diff --git a/Release/Scenario/testGRD.xml b/Release/Scenario/testGRD.xml
index aea91ed..412a4cf 100755
--- a/Release/Scenario/testGRD.xml
+++ b/Release/Scenario/testGRD.xml
@@ -5,5 +5,6 @@
             	<Log Debug="0" Info="1" Error="1" Warning="1"/>
                 <ModelGroup Name="本体模型组" Freq="120" Priority="99" CPUAff="0">
                   	<Model Name="ATA04地面操纵模型" ClassName="XNGroundHandling"/>
+                  	<Model Name="ATA04数据处理模型" ClassName="XNATA04DataProcessor"/>
             	</ModelGroup>
       </Scenario>
diff --git a/Release/include/XNCore/XNDDSInterface.h b/Release/include/XNCore/XNDDSInterface.h
index 36bccd7..ae49489 100644
--- a/Release/include/XNCore/XNDDSInterface.h
+++ b/Release/include/XNCore/XNDDSInterface.h
@@ -20,7 +20,7 @@ public:
 	 * @brief 初始化
 	 * @param framework: 框架
 	 */
-	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelID) = 0;
+	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelID, uint32_t DDS_type) = 0;
 
 	/**
 	 * @brief 获取该接口的UDP包
@@ -28,6 +28,12 @@ public:
 	 */
 	XNByteArray getUDPPackage();
 
+	/**
+	 * @brief 通过UDP包设置数据
+	 * @param package: UDP包
+	 */
+	void setDataByUDPPackage(const XNByteArray &package);
+
 	/**
 	 * @brief 批量获取指定变量的数据
 	 * @param varNames: 变量名列表
@@ -305,18 +311,23 @@ protected:
 	virtual void sendOutData() {}
 
 protected:
-	struct ByteArrayFunc {
+	struct GetByteArrayFunc {
 		std::function<XNByteArray(void)> func;
 		size_t size;
 	};
 
+	struct SetByteArrayFunc {
+		std::function<void(XNByteArray)> func;
+		size_t size;
+	};
+
 	std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
 	std::unordered_map<std::string, std::function<void(std::string)>> setDataFunction;
-	std::vector<ByteArrayFunc> getByteArrayFunction;
-	std::unordered_map<std::string, std::function<void(XNByteArray)>> setByteArrayFunction;
+	std::vector<GetByteArrayFunc> getByteArrayFunction;
+	std::unordered_map<std::string, SetByteArrayFunc> setByteArrayFunction;
 	std::mutex mutex;
-	uint8_t header[5]{}; // 固定大小的头部
-	size_t headerSize = 5;
+	uint8_t header[8]{0}; // 固定大小的头部
+	size_t headerSize = 8;
 	FAST_DDS_MACRO::DataWriter *dataWriter;
 };
 
@@ -327,6 +338,6 @@ protected:
 	};                                                                                             \
 	getByteArrayFunction.push_back(                                                                \
 		{[this]() { return getByteArray(data.NAME()); }, getTypeSize<decltype(data.NAME())>()});   \
-	setByteArrayFunction[#NAME] = [this](XNByteArray byteArray) {                                  \
-		setByteArray(data.NAME(), byteArray);                                                      \
-	}
+	setByteArrayFunction[#NAME] = {                                                                \
+		[this](XNByteArray byteArray) { setByteArray(out_data.NAME(), byteArray); },               \
+		getTypeSize<decltype(out_data.NAME())>()};
diff --git a/XNCore/CMakeLists.txt b/XNCore/CMakeLists.txt
index 8404cf9..45c95cf 100755
--- a/XNCore/CMakeLists.txt
+++ b/XNCore/CMakeLists.txt
@@ -64,6 +64,7 @@ add_library(XNCore SHARED
   XNServiceObject_p.h
   XNServiceObject.cpp
   XNDDSInterface.h
+  XNDDSInterface.cpp
   ${DDS_XNIDL_SOURCES_CXX}
 )
 
diff --git a/XNCore/XNDDSInterface.cpp b/XNCore/XNDDSInterface.cpp
index 9b8fbc6..92d8175 100644
--- a/XNCore/XNDDSInterface.cpp
+++ b/XNCore/XNDDSInterface.cpp
@@ -11,10 +11,8 @@ XNByteArray XNDDSInterface::getUDPPackage()
 	size_t currentPos = 0;
 
 	// 复制头部
-	if (headerSize >= 5) {
-		result.append(header, 5);
-		currentPos = 5;
-	}
+	result.append(header, headerSize);
+	currentPos = headerSize;
 
 	// 复制数据
 	for (auto func : getByteArrayFunction) {
@@ -27,13 +25,45 @@ XNByteArray XNDDSInterface::getUDPPackage()
 	}
 
 	// 更新包大小
-	if (currentPos >= 5) {
-		result[4] = static_cast<uint8_t>(currentPos);
+	if (currentPos >= 8 && currentPos < MAX_UDP_PACKET_SIZE) {
+		result[6] = static_cast<uint8_t>((currentPos >> 8) & 0xFF);
+		result[7] = static_cast<uint8_t>(currentPos & 0xFF);
 	}
 
 	return result;
 }
 
+void XNDDSInterface::setDataByUDPPackage(const XNByteArray &package)
+{
+	clearOutData();
+	if (package.size() < headerSize) {
+		return;
+	}
+
+	// 获取包大小
+	uint16_t packageSize = (package[6] << 8) | package[7];
+	if (packageSize > MAX_UDP_PACKET_SIZE) {
+		return;
+	}
+
+	size_t currentPos = 8;
+
+	// 获取数据
+	for (auto func : setByteArrayFunction) {
+		if (currentPos + func.second.size <= packageSize) {
+			XNByteArray byteArray(func.second.size);
+			for (size_t i = 0; i < func.second.size; i++) {
+				byteArray[i] = package[currentPos + i];
+			}
+			func.second.func(byteArray);
+			currentPos += func.second.size;
+		} else {
+			break;
+		}
+	}
+	sendOutData();
+}
+
 std::unordered_map<std::string, std::string>
 XNDDSInterface::getStringData(std::vector<std::string> varNames)
 {
diff --git a/XNCore/XNDDSInterface.h b/XNCore/XNDDSInterface.h
index 36bccd7..ae49489 100644
--- a/XNCore/XNDDSInterface.h
+++ b/XNCore/XNDDSInterface.h
@@ -20,7 +20,7 @@ public:
 	 * @brief 初始化
 	 * @param framework: 框架
 	 */
-	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelID) = 0;
+	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelID, uint32_t DDS_type) = 0;
 
 	/**
 	 * @brief 获取该接口的UDP包
@@ -28,6 +28,12 @@ public:
 	 */
 	XNByteArray getUDPPackage();
 
+	/**
+	 * @brief 通过UDP包设置数据
+	 * @param package: UDP包
+	 */
+	void setDataByUDPPackage(const XNByteArray &package);
+
 	/**
 	 * @brief 批量获取指定变量的数据
 	 * @param varNames: 变量名列表
@@ -305,18 +311,23 @@ protected:
 	virtual void sendOutData() {}
 
 protected:
-	struct ByteArrayFunc {
+	struct GetByteArrayFunc {
 		std::function<XNByteArray(void)> func;
 		size_t size;
 	};
 
+	struct SetByteArrayFunc {
+		std::function<void(XNByteArray)> func;
+		size_t size;
+	};
+
 	std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
 	std::unordered_map<std::string, std::function<void(std::string)>> setDataFunction;
-	std::vector<ByteArrayFunc> getByteArrayFunction;
-	std::unordered_map<std::string, std::function<void(XNByteArray)>> setByteArrayFunction;
+	std::vector<GetByteArrayFunc> getByteArrayFunction;
+	std::unordered_map<std::string, SetByteArrayFunc> setByteArrayFunction;
 	std::mutex mutex;
-	uint8_t header[5]{}; // 固定大小的头部
-	size_t headerSize = 5;
+	uint8_t header[8]{0}; // 固定大小的头部
+	size_t headerSize = 8;
 	FAST_DDS_MACRO::DataWriter *dataWriter;
 };
 
@@ -327,6 +338,6 @@ protected:
 	};                                                                                             \
 	getByteArrayFunction.push_back(                                                                \
 		{[this]() { return getByteArray(data.NAME()); }, getTypeSize<decltype(data.NAME())>()});   \
-	setByteArrayFunction[#NAME] = [this](XNByteArray byteArray) {                                  \
-		setByteArray(data.NAME(), byteArray);                                                      \
-	}
+	setByteArrayFunction[#NAME] = {                                                                \
+		[this](XNByteArray byteArray) { setByteArray(out_data.NAME(), byteArray); },               \
+		getTypeSize<decltype(out_data.NAME())>()};
diff --git a/XNModels/XNATA04DataProcessor/CMakeLists.txt b/XNModels/XNATA04DataProcessor/CMakeLists.txt
index 2db544b..507ef49 100755
--- a/XNModels/XNATA04DataProcessor/CMakeLists.txt
+++ b/XNModels/XNATA04DataProcessor/CMakeLists.txt
@@ -2,9 +2,6 @@ cmake_minimum_required(VERSION 3.16)
 
 project(XNATA04DataProcessor LANGUAGES CXX)
 
-set(CMAKE_AUTOUIC ON)
-set(CMAKE_AUTOMOC ON)
-set(CMAKE_AUTORCC ON)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
@@ -18,9 +15,6 @@ endif()
 # 添加 XNCore_PATH 下的 include 目录为包含目录
 include_directories(${XNCore_PATH}/include)
 
-find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Core)
-find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core)
-
 add_library(XNATA04DataProcessor SHARED
 	XNATA04DataProcessor_global.h
 	XNATA04DataProcessor.cpp
@@ -29,7 +23,6 @@ add_library(XNATA04DataProcessor SHARED
 )
 
 target_link_libraries(XNATA04DataProcessor PRIVATE 
-    Qt${QT_VERSION_MAJOR}::Core 
     ${XNCore_PATH}/lib/libXNCore.so
 	${XNCore_PATH}/Models/libXNAerodynamicsInterface.so
 	${XNCore_PATH}/Models/libXNGroundHandlingInterface.so
diff --git a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.cpp b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.cpp
index 80902f8..3169166 100755
--- a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.cpp
+++ b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.cpp
@@ -2,24 +2,11 @@
 #include "XNATA04DataProcessor_p.h"
 #include <XNCore/XNModelManager.h>
 #include <XNCore/XNDDSManager.h>
-#include <QMutexLocker>
 #include <iostream>
 
-XN_DLL_INITIALIZE(XNATA04DataProcessor)
-XN_REGISTER_PARTICIPANT_BEGIN(XNATA04DataProcessor)
-XN_PUBLISHTOPIC(XNSim::ATA04::Aerodynamics_input)
-XN_PUBLISHTOPIC(XNSim::ATA04::WeightBalance_input)
-XN_PUBLISHTOPIC(XNSim::ATA04::GroundHandling_input)
-XN_SUBSCRIBETOPIC(XNSim::ATA04::WeightBalance_output, &XNATA04DataProcessor::OnWbOutput)
-XN_SUBSCRIBETOPIC(XNSim::ATA04::GroundHandling_output, &XNATA04DataProcessor::OnGhOutput)
-XN_SUBSCRIBETOPIC(XNSim::ATA04::Aerodynamics_output, &XNATA04DataProcessor::OnAeroOutput)
-XN_SUBSCRIBETOPIC(XNSim::ATA04::Aerodynamics_heartbeat, &XNATA04DataProcessor::OnAeroHeartbeat)
-XN_SUBSCRIBETOPIC(XNSim::ATA04::WeightBalance_heartbeat, &XNATA04DataProcessor::OnWbHeartbeat)
-XN_SUBSCRIBETOPIC(XNSim::ATA04::GroundHandling_heartbeat, &XNATA04DataProcessor::OnGhHeartbeat)
-XN_REGISTER_PARTICIPANT_END(XNATA04DataProcessor)
+XN_MODEL_INITIALIZE(XNATA04DataProcessor)
 
-XNATA04DataProcessor::XNATA04DataProcessor(QObject *parent)
-	: XNModelObject(*new XNATA04DataProcessorPrivate(this), parent)
+XNATA04DataProcessor::XNATA04DataProcessor() : XNModelObject(new XNATA04DataProcessorPrivate())
 {
 }
 
