diff --git a/README.md b/README.md
index d6ceb7f..c8f36b3 100644
--- a/README.md
+++ b/README.md
@@ -23,3 +23,8 @@
 - 在 service 目录下添加具体的业务逻辑（数据库查询）
 - 设置 go 代理 go env -w GOPROXY=https://goproxy.cn,direct
 - 运行 go mod download / go mod tidy
+
+# windows 编译linux环境
+- go env -w GOOS=linux 
+- go build -o appname
+- go env -w GOOS=windows
diff --git a/bin/acc_conn-example.go b/bin/acc_conn-example.go
index 2420d1a..3639c72 100644
--- a/bin/acc_conn-example.go
+++ b/bin/acc_conn-example.go
@@ -5,10 +5,12 @@ import (
 	"fmt"
 	"github.com/spf13/viper"
 	"joylink.club/bj-rtsts-server/bin/config"
+	"joylink.club/bj-rtsts-server/const/balise_const"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
 	"log/slog"
-	"sort"
+	"strconv"
+	"strings"
 	"time"
 )
 
@@ -34,76 +36,74 @@ func initConfig() {
 	slog.Info("成功加载配置", "config", exampleConfig)
 }
 
+var btmCli udp.UdpClient
+
+func initBtmTest() {
+	ser := udp.NewServer(fmt.Sprintf("%v:%d", exampleConfig.Btm.LocalIp, exampleConfig.Btm.LocalPort), handleBtmVobcFrames)
+	ser.Listen()
+	btmCli = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Btm.RemoteIp, exampleConfig.Btm.RemotePort))
+}
+
+var accClient udp.UdpClient
+
+func initAccTest() {
+	accClient = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
+	go testAcc(accClient, 0.54)
+}
+
+var speedClient udp.UdpClient
+
+func initSpeedTest() {
+	speedClient = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Speed.RemoteIp, exampleConfig.Speed.RemotePort))
+	go testSpeed(speedClient, 30)
+}
 func main() {
 
 	initConfig()
-	accClient := udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Acc.RemoteIp, exampleConfig.Acc.RemotePort))
-	go testAcc(accClient, 0.54)
-	//btm server 接受数据测试
-	ser := udp.NewServer(fmt.Sprintf("192.168.1.150:%d", 4646), handleCanetFrames)
-	ser.Listen()
-	fmt.Println(ser, "===========")
+	initBtmTest()
+	//initAccTest()
+	//initSpeedTest()
 
-	//speedClient := udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Speed.RemoteIp, exampleConfig.Speed.RemotePort))
-	//go testSpeed(speedClient, 30)
 	select {}
 }
 
-func handleCanetFrames(cfs []byte) {
-	defer func() {
-		if e := recover(); e != nil {
-			slog.Debug(fmt.Sprintf("handleCanetFrames异常[%s]", e))
-		}
-	}()
+var testUserBtmMsg = "90007F8181B60B10183280003FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF"
+var freeBtmMsg = strings.Repeat("00", balise_const.UserTelegramByteLen)
 
