diff --git a/core/Publisher.cxx b/core/Publisher.cxx
index 015eef3..b351071 100644
--- a/core/Publisher.cxx
+++ b/core/Publisher.cxx
@@ -336,6 +336,7 @@ bool PublisherApp::print_receipt(const std::map<std::string, std::string>& msg)
 void PublisherApp::run()
 {
     uint8_t send_sum = 0;
+    uint8_t is_print = 0;
     std::string license_no = "";
     float stable_weight = 0;
 
@@ -355,7 +356,7 @@ void PublisherApp::run()
 
                 if (license_no == "")
                 {
-                    license_no = info.NewTag();
+                    license_no = info.License();
                 }
             }
             else if (!DdsMsgData::ScaleInfo_queue_.empty())
@@ -383,6 +384,14 @@ void PublisherApp::run()
                 if (info.HasVehicle() == 0)
                 {
                     license_no = "";
+                    if (is_print == 1)
+                    {
+                        std::this_thread::sleep_for(std::chrono::seconds(5));
+                        std::map<std::string, std::string> ctrl;
+                        ctrl["FrontBar"] = "down";
+                        bar_ctrl(ctrl);
+                        is_print = 0;
+                    }
                 }
             }
             else if (!DdsMsgData::BarUpdate_queue_.empty())
@@ -451,8 +460,14 @@ void PublisherApp::run()
                     print_msg["OUTCoalYard"] = info.OutCoalYard();
                     print_msg["BatchNumber"] = info.BatchNumber();
                     print_msg["Warning"] = info.Warning();
+                    print_msg["TicketType"] = info.TicketType();
 
                     print_receipt(print_msg);
+
+                    is_print = 1;
+                    std::map<std::string, std::string> ctrl;
+                    ctrl["FrontBar"] = "up";
+                    bar_ctrl(ctrl);
                 }
             }
             else if (!DdsMsgData::WeightInfoError_queue_.empty())
@@ -461,6 +476,7 @@ void PublisherApp::run()
                 DdsMsgData::WeightInfoError_queue_.pop();
                 dds_lock.unlock();
 
+                std::this_thread::sleep_for(std::chrono::seconds(3));
                 send_sum = 0;
             }
             else
diff --git a/gatectrl/MsgHandler.cxx b/gatectrl/MsgHandler.cxx
index 78625a2..bf5786f 100644
--- a/gatectrl/MsgHandler.cxx
+++ b/gatectrl/MsgHandler.cxx
@@ -26,9 +26,12 @@ MsgHandler::MsgHandler() : fd(-1)
     this->new_bar_state.FrontResistanceSignal = UNBLOCK;
     this->new_bar_state.BackResistanceSignal = UNBLOCK;
 
-    this->old_bar_state = this->new_bar_state;
-    this->old_bar_state.FrontResistanceSignal = BLOCK;
-    this->old_bar_state.BackResistanceSignal = BLOCK;
+    this->old_bar_state.FrontBarState = 0xFF;
+    this->old_bar_state.BackBarState = 0xFF;
+    this->old_bar_state.FrontLEDState = 0xFF;
+    this->old_bar_state.BackLEDState = 0xFF;
+    this->old_bar_state.FrontResistanceSignal = 0xFF;
+    this->old_bar_state.BackResistanceSignal = 0xFF;
 }
 
 void MsgHandler::HandleDdsMsg(const std::map<std::string, std::string>& msg)
diff --git a/mqttdds/Publisher.cxx b/mqttdds/Publisher.cxx
index 686e9be..a9dcc87 100644
--- a/mqttdds/Publisher.cxx
+++ b/mqttdds/Publisher.cxx
@@ -335,6 +335,8 @@ bool PublisherApp::print_receipt(const std::map<std::string, std::string>& msg)
     return true;
 }
 
+extern std::string mqtt_topic_id;
+
 void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
 {
     while (!is_stopped())
@@ -351,6 +353,19 @@ void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
 
