------------------------------
+
+  struct Event { };
+
+  // --------------------------------------------------------------------------
+
+#ifdef TINYFSM_NOSTDLIB
+  // remove dependency on standard library (silent fail!).
+  // useful in conjunction with -nostdlib option, e.g. if your compiler
+  // does not provide a standard library.
+  // NOTE: this silently disables all static_assert() calls below!
+  template<typename F, typename S>
+  struct is_same_fsm { static constexpr bool value = true; };
+#else
+  // check if both fsm and state class share same fsmtype
+  template<typename F, typename S>
+  struct is_same_fsm : std::is_same< typename F::fsmtype, typename S::fsmtype > { };
+#endif
+
+  template<typename S>
+  struct _state_instance
+  {
+    using value_type = S;
+    using type = _state_instance<S>;
+    static S value;
+  };
+
+  template<typename S>
+  typename _state_instance<S>::value_type _state_instance<S>::value;
+
+  // --------------------------------------------------------------------------
+
+  template<typename F>
+  class Fsm
+  {
+  public:
+
+    using fsmtype = Fsm<F>;
+    using state_ptr_t = F *;
+
+    static state_ptr_t current_state_ptr;
+
+    // public, leaving ability to access state instance (e.g. on reset)
+    template<typename S>
+    static constexpr S & state(void) {
+      static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
+      return _state_instance<S>::value;
+    }
+
+    template<typename S>
+    static constexpr bool is_in_state(void) {
+      static_assert(is_same_fsm<F, S>::value, "accessing state of different state machine");
+      return current_state_ptr == &_state_instance<S>::value;
+    }
+
+  /// state machine functions
+  public:
+
+    // explicitely specialized in FSM_INITIAL_STATE macro
+    static void set_initial_state();
+
+    static void reset() { };
+
+    static void enter() {
+      current_state_ptr->entry();
+    }
+
+    static void start() {
+      set_initial_state();
+      enter();
+    }
+
+    template<typename E>
+    static void dispatch(E const & event) {
+      current_state_ptr->react(event);
+    }
+
+
+  /// state transition functions
+  protected:
+
+    template<typename S>
+    void transit(void) {
+      static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
+      current_state_ptr->exit();
+      current_state_ptr = &_state_instance<S>::value;
+      current_state_ptr->entry();
+    }
+
+    template<typename S, typename ActionFunction>
+    void transit(ActionFunction action_function) {
+      static_assert(is_same_fsm<F, S>::value, "transit to different state machine");
+      current_state_ptr->exit();
+      // NOTE: do not send events in action_function definisions.
+      action_function();
+      current_state_ptr = &_state_instance<S>::value;
+      current_state_ptr->entry();
+    }
+
+    template<typename S, typename ActionFunction, typename ConditionFunction>
+    void transit(ActionFunction action_function, ConditionFunction condition_function) {
+      if(condition_function()) {
+        transit<S>(action_function);
+      }
+    }
+  };
+
+  template<typename F>
+  typename Fsm<F>::state_ptr_t Fsm<F>::current_state_ptr;
+
+  // --------------------------------------------------------------------------
+
+  template<typename... FF>
+  struct FsmList;
+
+  template<> struct FsmList<> {
+    static void set_initial_state() { }
+    static void reset() { }
+    static void enter() { }
+    template<typename E>
+    static void dispatch(E const &) { }
+  };
+
+  template<typename F, typename... FF>
+  struct FsmList<F, FF...>
+  {
+    using fsmtype = Fsm<F>;
+
+    static void set_initial_state() {
+      fsmtype::set_initial_state();
+      FsmList<FF...>::set_initial_state();
+    }
+
+    static void reset() {
+      F::reset();
+      FsmList<FF...>::reset();
+    }
+
+    static void enter() {
+      fsmtype::enter();
+      FsmList<FF...>::enter();
+    }
+
+    static void start() {
+      set_initial_state();
+      enter();
+    }
+
+    template<typename E>
+    static void dispatch(E const & event) {
+      fsmtype::template dispatch<E>(event);
+      FsmList<FF...>::template dispatch<E>(event);
+    }
+  };
+
+  // --------------------------------------------------------------------------
+
+  template<typename... SS> struct StateList;
+  template<> struct StateList<> {
+    static void reset() { }
+  };
+  template<typename S, typename... SS>
+  struct StateList<S, SS...>
+  {
+    static void reset() {
+      _state_instance<S>::value = S();
+      StateList<SS...>::reset();
+    }
+  };
+
+  // --------------------------------------------------------------------------
+
+  template<typename F>
+  struct MooreMachine : tinyfsm::Fsm<F>
+  {
+    virtual void entry(void) { };  /* entry actions in some states */
+    void exit(void) { };           /* no exit actions */
+  };
+
+  template<typename F>
+  struct MealyMachine : tinyfsm::Fsm<F>
+  {
+    // input actions are modeled in react():
+    // - conditional dependent of event type or payload
+    // - transit<>(ActionFunction)
+    void entry(void) { };  /* no entry actions */
+    void exit(void) { };   /* no exit actions */
+  };
+
+} /* namespace tinyfsm */
+
+
+#define FSM_INITIAL_STATE(_FSM, _STATE)                               \
+namespace tinyfsm {                                                   \
+  template<> void Fsm< _FSM >::set_initial_state(void) {              \
+    current_state_ptr = &_state_instance< _STATE >::value;            \
+  }                                                                   \
+}
+
+#endif /* TINYFSM_HPP_INCLUDED */

src/pPowerManger/udpComm.cpp

@@ -0,0 +1,569 @@
+#include "udpComm.h"
+#include <iostream>
+#include <memory>
+
+udpComm::udpComm() 
+{
+  udpScoket = nullptr;
+  ccuHost = "";
+  ccuPort = 0;
+}
+
+udpComm::~udpComm() {
+  if (udpScoket) {
+    delete udpScoket;
+    udpScoket = nullptr;
+  }
+}
+
+
+Checksum udpComm::calculateChecksum(const unsigned char* data, int size) 
+{
+  Checksum checksum = 0;
+  int size_data = size - sizeof(Checksum);
+  for (int i = 0; i < size_data; i++) {
+      checksum += data[i];
+  }
+  return checksum;
+}
+Checksum udpComm::calculateChecksum(const unsigned char* data, int dataSize, int checkSize)
+{
+  Checksum checksum = 0;
+  int size_data = dataSize - checkSize;
+  for (int i = 0; i < size_data; i++) {
+      checksum += data[i];
+  }
+  return checksum;
+}
+bool udpComm::getMsgId(char *m,unsigned short &id)
+{
+  m_header h;
+  h = *reinterpret_cast<m_header *>(m);
+  // 判断消息是否有效
+  if (h.start1== DIS_MSG_HEAD1 && h.start2==DIS_MSG_HEAD2)
+  {
+    id = h.id;
+    return true;
+  }
+  else if (h.start1==CCU_UDPMSG_START1 && h.start2==CCU_UDPMSG_START2)
+  {
+    id = h.id;
+    return true;
+  }
+  else
+    sError.push_back("Msg Header errar");
+  return false;
+}
+bool udpComm::getMsgFromBuff(char *m, msg_CcuStateFbMsg &s) {
+  Checksum sum;
+  msg_CcuStateFbMsg *p;
+  p = reinterpret_cast<msg_CcuStateFbMsg *>(m);
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_CcuStateFbMsg));
+
+  if (sum != p->checkCode) {
+    sError.push_back("CcuStat Msg Check error");
+    return false; 
+  }
+  s = *p;
+  return true;
+}
+
+bool udpComm::getMsgFromBuff(char *m, msg_CcuSetParmFbMsg &s)
+{
+  Checksum sum;
+  msg_CcuSetParmFbMsg *p;
+  p = reinterpret_cast<msg_CcuSetParmFbMsg *>(m);
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_CcuSetParmFbMsg));
+
+  if (sum!= p->checkCode) {
+    sError.push_back("CcuSetParm Msg Check error");
+    return false;
+  }
+
+  s = *p;
+  return true;
+}
+
+bool udpComm::getMsgFromBuff(char *m, msg_disHighVolBusFbMsg &s)
+{
+  cChecksum sum;
+  msg_disHighVolBusFbMsg *p;
+  p = reinterpret_cast<msg_disHighVolBusFbMsg *>(m);
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
+  if (sum != p->checkCode) {
+    sError.push_back("DisSys HVBus Msg Check error");
+    return false;
+  }
+  s = *p;
+  // cout << s.data.busbarAVoltage << endl;
+  return true;
+}
+
+bool udpComm::getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s)
+{
+  cChecksum sum;
+  msg_disHighAVolBusFbMsg *p;
+  p = reinterpret_cast<msg_disHighAVolBusFbMsg *>(m);
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighAVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
+  if (sum!= p->checkCode) {
+    sError.push_back("DisSys HVABus Msg Check error");
+    return false;
+  }
+  s = *p;
+  return true;
+}
+bool udpComm::getMsgFromBuff(char *m, msg_disHighBVolBusFbMsg &s)
+{
+  cChecksum sum;
+  msg_disHighBVolBusFbMsg *p;
+  p = reinterpret_cast<msg_disHighBVolBusFbMsg *>(m);
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disHighBVolBusFbMsg), sizeof(cChecksum)) & 0xFF;
+  if (sum!= p->checkCode) {
+    sError.push_back("DisSys HVBBus Msg Check error");
+    return false;
+  }
+  s = *p;
+  return true;
+}
+
+bool udpComm::getMsgFromBuff(char *m, msg_disLowBusFbMsg &s)
+{
+  cChecksum sum;
+  msg_disLowBusFbMsg *p;
+  p = reinterpret_cast<msg_disLowBusFbMsg *>(m);
+  sum = calculateChecksum((unsigned char*)m, sizeof(msg_disLowBusFbMsg), sizeof(cChecksum)) & 0xFF;
+  if (sum!= p->checkCode) {
+    sError.push_back("DisSys LVBus Msg Check error");
+    return false;
+  }
+  s = *p;
+  return true;
+}
+
+bool udpComm::pushMsgToQueue(unsigned char *m)
+{
+  if(m==NULL)
+  {
+    sError.push_back("pushMsgToQueue faile,Msg is NULL");
+    return false;
+  }
+
+  unsigned char* Buff = m;
+  //消息头鉴定
+  char *header = new char[sizeof(m_header)];
+  unsigned short id;
+  memcpy(header,Buff,sizeof(m_header));
+  if(!getMsgId(header,id))
+  {
+    sError.push_back("pushMsgToQueue faile,Msg ID error");
+    return false;
+  }
+  delete []header;
+  //输入消息
+  switch (id)
+  {
+  case CCU_STATE_FB_ID: //CCU_STATE_FB 0x0051
+   { 
+    msg_CcuStateFbMsg s;
+    if(getMsgFromBuff((char *)Buff,s))
+    {
+      if(m_qReceiveCcuStateBuffer.size()<QUENUE_SIZE)
+      {
+        double time = MOOSTime();
+        m_qReceiveCcuStateBuffer.push(std::make_pair(time, s));
+      }
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,CcuState buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+  }
+  case CCU_SET_PARM_FB_ID: //CCU_SET_PARM_FB 0x0040
+  {
+    msg_CcuSetParmFbMsg s;
+    if(getMsgFromBuff((char *)Buff,s))
+    {
+      if(m_qReceiveCcuSetParmBuffer.size()<QUENUE_SIZE)
+      {
+        double time = MOOSTime();
+        m_qReceiveCcuSetParmBuffer.push(std::make_pair(time, s));
+      }
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,CcuSetParm buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+  }
+  case DIS_HVBUS_FB_ID: //DIS_HVBUS_FB 0x0020
+  {
+    msg_disHighVolBusFbMsg s;
+    if(getMsgFromBuff((char *)Buff,s))
+    {
+      if(m_qReceiveDisHighVolBusBuffer.size()<QUENUE_SIZE)
+      {
+        double time = MOOSTime();
+        m_qReceiveDisHighVolBusBuffer.push(std::make_pair(time, s));
+      }
+      else 
+      {
+        sError.push_back("pushMsgToQueue faile,DisSysHVBus buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+  }
+  case DIS_HVBUSA_FB_ID: //DIS_HVBUSA_FB 0x0006
+  {
+    msg_disHighAVolBusFbMsg s;
+    if(getMsgFromBuff((char *)Buff,s))
+    {
+      if(m_qReceiveDisHighAVolBusBuffer.size()<QUENUE_SIZE)
+        {
+          double time = MOOSTime();
+          m_qReceiveDisHighAVolBusBuffer.push(std::make_pair(time, s));
+        }
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,DisSysHVABus buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+  }
+  case DIS_HVBUSB_FB_ID: //DIS_HVBUSB_FB 0x0007
+  {
+    msg_disHighBVolBusFbMsg s;
+    if(getMsgFromBuff((char *)Buff,s))
+    {
+      if(m_qReceiveDisHighBVolBusBuffer.size()<QUENUE_SIZE)
+      {
+          double time = MOOSTime();
+          m_qReceiveDisHighBVolBusBuffer.push(std::make_pair(time, s));
+      }
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,DisSysHVBBus buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+  }
+  case DIS_LVBUS_FB_ID: //DIS_LVBUS_FB 0x0008
+  {
+    msg_disLowBusFbMsg s;
+    if(getMsgFromBuff((char *)Buff,s))
+    {
+      if(m_qReceiveDisLowBusBuffer.size()<QUENUE_SIZE)
+       {
+          double time = MOOSTime();
+          m_qReceiveDisLowBusBuffer.push(std::make_pair(time, s));
+       }
+      else
+      {
+        sError.push_back("pushMsgToQueue faile,DisSysLVBus buffer is full");
+        return false;
+      }
+    }
+    else
+    {
+      return false;
+    }
+    break;
+  }
+  default:
+    break;
+  }  
+}
+
+bool udpComm::clearMsgQueue()
+{
+  while(!m_qReceiveCcuStateBuffer.empty())
+    m_qReceiveCcuStateBuffer.pop();
+
+  while(!m_qReceiveCcuSetParmBuffer.empty())
+    m_qReceiveCcuSetParmBuffer.pop();
+
+  while(!m_qReceiveDisHighVolBusBuffer.empty())
+    m_qReceiveDisHighVolBusBuffer.pop();
+
+  while(!m_qReceiveDisHighAVolBusBuffer.empty())
+    m_qReceiveDisHighAVolBusBuffer.pop();
+
+  while(!m_qReceiveDisHighBVolBusBuffer.empty())
+    m_qReceiveDisHighBVolBusBuffer.pop();
+    
+  while(!m_qReceiveDisLowBusBuffer.empty())
+    m_qReceiveDisLowBusBuffer.pop();
+  return true;
+}
+
+
+bool udpComm::popMsgFormQueue(double &time,msg_CcuStateFbMsg &m)
+{
+  if(m_qReceiveCcuStateBuffer.empty())
+    return false;
+  time = m_qReceiveCcuStateBuffer.front().first;
+  m = m_qReceiveCcuStateBuffer.front().second;
+  m_qReceiveCcuStateBuffer.pop();
+  return true;
+}
+
+bool udpComm::popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m)
+{
+  if(m_qReceiveCcuSetParmBuffer.empty())
+    return false;
+  time = m_qReceiveCcuSetParmBuffer.front().first;
+  m = m_qReceiveCcuSetParmBuffer.front().second;
+  m_qReceiveCcuSetParmBuffer.pop();
+  return true;
+}
+bool udpComm::popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m)
+{
+  if(m_qReceiveDisHighVolBusBuffer.empty())
+    return false;
+  time = m_qReceiveDisHighVolBusBuffer.front().first;
+  m = m_qReceiveDisHighVolBusBuffer.front().second;
+  m_qReceiveDisHighVolBusBuffer.pop();
+  return true;
+}
+bool udpComm::popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m)
+{
+  if(m_qReceiveDisHighAVolBusBuffer.empty())
+    return false;
+  time = m_qReceiveDisHighAVolBusBuffer.front().first;
+  m = m_qReceiveDisHighAVolBusBuffer.front().second;
+  m_qReceiveDisHighAVolBusBuffer.pop();
+  return true;
+}
+bool udpComm::popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m)
+{
+  if(m_qReceiveDisHighBVolBusBuffer.empty())
+    return false;
+  time = m_qReceiveDisHighBVolBusBuffer.front().first;
+  m = m_qReceiveDisHighBVolBusBuffer.front().second;
+  m_qReceiveDisHighBVolBusBuffer.pop();
+  return true;
+}
+bool udpComm::popMsgFormQueue(double &time,msg_disLowBusFbMsg &m)
+{
+  if(m_qReceiveDisLowBusBuffer.empty())
+    return false;
+  time = m_qReceiveDisLowBusBuffer.front().first;
+  m = m_qReceiveDisLowBusBuffer.front().second;
+  m_qReceiveDisLowBusBuffer.pop();
+  return true;
+}
+
+
+bool udpComm::sendDisSysCmd(const disHighVolBusCmd cmd)
+{
+  unsigned char* msgBuf;
+  Checksum cc;
+  msg_disHVBCmd* msg = new msg_disHVBCmd;
+  msg->header.id = DIS_HVBUS_CMD_ID;
+  msg->header.start1 = DIS_MSG_HEAD1;
+  msg->header.start2 = DIS_MSG_HEAD2;
+  msg->header.length = sizeof(disHighVolBusCmd);
+  msg->data = cmd;
+  msgBuf = reinterpret_cast<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBCmd));
+  msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
+  // std::cout << (int)sizeof(msg_disHVBCmd) << endl;
+  try
+  {
+    sendMsg(msgBuf,sizeof(msg_disHVBCmd));
+  }
+  catch(const std::exception& e)
+  {
+    std::cerr << e.what() << '\n';
+  }
+  delete msg;
+  return true;
+}
+
+bool udpComm::sendDisSysCmd(const disHighAVolBusCmd cmd)
+{
+  unsigned char* msgBuf;
+  Checksum cc;
+  msg_disHVBACmd* msg = new msg_disHVBACmd;
+  msg->header.id = DIS_HVBUSA_CMD_ID;
+  msg->header.start1 = DIS_MSG_HEAD1;
+  msg->header.start2 = DIS_MSG_HEAD2;
+  msg->header.length = sizeof(disHighAVolBusCmd);
+  msg->data = cmd;
+  msgBuf = reinterpret_cast<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBACmd));
+  msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
+  try
+  {
+    sendMsg(msgBuf,sizeof(msg_disHVBACmd));
+  }
+  catch(const std::exception& e)
+  {
+    std::cerr << e.what() << '\n';
+  }
+  delete msg;
+  return true;
+}
+
+bool udpComm::sendDisSysCmd(const disHighBVolBusCmd cmd)
+{
+  unsigned char* msgBuf;
+  Checksum cc;
+  msg_disHVBBCmd* msg = new msg_disHVBBCmd;
+  msg->header.id = DIS_HVBUSB_CMD_ID;
+  msg->header.start1 = DIS_MSG_HEAD1;
+  msg->header.start2 = DIS_MSG_HEAD2;
+  msg->header.length = sizeof(disHighBVolBusCmd);
+  msg->data = cmd;
+  msgBuf = reinterpret_cast<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_disHVBBCmd));
+  msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
+  try
+  {
+    // cout << "=========" <<(int)sizeof(msg_disHVBBCmd) << endl;
+    sendMsg(msgBuf,sizeof(msg_disHVBBCmd));
+  }
+  catch(const std::exception& e)
+  {
+    std::cerr << e.what() << '\n';
+  }
+  delete msg;
+  return true;
+}
+
+bool udpComm::sendDisSysCmd(const disLowBusCmd cmd)
+{
+  unsigned char* msgBuf;
+  Checksum cc;
+  msg_disLVBCmd* msg = new msg_disLVBCmd;
+  msg->header.id = DIS_LVBUS_CMD_ID;
+  msg->header.start1 = DIS_MSG_HEAD1;
+  msg->header.start2 = DIS_MSG_HEAD2;
+  msg->header.length = sizeof(disLowBusCmd);
+  msg->data = cmd;
+  msgBuf = reinterpret_cast<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_disLVBCmd));
+  msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
+  try
+  {
+    sendMsg(msgBuf,sizeof(msg_disLVBCmd));
+  }
+  catch(const std::exception& e)
+  {
+    std::cerr << e.what() << '\n';
+  }
+  delete msg;
+  return true;
+}
+
+bool udpComm::sendCcuColCmd(const ccuColCmd cmd)
+{
+  unsigned char* msgBuf;
+  Checksum cc;
+  msg_CcuColCmdMsg* msg = new msg_CcuColCmdMsg;
+  msg->header.id = CCU_CMD_ID;
+  msg->header.start1 = CCU_UDPMSG_START1;
+  msg->header.start2 = CCU_UDPMSG_START2;
+  msg->header.length = sizeof(ccuColCmd);
+  getDate(msg->date.year,msg->date.month,msg->date.day,msg->date.hour,msg->date.minute,msg->date.second,msg->date.milliseconds);
+  msg->cmd = cmd;
+  msgBuf = reinterpret_cast<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_CcuColCmdMsg));
+  msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
+  try
+  {
+    if(udpScoket == nullptr) {
+        throw std::runtime_error("UDP socket not initialized");
+    }
+    if(ccuHost.empty() || ccuPort <= 0 || ccuPort > 65535) {
+        throw std::runtime_error("Invalid CCU address: " + ccuHost + ":" + std::to_string(ccuPort));
+    }
+    sendMsg(msgBuf,sizeof(msg_CcuColCmdMsg));
+  }
+  catch(const std::exception& e)
+  {
+    std::cerr << e.what() << '\n';
+  }
+  delete msg;
+  return true;
+}
+bool udpComm::sendCcuSetParmCmd(const ccuSetParmCmd cmd)
+{
+  unsigned char* msgBuf;
+  Checksum cc;
+  msg_CcuSetParmMsg* msg = new msg_CcuSetParmMsg;
+  msg->header.id = CCU_SET_PARM_ID;
+  msg->header.start1 = CCU_UDPMSG_START1;
+  msg->header.start2 = CCU_UDPMSG_START2;
+  msg->header.length = sizeof(ccuSetParmCmd);
+  msg->cmd = cmd;
+  msgBuf = reinterpret_cast<unsigned char *>(msg);
+  cc = calculateChecksum(msgBuf,sizeof(msg_CcuSetParmMsg));
+  msg->checkCode = static_cast<cChecksum>(cc & 0xFF);
+  try
+  {
+    sendMsg(msgBuf,sizeof(msg_CcuSetParmMsg));
+  }
+  catch(const std::exception& e)
+  {
+    std::cerr << e.what() << '\n';
+  }
+  delete msg;
+  return true;
+}
+
+bool udpComm::getDate(unsigned short &year, unsigned char &month, unsigned char &day, unsigned char &hour, unsigned char &minute, unsigned char &second, unsigned char &milliseconds) {
+  // 获取当前时间
+  std::time_t now = std::time(nullptr);
+  if (now == -1) {
+      return false; // 获取时间失败
+  }
+
+  // 转换为本地时间
+  std::tm *localTime = std::localtime(&now);
+  if (!localTime) {
+      return false; // 转换失败
+  }
+
+  // 获取年、月、日、时、分、秒
+  year = localTime->tm_year + 1900;  // tm_year 是从 1900 年开始的
+  month = localTime->tm_mon + 1;     // tm_mon 是从 0 开始的，0 对应 1 月
+  day = localTime->tm_mday;
+  hour = localTime->tm_hour;
+  minute = localTime->tm_min;
+  second = localTime->tm_sec;
+
+  // 获取毫秒，使用 std::chrono
+  auto now_ms = std::chrono::system_clock::now();
+  auto duration = now_ms.time_since_epoch();
+  auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(duration).count() % 1000; // 取毫秒部分
+  ms = ms/10;
+  milliseconds = static_cast<unsigned char>(ms);
+
+  return true;
+}

