commit 03c59c4f4f9d577fd462d35f4422718d1f7042f3
Author: gitea <mffan0922@163.com>
Date:   Thu Jul 24 14:32:47 2025 +0800

    rokae xcore protocol scriptly re-made

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..71d509c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+.venv/
+.idea/
+roake/testbench
+**/__pycache__/
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..e69de29
diff --git a/main.py b/main.py
new file mode 100644
index 0000000..e69de29
diff --git a/rokae/assets/confs/configs.json b/rokae/assets/confs/configs.json
new file mode 100644
index 0000000..f3f3325
--- /dev/null
+++ b/rokae/assets/confs/configs.json
@@ -0,0 +1,16 @@
+{
+  "ip_addr": "192.168.40.130",
+  "ssh_port": "22",
+  "socket_port": 5050,
+  "xService_port": 6666,
+  "external_port": 8080,
+  "modbus_port": 502,
+  "upgrade_port": 4567,
+  "interval": 1,
+  "max_frame_size": 1024,
+  "MAX_RECEIVED_SIZE": 1024,
+  "suffix": "\r",
+  "username": "luoshi",
+  "password": "luoshi2019",
+  "retry_time": 5
+}
diff --git a/rokae/assets/confs/fieldbus_device.json b/rokae/assets/confs/fieldbus_device.json
new file mode 100644
index 0000000..e7de260
--- /dev/null
+++ b/rokae/assets/confs/fieldbus_device.json
@@ -0,0 +1,75 @@
+{
+    "device_list": [
+        {
+            "enable": true,
+            "endian": 1,
+            "extend_attr": {
+                "RTU": {
+                    "serial_name": ""
+                },
+                "TCP": {
+                    "ip": "0.0.0.0",
+                    "port": 502
+                },
+                "coils": {
+                    "max_num": 16,
+                    "start_addr": 0
+                },
+                "discrete_input": {
+                    "max_num": 16,
+                    "start_addr": 0
+                },
+                "hold_register": {
+                    "max_num": 2000,
+                    "start_addr": 40000
+                },
+                "input_register": {
+                    "max_num": 2000,
+                    "start_addr": 4000
+                },
+                "protol_type": "TCP",
+                "slaver_id": 1
+            },
+            "mode": "slaver",
+            "name": "autotest",
+            "type": "MODBUS"
+        }
+    ],
+    "support_types": [
+        {
+            "device_type": "MODBUS",
+            "support_mode": {
+                "master": 10,
+                "slaver": 10
+            }
+        },
+        {
+            "device_type": "CCLINK",
+            "support_mode": {
+                "master": 0,
+                "slaver": 1
+            }
+        },
+        {
+            "device_type": "ETHERCAT",
+            "support_mode": {
+                "master": 0,
+                "slaver": 10
+            }
+        },
+        {
+            "device_type": "PROFINET",
+            "support_mode": {
+                "master": 0,
+                "slaver": 1
+            }
+        },
+        {
+            "device_type": "EtherNetIP",
+            "support_mode": {
+                "master": 0,
+                "slaver": 1
+            }
+        }
+    ]
+}
diff --git a/rokae/assets/confs/registers.json b/rokae/assets/confs/registers.json
new file mode 100644
index 0000000..d28bd6e
--- /dev/null
+++ b/rokae/assets/confs/registers.json
@@ -0,0 +1,1204 @@
+{
+    "MODBUS": [
+        {
+            "property": {
+                "device_name": "autotest",
+                "endian": 1
+            },
+            "regs": {
+                "rd": [
+                    {
+                        "addr": 40000,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_clear_alarm",
+                        "len": 1,
+                        "name": "r_clear_alarm",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40001,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_estop_reset",
+                        "len": 1,
+                        "name": "r_estop_reset",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40002,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_estop_reset_clear_alarm",
+                        "len": 1,
+                        "name": "r_onekey_reset",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40003,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_jjwc_A",
+                        "len": 1,
+                        "name": "r_jjwc_A",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40004,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_motor_on",
+                        "len": 1,
+                        "name": "r_motor_on",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40005,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_motor_off",
+                        "len": 1,
+                        "name": "r_motor_off",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40006,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_motor_on_off",
+                        "len": 1,
+                        "name": "r_motor_on_off",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40007,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_motoron_pptomain_start",
+                        "len": 1,
+                        "name": "r_motoron_p2m_start",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40008,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_motoron_start",
+                        "len": 1,
+                        "name": "r_motoron_start",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40009,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_pause_motoroff",
+                        "len": 1,
+                        "name": "r_pause_motoroff",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40010,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_pptomain",
+                        "len": 1,
+                        "name": "r_pptomain",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40011,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_program_start",
+                        "len": 1,
+                        "name": "r_prog_start",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40012,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_program_stop",
+                        "len": 1,
+                        "name": "r_prog_stop",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40013,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_program_start_stop",
+                        "len": 1,
+                        "name": "r_prog_start_stop",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40014,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_set_program_speed",
+                        "len": 1,
+                        "name": "r_set_prog_speed",
+                        "retain": false,
+                        "type": "int16"
+                    },
+                    {
+                        "addr": 40015,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_soft_estop",
+                        "len": 1,
+                        "name": "r_soft_estop",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40016,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_switch_auto_motoron",
+                        "len": 1,
+                        "name": "r_sw_auto_motoron",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40017,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_switch_operation_auto",
+                        "len": 1,
+                        "name": "r_sw_mode_auto",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40018,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_switch_operation_manu",
+                        "len": 1,
+                        "name": "r_sw_mode_manual",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40019,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_switch_operation_auto_manu",
+                        "len": 1,
+                        "name": "r_sw_auto_manual",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40020,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_reduced_mode",
+                        "len": 1,
+                        "name": "r_reduced_mode",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40021,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region01",
+                        "len": 1,
+                        "name": "r_safe_region01",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40022,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region02",
+                        "len": 1,
+                        "name": "r_safe_region02",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40023,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region03",
+                        "len": 1,
+                        "name": "r_safe_region03",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40024,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region04",
+                        "len": 1,
+                        "name": "r_safe_region04",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40025,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region05",
+                        "len": 1,
+                        "name": "r_safe_region05",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40026,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region06",
+                        "len": 1,
+                        "name": "r_safe_region06",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40027,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region07",
+                        "len": 1,
+                        "name": "r_safe_region07",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40028,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region08",
+                        "len": 1,
+                        "name": "r_safe_region08",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40029,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region09",
+                        "len": 1,
+                        "name": "r_safe_region09",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40030,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "enable_safe_region10",
+                        "len": 1,
+                        "name": "r_safe_region10",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40031,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ext_cmd_set",
+                        "len": 1,
+                        "name": "r_ext_cmd_set",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40032,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ext_reset",
+                        "len": 1,
+                        "name": "r_ext_reset",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40033,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ext_resp_get",
+                        "len": 1,
+                        "name": "r_ext_resp_get",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40034,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ext_request_data",
+                        "len": 8,
+                        "name": "r_ext_request_data",
+                        "retain": false,
+                        "type": "int16"
+                    }
+                ],
+                "rdwr": [
+                    {
+                        "addr": 41000,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_alarm",
+                        "len": 1,
+                        "name": "sta_alarm",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41001,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_collision",
+                        "len": 1,
+                        "name": "sta_collision",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41002,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_collision_alarm",
+                        "len": 1,
+                        "name": "sta_collision_alarm",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41003,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_collision_open",
+                        "len": 1,
+                        "name": "sta_collision_open",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41004,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_controller_is_running",
+                        "len": 1,
+                        "name": "sta_ctl_is_running",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41005,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_encoder_low_battery",
+                        "len": 1,
+                        "name": "sta_encoder_low",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41006,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_error_code",
+                        "len": 1,
+                        "name": "sta_error_code",
+                        "retain": false,
+                        "type": "int16"
+                    },
+                    {
+                        "addr": 41007,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_estop",
+                        "len": 1,
+                        "name": "sta_estop",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41008,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_heartbeat",
+                        "len": 1,
+                        "name": "sta_heartbeat",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41009,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_home",
+                        "len": 1,
+                        "name": "sta_home",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41010,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_jjwc_B",
+                        "len": 1,
+                        "name": "sta_jjwc_B",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41011,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_motor",
+                        "len": 1,
+                        "name": "sta_motor",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41012,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_operation_mode",
+                        "len": 1,
+                        "name": "sta_operation_mode",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41013,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_program",
+                        "len": 1,
+                        "name": "sta_program",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41014,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_program_full",
+                        "len": 1,
+                        "name": "sta_program_full",
+                        "retain": false,
+                        "type": "int16"
+                    },
+                    {
+                        "addr": 41015,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_program_not_run",
+                        "len": 1,
+                        "name": "sta_program_not_run",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41016,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_program_reset",
+                        "len": 1,
+                        "name": "sta_program_reset",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41017,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_program_speed",
+                        "len": 1,
+                        "name": "sta_program_speed",
+                        "retain": false,
+                        "type": "int16"
+                    },
+                    {
+                        "addr": 41018,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_reduced_mode",
+                        "len": 1,
+                        "name": "sta_reduced_mode",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41019,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_robot_is_busy",
+                        "len": 1,
+                        "name": "sta_robot_is_busy",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41020,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_robot_moving",
+                        "len": 1,
+                        "name": "sta_robot_moving",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41021,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_door",
+                        "len": 1,
+                        "name": "sta_safe_door",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41022,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_jnt_pos1",
+                        "len": 1,
+                        "name": "sta_safe_jnt_pos1",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41023,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_jnt_pos2",
+                        "len": 1,
+                        "name": "sta_safe_jnt_pos2",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41024,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_jnt_pos3",
+                        "len": 1,
+                        "name": "sta_safe_jnt_pos3",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41025,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_jnt_pos4",
+                        "len": 1,
+                        "name": "sta_safe_jnt_pos4",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41026,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_jnt_pos5",
+                        "len": 1,
+                        "name": "sta_safe_jnt_pos5",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41027,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_jnt_pos6",
+                        "len": 1,
+                        "name": "sta_safe_jnt_pos6",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41028,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_jnt_pos7",
+                        "len": 1,
+                        "name": "sta_safe_jnt_pos7",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41029,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_jnt_pos8",
+                        "len": 1,
+                        "name": "sta_safe_jnt_pos8",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41030,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_soft_estop",
+                        "len": 1,
+                        "name": "sta_soft_estop",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41031,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region01",
+                        "len": 1,
