diff --git a/scripts/BACDauto_test.sh b/scripts/BACDauto_test.sh
index 0a5fee1..0853324 100755
--- a/scripts/BACDauto_test.sh
+++ b/scripts/BACDauto_test.sh
@@ -1,31 +1,78 @@
 #!/bin/bash
 
+LOCAL_REPO_DIR="/home/limingjie/LMJ_Work/RobotCompetition/OmniSocketGo"
+KCP_PEER_BIN="./bin/kcppeer"
+OUTPUT_ROOT="/home/limingjie/LMJ_Work/RobotCompetition/KCPData/BDAClogs"
+PEERB_POLL_INTERVAL_SEC=5
+PEERB_MAX_POLLS=180
+PEER_A_EXIT_WAIT_SEC=5
+
+require_local_binary() {
+  if [ ! -x "$1" ]; then
+    echo "ERROR: 缺少可执行文件 $1"
+    exit 1
+  fi
+}
+
+cleanup_remote_peerb() {
+  ssh omni-peer bash -s <<'EOF'
+pids=$(ps -eo pid=,args= | awk '/[b]in\/kcppeer -id peer-b/ {print $1}')
+if [ -n "$pids" ]; then
+  kill $pids 2>/dev/null || true
+fi
+pids=$(ps -eo pid=,args= | awk '/\/tmp\/peerb_batch\.sh/ {print $1}')
+if [ -n "$pids" ]; then
+  kill $pids 2>/dev/null || true
+fi
+rm -f /tmp/peerb_batch_done /tmp/peerb_batch.sh /tmp/peerb_commands
+EOF
+}
+
 echo "=== 开始自动化测试 ==="
 
-cd /home/limingjie/LMJ_Work/OmniSocketGo
+cd "$LOCAL_REPO_DIR"
+require_local_binary "$KCP_PEER_BIN"
+
+echo ">>> 0. 清理上次残留进程..."
+pkill -f 'bin/kcppeer -id peer-a' 2>/dev/null || true
+cleanup_remote_peerb || exit 1
+
 rm -rf logs
+rm -rf inbox/a
 mkdir -p logs inbox/a
 
 # 1. 清理残留 & 启动 Server D 和 Relay C
 echo ">>> 1. 启动 Server D 和 Relay C..."
 
 ssh bj-txy bash -s <<'EOF'
-export PATH="$PATH:/usr/local/go/bin:$HOME/go/bin"
 pkill -f kcpserver 2>/dev/null || true
-pkill -f 'cmd/kcpserver' 2>/dev/null || true
+pkill -f 'bin/kcpserver' 2>/dev/null || true
 sleep 1
 cd /home/ubuntu/OmniSocketGo
-setsid go run ./cmd/kcpserver/ -listen 0.0.0.0:10909 > server_console.log 2>&1 </dev/null &
+rm -rf logs
+mkdir -p logs
+if [ ! -x ./bin/kcpserver ]; then
+  echo "ERROR: 缺少 ./bin/kcpserver"
+  exit 1
+fi
+setsid ./bin/kcpserver -listen 0.0.0.0:10909 \
+  -kcp-ts-debug-log logs/d-kcp-ts.jsonl \
+  -kcp-session-stats-log logs/d-kcp-stats.jsonl > server_console.log 2>&1 </dev/null &
 echo "server D launched (pid=$!)"
 EOF
 
 ssh sz-txy bash -s <<'EOF'
-export PATH="$PATH:/usr/local/go/bin:$HOME/go/bin"
 pkill -f kcpserver 2>/dev/null || true
-pkill -f 'cmd/kcpserver' 2>/dev/null || true
+pkill -f 'bin/kcpserver' 2>/dev/null || true
 sleep 1
 cd /home/ubuntu/OmniSocketGo
-setsid go run ./cmd/kcpserver/ -mode=relay -listen 0.0.0.0:10909 -relay-remote 172.21.32.15:10909 > relay_console.log 2>&1 </dev/null &
+rm -rf logs
+mkdir -p logs
+if [ ! -x ./bin/kcpserver ]; then
+  echo "ERROR: 缺少 ./bin/kcpserver"
+  exit 1
+fi
+setsid ./bin/kcpserver -mode=relay -listen 0.0.0.0:10909 -relay-remote 172.21.32.15:10909 > relay_console.log 2>&1 </dev/null &
 echo "relay C launched (pid=$!)"
 EOF
 
