diff --git a/component/balise.go b/component/balise.go
index 044c5d7..81b7e8e 100644
--- a/component/balise.go
+++ b/component/balise.go
@@ -2,15 +2,16 @@ package component
 
 import "joylink.club/ecs"
 
-type BaliseState struct {
-	ValidTelegram []byte //当前一条有效报文
-}
-
 var (
-	BaliseFB        = ecs.NewTag() // 固定应答器
-	BaliseWB        = ecs.NewTag() // 轮径校正应答器
-	BaliseDB        = ecs.NewTag() // 休眠唤醒应答器
-	BaliseVB        = ecs.NewTag() // 主信号应答器
-	BaliseIB        = ecs.NewTag() // 预告应答器
-	BaliseStateType = ecs.NewComponentType[BaliseState]()
+	BaliseFB = ecs.NewTag() // 固定应答器
+	BaliseWB = ecs.NewTag() // 轮径校正应答器
+	BaliseDB = ecs.NewTag() // 休眠唤醒应答器
+	BaliseVB = ecs.NewTag() // 主信号应答器
+	BaliseIB = ecs.NewTag() // 预告应答器
 )
+var BaliseFixedTelegramType = ecs.NewComponentType[BaliseState]()    //应答器固定报文
+var BaliseVariableTelegramType = ecs.NewComponentType[BaliseState]() //应答器可变报文
+type BaliseState struct {
+	Telegram     []byte //报文
+	UserTelegram []byte //用户报文
+}
diff --git a/component/component_data/ci.pb.go b/component/component_data/ci.pb.go
index c665552..27bbae8 100644
--- a/component/component_data/ci.pb.go
+++ b/component/component_data/ci.pb.go
@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.31.0
+// 	protoc-gen-go v1.32.0
 // 	protoc        v4.23.1
 // source: component/ci.proto
 
diff --git a/component/component_data/common.pb.go b/component/component_data/common.pb.go
index ec5df54..8c1f51c 100644
--- a/component/component_data/common.pb.go
+++ b/component/component_data/common.pb.go
@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.31.0
+// 	protoc-gen-go v1.32.0
 // 	protoc        v4.23.1
 // source: component/common.proto
 
diff --git a/component/component_data/equipment.pb.go b/component/component_data/equipment.pb.go
index 862e4d8..ad850dd 100644
--- a/component/component_data/equipment.pb.go
+++ b/component/component_data/equipment.pb.go
@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.31.0
+// 	protoc-gen-go v1.32.0
 // 	protoc        v4.23.1
 // source: component/equipment.proto
 
diff --git a/component/component_data/points.pb.go b/component/component_data/points.pb.go
index a08eb37..b6b3f90 100644
--- a/component/component_data/points.pb.go
+++ b/component/component_data/points.pb.go
@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.31.0
+// 	protoc-gen-go v1.32.0
 // 	protoc        v4.23.1
 // source: component/points.proto
 
diff --git a/component/component_proto/psd.pb.go b/component/component_proto/psd.pb.go
index 8a98721..21dc2e6 100644
--- a/component/component_proto/psd.pb.go
+++ b/component/component_proto/psd.pb.go
@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.31.0
+// 	protoc-gen-go v1.32.0
 // 	protoc        v4.23.1
 // source: component/psd.proto
 
@@ -74,7 +74,8 @@ type PsdState struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	Close bool `protobuf:"varint,1,opt,name=close,proto3" json:"close,omitempty"`
+	Close    bool `protobuf:"varint,1,opt,name=close,proto3" json:"close,omitempty"`
+	Obstacle bool `protobuf:"varint,2,opt,name=obstacle,proto3" json:"obstacle,omitempty"`
 }
 
 func (x *PsdState) Reset() {
@@ -116,6 +117,13 @@ func (x *PsdState) GetClose() bool {
 	return false
 }
 
+func (x *PsdState) GetObstacle() bool {
+	if x != nil {
+		return x.Obstacle
+	}
+	return false
+}
+
 type Psd struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -222,20 +230,22 @@ var File_component_psd_proto protoreflect.FileDescriptor
 var file_component_psd_proto_rawDesc = []byte{
 	0x0a, 0x13, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x70, 0x73, 0x64, 0x2e,
 	0x70, 0x72, 0x6f, 0x74, 0x6f, 0x12, 0x09, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74,
-	0x22, 0x20, 0x0a, 0x08, 0x50, 0x73, 0x64, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x14, 0x0a, 0x05,
+	0x22, 0x3c, 0x0a, 0x08, 0x50, 0x73, 0x64, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x14, 0x0a, 0x05,
 	0x63, 0x6c, 0x6f, 0x73, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x08, 0x52, 0x05, 0x63, 0x6c, 0x6f,
-	0x73, 0x65, 0x22, 0x44, 0x0a, 0x03, 0x50, 0x73, 0x64, 0x22, 0x3d, 0x0a, 0x05, 0x46, 0x61, 0x75,
-	0x6c, 0x74, 0x12, 0x0d, 0x0a, 0x09, 0x55, 0x6e, 0x64, 0x65, 0x66, 0x69, 0x6e, 0x65, 0x64, 0x10,
-	0x00, 0x12, 0x12, 0x0a, 0x0e, 0x41, 0x73, 0x64, 0x43, 0x61, 0x6e, 0x6e, 0x6f, 0x74, 0x43, 0x6c,
-	0x6f, 0x73, 0x65, 0x10, 0x01, 0x12, 0x11, 0x0a, 0x0d, 0x41, 0x73, 0x64, 0x43, 0x61, 0x6e, 0x6e,
-	0x6f, 0x74, 0x4f, 0x70, 0x65, 0x6e, 0x10, 0x02, 0x22, 0x44, 0x0a, 0x08, 0x41, 0x73, 0x64, 0x53,
-	0x74, 0x61, 0x74, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x67, 0x6d, 0x64, 0x77, 0x18, 0x01, 0x20, 0x01,
-	0x28, 0x08, 0x52, 0x04, 0x67, 0x6d, 0x64, 0x77, 0x12, 0x12, 0x0a, 0x04, 0x6b, 0x6d, 0x64, 0x77,
-	0x18, 0x02, 0x20, 0x01, 0x28, 0x08, 0x52, 0x04, 0x6b, 0x6d, 0x64, 0x77, 0x12, 0x10, 0x0a, 0x03,
-	0x6d, 0x67, 0x6a, 0x18, 0x03, 0x20, 0x01, 0x28, 0x08, 0x52, 0x03, 0x6d, 0x67, 0x6a, 0x42, 0x1d,
-	0x5a, 0x1b, 0x2e, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x63, 0x6f,
-	0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70,
-	0x72, 0x6f, 0x74, 0x6f, 0x33,
+	0x73, 0x65, 0x12, 0x1a, 0x0a, 0x08, 0x6f, 0x62, 0x73, 0x74, 0x61, 0x63, 0x6c, 0x65, 0x18, 0x02,
+	0x20, 0x01, 0x28, 0x08, 0x52, 0x08, 0x6f, 0x62, 0x73, 0x74, 0x61, 0x63, 0x6c, 0x65, 0x22, 0x44,
+	0x0a, 0x03, 0x50, 0x73, 0x64, 0x22, 0x3d, 0x0a, 0x05, 0x46, 0x61, 0x75, 0x6c, 0x74, 0x12, 0x0d,
+	0x0a, 0x09, 0x55, 0x6e, 0x64, 0x65, 0x66, 0x69, 0x6e, 0x65, 0x64, 0x10, 0x00, 0x12, 0x12, 0x0a,
+	0x0e, 0x41, 0x73, 0x64, 0x43, 0x61, 0x6e, 0x6e, 0x6f, 0x74, 0x43, 0x6c, 0x6f, 0x73, 0x65, 0x10,
+	0x01, 0x12, 0x11, 0x0a, 0x0d, 0x41, 0x73, 0x64, 0x43, 0x61, 0x6e, 0x6e, 0x6f, 0x74, 0x4f, 0x70,
+	0x65, 0x6e, 0x10, 0x02, 0x22, 0x44, 0x0a, 0x08, 0x41, 0x73, 0x64, 0x53, 0x74, 0x61, 0x74, 0x65,
+	0x12, 0x12, 0x0a, 0x04, 0x67, 0x6d, 0x64, 0x77, 0x18, 0x01, 0x20, 0x01, 0x28, 0x08, 0x52, 0x04,
+	0x67, 0x6d, 0x64, 0x77, 0x12, 0x12, 0x0a, 0x04, 0x6b, 0x6d, 0x64, 0x77, 0x18, 0x02, 0x20, 0x01,
+	0x28, 0x08, 0x52, 0x04, 0x6b, 0x6d, 0x64, 0x77, 0x12, 0x10, 0x0a, 0x03, 0x6d, 0x67, 0x6a, 0x18,
+	0x03, 0x20, 0x01, 0x28, 0x08, 0x52, 0x03, 0x6d, 0x67, 0x6a, 0x42, 0x1d, 0x5a, 0x1b, 0x2e, 0x2f,
+	0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e,
+	0x65, 0x6e, 0x74, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f,
+	0x33,
 }
 