src/pPowerManger/udpComm.h

@@ -0,0 +1,79 @@
+#ifndef UDPCOMM__H
+#define UDPCOMM__H
+#define UNIX
+
+#include "ccuUdpMsg.h"
+#include <string>
+#include <vector>
+#include <queue>
+#include <string.h>
+#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
+#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
+#include <ctime>
+#include <chrono>
+#include <iostream>
+#include <utility> // for std::pair
+
+using namespace std;
+#define QUENUE_SIZE 100
+
+class udpComm {
+public:
+  udpComm();
+  ~udpComm();
+  XPCUdpSocket *udpScoket;
+  string ccuHost;
+  long int ccuPort;
+  
+  bool pushMsgToQueue(unsigned char *m);
+  bool clearMsgQueue();
+
+  bool getMsgFromBuff(char *m, msg_CcuStateFbMsg &s);
+  bool getMsgFromBuff(char *m, msg_CcuSetParmFbMsg &s);
+  bool getMsgFromBuff(char *m, msg_disHighVolBusFbMsg &s);
+  bool getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s);
+  bool getMsgFromBuff(char *m, msg_disHighBVolBusFbMsg &s);
+  bool getMsgFromBuff(char *m, msg_disLowBusFbMsg &s);
+
+  bool popMsgFormQueue(double &time,msg_CcuStateFbMsg &m);
+  bool popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m);
+  bool popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m);
+  bool popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m);
+  bool popMsgFormQueue(double &time,msg_disHighBVolBusFbMsg &m);
+  bool popMsgFormQueue(double &time,msg_disLowBusFbMsg &m);
+
+  bool sendCcuColCmd(const ccuColCmd cmd);
+  bool sendCcuSetParmCmd(const ccuSetParmCmd cmd);
+
+  bool sendDisSysCmd(const disHighVolBusCmd cmd);
+  bool sendDisSysCmd(const disHighAVolBusCmd cmd);
+  bool sendDisSysCmd(const disHighBVolBusCmd cmd);
+  bool sendDisSysCmd(const disLowBusCmd cmd);
+  bool sendMsg(const unsigned char* msg,unsigned int size){
+    // cout << "sendMsgTo" <<  ccuHost << ":" << ccuPort << endl;
+    udpScoket->iSendMessageTo((void*) msg, size, ccuPort, ccuHost);
+    return true;
+  }
+
+  bool getMsgId(char *m,unsigned short &id);
+  Checksum calculateChecksum(const unsigned char* data, int size);
+  Checksum calculateChecksum(const unsigned char* data, int dataSize, int checkSize);
+
+  bool getDate(unsigned short &year, unsigned char &month, unsigned char &day, unsigned char &hour, unsigned char &minute, unsigned char &second, unsigned char &milliseconds);
+
+  std::vector<std::string> sError;
+
+  // std::queue<msgWithTime> m_qReceiveCcuStateBuffer;
+  std::queue<std::pair<double,msg_CcuStateFbMsg>> m_qReceiveCcuStateBuffer;
+  std::queue<std::pair<double,msg_CcuSetParmFbMsg>> m_qReceiveCcuSetParmBuffer;
+  std::queue<std::pair<double,msg_disHighVolBusFbMsg>> m_qReceiveDisHighVolBusBuffer;
+  std::queue<std::pair<double,msg_disHighAVolBusFbMsg>> m_qReceiveDisHighAVolBusBuffer;
+  std::queue<std::pair<double,msg_disHighBVolBusFbMsg>> m_qReceiveDisHighBVolBusBuffer;
+  std::queue<std::pair<double,msg_disLowBusFbMsg>> m_qReceiveDisLowBusBuffer;
+
+private:
+  msg_CcuColCmdMsg m_ccuColCmd;
+  msg_CcuSetParmMsg m_ccuSetParmCmd;
+};
+
+#endif

test-report.md

@@ -1,18 +0,0 @@
-## H100PowerManger CI 测试报告
-
-**总体结论: ✅ 全部通过**
-
-| 步骤 | 结果 | 耗时 |
-| :--- | :--- | :--- |
-| 构建 (aarch64) | ✅ 通过 | 1725s |
-| 单元测试 SQLiteTest | ✅ 通过 | 0s |
-| 单元测试 PowerMangerTests (gtest) | ✅ 通过 | 1s |
-| 冒烟测试 MOOSDB+pPowerManger | ✅ 通过 | 9s |
-| 集成测试 UDP反馈→SQLite | ✅ 通过 | 6s |
-
----
-
-- 架构: `aarch64`
-- Commit: `38c489c`
-- 时间: 2026-09-02 12:54:52 UTC
-- 运行: [https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/actions/runs/36](https://gitea2.zhaojingkui.xyz/zjk/H100PowerManger/actions/runs/36)

test/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.10)
+project(SQLiteDBTest)
+
+# 设置 C++ 标准
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+#############################################SQLiteDBTest####################################################################
+# 查找 SQLiteDB 项目库
+find_library(SQLiteDB_LIB NAMES SQLiteDB PATHS /home/zjk/project/H100/H100PowerManger/lib)
+if(NOT SQLiteDB_LIB)
+    message(FATAL_ERROR "SQLiteDB library not found!")
+endif()
+
+# 查找 Catch2 测试框架
+find_package(Catch2 REQUIRED)
+
+# 添加测试可执行文件
+add_executable(SQLiteDBTest SQLiteDBTest.cpp)
+# 链接库文件（注意顺序：先项目库后系统库）
+target_link_libraries(SQLiteDBTest 
+    ${SQLiteDB_LIB}      # 项目SQLiteDB库
+    Catch2::Catch2WithMain  # 测试框架
+    sqlite3
+    jsoncpp
+)
+
+################################################udpCommTest####################################################################
+# 查找 udpComm 项目库
+find_library(UDPCOMM_LIB NAMES UDPComm PATHS /home/zjk/project/H100/H100PowerManger/lib)
+if(NOT UDPCOMM_LIB)
+    message(FATAL_ERROR "udpComm library not found!")
+endif()
+
+# 添加 udpComm 测试可执行文件
+add_executable(udpCommTest udpCommTest.cpp)
+
+# 链接库文件（注意顺序：先项目库后系统库）
+target_link_libraries(udpCommTest
+    ${UDPCOMM_LIB}       # 项目udpComm库
+    ${MOOS_LIBRARIES}
+    Catch2::Catch2WithMain  # 测试框架
+)
+
+################################################PowerMangerTest####################################################################

test/SQLiteDBTest.cpp

@@ -0,0 +1,65 @@
+#include "catch2/catch.hpp"
+#include "../src/pPowerManger/SQLiteDB.h"
+#include "../src/pPowerManger/driver.h"
+
+TEST_CASE("SQLiteDB Test", "[SQLiteDB]") {
+    SQLiteDB db("test.db");
+
+    SECTION("Create Tables") {
+        REQUIRE(db.createPowerDataTables() == true);
+        // REQUIRE(db.createStateTables() == true);
+        REQUIRE(db.createDisCcuSysTables() == true);
+        REQUIRE(db.createDriversTables("test") == true);
+
+    }
+    
+    SECTION("Test isDatabaseConnected") {
+        REQUIRE(db.isDatabaseConnected("/home/zjk/project/H100/H100PowerManger/bin","test.db") == true);
+    }
+
+    SECTION("Test insertPowerData") {
+        PowerData powerData;
+        StateData stateData;
+        stateData.state_id = 1;
+        stateData.state_name = "test";
+        stateData.event = "test";
+        stateData.event_id = 1;
+        stateData.fault_code = 1;
+        stateData.note = "test";
+        REQUIRE(db.insertStateData(stateData) == true);
+        // db.insertPowerData(powerData);
+        
+        StateData stateDataForGet;
+        REQUIRE(db.getStateData(stateDataForGet) == true);
+        REQUIRE(stateDataForGet.state_id == 1);
+        REQUIRE(stateDataForGet.state_name == "test");
+        REQUIRE(stateDataForGet.event == "test");
+        REQUIRE(stateDataForGet.event_id == 1);
+        REQUIRE(stateDataForGet.fault_code == 1);
+        REQUIRE(stateDataForGet.note == "test");
+        
+        //REQUIRE(db.clearPowerData(stateDataForGet) == true);
+        }
+    
+    SECTION("Test insertStateData") {
+        
+        for(int i = 0; i < 100; i++)
+        {   DriverTable driver;
+            REQUIRE(db.insertDriverTables(driver,"test") == true);
+        }
+        
+    }
+
+    SECTION("Test GETDATA") {
+        StateData stateData;
+        std::string time;
+        REQUIRE(db.getStateData(stateData,time) == true);
+        REQUIRE(db.getStateData(stateData) == true);
+        REQUIRE(stateData.state_id == 1);
+        REQUIRE(stateData.state_name == "test");
+        cout << "-------------------------------------------------" << time << endl;
+        
+    }
+       
+    
+}

test/scripts/TestGUI.py

@@ -0,0 +1,52 @@
+import socket
+import struct
+import tkinter as tk
+import threading
+from udpmsg import *
+from datetime import datetime
+from disSys import *
+from logWin import *
+from udpComm import *
+from ccuSys import *
+
+
+# 创建UDP通信套接字
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+# 目标IP地址和端口号
+target_ip = 'localhost'
+target_port = 5001
+server_address = (target_ip, target_port)
+sock.bind(server_address)
+# 要发送的消息
+# 创建主窗口
+root = tk.Tk()
+root.title("能源管理系统调试")
+# 创建消息显示窗口
+logFrame = tk.LabelFrame(root, text="消息")
+logFrame.grid(row=0, rowspan=3,column=1, sticky='ns')
+logwin = logWin(logFrame)
+logwin.grid(row=0, column=0, sticky='nesw')
+# 创建配电窗口
+disSysFrame = tk.LabelFrame(root, text="配电系统")
+disSysFrame.grid(row=0, column=0, sticky='ne')
+disSysWin = disSys(disSysFrame)
+disSysWin.grid(row=0, column=0, sticky='ne')
+# 创建ccu消息窗口
+ccuSysFrame = tk.LabelFrame(root, text="ccu消息")
+ccuSysFrame.grid(row=1, column=0,  sticky='swe')
+ccuSysWin = ccuSys(ccuSysFrame)
+# ccuSysWin.grid(row=0, column=0, sticky='ne')
+
+# 创建并启动接收和发送消息的线程
+thread = threading.Thread(target=receive_messages, args=(sock, logwin, disSysWin))
+thread.daemon = True
+thread.start()
+
+thread2 = threading.Thread(target=send_messages, args=(sock, logwin, disSysWin,ccuSysWin))
+thread2.daemon = True
+thread2.start()
+
+# 运行主循环
+root.mainloop()
+# 关闭套接字
+sock.close()

test/scripts/back/gui.py

@@ -0,0 +1,42 @@
+import socket
+import struct
+import tkinter as tk
+import threading
+from udpmsg import *
+from datetime import datetime
+from tkinter import font
+from guiEle import ElementDisplayApp
+from until import *
+from guiInput import InputGUI
+
+# 创建UDP套接字
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+server_address = ('localhost', 5001)
+sock.bind(server_address)
+
+# 创建主窗口
+root = tk.Tk()
+root.title("UDP消息显示")
+eleplay = ElementDisplayApp(root)
+inp = InputGUI(root)
+
+# 创建一个文本框用于显示消息
+custom_font = font.Font(family="Arial", size=12, weight="normal")
+text_box = tk.Text(root, height=10, width=50, font=custom_font)
+# .pack(side='left', fill='y', expand=True)
+text_box.grid(row=0, column=4, sticky='ne')
+
+# 创建并启动接收和发送消息的线程
+thread = threading.Thread(target=receive_messages, args=(sock, text_box,eleplay))
+thread.daemon = True
+thread.start()
+
+thread2 = threading.Thread(target=send_messages, args=(sock, eleplay))
+thread2.daemon = True  
+thread2.start()
+
+# 运行主循环
+root.mainloop()
+
+# 关闭套接字
+sock.close()