@@ -59,7 +106,10 @@ done
 
 # 2. 启动本地 Peer-A
 echo ">>> 2. 启动本地 Peer-A..."
-nohup go run ./cmd/kcppeer/ \
+PEER_A_CMD_FIFO="/tmp/peera_commands_$$"
+rm -f "$PEER_A_CMD_FIFO"
+mkfifo "$PEER_A_CMD_FIFO"
+nohup "$KCP_PEER_BIN" \
   -id peer-a \
   -server 172.21.32.15:10909 \
   -relay-via 106.55.173.235:10909 \
@@ -67,13 +117,14 @@ nohup go run ./cmd/kcppeer/ \
   -latency-log logs/a-latency.jsonl \
   -kcp-ts-debug-log logs/a-kcp-ts.jsonl \
   -kcp-session-stats-log logs/a-kcp-stats.jsonl \
-  -interactive=false > logs/peera_console.log 2>&1 &
+  < "$PEER_A_CMD_FIFO" > logs/peera_console.log 2>&1 &
 PEER_A_PID=$!
+exec 4>"$PEER_A_CMD_FIFO"
 
 # 等待 peer-a 注册成功
 echo "    等待 Peer-A 注册..."
 for i in $(seq 1 30); do
-  if grep -q "opened KCP session as peer-a" logs/peera_console.log 2>/dev/null; then
+  if grep -Eq "opened KCP session as peer-a|connected to .* as peer-a( \\(KCP\\))?" logs/peera_console.log 2>/dev/null; then
     echo "    Peer-A 就绪 (${i}s)"
     break
   fi
@@ -85,31 +136,42 @@ done
 
 # 3. 在远端后台启动 peer-b 整个发送流程，不依赖长 SSH 连接
 echo ">>> 3. 启动远端 Peer-B 并执行 50 轮打流测试..."
-ssh omni-peer "cd /home/boll/LMJWork/OmniSocketGo && rm -rf logs && mkdir -p logs inbox/b"
+ssh omni-peer "cd /home/boll/LMJWork/OmniSocketGo && rm -rf logs inbox/b && mkdir -p logs inbox/b"
 
 PEERB_DONE_FLAG="/tmp/peerb_batch_done"
 PEERB_BATCH_SCRIPT="/tmp/peerb_batch.sh"
 
 # 把整个发送脚本写到远端，setsid 后台执行
 ssh omni-peer bash -s <<'DEPLOY_SCRIPT'
-export PATH="$PATH:/usr/local/go/bin:$HOME/go/bin"
-
 DONE_FLAG="/tmp/peerb_batch_done"
 BATCH_SCRIPT="/tmp/peerb_batch.sh"
 rm -f "$DONE_FLAG"
 
 cat > "$BATCH_SCRIPT" <<'INNER_EOF'
 #!/bin/bash
-export PATH="$PATH:/usr/local/go/bin:$HOME/go/bin"
 cd /home/boll/LMJWork/OmniSocketGo
 
 CMD_FIFO=/tmp/peerb_commands
 DONE_FLAG="/tmp/peerb_batch_done"
+STATUS="error"
 rm -f "$CMD_FIFO" "$DONE_FLAG"
 mkfifo "$CMD_FIFO"
 
+finish() {
+  local status_to_write="$STATUS"
+  rm -f "$CMD_FIFO"
+  printf '%s\n' "$status_to_write" > "$DONE_FLAG"
+}
+
+trap finish EXIT
+
+if [ ! -x ./bin/kcppeer ]; then
+  echo "ERROR: 缺少 ./bin/kcppeer" > logs/peerb_console.log
+  exit 1
+fi
+
 # 启动 peer-b
-go run ./cmd/kcppeer/ \
+./bin/kcppeer \
   -id peer-b \
   -server 81.70.156.140:10909 \
   -inbox-dir inbox/b \
@@ -123,7 +185,7 @@ exec 3>"$CMD_FIFO"
 