-	//一个cannet 帧 13字节
-	if len(cfs) > 0 && len(cfs)%13 == 0 {
-		cfSum := len(cfs) / 13
-		dms := make([]*message.CanetFrame, 0, 16) //13个应答器报文数据帧+TimeA帧+TimeB帧+结束帧
-		for cfi := 0; cfi < cfSum; cfi++ {
-			cfStart := cfi * 13
-			cf := message.NewCanetFrame(cfs[cfStart:cfStart+13], false)
-			//
-			switch cf.CanFrameType() {
-			case message.CfReq:
-				fmt.Println(message.CfReq)
-			case message.CfStatusRsp:
-				fmt.Println(message.CfStatusRsp)
-			case message.CfTimeSync:
-				fmt.Println(message.CfTimeSync)
-			case message.CfMsg:
-				fallthrough
-			case message.CfMsgTimeA:
-				fallthrough
-			case message.CfMsgTimeB:
-				fallthrough
-			case message.CfMsgEnd:
-				dms = append(dms, cf)
-			default:
-				slog.Warn("CanetFrame帧没有具体对应的应用帧", "CannetFrame", cf.String())
-			} //switch
-		} //for
-		//将数据包按ID3即0x80+offset由小到大排序
-		sort.SliceStable(dms, func(i, j int) bool {
-			return dms[i].CanId.ID3 < dms[j].CanId.ID3
-		})
-		//有数据帧，但是不足16帧
-		if len(dms) > 0 {
-			if len(dms) != 16 {
-				slog.Warn("接收到数据帧，但数据帧数量不足16帧")
-			} else {
-				slog.Warn("接收到数据帧，但数据帧数量不足16帧111111")
-			}
-		}
-
-	} else {
-		slog.Warn("从cannet接收数据，未满足条件‘len(cfs) > 0 && len(cfs)%13 == 0‘", "len(cfs)", len(cfs), "16:", hex.EncodeToString(cfs))
+func handleBtmVobcFrames(cfs []byte) {
+	frameType, dataText, err := message.BtmVobcDecode(cfs)
+	if err != nil {
+		return
 	}
+	if frameType == message.COMMAND_TYPE {
+		idCommand := &message.BtmVobcIdCommand{}
+		idCommand.Decode(dataText)
+
+		//userMsg, _ := hex.DecodeString(testUserBtmMsg)
+
+		//msg := &message.BtmVobcMessage{FontTtl: 5, BtmStatus: 0x00, DecodeTime: 10, BackTtl: 4, BtmMsg: userMsg, ResponseTime: 10,
+		//	VobcLifeNum: idCommand.VobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: idCommand.AutoIdFrame}}
+		//sendData := msg.Encode()
+		//fmt.Println("发送btm vobc len:", len(sendData), "报文:", hex.EncodeToString(sendData), "报文序列号:", msg.MsgSerial)
+		//btmCli.Send(sendData)
+
+		freeMsg, _ := hex.DecodeString(freeBtmMsg)
+		msg2 := &message.BtmVobcMsgFree{BtmStatus: 0x00, WorkTemperature: 10, Fun1: uint16(0), Fun2: uint16(0), Fun3: uint16(0), Fun4: uint16(0),
+			FreeMsg: freeMsg, RespTime: 20, VobcLifeNum: idCommand.VobcLifeNum, BaseBtmVobc: message.BaseBtmVobc{AutoIdFrame: idCommand.AutoIdFrame}}
+		sendData2 := msg2.Encode()
+		fmt.Println("发送btm vobc 空报文:", hex.EncodeToString(sendData2), "len:", len(sendData2), "报文序列号:", msg2.MsgSerial, "atoId=", idCommand.AutoIdFrame)
+		btmCli.Send(sendData2)
+	} else if frameType == message.REQUEST_TYPE {
+		req := &message.BtmVobcReq{}
+		req.Decode(dataText)
+		fmt.Println(req, "========================")
+	} else {
+		slog.Error("btm vobc 解析未知命令帧类型", strconv.FormatInt(int64(frameType), 16), frameType, "原始数据:", hex.EncodeToString(cfs), "长度:", len(cfs))
+		return
+	}
+
 }
-func recive() {
-	fmt.Println("11111111111111111")
-	_ = udp.NewServer(fmt.Sprintf(":%d", 4196), handleCanetFrames)
-}
+
 func testSpeed(client udp.UdpClient, speed float32) {
 
 	//client = udp.NewClient(fmt.Sprintf("%v:%v", exampleConfig.Speed.RemoteIp, exampleConfig.Speed.RemotePort))
@@ -146,7 +146,7 @@ func testAcc(client udp.UdpClient, acc float32) {
 		if err != nil {
 			slog.Error("发送数据失败", "err", err)
 		}
-		time.Sleep(time.Millisecond * 500)
+		time.Sleep(time.Millisecond * 11)
 	}
 
 }
diff --git a/bin/config/example.yml b/bin/config/example.yml
index b4cc183..575bfe2 100644
--- a/bin/config/example.yml
+++ b/bin/config/example.yml
@@ -4,3 +4,8 @@ acc:
 speed:
   remoteIp: "192.168.1.200"
   remotePort: 4196
+btm:
+  remoteIp: "192.168.1.199"
+  remotePort: 4196
+  localIp: "192.168.1.150"
+  localPort: 4646
\ No newline at end of file
diff --git a/bin/config/example_config.go b/bin/config/example_config.go
index 6b454ef..4892598 100644
--- a/bin/config/example_config.go
+++ b/bin/config/example_config.go
@@ -3,6 +3,7 @@ package config
 type ExampleConfig struct {
 	Acc   acc
 	Speed speed
+	Btm   btm
 }
 type acc struct {
 	RemoteIp   string
@@ -12,3 +13,9 @@ type speed struct {
 	RemoteIp   string
 	RemotePort int
 }
+type btm struct {
+	RemoteIp   string
+	RemotePort int
+	LocalIp    string
+	LocalPort  int
+}
diff --git a/rts-sim-testing-message b/rts-sim-testing-message
index 189cabe..fed626a 160000
--- a/rts-sim-testing-message
+++ b/rts-sim-testing-message
@@ -1 +1 @@
-Subproject commit 189cabea725167f98c15d0971ee20d01b044ce05
+Subproject commit fed626ac4b0d1b2696026438d32fe812ebd00ac2
diff --git a/third_party/acc/acc_vobc.go b/third_party/acc/acc_vobc.go
index f7126af..6c7423b 100644
--- a/third_party/acc/acc_vobc.go
+++ b/third_party/acc/acc_vobc.go
@@ -2,12 +2,14 @@ package acc
 
