首次提交完整的python工程代码

core/a2b_forward.py

@@ -0,0 +1,520 @@
+"""
+2026/4/5
+TMY
+A2B转发器,重构：A→B 组帧与发送 
+"""
+# import socket
+# from utils.logger import logger
+# from utils.hex_helper import hex_dump
+# from processor.telem_config import TELEM_LAYOUT, REVERSE_CALC
+# from core.bit_packer import BitPacker
+# from config.settings import SATELLITE_ID
+
+# # 帧定义
+# SYNC_HEADER = b'\xEB\x90\xEB\x90'
+# TAIL = b'\x4C\x3A'
+
+# # 方向与类型
+# DIR_TO_SAT = 0x00000001
+# TYPE_TELEM = 0x00111111
+
+# class A2BForward:
+#     def __init__(self, local_port, b_ip, b_udp_port):
+#         self.local_port = local_port
+#         self.b_ip = b_ip
+#         self.b_udp_port = b_udp_port
+
+#         self.sock_a = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+#         self.sock_b = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+#     def build_b_frame(self, data_id, values):
+#         # 1) 获取布局与长度
+#         layout = TELEM_LAYOUT[data_id]
+#         data_len_bytes = layout['length']
+#         items = layout['items']
+
+#         # 2) 比特打包
+#         packer = BitPacker(data_len_bytes)
+#         for idx, v in enumerate(values):
+#             if idx >= len(items):
+#                 break
+#             item = items[idx]
+#             d_int = REVERSE_CALC(v, item)
+#             packer.set_bits(item['byte'], item['bit'], item['bits'], d_int)
+
+#         data_field = packer.get_bytes()
+
+#         # 3) 组帧
+#         frame = bytearray()
+#         frame += SYNC_HEADER
+#         frame += len(data_field).to_bytes(4, 'big')    # 数据长度
+#         frame += DIR_TO_SAT.to_bytes(4, 'big')          # 方向
+#         frame += data_id.to_bytes(4, 'big')             # 数据代号
+#         frame += TYPE_TELEM.to_bytes(4, 'big')          # 类型：遥测
+#         frame += SATELLITE_ID.to_bytes(4, 'big')        # 卫星编号
+#         frame += data_field
+#         frame += TAIL
+
+#         return bytes(frame)
+
+#     def loop(self):
+#         self.sock_a.bind(('0.0.0.0', self.local_port))
+#         logger.info(f"A监听UDP: {self.local_port}")
+
+#         while True:
+#             data, _ = self.sock_a.recvfrom(4096)
+#             if len(data) < 24:
+#                 continue
+
+#             # 简单解析A帧：取 data_id + 浮点列表
+#             data_id = int.from_bytes(data[8:12], 'big')
+#             float_cnt = (len(data) - 16) // 8
+#             values = []
+#             for i in range(float_cnt):
+#                 f = float.from_bytes(data[16 + i*8 : 24 + i*8], 'big')
+#                 values.append(f)
+
+#             # 组B帧并发送
+#             b_frame = self.build_b_frame(data_id, values)
+#             self.sock_b.sendto(b_frame, (self.b_ip, self.b_udp_port))
+#            hex_dump(b_frame, f"A→B UDP {self.b_ip}:{self.b_udp_port}")
+"""
+2026/4/19
+Tan Mingyan
+重写A->B 4中模型的遥测量发送，并保存至全局变量。
+"""
+import socket
+from utils.logger import logger
+from utils.hex_helper import hex_dump
+from processor.telem_config import TELEM_LAYOUT, REVERSE_CALC
+from core.bit_packer import BitPacker
+#from config.settings import SATELLITE_ID
+import struct  # 👈 新增，用于解析浮点数
+from core.global_params import get_param, set_param  # 顶部导入
+from core.global_params import TELEM_PARAMS
+from protocol.a_frame import AFrame
+# from processor.telem_config import TABLE_MAP, TELEM_COUNT
+from processor.telm_calc import calc_telem_reverse
+from protocol.b_frame import build_b_frame
+#from global_vars import *
+
+SYNC_HEADER = b'\xEB\x90\xEB\x90'
+TAIL = b'\x4C\x3A'
+DIR_TO_SAT = 0x00000001
+TYPE_TELEM = 0x00111111
+from config_loader import cfg
+SATELLITE_ID = cfg.get_int("SATELLITE", "SATELLITE_ID")#2026/4/7 TMY
+
+class A2BForward:
+    g_vbat_check_cnt =[] #静态变量
+    g_vbat_check_cnt_B =[] #静态变量
+    ck_ab_flag = True #True #测控AB通道有效标志
+    ck_c_flag = True #True #测控C通道有效标志
+    
+    def __init__(self, local_port, b_ip, b_udp_port):
+        self.local_port = local_port
+        self.b_ip = b_ip
+        self.b_udp_port = b_udp_port
+
+        self.sock_a = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.sock_b = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        self.g_vbat_check_cnt = [0,0,0,0] #静态变量
+        self.g_vbat_check_cnt_B = [0,0,0,0] #静态变量
+        self.gufangA_power = 0
+        self.gufangB_power = 0
+        self.kuopinA_5V = 0
+        self.kuopinB_5V = 0
+        #上一次接收到的值
+        self.gufangA_power_former = 0
+        
+        self.gufangB_power_former = 0
+        self.kuopinA_5V_former = 0
+        self.kuopinB_5V_former = 0
+        self.yitiji_5v_former = 0 
+        self.yitiji_5v = 0
+        self.ck_ab_flag = True #测控AB通道有效标志
+        self.ck_a_flag = True #测控A通道有效标志
+        self.ck_b_flag = True #测控B通道有效标志  
+
+        self.ck_c_flag = True #测控C通道有效标志
+
+        self.receive_A_frame_count = 0
+        self.A_battery_v_direct = 0
+        self.B_battery_v_direct = 0
+
+    def build_b_frame(self, data_id,satelllite_id, values):
+        #print(data_id)
+        layout = TELEM_LAYOUT[data_id]
+        data_len = layout['length']
+        items = layout['items']
+
+        packer = BitPacker(data_len)
+        for idx, y in enumerate(values):
+            if idx >= len(items):
+                break
+            it = items[idx]
+            d = REVERSE_CALC(y, it)##反推的值，然后存入全局变量？
+            if self.receive_A_frame_count % 10 == 0:#每100帧才打印1次A软件输入参数，避免日志过大
+                #print(f"输入y={y}, 配置it={it}, 反推d={d}")
+                logger.info((f"输入y={y}, 配置it={it}, 反推d={d}"))
+                self.receive_A_frame_count = 0 
+            
+
+            # ====================== 【核心：存入全局变量】 ======================2026/4/18
+            if 'param_num' in it:
+                set_param(it['param_num'], d)  # 按代号存入全局
+
+                #存入一些原值为全局变量 2026/4/30
+                if it['param_num'] == 'M001CV024':
+                    self.gufangA_power = y
+                if it['param_num'] == 'M001CV029':
+                    self.gufangB_power = y
+                if it['param_num'] == 'M001CV002':
+                    self.kuopinA_5V = y
+                if it['param_num'] == 'M001CV013':
+                    self.kuopinB_5V = y
+                if it['param_num'] == 'M085CV004':
+                    self.yitiji_5v = y
+
+                if it['param_num'] == 'M010YV012':
+                    self.A_battery_v_direct = y
+                if it['param_num'] == 'M010YV014':
+                    self.B_battery_v_direct = y
+
+            #写入A->B帧
+            packer.set_bits(it['byte'], it['bit'], it['bits'], d)
+
+        data_field = packer.get_bytes()
+
+        # 组帧
+        frame = bytearray()
+        frame += SYNC_HEADER
+        frame += len(data_field).to_bytes(4, 'big')
+        frame += DIR_TO_SAT.to_bytes(4, 'big')
+        frame += data_id.to_bytes(4, 'big')
+        frame += TYPE_TELEM.to_bytes(4, 'big')
+        #frame += SATELLITE_ID.to_bytes(4, 'big')
+        frame += satelllite_id.to_bytes(4, 'big')#2026/4/7 TMY
+        frame += data_field
+        frame += TAIL
+
+        self.receive_A_frame_count += 1
+        return bytes(frame)
+
+    
+
+    def check_battery_safe_mode(self):#判断整星安全模式
+        
+        # 蓄电池组A
+        # ====================== 1. 计算三路电池电压 ======================
+        Vbat1 = get_param('M002YV020',0) *0.01837765 - 0.00943934                       # 整组电池1，A组蓄电池组电压
+        #Vbat2 = get_param('M010YV012',0) * 16.56008 -0.01009                        # 整组电池2，M010YV012A蓄电池组电压-直
+        #Vbat2 = self.A_battery_v_direct #2026/5/9 暂时来源为0，所以屏蔽
+        Vbat2 = Vbat1 #2026/5/9
+        Vbat3 = (get_param('M004YV002',0) + get_param('M004YV004',0) +
+                get_param('M004YV006',0) + get_param('M004YV008',0) +
+                get_param('M004YV010',0) + get_param('M004YV012',0) +
+                get_param('M004YV014',0) + get_param('M004YV016',0) + get_param('M004YV018',0))* 0.00244140625  # 单体总和
+
+        Vth1 = 30 #
+        Vth2 = 28.998 # g_M050YV002，29.998，2026/5/12 不改为29.9.
+        Vth3 = 24.999 # g_M050YV003
+        Vth4 = 3.2983398 #M050YV004 A单体过放电VCOD1阈值-软
+
+        # # ====================== 2. 单次判断：是否低于阈值 ======================
+        # fail1 = 1 if (Vbat1 < Vth1) else 0
+        # fail2 = 1 if (Vbat2 < Vth2) else 0
+        # fail3 = 1 if (Vbat3 < Vth3) else 0
+        fail11 = 1 if (Vbat1 < Vth1) else 0
+        fail21 = 1 if (Vbat2 < Vth1) else 0
+        fail31 = 1 if (Vbat3 < Vth1) else 0
+        fail12 = 1 if (Vbat1 < Vth2) else 0
+        fail22 = 1 if (Vbat2 < Vth2) else 0
+        fail32 = 1 if (Vbat3 < Vth2) else 0
+        fail13 = 1 if (Vbat1 < Vth3) else 0
+        fail23 = 1 if (Vbat2 < Vth3) else 0
+        fail33 = 1 if (Vbat3 < Vth3) else 0
+        fail4 = 1 if(Vbat3 < Vth4 * 9) else 0
+        # # ====================== 3. 连续3次判断 ======================
+        # total_fail = fail1 + fail2 + fail3
+
+        # if total_fail >= 2:
+        #     g_vbat_check_cnt += 1
+        #     g_vbat_fail_flag = [fail1, fail2, fail3]
+        # else:
+        #     g_vbat_check_cnt = 0
+        #     g_vbat_fail_flag = [0, 0, 0]
+        total_fail1 = fail11 + fail21 + fail31#低于VBOD1的数量
+        total_fail2 = fail12 + fail22 + fail32#低于VBOD2的数量
+        total_fail3 = fail13 + fail23 + fail33#低于VBOD3的数量
+
+        if total_fail1 >= 2:
+            self.g_vbat_check_cnt[0] += 1
+        else:
+            self.g_vbat_check_cnt[0] = 0
+        if total_fail2 >= 2:
+            self.g_vbat_check_cnt[1] += 1
+        else:
+            self.g_vbat_check_cnt[1] = 0
+        if total_fail3 >= 2:
+            self.g_vbat_check_cnt[2] += 1
+        else:
+            self.g_vbat_check_cnt[2] = 0
+        if fail4 >0:
+            self.g_vbat_check_cnt[3] += 1
+        else:
+            self.g_vbat_check_cnt[3]  = 0 
+
+        # 超限3次锁定报警
+        # if g_vbat_check_cnt >= 3:
+        #     g_M050YS055 = g_vbat_fail_flag[0]
+        #     g_M050YS056 = g_vbat_fail_flag[1]
+        #     g_M050YS057 = g_vbat_fail_flag[2]
+        # else:
+        #     g_M050YS055 = 0
+        #     g_M050YS056 = 0
+        #     g_M050YS057 = 0
+        ## 分别产生过放电报警信号VBOD1~VBOD3（M050YS055改为1，M050YS056改为1，M050YS057改为1），否则都发别更改为0
+        if self.g_vbat_check_cnt[0]>=3 :
+            g_M050YS055 = 1           
+            set_param('M050YS055', 1)  # 按代号存入全局
+        else:
+            g_M050YS055 = 0  
+            set_param('M050YS055', 0)  # 按代号存入全局  
+        if self.g_vbat_check_cnt[1]>=3 :
+            g_M050YS056 = 1
+            set_param('M050YS056', 1)  # 按代号存入全局
+        else:
+            g_M050YS056 = 1
+            set_param('M050YS056', 0)  # 按代号存入全局
+        if self.g_vbat_check_cnt[2]>=3 :
+            g_M050YS057 = 1
+            set_param('M050YS057', 1)  # 按代号存入全局
+        else:
+            g_M050YS057 = 1
+            set_param('M050YS057', 0)  # 按代号存入全局
+
+        if self.g_vbat_check_cnt[3]>=3 :
+            g_M050YS058 = 1
+            set_param('M050YS058', 1)  # 按代号存入全局
+        else:
+            g_M050YS058 = 1
+            set_param('M050YS058', 0)  # 按代号存入全局
+
+        # ====================== 4. 整星安全模式触发条件 ======================
+        ## 当蓄电池组电压M002YV020小于VBOD2（M050YV002）（初始阈值为29V）时，产生“整组过放电2”报警信号，即把M050YS056改为1，此时卫星进入整星安全模式，修改M050YG073供电模式为1；否则修改为0
+        if Vbat2 < Vth2:  # 小于阈值2(默认29V)
+            g_M050YS056 = 1
+            g_M050YG073 = 1  # 进入安全模式
+            set_param('M050YS056', 1)  # 按代号存入全局
+            set_param('M050YG073', 1)  # 按代号存入全局
+
+            set_param('M014ZG027', 9)  # 按代号存入全局，M014ZG027 整星进入安全模式原因
+        else:
+            g_M050YS056 = 0
+            g_M050YG073 = 0  # 退出安全模式
+            set_param('M050YS056', 0)  # 按代号存入全局
+            set_param('M050YG073', 0)  # 按代号存入全局
+            set_param('M014ZG027', 0)  # 按代号存入全局，M014ZG027 整星进入安全模式原因
+
+
+        ##蓄电池组B的逻辑和A完全一样
+        # ====================== 1. 计算三路电池电压 ======================
+        Vbat1_B = get_param('M002YV054',0) * 0.01856155 -0.01615284                      # 整组电池1
+        #Vbat2_B = get_param('M010YV014',0) * 16.473805 - 0.009011                       # 整组电池2
+        #Vbat2_B =self.B_battery_v_direct # 整组电池2
+        Vbat2_B = Vbat1_B 
+        Vbat3_B = (get_param('M004YV022',0) + get_param('M004YV024',0) +
+                get_param('M004YV026',0) + get_param('M004YV028',0) +
+                get_param('M004YV030',0) + get_param('M004YV032',0) +
+                get_param('M004YV034',0) + get_param('M004YV036',0) + get_param('M004YV038',0))* 0.00244140625  # 单体总和
+
+        Vth1_B = 30 # M050YV021	
+        Vth2_B = 29 # M050YV022
+        Vth3_B = 25 # M050YV023
+        Vth4_B= 3.2983398 #M050YV024 B单体过放电VCOD1阈值-软
+
+        # # ====================== 2. 单次判断：是否低于阈值 ======================
+        # fail1 = 1 if (Vbat1 < Vth1) else 0
+        # fail2 = 1 if (Vbat2 < Vth2) else 0
+        # fail3 = 1 if (Vbat3 < Vth3) else 0
+        fail11_B = 1 if (Vbat1_B < Vth1_B) else 0
+        fail21_B = 1 if (Vbat2_B < Vth1_B) else 0
+        fail31_B = 1 if (Vbat3_B < Vth1_B) else 0
+        fail12_B = 1 if (Vbat1_B < Vth2_B) else 0
+        fail22_B = 1 if (Vbat2_B < Vth2_B) else 0
+        fail32_B = 1 if (Vbat3_B < Vth2_B) else 0
+        fail13_B = 1 if (Vbat1_B < Vth3_B) else 0
+        fail23_B = 1 if (Vbat2_B < Vth3_B) else 0
+        fail33_B = 1 if (Vbat3_B < Vth3_B) else 0
+        fail4_B = 1 if(Vbat3_B < Vth4_B * 9) else 0
+
+        # # ====================== 3. 连续3次判断 ======================
+        # total_fail = fail1 + fail2 + fail3
+
+        # if total_fail >= 2:
+        #     g_vbat_check_cnt += 1
+        #     g_vbat_fail_flag = [fail1, fail2, fail3]
+        # else:
+        #     g_vbat_check_cnt = 0
+        #     g_vbat_fail_flag = [0, 0, 0]
+        total_fail1_B = fail11_B + fail21_B + fail31_B#低于VBOD1的数量
+        total_fail2_B = fail12_B + fail22_B + fail32_B#低于VBOD2的数量
+        total_fail3_B = fail13_B + fail23_B + fail33_B#低于VBOD3的数量
+
+        if total_fail1_B >= 2:
+            self.g_vbat_check_cnt_B[0] += 1
+        else:
+            self.g_vbat_check_cnt_B[0]=0
+        if total_fail2_B >= 2:
+            self.g_vbat_check_cnt_B[1] += 1
+        else:
+            self.g_vbat_check_cnt_B[1]=0
+        if total_fail3_B >= 2:
+            self.g_vbat_check_cnt_B[2] += 1
+        else:
+            self.g_vbat_check_cnt_B[2]=0
+        if fail4_B >= 1:
+            self.g_vbat_check_cnt_B[3] += 1
+        else:
+            self.g_vbat_check_cnt_B[3]=0
+
+        # 超限3次锁定报警
+        # if g_vbat_check_cnt >= 3:
+        #     g_M050YS055 = g_vbat_fail_flag[0]
+        #     g_M050YS056 = g_vbat_fail_flag[1]
+        #     g_M050YS057 = g_vbat_fail_flag[2]
+        # else:
+        #     g_M050YS055 = 0
+        #     g_M050YS056 = 0
+        #     g_M050YS057 = 0
+        ## 分别产生过放电报警信号VBOD1~VBOD3（M050YS055改为1，M050YS056改为1，M050YS057改为1），否则都发别更改为0
+        if self.g_vbat_check_cnt_B[0]>=3 :
+            g_M050YS067 = 1           
+            set_param('M050YS067', 1)  # 按代号存入全局
+        else:
+            g_M050YS067 = 0  
+            set_param('M050YS067', 0)  # 按代号存入全局  
+        if self.g_vbat_check_cnt_B[1]>=3 :
+            g_M050YS068 = 1
+            set_param('M050YS068', 1)  # 按代号存入全局
+        else:
+            g_M050YS068 = 1
+            set_param('M050YS068', 0)  # 按代号存入全局
+        if self.g_vbat_check_cnt_B[2]>=3 :
+            g_M050YS069 = 1
+            set_param('M050YS069', 1)  # 按代号存入全局
+        else:
+            g_M050YS069 = 1
+            set_param('M050YS069', 0)  # 按代号存入全局
+        if self.g_vbat_check_cnt_B[3]>=3 :
+            g_M050YS070 = 1
+            set_param('M050YS070', 1)  # 按代号存入全局
+        else:
+            g_M050YS070 = 1
+            set_param('M050YS070', 0)  # 按代号存入全局
+
+
+        # ====================== 4. 整星安全模式触发条件 ======================
+        ## 当蓄电池组电压M002YV020小于VBOD2（M050YV002）（初始阈值为29V）时，产生“整组过放电2”报警信号，即把M050YS056改为1，此时卫星进入整星安全模式，修改M050YG073供电模式为1；否则修改为0
+        if Vbat2_B < Vth2_B:  # 小于阈值2(默认29V)
+            g_M050YS068 = 1
+            g_M050YG073 = 1  # 进入安全模式
+            set_param('M050YS068', 1)  # 按代号存入全局
+            set_param('M050YG073', 1)  # 按代号存入全局
+        else:
+            g_M050YS068 = 0
+            #g_M050YG073 = 0  # 退出安全模式
+            set_param('M050YS068', 0)  # 按代号存入全局
+            #set_param('M050YG073', 0)  # 按代号存入全局
+
+    def change_ck_mode(self):
+        # gufangA_power = get_param('M001CV024',0) *1
+        # kuopinA_5V = get_param('M001CV002',0)*1
+        # gufangB_power = get_param('M001CV029',0) *1
+        # kuopinB_5V = get_param('M001CV013',0)*1
+        print(f"self.gufangA_power_former={self.gufangA_power_former},self.gufangA_power={self.gufangA_power}")
+        #测控ab通道正常发遥测，监测判断：（M001CV024固放A功率从10变为0或M001CV002扩频A+5V从5变为0）且（M001CV029固放B功率从10变为0或M001CV013扩频B+5V从5变为0），则停掉测控AB遥测转发，地面向星务发送切C通道遥测指令后，星务模型播发C通道遥测，转发到地面解析，
+        if ((self.gufangA_power_former > 9 and self.gufangA_power < 0.1)or(self.kuopinA_5V_former>4.9 and self.kuopinA_5V<0.1)) and ((self.gufangB_power_former > 9 and self.gufangB_power < 0.1)or(self.kuopinB_5V_former>4.9 and self.kuopinB_5V<0.1)) :
+            self.ck_ab_flag = False ## 暂时and改成or!!!，已经改回来。这样的判断导致AB不同时失效时无法触发异常处理。
+            A2BForward.ck_ab_flag = False 
+
+        if((self.gufangA_power_former > 9 and self.gufangA_power < 0.1)or(self.kuopinA_5V_former>4.9 and self.kuopinA_5V<0.1)):
+            self.ck_a_flag = False #测控A异常标志
+        if((self.gufangB_power_former > 9 and self.gufangB_power < 0.1)or(self.kuopinB_5V_former>4.9 and self.kuopinB_5V<0.1)):
+            self.ck_b_flag = False #测控B异常标志
+        if(self.ck_a_flag == False and self.ck_b_flag == False):
+            self.ck_ab_flag = False ## 测控A,B异常标志
+            A2BForward.ck_ab_flag = False 
+
+        self.gufangA_power_former = self.gufangA_power #上一次接收到的值
+        self.gufangB_power_former = self.gufangB_power
+        self.kuopinA_5V_former = self.kuopinA_5V
+        self.kuopinB_5V_former = self.kuopinB_5V
+
+        #监测判断M085CV004一体机+5V电源-直，从5变为0，则停掉C通道遥测转发
+        if((self.yitiji_5v_former>4.8)and(self.yitiji_5v)<0.1):
+            self.ck_c_flag = False
+            A2BForward.ck_c_flag = False
+        if(self.yitiji_5v>4.8):
+            self.ck_c_flag = True
+            A2BForward.ck_c_flag = True
+        self.yitiji_5v_former = self.yitiji_5v
+
+    def loop(self):
+        self.sock_a.bind(('0.0.0.0', self.local_port))
+        logger.info(f"监听A UDP: {self.local_port}")
+
+        while True:
+            data, _ = self.sock_a.recvfrom(8192)
+            if len(data) < 24:
+                continue
+            s = data.hex(" ").upper()
+            logger.info(f"A同元的帧： {s}")
+            
+            #data_id = int.from_bytes(data[8:12], 'big')#错误
+            data_id = int.from_bytes(data[12:16], 'big')
+            satelllite_id = int.from_bytes(data[20:24], 'big')
+            #float_cnt = (len(data) - 16) // 8
+            float_cnt = int.from_bytes(data[4:8], 'big')//8 #最新协议规定是double数据的数量，不是字节数 2026/4/19 TMY 同元做法就是字节数 2026/4/20
+            print(f"有 {float_cnt} 个8B浮点数")
+            values = []
+            for i in range(float_cnt):
+                # f = float.from_bytes(data[16+i*8 : 24+i*8], 'big')
+                # values.append(f)
+                start = 24 + i * 8 #start = 16 + i * 8
+                end = start + 8
+                if end > len(data):#判断读取是否越界
+                    break
+                # 👈 修复点：使用 struct 解析 8 字节大端 double
+                f = struct.unpack('>d', data[start:end])[0]
+                values.append(f)
+
+            # # 逆运算反推原始值
+            # frame = AFrame(data)
+            # data_id = frame.data_id
+            # if data_id not in TABLE_MAP:
+            #     continue
+            # processed = []
+            # table = TABLE_MAP[data_id]
+            # for idx, v in enumerate(values):
+            #     if idx >= len(table):
+            #         processed.append(v)
+            #         continue
+            #     name, method, param = table[idx]
+            #     pv = calc_telem_reverse(v, method, param)
+            #     print(f"[{name}] 输入Y: {v:.6f},反推D: {pv:.2f}")
+            #     processed.append(pv)
+            #b_frame = build_b_frame(data_id, processed)#2026/4/20 TMY
+            b_frame = self.build_b_frame(data_id,satelllite_id, values)
+
+            # self.sock_b.sendto(b_frame, (self.b_ip, self.b_udp_port)) #B软件暂时无法解析这个数据，先不发 2026/5/7
+            # hex_dump(b_frame, f"A→B UDP {self.b_ip}:{self.b_udp_port}")
+
+        
+            ##实现更新安全模式的方法
+            self.check_battery_safe_mode()
+            ## AB测控帧头检测
+            self.change_ck_mode()
+            