 # 等 peer-b 就绪
 for i in $(seq 1 60); do
-  if grep -q "opened KCP session as peer-b" logs/peerb_console.log 2>/dev/null; then
+  if grep -Eq "opened KCP session as peer-b|connected to .* as peer-b( \\(KCP\\))?" logs/peerb_console.log 2>/dev/null; then
     break
   fi
   sleep 1
@@ -138,13 +200,31 @@ for i in $(seq 1 50); do
 done
 
 sleep 5
-echo "quit" >&3
+echo "quit" >&3 || true
 exec 3>&-
-rm -f "$CMD_FIFO"
+
+peer_b_exited=0
+for i in $(seq 1 15); do
+  if ! kill -0 $PEER_B_PID 2>/dev/null; then
+    peer_b_exited=1
+    break
+  fi
+  sleep 1
+done
+
+if [ "$peer_b_exited" -eq 0 ]; then
+  kill $PEER_B_PID 2>/dev/null || true
+  sleep 1
+fi
+
+if kill -0 $PEER_B_PID 2>/dev/null; then
+  kill -9 $PEER_B_PID 2>/dev/null || true
+fi
+
 wait $PEER_B_PID 2>/dev/null || true
 
 # 写完成标记
-echo "done" > "$DONE_FLAG"
+STATUS="done"
 INNER_EOF
 
 chmod +x "$BATCH_SCRIPT"
@@ -154,37 +234,62 @@ DEPLOY_SCRIPT
 
 # 本地轮询等待远端完成（短 SSH 连接，不怕断开）
 echo "    等待 peer-b 发送完成（预计 ~110 秒）..."
-for i in $(seq 1 180); do
-  if ssh omni-peer "test -f /tmp/peerb_batch_done" 2>/dev/null; then
-    echo "    peer-b 发送完成 (${i}s)"
+for i in $(seq 1 "$PEERB_MAX_POLLS"); do
+  PEERB_STATUS=$(ssh omni-peer "cat /tmp/peerb_batch_done 2>/dev/null || true")
+  if [ "$PEERB_STATUS" = "done" ]; then
+    ELAPSED_SEC=$(( (i - 1) * PEERB_POLL_INTERVAL_SEC ))
+    echo "    peer-b 发送完成（约 ${ELAPSED_SEC}s）"
     break
   fi
-  if [ "$i" -eq 180 ]; then
-    echo "    ERROR: peer-b 180s 内未完成"
+  if [ "$PEERB_STATUS" = "error" ]; then
+    echo "    ERROR: peer-b 后台任务启动失败，请检查远端 logs/peerb_console.log"
+    exit 1
+  fi
+  if [ "$i" -eq "$PEERB_MAX_POLLS" ]; then
+    echo "    ERROR: peer-b $((PEERB_MAX_POLLS * PEERB_POLL_INTERVAL_SEC))s 内未完成"
+    exit 1
   fi
   # 每 5 秒查一次，减少 SSH 连接频率
-  sleep 5
+  sleep "$PEERB_POLL_INTERVAL_SEC"
 done
 
 # 4. 清理
 echo ">>> 4. 清理所有进程..."
-kill $PEER_A_PID 2>/dev/null || true
-ssh bj-txy "pkill -f kcpserver || true; pkill -f 'cmd/kcpserver' || true"
-ssh sz-txy "pkill -f kcpserver || true; pkill -f 'cmd/kcpserver' || true"
+sleep 2
+echo "quit" >&4 || true
+exec 4>&-
+for i in $(seq 1 "$PEER_A_EXIT_WAIT_SEC"); do
+  if ! kill -0 "$PEER_A_PID" 2>/dev/null; then
+    break
+  fi
+  sleep 1
+done
+if kill -0 "$PEER_A_PID" 2>/dev/null; then
+  kill "$PEER_A_PID" 2>/dev/null || true
+fi
+wait "$PEER_A_PID" 2>/dev/null || true
+rm -f "$PEER_A_CMD_FIFO"
+ssh bj-txy "pkill -f kcpserver || true; pkill -f 'bin/kcpserver' || true"
+ssh sz-txy "pkill -f kcpserver || true; pkill -f 'bin/kcpserver' || true"
 