@@ -27,1447 +14,1068 @@ XNATA04DataProcessor::~XNATA04DataProcessor()
 {
 }
 
-XNATA04DataProcessor::XNATA04DataProcessor(XNATA04DataProcessorPrivate &dd, QObject *parent)
-	: XNModelObject(dd, parent)
+XNATA04DataProcessor::XNATA04DataProcessor(PrivateType *p) : XNModelObject(p)
 {
 }
 
-void XNATA04DataProcessor::OnInitialize()
+void XNATA04DataProcessor::Initialize()
 {
-	Q_D(XNATA04DataProcessor);
-	XNModelObject::OnInitialize();
+	T_D();
+	XNModelObject::Initialize();
 }
 
-void XNATA04DataProcessor::OnPrepareForExecute()
+void XNATA04DataProcessor::PrepareForExecute()
 {
-	Q_D(XNATA04DataProcessor);
-	XNModelObject::OnPrepareForExecute();
-	RegisterRTEventHandler("ATA04AeroInput", std::bind(&XNATA04DataProcessor::OnAeroInput, this,
-													   std::placeholders::_1));
-	RegisterRTEventHandler(
-		"ATA04WbInput", std::bind(&XNATA04DataProcessor::OnWbInput, this, std::placeholders::_1));
+	T_D();
+	XNModelObject::PrepareForExecute();
+	// RegisterRTEventHandler("ATA04AeroInput", std::bind(&XNATA04DataProcessor::OnAeroInput, this,
+	// 													   std::placeholders::_1));
+	// RegisterRTEventHandler(
+	// 	"ATA04WbInput", std::bind(&XNATA04DataProcessor::OnWbInput, this, std::placeholders::_1));
 	RegisterRTEventHandler(
 		"ATA04GhInput", std::bind(&XNATA04DataProcessor::OnGhInput, this, std::placeholders::_1));
+	d->_ghInputInterface.Initialize(GetFramework(), GetUniqueId(), 2);
+	d->_ghOutputInterface.Initialize(GetFramework(), GetUniqueId(), 1);
+	d->_ghHeartbeatInterface.Initialize(GetFramework(), GetUniqueId(), 1);
 }
 
 void XNATA04DataProcessor::StepUpdate()
 {
-	Q_D(XNATA04DataProcessor);
+	T_D();
 	XNModelObject::StepUpdate();
 	SendUdpData();
-	SendUdpTestData();
+	//SendUdpTestData();
 }
 
 void XNATA04DataProcessor::SendUdpData()
 {
-	Q_D(XNATA04DataProcessor);
-	SendAeroOutput();
-	SendWbOutput();
+	T_D();
+	// SendAeroOutput();
+	// SendWbOutput();
 	SendGhOutput();
-	SendAeroHeartbeat();
-	SendWbHeartbeat();
+	// SendAeroHeartbeat();
+	// SendWbHeartbeat();
 	SendGhHeartbeat();
 }
 
-void XNATA04DataProcessor::SendAeroOutput()
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_aeroOutputMutex);
-	QByteArray outputData;
-	QDataStream outputStream(&outputData, QIODevice::WriteOnly);
-	outputStream.setByteOrder(QDataStream::LittleEndian);
-	quint8 header[6] = {0x0a, 0x04, 0x00, 0x01, 0x00, 0x00}; // 最后两个字节用于大小
-	outputStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
-	//outputData.append(getQByteArray(d->_aeroOutput.l_04_o_aerocomac_fxb_f8()));
-	if (d->_aeroOutput.l_04_o_aerocomac_fxb_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_fxb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_fyb_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_fyb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_fzb_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_fzb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_mxb_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_mxb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_myb_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_myb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_mzb_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_mzb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_cls_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_cls_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_cl_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_cl_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_cd_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_cd_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_cm_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_cm_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_cr_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_cr_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_aeroOutput.l_04_o_aerocomac_cy_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_cy_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
+// void XNATA04DataProcessor::SendAeroOutput()
+// {
+// 	T_D();
+// 	QMutexLocker locker(&d->_aeroOutputMutex);
+// 	QByteArray outputData;
+// 	QDataStream outputStream(&outputData, QIODevice::WriteOnly);
+// 	outputStream.setByteOrder(QDataStream::LittleEndian);
+// 	quint8 header[6] = {0x0a, 0x04, 0x00, 0x01, 0x00, 0x00}; // 最后两个字节用于大小
+// 	outputStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
+// 	//outputData.append(getQByteArray(d->_aeroOutput.l_04_o_aerocomac_fxb_f8()));
+// 	if (d->_aeroOutput.l_04_o_aerocomac_fxb_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_fxb_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_fyb_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_fyb_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_fzb_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_fzb_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_mxb_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_mxb_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_myb_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_myb_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_mzb_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_mzb_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_cls_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_cls_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_cl_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_cl_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_cd_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_cd_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_cm_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_cm_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_cr_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_cr_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_aeroOutput.l_04_o_aerocomac_cy_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_cy_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
 
-	if (d->_aeroOutput.l_04_o_aerocomac_cn_f8()) {
-		outputStream << d->_aeroOutput.l_04_o_aerocomac_cn_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	// 更新数据包大小（使用两个字节）
-	auto size	  = outputData.size();
-	outputData[4] = (size >> 8) & 0xFF; // 高字节
-	outputData[5] = size & 0xFF;		// 低字节
+// 	if (d->_aeroOutput.l_04_o_aerocomac_cn_f8()) {
+// 		outputStream << d->_aeroOutput.l_04_o_aerocomac_cn_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	// 更新数据包大小（使用两个字节）
+// 	auto size	  = outputData.size();
+// 	outputData[4] = (size >> 8) & 0xFF; // 高字节
+// 	outputData[5] = size & 0xFF;		// 低字节
 
-	TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
-}
+// 	TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
+// }
 
 void XNATA04DataProcessor::SendGhOutput()
 {
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_ghOutputMutex);
-	QByteArray outputData;
-	QDataStream outputStream(&outputData, QIODevice::WriteOnly);
-	outputStream.setByteOrder(QDataStream::LittleEndian);
-	quint8 header[6] = {0x0a, 0x04, 0x01, 0x01, 0x00, 0x00}; // 最后两个字节用于大小
-	outputStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
-	if (d->_ghOutput.l_04_o_gdcomac_frz_l1()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_frz_l1().value();
-	} else {
-		outputStream << (quint8)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_ac_on_ground_l1()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_ac_on_ground_l1().value();
-	} else {
-		outputStream << (quint8)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_ac_stationary_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_ac_stationary_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_alt_tire_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_alt_tire_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_zcg_to_tire_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_zcg_to_tire_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_fxb_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_fxb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_fyb_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_fyb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_fzb_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_fzb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_mxb_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_mxb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_myb_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_myb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_mzb_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_mzb_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_fygs_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_fygs_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_mzgs_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_mzgs_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_mu_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_mu_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_dstroke_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_dstroke_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_sr_f8()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_sr_f8().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_sy_f8()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_sy_f8().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_sx_f8()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_sx_f8().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_xft_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_xft_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_yft_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_yft_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_zft_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_zft_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_distngrxcg_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_distngrxcg_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_distmgrxcg_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_distmgrxcg_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_distmgrzcg_f8()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_distmgrzcg_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_tire_vel_f8()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_tire_vel_f8().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_tire_temp_f8()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_tire_temp_f8().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_tire_burst_l1()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_tire_burst_l1().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (quint8)0 << (quint8)0 << (quint8)0 << (quint8)0 << (quint8)0 << (quint8)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_wow_l1()) {
-		outputStream << d->_ghOutput.l_04_o_gdcomac_wow_l1().value();
-	} else {
-		outputStream << (quint8)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_utirew_f8()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_utirew_f8().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_vtirew_f8()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_vtirew_f8().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_whl_omega_f8()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_whl_omega_f8().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_dstruc_f8()) {
-		for (int i = 0; i < 6; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_dstruc_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_nd_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_nd_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_wor_par_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_ghOutput.l_04_o_gdcomac_wor_par_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_ghOutput.l_04_o_gdcomac_vczt_f8()) {
-		for (int i = 0; i < 3; i++) {
-			for (int j = 0; j < 2; j++) {
-				outputStream << d->_ghOutput.l_04_o_gdcomac_vczt_f8().value()[i][j];
-			}
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
-	}
-	// 更新数据包大小（使用两个字节）
-	auto size	  = outputData.size();
-	outputData[4] = (size >> 8) & 0xFF; // 高字节
-	outputData[5] = size & 0xFF;		// 低字节
+	T_D();
+	XNByteArray outputData = d->_ghOutputInterface.getUDPPackage();
+	//填写数据方向
+	outputData[5] = 0x01;
 
-	TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
+	TriggerRTEvent("SendUDPData", std::any(outputData));
 }
 