 import (
 	"context"
+	"encoding/hex"
 	"fmt"
 	"joylink.club/bj-rtsts-server/config"
 	"joylink.club/bj-rtsts-server/dto/common_proto"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
+	"log/slog"
 	"math"
 	"sync"
 	"time"
@@ -30,11 +32,6 @@ var (
 	singleObj *accVobcService
 )
 
-/*const (
-	accInterval  = 15
-	accSpeedUnit = 9.8
-)*/
-
 func Default() AccVobc {
 	defer initLock.Unlock()
 	initLock.Lock()
@@ -59,8 +56,16 @@ func (acc *accVobcService) Start(accManager AccVobcManager) {
 }
 
 func (avs *accVobcService) SendAcc(acc *message.Accelerometer) {
-
-	avs.vobcClient.Send(acc.Encode())
+	if avs.vobcClient != nil {
+		data := acc.Encode()
+		hexStr := hex.EncodeToString(data)
+		slog.Info("发送 加速度消息数据:", hexStr)
+		err := avs.vobcClient.Send(data)
+		if err != nil {
+			slog.Info("发送 加速度消息数据失败:", hexStr)
+			return
+		}
+	}
 	//avs.vobcClient.Send(acc.BuildCanData())
 }
 func (avs *accVobcService) TrainAccSender(info *message.DynamicsTrainInfo, trainState *state_proto.TrainState) {
diff --git a/third_party/btm_vobc/btm_vobc.go b/third_party/btm_vobc/btm_vobc.go
new file mode 100644
index 0000000..d7f37c1
--- /dev/null
+++ b/third_party/btm_vobc/btm_vobc.go
@@ -0,0 +1,38 @@
+package btm_vobc
+
+import (
+	"context"
+	"sync"
+)
+
+type BtmVobcManage interface {
+}
+type BtmVobcService interface {
+	Start()
+	Stop()
+}
+type BtmVobcClient struct {
+	calFun context.CancelFunc
+}
+
+var (
+	btmVobcLocker sync.Mutex
+	btmVobcClient *BtmVobcClient
+)
+
+func Default() BtmVobcService {
+	defer btmVobcLocker.Unlock()
+
+	btmVobcLocker.Lock()
+	if btmVobcClient == nil {
+		btmVobcClient = &BtmVobcClient{}
+	}
+	return btmVobcClient
+}
+func (b *BtmVobcClient) Start() {
+	//ctx, calFun := context.WithCancel(context.Background())
+
+}
+func (b *BtmVobcClient) Stop() {
+
+}
diff --git a/third_party/btm_vobc/btm_vobc_test.go b/third_party/btm_vobc/btm_vobc_test.go
new file mode 100644
index 0000000..4877ae1
--- /dev/null
+++ b/third_party/btm_vobc/btm_vobc_test.go
@@ -0,0 +1,41 @@
+package btm_vobc
+
+import (
+	"bytes"
+	"encoding/hex"
+	"fmt"
+	"sync/atomic"
+	"testing"
+)
+
+const (
+	code1 = "fffef890149e75e15511000006230000000000d4da14ebfffd"
+	code2 = "fffee601804f004d00800600002a004984ec6f4e902ef6912284000000000000000000000000000000067e000000000000411b0000f5bbee397698fffd"
+)
+
+var message_id atomic.Uint32
+
+func TestDecode(t *testing.T) {
+	fmt.Println(code1[:4])
+	d, _ := hex.DecodeString(code1)
+	fmt.Println(d[:2])
+	dd := d[2 : len(d)-2]
+	fmt.Println(hex.EncodeToString(dd))
+	fmt.Println(bytes.Equal(d[:2], []byte{0xff, 0xfe}))
+	fmt.Println(message_id.Load())
+}
+
+func TestMsg(t *testing.T) {
+
+	index := 1
+	for i := 22; i <= 125; i++ {
+		fmt.Println(index)
+		index++
+	}
+}
+
+func TestBytes(t *testing.T) {
+	s := "90007F8181B60B10183280003FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF"
+	d, _ := hex.DecodeString(s)
+	fmt.Println(len(d))
+}
diff --git a/third_party/electrical_machinery/electrical_machinery.go b/third_party/electrical_machinery/electrical_machinery.go
index d98b128..a4f6442 100644
--- a/third_party/electrical_machinery/electrical_machinery.go
+++ b/third_party/electrical_machinery/electrical_machinery.go
@@ -1,6 +1,7 @@
 package electrical_machinery
 
