diff --git a/src/iflytop/components/iflytop_front_end_service/iflytop_front_end_service.cpp b/src/iflytop/components/iflytop_front_end_service/iflytop_front_end_service.cpp
index 32c5098..4214fdb 100644
--- a/src/iflytop/components/iflytop_front_end_service/iflytop_front_end_service.cpp
+++ b/src/iflytop/components/iflytop_front_end_service/iflytop_front_end_service.cpp
@@ -35,6 +35,13 @@ void IflytopFrontEndService::initialize(string ip) {
     ws->setOnMessageCallback([this, webSocket, connectionState](const ix::WebSocketMessagePtr& msg) {});
   });
 
+  m_udp.reset(new SimpleUDP());
+  m_udp->initialize(19003);
+  m_udp->set_on_recv([this](struct sockaddr_in* from, char* data, size_t len) {
+    logger->info("recv udp data: {}", string(data, len));
+    onUdpCmdMessage(from, data, len);
+  });
+
   m_initialized = true;
 }
 void IflytopFrontEndService::startListen() {
@@ -143,8 +150,8 @@ void IflytopFrontEndService::processRxMessage(weak_ptr<WebSocket> webSocket, con
       logger->error("m_iflytopWSService:onMessag,process rx json failed,exception:{},{}", e.what(), msgtext);
       if (command.find("need_receipt") == command.end() || command["need_receipt"]) {
         shared_ptr<WebSocket> ws = webSocket.lock();
-        receipt["ackcode"]       = err::error_code_get_get_ecode(err::kcommon_error_code, err::kparse_json_err);
-        receipt["ackcodeInfo"]   = err::error_code_get_desc(err::kcommon_error_code, err::kparse_json_err, e.what());
+        receipt["ackcode"]       = err::error_code_get_get_ecode(err::kce, err::kparse_json_err);
+        receipt["ackcodeInfo"]   = err::error_code_get_desc(err::kce, err::kparse_json_err, e.what());
 
         if (ws) ws->sendText(receipt.dump(1));
       }
diff --git a/src/iflytop/components/iflytop_front_end_service/iflytop_front_end_service.hpp b/src/iflytop/components/iflytop_front_end_service/iflytop_front_end_service.hpp
index 581fce9..69b73a8 100644
--- a/src/iflytop/components/iflytop_front_end_service/iflytop_front_end_service.hpp
+++ b/src/iflytop/components/iflytop_front_end_service/iflytop_front_end_service.hpp
@@ -15,6 +15,7 @@
 #include <string>
 #include <vector>
 
+#include "iflytop/components/simple_udp/simple_udp.hpp"
 #include "iflytop/core/basic/nod/nod.hpp"
 #include "iflytop/core/spdlogfactory/logger.hpp"
 /**
@@ -46,12 +47,15 @@ class IflytopFrontEndService : public enable_shared_from_this<IflytopFrontEndSer
 
   nod::signal<void(weak_ptr<WebSocket> webSocket, json& cmd, json& receipt)> onMessage;
 
+  nod::signal<void(struct sockaddr_in* from, char* data, size_t len)> onUdpCmdMessage;
+
  private:
   //
   // WebSocketServer的使用参考:http://192.168.1.3:3000/z3rd_lib/IXWebSocket/src/branch/master/docs/usage.md
   //
   shared_ptr<ix::WebSocketServer> m_server;
   shared_ptr<ix::WebSocketServer> m_report_server;
+  shared_ptr<SimpleUDP>           m_udp;
   bool                            m_initialized = false;
 
  public:
@@ -61,6 +65,8 @@ class IflytopFrontEndService : public enable_shared_from_this<IflytopFrontEndSer
   // void sendMessage(const string& message);
   void sendReport(json& report);
 