 var (
diff --git a/component/component_proto/signal.pb.go b/component/component_proto/signal.pb.go
index 4ef8544..8fc9252 100644
--- a/component/component_proto/signal.pb.go
+++ b/component/component_proto/signal.pb.go
@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.31.0
+// 	protoc-gen-go v1.32.0
 // 	protoc        v4.23.1
 // source: component/signal.proto
 
diff --git a/component/psd.go b/component/psd.go
index ac7705c..46559c7 100644
--- a/component/psd.go
+++ b/component/psd.go
@@ -65,6 +65,12 @@ type AsdMotorState struct {
 
 var AsdStateType = ecs.NewComponentType[component_proto.AsdState]()
 
+// AsdForceType ture强制开门 false强制关门
+var AsdForceType = ecs.NewComponentType[BitState]()
+
+// AsdHasObstacleTag 滑动门有障碍物
+var AsdHasObstacleTag = ecs.NewTag()
+
 var PlatformMkxCircuitType = ecs.NewComponentType[PlatformMkxCircuit]()
 
 // PlatformMkxCircuit 站台门控箱电路
@@ -97,8 +103,8 @@ type Psc struct {
 	MkxGM bool
 	MkxPL bool
 
-	QDTC   bool
-	TZTC   bool
-	ZAW    bool
+	QDTC bool
+	TZTC bool
+	//ZAW    bool
 	JXTCPL bool
 }
diff --git a/consts/bit.go b/consts/bit.go
index 6500464..729bdaa 100644
--- a/consts/bit.go
+++ b/consts/bit.go
@@ -28,9 +28,9 @@ func SetBitOfBytes(bs []byte, bitIndex int, v bool) []byte {
 	}
 	by := bs[bi]
 	if v {
-		by |= (1 << (7 - i))
+		by |= (1 << i)
 	} else {
-		by &= ((1 << (7 - i)) ^ byte(0xff))
+		by &= ((1 << i) ^ byte(0xff))
 	}
 	bs[bi] = by
 	return bs
diff --git a/entity/balise.go b/entity/balise.go
index 3043545..993d356 100644
--- a/entity/balise.go
+++ b/entity/balise.go
@@ -33,9 +33,15 @@ func newBaliseEntity(w ecs.World, td *repository.Transponder, worldData *compone
 	uid := td.Id()
 	entry, ok := worldData.EntityMap[uid]
 	if !ok {
-		entry = w.Entry(w.Create(component.UidType, component.BaliseStateType, component.LinkPositionType, component.KmType))
+		entry = w.Entry(w.Create(component.UidType, component.BaliseFixedTelegramType, component.LinkPositionType, component.KmType))
 		component.UidType.SetValue(entry, component.Uid{Id: uid})
-		component.BaliseStateType.Set(entry, &component.BaliseState{})
+		component.BaliseFixedTelegramType.Set(entry, &component.BaliseState{
+			Telegram:     td.FixedTelegram(),
+			UserTelegram: td.FixedUserTelegram(),
+		})
+		if proto.Transponder_IB == td.BaliseType() || proto.Transponder_VB == td.BaliseType() {
+			entry.AddComponent(component.BaliseVariableTelegramType)
+		}
 		component.LinkPositionType.SetValue(entry, component_data.LinkPosition{
 			LinkId: td.LinkPosition().Link().Id(),
 			Offset: td.LinkPosition().Offset(),
diff --git a/fi/section.go b/fi/section.go
index f7cbc78..1193eb7 100644
--- a/fi/section.go
+++ b/fi/section.go
@@ -2,10 +2,11 @@ package fi
 
 import (
 	"fmt"
+	"strings"
+
 	"joylink.club/ecs"
 	"joylink.club/rtsssimulation/component"
 	"joylink.club/rtsssimulation/entity"
-	"strings"
 )
 
 // AxleSectionDrstDrive 计轴直接复位操作
@@ -19,12 +20,12 @@ func AxleSectionDrstDrive(w ecs.World, sectionId string, set bool) error {
 		if sectionModel == nil {
 			return ecs.NewErrResult(fmt.Errorf("区段模型[%s]不存实体", sectionId))
 		}
-		if set {
-			axleSectionEntry := wd.EntityMap[sectionId]
-			if !axleSectionEntry.HasComponent(component.AxleSectionFaultTag) {
-				return ecs.NewErrResult(fmt.Errorf("区段[%s]非故障占用，无法进行复位操作", sectionId))
-			}
-		}
+		// if set {
+		// 	axleSectionEntry := wd.EntityMap[sectionId]
+		// 	if !axleSectionEntry.HasComponent(component.AxleSectionFaultTag) {
+		// 		return ecs.NewErrResult(fmt.Errorf("区段[%s]非故障占用，无法进行复位操作", sectionId))
+		// 	}
+		// }
 		//
 		faDcAxleDeviceEntry := entity.FindAxleManageDevice(wd, sectionModel.CentralizedStation())
 
@@ -53,12 +54,12 @@ func AxleSectionPdrstDrive(w ecs.World, sectionId string, set bool) error {
 		if sectionModel == nil {
 			return ecs.NewErrResult(fmt.Errorf("区段模型[%s]不存实体", sectionId))
 		}
-		if set {
-			axleSectionEntry := wd.EntityMap[sectionId]
-			if !axleSectionEntry.HasComponent(component.AxleSectionFaultTag) {
-				return ecs.NewErrResult(fmt.Errorf("区段[%s]非故障占用，无法进行复位操作", sectionId))
-			}
-		}
+		// if set {
+		// 	axleSectionEntry := wd.EntityMap[sectionId]
+		// 	if !axleSectionEntry.HasComponent(component.AxleSectionFaultTag) {
+		// 		return ecs.NewErrResult(fmt.Errorf("区段[%s]非故障占用，无法进行复位操作", sectionId))
+		// 	}
+		// }
 		//
 		faDcAxleDeviceEntry := entity.FindAxleManageDevice(wd, sectionModel.CentralizedStation())
 
diff --git a/fi/signal.go b/fi/signal.go
index 2c32851..47cba7f 100644
--- a/fi/signal.go
+++ b/fi/signal.go
@@ -2,6 +2,7 @@ package fi
 
 import (
 	"fmt"
+
 	"joylink.club/ecs"
 	"joylink.club/rtsssimulation/component"
 	"joylink.club/rtsssimulation/component/component_proto"
@@ -44,6 +45,31 @@ func UpdateSignalLightFault(w ecs.World, signalId string, light component_proto.
 	return r.Err
 }
 
