diff --git a/assets/files/projects/registers.json b/assets/files/projects/registers.json
new file mode 100644
index 0000000..f4539a1
--- /dev/null
+++ b/assets/files/projects/registers.json
@@ -0,0 +1,592 @@
+{
+    "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_motor_off",
+                        "len": 1,
+                        "name": "r_motor_off",
+                        "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_motoron_pptomain_start",
+                        "len": 1,
+                        "name": "r_onekey_start",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40006,
+                        "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": 40007,
+                        "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": 40008,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_pptomain",
+                        "len": 1,
+                        "name": "r_pp2main",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40009,
+                        "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": 40010,
+                        "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": 40011,
+                        "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": 40012,
+                        "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": 40013,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_switch_auto_motoron",
+                        "len": 1,
+                        "name": "r_auto_motoron",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40014,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_switch_operation_auto",
+                        "len": 1,
+                        "name": "r_switch_auto",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40015,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "ctrl_switch_operation_manu",
+                        "len": 1,
+                        "name": "r_switch_manual",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40016,
+                        "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": 40017,
+                        "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": 40018,
+                        "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": 40100,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_0",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40101,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_1",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40102,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_2",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40103,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_3",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40104,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_4",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40105,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_5",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40106,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_6",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40107,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_7",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40108,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_8",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40109,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "",
+                        "len": 1,
+                        "name": "signal_9",
+                        "retain": false,
+                        "type": "bool"
+                    }
+                ],
+                "rdwr": [
+                    {
+                        "addr": 40500,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_alarm",
+                        "len": 1,
+                        "name": "w_alarm_state",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40501,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_collision",
+                        "len": 1,
+                        "name": "w_clsn_alarm_stat",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40502,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_collision_open",
+                        "len": 1,
+                        "name": "w_clsn_open_stat",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40503,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_controller_is_running",
+                        "len": 1,
+                        "name": "w_controller_running",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40504,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_encoder_low_battery",
+                        "len": 1,
+                        "name": "w_encoder_low",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40505,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_estop",
+                        "len": 1,
+                        "name": "w_estop_stat",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40506,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_motor",
+                        "len": 1,
+                        "name": "w_motor_stat",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40507,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_operation_mode",
+                        "len": 1,
+                        "name": "w_operation_mode",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40508,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_program",
+                        "len": 1,
+                        "name": "w_prog_stat",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40509,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_program_not_run",
+                        "len": 1,
+                        "name": "w_prog_not_run",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40510,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_program_reset",
+                        "len": 1,
+                        "name": "w_prog_reset",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40511,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_reduced_mode",
+                        "len": 1,
+                        "name": "w_reduced_mode_stat",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40512,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_robot_is_busy",
+                        "len": 1,
+                        "name": "w_robot_is_busy",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40513,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_robot_moving",
+                        "len": 1,
+                        "name": "w_robot_moving",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40514,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_door",
+                        "len": 1,
+                        "name": "w_safe_door",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40515,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region01",
+                        "len": 1,
+                        "name": "w_safe_region01",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40516,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region02",
+                        "len": 1,
+                        "name": "w_safe_region02",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40517,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_safe_region03",
+                        "len": 1,
+                        "name": "w_safe_region03",
+                        "retain": false,
+                        "type": "bool"
+                    },
+                    {
+                        "addr": 40518,
+                        "addr_1st": 0,
+                        "addr_2nd": 0,
+                        "bit_bias": 0,
+                        "byte_bias": 0,
+                        "function": "sta_soft_estop",
+                        "len": 1,
+                        "name": "w_soft_estop_stat",
+                        "retain": false,
+                        "type": "bool"
+                    }
+                ]
+            }
+        }
+    ]
+}
diff --git a/assets/files/projects/registers.xml b/assets/files/projects/registers.xml
new file mode 100644
index 0000000..4d079df
--- /dev/null
+++ b/assets/files/projects/registers.xml
@@ -0,0 +1,915 @@
+<?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=""/>
+    </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=""/>
+    </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=""/>
+    </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_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=""/>
+    </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=""/>
+    </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_motoron_pptomain_start"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_onekey_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=""/>
+    </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_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=""/>
+    </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_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=""/>
+    </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_pptomain"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_pp2main"/>
+        <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=""/>
+    </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_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=""/>
+    </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_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=""/>
+    </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_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=""/>
+    </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_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=""/>
+    </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_switch_auto_motoron"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_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=""/>
+    </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_switch_operation_auto"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_switch_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=""/>
+    </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_switch_operation_manu"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="r_switch_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=""/>
+    </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="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=""/>
+    </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="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=""/>
+    </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="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=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40100"/>
+        <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="40100"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_0"/>
+        <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=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40101"/>
+        <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="40101"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_1"/>
+        <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=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40102"/>
+        <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="40102"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_2"/>
+        <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=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40103"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
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+        <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="40103"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_3"/>
+        <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=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40104"/>
+        <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="40104"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_4"/>
+        <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=""/>
+    </l>
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+        <c name="addr" type="2" value="40105"/>
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+        <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"/>
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+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_5"/>
+        <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=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40106"/>
+        <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="40106"/>
+        <c name="function" type="10" value=""/>
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+        <c name="name" type="10" value="signal_6"/>
+        <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=""/>
+    </l>
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+        <c name="addr" type="2" value="40107"/>
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+        <c name="addr_2nd" type="2" value="0"/>
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+        <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="40107"/>
+        <c name="function" type="10" value=""/>
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+        <c name="name" type="10" value="signal_7"/>
+        <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=""/>
+    </l>
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+        <c name="addr" type="2" value="40108"/>
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+        <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="40108"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_8"/>
+        <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=""/>
+    </l>
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+        <c name="addr" type="2" value="40109"/>
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+        <c name="addr_2nd" type="2" value="0"/>
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+        <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="40109"/>
+        <c name="function" type="10" value=""/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="signal_9"/>
+        <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=""/>
+    </l>
+    <l>
+        <c name="addr" type="2" value="40500"/>
+        <c name="addr_1st" type="2" value="0"/>
+        <c name="addr_2nd" type="2" value="0"/>
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+        <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="40500"/>
+        <c name="function" type="10" value="sta_alarm"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_alarm_state"/>
+        <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="40501"/>
+        <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="40501"/>
+        <c name="function" type="10" value="sta_collision"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_clsn_alarm_stat"/>
+        <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="40502"/>
+        <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="40502"/>
+        <c name="function" type="10" value="sta_collision_open"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_clsn_open_stat"/>
+        <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="40503"/>
+        <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="40503"/>
+        <c name="function" type="10" value="sta_controller_is_running"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_controller_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="40504"/>
+        <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="40504"/>
+        <c name="function" type="10" value="sta_encoder_low_battery"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_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="40505"/>
+        <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="40505"/>
+        <c name="function" type="10" value="sta_estop"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_estop_stat"/>
+        <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="40506"/>
+        <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="40506"/>
+        <c name="function" type="10" value="sta_motor"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_motor_stat"/>
+        <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="40507"/>
+        <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="40507"/>
+        <c name="function" type="10" value="sta_operation_mode"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_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="40508"/>
+        <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="40508"/>
+        <c name="function" type="10" value="sta_program"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_prog_stat"/>
+        <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="40509"/>
+        <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="40509"/>
+        <c name="function" type="10" value="sta_program_not_run"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_prog_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="40510"/>
+        <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="40510"/>
+        <c name="function" type="10" value="sta_program_reset"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_prog_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="40511"/>
+        <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="40511"/>
+        <c name="function" type="10" value="sta_reduced_mode"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_reduced_mode_stat"/>
+        <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="40512"/>
+        <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="40512"/>
+        <c name="function" type="10" value="sta_robot_is_busy"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_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="40513"/>
+        <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="40513"/>
+        <c name="function" type="10" value="sta_robot_moving"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_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="40514"/>
+        <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="40514"/>
+        <c name="function" type="10" value="sta_safe_door"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_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="40515"/>
+        <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="40515"/>
+        <c name="function" type="10" value="sta_safe_region01"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_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="40516"/>
+        <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="40516"/>
+        <c name="function" type="10" value="sta_safe_region02"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_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="40517"/>
+        <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="40517"/>
+        <c name="function" type="10" value="sta_safe_region03"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_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="40518"/>
+        <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="40518"/>
+        <c name="function" type="10" value="sta_soft_estop"/>
+        <c name="len" type="2" value="1"/>
+        <c name="name" type="10" value="w_soft_estop_stat"/>
+        <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>
+</m>
diff --git a/assets/files/protocols/原理/协议原理.xlsx b/assets/files/protocols/原理/协议原理.xlsx
new file mode 100644
index 0000000..7f1dcbb
Binary files /dev/null and b/assets/files/protocols/原理/协议原理.xlsx differ
diff --git a/assets/files/protocols/原理/解包示例.txt b/assets/files/protocols/原理/解包示例.txt
new file mode 100644
index 0000000..17029a8
--- /dev/null
+++ b/assets/files/protocols/原理/解包示例.txt
@@ -0,0 +1,56 @@
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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/code/aio.py b/code/aio.py
index 6c63df6..b798d71 100644
--- a/code/aio.py
+++ b/code/aio.py
@@ -13,7 +13,7 @@ import webbrowser
 import sqlite3
 from datetime import datetime
 import os
-from common import clibs
+from common import clibs, openapi
 from data_process import current, brake, iso, wavelogger
 import threading
 import re
@@ -76,14 +76,15 @@ class App:
         self.om_sub_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["tool33", "tool66", "tool100", "inertia"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
         self.label_ip_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), anchor="e", text="IP", font=self.f_common)
         self.entry_ip_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=160, textvariable=self.entry_ip_atv, font=self.f_entry, text_color="#818181")
-        self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0)
+        self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=lambda: self.__thread_it(self.__conn_xcore))
         self.progressbar_at = ctk.CTkProgressBar(self.tabview_top.tab("自动测试"), width=160, mode="indeterminate")
         self.label_path_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), width=50, anchor="e", text="Path", font=self.f_common)
         self.entry_path_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=80, state="disabled", textvariable=self.entry_path_atv, font=self.f_entry, text_color="#818181")
         self.frame_top = ctk.CTkFrame(self.tabview_top.tab("自动测试"), width=120, height=10, fg_color="#E9E9E9")
-        self.btn_trig_estop = ctk.CTkButton(self.frame_top, width=100, text="触发急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=print)
-        self.btn_reset_estop = ctk.CTkButton(self.frame_top, width=100, text="恢复急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=print)
         self.btn_robot_state = ctk.CTkButton(self.frame_top, width=100, text="机器信息", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_info)
+        self.btn_robot_init = ctk.CTkButton(self.frame_top, width=100, text="初始操作", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__robot_init)
+        self.btn_trig_estop = ctk.CTkButton(self.frame_top, width=100, text="触发急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__trig_estop)
+        self.btn_reset_estop = ctk.CTkButton(self.frame_top, width=100, text="恢复急停", font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=self.__reset_estop)
         self.popupmenu_ip = tk.Menu(self.entry_ip_at, tearoff=False)
         self.popupmenu_ip.add_command(label="复制", accelerator="Ctrl+C", font=self.f_treeview, command=lambda: self.__copy(self.entry_ip_at))
         self.popupmenu_ip.add_command(label="剪切", accelerator="Ctrl+X", font=self.f_treeview, command=lambda: self.__cut(self.entry_ip_at))
@@ -130,15 +131,57 @@ class App:
 