+  void sendToUDP(struct sockaddr_in* from, char* data, size_t len) { m_udp->sendto(from, data, len); }
+
  private:
   void onMessageCallback(weak_ptr<WebSocket> webSocket, shared_ptr<ConnectionState> connectionState, const ix::WebSocketMessagePtr& msg);
   void processRxMessage(weak_ptr<WebSocket> webSocket, const ix::WebSocketMessagePtr& msg);
diff --git a/src/iflytop/components/simple_udp/simple_udp.cpp b/src/iflytop/components/simple_udp/simple_udp.cpp
new file mode 100644
index 0000000..e1430ae
--- /dev/null
+++ b/src/iflytop/components/simple_udp/simple_udp.cpp
@@ -0,0 +1,55 @@
+#include "simple_udp.hpp"
+
+
+
+using namespace std;
+using namespace iflytop;
+using namespace core;
+
+void SimpleUDP::initialize(int port) {
+  // 建立一个UDP的socket
+  m_socket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+
+  if (m_socket == -1) {
+    logger->error("socket failed");
+    return;
+  }
+  // 绑定地址信息
+
+  struct sockaddr_in servaddr;
+  memset(&servaddr, 0, sizeof(servaddr));
+  servaddr.sin_family      = AF_INET;
+  servaddr.sin_port        = htons(port);
+  servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+  if (bind(m_socket, (struct sockaddr *)&servaddr, sizeof(servaddr)) < 0) {
+    logger->error("bind {} failed,", port);
+    return;
+  }
+  logger->info("bind {} success", port);
+
+  m_thread.reset(new Thread("udpThread", [this]() {  //
+    struct sockaddr_in peeraddr;
+    socklen_t          peerlen;
+    while (true) {
+      memset(m_rxbuf, 0, sizeof(m_rxbuf));
+      // 网络节点的信息，用来保存客户端的网络信息
+      // sockaddr_in clientAddr;
+      memset(&peeraddr, 0, sizeof(sockaddr_in));
+      int clientAddrLen = sizeof(sockaddr);
+      // 接收客户端发来的数据
+      int ret = recvfrom(m_socket, m_rxbuf, sizeof(m_rxbuf), 0, (struct sockaddr *)&peeraddr, &peerlen);
+      //   printf("Recv msg:%s from IP:[%s] Port:[%d]\n", m_rxbuf, inet_ntoa(m_context.clientAddr.sin_addr), ntohs(m_context.clientAddr.sin_port));
+      //   process_rx_cmd(m_rxbuf, ret);
+      // sendto(m_socket, "Hello World!", strlen("Hello World!"), 0, (sockaddr *)&m_context.clientAddr, clientAddrLen);
+      if (ret < 0) {
+        logger->error("recvfrom failed, {}", strerror(errno));
+        continue;
+      }
+      if (m_on_recv) {
+        m_on_recv(&peeraddr, m_rxbuf, ret);
+      }
+    }
+  }));
+  return;
+};
\ No newline at end of file
diff --git a/src/iflytop/components/simple_udp/simple_udp.hpp b/src/iflytop/components/simple_udp/simple_udp.hpp
new file mode 100644
index 0000000..c8c9978
--- /dev/null
+++ b/src/iflytop/components/simple_udp/simple_udp.hpp
@@ -0,0 +1,58 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+#include <errno.h>
+#include <netinet/in.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <sys/types.h> /* See NOTES */
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <fstream>
+#include <iostream>
+#include <list>
+#include <map>
+#include <memory>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "iflytop/core/core.hpp"
+/**
+ * @brief
+ *
+ * service: SimpleUDP
+ *
+ * 监听事件:
+ * 依赖状态:
+ * 依赖服务:
+ * 作用:
+ *
+ */
+
+namespace iflytop {
+using namespace std;
+using namespace core;
+class SimpleUDP : public enable_shared_from_this<SimpleUDP> {
+  ENABLE_LOGGER(SimpleUDP);
+  int                m_socket = -1;
+  unique_ptr<Thread> m_thread;
+  char               m_rxbuf[1024];
+
+  typedef function<void(struct sockaddr_in* from, char* data, size_t len)> on_recv_t;
+
+  on_recv_t m_on_recv;
+
+ public:
+  SimpleUDP(){};
+  void initialize(int port);
+  void set_on_recv(on_recv_t on_recv) { m_on_recv = on_recv; }
+  void sendto(struct sockaddr_in* from, const char* data, size_t len) { ::sendto(m_socket, data, len, 0, (struct sockaddr*)from, sizeof(struct sockaddr_in)); }
+};
+}  // namespace iflytop
\ No newline at end of file