test/scripts/back/guiEle.py

@@ -0,0 +1,255 @@
+import tkinter as tk
+from tkinter import font
+from udpmsg import *
+
+class ElementDisplayApp:
+    def __init__(self, root):
+        self.root = root
+
+        self.disHVB = msg_disHighVolBusFbMsg()
+        self.disHVBA = msg_disHighAVolBusFbMsg()
+        self.disHVBB = msg_disHighBVolBusFbMsg()
+        self.disLVB = msg_disLowBusFbMsg()
+
+        # 定义每组的颜色
+        self.colors = ["#FFC0CB", "#ADD8E6", "#90EE90", "#FFD700"]
+
+        # 创建自定义字体
+        self.custom_font = font.Font(family="Arial", size=12, weight='bold')
+
+        # 创建4个Frame来分组显示元素的值
+        self.frames = []
+        for i in range(4):
+            frame = tk.Frame(self.root, bg=self.colors[i], padx=10, pady=10)
+            # frame.pack(padx=10, pady=10, expand=True, fill='both')
+            frame.grid(row=0, column=i, sticky='nsew')  # 使用 grid 布局管理器
+            self.frames.append(frame)
+
+        # 定义四个字典来存储元素的值
+        # self.dict1 = {f"元素{i+1}": f"Value {i+1}" for i in range(16)}
+        self.dict1={'燃料电池断路器':'闭合','动力锂电池断路器':'闭合','推进电机断路器':'闭合','仪表锂电池断路器':'闭合','DC/DC5模块断路器':'闭合',
+        '艏部高压配电断路器':'闭合','艏部FT4/5断路器':'闭合','艉舵1/2断路器':'闭合','艉舵3/4断路器':'闭合',
+        'FB预留断路器':'闭合','TYZ预留断路器':'闭合','预留断路器':'闭合'}
+        # self.dict2 = {f"元素{i+17}": f"Value {i+17}" for i in range(16)}
+        self.dict2 = {'艏部FT1-3断路器':'闭合','启闭机构断路器':'闭合','桅杆舵机断路器':'闭合','XCZ断路器':'闭合',
+        '艏舵断路器':'闭合','敞开电缸断路器':'闭合'}
+        # self.dict3 = {f"元素{i+33}": f"Value {i+33}" for i in range(16)}
+        self.dict3 = {'仪表锂电池断路器':'闭合','艏部低压断路器':'闭合','UNIT4断路器':'闭合','DC/DC1断路器':'闭合',
+        '预留断路器1':'闭合', '预留断路器2':'闭合','艉部应急电池开关':'闭合'}
+        # self.dict4 = {f"元素{i+49}": f"Value {i+49}" for i in range(16)}
+        self.dict4 = {'UNIT1断路器':'闭合','UNIT2断路器':'闭合','UNIT3断路器':'闭合','UNIT5断路器':'闭合','艏部抛载断路器':'闭合',
+        '预留断路器1':'闭合','预留断路器2':'断开','艏部应急电池开关':'闭合'}
+
+        # 创建Label来显示每个字典中的元素值，并应用自定义字体
+        self.labels = []
+        for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]):
+            for j, (key, value) in enumerate(dictionary.items()):
+                # 根据元素的值选择颜色
+                if value == "闭合":
+                    color = "green"
+                else:
+                    color = "red"
+                label = tk.Label(self.frames[i], text=f"{key}: {value}", fg=color, font=self.custom_font, anchor="w")
+                label.grid(row=j//2, column=j%2, padx=5, pady=5)
+                # self.labels.append(label)
+
+    def update_disp(self):
+        # 更新Label的文本
+        for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]):
+            for j, (key, value) in enumerate(dictionary.items()):
+                # 根据元素的值选择颜色
+                if value == "闭合":
+                    color = "green"
+                else:
+                    color = "red"
+                # self.labels[i + j].config(text=f"{key}: {value}", fg=color, font=self.custom_font, anchor="w")
+                label = tk.Label(self.frames[i], text=f"{key}: {value}", fg=color, font=self.custom_font, anchor="w")
+                label.grid(row=j//2, column=j%2, padx=5, pady=5)
+
+    def updata_data(self):
+        if (self.dict1['燃料电池断路器']=='闭合'):
+            self.disHVB.DCB1 = 0x55
+        else:
+            self.disHVB.DCB1 = 0xAA
+
+        if (self.dict1['动力锂电池断路器']=='闭合'):
+            self.disHVB.DCB2 = 0x55
+        else:
+            self.disHVB.DCB2 = 0xAA
+
+        if (self.dict1['推进电机断路器']=='闭合'):
+            self.disHVB.ZK1 = 0x55
+        else:
+            self.disHVB.ZK1 = 0xAA
+
+        if (self.dict1['仪表锂电池断路器']=='闭合'):
+            self.disHVB.ZK2 = 0x55
+        else:
+            self.disHVB.ZK2 = 0xAA
+
+        if (self.dict1['DC/DC5模块断路器']=='闭合'):
+            self.disHVB.ZK3 = 0x55
+        else:
+            self.disHVB.ZK3 = 0xAA
+        
+        if (self.dict1['艏部高压配电断路器']=='闭合'):
+            self.disHVB.ZK4 = 0x55
+        else:
+            self.disHVB.ZK4 = 0xAA
+
+        if (self.dict1['艏部FT4/5断路器']=='闭合'):
+            self.disHVB.ZK5 = 0x55
+        else:
+            self.disHVB.ZK5 = 0xAA
+
+        if (self.dict1['艉舵1/2断路器']=='闭合'):
+            self.disHVB.ZK6 = 0x55
+        else:
+            self.disHVB.ZK6 = 0xAA
+
+        if (self.dict1['艉舵3/4断路器']=='闭合'):
+            self.disHVB.ZK7 = 0x55
+        else:
+            self.disHVB.ZK7 = 0xAA
+
+        if (self.dict1['FB预留断路器']=='闭合'):
+            self.disHVB.ZK8 = 0x55
+        else:
+            self.disHVB.ZK8 = 0xAA
+        
+        if (self.dict1['TYZ预留断路器']=='闭合'):
+            self.disHVB.ZK9 = 0x55
+        else:
+            self.disHVB.ZK9 = 0xAA
+
+        if (self.dict1['预留断路器']=='闭合'):
+            self.disHVB.ZK10 = 0x55
+        else:
+            self.disHVB.ZK10 = 0xAA
+        ######################################################
+        if (self.dict2['艏部FT1-3断路器']=='闭合'):
+            self.disHVBA.bowFTDevice123CircuitBreaker = 0x55
+        else:
+            self.disHVBA.bowFTDevice123CircuitBreaker = 0xAA
+        
+        if (self.dict2['启闭机构断路器']=='闭合'):
+            self.disHVBA.actuatorCircuitBreaker = 0x55
+        else:
+            self.disHVBA.actuatorCircuitBreaker = 0xAA
+
+        if (self.dict2['桅杆舵机断路器']=='闭合'):
+            self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0x55
+        else:
+            self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0xAA
+        
+        if (self.dict2['XCZ断路器']=='闭合'):
+            self.disHVBA.xczCircuitBreaker = 0x55
+        else:
+            self.disHVBA.xczCircuitBreaker = 0xAA
+
+        if (self.dict2['艏舵断路器']=='闭合'):
+            self.disHVBA.bowRudderControlBoxCircuitBreaker = 0x55
+        else:
+            self.disHVBA.bowRudderControlBoxCircuitBreaker = 0xAA
+
+        if (self.dict2['敞开电缸断路器']=='闭合'):
+            self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0x55
+        else:
+            self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0xAA
+
+        ####################################################################
+        if (self.dict3['仪表锂电池断路器']=='闭合'):
+            self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0x55
+        else:
+            self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0xAA
+
+        if (self.dict3['艏部低压断路器']=='闭合'):
+            self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0x55
+        else:
+            self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0xAA
+
+        if (self.dict3['UNIT4断路器']=='闭合'):
+            self.disHVBB.unit4CircuitBreaker = 0x55
+        else:
+            self.disHVBB.unit4CircuitBreaker = 0xAA
+
+        if (self.dict3['DC/DC1断路器']=='闭合'):
+            self.disHVBB.dcdc1CircuitBreaker = 0x55
+        else:
+            self.disHVBB.dcdc1CircuitBreaker = 0xAA
+        
+        if (self.dict3['预留断路器1']=='闭合'):
+            self.disHVBB.reservedCircuitBreaker1 = 0x55
+        else:
+            self.disHVBB.reservedCircuitBreaker1 = 0xAA
+
+        if (self.dict3['预留断路器2']=='闭合'):
+            self.disHVBB.reservedCircuitBreaker2 = 0x55
+        else:
+            self.disHVBB.reservedCircuitBreaker2 = 0xAA
+
+        if (self.dict3['艉部应急电池开关']=='闭合'):
+            self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0x55
+        else:
+            self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0xAA
+        
+        ######################################################################
+        if (self.dict4['UNIT1断路器']=='闭合'):
+            self.disLVB.unit1CircuitBreaker = 0x55
+        else:
+            self.disLVB.unit1CircuitBreaker = 0xAA
+
+        if (self.dict4['UNIT2断路器']=='闭合'):
+            self.disLVB.unit2CircuitBreaker = 0x55
+        else:
+            self.disLVB.unit2CircuitBreaker = 0xAA
+
+        if (self.dict4['UNIT3断路器']=='闭合'):
+            self.disLVB.unit3CircuitBreaker = 0x55
+        else:
+            self.disLVB.unit3CircuitBreaker = 0xAA
+
+        if (self.dict4['UNIT5断路器']=='闭合'):
+            self.disLVB.unit5CircuitBreaker = 0x55
+        else:
+            self.disLVB.unit5CircuitBreaker = 0xAA
+
+        if (self.dict4['预留断路器1']=='闭合'):
+            self.disLVB.reservedCircuitBreaker1 = 0x55
+        else:
+            self.disLVB.reservedCircuitBreaker1 = 0xAA
+
+        if (self.dict4['预留断路器2']=='闭合'):
+            self.disLVB.reservedCircuitBreaker2 = 0x55
+        else:
+            self.disLVB.reservedCircuitBreaker2 = 0xAA
+        
+        if (self.dict4['艏部抛载断路器']=='闭合'):
+            self.disLVB.bowPZDeviceCircuitBreaker = 0x55
+        else:
+            self.disLVB.bowPZDeviceCircuitBreaker = 0xAA
+
+        if (self.dict4['艏部应急电池开关']=='闭合'):
+            self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0x55
+        else:
+            self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0xAA
+        
+        a = self.disHVB.pack()
+        b = self.disHVBA.pack()
+        c = self.disHVBB.pack()
+        d = self.disLVB.pack()
+        return a,b,c,d
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    app = ElementDisplayApp(root)
+    root.mainloop()
+
+# # 创建主窗口
+# root = tk.Tk()
+
+# # 创建应用实例并在root中显示
+# app = ElementDisplayApp(root)
+
+# # 运行主循环
+# root.mainloop()

test/scripts/back/guiInput.py

@@ -0,0 +1,121 @@
+import tkinter as tk
+from tkinter import messagebox
+from udpmsg import msg_CcuStateFbMsg
+
+class msg_CcuStateFbMsg:
+    def __init__(self):
+        self.start1 = 0x40
+        self.start2 = 0x40
+        self.id = 0x0001
+        self.length = 0x0000
+        self.flag = 0x00
+        self.failvreCode = 0x00
+
+    def pack(self):
+        # 初始化数据
+        pass # function body is omitted
+
+class InputGUI:
+    def __init__(self, master):
+        self.master = master
+        self.printing = False
+        self.msg_instance = msg_CcuStateFbMsg()
+
+        # 创建一个Frame来包含所有的输入框和标签
+        row = 0
+        column = 0
+
+        self.input_frame = tk.Frame(master, bg='lightgray')
+        self.input_frame.grid(row=1, column=0, sticky='nsew')
+
+        self.title_label = tk.Label(self.input_frame, text="复合管控消息交互", font=("Arial", 16, "bold"))
+        self.title_label.grid(row=0, column=0, columnspan=2, pady=(10, 20), sticky="nsew")  # 调整标题的上下边距并居中显示
+
+        # 创建输入框和标签
+        self.start1_label = tk.Label(self.input_frame, text="Start1:")
+        self.start1_label.grid(row=1, column=0)
+        self.start1_entry = tk.Entry(self.input_frame)
+        self.start1_entry.grid(row=1, column=1)
+
+        self.start2_label = tk.Label(self.input_frame, text="Start2:")
+        self.start2_label.grid(row=2, column=0)
+        self.start2_entry = tk.Entry(self.input_frame)
+        self.start2_entry.grid(row=2, column=1)
+
+        self.id_label = tk.Label(self.input_frame, text="ID:")
+        self.id_label.grid(row=3, column=0)
+        self.id_entry = tk.Entry(self.input_frame)
+        self.id_entry.grid(row=3, column=1)
+
+        self.length_label = tk.Label(self.input_frame, text="Length:")
+        self.length_label.grid(row=4, column=0)
+        self.length_entry = tk.Entry(self.input_frame)
+        self.length_entry.grid(row=4, column=1)
+
+        self.flag_label = tk.Label(self.input_frame, text="Flag:")
+        self.flag_label.grid(row=5, column=0)
+        self.flag_entry = tk.Entry(self.input_frame)
+        self.flag_entry.grid(row=5, column=1)
+
+        self.failvreCode_label = tk.Label(self.input_frame, text="Failvre Code:")
+        self.failvreCode_label.grid(row=6, column=0)
+        self.failvreCode_entry = tk.Entry(self.input_frame)
+        self.failvreCode_entry.grid(row=6, column=1)
+
+        # 创建更新按钮
+        self.update_button = tk.Button(self.input_frame, text="Update", command=self.update_msg)
+        self.update_button.grid(row=7, column=0, columnspan=2)
+
+        # 创建打印按钮
+        self.print_button = tk.Button(self.input_frame, text="Print", command=self.start_printing)
+        self.print_button.grid(row=8, column=0)
+
+        # 创建停止打印按钮
+        self.stop_button = tk.Button(self.input_frame, text="Stop", command=self.stop_printing, state=tk.DISABLED)
+        self.stop_button.grid(row=8, column=1)
+
+        # 创建显示打印消息数量的标签
+        self.print_count_label = tk.Label(self.input_frame, text="Print Count: 0", font=("Arial", 12))
+        self.print_count_label.grid(row=9, column=0, columnspan=2)
+        # 创建更新按钮
+        self.update_button = tk.Button(self.input_frame, text="Update", command=self.update_msg)
+        self.update_button.grid(row=7, column=0, columnspan=2)
+
+    def update_msg(self):
+        try:
+            self.msg_instance.start1 = int(self.start1_entry.get(), 16)
+            self.msg_instance.start2 = int(self.start2_entry.get(), 16)
+            self.msg_instance.id = int(self.id_entry.get(), 16)
+            self.msg_instance.length = int(self.length_entry.get(), 16)
+            self.msg_instance.flag = int(self.flag_entry.get(), 16)
+            self.msg_instance.failvreCode = int(self.failvreCode_entry.get(), 16)
+            messagebox.showinfo("Success", "msg_CcuStateFbMsg updated successfully!")
+        except ValueError:
+            messagebox.showerror("Error", "Invalid input. Please enter valid hexadecimal values.")
+
+    def start_printing(self):
+        self.printing = True
+        self.print_count = 0
+        self.print_count_label.config(text="Print Count: 0")
+        self.print_button.config(state=tk.DISABLED)
+        self.stop_button.config(state=tk.NORMAL)
+        self.print_message()
+
+    def stop_printing(self):
+        self.printing = False
+        self.print_button.config(state=tk.NORMAL)
+        self.stop_button.config(state=tk.DISABLED)
+
+    def print_message(self, callback=None):
+        if self.printing:
+            print("Printing message...")
+            self.print_count += 1
+            self.print_count_label.config(text=f"Print Count: {self.print_count}")
+            if callback:
+                callback()
+            self.master.after(1000, self.print_message, callback)  # 每秒打印一次
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    gui = InputGUI(root)
+    root.mainloop()

test/scripts/back/test.py

@@ -0,0 +1,57 @@
+import socket
+import time
+import struct
+from udpmsg import *
+
+# 目标IP地址和端口
+target_ip = '127.0.0.1'
+target_port = 5000
+
+
+mTest = msg_CcuStateFbMsg()
+mTest2 = msg_CcuSetParamFbMsg()
+mTest3 = msg_disHighVolBusFbMsg()
+
+valid_msg = mTest.pack()
+valid_msg2 = mTest2.pack()
+valid_msg3 = mTest3.pack()
+print(valid_msg)
+
+
+# 创建UDP套接字
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+server_address = ('localhost', 5001)
+sock.bind(server_address)
+
+# 要发送的信息
+# message = "Hello, this is a test message."
+message = valid_msg3
+# 发送信息的次数
+num_messages = 100
+
+# 发送信息的时间间隔（秒）
+interval = 1
+
+for i in range(num_messages):
+    # 发送信息
+    mTest.fcuState += 1
+    sock.sendto(mTest.pack(), (target_ip, target_port))
+    time.sleep(interval)
+    sock.sendto(msg_CcuSetParamFbMsg().pack(), (target_ip, target_port))
+    time.sleep(interval)
+    mTest3.busbarAVoltage += 1
+    sock.sendto(mTest3.pack(), (target_ip, target_port))
+    time.sleep(interval)
+    sock.sendto(msg_disHighAVolBusFbMsg().pack(), (target_ip, target_port))
+    time.sleep(interval)
+    sock.sendto(msg_disHighBVolBusFbMsg().pack(), (target_ip, target_port))
+    time.sleep(interval)
+    sock.sendto(msg_disLowBusFbMsg().pack(), (target_ip, target_port))
+    # 打印发送的信息和目标地址
+    print(f"Sent message to {target_ip}:{target_port}")
+    # 等待一段时间
+    # sock.sendto(valid_msg2, (target_ip, target_port))
+    time.sleep(interval)
+
+# 关闭套接字
+sock.close()

test/scripts/back/testGui.py

@@ -0,0 +1,44 @@
+import socket
+import struct
+import tkinter as tk
+import threading
+from udpmsg import *
+from datetime import datetime
+from tkinter import font
+from disSys import *
+from guiEle import ElementDisplayApp
+from until import *
+from guiInput import InputGUI
+
+# 创建UDP套接字
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+server_address = ('localhost', 5001)
+sock.bind(server_address)
+
+# 创建主窗口
+root = tk.Tk()
+root.title("能源管理系统调试")
+
+disSysWin = disSys(root)
+disSysWin.grid(row=0, column=0, sticky='ne')
+
+
+# 创建一个文本框用于显示消息
+custom_font = font.Font(family="Arial", size=12, weight="normal")
+text_box = tk.Text(root, height=10, width=50, font=custom_font)
+text_box.grid(row=6, column=0, sticky='ne')
+
+# 创建并启动接收和发送消息的线程
+# thread = threading.Thread(target=receive_messages, args=(sock, text_box,eleplay))
+# thread.daemon = True
+# thread.start()
+
+# thread2 = threading.Thread(target=send_messages, args=(sock, eleplay))
+# thread2.daemon = True  
+# thread2.start()
+
+# 运行主循环
+root.mainloop()
+
+# 关闭套接字
+sock.close()