+                        "name": "sta_safe_region01",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41032,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region02",
+                        "len": 1,
+                        "name": "sta_safe_region02",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41033,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region03",
+                        "len": 1,
+                        "name": "sta_safe_region03",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41034,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region04",
+                        "len": 1,
+                        "name": "sta_safe_region04",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41035,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region05",
+                        "len": 1,
+                        "name": "sta_safe_region05",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41036,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region06",
+                        "len": 1,
+                        "name": "sta_safe_region06",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41037,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region07",
+                        "len": 1,
+                        "name": "sta_safe_region07",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41038,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region08",
+                        "len": 1,
+                        "name": "sta_safe_region08",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41039,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region09",
+                        "len": 1,
+                        "name": "sta_safe_region09",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41040,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region10",
+                        "len": 1,
+                        "name": "sta_safe_region10",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41041,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_on_path",
+                        "len": 1,
+                        "name": "sta_on_path",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41042,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_near_path",
+                        "len": 1,
+                        "name": "sta_near_path",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41043,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_cart_pose",
+                        "len": 7,
+                        "name": "sta_cart_pose",
+                        "retain": false,
+                        "type": "float"
+                    },
+                    {
+                        "addr": 41057,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_cart_vel",
+                        "len": 7,
+                        "name": "sta_cart_vel",
+                        "retain": false,
+                        "type": "float"
+                    },
+                    {
+                        "addr": 41071,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_jnt_pose",
+                        "len": 7,
+                        "name": "sta_jnt_pose",
+                        "retain": false,
+                        "type": "float"
+                    },
+                    {
+                        "addr": 41085,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_jnt_trq",
+                        "len": 7,
+                        "name": "sta_jnt_trq",
+                        "retain": false,
+                        "type": "float"
+                    },
+                    {
+                        "addr": 41099,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_jnt_vel",
+                        "len": 7,
+                        "name": "sta_jnt_vel",
+                        "retain": false,
+                        "type": "float"
+                    },
+                    {
+                        "addr": 41113,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_tcp_pose",
+                        "len": 7,
+                        "name": "sta_tcp_pose",
+                        "retain": false,
+                        "type": "float"
+                    },
+                    {
+                        "addr": 41127,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_tcp_vel",
+                        "len": 7,
+                        "name": "sta_tcp_vel",
+                        "retain": false,
+                        "type": "float"
+                    },
+                    {
+                        "addr": 41141,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_tcp_vel_mag",
+                        "len": 1,
+                        "name": "sta_tcp_vel_mag",
+                        "retain": false,
+                        "type": "float"
+                    },
+                    {
+                        "addr": 41143,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_ext_jnt_pose",
+                        "len": 6,
+                        "name": "sta_ext_jnt_pose",
+                        "retain": false,
+                        "type": "float"
+                    },
+                    {
+                        "addr": 41155,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_sys_stop_di",
+                        "len": 1,
+                        "name": "sta_sys_stop_di",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41156,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_board_DI0",
+                        "len": 16,
+                        "name": "sta_board_DI0",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41172,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_board_DI1",
+                        "len": 16,
+                        "name": "sta_board_DI1",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41188,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_board_DI2",
+                        "len": 16,
+                        "name": "sta_board_DI2",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41204,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_board_DI3",
+                        "len": 16,
+                        "name": "sta_board_DI3",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41220,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_board_DO0",
+                        "len": 16,
+                        "name": "sta_board_DO0",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41236,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_board_DO1",
+                        "len": 16,
+                        "name": "sta_board_DO1",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41252,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_board_DO2",
+                        "len": 16,
+                        "name": "sta_board_DO2",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41268,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_board_DO3",
+                        "len": 16,
+                        "name": "sta_board_DO3",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41284,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ext_resp_set",
+                        "len": 1,
+                        "name": "ext_resp_set",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 41285,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ext_response_data",
+                        "len": 8,
+                        "name": "ext_response_data",
+                        "retain": false,
+                        "type": "int16"
+                    },
+                    {
+                        "addr": 41293,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ext_error_code",
+                        "len": 1,
+                        "name": "ext_error_code",
+                        "retain": false,
+                        "type": "int16"
+                    }
+                ]
+            }
+        }
+    ]
+}
diff --git a/rokae/assets/confs/registers.xml b/rokae/assets/confs/registers.xml
new file mode 100644
index 0000000..892184c
--- /dev/null
+++ b/rokae/assets/confs/registers.xml
@@ -0,0 +1,2101 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<m>
+    <l>
+        <c name="addr" type="2" value="40000"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40000"/>
+        <c name="function" type="10" value="ctrl_clear_alarm"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_clear_alarm"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40001"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40001"/>
+        <c name="function" type="10" value="ctrl_estop_reset"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_estop_reset"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40002"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40002"/>
+        <c name="function" type="10" value="ctrl_estop_reset_clear_alarm"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_onekey_reset"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40003"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40003"/>
+        <c name="function" type="10" value="ctrl_jjwc_A"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_jjwc_A"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40004"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40004"/>
+        <c name="function" type="10" value="ctrl_motor_on"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_motor_on"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40005"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40005"/>
+        <c name="function" type="10" value="ctrl_motor_off"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_motor_off"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40006"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40006"/>
+        <c name="function" type="10" value="ctrl_motor_on_off"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_motor_on_off"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40007"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40007"/>
+        <c name="function" type="10" value="ctrl_motoron_pptomain_start"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_motoron_p2m_start"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40008"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40008"/>
+        <c name="function" type="10" value="ctrl_motoron_start"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_motoron_start"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40009"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40009"/>
+        <c name="function" type="10" value="ctrl_pause_motoroff"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_pause_motoroff"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40010"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40010"/>
+        <c name="function" type="10" value="ctrl_pptomain"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_pptomain"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40011"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40011"/>
+        <c name="function" type="10" value="ctrl_program_start"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_prog_start"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40012"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40012"/>
+        <c name="function" type="10" value="ctrl_program_stop"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_prog_stop"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40013"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40013"/>
+        <c name="function" type="10" value="ctrl_program_start_stop"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_prog_start_stop"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40014"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40014"/>
+        <c name="function" type="10" value="ctrl_set_program_speed"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_set_prog_speed"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="int16"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="0"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40015"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40015"/>
+        <c name="function" type="10" value="ctrl_soft_estop"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_soft_estop"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="true"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40016"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40016"/>
+        <c name="function" type="10" value="ctrl_switch_auto_motoron"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_sw_auto_motoron"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40017"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40017"/>
+        <c name="function" type="10" value="ctrl_switch_operation_auto"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_sw_mode_auto"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40018"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40018"/>
+        <c name="function" type="10" value="ctrl_switch_operation_manu"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_sw_mode_manual"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40019"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40019"/>
+        <c name="function" type="10" value="ctrl_switch_operation_auto_manu"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_sw_auto_manual"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40020"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40020"/>
+        <c name="function" type="10" value="ctrl_reduced_mode"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_reduced_mode"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40021"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40021"/>
+        <c name="function" type="10" value="enable_safe_region01"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region01"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40022"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40022"/>
+        <c name="function" type="10" value="enable_safe_region02"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region02"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40023"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40023"/>
+        <c name="function" type="10" value="enable_safe_region03"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region03"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40024"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40024"/>
+        <c name="function" type="10" value="enable_safe_region04"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region04"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40025"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40025"/>
+        <c name="function" type="10" value="enable_safe_region05"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region05"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40026"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40026"/>
+        <c name="function" type="10" value="enable_safe_region06"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region06"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40027"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40027"/>
+        <c name="function" type="10" value="enable_safe_region07"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region07"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40028"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40028"/>
+        <c name="function" type="10" value="enable_safe_region08"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region08"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40029"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40029"/>
+        <c name="function" type="10" value="enable_safe_region09"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region09"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40030"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40030"/>
+        <c name="function" type="10" value="enable_safe_region10"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_safe_region10"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40031"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40031"/>
+        <c name="function" type="10" value="ext_cmd_set"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_ext_cmd_set"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40032"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40032"/>
+        <c name="function" type="10" value="ext_reset"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_ext_reset"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40033"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40033"/>
+        <c name="function" type="10" value="ext_resp_get"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_ext_resp_get"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value="false"/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40034"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="40041"/>
+        <c name="function" type="10" value="ext_request_data"/>
+        <c name="len" type="2" value="8"/>
+        <c name="name" type="10" value="r_ext_request_data"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rd"/>
+        <c name="type" type="10" value="int16"/>
+        <c name="value">
+            <l type="4" value="0"/>
+            <l type="4" value="0"/>
+            <l type="4" value="0"/>
+            <l type="4" value="0"/>
+            <l type="4" value="0"/>
+            <l type="4" value="0"/>
+            <l type="4" value="0"/>
+            <l type="4" value="0"/>
+        </c>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41000"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41000"/>
+        <c name="function" type="10" value="sta_alarm"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_alarm"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41001"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41001"/>
+        <c name="function" type="10" value="sta_collision"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_collision"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41002"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41002"/>