diff --git a/src/iflytop/components/zcanreceiver/zcanhost.cpp b/src/iflytop/components/zcanreceiver/zcanhost.cpp
new file mode 100644
index 0000000..0ac3313
--- /dev/null
+++ b/src/iflytop/components/zcanreceiver/zcanhost.cpp
@@ -0,0 +1,158 @@
+#include "zcanhost.hpp"
+
+using namespace iflytop;
+using namespace core;
+using namespace zcr;
+
+#define zint16p(x) ((int16_t*)(x))
+#define zint32p(x) ((int32_t*)(x))
+
+void ZCanHost::initialize(string can_if_name, int baudrate, bool enablLoopback) {
+  m_zcanReceiverHost = make_shared<ZCanReceiverHost>();
+  m_zcanReceiverHost->initialize(can_if_name, baudrate, enablLoopback);
+}
+
+static void prase_cmd(char* input, int inputlen, int& argc, char* argv[]) {
+  bool findcomment = false;
+  for (size_t i = 0; input[i] == 0 || i < inputlen; i++) {
+    if (input[i] == ' ' || input[i] == '\r' || input[i] == '\n' || input[i] == '\t') {
+      input[i] = 0;
+    }
+
+    if (input[i] == '#') {
+      findcomment = true;
+    }
+    if (findcomment) {
+      input[i] = 0;
+    }
+  }
+
+  int j = 0;
+  for (size_t i = 0; input[i] == 0 || i < inputlen; i++) {
+    if (input[i] != 0 && j == 0) {
+      argv[argc++] = &input[i];
+      j            = 1;
+      continue;
+    }
+
+    if (input[i] == 0 && j == 1) {
+      j = 0;
+      continue;
+    }
+  }
+}
+
+bool ZCanHost::execcmd(string cmd, string& retval) {
+  int   argc           = 0;
+  char* argv[10]       = {0};
+  char  cmdcache[1024] = {0};
+  // context.rawcmd = cmd;
+  strcpy(cmdcache, cmd.c_str());
+  logger->info("do cmd:{}", cmdcache);
+
+  for (size_t i = 0; i < cmd.size(); i++) {
+    if (cmdcache[i] == '#') {
+      cmdcache[i] = '\0';
+    }
+  }
+  prase_cmd(cmdcache, strlen(cmdcache), argc, argv);
+  if (argc == 0) {
+    logger->error("cmd:{} prase error", cmd);
+    return false;
+  }
+
+  if (m_cmdMap.find(string(argv[0])) != m_cmdMap.end()) {
+    return m_cmdMap.find(string(argv[0]))->second(argc, argv, retval);
+  }
+  logger->error("cmd:{} not found", argv[0]);
+  return false;
+}
+
+/*******************************************************************************
+ *                                     CMD                                     *
+ *******************************************************************************/
+/**
+ * @brief 0-1000 Command support
+ */
+bool ZCanHost::ping(int board_id) {
+  shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
+  cmd->cmdid                      = 0;
+  cmd->subcmdid                   = 0;
+  cmd->data[0]                    = board_id;
+  cmd->len                        = 1;
+  auto rx                         = m_zcanReceiverHost->sendcmdblock(cmd, 100);
+  return rx != nullptr;
+}
+
+int32_t ZCanHost::readio(int id, bool& value) {
+  shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
+  cmd->cmdid                      = 1;
+  cmd->subcmdid                   = 0;
+  cmd->data[0]                    = id;
+  cmd->len                        = 1;
+  auto rx                         = m_zcanReceiverHost->sendcmdblock(cmd, 100);
+  if (rx == nullptr) {
+    return err::zecode(err::knoack);
+  }
+  value = rx->data[1];
+  return 0;
+}
+int32_t ZCanHost::writeio(int id, bool value) {
+  shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
+  cmd->cmdid                      = 2;
+  cmd->subcmdid                   = 0;
+  cmd->data[0]                    = id;
+  cmd->data[1]                    = value;
+  cmd->len                        = 2;
+  auto rx                         = m_zcanReceiverHost->sendcmdblock(cmd, 100);
+  if (rx == nullptr) {
+    return err::zecode(err::knoack);
+  }
+  return 0;
+}
+int32_t ZCanHost::readadc(int id, int& value) {
+  shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
+  cmd->cmdid                      = 3;