core/a2b_forward_old.py

@@ -0,0 +1,134 @@
+
+"""
+##A→B 转发主逻辑（UDP 监听 5000 → TCP 发 B）2026/3/29 2026/4/3停用
+import socket
+import threading
+from utils.logger import logger
+from utils.hex_helper import hex_dump
+from protocol.a_frame import AFrame
+from protocol.b_frame import build_b_frame
+from processor.telem_config import TABLE_MAP, TELEM_COUNT
+from processor.telm_calc import calc_telem, calc_telem_reverse
+
+class A2BForward:
+    def __init__(self, local_port, tcp_ip, tcp_port):
+        self.local_port = local_port
+        self.tcp_ip = tcp_ip
+        self.tcp_port = tcp_port
+        self.sock_tcp = None
+
+    def connect_b(self):
+        while True:
+            try:
+                s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                s.connect((self.tcp_ip, self.tcp_port))
+                self.sock_tcp = s
+                logger.info("✅ 已连接B软件")
+                return
+            except Exception as e:
+                logger.error("连接B失败，重连中")
+                threading.Event().wait(2)
+
+    def loop(self):
+        sock_udp = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        sock_udp.bind(("0.0.0.0", self.local_port))
+        logger.info(f"✅ 监听A软件 UDP:{self.local_port}")
+
+        self.connect_b()
+
+        while True:
+            data, addr = sock_udp.recvfrom(4096)
+            frame = AFrame(data)
+            if not frame.valid:
+                continue
+
+            data_id = frame.data_id
+            if data_id not in TABLE_MAP:
+                continue
+
+            expect_cnt = TELEM_COUNT[data_id]
+            values = frame.values[:expect_cnt]
+            table = TABLE_MAP[data_id]
+
+            # 计算所有遥测
+            #ref_cache = {}
+            processed = []
+            for idx, v in enumerate(values):
+                if idx >= len(table):
+                    processed.append(v)
+                    continue
+                name, method, param = table[idx]
+                #pv = calc_telem(v, method, param, ref_cache)
+                # 处理前
+                #print(f"[{name}] 输入Y: {v:.6f}")           
+                pv = calc_telem_reverse(v, method, param)#改为逆运算
+                print(f"[{name}] 输入Y: {v:.6f},反推D: {pv:.2f}")
+                processed.append(pv)
+
+            # 组B帧并发送
+            b_frame = build_b_frame(data_id, processed)
+            try:
+                self.sock_tcp.send(b_frame)
+            except:
+                self.connect_b()
+                self.sock_tcp.send(b_frame)
+
+            hex_dump(b_frame, "已发往B软件")
+            """
+# 修改 A→B 发送逻辑（核心） 2026/4/3
+import socket
+import threading
+from utils.logger import logger
+from utils.hex_helper import hex_dump
+from protocol.a_frame import AFrame
+from protocol.b_frame import build_b_frame
+from processor.telem_config import TABLE_MAP, TELEM_COUNT
+from processor.telm_calc import calc_telem_reverse
+
+class A2BForward:
+    def __init__(self, local_port, b_ip, b_udp_port):
+        self.local_port = local_port        # 5000
+        self.b_ip = b_ip                    # 10.20.97.166
+        self.b_udp_port = b_udp_port        # B 新UDP端口
+
+        # 监听 A 的 UDP
+        self.sock_udp = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        # 发给 B 的 UDP（新链路）
+        self.sock_to_b = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    def loop(self):
+        self.sock_udp.bind(("0.0.0.0", self.local_port))
+        logger.info(f"✅ 监听 A UDP: {self.local_port}")
+
+        while True:
+            data, addr = self.sock_udp.recvfrom(4096)
+            frame = AFrame(data)
+            if not frame.valid:
+                continue
+
+            data_id = frame.data_id
+            if data_id not in TABLE_MAP:
+                continue
+
+            expect_cnt = TELEM_COUNT[data_id]
+            values = frame.values[:expect_cnt]
+            table = TABLE_MAP[data_id]
+
+            # 逆运算反推原始值
+            processed = []
+            for idx, v in enumerate(values):
+                if idx >= len(table):
+                    processed.append(v)
+                    continue
+                name, method, param = table[idx]
+                pv = calc_telem_reverse(v, method, param)
+                print(f"[{name}] 输入Y: {v:.6f},反推D: {pv:.2f}")
+                processed.append(pv)
+
+            # 组帧
+            b_frame = build_b_frame(data_id, processed)
+
+            # ===================== 发给 B：UDP 发送 =====================
+            self.sock_to_b.sendto(b_frame, (self.b_ip, self.b_udp_port))
+
+            hex_dump(b_frame, f"✅ A→B 已通过 UDP 发往 B: {self.b_ip}:{self.b_udp_port}")