                 // DEBUG("车牌: " << info.License());
                 // DEBUG("类型: " << info.NewTag());
+
+                if (dev != nullptr)
+                {
+                    if (dev->is_connected())
+                    {
+                        std::string payload = "{\"value\": \"" + info.License() + "\"}";
+
+                        auto mqtt_msg = mqtt::make_message("pound/" + std::string(mqtt_topic_id) + "/licensesnap/license", payload);
+                        mqtt_msg->set_qos(0);
+                        mqtt_msg->set_retained(true);
+                        dev->publish(mqtt_msg);
+                    }
+                }
             }
             else if (!DdsMsgData::ScaleInfo_queue_.empty())
             {
@@ -363,6 +378,25 @@ void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
                 // DEBUG("设备状态: " << info.State());
                 // DEBUG("实时重量: " << info.Value());
                 // DEBUG("稳定重量: " << info.StableValue());
+
+                if (dev != nullptr)
+                {
+                    if (dev->is_connected())
+                    {
+                        std::string payload = "{\"value\": " + std::to_string(info.Value()) + "}";
+                        auto mqtt_msg = mqtt::make_message("pound/" + std::string(mqtt_topic_id) + "/scale/weight", payload);
+                        mqtt_msg->set_qos(0);
+                        mqtt_msg->set_retained(true);
+                        dev->publish(mqtt_msg);
+
+                        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+                        payload = "{\"value\": " + std::to_string(info.StableValue()) + "}";
+                        mqtt_msg = mqtt::make_message("pound/" + std::string(mqtt_topic_id) + "/scale/stableweight", payload);
+                        mqtt_msg->set_qos(0);
+                        mqtt_msg->set_retained(true);
+                        dev->publish(mqtt_msg);
+                    }
+                }
             }
             else if (!DdsMsgData::BarUpdate_queue_.empty())
             {
@@ -370,20 +404,15 @@ void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
                 DdsMsgData::BarUpdate_queue_.pop();
                 dds_lock.unlock();
 
-                // DEBUG("前拦车器状态: " << info.FrontBarState());
-                // DEBUG("后拦车器状态: " << info.BackBarState());
-
                 if (dev != nullptr)
                 {
                     if (dev->is_connected())
                     {
-                        json j;
-                        j["bar_state"]["FrontBar"] = info.FrontBarState();
-                        j["bar_state"]["BackBar"] = info.BackBarState();
+                        std::string payload = "{\"value\": " + std::to_string(info.FrontBarState()) + "}";
 
-                        auto mqtt_msg = mqtt::make_message("response", j.dump());
+                        auto mqtt_msg = mqtt::make_message("pound/" + std::string(mqtt_topic_id) +"/barrier/frontstatus", payload);
                         mqtt_msg->set_qos(0);
-                        mqtt_msg->set_retained(false);
+                        mqtt_msg->set_retained(true);
                         dev->publish(mqtt_msg);
                     }
                 }
@@ -394,20 +423,15 @@ void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
                 DdsMsgData::LightsUpdate_queue_.pop();
                 dds_lock.unlock();
 
-                // DEBUG("前红绿灯状态: " << info.FrontLEDState());
-                // DEBUG("后红绿灯状态: " << info.BackLEDState());
-
                 if (dev != nullptr)
                 {
                     if (dev->is_connected())
                     {
-                        json j;
-                        j["light_state"]["FrontLED"] = info.FrontLEDState();
-                        j["light_state"]["BackLED"] = info.FrontLEDState();
+                        std::string payload = "{\"value\": " + std::to_string(info.FrontLEDState()) + "}";
 
-                        auto mqtt_msg = mqtt::make_message("response", j.dump());
+                        auto mqtt_msg = mqtt::make_message("pound/" + std::string(mqtt_topic_id) +"/light/frontstatus ", payload);
                         mqtt_msg->set_qos(0);
-                        mqtt_msg->set_retained(false);
+                        mqtt_msg->set_retained(true);
                         dev->publish(mqtt_msg);
                     }
                 }
@@ -418,20 +442,15 @@ void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
                 DdsMsgData::InfraredUpdate_queue_.pop();
                 dds_lock.unlock();
 
-                // DEBUG("前红外对射状态: " << info.FrontResistanceSignal());
-                // DEBUG("后红外对射状态: " << info.BackResistanceSignal());
-
                 if (dev != nullptr)
                 {
                     if (dev->is_connected())
                     {
-                        json j;
-                        j["infrared_state"]["FrontResistance"] = info.FrontResistanceSignal();
-                        j["infrared_state"]["BackResistance"] = info.BackResistanceSignal();
+                        std::string payload = "{\"value\": " + std::to_string(info.FrontResistanceSignal()) + "}";
 