         # ========================================================================
         self.__draw()
-        clibs.insert_logdb("INFO", "aio", "AIO starts running......")
+
+    def detect_network(self):
+        while True:
+            try:
+                if clibs.c_hr.status:
+                    self.btn_conn.configure(fg_color="#2E8B57")
+                else:
+                    self.btn_conn.configure(fg_color="#979DA2")
+            except Exception as Err:
+                self.btn_conn.configure(fg_color="#979DA2")
+            time.sleep(2)
+
+    def __conn_xcore(self):
+        if self.btn_conn.cget("fg_color") == "#979DA2":
+            try:
+                if clibs.c_hr.status:
+                    self.btn_conn.configure(fg_color="#2E8B57")
+                    return
+            except Exception as Err:
+                ...
+
+            clibs.ip_addr = self.entry_ip_atv.get().strip()
+            ip_pattern = re.compile(r'(([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])\.){3}([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])')
+            if not ip_pattern.fullmatch(clibs.ip_addr):
+                messagebox.showerror(title="非法地址", message=f"{clibs.ip_addr} 不是一个有效的 IP 地址")
+                clibs.insert_logdb("ERROR", "aio", f"connection: {clibs.ip_addr} 不是一个有效的 IP 地址")
+                return
+            # clibs.c_md = openapi.ModbusRequest(clibs.ip_addr, clibs.modbus_port)
+            clibs.c_hr = openapi.HmiRequest(clibs.ip_addr, clibs.socket_port, clibs.xService_port)
+        else:
+            try:
+                # clibs.c_md.close()
+                clibs.c_hr.close()
+            except Exception as Err:
+                ...
+            self.btn_conn.configure(fg_color="#979DA2")
 
     def __robot_info(self):
-        clibs.cursor.execute("select * from logs")
-        records = clibs.cursor.fetchall()
-        self.text_output.insert(ctk.END, records)
+        ...
+
+    def __robot_init(self):
+        ...
+
+    def __trig_estop(self):
+        ...
+
+    def __reset_estop(self):
+        ...
 
     def __thread_it(self, func, *args):
-        """ 将函数打包进线程 """
+        """ 将函数打包进线程，必须使用 lambda """
         self.myThread = threading.Thread(target=func, args=args)
         self.myThread.daemon = True  # 主线程退出就直接让子线程跟随退出,不论是否运行完成。
         self.myThread.start()
@@ -208,7 +251,6 @@ class App:
             return data
 
         def init_op():
-            clibs.w2t = self.__w2t
             self.text_output.delete("1.0", ctk.END)
             self.tabview_bottom.set("输出")
             if clibs.db_state != "readwrite":
@@ -241,6 +283,7 @@ class App:
 
         exec_function()
 
+    @clibs.db_lock
     def __reset_state(self):
         def reset_methods():
             self.btn_load.configure(fg_color="#979DA2")
@@ -272,8 +315,9 @@ class App:
                 reset_methods()
                 # TBD: something signifies status of program and terminate some thread ect.
 
+    @clibs.db_lock
     def __get_realtime_log(self):
-        clibs.cursor.execute("select * from logs order by id desc")
+        clibs.cursor.execute("select id from logs")
         len_records = len(clibs.cursor.fetchall())
         pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
         self.label_pages_logs.set(f"{pages_all} / {pages_all}")
@@ -292,6 +336,7 @@ class App:
 
         self.__reset_entry_keyword()
 
+    @clibs.db_lock
     def __get_previous_log(self):
         if self.btn_find.cget("fg_color") == "#979DA2":
             try:
@@ -334,47 +379,56 @@ class App:
                 self.label_pages_logs.set(f"{previous_page} / {pages_all}")
 
     def __get_next_log(self):
-        if self.btn_find.cget("fg_color") == "#979DA2":
-            try:
-                clibs.cursor.execute("select * from logs order by id desc")
-                len_records = len(clibs.cursor.fetchall())
+        @clibs.db_lock
+        def get_next_page():
+            if self.btn_find.cget("fg_color") == "#979DA2":
+                try:
+                    clibs.cursor.execute("select id from logs")
+                    len_records = len(clibs.cursor.fetchall())
 
-                row = self.treeview_logs.get_children()
-                last_id = self.treeview_logs.item(row[-1], "values")[0]
-                start = int(last_id) + 1
-                end = int(last_id) + 100
-                if int(start) <= len_records:
-                    clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
-                    records = clibs.cursor.fetchall()
+                    row = self.treeview_logs.get_children()
+                    last_id = self.treeview_logs.item(row[-1], "values")[0]
+                    start = int(last_id) + 1
+                    end = int(last_id) + 100
+                    if int(start) <= len_records:
+                        clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
+                        records = clibs.cursor.fetchall()
+                        self.treeview_logs.delete(*self.treeview_logs.get_children())
+                        for record in records:
+                            self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                            # self.treeview_logs.yview_moveto(1)
+
+                        pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
+                        current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
+                        self.label_pages_logs.set(f"{current_page} / {pages_all}")
+                except Exception as ERR:
+                    ...
+            else:
+                len_records = len(clibs.f_records)
+                pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
+                current_page = int(self.label_pages_logs.get().split("/")[0].strip())
+                if current_page < pages_all:
+                    row = self.treeview_logs.get_children()
+                    last_one = list(self.treeview_logs.item(row[-1], "values"))
+                    last_one[0] = int(last_one[0])
+                    index_start = clibs.f_records.index(tuple(last_one))+1
                     self.treeview_logs.delete(*self.treeview_logs.get_children())
-                    for record in records:
-                        self.treeview_logs.insert("", "end", values=record, tags=record[2])
-                        # self.treeview_logs.yview_moveto(1)
+                    if index_start+100 <= len_records:
+                        for record in clibs.f_records[index_start:index_start+100]:
+                            self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                    else:
+                        for record in clibs.f_records[index_start:]:
+                            self.treeview_logs.insert("", "end", values=record, tags=record[2])
 