-void XNATA04DataProcessor::SendWbOutput()
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_wbOutputMutex);
-	QByteArray outputData;
-	QDataStream outputStream(&outputData, QIODevice::WriteOnly);
-	outputStream.setByteOrder(QDataStream::LittleEndian);
-	quint8 header[6] = {0x0a, 0x04, 0x02, 0x01, 0x00, 0x00}; // 最后两个字节用于大小
-	outputStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
-	if (d->_wbOutput.l_04_o_wbcomac_gw_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_gw_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_cg_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_cg_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_xcg_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_xcg_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_blcg_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_blcg_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_bscg_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_bscg_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_wlcg_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_wlcg_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ixx_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ixx_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_iyy_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_iyy_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_izz_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_izz_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ixy_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ixy_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ixz_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ixz_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_iyz_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_iyz_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_zfw_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_zfwcg_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_zfwcg_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_zfw_blcg_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_blcg_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_zfw_wlcg_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_wlcg_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_fuel_cmd_f8()) {
-		for (int i = 0; i < 3; i++) {
-			outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_cmd_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0 << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_fuel_mode_i4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_mode_i4().value();
-	} else {
-		outputStream << (int)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_fuel_ixx_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixx_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_fuel_ixy_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixy_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_fuel_ixz_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixz_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_fuel_iyy_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_iyy_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_fuel_iyz_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_iyz_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_fuel_izz_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_izz_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_l_wt_fuel_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_l_wt_fuel_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_airframe_total_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_airframe_total_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_eng_f8()) {
-		for (int i = 0; i < 2; i++) {
-			outputStream << d->_wbOutput.l_04_o_wbcomac_ice_eng_f8().value()[i];
-		}
-	} else {
-		outputStream << (double)0 << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_eng_total_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_eng_total_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_fuselage_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_fuselage_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_stab_left_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_left_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_stab_right_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_right_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_stab_total_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_total_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_total_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_total_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_total_frac_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_total_frac_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_vert_tail_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_vert_tail_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_wing_left_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_left_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_wing_right_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_right_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ice_wing_total_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_total_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_frz_l1()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_frz_l1().value();
-	} else {
-		outputStream << (quint8)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_zcgfrz_l1()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_zcgfrz_l1().value();
-	} else {
-		outputStream << (quint8)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_zcgfrz_grfx_l1()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_zcgfrz_grfx_l1().value();
-	} else {
-		outputStream << (quint8)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_ycgfrz_l1()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_ycgfrz_l1().value();
-	} else {
-		outputStream << (quint8)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_inertfrz_l1()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_inertfrz_l1().value();
-	} else {
-		outputStream << (quint8)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_init_l1()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_init_l1().value();
-	} else {
-		outputStream << (quint8)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_min_gw_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_min_gw_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_max_gw_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_max_gw_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_min_cg_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_min_cg_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_max_cg_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_max_cg_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_min_zfw_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_min_zfw_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_max_zfw_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_max_zfw_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_min_zfwcg_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_min_zfwcg_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_max_zfwcg_f4()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_max_zfwcg_f4().value();
-	} else {
-		outputStream << (float)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_potmin_gw_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_potmin_gw_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_potmax_gw_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_potmax_gw_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_potmin_gwcg_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_potmin_gwcg_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	if (d->_wbOutput.l_04_o_wbcomac_potmax_gwcg_f8()) {
-		outputStream << d->_wbOutput.l_04_o_wbcomac_potmax_gwcg_f8().value();
-	} else {
-		outputStream << (double)0;
-	}
-	// 更新数据包大小（使用两个字节）
-	auto size	  = outputData.size();
-	outputData[4] = (size >> 8) & 0xFF; // 高字节
-	outputData[5] = size & 0xFF;		// 低字节
+// void XNATA04DataProcessor::SendWbOutput()
+// {
+// 	Q_D(XNATA04DataProcessor);
+// 	QMutexLocker locker(&d->_wbOutputMutex);
+// 	QByteArray outputData;
+// 	QDataStream outputStream(&outputData, QIODevice::WriteOnly);
+// 	outputStream.setByteOrder(QDataStream::LittleEndian);
+// 	quint8 header[6] = {0x0a, 0x04, 0x02, 0x01, 0x00, 0x00}; // 最后两个字节用于大小
+// 	outputStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
+// 	if (d->_wbOutput.l_04_o_wbcomac_gw_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_gw_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_cg_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_cg_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_xcg_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_xcg_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_blcg_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_blcg_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_bscg_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_bscg_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_wlcg_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_wlcg_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ixx_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ixx_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_iyy_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_iyy_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_izz_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_izz_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ixy_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ixy_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ixz_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ixz_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_iyz_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_iyz_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_zfw_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_zfwcg_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_zfwcg_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_zfw_blcg_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_blcg_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_zfw_wlcg_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_wlcg_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_fuel_cmd_f8()) {
+// 		for (int i = 0; i < 3; i++) {
+// 			outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_cmd_f8().value()[i];
+// 		}
+// 	} else {
+// 		outputStream << (double)0 << (double)0 << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_fuel_mode_i4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_mode_i4().value();
+// 	} else {
+// 		outputStream << (int)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_fuel_ixx_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixx_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_fuel_ixy_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixy_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_fuel_ixz_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixz_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_fuel_iyy_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_iyy_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_fuel_iyz_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_iyz_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_fuel_izz_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_izz_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_l_wt_fuel_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_l_wt_fuel_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_airframe_total_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_airframe_total_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_eng_f8()) {
+// 		for (int i = 0; i < 2; i++) {
+// 			outputStream << d->_wbOutput.l_04_o_wbcomac_ice_eng_f8().value()[i];
+// 		}
+// 	} else {
+// 		outputStream << (double)0 << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_eng_total_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_eng_total_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_fuselage_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_fuselage_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_stab_left_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_left_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_stab_right_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_right_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_stab_total_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_total_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_total_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_total_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_total_frac_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_total_frac_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_vert_tail_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_vert_tail_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_wing_left_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_left_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_wing_right_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_right_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ice_wing_total_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_total_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_frz_l1()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_frz_l1().value();
+// 	} else {
+// 		outputStream << (quint8)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_zcgfrz_l1()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_zcgfrz_l1().value();
+// 	} else {
+// 		outputStream << (quint8)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_zcgfrz_grfx_l1()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_zcgfrz_grfx_l1().value();
+// 	} else {
+// 		outputStream << (quint8)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_ycgfrz_l1()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_ycgfrz_l1().value();
+// 	} else {
+// 		outputStream << (quint8)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_inertfrz_l1()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_inertfrz_l1().value();
+// 	} else {
+// 		outputStream << (quint8)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_init_l1()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_init_l1().value();
+// 	} else {
+// 		outputStream << (quint8)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_min_gw_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_min_gw_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_max_gw_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_max_gw_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_min_cg_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_min_cg_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_max_cg_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_max_cg_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_min_zfw_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_min_zfw_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_max_zfw_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_max_zfw_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_min_zfwcg_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_min_zfwcg_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_max_zfwcg_f4()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_max_zfwcg_f4().value();
+// 	} else {
+// 		outputStream << (float)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_potmin_gw_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_potmin_gw_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_potmax_gw_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_potmax_gw_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_potmin_gwcg_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_potmin_gwcg_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	if (d->_wbOutput.l_04_o_wbcomac_potmax_gwcg_f8()) {
+// 		outputStream << d->_wbOutput.l_04_o_wbcomac_potmax_gwcg_f8().value();
+// 	} else {
+// 		outputStream << (double)0;
+// 	}
+// 	// 更新数据包大小（使用两个字节）
+// 	auto size	  = outputData.size();
+// 	outputData[4] = (size >> 8) & 0xFF; // 高字节
+// 	outputData[5] = size & 0xFF;		// 低字节
 
-	TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
-}
+// 	TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
+// }
 
-void XNATA04DataProcessor::SendAeroHeartbeat()
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_aeroHeartbeatMutex);
-	QByteArray heartbeatData;
-	QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
-	heartbeatStream.setByteOrder(QDataStream::LittleEndian);
-	quint8 header[6] = {0x0a, 0x04, 0x00, 0x02, 0x00, 0x00}; // 最后两个字节用于大小
-	heartbeatStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
-	heartbeatStream << d->_aeroHeartbeat.aero_model_heartbeat();
-	// 更新数据包大小（使用两个字节）
-	auto size		 = heartbeatData.size();
-	heartbeatData[4] = (size >> 8) & 0xFF; // 高字节
-	heartbeatData[5] = size & 0xFF;		   // 低字节
+// void XNATA04DataProcessor::SendAeroHeartbeat()
+// {
+// 	Q_D(XNATA04DataProcessor);
+// 	QMutexLocker locker(&d->_aeroHeartbeatMutex);
+// 	QByteArray heartbeatData;
+// 	QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
+// 	heartbeatStream.setByteOrder(QDataStream::LittleEndian);
+// 	quint8 header[6] = {0x0a, 0x04, 0x00, 0x02, 0x00, 0x00}; // 最后两个字节用于大小
+// 	heartbeatStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
+// 	heartbeatStream << d->_aeroHeartbeat.aero_model_heartbeat();
+// 	// 更新数据包大小（使用两个字节）
+// 	auto size		 = heartbeatData.size();
+// 	heartbeatData[4] = (size >> 8) & 0xFF; // 高字节
+// 	heartbeatData[5] = size & 0xFF;		   // 低字节
 
-	TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
-}
+// 	TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
+// }
 
 void XNATA04DataProcessor::SendGhHeartbeat()
 {
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_ghHeartbeatMutex);
-	QByteArray heartbeatData;
-	QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
-	heartbeatStream.setByteOrder(QDataStream::LittleEndian);
-	quint8 header[6] = {0x0a, 0x04, 0x01, 0x02, 0x00, 0x00}; // 最后两个字节用于大小
-	heartbeatStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
-	heartbeatStream << d->_ghHeartbeat.groundhandling_model_heartbeat();
-	// 更新数据包大小（使用两个字节）
-	auto size		 = heartbeatData.size();
-	heartbeatData[4] = (size >> 8) & 0xFF; // 高字节
-	heartbeatData[5] = size & 0xFF;		   // 低字节
+	T_D();
+	XNByteArray outputData = d->_ghHeartbeatInterface.getUDPPackage();
+	//填写数据方向
+	outputData[5] = 0x01;
 
-	TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
+	TriggerRTEvent("SendUDPData", std::any(outputData));
 }
 
-void XNATA04DataProcessor::SendWbHeartbeat()
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_wbHeartbeatMutex);
-	QByteArray heartbeatData;
-	QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
-	heartbeatStream.setByteOrder(QDataStream::LittleEndian);
-	quint8 header[6] = {0x0a, 0x04, 0x02, 0x02, 0x00, 0x00}; // 最后两个字节用于大小
-	heartbeatStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
-	heartbeatStream << d->_wbHeartbeat.weightbody_model_heartbeat();
-	// 更新数据包大小（使用两个字节）
-	auto size		 = heartbeatData.size();
-	heartbeatData[4] = (size >> 8) & 0xFF; // 高字节
-	heartbeatData[5] = size & 0xFF;		   // 低字节
+// void XNATA04DataProcessor::SendWbHeartbeat()
+// {
+// 	Q_D(XNATA04DataProcessor);
+// 	QMutexLocker locker(&d->_wbHeartbeatMutex);
+// 	QByteArray heartbeatData;
+// 	QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
+// 	heartbeatStream.setByteOrder(QDataStream::LittleEndian);
+// 	quint8 header[6] = {0x0a, 0x04, 0x02, 0x02, 0x00, 0x00}; // 最后两个字节用于大小
+// 	heartbeatStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
+// 	heartbeatStream << d->_wbHeartbeat.weightbody_model_heartbeat();
+// 	// 更新数据包大小（使用两个字节）
+// 	auto size		 = heartbeatData.size();
+// 	heartbeatData[4] = (size >> 8) & 0xFF; // 高字节
+// 	heartbeatData[5] = size & 0xFF;		   // 低字节
 
-	TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
-}
+// 	TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
+// }
 
-void XNATA04DataProcessor::OnWbInput(const QVariant &data)
+// void XNATA04DataProcessor::OnWbInput(const QVariant &data)
+// {
+// 	Q_D(XNATA04DataProcessor);
+// 	QByteArray inputData = data.toByteArray();
+
+// 	// 检查数据包头
+// 	if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x02
+// 		|| inputData[3] != 0x00) {
+// 		LOG_WARNING("ATA04DataProcessor::OnWbInput: invalid input data header");
+// 		return;
+// 	}
+
+// 	// 读取两个字节的大小字段
+// 	quint16 size = ((quint16)(quint8)inputData[4] << 8) | (quint16)(quint8)inputData[5];
+// 	if (size != inputData.size()) {
+// 		LOG_WARNING(
+// 			"ATA04DataProcessor::OnWbInput: invalid data size. Expected %d bytes, got %d bytes",
+// 			size, inputData.size());
+// 		return;
+// 	}
+
+// 	QDataStream inputStream(&inputData, QIODevice::ReadOnly);
+// 	inputStream.setByteOrder(QDataStream::LittleEndian);
+// 	inputStream.setVersion(QDataStream::Qt_6_0);
+
+// 	// 跳过6字节的头
+// 	for (int i = 0; i < 6; i++) {
+// 		char tmp;
+// 		inputStream >> tmp;
+// 	}
+
+// 	QMutexLocker locker(&d->_wbInputMutex);
+// 	double dTmp;
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_theta_deg_f8(dTmp);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_phi_deg_f8(dTmp);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_psi_deg_f8(dTmp);
+// 	quint8 ucTmp;
+// 	inputStream >> ucTmp;
+// 	d->_wbInput.l_04_i_wbcomac_gear_mode_l1(ucTmp);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_acset_gw_f8(dTmp);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_acset_cg_f8(dTmp);
+// 	std::array<float, 20> farray20;
+// 	for (int i = 0; i < 20; i++) {
+// 		inputStream >> farray20[i];
+// 	}
+// 	d->_wbInput.l_04_i_wbcomac_acset_tankfuel_f4(farray20);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_acset_totfuel_f8(dTmp);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_acset_zfw_f8(dTmp);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_acset_zfwcg_f8(dTmp);
+// 	std::array<char, 4> ucarray4;
+// 	for (int i = 0; i < 4; i++) {
+// 		inputStream >> ucarray4[i];
+// 	}
+// 	d->_wbInput.l_04_i_wbcomac_eng_efsep_l1(ucarray4);
+// 	std::array<double, 20> darray20;
+// 	for (int i = 0; i < 20; i++) {
+// 		inputStream >> darray20[i];
+// 	}
+// 	d->_wbInput.l_04_i_wbcomac_fuel_f8(darray20);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_gear_avg_f8(dTmp);
+// 	for (int i = 0; i < 20; i++) {
+// 		inputStream >> darray20[i];
+// 	}
+// 	d->_wbInput.l_04_i_wbcomac_kice_f8(darray20);
+// 	inputStream >> ucTmp;
+// 	d->_wbInput.l_04_i_wbcomac_bycglim_l1(ucTmp);
+// 	inputStream >> ucTmp;
+// 	d->_wbInput.l_04_i_wbcomac_bygwlim_l1(ucTmp);
+// 	inputStream >> ucTmp;
+// 	d->_wbInput.l_04_i_wbcomac_frz_l1(ucTmp);
+// 	inputStream >> ucTmp;
+// 	d->_wbInput.l_04_i_wbcomac_zcgfrz_l1(ucTmp);
+// 	inputStream >> ucTmp;
+// 	d->_wbInput.l_04_i_wbcomac_zcgfrz_grfx_l1(ucTmp);
+// 	inputStream >> ucTmp;
+// 	d->_wbInput.l_04_i_wbcomac_ycgfrz_l1(ucTmp);
+// 	inputStream >> ucTmp;
+// 	d->_wbInput.l_04_i_wbcomac_inertfrz_l1(ucTmp);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_potreq_gw_f8(dTmp);
+// 	inputStream >> dTmp;
+// 	d->_wbInput.l_04_i_wbcomac_potreq_gwcg_f8(dTmp);
+// 	d->_dataWriters["XNSim::ATA04::WeightBalance_input"]->write(&d->_wbInput);
+// }
+
+void XNATA04DataProcessor::OnGhInput(const std::any &data)
 {
-	Q_D(XNATA04DataProcessor);
-	QByteArray inputData = data.toByteArray();
+	T_D();
+	XNByteArray inputData = std::any_cast<XNByteArray>(data);
 