core/b2c_update_rules.py

@@ -0,0 +1,868 @@
+"""
+2026/4/18
+Tan Mingyan
+B软件数字卫星遥测帧-> C软件遥测数据更新规则
+"""
+# 格式：
+# 包代号: [
+#    (参数代号, 起始字节, 起始比特, 比特数),
+#    ...
+# ]
+"""
+B2C_UPDATE_RULES = {
+    1: [
+        ("M001CT001", 0, 0, 8),
+        ("M001CV002", 1, 0, 8),
+        ("M001CV003", 2, 0, 8),
+        ("M001CV004", 3, 0, 8),
+        ("M001CS005", 4, 0, 1),
+        ("M001CS006", 5, 0, 1),
+        ("M001CS007", 6, 0, 1),
+        ("M001CS008", 7, 0, 1),
+        ("M001CS009", 8, 0, 1),
+        ("M001CS010", 9, 0, 1),
+        ("M001CS011", 10, 0, 1),
+        ("M001CT012", 11, 0, 8),
+        ("M001CV013", 12, 0, 8),
+        ("M001CV014", 13, 0, 8),
+        ("M001CV015", 14, 0, 8),
+        ("M001CS016", 15, 0, 1),
+        ("M001CS017", 16, 0, 1),
+        ("M001CS018", 17, 0, 1),
+        ("M001CS019", 18, 0, 1),
+        ("M001CS020", 19, 0, 1),
+        ("M001CS021", 20, 0, 1),
+        ("M001CS022", 21, 0, 1),
+        ("M001CV023", 22, 0, 8),
+        ("M001CV024", 23, 0, 8),
+        ("M001CT025", 24, 0, 8),
+        ("M001CS026", 25, 0, 1),
+        ("M001CI027", 26, 0, 8),
+        ("M001CV028", 27, 0, 8),
+        ("M001CV029", 28, 0, 8),
+        ("M001CT030", 29, 0, 8),
+        ("M001CS031", 30, 0, 1),
+        ("M001CI032", 31, 0, 8),
+        ("M001CT033", 32, 0, 8),
+        ("M001CS034", 33, 0, 1),
+        ("M001CS035", 34, 0, 1),
+    ],
+    2: [
+        ("M002YI002", 0, 4, 12),
+        ("M002YI004", 2, 4, 12),
+        ("M002YI006", 4, 4, 12),
+        ("M002YI008", 6, 4, 12),
+        ("M002YI010", 8, 4, 12),
+        ("M002YI012", 10, 4, 12),
+        ("M002YI014", 12, 4, 12),
+        ("M002YI016", 14, 4, 12),
+        ("M002YV018", 16, 4, 12),
+        ("M002YV020", 18, 4, 12),
+        ("M002YV022", 20, 4, 12),
+        ("M002YV024", 22, 4, 12),
+        ("M002YS025", 24, 0, 8),
+        ("M002YS026", 25, 0, 8),
+        ("M002YS027", 26, 0, 8),
+        ("M002YS028", 27, 0, 8),
+        ("M002YS029", 28, 0, 8),
+        ("M002YS030", 29, 0, 8),
+        ("M002YS031", 30, 0, 8),
+        ("M002YS032", 31, 0, 8),
+        ("M002YS033", 32, 0, 8),
+        ("M002YS034", 33, 0, 8),
+        ("M002YS035", 34, 0, 8),
+        ("M002YS036", 35, 0, 8),
+        ("M002YI040", 38, 4, 12),
+        ("M002YI042", 40, 4, 12),
+        ("M002YI044", 42, 4, 12),
+        ("M002YI046", 44, 4, 12),
+        ("M002YI048", 46, 4, 12),
+        ("M002YI050", 48, 4, 12),
+        ("M002YI052", 50, 4, 12),
+        ("M002YV054", 52, 4, 12),
+        ("M002YV056", 54, 4, 12),
+    ],
+    3: [
+        ("M003YI002", 0, 4, 12),
+        ("M003YI004", 2, 4, 12),
+        ("M003YG027", 24, 0, 4),
+        ("M003YG028", 24, 4, 4),
+        ("M003YG029", 25, 0, 4),
+        ("M003YG030", 25, 4, 4),
+        ("M003YI034", 28, 4, 12),
+        ("M003YI036", 30, 4, 12),
+    ],
+    4: [
+        ("M004YV002", 0, 4, 12),
+        ("M004YV004", 2, 4, 12),
+        ("M004YV006", 4, 4, 12),
+        ("M004YV008", 6, 4, 12),
+        ("M004YV010", 8, 4, 12),
+        ("M004YV012", 10, 4, 12),
+        ("M004YV014", 12, 4, 12),
+        ("M004YV016", 14, 4, 12),
+        ("M004YV018", 16, 4, 12),
+        ("M004YV022", 20, 4, 12),
+        ("M004YV024", 22, 4, 12),
+        ("M004YV026", 24, 4, 12),
+        ("M004YV028", 26, 4, 12),
+        ("M004YV030", 28, 4, 12),
+        ("M004YV032", 30, 4, 12),
+        ("M004YV034", 32, 4, 12),
+        ("M004YV036", 34, 4, 12),
+        ("M004YV038", 36, 4, 12),
+    ],
+    19: [
+        ("M019XV005", 8, 0, 16),
+    ],
+    18: [
+        ("M018XV017", 32, 0, 16),
+        ("M018XV019", 36, 0, 16),
+    ],
+    57: [
+        ("M057JS005", 3, 1, 1),
+        ("M057JS006", 3, 2, 1),
+        ("M057JS007", 3, 3, 1),
+        ("M057JS008", 3, 4, 1),
+        ("M057JS009", 3, 5, 1),
+        ("M057JS010", 3, 6, 1),
+        ("M057JS012", 4, 1, 1),
+        ("M057JS013", 4, 2, 1),
+        ("M057JS014", 4, 3, 3),
+        ("M057JS015", 4, 6, 3),
+        ("M057JS017", 5, 2, 1),
+        ("M057JS018", 5, 3, 1),
+        ("M057JG023", 10, 0, 16),
+        ("M057JG024", 12, 0, 16),
+        #("M057JG039", 42, 0, 32),
+        ("M057JG040", 46, 0, 32),
+    ],
+    79: [
+        ("M079CG032", 16, 2, 2),
+        ("M079CS033", 16, 4, 1),
+        ("M079CS034", 16, 5, 1),
+    ],
+    85: [
+        ("M085TV003", 3, 0, 16),
+        ("M085CV004", 5, 0, 16),
+    ],
+    87: [
+        ("M087CS063", 47, 3, 1),
+        ("M087CS064", 47, 4, 1),
+        ("M087CS065", 47, 5, 1),
+        ("M087CS066", 47, 6, 1),
+        ("M087CS067", 47, 7, 1),
+        ("M087CS068", 48, 0, 1),
+        ("M087CS069", 48, 1, 1),
+        ("M087CS078", 49, 2, 1),
+        ("M087CS079", 49, 3, 1),
+    ],
+}
+"""
+
+"""
+# 最新B->C遥测替换规则 2026-04-19
+# 已完成所有偏移量计算、多包号拆分、统一字节偏移
+B2C_UPDATE_RULES = {
+    # 包1
+    1: [
+        ("M001CT001", 132, 0, 8),
+        ("M001CV002", 133, 0, 8),
+        ("M001CV003", 134, 0, 8),
+        ("M001CV004", 135, 0, 8),
+        ("M001CS005", 136, 0, 1),
+        ("M001CS006", 137, 0, 1),
+        ("M001CS007", 138, 0, 1),
+        ("M001CS008", 139, 0, 1),
+        ("M001CS009", 140, 0, 1),
+        ("M001CS010", 141, 0, 1),
+        ("M001CS011", 142, 0, 1),
+        ("M001CT012", 143, 0, 8),
+        ("M001CV013", 144, 0, 8),
+        ("M001CV014", 145, 0, 8),
+        ("M001CV015", 146, 0, 8),
+        ("M001CS016", 147, 0, 1),
+        ("M001CS017", 148, 0, 1),
+        ("M001CS018", 149, 0, 1),
+        ("M001CS019", 150, 0, 1),
+        ("M001CS020", 151, 0, 1),
+        ("M001CS021", 152, 0, 1),
+        ("M001CS022", 153, 0, 1),
+        ("M001CV023", 154, 0, 8),
+        ("M001CV024", 155, 0, 8),
+        ("M001CT025", 156, 0, 8),
+        ("M001CS026", 157, 0, 1),
+        ("M001CI027", 158, 0, 8),
+        ("M001CV028", 159, 0, 8),
+        ("M001CV029", 160, 0, 8),
+        ("M001CT030", 161, 0, 8),
+        ("M001CS031", 162, 0, 1),
+        ("M001CI032", 163, 0, 8),
+        ("M001CT033", 164, 0, 8),
+        ("M001CS034", 165, 0, 1),
+        ("M001CS035", 166, 0, 1),
+    ],
+    # 包2
+    2: [
+        ("M002YI002", 132, 4, 12),
+        ("M002YI004", 134, 4, 12),
+        ("M002YI006", 136, 4, 12),
+        ("M002YI008", 138, 4, 12),
+        ("M002YI010", 140, 4, 12),
+        ("M002YI012", 142, 4, 12),
+        ("M002YI014", 144, 4, 12),
+        ("M002YI016", 146, 4, 12),
+        ("M002YV018", 148, 4, 12),
+        ("M002YV020", 150, 4, 12),
+        ("M002YV022", 152, 4, 12),
+        ("M002YV024", 154, 4, 12),
+        ("M002YS025", 156, 0, 8),
+        ("M002YS026", 157, 0, 8),
+        ("M002YS027", 158, 0, 8),
+        ("M002YS028", 159, 0, 8),
+        ("M002YS029", 160, 0, 8),
+        ("M002YS030", 161, 0, 8),
+        ("M002YS031", 162, 0, 8),
+        ("M002YS032", 163, 0, 8),
+        ("M002YS033", 164, 0, 8),
+        ("M002YS034", 165, 0, 8),
+        ("M002YS035", 166, 0, 8),
+        ("M002YS036", 167, 0, 8),
+        ("M002YI040", 170, 4, 12),
+        ("M002YI042", 172, 4, 12),
+        ("M002YI044", 174, 4, 12),
+        ("M002YI046", 176, 4, 12),
+        ("M002YI048", 178, 4, 12),
+        ("M002YI050", 180, 4, 12),
+        ("M002YI052", 182, 4, 12),
+        ("M002YV054", 184, 4, 12),
+        ("M002YV056", 186, 4, 12),
+    ],
+    # 包3
+    3: [
+        ("M003YI002", 132, 4, 12),
+        ("M003YI004", 134, 4, 12),
+        ("M003YG027", 156, 0, 4),
+        ("M003YG028", 156, 4, 4),
+        ("M003YG029", 157, 0, 4),
+        ("M003YG030", 157, 4, 4),
+        ("M003YI034", 160, 4, 12),
+        ("M003YI036", 162, 4, 12),
+    ],
+    # 包4
+    4: [
+        ("M004YV002", 132, 4, 12),
+        ("M004YV004", 134, 4, 12),
+        ("M004YV006", 136, 4, 12),
+        ("M004YV008", 138, 4, 12),
+        ("M004YV010", 140, 4, 12),
+        ("M004YV012", 142, 4, 12),
+        ("M004YV014", 144, 4, 12),
+        ("M004YV016", 146, 4, 12),
+        ("M004YV018", 148, 4, 12),
+        ("M004YV022", 152, 4, 12),
+        ("M004YV024", 154, 4, 12),
+        ("M004YV026", 156, 4, 12),
+        ("M004YV028", 158, 4, 12),
+        ("M004YV030", 160, 4, 12),
+        ("M004YV032", 162, 4, 12),
+        ("M004YV034", 164, 4, 12),
+        ("M004YV036", 166, 4, 12),
+        ("M004YV038", 168, 4, 12),
+    ],
+    # 包18
+    18: [
+        ("M018XV017", 164, 0, 16),
+        ("M018XV019", 168, 0, 16),
+    ],
+    # 包19
+    19: [
+        ("M019XV005", 140, 0, 16),
+    ],
+    # 包57
+    57: [
+        ("M057JS005", 135, 1, 1),
+        ("M057JS006", 135, 2, 1),
+        ("M057JS007", 135, 3, 1),
+        ("M057JS008", 135, 4, 1),
+        ("M057JS009", 135, 5, 1),
+        ("M057JS010", 135, 6, 1),
+        ("M057JS012", 136, 1, 1),
+        ("M057JS013", 136, 2, 1),
+        ("M057JS014", 136, 3, 3),
+        ("M057JS015", 136, 6, 3),
+        ("M057JS017", 137, 2, 1),
+        ("M057JS018", 137, 3, 1),
+        ("M057JG023", 142, 0, 16),
+        ("M057JG024", 144, 0, 16),
+        ("M057JG039", 174, 0, 32),
+        ("M057JG040", 178, 0, 32),
+    ],
+    # 包79
+    79: [
+        ("M079CG032", 148, 2, 2),
+        ("M079CS033", 148, 4, 1),
+        ("M079CS034", 148, 5, 1),
+    ],
+    # 包85
+    85: [
+        ("M085TV003", 135, 0, 16),
+        ("M085CV004", 137, 0, 16),
+    ],
+    # 包87
+    87: [
+        ("M087CS063", 179, 3, 1),
+        ("M087CS064", 179, 4, 1),
+        ("M087CS065", 179, 5, 1),
+        ("M087CS066", 179, 6, 1),
+        ("M087CS067", 179, 7, 1),
+        ("M087CS068", 180, 0, 1),
+        ("M087CS069", 180, 1, 1),
+        ("M087CS078", 181, 2, 1),
+        ("M087CS079", 181, 3, 1),
+    ],
+
+    # ========== 新增第二批独立包号 ==========
+    # 包151
+    151: [
+        ("M001CT001", 0, 0, 8),
+        ("M001CV002", 1, 0, 8),
+        ("M001CV003", 2, 0, 8),
+        ("M001CV004", 3, 0, 8),
+        ("M001CS005", 4, 0, 1),
+        ("M001CS006", 5, 0, 1),
+        ("M001CS007", 6, 0, 1),
+        ("M001CS008", 7, 0, 1),
+        ("M001CS009", 8, 0, 1),
+        ("M001CS010", 9, 0, 1),
+        ("M001CS011", 10, 0, 1),
+        ("M001CT012", 11, 0, 8),
+        ("M001CV013", 12, 0, 8),
+        ("M001CV014", 13, 0, 8),
+        ("M001CV015", 14, 0, 8),
+        ("M001CS016", 15, 0, 1),
+        ("M001CS017", 16, 0, 1),
+        ("M001CS018", 17, 0, 1),
+        ("M001CS019", 18, 0, 1),
+        ("M001CS020", 19, 0, 1),
+        ("M001CS021", 20, 0, 1),
+        ("M001CS022", 21, 0, 1),
+        ("M001CV023", 22, 0, 8),
+        ("M001CV024", 23, 0, 8),
+        ("M001CT025", 24, 0, 8),
+        ("M001CS026", 25, 0, 1),
+        ("M001CI027", 26, 0, 8),
+        ("M001CV028", 27, 0, 8),
+        ("M001CV029", 28, 0, 8),
+        ("M001CT030", 29, 0, 8),
+        ("M001CS031", 30, 0, 1),
+        ("M001CI032", 31, 0, 8),
+        ("M001CT033", 32, 0, 8),
+        ("M001CS034", 33, 0, 1),
+        ("M001CS035", 34, 0, 1),
+    ],
+    # 包126
+    126: [
+        ("M079CG032", 16, 2, 2),
+        ("M079CS033", 16, 4, 1),
+        ("M079CS034", 16, 5, 1),
+        ("M002YI002", 66, 4, 12),
+        ("M002YI004", 68, 4, 12),
+        ("M002YI006", 70, 4, 12),
+        ("M002YI008", 72, 4, 12),
+        ("M002YI010", 74, 4, 12),
+        ("M002YI012", 76, 4, 12),
+        ("M002YI014", 78, 4, 12),
+        ("M002YI016", 80, 4, 12),
+        ("M002YV018", 82, 4, 12),
+        ("M002YV020", 84, 4, 12),
+        ("M002YV022", 86, 4, 12),
+        ("M002YV024", 88, 4, 12),
+        ("M002YS025", 90, 0, 8),
+        ("M002YS026", 91, 0, 8),
+        ("M002YS027", 92, 0, 8),
+        ("M002YS028", 93, 0, 8),
+        ("M002YS029", 94, 0, 8),
+        ("M002YS030", 95, 0, 8),
+        ("M002YS031", 96, 0, 8),
+        ("M002YS032", 97, 0, 8),
+        ("M002YS033", 98, 0, 8),
+        ("M002YS034", 99, 0, 8),
+        ("M002YS035", 100, 0, 8),
+        ("M002YS036", 101, 0, 8),
+        ("M002YI040", 104, 4, 12),
+        ("M002YI042", 106, 4, 12),
+        ("M002YI044", 108, 4, 12),
+        ("M002YI046", 110, 4, 12),
+        ("M002YI048", 112, 4, 12),
+        ("M002YI050", 114, 4, 12),
+        ("M002YI052", 116, 4, 12),
+        ("M002YV054", 118, 4, 12),
+        ("M002YV056", 120, 4, 12),
+    ],
+    # 包127
+    127: [
+        ("M085TV003", 3, 0, 16),
+        ("M085CV004", 5, 0, 16),
+        ("M087CS063", 113, 3, 1),
+        ("M087CS064", 113, 4, 1),
+        ("M087CS065", 113, 5, 1),
+        ("M087CS066", 113, 6, 1),
+        ("M087CS067", 113, 7, 1),
+        ("M087CS068", 114, 0, 1),
+        ("M087CS069", 114, 1, 1),
+        ("M087CS078", 115, 2, 1),
+        ("M087CS079", 115, 3, 1),
+    ],
+    # 包128
+    128: [
+        ("M087CS063", 113, 3, 1),
+        ("M087CS064", 113, 4, 1),
+        ("M087CS065", 113, 5, 1),
+        ("M087CS066", 113, 6, 1),
+        ("M087CS067", 113, 7, 1),
+        ("M087CS068", 114, 0, 1),
+        ("M087CS069", 114, 1, 1),
+        ("M087CS078", 115, 2, 1),
+        ("M087CS079", 115, 3, 1),
+    ],
+    # 包129
+    129: [
+        ("M087CS063", 113, 3, 1),
+        ("M087CS064", 113, 4, 1),
+        ("M087CS065", 113, 5, 1),
+        ("M087CS066", 113, 6, 1),
+        ("M087CS067", 113, 7, 1),
+        ("M087CS068", 114, 0, 1),
+        ("M087CS069", 114, 1, 1),
+        ("M087CS078", 115, 2, 1),
+        ("M087CS079", 115, 3, 1),
+    ],
+    # 包143
+    143: [
+        ("M057JS005", 135, 1, 1),
+        ("M057JS006", 135, 2, 1),
+        ("M057JS007", 135, 3, 1),
+        ("M057JS008", 135, 4, 1),