-                    pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
-                    current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
-                    self.label_pages_logs.set(f"{current_page} / {pages_all}")
-            except Exception as ERR:
-                ...
-        else:
-            len_records = len(clibs.f_records)
-            pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
-            current_page = int(self.label_pages_logs.get().split("/")[0].strip())
-            if current_page < pages_all:
-                row = self.treeview_logs.get_children()
-                last_one = list(self.treeview_logs.item(row[-1], "values"))
-                last_one[0] = int(last_one[0])
-                index_start = clibs.f_records.index(tuple(last_one))+1
-                self.treeview_logs.delete(*self.treeview_logs.get_children())
-                if index_start+100 <= len_records:
-                    for record in clibs.f_records[index_start:index_start+100]:
-                        self.treeview_logs.insert("", "end", values=record, tags=record[2])
-                else:
-                    for record in clibs.f_records[index_start:]:
-                        self.treeview_logs.insert("", "end", values=record, tags=record[2])
+                    next_page = current_page + 1
+                    self.label_pages_logs.set(f"{next_page} / {pages_all}")
 
-                next_page = current_page + 1
-                self.label_pages_logs.set(f"{next_page} / {pages_all}")
+        current_page = int(self.label_pages_logs.get().split("/")[0].strip())
+        pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
+        if current_page == pages_all:
+            self.__get_realtime_log()
+            return
+        get_next_page()
 
     def __load_log_db(self):
         db_file = filedialog.askopenfilename(title="加载数据库文件", defaultextension=".db", initialdir=f"{clibs.PREFIX}/logs")
@@ -589,13 +643,14 @@ class App:
             except Exception as ERR:
                 ...
 
+        @clibs.db_lock
         def jump2page():
             try:
                 number = int(self.entry_tips_v)
                 if number > 0:
                     start = number * 100 - 99
                     end = number * 100
-                    clibs.cursor.execute("select * from logs order by id desc")
+                    clibs.cursor.execute("select id from logs")
                     len_records = len(clibs.cursor.fetchall())
                     if start <= len_records:
                         clibs.cursor.execute(f"select * from logs where id between {start} and {end}")
@@ -649,6 +704,7 @@ class App:
             label_tips.grid(row=0, column=0, padx=10, pady=10, sticky="w")
             entry_tips.grid(row=0, column=1, padx=(0, 10), pady=10, sticky="w")
 
+        @clibs.db_lock
         def find_log(event):
             def find_error(cdt):
                 clibs.insert_logdb("WARNING", "aio", f"查询条件 [{cdt}] 书写规则错误！")
@@ -863,8 +919,9 @@ class App:
         self.entry_path_at.grid(row=1, column=2, columnspan=3, padx=(0, 10), pady=(0, 10), sticky="we")
         self.frame_top.grid(row=2, column=0, columnspan=5, padx=0, pady=0, sticky="we")
         self.btn_robot_state.grid(row=0, column=0, padx=10, pady=0)
-        self.btn_trig_estop.grid(row=0, column=1, padx=(0, 10), pady=0)
-        self.btn_reset_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
+        self.btn_robot_init.grid(row=0, column=1, padx=(0, 10), pady=0)
+        self.btn_trig_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
+        self.btn_reset_estop.grid(row=0, column=3, padx=(0, 10), pady=0)
 
         self.progressbar_at.start()
         self.progressbar_at.configure(progress_color="red", fg_color="gray")
@@ -913,9 +970,15 @@ class App:
         self.om_sub_dp.configure(state="disabled")
         self.om_trqh_dp.configure(state="disabled")
         self.om_sensor_dp.configure(state="disabled")
+        # ========================================================================
+        clibs.w2t = self.__w2t
+        clibs.insert_logdb("INFO", "aio", "AIO starts running......")
 
     def show(self):
         if self.server_vers:
+            t = threading.Thread(target=self.detect_network)
+            t.daemon = True
+            t.start()
             self.root.mainloop()
 
 
diff --git a/code/common/clibs.py b/code/common/clibs.py
index fcbda23..00c19bc 100644
--- a/code/common/clibs.py
+++ b/code/common/clibs.py
@@ -2,16 +2,17 @@ import os
 import os.path
 import sqlite3
 import threading
+import json
 
-def traversal_files(path, w2t):
+def traversal_files(_path, _w2t):
     # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
     # 参数：路径
     # 返回值：路径下的文件夹列表 路径下的文件列表
-    if not os.path.exists(path):
-        w2t(f"数据文件夹{path}不存在，请确认后重试......", "red", "PathNotExistError")
+    if not os.path.exists(_path):
+        _w2t(f"数据文件夹{_path}不存在，请确认后重试......", "red", "PathNotExistError")
     else:
         dirs, files = [], []
-        for item in os.scandir(path):
+        for item in os.scandir(_path):
             if item.is_dir():
                 dirs.append(item.path.replace("\\", "/"))
             elif item.is_file():
@@ -20,13 +21,17 @@ def traversal_files(path, w2t):
         return dirs, files
 
 
-def init_logdb(connect, cur):
-    connect = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=256)
+def init_logdb(conn, cursor):
+    conn = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=4096)
     # connect = sqlite3.connect("log.db", isolation_level=None, check_same_thread=False, cached_statements=256)
     # time text default (datetime('now', 'localtime')),
-
-    cur = connect.cursor()
-    cur.execute(
+    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(
         """
         create table if not exists logs(
             id integer primary key autoincrement,
@@ -37,16 +42,41 @@ def init_logdb(connect, cur):
         )
         """
     )
-    return connect, cur
+    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
+
+
+@db_lock
 def insert_logdb(_level, _module, _content):
     if db_state == "readwrite":
-        global conn, cursor
+        global conn, cursor, lock
         data = [_level, _module, repr(_content)]
         cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
 
 
+
+def insert_logdb_multi(data):
+    if db_state == "readwrite":
+        global conn, cursor, lock
+        # data = [_level, _module, repr(_content)]
+        # cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
+        try:
+            lock.acquire(True)
+            cursor.executemany("insert into logs (level, module, content) values (?, ?, ?)", data)
+        finally:
+            lock.release()
+
+
 class GetThreadResult(threading.Thread):
     def __init__(self, func, args=()):
         super(GetThreadResult, self).__init__()
@@ -79,15 +109,39 @@ running = False
 stop = True
 tl_prg = None
 f_records = None
+
+ip_addr = "192.168.0.160"
+ssh_port = 22
+socket_port = 5050
+xService_port = 6666
+external_port = 8080
+modbus_port = 502
+upgrade_port = 4567
+username = "luoshi"
+password = "luoshi2019"  # for real robot
+# password = "forpqart"  # for robot vm
+interval = 0.5  # interval after actions being triggered, such as modbus/socket/external communication operations
+RADIAN = 57.3  # 180 / 3.1415926
+MAX_FRAME_SIZE = 1024
+c_md = None
+c_hr = None
+c_ec = None
+c_pd = None
+lock = threading.Lock()
+
 conn, cursor = init_logdb(conn, cursor)
 