 import (
+	"encoding/hex"
 	"fmt"
 	"joylink.club/bj-rtsts-server/dto/common_proto"
 	"joylink.club/bj-rtsts-server/dto/state_proto"
@@ -48,7 +49,7 @@ func (s *electricalMachineryImpl) Start(manager ElectricMachineryMessageManager)
 	s.runConfig = manager.GetElectricMachineryRunConfig()
 	allNotOpen := true
 	for _, c := range s.runConfig {
-		if &c == nil || c.Ip == "" || !c.Open {
+		if &c != nil && c.Open {
 			allNotOpen = false
 		}
 	}
@@ -79,9 +80,12 @@ func (s *electricalMachineryImpl) SendElectricMachineryMessage(emMap map[int]*me
 	for key, em := range emMap {
 		client := s.electricalMachineryUdpClientMap[key]
 		if client != nil {
-			err := client.Send(em.Encode())
+			data := em.Encode()
+			hexStr := hex.EncodeToString(data)
+			slog.Info("发送电机转速消息key", hexStr)
+			err := client.Send(data)
 			if err != nil {
-				slog.Error(err.Error())
+				slog.Info("发送电机转速消息失败key", hexStr)
 			}
 		}
 	}
diff --git a/third_party/message/accelerometer.go b/third_party/message/accelerometer.go
index 9291977..87fac1f 100644
--- a/third_party/message/accelerometer.go
+++ b/third_party/message/accelerometer.go
@@ -7,7 +7,7 @@ import (
 
 const (
 	accHeader   = 0xA6
-	uaidDefault = 0x1C
+	uaidDefault = 0x71
 	G           = 9.80665
 )
 
@@ -16,12 +16,6 @@ type Accelerometer struct {
 	Aux byte
 }
 
-const (
-	FullScaleG  = 0x80000000 // 1g的Q31表示
-	DataMask    = 0xC0       // 最高2位是数据位
-	ReadingMask = 0xFFFFC000 // 屏蔽标志位和编码位
-)
-
 func encodeAcc(a float32) (d2, d1, d0 byte) {
 	d2 = 0
 	d1 = 0
@@ -29,7 +23,7 @@ func encodeAcc(a float32) (d2, d1, d0 byte) {
 	x := a / G
 	//fmt.Println(x)
 	v := uint32(0)
-	for i := 17; i >= 0; i-- {
+	for i := 16; i >= 0; i-- {
 		t := float32(1.0 / math.Pow(2, float64(17-i)))
 		if t > x {
 			continue
@@ -43,6 +37,12 @@ func encodeAcc(a float32) (d2, d1, d0 byte) {
 	d0 = byte(v)
 	d1 = byte(v >> 8)
 	d2 = byte(v >> 16)
+
+	//accCode := v << 8            //数据向左移动8位,取后3个字节
+	//d2 = byte(accCode >> 16)     //取出d2数据
+	//d1 = byte(accCode >> 8 << 8) // & 0xff //取出d1
+	//d0 = byte(accCode << 20)     //& 0xf //取出d0高2位
+
 	//fmt.Printf("%b, %b, %b\n", d2, d1, d0)
 	return
 }
@@ -72,36 +72,42 @@ func (acc *Accelerometer) BuildCanData() []byte {
 }
 func (acc *Accelerometer) Encode() []byte {
 	d2, d1, d0 := encodeAcc(acc.Acc)
+	if acc.Acc > 0 {
+		setBit(d2, 7, 0)
+	} else {
+		setBit(d2, 7, 1)
+	}
 	data := make([]byte, 0)
 	data = append(data, accHeader)
 	data = append(data, uaidDefault)
 	data = append(data, d0)
 	data = append(data, d1)
 	data = append(data, d2)
-	data = append(data, acc.Aux)
+	data = append(data, byte(0))
 	cs := checkSum(data)
-	data = append(data, ^cs+1)
+	data = append(data, cs)
 	return data
 }
 