+        ("M057JS009", 135, 5, 1),
+        ("M057JS010", 135, 6, 1),
+        ("M057JS012", 136, 1, 1),
+        ("M057JS013", 136, 2, 1),
+        ("M057JS014", 136, 3, 3),
+        ("M057JS015", 136, 6, 3),
+        ("M057JS017", 137, 2, 1),
+        ("M057JS018", 137, 3, 1),
+        ("M057JG023", 142, 0, 16),
+        ("M057JG024", 144, 0, 16),
+        ("M057JG039", 174, 0, 32),
+        ("M057JG040", 178, 0, 32),
+    ],
+    # 包147
+    147: [
+        ("M003YI002", 0, 4, 12),
+        ("M003YI004", 2, 4, 12),
+        ("M003YG027", 24, 0, 4),
+        ("M003YG028", 24, 4, 4),
+        ("M003YG029", 25, 0, 4),
+        ("M003YG030", 25, 4, 4),
+        ("M003YI034", 28, 4, 12),
+        ("M003YI036", 30, 4, 12),
+        ("M004YV002", 66, 4, 12),
+        ("M004YV004", 68, 4, 12),
+        ("M004YV006", 70, 4, 12),
+        ("M004YV008", 72, 4, 12),
+        ("M004YV010", 74, 4, 12),
+        ("M004YV012", 76, 4, 12),
+        ("M004YV014", 78, 4, 12),
+        ("M004YV016", 80, 4, 12),
+        ("M004YV018", 82, 4, 12),
+        ("M004YV022", 86, 4, 12),
+        ("M004YV024", 88, 4, 12),
+        ("M004YV026", 90, 4, 12),
+        ("M004YV028", 92, 4, 12),
+        ("M004YV030", 94, 4, 12),
+        ("M004YV032", 96, 4, 12),
+        ("M004YV034", 98, 4, 12),
+        ("M004YV036", 100, 4, 12),
+        ("M004YV038", 102, 4, 12),
+    ],
+    # 包149
+    149: [
+        ("M019XV005", 132, 0, 16),
+        ("M018XV017", 32, 0, 16),
+        ("M018XV019", 36, 0, 16),
+    ]
+}
+"""
+# 2026-04-19 最新版 B2C 遥测更新规则
+# 完全依据本次最新表格、所有偏移量预计算、多包拆分完成
+B2C_UPDATE_RULES = {
+    # ==================== 第一组：大包号(1/2/3/4/18/19/57/79/85/87) 偏移+132 ====================
+    1: [
+        ("M001CT001", 132, 0, 8),
+        ("M001CV002", 133, 0, 8),
+        ("M001CV003", 134, 0, 8),
+        ("M001CV004", 135, 0, 8),
+        ("M001CS005", 136, 0, 1),
+        ("M001CS006", 137, 0, 1),
+        ("M001CS007", 138, 0, 1),
+        ("M001CS008", 139, 0, 1),
+        ("M001CS009", 140, 0, 1),
+        ("M001CS010", 141, 0, 1),
+        ("M001CS011", 142, 0, 1),
+        ("M001CT012", 143, 0, 8),
+        ("M001CV013", 144, 0, 8),
+        ("M001CV014", 145, 0, 8),
+        ("M001CV015", 146, 0, 8),
+        ("M001CS016", 147, 0, 1),
+        ("M001CS017", 148, 0, 1),
+        ("M001CS018", 149, 0, 1),
+        ("M001CS019", 150, 0, 1),
+        ("M001CS020", 151, 0, 1),
+        ("M001CS021", 152, 0, 1),
+        ("M001CS022", 153, 0, 1),
+        ("M001CV023", 154, 0, 8),
+        ("M001CV024", 155, 0, 8),
+        ("M001CT025", 156, 0, 8),
+        ("M001CS026", 157, 0, 1),
+        ("M001CI027", 158, 0, 8),
+        ("M001CV028", 159, 0, 8),
+        ("M001CV029", 160, 0, 8),
+        ("M001CT030", 161, 0, 8),
+        ("M001CS031", 162, 0, 1),
+        ("M001CI032", 163, 0, 8),
+        ("M001CT033", 164, 0, 8),
+        ("M001CS034", 165, 0, 1),
+        ("M001CS035", 166, 0, 1),
+    ],
+    2: [
+        ("M002YI002", 132, 4, 12),
+        ("M002YI004", 134, 4, 12),
+        ("M002YI006", 136, 4, 12),
+        ("M002YI008", 138, 4, 12),
+        ("M002YI010", 140, 4, 12),
+        ("M002YI012", 142, 4, 12),
+        ("M002YI014", 144, 4, 12),
+        ("M002YI016", 146, 4, 12),
+        ("M002YV018", 148, 4, 12),
+        ("M002YV020", 150, 4, 12),
+        ("M002YV022", 152, 4, 12),
+        ("M002YV024", 154, 4, 12),
+        ("M002YS025", 156, 0, 8),
+        ("M002YS026", 157, 0, 8),
+        ("M002YS027", 158, 0, 8),
+        ("M002YS028", 159, 0, 8),
+        ("M002YS029", 160, 0, 8),
+        ("M002YS030", 161, 0, 8),
+        ("M002YS031", 162, 0, 8),
+        ("M002YS032", 163, 0, 8),
+        ("M002YS033", 164, 0, 8),
+        ("M002YS034", 165, 0, 8),
+        ("M002YS035", 166, 0, 8),
+        ("M002YS036", 167, 0, 8),
+        ("M002YI040", 170, 4, 12),
+        ("M002YI042", 172, 4, 12),
+        ("M002YI044", 174, 4, 12),
+        ("M002YI046", 176, 4, 12),
+        ("M002YI048", 178, 4, 12),
+        ("M002YI050", 180, 4, 12),
+        ("M002YI052", 182, 4, 12),
+        ("M002YV054", 184, 4, 12),
+        ("M002YV056", 186, 4, 12),
+    ],
+    3: [
+        ("M003YI002", 132, 4, 12),
+        ("M003YI004", 134, 4, 12),
+        ("M003YG027", 156, 0, 4),
+        ("M003YG028", 156, 4, 4),
+        ("M003YG029", 157, 0, 4),
+        ("M003YG030", 157, 4, 4),
+        ("M003YI034", 160, 4, 12),
+        ("M003YI036", 162, 4, 12),
+        # ========== 【新增】包3 M003YV038 ==========
+        ("M003YV038", 164, 4, 12),
+    ],
+    4: [
+        ("M004YV002", 132, 4, 12),
+        ("M004YV004", 134, 4, 12),
+        ("M004YV006", 136, 4, 12),
+        ("M004YV008", 138, 4, 12),
+        ("M004YV010", 140, 4, 12),
+        ("M004YV012", 142, 4, 12),
+        ("M004YV014", 144, 4, 12),
+        ("M004YV016", 146, 4, 12),
+        ("M004YV018", 148, 4, 12),
+        ("M004YV022", 152, 4, 12),
+        ("M004YV024", 154, 4, 12),
+        ("M004YV026", 156, 4, 12),
+        ("M004YV028", 158, 4, 12),
+        ("M004YV030", 160, 4, 12),
+        ("M004YV032", 162, 4, 12),
+        ("M004YV034", 164, 4, 12),
+        ("M004YV036", 166, 4, 12),
+        ("M004YV038", 168, 4, 12),
+    ],
+
+     # ========== 【新增】包10：M010 系列 ==========
+    10: [
+        ("M010YV006", 136, 4, 12),
+        ("M010YV012", 142, 4, 12),
+        ("M010YV014", 144, 4, 12),
+    ],
+    14: [
+        ("M014ZG027", 184, 0, 8),#2026/5/8 计算机包9
+    ],
+    18: [
+        ("M018XV017", 164, 0, 16),
+        ("M018XV019", 168, 0, 16),
+    ],
+    19: [
+        ("M019XV005", 140, 0, 16),
+    ],
+    ##2026/4/26新增50包
+    50: [
+
+        # ("M050YV001", 132, 0, 16),
+        # ("M050YV002", 134, 0, 16),
+        # ("M050YV003", 136, 0, 16),＃阈值先不动
+        ("M050YS055", 171, 0, 1),
+        ("M050YS056", 171, 1, 1),
+        ("M050YS057", 171, 2, 1),
+        ("M050YS058", 171, 3, 1),#2026/5/8
+        ("M050YS067", 186, 0, 2),#2026/5/8
+        ("M050YS068", 186, 1, 2),#2026/5/8
+        ("M050YS069", 186, 2, 2),#2026/5/8
+        ("M050YS070", 186, 3, 2),#2026/5/8
+        ("M050YG073", 186, 6, 2),
+
+    ],
+
+    57: [
+        ("M057JS005", 135, 1, 1),
+        ("M057JS006", 135, 2, 1),
+        ("M057JS007", 135, 3, 1),
+        ("M057JS008", 135, 4, 1),
+        ("M057JS009", 135, 5, 1),
+        ("M057JS010", 135, 6, 1),
+        # ("M057JS012", 136, 1, 1),
+        # ("M057JS013", 136, 2, 1),
+        ("M057JS014", 136, 3, 3),
+        ("M057JS015", 136, 6, 3),
+        ("M057JS017", 137, 2, 1),
+        ("M057JS018", 137, 3, 1),
+        #("M057JG023", 142, 0, 16),
+        #("M057JG024", 144, 0, 16),
+        #("M057JG039", 174, 0, 32),
+        #("M057JG040", 178, 0, 32),
+    ],
+    79: [
+        ("M079CG032", 148, 2, 2),
+        ("M079CS033", 148, 4, 1),
+        ("M079CS034", 148, 5, 1),
+    ],
+    85: [
+        ("M085TV003", 135, 0, 16),
+        ("M085CV004", 137, 0, 16),
+    ],
+    87: [
+        ("M087CS063", 179, 3, 1),
+        ("M087CS064", 179, 4, 1),
+        ("M087CS065", 179, 5, 1),
+        ("M087CS066", 179, 6, 1),
+        ("M087CS067", 179, 7, 1),
+        ("M087CS068", 180, 0, 1),
+        ("M087CS069", 180, 1, 1),
+        ("M087CS078", 181, 2, 1),
+        ("M087CS079", 181, 3, 1),
+    ],
+
+    # ==================== 第二组：专项包号(151/126/127/128/129/143/147/149) 新偏移 ====================
+    151: [
+        ("M001CT001", 4, 0, 8),
+        ("M001CV002", 5, 0, 8),
+        ("M001CV003", 6, 0, 8),
+        ("M001CV004", 7, 0, 8),
+        ("M001CS005", 8, 0, 1),
+        ("M001CS006", 9, 0, 1),
+        ("M001CS007", 10, 0, 1),
+        ("M001CS008", 11, 0, 1),
+        ("M001CS009", 12, 0, 1),
+        ("M001CS010", 13, 0, 1),
+        ("M001CS011", 14, 0, 1),
+        ("M001CT012", 15, 0, 8),
+        ("M001CV013", 16, 0, 8),
+        ("M001CV014", 17, 0, 8),
+        ("M001CV015", 18, 0, 8),
+        ("M001CS016", 19, 0, 1),
+        ("M001CS017", 20, 0, 1),
+        ("M001CS018", 21, 0, 1),
+        ("M001CS019", 22, 0, 1),
+        ("M001CS020", 23, 0, 1),
+        ("M001CS021", 24, 0, 1),
+        ("M001CS022", 25, 0, 1),
+        ("M001CV023", 26, 0, 8),
+        ("M001CV024", 27, 0, 8),
+        ("M001CT025", 28, 0, 8),
+        ("M001CS026", 29, 0, 1),
+        ("M001CI027", 30, 0, 8),
+        ("M001CV028", 31, 0, 8),
+        ("M001CV029", 32, 0, 8),
+        ("M001CT030", 33, 0, 8),
+        ("M001CS031", 34, 0, 1),
+        ("M001CI032", 35, 0, 8),
+        ("M001CT033", 36, 0, 8),
+        ("M001CS034", 37, 0, 1),
+        ("M001CS035", 38, 0, 1),
+    ],
+
+    125: [
+        ("M014ZG027", 184, 0, 8),#2026/5/8 计算机包9
+    ],
+    
+    126: [
+        ("M079CG032", 20, 2, 2),
+        ("M079CS033", 20, 4, 1),
+        ("M079CS034", 20, 5, 1),
+        ("M002YI002", 68, 4, 12),
+        ("M002YI004", 70, 4, 12),
+        ("M002YI006", 72, 4, 12),
+        ("M002YI008", 74, 4, 12),
+        ("M002YI010", 76, 4, 12),
+        ("M002YI012", 78, 4, 12),
+        ("M002YI014", 80, 4, 12),
+        ("M002YI016", 82, 4, 12),
+        ("M002YV018", 84, 4, 12),
+        ("M002YV020", 86, 4, 12),
+        ("M002YV022", 88, 4, 12),
+        ("M002YV024", 90, 4, 12),
+        ("M002YS025", 92, 0, 8),
+        ("M002YS026", 93, 0, 8),
+        ("M002YS027", 94, 0, 8),
+        ("M002YS028", 95, 0, 8),
+        ("M002YS029", 96, 0, 8),
+        ("M002YS030", 97, 0, 8),
+        ("M002YS031", 98, 0, 8),
+        ("M002YS032", 99, 0, 8),
+        ("M002YS033", 100, 0, 8),
+        ("M002YS034", 101, 0, 8),
+        ("M002YS035", 102, 0, 8),
+        ("M002YS036", 101, 0, 8),
+        ("M002YI040", 106, 4, 12),
+        ("M002YI042", 108, 4, 12),
+        ("M002YI044", 110, 4, 12),
+        ("M002YI046", 112, 4, 12),
+        ("M002YI048", 114, 4, 12),
+        ("M002YI050", 116, 4, 12),
+        ("M002YI052", 118, 4, 12),
+        ("M002YV054", 120, 4, 12),
+        ("M002YV056", 122, 4, 12),
+    ],
+    127: [
+        ("M085TV003", 7, 0, 16),
+        ("M085CV004", 9, 0, 16),
+        ("M087CS063", 115, 3, 1),
+        ("M087CS064", 115, 4, 1),
+        ("M087CS065", 115, 5, 1),
+        ("M087CS066", 115, 6, 1),
+        ("M087CS067", 115, 7, 1),
+        ("M087CS068", 116, 0, 1),
+        ("M087CS069", 116, 1, 1),
+        ("M087CS078", 117, 2, 1),
+        ("M087CS079", 117, 3, 1),
+    ],
+    128: [
+        ("M087CS063", 115, 3, 1),
+        ("M087CS064", 115, 4, 1),
+        ("M087CS065", 115, 5, 1),
+        ("M087CS066", 115, 6, 1),
+        ("M087CS067", 115, 7, 1),
+        ("M087CS068", 116, 0, 1),
+        ("M087CS069", 116, 1, 1),
+        ("M087CS078", 117, 2, 1),
+        ("M087CS079", 117, 3, 1),
+    ],
+    129: [
+        ("M087CS063", 115, 3, 1),
+        ("M087CS064", 115, 4, 1),
+        ("M087CS065", 115, 5, 1),
+        ("M087CS066", 115, 6, 1),
+        ("M087CS067", 115, 7, 1),
+        ("M087CS068", 116, 0, 1),
+        ("M087CS069", 116, 1, 1),
+        ("M087CS078", 117, 2, 1),
+        ("M087CS079", 117, 3, 1),
+    ],
+    143: [
+        ("M057JS005", 135, 1, 1),
+        ("M057JS006", 135, 2, 1),
+        ("M057JS007", 135, 3, 1),
+        ("M057JS008", 135, 4, 1),
+        ("M057JS009", 135, 5, 1),
+        ("M057JS010", 135, 6, 1),
+        # ("M057JS012", 136, 1, 1),
+        # ("M057JS013", 136, 2, 1),
+        ("M057JS014", 136, 3, 3),
+        ("M057JS015", 136, 6, 3),
+        ("M057JS017", 137, 2, 1),
+        ("M057JS018", 137, 3, 1),
+        #("M057JG023", 142, 0, 16),
+        #("M057JG024", 144, 0, 16),
+        #("M057JG039", 174, 0, 32),
+        #("M057JG040", 178, 0, 32),
+    ],
+    147: [
+        ("M003YI002", 4, 4, 12),
+        ("M003YI004", 6, 4, 12),
+        ("M003YG027", 28, 0, 4),
+        ("M003YG028", 28, 4, 4),
+        ("M003YG029", 29, 0, 4),
+        ("M003YG030", 29, 4, 4),
+        ("M003YI034", 32, 4, 12),
+        ("M003YI036", 34, 4, 12),
+        # ========== 【新增】包147 M003YV038 ==========
+        ("M003YV038", 36, 4, 12),
+        ("M004YV002", 68, 4, 12),
+        ("M004YV004", 70, 4, 12),
+        ("M004YV006", 72, 4, 12),
+        ("M004YV008", 74, 4, 12),
+        ("M004YV010", 76, 4, 12),
+        ("M004YV012", 78, 4, 12),
+        ("M004YV014", 80, 4, 12),
+        ("M004YV016", 82, 4, 12),
+        ("M004YV018", 84, 4, 12),
+        ("M004YV022", 88, 4, 12),
+        ("M004YV024", 90, 4, 12),
+        ("M004YV026", 92, 4, 12),
+        ("M004YV028", 94, 4, 12),
+        ("M004YV030", 96, 4, 12),
+        ("M004YV032", 98, 4, 12),
+        ("M004YV034", 100, 4, 12),
+        ("M004YV036", 102, 4, 12),
+        ("M004YV038", 104, 4, 12),
+        ## 2026/4/26
+        # ("M050YV001", 132, 0, 16),
+        # ("M050YV002", 134, 0, 16),
+        # ("M050YV003", 136, 0, 16),＃阈值先不修改
+        ("M050YS055", 171, 0, 1),
+        ("M050YS056", 171, 1, 1),
+        ("M050YS057", 171, 2, 1),
+        ("M050YS058", 171, 3, 1),#2026/5/8
+        ("M050YS067", 186, 0, 2),#2026/5/8
+        ("M050YS068", 186, 1, 2),#2026/5/8
+        ("M050YS069", 186, 2, 2),#2026/5/8
+        ("M050YS070", 186, 3, 2),#2026/5/8
+        ("M050YG073", 186, 6, 2),
+    ],
+    149: [
+        ("M019XV005", 76, 0, 16),
+        ("M018XV017", 36, 0, 16),
+        ("M018XV019", 40, 0, 16),
+    ],
+
+    # ========== 【新增】包162：M010 系列 ==========
+    162: [
+        ("M010YV006", 8, 4, 12),
+        ("M010YV012", 14, 4, 12),
+        ("M010YV014", 16, 4, 12),
+    ],
+}