-for i in range(100):
-    insert_logdb("DEBUG", "clibs", 'this is a DEBUG log -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-0.0,\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-0.0,\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-0.0,\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-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\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\x04\x00,\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-0.0,\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-0.0,\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')
-    insert_logdb("INFO", "clibs", 'this is a INFO log -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-0.0,\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-0.0,\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-0.0,\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-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\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\x04\x00,\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-0.0,\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-0.0,\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')
-    insert_logdb("WARNING", "clibs", 'this is a WARNING log -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-0.0,\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-0.0,\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-0.0,\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-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\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\x04\x00,\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-0.0,\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-0.0,\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')
-    insert_logdb("ERROR", "clibs", 'this is a ERROR log -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-0.0,\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-0.0,\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-0.0,\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-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\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\x04\x00,\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-0.0,\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-0.0,\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')
-
-insert_logdb("DEBUG", "clibs", 'running')
-insert_logdb("INFO", "clibs", 'running')
-insert_logdb("WARNING", "clibs", 'running')
-insert_logdb("ERROR", "clibs", 'running')
+# for i in range(100):
+#     insert_logdb("DEBUG", "clibs", 'this is a DEBUG log -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-0.0,\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-0.0,\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-0.0,\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-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\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\x04\x00,\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-0.0,\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-0.0,\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')
+#     insert_logdb("INFO", "clibs", 'this is a INFO log -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-0.0,\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-0.0,\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-0.0,\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-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\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\x04\x00,\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-0.0,\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-0.0,\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')
+#     insert_logdb("WARNING", "clibs", 'this is a WARNING log -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-0.0,\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-0.0,\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-0.0,\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-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\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\x04\x00,\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-0.0,\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-0.0,\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')
+#     insert_logdb("ERROR", "clibs", 'this is a ERROR log -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-0.0,\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-0.0,\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-0.0,\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-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\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\x04\x00,\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-0.0,\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-0.0,\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')
+#
+# insert_logdb("DEBUG", "clibs", 'running')
+# insert_logdb("INFO", "clibs", 'running')
+# insert_logdb("WARNING", "clibs", 'running')
+# insert_logdb("ERROR", "clibs", 'running')
+with open(f"{log_path}/response.txt", mode="w", encoding="utf-8") as f_res:
+    f_res.write("")
+with open(f"{log_path}/logs.txt", mode="w", encoding="utf-8") as f_res:
+    f_res.write("")
\ No newline at end of file
diff --git a/code/common/openapi.py b/code/common/openapi.py
new file mode 100644
index 0000000..486f09c
--- /dev/null
+++ b/code/common/openapi.py
@@ -0,0 +1,2467 @@
+import json
+import socket
+import inspect
+from inspect import currentframe
+import threading
+import functools
+from paramiko import SSHClient, AutoAddPolicy
+from pymodbus.client.tcp import ModbusTcpClient
+import selectors
+import time
+from common import clibs
+
+from os import listdir
+from threading import Thread
+# from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
+# from pymodbus.constants import Endian
+import os.path
+from ctypes import *
+import hashlib
+import struct
+
+
+class ModbusRequest(object):
+    def __init__(self, ip, port):
+        self.__c = ModbusTcpClient(host=ip, port=port)
+        if self.__c.connect():
+            clibs.insert_logdb("INFO", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) success...")
+        else:
+            clibs.insert_logdb("ERROR", "openapi", f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed...")
+            clibs.w2t(f"Modbus connection({clibs.ip_addr}:{clibs.modbus_port}) failed...\n", "red", "ModbusConnError")
+
+    def close(self):
+        try:
+            self.__c.close()
+        except Exception as Err:
+            ...
+
+    def __reg_high_pulse(self, addr: int) -> None:
+        self.__c.write_register(addr, 0)
+        time.sleep(clibs.interval)
+        self.__c.write_register(addr, 1)
+        time.sleep(clibs.interval+1)
+        self.__c.write_register(addr, 0)
+
+    def r_clear_alarm(self):  # OK
+        self.__reg_high_pulse(40000)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40000-010 执行清除告警信息")
+
+    def r_reset_estop(self):  # OK
+        self.__reg_high_pulse(40001)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40001-010 执行复位急停状态(非软急停)")
+
+    def r_reset_estop_clear_alarm(self):  # OK
+        self.__reg_high_pulse(40002)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40002-010 执行复位急停状态(非软急停)，并清除告警信息")
+
+    def r_motor_off(self):  # OK
+        self.__reg_high_pulse(40003)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40003-010 执行机器人下电")
+
+    def r_motor_on(self):  # OK
+        self.__reg_high_pulse(40004)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40004-010 执行机器人上电")
+
+    def r_motoron_pp2main_start(self):  # OK
+        self.__reg_high_pulse(40005)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40005-010 执行机器人上电/pp2main/开始运行程序，需自动模式执行，若运行失败，可清除告警后再次尝试")
+
+    def r_motoron_start(self):  # OK
+        self.__reg_high_pulse(40006)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40006-010 执行机器人上电/开始运行程序，需自动模式执行，若运行失败，可清除告警、执行pp2main后再次尝试")
+
+    def r_pulse_motoroff(self):  # OK
+        self.__reg_high_pulse(40007)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40007-010 执行机器人停止，并下电，手动模式下可停止程序运行，但不能下电，若运行失败，可清除告警后再次尝试")
+
+    def r_pp2main(self):  # OK
+        self.__reg_high_pulse(40008)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40008-010 执行机器人 pp2main，需自动模式执行，若运行失败，可清除告警后再次尝试")
+
+    def r_program_start(self):  # OK
+        self.__reg_high_pulse(40009)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40009-010 执行机器人默认程序运行，需有 pp2main 前置操作，若运行失败，可清除告警后再次尝试")
+
+    def r_program_stop(self):  # OK
+        self.__reg_high_pulse(40010)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40010-010 执行机器人默认程序停止，需有 pp2main 前置操作，若运行失败，可清除告警后再次尝试")
+
+    def r_reduced_mode(self, action: int):  # OK
+        self.__c.write_register(40011, action)
+        actions = "进入" if action == 1 else "退出"
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40011-{action} 执行机器人{actions}缩减模式")
+        time.sleep(clibs.interval)
+
+    def r_soft_estop(self, action: int):  # OK
+        self.__c.write_register(40012, action)
+        actions = "解除" if action == 1 else "触发"
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40012-{action} 执行{actions}急停动作")
+        time.sleep(clibs.interval)
+
+    def r_switch_auto_motoron(self):  # OK
+        self.__reg_high_pulse(40013)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40013-010 执行切换为自动模式，并上电，初始状态 !!不能是!! 手动上电模式")
+
+    def r_switch_auto(self):  # OK
+        self.__reg_high_pulse(40014)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40014-010 执行切换为自动模式")