+  cmd->subcmdid                   = 0;
+  cmd->data[0]                    = id;
+  cmd->len                        = 1;
+  auto rx                         = m_zcanReceiverHost->sendcmdblock(cmd, 100);
+  if (rx == nullptr) {
+    return err::zecode(err::knoack);
+  }
+  value = *(int32_t*)(&rx->data[2]);
+  return 0;
+}
+
+// 1004
+bool ZCanHost::pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm) {
+  shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
+  cmd->cmdid                      = 1004;
+  cmd->subcmdid                   = 0;
+  cmd->data[0]                    = sensorid;
+  *zint16p(&cmd->data[2])         = acc;
+  *zint16p(&cmd->data[4])         = rpm;
+  cmd->len                        = 6;
+  auto rx                         = m_zcanReceiverHost->sendcmdblock(cmd, 100);
+  return rx != nullptr;
+}
+
+/**
+ * @brief 报警三色指示灯控制
+ *
+ * @param sensorid
+ * @param r
+ * @param g
+ * @param b
+ * @param w
+ */
+bool ZCanHost::warning_light_ctrl_c1002(uint8_t sensorid, uint8_t r, uint8_t g, uint8_t b, uint8_t w) { return false; }
+
+/**
+ * @brief 读取华成压力传感器数值
+ *
+ * @param sensorid
+ * @param value
+ */
+
+bool ZCanHost::huacheng_pressure_sensor_read_c1005(int sensorid, huacheng_pressure_sensor_read_c1005_t& value) { return false; }
\ No newline at end of file
diff --git a/src/iflytop/components/zcanreceiver/zcanhost.hpp b/src/iflytop/components/zcanreceiver/zcanhost.hpp
new file mode 100644
index 0000000..f741a29
--- /dev/null
+++ b/src/iflytop/components/zcanreceiver/zcanhost.hpp
@@ -0,0 +1,70 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+
+#include "cmd.hpp"
+#include "iflytop/core/core.hpp"
+#include "zcanreceiverhost.hpp"
+
+namespace iflytop {
+
+using namespace std;
+using namespace zcr;
+using namespace core;
+
+class ZCanHost {
+  ENABLE_LOGGER(ZCanHost);
+
+  shared_ptr<ZCanReceiverHost> m_zcanReceiverHost;
+
+  map<string, function<bool(int argc, char** argv, string& retval)>> m_cmdMap;
+
+ public:
+  void initialize(string can_if_name, int baudrate, bool enablLoopback);
+  bool execcmd(string cmd, string& retval);
+
+  /*******************************************************************************
+   *                                     CMD                                     *
+   *******************************************************************************/
+  /**
+   * @brief 0-1000 Command support
+   */
+  bool ping(int board_id);
+
+  int32_t readio(int id, bool& value);
+  int32_t writeio(int id, bool value);
+  int32_t readadc(int id, int& value);
+
+  // 1004
+  bool pumpctrl_c1004(int sensorid, int16_t acc, int16_t rpm);
+
+  /**
+   * @brief 报警三色指示灯控制
+   *
+   * @param sensorid
+   * @param r
+   * @param g
+   * @param b
+   * @param w
+   */
+  bool warning_light_ctrl_c1002(uint8_t sensorid, uint8_t r, uint8_t g, uint8_t b, uint8_t w);
+
+  /**
+   * @brief 读取华成压力传感器数值
+   *
+   * @param sensorid
+   * @param value
+   */
+  typedef struct {
+    uint8_t  precision;  // 0，1，2，3
+    uint8_t  unit;       // 0-Mpa ,1-Kpa ,2-Pa ,3-Bar ,4-Mbar ,5-kg/cm2 ,6-psi ,7-mh2o ,8-mmh2o
+    uint16_t value;      // value,  realvalue = value / 10^precision unit
+    uint16_t zero;       // 零点
+    uint16_t full;       // 满量程
+  } huacheng_pressure_sensor_read_c1005_t;
+  bool huacheng_pressure_sensor_read_c1005(int sensorid, huacheng_pressure_sensor_read_c1005_t& value);
+};
+
+}  // namespace iflytop
\ No newline at end of file
diff --git a/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp b/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
index 1f6344e..38e08ff 100644
--- a/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
+++ b/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
@@ -52,7 +52,15 @@ shared_ptr<ZCanReceiverCMD> ZCanReceiverHost::sendcmdblock(shared_ptr<ZCanReceiv
 