+        <c name="function" type="10" value="sta_collision_alarm"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_collision_alarm"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41003"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41003"/>
+        <c name="function" type="10" value="sta_collision_open"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_collision_open"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41004"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41004"/>
+        <c name="function" type="10" value="sta_controller_is_running"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_ctl_is_running"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41005"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41005"/>
+        <c name="function" type="10" value="sta_encoder_low_battery"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_encoder_low"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41006"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41006"/>
+        <c name="function" type="10" value="sta_error_code"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_error_code"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="int16"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41007"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41007"/>
+        <c name="function" type="10" value="sta_estop"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_estop"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41008"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41008"/>
+        <c name="function" type="10" value="sta_heartbeat"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_heartbeat"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41009"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41009"/>
+        <c name="function" type="10" value="sta_home"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_home"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41010"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41010"/>
+        <c name="function" type="10" value="sta_jjwc_B"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_jjwc_B"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41011"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41011"/>
+        <c name="function" type="10" value="sta_motor"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_motor"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41012"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41012"/>
+        <c name="function" type="10" value="sta_operation_mode"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_operation_mode"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41013"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41013"/>
+        <c name="function" type="10" value="sta_program"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_program"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41014"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41014"/>
+        <c name="function" type="10" value="sta_program_full"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_program_full"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="int16"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41015"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41015"/>
+        <c name="function" type="10" value="sta_program_not_run"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_program_not_run"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41016"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41016"/>
+        <c name="function" type="10" value="sta_program_reset"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_program_reset"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41017"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41017"/>
+        <c name="function" type="10" value="sta_program_speed"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_program_speed"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="int16"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41018"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41018"/>
+        <c name="function" type="10" value="sta_reduced_mode"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_reduced_mode"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41019"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41019"/>
+        <c name="function" type="10" value="sta_robot_is_busy"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_robot_is_busy"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41020"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41020"/>
+        <c name="function" type="10" value="sta_robot_moving"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_robot_moving"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41021"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41021"/>
+        <c name="function" type="10" value="sta_safe_door"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_door"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41022"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41022"/>
+        <c name="function" type="10" value="sta_safe_jnt_pos1"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_jnt_pos1"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41023"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41023"/>
+        <c name="function" type="10" value="sta_safe_jnt_pos2"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_jnt_pos2"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41024"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41024"/>
+        <c name="function" type="10" value="sta_safe_jnt_pos3"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_jnt_pos3"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41025"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41025"/>
+        <c name="function" type="10" value="sta_safe_jnt_pos4"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_jnt_pos4"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41026"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41026"/>
+        <c name="function" type="10" value="sta_safe_jnt_pos5"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_jnt_pos5"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41027"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41027"/>
+        <c name="function" type="10" value="sta_safe_jnt_pos6"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_jnt_pos6"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41028"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41028"/>
+        <c name="function" type="10" value="sta_safe_jnt_pos7"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_jnt_pos7"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41029"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41029"/>
+        <c name="function" type="10" value="sta_safe_jnt_pos8"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_jnt_pos8"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41030"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41030"/>
+        <c name="function" type="10" value="sta_soft_estop"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_soft_estop"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41031"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41031"/>
+        <c name="function" type="10" value="sta_safe_region01"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region01"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41032"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41032"/>
+        <c name="function" type="10" value="sta_safe_region02"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region02"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41033"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41033"/>
+        <c name="function" type="10" value="sta_safe_region03"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region03"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41034"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41034"/>
+        <c name="function" type="10" value="sta_safe_region04"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region04"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41035"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41035"/>
+        <c name="function" type="10" value="sta_safe_region05"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region05"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41036"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41036"/>
+        <c name="function" type="10" value="sta_safe_region06"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region06"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41037"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41037"/>
+        <c name="function" type="10" value="sta_safe_region07"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region07"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41038"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41038"/>
+        <c name="function" type="10" value="sta_safe_region08"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region08"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41039"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41039"/>
+        <c name="function" type="10" value="sta_safe_region09"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region09"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41040"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41040"/>
+        <c name="function" type="10" value="sta_safe_region10"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_safe_region10"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41041"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41041"/>
+        <c name="function" type="10" value="sta_on_path"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="sta_on_path"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41042"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
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+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+        </c>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41268"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41283"/>
+        <c name="function" type="10" value="sta_board_DO3"/>
+        <c name="len" type="2" value="16"/>
+        <c name="name" type="10" value="sta_board_DO3"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value">
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+        </c>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41284"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41284"/>
+        <c name="function" type="10" value="ext_resp_set"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="ext_resp_set"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="bool"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41285"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41292"/>
+        <c name="function" type="10" value="ext_response_data"/>
+        <c name="len" type="2" value="8"/>
+        <c name="name" type="10" value="ext_response_data"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="int16"/>
+        <c name="value">
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+            <l type="10" value=""/>
+        </c>
+        <c name="value_single" type="10" value=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="41293"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
+        <c name="bit_bias" type="2" value="0"/>
+        <c name="byte_bias" type="4" value="0"/>
+        <c name="description" type="10" value=""/>
+        <c name="dev_name" type="10" value="autotest"/>
+        <c name="dev_type" type="10" value="MODBUS"/>
+        <c name="end_addr" type="2" value="41293"/>
+        <c name="function" type="10" value="ext_error_code"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="ext_error_code"/>
+        <c name="retain" type="1" value="false"/>
+        <c name="rw" type="10" value="rdwr"/>
+        <c name="type" type="10" value="int16"/>
+        <c name="value"/>
+        <c name="value_single" type="10" value=""/>
+    </l>
+</m>
diff --git a/rokae/assets/protocols/collision.get_params.json b/rokae/assets/protocols/collision.get_params.json
new file mode 100644
index 0000000..55c7d1a
--- /dev/null
+++ b/rokae/assets/protocols/collision.get_params.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "collision.get_params",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/collision.set_params.json b/rokae/assets/protocols/collision.set_params.json
new file mode 100644
index 0000000..8ec6e89
--- /dev/null
+++ b/rokae/assets/protocols/collision.set_params.json
@@ -0,0 +1,7 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "collision.set_params",
+    "data": {},
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/controller.get_params.json b/rokae/assets/protocols/controller.get_params.json
new file mode 100644
index 0000000..1476b8f
--- /dev/null
+++ b/rokae/assets/protocols/controller.get_params.json
@@ -0,0 +1,6 @@
+{   
+    "id":"xxxxxxxxxxx",
+    "module":"system",
+    "command":"controller.get_params",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/controller.heart.json b/rokae/assets/protocols/controller.heart.json
new file mode 100644
index 0000000..cf570aa
--- /dev/null
+++ b/rokae/assets/protocols/controller.heart.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "controller.heart",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/controller.reboot.json b/rokae/assets/protocols/controller.reboot.json
new file mode 100644
index 0000000..4631a04
--- /dev/null
+++ b/rokae/assets/protocols/controller.reboot.json
@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "system",
+    "command": "controller.reboot",
+    "data": {
+        "arg": 6
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/controller.set_params.json b/rokae/assets/protocols/controller.set_params.json
new file mode 100644
index 0000000..d433000
--- /dev/null
+++ b/rokae/assets/protocols/controller.set_params.json
@@ -0,0 +1,9 @@
+{
+    "id": "xxxxxxxxxxx",
+    "module": "system",
+    "command": "controller.set_params",
+    "data": {
+        "time": "2020-02-28 15:28:30"
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/device.get_params.json b/rokae/assets/protocols/device.get_params.json
new file mode 100644
index 0000000..55a246d
--- /dev/null
+++ b/rokae/assets/protocols/device.get_params.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "device.get_params",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/diagnosis.get_params.json b/rokae/assets/protocols/diagnosis.get_params.json
new file mode 100644
index 0000000..a1925df
--- /dev/null
+++ b/rokae/assets/protocols/diagnosis.get_params.json
@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.get_params",
+  "data": {
+	"version": "1.4.1"
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/diagnosis.open.json b/rokae/assets/protocols/diagnosis.open.json
new file mode 100644
index 0000000..93f3d65
--- /dev/null
+++ b/rokae/assets/protocols/diagnosis.open.json
@@ -0,0 +1,13 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.open",
+  "data": {
+	  "open": false,
+	  "display_open": false,
+	  "overrun": false,
+	  "turn_area": false,
+	  "delay_motion": false
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/diagnosis.save.json b/rokae/assets/protocols/diagnosis.save.json
new file mode 100644
index 0000000..7da8366
--- /dev/null
+++ b/rokae/assets/protocols/diagnosis.save.json
@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.save",
+  "data": {
+	  "save": true
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/diagnosis.set_params.json b/rokae/assets/protocols/diagnosis.set_params.json
new file mode 100644
index 0000000..0128af4
--- /dev/null
+++ b/rokae/assets/protocols/diagnosis.set_params.json
@@ -0,0 +1,11 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.set_params",
+  "data": {
+	"display_pdo_params": [],
+	"frequency": 50,
+	"version": "1.4.1"
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/drag.get_params.json b/rokae/assets/protocols/drag.get_params.json
new file mode 100644
index 0000000..8562a45
--- /dev/null
+++ b/rokae/assets/protocols/drag.get_params.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "dynamic",
+    "command": "drag.get_params",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/drag.set_params.json b/rokae/assets/protocols/drag.set_params.json
new file mode 100644
index 0000000..cc7a525
--- /dev/null
+++ b/rokae/assets/protocols/drag.set_params.json
@@ -0,0 +1,11 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "dynamic",
+    "command": "drag.set_params",
+    "data": {  
+        "enable": true,
+        "space": 0,
+        "type": 0
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/fieldbus_device.get_params.json b/rokae/assets/protocols/fieldbus_device.get_params.json
new file mode 100644
index 0000000..8f0c407
--- /dev/null
+++ b/rokae/assets/protocols/fieldbus_device.get_params.json
@@ -0,0 +1,6 @@
+{    
+	"id": "xxxxxxxxxxx",
+	"module": "fieldbus",
+	"command": "fieldbus_device.get_params",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/fieldbus_device.load_cfg.json b/rokae/assets/protocols/fieldbus_device.load_cfg.json
new file mode 100644
index 0000000..8b46df8
--- /dev/null
+++ b/rokae/assets/protocols/fieldbus_device.load_cfg.json
@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "fieldbus_device.load_cfg",
+    "data": {
+        "file_name": "fieldbus_device.json"
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/fieldbus_device.set_params.json b/rokae/assets/protocols/fieldbus_device.set_params.json
new file mode 100644
index 0000000..5b360b4
--- /dev/null
+++ b/rokae/assets/protocols/fieldbus_device.set_params.json
@@ -0,0 +1,10 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "fieldbus_device.set_params",
+    "data": {
+        "device_name": "modbus_1",
+        "enable": true
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/io_device.load_cfg.json b/rokae/assets/protocols/io_device.load_cfg.json
new file mode 100644
index 0000000..e3d0583
--- /dev/null