 	// 检查数据包头
-	if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x02
-		|| inputData[3] != 0x00) {
-		LOG_WARNING("ATA04DataProcessor::OnWbInput: invalid input data header");
+	if (inputData[0] != 0xa6) {
+		LOG_WARNING("接收到不是XNSim的数据包！");
 		return;
 	}
-
-	// 读取两个字节的大小字段
-	quint16 size = ((quint16)(quint8)inputData[4] << 8) | (quint16)(quint8)inputData[5];
+	if (inputData[1] != 0xc0) {
+		LOG_WARNING("接收到不是C909的数据包！");
+		return;
+	}
+	if (inputData[2] != 0x04) {
+		LOG_WARNING("接收到不是ATA04的数据包！");
+		return;
+	}
+	if (inputData[3] != 0x01) {
+		LOG_WARNING("接收到不是GroundHandling的数据包！");
+		return;
+	}
+	if (inputData[4] != 0x00) {
+		LOG_WARNING("接收到不是输入结构体的数据包！");
+		return;
+	}
+	if (inputData[5] != 0x00) {
+		LOG_WARNING("接收到不是输入数据包！");
+		return;
+	}
+	size_t size = inputData[6];
+	size		= size << 8 | inputData[7];
 	if (size != inputData.size()) {
-		LOG_WARNING(
-			"ATA04DataProcessor::OnWbInput: invalid data size. Expected %d bytes, got %d bytes",
-			size, inputData.size());
+		LOG_WARNING("接收到的数据包大小不正确！");
 		return;
 	}
 
-	QDataStream inputStream(&inputData, QIODevice::ReadOnly);
-	inputStream.setByteOrder(QDataStream::LittleEndian);
-	inputStream.setVersion(QDataStream::Qt_6_0);
-
-	// 跳过6字节的头
-	for (int i = 0; i < 6; i++) {
-		char tmp;
-		inputStream >> tmp;
-	}
-
-	QMutexLocker locker(&d->_wbInputMutex);
-	double dTmp;
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_theta_deg_f8(dTmp);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_phi_deg_f8(dTmp);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_psi_deg_f8(dTmp);
-	quint8 ucTmp;
-	inputStream >> ucTmp;
-	d->_wbInput.l_04_i_wbcomac_gear_mode_l1(ucTmp);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_acset_gw_f8(dTmp);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_acset_cg_f8(dTmp);
-	std::array<float, 20> farray20;
-	for (int i = 0; i < 20; i++) {
-		inputStream >> farray20[i];
-	}
-	d->_wbInput.l_04_i_wbcomac_acset_tankfuel_f4(farray20);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_acset_totfuel_f8(dTmp);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_acset_zfw_f8(dTmp);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_acset_zfwcg_f8(dTmp);
-	std::array<char, 4> ucarray4;
-	for (int i = 0; i < 4; i++) {
-		inputStream >> ucarray4[i];
-	}
-	d->_wbInput.l_04_i_wbcomac_eng_efsep_l1(ucarray4);
-	std::array<double, 20> darray20;
-	for (int i = 0; i < 20; i++) {
-		inputStream >> darray20[i];
-	}
-	d->_wbInput.l_04_i_wbcomac_fuel_f8(darray20);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_gear_avg_f8(dTmp);
-	for (int i = 0; i < 20; i++) {
-		inputStream >> darray20[i];
-	}
-	d->_wbInput.l_04_i_wbcomac_kice_f8(darray20);
-	inputStream >> ucTmp;
-	d->_wbInput.l_04_i_wbcomac_bycglim_l1(ucTmp);
-	inputStream >> ucTmp;
-	d->_wbInput.l_04_i_wbcomac_bygwlim_l1(ucTmp);
-	inputStream >> ucTmp;
-	d->_wbInput.l_04_i_wbcomac_frz_l1(ucTmp);
-	inputStream >> ucTmp;
-	d->_wbInput.l_04_i_wbcomac_zcgfrz_l1(ucTmp);
-	inputStream >> ucTmp;
-	d->_wbInput.l_04_i_wbcomac_zcgfrz_grfx_l1(ucTmp);
-	inputStream >> ucTmp;
-	d->_wbInput.l_04_i_wbcomac_ycgfrz_l1(ucTmp);
-	inputStream >> ucTmp;
-	d->_wbInput.l_04_i_wbcomac_inertfrz_l1(ucTmp);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_potreq_gw_f8(dTmp);
-	inputStream >> dTmp;
-	d->_wbInput.l_04_i_wbcomac_potreq_gwcg_f8(dTmp);
-	d->_dataWriters["XNSim::ATA04::WeightBalance_input"]->write(&d->_wbInput);
+	d->_ghInputInterface.setDataByUDPPackage(inputData);
 }
 