+// 更新信号机灯丝断丝故障
+func UpdateSignalFaultDS(w ecs.World, uid string, light []component_proto.Light_Color) error {
+	r := <-ecs.Request[ecs.EmptyType](w, func() ecs.Result[ecs.EmptyType] {
+		wd := entity.GetWorldData(w)
+		signalEntry, ok := wd.EntityMap[uid]
+		if ok {
+			lights := component.SignalLightsType.Get(signalEntry)
+			// 先清除所有故障
+			for _, e := range lights.Lights {
+				e.RemoveComponent(component.LightFaultDsType)
+			}
+			// 设置故障
+			for _, light := range light {
+				lightEntry := component.SignalLightsType.Get(signalEntry).GetLightByColor(light)
+				if lightEntry == nil {
+					return ecs.NewErrResult(fmt.Errorf("信号机[%s]没有色灯[%d]", uid, light))
+				}
+				lightEntry.AddComponent(component.LightFaultDsType)
+			}
+		}
+		return ecs.NewOkEmptyResult()
+	})
+	return r.Err
+}
+
 // SignalLightDrive 当没有电路时，直接驱动信号机灯位上的灯
 // ldLights : 需要亮的灯;当为空时则信号机所有色灯灭灯
 func SignalLightDrive(w ecs.World, signalId string, ldLights ...component_proto.Light_Color) error {
diff --git a/go.mod b/go.mod
index 4b6424f..a1d3734 100644
--- a/go.mod
+++ b/go.mod
@@ -3,7 +3,7 @@ module joylink.club/rtsssimulation
 go 1.21
 
 require (
-	github.com/stretchr/testify v1.8.3
+	github.com/stretchr/testify v1.8.4
 	google.golang.org/protobuf v1.31.0
 	joylink.club/ecs v0.0.1
 )
@@ -11,10 +11,11 @@ require (
 replace joylink.club/ecs => ./jl-ecs-go
 
 require (
-	github.com/davecgh/go-spew v1.1.1 // indirect
-	github.com/google/go-cmp v0.5.9 // indirect
-	github.com/kr/text v0.2.0 // indirect
-	github.com/pmezard/go-difflib v1.0.0 // indirect
+	github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc // indirect
+	github.com/google/go-cmp v0.6.0 // indirect
+	github.com/kr/pretty v0.3.1 // indirect
+	github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2 // indirect
 	github.com/yohamta/donburi v1.3.9 // indirect
+	gopkg.in/check.v1 v1.0.0-20201130134442-10cb98267c6c // indirect
 	gopkg.in/yaml.v3 v3.0.1 // indirect
 )
diff --git a/go.sum b/go.sum
index b6b3876..b284ca4 100644
--- a/go.sum
+++ b/go.sum
@@ -1,18 +1,14 @@
 github.com/creack/pty v1.1.9/go.mod h1:oKZEueFk5CKHvIhNR5MUki03XCEU+Q6VDXinZuGJ33E=
-github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
-github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
+github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc h1:U9qPSI2PIWSS1VwoXQT9A3Wy9MM3WgvqSxFWenqJduM=
 github.com/golang/protobuf v1.5.0/go.mod h1:FsONVRAS9T7sI+LIUmWTfcYkHO4aIWwzhcaSAoJOfIk=
 github.com/google/go-cmp v0.5.5/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
-github.com/google/go-cmp v0.5.9 h1:O2Tfq5qg4qc4AmwVlvv0oLiVAGB7enBSJ2x2DqQFi38=
-github.com/google/go-cmp v0.5.9/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
-github.com/kr/pretty v0.1.0 h1:L/CwN0zerZDmRFUapSPitk6f+Q3+0za1rQkzVuMiMFI=
-github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo=
+github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI=
+github.com/kr/pretty v0.3.1 h1:flRD4NNwYAUpkphVc1HcthR4KEIFJ65n8Mw5qdRn3LE=
 github.com/kr/text v0.2.0 h1:5Nx0Ya0ZqY2ygV366QzturHI13Jq95ApcVaJBhpS+AY=
 github.com/kr/text v0.2.0/go.mod h1:eLer722TekiGuMkidMxC/pM04lWEeraHUUmBw8l2grE=
-github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
-github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
-github.com/stretchr/testify v1.8.3 h1:RP3t2pwF7cMEbC1dqtB6poj3niw/9gnV4Cjg5oW5gtY=
-github.com/stretchr/testify v1.8.3/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo=
+github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2 h1:Jamvg5psRIccs7FGNTlIRMkT8wgtp5eCXdBlqhYGL6U=
+github.com/rogpeppe/go-internal v1.9.0 h1:73kH8U+JUqXU8lRuOHeVHaa/SZPifC7BkcraZVejAe8=
+github.com/stretchr/testify v1.8.4 h1:CcVxjf3Q8PM0mHUKJCdn+eZZtm5yQwehR5yeSVQQcUk=
 github.com/yohamta/donburi v1.3.9 h1:sYAPaelSnxmoTGjgH9ZlYt4pUKrnwvAv4YGXxLZCK6E=
 github.com/yohamta/donburi v1.3.9/go.mod h1:5QkyraUjkzbMVTD2b8jaPFy1Uwjm/zdFN1c1lZGaezg=
 golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
@@ -20,7 +16,6 @@ google.golang.org/protobuf v1.26.0-rc.1/go.mod h1:jlhhOSvTdKEhbULTjvd4ARK9grFBp0
 google.golang.org/protobuf v1.31.0 h1:g0LDEJHgrBl9N9r17Ru3sqWhkIx2NB67okBHPwC7hs8=
 google.golang.org/protobuf v1.31.0/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
-gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127 h1:qIbj1fsPNlZgppZ+VLlY7N33q108Sa+fhmuc+sWQYwY=
-gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
+gopkg.in/check.v1 v1.0.0-20201130134442-10cb98267c6c h1:Hei/4ADfdWqJk1ZMxUNpqntNwaWcugrBjAiHlqqRiVk=
 gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA=
 gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
diff --git a/go.work.sum b/go.work.sum
index 083193e..588e8a5 100644
--- a/go.work.sum
+++ b/go.work.sum
@@ -1,8 +1,10 @@
 github.com/BurntSushi/xgb v0.0.0-20160522181843-27f122750802/go.mod h1:IVnqGOEym/WlBOVXweHU+Q+/VP0lqqI8lqeDx9IjBqo=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
+github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/ebitengine/purego v0.0.0-20220905075623-aeed57cda744/go.mod h1:Eh8I3yvknDYZeCuXH9kRNaPuHEwvXDCk378o9xszmHg=
 github.com/ebitengine/purego v0.1.0/go.mod h1:Eh8I3yvknDYZeCuXH9kRNaPuHEwvXDCk378o9xszmHg=
 github.com/go-gl/glfw/v3.3/glfw v0.0.0-20220806181222-55e207c401ad/go.mod h1:tQ2UAYgL5IevRw8kRxooKSPJfGvJ9fJQFa0TUsXzTg8=
+github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/hajimehoshi/bitmapfont/v2 v2.2.2/go.mod h1:Ua/x9Dkz7M9CU4zr1VHWOqGwjKdXbOTRsH7lWfb1Co0=
 github.com/hajimehoshi/ebiten/v2 v2.4.13/go.mod h1:BZcqCU4XHmScUi+lsKexocWcf4offMFwfp8dVGIB/G4=
 github.com/hajimehoshi/file2byteslice v0.0.0-20210813153925-5340248a8f41/go.mod h1:CqqAHp7Dk/AqQiwuhV1yT2334qbA/tFWQW0MD2dGqUE=
@@ -14,15 +16,21 @@ github.com/jakecoffman/cp v1.2.1/go.mod h1:JjY/Fp6d8E1CHnu74gWNnU0+b9VzEdUVPoJxg
 github.com/jezek/xgb v1.0.1/go.mod h1:nrhwO0FX/enq75I7Y7G8iN1ubpSGZEiA3v9e9GyRFlk=
 github.com/jfreymuth/oggvorbis v1.0.4/go.mod h1:1U4pqWmghcoVsCJJ4fRBKv9peUJMBHixthRlBeD6uII=
 github.com/jfreymuth/vorbis v1.0.2/go.mod h1:DoftRo4AznKnShRl1GxiTFCseHr4zR9BN3TWXyuzrqQ=
+github.com/kr/pretty v0.2.1/go.mod h1:ipq/a2n7PKx3OHsz4KJII5eveXtPO4qwEXGdVfWzfnI=
+github.com/kr/pretty v0.3.1/go.mod h1:hoEshYVHaxMs3cyo3Yncou5ZscifuDolrwPKZanG3xk=
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
 github.com/pkg/browser v0.0.0-20210911075715-681adbf594b8/go.mod h1:HKlIX3XHQyzLZPlr7++PzdhaXEj94dEiJgZDTsxEqUI=
+github.com/pkg/diff v0.0.0-20210226163009-20ebb0f2a09e/go.mod h1:pJLUxLENpZxwdsKMEsNbx1VGcRFpLqf3715MtcvvzbA=
+github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
+github.com/rogpeppe/go-internal v1.9.0/go.mod h1:WtVeX8xhTBvf0smdhujwtBcq4Qrzq/fJaraNFVN+nFs=
 github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
 github.com/stretchr/objx v0.4.0/go.mod h1:YvHI0jy2hoMjB+UWwv71VJQ9isScKT/TqJzVSSt89Yw=
 github.com/stretchr/objx v0.5.0/go.mod h1:Yh+to48EsGEfYuaHDzXPcE3xhTkx73EhmCGUpEOglKo=
 github.com/stretchr/testify v1.7.1/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
 github.com/stretchr/testify v1.8.0/go.mod h1:yNjHg4UonilssWZ8iaSj1OCr/vHnekPRkoO+kdMU+MU=
 github.com/stretchr/testify v1.8.1/go.mod h1:w2LPCIKwWwSfY2zedu0+kehJoqGctiVI29o6fzry7u4=
+github.com/stretchr/testify v1.8.4/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo=
 github.com/yuin/goldmark v1.4.0/go.mod h1:mwnBkeHKe2W/ZEtQ+71ViKU8L12m81fl3OWwC1Zlc8k=
 github.com/yuin/goldmark v1.4.13/go.mod h1:6yULJ656Px+3vBD8DxQVa3kxgyrAnzto9xy5taEt/CY=
 go.uber.org/goleak v1.2.0/go.mod h1:XJYK+MuIchqpmGmUSAzotztawfKvYLUIgg7guXrwVUo=
@@ -81,4 +89,5 @@ golang.org/x/tools v0.1.12/go.mod h1:hNGJHUnrk76NpqgfD5Aqm5Crs+Hm0VOH/i9J2+nxYbc
 golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20200804184101-5ec99f83aff1/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
+gopkg.in/check.v1 v1.0.0-20201130134442-10cb98267c6c/go.mod h1:JHkPIbrfpd72SG/EVd6muEfDQjcINNoR0C8j2r3qZ4Q=
 gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
diff --git a/jl-ecs-go b/jl-ecs-go
index 2757e2c..9c5dde7 160000
--- a/jl-ecs-go
+++ b/jl-ecs-go
@@ -1 +1 @@
-Subproject commit 2757e2c4e06b03afab94727cee9d948dae6d1754
+Subproject commit 9c5dde7b2ec28c555488eee7dec81bb1f612c443
diff --git a/proto/src/component/psd.proto b/proto/src/component/psd.proto
index 66e00d9..ce4bb1f 100644
--- a/proto/src/component/psd.proto
+++ b/proto/src/component/psd.proto
@@ -6,6 +6,7 @@ option go_package = "./component/component_proto";
 