+
+    def r_switch_manual(self):  # OK
+        self.__reg_high_pulse(40015)
+        clibs.insert_logdb("INFO", "openapi", "modbus: 40015-010 执行切换为手动模式")
+
+    def r_switch_safe_region01(self, action: bool):  # OK | 上升沿打开，下降沿关闭
+        if action:
+            self.__c.write_register(40016, False)
+            time.sleep(clibs.interval)
+            self.__c.write_register(40016, True)
+        else:
+            self.__c.write_register(40016, True)
+            time.sleep(clibs.interval)
+            self.__c.write_register(40016, False)
+        actions = "打开" if action else "关闭"
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40016-{action} 执行{actions}安全区 safe region 01")
+        time.sleep(clibs.interval)
+
+    def r_switch_safe_region02(self, action: bool):  # OK | 上升沿打开，下降沿关闭
+        if action:
+            self.__c.write_register(40017, False)
+            time.sleep(clibs.interval)
+            self.__c.write_register(40017, True)
+        else:
+            self.__c.write_register(40017, True)
+            time.sleep(clibs.interval)
+            self.__c.write_register(40017, False)
+        actions = "打开" if action else "关闭"
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40017-{action} 执行{actions}安全区 safe region 02")
+        time.sleep(clibs.interval)
+
+    def r_switch_safe_region03(self, action: bool):  # OK | 上升沿打开，下降沿关闭
+        if action:
+            self.__c.write_register(40018, False)
+            time.sleep(clibs.interval)
+            self.__c.write_register(40018, True)
+        else:
+            self.__c.write_register(40018, True)
+            time.sleep(clibs.interval)
+            self.__c.write_register(40018, False)
+        actions = "打开" if action else "关闭"
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40018-{action} 执行{actions}安全区 safe region 03")
+        time.sleep(clibs.interval)
+
+    def r_write_signals(self, addr: int, value):  # OK | 40100 - 40109: signal_0 ~ signal_9
+        if -1 < addr < 10 and addr.is_integer():
+            self.__c.write_register(40100+addr, value)
+            clibs.insert_logdb("INFO", "openapi", f"modbus: {40100+addr}-{value} 将寄存器 signal_{addr} 赋值为 {value}")
+        else:
+            clibs.insert_logdb("INFO", "openapi", f"modbus: {40100+addr}-{value} 地址错误，无法赋值！")
+
+    @property
+    def w_alarm_state(self):  # OK
+        res = self.__c.read_holding_registers(40500, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40500 获取告警状态，结果为 {res} :--: 0 表示无告警,，1 表示有告警")
+        return res
+
+    @property
+    def w_collision_alarm_state(self):  # OK
+        res = self.__c.read_holding_registers(40501, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40501 获取碰撞告警状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+        return res
+
+    @property
+    def w_collision_open_state(self):  # OK
+        res = self.__c.read_holding_registers(40502, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40502 获取碰撞检测开启状态，结果为 {res} :--: 0 表示关闭，1 表示开启")
+        return res
+
+    @property
+    def w_controller_is_running(self):  # OK
+        res = self.__c.read_holding_registers(40503, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40503 获取控制器运行状态，结果为 {res} :--: 0 表示运行异常，1 表示运行正常")
+        return res
+
+    @property
+    def w_encoder_low_battery(self):  # OK
+        res = self.__c.read_holding_registers(40504, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40504 获取编码器低电压状态，结果为 {res} :--: 0 表示非低电压，1 表示低电压 需关注")
+        return res
+
+    @property
+    def w_estop_state(self):  # OK
+        res = self.__c.read_holding_registers(40505, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40505 获取机器人急停状态(非软急停)，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+        return res
+
+    @property
+    def w_motor_state(self):  # OK
+        res = self.__c.read_holding_registers(40506, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40506 获取机器人上电状态，结果为 {res} :--: 0 表示未上电，1 表示已上电")
+        return res
+
+    @property
+    def w_operation_mode(self):  # OK
+        res = self.__c.read_holding_registers(40507, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40507 获取机器人操作模式，结果为 {res} :--: 0 表示手动模式，1 表示自动模式")
+        return res
+
+    @property
+    def w_program_state(self):  # OK
+        res = self.__c.read_holding_registers(40508, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40508 获取程序的运行状态，结果为 {res} :--: 0 表示未运行，1 表示正在运行")
+        return res
+
+    @property
+    def w_program_not_run(self):  # OK
+        res = self.__c.read_holding_registers(40509, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40509 判定程序为未运行状态，结果为 {res} :--: 0 表示正在运行，1 表示未运行")
+        return res
+
+    @property
+    def w_program_reset(self):  # OK
+        res = self.__c.read_holding_registers(40510, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40510 判定程序指针为 pp2main 状态，结果为 {res} :--: 0 表示指针不在 main 函数，1 表示指针在 main 函数")
+        return res
+
+    @property
+    def w_reduce_mode_state(self):  # OK
+        res = self.__c.read_holding_registers(40511, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40511 获取机器人缩减模式状态，结果为 {res} :--: 0 表示非缩减模式，1 表示缩减模式")
+        return res
+
+    @property
+    def w_robot_is_busy(self):  # OK
+        res = self.__c.read_holding_registers(40512, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40512 获取机器人是否处于 busy 状态，结果为 {res} :--: 0 表示未处于 busy 状态，1 表示处于 busy 状态")
+        return res
+
+    @property
+    def w_robot_is_moving(self):  # OK
+        res = self.__c.read_holding_registers(40513, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40513 获取机器人是否处于运动状态，结果为 {res} :--: 0 表示未运动，1 表示正在运动")
+        return res
+
+    @property
+    def w_safe_door_state(self):  # OK
+        res = self.__c.read_holding_registers(40514, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40514 获取机器人是否处于安全门打开状态，需自动模式下执行，结果为 {res} :--: 0 表示未触发安全门，1 表示已触发安全门")
+        return res
+
+    @property
+    def w_safe_region01_trig_state(self):  # OK
+        res = self.__c.read_holding_registers(40515, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40515 获取安全区域 safe region01 的触发状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+        return res
+
+    @property
+    def w_safe_region02_trig_state(self):  # OK
+        res = self.__c.read_holding_registers(40516, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40516 获取安全区域 safe region02 的触发状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+        return res
+
+    @property
+    def w_safe_region03_trig_state(self):  # OK
+        res = self.__c.read_holding_registers(40517, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40517 获取安全区域 safe region03 的触发状态，结果为 {res} :--: 0 表示未触发，1 表示已触发")
+        return res
+
+    @property
+    def w_soft_estop_state(self):  # OK
+        res = self.__c.read_holding_registers(40518, count=1).registers[0]
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 40518 获取机器人软急停状态，结果为 {res}  :--: 0 表示未触发软急停，1 表示已触发软急停")
+        return res
+
+    def io_write_coils(self, addr, action):  # OK | 名字叫写线圈，其实是写 modbus 的 discrete inputs(DI)
+        # e.g. io_write_coils(0, 1)
+        # e.g. io_write_coils(1, 1)
+        # e.g. io_write_coils(0, [1, 1, 1])
+        self.__c.write_coils(addr, action)
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 执行给 DI 地址 {addr} 赋值为 {action}，可根据情况传递列表，实现一次性赋值多个")
+        time.sleep(clibs.interval)
+
+    def io_read_coils(self):  # OK | 读 modbus 的 16 个 discrete inputs(DI)
+        res = self.__c.read_coils(0, count=16).bits
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 执行读取所有 DI 的结果为 {res}")
+        return res
+
+    def io_read_discretes(self):  # OK | 读 modbus 的 coil outputs(DO)
+        res = self.__c.read_discrete_inputs(0, count=16).bits
+        clibs.insert_logdb("INFO", "openapi", f"modbus: 执行读取所有 DO 的结果为 {res}")
+        return res
+
+
+class HmiRequest(object):
+    socket.setdefaulttimeout(clibs.interval * 10)
+
+    def __init__(self, ip, port, port_xs):
+        self.__ip = ip
+        self.__port = port
+        self.__port_xs = port_xs
+        self.__close_hmi = False
+        self.__is_connected = False
+        self.__index = 0
+        self.__previous_data = b""
+        self.__valid_data_length = 0
+        self.__leftovers = 0
+        self.__response = b""
+        self.__response_xs = ""
+        self.__half_frm = b""
+        self.__half_frm_flag = -1
+        self.__half_pkg = b""
+        self.__half_pkg_flag = False
+        self.__is_first_frame = True
+        self.__is_very_first_frame = True
+
+        self.__t_heartbeat = None
+        self.__t_unpackage = None
+        self.__t_unpackage_xs = None
+        self.__t_is_alive = Thread(target=self.__is_alive)
+        self.__t_is_alive.daemon = True
+        self.__t_is_alive.start()
+        time.sleep(3)
+
+    def __is_alive(self):
+        while not self.__close_hmi:
+            if not self.__is_connected:
+                self.__socket_conn()
+                if self.__is_connected:
+                    self.__t_heartbeat = Thread(target=self.__heartbeat)
+                    self.__t_heartbeat.daemon = True
+                    self.__t_heartbeat.start()
+                    self.__t_unpackage = Thread(target=self.__unpackage, args=(self.__c,))
+                    self.__t_unpackage.daemon = True
+                    self.__t_unpackage.start()
+                    self.__t_unpackage_xs = Thread(target=self.__unpackage_xs, args=(self.__c_xs,))
+                    self.__t_unpackage_xs.daemon = True
+                    self.__t_unpackage_xs.start()