core/b_gis_client.py

@@ -0,0 +1,36 @@
+import socket
+import time
+from utils.logger import logger
+
+class BGisClient:
+    def __init__(self, b_ip, b_port):
+        self.b_ip = b_ip
+        self.b_port = b_port
+        self.sock = None
+        self.connected = False
+
+    def connect(self):
+        while True:
+            try:
+                sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                sock.settimeout(3)
+                sock.connect((self.b_ip, self.b_port))
+                self.sock = sock
+                self.connected = True
+                logger.info(f"✅ B 地测端口连接成功：{self.b_ip}:{self.b_port}")
+                return
+            except Exception as e:
+                logger.error(f"❌ B 地测端口连接失败，重试：{e}")
+                time.sleep(1)
+
+    def send(self, data):
+        if not self.connected:
+            self.connect()
+            return
+
+        try:
+            self.sock.sendall(data)
+        except Exception as e:
+            logger.error(f"❌ B 地测发送失败：{e}")
+            self.connected = False
+            self.sock = None

core/bit_packer.py

@@ -0,0 +1,31 @@
+"""
+2026/4/5
+TMY
+比特位打包器
+"""
+class BitPacker:
+    def __init__(self, total_bytes):
+        self.buf = bytearray(total_bytes)
+
+    def set_bits(self, start_byte, start_bit, bit_len, value):
+        """
+        start_byte: 起始字节
+        start_bit:  起始比特位（0~7）
+        bit_len:    比特长度
+        value:      无符号整数值
+        """
+        value = int(value) & ((1 << bit_len) - 1)
+        bit_pos = start_byte * 8 + start_bit
+
+        for i in range(bit_len):
+            bit = (value >> (bit_len - 1 - i)) & 1
+            byte_idx = bit_pos // 8
+            bit_idx = 7 - (bit_pos % 8)
+            if bit:
+                self.buf[byte_idx] |= (1 << bit_idx)
+            else:
+                self.buf[byte_idx] &= ~(1 << bit_idx)
+            bit_pos += 1
+
+    def get_bytes(self):
+        return bytes(self.buf)

core/bit_tools.py

@@ -0,0 +1,34 @@
+"""
+2026/4/18
+Tan Mingyan
+新建 比特 / 字节 操作工具（通用、精准）
+"""
+def set_bits(data: bytearray, byte_offset: int, bit_offset: int, bit_length: int, value: int):
+    """
+    对字节数组指定位置写入指定位数的值
+    :param data: 原始字节数组（会被修改）
+    :param byte_offset: 起始字节（从0开始，用户数据域起始为0）
+    :param bit_offset: 起始比特（0~7）
+    :param bit_length: 占多少比特
+    :param value: 要写入的值
+    """
+    if byte_offset >= len(data):
+        return
+
+    # 生成掩码
+    max_val = (1 << bit_length) - 1
+    value = value & max_val
+
+    pos = byte_offset * 8 + bit_offset
+    for i in range(bit_length):
+        bit = (value >> (bit_length - 1 - i)) & 1
+        byte_idx = pos // 8
+        bit_idx = pos % 8
+
+        if byte_idx >= len(data):
+            break
+
+        # 清位 + 置位
+        data[byte_idx] &= ~(1 << (7 - bit_idx))
+        data[byte_idx] |= (bit << (7 - bit_idx))
+        pos += 1

core/f_to_a_forward.py

@@ -0,0 +1,198 @@
+"""
+2026/4/11
+TMY
+新建 F→A 转发核心
+"""
+# import socket
+# import struct
+# from utils.logger import logger
+# from config_loader import cfg
+
+# # A 帧固定头
+# SYNC_HEADER = b'\xEB\x90\xEB\x90'
+# TAIL = b'\x4C\x3A'
+
+# # 固定配置
+# DIR = 0x01111111
+# DATA_ID = 0x00110000
+# TYPE = 0x00444444
+# SAT_ID = 0x000000ED
+# DATA_LEN = 0x00000004  # 固定4个double
+
+# class FToAForward:
+#     def __init__(self, local_port, a_ip, a_port):
+#         self.local_port = local_port
+#         self.a_ip = a_ip
+#         self.a_port = a_port
+
+#         # 监听 F UDP
+#         self.sock_f = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+#         self.sock_f.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+#         self.sock_f.bind(('0.0.0.0', self.local_port))
+
+#         # 发往 A UDP
+#         self.sock_a = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+#         logger.info(f"✅ F→A 转发启动：监听 F UDP {self.local_port} → A {a_ip}:{a_port}")
+
+#     def build_a_frame(self, shadow, sbx, sby, sbz):
+#         """组 A 软件协议帧"""
+#         frame = bytearray()
+#         frame += SYNC_HEADER
+#         frame += DATA_LEN.to_bytes(4, 'big')
+#         frame += DIR.to_bytes(4, 'big')
+#         frame += DATA_ID.to_bytes(4, 'big')
+#         frame += TYPE.to_bytes(4, 'big')
+#         frame += SAT_ID.to_bytes(4, 'big')
+
+#         # 4个 double 大端序
+#         frame += struct.pack('>d', shadow)
+#         frame += struct.pack('>d', sbx)
+#         frame += struct.pack('>d', sby)
+#         frame += struct.pack('>d', sbz)
+
+#         frame += TAIL
+#         logger.info(f"F->A 帧内容: {frame}")
+#         return bytes(frame)
+
+#     def loop(self):
+#         while True:
+#             data, addr = self.sock_f.recvfrom(4096)
+
+#             # 1. 只处理长度 2792
+#             if len(data) != 2792:
+#                 continue
+
+#             # 2. 去头48，去尾8 → 2736
+#             payload = data[48 : -8]
+#             if len(payload) != 2736:
+#                 continue
+
+#             try:
+#                 # 3. 小端解析所有 double
+#                 doubles = []
+#                 for i in range(0, 2736, 8):
+#                     d = struct.unpack('<d', payload[i:i+8])[0]
+#                     doubles.append(d)
+
+#                 # 4. 提取（从0开始，所以第30个 → 索引29）
+#                 shadow = doubles[29]   # 第30个
+#                 sbx = doubles[318]     # 319
+#                 sby = doubles[319]     # 320
+#                 sbz = doubles[320]     # 321
+#                 logger.info(f"shadow={shadow}, sbx={sbx}, sby={sby}, sbz={sbz}")
+#                 # shadow=0 → 全部置0
+#                 # if shadow == 0:
+#                 #     sbx = 0.0
+#                 #     sby = 0.0
+#                 #     sbz = 0.0
+
+#                 # 5. 组帧并发送
+#                 a_frame = self.build_a_frame(shadow, sbx, sby, sbz)
+#                 self.sock_a.sendto(a_frame, (self.a_ip, self.a_port))
+
+#             except Exception as e:
+#                 logger.error(f"F→A 解析失败: {e}")
+
+import socket
+import struct
+import time
+from utils.hex_helper import hex_dump
+from utils.logger import logger
+
+# A 帧固定头
+SYNC_HEADER = b'\xEB\x90\xEB\x90'
+TAIL = b'\x4C\x3A'
+
+# 固定配置
+DIR = 0x01111111
+DATA_ID = 0x00110000
+TYPE = 0x00444444
+SAT_ID = 0x000000ED
+DATA_LEN = 0x00000004  # 4个double
+
+
+class FToAForward:
+    def __init__(self, f_ip, f_port, a_ip, a_port):
+        self.f_ip = f_ip
+        self.f_port = f_port
+        self.a_ip = a_ip
+        self.a_port = a_port
+
+        self.sock_f = None
+        self.sock_a = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        logger.info(f"✅ F→A 转发启动：TCP客户端连接 {f_ip}:{f_port} → A {a_ip}:{a_port}")
+
+    def connect_f(self):
+        while True:
+            try:
+                sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                sock.settimeout(5)
+                sock.connect((self.f_ip, self.f_port))
+                self.sock_f = sock
+                logger.info(f"✅ 成功连接 F TCP Server：{self.f_ip}:{self.f_port}")
+                return
+            except Exception as e:
+                logger.error(f"❌ 连接 F 失败，重试：{e}")
+                time.sleep(1)
+
+    def build_a_frame(self, shadow, sbx, sby, sbz):
+        frame = bytearray()
+        frame += SYNC_HEADER
+        frame += DATA_LEN.to_bytes(4, 'big')
+        frame += DIR.to_bytes(4, 'big')
+        frame += DATA_ID.to_bytes(4, 'big')
+        frame += TYPE.to_bytes(4, 'big')
+        frame += SAT_ID.to_bytes(4, 'big')
+
+        frame += struct.pack('>d', shadow)
+        frame += struct.pack('>d', sbx)
+        frame += struct.pack('>d', sby)
+        frame += struct.pack('>d', sbz)
+
+        frame += TAIL
+        #logger.info(f"F->A 帧内容: {bytes(frame)}")
+        hex_dump(frame, "发送 F->A遥测帧")
+        return bytes(frame)
+
+    def loop(self):
+        while True:
+            if self.sock_f is None:
+                self.connect_f()
+
+            try:
+                data = self.sock_f.recv(4096)
+                if not data:
+                    logger.error("❌ F 断开连接，重连...")
+                    self.sock_f = None
+                    time.sleep(1)
+                    continue
+
+                if len(data) != 2792:
+                    continue
+                logger.info("收到F软件发送的长度2792数据...")
+                payload = data[48:-8]
+                if len(payload) != 2736:
+                    continue
+
+                doubles = []
+                for i in range(0, 2736, 8):
+                    d = struct.unpack('<d', payload[i:i+8])[0]
+                    doubles.append(d)
+
+                shadow = doubles[29]
+                sbx = doubles[318]
+                sby = doubles[319]
+                sbz = doubles[320]
+
+                # if shadow == 0:
+                #     sbx = 0.0
+                #     sby = 0.0
+                #     sbz = 0.0
+                logger.info(f"shadow={shadow}, sbx={sbx}, sby={sby}, sbz={sbz}")
+                a_frame = self.build_a_frame( sbx, sby, sbz, shadow)
+                self.sock_a.sendto(a_frame, (self.a_ip, self.a_port))
+
+            except Exception as e:
+                logger.error(f"❌ F 接收异常：{e}")
+                self.sock_f = None
+                time.sleep(1)