test/scripts/back/until.py

@@ -0,0 +1,105 @@
+import socket
+import struct
+import tkinter as tk
+import threading
+from udpmsg import *
+from datetime import datetime
+from tkinter import font
+from guiEle import ElementDisplayApp
+import threading
+
+target_ip = '127.0.0.1'
+target_port = 5000
+
+def receive_messages(sock, text_box,eleplay:ElementDisplayApp):
+    while True:
+        current_time = datetime.now()
+        formatted_time = current_time.strftime("%Y-%m-%d %H:%M:%S")
+        data, address = sock.recvfrom(4096)
+        headBuf = data[:6]
+        header = struct.unpack('<BBHH',headBuf)
+        start1 = data[0]
+        start2 = data[1]
+        msg_id = data[2]
+        msg_len = data[3]
+        if(start1==0x40 and start2==0x40):
+            if(msg_id==0x0001):
+                msg = msg_disHVBCmd()
+                msg.unpack(data)
+                text_box.insert(tk.END, f"{formatted_time}->接收到来自 {address} | 高压母线配电指令:\n")
+                if(msg.fuelCellCircuitBreaker==0x55):
+                    eleplay.dict1['燃料电池断路器']='闭合'
+                elif(msg.fuelCellCircuitBreaker==0xAA):
+                    eleplay.dict1['燃料电池断路器']='断开'
+
+                if(msg.powerLithiumBatteryCircuitBreaker==0x55):
+                    eleplay.dict1['动力锂电池断路器']='闭合'
+                elif(msg.powerLithiumBatteryCircuitBreaker==0xAA):
+                    eleplay.dict1['动力锂电池断路器']='断开'
+
+                if(msg.propulsionMotorCircuitBreaker==0x55):
+                    eleplay.dict1['推进电机断路器']='闭合'
+                elif(msg.propulsionMotorCircuitBreaker==0xAA):
+                    eleplay.dict1['推进电机断路器']='断开'
+
+                if(msg.lithiumBatteryGroupInstrumentCircuitBreaker==0x55):
+                    eleplay.dict1['仪表锂电池断路器']='闭合'
+                elif(msg.lithiumBatteryGroupInstrumentCircuitBreaker==0xAA):
+                    eleplay.dict1['仪表锂电池断路器']='断开'
+
+                if(msg.dcDc5ModuleCircuitBreaker==0x55):
+                    eleplay.dict1['DC/DC5模块断路器']='闭合'
+                elif(msg.dcDc5ModuleCircuitBreaker==0xAA):
+                    eleplay.dict1['DC/DC5模块断路器']='断开'
+
+                if(msg.bowHighVoltageDistributionBoxCircuitBreaker==0x55):
+                    eleplay.dict1['艏部高压配电断路器']='闭合'
+                elif(msg.bowHighVoltageDistributionBoxCircuitBreaker==0xAA):
+                    eleplay.dict1['艏部高压配电断路器']='断开'
+
+                if(msg.sternFTDevice45CircuitBreaker==0x55):
+                    eleplay.dict1['艏部FT4/5断路器']='闭合'
+                elif(msg.sternFTDevice45CircuitBreaker==0xAA):
+                    eleplay.dict1['艏部FT4/5断路器']='断开'
+
+                if(msg.sternRudderSwitch1CircuitBreaker==0x55):
+                    eleplay.dict1['艉舵1/2断路器']='闭合'
+                elif(msg.sternRudderSwitch1CircuitBreaker==0xAA):
+                    eleplay.dict1['艉舵1/2断路器']='断开'
+
+                if(msg.sternRudderSwitch2CircuitBreaker==0x55):
+                    eleplay.dict1['艉舵3/4断路器']='闭合'
+                elif(msg.sternRudderSwitch2CircuitBreaker==0xAA):
+                    eleplay.dict1['艉舵3/4断路器']='断开'
+
+                if(msg.fbReservedCircuitBreaker==0x55):
+                    eleplay.dict1['FB预留断路器']='闭合'
+                elif(msg.fbReservedCircuitBreaker==0xAA):
+                    eleplay.dict1['FB预留断路器']='断开'
+
+                if(msg.tyzReservedCircuitBreaker==0x55):
+                    eleplay.dict1['TYZ预留断路器']='闭合'
+                elif(msg.tyzReservedCircuitBreaker==0xAA):
+                    eleplay.dict1['TYZ预留断路器']='断开'
+
+                if(msg.reservedCircuitBreaker==0x55):
+                    eleplay.dict1['预留断路器']='闭合'
+                elif(msg.reservedCircuitBreaker==0xAA):
+                    eleplay.dict1['预留断路器']='断开'
+                eleplay.update_disp()
+        text_box.see(tk.END)
+
+
+def send_messages(sock, eleplay:ElementDisplayApp):
+    while True:
+        # 配电消息反馈
+        a,b,c,d = eleplay.updata_data()
+        sock.sendto(a, (target_ip, target_port))
+        sock.sendto(b, (target_ip, target_port))
+        sock.sendto(c, (target_ip, target_port))
+        sock.sendto(d, (target_ip, target_port))
+
+        #TODO复合管控消息反馈
+        
+
+        threading.Event().wait(1)  # 每隔1秒发送一次消息

test/scripts/ccuSys.py

@@ -0,0 +1,458 @@
+import socket
+import struct
+import tkinter as tk
+from tkinter import messagebox
+import threading
+import random
+from udpmsg import *
+from udpmsg import msg_CcuStateFbMsg
+from datetime import datetime
+from tkinter import font
+from tkinter import Frame
+from tkinter.ttk import *
+
+class ccuSys(Frame):
+    def __init__(self, root):
+        super().__init__(root)
+        # Initialize CCU state
+        self.ccuState = msg_CcuStateFbMsg()
+        self.col_frames = []
+        self.state_entries = []
+        
+        # Timer settings
+        self.update_interval = 1000  # Default update interval in milliseconds
+        
+        # Network settings
+        self.udp_ip = "127.0.0.1"
+        self.udp_port = 5005
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.sock.settimeout(1.0)
+        
+        # Initialize GUI
+        self.master = root
+        self.createWidgets()
+        
+        # Start data update thread
+        self.running = True
+        self.update_thread = threading.Thread(target=self._update_thread)
+        self.update_thread.daemon = True
+        self.update_thread.start()
+        
+        # Start timer for periodic display update
+        self.update_timer = None
+        self.start_update_timer()
+
+    def createWidgets(self):
+        # Main window configuration
+        # self.master.title("CCU Monitoring System")
+        # self.master.geometry("1200x800")
+        
+        # Create status display area
+        self.status_frame = tk.Frame(self.master)
+        self.status_frame.pack(fill=tk.BOTH, expand=True, padx=10, pady=10)
+        
+        # Create status columns
+        self._create_status_column("FCU Status", [
+            "fcuState", "fcuFaultLeve", "powerLimit",
+            "totalPowerGeneration", "fcuVoltage", "fcuCurrent",
+            "fcuOutPower", "fcuOutIns", "fcuGZ_1L", "fcuGZ_1H",
+            "fcuGZ_2L", "fcuGZ_2H", "fcuGZ_3L", "fcuGZ_3H"
+        ])
+        
+        self._create_status_column("Battery Status", [
+            "insBatSoc", "powerBatSoc", "insBatLimit",
+            "powerBatLimit", "insBatTotalElectricity",
+            "powerBatTotalElectricity", "insCurrent",
+            "powerCurrent"
+        ])
+        
+        self._create_status_column("Sensor Status", [
+            "h2Concentration1", "h2Concentration2",
+            "o2Concentration1", "o2Concentration2",
+            "ch4oConcentration1", "ch4oConcentration2",
+            "backpressure1", "backpressure2"
+        ])
+        
+        self._create_status_column("System Status", [
+            "insPosRelayState", "insNegRelayState",
+            "powerPosRelayState", "powerNegRelayState",
+            "flameDetection", "exchangerTemperature",
+            "insEmergencyStatusWord", "powerEmergencyStatusWord"
+        ])
+        
+        # Create control panel
+        self.control_frame = tk.Frame(self.master)
+        self.control_frame.pack(fill=tk.X, padx=10, pady=5)
+        
+        # Add control buttons
+        self.refresh_btn = tk.Button(
+            self.control_frame, text="Refresh", command=self.update_display
+        )
+        self.refresh_btn.pack(side=tk.LEFT, padx=5)
+        
+        self.export_btn = tk.Button(
+            self.control_frame, text="Export Data", command=self.export_data
+        )
+        self.export_btn.pack(side=tk.LEFT, padx=5)
+        
+        # Timer control
+        self.timer_frame = tk.Frame(self.control_frame)
+        self.timer_frame.pack(side=tk.RIGHT, padx=10)
+        
+        # Timer interval label
+        tk.Label(self.timer_frame, text="Update Interval (ms):").pack(side=tk.LEFT)
+        
+        # Timer interval entry
+        self.interval_entry = tk.Entry(self.timer_frame, width=6)
+        self.interval_entry.insert(0, str(self.update_interval))
+        self.interval_entry.pack(side=tk.LEFT, padx=5)
+        
+        # Set interval button
+        self.set_interval_btn = tk.Button(
+            self.timer_frame, 
+            text="Set", 
+            command=self.set_update_interval
+        )
+        self.set_interval_btn.pack(side=tk.LEFT)
+        
+        # Status indicator
+        self.status_indicator = tk.Label(
+            self.timer_frame, text="●", fg="green", font=("Arial", 16)
+        )
+        self.status_indicator.pack(side=tk.RIGHT, padx=10)
+        
+        # FCU control panel
+        self.fcu_frame = tk.Frame(self.control_frame)
+        self.fcu_frame.pack(side=tk.LEFT, padx=10)
+        
+        # FCU state control
+        tk.Label(self.fcu_frame, text="FCU State:").pack(side=tk.LEFT)
+        self.fcu_state_var = tk.IntVar(value=0)
+        self.fcu_state_menu = tk.OptionMenu(
+            self.fcu_frame, self.fcu_state_var, 
+            *range(4), command=self.set_fcu_state
+        )
+        self.fcu_state_menu.pack(side=tk.LEFT, padx=5)
+        
+        # FCU fault level control
+        tk.Label(self.fcu_frame, text="Fault Level:").pack(side=tk.LEFT)
+        self.fcu_fault_var = tk.IntVar(value=0)
+        self.fcu_fault_menu = tk.OptionMenu(
+            self.fcu_frame, self.fcu_fault_var, 
+            *range(4), command=self.set_fcu_fault_level
+        )
+        self.fcu_fault_menu.pack(side=tk.LEFT, padx=5)
+
+        # FCU GZ control
+        tk.Label(self.fcu_frame, text="GZ 1L:").pack(side=tk.LEFT)
+        self.fcu_gz1l_var = tk.IntVar(value=0)
+        self.fcu_gz1l_entry = tk.Entry(
+            self.fcu_frame, textvariable=self.fcu_gz1l_var, width=5
+        )
+        self.fcu_gz1l_entry.pack(side=tk.LEFT, padx=5)
+        self.fcu_gz1l_entry.bind("<Return>", lambda e: self.set_fcu_gz1l())
+
+        tk.Label(self.fcu_frame, text="GZ 1H:").pack(side=tk.LEFT)
+        self.fcu_gz1h_var = tk.IntVar(value=0)
+        self.fcu_gz1h_entry = tk.Entry(
+            self.fcu_frame, textvariable=self.fcu_gz1h_var, width=5
+        )
+        self.fcu_gz1h_entry.pack(side=tk.LEFT, padx=5)
+        self.fcu_gz1h_entry.bind("<Return>", lambda e: self.set_fcu_gz1h())
+
+        # Add more GZ controls
+        tk.Label(self.fcu_frame, text="GZ 2L:").pack(side=tk.LEFT)
+        self.fcu_gz2l_var = tk.IntVar(value=0)
+        self.fcu_gz2l_entry = tk.Entry(
+            self.fcu_frame, textvariable=self.fcu_gz2l_var, width=5
+        )
+        self.fcu_gz2l_entry.pack(side=tk.LEFT, padx=5)
+        self.fcu_gz2l_entry.bind("<Return>", lambda e: self.set_fcu_gz2l())
+
+        tk.Label(self.fcu_frame, text="GZ 2H:").pack(side=tk.LEFT)
+        self.fcu_gz2h_var = tk.IntVar(value=0)
+        self.fcu_gz2h_entry = tk.Entry(
+            self.fcu_frame, textvariable=self.fcu_gz2h_var, width=5
+        )
+        self.fcu_gz2h_entry.pack(side=tk.LEFT, padx=5)
+        self.fcu_gz2h_entry.bind("<Return>", lambda e: self.set_fcu_gz2h())
+
+        tk.Label(self.fcu_frame, text="GZ 3L:").pack(side=tk.LEFT)
+        self.fcu_gz3l_var = tk.IntVar(value=0)
+        self.fcu_gz3l_entry = tk.Entry(
+            self.fcu_frame, textvariable=self.fcu_gz3l_var, width=5
+        )
+        self.fcu_gz3l_entry.pack(side=tk.LEFT, padx=5)
+        self.fcu_gz3l_entry.bind("<Return>", lambda e: self.set_fcu_gz3l())
+
+        tk.Label(self.fcu_frame, text="GZ 3H:").pack(side=tk.LEFT)
+        self.fcu_gz3h_var = tk.IntVar(value=0)
+        self.fcu_gz3h_entry = tk.Entry(
+            self.fcu_frame, textvariable=self.fcu_gz3h_var, width=5
+        )
+        self.fcu_gz3h_entry.pack(side=tk.LEFT, padx=5)
+        self.fcu_gz3h_entry.bind("<Return>", lambda e: self.set_fcu_gz3h())
+
+    def _create_status_column(self, title, fields):
+        """Create a status column with specified fields"""
+        col_frame = tk.LabelFrame(
+            self.status_frame, text=title, bd=2, relief=tk.GROOVE
+        )
+        col_frame.pack(side=tk.LEFT, fill=tk.BOTH, expand=True, padx=5, pady=5)
+        
+        for field in fields:
+            field_frame = tk.Frame(col_frame)
+            field_frame.pack(fill=tk.X, padx=5, pady=2)
+            
+            # Field name
+            name_label = tk.Label(
+                field_frame, text=field, width=20, anchor=tk.W
+            )
+            name_label.pack(side=tk.LEFT)
+            
+            # Value display
+            value_entry = tk.Entry(
+                field_frame, width=15, state='readonly'
+            )
+            value_entry.pack(side=tk.RIGHT, fill=tk.X, expand=True)
+            
+            # Store reference for updates
+            self.state_entries.append((field, value_entry))
+
+    def generate_simulated_data(self):
+        """Generate simulated CCU state data"""
+        self.ccuState.fcuState = self.fcu_state_var.get()
+        self.ccuState.fcuFaultLeve = self.fcu_fault_var.get()
+        self.ccuState.powerLimit = random.randint(0, 100)
+        self.ccuState.totalPowerGeneration = int(random.uniform(0, 1000))
+        self.ccuState.fcuVoltage = int(random.uniform(200, 400))
+        self.ccuState.fcuCurrent = int(random.uniform(0, 100))
+        self.ccuState.fcuOutPower = random.randint(0, 1000)
+        self.ccuState.fcuOutIns = random.randint(0, 100)
+        
+        self.ccuState.insBatSoc = random.randint(0, 100)
+        self.ccuState.powerBatSoc = random.randint(0, 100)
+        self.ccuState.insBatLimit = random.randint(0, 100)
+        self.ccuState.powerBatLimit = random.randint(0, 100)
+        self.ccuState.insBatTotalElectricity = random.randint(0, 1000)
+        self.ccuState.powerBatTotalElectricity = random.randint(0, 1000)
+        self.ccuState.insCurrent = random.randint(0, 100)
+        self.ccuState.powerCurrent = random.randint(0, 100)
+        
+        self.ccuState.h2Concentration1 = random.randint(0, 100)
+        self.ccuState.h2Concentration2 = random.randint(0, 100)
+        self.ccuState.o2Concentration1 = random.randint(0, 100)
+        self.ccuState.o2Concentration2 = random.randint(0, 100)
+        self.ccuState.ch4oConcentration1 = random.randint(0, 100)
+        self.ccuState.ch4oConcentration2 = random.randint(0, 100)
+        self.ccuState.backpressure1 = random.randint(0, 10)
+        self.ccuState.backpressure2 = random.randint(0, 10)
+        
+        self.ccuState.insPosRelayState = random.randint(0, 1)
+        self.ccuState.insNegRelayState = random.randint(0, 1)
+        self.ccuState.powerPosRelayState = random.randint(0, 1)
+        self.ccuState.powerNegRelayState = random.randint(0, 1)
+        self.ccuState.flameDetection = random.randint(0, 1)
+        self.ccuState.exchangerTemperature = random.randint(20, 100)
+        self.ccuState.insEmergencyStatusWord = random.randint(0, 255)
+        self.ccuState.powerEmergencyStatusWord = random.randint(0, 255)
+
+        self.ccuState.fcuGZ_1L=self.fcu_gz1l_var.get()
+        self.ccuState.fcuGZ_1H=self.fcu_gz1h_var.get()
+        self.ccuState.fcuGZ_2L=self.fcu_gz2l_var.get()
+        self.ccuState.fcuGZ_2H=self.fcu_gz2h_var.get()
+        self.ccuState.fcuGZ_3L=self.fcu_gz3l_var.get()
+        self.ccuState.fcuGZ_3H=self.fcu_gz3h_var.get()
+
+    def update_display(self):
+        """Update all displayed values"""
+        # Generate simulated data if no real data available
+        if not hasattr(self.ccuState, 'fcuState'):
+            self.generate_simulated_data()
+            
+        for field, entry in self.state_entries:
+            value = getattr(self.ccuState, field, "N/A")
+            entry.config(state='normal')
+            entry.delete(0, tk.END)
+            entry.insert(0, str(value))
+            entry.config(state='readonly')
+        
+        # Update status indicator
+        self._update_status_indicator()
+
+    def _update_status_indicator(self):
+        """Update the status indicator based on system state"""
+        if self.ccuState.fcuFaultLeve > 0:
+            self.status_indicator.config(fg="red")
+        else:
+            self.status_indicator.config(fg="green")
+
+    def export_data(self):
+        """Export current status data to file"""
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+        filename = f"ccu_status_{timestamp}.log"
+        try:
+            with open(filename, 'w') as f:
+                for field, _ in self.state_entries:
+                    value = getattr(self.ccuState, field, "N/A")
+                    f.write(f"{field}: {value}\n")
+            print(f"Data exported to {filename}")
+        except Exception as e:
+            print(f"Export failed: {str(e)}")
+
+    def _update_thread(self):
+        """Thread for updating CCU state"""
+        while self.running:
+            try:
+                # Receive data from UDP
+                data, _ = self.sock.recvfrom(1024)
+                self.ccuState.unpack(data)
+                
+            except socket.timeout:
+                continue
+            except Exception as e:
+                print(f"Update error: {str(e)}")
+                break
+
+    def set_update_interval(self):
+        """Set new update interval from GUI input"""
+        try:
+            new_interval = int(self.interval_entry.get())
+            if new_interval < 100:
+                raise ValueError("Interval must be >= 100ms")
+            self.update_interval = new_interval
+            self.stop_update_timer()
+            self.start_update_timer()
+        except ValueError as e:
+            print(f"Invalid interval: {str(e)}")
+
+    def set_fcu_state(self, state):
+        """Set FCU state and update display"""
+        self.ccuState.fcuState = state
+        self.update_display()
+
+    def set_fcu_fault_level(self, level):
+        """Set FCU fault level and update display"""
+        self.ccuState.fcuFaultLeve = level
+        self.update_display()
+
+    def set_fcu_gz1l(self, value=None):
+        """Set FCU GZ 1L and update display"""
+        if value is None:
+            try:
+                value = self.fcu_gz1l_var.get()
+            except tk.TclError:
+                tk.messagebox.showwarning("Input Error", "Invalid GZ 1L value")
+                return
+        self.ccuState.fcuGZ_1L = value
+        self.update_display()
+
+    def set_fcu_gz1h(self, value=None):
+        """Set FCU GZ 1H and update display"""
+        if value is None:
+            try:
+                value = self.fcu_gz1h_var.get()
+            except tk.TclError:
+                tk.messagebox.showwarning("Input Error", "Invalid GZ 1H value")
+                return
+        self.ccuState.fcuGZ_1H = value
+        self.update_display()
+
+    def set_fcu_gz2l(self, value=None):
+        """Set FCU GZ 2L and update display"""
+        if value is None:
+            try:
+                value = self.fcu_gz2l_var.get()
+            except tk.TclError:
+                tk.messagebox.showwarning("Input Error", "Invalid GZ 2L value")
+                return
+        self.ccuState.fcuGZ_2L = value
+        self.update_display()
+
+    def set_fcu_gz2h(self, value=None):
+        """Set FCU GZ 2H and update display"""
+        if value is None:
+            try:
+                value = self.fcu_gz2h_var.get()
+            except tk.TclError:
+                tk.messagebox.showwarning("Input Error", "Invalid GZ 2H value")
+                return
+        self.ccuState.fcuGZ_2H = value
+        self.update_display()
+
+    def set_fcu_gz3l(self, value=None):
+        """Set FCU GZ 3L and update display"""
+        if value is None:
+            try:
+                value = self.fcu_gz3l_var.get()
+            except tk.TclError:
+                tk.messagebox.showwarning("Input Error", "Invalid GZ 3L value")
+                return
+        self.ccuState.fcuGZ_3L = value
+        self.update_display()
+
+    def set_fcu_gz3h(self, value=None):
+        """Set FCU GZ 3H and update display"""
+        if value is None:
+            try:
+                value = self.fcu_gz3h_var.get()
+            except tk.TclError:
+                tk.messagebox.showwarning("Input Error", "Invalid GZ 3H value")
+                return
+        self.ccuState.fcuGZ_3H = value
+        self.update_display()
+
+    def start_update_timer(self):
+        """Start the periodic display update timer"""
+        if not hasattr(self, 'data_update_thread'):
+            self.data_update_running = True
+            self.data_update_thread = threading.Thread(
+                target=self._data_update_loop
+            )
+            self.data_update_thread.daemon = True
+            self.data_update_thread.start()
+            
+        self._update_display_loop()
+
+    def _update_display_loop(self):
+        """Periodically update the display"""
+        self.generate_simulated_data()
+        self.update_display()
+        self.update_timer = self.master.after(
+            self.update_interval,
+            self._update_display_loop
+        )
+
+    def _data_update_loop(self):
+        """Periodically update data from network"""
+        while self.data_update_running:
+            try:
+                # Receive data from UDP
+                data, _ = self.sock.recvfrom(1024)
+                self.ccuState.unpack(data)
+                time.sleep(self.update_interval / 1000)
+            except socket.timeout:
+                continue
+            except Exception as e:
+                print(f"Data update error: {str(e)}")
+                break
+
+    def stop_update_timer(self):
+        """Stop the periodic display update timer"""
+        if self.update_timer:
+            self.master.after_cancel(self.update_timer)
+            self.update_timer = None
+
+    def __del__(self):
+        """Clean up resources"""
+        self.running = False
+        self.stop_update_timer()
+        if hasattr(self, 'update_thread'):
+            self.update_thread.join()
+        self.sock.close()
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    app = ccuSys(root)
+    app.pack(fill=tk.BOTH, expand=True)
+    root.mainloop()