 void ZCanReceiverHost::sendcmd(uint16_t packetindex, uint16_t cmdid, uint8_t subcmdid, uint8_t *data, size_t len) {
   Cmdheader_t *header = (Cmdheader_t *)m_sendbuf;
-  header->packetindex = packetindex;
+
+  m_index++;
+  if (m_index == 0) {
+    m_index = 1;
+  }
+  if (m_index == UINT16_MAX) {
+    m_index = 1;
+  }
+  header->packetindex = m_index;
   header->cmdid       = cmdid;
   header->subcmdid    = subcmdid;
   header->packetType  = 0x00;
diff --git a/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp b/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp
index a41b1f2..5ff56aa 100644
--- a/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp
+++ b/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp
@@ -20,10 +20,10 @@ using namespace core;
 
 class ZCanReceiverCMD {
  public:
-  uint16_t packetindex;
-  uint16_t cmdid;
-  uint8_t  subcmdid;
-  uint8_t  data[255 * 8];
+  uint16_t packetindex   = 0;
+  uint16_t cmdid         = 0;
+  uint8_t  subcmdid      = 0;
+  uint8_t  data[255 * 8] = {0};
   size_t   len;
 
   string toString() { return fmt::format("{}-{}:{} {}", packetindex, cmdid, subcmdid, StringUtils().bytesToString(data, len)); }
@@ -57,6 +57,8 @@ class ZCanReceiverHost {
   onpacket_t        m_onpacket;
   uint8_t           m_deviceId = 1;
 
+  uint16_t m_index = 1;
+
   shared_ptr<SocketCan> m_socketCan;
 
   mutex     m_txblocklock;
diff --git a/src/iflytop/core/core.hpp b/src/iflytop/core/core.hpp
index ab3da2b..e339a65 100644
--- a/src/iflytop/core/core.hpp
+++ b/src/iflytop/core/core.hpp
@@ -1,8 +1,21 @@
 #pragma once
 
+#include <fstream>
+#include <functional>
+#include <iostream>
+#include <list>
+#include <map>
+#include <memory>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+#include <mutex>
+
+#include "iflytop/core/basic/nlohmann/json.hpp"
 #include "iflytop/core/basic/nod/nod.hpp"
+#include "iflytop/core/components/stringutils.hpp"
 #include "iflytop/core/components/timeutils.hpp"
 #include "iflytop/core/error/error_code.hpp"
 #include "iflytop/core/spdlogfactory/logger.hpp"
 #include "iflytop/core/thread/thread.hpp"
-#include "iflytop/core/components/stringutils.hpp"
diff --git a/src/iflytop/core/error/error_code.cpp b/src/iflytop/core/error/error_code.cpp
index 875c8b6..292dcfc 100644
--- a/src/iflytop/core/error/error_code.cpp
+++ b/src/iflytop/core/error/error_code.cpp
@@ -6,9 +6,9 @@ namespace err {
 using namespace std;
 