+            time.sleep(3)
+
+    @property
+    def status(self):
+        return self.__is_connected
+
+    def close(self):
+        try:
+            self.__close_hmi = True
+            self.__is_connected = False
+            time.sleep(clibs.interval)
+            self.__c.close()
+            self.__c_xs.close()
+        except:
+            ...
+
+    def __socket_conn(self):
+        self.close()
+        try:
+            self.__c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.__c.connect((self.__ip, self.__port))
+            self.__c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.__c_xs.connect((self.__ip, self.__port_xs))
+            # 尝试连续三次发送心跳包，确认建联成功
+            state = None
+            for i in range(3):
+                _, state = self.execution.__wrapped__(self, "controller.heart")
+                time.sleep(clibs.interval/5)
+            if state is not None:
+                self.__is_connected = True
+                clibs.insert_logdb("INFO", "openapi", "hr: HMI connection success...")
+            else:
+                clibs.insert_logdb("ERROR", "openapi", "hr: HMI connection failed...")
+        except Exception as Err:
+            clibs.insert_logdb("ERROR", "openapi", "hr: HMI connection timeout...")
+            clibs.w2t(f"无法连接至 {self.__ip}...\n报错信息 {Err}", "red", "NetworkUnreachable")
+
+    def __heartbeat(self):
+        while self.__is_connected:
+            self.execution("controller.heart")
+            time.sleep(clibs.interval*4)
+
+    @staticmethod
+    def __package(cmd):
+        frm_value = (len(cmd) + 6).to_bytes(length=2, byteorder="big")
+        pkg_value = len(cmd).to_bytes(length=4, byteorder="big")
+        protocol = int(2).to_bytes(length=1, byteorder="big")
+        reserved = int(0).to_bytes(length=1, byteorder="big")
+        return frm_value + pkg_value + protocol + reserved + cmd.encode()
+
+    def __unpackage(self, sock):
+        def to_read(conn, mask):
+            data = conn.recv(clibs.MAX_FRAME_SIZE)
+            if data:
+                # print(f"data = {data}")
+                with open(f"{clibs.log_path}/logs.txt", mode="a", encoding="utf-8") as f_logs:
+                    f_logs.write(str(data) + "\n")
+                self.__get_response(data)
+            else:
+                sel.unregister(conn)
+                conn.close()
+
+        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 Err:
+            clibs.insert_logdb("ERROR", "openapi", f"hr-unpackage: 报错信息 {Err}")
+
+    def __get_headers(self, index, data):
+        print(f"index = {index}")
+        if index + 8 < len(data):
+            frm_value = int.from_bytes(data[index:index + 2], byteorder="big")
+            pkg_value = int.from_bytes(data[index + 2:index + 6], byteorder="big")
+            protocol = int.from_bytes(data[index + 6:index + 7], byteorder="big")
+            reserved = int.from_bytes(data[index + 7:index + 8], byteorder="big")
+            print(f"reserved = {reserved}")
+            print(f"protocol = {protocol}")
+            print(f"frm_value = {frm_value}")
+            print(f"pkg_value = {pkg_value}")
+            if reserved == 0 and protocol == 2:
+                return index + 8, frm_value, pkg_value
+            else:
+                print("hr-get_headers: 解包数据有误，需要确认！")
+                print(data)
+                clibs.insert_logdb("ERROR", "openapi", "hr-get_headers: 解包数据有误，需要确认！")
+        else:
+            self.__half_pkg = data[index:]
+            self.__half_pkg_flag = True
+            index += clibs.MAX_FRAME_SIZE
+            return index, 0, 0
+
+    def __get_response(self, data):
+        if self.__half_pkg_flag:
+            print(f"self.__half_pkg = {self.__half_pkg}")
+            len_one = len(self.__half_pkg)
+            len_another = 8 - len_one
+            headers = self.__half_pkg + data[:len_another]
+            self.__index = len_another
+            frm_value = int.from_bytes(headers[0:2], byteorder="big")
+            pkg_value = int.from_bytes(headers[2:6], byteorder="big")
+            print(f"headers = {headers}")
+
+        while self.__index < len(data):
+            print(f"top valid data = {self.__valid_data_length}")
+            if self.__valid_data_length < 0:
+                print(f"invalid data: {data}")
+                raise Exception()
+            if self.__is_first_frame:
+                if self.__half_pkg_flag:
+                    self.__half_pkg_flag = False
+                else:
+                    self.__index, frm_value, pkg_value = self.__get_headers(self.__index, data)
+
+                if frm_value - pkg_value == 6:
+                    if len(data[self.__index:]) >= pkg_value:
+                        self.__response = data[self.__index:self.__index + pkg_value]
+                        self.__index += pkg_value
+                        with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
+                            f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
+                        clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                        self.__response = b""
+                        self.__leftovers = 0
+                        self.__is_first_frame = True
+                    elif len(data[self.__index:]) < pkg_value:
+                        self.__response = data[self.__index:]
+                        self.__leftovers = pkg_value - len(data[self.__index:])
+                        self.__index += clibs.MAX_FRAME_SIZE  # whatever
+                        self.__is_first_frame = False
+                elif frm_value < pkg_value:
+                    self.__valid_data_length = pkg_value
+                    if len(data[self.__index:]) >= frm_value - 6:
+                        self.__is_first_frame = False
+                        self.__leftovers = 0
+                        self.__response = data[self.__index:self.__index + frm_value - 6]
+                        self.__index += (frm_value - 6)
+                        self.__valid_data_length -= (frm_value - 6)
+                        if len(data[self.__index:]) == 2:
+                            self.__half_frm = data[self.__index:]
+                            self.__index += clibs.MAX_FRAME_SIZE
+                            self.__half_frm_flag = 2
+                        elif len(data[self.__index:]) == 1:
+                            self.__half_frm = data[self.__index:]
+                            self.__index += clibs.MAX_FRAME_SIZE
+                            self.__half_frm_flag = 1
+                        elif len(data[self.__index:]) == 0:
+                            self.__index += clibs.MAX_FRAME_SIZE
+                            self.__half_frm_flag = 0
+                        else:
+                            self.__half_frm_flag = -1
+                    elif len(data[self.__index:]) < frm_value - 6:
+                        self.__response = data[self.__index:]
+                        self.__leftovers = frm_value - 6 - len(data[self.__index:])
+                        self.__valid_data_length -= len(data[self.__index:])
+                        self.__index += clibs.MAX_FRAME_SIZE
+                        self.__is_first_frame = False
+            elif not self.__is_first_frame:  # 不是首帧
+                if self.__leftovers > 0 and self.__valid_data_length > 0:
+                    self.__is_first_frame = False
+                    self.__response += data[:self.__leftovers]
+                    self.__index = self.__leftovers
+                    self.__valid_data_length -= self.__leftovers
+                    self.__leftovers = 0
+                    if self.__valid_data_length == 0:
+                        with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
+                            f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
+                        clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                        self.__response = b""
+                        self.__is_first_frame = True
+                    if len(data[self.__index:]) == 2:
+                        self.__half_frm = data[self.__index:]
+                        self.__index += clibs.MAX_FRAME_SIZE
+                        self.__half_frm_flag = 2
+                    elif len(data[self.__index:]) == 1:
+                        self.__half_frm = data[self.__index:]
+                        self.__index += clibs.MAX_FRAME_SIZE
+                        self.__half_frm_flag = 1
+                    elif len(data[self.__index:]) == 0:
+                        self.__index += clibs.MAX_FRAME_SIZE
+                        self.__half_frm_flag = 0
+                    else:
+                        self.__half_frm_flag = -1
+
+                elif self.__leftovers > 0 and self.__valid_data_length == 0:
+                    self.__response += data[:self.__leftovers]
+                    self.__index = self.__leftovers
+                    self.__leftovers = 0
+                    with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
+                        f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
+                    clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                    self.__response = b""
+                    self.__is_first_frame = True
+
+                elif self.__leftovers == 0 and self.__valid_data_length > 0:
+                    # 1. len(data[self.__index:]) > 2
+                    # 2. len(data[self.__index:]) = 2
+                    # 3. len(data[self.__index:]) = 1