test/scripts/disSys.py

@@ -0,0 +1,664 @@
+import socket
+import struct
+import tkinter as tk
+import threading
+from udpmsg import *
+from datetime import datetime
+from tkinter import font
+from tkinter import Frame
+from tkinter.ttk import *
+
+class disSys(Frame):
+    def __init__(self,root):
+        super().__init__(root)
+        # 当前接受的消息,用于显示和更新
+        self.disHVB = msg_disHighVolBusFbMsg()
+        self.disHVBA = msg_disHighAVolBusFbMsg()
+        self.disHVBB = msg_disHighBVolBusFbMsg()
+        self.disLVB = msg_disLowBusFbMsg()
+        # 初始化列框架列表
+        self.col_frames = []
+
+        self.createWidgets()
+        self.root = root
+        self.root.after(2000, self.update_disp)
+        # 启动数据更新定时器
+        self.update_data_job = None
+        self.start_update_data()
+    def createWidgets(self):
+        # 定义每组的颜色
+        self.colors = ["#FFC0CB", "#ADD8E6", "#90EE90", "#FFD700"]
+        # 创建自定义字体
+        self.custom_font = font.Font(family="Arial", size=12, weight='normal')  
+        # 创建4个Frame来分组显示元素的值
+        # 断路器的frame
+        title=list(['高压母线断路器','高电压A母线断路器','高电压B母线断路器','低电压母线断路器'])
+        self.frames = [] 
+        for i in range(4):
+            frame = tk.Frame(self, bg=self.colors[i], padx=10, pady=10)
+            # frame.pack(padx=10, pady=10, expand=True, fill='both')
+            title_label = tk.Label(frame, text=title[i],bg=self.colors[i],relief='solid' ,font=("Arial", 16, "bold"))
+            title_label.grid(row=0, column=0, columnspan=4, pady=(2, 2), sticky="nsew")
+            self.frames.append(frame)
+        self.frames[0].grid(row=0, column=0, sticky='nsew') 
+        self.frames[1].grid(row=0, column=1, sticky='nsew')  
+        self.frames[2].grid(row=1, column=0, sticky='nsew')  
+        self.frames[3].grid(row=1, column=1, sticky='nsew')  
+################################################故障选择#########################################################
+        inputFrame = tk.LabelFrame(self, bg='Azure',text='故障选择',font=self.custom_font ,padx=10, pady=10)
+        inputFrame.grid(row=0, column=2, columnspan=2, padx=2, pady=2, sticky="nsew")  
+        # # 添加输入框来更新值 TODO：添加输入框,更新故障信息       
+        self.checkboxes = []
+        self.checkboxesVar = []
+        self.faultDict1 = {0:'动力母线绝缘低',
+                      1:'A汇流排绝缘低',
+                      2:'仪表电源失电',
+                      3:'应急电源失电',
+                      4:'DC/DC模块过温'}
+        self.faultDict2 = {0:'仪表电源失电',
+                      1:'应急电源失电',
+                      2:'浸水报警'}
+        self.faultDict3 = {0:'仪表电源失电',
+                      1:'应急电源失电',
+                      2:'仪表汇流排绝缘低'}
+        self.faultDict4 = {0:'仪表失电',
+                      1:'浸水报警'}
+        spl_linenum = 1
+        for i, dictionary in enumerate([self.faultDict1, self.faultDict2, self.faultDict3, self.faultDict4]):
+            self.checkboxes.append([])
+            self.checkboxesVar.append([])
+            spl = Separator(inputFrame, orient='vertical')
+            spl.grid(row=0, column=spl_linenum+i*2, rowspan=5, pady=(2, 2), sticky="nsew")
+            for j, (key, value) in enumerate(dictionary.items()):
+                checkboxVar = tk.IntVar()
+                checkbox = tk.Checkbutton(inputFrame, text=value, variable=checkboxVar,font=self.custom_font,anchor="w", 
+                                          command=lambda i=i, j=j: self.cheak_fault(i, j))
+                checkbox.grid(row=j, column=i*2, padx=1, pady=1, sticky="nsew")
+                self.checkboxes[i].append(checkbox)
+                self.checkboxesVar[i].append(checkboxVar)
+################################################电路状态#########################################################
+        dispFrame = tk.LabelFrame(self, bg='Azure',text='电路状态',font=self.custom_font ,padx=10, pady=10)
+        dispFrame.grid(row=1, column=2, columnspan=2, padx=2, pady=2, sticky="nsew")  # 调整输入框的上下边距并居中显示
+        value = '关闭'
+        self.labelDcDc = tk.Label(dispFrame, text=f"{'DC/DC模块'}:{value}", font=self.custom_font, relief='groove' ,anchor="w")
+        self.labelDcDc.grid(row=0, column=0, padx=1, pady=1, sticky="nsew")
+        self.DcDcbutton = tk.Button(dispFrame, text="TURN", command=self.toggle_DcDc)
+        self.DcDcbutton.grid(row=0, column=1, padx=1, pady=1, sticky="nsew")
+
+        self.labelWaterInput = tk.Label(dispFrame, text=f"{'冷却水进水阀'}:{value}", font=self.custom_font, relief='groove' ,anchor="w")
+        self.labelWaterInput.grid(row=1, column=0, padx=1, pady=1, sticky="nsew")
+        self.buttonWaterInput = tk.Button(dispFrame, text="TURN", command=self.toggle_WaterInput)
+        self.buttonWaterInput.grid(row=1, column=1, padx=1, pady=1, sticky="nsew")
+        
+        self.labelWaterOutput = tk.Label(dispFrame, text=f"{'冷却水出水阀'}:{value}", font=self.custom_font, relief='groove' ,anchor="w")
+        self.labelWaterOutput.grid(row=2, column=0, padx=1, pady=1, sticky="nsew")
+        self.buttonWaterOutput = tk.Button(dispFrame, text="TURN", command=self.toggle_WaterOutput)
+        self.buttonWaterOutput.grid(row=2, column=1, padx=1, pady=1, sticky="nsew")
+
+        self.buttonCurrenStateWin = tk.Button(dispFrame, text="显示电路状态", command=self.show_CurrentState)
+        self.buttonCurrenStateWin.grid(row=0, rowspan=3 , columnspan=2 , column=3,padx=10, pady=1, sticky="nsew")
+
+        # 添加更新按钮
+        # self.buttonCurrenStateWin = tk.Button(dispFrame, text="自动更新", command=self.update_currentState)
+        # self.buttonCurrenStateWin.grid(row=0, rowspan=3 , columnspan=2 , column=5,padx=10, pady=1, sticky="nsew")
+        # update_btn = tk.Button(btn_frame, text="立即更新", font=state_font,
+        #                      command=self.update_currentState)
+        # update_btn.pack(fill=tk.X, padx=5, pady=5)
+################################################断路器操作#########################################################
+        # 定义四个字典来存储元素的值
+        self.dict1={'燃料电池断路器':'闭合',
+                    '动力锂电池断路器':'闭合',
+                    '推进电机断路器':'闭合',
+                    '仪表锂电池断路器':'闭合',
+                    'DC/DC5模块断路器':'闭合',
+                    '艏部高压配电断路器':'闭合',
+                    '艏部FT4/5断路器':'闭合',
+                    '艉舵1/2断路器':'闭合',
+                    '艉舵3/4断路器':'闭合',
+                    'FB预留断路器':'闭合',
+                    'TYZ预留断路器':'闭合',
+                    '预留断路器':'闭合'}
+        self.dict2 = {'艏部FT1-3断路器':'闭合',
+                      '启闭机构断路器':'闭合',
+                      '桅杆舵机断路器':'闭合',
+                      'XCZ断路器':'闭合',
+                      '艏舵断路器':'闭合',
+                      '敞开电缸断路器':'闭合'}
+        self.dict3 = {'仪表锂电池断路器':'闭合',
+                      '艏部低压断路器':'闭合',
+                      'UNIT4断路器':'闭合',
+                      'DC/DC1断路器':'闭合',
+                      '预留断路器1':'闭合', 
+                      '预留断路器2':'闭合',
+                      '艉部应急电池开关':'闭合'}
+        self.dict4 = {'UNIT1断路器':'闭合',
+                      'UNIT2断路器':'闭合',
+                      'UNIT3断路器':'闭合',
+                      'UNIT5断路器':'闭合',
+                      '艏部抛载断路器':'闭合',
+                      '预留断路器1':'闭合',
+                      '预留断路器2':'断开',
+                      '艏部应急电池开关':'闭合'}
+        self.labels = []
+        for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]):
+            self.labels.append([])
+            for j, (key, value) in enumerate(dictionary.items()):
+                # 根据元素的值选择颜色
+                if value == "闭合":
+                    color = "green"
+                else:
+                    color = "red"
+                label = tk.Label(self.frames[i], text=f"{key}: {value}", fg=color, font=self.custom_font, relief='groove' ,anchor="w")
+                if (j%2==0):
+                    label.grid(row=j//2 + 1, column=j%2, padx=1, pady=1,sticky="nsew")
+                else:
+                    label.grid(row=j//2 + 1, column=j%2+1, padx=1, pady=1,sticky="nsew")
+                self.labels[i].append(label)
+                # 添加按钮来改变字典中的值
+                button = tk.Button(self.frames[i], text="TURN", command=lambda i=i, j=j: self.toggle_value(i, j))
+                if (j%2==0):
+                    button.grid(row=j//2+1, column=j%2+1, padx=1, pady=1)
+                else:
+                    button.grid(row=j//2+1, column=j%2+2, padx=1, pady=1, sticky="nsew")
+        self.update_disp()
+
+        # 创建保存电流及电压信息的表格
+        self.disHVBData = []
+        self.disHVBAData = []
+        self.disHVBBData = []
+        self.disLVBData = []
+        
+    def update_disp(self):
+        for i, dictionary in enumerate([self.dict1, self.dict2, self.dict3, self.dict4]):
+            for j, (key, value) in enumerate(dictionary.items()):
+                # 根据元素的值选择颜色
+                if value == "闭合":
+                    color = "green"
+                else:
+                    color = "red"
+                self.labels[i][j].config(text=f"{key}: {value}", fg=color)
+
+        
+    def toggle_value(self, i, j):
+        dictionary = [self.dict1, self.dict2, self.dict3, self.dict4][i]
+        key = list(dictionary.keys())[j]
+        if dictionary[key] == "闭合":
+            dictionary[key] = "断开"
+        else:
+            dictionary[key] = "闭合"
+        print(f'{key}操作')
+        self.update_disp()
+
+    def toggle_DcDc(self):
+        if (self.labelDcDc.cget("text")[-1] == '开'):
+            self.labelDcDc.config(text=f"{'DC/DC模块'}:关闭")
+        else:
+            self.labelDcDc.config(text=f"{'DC/DC模块'}:打开")
+        print('DC/DC模块操作')
+
+    def toggle_WaterInput(self):
+        if (self.labelWaterInput.cget("text")[-1] == '开'):
+            self.labelWaterInput.config(text=f"{'冷却水进水阀'}:关闭")
+        else:
+            self.labelWaterInput.config(text=f"{'冷却水进水阀'}:打开")
+        print('冷却水进水阀操作')
+
+    def toggle_WaterOutput(self):
+        if (self.labelWaterOutput.cget("text")[-1] == '开'):
+            self.labelWaterOutput.config(text=f"{'冷却水出水阀'}:关闭")
+        else:
+            self.labelWaterOutput.config(text=f"{'冷却水出水阀'}:打开")
+        print('冷却水出水阀操作')
+
+    def cheak_fault(self,i,j):
+        #TODO:实现故障更新和选择
+        print(self.checkboxes[i][j].cget("text"),self.checkboxesVar[i][j].get())
+        # print(self.checkboxesVar[i][j].get())
+    
+    def toggle_hex_mode(self):
+        """切换16进制显示模式"""
+        self.hex_mode = not self.hex_mode
+        self.update_currentState()
+        
+    def update_currentState(self):
+        # 更新所有数值显示
+        for struct, name, entry in self.state_entries:
+            # 获取最新值
+            value = getattr(struct, name)
+            # 根据显示模式格式化值
+            if self.hex_mode and isinstance(value, int):
+                display_value = f"0x{value:02X}"
+            else:
+                display_value = str(value)
+            # 更新entry显示
+            entry.config(state='normal')
+            entry.delete(0, tk.END)
+            entry.insert(0, display_value)
+            entry.config(state='readonly')
+        
+        print('电路状态已更新')
+    def _create_scrollable_column(self, parent_frame, title, data_struct, state_font):
+        """创建带滚动条的列"""
+        col_frame = tk.LabelFrame(parent_frame, text=title, font=state_font,
+                                bd=2, relief=tk.GROOVE, padx=5, pady=5)
+        col_frame.grid(row=0, column=len(self.col_frames), padx=5, pady=5, sticky="nsew")
+        col_frame.rowconfigure(0, weight=1)
+        col_frame.columnconfigure(0, weight=1)
+        self.col_frames.append(col_frame)
+
+        # 创建滚动条容器
+        canvas = tk.Canvas(col_frame)
+        v_scrollbar = tk.Scrollbar(col_frame, orient="vertical", command=canvas.yview)
+        h_scrollbar = tk.Scrollbar(col_frame, orient="horizontal", command=canvas.xview)
+        
+        # 创建可滚动内容框架
+        scrollable_frame = tk.Frame(canvas)
+        canvas.create_window((0, 0), window=scrollable_frame, anchor="nw")
+
+        # 配置滚动区域
+        def _configure_scrollregion(e):
+            canvas.configure(scrollregion=canvas.bbox("all"))
+            canvas.config(height=min(e.height, 800))
+            canvas.yview_moveto(0)
+            canvas.xview_moveto(0)
+        
+        scrollable_frame.bind("<Configure>", _configure_scrollregion)
+        
+        # 配置滚动条
+        canvas.configure(yscrollcommand=v_scrollbar.set, xscrollcommand=h_scrollbar.set)
+        h_scrollbar.config(command=canvas.xview)
+        v_scrollbar.config(command=canvas.yview)
+        
+        # 布局
+        canvas.grid(row=0, column=0, sticky="nsew")
+        v_scrollbar.grid(row=0, column=1, sticky="ns")
+        h_scrollbar.grid(row=1, column=0, sticky="ew")
+        
+        # 添加数据项
+        for name, value in data_struct.__dict__.items():
+            row_frame = tk.Frame(scrollable_frame)
+            row_frame.pack(fill=tk.X, padx=5, pady=2)
+            
+            name_label = tk.Label(row_frame, text=name, font=state_font, width=30, anchor="w")
+            name_label.pack(side=tk.LEFT, padx=5)
+            
+            entry = tk.Entry(row_frame, font=state_font, width=20)
+            entry.pack(side=tk.RIGHT, padx=5, fill=tk.X, expand=True)
+            entry.insert(0, str(value))
+            entry.config(state='readonly')
+            
+            self.state_entries.append((data_struct, name, entry))
+
+    def show_CurrentState(self):
+        """显示当前电路状态窗口"""
+        # 初始化窗口
+        self.currentStateWin = tk.Toplevel(self)
+        self.currentStateWin.title("电路状态")
+        self.currentStateWin.geometry("1400x800")
+        self.currentStateWin.minsize(1000, 600)
+        self.currentStateWin.protocol("WM_DELETE_WINDOW", self.on_close_currentState)
+        
+        # 初始化16进制显示模式
+        self.hex_mode = False
+        
+        # 创建主容器
+        main_frame = tk.Frame(self.currentStateWin)
+        main_frame.pack(fill=tk.BOTH, expand=True, padx=10, pady=10)
+        
+        # 配置网格布局
+        for i in range(4):
+            main_frame.columnconfigure(i, weight=1)
+        
+        # 创建自定义字体
+        state_font = font.Font(family="Arial", size=10, weight='bold')
+        
+        # 初始化状态条目列表
+        self.state_entries = []
+        self.col_frames = []
+        
+        # 创建各状态列
+        self._create_scrollable_column(main_frame, "高压母线", self.disHVB, state_font)
+        self._create_scrollable_column(main_frame, "高电压A母线", self.disHVBA, state_font)
+        self._create_scrollable_column(main_frame, "高电压B母线", self.disHVBB, state_font)
+        self._create_scrollable_column(main_frame, "低电压母线", self.disLVB, state_font)
+
+        # 配置主框架布局权重
+        main_frame.rowconfigure(1, weight=1)
+        
+        # 添加底部按钮容器
+        btn_frame = tk.Frame(main_frame)
+        btn_frame.grid(row=2, column=0, columnspan=4, pady=10, sticky="sew")
+        
+        # 添加更新按钮
+        update_btn = tk.Button(btn_frame, text="立即更新", font=state_font,
+                             command=self.update_currentState)
+        update_btn.pack(side=tk.LEFT, padx=5)
+        
+        # 添加16进制显示切换按钮
+        hex_btn = tk.Button(btn_frame, text="16进制显示", font=state_font,
+                          command=self.toggle_hex_mode)