-void XNATA04DataProcessor::OnGhInput(const QVariant &data)
-{
-	Q_D(XNATA04DataProcessor);
-	QByteArray inputData = data.toByteArray();
-
-	// 检查数据包头
-	if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x01
-		|| inputData[3] != 0x00) {
-		LOG_WARNING("ATA04DataProcessor::OnGhInput: invalid input data header");
-		return;
-	}
-
-	// 读取两个字节的大小字段
-	quint16 size = ((quint16)(quint8)inputData[4] << 8) | (quint16)(quint8)inputData[5];
-	if (size != inputData.size()) {
-		LOG_WARNING(
-			"ATA04DataProcessor::OnGhInput: invalid data size. Expected %d bytes, got %d bytes",
-			size, inputData.size());
-		return;
-	}
-
-	QDataStream inputStream(&inputData, QIODevice::ReadOnly);
-	inputStream.setByteOrder(QDataStream::LittleEndian);
-	inputStream.setVersion(QDataStream::Qt_6_0);
-
-	// 跳过6字节的头
-	for (int i = 0; i < 6; i++) {
-		char tmp;
-		inputStream >> tmp;
-	}
-
-	QMutexLocker locker(&d->_ghInputMutex);
-	quint8 uchartmp;
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_frz_l1(uchartmp);
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_chocks_l1(uchartmp);
-	double doubleTmp;
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_alt_agl_f8(doubleTmp);
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_frzflt_l1(uchartmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_p_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_q_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_r_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_ug_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_vg_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_wg_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_blcg_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_bscg_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_wlcg_f8(doubleTmp);
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_pb_active_l1(uchartmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_pb_towforce_f8(doubleTmp);
-	std::array<std::array<double, 2>, 3> tmpArray32;
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			inputStream >> tmpArray32[i][j];
-		}
-	}
-	d->_ghInput.l_04_i_gdcomac_brake_torq_f8(tmpArray32);
-	std::array<double, 3> tmpArray3;
-	for (int i = 0; i < 3; i++) {
-		inputStream >> tmpArray3[i];
-	}
-	d->_ghInput.l_04_i_gdcomac_gear_f8(tmpArray3);
-	for (int i = 0; i < 3; i++) {
-		inputStream >> tmpArray3[i];
-	}
-	std::array<double, 10> tmpArray10;
-	for (int i = 0; i < 10; i++) {
-		inputStream >> tmpArray10[i];
-	}
-	d->_ghInput.l_04_i_gdcomac_gsteer_f8(tmpArray10);
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			inputStream >> tmpArray32[i][j];
-		}
-	}
-	d->_ghInput.l_04_i_gdcomac_tire_pres_f8(tmpArray32);
-	std::array<double, 4> tmpArray4;
-	for (int i = 0; i < 4; i++) {
-		inputStream >> tmpArray4[i];
-	}
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_onjax_l1(uchartmp);
-	std::array<double, 7> tmpArray7;
-	for (int i = 0; i < 7; i++) {
-		inputStream >> tmpArray7[i];
-	}
-	d->_ghInput.l_04_i_gdcomac_contdep_f8(tmpArray7);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_thetag_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_phig_f8(doubleTmp);
-	qint32 intTmp;
-	inputStream >> intTmp;
-	d->_ghInput.l_04_i_gdcomac_rwyrgh_i2(intTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_rwyhdg_f8(doubleTmp);
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_reset_braketemp_l1(uchartmp);
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_reset_tirepress_l1(uchartmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_temp_c_f8(doubleTmp);
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			inputStream >> tmpArray32[i][j];
-		}
-	}
-	d->_ghInput.l_04_i_gdcomac_brake_temp_f8(tmpArray32);
-	std::array<std::array<char, 2>, 3> tmpArray322;
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			inputStream >> tmpArray322[i][j];
-		}
-	}
-	d->_ghInput.l_04_i_gdcomac_tire_tburst_l1(tmpArray322);
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			inputStream >> tmpArray322[i][j];
-		}
-	}
-	d->_ghInput.l_04_i_gdcomac_tire_tflat_l1(tmpArray322);
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_brk_reset_tpres_l1(uchartmp);
-	std::array<double, 14> tmpArray14;
-	for (int i = 0; i < 14; i++) {
-		inputStream >> tmpArray14[i];
-	}
-	d->_ghInput.l_04_i_gdcomac_rcon_ci_f8(tmpArray14);
-	inputStream >> intTmp;
-	d->_ghInput.l_04_i_gdcomac_gsteer_state_i4(intTmp);
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_trim_active_l1(uchartmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_phi_deg_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_theta_deg_f8(doubleTmp);
-	inputStream >> doubleTmp;
-	d->_ghInput.l_04_i_gdcomac_psi_deg_f8(doubleTmp);
-	inputStream >> uchartmp;
-	d->_ghInput.l_04_i_gdcomac_resetint_l1(uchartmp);
-	d->_dataWriters["XNSim::ATA04::GroundHandling_input"]->write(&d->_ghInput);
-}
-
-void XNATA04DataProcessor::OnAeroInput(const QVariant &data)
-{
-	Q_D(XNATA04DataProcessor);
-	QByteArray inputData = data.toByteArray();
-
-	// 现在我们知道数据包确实以0b 04 00开头
-	if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x00
-		|| inputData[3] != 0x00) {
-		LOG_WARNING("ATA04DataProcessor::OnAeroInput: invalid input data");
-		return;
-	}
-
-	// 读取两个字节的大小字段
-	quint16 size = ((quint16)(quint8)inputData[4] << 8) | (quint16)(quint8)inputData[5];
-	if (size != inputData.size()) {
-		LOG_WARNING(
-			"ATA04DataProcessor::OnAeroInput: invalid data size. Expected %1 bytes, got %2 bytes",
-			size, inputData.size());
-		return;
-	}
-
-	// 使用与发送方相同版本的QDataStream读取数据
-	QDataStream inputStream(&inputData, QIODevice::ReadOnly);
-	inputStream.setByteOrder(QDataStream::LittleEndian);
-	inputStream.setVersion(QDataStream::Qt_6_0);
-
-	// 跳过6字节的头
-	for (int i = 0; i < 6; i++) {
-		char tmp;
-		inputStream >> tmp;
-	}
-
-	QMutexLocker locker(&d->_aeroInputMutex);
-
-	// 尝试读取数据，并添加异常处理
-	try {
-		double tmp;
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_alpha_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_alpdot_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_beta_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_press_alt_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_tas_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_mach_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_nx_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_ny_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_nz_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_p_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_q_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_r_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_qbar_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_blcg_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_bscg_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_wlcg_f8(tmp);
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_stab_f8(tmp);
-
-		// ail_f8 (10个double)
-		std::array<double, 10> ailArray;
-		for (int i = 0; i < 10; i++) {
-			inputStream >> ailArray[i];
-		}
-		d->_aeroInput.l_04_i_aerocomac_ail_f8(ailArray);
-
-		// elv_f8 (4个double)
-		std::array<double, 4> elvArray;
-		for (int i = 0; i < 4; i++) {
-			inputStream >> elvArray[i];
-		}
-		d->_aeroInput.l_04_i_aerocomac_elv_f8(elvArray);
-
-		// rud_f8 (2个double)
-		std::array<double, 2> rudArray;
-		for (int i = 0; i < 2; i++) {
-			inputStream >> rudArray[i];
-		}
-		d->_aeroInput.l_04_i_aerocomac_rud_f8(rudArray);
-
-		// gear_f8 (7个double)
-		std::array<double, 7> gearArray;
-		for (int i = 0; i < 7; i++) {
-			inputStream >> gearArray[i];
-		}
-		d->_aeroInput.l_04_i_aerocomac_gear_f8(gearArray);
-
-		// flap_f8 (10个double)
-		std::array<double, 10> flapArray;
-		for (int i = 0; i < 10; i++) {
-			inputStream >> flapArray[i];
-		}
-		d->_aeroInput.l_04_i_aerocomac_flap_f8(flapArray);
-
-		// slat_f8 (20个double)
-		std::array<double, 20> slatArray;
-		for (int i = 0; i < 20; i++) {
-			inputStream >> slatArray[i];
-		}
-		d->_aeroInput.l_04_i_aerocomac_slat_f8(slatArray);
-
-		// spl_f8 (20个double)
-		std::array<double, 20> splArray;
-		for (int i = 0; i < 20; i++) {
-			inputStream >> splArray[i];
-		}
-		d->_aeroInput.l_04_i_aerocomac_spl_f8(splArray);
-
-		// tnet_f8 (4个double)
-		std::array<double, 4> tnetArray;
-		for (int i = 0; i < 4; i++) {
-			inputStream >> tnetArray[i];
-		}
-		d->_aeroInput.l_04_i_aerocomac_tnet_f8(tnetArray);
-
-		// kice_f8 (20个double)
-		std::array<double, 20> kiceArray;
-		for (int i = 0; i < 20; i++) {
-			inputStream >> kiceArray[i];
-		}
-		d->_aeroInput.l_04_i_aerocomac_kice_f8(kiceArray);
-
-		inputStream >> tmp;
-		d->_aeroInput.l_04_i_aerocomac_alt_agl_f8(tmp);
-
-		d->_dataWriters["XNSim::ATA04::Aerodynamics_input"]->write(&d->_aeroInput);
-	} catch (const std::exception &e) {
-		LOG_WARNING("ATA04DataProcessor::OnAeroInput: exception during data parsing: %s", e.what());
-		return;
-	} catch (...) {
-		LOG_WARNING("ATA04DataProcessor::OnAeroInput: unknown exception during data parsing");
-		return;
-	}
-}
-
-void XNATA04DataProcessor::OnWbOutput(const XNSim::ATA04::WeightBalance_output &input)
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_wbOutputMutex);
-	d->_wbOutput = input;
-}
-
-void XNATA04DataProcessor::OnGhOutput(const XNSim::ATA04::GroundHandling_output &input)
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_ghOutputMutex);
-	d->_ghOutput = input;
-}
-
-void XNATA04DataProcessor::OnAeroOutput(const XNSim::ATA04::Aerodynamics_output &input)
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_aeroOutputMutex);
-	d->_aeroOutput = input;
-}
-
-void XNATA04DataProcessor::OnAeroHeartbeat(const XNSim::ATA04::Aerodynamics_heartbeat &input)
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_aeroHeartbeatMutex);
-	d->_aeroHeartbeat = input;
-}
-
-void XNATA04DataProcessor::OnWbHeartbeat(const XNSim::ATA04::WeightBalance_heartbeat &input)
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_wbHeartbeatMutex);
-	d->_wbHeartbeat = input;
-}
-
-void XNATA04DataProcessor::OnGhHeartbeat(const XNSim::ATA04::GroundHandling_heartbeat &input)
-{
-	Q_D(XNATA04DataProcessor);
-	QMutexLocker locker(&d->_ghHeartbeatMutex);
-	d->_ghHeartbeat = input;
-}
-
-void XNATA04DataProcessor::SendUdpTestData()
-{
-	Q_D(XNATA04DataProcessor);
-
-	// 创建气动输入(AeroInput)数据包
-	QByteArray aeroData;
-	QDataStream aeroStream(&aeroData, QIODevice::WriteOnly);
-	aeroStream.setByteOrder(QDataStream::LittleEndian);
-	aeroStream.setVersion(QDataStream::Qt_6_0);
-
-	// 气动输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x00=气动模型, 0x00=输入数据)
-	quint8 aeroHeader[6] = {0x0b, 0x04, 0x00, 0x00, 0x00, 0x00}; // 最后两个字节用于大小
-	aeroStream << aeroHeader[0] << aeroHeader[1] << aeroHeader[2] << aeroHeader[3] << aeroHeader[4]
-			   << aeroHeader[5];
-
-	// 气动数据字段
-	aeroStream << (double)-2.0;	   // alpha
-	aeroStream << (double)0.0;	   // alpdot
-	aeroStream << (double)0.0;	   // beta
-	aeroStream << (double)10000.0; // press_alt
-	aeroStream << (double)360.0;   // tas
-	aeroStream << (double)0.3;	   // mach
-	aeroStream << (double)0.0;	   // nx
-	aeroStream << (double)0.0;	   // ny
-	aeroStream << (double)1.0;	   // nz
-	aeroStream << (double)0.0;	   // p
-	aeroStream << (double)0.0;	   // q
-	aeroStream << (double)0.0;	   // r
-	aeroStream << (double)110.0;   // qbar
-	aeroStream << (double)0.0;	   // blcg
-	aeroStream << (double)650.0;   // bscg
-	aeroStream << (double)7.0;	   // wlcg
-	aeroStream << (double)-2.0;	   // stab
-
-	// ail_f8 数组，需要10个double
-	for (int i = 0; i < 10; i++) {
-		aeroStream << (double)0.0;
-	}
-
-	// elv_f8 数组，需要4个double
-	for (int i = 0; i < 4; i++) {
-		aeroStream << (double)0.0;
-	}
-
-	// rud_f8 数组，需要2个double
-	for (int i = 0; i < 2; i++) {
-		aeroStream << (double)0.0;
-	}
-
-	// gear_f8 数组，需要7个double
-	for (int i = 0; i < 7; i++) {
-		aeroStream << (double)1.0;
-	}
-
-	// flap_f8 数组，需要10个double
-	for (int i = 0; i < 10; i++) {
-		aeroStream << (double)41.5;
-	}
-
-	// slat_f8 数组，需要20个double
-	for (int i = 0; i < 20; i++) {
-		aeroStream << (double)20.855;
-	}
-
-	// spl_f8 数组，需要20个double
-	for (int i = 0; i < 20; i++) {
-		aeroStream << (double)0.0;
-	}
-
-	// tnet_f8 数组，需要4个double
-	for (int i = 0; i < 4; i++) {
-		aeroStream << (double)8000.0;
-	}
-
-	// kice_f8 数组，需要20个double
-	for (int i = 0; i < 20; i++) {
-		aeroStream << (double)0.0;
-	}
-
-	// alt_agl
-	aeroStream << (double)2500.0;
-
-	// 更新数据包大小（使用两个字节）
-	quint16 size = aeroData.size();
-	aeroData[4]	 = (size >> 8) & 0xFF; // 高字节
-	aeroData[5]	 = size & 0xFF;		   // 低字节
-
-	// 创建地面操作输入(GhInput)数据包
-	QByteArray ghData;
-	QDataStream ghStream(&ghData, QIODevice::WriteOnly);
-	ghStream.setByteOrder(QDataStream::LittleEndian);
-	ghStream.setVersion(QDataStream::Qt_6_0);
-
-	// 地面操作输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x01=地面操作模型, 0x00=输入数据)
-	quint8 ghHeader[6] = {0x0b, 0x04, 0x01, 0x00, 0x00, 0x00}; // 最后两个字节用于大小
-	ghStream << ghHeader[0] << ghHeader[1] << ghHeader[2] << ghHeader[3] << ghHeader[4]
-			 << ghHeader[5];
-
-	// 地面操作数据字段
-	ghStream << (quint8)0;	   // frz_l1
-	ghStream << (quint8)0;	   // chocks_l1
-	ghStream << (double)8.0;   // alt_agl_f8
-	ghStream << (quint8)0;	   // frzflt_l1
-	ghStream << (double)0.0;   // p_f8
-	ghStream << (double)0.0;   // q_f8
-	ghStream << (double)0.0;   // r_f8
-	ghStream << (double)50.0;  // ug_f8
-	ghStream << (double)0.0;   // vg_f8
-	ghStream << (double)0.0;   // wg_f8
-	ghStream << (double)0.0;   // blcg_f8
-	ghStream << (double)649.3; // bscg_f8
-	ghStream << (double)10.0;  // wlcg_f8
-	ghStream << (quint8)0;	   // pb_active_l1
-	ghStream << (double)0.0;   // pb_towforce_f8
-
-	// brake_torq_f8 数组 3x2
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			ghStream << (double)0.0;
-		}
-	}
-
-	// gear_f8 数组，需要3个double
-	for (int i = 0; i < 3; i++) {
-		ghStream << (double)1.0;
-	}
-
-	// gsteer_f8 数组，需要10个double
-	for (int i = 0; i < 10; i++) {
-		ghStream << (double)0.0;
-	}
-
-	// tire_pres_f8 数组 3x2
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			if (i == 0) {
-				ghStream << (double)98.0; // 98 kpa的胎压
-			} else {
-				ghStream << (double)140.0; // 140 kpa的胎压
-			}
-		}
-	}
-
-	// 4个double数组
-	for (int i = 0; i < 4; i++) {
-		ghStream << (double)0.0;
-	}
-
-	ghStream << (quint8)0; // onjax_l1
-
-	// contdep_f8 数组，需要7个double
-	ghStream << (double)1.0;
-	for (int i = 1; i < 7; i++) {
-		ghStream << (double)0.0;
-	}
-
-	ghStream << (double)0.0;  // thetag_f8
-	ghStream << (double)0.0;  // phig_f8
-	ghStream << (qint32)0;	  // rwyrgh_i2
-	ghStream << (double)0.0;  // rwyhdg_f8
-	ghStream << (quint8)0;	  // reset_braketemp_l1
-	ghStream << (quint8)0;	  // reset_tirepress_l1
-	ghStream << (double)16.0; // temp_c_f8
-
-	// brake_temp_f8 数组 3x2
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			ghStream << (double)16.0; // 16度的刹车温度
-		}
-	}
-
-	// tire_tburst_l1 数组 3x2
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			ghStream << (char)0;
-		}
-	}
-
-	// tire_tflat_l1 数组 3x2
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 2; j++) {
-			ghStream << (char)0;
-		}
-	}
-
-	ghStream << (quint8)0; // brk_reset_tpres_l1
-
-	// rcon_ci_f8 数组，需要14个double
-	ghStream << (double)1.0;
-	for (int i = 1; i < 14; i++) {
-		ghStream << (double)0.0;
-	}
-
-	ghStream << (qint32)2;	 // gsteer_state_i4
-	ghStream << (quint8)1;	 // trim_active_l1
-	ghStream << (double)0.0; // phi_deg_f8
-	ghStream << (double)0.0; // theta_deg_f8
-	ghStream << (double)0.0; // psi_deg_f8
-	ghStream << (quint8)1;	 // resetint_l1
-
-	// 更新数据包大小（使用两个字节）
-	size	  = ghData.size();
-	ghData[4] = (size >> 8) & 0xFF; // 高字节
-	ghData[5] = size & 0xFF;		// 低字节
-
-	// 创建重量平衡输入(WbInput)数据包
-	QByteArray wbData;
-	QDataStream wbStream(&wbData, QIODevice::WriteOnly);
-	wbStream.setByteOrder(QDataStream::LittleEndian);
-	wbStream.setVersion(QDataStream::Qt_6_0);
-
-	// 重量平衡输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x02=重量平衡模型, 0x00=输入数据)
-	quint8 wbHeader[6] = {0x0b, 0x04, 0x02, 0x00, 0x00, 0x00}; // 最后两个字节用于大小
-	wbStream << wbHeader[0] << wbHeader[1] << wbHeader[2] << wbHeader[3] << wbHeader[4]
-			 << wbHeader[5];
-
-	// 重量平衡数据字段
-	wbStream << (double)0.0;	 // theta_deg_f8
-	wbStream << (double)0.0;	 // phi_deg_f8