+                    # 4. len(data[self.__index:]) = 0
+                    if self.__half_frm_flag != -1:
+                        if self.__half_frm_flag == 2:
+                            self.__index = int.from_bytes(self.__half_frm)
+                            self.__response += data[:self.__index]
+                            self.__valid_data_length -= len(data[:self.__index])
+                            self.__half_frm_flag = -1
+                        elif self.__half_frm_flag == 1:
+                            frm_value = int.from_bytes(self.__half_frm + data[0:1])
+                            if len(data[1:]) >= frm_value:
+                                self.__response += data[1:frm_value+1]
+                                self.__leftovers = 0
+                                self.__valid_data_length -= len(data[1:frm_value+1])
+                                self.__index = frm_value + 1
+                            elif len(data[1:]) < frm_value:
+                                self.__response += data[1:]
+                                self.__leftovers = frm_value - len(data[1:])
+                                self.__valid_data_length -= len(data[1:])
+                                self.__index += clibs.MAX_FRAME_SIZE
+                            self.__half_frm_flag = -1
+                        elif self.__half_frm_flag == 0:
+                            frm_value = int.from_bytes(data[0:2])
+                            if len(data[2:]) >= frm_value:
+                                self.__response += data[2:frm_value+2]
+                                self.__leftovers = 0
+                                self.__valid_data_length -= len(data[2:frm_value+2])
+                                self.__index = frm_value + 2
+                            elif len(data[2:]) < frm_value:
+                                self.__response += data[2:]
+                                self.__leftovers = frm_value - len(data[2:])
+                                self.__valid_data_length -= len(data[2:])
+                                self.__index += clibs.MAX_FRAME_SIZE
+                            self.__half_frm_flag = -1
+
+                        if self.__valid_data_length == 0:
+                            with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
+                                f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
+                            clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                            self.__response = b""
+                            self.__is_first_frame = True
+                        if len(data[self.__index:]) == 2:
+                            self.__half_frm = data[self.__index:]
+                            self.__index += clibs.MAX_FRAME_SIZE
+                            self.__half_frm_flag = 2
+                        elif len(data[self.__index:]) == 1:
+                            self.__half_frm = data[self.__index:]
+                            self.__index += clibs.MAX_FRAME_SIZE
+                            self.__half_frm_flag = 1
+                        elif len(data[self.__index:]) == 0:
+                            self.__index += clibs.MAX_FRAME_SIZE
+                            self.__half_frm_flag = 0
+                        else:
+                            self.__half_frm_flag = -1
+
+                    else:
+                        frm_value = int.from_bytes(data[self.__index:self.__index + 2])
+                        self.__index += 2
+                        if len(data[self.__index:]) >= frm_value:
+                            self.__leftovers = 0
+                            self.__response += data[self.__index:self.__index + frm_value]
+                            self.__index += frm_value
+                            self.__valid_data_length -= frm_value
+                            if self.__valid_data_length == 0:
+                                with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
+                                    f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
+                                clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
+                                self.__response = b""
+                                self.__is_first_frame = True
+                            if len(data[self.__index:]) == 2:
+                                self.__index += clibs.MAX_FRAME_SIZE
+                                self.__half_frm = data[self.__index:]
+                                self.__half_frm_flag = 2
+                            elif len(data[self.__index:]) == 1:
+                                self.__index += clibs.MAX_FRAME_SIZE
+                                self.__half_frm = data[self.__index:]
+                                self.__half_frm_flag = 1
+                            elif len(data[self.__index:]) == 0:
+                                self.__half_frm_flag = 0
+                            else:
+                                self.__half_frm_flag = -1
+
+                        elif len(data[self.__index:]) < frm_value:
+                            self.__response += data[self.__index:]
+                            self.__leftovers = frm_value - len(data[self.__index:])
+                            self.__valid_data_length -= len(data[self.__index:])
+                            self.__index += clibs.MAX_FRAME_SIZE
+                else:
+                    self.__index += 1
+        else:
+            self.__index = 0
+
+    @staticmethod
+    def __package_xs(cmd):
+        return "".join([json.dumps(cmd, separators=(",", ":")), "\r"]).encode()
+
+    def __unpackage_xs(self, sock):
+        def to_read(conn, mask):
+            data = conn.recv(1024)  # Should be ready
+            if data:
+                # print(data)
+                self.__get_response_xs(data)
+            else:
+                sel.unregister(conn)
+                conn.close()
+
+        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 Err:
+            clibs.insert_logdb("ERROR", "openapi", f"hr-unpackage_xs: 报错信息 {Err}")
+
+    def __get_response_xs(self, data):
+        char, response = "", self.__response_xs
+        for char in data.decode():
+            if char != "\r":
+                response = "".join([response, char])
+            else:
+                clibs.insert_logdb("DEBUG", "openapi", response)
+                response = ""
+        else:
+            self.__response_xs = response
+
+    def get_from_id(self, msg_id, state):
+        f_text = f"%{msg_id}%"
+        if state is None:
+            self.close()
+            clibs.w2t(f"请求 {msg_id} 发送失败......", "red", "ReqSendFailed")
+        for _ in range(60):
+            try:
+                clibs.lock.acquire(True)
+                clibs.cursor.execute(f"select * from logs where content like '{f_text}'")
+                res = len(clibs.cursor.fetchall())
+            finally:
+                clibs.lock.release()
+            if res >= 2:
+                break
+            else:
+                time.sleep(clibs.interval*2)
+                continue
+        else:
+            clibs.insert_logdb("ERROR", "openapi", f"hr: 无法找到请求 {msg_id} 的响应")
+            self.close()
+            clibs.w2t(f"无法找到请求 {msg_id} 的响应......\n", "red", "RespondNotFound")
+
+    @staticmethod
+    def validate_req(func):
+        @functools.wraps(func)
+        def wrapper(self, *args, **kwargs):
+            msg_id, state = func(self, *args, **kwargs)
+            t = threading.Thread(target=self.get_from_id, args=(msg_id, state))
+            t.daemon = True
+            t.start()
+            # self.get_from_id(msg_id, state)
+            return msg_id, state
+        return wrapper
+
+    @validate_req
+    def execution(self, command, p_flag=0, **kwargs):
+        req, state = None, None
+        try:
+            with open(f"{clibs.PREFIX}/files/protocols/{command}.json", encoding="utf-8", mode="r") as f_json:
+                req = json.load(f_json)
+        except Exception as Err:
+            clibs.insert_logdb("ERROR", "openapi", f"hr: 暂不支持 {command} 功能，或确认该功能存在... {Err}")
+
+        if p_flag == 0:  # for old protocols
+            match command:
+                case "state.set_tp_mode":
+                    req["data"]["tp_mode"] = kwargs["tp_mode"]
+                case "overview.set_autoload":
+                    req["data"]["autoload_prj_path"] = kwargs["autoload_prj_path"]
+                case "overview.reload":
+                    req["data"]["prj_path"] = kwargs["prj_path"]
+                    req["data"]["tasks"] = kwargs["tasks"]
+                case "rl_task.pp_to_main" | "rl_task.run" | "rl_task.stop":
+                    req["data"]["tasks"] = kwargs["tasks"]
+                case "rl_task.set_run_params":
+                    req["data"]["loop_mode"] = kwargs["loop_mode"]
+                    req["data"]["override"] = kwargs["override"]
+                case "diagnosis.set_params":
+                    req["data"]["display_pdo_params"] = kwargs["display_pdo_params"]
+                    req["data"]["frequency"] = kwargs["frequency"]
+                    req["data"]["version"] = kwargs["version"]
+                case "diagnosis.open":
+                    req["data"]["open"] = kwargs["open"]
+                    req["data"]["display_open"] = kwargs["display_open"]
+                    req["data"]["overrun"] = kwargs["overrun"]
+                    req["data"]["turn_area"] = kwargs["turn_area"]