 message PsdState {
   bool close = 1;
+  bool obstacle = 2;
 }
 
 message Psd {
diff --git a/proto/src/model.proto b/proto/src/model.proto
index 9268e05..3a8d6c1 100644
--- a/proto/src/model.proto
+++ b/proto/src/model.proto
@@ -159,6 +159,7 @@ message Transponder {
   DevicePort turnoutPort = 4; //关联的区段端口
   bytes fixedTelegram = 5;//无源应答器固定报文
   Type  type = 6;//应答器类型
+  bytes fixedUserTelegram = 7; //无源应答器固定用户报文
   enum Type {
     FB = 0; // 固定应答器
     WB = 1; // 轮径校正应答器
diff --git a/repo/dto/cg_repo.pb.go b/repo/dto/cg_repo.pb.go
index dfbdee3..e9e54c5 100644
--- a/repo/dto/cg_repo.pb.go
+++ b/repo/dto/cg_repo.pb.go
@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.31.0
+// 	protoc-gen-go v1.32.0
 // 	protoc        v4.23.1
 // source: cg_repo.proto
 
diff --git a/repository/model/proto/model.pb.go b/repository/model/proto/model.pb.go
index 34e9890..81dd64b 100644
--- a/repository/model/proto/model.pb.go
+++ b/repository/model/proto/model.pb.go
@@ -1,6 +1,6 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.31.0
+// 	protoc-gen-go v1.32.0
 // 	protoc        v4.23.1
 // source: model.proto
 
@@ -2122,12 +2122,13 @@ type Transponder struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	Id            string           `protobuf:"bytes,1,opt,name=id,proto3" json:"id,omitempty"`
-	Km            *Kilometer       `protobuf:"bytes,2,opt,name=km,proto3" json:"km,omitempty"`
-	SectionId     string           `protobuf:"bytes,3,opt,name=sectionId,proto3" json:"sectionId,omitempty"`                    //关联的区段
-	TurnoutPort   *DevicePort      `protobuf:"bytes,4,opt,name=turnoutPort,proto3" json:"turnoutPort,omitempty"`                //关联的区段端口
-	FixedTelegram []byte           `protobuf:"bytes,5,opt,name=fixedTelegram,proto3" json:"fixedTelegram,omitempty"`            //无源应答器固定报文
-	Type          Transponder_Type `protobuf:"varint,6,opt,name=type,proto3,enum=model.Transponder_Type" json:"type,omitempty"` //应答器类型
+	Id                string           `protobuf:"bytes,1,opt,name=id,proto3" json:"id,omitempty"`
+	Km                *Kilometer       `protobuf:"bytes,2,opt,name=km,proto3" json:"km,omitempty"`
+	SectionId         string           `protobuf:"bytes,3,opt,name=sectionId,proto3" json:"sectionId,omitempty"`                    //关联的区段
+	TurnoutPort       *DevicePort      `protobuf:"bytes,4,opt,name=turnoutPort,proto3" json:"turnoutPort,omitempty"`                //关联的区段端口
+	FixedTelegram     []byte           `protobuf:"bytes,5,opt,name=fixedTelegram,proto3" json:"fixedTelegram,omitempty"`            //无源应答器固定报文
+	Type              Transponder_Type `protobuf:"varint,6,opt,name=type,proto3,enum=model.Transponder_Type" json:"type,omitempty"` //应答器类型
+	FixedUserTelegram []byte           `protobuf:"bytes,7,opt,name=fixedUserTelegram,proto3" json:"fixedUserTelegram,omitempty"`    //无源应答器固定用户报文
 }
 
 func (x *Transponder) Reset() {
@@ -2204,6 +2205,13 @@ func (x *Transponder) GetType() Transponder_Type {
 	return Transponder_FB
 }
 
