diff --git a/include/obu/data_process.hpp b/include/obu/data_process.hpp
index 8632a1b..7fa5703 100644
--- a/include/obu/data_process.hpp
+++ b/include/obu/data_process.hpp
@@ -24,7 +24,7 @@ struct Message
     uint32_t reserved=0xffffffff;
     uint16_t message_length=0;
     std::string message_body;
-    uint16_t check_code=0x0005;
+    uint8_t check_code=0x05;
     Message() = default;
     operator std::vector<uint8_t>() const;
     Message& operator=(const std::vector<uint8_t>& byte_stream);
diff --git a/src/data_process.cpp b/src/data_process.cpp
index e9dd948..7c8f515 100644
--- a/src/data_process.cpp
+++ b/src/data_process.cpp
@@ -3,7 +3,7 @@ data_process::data_process(rclcpp::Node::SharedPtr node){
     node_ = node;
     traffic_signal_array_pub_ = node_->create_publisher<TrafficSignalArray>("/perception/traffic_light_recognition/traffic_signals", rclcpp::QoS(1));
 
-    heading_sub_ = node_->create_subscription<Float32>("/sensing/gnss/heading", 10,
+    heading_sub_ = node_->create_subscription<Float32>("sensing/gnss/chc/heading", 10,
     std::bind(&data_process::callback_heading, this, std::placeholders::_1));
 };
 data_process:: ~data_process(){};
@@ -169,15 +169,11 @@ std::string data_process::get_string(){
 }
 
 void data_process::callback_heading(const Float32::SharedPtr msg){
-    if (msg->data < 180){
+    if (270<msg->data || msg->data< 90){
         traffic_signal_msg_.map_primitive_id = 11071;
-        //0 左转,1 直行,2 右转
-        Lanlet_id = 0;
-        
     }
     else{
         traffic_signal_msg_.map_primitive_id = 15666;
-        Lanlet_id = 1;
     }
     std::cout<<"test"<<std::endl;
 }
@@ -202,31 +198,47 @@ void data_process::parse_data(std::vector<uint8_t> received_data){
     receive_message = received_data;
     traffic_signal_msg_.lights.clear();
     traffic_signal_array_msg_.signals.clear();
-    json parsed_json = json::parse(receive_message.message_body);
-    // 3：红，6：绿，7：黄
-    std::cout<<"state_active:"<<parsed_json["scene"]["glosa"]["glosa_info"][Lanlet_id]["state"]<<std::endl;
-    if ((parsed_json["scene"]["glosa"]["glosa_info"][Lanlet_id]["state"]) == 3){
-        traffic_light_msg_.color = traffic_light_msg_.RED;
-        traffic_light_msg_.shape = traffic_light_msg_.UP_ARROW;
-        traffic_light_msg_.status = traffic_light_msg_.SOLID_ON;
-    }
-    if ((parsed_json["scene"]["glosa"]["glosa_info"][Lanlet_id]["state"]) == 6){
-        traffic_light_msg_.color = traffic_light_msg_.GREEN;
-        traffic_light_msg_.shape = traffic_light_msg_.UP_ARROW;
-        traffic_light_msg_.status = traffic_light_msg_.SOLID_ON;
-    }
-    if ((parsed_json["scene"]["glosa"]["glosa_info"][Lanlet_id]["state"]) == 7){
-        traffic_light_msg_.color = traffic_light_msg_.GREEN;
-        traffic_light_msg_.shape = traffic_light_msg_.UP_ARROW;
-        traffic_light_msg_.status = traffic_light_msg_.SOLID_ON;
-    }
-    // std::cout<<"state_active:"<<std::endl;
+    if (receive_message.data_type == 0x01){
+        json parsed_json = json::parse(receive_message.message_body);
+        // 3：红，6：绿，7：黄
+        if (sizeof(parsed_json["scene"])>1){
+            // std::cout<<parsed_json<<std::endl;
+            // std::cout<<parsed_json["scene"]["glosa"]["glosa_info"][Lanlet_id]["state"]<<std::endl;
+            for (int i=0;i<=3;i++){
+                if ((parsed_json["scene"]["glosa"]["glosa_info"][i]["state_active"]) == 1 && (parsed_json["scene"]["glosa"]["glosa_info"][i]["state"]) != 0){
+                    std::cout<<parsed_json["scene"]["glosa"]["glosa_info"][i]<<std::endl;
+                    if ((parsed_json["scene"]["glosa"]["glosa_info"][i]["state"]) == 3){
+                        traffic_light_msg_.color = traffic_light_msg_.RED;
+                        traffic_light_msg_.shape = traffic_light_msg_.UP_ARROW;
+                        traffic_light_msg_.status = traffic_light_msg_.SOLID_ON;
+                    }
+                    else if ((parsed_json["scene"]["glosa"]["glosa_info"][i]["state"]) == 6){
+                        traffic_light_msg_.color = traffic_light_msg_.GREEN;
+                        traffic_light_msg_.shape = traffic_light_msg_.UP_ARROW;
+                        traffic_light_msg_.status = traffic_light_msg_.SOLID_ON;
+                    }
+                    else if ((parsed_json["scene"]["glosa"]["glosa_info"][i]["state"]) == 7){
+                        traffic_light_msg_.color = traffic_light_msg_.AMBER;
+                        traffic_light_msg_.shape = traffic_light_msg_.UP_ARROW;
+                        traffic_light_msg_.status = traffic_light_msg_.SOLID_ON;
+                    }
+                    // std::cout<<"state_active:"<<std::endl;
 