-                        auto mqtt_msg = mqtt::make_message("response", j.dump());
+                        auto mqtt_msg = mqtt::make_message("pound/" + std::string(mqtt_topic_id) +"/infrared/frontvalue", payload);
                         mqtt_msg->set_qos(0);
-                        mqtt_msg->set_retained(false);
+                        mqtt_msg->set_retained(true);
                         dev->publish(mqtt_msg);
                     }
                 }
@@ -452,17 +471,43 @@ void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
                 MqttMsgData::Mqtt_msg_queue_.pop();
                 mqtt_lock.unlock();
 
-                json cmd = json::parse(msg->to_string());
+                std::string topic = msg->get_topic();
+                std::string payload = msg->to_string();
 
-                if (cmd.contains("bar_ctrl"))
+                json cmd = json::parse(payload);
+
+                if (topic.find("barrier/frontup") != std::string::npos)
+                {
+                    if (cmd["value"] == 1)
+                    {
+                        std::map<std::string, std::string> ctrl;
+                        ctrl["FrontBar"] = "up";
+                        bar_ctrl(ctrl);
+                    }
+                }
+                else if (topic.find("barrier/frontdown") != std::string::npos)
                 {
-                    std::map<std::string, std::string> ctrl = cmd["bar_ctrl"].get<std::map<std::string, std::string>>();
-                    bar_ctrl(ctrl);
+                    if (cmd["value"] == 1)
+                    {
+                        std::map<std::string, std::string> ctrl;
+                        ctrl["FrontBar"] = "down";
+                        bar_ctrl(ctrl);
+                    }
                 }
-                else if (cmd.contains("light_ctrl"))
+                else if (topic.find("light/frontsignal") != std::string::npos)
                 {
-                    std::map<std::string, std::string> ctrl = cmd["light_ctrl"].get<std::map<std::string, std::string>>();
-                    light_ctrl(ctrl);
+                    if (cmd["value"] == 1)
+                    {
+                        std::map<std::string, std::string> ctrl;
+                        ctrl["FrontLED"] = "red";
+                        light_ctrl(ctrl);
+                    }
+                    else
+                    {
+                        std::map<std::string, std::string> ctrl;
+                        ctrl["FrontLED"] = "green";
+                        light_ctrl(ctrl);
+                    }
                 }
             }
             else
diff --git a/mqttdds/main.cxx b/mqttdds/main.cxx
index be1cb7d..0ded6f4 100644
--- a/mqttdds/main.cxx
+++ b/mqttdds/main.cxx
@@ -128,6 +128,8 @@ std::mutex DdsMsgData::queue_cv_mtx_;
 std::queue<mqtt::const_message_ptr> MqttMsgData::Mqtt_msg_queue_;
 std::mutex MqttMsgData::queue_cv_mtx_;
 
+std::string mqtt_topic_id = "0";
+
 int main(int argc, char** argv)
 {
     auto ret = EXIT_SUCCESS;
@@ -139,8 +141,8 @@ int main(int argc, char** argv)
     std::string mqtt_server;
     std::string mqtt_username = "admin";
     std::string mqtt_password = "admin";
-    std::string mqtt_id = "core_0";
-    const std::vector<std::string> topic = {"command"};
+    std::string mqtt_id = "MqttDds_0";
+    std::vector<std::string> topic;
     const std::vector<int> qos = {0};
 
     for (int i = 1; i < argc; i++)
@@ -148,7 +150,8 @@ int main(int argc, char** argv)
         if (strcmp(argv[i], "--domain") == 0 && i + 1 < argc)
         {
             domain_id = atoi(argv[++i]);
-            mqtt_id = std::string("core_") + std::string(argv[i]);
+            mqtt_id = std::string("MqttDds_") + std::string(argv[i]);
+            mqtt_topic_id = std::string(argv[i]);
         }
         else if (strcmp(argv[i], "--addr") == 0 && i + 1 < argc)
         {
@@ -210,6 +213,7 @@ int main(int argc, char** argv)
                             .clean_session(false)
                             .finalize();
 
+        topic.push_back("pound/" + mqtt_topic_id + "/#");
         cb = std::make_shared<mqtt_callback>(*dev, topic, qos);
         dev->set_callback(*cb);
 
diff --git a/print/MsgHandler.cxx b/print/MsgHandler.cxx
index 7a46695..362e333 100644
--- a/print/MsgHandler.cxx
+++ b/print/MsgHandler.cxx
@@ -640,7 +640,6 @@ void MsgHandler::Print1_3(const std::map<std::string, std::string>& msg)
     m_newObj[1] = ("├");
 
     m_newObj[6] = ("┼");
-    m_newObj[17] = ("┬");
     m_newObj[23] = ("┤");
     blTemp = BuildLine(24,m_newObj);
     m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
@@ -666,320 +665,388 @@ void MsgHandler::Print1_3(const std::map<std::string, std::string>& msg)
     m_newObj[1] = ("├");
 
     m_newObj[6] = ("┼");
+    m_newObj[17] = ("┬");
     m_newObj[23] = ("┤");
     blTemp = BuildLine(24,m_newObj);
     m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
     m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    //=========毛重======================
 