+func (x *Transponder) GetFixedUserTelegram() []byte {
+	if x != nil {
+		return x.FixedUserTelegram
+	}
+	return nil
+}
+
 // 坡度
 type Slope struct {
 	state         protoimpl.MessageState
@@ -5506,7 +5514,7 @@ var file_model_proto_rawDesc = []byte{
 	0x45, 0x6c, 0x65, 0x63, 0x74, 0x72, 0x6f, 0x6e, 0x69, 0x63, 0x43, 0x6f, 0x6d, 0x70, 0x6f, 0x6e,
 	0x65, 0x6e, 0x74, 0x47, 0x72, 0x6f, 0x75, 0x70, 0x52, 0x19, 0x65, 0x6c, 0x65, 0x63, 0x74, 0x72,
 	0x6f, 0x6e, 0x69, 0x63, 0x43, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x47, 0x72, 0x6f,
-	0x75, 0x70, 0x73, 0x22, 0x95, 0x02, 0x0a, 0x0b, 0x54, 0x72, 0x61, 0x6e, 0x73, 0x70, 0x6f, 0x6e,
+	0x75, 0x70, 0x73, 0x22, 0xc3, 0x02, 0x0a, 0x0b, 0x54, 0x72, 0x61, 0x6e, 0x73, 0x70, 0x6f, 0x6e,
 	0x64, 0x65, 0x72, 0x12, 0x0e, 0x0a, 0x02, 0x69, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x09, 0x52,
 	0x02, 0x69, 0x64, 0x12, 0x20, 0x0a, 0x02, 0x6b, 0x6d, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0b, 0x32,
 	0x10, 0x2e, 0x6d, 0x6f, 0x64, 0x65, 0x6c, 0x2e, 0x4b, 0x69, 0x6c, 0x6f, 0x6d, 0x65, 0x74, 0x65,
@@ -5520,522 +5528,525 @@ var file_model_proto_rawDesc = []byte{
 	0x0d, 0x66, 0x69, 0x78, 0x65, 0x64, 0x54, 0x65, 0x6c, 0x65, 0x67, 0x72, 0x61, 0x6d, 0x12, 0x2b,
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diff --git a/repository/repository_check.go b/repository/repository_check.go
index d087c1c..09b1263 100644
--- a/repository/repository_check.go
+++ b/repository/repository_check.go
@@ -9,18 +9,25 @@ import (
 // 对数据做基础检查
 func baseCheck(source *proto.Repository) []string {
 	var errMsg []string
+	uidMap := make(map[string]bool)
 	//区段
-	sectionMap := make(map[string]*proto.PhysicalSection)
 	for _, section := range source.PhysicalSections {
-		sectionMap[section.Id] = section
+		if uidMap[section.Id] {
+			errMsg = append(errMsg, fmt.Sprintf("uid[%s]重复", section.Id))
+			continue
+		}
+		uidMap[section.Id] = true
 		if len(section.TurnoutIds) == 0 && section.ADevicePort == nil && section.BDevicePort == nil {
 			errMsg = append(errMsg, fmt.Sprintf("区段[%s]缺少关联的道岔或区段", section.Id))
 		}
 	}
 	//道岔
-	turnoutMap := make(map[string]*proto.Turnout)
 	for _, turnout := range source.Turnouts {
-		turnoutMap[turnout.Id] = turnout
+		if uidMap[turnout.Id] {
+			errMsg = append(errMsg, fmt.Sprintf("uid[%s]重复", turnout.Id))
+			continue
+		}
+		uidMap[turnout.Id] = true
 		if turnout.Km == nil {
 			errMsg = append(errMsg, fmt.Sprintf("道岔[%s]缺少公里标", turnout.Id))
 		}
@@ -30,15 +37,23 @@ func baseCheck(source *proto.Repository) []string {
 		}
 	}
 	//检测点
-	checkPointMap := make(map[string]*proto.CheckPoint)
 	for _, point := range source.CheckPoints {
-		checkPointMap[point.Id] = point
+		if uidMap[point.Id] {
+			errMsg = append(errMsg, fmt.Sprintf("uid[%s]重复", point.Id))
+			continue
+		}
+		uidMap[point.Id] = true
 		if point.Km == nil {
 			errMsg = append(errMsg, fmt.Sprintf("检测点[%s]缺少公里标", point.Id))
 		}
 	}
 	//信号机
 	for _, signal := range source.Signals {
+		if uidMap[signal.Id] {
+			errMsg = append(errMsg, fmt.Sprintf("uid[%s]重复", signal.Id))
+			continue
+		}
+		uidMap[signal.Id] = true
 		if signal.Km == nil || signal.Km.CoordinateSystem == "" {
 			errMsg = append(errMsg, fmt.Sprintf("信号机[%s]缺少公里标", signal.Id))
 		}
@@ -48,6 +63,11 @@ func baseCheck(source *proto.Repository) []string {
 	}
 	//应答器
 	for _, transponder := range source.Transponders {
+		if uidMap[transponder.Id] {
+			errMsg = append(errMsg, fmt.Sprintf("uid[%s]重复", transponder.Id))
+			continue
+		}
+		uidMap[transponder.Id] = true
 		if transponder.Km == nil || transponder.Km.CoordinateSystem == "" {
 			errMsg = append(errMsg, fmt.Sprintf("应答器[%s]缺少公里标", transponder.Id))
 		}
diff --git a/repository/repository_manager.go b/repository/repository_manager.go
index abf2432..33c56c6 100644
--- a/repository/repository_manager.go
+++ b/repository/repository_manager.go
@@ -17,11 +17,7 @@ var repositoryMap = make(map[string]*Repository)
 func BuildRepository(source *proto.Repository) (*Repository, error) {
 	errMsg := baseCheck(source)
 	if len(errMsg) != 0 {
-		println("-------------------- 数据异常信息 --------------------")
-		for _, s := range errMsg {
-			println(s)
-		}
-		return nil, errors.New("数据校验未通过")
+		return nil, errors.New(strings.Join(errMsg, "\n"))
 	}
 	repository := newRepository(source.Id, source.Version)
 	err := buildModels(source, repository)
@@ -84,7 +80,7 @@ func buildModels(source *proto.Repository, repository *Repository) error {
 		repository.signalMap[m.Id()] = m
 	}
 	for _, protoData := range source.Transponders {
-		m := NewTransponder(protoData.Id, protoData.Km, protoData.FixedTelegram, protoData.Type)
+		m := NewTransponder(protoData.Id, protoData.Km, protoData.FixedTelegram, protoData.FixedUserTelegram, protoData.Type)
 		repository.responderMap[m.Id()] = m
 	}
 	for _, protoData := range source.Slopes {
@@ -751,6 +747,7 @@ func relateDevicesAndLink(repo *Repository, link *Link, startKm *proto.Kilometer
 		case proto.DeviceType_DeviceType_Transponder:
 			device.(*Transponder).bindLinkPosition(linkPosition)
 		}
+		link.bindDevices(device)
 	}
 	return nil
 }
diff --git a/repository/transponder.go b/repository/transponder.go
index e660b6a..8fe38fb 100644
--- a/repository/transponder.go
+++ b/repository/transponder.go
@@ -8,17 +8,19 @@ type Transponder struct {
 	km *proto.Kilometer
 	//section     *PhysicalSection
 	//turnoutPort TurnoutPort
-	linkPosition  *LinkPosition          //此位置是应答器初始位置，当前位置需从应答器实体中获取
-	fixedTelegram []byte                 //无源应答器固定报文
-	baliseType    proto.Transponder_Type //应答器类型
+	linkPosition      *LinkPosition          //此位置是应答器初始位置，当前位置需从应答器实体中获取
+	fixedTelegram     []byte                 //应答器固定报文
+	fixedUserTelegram []byte                 //应答器固定用户报文
+	baliseType        proto.Transponder_Type //应答器类型
 }
 