-    traffic_light_msg_.confidence = 1;
-    traffic_signal_msg_.lights.push_back(traffic_light_msg_);
+                    traffic_light_msg_.confidence = 1;
+                    traffic_signal_msg_.lights.push_back(traffic_light_msg_);
 
-    traffic_signal_array_msg_.header.stamp = node_->now();
-    traffic_signal_array_msg_.header.frame_id = "obu";
-    traffic_signal_array_msg_.signals.push_back(traffic_signal_msg_);
-    traffic_signal_array_pub_->publish(traffic_signal_array_msg_);
+                    traffic_signal_array_msg_.header.stamp = node_->now();
+                    traffic_signal_array_msg_.header.frame_id = "obu";
+                    traffic_signal_array_msg_.signals.push_back(traffic_signal_msg_);
+                    traffic_signal_array_pub_->publish(traffic_signal_array_msg_);
+            }
+            else{
+                std::cout<<"没有找到灯数据"<<std::endl;
+            }
+            }
+        }
+    }
+    else{
+        std::cout<<"未收到数据"<<std::endl;
+    }
 }
\ No newline at end of file
diff --git a/src/obu_socket_node.cpp b/src/obu_socket_node.cpp
old mode 100755
new mode 100644
index d7df0fb..cc0e113
--- a/src/obu_socket_node.cpp
+++ b/src/obu_socket_node.cpp
@@ -20,10 +20,10 @@ int main(int argc, char** argv) {
         // std::cout<<"send over"<<std::endl;
         std::vector<uint8_t> received_data= udp_server.receive_data();
         std::cout<<sizeof(received_data)<<std::endl;
-        if (sizeof(received_data)>28){
-            data_process_.parse_data(received_data);
-            std::cout<<"receive over"<<std::endl;
-        }
+        // if (sizeof(received_data)>28){
+        data_process_.parse_data(received_data);
+        std::cout<<"receive over"<<std::endl;
+        // }
 
         rclcpp::spin_some(node);
         sleep(1);
diff --git a/src/udp_server.cpp b/src/udp_server.cpp
index 56e55c5..375f885 100644
--- a/src/udp_server.cpp
+++ b/src/udp_server.cpp
@@ -16,8 +16,8 @@ udp_server::udp_server(const std::string& serverAddress, int serverPort) {
     // // 设置客户端地址
     memset(&client_address, 0, sizeof(client_address));
     client_address.sin_family = AF_INET;
-    client_address.sin_port = htons(9886); // 目标端口
-    client_address.sin_addr.s_addr = inet_addr("127.0.0.2"); // 目标 IP 地址
+    // client_address.sin_port = htons(9886); // 目标端口
+    // client_address.sin_addr.s_addr = inet_addr("127.0.0.2"); // 目标 IP 地址
 
     // 将套接字与服务器地址绑定
     if (bind(socket_fd_, (struct sockaddr*)&server_address_, sizeof(server_address_)) == -1) {
@@ -40,14 +40,23 @@ std::vector<uint8_t> udp_server::receive_data(){
                                          (struct sockaddr*)&client_address, &client_address_len_);
     if (bytes_received == -1) {
         std::cerr << "Error: Send failed.bytesReceived:" <<bytes_received<< std::endl;
+    }else{
+        // char client_ip[INET_ADDRSTRLEN];
+        // inet_ntop(AF_INET, &(client_address.sin_addr), client_ip, INET_ADDRSTRLEN);
+        // std::cout << "Received data from " << client_ip << ":" << ntohs(client_address.sin_port) << std::endl;
+
+        // 输出接收到的数据
+        // std::cout << "Received data (" << bytes_received << " bytes): ";
+        // for (ssize_t i = 0; i < bytes_received; ++i) {
+        //     printf("%02x ", buffer[i]);  // 以十六进制格式输出每个字节
+        // }
+        std::vector<uint8_t> received_data(buffer, buffer + bytes_received);
+        return received_data;
     }
-    
-    std::vector<uint8_t> received_data(buffer, buffer + bytes_received);
-    return received_data;
+    // return 0;
 }
 
 void udp_server::send_to_client(std::vector<uint8_t> message , size_t len_) {
-    std::cout<<"std::"<<message[1]<<std::endl;
     ssize_t bytes_sent = sendto(socket_fd_, message.data(),len_, 0,
                                (struct sockaddr*)&client_address, sizeof(client_address));
     if (bytes_sent == -1) {
diff --git a/test/server.py b/test/server.py
old mode 100755
new mode 100644