 # 获取当前时间戳，格式为 YYYYMMDD_HHMMSS
 TIMESTAMP=$(date +"%Y%m%d_%H%M%S")
+OUTPUT_DIR="$OUTPUT_ROOT/$TIMESTAMP"
 # 5. 拉取数据 & 生成报告
 echo ">>> 5. 拉取数据并生成汇总报告..."
-mkdir -p ./BDAClogs/$TIMESTAMP
-scp -o ServerAliveInterval=15 -P 10022 boll@175.178.116.187:/home/boll/LMJWork/OmniSocketGo/logs/b-latency.jsonl ./logs/b-latency.jsonl
+mkdir -p "$OUTPUT_DIR"
+scp -o ServerAliveInterval=15 -P 10022 boll@175.178.116.187:/home/boll/LMJWork/OmniSocketGo/logs/b-latency.jsonl "$LOCAL_REPO_DIR/logs/b-latency.jsonl" || exit 1
 
-mv ./logs/a-latency.jsonl ./BDAClogs/$TIMESTAMP/a-latency.jsonl
-mv ./logs/b-latency.jsonl ./BDAClogs/$TIMESTAMP/b-latency.jsonl
-
-go run ./cmd/latencysummary \
-  -input ./BDAClogs/$TIMESTAMP/a-latency.jsonl \
-  -input ./BDAClogs/$TIMESTAMP/b-latency.jsonl \
-  -output ./BDAClogs/$TIMESTAMP/latency-summary.jsonl
+(cd "$LOCAL_REPO_DIR/go" && go run ./cmd/latencysummary \
+  -input /home/limingjie/LMJ_Work/RobotCompetition/OmniSocketGo/logs/a-latency.jsonl \
+  -input /home/limingjie/LMJ_Work/RobotCompetition/OmniSocketGo/logs/b-latency.jsonl \
+  -output /home/limingjie/LMJ_Work/RobotCompetition/OmniSocketGo/logs/latency-summary.jsonl) || exit 1
+cd "$LOCAL_REPO_DIR/.." || exit 1
+mv "$LOCAL_REPO_DIR/logs/a-latency.jsonl" "$OUTPUT_DIR/a-latency.jsonl" || exit 1
+mv "$LOCAL_REPO_DIR/logs/b-latency.jsonl" "$OUTPUT_DIR/b-latency.jsonl" || exit 1
+mv "$LOCAL_REPO_DIR/logs/latency-summary.jsonl" "$OUTPUT_DIR/latency-summary.jsonl" || exit 1
+if [ -f "$LOCAL_REPO_DIR/logs/latency-summary.html" ]; then
+  mv "$LOCAL_REPO_DIR/logs/latency-summary.html" "$OUTPUT_DIR/latency-summary.html" || exit 1
+fi
 
 echo "=== 测试完成！==="
diff --git a/scripts/BDAanto_test.sh b/scripts/BDAanto_test.sh
index 7d7c43d..c1d9db1 100755
--- a/scripts/BDAanto_test.sh
+++ b/scripts/BDAanto_test.sh
@@ -1,21 +1,63 @@
 #!/bin/bash
 
+LOCAL_REPO_DIR="/home/limingjie/LMJ_Work/RobotCompetition/OmniSocketGo"
+KCP_PEER_BIN="./bin/kcppeer"
+OUTPUT_ROOT="/home/limingjie/LMJ_Work/RobotCompetition/KCPData/BCAlogs/"
+PEERB_POLL_INTERVAL_SEC=5
+PEERB_MAX_POLLS=180
+PEER_A_EXIT_WAIT_SEC=5
+
+require_local_binary() {
+  if [ ! -x "$1" ]; then
+    echo "ERROR: 缺少可执行文件 $1"
+    exit 1
+  fi
+}
+
+cleanup_remote_peerb() {
+  ssh omni-peer bash -s <<'EOF'
+pids=$(ps -eo pid=,args= | awk '/[b]in\/kcppeer -id peer-b/ {print $1}')
+if [ -n "$pids" ]; then
+  kill $pids 2>/dev/null || true
+fi
+pids=$(ps -eo pid=,args= | awk '/\/tmp\/peerb_batch\.sh/ {print $1}')
+if [ -n "$pids" ]; then
+  kill $pids 2>/dev/null || true
+fi
+rm -f /tmp/peerb_batch_done /tmp/peerb_batch.sh /tmp/peerb_commands
+EOF
+}
+
 echo "=== 开始自动化测试 ==="
 