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("毛重");
-    m_newObj[120] = ("│");
-
-    it = msg.find("GrossWeight");
-    if(it != msg.end())
+    //=========磅单类型======================
+    it = msg.find("TicketType");
+    if (it->second == "1")
     {
-        m_newObj[145] = it->second;
-    }
-
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
-
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
-
+        //=========毛重======================
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┼");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("一次称重");
+        m_newObj[120] = ("│");
 
-    //=========毛重操作员======================
+        it = msg.find("GrossWeight");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("操作员");
-    m_newObj[120] = ("│");
+        m_newObj[384] = ("│");
+        m_newObj[404] = ("吨");
 
-    it = msg.find("GrossOperater");
-    if(it != msg.end())
-    {
-        m_newObj[145] = it->second;
-    }
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[17] = ("┴");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        //=========毛重操作员======================
 
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("操作员");
+        m_newObj[120] = ("│");
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┼");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
-    
-    //=========毛重时间======================
+        it = msg.find("GrossOperater");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("毛重时间");
-    m_newObj[120] = ("│");
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    it = msg.find("GrossTime");
-    if(it != msg.end())
-    {
-        m_newObj[145] = it->second;
-    }
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
+        //=========毛重时间======================
 
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("称重时间");
+        m_newObj[120] = ("│");
 
+        it = msg.find("GrossTime");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┼");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
-
-    //=========皮重======================
-
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("皮重");
-    m_newObj[120] = ("│");
-
-    it = msg.find("TareWeight");
-    if(it != msg.end())
-    {
-        m_newObj[145] = it->second;
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
+
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
     }
+    else
+    {
 
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
+        //=========毛重======================
 
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("毛重");
+        m_newObj[120] = ("│");
 
+        it = msg.find("GrossWeight");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┼");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj[384] = ("│");
+        m_newObj[404] = ("吨");
 
-    //=========皮重操作员======================
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("操作员");
-    m_newObj[120] = ("│");
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[17] = ("┴");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    it = msg.find("TareOperater");
-    if(it != msg.end())
-    {
-        m_newObj[145] = it->second;
-    }
+        //=========毛重操作员======================
 
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("操作员");
+        m_newObj[120] = ("│");
 
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        it = msg.find("GrossOperater");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┼");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    //=========皮重时间======================
+        //=========毛重时间======================
 
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("皮重时间");
-    m_newObj[120] = ("│");
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("毛重时间");
+        m_newObj[120] = ("│");
 
-    it = msg.find("TareTime");
-    if(it != msg.end())
-    {
-        m_newObj[145] = it->second;
-    }
+        it = msg.find("GrossTime");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
+
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[17] = ("┬");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
+
+        //=========皮重======================
+
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("皮重");
+        m_newObj[120] = ("│");
+
+        it = msg.find("TareWeight");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj[384] = ("│");
+        m_newObj[404] = ("吨");
 
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┼");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[17] = ("┴");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    //=========净重======================
+        //=========皮重操作员======================
 
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("净重");
-    m_newObj[120] = ("│");
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("操作员");
+        m_newObj[120] = ("│");
 
-    it = msg.find("SuttleWeight");
-    if(it != msg.end())
-    {
-        m_newObj[145] = it->second;
-    }
+        it = msg.find("TareOperater");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
+        //=========皮重时间======================
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┴");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("皮重时间");
+        m_newObj[120] = ("│");
 
-    //=========扣矸======================
+        it = msg.find("TareTime");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("扣矸");
-    m_newObj[120] = ("│");
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
+
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[17] = ("┬");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
+
+        //=========净重======================
+
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("净重");
+        m_newObj[120] = ("│");
+
+        it = msg.find("SuttleWeight");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    it = msg.find("duduction1");
-    if(it != msg.end())
-    {
-        m_newObj[145] = it->second;
-    }
+        m_newObj[384] = ("│");
+        m_newObj[404] = ("吨");
 