+        hex_btn.pack(side=tk.LEFT, padx=5)
+
+        # 启动定时更新
+        self.update_interval = 1000  # 1秒
+        self.schedule_update()
+        
+    def on_close_currentState(self):
+        """窗口关闭回调"""
+        if hasattr(self, 'update_job'):
+            self.currentStateWin.after_cancel(self.update_job)
+        self.currentStateWin.destroy()
+        
+    def start_update_data(self):
+        """启动数据更新定时器"""
+        self.update_data_job = self.root.after(500, self._update_data_loop)
+        
+    def stop_update_data(self):
+        """停止数据更新定时器"""
+        if self.update_data_job:
+            self.root.after_cancel(self.update_data_job)
+            self.update_data_job = None
+            
+    def _update_data_loop(self):
+        """定时更新数据"""
+        self.updata_data()
+        self.update_data_job = self.root.after(500, self._update_data_loop)
+        
+    def schedule_update(self):
+        """安排定时更新"""
+        self.update_currentState()
+        self.update_job = self.currentStateWin.after(self.update_interval, self.schedule_update)
+    def updata_data(self):
+        '''通过这个可以更新数据'''
+        if (self.dict1['燃料电池断路器']=='闭合'):
+            self.disHVB.DCB1 = 0x55
+        else:
+            self.disHVB.DCB1 = 0xAA
+
+        if (self.dict1['动力锂电池断路器']=='闭合'):
+            self.disHVB.DCB2 = 0x55
+        else:
+            self.disHVB.DCB2 = 0xAA
+
+        if (self.dict1['推进电机断路器']=='闭合'):
+            self.disHVB.ZK1 = 0x55
+        else:
+            self.disHVB.ZK1 = 0xAA
+
+        if (self.dict1['仪表锂电池断路器']=='闭合'):
+            self.disHVB.ZK2 = 0x55
+        else:
+            self.disHVB.ZK2 = 0xAA
+
+        if (self.dict1['DC/DC5模块断路器']=='闭合'):
+            self.disHVB.ZK3 = 0x55
+        else:
+            self.disHVB.ZK3 = 0xAA
+        
+        if (self.dict1['艏部高压配电断路器']=='闭合'):
+            self.disHVB.ZK4 = 0x55
+        else:
+            self.disHVB.ZK4 = 0xAA
+
+        if (self.dict1['艏部FT4/5断路器']=='闭合'):
+            self.disHVB.ZK5 = 0x55
+        else:
+            self.disHVB.ZK5 = 0xAA
+
+        if (self.dict1['艉舵1/2断路器']=='闭合'):
+            self.disHVB.ZK6 = 0x55
+        else:
+            self.disHVB.ZK6 = 0xAA
+
+        if (self.dict1['艉舵3/4断路器']=='闭合'):
+            self.disHVB.ZK7 = 0x55
+        else:
+            self.disHVB.ZK7 = 0xAA
+
+        if (self.dict1['FB预留断路器']=='闭合'):
+            self.disHVB.ZK8 = 0x55
+        else:
+            self.disHVB.ZK8 = 0xAA
+        
+        if (self.dict1['TYZ预留断路器']=='闭合'):
+            self.disHVB.ZK9 = 0x55
+        else:
+            self.disHVB.ZK9 = 0xAA
+
+        if (self.dict1['预留断路器']=='闭合'):
+            self.disHVB.ZK10 = 0x55
+        else:
+            self.disHVB.ZK10 = 0xAA
+        ######################################################
+        if (self.dict2['艏部FT1-3断路器']=='闭合'):
+            self.disHVBA.bowFTDevice123CircuitBreaker = 0x55
+        else:
+            self.disHVBA.bowFTDevice123CircuitBreaker = 0xAA
+        
+        if (self.dict2['启闭机构断路器']=='闭合'):
+            self.disHVBA.actuatorCircuitBreaker = 0x55
+        else:
+            self.disHVBA.actuatorCircuitBreaker = 0xAA
+
+        if (self.dict2['桅杆舵机断路器']=='闭合'):
+            self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0x55
+        else:
+            self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = 0xAA
+        
+        if (self.dict2['XCZ断路器']=='闭合'):
+            self.disHVBA.xczCircuitBreaker = 0x55
+        else:
+            self.disHVBA.xczCircuitBreaker = 0xAA
+
+        if (self.dict2['艏舵断路器']=='闭合'):
+            self.disHVBA.bowRudderControlBoxCircuitBreaker = 0x55
+        else:
+            self.disHVBA.bowRudderControlBoxCircuitBreaker = 0xAA
+
+        if (self.dict2['敞开电缸断路器']=='闭合'):
+            self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0x55
+        else:
+            self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = 0xAA
+
+        ####################################################################
+        if (self.dict3['仪表锂电池断路器']=='闭合'):
+            self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0x55
+        else:
+            self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = 0xAA
+
+        if (self.dict3['艏部低压断路器']=='闭合'):
+            self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0x55
+        else:
+            self.disHVBB.bowLowVoltageDistributionCircuitBreaker = 0xAA
+
+        if (self.dict3['UNIT4断路器']=='闭合'):
+            self.disHVBB.unit4CircuitBreaker = 0x55
+        else:
+            self.disHVBB.unit4CircuitBreaker = 0xAA
+
+        if (self.dict3['DC/DC1断路器']=='闭合'):
+            self.disHVBB.dcdc1CircuitBreaker = 0x55
+        else:
+            self.disHVBB.dcdc1CircuitBreaker = 0xAA
+        
+        if (self.dict3['预留断路器1']=='闭合'):
+            self.disHVBB.reservedCircuitBreaker1 = 0x55
+        else:
+            self.disHVBB.reservedCircuitBreaker1 = 0xAA
+
+        if (self.dict3['预留断路器2']=='闭合'):
+            self.disHVBB.reservedCircuitBreaker2 = 0x55
+        else:
+            self.disHVBB.reservedCircuitBreaker2 = 0xAA
+
+        if (self.dict3['艉部应急电池开关']=='闭合'):
+            self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0x55
+        else:
+            self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = 0xAA
+        
+        ######################################################################
+        if (self.dict4['UNIT1断路器']=='闭合'):
+            self.disLVB.unit1CircuitBreaker = 0x55
+        else:
+            self.disLVB.unit1CircuitBreaker = 0xAA
+
+        if (self.dict4['UNIT2断路器']=='闭合'):
+            self.disLVB.unit2CircuitBreaker = 0x55
+        else:
+            self.disLVB.unit2CircuitBreaker = 0xAA
+
+        if (self.dict4['UNIT3断路器']=='闭合'):
+            self.disLVB.unit3CircuitBreaker = 0x55
+        else:
+            self.disLVB.unit3CircuitBreaker = 0xAA
+
+        if (self.dict4['UNIT5断路器']=='闭合'):
+            self.disLVB.unit5CircuitBreaker = 0x55
+        else:
+            self.disLVB.unit5CircuitBreaker = 0xAA
+
+        if (self.dict4['预留断路器1']=='闭合'):
+            self.disLVB.reservedCircuitBreaker1 = 0x55
+        else:
+            self.disLVB.reservedCircuitBreaker1 = 0xAA
+
+        if (self.dict4['预留断路器2']=='闭合'):
+            self.disLVB.reservedCircuitBreaker2 = 0x55
+        else:
+            self.disLVB.reservedCircuitBreaker2 = 0xAA
+        
+        if (self.dict4['艏部抛载断路器']=='闭合'):
+            self.disLVB.bowPZDeviceCircuitBreaker = 0x55
+        else:
+            self.disLVB.bowPZDeviceCircuitBreaker = 0xAA
+
+        if (self.dict4['艏部应急电池开关']=='闭合'):
+            self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0x55
+        else:
+            self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = 0xAA
+        
+        # a = match.sin(time.time())
+        print("更新数据")
+
+    
+    def get_date(self):
+        a = self.disHVB.pack()
+        b = self.disHVBA.pack()
+        c = self.disHVBB.pack()
+        d = self.disLVB.pack()
+        return a,b,c,d
+    
+    def update_fromMsg(self, data):
+        '''通过这个可以更新数据'''
+        try:
+            # 解析消息头
+            headBuf = data[:6]
+            header = struct.unpack('<BBHH', headBuf)
+            start1 = header[0]
+            start2 = header[1]
+            msg_id = header[2]
+            msg_len = header[3]
+
+            if start1 == 0x40 and start2 == 0x40:
+                if msg_id == 0x0001:  # 高压母线配电指令
+                    msg = msg_disHVBCmd()
+                    msg.unpack(data)
+                    self.disHVB.DCB1 = msg.fuelCellCircuitBreaker
+                    self.disHVB.DCB2 = msg.powerLithiumBatteryCircuitBreaker
+                    self.disHVB.ZK1 = msg.propulsionMotorCircuitBreaker
+                    self.disHVB.ZK2 = msg.lithiumBatteryGroupInstrumentCircuitBreaker
+                    self.disHVB.ZK3 = msg.dcDc5ModuleCircuitBreaker
+                    self.disHVB.ZK4 = msg.bowHighVoltageDistributionBoxCircuitBreaker
+                    self.disHVB.ZK5 = msg.sternFTDevice45CircuitBreaker
+                    self.disHVB.ZK6 = msg.sternRudderSwitch1CircuitBreaker
+                    self.disHVB.ZK7 = msg.sternRudderSwitch2CircuitBreaker
+                    self.disHVB.ZK8 = msg.fbReservedCircuitBreaker
+                    self.disHVB.ZK9 = msg.tyzReservedCircuitBreaker
+                    self.disHVB.ZK10 = msg.reservedCircuitBreaker
+                    self.disHVB.inputWater = msg.inputWater
+                    self.disHVB.outputWater = msg.outputWater
+                    self.disHVB.dcdc5dcdc5Module = msg.dcdc5dcdc5Module
+                    
+                    # 更新dict1
+                    self.dict1['燃料电池断路器'] = '闭合' if msg.fuelCellCircuitBreaker == 0x55 else '断开'
+                    self.dict1['动力锂电池断路器'] = '闭合' if msg.powerLithiumBatteryCircuitBreaker == 0x55 else '断开'
+                    self.dict1['推进电机断路器'] = '闭合' if msg.propulsionMotorCircuitBreaker == 0x55 else '断开'
+                    self.dict1['仪表锂电池断路器'] = '闭合' if msg.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 else '断开'
+                    self.dict1['DC/DC5模块断路器'] = '闭合' if msg.dcDc5ModuleCircuitBreaker == 0x55 else '断开'
+                    self.dict1['艏部高压配电断路器'] = '闭合' if msg.bowHighVoltageDistributionBoxCircuitBreaker == 0x55 else '断开'
+                    self.dict1['艏部FT4/5断路器'] = '闭合' if msg.sternFTDevice45CircuitBreaker == 0x55 else '断开'
+                    self.dict1['艉舵1/2断路器'] = '闭合' if msg.sternRudderSwitch1CircuitBreaker == 0x55 else '断开'
+                    self.dict1['艉舵3/4断路器'] = '闭合' if msg.sternRudderSwitch2CircuitBreaker == 0x55 else '断开'
+                    self.dict1['FB预留断路器'] = '闭合' if msg.fbReservedCircuitBreaker == 0x55 else '断开'
+                    self.dict1['TYZ预留断路器'] = '闭合' if msg.tyzReservedCircuitBreaker == 0x55 else '断开'
+                    self.dict1['预留断路器'] = '闭合' if msg.reservedCircuitBreaker == 0x55 else '断开'
+
+                elif msg_id == 0x0002:  # 高电压A母线配电指令
+                    msg = msg_disHVBACmd()
+                    msg.unpack(data)
+                    self.disHVBA.bowFTDevice123CircuitBreaker = msg.bowFTDevice123CircuitBreaker
+                    self.disHVBA.actuatorCircuitBreaker = msg.actuatorCircuitBreaker
+                    self.disHVBA.mastSteeringGearControlBoxCircuitBreaker = msg.mastSteeringGearControlBoxCircuitBreaker
+                    self.disHVBA.xczCircuitBreaker = msg.xczCircuitBreaker
+                    self.disHVBA.bowRudderControlBoxCircuitBreaker = msg.bowRudderControlBoxCircuitBreaker
+                    self.disHVBA.openWaterCoverStartCylinderCircuitBreaker = msg.openWaterCoverStartCylinderCircuitBreaker
+                    
+                    # 更新dict2
+                    self.dict2['艏部FT1-3断路器'] = '闭合' if msg.bowFTDevice123CircuitBreaker == 0x55 else '断开'
+                    self.dict2['启闭机构断路器'] = '闭合' if msg.actuatorCircuitBreaker == 0x55 else '断开'
+                    self.dict2['桅杆舵机断路器'] = '闭合' if msg.mastSteeringGearControlBoxCircuitBreaker == 0x55 else '断开'
+                    self.dict2['XCZ断路器'] = '闭合' if msg.xczCircuitBreaker == 0x55 else '断开'
+                    self.dict2['艏舵断路器'] = '闭合' if msg.bowRudderControlBoxCircuitBreaker == 0x55 else '断开'
+                    self.dict2['敞开电缸断路器'] = '闭合' if msg.openWaterCoverStartCylinderCircuitBreaker == 0x55 else '断开'
+
+                elif msg_id == 0x0003:  # 高电压B母线配电指令
+                    msg = msg_disHVBBCmd()
+                    msg.unpack(data)
+                    self.disHVBB.lithiumBatteryGroupInstrumentCircuitBreaker = msg.lithiumBatteryGroupInstrumentCircuitBreaker
+                    self.disHVBB.bowLowVoltageDistributionBoxCircuitBreaker = msg.bowLowVoltageDistributionBoxCircuitBreaker
+                    self.disHVBB.unit4InstrumentDC48VCircuitBreaker = msg.unit4InstrumentDC48VCircuitBreaker
+                    self.disHVBB.dcC1DCDistributionPanelCircuitBreaker = msg.dcC1DCDistributionPanelCircuitBreaker
+                    self.disHVBB.reservedCircuitBreaker1 = msg.reservedCircuitBreaker1
+                    self.disHVBB.reservedCircuitBreaker2 = msg.reservedCircuitBreaker2
+                    self.disHVBB.emergencyLithiumBatteryGroup2CircuitBreaker = msg.emergencyLithiumBatteryGroup2CircuitBreaker
+                    
+                    # 更新dict3
+                    self.dict3['仪表锂电池断路器'] = '闭合' if msg.lithiumBatteryGroupInstrumentCircuitBreaker == 0x55 else '断开'
+                    self.dict3['艏部低压断路器'] = '闭合' if msg.bowLowVoltageDistributionBoxCircuitBreaker == 0x55 else '断开'
+                    self.dict3['UNIT4断路器'] = '闭合' if msg.unit4InstrumentDC48VCircuitBreaker == 0x55 else '断开'
+                    self.dict3['DC/DC1断路器'] = '闭合' if msg.dcC1DCDistributionPanelCircuitBreaker == 0x55 else '断开'
+                    self.dict3['预留断路器1'] = '闭合' if msg.reservedCircuitBreaker1 == 0x55 else '断开'
+                    self.dict3['预留断路器2'] = '闭合' if msg.reservedCircuitBreaker2 == 0x55 else '断开'
+                    self.dict3['艉部应急电池开关'] = '闭合' if msg.emergencyLithiumBatteryGroup2CircuitBreaker == 0x55 else '断开'
+
+                elif msg_id == 0x0004:  # 低电压母线配电指令
+                    msg = msg_disLVBCmd()
+                    msg.unpack(data)
+                    self.disLVB.unit1CircuitBreaker = msg.unit1CircuitBreaker
+                    self.disLVB.unit2CircuitBreaker = msg.unit2CircuitBreaker
+                    self.disLVB.unit3CircuitBreaker = msg.unit3CircuitBreaker
+                    self.disLVB.unit5CircuitBreaker = msg.unit5CircuitBreaker
+                    self.disLVB.bowPZDeviceCircuitBreaker = msg.bowPZDeviceCircuitBreaker
+                    self.disLVB.reservedCircuitBreaker1 = msg.reservedCircuitBreaker1
+                    self.disLVB.reservedCircuitBreaker2 = msg.reservedCircuitBreaker2
+                    self.disLVB.emergencyLithiumBatteryGroup1CircuitBreaker = msg.emergencyLithiumBatteryGroup1CircuitBreaker
+                    
+                    # 更新dict4
+                    self.dict4['UNIT1断路器'] = '闭合' if msg.unit1CircuitBreaker == 0x55 else '断开'
+                    self.dict4['UNIT2断路器'] = '闭合' if msg.unit2CircuitBreaker == 0x55 else '断开'
+                    self.dict4['UNIT3断路器'] = '闭合' if msg.unit3CircuitBreaker == 0x55 else '断开'
+                    self.dict4['UNIT5断路器'] = '闭合' if msg.unit5CircuitBreaker == 0x55 else '断开'
+                    self.dict4['艏部抛载断路器'] = '闭合' if msg.bowPZDeviceCircuitBreaker == 0x55 else '断开'
+                    self.dict4['预留断路器1'] = '闭合' if msg.reservedCircuitBreaker1 == 0x55 else '断开'
+                    self.dict4['预留断路器2'] = '闭合' if msg.reservedCircuitBreaker2 == 0x55 else '断开'
+                    self.dict4['艏部应急电池开关'] = '闭合' if msg.emergencyLithiumBatteryGroup1CircuitBreaker == 0x55 else '断开'
+
+            self.update_disp()  # 更新界面显示
+        except Exception as e:
+            print(f"Error updating from message: {e}")
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    app = disSys(root)
+    app.pack()
+    root.mainloop()