core/forward_engine.py

@@ -0,0 +1,435 @@
+import socket
+import threading
+import time
+from utils.logger import logger
+from utils.hex_helper import hex_dump
+from core.tcp_forward_client import TcpForwardClient  # 新增
+from core.global_params import get_param
+from core.b2c_update_rules import B2C_UPDATE_RULES
+from core.bit_tools import set_bits
+
+class UdpForward:
+    def __init__(self, local_port, remote_ip, remote_port, converter):
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.sock.bind(("0.0.0.0", local_port))
+        self.remote = (remote_ip, remote_port)
+        self.converter = converter
+
+    def loop(self):
+        logger.info(f"UDP监听 :{self.sock.getsockname()[1]} → {self.remote}")
+        while True:
+            data, addr = self.sock.recvfrom(4096)
+            hex_dump(data, f"UDP接收 {addr}")
+            out = self.converter.convert(data)
+            if out:
+                self.sock.sendto(out, self.remote)
+
+"""#2026/3/31 C软件使用UDP协议后停用
+class Tcp2UdpForward:
+    '''
+    原有功能：B → 格式转换 → D
+    新增功能：B → 无条件同时转发 → C
+    实现 1 发 2
+    '''
+    # def __init__(self, remote_tcp_ip, remote_tcp_port, udp_ip, udp_port, converter):
+    #     self.tcp_ip = remote_tcp_ip
+    #     self.tcp_port = remote_tcp_port
+    #     self.udp_ip = udp_ip
+    #     self.udp_port = udp_port
+    #     self.converter = converter
+    #     self.sock = None
+    def __init__(self, remote_tcp_ip, remote_tcp_port,
+                 udp_ip, udp_port, converter,
+                 forward_c_ip=None, forward_c_port=None):  # 新增 C 地址
+
+        self.remote_tcp_ip = remote_tcp_ip
+        self.remote_tcp_port = remote_tcp_port
+        self.udp_ip = udp_ip
+        self.udp_port = udp_port
+        self.converter = converter
+        # ===================== 新增：转发C =====================
+        self.forward_c = None
+        if forward_c_ip and forward_c_port:
+            self.forward_c = TcpForwardClient(forward_c_ip, forward_c_port)
+
+        self.udp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+
+    # def connect(self):
+    #     while True:
+    #         try:
+    #             self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    #             self.sock.connect((self.tcp_ip, self.tcp_port))
+    #             logger.info(f"TCP连接B成功 {self.tcp_ip}:{self.tcp_port}")
+    #             return
+    #         except:
+    #             import time
+    #             time.sleep(1)
+
+    # def loop(self):
+    #     self.connect()
+    #     udp = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    #     while True:
+    #         data = self.sock.recv(4096)
+    #         if not data:
+    #             self.connect()
+    #             continue
+    #         hex_dump(data, "TCP接收B")
+    #         out = self.converter.convert(data)
+    #         if out:
+    #             udp.sendto(out, (self.udp_ip, self.udp_port))
+    def connect_b(self):
+        while True:
+            try:
+                sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                sock.connect((self.remote_tcp_ip, self.remote_tcp_port))
+                logger.info(f"✅ 连接 B 软件成功: {self.remote_tcp_ip}:{self.remote_tcp_port}")
+                return sock
+            except Exception as e:
+                logger.error(f"❌ 连接 B 失败，重连中: {e}")
+                threading.Event().wait(2)
+
+    def loop(self):
+        # 如果需要转发C，先连接C
+        if self.forward_c:
+            self.forward_c.connect()
+
+        while True:
+            sock_tcp = self.connect_b()
+            try:
+                while True:
+                    data = sock_tcp.recv(4096)
+                    if not data:
+                        break
+
+                    hex_dump(data, "收到 B 软件遥测帧")
+
+                    # ===================== 核心：1 分 2 =====================
+                    # 1) 原有逻辑：转换后发给 D
+                    d_data = self.converter.convert(data)
+                    if d_data:
+                        self.udp_sock.sendto(d_data, (self.udp_ip, self.udp_port))
+
+                    # 2) 新增逻辑：无条件原样发给 C
+                    if self.forward_c:
+                        self.forward_c.send(data)
+
+
+            except Exception as e:
+                logger.error(f"B 连接异常: {e}")
+            finally:
+                sock_tcp.close()
+"""
+"""
+class Tcp2UdpForward:#2026/4/2 B软件TC,TM双端后停用
+    '''
+    B → D（格式转换 UDP）
+    B → C（原样 UDP 转发）
+    1发2 同时输出
+    '''
+    def __init__(self, remote_tcp_ip, remote_tcp_port,
+                 udp_ip, udp_port, converter,
+                 forward_c_ip=None, forward_c_port=None):
+
+        self.remote_tcp_ip = remote_tcp_ip
+        self.remote_tcp_port = remote_tcp_port
+        self.udp_ip = udp_ip
+        self.udp_port = udp_port
+        self.converter = converter
+
+        # D 端 UDP
+        self.udp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        # ===================== C 端 UDP 转发（新版） =====================
+        self.forward_c_ip = forward_c_ip
+        self.forward_c_port = forward_c_port
+        self.udp_c_sock = None
+        if self.forward_c_ip and self.forward_c_port:
+            self.udp_c_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    def connect_b(self):
+        while True:
+            try:
+                sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                sock.connect((self.remote_tcp_ip, self.remote_tcp_port))
+                logger.info(f"✅ 连接 B 软件成功: {self.remote_tcp_ip}:{self.remote_tcp_port}")
+                return sock
+            except Exception as e:
+                logger.error(f"❌ 连接 B 失败，重连中...")
+                threading.Event().wait(2)
+
+    def loop(self):
+        while True:
+            sock_tcp = self.connect_b()
+            try:
+                while True:
+                    data = sock_tcp.recv(4096)
+                    if not data:
+                        break
+
+                    hex_dump(data, "✅ 收到 B 软件遥测帧")
+
+                    # ========== 1. 原有逻辑：转换后发给 D ==========
+                    d_data = self.converter.convert(data)
+                    if d_data:
+                        self.udp_sock.sendto(d_data, (self.udp_ip, self.udp_port))
+
+                    # ========== 2. 新增逻辑：UDP 原样发给 C ==========
+                    if self.udp_c_sock:
+                        self.udp_c_sock.sendto(data, (self.forward_c_ip, self.forward_c_port))
+
+            except Exception as e:
+                logger.error(f"⚠️ B 连接异常: {e}")
+            finally:
+                sock_tcp.close()
+"""
+import socket
+import threading
+from utils.logger import logger
+from utils.hex_helper import hex_dump
+from core.a2b_forward import A2BForward
+
+
+cmd_K6466 = "EB9001073500EB90B571A50911C00100E505F4ED4500000000000000000000000000000000000000000000000000000000DDAAAAAAAA88880C1B0C02024477A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5CCCCCCCCCCCCCCCCB2EBA5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5DF0B91945716"
+cmd_K6466_byte = bytes.fromhex(cmd_K6466)
+
+class Tcp2UdpForward:
+    """
+    功能：
+    1. B 遥测(3078 TCP Server) → M 客户端接收
+    2. 转换格式 → D(UDP)
+    3. 无条件原样 → C(UDP)
+    """
+    def __init__(self, b_ip, b_telem_port, udp_d_ip, udp_d_port, converter, c_ip, c_port, g_ip, g_port, g_cmd_ip, g_cmd_port, e_ip, e_port):
+        self.b_ip = b_ip
+        self.b_telem_port = b_telem_port  # 3078
+        self.d_ip = udp_d_ip
+        self.d_port = udp_d_port
+        self.c_ip = c_ip
+        self.c_port = c_port  
+        self.g_ip = g_ip
+        self.g_port = g_port
+        self.g_cmd_ip = g_cmd_ip
+        self.g_cmd_port = g_cmd_port
+        self.converter = converter
+        self.e_ip = e_ip
+        self.e_port = e_port
+
+        # UDP 发送 socket
+        self.udp_d = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.udp_c = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.udp_g = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.udp_g_cmd = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.udp_e = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        self.sock_b = None #2026/4/16修复休眠断开
+        self.connected = False #2026/4/16修复休眠断开
+        self.not_received_count = 0 #没有收到遥测帧次数
+
+    # def connect_b_telem(self):#2026/4/16弃用，不能保证断联后重新连接
+    #     """连接 B 遥测 TCP Server 3078"""
+    #     while True:
+    #         try:
+    #             sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    #             logger.info(f"✅ B ip,remote——port{self.b_ip,self.b_telem_port}")
+    #             sock.connect((self.b_ip, self.b_telem_port))
+                
+    #             logger.info(f"✅ 已连接 B 遥测端口 3078")
+    #             return sock
+    #         except Exception as e:
+    #             logger.error("❌ 连接 B 3078 失败，重试中...")
+    #             threading.Event().wait(2)
+    
+    def connect_b_telem(self):#2026/4/16启用，修复休眠断开重连
+        while True:
+            try:
+                s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                s.settimeout(1)
+                ret = s.connect_ex((self.b_ip, self.b_telem_port))
+                if ret == 0:
+                    self.sock_b = s
+                    self.b_connected = True
+                    logger.info(f"✅ 连接 B 遥测端口成功: {self.b_ip}:{self.b_telem_port}")
+                    return
+            except:
+                pass
+            logger.error(f"❌ B 遥测端口连接失败，重试...")
+            time.sleep(1)
+    """        
+    def connect_b_telem(self):#2026/4/16启用，修复休眠断开重连
+        while True:
+            try:
+                s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                s.settimeout(5)
+                s.connect((self.b_ip, self.b_telem_port))
+                self.sock_f = s
+                logger.info(f"✅ 连接 B 遥测端口成功: {self.b_ip}:{self.b_telem_port}")
+                return
+            except Exception as e:
+                logger.error(f"❌ B 遥测 连接失败，重试...")
+                time.sleep(1)
+    """ 
+    """
+    def loop(self):#2026/4/16停用，不能修复休眠断开重连
+        while True:
+            sock_b = self.connect_b_telem()
+            try:
+                while True:
+                    data = sock_b.recv(4096)
+                    if not data:
+                        break
+
+                    hex_dump(data, "📥 收到 B 遥测帧")
+
+                    # 1. 转换后发 D
+                    d_data = self.converter.convert(data)
+                    if d_data:
+                        self.udp_d.sendto(d_data, (self.d_ip, self.d_port))
+
+                    # 2. 原样发 C
+                    self.udp_c.sendto(data, (self.c_ip, self.c_port))
+
+            except Exception as e:
+                logger.error(f"⚠️ B 遥测链路异常: {e}")
+            finally:
+                sock_b.close()
+    """
+
+    """
+    def loop(self):#2026/4/16启动，修复休眠断开重连
+        while True:
+            
+            if self.sock_b is None:
+                self.connect_b_telem()
+            try:
+                
+                data = self.sock_b.recv(4096)
+                if not data:
+                    break
+
+                hex_dump(data, "📥 收到 B 遥测帧")
+
+                # 1. 转换后发 D
+                d_data = self.converter.convert(data)
+                if d_data:
+                    self.udp_d.sendto(d_data, (self.d_ip, self.d_port))
+
+                # 2. 原样发 C
+                self.udp_c.sendto(data, (self.c_ip, self.c_port))
+     
+            except:
+                self.sock_b = None
+                logger.error(f"⚠️ B 遥测链路异常: ")
+                time.sleep(1)  
+    """
+
+
+    def update_telem_frame(self, frame):#2026/4/19
+        """根据全局变量修改遥测帧（你新需求的核心）"""
+        if len(frame) < 84:
+            return frame
+
+        # 包代号在 B[83]（从0开始）
+        pkt_id = frame[83]
+        if pkt_id not in B2C_UPDATE_RULES:
+            return frame
+
+        # 用户数据域从 B[120] 开始
+        if len(frame) <= 120:
+            return frame
+
+        user_data = bytearray(frame[120:])
+        rules = B2C_UPDATE_RULES[pkt_id]
+
+        for (code, byte_off, bit_off, bit_len) in rules:
+            val = get_param(code, 0)
+            set_bits(user_data, byte_off, bit_off, bit_len, val)
+
+        # 替换回原帧
+        new_frame = bytearray(frame)
+        new_frame[120:] = user_data
+        # logger.info(f"更新后的B遥测帧：{new_frame}")
+        hex_dump(new_frame, " 更新 B 遥测帧")
+        return bytes(new_frame)
+
+    def loop(self):#2026/4/16新加，不能修复休眠断开重连
+        logger.info(f"✅ B→D/C 遥测转发启动")
+        self.connect_b_telem()
+        self.k6466_send_count  = 0
+        
+        while True:
+            if not self.b_connected:
+                self.connect_b_telem()
+                time.sleep(0.5)
+                continue
+
+            #sock_b = self.connect_b_telem() #启动2026/4/16
+            try:
+                
+                data =  self.sock_b.recv(4096)
+                
+                # 截取前324个字节 2026/4/20
+                data = data[:324]
+                
+                if not data:
+                    '''
+                    self.not_received_count += 1#注释2026/4/16
+                    time.sleep(0.2)
+                    '''
+                    continue
+                else:
+                    self.not_received_count = 0
+                '''
+                if self.not_received_count > 100:
+                    logger.error("❌ 没有收到B 遥测，可能断开，重连中...")#注释2026/4/16
+                    self.b_connected = False
+                    self.sock_b.close()
+                    time.sleep(1)
+                    continue
+                '''
+                hex_dump(data, "📥 收到 B 遥测帧")
+
+                # 1. 转换后发 D
+                d_data = self.converter.convert(data)
+                if d_data:
+                    self.udp_d.sendto(d_data, (self.d_ip, self.d_port))
+
+                # 2. 原样发 C（删除）
+
+                #self.udp_c.sendto(data, (self.c_ip, self.c_port))
+
+                print(f"A2BForward.ck_ab_flag={A2BForward.ck_ab_flag}")
+
+                #2.修改部分遥测量发C 2026/4/18
+                data = self.update_telem_frame(data)
+
+                if A2BForward.ck_ab_flag != False:#c测控AB通道正常的话，向C软件发送遥测
+                    self.udp_c.sendto(data, (self.c_ip, self.c_port))
+
+                # 2026/4/30 发给C软件的data同样给G软件发一份
+                self.udp_g.sendto(data, (self.g_ip, self.g_port))
+
+                if A2BForward.ck_c_flag == True:
+                    self.k6466_send_count = 0
+
+                if A2BForward.ck_c_flag == False and self.k6466_send_count<6:#如果测控C通道异常，给G软件发送遥控指令。
+                    self.udp_g.sendto(cmd_K6466_byte, (self.g_cmd_ip, self.g_cmd_port))
+                    time.sleep(0.1)
+                    self.udp_e.sendto(cmd_K6466_byte, (self.e_ip, self.e_port))
+                    self.k6466_send_count += 1
+                    time.sleep(0.1)
+                    cmd_K6466_byte_hex= cmd_K6466_byte.hex(" ").upper()
+                    logger.info(f"给G软件-BD项目数据中继发送指令K6466出站数据：{cmd_K6466_byte_hex}，IP：{self.g_cmd_ip}，PORT：{self.g_cmd_port}")
+                    logger.info(f"给E软件-专项软件中继发送指令K6466出站数据：{cmd_K6466_byte_hex}，IP：{self.e_ip}，PORT：{self.e_port}")
+
+
+                # self.udp_g.sendto(cmd_K6466_byte, (self.g_cmd_ip, self.g_cmd_port))
+                # self.k6466_send_count += 1
+                # time.sleep(0.1)
+                # cmd_K6466_byte_hex= cmd_K6466_byte.hex(" ").upper()
+                # logger.info(f"给G软件-BD项目数据中继发送指令K6466出站数据：{cmd_K6466_byte_hex}，IP：{self.g_cmd_ip}，PORT：{self.g_cmd_port}")
+
+            except Exception as e:
+                logger.error(f"❌ B→D/C 接收异常: {e}")
+                self.b_connected = False #可以先不使用
+                time.sleep(0.1)

core/global_params.py

@@ -0,0 +1,20 @@
+# 全局遥测参数存储器
+# 结构：{ "参数代号": 值 }
+TELEM_PARAMS = {}
+
+# 分类顺序（你要求的顺序）
+# 1. 测控
+# 2. 星间链路终端
+# 3. SADA
+# 4. 能源
+
+def set_param(param_code, value):
+    """设置参数：代号 + 值"""
+    TELEM_PARAMS[param_code] = value
+
+def get_param(param_code, default=0):
+    """获取参数值"""
+    return TELEM_PARAMS.get(param_code, default)
+
+def clear_params():
+    TELEM_PARAMS.clear()

core/global_vars.py

@@ -0,0 +1,31 @@
+# ======================================================
+# 全局变量：整星安全模式 / 电池电压监测 / 报警状态
+# ======================================================
+
+# ---------------------- A 软件遥测全局 ----------------------
+g_M002YV020 = 0.0    # Vbat1 整组电池电压
+g_M010YV012 = 0.0    # Vbat2 整组电池电压
+g_M004YV002 = 0.0
+g_M004YV004 = 0.0
+g_M004YV006 = 0.0
+g_M004YV008 = 0.0
+g_M004YV010 = 0.0
+g_M004YV012 = 0.0
+g_M004YV014 = 0.0
+g_M004YV016 = 0.0
+g_M004YV018 = 0.0
+
+# ---------------------- B 软件阈值全局 ----------------------
+g_M050YV001 = 30.0   # 下限阈值1 默认29V
+g_M050YV002 = 29.0   # 下限阈值2 默认29V
+g_M050YV003 = 25.0   # 下限阈值3 默认29V
+
+# ---------------------- 报警输出全局 ----------------------
+g_M050YS055 = 0      # VBOD1 过放电1
+g_M050YS056 = 0      # VBOD2 过放电2 / 整星安全模式触发
+g_M050YS057 = 0      # VBOD3 过放电3
+g_M050YG073 = 0      # 供电模式 0=正常 1=安全模式
+
+# ---------------------- 连续3次判断计数器 ----------------------
+g_vbat_check_cnt = 0
+g_vbat_fail_flag = [False, False, False]