 // static set<error_code_desc_t> ecode_desc_set = {
-//     {kcommon_error_code, kovertime, "overtime"},
-//     {kcommon_error_code, kdevice_offline, "kdevice_offline"},
-//     {kcommon_error_code, kpasswd_error, "kpasswd_error"},
+//     {kce, kovertime, "overtime"},
+//     {kce, kdevice_offline, "kdevice_offline"},
+//     {kce, kpasswd_error, "kpasswd_error"},
 // };
 
 // kovertime
@@ -18,13 +18,14 @@ using namespace std;
 // kpasswd_error
 // kuser_not_exist
 static vector<error_code_desc_t> ecode_desc_set = {
-    {kcommon_error_code, kovertime, "overtime"},
-    {kcommon_error_code, kdevice_offline, "kdevice_offline"},
-    {kcommon_error_code, kparse_json_err, "kparse_json_err"},
-    {kcommon_error_code, kcatch_exception, "kcatch_exception"},
-    {kcommon_error_code, kpasswd_error, "kpasswd_error"},
-    {kcommon_error_code, kuser_not_exist, "kuser_not_exist"},
-    {kcommon_error_code, kdb_operate_error, "kuser_not_exist"},
+    {kce, kovertime, "overtime"},
+    {kce, knoack, "noack"},
+    {kce, kdevice_offline, "kdevice_offline"},
+    {kce, kparse_json_err, "kparse_json_err"},
+    {kce, kcatch_exception, "kcatch_exception"},
+    {kce, kpasswd_error, "kpasswd_error"},
+    {kce, kuser_not_exist, "kuser_not_exist"},
+    {kce, kdb_operate_error, "kuser_not_exist"},
 
 };
 
diff --git a/src/iflytop/core/error/error_code.hpp b/src/iflytop/core/error/error_code.hpp
index 31ce7d5..de59acd 100644
--- a/src/iflytop/core/error/error_code.hpp
+++ b/src/iflytop/core/error/error_code.hpp
@@ -18,6 +18,7 @@ namespace err {
 using namespace std;
 typedef enum {
   kovertime = 1,
+  knoack,
   kdevice_offline,
   kparse_json_err,
   kcatch_exception,
@@ -27,7 +28,7 @@ typedef enum {
 } common_error_code_t;
 
 typedef enum {
-  kcommon_error_code = 1,
+  kce = 1,  // common error code
 } error_type_t;
 
 class error_code_desc_t {
@@ -37,8 +38,16 @@ class error_code_desc_t {
   string       desc;
 };
 
-int32_t error_code_get_get_ecode(error_type_t error_type, int sub_error_code);
-string  error_code_get_desc(error_type_t error_type, int sub_error_code, string extdes);
+int32_t               error_code_get_get_ecode(error_type_t error_type, int sub_error_code);
+static inline int32_t zecode(error_type_t error_type, int sub_error_code) { return error_code_get_get_ecode(error_type, sub_error_code); }
+static inline int32_t zecode(common_error_code_t sub_error_code) { return error_code_get_get_ecode(kce, sub_error_code); }
+
+string               error_code_get_desc(error_type_t error_type, int sub_error_code, string extdes);
+static inline string zecode_desc(int32_t ecode, string extdes) {
+  error_type_t error_type     = (error_type_t)(ecode / 1000);
+  int          sub_error_code = ecode % 1000;
+  return error_code_get_desc(error_type, sub_error_code, extdes);
+}
 
 }  // namespace err