-cd /home/limingjie/LMJ_Work/OmniSocketGo
+cd "$LOCAL_REPO_DIR"
+require_local_binary "$KCP_PEER_BIN"
+
+echo ">>> 0. 清理上次残留进程..."
+pkill -f 'bin/kcppeer -id peer-a' 2>/dev/null || true
+cleanup_remote_peerb || exit 1
+
 rm -rf logs
+rm -rf inbox/a
 mkdir -p logs inbox/a
 
 # 1. 清理残留 & 启动 Server D
-echo ">>> 1. 启动 Server D "
+echo ">>> 1. 启动 Server D..."
 
 ssh bj-txy bash -s <<'EOF'
-export PATH="$PATH:/usr/local/go/bin:$HOME/go/bin"
 pkill -f kcpserver 2>/dev/null || true
-pkill -f 'cmd/kcpserver' 2>/dev/null || true
+pkill -f 'bin/kcpserver' 2>/dev/null || true
 sleep 1
 cd /home/ubuntu/OmniSocketGo
-setsid go run ./cmd/kcpserver/ -listen 0.0.0.0:10909 > server_console.log 2>&1 </dev/null &
+rm -rf logs
+mkdir -p logs
+if [ ! -x ./bin/kcpserver ]; then
+  echo "ERROR: 缺少 ./bin/kcpserver"
+  exit 1
+fi
+setsid ./bin/kcpserver -listen 0.0.0.0:10909 \
+  -kcp-ts-debug-log logs/d-kcp-ts.jsonl \
+  -kcp-session-stats-log logs/d-kcp-stats.jsonl > server_console.log 2>&1 </dev/null &
 echo "server D launched (pid=$!)"
 EOF
 
@@ -35,18 +77,24 @@ done
 
 # 2. 启动本地 Peer-A
 echo ">>> 2. 启动本地 Peer-A..."
-nohup go run ./cmd/kcppeer/ \
+PEER_A_CMD_FIFO="/tmp/peera_commands_$$"
+rm -f "$PEER_A_CMD_FIFO"
+mkfifo "$PEER_A_CMD_FIFO"
+nohup "$KCP_PEER_BIN" \
   -id peer-a \
   -server 81.70.156.140:10909 \
   -inbox-dir inbox/a \
   -latency-log logs/a-latency.jsonl \
-  -interactive=false > logs/peera_console.log 2>&1 &
+  -kcp-ts-debug-log logs/a-kcp-ts.jsonl \
+  -kcp-session-stats-log logs/a-kcp-stats.jsonl \
+  < "$PEER_A_CMD_FIFO" > logs/peera_console.log 2>&1 &
 PEER_A_PID=$!
+exec 4>"$PEER_A_CMD_FIFO"
 
 # 等待 peer-a 注册成功
 echo "    等待 Peer-A 注册..."
 for i in $(seq 1 30); do
-  if grep -q "opened KCP session as peer-a" logs/peera_console.log 2>/dev/null; then
+  if grep -Eq "opened KCP session as peer-a|connected to .* as peer-a( \\(KCP\\))?" logs/peera_console.log 2>/dev/null; then
     echo "    Peer-A 就绪 (${i}s)"
     break
   fi
@@ -58,22 +106,19 @@ done
 
 # 3. 在远端后台启动 peer-b 整个发送流程，不依赖长 SSH 连接
 echo ">>> 3. 启动远端 Peer-B 并执行 50 轮打流测试..."
-ssh omni-peer "cd /home/boll/LMJWork/OmniSocketGo && rm -rf logs && mkdir -p logs inbox/b"
+ssh omni-peer "cd /home/boll/LMJWork/OmniSocketGo && rm -rf logs inbox/b && mkdir -p logs inbox/b"
 
 PEERB_DONE_FLAG="/tmp/peerb_batch_done"
 PEERB_BATCH_SCRIPT="/tmp/peerb_batch.sh"
 