core/link_manager.py

@@ -0,0 +1,287 @@
+# import threading
+# from core.forward_engine import UdpForward, Tcp2UdpForward
+# from config.settings import LOCAL_PORT, REMOTE
+
+# # 导入转换器
+# from converter.b_to_d import B2DConverter
+# from converter.a_to_b import A2BConverter
+# from converter.b_to_e import B2EConverter
+# from converter.a_to_c import A2CConverter
+
+
+# class LinkManager:
+#     def __init__(self):
+#         self.links = []
+
+#     def register_all(self):
+#         # B→D
+#         self.links.append(
+#             Tcp2UdpForward(
+#                 remote_tcp_ip=REMOTE["B"]["ip"],
+#                 remote_tcp_port=REMOTE["B"]["port"],
+#                 udp_ip=REMOTE["D"]["ip"],
+#                 udp_port=REMOTE["D"]["port"],
+#                 converter=B2DConverter()
+#             )
+#         )
+
+#         # A→B
+#         self.links.append(
+#             UdpForward(
+#                 local_port=LOCAL_PORT["A_B"],
+#                 remote_ip=REMOTE["B"]["ip"],
+#                 remote_port=REMOTE["B"]["port"],
+#                 converter=A2BConverter()
+#             )
+#         )
+
+#         # A→C
+#         self.links.append(
+#             UdpForward(LOCAL_PORT["A_C"], REMOTE["C"]["ip"], REMOTE["C"]["port"], A2CConverter())
+#         )
+
+#         # B→E
+#         self.links.append(
+#             UdpForward(LOCAL_PORT["B_E"], REMOTE["E"]["ip"], REMOTE["E"]["port"], B2EConverter())
+#         )
+
+#     def start(self):
+#         for link in self.links:
+#             threading.Thread(target=link.loop, daemon=True).start()
+
+import threading
+from core.forward_engine import UdpForward, Tcp2UdpForward
+from config.settings import LOCAL_PORT, REMOTE
+from config_loader import cfg
+
+from converter.b_to_d import B2DConverter
+from converter.a_to_b import A2BConverter
+from converter.b_to_e import B2EConverter
+from converter.a_to_c import A2CConverter
+
+# ==================== 新增导入 ====================
+from converter.c_to_b import C2BConverter
+from converter.c_to_a import C2AConverter
+from core.single_to_dual import SingleToDualForward
+from core.tcp_single_to_dual import TcpSingleToDualForward
+#from core.a_to_b_forward import A2BForward
+from core.a2b_forward import A2BForward
+#from core.udp_c_remote import UdpRemoteC
+from core.udp_c_remote import UdpCRemote
+from core.f_to_a_forward import FToAForward  # 新增导入
+
+class LinkManager:
+    def __init__(self):
+        self.links = []
+
+    def register_all(self):
+        # # B→D
+        # self.links.append(
+        #     Tcp2UdpForward(
+        #         remote_tcp_ip=REMOTE["B"]["ip"],
+        #         remote_tcp_port=REMOTE["B"]["port"],
+        #         udp_ip=REMOTE["D"]["ip"],
+        #         udp_port=REMOTE["D"]["port"],
+        #         converter=B2DConverter()
+        #     )
+        # )
+        # B → D（转换） + B → C（无条件转发）2026/4/2 B软件换双端TC,TM后停用
+        # self.links.append(Tcp2UdpForward(
+        #     remote_tcp_ip=REMOTE["B"]["ip"], remote_tcp_port=REMOTE["B"]["port"],
+        #     udp_ip=REMOTE["D"]["ip"], udp_port=REMOTE["D"]["port"],
+        #     converter=B2DConverter(),
+        #     # 👇 新增：同时转发给 C
+        #     forward_c_ip=REMOTE["C"]["ip"],
+        #     forward_c_port=REMOTE["C"]["port"]
+        # ))
+
+        # ========== 1. B 遥测 3078 → D + C ==========2026/4/2更新 B软件换双端TC,TM
+        # self.links.append(Tcp2UdpForward(
+        #     b_ip=REMOTE["B"]["ip"],
+        #     b_telem_port=REMOTE["B"]["port_telem"],  # 3078
+        #     udp_d_ip=REMOTE["D"]["ip"],
+        #     udp_d_port=REMOTE["D"]["port"],
+        #     converter=B2DConverter(),
+        #     c_ip=REMOTE["C"]["ip"],
+        #     c_port=REMOTE["C"]["port"]
+        # ))
+        self.links.append(Tcp2UdpForward( 
+            # 2026/4/7更新 使用config.ini配置文件
+            b_ip=cfg.get("REMOTE", "B_IP"),
+            b_telem_port=cfg.get_int("REMOTE", "B_TELEM_PORT"),  # 3078
+            udp_d_ip=cfg.get("REMOTE", "D_IP"),
+            udp_d_port=cfg.get_int("REMOTE", "D_PORT"),
+            converter=B2DConverter(),
+            c_ip=cfg.get("REMOTE", "C_IP"),
+            c_port=cfg.get_int("REMOTE", "C_PORT"),
+            #2026/4/30新增G软件-数字卫星C通道遥测，遥控转发
+            g_ip = cfg.get("REMOTE", "B2G_IP"),
+            g_port = cfg.get_int("REMOTE", "B2G_PORT"),
+            g_cmd_ip = cfg.get("REMOTE", "G_CMD_IP"),
+            g_cmd_port = cfg.get_int("REMOTE", "G_CMD_PORT"),
+            #2026/5/11 新增E软件，遥控转发
+            e_ip = cfg.get("REMOTE", "E_IP"),
+            e_port = cfg.get_int("REMOTE", "E_PORT"),
+        ))
+
+        # A→B 2026/4/2停用
+        # self.links.append(
+        #     UdpForward(
+        #         local_port=LOCAL_PORT["A_B"],
+        #         remote_ip=REMOTE["B"]["ip"],
+        #         remote_port=REMOTE["B"]["port_remote"], ### 暂时是遥控接口，以后要改
+        #         converter=A2BConverter()
+        #     )
+        # )
+
+        # A→C
+        self.links.append(
+            #UdpForward(LOCAL_PORT["A_C"], REMOTE["C"]["ip"], REMOTE["C"]["port"], A2CConverter())
+            UdpForward(cfg.get_int("LOCAL","A_C"),  cfg.get("REMOTE","C_IP"), cfg.get_int("REMOTE","C_PORT"), A2CConverter())#2026/4/7更新 使用config.ini配置文件
+        )
+
+        # B→E
+        self.links.append(
+            #UdpForward(LOCAL_PORT["B_E"], REMOTE["E"]["ip"], REMOTE["E"]["port"], B2EConverter())
+            UdpForward(cfg.get_int("LOCAL","B_E"),cfg.get("REMOTE","E_IP"), cfg.get_int("REMOTE","E_PORT"), B2EConverter())#2026/4/7更新 使用config.ini配置文件
+        )
+
+        # # ==================== 新增两条链路 ====================
+        # # C → B 透传
+        # self.links.append(
+        #     UdpForward(
+        #         local_port=LOCAL_PORT["C_B"],
+        #         remote_ip=REMOTE["B"]["ip"],
+        #         remote_port=REMOTE["B"]["port"],
+        #         converter=C2BConverter()
+        #     )
+        # )
+
+        # # C → A 转发
+        # self.links.append(
+        #     UdpForward(
+        #         local_port=LOCAL_PORT["C_A"],
+        #         remote_ip=REMOTE["A"]["ip"],
+        #         remote_port=REMOTE["A"]["port"],
+        #         converter=C2AConverter()
+        #     )
+        # )
+          # ===================== 核心修改 =====================
+        # # C 单端口 → 同时发给 B 和 A
+        # self.links.append(SingleToDualForward(
+        #     local_port=LOCAL_PORT["C"],
+        #     # 发给 B
+        #     tcp_target_ip=REMOTE["B"]["ip"],
+        #     tcp_target_port=REMOTE["B"]["port"],
+        #     converter_tcp=C2BConverter(),
+        #     # 发给 A
+        #     udp_target_ip=REMOTE["A"]["ip"],
+        #     udp_target_port=REMOTE["A"]["port"],
+        #     converter_udp=C2AConverter()
+        # ))
+        # ===================== 【C 改为 TCP】 2026/3/31停用=====================
+        # self.links.append(TcpSingleToDualForward(
+        #     local_port=LOCAL_PORT["C"],
+        #     # 转发 B
+        #     tcp_target_ip=REMOTE["B"]["ip"],
+        #     tcp_target_port=REMOTE["B"]["port"],
+        #     converter_tcp=C2BConverter(),
+        #     # 转发 A
+        #     udp_target_ip=REMOTE["A"]["ip"],
+        #     udp_target_port=REMOTE["A"]["port"],
+        #     converter_udp=C2AConverter()
+        # ))
+
+        # # 在 register_all 中添加：
+        # self.links.append(
+        #     A2BForward(
+        #         local_port=LOCAL_PORT["A_LISTEN"],
+        #         tcp_target_ip=REMOTE["B"]["ip"],
+        #         tcp_target_port=REMOTE["B"]["port"]
+        #     )
+        # )
+
+        '''
+        # 在 register_all 末尾加，A-B？
+        self.links.append(
+            A2BForward(
+                #local_port=7100,
+                local_port=LOCAL_PORT["A_B"],        #2026/4/2改
+                tcp_ip=REMOTE["B"]["ip"],
+                #tcp_port=REMOTE["B"]["port"]
+                tcp_port=REMOTE["B"]["port_remote"] ##2026/4/2暂时改为遥控接口，以后要改
+            )
+        )
+        '''
+        # A-B 2026/4/3
+        self.links.append(
+            A2BForward(
+                #local_port=LOCAL_PORT["A_B"], #REMOTE["A"]["port"],  #2026/4/3改
+                local_port=cfg.get_int("LOCAL", "A_B"),
+                #b_ip=REMOTE["B"]["ip"],
+                b_ip=cfg.get("REMOTE", "B_IP"),#2026/4/7
+                #b_udp_port=REMOTE["B"]["port_udp"]   # B UDP 端口
+                b_udp_port=cfg.get_int("REMOTE", "B_UDP_PORT")#2026/4/7
+            )
+        )
+
+        # ===================== C(UDP)遥控 → A + B =====================2026/4/2停用 B软件换双端TC,TM
+        # self.links.append(
+        #     UdpRemoteC(
+        #         local_port=6004,          # C 发指令的 UDP 目标端口
+        #         a_ip=REMOTE["A"]["ip"],
+        #         a_port=REMOTE["A"]["port"],
+        #         b_ip=REMOTE["B"]["ip"],
+        #         b_port=REMOTE["B"]["port"],
+        #         converter=C2AConverter()  # 你原有遥控指令转换器
+        #     )
+        # )
+
+        # ========== 2. C UDP 遥控 → A + B 3028 ========== 2026/4/2更新 B软件换双端TC,TM
+        self.links.append(
+            #UdpRemoteC(
+            UdpCRemote(
+            # local_udp_port=6004,
+            # a_ip=REMOTE["A"]["ip"],
+            # a_port=REMOTE["A"]["port"],
+            # b_ip=REMOTE["B"]["ip"],
+            # b_remote_port=REMOTE["B"]["port_remote"],  # 3028
+
+            #local_udp_port=cfg.get_int("LOCAL", "C_AB"),#2026/4/7,
+            local_port=cfg.get_int("LOCAL", "C_AB"),#2026/4/7,
+            a_ip=cfg.get("REMOTE", "A_IP"),
+            a_port=cfg.get_int("REMOTE", "A_PORT"),
+            b_ip=cfg.get("REMOTE", "B_IP"),
+            b_remote_port=cfg.get_int("REMOTE", "B_REMOTE_PORT"),  # 3028
+            b_gis_port = cfg.get_int("REMOTE","B_DICE_PORT"),  # 2026/4/11新增
+            converter=C2AConverter(),
+            #2026/4//30新增E专项，G测控C通道软件转发
+            e_ip=cfg.get("REMOTE", "E_IP"),
+            e_port=cfg.get_int("REMOTE", "E_PORT"),
+            g_ip=cfg.get("REMOTE", "G_CMD_IP"),
+            g_port=cfg.get_int("REMOTE", "G_CMD_PORT")
+
+        ))
+
+        
+
+        # ========== F → A 转发 新增 ==========2026/4/11废弃
+        # self.links.append(
+        #     FToAForward(
+        #         local_port=cfg.get_int("LOCAL", "UDP_F_LISTEN_PORT"),
+        #         a_ip=cfg.get("REMOTE", "A_IP"),
+        #         a_port=cfg.get_int("REMOTE", "A_PORT")
+        #     )
+        # )
+        self.links.append(#7786
+            FToAForward(
+                f_ip=cfg.get("REMOTE", "F_IP"),
+                f_port=cfg.get_int("REMOTE", "F_PORT"),
+                a_ip=cfg.get("REMOTE", "A_IP"),
+                a_port=cfg.get_int("REMOTE", "A_FROM_B_PORT")
+            )
+        )
+
+    def start(self):
+        for link in self.links:
+            threading.Thread(target=link.loop, daemon=True).start()

core/single_to_dual.py

@@ -0,0 +1,64 @@
+import socket
+import threading
+from utils.logger import logger
+from utils.hex_helper import hex_dump
+
+class SingleToDualForward:
+    """
+    单端口接收，同时发给两个目标：
+    1) 转发给 TCP 目标（B）
+    2) 同时转发给 UDP 目标（A，条件转发）
+    """
+    def __init__(
+        self,
+        local_port,
+        tcp_target_ip, tcp_target_port, converter_tcp,
+        udp_target_ip, udp_target_port, converter_udp
+    ):
+        self.local_port = local_port
+        self.tcp_ip = tcp_target_ip
+        self.tcp_port = tcp_target_port
+        self.converter_tcp = converter_tcp  # C→B
+
+        self.udp_ip = udp_target_ip
+        self.udp_port = udp_target_port
+        self.converter_udp = converter_udp  # C→A
+
+        self.tcp_sock = None
+        self.udp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    def connect_tcp(self):
+        while True:
+            try:
+                self.tcp_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                self.tcp_sock.connect((self.tcp_ip, self.tcp_port))
+                logger.info(f"✅ TCP 连接 B 成功 {self.tcp_ip}:{self.tcp_port}")
+                return
+            except Exception as e:
+                logger.error(f"❌ TCP 连接失败，重试: {e}")
+                threading.Event().wait(2)
+
+    def loop(self):
+        # 绑定单端口接收 C
+        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        sock.bind(("0.0.0.0", self.local_port))
+        logger.info(f"✅ C 单端口监听启动: 0.0.0.0:{self.local_port}")
+
+        self.connect_tcp()
+
+        while True:
+            data, addr = sock.recvfrom(4096)
+            hex_dump(data, f"收到 C 指令 {addr}")
+
+            # ========== 1. 转发给 B（无条件） ==========
+            try:
+                b_data = self.converter_tcp.convert(data)
+                if b_data:
+                    self.tcp_sock.send(b_data)
+            except:
+                self.connect_tcp()
+
+            # ========== 2. 转发给 A（条件判断） ==========
+            a_data = self.converter_udp.convert(data)
+            if a_data:
+                self.udp_sock.sendto(a_data, (self.udp_ip, self.udp_port))

core/tcp_forward_client.py

@@ -0,0 +1,45 @@
+"""
+2026/3/31
+Tan Mingyan
+2026/3/31/, 软件C使用UDP协议，不再需要这个类
+"""
+import socket
+import threading
+from utils.hex_helper import hex_dump
+from utils.logger import logger
+
+class TcpForwardClient:
+    """
+    专门用于：无条件原样转发 TCP 数据（发给 C 软件）
+    """
+    def __init__(self, target_ip, target_port):
+        self.ip = target_ip
+        self.port = target_port
+        self.sock = None
+        self.lock = threading.Lock()
+
+    def connect(self):
+        while True:
+            try:
+                s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                s.connect((self.ip, self.port))
+                with self.lock:
+                    self.sock = s
+                logger.info(f"✅ C软件转发连接成功: {self.ip}:{self.port}")
+                return
+            except Exception as e:
+                logger.error(f"❌ C软件转发连接失败，重连中: {e}")
+                threading.Event().wait(2)
+
+    def send(self, data):
+        """原样转发，不修改任何数据"""
+        try:
+            with self.lock:
+                if self.sock:
+                    self.sock.send(data)
+                    #logger.info(f"✅ C软件转发成功: {self.ip}:{self.port}")
+                    hex_dump(data,"B-C透明转发遥测帧")
+            return True
+        except:
+            self.connect()
+            return False