+++ b/rokae/assets/protocols/io_device.load_cfg.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "io",
+    "command": "io_device.load_cfg",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/jog.get_params.json b/rokae/assets/protocols/jog.get_params.json
new file mode 100644
index 0000000..03e6eed
--- /dev/null
+++ b/rokae/assets/protocols/jog.get_params.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "jog.get_params",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/jog.set_params.json b/rokae/assets/protocols/jog.set_params.json
new file mode 100644
index 0000000..6c89d14
--- /dev/null
+++ b/rokae/assets/protocols/jog.set_params.json
@@ -0,0 +1,10 @@
+{
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "jog.set_params",
+    "data": {  
+        "step": 1000,
+        "override": 0.2,
+        "space": 5
+    }
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/jog.start.json b/rokae/assets/protocols/jog.start.json
new file mode 100644
index 0000000..afe54cc
--- /dev/null
+++ b/rokae/assets/protocols/jog.start.json
@@ -0,0 +1,10 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "jog.start",
+    "data": {  
+        "index": 0,
+        "direction": true,
+        "is_ext": false
+    }
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/log_code.data.code_list.json b/rokae/assets/protocols/log_code.data.code_list.json
new file mode 100644
index 0000000..c6f1ee2
--- /dev/null
+++ b/rokae/assets/protocols/log_code.data.code_list.json
@@ -0,0 +1,8 @@
+{
+    "id": "log_code.data.code_list",
+    "s": {
+        "log_code.data": {
+            "code_list": []
+        }
+    }
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/log_code.data.json b/rokae/assets/protocols/log_code.data.json
new file mode 100644
index 0000000..b0898e2
--- /dev/null
+++ b/rokae/assets/protocols/log_code.data.json
@@ -0,0 +1,7 @@
+{
+    "id": "xxxxxxxxxxx",
+	"g": {
+        "log_code.data": "null"
+    },
+	"p_type": 1
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/modbus.get_params.json b/rokae/assets/protocols/modbus.get_params.json
new file mode 100644
index 0000000..1ee55bd
--- /dev/null
+++ b/rokae/assets/protocols/modbus.get_params.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.get_params",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/modbus.get_values.json b/rokae/assets/protocols/modbus.get_values.json
new file mode 100644
index 0000000..42ba949
--- /dev/null
+++ b/rokae/assets/protocols/modbus.get_values.json
@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.get_values",
+    "data": {
+        "mode": "all"
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/modbus.load_cfg.json b/rokae/assets/protocols/modbus.load_cfg.json
new file mode 100644
index 0000000..22f199e
--- /dev/null
+++ b/rokae/assets/protocols/modbus.load_cfg.json
@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.load_cfg",
+    "data": {
+        "file" : "registers.json"
+     },
+	 "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/modbus.set_params.json b/rokae/assets/protocols/modbus.set_params.json
new file mode 100644
index 0000000..7a3fa11
--- /dev/null
+++ b/rokae/assets/protocols/modbus.set_params.json
@@ -0,0 +1,13 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.set_params",
+    "data": {  
+        "enable_slave": true,
+        "ip": "192.168.0.160",
+        "port": 502,
+        "slave_id": 0,
+        "enable_master": false
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.get_joint_pos.json b/rokae/assets/protocols/move.get_joint_pos.json
new file mode 100644
index 0000000..51c50d9
--- /dev/null
+++ b/rokae/assets/protocols/move.get_joint_pos.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_joint_pos",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.get_monitor_cfg.json b/rokae/assets/protocols/move.get_monitor_cfg.json
new file mode 100644
index 0000000..35419f9
--- /dev/null
+++ b/rokae/assets/protocols/move.get_monitor_cfg.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_monitor_cfg",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.get_params.json b/rokae/assets/protocols/move.get_params.json
new file mode 100644
index 0000000..d7802fd
--- /dev/null
+++ b/rokae/assets/protocols/move.get_params.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_params",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.get_pos.json b/rokae/assets/protocols/move.get_pos.json
new file mode 100644
index 0000000..4cce83b
--- /dev/null
+++ b/rokae/assets/protocols/move.get_pos.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_pos",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.get_quickstop_distance.json b/rokae/assets/protocols/move.get_quickstop_distance.json
new file mode 100644
index 0000000..ddcfa11
--- /dev/null
+++ b/rokae/assets/protocols/move.get_quickstop_distance.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_quickstop_distance",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.get_quickturn_pos.json b/rokae/assets/protocols/move.get_quickturn_pos.json
new file mode 100644
index 0000000..a02b8c2
--- /dev/null
+++ b/rokae/assets/protocols/move.get_quickturn_pos.json
@@ -0,0 +1,6 @@
+{
+    "id" : "xxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_quickturn_pos",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.quick_turn.json b/rokae/assets/protocols/move.quick_turn.json
new file mode 100644
index 0000000..8db1988
--- /dev/null
+++ b/rokae/assets/protocols/move.quick_turn.json
@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.quick_turn",
+    "data": {  
+        "name":"home"
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.set_monitor_cfg.json b/rokae/assets/protocols/move.set_monitor_cfg.json
new file mode 100644
index 0000000..0a638de
--- /dev/null
+++ b/rokae/assets/protocols/move.set_monitor_cfg.json
@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_monitor_cfg",
+    "data": {
+       "ref_coordinate": 1
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.set_params.json b/rokae/assets/protocols/move.set_params.json
new file mode 100644
index 0000000..b65b1db
--- /dev/null
+++ b/rokae/assets/protocols/move.set_params.json
@@ -0,0 +1,17 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_params",
+    "data": {
+		"MOTION": {
+			"JOINT_MAX_SPEED": [1.0,0.0,0.0,0.0,0.0,0.0],
+			"JOINT_MAX_ACC": [1.0,0.0,0.0,0.0,0.0,0.0],
+			"JOINT_MAX_JERK": [1.0,0.0,0.0],
+			"TCP_MAX_SPEED": 500,
+			"DEFAULT_ACC_PARAMS": [0.3,1.0],
+			"VEL_SMOOTH_FACTOR": 3.33,
+			"ACC_RAMPTIME_JOG": 0.01
+	   }
+    },
+    "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.set_quickstop_distance.json b/rokae/assets/protocols/move.set_quickstop_distance.json
new file mode 100644
index 0000000..50c53fd
--- /dev/null
+++ b/rokae/assets/protocols/move.set_quickstop_distance.json
@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_quickstop_distance",
+    "data":{
+        "distance": 2
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.set_quickturn_pos.json b/rokae/assets/protocols/move.set_quickturn_pos.json
new file mode 100644
index 0000000..8da5353
--- /dev/null
+++ b/rokae/assets/protocols/move.set_quickturn_pos.json
@@ -0,0 +1,16 @@
+{
+    "id" : "xxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_quickturn_pos",
+    "data": {
+        "enable_home": false,
+        "enable_drag": false,
+        "enable_transport": false,
+        "joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
+        "joint_drag": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
+        "joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
+        "end_posture": 0,
+        "home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/move.stop.json b/rokae/assets/protocols/move.stop.json
new file mode 100644
index 0000000..f79c140
--- /dev/null
+++ b/rokae/assets/protocols/move.stop.json
@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.stop",
+    "data":{
+        "stoptype": 0
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/overview.get_autoload.json b/rokae/assets/protocols/overview.get_autoload.json
new file mode 100644
index 0000000..4b59f13
--- /dev/null
+++ b/rokae/assets/protocols/overview.get_autoload.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.get_autoload",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/overview.get_cur_prj.json b/rokae/assets/protocols/overview.get_cur_prj.json
new file mode 100644
index 0000000..ab192ad
--- /dev/null
+++ b/rokae/assets/protocols/overview.get_cur_prj.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.get_cur_prj",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/overview.reload.json b/rokae/assets/protocols/overview.reload.json
new file mode 100644
index 0000000..185f8ba
--- /dev/null
+++ b/rokae/assets/protocols/overview.reload.json
@@ -0,0 +1,10 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.reload",
+  "data": {
+	  "prj_path": "",
+	  "tasks": []
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/overview.set_autoload.json b/rokae/assets/protocols/overview.set_autoload.json
new file mode 100644
index 0000000..928bb9f
--- /dev/null
+++ b/rokae/assets/protocols/overview.set_autoload.json
@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.set_autoload",
+  "data": {
+    "autoload_prj_path": ""
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/register.set_value.json b/rokae/assets/protocols/register.set_value.json
new file mode 100644
index 0000000..d4cded4
--- /dev/null
+++ b/rokae/assets/protocols/register.set_value.json
@@ -0,0 +1,12 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "fieldbus",
+  "command": "register.set_value",
+  "data": {
+	"name": "",
+	"type": "bool",
+	"bias": 0,
+	"value": 0
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/rl_task.pp_to_main.json b/rokae/assets/protocols/rl_task.pp_to_main.json
new file mode 100644
index 0000000..c5f518e
--- /dev/null
+++ b/rokae/assets/protocols/rl_task.pp_to_main.json
@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.pp_to_main",
+  "data": {
+	"tasks": []
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/rl_task.run.json b/rokae/assets/protocols/rl_task.run.json
new file mode 100644
index 0000000..534a5fd
--- /dev/null
+++ b/rokae/assets/protocols/rl_task.run.json
@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.run",
+  "data": {
+	"tasks": []
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/rl_task.set_run_params.json b/rokae/assets/protocols/rl_task.set_run_params.json
new file mode 100644
index 0000000..efc5368
--- /dev/null
+++ b/rokae/assets/protocols/rl_task.set_run_params.json
@@ -0,0 +1,10 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.set_run_params",
+  "data": {
+	"loop_mode": true,
+	"override": 1.0
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/rl_task.stop.json b/rokae/assets/protocols/rl_task.stop.json
new file mode 100644
index 0000000..0fe2a91
--- /dev/null
+++ b/rokae/assets/protocols/rl_task.stop.json
@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.stop",
+  "data": {
+	"tasks": []
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/safety.safety_area.overall_enable.json b/rokae/assets/protocols/safety.safety_area.overall_enable.json
new file mode 100644
index 0000000..694946e
--- /dev/null
+++ b/rokae/assets/protocols/safety.safety_area.overall_enable.json
@@ -0,0 +1,9 @@
+{
+    "id": "xxxxxxxxxxx",
+	"c": {
+        "safety.safety_area.overall_enable": {
+            "enable": true
+        }
+    },
+	"p_type": 1
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/safety.safety_area.safety_area_enable.json b/rokae/assets/protocols/safety.safety_area.safety_area_enable.json
new file mode 100644
index 0000000..723e1cf
--- /dev/null
+++ b/rokae/assets/protocols/safety.safety_area.safety_area_enable.json
@@ -0,0 +1,10 @@
+{
+    "id": "xxxxxxxxxxx",
+	"c": {
+        "safety.safety_area.safety_area_enable": {
+            "id": 0,
+            "enable": true
+        }
+    },
+	"p_type": 1
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/safety.safety_area.set_param.json b/rokae/assets/protocols/safety.safety_area.set_param.json
new file mode 100644
index 0000000..1205fe0
--- /dev/null
+++ b/rokae/assets/protocols/safety.safety_area.set_param.json
@@ -0,0 +1,7 @@
+{
+    "id": "xxxxxxxxxxx",
+	"c": {
+        "safety.safety_area.set_param": null
+    },
+	"p_type": 1
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/safety.safety_area.signal_enable.json b/rokae/assets/protocols/safety.safety_area.signal_enable.json
new file mode 100644
index 0000000..2a37a4c
--- /dev/null
+++ b/rokae/assets/protocols/safety.safety_area.signal_enable.json
@@ -0,0 +1,9 @@
+{
+    "id": "xxxxxxxxxxx",
+	"c": {
+		"safety.safety_area.signal_enable": {
+			"signal": true
+		}
+	},
+	"p_type": 1
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/safety_area_data.json b/rokae/assets/protocols/safety_area_data.json
new file mode 100644
index 0000000..cd43bdd
--- /dev/null
+++ b/rokae/assets/protocols/safety_area_data.json
@@ -0,0 +1,7 @@
+{
+    "id": "xxxxxxxxxxx",
+	"g": {
+        "safety_area_data": null
+    },
+	"p_type": 1
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/servo.clear_alarm.json b/rokae/assets/protocols/servo.clear_alarm.json
new file mode 100644
index 0000000..cffeb4e
--- /dev/null
+++ b/rokae/assets/protocols/servo.clear_alarm.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "robot",
+    "command": "servo.clear_alarm",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/socket.get_params.json b/rokae/assets/protocols/socket.get_params.json
new file mode 100644
index 0000000..6a92e1d
--- /dev/null
+++ b/rokae/assets/protocols/socket.get_params.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "network",
+    "command": "socket.get_params",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/socket.set_params.json b/rokae/assets/protocols/socket.set_params.json
new file mode 100644
index 0000000..2507cfb
--- /dev/null
+++ b/rokae/assets/protocols/socket.set_params.json
@@ -0,0 +1,18 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "network",
+    "command": "socket.set_params",
+    "data": {
+        "enable": true,
+        "ip": "",
+        "name": "c1",
+        "port": "8080",
+        "suffix": "\r",
+        "type": 1,
+        "reconnect_flag": false,
+        "auto_connect": true,
+        "disconnection_triggering_behavior": 0,
+        "disconnection_detection_time": 10
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/soft_limit.get_params.json b/rokae/assets/protocols/soft_limit.get_params.json
new file mode 100644
index 0000000..861b1ee
--- /dev/null
+++ b/rokae/assets/protocols/soft_limit.get_params.json
@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "soft_limit.get_params",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/soft_limit.set_params.json b/rokae/assets/protocols/soft_limit.set_params.json
new file mode 100644
index 0000000..eda482b
--- /dev/null
+++ b/rokae/assets/protocols/soft_limit.set_params.json
@@ -0,0 +1,13 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "soft_limit.set_params",
+    "data": {  
+        "enable": true,
+        "upper": [0,0,0,0,0,0,0],
+        "lower": [0,0,0,0,0,0,0],
+        "reduced_upper": [0,0,0,0,0,0,0],
+        "reduced_lower": [0,0,0,0,0,0,0]
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/state.get_state.json b/rokae/assets/protocols/state.get_state.json
new file mode 100644
index 0000000..c3e92fa
--- /dev/null
+++ b/rokae/assets/protocols/state.get_state.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.get_state",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/state.get_tp_mode.json b/rokae/assets/protocols/state.get_tp_mode.json
new file mode 100644
index 0000000..3d41c3b
--- /dev/null
+++ b/rokae/assets/protocols/state.get_tp_mode.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.get_tp_mode",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/state.set_tp_mode.json b/rokae/assets/protocols/state.set_tp_mode.json
new file mode 100644
index 0000000..7185d96
--- /dev/null
+++ b/rokae/assets/protocols/state.set_tp_mode.json
@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.set_tp_mode",
+  "data": {
+	  "tp_mode": "with"
+  },
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/state.switch_auto.json b/rokae/assets/protocols/state.switch_auto.json
new file mode 100644
index 0000000..67d5635
--- /dev/null
+++ b/rokae/assets/protocols/state.switch_auto.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_auto",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/state.switch_manual.json b/rokae/assets/protocols/state.switch_manual.json
new file mode 100644
index 0000000..7b08ce6
--- /dev/null
+++ b/rokae/assets/protocols/state.switch_manual.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_manual",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/state.switch_motor_off.json b/rokae/assets/protocols/state.switch_motor_off.json
new file mode 100644
index 0000000..e6f7357
--- /dev/null
+++ b/rokae/assets/protocols/state.switch_motor_off.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_motor_off",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/state.switch_motor_on.json b/rokae/assets/protocols/state.switch_motor_on.json
new file mode 100644
index 0000000..cba491e
--- /dev/null
+++ b/rokae/assets/protocols/state.switch_motor_on.json
@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_motor_on",
+  "p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/system_io.query_configuration.json b/rokae/assets/protocols/system_io.query_configuration.json
new file mode 100644
index 0000000..c9120d3
--- /dev/null
+++ b/rokae/assets/protocols/system_io.query_configuration.json
@@ -0,0 +1,6 @@
+{    
+	"id": "xxxxxxxxxxx",
+	"module": "io",
+	"command": "system_io.query_configuration",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/system_io.query_event_cfg.json b/rokae/assets/protocols/system_io.query_event_cfg.json
new file mode 100644
index 0000000..69e69e4
--- /dev/null
+++ b/rokae/assets/protocols/system_io.query_event_cfg.json
@@ -0,0 +1,6 @@
+{    
+	"id": "xxxxxxxxxxx",
+	"module": "io",
+	"command": "system_io.query_event_cfg",
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/system_io.update_configuration.json b/rokae/assets/protocols/system_io.update_configuration.json
new file mode 100644