-	wbStream << (double)0.0;	 // psi_deg_f8
-	wbStream << (quint8)0;		 // gear_mode_l1
-	wbStream << (double)82574.0; // acset_gw_f8 (60000kg飞机重量)
-	wbStream << (double)0.1215;	 // acset_cg_f8 (25%MAC重心位置)
-
-	// acset_tankfuel_f4 数组，需要20个float
-	for (int i = 0; i < 20; i++) {
-		wbStream << (double)(i < 2 ? 4541.0 : 0.0); // 前2个油箱各4541kg
-	}
-
-	wbStream << (double)9082.0;	 // acset_totfuel_f8 (总油量9082kg)
-	wbStream << (double)73492.0; // acset_zfw_f8 (零油重73492kg)
-	wbStream << (double)0.12;	 // acset_zfwcg_f8 (零油重重心24%MAC)
-
-	// eng_efsep_l1 数组，需要4个char
-	for (int i = 0; i < 4; i++) {
-		wbStream << (char)0;
-	}
-
-	// fuel_f8 数组，需要20个double
-	for (int i = 0; i < 20; i++) {
-		wbStream << (double)(i < 2 ? 4541.0 : 0.0); // 前2个油箱各4541kg
-	}
-
-	wbStream << (double)1.0; // gear_avg_f8
-
-	// kice_f8 数组，需要20个double
-	for (int i = 0; i < 20; i++) {
-		wbStream << (double)0.0;
-	}
-
-	wbStream << (quint8)1;		 // bycglim_l1
-	wbStream << (quint8)1;		 // bygwlim_l1
-	wbStream << (quint8)0;		 // frz_l1
-	wbStream << (quint8)0;		 // zcgfrz_l1
-	wbStream << (quint8)0;		 // zcgfrz_grfx_l1
-	wbStream << (quint8)0;		 // ycgfrz_l1
-	wbStream << (quint8)0;		 // inertfrz_l1
-	wbStream << (double)80000.0; // potreq_gw_f8
-	wbStream << (double)0.2;	 // potreq_gwcg_f8
-
-	// 更新数据包大小（使用两个字节）
-	size	  = wbData.size();
-	wbData[4] = (size >> 8) & 0xFF; // 高字节
-	wbData[5] = size & 0xFF;		// 低字节
-
-	// 发送测试数据包
-	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(aeroData));
-	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(ghData));
-	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(wbData));
-}
+// void XNATA04DataProcessor::OnAeroInput(const QVariant &data)
+// {
+// 	Q_D(XNATA04DataProcessor);
+// 	QByteArray inputData = data.toByteArray();
+
+// 	// 现在我们知道数据包确实以0b 04 00开头
+// 	if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x00
+// 		|| inputData[3] != 0x00) {
+// 		LOG_WARNING("ATA04DataProcessor::OnAeroInput: invalid input data");
+// 		return;
+// 	}
+
+// 	// 读取两个字节的大小字段
+// 	quint16 size = ((quint16)(quint8)inputData[4] << 8) | (quint16)(quint8)inputData[5];
+// 	if (size != inputData.size()) {
+// 		LOG_WARNING(
+// 			"ATA04DataProcessor::OnAeroInput: invalid data size. Expected %1 bytes, got %2 bytes",
+// 			size, inputData.size());
+// 		return;
+// 	}
+
+// 	// 使用与发送方相同版本的QDataStream读取数据
+// 	QDataStream inputStream(&inputData, QIODevice::ReadOnly);
+// 	inputStream.setByteOrder(QDataStream::LittleEndian);
+// 	inputStream.setVersion(QDataStream::Qt_6_0);
+
+// 	// 跳过6字节的头
+// 	for (int i = 0; i < 6; i++) {
+// 		char tmp;
+// 		inputStream >> tmp;
+// 	}
+
+// 	QMutexLocker locker(&d->_aeroInputMutex);
+
+// 	// 尝试读取数据，并添加异常处理
+// 	try {
+// 		double tmp;
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_alpha_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_alpdot_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_beta_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_press_alt_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_tas_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_mach_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_nx_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_ny_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_nz_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_p_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_q_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_r_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_qbar_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_blcg_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_bscg_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_wlcg_f8(tmp);
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_stab_f8(tmp);
+
+// 		// ail_f8 (10个double)
+// 		std::array<double, 10> ailArray;
+// 		for (int i = 0; i < 10; i++) {
+// 			inputStream >> ailArray[i];
+// 		}
+// 		d->_aeroInput.l_04_i_aerocomac_ail_f8(ailArray);
+
+// 		// elv_f8 (4个double)
+// 		std::array<double, 4> elvArray;
+// 		for (int i = 0; i < 4; i++) {
+// 			inputStream >> elvArray[i];
+// 		}
+// 		d->_aeroInput.l_04_i_aerocomac_elv_f8(elvArray);
+
+// 		// rud_f8 (2个double)
+// 		std::array<double, 2> rudArray;
+// 		for (int i = 0; i < 2; i++) {
+// 			inputStream >> rudArray[i];
+// 		}
+// 		d->_aeroInput.l_04_i_aerocomac_rud_f8(rudArray);
+
+// 		// gear_f8 (7个double)
+// 		std::array<double, 7> gearArray;
+// 		for (int i = 0; i < 7; i++) {
+// 			inputStream >> gearArray[i];
+// 		}
+// 		d->_aeroInput.l_04_i_aerocomac_gear_f8(gearArray);
+
+// 		// flap_f8 (10个double)
+// 		std::array<double, 10> flapArray;
+// 		for (int i = 0; i < 10; i++) {
+// 			inputStream >> flapArray[i];
+// 		}
+// 		d->_aeroInput.l_04_i_aerocomac_flap_f8(flapArray);
+
+// 		// slat_f8 (20个double)
+// 		std::array<double, 20> slatArray;
+// 		for (int i = 0; i < 20; i++) {
+// 			inputStream >> slatArray[i];
+// 		}
+// 		d->_aeroInput.l_04_i_aerocomac_slat_f8(slatArray);
+
+// 		// spl_f8 (20个double)
+// 		std::array<double, 20> splArray;
+// 		for (int i = 0; i < 20; i++) {
+// 			inputStream >> splArray[i];
+// 		}
+// 		d->_aeroInput.l_04_i_aerocomac_spl_f8(splArray);
+
+// 		// tnet_f8 (4个double)
+// 		std::array<double, 4> tnetArray;
+// 		for (int i = 0; i < 4; i++) {
+// 			inputStream >> tnetArray[i];
+// 		}
+// 		d->_aeroInput.l_04_i_aerocomac_tnet_f8(tnetArray);
+
+// 		// kice_f8 (20个double)
+// 		std::array<double, 20> kiceArray;
+// 		for (int i = 0; i < 20; i++) {
+// 			inputStream >> kiceArray[i];
+// 		}
+// 		d->_aeroInput.l_04_i_aerocomac_kice_f8(kiceArray);
+
+// 		inputStream >> tmp;
+// 		d->_aeroInput.l_04_i_aerocomac_alt_agl_f8(tmp);
+
+// 		d->_dataWriters["XNSim::ATA04::Aerodynamics_input"]->write(&d->_aeroInput);
+// 	} catch (const std::exception &e) {
+// 		LOG_WARNING("ATA04DataProcessor::OnAeroInput: exception during data parsing: %s", e.what());
+// 		return;
+// 	} catch (...) {
+// 		LOG_WARNING("ATA04DataProcessor::OnAeroInput: unknown exception during data parsing");
+// 		return;
+// 	}
+// }
+
+// void XNATA04DataProcessor::OnWbOutput(const XNSim::ATA04::WeightBalance_output &input)
+// {
+// 	Q_D(XNATA04DataProcessor);
+// 	QMutexLocker locker(&d->_wbOutputMutex);
+// 	d->_wbOutput = input;
+// }
+
+// void XNATA04DataProcessor::OnAeroOutput(const XNSim::ATA04::Aerodynamics_output &input)
+// {
+// 	Q_D(XNATA04DataProcessor);
+// 	QMutexLocker locker(&d->_aeroOutputMutex);
+// 	d->_aeroOutput = input;
+// }
+
+// void XNATA04DataProcessor::OnAeroHeartbeat(const XNSim::ATA04::Aerodynamics_heartbeat &input)
+// {
+// 	Q_D(XNATA04DataProcessor);
+// 	QMutexLocker locker(&d->_aeroHeartbeatMutex);
+// 	d->_aeroHeartbeat = input;
+// }
+
+// void XNATA04DataProcessor::OnWbHeartbeat(const XNSim::ATA04::WeightBalance_heartbeat &input)
+// {
+// 	Q_D(XNATA04DataProcessor);
+// 	QMutexLocker locker(&d->_wbHeartbeatMutex);
+// 	d->_wbHeartbeat = input;
+// }
+
+// void XNATA04DataProcessor::SendUdpTestData()
+// {
+// 	Q_D(XNATA04DataProcessor);
+
+// 	// 创建气动输入(AeroInput)数据包
+// 	QByteArray aeroData;
+// 	QDataStream aeroStream(&aeroData, QIODevice::WriteOnly);
+// 	aeroStream.setByteOrder(QDataStream::LittleEndian);
+// 	aeroStream.setVersion(QDataStream::Qt_6_0);
+
+// 	// 气动输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x00=气动模型, 0x00=输入数据)
+// 	quint8 aeroHeader[6] = {0x0b, 0x04, 0x00, 0x00, 0x00, 0x00}; // 最后两个字节用于大小
+// 	aeroStream << aeroHeader[0] << aeroHeader[1] << aeroHeader[2] << aeroHeader[3] << aeroHeader[4]
+// 			   << aeroHeader[5];
+
+// 	// 气动数据字段
+// 	aeroStream << (double)-2.0;	   // alpha
+// 	aeroStream << (double)0.0;	   // alpdot
+// 	aeroStream << (double)0.0;	   // beta
+// 	aeroStream << (double)10000.0; // press_alt
+// 	aeroStream << (double)360.0;   // tas
+// 	aeroStream << (double)0.3;	   // mach
+// 	aeroStream << (double)0.0;	   // nx
+// 	aeroStream << (double)0.0;	   // ny
+// 	aeroStream << (double)1.0;	   // nz
+// 	aeroStream << (double)0.0;	   // p
+// 	aeroStream << (double)0.0;	   // q
+// 	aeroStream << (double)0.0;	   // r
+// 	aeroStream << (double)110.0;   // qbar
+// 	aeroStream << (double)0.0;	   // blcg
+// 	aeroStream << (double)650.0;   // bscg
+// 	aeroStream << (double)7.0;	   // wlcg
+// 	aeroStream << (double)-2.0;	   // stab
+
+// 	// ail_f8 数组，需要10个double
+// 	for (int i = 0; i < 10; i++) {
+// 		aeroStream << (double)0.0;
+// 	}
+
+// 	// elv_f8 数组，需要4个double
+// 	for (int i = 0; i < 4; i++) {
+// 		aeroStream << (double)0.0;
+// 	}
+
+// 	// rud_f8 数组，需要2个double
+// 	for (int i = 0; i < 2; i++) {
+// 		aeroStream << (double)0.0;
+// 	}
+
+// 	// gear_f8 数组，需要7个double
+// 	for (int i = 0; i < 7; i++) {
+// 		aeroStream << (double)1.0;
+// 	}
+
+// 	// flap_f8 数组，需要10个double
+// 	for (int i = 0; i < 10; i++) {
+// 		aeroStream << (double)41.5;
+// 	}
+
+// 	// slat_f8 数组，需要20个double
+// 	for (int i = 0; i < 20; i++) {
+// 		aeroStream << (double)20.855;
+// 	}
+
+// 	// spl_f8 数组，需要20个double
+// 	for (int i = 0; i < 20; i++) {
+// 		aeroStream << (double)0.0;
+// 	}
+
+// 	// tnet_f8 数组，需要4个double
+// 	for (int i = 0; i < 4; i++) {
+// 		aeroStream << (double)8000.0;
+// 	}
+
+// 	// kice_f8 数组，需要20个double
+// 	for (int i = 0; i < 20; i++) {
+// 		aeroStream << (double)0.0;
+// 	}
+
+// 	// alt_agl
+// 	aeroStream << (double)2500.0;
+
+// 	// 更新数据包大小（使用两个字节）
+// 	quint16 size = aeroData.size();
+// 	aeroData[4]	 = (size >> 8) & 0xFF; // 高字节
+// 	aeroData[5]	 = size & 0xFF;		   // 低字节
+
+// 	// 创建地面操作输入(GhInput)数据包
+// 	QByteArray ghData;
+// 	QDataStream ghStream(&ghData, QIODevice::WriteOnly);
+// 	ghStream.setByteOrder(QDataStream::LittleEndian);
+// 	ghStream.setVersion(QDataStream::Qt_6_0);
+
+// 	// 地面操作输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x01=地面操作模型, 0x00=输入数据)
+// 	quint8 ghHeader[6] = {0x0b, 0x04, 0x01, 0x00, 0x00, 0x00}; // 最后两个字节用于大小
+// 	ghStream << ghHeader[0] << ghHeader[1] << ghHeader[2] << ghHeader[3] << ghHeader[4]
+// 			 << ghHeader[5];
+
+// 	// 地面操作数据字段
+// 	ghStream << (quint8)0;	   // frz_l1
+// 	ghStream << (quint8)0;	   // chocks_l1
+// 	ghStream << (double)8.0;   // alt_agl_f8
+// 	ghStream << (quint8)0;	   // frzflt_l1
+// 	ghStream << (double)0.0;   // p_f8
+// 	ghStream << (double)0.0;   // q_f8
+// 	ghStream << (double)0.0;   // r_f8
+// 	ghStream << (double)50.0;  // ug_f8
+// 	ghStream << (double)0.0;   // vg_f8
+// 	ghStream << (double)0.0;   // wg_f8
+// 	ghStream << (double)0.0;   // blcg_f8
+// 	ghStream << (double)649.3; // bscg_f8
+// 	ghStream << (double)10.0;  // wlcg_f8
+// 	ghStream << (quint8)0;	   // pb_active_l1
+// 	ghStream << (double)0.0;   // pb_towforce_f8
+
+// 	// brake_torq_f8 数组 3x2
+// 	for (int i = 0; i < 3; i++) {
+// 		for (int j = 0; j < 2; j++) {
+// 			ghStream << (double)0.0;
+// 		}
+// 	}
+
+// 	// gear_f8 数组，需要3个double
+// 	for (int i = 0; i < 3; i++) {
+// 		ghStream << (double)1.0;
+// 	}
+
+// 	// gsteer_f8 数组，需要10个double
+// 	for (int i = 0; i < 10; i++) {
+// 		ghStream << (double)0.0;
+// 	}
+
+// 	// tire_pres_f8 数组 3x2
+// 	for (int i = 0; i < 3; i++) {
+// 		for (int j = 0; j < 2; j++) {
+// 			if (i == 0) {
+// 				ghStream << (double)98.0; // 98 kpa的胎压
+// 			} else {
+// 				ghStream << (double)140.0; // 140 kpa的胎压
+// 			}
+// 		}
+// 	}
+
+// 	// 4个double数组
+// 	for (int i = 0; i < 4; i++) {
+// 		ghStream << (double)0.0;
+// 	}
+
+// 	ghStream << (quint8)0; // onjax_l1
+
+// 	// contdep_f8 数组，需要7个double
+// 	ghStream << (double)1.0;
+// 	for (int i = 1; i < 7; i++) {
+// 		ghStream << (double)0.0;
+// 	}
+
+// 	ghStream << (double)0.0;  // thetag_f8
+// 	ghStream << (double)0.0;  // phig_f8
+// 	ghStream << (qint32)0;	  // rwyrgh_i2
+// 	ghStream << (double)0.0;  // rwyhdg_f8
+// 	ghStream << (quint8)0;	  // reset_braketemp_l1
+// 	ghStream << (quint8)0;	  // reset_tirepress_l1
+// 	ghStream << (double)16.0; // temp_c_f8
+
+// 	// brake_temp_f8 数组 3x2
+// 	for (int i = 0; i < 3; i++) {
+// 		for (int j = 0; j < 2; j++) {
+// 			ghStream << (double)16.0; // 16度的刹车温度
+// 		}
+// 	}
+
+// 	// tire_tburst_l1 数组 3x2
+// 	for (int i = 0; i < 3; i++) {
+// 		for (int j = 0; j < 2; j++) {
+// 			ghStream << (char)0;
+// 		}
+// 	}
+
+// 	// tire_tflat_l1 数组 3x2
+// 	for (int i = 0; i < 3; i++) {
+// 		for (int j = 0; j < 2; j++) {
+// 			ghStream << (char)0;
+// 		}
+// 	}
+
+// 	ghStream << (quint8)0; // brk_reset_tpres_l1
+
+// 	// rcon_ci_f8 数组，需要14个double
+// 	ghStream << (double)1.0;
+// 	for (int i = 1; i < 14; i++) {
+// 		ghStream << (double)0.0;
+// 	}
+
+// 	ghStream << (qint32)2;	 // gsteer_state_i4
+// 	ghStream << (quint8)1;	 // trim_active_l1
+// 	ghStream << (double)0.0; // phi_deg_f8
+// 	ghStream << (double)0.0; // theta_deg_f8
+// 	ghStream << (double)0.0; // psi_deg_f8
+// 	ghStream << (quint8)1;	 // resetint_l1
+
+// 	// 更新数据包大小（使用两个字节）
+// 	size	  = ghData.size();
+// 	ghData[4] = (size >> 8) & 0xFF; // 高字节
+// 	ghData[5] = size & 0xFF;		// 低字节
+
+// 	// 创建重量平衡输入(WbInput)数据包
+// 	QByteArray wbData;
+// 	QDataStream wbStream(&wbData, QIODevice::WriteOnly);
+// 	wbStream.setByteOrder(QDataStream::LittleEndian);
+// 	wbStream.setVersion(QDataStream::Qt_6_0);
+
+// 	// 重量平衡输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x02=重量平衡模型, 0x00=输入数据)
+// 	quint8 wbHeader[6] = {0x0b, 0x04, 0x02, 0x00, 0x00, 0x00}; // 最后两个字节用于大小
+// 	wbStream << wbHeader[0] << wbHeader[1] << wbHeader[2] << wbHeader[3] << wbHeader[4]
+// 			 << wbHeader[5];
+
+// 	// 重量平衡数据字段
+// 	wbStream << (double)0.0;	 // theta_deg_f8
+// 	wbStream << (double)0.0;	 // phi_deg_f8
+// 	wbStream << (double)0.0;	 // psi_deg_f8
+// 	wbStream << (quint8)0;		 // gear_mode_l1
+// 	wbStream << (double)82574.0; // acset_gw_f8 (60000kg飞机重量)
+// 	wbStream << (double)0.1215;	 // acset_cg_f8 (25%MAC重心位置)
+
+// 	// acset_tankfuel_f4 数组，需要20个float
+// 	for (int i = 0; i < 20; i++) {
+// 		wbStream << (double)(i < 2 ? 4541.0 : 0.0); // 前2个油箱各4541kg
+// 	}
+
+// 	wbStream << (double)9082.0;	 // acset_totfuel_f8 (总油量9082kg)
+// 	wbStream << (double)73492.0; // acset_zfw_f8 (零油重73492kg)
+// 	wbStream << (double)0.12;	 // acset_zfwcg_f8 (零油重重心24%MAC)
+
+// 	// eng_efsep_l1 数组，需要4个char
+// 	for (int i = 0; i < 4; i++) {
+// 		wbStream << (char)0;
+// 	}
+
+// 	// fuel_f8 数组，需要20个double
+// 	for (int i = 0; i < 20; i++) {
+// 		wbStream << (double)(i < 2 ? 4541.0 : 0.0); // 前2个油箱各4541kg
+// 	}
+
+// 	wbStream << (double)1.0; // gear_avg_f8
+
+// 	// kice_f8 数组，需要20个double
+// 	for (int i = 0; i < 20; i++) {
+// 		wbStream << (double)0.0;
+// 	}
+
+// 	wbStream << (quint8)1;		 // bycglim_l1
+// 	wbStream << (quint8)1;		 // bygwlim_l1
+// 	wbStream << (quint8)0;		 // frz_l1
+// 	wbStream << (quint8)0;		 // zcgfrz_l1
+// 	wbStream << (quint8)0;		 // zcgfrz_grfx_l1
+// 	wbStream << (quint8)0;		 // ycgfrz_l1
+// 	wbStream << (quint8)0;		 // inertfrz_l1
+// 	wbStream << (double)80000.0; // potreq_gw_f8
+// 	wbStream << (double)0.2;	 // potreq_gwcg_f8
+
+// 	// 更新数据包大小（使用两个字节）
+// 	size	  = wbData.size();
+// 	wbData[4] = (size >> 8) & 0xFF; // 高字节
+// 	wbData[5] = size & 0xFF;		// 低字节
+
+// 	// 发送测试数据包
+// 	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(aeroData));
+// 	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(ghData));
+// 	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(wbData));
+// }
diff --git a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.h b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.h
index 2455ac5..53e26fc 100755
--- a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.h
+++ b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.h
@@ -1,66 +1,50 @@
 #pragma once
 #include "XNATA04DataProcessor_global.h"
 #include <XNCore/XNModelObject.h>
-#include "../XNAerodynamics/XNAerodynamicsInterface/XNAerodynamicsPubSubTypes.hpp"
-#include "../XNWeightBalance/XNWeightBalanceInterface/XNWeightBalancePubSubTypes.hpp"
-#include "../XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingPubSubTypes.hpp"
-#include <QVariant>
+// #include "../XNAerodynamics/XNAerodynamicsInterface/XNAerodynamicsPubSubTypes.hpp"
+// #include "../XNWeightBalance/XNWeightBalanceInterface/XNWeightBalancePubSubTypes.hpp"
 class XNATA04DataProcessorPrivate;
 