 func checkSum(data []byte) byte {
-	var sum byte = 0
+	var sum uint16 = 0
+
 	for _, d := range data {
-		sum += d
+		sum += uint16(d)
 	}
-	return sum
+	highByte := byte(sum >> 8)      // 取高8位
+	lowByte := byte(sum)            // 取低8位
+	secondSum := highByte + lowByte // 再次累加
+
+	//inverse := ^secondSum
+	return ^secondSum
 }
 
 func (acc *Accelerometer) Decode(Packet []byte) error {
 	if len(Packet) < 7 {
 		return fmt.Errorf("")
 	}
-	data := uint32(Packet[4])<<16 | uint32(Packet[3])<<8 | uint32(Packet[2])
-	// 应用屏蔽以移除标志位和编码位
-	data &= ReadingMask
-	// 将Q31值转换为float32加速度值（g）
-	acceleration := float32(float32(data) * (1.0 / float32(FullScaleG)))
+	decode2Acc(Packet[4], Packet[3], Packet[2])
 
-	fmt.Println(acceleration)
 	return nil
 }
diff --git a/third_party/message/btm_vobc_data.go b/third_party/message/btm_vobc_data.go
new file mode 100644
index 0000000..24e34f3
--- /dev/null
+++ b/third_party/message/btm_vobc_data.go
@@ -0,0 +1,270 @@
+package message
+
+import (
+	"bytes"
+	"encoding/binary"
+	"encoding/hex"
+	"fmt"
+	"github.com/snksoft/crc"
+	"log/slog"
+	"strconv"
+	"sync"
+)
+
+const (
+	TRAIN_BTM_ENDA  = 0x75E1
+	TRAIN_BTM_ENDB  = 0x75E2
+	ID_COMMAND_TYPE = 0xF8 //命令帧
+	REQT_TYPE       = 0xE6 //请求帧
+
+)
+
+const (
+	COMMAND_TYPE      = 0x90 //ID 命令帧 VOBC→BTM20 字节
+	REQUEST_TYPE      = 0x91 //请求帧 VOBC→BTM34 字节
+	MESSAGE_TYPE      = 0x92 //报文帧 BTM→VOBC 135 字节
+	FREE_MESSAGE_TYPE = 0x94 //空闲帧 BTM→VOBC 135 字节
+)
+
+var PACKAGE_HEAD = []byte{0xFF, 0xFE}
+var PACKAGE_END = []byte{0xFF, 0xFD}
+
+func BtmVobcDecode(packData []byte) (byte, []byte, error) {
+	head := packData[:2]
+	end := packData[len(packData)-2:]
+	if !bytes.Equal(head, PACKAGE_HEAD) || !bytes.Equal(end, PACKAGE_END) {
+		slog.Error("btm vobc 数据包头或包尾尾错误", hex.EncodeToString(packData))
+		return 0, nil, fmt.Errorf("btm vobc 数据包头或包尾尾错误")
+	}
+	data := packData[2 : len(packData)-2]
+	command := data[0]
+	if command != ID_COMMAND_TYPE && command != REQT_TYPE {
+		slog.Error("btm vobc 解析未知命令帧", strconv.FormatInt(int64(command), 16), command)
+		return 0, nil, fmt.Errorf("btm vobc 解析未知命令帧")
+	}
+	dataText := data[1:]
+	frameType := dataText[0]
+	return frameType, dataText, nil
+	/*	if frameType == COMMAND_TYPE {
+
+		} else if frameType == REQUEST_TYPE {
+
+		} else {
+			slog.Error("btm vobc 解析未知命令帧类型", strconv.FormatInt(int64(frameType), 16))
+			return
+		}*/
+}
+
+type BaseBtmVobc struct {
+	Frame       byte //帧类型
+	FrameLen    byte //帧长定义为 TEXT+CRC32，ID 命令帧为 20 字节；
+	AutoIdFrame byte // 无论何时传输数据，该数都在 1-255 范围内递增，在错误重传时也是递增的，255 之后是 1，不使用 0；
+	Crc32       uint32
+}
+
+func baseDecode(d []byte) (BaseBtmVobc, []byte) {