index 0000000..bc5bac8
--- /dev/null
+++ b/rokae/assets/protocols/system_io.update_configuration.json
@@ -0,0 +1,10 @@
+{  
+    "id": "xxxxxxxxxxx",
+	"module": "io",
+	"command": "system_io.update_configuration",
+    "data": {
+        "input_system_io": {},
+        "output_system_io": {}
+    },
+	"p_type": 0
+}
\ No newline at end of file
diff --git a/rokae/assets/protocols/原理/协议原理.xlsx b/rokae/assets/protocols/原理/协议原理.xlsx
new file mode 100644
index 0000000..6cded74
Binary files /dev/null and b/rokae/assets/protocols/原理/协议原理.xlsx differ
diff --git a/rokae/assets/protocols/原理/文件包通信协议.png b/rokae/assets/protocols/原理/文件包通信协议.png
new file mode 100644
index 0000000..b839bb7
Binary files /dev/null and b/rokae/assets/protocols/原理/文件包通信协议.png differ
diff --git a/rokae/assets/protocols/原理/解包示例.txt b/rokae/assets/protocols/原理/解包示例.txt
new file mode 100644
index 0000000..17029a8
--- /dev/null
+++ b/rokae/assets/protocols/原理/解包示例.txt
@@ -0,0 +1,56 @@
+b'\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340\x01o429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-h\x02\x00{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0'
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+b'0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\x04\x00\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n'
+b'\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.\x04\x000,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n'
+b'\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1\x04\x00.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.'
+b'0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t\x04\x001.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : '
+b'\n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5\x04\x00.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429'
+b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-\x8f\x02\x00{\n\t"command"'
+
+
+
+> - 封包解包顺序：帧长度二字节/包长度四字节/协议二字节/预留二字节，\x04\x00:\x00\x00\tR:\x02:\x00
+> - 帧长度和包长度没有必然关系，单帧的时候是帧长度减去包长度等于6，包长度指的是所有内容的长度
+> - HMI内部每次发送1024个字节，进行分包，有效内容长度规则是：第一帧 frm_value-6(帧大小减去包头长度)，第二帧（包含）及之后的帧，帧大小即是数据长度
+
+
+==================================================================================================
+单包多帧示例
+\x04\x00\x00\x00-h\x02\x00
+frm_value = int.from_bytes(b"\x04\x00") = 1024     |  每次发送的帧的报文总长度，包括包头（如果有），但不包括帧头
+pkg_value = int.from_bytes(b"\x00\x00-h") = 11624  |  包长度是不包括所有的帧和包报文头的，单包单帧的情况也是一样的
+pkg_size = 6 字节
+有效数据长度 = 10240 + 402 + 1004 - 20 - 2(首个帧头) = 11624
+有效数据长度+包报文头 = 11624 + 6 = 11630
+有效数据长度+包报文头+帧报文头 = 11624 + 6 + 22 = 11652
+首帧长度 1018=frm_value-pkg_size=1024-6：如下是第一帧和第二帧的拼接
+b'{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.00012044146029883355,\n\t\t\t\t-0.0022272681986605192,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.002697798'
+单帧长度 1024：如下是第二帧和第三帧的拼接
+b'8290070812,\n\t\t\t\t0.00050648330506263212,\n\t\t\t\t-0.0,\n\t\t\t\t0.0020753681479851243,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t3.5952674716069715e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.0001496530085056402,\n\t\t\t\t0.0001276319952420475,\n\t\t\t\t-0.0027252127434780845,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0026977988290070812,\n\t\t\t\t8.5387602450665581e-06,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0,\n\t\t\t\t7.1905349432139438e-06,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.1984224905356572e-06,\n\t\t\t\t0.00010705907582118537,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0024236097500266104,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0024240092241901226,\n\t\t'
+
+---------------------------------------------------------------------------------------------------
+第一帧有效 - 402
+b'{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0'
+---------------------------------------------------------------------------------------------------
+中间有 10 帧，共计 10240 个字节，也有 10 个 \x04\x00，共计 20 个字节
+---------------------------------------------------------------------------------------------------
+最后一帧有效 - 1004
+b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}'
+---------------------------------------------------------------------------------------------------
+
+==================================================================================================
+单包单帧示例
+\x00\\\x00\x00\x00V\x02\x00
+frm_value = int.from_bytes(b"\x00\\") = 92         |  每次发送的帧的报文总长度，包括包头（如果有），但不包括帧头
+pkg_value = int.from_bytes(b"\x00\x00\x00V") = 86  |  包长度是不包括所有的帧和包报文头的，单包单帧的情况也是一样的
+pkg_size = 6
+有效数据长度 = 86
+有效数据长度+包报文头 = 86 + 6 = 92
+有效数据长度+包报文头+帧报文头 = 86 + 6 +2 = 94
+帧长度 86=frm_value-pkg_size=92-6
+
+b'\x00\\\x00\x00\x00V\x02\x00{\n\t"data" : \n\t{\n\t\t"name" : "xCore"\n\t},\n\t"id" : "controller.heart-1719734550.9790015"\n}'
diff --git a/rokae/assets/protocols/原理/通信协议.png b/rokae/assets/protocols/原理/通信协议.png
new file mode 100644
index 0000000..b0a07fd
Binary files /dev/null and b/rokae/assets/protocols/原理/通信协议.png differ
diff --git a/rokae/codes/__init__.py b/rokae/codes/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/rokae/codes/clibs.py b/rokae/codes/clibs.py
new file mode 100644
index 0000000..6f6d384
--- /dev/null
+++ b/rokae/codes/clibs.py
@@ -0,0 +1,101 @@
+import json
+from pathlib import Path
+import sqlite3
+import threading
+import time
+import atexit
+
+
+def init_logdb():
+    conn = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=2048)
+    cursor = conn.cursor()
+    cursor.execute("PRAGMA journal_mode=wal")
+    cursor.execute("PRAGMA wal_checkpoint=TRUNCATE")
+    cursor.execute("PRAGMA synchronous=normal")
+    cursor.execute("PRAGMA temp_store=memory")
+    cursor.execute("PRAGMA mmap_size=30000000000")
+    cursor.execute("PRAGMA cache_size=200000")
+    cursor.execute(
+        """
+        create table if not exists logs(
+            id integer primary key autoincrement,
+            timestamp DATETIME DEFAULT(STRFTIME('%Y-%m-%d %H:%M:%f', 'NOW', 'localtime')),
+            level text,
+            module text,
+            content text
+        )
+        """
+    )
+    return conn, cursor
+
+
+def db_lock(func):
+    def wrapper(*args, **kwargs):
+        try:
+            lock.acquire(True)
+            ret = func(*args, **kwargs)
+        finally:
+            lock.release()
+        return ret
+    return wrapper
+
+
+def detect_db_size():
+    @db_lock
+    def release_memory():
+        line_number = 20000
+        leftover = 4000  # 200s
+        cursor.execute("SELECT COUNT(id) FROM logs")
+        len_records = cursor.fetchone()[0]
+        if len_records > line_number:
+            del_num = len_records - leftover + 1
+            cursor.execute(f"DELETE FROM logs WHERE id < {del_num}")
+            cursor.execute(f"UPDATE logs SET id=(id-{del_num - 1}) WHERE id > {del_num - 1}")
+            cursor.execute(f"UPDATE sqlite_sequence SET seq = {leftover + 1} WHERE name = 'logs' ")
+            cursor.execute("VACUUM")
+
+    while True:
+        release_memory()
+        time.sleep(interval*30)
+
+
+@db_lock
+def to_logdb(level="", module="", content=""):
+    if "move.monitor" in content:
+        return
+    cursor.execute(f"INSERT INTO logs (level, module, content) VALUES (?, ?, ?)", (level.upper(), module, content))
+
+
+def save_logdb():
+    db_file = str(Path.home()) + "\\Downloads\\aio.db"
+    disk_db = sqlite3.connect(db_file)
+    conn.backup(disk_db)
+    disk_db.close()
+    conn.close()
+
+
+# ===========================================================================
+base_path = Path(__file__).parent.parent
+with open(f"{base_path}/assets/confs/configs.json", mode="r", encoding="utf-8") as f_cfg:
+    cfg = json.load(f_cfg)
+    ip_addr = cfg["ip_addr"]
+    ssh_port = cfg["ssh_port"]
+    socket_port = cfg["socket_port"]
+    xService_port = cfg["xService_port"]
+    external_port = cfg["external_port"]
+    modbus_port = cfg["modbus_port"]
+    upgrade_port = cfg["upgrade_port"]
+    interval = cfg["interval"]
+    max_frame_size = cfg["max_frame_size"]
+    MAX_RECEIVED_SIZE = cfg["MAX_RECEIVED_SIZE"]
+    suffix = cfg["suffix"]
+    username = cfg["username"]
+    password = cfg["password"]
+    retry_time = cfg["retry_time"]
+
+lock = threading.Lock()
+conn, cursor = init_logdb()
+atexit.register(save_logdb)
+t = threading.Thread(target=detect_db_size)
+t.daemon = True
+t.start()
diff --git a/rokae/codes/openapi.py b/rokae/codes/openapi.py
new file mode 100644
index 0000000..b29cfbc
--- /dev/null
+++ b/rokae/codes/openapi.py
@@ -0,0 +1,1041 @@
+import json
+import socket
+import time
+import os
+import selectors
+import threading
+from datetime import datetime
+import hashlib
+from typing import Callable, Dict
+
+from loguru import logger
+from pymodbus.client.tcp import ModbusTcpClient
+from paramiko import SSHClient, AutoAddPolicy
+
+from codes import clibs
+
+
+class HmiRequest:
+    def __init__(self):
+        self.c = self.c_xs = self.t_rx_pkg = self.t_rx_pkg_xs = self.t_s_heart = None
+        self.data = self.data_xs = b""
+        self.is_connected = True
+        self.sock_conn()
+
+    def sock_conn(self):
+        count = 0
+        while True:
+            try:
+                self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                self.c.settimeout(clibs.interval * 3)
+                self.c.connect((clibs.ip_addr, clibs.socket_port))
+                self.c.setblocking(False)
+                self.c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                self.c_xs.settimeout(clibs.interval * 3)
+                self.c_xs.connect((clibs.ip_addr, clibs.xService_port))
+                self.c_xs.setblocking(False)
+                for _ in range(3):
+                    _ = self.exec_cmd("controller.heart")
+                    time.sleep(clibs.interval/4)
+                count += 1
+                if count > 3:
+                    logger.success("hr: HMI connection success")
+                    break
+            except Exception as e:
+                clibs.to_logdb("error", "HmiRequest", str(e))
+                logger.warning(f"hr: HMI connection failed, will retry after {clibs.retry_time}s")
+                try:
+                    self.c.close()
+                    self.c_xs.close()
+                except Exception as e:
+                    clibs.to_logdb("error", "HmiRequest", str(e))
+                count = 0
+                time.sleep(clibs.retry_time)
+
+        self.t_rx_pkg = threading.Thread(target=self.rx_pkg, args=(self.c,))
+        self.t_rx_pkg.daemon = True
+        self.t_rx_pkg.start()
+        self.t_rx_pkg_xs = threading.Thread(target=self.rx_pkg, args=(self.c_xs,))
+        self.t_rx_pkg_xs.daemon = True
+        self.t_rx_pkg_xs.start()
+        self.t_s_heart = threading.Thread(target=self.s_heart)
+        self.t_s_heart.daemon = True
+        self.t_s_heart.start()
+
+    def close(self):
+        self.is_connected = False
+        time.sleep(clibs.interval)
+        try:
+            self.c.close()
+            self.c_xs.close()
+        except Exception as e:
+            clibs.to_logdb("error", "HmiRequest", str(e))
+        finally:
+            logger.info("hr: HMI connection has been disconnected")
+
+    def s_heart(self):
+        while self.is_connected:
+            self.exec_cmd("controller.heart")
+            time.sleep(clibs.interval)
+
+    @staticmethod
+    def tx_pkg(cmd):
+        frm = (len(cmd) + 6).to_bytes(length=2)
+        pkg = len(cmd).to_bytes(length=4)
+        protocol = int(2).to_bytes()
+        reserved = int(0).to_bytes()
+        return frm + pkg + protocol + reserved + cmd.encode()
+
+    @staticmethod
+    def tx_pkg_xs(cmd):
+        return "".join([cmd, "\r"]).encode()
+
+    def rx_pkg(self, sock):
+        def to_read(conn, mask):
+            data = conn.recv(clibs.MAX_RECEIVED_SIZE)
+            if data:
+                ip, port = sock.getpeername()
+                func_dict[port](data)
+
+            else:
+                sel.unregister(conn)
+                conn.close()
+
+        func_dict: Dict[int, Callable[[bytes], None]] = {clibs.socket_port: self.get_response, clibs.xService_port: self.get_response_xs}
+        try:
+            sel = selectors.DefaultSelector()
+            sel.register(sock, selectors.EVENT_READ, to_read)
+            while self.is_connected:
+                events = sel.select()
+                for key, mask in events:
+                    callback = key.data
+                    callback(key.fileobj, mask)
+        except Exception as e:
+            clibs.to_logdb("error", "HmiRequest", str(e))
+
+    def get_response(self, data: bytes) -> None:
+        def get_valid_data():
+            nonlocal record, frm_number, pkg_number
+            valid_data, is_first_frame = b"", True
+            while len(record) != 0:
+                if is_first_frame is True:
+                    is_first_frame = False
+                    valid_data += record[8:8 + frm_number - 6]
+                    record = record[8 + frm_number - 6:]
+
+                frm_number = int.from_bytes(record[:2])
+                valid_data += record[2:2 + frm_number]
+                record = record[2 + frm_number:]
+            else:
+                if len(valid_data) != pkg_number:
+                    logger.error("hr: 数据校验失败，解包有误，需要检查！")
+                    raise Exception()
+            return str(json.loads(valid_data.decode()))
+
+        self.data += data
+        frm_number = int.from_bytes(self.data[0:2])
+        pkg_number = int.from_bytes(self.data[2:6])
+        protocol = int.from_bytes(self.data[6:7])
+        reserved = int.from_bytes(self.data[7:8])
+
+        if frm_number == pkg_number + 6 and protocol == 2 and reserved == 0:
+            record_len = pkg_number+8
+            record, self.data = self.data[:record_len], self.data[record_len:]
+            clibs.to_logdb("debug", "HmiRequest", str(json.loads(record[8:].decode())))
+
+        elif frm_number == clibs.max_frame_size and pkg_number > clibs.max_frame_size - 8 and protocol == 2 and reserved == 0:
+            one_or_zero = 1 if (pkg_number - 1018) % clibs.max_frame_size > 0 else 0
+            record_len = pkg_number + 8 + ((pkg_number - 1018) // clibs.max_frame_size + one_or_zero) * 2
+            if len(self.data) < record_len:
+                return
+            record, self.data = self.data[:record_len], self.data[record_len:]
+            clibs.to_logdb("debug", "HmiRequest", get_valid_data())
+
+        else:
+            logger.critical(f"hr: 其他未考虑到的情况：data = {self.data}")
+            raise Exception()
+
+    def get_response_xs(self, data: bytes) -> None:
+        self.data_xs += data
+        res = self.data_xs.split(b"\r", 1)
+        if len(res) != 2:
+            return
+
+        record, self.data_xs = res
+        clibs.to_logdb("debug", "HmiRequest", str(json.loads(record)))
+
+    @staticmethod
+    def get_from_id(msg_id: str) -> str:
+        f_text, flag, records, time_delay = f"%{msg_id}%", False, "Null", clibs.interval*10
+        cmd, ts = msg_id.split("@")
+        t = ts.replace("T", " ")
+        t_ts = datetime.timestamp(datetime.strptime(t, "%Y-%m-%d %H:%M:%S.%f"))
+        t_send = datetime.strftime(datetime.fromtimestamp(t_ts-time_delay), '%Y-%m-%d %H:%M:%S.%f')
+        t_receive = datetime.strftime(datetime.fromtimestamp(t_ts+time_delay), '%Y-%m-%d %H:%M:%S.%f')
+        for idx in range(time_delay):
+            time.sleep(clibs.interval)
+            try:
+                clibs.lock.acquire(True)
+                clibs.cursor.execute(f"SELECT content FROM logs WHERE timestamp BETWEEN '{t_send}' AND '{t_receive}' AND content LIKE '{f_text}'")
+                records = clibs.cursor.fetchall()
+                flag = True if len(records) == 1 else False
+            finally:
+                clibs.lock.release()
+                if flag is True:
+                    return records[0][0]
+        else:
+            logger.error(f"hr: {time_delay}s内无法找到请求 {msg_id} 的响应！")
+            # raise Exception()
+
+    def exec_cmd(self, cmd, **kwargs):
+        try:
+            with open(f"{clibs.base_path}/assets/protocols/{cmd}.json", mode="r", encoding="utf-8") as f_cmd:
+                req = json.load(f_cmd)
+                t = datetime.now().strftime("%Y-%m-%dT%H:%M:%S.%f")
+                req["id"] = f"{cmd}@{t}"
+                p_type = req["p_type"]
+                del req["p_type"]
+        except FileNotFoundError as err:
+            logger.error(f"hr: 暂不支持 {cmd} 功能，或确认该功能存在，err = {err}")
+            raise Exception()
+
+        match cmd:
+            case "state.set_tp_mode" | "overview.set_autoload" | "overview.reload" | "rl_task.pp_to_main" | "rl_task.run" | "rl_task.stop" | "rl_task.set_run_params" | "diagnosis.set_params" | "diagnosis.open" | "drag.set_params" | "controller.set_params" | "collision.set_params" | "move.set_quickstop_distance" | "move.set_params" | "move.set_monitor_cfg" | "modbus.get_values" | "modbus.set_params" | "system_io.update_configuration" | "diagnosis.get_params" | "jog.set_params" | "jog.start" | "move.stop" | "move.quick_turn" | "move.set_quickturn_pos" | "soft_limit.set_params" | "fieldbus_device.set_params" | "socket.set_params" | "diagnosis.save" | "register.set_value":
+                req["data"].update(kwargs)
+            case "safety.safety_area.signal_enable" | "safety.safety_area.overall_enable" | "safety.safety_area.safety_area_enable" | "safety.safety_area.set_param":
+                req["c"].update(kwargs)
+            case "log_code.data.code_list":
+                req["s"]["log_code.data"]["code_list"] = kwargs["code_list"]
+            case _:
+                pass
+
+        cmd = json.dumps(req, separators=(",", ":"))
+        if p_type == 0:
+            self.c.send(self.tx_pkg(cmd))
+        elif p_type == 1:
+            self.c_xs.send(self.tx_pkg_xs(cmd))
+        else:
+            raise Exception("Unexpected CMD Input")
+
+        return req["id"]
+
+
+class ModbusRequest:
+    def __init__(self):
+        self.c = None
+        self.sock_conn()
+
+    def sock_conn(self):
+        self.c = ModbusTcpClient(host=clibs.ip_addr, port=clibs.modbus_port)
+        if self.c.connect():
+            logger.success(f"md: Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) success!")