-func NewTransponder(id string, km *proto.Kilometer, fixedTelegram []byte, baliseType proto.Transponder_Type) *Transponder {
+func NewTransponder(id string, km *proto.Kilometer, fixedTelegram []byte, fixedUserTelegram []byte, baliseType proto.Transponder_Type) *Transponder {
 	return &Transponder{
-		Identity:      identity{id, proto.DeviceType_DeviceType_Transponder},
-		km:            km,
-		fixedTelegram: fixedTelegram,
-		baliseType:    baliseType,
+		Identity:          identity{id, proto.DeviceType_DeviceType_Transponder},
+		km:                km,
+		fixedTelegram:     fixedTelegram,
+		fixedUserTelegram: fixedUserTelegram,
+		baliseType:        baliseType,
 	}
 }
 func (t *Transponder) TransponderType() proto.Transponder_Type {
@@ -27,6 +29,9 @@ func (t *Transponder) TransponderType() proto.Transponder_Type {
 func (t *Transponder) FixedTelegram() []byte {
 	return t.fixedTelegram
 }
+func (t *Transponder) FixedUserTelegram() []byte {
+	return t.fixedUserTelegram
+}
 func (t *Transponder) bindLinkPosition(position *LinkPosition) {
 	t.linkPosition = position
 }
@@ -38,3 +43,7 @@ func (t *Transponder) LinkPosition() *LinkPosition {
 func (t *Transponder) Km() *proto.Kilometer {
 	return t.km
 }
+
+func (t *Transponder) BaliseType() proto.Transponder_Type {
+	return t.baliseType
+}
diff --git a/repository/turnout.go b/repository/turnout.go
index 08ad7e7..083730a 100644
--- a/repository/turnout.go
+++ b/repository/turnout.go
@@ -313,5 +313,8 @@ func (t *TurnoutPort) Device() PortedDevice {
 }
 
 func (t *TurnoutPort) Turnout() *Turnout {
+	if t == nil {
+		return nil
+	}
 	return t.turnout
 }
diff --git a/sys/circuit_sys/psd.go b/sys/circuit_sys/psd.go
index d0ab509..88a47d7 100644
--- a/sys/circuit_sys/psd.go
+++ b/sys/circuit_sys/psd.go
@@ -20,99 +20,104 @@ package circuit_sys
 // 	}
 // }
 
-// func (p *PsdSys) Update(world ecs.World) {
-// 	worldData := entity.GetWorldData(world)
-// 	p.query.Each(world, func(entry *ecs.Entry) {
-// 		psc := component.PscType.Get(entry)
-// 		//更新屏蔽门电路及PSC相关状态
-// 		asdList := component.AsdListType.Get(entry)
-// 		psdState := component.PsdStateType.Get(entry)
-// 		if entry.HasComponent(component.PsdCircuitType) { //有屏蔽门电路
-// 			psdCircuit := component.PsdCircuitType.Get(entry)
-// 			//屏蔽门驱动
-// 			if psdCircuit.GMJ != nil {
-// 				p.exciteGMJ(worldData, psdCircuit)
-// 				psc.InterlockGM = component.BitStateType.Get(psdCircuit.GMJ).Val
-// 			}
-// 			for group, kmj := range psdCircuit.KMJMap {
-// 				p.exciteKMJ(worldData, psdCircuit, kmj)
-// 				psc.InterlockKmGroup[group] = component.BitStateType.Get(kmj).Val
-// 			}
+func (p *PsdSys) Update(world ecs.World) {
+	worldData := entity.GetWorldData(world)
+	p.query.Each(world, func(entry *ecs.Entry) {
+		psc := component.PscType.Get(entry)
+		//更新屏蔽门电路及PSC相关状态
+		asdList := component.AsdListType.Get(entry)
+		psdState := component.PsdStateType.Get(entry)
+		if entry.HasComponent(component.PsdCircuitType) { //有屏蔽门电路
+			psdCircuit := component.PsdCircuitType.Get(entry)
+			//屏蔽门驱动
+			if psdCircuit.GMJ != nil {
+				p.driveGMJ(worldData, psdCircuit)
+				psc.InterlockGM = component.BitStateType.Get(psdCircuit.GMJ).Val
+			}
+			for group, kmj := range psdCircuit.KMJMap {
+				p.driveKMJ(worldData, psdCircuit, kmj)
+				psc.InterlockKmGroup[group] = component.BitStateType.Get(kmj).Val
+			}
 