+	frame := d[0]
+	frameLen := d[1]
+	autoIdFrame := d[2]
+	crc32 := binary.BigEndian.Uint32(d[len(d)-4:])
+	realData := d[3 : len(d)-4]
+	return BaseBtmVobc{Frame: frame, FrameLen: frameLen, Crc32: crc32, AutoIdFrame: autoIdFrame}, realData
+}
+func baseEncode(source []byte) []byte {
+	data := make([]byte, 0)
+	crc32 := crc.CalculateCRC(crc.CRC32, source)
+	newSource := binary.BigEndian.AppendUint32(source, uint32(crc32))
+	data = append(data, PACKAGE_HEAD...)
+	data = append(data, newSource...)
+	data = append(data, PACKAGE_END...)
+	return data
+}
+
+// ID 命令帧的正文
+type BtmVobcIdCommand struct {
+	BaseBtmVobc
+	BtmId       uint16 //VOBC 向 BTM 分配的 ID，暂定 0x75E1 或者0x75A2，其他无效；
+	VobcId      uint16 //暂定 0x5511，其他无效
+	VobcLifeNum uint32 //7~10 1~FFFFFFFF，0 不使用
+	yuliu       []byte //11-15 预留字节
+}
+
+func (b *BtmVobcIdCommand) Decode(data []byte) {
+	base, realData := baseDecode(data)
+	b.BaseBtmVobc = base
+	b.BtmId = binary.BigEndian.Uint16(realData[0:2])
+	b.VobcId = binary.BigEndian.Uint16(realData[2:4])
+	b.VobcLifeNum = binary.BigEndian.Uint32(realData[4:8])
+}
+
+// 请求帧的正文
+type BtmVobcReq struct {
+	BaseBtmVobc
+	FrameStatus          byte   //帧正确/不正确 06h：帧正确15h：不正确00h：开机状态填00 其它无效
+	MessageType          byte   // 空闲/报文数据 05h：空闲0Ah：报文数据00h：开机状态填00 其它无效
+	MessageSerial        byte   //报文序列号 1-255；开机时使用0
+	yuliu                []byte //预留字节（10 字节）
+	VobcLifeNum          uint32 // VOBC 周期号 1~FFFFFFFF，0 不使用
+	TimeStamp            []byte //年月日时分秒各占一个字节
+	Speed                uint16 //速度 单位：cm/s
+	VobcLifeWalkDistance uint16 //VOBC 周期走行距离 单位：cm
+}
+
+func (b *BtmVobcReq) Decode(data []byte) {
+	base, realData := baseDecode(data)
+	b.BaseBtmVobc = base
+	b.FrameStatus = realData[0]
+	b.MessageType = realData[1]
+	b.MessageSerial = realData[2]
+	b.yuliu = realData[3:13]
+	b.VobcLifeNum = binary.BigEndian.Uint32(realData[13:17])
+	b.TimeStamp = realData[17:25]
+	b.Speed = binary.BigEndian.Uint16(realData[25:26])
+	b.VobcLifeWalkDistance = binary.BigEndian.Uint16(realData[26:27])
+}
+
+var MESSAGE_AUTO_ID byte = 1
+var MESSAGE_SERIAL byte = 1
+var lock sync.Mutex
+
+func getAutoId() byte {
+	defer lock.Unlock()
+	lock.Lock()
+	if MESSAGE_AUTO_ID <= 0 {
+		MESSAGE_AUTO_ID = 1
+	} else if MESSAGE_AUTO_ID > 255 {
+		MESSAGE_AUTO_ID = 1
+	}
+	MESSAGE_AUTO_ID += 1
+	return MESSAGE_AUTO_ID
+}
+
+func getAutoMessageId() byte {
+
+	defer lock.Unlock()
+	lock.Lock()
+	if MESSAGE_SERIAL <= 0 {
+		MESSAGE_SERIAL = 1
+	} else if MESSAGE_SERIAL > 255 {
+		MESSAGE_SERIAL = 1
+	}
+	MESSAGE_SERIAL += 1
+	return MESSAGE_SERIAL
+}
+
+const (
+	btm_status_ok   = 0x00
+	btm_status_warn = 0x04
+)