+        else:
+            logger.error(f"md: Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed!")
+            raise Exception()
+
+    def __reg_high_pulse(self, addr: int, desc: str) -> None:
+        self.c.write_register(addr, 0)
+        time.sleep(clibs.interval/4)
+        self.c.write_register(addr, 1)
+        time.sleep(clibs.interval/4)
+        self.c.write_register(addr, 0)
+        logger.info(f"md: {addr}-010 执行{desc}的操作")
+
+    def r_clear_alarm(self):
+        self.__reg_high_pulse(40000, "清除告警信息")
+
+    def r_reset_estop(self):
+        self.__reg_high_pulse(40001, "复位外部急停状态")
+
+    def r_reset_estop_clear_alarm(self):
+        self.__reg_high_pulse(40002, "复位外部急停状态，并清除告警信息")
+
+    def r_motor_off(self):
+        self.__reg_high_pulse(40004, "上电")
+
+    def r_motor_on(self):
+        self.__reg_high_pulse(40005, "下电")
+
+    def r_motor_on_off(self, action: bool):
+        self.c.write_register(40006, action)
+        desc = {False: "下电", True: "上电"}
+        logger.info(f"md: 40006-{action} 执行{desc[action]}的操作")
+        time.sleep(clibs.interval)
+
+    def r_motoron_pp2main_start(self):
+        self.__reg_high_pulse(40007, "上电/pp2main/开始运行程序")
+
+    def r_motoron_start(self):
+        self.__reg_high_pulse(40008, "上电/开始运行程序")
+
+    def r_pulse_motoroff(self):
+        self.__reg_high_pulse(40009, "停止并下电")
+
+    def r_pp2main(self):
+        self.__reg_high_pulse(40010, "pp2main")
+
+    def r_program_start(self):
+        self.__reg_high_pulse(40011, "启动程序运行")
+
+    def r_program_stop(self):
+        self.__reg_high_pulse(40012, "停止程序运行")
+
+    def r_program_start_stop(self, action: bool):
+        self.c.write_register(40013, action)
+        desc = {False: "停止程序运行", True: "启动程序运行"}
+        logger.info(f"md: 40013-{action} 执行{desc[action]}的操作")
+        time.sleep(clibs.interval)
+
+    def r_set_program_speed(self, speed: int):
+        result = self.c.convert_to_registers(int(speed), self.c.DATATYPE.INT32, "little")
+        self.c.write_registers(40014, result)
+        logger.info(f"md: 40014 设置程序运行速度为程序给定速度的{speed}%")
+
+    def r_soft_estop(self, action: bool):
+        self.c.write_register(40015, action)
+        desc = {False: "触发软急停状态", True: "解除软急停状态"}
+        logger.info(f"md: 40015-{action} 执行{desc[action]}的操作")
+        time.sleep(clibs.interval)
+
+    def r_switch_auto_motoron(self):
+        self.__reg_high_pulse(40016, "切换为自动模式并上电")
+
+    def r_switch_auto(self):
+        self.__reg_high_pulse(40017, "切换为自动模式")
+
+    def r_switch_manual(self):
+        self.__reg_high_pulse(40018, "切换为手动模式")
+
+    def r_switch_auto_manual(self, action: bool):
+        self.c.write_register(40019, action)
+        desc = {False: "切换为手动模式", True: "切换为自动模式"}
+        logger.info(f"md: 40019-{action} 执行{desc[action]}的操作")
+        time.sleep(clibs.interval)
+
+    def r_reduced_mode(self, action: bool):
+        self.c.write_register(40020, action)
+        desc = {False: "退出缩减模式", True: "进入缩减模式"}
+        logger.info(f"md: 40020-{action} 执行{desc[action]}的操作")
+        time.sleep(clibs.interval)
+
+    def r_switch_safe_region(self, idx: int, enable: bool):
+        addr = 40020 + idx
+        if enable:
+            self.c.write_register(addr, False)
+            time.sleep(clibs.interval)
+            self.c.write_register(addr, True)
+        else:
+            self.c.write_register(addr, True)
+            time.sleep(clibs.interval)
+            self.c.write_register(addr, False)
+        desc = {False: "关闭安全区域", True: "打开安全区域"}
+        logger.info(f"md: {addr}-{enable} 执行{desc[enable]}[{idx}]的操作")
+
+    def __get_state(self, addr: int, count: int = 1, **kwargs):
+        res = self.c.read_holding_registers(addr, count=count).registers[0]
+        logger.info(f"md: {addr}-{kwargs['func']}，结果为{res} {kwargs['desc']}")
+        return res
+
+    @property
+    def w_alarm_state(self):
+        return self.__get_state(41000, func="告警状态", desc=":--: 0表示无告警，1表示有告警")
+
+    @property
+    def w_sta_collision(self):
+        return self.__get_state(41001, func="碰撞检测状态", desc=":--: 0表示无碰撞，1表示检测到碰撞")
+
+    @property
+    def w_sta_collision_alarm(self):
+        return self.__get_state(41002, func="碰撞检测报警", desc=":--: 0表示无碰撞，1表示检测到碰撞")
+
+    @property
+    def w_sta_collision_open(self):
+        return self.__get_state(41003, func="碰撞检测开启状态", desc=":--: 0表示未开启，1表示已开启")
+
+    @property
+    def w_controller_is_running(self):
+        return self.__get_state(41004, func="控制器运行状态", desc=":--: 0表示未运行，1表示已运行")
+
+    @property
+    def w_encoder_low_battery(self):
+        return self.__get_state(41005, func="编码器低电压报警状态", desc=":--: 0表示正常，1表示异常")
+
+    @property
+    def w_sta_error_code(self):
+        result = self.c.read_holding_registers(41006, count=2)
+        error_code = self.c.convert_from_registers(registers=result.registers, data_type=self.c.DATATYPE.INT16, word_order="little")[0]
+        return error_code+30000
+
+    @property
+    def w_sta_estop(self):
+        return self.__get_state(41007, func="外部急停状态", desc=":--: 0表示非急停，1表示急停")
+
+    @property
+    def w_sta_heartbeat(self):
+        return self.__get_state(41008, func="心跳电平状态", desc=":--: 0表示低电平，1表示高电平")
+
+    @property
+    def w_sta_home(self):
+        return self.__get_state(41009, func="当前点是否是home点", desc=":--: 0表示非home点，1表示home点")
+
+    @property
+    def w_sta_motor(self):
+        return self.__get_state(41011, func="上电状态", desc=":--: 0表示下电，1表示上电")
+
+    @property
+    def w_sta_operation_mode(self):
+        return self.__get_state(41012, func="运行模式", desc=":--: 0表示手动，1表示自动")
+
+    @property
+    def w_sta_program(self):
+        return self.__get_state(41013, func="程序运行状态", desc=":--: 0表示未运行，1表示正在运行")
+
+    @property
+    def w_sta_program_full(self):
+        result = self.c.read_holding_registers(41014, count=2)
+        return self.c.convert_from_registers(registers=result.registers, data_type=self.c.DATATYPE.INT16, word_order="little")[0]
+
+    @property
+    def w_sta_program_not_run(self):
+        return self.__get_state(41015, func="程序未运行状态", desc=":--: 0表示正在运行，1表示未运行")
+
+    @property
+    def w_sta_program_reset(self):
+        return self.__get_state(41016, func="程序指针复位状态", desc=":--: 0表示未复位，1表示已复位")
+
+    @property
+    def w_sta_program_speed(self):
+        result = self.c.read_holding_registers(41017, count=2)
+        return self.c.convert_from_registers(registers=result.registers, data_type=self.c.DATATYPE.INT16, word_order="little")[0]
+
+    @property
+    def w_sta_reduce_mode(self):
+        return self.__get_state(41018, func="缩减模式状态", desc=":--: 0表示非缩减模式，1表示缩减模式")
+
+    @property
+    def w_sta_robot_is_busy(self):
+        return self.__get_state(41019, func="机器人忙碌状态", desc=":--: 0表示空闲，1表示忙碌")
+
+    @property
+    def w_sta_robot_is_moving(self):
+        return self.__get_state(41020, func="机器人运动状态", desc=":--: 0表示非运动状态，1表示正在运动")
+
+    @property
+    def w_safe_door_state(self):
+        return self.__get_state(41021, func="安全门状态", desc=":--: 0表示未触发，1表示已触发")
+
+    @property
+    def w_sta_safe_jnt_pos(self):
+        res = [self.c.read_holding_registers(41022+idx, count=1).registers[0] for idx in range(8)]
+        logger.info(f"md: 41022-41029-安全位置触发状态 结果为{res}")
+        return res
+
+    @property
+    def w_sta_soft_estop(self):
+        return self.__get_state(41030, func="软急停状态", desc=":--: 0表示未触发，1表示已触发")
+
+    @property
+    def w_sta_safe_region(self):
+        res = [self.c.read_holding_registers(41031+idx, count=1).registers[0] for idx in range(10)]
+        logger.info(f"md: 41031-41040-安全区域触发状态 结果为{res} :--: 0表示未触发，1表示已触发")
+        return res
+
+    @property
+    def w_sta_on_path(self):
+        return self.__get_state(41030, func="当前是否在预设轨迹上", desc=":--: 0表示偏离预设轨迹，1表示在规划轨迹上")
+
+    @property
+    def w_sta_near_path(self):
+        return self.__get_state(41030, func="当前是否在预设轨迹附近", desc=":--: 0表示偏离预设轨迹附近的标准，1表示在规划轨迹附近")
+
+    @property
+    def w_sta_cart_pose(self) -> list:
+        res = self.c.read_holding_registers(41043, count=14)
+        return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little")
+
+    @property
+    def w_sta_cart_vel(self) -> list:
+        res = self.c.read_holding_registers(41057, count=14)
+        return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little")
+
+    @property
+    def w_sta_jnt_pose(self) -> list:
+        res = self.c.read_holding_registers(41071, count=14)
+        return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little")
+
+    @property
+    def w_sta_jnt_vel(self) -> list:
+        res = self.c.read_holding_registers(41085, count=14)
+        return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little")
+
+    @property
+    def w_sta_tcp_pose(self) -> list:
+        res = self.c.read_holding_registers(41113, count=14)
+        return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little")
+
+    @property
+    def w_sta_tcp_vel(self) -> list:
+        res = self.c.read_holding_registers(41127, count=14)
+        return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little")
+
+    @property
+    def w_sta_tcp_vel_mag(self):
+        res = self.c.read_holding_registers(41141, count=2)
+        return self.c.convert_from_registers(registers=res.registers, data_type=self.c.DATATYPE.FLOAT32, word_order="little")
+
+    def io_write_coils(self, addr, value: bool):
+        # e.g. io_write_coils(0, 1)  给0号DI赋值为1
+        self.c.write_coils(addr, [value, ])
+        logger.info(f"md: 执行给DI地址{addr}赋值为{value}")
+
+    def io_read_coils(self):
+        res = self.c.read_coils(0, count=16).bits
+        logger.info(f"md: 执行读取所有DI的结果为{res}")
+        return res
+
+    def io_read_discretes(self):
+        res = self.c.read_discrete_inputs(0, count=16).bits
+        logger.info(f"md: 执行读取所有DO的结果为{res}")
+        return res
+
+
+class EcRequest:
+    def __init__(self):
+        self.c = None
+        self.exec_desc = " :--: true表示执行成功，false表示执行失败"
+        self.sock_conn()
+
+    def sock_conn(self):
+        try:
+            self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.c.setblocking(False)
+            self.c.settimeout(clibs.interval*3)
+            self.c.connect((clibs.ip_addr, clibs.external_port))
+            logger.success(f"ec: 外部通信连接成功")
+        except Exception as e:
+            logger.success(f"ec: 外部通信连接失败 -- {e}")
+            raise Exception()
+
+    def sr_string(self, directive, description, more_desc=""):
+        self.s_string(directive)
+        time.sleep(clibs.interval/2)
+        result = self.r_string()
+        logger.info(f"ec: 执行{description}指令是{directive}，返回值为{result}{more_desc}")
+        return result
+
+    def s_string(self, directive: str):
+        cmd = "".join([directive, clibs.suffix])
+        self.c.send(cmd.encode())
+
+    def r_string(self):