 # 把整个发送脚本写到远端，setsid 后台执行
 ssh omni-peer bash -s <<'DEPLOY_SCRIPT'
-export PATH="$PATH:/usr/local/go/bin:$HOME/go/bin"
-
 DONE_FLAG="/tmp/peerb_batch_done"
 BATCH_SCRIPT="/tmp/peerb_batch.sh"
 rm -f "$DONE_FLAG"
 
 cat > "$BATCH_SCRIPT" <<'INNER_EOF'
 #!/bin/bash
-export PATH="$PATH:/usr/local/go/bin:$HOME/go/bin"
 cd /home/boll/LMJWork/OmniSocketGo
 
 CMD_FIFO=/tmp/peerb_commands
@@ -81,12 +126,20 @@ DONE_FLAG="/tmp/peerb_batch_done"
 rm -f "$CMD_FIFO" "$DONE_FLAG"
 mkfifo "$CMD_FIFO"
 
+if [ ! -x ./bin/kcppeer ]; then
+  echo "ERROR: 缺少 ./bin/kcppeer" > logs/peerb_console.log
+  echo "error" > "$DONE_FLAG"
+  exit 1
+fi
+
 # 启动 peer-b
-go run ./cmd/kcppeer/ \
+./bin/kcppeer \
   -id peer-b \
   -server 81.70.156.140:10909 \
   -inbox-dir inbox/b \
   -latency-log logs/b-latency.jsonl \
+  -kcp-ts-debug-log logs/b-kcp-ts.jsonl \
+  -kcp-session-stats-log logs/b-kcp-stats.jsonl \
   < "$CMD_FIFO" > logs/peerb_console.log 2>&1 &
 PEER_B_PID=$!
 
@@ -94,7 +147,7 @@ exec 3>"$CMD_FIFO"
 
 # 等 peer-b 就绪
 for i in $(seq 1 60); do
-  if grep -q "opened KCP session as peer-b" logs/peerb_console.log 2>/dev/null; then
+  if grep -Eq "opened KCP session as peer-b|connected to .* as peer-b( \\(KCP\\))?" logs/peerb_console.log 2>/dev/null; then
     break
   fi
   sleep 1
@@ -112,6 +165,25 @@ sleep 5
 echo "quit" >&3
 exec 3>&-
 rm -f "$CMD_FIFO"
+
+peer_b_exited=0
+for i in $(seq 1 15); do
+  if ! kill -0 $PEER_B_PID 2>/dev/null; then
+    peer_b_exited=1
+    break
+  fi
+  sleep 1
+done
+
+if [ "$peer_b_exited" -eq 0 ]; then
+  kill $PEER_B_PID 2>/dev/null || true
+  sleep 1
+fi
+
+if kill -0 $PEER_B_PID 2>/dev/null; then
+  kill -9 $PEER_B_PID 2>/dev/null || true
+fi
+
 wait $PEER_B_PID 2>/dev/null || true
 
 # 写完成标记
@@ -125,37 +197,62 @@ DEPLOY_SCRIPT
 
 # 本地轮询等待远端完成（短 SSH 连接，不怕断开）
 echo "    等待 peer-b 发送完成（预计 ~110 秒）..."
-for i in $(seq 1 180); do
-  if ssh omni-peer "test -f /tmp/peerb_batch_done" 2>/dev/null; then
-    echo "    peer-b 发送完成 (${i}s)"
+for i in $(seq 1 "$PEERB_MAX_POLLS"); do
+  PEERB_STATUS=$(ssh omni-peer "cat /tmp/peerb_batch_done 2>/dev/null || true")
+  if [ "$PEERB_STATUS" = "done" ]; then
+    ELAPSED_SEC=$(( (i - 1) * PEERB_POLL_INTERVAL_SEC ))
+    echo "    peer-b 发送完成（约 ${ELAPSED_SEC}s）"
     break
   fi
-  if [ "$i" -eq 180 ]; then
-    echo "    ERROR: peer-b 180s 内未完成"
+  if [ "$PEERB_STATUS" = "error" ]; then
+    echo "    ERROR: peer-b 后台任务启动失败，请检查远端 logs/peerb_console.log"
+    exit 1
   fi
-  # 每 5 秒查一次，减少 SSH 连接频率
-  sleep 5
+  if [ "$i" -eq "$PEERB_MAX_POLLS" ]; then
+    echo "    ERROR: peer-b $((PEERB_MAX_POLLS * PEERB_POLL_INTERVAL_SEC))s 内未完成"
+    exit 1
+  fi
+  sleep "$PEERB_POLL_INTERVAL_SEC"
 done
 