+
+var mesage_yuliu = []byte{0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+// 报文帧的正文
+type BtmVobcMessage struct {
+	BaseBtmVobc
+	FontTtl      uint16 //前沿 TTL 时间 单位为 ms，溢出为0xffff，高字节在前；车体及应答器器地面环境理想情况下误差小于 5ms
+	MsgSerial    byte   //报文序列号 1-255；不使用 0
+	BtmStatus    byte   //BTM 工作状态 00H-工作正常；04H-警告 BTM 有轻微故障（单套故障，整机能工作），向BDMS 汇报；FFH-BTM 故障，不能正常工作；在MMI进行故障提示并向ATS 汇报
+	Enter1       byte   //1 通道好码率 0~100
+	Enter2       byte   //2 通道好码率 0~100
+	DecodeTime   uint16 //解码时间：从包络前沿到解码成功的时间，单位0.1ms。
+	yuliu        []byte //11~19 预留 填 0
+	BackTtl      uint16 //后沿 TTL 时间单位为 ms，溢出为0xffff，高字节在前；车体及应答器器地面环境理想情况下误差小于 5ms.
+	BtmMsg       []byte //22~125 应答器报文
+	ResponseTime byte   //0~150，其他非法，单位0.1ms 误差小于 3ms
+	VobcLifeNum  uint32 //VOBC 周期号 1~FFFFFFFF，0 不使用。
+}
+
+func (b *BtmVobcMessage) Encode() []byte {
+
+	data := make([]byte, 0)
+	buf := bytes.NewBuffer(data)
+	b.MsgSerial = getAutoMessageId()
+	binary.Write(buf, binary.BigEndian, byte(MESSAGE_TYPE))
+	binary.Write(buf, binary.BigEndian, byte(0x87))
+	binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
+	//binary.Write(buf, binary.BigEndian, getAutoId())
+	binary.Write(buf, binary.BigEndian, b.FontTtl)
+	binary.Write(buf, binary.BigEndian, b.MsgSerial)
+	binary.Write(buf, binary.BigEndian, b.BtmStatus)
+	binary.Write(buf, binary.BigEndian, byte(100)) //b.Enter1
+	binary.Write(buf, binary.BigEndian, byte(100)) //b.Enter2
+	binary.Write(buf, binary.BigEndian, b.DecodeTime)
+	binary.Write(buf, binary.BigEndian, mesage_yuliu)
+	binary.Write(buf, binary.BigEndian, b.BackTtl)
+	binary.Write(buf, binary.BigEndian, b.BtmMsg)
+	binary.Write(buf, binary.BigEndian, b.ResponseTime)
+	binary.Write(buf, binary.BigEndian, b.VobcLifeNum)
+
+	return baseEncode(buf.Bytes())
+}
+
+var yuliu3 = []byte{0, 0, 0, 0, 0, 0}
+
+type BtmVobcMsgFree struct {
+	BaseBtmVobc
+	//yuliu1          byte
+	//yuliu2          byte
+	MsgSerial       byte //1-255；开机时为0
+	BtmStatus       byte //BTM 工作状态 00H-工作正常；04H-警告 BTM 有轻微故障（单套故障，整机能工作），向BDMS 汇报；FFH-BTM 故障，不能正常工作；在MMI 进行故障提示并向ATS 汇报
+	WorkTemperature byte
+	//yuliu3          []byte //8~13 保留 填 0
+
+	//0-1 位 功放 1 电流状态 功放电流状态：“1”-欠流；“2”- 过流 ；“3”-正常（欠流和过流仅作为功放状态参考）
+	//2-3 位 功放 1 电压状态 功放电压状态：“1”-欠压；“2”- 过压 ；“3”-正常（欠压和过压仅作为功放状态参考）
+	//4-5 位 （预留） 功放 2 电流状态 功放电流状态：“1”-欠流；“2”- 过流 ；“3”-正常（欠流和过流仅作为功放状态参考）
+	//6-7 位 功放 2 电压状 功放电压状态：“1”-欠压；“2”- 过压 ；“3”-正常（欠压和过压仅作为功放状态参考）
+	//8-9 位 天线 1 状态 天线 1 状态：“1”-故障；“3”-正常。
+	//10-11 位 线缆 1 状态 线缆 1 状态：“1”-开路；“2”-短路；“3”-正常。
+	//12-13 位 （预留） 天线 2 状态 天线 2 状态：“1”-故障；“3”-正常。
+	//14-15 位 （预留） 线缆 2 状态 线缆 2 状态：“1”-开路；“2”-短路；“3”-正常。
+	Fun1 uint16 //第 14-15 字节（功放板、天线状态）