 class XNATA04DATAPROCESSOR_EXPORT XNATA04DataProcessor : public XNModelObject
 {
-	Q_OBJECT
-	Q_DISABLE_COPY(XNATA04DataProcessor)
-	Q_DECLARE_PRIVATE(XNATA04DataProcessor)
-	XN_DECLARE_DDS()
+	XN_METATYPE(XNATA04DataProcessor, XNModelObject)
+	XN_DECLARE_PRIVATE(XNATA04DataProcessor)
 public:
-	explicit XNATA04DataProcessor(QObject *parent = nullptr);
+	XNATA04DataProcessor();
 	virtual ~XNATA04DataProcessor();
 
 protected:
-	XNATA04DataProcessor(XNATA04DataProcessorPrivate &dd, QObject *parent = nullptr);
+	XNATA04DataProcessor(PrivateType *p);
 
-public slots:
-	virtual void OnInitialize() override;
-	virtual void OnPrepareForExecute() override;
+public:
+	virtual void Initialize() override;
+	virtual void PrepareForExecute() override;
 
 public:
 	virtual void StepUpdate() override;
 
 private:
-	void OnWbOutput(const XNSim::ATA04::WeightBalance_output &output);
+	// void OnAeroInput(const QVariant &data);
 
-	void OnGhOutput(const XNSim::ATA04::GroundHandling_output &output);
+	// void OnWbInput(const QVariant &data);
 
-	void OnAeroOutput(const XNSim::ATA04::Aerodynamics_output &output);
-
-	void OnAeroHeartbeat(const XNSim::ATA04::Aerodynamics_heartbeat &heartbeat);
-
-	void OnWbHeartbeat(const XNSim::ATA04::WeightBalance_heartbeat &heartbeat);
-
-	void OnGhHeartbeat(const XNSim::ATA04::GroundHandling_heartbeat &heartbeat);
-
-	void OnAeroInput(const QVariant &data);
-
-	void OnWbInput(const QVariant &data);
-
-	void OnGhInput(const QVariant &data);
+	void OnGhInput(const std::any &data);
 
 	void SendUdpData();
 