core/tcp_single_to_dual.py

@@ -0,0 +1,83 @@
+import socket
+import threading
+from utils.logger import logger
+from utils.hex_helper import hex_dump
+
+class TcpSingleToDualForward:
+    """
+    C 软件：TCP 客户端
+    M 软件：TCP 服务端（单端口监听）
+    收到数据后：
+      1) 转发给 B（TCP）
+      2) 条件转发给 A（UDP）
+    """
+    def __init__(
+        self,
+        local_port,
+        tcp_target_ip, tcp_target_port, converter_tcp,
+        udp_target_ip, udp_target_port, converter_udp
+    ):
+        self.local_port = local_port
+        self.tcp_ip = tcp_target_ip
+        self.tcp_port = tcp_target_port
+        self.converter_tcp = converter_tcp  # C→B
+
+        self.udp_ip = udp_target_ip
+        self.udp_port = udp_target_port
+        self.converter_udp = converter_udp  # C→A
+
+        self.tcp_sock = None  # 发给 B 的连接
+        self.udp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    def connect_tcp_b(self):
+        while True:
+            try:
+                self.tcp_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                self.tcp_sock.connect((self.tcp_ip, self.tcp_port))
+                logger.info(f"✅ 已连接 B 软件 {self.tcp_ip}:{self.tcp_port}")
+                return
+            except Exception as e:
+                logger.error(f"❌ 连接 B 失败，重连中: {e}")
+                threading.Event().wait(2)
+
+    def handle_client(self, client_socket):
+        self.connect_tcp_b()
+        while True:
+            try:
+                data = client_socket.recv(4096)
+                if not data:
+                    logger.warning("⚠️ C 软件断开连接")
+                    break
+
+                hex_dump(data, "收到 C 软件指令")
+
+                # ========== 1. 转发 B ==========
+                try:
+                    b_data = self.converter_tcp.convert(data)
+                    if b_data:
+                        self.tcp_sock.send(b_data)
+                except:
+                    self.connect_tcp_b()
+
+                # ========== 2. 转发 A ==========
+                a_data = self.converter_udp.convert(data)
+                if a_data:
+                    self.udp_sock.sendto(a_data, (self.udp_ip, self.udp_port))
+
+            except Exception as e:
+                logger.error(f"客户端异常: {e}")
+                break
+
+        client_socket.close()
+
+    def loop(self):
+        server_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        server_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        server_sock.bind(("0.0.0.0", self.local_port))
+        server_sock.listen(5)
+        logger.info(f"✅ TCP 监听 C 软件: 0.0.0.0:{self.local_port}")
+
+        while True:
+            client_sock, addr = server_sock.accept()
+            logger.info(f"✅ C 软件已连接: {addr}")
+            threading.Thread(target=self.handle_client, args=(client_sock,), daemon=True).start()

core/udp_c_remote.py

@@ -0,0 +1,369 @@
+# import socket
+# import threading
+# from utils.logger import logger
+# from utils.hex_helper import hex_dump
+
+# class UdpRemoteC:#2026/4/2停用，因为B软件用双端口TCP，遥控端口3028
+#     """
+#     C 软件（UDP）发遥控指令 → M 接收 → 转发 A(UDP) + B(TCP)
+#     """
+#     def __init__(self, local_port, a_ip, a_port, b_ip, b_port, converter):
+#         self.local_port = local_port
+#         self.a_ip = a_ip
+#         self.a_port = a_port
+#         self.b_ip = b_ip
+#         self.b_port = b_port
+#         self.converter = converter
+
+#         # A：UDP
+#         self.udp_a = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+#         # B：TCP（长连接）
+#         self.tcp_b = None
+#         self.lock = threading.Lock()
+
+#     def connect_b(self):
+#         """B TCP 重连"""
+#         while True:
+#             try:
+#                 s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+#                 s.connect((self.b_ip, self.b_port))
+#                 with self.lock:
+#                     self.tcp_b = s
+#                 logger.info(f"✅ 遥控-B TCP 连接成功: {self.b_ip}:{self.b_port}")
+#                 return
+#             except Exception as e:
+#                 logger.error("❌ 遥控-B 连接失败，重连中...")
+#                 threading.Event().wait(2)
+
+#     def loop(self):
+#         # 监听 C UDP
+#         sock_c = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+#         #sock_c.bind(("0.0.0.0", self.local_port))
+#         sock_c.bind(("127.0.0.1", self.local_port))
+#         logger.info(f"✅ 监听 C 遥控 UDP: {self.local_port}")
+
+#         # 连接 B
+#         self.connect_b()
+
+#         while True:
+#             data, addr = sock_c.recvfrom(4096)
+#             if not data:
+#                 continue
+
+#             hex_dump(data, "📥 收到 C 遥控指令")
+
+#             # 1. 转换格式（你原有 C→A 转换器）
+#             a_frame = self.converter.convert(data)
+#             if not a_frame:
+#                 a_frame = data
+
+#             # 2. 转发 A（UDP）
+#             self.udp_a.sendto(a_frame, (self.a_ip, self.a_port))
+#             logger.info("📤 已发往 A")
+
+#             # 3. 转发 B（TCP）
+#             try:
+#                 with self.lock:
+#                     if self.tcp_b:
+#                         self.tcp_b.send(data)
+#                 logger.info("📤 已发往 B")
+#             except:
+#                 self.connect_b()
+#                 try:
+#                     with self.lock:
+#                         self.tcp_b.send(data)
+#                 except:
+#                     pass
+
+# import socket
+# import threading
+# from utils.logger import logger
+# from utils.hex_helper import hex_dump
+# from core.b_gis_client import BGisClient  # 新增
+
+# class UdpRemoteC: #2026/4/11停用
+#     """
+#     C(UDP 6004) 遥控指令 → M → 转发 A(UDP) + B(3028 TCP Server)
+#     """
+#     def __init__(self, local_udp_port, a_ip, a_port, b_ip, b_remote_port,b_gis_port, converter):
+#         self.local_port = local_udp_port  # 6004
+#         self.a_ip = a_ip
+#         self.a_port = a_port
+#         self.b_ip = b_ip
+#         self.b_remote_port = b_remote_port  # 3028
+#         self.converter = converter
+#         self.b_gis_port = b_gis_port  # 新增
+
+#         self.udp_a = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+#         self.tcp_b = None
+#         self.lock = threading.Lock()
+
+#         # 新增 B 地测客户端2026/4/11
+#         self.b_gis = BGisClient(self.b_ip, self.b_gis_port)
+
+#     def connect_b_remote(self):
+#         """连接 B 遥控 TCP Server 3028"""
+#         while True:
+#             try:
+#                 s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+#                 logger.info(f"B 遥控端口{self.b_ip}, {self.b_remote_port}")
+#                 s.connect((self.b_ip, self.b_remote_port))
+#                 with self.lock:
+#                     self.tcp_b = s
+                    
+#                 logger.info(f"✅ 已连接 B 遥控端口 3028")
+#                 return
+#             except Exception as e:
+#                 logger.error("❌ 连接 B 3028 失败，重试中...")
+#                 threading.Event().wait(2)
+
+#     def loop(self):
+#         # 绑定 UDP 监听 C
+#         sock_c = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+#         sock_c.bind(("0.0.0.0", self.local_port))
+#         logger.info(f"✅ UDP 监听 C 遥控端口: {self.local_port}")
+
+#         # 连接 B 遥控
+#         self.connect_b_remote()
+
+#         while True:
+#             data, addr = sock_c.recvfrom(4096)
+#             if not data:
+#                 continue
+
+#             hex_dump(data, "📥 收到 C 遥控指令")
+
+#             # 转发 A
+#             a_frame = self.converter.convert(data)
+#             if a_frame:
+#                 self.udp_a.sendto(a_frame, (self.a_ip, self.a_port))
+#                 logger.info("C遥控指令已发往 B")
+
+#             # 转发 B 3028
+#             try:
+#                 with self.lock:
+#                     self.tcp_b.send(data)
+#                     self.b_gis.send(data)  # 新增：无条件转发给 B 地测端口
+#             except:
+#                 self.connect_b_remote()
+#                 try:
+#                     with self.lock:
+#                         self.tcp_b.send(data)
+#                 except:
+#                     pass
+
+# import socket
+# import threading
+# import time
+# from core.b_gis_client import BGisClient
+# from utils.logger import logger
+# from config_loader import cfg
+
+# class UdpCRemote:
+#     def __init__(self, local_port, a_ip, a_port, b_ip, b_remote_port, b_gis_port, converter):
+#         self.local_port = local_port
+#         self.a_ip = a_ip
+#         self.a_port = a_port
+#         self.b_ip = b_ip
+#         self.b_remote_port = b_remote_port
+#         self.b_gis_port = b_gis_port  # 新增
+#         self.converter = converter
+
+#         # 初始化B地测客户端
+#         self.b_gis = BGisClient(self.b_ip, self.b_gis_port)
+
+#         self.sock_c = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+#         self.sock_c.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+
+#         self.sock_a = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+#         self.sock_b = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+
+#         self.b_connected = False
+
+#     def connect_b(self):
+#         while True:
+#             try:
+#                 self.sock_b.connect((self.b_ip, self.b_remote_port))
+#                 self.b_connected = True
+#                 logger.info(f"✅ 连接 B 遥控端口成功：{self.b_ip}:{self.b_remote_port}")
+#                 return
+#             except Exception as e:
+#                 logger.error(f"❌ 连接 B 遥控端口失败，重试：{e}")
+#                 time.sleep(1)
+
+#     def loop(self):
+#         try:
+#             self.sock_c.bind(("0.0.0.0", self.local_port))
+#             logger.info(f"✅ C 遥控监听：UDP {self.local_port}")
+#         except Exception as e:
+#             logger.error(f"❌ C 监听失败：{e}")
+#             return
+
+#         self.connect_b()
+
+#         while True:
+#             data, addr = self.sock_c.recvfrom(8192)
+#             if not data:
+#                 continue
+
+#             try:
+#                 forward_data = self.converter.convert(data)
+#                 logger.info(f"📤 C→B 指令转发：{forward_data.hex()}")
+
+#                 # 发送给原有 B 端口
+#                 if self.b_connected:
+#                     self.sock_b.send(forward_data)
+
+#                 # ===================== 新增：无条件转发给 B 地测 4028 =====================
+#                 self.b_gis.send(forward_data)
+
+#                 # 发送给 A
+#                 self.sock_a.sendto(forward_data, (self.a_ip, self.a_port))
+
+#             except Exception as e:
+#                 logger.error(f"❌ C 指令转发异常：{e}")
+
+import socket
+import time
+from utils.logger import logger
+
+special_cmd_list={#分别是K6794 专项星间实时遥测发送使能-271，K6794 专项星间实时遥测发送使能-271，K6795专项星间实时遥测发送禁止-271，K6465入站-271，K6466 出站-271
+    b"EB9001073500EB90B571A50911C00100E505F4ED4500000000000000000000000000000000000000000000000000000000DDAAAAAAAA88880C1B0C02023366A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5CCCCCCCCCCCCCCCC7FCEA5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5DF0B91225716",
+    b"EB9001073500EB90B571A50911C00100E505F4ED4500000000000000000000000000000000000000000000000000000000DDAAAAAAAA88880C1B0C02024477A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5CCCCCCCCCCCCCCCCB2EBA5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5DF0B91945716",
+    b"EB9001073500EB90B571A50911C00100E505F4ED4500000000000000000000000000000000000000000000000000000000DDAAAAAAAA88880C1B0C020233AAA5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5CCCCCCCCCCCCCCCCF26EA5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5DF0B91795716",
+    b"EB9001073500EB90B571A50911C00100E505F4ED4500000000000000000000000000000000000000000000000000000000DDAAAAAAAA88880C1B0C020233BBA5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5CCCCCCCCCCCCCCCCECB6A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5A5DF0B91CC5716"
+}
+class UdpCRemote:
+    def __init__(self, local_port, a_ip, a_port, b_ip, b_remote_port, b_gis_port, converter, e_ip, e_port, g_ip, g_port):
+        self.local_port = local_port
+        self.a_ip = a_ip
+        self.a_port = a_port
+        self.b_ip = b_ip
+        self.b_remote_port = b_remote_port
+        self.b_gis_port = b_gis_port  # 地测端口 4028
+        ##2026/4/30 部分特殊指令转发
+        self.e_ip = e_ip
+        self.e_port = e_port
+        self.g_ip = g_ip
+        self.g_port = g_port
+
+        self.converter = converter
+
+        # C 指令监听（UDP）
+        self.sock_c = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.sock_c.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+
+        # 发给 A（UDP）
+        self.sock_a = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        # 发给 B 原遥控端口 TCP（3028）
+        self.sock_b = None
+        self.b_connected = False
+
+        # 发给 B 地测端口 TCP（4028）—— 这里是你要的新增！
+        self.sock_b_gis = None
+        self.b_gis_connected = False
+
+        #发给E专项
+        self.udp_e = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        #发给G
+        self.udp_g = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    # 连接 B 原遥控端口 3028
+    def connect_b_remote(self):
+        while True:
+            try:
+                s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                s.settimeout(3)
+                s.connect((self.b_ip, self.b_remote_port))
+                self.sock_b = s
+                self.b_connected = True
+                logger.info(f"✅ 连接 B 遥控端口成功：{self.b_remote_port}")
+                return
+            except Exception as e:
+                logger.error(f"❌ B 遥控端口连接失败，重试：{e}")
+                time.sleep(1)
+
+    # 连接 B 地测端口 4028 —— 完整实现！
+    def connect_b_gis(self):
+        while True:
+            try:
+                s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                s.settimeout(3)
+                s.connect((self.b_ip, self.b_gis_port))
+                self.sock_b_gis = s
+                self.b_gis_connected = True
+                logger.info(f"✅ 连接 B 地测端口成功：{self.b_gis_port}")
+                return
+            except Exception as e:
+                logger.error(f"❌ B 地测端口连接失败，重试：{e}")
+                time.sleep(1)
+
+    def loop(self):
+        try:
+            self.sock_c.bind(("0.0.0.0", self.local_port))
+            logger.info(f"✅ C 指令监听：{self.local_port}")
+        except Exception as e:
+            logger.error(f"❌ C 监听失败：{e}")
+            return
+
+        # 启动时同时连接两个端口
+        self.connect_b_remote()
+        time.sleep(0.01)
+        self.connect_b_gis()
+
+        while True:
+            data, addr = self.sock_c.recvfrom(8192)
+            if not data:
+                continue
+
+            try:
+                # 转换指令
+                forward_data = self.converter.convert(data)
+                #logger.info(f"📤 转发C指令：{forward_data.hex()}")
+
+                # 1. 转发 A（UDP）
+                if forward_data is not None:
+                    self.sock_a.sendto(forward_data, (self.a_ip, self.a_port))
+
+                # 2. 转发 B 遥控端口（TCP）
+                if self.b_connected:
+                    try:
+                        self.sock_b.sendall(data)
+                    except:
+                        self.b_connected = False
+
+                # 3. 转发 B 地测端口（TCP）—— 无条件转发！
+                if self.b_gis_connected:
+                    try:
+                        self.sock_b_gis.sendall(data)
+                        logger.info(f"📤 转发C指令到B地测端口：{data.hex()}")
+                    except:
+                        self.b_gis_connected = False
+                
+                ## 判断指令是否是K6465，K6466，K6794，K6795,是就转发给D和G软件
+                # 转换为小写的十六进制字节串进行比较
+                data_hex_lower = data.hex().lower().encode()
+
+                # 判断是否在列表中（列表中的命令也预先转为小写）
+                special_cmd_lower = {cmd.lower() for cmd in special_cmd_list}
+
+                if data_hex_lower in special_cmd_lower:
+                    #print("匹配成功")        
+                #if data in special_cmd_list:
+                    # 转发E专项软件UDP
+                    self.udp_e.sendto(data, (self.e_ip, self.e_port))
+
+                    #转发G软件，测控C通道，UDP
+                    self.udp_g.sendto(data, (self.g_ip, self.g_port))
+                    logger.info(f"📤 转发C指令到E专项软件，端口{self.e_port},G软件BD项目数据中继，端口{self.g_port}, 指令：{data.hex()}")
+
+                # 自动重连
+                if not self.b_connected:
+                    self.connect_b_remote()
+                if not self.b_gis_connected:
+                    self.connect_b_gis()
+
+            except Exception as e:
+                logger.error(f"❌ 指令转发异常：{e}")