test/scripts/logWin.py

@@ -0,0 +1,78 @@
+import socket
+import struct
+import tkinter as tk
+import threading
+from udpmsg import *
+from datetime import datetime
+from tkinter import font, filedialog
+from tkinter import Frame
+from tkinter.ttk import *
+
+class logWin(Frame):
+    def __init__(self, root):
+        super().__init__(root)
+        self.root = root
+        custom_font = font.Font(family="Arial", size=8)
+        
+        # 设置 state 为 tk.DISABLED 禁用编辑功能
+        self.text_box = tk.Text(root, height=10, width=50, font=custom_font, state=tk.DISABLED)
+        self.text_box.grid(row=0, column=0, columnspan=2, sticky='nsew')
+
+        # 创建垂直滚动条
+        scrollbar = tk.Scrollbar(root, command=self.text_box.yview)
+        scrollbar.grid(row=0, column=2, sticky='ns')
+
+        # 将滚动条与 Text 组件关联
+        self.text_box.config(yscrollcommand=scrollbar.set)
+
+        # 创建保存按钮
+        save_button = tk.Button(root, text="保存日志", command=self.save_log)
+        save_button.grid(row=1, column=0, sticky='ew')
+
+        # 创建清空按钮
+        clear_button = tk.Button(root, text="清空日志", command=self.clear_log)
+        clear_button.grid(row=1, column=1, sticky='ew')
+
+        # 配置行和列的权重，使组件能够随窗口大小变化而调整
+        root.grid_rowconfigure(0, weight=1)
+        root.grid_columnconfigure(0, weight=1)
+        root.grid_columnconfigure(1, weight=1)
+
+    def display_log(self, log_message):
+        # 启用编辑功能
+        self.text_box.config(state=tk.NORMAL)
+        # 将日志信息添加到 Text 组件中
+        self.text_box.insert(tk.END, log_message + "\n")
+        # 滚动到 Text 组件的底部，以显示最新的日志信息
+        self.text_box.see(tk.END)
+        # 禁用编辑功能
+        self.text_box.config(state=tk.DISABLED)
+
+    def save_log(self):
+        # 打开文件选择对话框
+        file_path = filedialog.asksaveasfilename(defaultextension=".txt", filetypes=[("Text Files", "*.txt"), ("All Files", "*.*")])
+        if file_path:
+            # 获取文本框中的内容
+            log_content = self.text_box.get("1.0", tk.END)
+            # 将内容写入文件
+            with open(file_path, "w") as file:
+                file.write(log_content)
+            # 显示保存成功的提示
+            tk.messagebox.showinfo("保存成功", "日志已成功保存到文件。")
+
+    def clear_log(self):
+        # 启用编辑功能
+        self.text_box.config(state=tk.NORMAL)
+        # 清空 Text 组件中的内容
+        self.text_box.delete("1.0", tk.END)
+        # 禁用编辑功能
+        self.text_box.config(state=tk.DISABLED)
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    root.title("能源管理系统调试")
+    log_win = logWin(root)
+    # 假设您有一个日志消息需要显示
+    for i in range(100):
+        log_win.display_log("这是一条日志信息" + str(i))
+    root.mainloop()

test/scripts/udpComm.py

@@ -0,0 +1,59 @@
+import socket
+import struct
+import tkinter as tk
+import threading
+from udpmsg import *
+from datetime import datetime
+from tkinter import font
+import threading
+from disSys import *
+from logWin import *
+from ccuSys import *
+
+target_ip = '127.0.0.1'
+target_port = 5000
+
+def receive_messages(sock, logwin:logWin, disSysWin:disSys):
+    while True:
+        current_time = datetime.now()
+        formatted_time = current_time.strftime("%Y-%m-%d %H:%M:%S")
+        data, address = sock.recvfrom(4096)
+        # 接受配电系统消息
+        disSysWin.update_fromMsg(data)
+        headBuf = data[:6]
+        header = struct.unpack('<BBHH',headBuf)
+        start1 = data[0]
+        start2 = data[1]
+        msg_id = data[2]
+        msg_len = data[3]
+        if(start1==0x40 and start2==0x40):
+            if(msg_id==0x0001):
+                msg = msg_disHVBCmd()
+                msg.unpack(data)
+                # text_box.insert(tk.END, f"{formatted_time}->接收到来自 {address} | 高压母线配电指令:\n")
+                logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | 高压母线配电指令:")
+            elif(msg_id==0x0002):
+                logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | 高压汇流排A配电指令:")
+            elif(msg_id==0x0003):
+                logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | 高压汇流排B配电指令:")
+            elif(msg_id==0x0004):
+                logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | 低压母线配电指令:")
+        elif(start1==0x20 and start2==0x20):
+            if(msg_id==0x0050):
+                logWin.display_log(logwin,f"{formatted_time}->接收到来自 {address} | CCU控制指令:")
+
+
+def send_messages(sock, logwin:logWin, disSysWin:disSys,ccuSysWin:ccuSys):
+    while True:
+        # 配电消息反馈
+        a,b,c,d = disSysWin.get_date()
+        sock.sendto(a, (target_ip, target_port))
+        sock.sendto(b, (target_ip, target_port))
+        sock.sendto(c, (target_ip, target_port))
+        sock.sendto(d, (target_ip, target_port))
+
+        #TODO复合管控消息反馈
+        e = ccuSysWin.ccuState.pack()
+        sock.sendto(e, (target_ip, target_port))
+
+        threading.Event().wait(1)  # 每隔1秒发送一次消息