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[17] = ("┼");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
+        //=========扣矸======================
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┴");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("扣矸");
+        m_newObj[120] = ("│");
 
-    //=========扣水======================
+        it = msg.find("duduction1");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("扣水");
-    m_newObj[120] = ("│");
+        m_newObj[384] = ("│");
+        m_newObj[404] = ("吨");
 
-    it = msg.find("duduction2");
-    if(it != msg.end())
-    {
-        m_newObj[145] = it->second;
-    }
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[17] = ("┼");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        //=========扣水======================
 
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("扣水");
+        m_newObj[120] = ("│");
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┴");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        it = msg.find("duduction2");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    //=========扣杂======================
+        m_newObj[384] = ("│");
+        m_newObj[404] = ("吨");
 
-    m_newObj.clear();
-    m_newObj[1] = ("│");
-    m_newObj[26] = ("扣杂");
-    m_newObj[120] = ("│");
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    it = msg.find("duduction3");
-    if(it != msg.end())
-    {
-        m_newObj[145] = it->second;
-    }
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[17] = ("┼");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
 
-    m_newObj[384] = ("│");
-    m_newObj[404] = ("吨");
+        //=========扣杂======================
 
-    m_newObj[528] = ("│");
-    blTemp = BuildStringLine(m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj.clear();
+        m_newObj[1] = ("│");
+        m_newObj[26] = ("扣杂");
+        m_newObj[120] = ("│");
 
+        it = msg.find("duduction3");
+        if (it != msg.end())
+        {
+            m_newObj[145] = it->second;
+        }
 
-    m_newObj.clear();
-    m_newObj[1] = ("├");
-    m_newObj[6] = ("┼");
-    m_newObj[17] = ("┴");
-    m_newObj[23] = ("┤");
-    blTemp = BuildLine(24,m_newObj);
-    m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
-    m_PrintData.insert(m_PrintData.end(), {0x0A});
+        m_newObj[384] = ("│");
+        m_newObj[404] = ("吨");
+
+        m_newObj[528] = ("│");
+        blTemp = BuildStringLine(m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
+
+        m_newObj.clear();
+        m_newObj[1] = ("├");
+        m_newObj[6] = ("┼");
+        m_newObj[17] = ("┴");
+        m_newObj[23] = ("┤");
+        blTemp = BuildLine(24, m_newObj);
+        m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
+        m_PrintData.insert(m_PrintData.end(), {0x0A});
+    }
 
     //====磅称名称=====================
 
@@ -1001,7 +1068,6 @@ void MsgHandler::Print1_3(const std::map<std::string, std::string>& msg)
     m_newObj[1] = ("├");
 
     m_newObj[6] = ("┼");
-    m_newObj[17] = ("┬");
     m_newObj[23] = ("┤");
     blTemp = BuildLine(24,m_newObj);
     m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
@@ -1027,7 +1093,6 @@ void MsgHandler::Print1_3(const std::map<std::string, std::string>& msg)
     m_newObj[1] = ("├");
 
     m_newObj[6] = ("┼");
-    m_newObj[17] = ("┬");
     m_newObj[23] = ("┤");
     blTemp = BuildLine(24,m_newObj);
     m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
@@ -1038,8 +1103,13 @@ void MsgHandler::Print1_3(const std::map<std::string, std::string>& msg)
 
     m_newObj.clear();
     m_newObj[1] = ("│");
-    m_newObj[26] = ("备注");
+    m_newObj[26] = ("提示");
     m_newObj[120] = ("│");
+    it = msg.find("Warning");
+    if(it != msg.end())
+    {
+        m_newObj[145] = it->second;
+    }
     m_newObj[528] = ("│");
     blTemp = BuildStringLine(m_newObj);
     m_PrintData.insert(m_PrintData.end(), blTemp.begin(), blTemp.end());
diff --git a/weigh/MsgHandler.cxx b/weigh/MsgHandler.cxx
index 90c0d3f..99cf63b 100644
--- a/weigh/MsgHandler.cxx
+++ b/weigh/MsgHandler.cxx
@@ -60,13 +60,13 @@ int MsgHandler::RecvDeviceMsg(std::vector<uint8_t>& data, int timeoutMs)
 