+        result = self.c.recv(10240).decode().strip()
+        return result
+
+    # =================================== ↓↓↓ specific functions ↓↓↓ ===================================
+    def motor_on(self):  # auto | manual
+        return self.sr_string("motor_on", "机器人上电", self.exec_desc)
+
+    def motor_off(self):  # auto | manual
+        return self.sr_string("motor_off", "机器人下电", self.exec_desc)
+
+    def pp_to_main(self):  # auto
+        return self.sr_string("pp_to_main", "程序pptomain", self.exec_desc)
+
+    def program_start(self):  # auto
+        return self.sr_string("start", "程序启动(必要时需清告警)", self.exec_desc)
+
+    def program_stop(self):  # auto
+        return self.sr_string("stop", "程序停止", self.exec_desc)
+
+    def clear_alarm(self):  # auto | manual
+        return self.sr_string("clear_alarm", "清除伺服报警", self.exec_desc)
+
+    def switch_operation_auto(self):  # auto | manual
+        return self.sr_string("switch_mode:auto", "切换到自动模式", self.exec_desc)
+
+    def switch_operation_manual(self):  # auto | manual
+        return self.sr_string("switch_mode:manual", "切换到手动模式", self.exec_desc)
+
+    def open_drag_mode(self):  # manual
+        return self.sr_string("open_drag", "打开拖动", self.exec_desc)
+
+    def close_drag_mode(self):  # manual
+        return self.sr_string("close_drag", "关闭拖动", self.exec_desc)
+
+    def get_project_list(self):  # auto | manual
+        return self.sr_string("list_prog", "获取工程列表")
+
+    def get_current_project(self):  # auto | manual
+        return self.sr_string("current_prog", "当前工程")
+
+    def load_project(self, project_name):  # auto | manual
+        return self.sr_string(f"load_prog:{project_name}", "加载工程", self.exec_desc)
+
+    def estop_reset(self):  # auto | manual | 复原外部 IO 急停和安全门急停，前提是硬件已复原
+        return self.sr_string("estop_reset", "急停复位", self.exec_desc)
+
+    def estopreset_and_clearalarm(self):  # auto | manual | 外部 IO/安全门急停/安全碰撞告警都可以清除，前提是硬件已复原
+        return self.sr_string("estopreset_and_clearalarm", "急停复位并清除报警", self.exec_desc)
+
+    def motoron_pp2main_start(self):  # auto | manual
+        return self.sr_string("motoron_pptomain_start", "依次执行上电，程序指针到main，启动程序(必要时需清告警)", self.exec_desc)
+
+    def motoron_start(self):  # auto | manual
+        return self.sr_string("motoron_start", "依次执行上电，启动程序(必要时需清告警)", self.exec_desc)
+
+    def pause_motoroff(self):  # auto | manual
+        return self.sr_string("pause_motoroff", "暂停程序并下电", self.exec_desc)
+
+    def set_program_speed(self, speed: int = 20):  # auto | manual | 1-100
+        return self.sr_string(f"set_program_speed:{speed}", "设置程序运行速率(滑块)", self.exec_desc)
+
+    def set_soft_estop(self, enable: str):  # auto | manual
+        return self.sr_string(f"set_soft_estop:{enable}", "触发(true)/解除(false)机器人软急停", self.exec_desc)
+
+    def switch_auto_motoron(self):  # auto | manual
+        return self.sr_string("switch_auto_motoron", "切换自动模式并上电", self.exec_desc)
+
+    def open_safe_region(self, number: int):  # auto | manual | 1-10
+        return self.sr_string(f"open_safe_region:{number}", f"打开第 {number} 个安全区域(信号控制开关需打开)", self.exec_desc)
+
+    def close_safe_region(self, number: int):  # auto | manual | 1-10
+        return self.sr_string(f"close_safe_region:{number}", f"关闭第 {number} 个安全区域(信号控制开关需打开)", self.exec_desc)
+
+    def open_reduced_mode(self):  # auto | manual
+        return self.sr_string("open_reduced_mode", "开启缩减模式", self.exec_desc)
+
+    def close_reduced_mode(self):  # auto | manual
+        return self.sr_string("close_reduced_mode", "关闭缩减模式", self.exec_desc)
+
+    def setdo_value(self, do_name: str, do_value: str):  # - | do_value 为 true/false
+        return self.sr_string(f"setdo:{do_name},{do_value}", f"设置 {do_name} 的值为 {do_value} ", self.exec_desc)
+
+    def set_robot_time(self, robot_time: str = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime())):  # auto | manual | YY-mm-dd HH:MM:SS
+        return self.sr_string(f"set_robot_time:{robot_time}", f"修改控制器和示教器的时间为 {robot_time} 的", self.exec_desc)
+
+    # --------------------------------------------------------------------------------------------------
+    @property
+    def motor_on_state(self):  # auto | manual
+        return self.sr_string("motor_on_state", "获取上电状态", " :--: 返回true表示已上电，false表示已下电")
+
+    @property
+    def robot_running_state(self):  # auto | manual | 只针对运动任务和常规任务
+        return self.sr_string("robot_running_state", "获取程序运行状态", " :--: 返回true表示正在运行，false表示未运行")
+
+    @property
+    def estop_state(self):  # auto | manual | 只表示外部急停，安全门触发不会返回true，只要有急停标识E字母，且非软急停就会返回true
+        return self.sr_string("estop_state", "急停状态", " :--: 返回true表示处于急停状态，false表示非急停")
+
+    @property
+    def operation_mode(self):  # auto | manual
+        return self.sr_string("operating_mode", "获取工作模式", " :--: 返回true表示自动模式，false手动模式")
+
+    @property
+    def home_state(self):  # # auto | manual | 需要设置一下 "HMI 设置->快速调整"
+        return self.sr_string("home_state", "获取HOME输出状态", " :--: 返回true表示法兰中心处于HOME点，false 未处于HOME点")
+
+    @property
+    def fault_state(self):  # -
+        return self.sr_string("fault_state", "获取 故障状态", " :--: 返回true表示处于故障状态，false表示非故障状态")
+
+    @property
+    def collision_state(self):  # -
+        return self.sr_string("collision_state", "获取碰撞触发状态", " :--: 返回true表示碰撞已触发，false表示未触发")
+
+    @property
+    def task_state(self):  # auto | manual | 只适用于运动任务和常规任务
+        return self.sr_string("task_state", "获取机器人运行任务状态", " :--: 返回program表示任务正在运行，ready表示未运行")
+
+    @property
+    def get_cart_pos(self):  # auto | manual | cart_pos/cart_pos_name都可以正常返回，区别在于前者直接返回value，后者返回的是"cart_pos" : value的形式
+        return self.sr_string("cart_pos", "获取笛卡尔位置")
+
+    @property
+    def get_joint_pos(self):  # auto | manual | jnt_pos/jnt_pos_name都可以正常返回，区别在于前者直接返回value，后者返回的是"joint_pos" : value的形式
+        return self.sr_string("jnt_pos", "获取轴位置")
+
+    @property
+    def get_joint_vel(self):  # auto | manual | jnt_vel/jnt_vel_name都可以正常返回，区别在于前者直接返回value，后者返回的是"jnt_vel" : value的形式
+        return self.sr_string("jnt_vel", "获取轴速度")
+
+    @property
+    def get_joint_trq(self):  # auto | manual | jnt_trq/jnt_trq_name都可以正常返回，区别在于前者直接返回value，后者返回的是"jnt_trq" : value的形式
+        return self.sr_string("jnt_trq", "获取轴力矩")
+
+    @property
+    def reduced_mode_state(self):  # auto | manual
+        return self.sr_string("reduced_mode_state", "获取缩减模式状态", " :--: 返回true表示缩减模式，false表示非缩减模式")
+
+    def get_io_state(self, io_list: str):  # - | DO0_0,DI1_3,DO2_5，不能有空格
+        return self.sr_string(f"io_state:{io_list}", "获取 IO 状态值")
+
+    @property
+    def alarm_state(self):  # auto | manual
+        return self.sr_string("alarm_state", "获取报警状态", " :--: 返回true表示当前有告警，false 没有告警")
+
+    @property
+    def collision_alarm_state(self):  # -
+        return self.sr_string("collision_alarm_state", "获取碰撞报警状态", " :--: 返回true表示有碰撞告警，false表示没有碰撞告警")
+
+    @property
+    def collision_open_state(self):  # auto | manual
+        return self.sr_string("collision_open_state", "获取碰撞检测开启状态", " :--: 返回true表示已开启碰撞检测，false表示未开启")
+
+    @property
+    def controller_is_running(self):  # auto | manual
+        return self.sr_string("controller_is_running", "判断控制器是否开机", " :--: 返回true表示控制器正在运行，false表示未运行")
+
+    @property
+    def encoder_low_battery_state(self):  # auto | manual
+        return self.sr_string("encoder_low_battery_state", "编码器低电压报警状态", " :--: 返回true表示编码器处于低电压状态，false表示电压正常")
+
+    @property
+    def robot_error_code(self):  # auto | manual
+        return self.sr_string("robot_error_code", "获取机器人错误码")
+
+    @property
+    def rl_pause_state(self):  # -
+        # 0 -- 初始化状态，刚开机上电时
+        # 1 -- RL 运行中
+        # 2 -- HMI 暂停
+        # 3 -- 系统 IO 暂停
+        # 4 -- 寄存器功能码暂停
+        # 5 -- 外部通讯暂停
+        # 6 --
+        # 7 -- Pause 指令暂停
+        # 8 --
+        # 9 --
+        # 10 -- 外部 IO 急停
+        # 11 -- 安全门急停
+        # 12 -- 其他因素停止，比如碰撞检测
+        return self.sr_string("program_full", "获取RL的暂停状态", " :--: 返回值含义详见功能定义")
+
+    @property
+    def program_reset_state(self):  # auto | manual
+        return self.sr_string("program_reset_state", "获取程序复位状态", " :--: 返回true表示指针指向main，false表示未指向main")
+
+    @property
+    def program_speed_value(self):  # auto | manual | 速度滑块
+        return self.sr_string("program_speed", "获取程序运行速度")
+
+    @property
+    def robot_is_busy(self):  # auto | manual | 触发条件为 pp2main/重载工程/推送到控制器，最好测试工程大一些，比较容易触发
+        return self.sr_string("robot_is_busy", "获取程序忙碌状态", " :--: 返回1表示控制器忙碌，0表示非忙碌状态")
+
+    @property
+    def robot_is_moving(self):  # auto | manual
+        return self.sr_string("robot_is_moving", "获取程序运行状态", " :--: 返回true表示机器人正在运动，false未运动")
+
+    @property
+    def safe_door_state(self):  # -
+        return self.sr_string("safe_door_state", "获取安全门状态", " :--: 返回true表示安全门已触发，false表示未触发")
+
+    @property
+    def soft_estop_state(self):  # auto | manual
+        return self.sr_string("soft_estop_state", "获取软急停状态", " :--: 返回true表示软急停已触发，false表示未触发")
+
+    @property
+    def get_cart_vel(self):  # auto | manual
+        return self.sr_string("cart_vel", "获取笛卡尔速度")
+
+    @property
+    def get_tcp_pos(self):  # auto | manual
+        return self.sr_string("tcp_pose", "获取TCP位姿")
+
+    @property
+    def get_tcp_vel(self):  # auto | manual
+        return self.sr_string("tcp_vel", "获取TCP速度")
+
+    @property
+    def get_tcp_vel_mag(self):  # auto | manual
+        return self.sr_string("tcp_vel_mag", "获取TCP合成线速度")
+
+    @property
+    def ext_estop_state(self):  # -
+        return self.sr_string("ext_estop_state", "获取外部轴急停状态", " :--: 返回true表示外部轴急停已触发，false表示未触发")
+
+    @property
+    def hand_estop_state(self):  # -
+        return self.sr_string("hand_estop_state", "获取手持急停状态", " :--: 返回true表示手持急停已触发，false表示未触发")
+
+    @property
+    def sta_on_path(self):  # auto | manual
+        return self.sr_string("sta_on_path", "获取当前坐标是否在路径上", " :--: 返回true表示在规划路径上，false表示不在规划路径上")
+
+    @property
+    def sta_near_path(self):  # -
+        return self.sr_string("sta_near_path", "获取当前坐标是否在路径附近", " :--: 返回true表示在规划路径附近，false表示不在规划路径附近")
+
+
+class PreDos(object):
+    def __init__(self):
+        self.__ssh = None
+        self.__sftp = None
+
+    def __ssh2server(self):
+        try:
+            self.__ssh = SSHClient()
+            self.__ssh.set_missing_host_key_policy(AutoAddPolicy())
+            self.__ssh.connect(hostname=clibs.ip_addr, port=clibs.ssh_port, username=clibs.username, password=clibs.password)
+            self.__sftp = self.__ssh.open_sftp()
+            # logger.success("pd: SSH连接成功")
+        except Exception as e:
+            logger.error(f"pd: SSH无法连接，需检查网络连通性或者登录信息是否正确 -- {e}")
+            raise Exception()
+
+    def push_prj_to_server(self, prj_file):
+        # prj_file：工程的本地完整路径
+        self.__ssh2server()
+        prj_name, postfix = os.path.basename(prj_file).split(".")