+	//第 0 位 上行自检码检测通道 1 状态：“1”-正常；“0”-故障。（故障时，检查处理器板和接收板）
+	//第 1 位 上行自检码检测通道 2 状态：“1”-正常；“0”-故障。（故障时，检查处理器板和接收板）
+	//第 2 位 FSK 连接线状态通道 1状态：“1”-正常；“0”-故障。
+	//第 3 位 FSK 连接线状态通道 2状态：“1”-正常；“0”-故障。
+	//第 4-5 位 保留 保留
+	//第 6-7 位 接收板状态 状态：“0”-双通道故障；“1”-单通道故障；“3”-正常第
+	//8-15位保留 保留
+	Fun2 uint16 //第 16-17 字节（接收板状态）
+	//第 0-1 位 通 道 1-24V 状态 状态：“1”-过压；“2”-欠压；“3”-正常；（欠压和过压仅作为电源板状态参考）
+	//第 2-3 位 通 道 2-24V 状态 状态：“1”-过压；“2”-欠压；“3”-正常；（欠压和过压仅作为电源板状态参考）
+	//第 4 位 通 道 1-23V 状态 状态：“1”-正常；“0”-故障。
+	//第 5 位 通 道 2-23V 状态 状态：“1”-正常；“0”-故障。
+	//第 6-13位保留 保留
+	//第 14-15位 电源板状态 电源板状态：“0”-故障；“1”-单通道故障；“2”-单通道故障；“3”- 正常。
+	Fun3 uint16 //第 18-19 字节（电源板状态）
+	//第 0-1 位 板卡 ID 槽位号 “0”-1 号板卡；“1”-2 号板卡；“2”-3 号板卡；“3”-4 号板卡机箱正面从右往左顺序为处理器板1,2,3（预留）,4（预留），同一个通信周期只有一个板卡报警
+	//第 2-3 位 工作温度状态 “0”-过高；“1”-温度报警；“2”-未知；“3”-正常。
+	//其他位保留 注：保留位全部为1
+	Fun4 uint16 //第 20-21 字节（处理器板）
+
+	FreeMsg     []byte //22~125 空闲数据 全填 00H
+	RespTime    byte   //响应时间 0~150，其他非法，单位0.1ms
+	VobcLifeNum uint32 //VOBC 周期号 1~FFFFFFFF，0 不使用。
+}
+
+func (b *BtmVobcMsgFree) Encode() []byte {
+	data := make([]byte, 0)
+	buf := bytes.NewBuffer(data)
+	b.MsgSerial = getAutoMessageId()
+	binary.Write(buf, binary.BigEndian, byte(FREE_MESSAGE_TYPE))
+	binary.Write(buf, binary.BigEndian, byte(0x87))
+	//binary.Write(buf, binary.BigEndian, getAutoId())
+	binary.Write(buf, binary.BigEndian, b.AutoIdFrame)
+	binary.Write(buf, binary.BigEndian, byte(0)) //保留
+	binary.Write(buf, binary.BigEndian, byte(0)) //保留
+	binary.Write(buf, binary.BigEndian, b.MsgSerial)
+	binary.Write(buf, binary.BigEndian, b.BtmStatus)
+	binary.Write(buf, binary.BigEndian, b.WorkTemperature)
+	binary.Write(buf, binary.BigEndian, yuliu3)
+	binary.Write(buf, binary.BigEndian, b.Fun1)
+	binary.Write(buf, binary.BigEndian, b.Fun2)
+	binary.Write(buf, binary.BigEndian, b.Fun3)
+	binary.Write(buf, binary.BigEndian, b.Fun4)
+	binary.Write(buf, binary.BigEndian, b.FreeMsg)
+	binary.Write(buf, binary.BigEndian, b.RespTime)
+	binary.Write(buf, binary.BigEndian, b.VobcLifeNum)
+
+	return baseEncode(buf.Bytes())
+}
diff --git a/third_party/radar/radar_vobc.go b/third_party/radar/radar_vobc.go
index db11ef2..d3766c4 100644
--- a/third_party/radar/radar_vobc.go
+++ b/third_party/radar/radar_vobc.go
@@ -66,7 +66,10 @@ func (rv *radarVobc) Start(radar RadarVobcManager) {
 
 // sendRadarInfo 发送速度，位移计数 给vobc
 func (rv *radarVobc) SendMsg(ri *message.RadarInfo) {
-	rv.vobcClient.Send(ri.Encode())
+	if rv.vobcClient != nil {
+		rv.vobcClient.Send(ri.Encode())
+
+	}
 }
 func (rv *radarVobc) TrainSpeedSender(info *message.DynamicsTrainInfo, trainState *state_proto.TrainState) {
 	forward := trainState.VobcState.DirectionForward