-	void SendAeroOutput();
+	// void SendAeroOutput();
 
-	void SendWbOutput();
+	// void SendWbOutput();
 
 	void SendGhOutput();
 
-	void SendAeroHeartbeat();
+	// void SendAeroHeartbeat();
 
-	void SendWbHeartbeat();
+	// void SendWbHeartbeat();
 
 	void SendGhHeartbeat();
 
-	void SendUdpTestData();
+	//void SendUdpTestData();
 };
 
-Q_DECLARE_METATYPE(XNATA04DataProcessor)
+XNCLASS_PTR_DECLARE(XNATA04DataProcessor)
diff --git a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor_global.h b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor_global.h
index 5459522..20f91ed 100755
--- a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor_global.h
+++ b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor_global.h
@@ -1,12 +1,10 @@
 #ifndef XNATA04DATAPROCESSOR_GLOBAL_H
 #define XNATA04DATAPROCESSOR_GLOBAL_H
 
-#include <QtCore/qglobal.h>
-
 #if defined(XNATA04DATAPROCESSOR_LIBRARY)
-#	define XNATA04DATAPROCESSOR_EXPORT Q_DECL_EXPORT
+#	define XNATA04DATAPROCESSOR_EXPORT __attribute__((visibility("default")))
 #else
-#	define XNATA04DATAPROCESSOR_EXPORT Q_DECL_IMPORT
+#	define XNATA04DATAPROCESSOR_EXPORT __attribute__((visibility("default")))
 #endif
 
 #endif // XNATA04DATAPROCESSOR_GLOBAL_H
diff --git a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor_p.h b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor_p.h
index 6645e43..c06ce6b 100755
--- a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor_p.h
+++ b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor_p.h
@@ -1,30 +1,22 @@
 #pragma once
 #include <XNCore/XNModelObject_p.h>
-#include <QMutex>
+#include "../XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.hpp"
 
-class XNATA04DataProcessorPrivate : public XNModelObjectPrivate
-{
-public:
-	Q_DECLARE_PUBLIC(XNATA04DataProcessor)
+struct XNATA04DataProcessorPrivate : public XNModelObjectPrivate {
+	// XNSim::C909::ATA04::Aerodynamics_input _aeroInput;
+	// XNSim::C909::ATA04::Aerodynamics_output _aeroOutput;
+	// XNSim::C909::ATA04::WeightBalance_input _wbInput;
+	// XNSim::C909::ATA04::WeightBalance_output _wbOutput;
+	XNSim::C909::ATA04::GroundHandling_input _ghInput;
+	XNSim::C909::ATA04::GroundHandling_output _ghOutput;
+	// XNSim::C909::ATA04::Aerodynamics_heartbeat _aeroHeartbeat;
+	// XNSim::C909::ATA04::WeightBalance_heartbeat _wbHeartbeat;
+	XNSim::C909::ATA04::GroundHandling_heartbeat _ghHeartbeat;
 
-	XNATA04DataProcessorPrivate(XNATA04DataProcessor *q) : XNModelObjectPrivate(q) {}
-
-	XNSim::ATA04::Aerodynamics_input _aeroInput;
-	XNSim::ATA04::Aerodynamics_output _aeroOutput;
-	XNSim::ATA04::WeightBalance_input _wbInput;
-	XNSim::ATA04::WeightBalance_output _wbOutput;
-	XNSim::ATA04::GroundHandling_input _ghInput;
-	XNSim::ATA04::GroundHandling_output _ghOutput;
-	XNSim::ATA04::Aerodynamics_heartbeat _aeroHeartbeat;
-	XNSim::ATA04::WeightBalance_heartbeat _wbHeartbeat;
-	XNSim::ATA04::GroundHandling_heartbeat _ghHeartbeat;
-	QMutex _wbOutputMutex;
-	QMutex _ghOutputMutex;
-	QMutex _aeroOutputMutex;
-	QMutex _aeroHeartbeatMutex;
-	QMutex _wbHeartbeatMutex;
-	QMutex _ghHeartbeatMutex;
-	QMutex _aeroInputMutex;
-	QMutex _wbInputMutex;
-	QMutex _ghInputMutex;
+	XNSim::C909::ATA04::GroundHandling_input_Interface _ghInputInterface;
+	XNSim::C909::ATA04::GroundHandling_output_Interface _ghOutputInterface;
+	XNSim::C909::ATA04::GroundHandling_heartbeat_Interface _ghHeartbeatInterface;
+	std::mutex _ghOutputMutex;
+	std::mutex _ghHeartbeatMutex;
+	std::mutex _ghInputMutex;
 };
diff --git a/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling.cpp b/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling.cpp
index a06d5b5..c6f98ca 100755
--- a/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling.cpp
+++ b/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling.cpp
@@ -111,9 +111,9 @@ void XNGroundHandling::PrepareForExecute()
 	for (int i = 0; i < 3; i++) {
 		d->_data.output_ground->l_04_o_gdcomac_vczt_f8[i] = new double[2];
 	}
-	d->_inputInterface.Initialize(GetFramework(), GetUniqueId());
-	d->_outputInterface.Initialize(GetFramework(), GetUniqueId());
-	d->_heartbeatInterface.Initialize(GetFramework(), GetUniqueId());
+	d->_inputInterface.Initialize(GetFramework(), GetUniqueId(), 1);
+	d->_outputInterface.Initialize(GetFramework(), GetUniqueId(), 2);
+	d->_heartbeatInterface.Initialize(GetFramework(), GetUniqueId(), 2);
 }
 
 void XNGroundHandling::StepUpdate()
diff --git a/XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.cxx b/XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.cxx
index 5d054db..fd46d08 100755
--- a/XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.cxx
+++ b/XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.cxx
@@ -43,24 +43,46 @@ GroundHandling_input_Interface::GroundHandling_input_Interface()
 	MAP_DATA_FUNC(l_04_i_gdcomac_theta_deg_f8);
 	MAP_DATA_FUNC(l_04_i_gdcomac_psi_deg_f8);
 	MAP_DATA_FUNC(l_04_i_gdcomac_resetint_l1);
+	this->header[0] = 0xa6; // XNSim头，0xa6
+	this->header[1] = 0xc0; // 机型头，0xc0表示C909
+	this->header[2] = 0x04; // 章节头，0x04表示ATA04
+	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
+	this->header[4] = 0x00; // 结构体头，0x00表示输入结构体
+	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
+	this->header[6] = 0x00; // 数据大小
+	this->header[7] = 0x00; // 数据大小
 }
 
 GroundHandling_input_Interface::~GroundHandling_input_Interface()
 {
 }
 
-void GroundHandling_input_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId)
+void GroundHandling_input_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
+												uint32_t DDS_type)
 {
 	auto ddsManager = framework->GetDDSManager();
 	if (!ddsManager) {
 		LOG_ERROR("DDSManager is nullptr");
 		return;
 	}
-	dataWriter = ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
-		"XNSim::C909::ATA04::GroundHandling_input", modelId);
-	ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
-		"XNSim::C909::ATA04::GroundHandling_input", modelId,
-		std::bind(&GroundHandling_input_Interface::inputDataListener, this, std::placeholders::_1));
+	if (DDS_type == 0) { // 读取与发送都进行
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_input", modelId);
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_input", modelId,
+			std::bind(&GroundHandling_input_Interface::inputDataListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 1) { // 只读取
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_input", modelId,
+			std::bind(&GroundHandling_input_Interface::inputDataListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 2) { // 只发送
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_input", modelId);
+	}
 }
 
 void GroundHandling_input_Interface::clearOutData()
@@ -116,25 +138,46 @@ GroundHandling_output_Interface::GroundHandling_output_Interface()
 	MAP_DATA_FUNC(l_04_o_gdcomac_wor_par_f8);
 	MAP_DATA_FUNC(l_04_o_gdcomac_nd_f8);
 	MAP_DATA_FUNC(l_04_o_gdcomac_vczt_f8);
+	this->header[0] = 0xa6; // XNSim头，0xa6
+	this->header[1] = 0xc0; // 机型头，0xc0表示C909
+	this->header[2] = 0x04; // 章节头，0x04表示ATA04
+	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
+	this->header[4] = 0x01; // 结构体头，0x01表示输出结构体
+	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
+	this->header[6] = 0x00; // 数据大小
+	this->header[7] = 0x00; // 数据大小
 }
 
 GroundHandling_output_Interface::~GroundHandling_output_Interface()
 {
 }
 
-void GroundHandling_output_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId)
+void GroundHandling_output_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
+												 uint32_t DDS_type)
 {
 	auto ddsManager = framework->GetDDSManager();
 	if (!ddsManager) {
 		LOG_ERROR("DDSManager is nullptr");
 		return;
 	}
-	dataWriter = ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
-		"XNSim::C909::ATA04::GroundHandling_output", modelId);
-	ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
-		"XNSim::C909::ATA04::GroundHandling_output", modelId,
-		std::bind(&GroundHandling_output_Interface::outputDataListener, this,
-				  std::placeholders::_1));
+	if (DDS_type == 0) { // 读取与发送都进行
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_output", modelId);
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_output", modelId,
+			std::bind(&GroundHandling_output_Interface::outputDataListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 1) { // 只读取
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_output", modelId,
+			std::bind(&GroundHandling_output_Interface::outputDataListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 2) { // 只发送
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_output", modelId);
+	}
 }
 
 void GroundHandling_output_Interface::clearOutData()
@@ -156,26 +199,46 @@ void GroundHandling_output_Interface::outputDataListener(
 GroundHandling_heartbeat_Interface::GroundHandling_heartbeat_Interface()
 {
 	MAP_DATA_FUNC(groundhandling_model_heartbeat);
+	this->header[0] = 0xa6; // XNSim头，0xa6
+	this->header[1] = 0xc0; // 机型头，0xc0表示C909
+	this->header[2] = 0x04; // 章节头，0x04表示ATA04
+	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
+	this->header[4] = 0x02; // 结构体头，0x02表示心跳结构体
+	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
+	this->header[6] = 0x00; // 数据大小
+	this->header[7] = 0x00; // 数据大小
 }
 
 GroundHandling_heartbeat_Interface::~GroundHandling_heartbeat_Interface()
 {
 }
 
-void GroundHandling_heartbeat_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId)
+void GroundHandling_heartbeat_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
+													uint32_t DDS_type)
 {
 	auto ddsManager = framework->GetDDSManager();
 	if (!ddsManager) {
 		LOG_ERROR("DDSManager is nullptr");
 		return;
 	}
-	dataWriter =
-		ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
-			"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
-	ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
-		"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
-		std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
-				  std::placeholders::_1));
+	if (DDS_type == 0) { // 读取与发送都进行
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
+			std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 1) { // 只读取
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
+			std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 2) { // 只发送
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
+	}
 }
 
 void GroundHandling_heartbeat_Interface::clearOutData()
diff --git a/XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.hpp b/XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.hpp
index bc82c9e..7a17cc9 100755
--- a/XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.hpp
+++ b/XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.hpp
@@ -10,7 +10,7 @@ public:
 	GroundHandling_input_Interface();
 	virtual ~GroundHandling_input_Interface();
 
-	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId) override;
+	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId, uint32_t DDS_type) override;
 	virtual void clearOutData() override;
 	virtual void sendOutData() override;
 
@@ -145,7 +145,7 @@ class GroundHandling_output_Interface final : public XNDDSInterface
 public:
 	GroundHandling_output_Interface();
 	virtual ~GroundHandling_output_Interface();
-	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId) override;
+	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId, uint32_t DDS_type) override;
 	void outputDataListener(const XNSim::C909::ATA04::GroundHandling_output &output);
 	virtual void clearOutData() override;
 	virtual void sendOutData() override;
@@ -263,7 +263,7 @@ class GroundHandling_heartbeat_Interface final : public XNDDSInterface
 public:
 	GroundHandling_heartbeat_Interface();
 	virtual ~GroundHandling_heartbeat_Interface();
-	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId) override;
+	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId, uint32_t DDS_type) override;
 	void heartbeatListener(const XNSim::C909::ATA04::GroundHandling_heartbeat &heartbeat);
 	virtual void clearOutData() override;
 	virtual void sendOutData() override;