-// 			if psdCircuit.MGJ != nil {
-// 				p.exciteMGJ(psdCircuit, asdList)
-// 				psdState.Close = component.BitStateType.Get(psdCircuit.MGJ).Val
-// 			}
-// 			if psdCircuit.MPLJ != nil {
-// 				p.exciteMPLJ(world, psdCircuit, component.UidType.Get(entry))
-// 				psc.InterlockMPL = component.BitStateType.Get(psdCircuit.MPLJ).Val
-// 			}
-// 			//间隙探测
-// 			if psdCircuit.QDTCJ != nil && psdCircuit.TZTCJ != nil {
-// 				p.exciteQDTCJ(worldData, psdCircuit)
-// 				p.exciteTZTCJ(worldData, psdCircuit)
-// 				psc.QDTC = component.BitStateType.Get(psdCircuit.QDTCJ).Val
-// 				psc.TZTC = component.BitStateType.Get(psdCircuit.TZTCJ).Val
-// 			}
-// 		} else {
-// 			psdState.Close = p.isAllAsdMotorClosed(asdList)
-// 		}
-// 		//更新站台门控箱电路及PSC相关状态
-// 		if entry.HasComponent(component.PlatformMkxCircuitType) {
-// 			pmc := component.PlatformMkxCircuitType.Get(entry)
-// 			var pcbTd bool
-// 			var pobTd bool
-// 			var pabTd bool
-// 			for _, mkxEntry := range pmc.MkxList {
-// 				mkx := component.MkxType.Get(mkxEntry)
-// 				if mkx.PCB != nil && component.BitStateType.Get(mkx.PCB).Val {
-// 					pcbTd = true
-// 				}
-// 				if mkx.POB != nil && component.BitStateType.Get(mkx.POB).Val {
-// 					pobTd = true
-// 				}
-// 				if mkx.PAB != nil && component.BitStateType.Get(mkx.PAB).Val {
-// 					pabTd = true
-// 				}
-// 			}
-// 			if pmc.PCBJ != nil {
-// 				component.RelayDriveType.Get(pmc.PCBJ).Td = pcbTd
-// 				psc.MkxGM = component.BitStateType.Get(pmc.PCBJ).Val
-// 			}
-// 			if pmc.POBJ != nil {
-// 				component.RelayDriveType.Get(pmc.POBJ).Td = pobTd
-// 				psc.MkxKM = component.BitStateType.Get(pmc.POBJ).Val
-// 			}
-// 			if pmc.PABJ != nil {
-// 				component.RelayDriveType.Get(pmc.PABJ).Td = pabTd
-// 			}
-// 		}
-// 		//设置滑动门电机通断电状态
-// 		repo := entity.GetWorldData(world).Repo
-// 		psd := repo.FindPsd(component.UidType.Get(entry).Id)
-// 		if psc.MkxKM { //优先门控箱的开门
-// 			p.allKm(asdList)
-// 		} else if psc.MkxGM { //其次门控箱的关门
-// 			p.gm(asdList)
-// 		} else if !psc.InterlockMPL { //联锁操作没有被旁路
-// 			if psc.InterlockGM {
-// 				p.gm(asdList)
-// 			} else {
-// 				for group, km := range psc.InterlockKmGroup {
-// 					if km {
-// 						var asdGroup *proto.AsdGroup
-// 						if group == 0 {
-// 							asdGroup = psd.FindFirstAsdGroup()
-// 						} else {
-// 							asdGroup = psd.FindAsdGroup(group)
-// 						}
-// 						p.km(asdGroup.Start, asdGroup.End, asdList)
-// 					}
-// 				}
-// 			}
-// 		}
-// 	})
-// }
+			if psdCircuit.MGJ != nil {
+				p.driveMGJ(psdCircuit, asdList)
+				psdState.Close = component.BitStateType.Get(psdCircuit.MGJ).Val
+			}
+			if psdCircuit.MPLJ != nil {
+				p.driveMPLJ(world, psdCircuit, component.UidType.Get(entry))
+				psc.InterlockMPL = component.BitStateType.Get(psdCircuit.MPLJ).Val
+			}
+			//间隙探测驱动
+			if psdCircuit.QDTCJ != nil && psdCircuit.TZTCJ != nil {
+				p.exciteQDTCJ(worldData, psdCircuit)
+				p.exciteTZTCJ(worldData, psdCircuit)
+				psc.QDTC = component.BitStateType.Get(psdCircuit.QDTCJ).Val
+				psc.TZTC = component.BitStateType.Get(psdCircuit.TZTCJ).Val
+			}
+			//间隙探测
+			if psdCircuit.ZAWJ != nil {
+				p.exciteZAWJ(psdCircuit, asdList)
+				psdState.Obstacle = component.BitStateType.Get(psdCircuit.ZAWJ).Val
+			}
+		} else {
+			psdState.Close = p.isAllAsdMotorClosed(asdList)
+		}
+		//更新站台门控箱电路及PSC相关状态
+		if entry.HasComponent(component.PlatformMkxCircuitType) {
+			pmc := component.PlatformMkxCircuitType.Get(entry)
+			var pcbTd bool
+			var pobTd bool
+			var pabTd bool
+			for _, mkxEntry := range pmc.MkxList {
+				mkx := component.MkxType.Get(mkxEntry)
+				if mkx.PCB != nil && component.BitStateType.Get(mkx.PCB).Val {
+					pcbTd = true
+				}
+				if mkx.POB != nil && component.BitStateType.Get(mkx.POB).Val {
+					pobTd = true
+				}
+				if mkx.PAB != nil && component.BitStateType.Get(mkx.PAB).Val {
+					pabTd = true
+				}
+			}
+			if pmc.PCBJ != nil {
+				component.RelayDriveType.Get(pmc.PCBJ).Td = pcbTd
+				psc.MkxGM = component.BitStateType.Get(pmc.PCBJ).Val
+			}
+			if pmc.POBJ != nil {
+				component.RelayDriveType.Get(pmc.POBJ).Td = pobTd
+				psc.MkxKM = component.BitStateType.Get(pmc.POBJ).Val
+			}
+			if pmc.PABJ != nil {
+				component.RelayDriveType.Get(pmc.PABJ).Td = pabTd
+			}
+		}
+		//设置滑动门电机通断电状态
+		repo := entity.GetWorldData(world).Repo
+		psd := repo.FindPsd(component.UidType.Get(entry).Id)
+		if psc.MkxKM { //优先门控箱的开门
+			p.allKm(asdList)
+		} else if psc.MkxGM { //其次门控箱的关门
+			p.gm(asdList)
+		} else if !psc.InterlockMPL { //联锁操作没有被旁路
+			if psc.InterlockGM {
+				p.gm(asdList)
+			} else {
+				for group, km := range psc.InterlockKmGroup {
+					if km {
+						var asdGroup *proto.AsdGroup
+						if group == 0 {
+							asdGroup = psd.FindFirstAsdGroup()
+						} else {
+							asdGroup = psd.FindAsdGroup(group)
+						}
+						p.km(asdGroup.Start, asdGroup.End, asdList)
+					}
+				}
+			}
+		}
+	})
+}
 
 // func (p *PsdSys) km(start int32, end int32, asdList *component.AsdList) {
 // 	for i := start - 1; i < end; i++ {
@@ -136,51 +141,51 @@ package circuit_sys
 // 	}
 // }
 
-// func (p *PsdSys) exciteGMJ(data *component.WorldData, circuit *component.PsdCircuit) {
-// 	bit, err := data.QueryQdBit(component.UidType.Get(circuit.GMJ).Id)
-// 	if err != nil {
-// 		return
-// 	}
-// 	if bit { //驱动
-// 		component.RelayDriveType.Get(circuit.GMJ).Td = true
-// 	} else if component.BitStateType.Get(circuit.GMJ).Val { //判断自保持
-// 		for _, entry := range circuit.KMJMap {
-// 			if component.BitStateType.Get(entry).Val { //无法自保持
-// 				component.RelayDriveType.Get(circuit.GMJ).Td = false
-// 				return
-// 			}
-// 		}
-// 		//自保持
-// 		component.RelayDriveType.Get(circuit.GMJ).Td = true
-// 	}
-// }
+func (p *PsdSys) driveGMJ(data *component.WorldData, circuit *component.PsdCircuit) {
+	bit, err := data.QueryQdBit(component.UidType.Get(circuit.GMJ).Id)
+	if err != nil {
+		return
+	}
+	if bit { //驱动
+		component.RelayDriveType.Get(circuit.GMJ).Td = true
+	} else if component.BitStateType.Get(circuit.GMJ).Val { //判断自保持
+		for _, entry := range circuit.KMJMap {
+			if component.BitStateType.Get(entry).Val { //无法自保持
+				component.RelayDriveType.Get(circuit.GMJ).Td = false
+				return
+			}
+		}
+		//自保持
+		component.RelayDriveType.Get(circuit.GMJ).Td = true
+	}
+}
 
-// func (p *PsdSys) exciteKMJ(data *component.WorldData, circuit *component.PsdCircuit, kmj *ecs.Entry) {
-// 	bit, err := data.QueryQdBit(component.UidType.Get(kmj).Id)
-// 	if err != nil {
-// 		return
-// 	}
-// 	if bit { //驱动
-// 		component.RelayDriveType.Get(kmj).Td = true
-// 	} else if component.BitStateType.Get(kmj).Val { //判断自保持
-// 		if component.BitStateType.Get(circuit.GMJ).Val {
-// 			component.RelayDriveType.Get(kmj).Td = false
-// 			return
-// 		}
-// 		for _, entry := range circuit.KMJMap {
-// 			if entry != kmj && component.BitStateType.Get(entry).Val {
-// 				component.RelayDriveType.Get(kmj).Td = false
-// 				return
-// 			}
-// 		}
-// 		//自保持
-// 		component.RelayDriveType.Get(kmj).Td = true
-// 	}
-// }
+func (p *PsdSys) driveKMJ(data *component.WorldData, circuit *component.PsdCircuit, kmj *ecs.Entry) {
+	bit, err := data.QueryQdBit(component.UidType.Get(kmj).Id)
+	if err != nil {
+		return
+	}
+	if bit { //驱动
+		component.RelayDriveType.Get(kmj).Td = true
+	} else if component.BitStateType.Get(kmj).Val { //判断自保持
+		if component.BitStateType.Get(circuit.GMJ).Val {
+			component.RelayDriveType.Get(kmj).Td = false
+			return
+		}
+		for _, entry := range circuit.KMJMap {
+			if entry != kmj && component.BitStateType.Get(entry).Val {
+				component.RelayDriveType.Get(kmj).Td = false
+				return
+			}
+		}
+		//自保持
+		component.RelayDriveType.Get(kmj).Td = true
+	}
+}
 