test/scripts/udpmsg.py

@@ -0,0 +1,656 @@
+import struct
+
+class msg_CcuStateFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0041
+        self.length = 0x0000
+        self.currentWorkCondition = 0x00
+        self.fcuState = 80
+        self.fcuFaultLeve = 0x20
+        self.powerLimit = 0x00
+        self.totalPowerGeneration = 0x00
+        self.ch4o = 0x00
+        self.o2 = 0x00
+        self.fcuVoltage = 0x0000
+        self.fcuCurrent = 0x0000
+        self.o2Level = 0x00
+        self.placeholder1 = 0x00
+        self.exchangerTemperature = 0x00
+        self.fcuOutPower = 0x00
+        self.fcuOutIns = 0x00
+        self.fcuVoltageIns = 0x00
+        self.fcuVoltagePower = 0x00
+        self.fcuCurrentIns = 0x00
+        self.fcuCurrentPower = 0x00
+        self.h2Concentration1 = 0x00
+        self.h2Concentration2 = 0x00
+        self.o2Concentration1 = 0x00
+        self.o2Concentration2 = 0x00
+        self.ch4oConcentration1 = 0x00
+        self.ch4oConcentration2 = 0x00
+        self.backpressure1 = 0x00
+        self.backpressure2 = 0x00
+        self.flameDetection = 0x00
+        self.fcuGZ_1L = 0x00
+        self.fcuGZ_1H = 0x00
+        self.fcuGZ_2L = 0x00
+        self.fcuGZ_2H = 0x00
+        self.fcuGZ_3L = 0x00
+        self.fcuGZ_3H = 0x00
+        self.insPosRelayState = 0x00
+        self.insNegRelayState = 0x00
+        self.powerPosRelayState = 0x00
+        self.powerNegRelayState = 0x00
+        self.insBatLimit = 0x00
+        self.powerBatLimit = 0x00
+        self.insBatSoc = 0x00
+        self.powerBatSoc = 0x00
+        self.insBatTotalElectricity = 0x00
+        self.powerBatTotalElectricity = 0x00
+        self.insBatCurrentElectricity = 0x00
+        self.powerBatCurrentElectricity = 0x00
+        self.insChargeState = 0x00
+        self.powerChargeState = 0x00
+        self.insLinkVoltage = 0x00
+        self.insPackVoltage = 0x00
+        self.insCurrent = 0x00
+        self.insPosInsulationResistance = 0x00
+        self.insNegInsulationResistance = 0x00
+        self.powerLinkVoltage = 0x00
+        self.powerPackVoltage = 0x00
+        self.powerCurrent = 0x00
+        self.powerPosInsulationResistance = 0x00
+        self.powerNegInsulationResistance = 0x00
+        self.insEmergencyStatusWord = 0x00
+        self.powerEmergencyStatusWord = 0x00
+        self.insAlarmIdentificationWord = 0x00
+        self.powerAlarmIdentificationWord = 0x00
+        self.insCurrentSocHold1 = 0x00
+        self.insCurrentSocHold2 = 0x00
+        self.insCurrentSocHold3 = 0x00
+        self.fcuCurrentToInsLimit1 = 0x00
+        self.fcuCurrentToinsLimit2 = 0x00
+        self.powerCurrentSocHold1 = 0x00
+        self.powerCurrentSocHold2 = 0x00
+        self.powerCurrentSocHold3 = 0x00
+        self.powerCurrentToInsLimit1 = 0x00
+        self.powerCurrentToinsLimit2 = 0x00
+        self.placeholder2 = 0x00
+        self.placeholder3 = 0x00
+        self.placeholder4 = 0x00
+        self.placeholder5 = 0x00
+        self.checkCode = 0x00
+
+    def pack(self):
+        # 初始化数据
+        self.length = 0x0000
+        self.checkCode = 0x0000
+
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+
+        # 填充数据
+        data += struct.pack('<B', self.currentWorkCondition)
+        data += struct.pack('<B', self.fcuState)
+        data += struct.pack('<B', self.fcuFaultLeve)
+        data += struct.pack('<f', self.powerLimit)
+        data += struct.pack('<f', self.totalPowerGeneration)
+        data += struct.pack('<f', self.ch4o)
+        data += struct.pack('<f', self.o2)
+        data += struct.pack('<f', self.fcuVoltage)
+        data += struct.pack('<f', self.fcuCurrent)
+        data += struct.pack('<f', self.o2Level)
+        data += struct.pack('<f', self.placeholder1)
+        data += struct.pack('<f', self.exchangerTemperature)
+        data += struct.pack('<f', self.fcuOutPower)
+        data += struct.pack('<f', self.fcuOutIns)
+        data += struct.pack('<f', self.fcuVoltageIns)
+        data += struct.pack('<f', self.fcuVoltagePower)
+        data += struct.pack('<f', self.fcuCurrentIns)
+        data += struct.pack('<f', self.fcuCurrentPower)
+        data += struct.pack('<f', self.h2Concentration1)
+        data += struct.pack('<f', self.h2Concentration2)
+        data += struct.pack('<f', self.o2Concentration1)
+        data += struct.pack('<f', self.o2Concentration2)
+        data += struct.pack('<f', self.ch4oConcentration1)
+        data += struct.pack('<f', self.ch4oConcentration2)
+        data += struct.pack('<f', self.backpressure1)
+        data += struct.pack('<f', self.backpressure2)
+        data += struct.pack('<B', self.flameDetection)
+        data += struct.pack('<B', self.fcuGZ_1L)
+        data += struct.pack('<B', self.fcuGZ_1H)
+        data += struct.pack('<B', self.fcuGZ_2L)
+        data += struct.pack('<B', self.fcuGZ_2H)
+        data += struct.pack('<B', self.fcuGZ_3L)
+        data += struct.pack('<B', self.fcuGZ_3H)
+        data += struct.pack('<B', self.insPosRelayState)
+        data += struct.pack('<B', self.insNegRelayState)
+        data += struct.pack('<B', self.powerPosRelayState)
+        data += struct.pack('<B', self.powerNegRelayState)
+        data += struct.pack('<H', self.insBatLimit)
+        data += struct.pack('<H', self.powerBatLimit)
+        data += struct.pack('<B', self.insBatSoc)
+        data += struct.pack('<B', self.powerBatSoc)
+        data += struct.pack('<H', self.insBatTotalElectricity)
+        data += struct.pack('<H', self.powerBatTotalElectricity)
+        data += struct.pack('<H', self.insBatCurrentElectricity)
+        data += struct.pack('<H', self.powerBatCurrentElectricity)
+        data += struct.pack('<B', self.insChargeState)
+        data += struct.pack('<B', self.powerChargeState)
+        data += struct.pack('<H', self.insLinkVoltage)
+        data += struct.pack('<H', self.insPackVoltage)
+        data += struct.pack('<H', self.insCurrent)
+        data += struct.pack('<H', self.insPosInsulationResistance)
+        data += struct.pack('<H', self.insNegInsulationResistance)
+        data += struct.pack('<H', self.powerLinkVoltage)
+        data += struct.pack('<H', self.powerPackVoltage)
+        data += struct.pack('<H', self.powerCurrent)
+        data += struct.pack('<H', self.powerPosInsulationResistance)
+        data += struct.pack('<H', self.powerNegInsulationResistance)
+        data += struct.pack('<B', self.insEmergencyStatusWord)
+        data += struct.pack('<B', self.powerEmergencyStatusWord)
+        data += struct.pack('<B', self.insAlarmIdentificationWord)
+        data += struct.pack('<B', self.powerAlarmIdentificationWord)
+        data += struct.pack('<B', self.insCurrentSocHold1)
+        data += struct.pack('<B', self.insCurrentSocHold2)
+        data += struct.pack('<B', self.insCurrentSocHold3)
+        data += struct.pack('<B', self.fcuCurrentToInsLimit1)
+        data += struct.pack('<B', self.fcuCurrentToinsLimit2)
+        data += struct.pack('<B', self.powerCurrentSocHold1)
+        data += struct.pack('<B', self.powerCurrentSocHold2)
+        data += struct.pack('<B', self.powerCurrentSocHold3)
+        data += struct.pack('<B', self.powerCurrentToInsLimit1)
+        data += struct.pack('<B', self.powerCurrentToinsLimit2)
+        data += struct.pack('<f', self.placeholder2)
+        data += struct.pack('<f', self.placeholder3)
+        data += struct.pack('<f', self.placeholder4)
+        data += struct.pack('<f', self.placeholder5)
+        
+
+        for i in range(len(data)):
+            self.checkCode += data[i]
+            # print(self.checkCode)
+
+        data += struct.pack('<I', self.checkCode)
+
+
+        last_index = len(data)
+        # print(struct.unpack('<i',data[last_index-4:last_index]))
+
+        # print(len(data))
+
+        return data
+
+
+class msg_CcuSetParamFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0040
+        self.length = 10
+        self.flag = 0x01
+        self.failvreCode = 0x01
+        self.checkCode = 0x01  # 初始值，将在 pack 方法中更新
+
+    def pack(self):
+        # 初始化数据
+        # self.checkCode = self.start1 + self.start2 + self.id + self.length + self.flag + self.failvreCode
+        self.checkCode = 0x0000
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+
+        # 填充数据
+        data += struct.pack('<B', self.flag)
+        data += struct.pack('<B', self.failvreCode)
+        # 其他参数...
+        for i in range(len(data)):
+            self.checkCode += data[i]
+        data += struct.pack('<I', self.checkCode)
+        return data
+
+class msg_disHighVolBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0005
+        self.length = 10
+        self.DCB1 = 0x00
+        self.DCB2 = 0x00
+        self.ZK1 = 0x00
+        self.ZK2 = 0x00
+        self.ZK3 = 0x00
+        self.ZK4 = 0x00
+        self.ZK5 = 0x00
+        self.ZK6 = 0x00
+        self.ZK7 = 0x00
+        self.ZK8 = 0x00
+        self.ZK9 = 0x00
+        self.ZK10 = 0x00
+        self.busInsulationLow = 0x00
+        self.busAInsulationHigh = 0x00
+        self.lostPower = 0x00
+        self.lostEmerPower = 0x00
+        self.powerBusVoltage = 0x00
+        self.dcDc5ModuleCurrent = 0x00
+        self.powerBusCurrent = 0x00
+        self.busbarAVoltage = 0x00
+        self.propulsionMotorControlBoxCurrent = 0x00
+        self.busbarACurrent = 0x00
+        self.lithiumBatteryGroupMeterCurrent = 0x00
+        self.bowHighVoltageDistributionBoxCurrent = 0x00
+        self.sternFTDevice45Current = 0x00
+        self.tyzReservedSwitchCurrent = 0x00
+        self.sternRudderSwitch1Current = 0x00
+        self.reservedCurrent1 = 0x00
+        self.sternRudderSwitch2Current = 0x00
+        self.reservedCurrent2 = 0x00
+        self.fbReservedSwitchCurrent = 0x00
+        self.reservedCurrent3 = 0x00
+        self.checkCode = 0x0000
+
+    def pack(self):
+        # 初始化数据
+        self.checkCode = 0x0000
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        # 填充数据
+        data += struct.pack('<B', self.DCB1)
+        data += struct.pack('<B', self.DCB2)
+        data += struct.pack('<B', self.ZK1)
+        data += struct.pack('<B', self.ZK2)
+        data += struct.pack('<B', self.ZK3)
+        data += struct.pack('<B', self.ZK4)
+        data += struct.pack('<B', self.ZK5)
+        data += struct.pack('<B', self.ZK6)
+        data += struct.pack('<B', self.ZK7)
+        data += struct.pack('<B', self.ZK8)
+        data += struct.pack('<B', self.ZK9)
+        data += struct.pack('<B', self.ZK10)
+        data += struct.pack('<B', self.busInsulationLow)
+        data += struct.pack('<B', self.busAInsulationHigh)
+        data += struct.pack('<B', self.lostPower)
+        data += struct.pack('<B', self.lostEmerPower)
+        data += struct.pack('<H', self.powerBusVoltage)
+        data += struct.pack('<H', self.dcDc5ModuleCurrent)
+        data += struct.pack('<H', self.powerBusCurrent)
+        data += struct.pack('<H', self.busbarAVoltage)
+        data += struct.pack('<H', self.propulsionMotorControlBoxCurrent)
+        data += struct.pack('<H', self.busbarACurrent)
+        data += struct.pack('<H', self.lithiumBatteryGroupMeterCurrent)
+        data += struct.pack('<H', self.bowHighVoltageDistributionBoxCurrent)
+        data += struct.pack('<H', self.sternFTDevice45Current)
+        data += struct.pack('<H', self.tyzReservedSwitchCurrent)
+        data += struct.pack('<H', self.sternRudderSwitch1Current)
+        data += struct.pack('<H', self.reservedCurrent1)
+        data += struct.pack('<H', self.sternRudderSwitch2Current)
+        data += struct.pack('<H', self.reservedCurrent2)
+        data += struct.pack('<H', self.fbReservedSwitchCurrent)
+        data += struct.pack('<H', self.reservedCurrent3)
+        for i in range(len(data)):
+            self.checkCode += data[i]
+        checkCode_L = self.checkCode & 0xFF
+        data += struct.pack('<B', checkCode_L)
+        return data
+
+class msg_disHighAVolBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0006
+        self.length = 10
+        self.bowFTDevice123CircuitBreaker = 0x00
+        self.actuatorCircuitBreaker = 0x00
+        self.mastSteeringGearControlBoxCircuitBreaker = 0x00
+        self.xczCircuitBreaker = 0x00
+        self.bowRudderControlBoxCircuitBreaker = 0x00
+        self.openWaterCoverStartCylinderCircuitBreaker = 0x00
+        self.instrumentPowerFailureSignal = 0x00
+        self.emergencyPowerFailureSignal = 0x00
+        self.waterIngressionAlarm = 0x00
+        self.busbarBVoltage = 0x0000
+        self.busbarBCurrent = 0x0000
+        self.bowFTDevice123Current = 0x0000
+        self.actuatorCurrent = 0x0000
+        self.mastSteeringGearControlBoxCurrent = 0x0000
+        self.xczCurrent = 0x0001
+        self.bowRudderControlBoxCurrent = 0x0000
+        self.openWaterCoverStartCylinderCurrent = 0x0000
+        self.checkCode = 0x0000
+
+    def pack(self):
+        # 初始化数据
+        self.checkCode = 0x0000
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        # 填充数据
+        data += struct.pack('<B', self.bowFTDevice123CircuitBreaker)
+        data += struct.pack('<B', self.actuatorCircuitBreaker)
+        data += struct.pack('<B', self.mastSteeringGearControlBoxCircuitBreaker)
+        data += struct.pack('<B', self.xczCircuitBreaker)
+        data += struct.pack('<B', self.bowRudderControlBoxCircuitBreaker)
+        data += struct.pack('<B', self.openWaterCoverStartCylinderCircuitBreaker)
+        data += struct.pack('<B', self.instrumentPowerFailureSignal)
+        data += struct.pack('<B', self.emergencyPowerFailureSignal)
+        data += struct.pack('<B', self.waterIngressionAlarm)
+        data += struct.pack('<H', self.busbarBVoltage)
+        data += struct.pack('<H', self.busbarBCurrent)
+        data += struct.pack('<H', self.bowFTDevice123Current)
+        data += struct.pack('<H', self.actuatorCurrent)
+        data += struct.pack('<H', self.mastSteeringGearControlBoxCurrent)
+        data += struct.pack('<H', self.xczCurrent)
+        data += struct.pack('<H', self.bowRudderControlBoxCurrent)
+        data += struct.pack('<H', self.openWaterCoverStartCylinderCurrent)
+        for i in range(len(data)):
+            self.checkCode += data[i]
+        checkCode_L = self.checkCode & 0xFF
+        data += struct.pack('<B', checkCode_L)
+        return data
+
+class msg_disHighBVolBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0007
+        self.length = 10
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = 0x00
+        self.bowLowVoltageDistributionBoxCircuitBreaker = 0x00
+        self.unit4InstrumentDC48VCircuitBreaker = 0x00
+        self.dcC1DCDistributionPanelCircuitBreaker = 0x00
+        self.reservedCircuitBreaker1 = 0x00
+        self.reservedCircuitBreaker2 = 0x00
+        self.emergencyLithiumBatteryGroup2CircuitBreaker = 0x00
+        self.instrumentPowerFailureSignal = 0x00
+        self.emergencyPowerFailureSignal = 0x00
+        self.instrumentBusbarInsulationLow = 0x00
+        self.instrumentBusbarVoltage = 0x0000
+        self.bowLowVoltageDistributionBoxCurrent = 0x0000
+        self.dcC1InstrumentDC48VCurrent = 0x0000
+        self.reservedCurrent1 = 0x0000
+        self.emergencyLithiumBatteryGroup2Current = 0x0000
+        self.lithiumBatteryGroupInstrumentCurrent = 0x0000
+        self.unit4InstrumentDC48VCurrent = 0x0000
+        self.reservedCurrent2 = 0x0000
+        self.emergency2BusbarVoltage = 0x0000
+        self.compositeEnergyManagementSystemEmergencyDC48VCurrent = 0x0000
+        self.fuelCellSecuritySystemEmergencyDC48VCurrent = 0x0000
+        self.plcControlPowerCurrent = 0x0000
+        self.checkCode = 0x0000
+
+    def pack(self):
+        # 初始化数据
+        self.checkCode = 0x0000
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        # 填充数据
+        data += struct.pack('<B', self.lithiumBatteryGroupInstrumentCircuitBreaker)
+        data += struct.pack('<B', self.bowLowVoltageDistributionBoxCircuitBreaker)
+        data += struct.pack('<B', self.unit4InstrumentDC48VCircuitBreaker)
+        data += struct.pack('<B', self.dcC1DCDistributionPanelCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker1)
+        data += struct.pack('<B', self.reservedCircuitBreaker2)
+        data += struct.pack('<B', self.emergencyLithiumBatteryGroup2CircuitBreaker)
+        data += struct.pack('<B', self.instrumentPowerFailureSignal)
+        data += struct.pack('<B', self.emergencyPowerFailureSignal)
+        data += struct.pack('<B', self.instrumentBusbarInsulationLow)
+        data += struct.pack('<H', self.instrumentBusbarVoltage)
+        data += struct.pack('<H', self.bowLowVoltageDistributionBoxCurrent)
+        data += struct.pack('<H', self.dcC1InstrumentDC48VCurrent)
+        data += struct.pack('<H', self.reservedCurrent1)
+        data += struct.pack('<H', self.emergencyLithiumBatteryGroup2Current)
+        data += struct.pack('<H', self.lithiumBatteryGroupInstrumentCurrent)
+        data += struct.pack('<H', self.unit4InstrumentDC48VCurrent)
+        data += struct.pack('<H', self.reservedCurrent2)
+        data += struct.pack('<H', self.emergency2BusbarVoltage)
+        data += struct.pack('<H', self.compositeEnergyManagementSystemEmergencyDC48VCurrent)
+        data += struct.pack('<H', self.fuelCellSecuritySystemEmergencyDC48VCurrent)
+        data += struct.pack('<H', self.plcControlPowerCurrent)
+        for i in range(len(data)):
+            self.checkCode += data[i]
+        checkCode_L = self.checkCode & 0xFF
+        data += struct.pack('<B', checkCode_L)
+        return data
+
+class msg_disLowBusFbMsg:
+    def __init__(self):
+        self.start1 = 0x20
+        self.start2 = 0x20
+        self.id = 0x0008
+        self.length = 10
+        self.unit1CircuitBreaker = 0x00
+        self.unit2CircuitBreaker = 0x00
+        self.unit3CircuitBreaker = 0x00
+        self.unit5CircuitBreaker = 0x00
+        self.bowPZDeviceCircuitBreaker = 0x00
+        self.reservedCircuitBreaker1 = 0x00
+        self.reservedCircuitBreaker2 = 0x00
+        self.emergencyLithiumBatteryGroup1CircuitBreaker = 0x00
+        self.powerFailureSignal = 0x00
+        self.waterIngressionAlarm = 0x00
+        self.instrumentBusbarVoltage = 0x0000
+        self.instrumentBusbarCurrent = 0x0000
+        self.unit1Current = 0x0000
+        self.unit2Current = 0x0000
+        self.unit3Current = 0x0000
+        self.unit5Current = 0x0000
+        self.bowPZDeviceCurrent = 0x0000
+        self.emergencyLithiumBatteryGroup1Current = 0x0000
+        self.emergency1BusbarVoltage = 0x0000
+        self.checkCode = 0x0000
+
+    def pack(self):
+        # 初始化数据
+        self.checkCode = 0x0000
+        data = struct.pack('<B', self.start1)
+        data += struct.pack('<B', self.start2)
+        data += struct.pack('<H', self.id)
+        data += struct.pack('<H', self.length)
+        # 填充数据
+        data += struct.pack('<B', self.unit1CircuitBreaker)
+        data += struct.pack('<B', self.unit2CircuitBreaker)
+        data += struct.pack('<B', self.unit3CircuitBreaker)
+        data += struct.pack('<B', self.unit5CircuitBreaker)
+        data += struct.pack('<B', self.bowPZDeviceCircuitBreaker)
+        data += struct.pack('<B', self.reservedCircuitBreaker1)
+        data += struct.pack('<B', self.reservedCircuitBreaker2)
+        data += struct.pack('<B', self.emergencyLithiumBatteryGroup1CircuitBreaker)
+        data += struct.pack('<B', self.powerFailureSignal)
+        data += struct.pack('<B', self.waterIngressionAlarm)
+        data += struct.pack('<H', self.instrumentBusbarVoltage)
+        data += struct.pack('<H', self.instrumentBusbarCurrent)
+        data += struct.pack('<H', self.unit1Current)
+        data += struct.pack('<H', self.unit2Current)
+        data += struct.pack('<H', self.unit3Current)
+        data += struct.pack('<H', self.unit5Current)
+        data += struct.pack('<H', self.bowPZDeviceCurrent)
+        data += struct.pack('<H', self.emergencyLithiumBatteryGroup1Current)
+        data += struct.pack('<H', self.emergency1BusbarVoltage)
+        for i in range(len(data)):
+            self.checkCode += data[i]
+        checkCode_L = self.checkCode & 0xFF
+        data += struct.pack('<B', checkCode_L)
+        return data
+
+class msg_disHVBCmd:
+    def __init__(self):
+        self.start1 = None
+        self.start2 = None
+        self.id = None
+        self.length = None
+        self.fuelCellCircuitBreaker = None
+        self.powerLithiumBatteryCircuitBreaker = None
+        self.propulsionMotorCircuitBreaker = None
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = None
+        self.dcDc5ModuleCircuitBreaker = None
+        self.bowHighVoltageDistributionBoxCircuitBreaker = None
+        self.sternFTDevice45CircuitBreaker = None
+        self.sternRudderSwitch1CircuitBreaker = None
+        self.sternRudderSwitch2CircuitBreaker = None
+        self.fbReservedCircuitBreaker = None
+        self.tyzReservedCircuitBreaker = None
+        self.reservedCircuitBreaker = None
+        self.inputWater = None
+        self.outputWater = None
+        self.dcdc5dcdc5Module = None       
+        self.checkCode = None
+    
+    def unpack(self,data):
+        try:
+            unpacked_data = struct.unpack('<BBHHBBBBBBBBBBBBBBBB',data)
+            self.start1 = unpacked_data[0]
+            self.start2 = unpacked_data[1]
+            self.id = unpacked_data[2]
+            self.length = unpacked_data[3]
+            self.fuelCellCircuitBreaker = unpacked_data[4]
+            self.powerLithiumBatteryCircuitBreaker = unpacked_data[5]
+            self.propulsionMotorCircuitBreaker = unpacked_data[6]
+            self.lithiumBatteryGroupInstrumentCircuitBreaker = unpacked_data[7]
+            self.dcDc5ModuleCircuitBreaker = unpacked_data[8]
+            self.bowHighVoltageDistributionBoxCircuitBreaker = unpacked_data[9]
+            self.sternFTDevice45CircuitBreaker = unpacked_data[10]
+            self.sternRudderSwitch1CircuitBreaker = unpacked_data[11]
+            self.sternRudderSwitch2CircuitBreaker = unpacked_data[12]
+            self.fbReservedCircuitBreaker = unpacked_data[13]
+            self.tyzReservedCircuitBreaker = unpacked_data[14]
+            self.reservedCircuitBreaker = unpacked_data[15]
+            self.inputWater = unpacked_data[16]
+            self.outputWater = unpacked_data[17]
+            self.dcdc5dcdc5Module = unpacked_data[18]
+            self.checkCode = unpacked_data[19]
+        except struct.error as e:
+            print(f"Error unpacking data: msg_disHVBCmd {e}")
+
+
+#   unsigned char bowFTDevice123CircuitBreaker;
+#   unsigned char actuatorCircuitBreaker;
+#   unsigned char mastSteeringGearControlBoxCircuitBreaker;
+#   unsigned char xczCircuitBreaker;
+#   unsigned char bowRudderControlBoxCircuitBreaker;
+#   unsigned char openWaterCoverStartCylinderCircuitBreaker;
+class msg_disHVBACmd:
+    def __init__(self):
+        self.start1 = None
+        self.start2 = None
+        self.id = None
+        self.length = None
+        self.bowFTDevice123CircuitBreaker = None
+        self.actuatorCircuitBreaker = None
+        self.mastSteeringGearControlBoxCircuitBreaker = None
+        self.xczCircuitBreaker = None
+        self.bowRudderControlBoxCircuitBreaker = None
+        self.openWaterCoverStartCylinderCircuitBreaker = None
+        self.checkCode = None
+    def unpack(self,data):
+        try:
+            unpacked_data = struct.unpack('<BBHHBBBBBBB',data)
+            self.start1 = unpacked_data[0]
+            self.start2 = unpacked_data[1]
+            self.id = unpacked_data[2]
+            self.length = unpacked_data[3]
+            self.bowFTDevice123CircuitBreaker = unpacked_data[4]
+            self.actuatorCircuitBreaker = unpacked_data[5]
+            self.mastSteeringGearControlBoxCircuitBreaker = unpacked_data[6]
+            self.xczCircuitBreaker = unpacked_data[7]
+            self.bowRudderControlBoxCircuitBreaker = unpacked_data[8]
+            self.openWaterCoverStartCylinderCircuitBreaker = unpacked_data[9]
+            self.checkCode = unpacked_data[10]
+        except struct.error as e:
+            print(f"Error unpacking data:  msg_disHVBACmd {e}")
+    # unsigned char lithiumBatteryGroupInstrumentCircuitBreaker;
+    # unsigned char bowLowVoltageDistributionBoxCircuitBreaker;
+    # unsigned char unit4InstrumentDC48VCircuitBreaker;
+    # unsigned char dcC1DCDistributionPanelCircuitBreaker;
+    # 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 emergencyLithiumBatteryGroup2CircuitBreaker;
+class msg_disHVBBCmd:
+    def __init__(self):
+        self.start1 = None
+        self.start2 = None
+        self.id = None
+        self.length = None
+        self.lithiumBatteryGroupInstrumentCircuitBreaker = None
+        self.bowLowVoltageDistributionBoxCircuitBreaker = None
+        self.unit4InstrumentDC48VCircuitBreaker = None
+        self.dcC1DCDistributionPanelCircuitBreaker = None
+        self.reservedCircuitBreaker1 = None
+        self.reservedCircuitBreaker2 = None
+        self.emergencyLithiumBatteryGroup2CircuitBreaker = None
+        self.checkCode = None
+    def unpack(self,data):
+        try:
+            unpacked_data = struct.unpack('<BBHHBBBBBBBB',data)
+            self.start1 = unpacked_data[0]
+            self.start2 = unpacked_data[1]
+            self.id = unpacked_data[2]
+            self.length = unpacked_data[3]
+            self.lithiumBatteryGroupInstrumentCircuitBreaker = unpacked_data[4]
+            self.bowLowVoltageDistributionBoxCircuitBreaker = unpacked_data[5]
+            self.unit4InstrumentDC48VCircuitBreaker = unpacked_data[6]
+            self.dcC1DCDistributionPanelCircuitBreaker = unpacked_data[7]
+            self.reservedCircuitBreaker1 = unpacked_data[8]
+            self.reservedCircuitBreaker2 = unpacked_data[9]
+            self.emergencyLithiumBatteryGroup2CircuitBreaker = unpacked_data[10]
+            self.checkCode = unpacked_data[11]
+        except struct.error as e:
+            print(f"Error unpacking data: msg_disHVBBCmd {e}")
+
+
+#   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;
+
+class msg_disLVBCmd:
+    def __init__(self):
+        self.start1 = None
+        self.start2 = None
+        self.id = None
+        self.length = None
+        self.unit1CircuitBreaker = None
+        self.unit2CircuitBreaker = None
+        self.unit3CircuitBreaker = None
+        self.unit5CircuitBreaker = None
+        self.bowPZDeviceCircuitBreaker = None
+        self.reservedCircuitBreaker1 = None
+        self.reservedCircuitBreaker2 = None
+        self.emergencyLithiumBatteryGroup1CircuitBreaker = None
+        self.checkCode = None
+    def unpack(self,data):
+        try:
+            unpacked_data = struct.unpack('<BBHHBBBBBBBBB',data)
+            self.start1 = unpacked_data[0]
+            self.start2 = unpacked_data[1]
+            self.id = unpacked_data[2]
+            self.length = unpacked_data[3]
+            self.unit1CircuitBreaker = unpacked_data[4]
+            self.unit2CircuitBreaker = unpacked_data[5]
+            self.unit3CircuitBreaker = unpacked_data[6]
+            self.unit5CircuitBreaker = unpacked_data[7]
+            self.bowPZDeviceCircuitBreaker = unpacked_data[8]
+            self.reservedCircuitBreaker1 = unpacked_data[9]
+            self.reservedCircuitBreaker2 = unpacked_data[10]
+            self.emergencyLithiumBatteryGroup1CircuitBreaker = unpacked_data[11]
+            self.checkCode = unpacked_data[12]
+        except struct.error as e:
+            print(f"Error unpacking data: msg_disLVBCmd {e}")
+
+if __name__ == "__main__":
+    # msg = msg_CcuStateFbMsg()
+    msg = msg_disHVBACmd()
+    # msg.pack()

test/udpCommTest.cpp

@@ -0,0 +1,37 @@
+#include "../src/pPowerManger/udpComm.h"
+#include "catch2/catch.hpp"
+#include <iostream>
+
+TEST_CASE("udpComm getDate function test", "[udpComm]") {
+    udpComm comm;
+    
+    unsigned short year;
+    unsigned char month, day, hour, minute, second, milliseconds;
+    
+    bool result = comm.getDate(year, month, day, hour, minute, second, milliseconds);
+    
+    // 输出日期和时间信息
+    std::cout << "Year: " << year << std::endl;
+    std::cout << "Month: " << static_cast<int>(month) << std::endl;
+    std::cout << "Day: " << static_cast<int>(day) << std::endl;
+    std::cout << "Hour: " << static_cast<int>(hour) << std::endl;
+    std::cout << "Minute: " << static_cast<int>(minute) << std::endl;
+    std::cout << "Second: " << static_cast<int>(second) << std::endl;
+    std::cout << "Milliseconds: " << static_cast<int>(milliseconds) << std::endl;
+
+    REQUIRE(result == true);
+    REQUIRE(year >= 2023);
+    REQUIRE(year <= 2030);
+    REQUIRE(month >= 1);
+    REQUIRE(month <= 12);
+    REQUIRE(day >= 1);
+    REQUIRE(day <= 31);
+    REQUIRE(hour >= 0);
+    REQUIRE(hour <= 23);
+    REQUIRE(minute >= 0);
+    REQUIRE(minute <= 59);
+    REQUIRE(second >= 0);
+    REQUIRE(second <= 59);
+    REQUIRE(milliseconds >= 0);
+    REQUIRE(milliseconds <= 999);
+}