     if (bytesRead > 0)
     {
-        std::cout << "read from " << this->device << std::endl;
-        for (int num : data)
-        {
-            std::cout << std::hex << std::setw(2) << std::setfill('0')
-                      << num << " ";
-        }
-        std::cout << std::endl;
+        // std::cout << "read from " << this->device << std::endl;
+        // for (int num : data)
+        // {
+        //     std::cout << std::hex << std::setw(2) << std::setfill('0')
+        //               << num << " ";
+        // }
+        // std::cout << std::endl;
     }
 
     return bytesRead;
diff --git a/weigh/Publisher.cxx b/weigh/Publisher.cxx
index c835bcf..cc498f7 100644
--- a/weigh/Publisher.cxx
+++ b/weigh/Publisher.cxx
@@ -147,6 +147,8 @@ void PublisherApp::on_publication_matched(
     }
 }
 
+uint8_t send_time = 0;
+
 void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
 {
     // 配置检测器 - 使用更合理的参数
@@ -160,7 +162,7 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
     config.timeout_extra = 3;                  // 超时额外次数
     config.window_size = 8;                    // 窗口大小8
     config.max_std_dev = 30.0f;                // 最大标准差30kg
-    config.enable_debug_log = true;
+    config.enable_debug_log = false;
     config.reset_window_on_vehicle_on = true;
     config.leave_reset_delay_ms = 500;         // 0.5秒后重置
     
@@ -178,6 +180,7 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
             "VEHICLE_LEAVING"
         };
         
+        send_time = 50;
         std::cout << "\n=== STATE CHANGE: " << state_names[static_cast<int>(state)]
                   << ", Weight: " << weight << " kg ===" << std::endl;
     });
@@ -185,7 +188,7 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
     // 设置重量回调
     detector.setWeightCallback([](float weight, bool is_stable, [[maybe_unused]] void* user_data) {
         if (is_stable) {
-            std::cout << "Weight stabilized: " << weight << " kg" << std::endl;
+            // std::cout << "Weight stabilized: " << weight << " kg" << std::endl;
         }
     });
     
@@ -221,20 +224,20 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
                 auto stats = detector.getStatistics();
                 auto state = detector.getState();
 
-                const char *state_names[] = {
-                    "NO_VEHICLE", "VEHICLE_ON", "VEHICLE_STABLE", "VEHICLE_LEAVING"};
+                // const char *state_names[] = {
+                //     "NO_VEHICLE", "VEHICLE_ON", "VEHICLE_STABLE", "VEHICLE_LEAVING"};
 
-                std::cout << "State: " << state_names[static_cast<int>(state)]
-                          << ", Stable: " << (detector.isStable() ? "Yes" : "No")
-                          << ", HasVehicle: " << (detector.hasVehicle() ? "Yes" : "No") << std::endl;
+                // std::cout << "State: " << state_names[static_cast<int>(state)]
+                //           << ", Stable: " << (detector.isStable() ? "Yes" : "No")
+                //           << ", HasVehicle: " << (detector.hasVehicle() ? "Yes" : "No") << std::endl;
 
-                if (stats.sample_count > 0)
-                {
-                    std::cout << "Stats: Mean=" << std::setprecision(2) << stats.mean
-                              << "kg, StdDev=" << stats.std_dev
-                              << "kg, Range=" << (stats.max - stats.min)
-                              << "kg, Samples=" << stats.sample_count << std::endl;
-                }
+                // if (stats.sample_count > 0)
+                // {
+                //     std::cout << "Stats: Mean=" << std::setprecision(2) << stats.mean
+                //               << "kg, StdDev=" << stats.std_dev
+                //               << "kg, Range=" << (stats.max - stats.min)
+                //               << "kg, Samples=" << stats.sample_count << std::endl;
+                // }
 
                 // 如果稳定，显示稳定重量
                 WeighingSystem::ScaleInfo info;
@@ -252,7 +255,6 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
                     info.WeightOK() = 1;
                     info.Value() = weight/1000;
                     info.StableValue() = weight/1000;
-                    DEBUG("STABLE WEIGHT: " << detector.getStableWeight() << " kg");
                 }
                 else
                 {
@@ -261,10 +263,19 @@ void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
                     info.StableValue() = 0;
                 }
 
-                writer_->write(&info);
+                if (send_time >= 50)
+                {
+                    writer_->write(&info);
+                    send_time = 0;
+                }
             }
         }
 
+        if (send_time++ > 50)
+        {
+            send_time = 50;
+        }
+
         // Wait for period or stop event
         std::unique_lock<std::mutex> period_lock(mutex_);
         cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this]()