-// func (p *PsdSys) exciteMGJ(psdCircuit *component.PsdCircuit, asdList *component.AsdList) {
-// 	component.BitStateType.Get(psdCircuit.MGJ).Val = p.isAllAsdMotorClosed(asdList)
-// }
+func (p *PsdSys) driveMGJ(psdCircuit *component.PsdCircuit, asdList *component.AsdList) {
+	component.RelayDriveType.Get(psdCircuit.MGJ).Td = p.isAllAsdMotorClosed(asdList)
+}
 
 // // 是否所有滑动门电机都是关闭状态（继电器表示）
 // func (p *PsdSys) isAllAsdMotorClosed(asdList *component.AsdList) bool {
@@ -193,11 +198,11 @@ package circuit_sys
 // 	return true
 // }
 
-// func (p *PsdSys) exciteMPLJ(world ecs.World, circuit *component.PsdCircuit, uid *component.Uid) {
-// 	data := entity.GetWorldData(world)
-// 	psd := data.Repo.FindPsd(uid.Id)
-// 	platform := psd.Platform()
-// 	station := platform.Station()
+func (p *PsdSys) driveMPLJ(world ecs.World, circuit *component.PsdCircuit, uid *component.Uid) {
+	data := entity.GetWorldData(world)
+	psd := data.Repo.FindPsd(uid.Id)
+	platform := psd.Platform()
+	station := platform.Station()
 
 // 	var buttonCode string
 // 	if strings.Contains(platform.Code(), "上行") {
@@ -233,16 +238,30 @@ package circuit_sys
 // 	}
 // }
 
-// func (p *PsdSys) exciteTZTCJ(data *component.WorldData, circuit *component.PsdCircuit) {
-// 	bit, err := data.QueryQdBit(component.UidType.Get(circuit.TZTCJ).Id)
-// 	if err != nil {
-// 		return
-// 	}
-// 	tztcj := component.BitStateType.Get(circuit.TZTCJ)
-// 	qdtcj := component.BitStateType.Get(circuit.QDTCJ)
-// 	if bit { //驱动
-// 		component.RelayDriveType.Get(circuit.TZTCJ).Td = true
-// 	} else if tztcj.Val { //自保持
-// 		component.RelayDriveType.Get(circuit.TZTCJ).Td = !qdtcj.Val
-// 	}
-// }
+func (p *PsdSys) exciteTZTCJ(data *component.WorldData, circuit *component.PsdCircuit) {
+	bit, err := data.QueryQdBit(component.UidType.Get(circuit.TZTCJ).Id)
+	if err != nil {
+		return
+	}
+	tztcj := component.BitStateType.Get(circuit.TZTCJ)
+	qdtcj := component.BitStateType.Get(circuit.QDTCJ)
+	if bit { //驱动
+		component.RelayDriveType.Get(circuit.TZTCJ).Td = true
+	} else if tztcj.Val { //自保持
+		component.RelayDriveType.Get(circuit.TZTCJ).Td = !qdtcj.Val
+	}
+}
+
+func (p *PsdSys) exciteZAWJ(circuit *component.PsdCircuit, asdList *component.AsdList) {
+	if component.BitStateType.Get(circuit.QDTCJ).Val {
+		for _, asd := range asdList.List {
+			if asd.HasComponent(component.AsdHasObstacleTag) {
+				component.RelayDriveType.Get(circuit.ZAWJ).Td = true
+				return
+			}
+		}
+		component.RelayDriveType.Get(circuit.ZAWJ).Td = false
+	} else {
+		component.RelayDriveType.Get(circuit.ZAWJ).Td = false
+	}
+}
diff --git a/sys/device_sys/asd.go b/sys/device_sys/asd.go
index 191c6e9..f0ec2a4 100644
--- a/sys/device_sys/asd.go
+++ b/sys/device_sys/asd.go
@@ -18,7 +18,7 @@ func NewAsdSys() *AsdSys {
 }
 
 func (s *AsdSys) Update(world ecs.World) {
-	var speed int32 = consts.TwoPosMax / 4
+	var speed int32 = int32(consts.TwoPosMax / (4 * 1000 / world.Tick()))
 	s.query.Each(world, func(entry *ecs.Entry) {
 		//设置两位置转换速度
 		psdMotorState := component.AsdMotorStateType.Get(entry)
@@ -51,7 +51,12 @@ func (s *AsdSys) Update(world ecs.World) {
 			}
 		}
 		//门关继电器状态
-		psdMotorState.MG = pos == consts.TwoPosMin
+		if entry.HasComponent(component.AsdForceType) {
+			force := component.AsdForceType.Get(entry)
+			psdMotorState.MG = !force.Val
+		} else {
+			psdMotorState.MG = pos == consts.TwoPosMin
+		}
 		asdState.Mgj = psdMotorState.MG
 		//滑动门状态
 		if pos == consts.TwoPosMax {
diff --git a/sys/device_sys/balise.go b/sys/device_sys/balise.go
index 5560463..7b36c90 100644
--- a/sys/device_sys/balise.go
+++ b/sys/device_sys/balise.go
@@ -4,7 +4,6 @@ import (
 	"joylink.club/ecs"
 	"joylink.club/ecs/filter"
 	"joylink.club/rtsssimulation/component"
-	"joylink.club/rtsssimulation/entity"
 )
 
 type BaliseSystem struct {
@@ -12,7 +11,7 @@ type BaliseSystem struct {
 }
 
 func NewBaliseSystem() *BaliseSystem {
-	return &BaliseSystem{baliseQuery: ecs.NewQuery(filter.Contains(component.UidType, component.BaliseStateType))}
+	return &BaliseSystem{baliseQuery: ecs.NewQuery(filter.Contains(component.UidType, component.BaliseFixedTelegramType))}
 }
 func (s *BaliseSystem) Update(w ecs.World) {
 	s.baliseQuery.Each(w, func(entry *ecs.Entry) {
@@ -22,25 +21,25 @@ func (s *BaliseSystem) Update(w ecs.World) {
 
 // 更新应答器有效报文
 func (s *BaliseSystem) updateValidTelegram(w ecs.World, entry *ecs.Entry) {
-	wd := entity.GetWorldData(w)
-	id := component.UidType.Get(entry).Id
-	baliseState := component.BaliseStateType.Get(entry)
-	if entry.HasComponent(component.BaliseFB) { //固定应答器
-		if len(baliseState.ValidTelegram) == 0 {
-			baliseModel := wd.Repo.FindTransponder(id)
-			telegram := baliseModel.FixedTelegram()
-			if len(telegram) == 0 { //测试用
-				telegram = []byte{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}
-			}
-			baliseState.ValidTelegram = telegram
-		}
-	} else if entry.HasComponent(component.BaliseDB) { //休眠唤醒应答器
-
-	} else if entry.HasComponent(component.BaliseIB) { //预告应答器
-
-	} else if entry.HasComponent(component.BaliseVB) { //主信号应答器
-
-	} else if entry.HasComponent(component.BaliseWB) { //轮径校正应答器
-
-	}
+	//wd := entity.GetWorldData(w)
+	//id := component.UidType.Get(entry).Id
+	//baliseState := component.BaliseFixedTelegramType.Get(entry)
+	//if entry.HasComponent(component.BaliseFB) { //固定应答器
+	//	if len(baliseState.FixedTelegram) == 0 {
+	//		baliseModel := wd.Repo.FindTransponder(id)
+	//		telegram := baliseModel.FixedTelegram()
+	//		if len(telegram) == 0 { //测试用
+	//			telegram = []byte{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}
+	//		}
+	//		baliseState.FixedTelegram = telegram
+	//	}
+	//} else if entry.HasComponent(component.BaliseDB) { //休眠唤醒应答器
+	//
+	//} else if entry.HasComponent(component.BaliseIB) { //预告应答器
+	//
+	//} else if entry.HasComponent(component.BaliseVB) { //主信号应答器
+	//
+	//} else if entry.HasComponent(component.BaliseWB) { //轮径校正应答器
+	//
+	//}
 }