 # 4. 清理
 echo ">>> 4. 清理所有进程..."
-kill $PEER_A_PID 2>/dev/null || true
-ssh bj-txy "pkill -f kcpserver || true; pkill -f 'cmd/kcpserver' || true"
-ssh sz-txy "pkill -f kcpserver || true; pkill -f 'cmd/kcpserver' || true"
+sleep 2
+echo "quit" >&4 || true
+exec 4>&-
+for i in $(seq 1 "$PEER_A_EXIT_WAIT_SEC"); do
+  if ! kill -0 "$PEER_A_PID" 2>/dev/null; then
+    break
+  fi
+  sleep 1
+done
+if kill -0 "$PEER_A_PID" 2>/dev/null; then
+  kill "$PEER_A_PID" 2>/dev/null || true
+fi
+wait "$PEER_A_PID" 2>/dev/null || true
+rm -f "$PEER_A_CMD_FIFO"
+ssh bj-txy "pkill -f kcpserver || true; pkill -f 'bin/kcpserver' || true"
 
 # 获取当前时间戳，格式为 YYYYMMDD_HHMMSS
 TIMESTAMP=$(date +"%Y%m%d_%H%M%S")
+OUTPUT_DIR="$OUTPUT_ROOT/$TIMESTAMP"
+
 # 5. 拉取数据 & 生成报告
 echo ">>> 5. 拉取数据并生成汇总报告..."
-mkdir -p ./BCAlogs/$TIMESTAMP
-scp -o ServerAliveInterval=15 -P 10022 boll@175.178.116.187:/home/boll/LMJWork/OmniSocketGo/logs/b-latency.jsonl ./logs/b-latency.jsonl
+mkdir -p "$OUTPUT_DIR"
+scp -o ServerAliveInterval=15 -P 10022 boll@175.178.116.187:/home/boll/LMJWork/OmniSocketGo/logs/b-latency.jsonl "$LOCAL_REPO_DIR/logs/b-latency.jsonl" || exit 1
 
-mv ./logs/a-latency.jsonl ./BCAlogs/$TIMESTAMP/a-latency.jsonl
-mv ./logs/b-latency.jsonl ./BCAlogs/$TIMESTAMP/b-latency.jsonl
+(cd "$LOCAL_REPO_DIR/go" && go run ./cmd/latencysummary \
+  -input "$LOCAL_REPO_DIR/logs/a-latency.jsonl" \
+  -input "$LOCAL_REPO_DIR/logs/b-latency.jsonl" \
+  -output "$LOCAL_REPO_DIR/logs/latency-summary.jsonl") || exit 1
 
-go run ./cmd/latencysummary \
-  -input ./BCAlogs/$TIMESTAMP/a-latency.jsonl \
-  -input ./BCAlogs/$TIMESTAMP/b-latency.jsonl \
-  -output ./BCAlogs/$TIMESTAMP/latency-summary.jsonl
+cd "$LOCAL_REPO_DIR/.." || exit 1
+mv "$LOCAL_REPO_DIR/logs/a-latency.jsonl" "$OUTPUT_DIR/a-latency.jsonl" || exit 1
+mv "$LOCAL_REPO_DIR/logs/b-latency.jsonl" "$OUTPUT_DIR/b-latency.jsonl" || exit 1
+mv "$LOCAL_REPO_DIR/logs/latency-summary.jsonl" "$OUTPUT_DIR/latency-summary.jsonl" || exit 1
+if [ -f "$LOCAL_REPO_DIR/logs/latency-summary.html" ]; then
+  mv "$LOCAL_REPO_DIR/logs/latency-summary.html" "$OUTPUT_DIR/latency-summary.html" || exit 1
+fi
 
 echo "=== 测试完成！==="