+        self.__sftp.put(prj_file, f"/tmp/{prj_name}.zip")
+        cmd = f"cd /tmp; mkdir {prj_name}; unzip -q {prj_name}.zip; rm -rf /tmp/{prj_name}.zip; "
+        cmd += f"sudo rm -rf /home/luoshi/bin/controller/projects/{prj_name}; "
+        cmd += f"sudo mv /tmp/{prj_name}/ /home/luoshi/bin/controller/projects/"
+        stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
+        stdin.write(clibs.password + "\n")
+        _ = stdout.read().decode()  # 需要read一下才能正常执行
+        _ = stderr.read().decode()
+        self.__ssh.close()
+
+    def pull_prj_from_server(self, prj_name, local_prj_path):
+        # prj_name：要拉取的服务端工程名
+        # local_prj_path：存放工程文件的本地路径
+        self.__ssh2server()
+        cmd = f"cd /tmp/; sudo rm -rf {prj_name}*; sudo cp -rf /home/luoshi/bin/controller/projects/{prj_name} .; "
+        cmd += f"sudo zip -q -r {prj_name}.zip {prj_name}/; sudo rm -rf {prj_name}"
+        stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
+        stdin.write(clibs.password + "\n")
+        _ = stdout.read().decode()
+        _ = stderr.read().decode()
+
+        self.__sftp.get(f"/tmp/{prj_name}.zip", f"{local_prj_path}/{prj_name}.zip")
+        cmd = f"sudo rm -rf /tmp/{prj_name}.zip"
+        stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
+        stdin.write(clibs.password + "\n")
+        _ = stdout.read().decode()
+        _ = stderr.read().decode()
+
+        self.__ssh.close()
+
+    def push_file_to_server(self, local_file, server_file):
+        # local_file：本地文件完整路径
+        # server_file：服务端文件完整路径
+        self.__ssh2server()
+        filename = os.path.basename(local_file)
+        self.__sftp.put(local_file, f"/tmp/{filename}")
+        cmd = f"sudo mv /tmp/{filename} {server_file}"
+        stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
+        stdin.write(clibs.password + "\n")
+        _ = stdout.read().decode()  # 需要read一下才能正常执行
+        _ = stderr.read().decode()
+        self.__ssh.close()
+
+    def pull_file_from_server(self, server_file, local_file):
+        # local_file：本地文件完整路径
+        # server_file：服务端文件完整路径
+        self.__ssh2server()
+        cmd = f"sudo cp {server_file} /tmp/"
+        stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
+        stdin.write(clibs.password + "\n")
+        _ = stdout.read().decode()  # 需要read一下才能正常执行
+        _ = stderr.read().decode()
+
+        filename = server_file.split("/")[-1]
+        self.__sftp.get(f"/tmp/{filename}", f"{local_file}")
+        cmd = f"sudo rm -rf /tmp/{filename}"
+        stdin, stdout, stderr = self.__ssh.exec_command(cmd, get_pty=True)
+        stdin.write(clibs.password + "\n")
+        _ = stdout.read().decode()  # 需要read一下才能正常执行
+        _ = stderr.read().decode()
+        self.__ssh.close()
+
+
+class RobotInit(object):
+    def __init__(self):
+        self.pd = PreDos()
+        self.hr = HmiRequest()
+
+    def robot_init(self):
+        # 推送配置文件
+        msg_id = self.hr.exec_cmd("controller.get_params")
+        record = self.hr.get_from_id(msg_id)
+        robot_params = eval(record)
+        robot_type = robot_params["data"]["robot_type"]
+        security_type = robot_params["data"]["security_type"]
+        controller_type = robot_params["data"]["controller_type"]
+        io_device_file = "_".join(["io_device", controller_type, security_type, "1"])
+
+        user_settings = "/home/luoshi/bin/controller/user_settings"
+        interactive_data = f"/home/luoshi/bin/controller/interactive_data/{robot_type}"
+        config_files = [
+            f"{clibs.base_path}/assets/confs/fieldbus_device.json",
+            f"{clibs.base_path}/assets/confs/registers.json",
+            f"{clibs.base_path}/assets/confs/registers.xml"
+        ]
+        for config_file in config_files:
+            filename = os.path.basename(config_file)
+            self.pd.push_file_to_server(config_file, f"{user_settings}/{filename}")
+            self.pd.push_file_to_server(config_file, f"{interactive_data}/{filename}")
+
+        io_device_autotest = {"ai_num": 0, "ao_num": 0, "di_num": 16, "do_num": 16, "extend_attr": {"mode": "slaver", "name": "autotest", "type": "MODBUS"}, "id": 7, "name": "autotest", "type": 6}
+        io_device_file_local = f"{io_device_file}"
+        io_device_file_local_tmp = f"{io_device_file}_tmp"
+        io_device_file_server = f"{user_settings}/{io_device_file}"
+        self.pd.pull_file_from_server(io_device_file_server, io_device_file_local)
+        with open(io_device_file_local, mode="r", encoding="utf-8") as f:
+            data = json.load(f)
+            for _ in data["device_list"]:
+                if _["extend_attr"].get("name", None) == "autotest":
+                    break
+            else:
+                data["device_list"].append(io_device_autotest)
+                with open(io_device_file_local_tmp, mode="w", encoding="utf-8") as f_tmp:
+                    json.dump(data, f_tmp, separators=(",", ":"), indent=4)
+                self.pd.push_file_to_server(io_device_file_local_tmp, f"{user_settings}/{io_device_file}")
+                self.pd.push_file_to_server(io_device_file_local_tmp, f"{interactive_data}/{io_device_file}")
+        try:
+            os.remove(io_device_file_local)
+            os.remove(io_device_file_local_tmp)
+        except FileNotFoundError:
+            pass
+        self.hr.exec_cmd("fieldbus_device.load_cfg")
+        self.hr.exec_cmd("fieldbus_device.set_params", device_name="autotest", enable=True)
+        self.hr.exec_cmd("io_device.load_cfg")
+        self.hr.exec_cmd("modbus.load_cfg")
+
+    def fw_updater(self, fw_file):
+        """
+        :param fw_file: xCore升级文件/机型文件的绝对路径
+        :return: None
+        """
+
+        def get_xcore_version():
+            msg_id = self.hr.exec_cmd("controller.get_params")
+            record = self.hr.get_from_id(msg_id)
+            self.hr.close()
+            return eval(record)["data"]["version"]
+
+        conn = None
+        try:
+            conn = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            conn.setblocking(False)
+            conn.settimeout(clibs.interval * 3)
+            conn.connect((clibs.ip_addr, clibs.upgrade_port))
+            logger.success(f"ri: 升级服务连接成功")
+        except Exception as e:
+            logger.error(f"ri: 升级服务连接失败\n{e}")
+
+        previous_version = get_xcore_version()
+        fw_size = os.path.getsize(fw_file)  # Byte
+        remote_file_path = "./upgrade/lircos.zip"
+        fw_content = package_data = package_data_with_head = b""
+
+        # construct package data: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634148
+        # 1 protocol id
+        protocol_id = int(0).to_bytes(length=2)
+        # 2 write type
+        write_type = int(0).to_bytes(length=1)
+        # 6 file
+        with open(fw_file, "rb") as f_fw:
+            fw_content += f_fw.read()
+        # 3 md5
+        md5_hash = hashlib.md5()
+        md5_hash.update(fw_content)
+        fw_md5 = bytes.fromhex(md5_hash.hexdigest())
+        # 4 remote file path len
+        remote_file_path_len = len(remote_file_path).to_bytes(length=2)
+        # 5 remote path
+        remote_path = remote_file_path.encode()
+        # 7 组包，注意顺序
+        package_data += (protocol_id + write_type + fw_md5 + remote_file_path_len + remote_path + fw_content)
+        # construct communication protocol: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634045
+        # 1 get package data with header
+        package_size = len(package_data).to_bytes(length=4)
+        package_type = int(1).to_bytes()  # 0-无协议 1-文件 2-json
+        package_reserve = int(0).to_bytes()  # 预留位
+        package_data_with_head += (package_size + package_type + package_reserve + package_data)
+        # 2 send data to server
+        logger.info("ri: 正在发送数据到xCore......")
+        start = 0
+        len_of_package = len(package_data_with_head)
+        while start < len_of_package:
+            end = 10240 + start
+            if end > len_of_package:
+                end = len_of_package
+            sent = conn.send((package_data_with_head[start:end]))
+            # time.sleep(0.01)
+            if sent == 0:
+                raise RuntimeError("socket connection broken")
+            else:
+                start += sent
+
+        if fw_size > 1000000:  # 1MB
+            self.hr = HmiRequest()
+            current_version = get_xcore_version()
+            logger.success(f"update firmware: 控制器升级成功：from {previous_version} to {current_version} :)")
+        else:
+            logger.success(f"update firmware: 配置文件升级成功 :)")
+
+        conn.close()
+
+
+class UpgradeRequest:
+    """
+    http://confluence.i.rokae.com/pages/viewpage.action?pageId=21531754
+    """
+    def __init__(self):
+        self.c = None
+        self.sock_conn()
+
+    def sock_conn(self):
+        try:
+            self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.c.setblocking(False)
+            self.c.settimeout(clibs.interval*3)
+            self.c.connect((clibs.ip_addr, clibs.upgrade_port))
+            logger.success(f"ur: 升级协议通信连接成功")
+        except Exception as e:
+            logger.error(f"ur: 升级协议通信连接失败 -- {e}")
+            raise Exception()
+
+    def s_pkg(self, command: dict):
+        cmd = json.dumps(command, separators=(",", ":")).encode("utf-8")
+        package_size = len(cmd).to_bytes(length=4)
+        package_type = int(2).to_bytes()
+        reserved_byte = int(0).to_bytes()
+        pkg = package_size + package_type + reserved_byte + cmd
+        self.c.send(pkg)
+
+    def r_pkg(self):
+        try:
+            res = self.c.recv(10240)[8:].decode()
+        except Exception as e:
+            res = e
+        return res
+
+    def sr_pkg(self, command: dict):
+        self.s_pkg(command)
+        time.sleep(clibs.interval/2)
+        res = self.r_pkg()
+        logger.info(f"upgrade: 请求命令 {str(command)} 的返回信息：\n{res}")
+
+    def erase_cfg(self):  # OK 抹除配置，重启后生效
+        self.sr_pkg({"cmd": "erase"})
+
+    def clear_rubbish(self):  # OK 清理垃圾
+        self.sr_pkg({"cmd": "clearRubbish"})
+
+    def soft_reboot(self):  # OK 重启xCore
+        self.sr_pkg({"cmd": "soft_reboot"})
+
+    def version_query(self):  # OK 查询升级程序版本信息
+        self.sr_pkg({"query": "version"})
+
+    def robot_reboot(self):  # OK 重启系统
+        self.sr_pkg({"cmd": "reboot"})
+
+    def backup_origin(self):  # OK 生成备份
+        self.sr_pkg({"cmd": "backup_origin"})
+
+    def origin_recovery(self):  # OK 恢复备份，恢复后手动设置，并重启生效
+        self.sr_pkg({"cmd": "recover"})
diff --git a/rokae/testbench.py b/rokae/testbench.py
new file mode 100644
index 0000000..9d655b2
--- /dev/null
+++ b/rokae/testbench.py
@@ -0,0 +1,57 @@
+from codes import openapi, clibs
+import time
+from pathlib import Path
+import os
+
+
+# ===================================================================================
+# hr = openapi.HmiRequest()
+# time.sleep(2)
+# hr.close()
+# msg_id = hr.exec_cmd("controller.get_params")
+# record = hr.get_from_id(msg_id)
+# print(f"version = {eval(record)['data']['version']}")
+
+# ===================================================================================
+# ur = openapi.UpgradeRequest()
+# ur.version_query()
+# ur.robot_reboot()
+
+# ===================================================================================
+# ec = openapi.EcRequest()
+# _ = ec.get_cart_pos
+# ec.close_reduced_mode()
+# ec.collaboration_state
+
+# ===================================================================================
+# pd = openapi.PreDos()
+# downloads = str(Path.home()) + "\\Downloads\\"
+# downloads = r"C:\Users\Administrator\Downloads"
+# downloads = "C:/Users/Administrator/Downloads"
+# pd.pull_prj_from_server("testM", downloads)
+
+# local_prj = downloads + "/aio.db"
+# pd.push_prj_to_server(local_prj)
+
+# local_file = downloads + "/aio.sh"
+# server_file = "/root/detect_rc_local.sh--111"
+# server_file = "/tmp/aio.txt"
+# pd.push_file_to_server(local_file, server_file)
+# pd.pull_file_from_server(server_file, local_file)
+
+# ===================================================================================
+# md = openapi.ModbusRequest()
+# _ = md.w_sta_tcp_vel
+# print(_)
+
+# ===================================================================================
+# ri = openapi.RobotInit()
+# ri.robot_init()
+# ri.fw_updater("C:/Users/Administrator/Downloads/FW/v3.1.1.rpa")
+# ri.fw_updater("C:/Users/Administrator/Downloads/FW/v3.1.0.16.rpa")
+# ri.fw_updater("C:/Users/Administrator/Downloads/XMS3-R580-W4G3C2_ME_AE_SS_xC.v3.1.0.R0.rpa")
+# ===================================================================================
+
+
+
+