+                    req["data"]["delay_motion"] = kwargs["delay_motion"]
+                case "register.set_value":
+                    req["data"]["name"] = kwargs["name"]
+                    req["data"]["type"] = kwargs["type"]
+                    req["data"]["bias"] = kwargs["bias"]
+                    req["data"]["value"] = kwargs["value"]
+                case "diagnosis.save":
+                    req["data"]["save"] = kwargs["save"]
+                case "socket.set_params":
+                    req["data"] = kwargs["data"]
+                case "fieldbus_device.set_params":
+                    req["data"]["device_name"] = kwargs["device_name"]
+                    req["data"]["enable"] = kwargs["enable"]
+                case "soft_limit.set_params":
+                    req["data"] = kwargs["data"]
+                case "move.set_quickturn_pos":
+                    req["data"]["enable_home"] = kwargs["enable_home"]
+                    req["data"]["enable_drag"] = kwargs["enable_drag"]
+                    req["data"]["enable_transport"] = kwargs["enable_transport"]
+                    req["data"]["end_posture"] = kwargs["end_posture"]
+                case "move.quick_turn":
+                    req["data"]["name"] = kwargs["name"]
+                case "move.stop":
+                    req["data"]["stoptype"] = kwargs["stoptype"]
+                case "jog.start":
+                    req["data"]["index"] = kwargs["index"]
+                    req["data"]["direction"] = kwargs["direction"]
+                    req["data"]["is_ext"] = kwargs["is_ext"]
+                case "jog.set_params":
+                    req["data"]["step"] = kwargs["step"]
+                    req["data"]["override"] = kwargs["override"]
+                    req["data"]["space"] = kwargs["space"]
+                case "diagnosis.get_params":
+                    req["data"]["version"] = kwargs["version"]
+                case "system_io.update_configuration":
+                    req["data"]["input_system_io"] = kwargs["input_system_io"]
+                    req["data"]["output_system_io"] = kwargs["output_system_io"]
+                case "modbus.set_params":
+                    req["data"]["enable_slave"] = kwargs["enable_slave"]
+                    req["data"]["ip"] = kwargs["ip"]
+                    req["data"]["port"] = kwargs["port"]
+                    req["data"]["slave_id"] = kwargs["slave_id"]
+                    req["data"]["enable_master"] = kwargs["enable_master"]
+                case "modbus.get_values":
+                    req["data"]["mode"] = kwargs["mode"]
+                case "move.set_monitor_cfg":
+                    req["data"]["ref_coordinate"] = kwargs["ref_coordinate"]
+                case "move.set_params":
+                    req["data"]["MOTION"] = kwargs["data"]
+                case "move.set_quickstop_distance":
+                    req["data"]["distance"] = kwargs["distance"]
+                case "collision.set_params":
+                    req["data"] = kwargs["data"]
+                case "collision.set_state":
+                    req["data"]["collision_state"] = kwargs["collision_state"]
+                case "controller.set_params":
+                    req["data"]["time"] = kwargs["time"]
+                case "drag.set_params":
+                    req["data"]["enable"] = kwargs["enable"]
+                    req["data"]["space"] = kwargs["space"]
+                    req["data"]["type"] = kwargs["type"]
+                case _:
+                    pass
+
+            req["id"] = f"{command}-{time.time()}"
+            cmd = json.dumps(req, separators=(",", ":"))
+            try:
+                self.__c.send(self.__package(cmd))
+                clibs.insert_logdb("INFO", "openapi", f"hr: 请求发送成功 {cmd}")
+                state = "done"
+            except Exception as Err:
+                clibs.insert_logdb("ERROR", "openapi", f"hr: 请求发送失败 {cmd}\n报错信息 {Err}")
+            return req["id"], state
+        elif p_flag == 1:  # for xService
+            match command:
+                case "safety.safety_area.signal_enable":
+                    req["c"]["safety.safety_area.signal_enable"]["signal"] = kwargs["signal"]
+                case "safety.safety_area.overall_enable":
+                    req["c"]["safety.safety_area.overall_enable"]["enable"] = kwargs["enable"]
+                case "log_code.data.code_list":
+                    req["s"]["log_code.data"]["code_list"] = kwargs["code_list"]
+                case "safety.safety_area.safety_area_enable":
+                    req["c"]["safety.safety_area.safety_area_enable"]["id"] = kwargs["id"]
+                    req["c"]["safety.safety_area.safety_area_enable"]["enable"] = kwargs["enable"]
+                case "safety.safety_area.set_param":
+                    req["c"]["safety.safety_area.set_param"] = kwargs["data"]
+                case _:
+                    pass
+
+            try:
+                self.__c_xs.send(self.__package_xs(req))
+                clibs.insert_logdb("INFO", "openapi", f"hr: 请求发送成功 {req}")
+                state = "done"
+            except Exception as Err:
+                clibs.insert_logdb("ERROR", "openapi", f"hr: 请求发送失败 {req}\n报错信息 {Err}")
+            return command, state
+
+    # =================================== ↓↓↓ specific functions ↓↓↓ ===================================
+
+    # def switch_motor_state(self, state: str):  # OK
+    #     """
+    #     切换上电/下电的状态
+    #     :param state: on/off
+    #     :return: None
+    #     """
+    #     match state:
+    #         case "on":
+    #             self.execution("state.switch_motor_on")
+    #         case "off":
+    #             self.execution("state.switch_motor_off")
+    #         case _:
+    #             clibs.insert_logdb("ERROR", "openapi", f"hr: switch_motor_state 参数错误 {state}: 非法参数，只接受 on/off")
+    #
+    # def switch_operation_mode(self, mode: str):  # OK
+    #     """
+    #     切换自动/手动操作模式
+    #     :param mode: auto/manual
+    #     :return: None
+    #     """
+    #     match mode:
+    #         case "auto":
+    #             self.execution("state.switch_auto")
+    #         case "manual":
+    #             self.execution("state.switch_manual")
+    #         case _:
+    #             clibs.insert_logdb("ERROR", "openapi", "hr: switch_operation_mode 参数错误 非法参数，只接受 auto/manual")
+    #
+    # def reload_project(self, prj_name: str, tasks: list):  # OK
+    #     """
+    #     重新加载指定工程
+    #     :param prj_name: 工程名，也即 zip 文件的名字
+    #     :param tasks: 要加载的任务列表
+    #     :return: None
+    #     """
+    #     prj_path = f"{prj_name}/_build/{prj_name}.prj"
+    #     self.execution("overview.reload", prj_path=prj_path, tasks=tasks)
+    #
+    # def set_project_auto_reload(self, prj_name: str):  # OK
+    #     """
+    #     将指定工程设置为开机自动加载，也即默认工程
+    #     :param prj_name: 工程名，也即 zip 文件的名字
+    #     :return: None
+    #     """
+    #     autoload_prj_path = f"{prj_name}/_build/{prj_name}.prj"
+    #     self.execution("overview.set_autoload", autoload_prj_path=autoload_prj_path)
+    #
+    # def pp_to_main(self, tasks: list):  # OK
+    #     """
+    #     将指定的任务列表的指针，指向 main 函数
+    #     :param tasks: 任务列表
+    #     :return: None
+    #     """
+    #     self.execution("rl_task.pp_to_main", tasks=tasks)
+    #
+    # def program_start(self, tasks: list):  # OK
+    #     """
+    #     开始执行程序任务，必须是自动模式下执行
+    #     :param tasks: 任务列表
+    #     :return: None
+    #     """
+    #     self.execution("rl_task.run", tasks=tasks)
+    #
+    # def program_stop(self, tasks: list):  # OK
+    #     """
+    #     停止执行程序任务
+    #     :param tasks: 人物列表
+    #     :return: None
+    #     """
+    #     self.execution("rl_task.stop", tasks=tasks)
+    #
+    # def set_program_loop_speed(self, loop_mode: bool = True, override: float = 0.5):  # OK
+    #     """
+    #     :param loop_mode: True为循环模式，False为单次模式
+    #     :param override: HMI 左下方的速度滑块，取值范围 [0, 1]
+    #     :return: None
+    #     """
+    #     self.execution("rl_task.set_run_params", loop_mode=loop_mode, override=override)
+    #
+    # def clear_alarm(self):  # OK
+    #     """
+    #     清除伺服告警
+    #     :return: None
+    #     """
+    #     self.execution("servo.clear_alarm")
+    #
+    # def reboot_robot(self):  # OK
+    #     """
+    #     重启控制器
+    #     :return: None
+    #     """
+    #     self.execution("controller.reboot")
+    #     clibs.insert_logdb("INFO", "openapi", f"hr: 控制器重启中，重连预计需要等待 100s 左右...")
+    #     ts = time()
+    #     time.sleep(30)
+    #     while True:
+    #         time.sleep(5)
+    #         te = time()
+    #         if te - ts > 180:
+    #             self.__silence = False
+    #             self.__sth_wrong("3min 内未能完成重新连接，需要查看后台控制器是否正常启动，或者 ip/port 是否正确")
+    #             break
+    #         for _ in range(3):
+    #             if not self.__is_connected:
+    #                 break
+    #             time.sleep(2)
+    #         else:
+    #             clibs.insert_logdb("INFO", "openapi", "hr: HMI 重新连接成功...")
+    #             break
+    #
+    # def reload_io(self):
+    #     """
+    #     触发控制器重新加载 IO 设备列表
+    #     :return: None
+    #     """
+    #     self.execution("io_device.load_cfg")
+    #
+    # @property
+    # def get_quickturn_pos(self):  # OK
+    #     """
+    #     获取机器人的home位姿、拖动位姿和发货位姿，轴关节角度，end_posture 取值如下：
+    #     0	法兰平面与地面平行
+    #     1	工具坐标系X轴与地面垂直，正向朝下
+    #     2	工具坐标系X轴与地面垂直，正向朝上
+    #     3	工具坐标系Y轴与地面垂直，正向朝下
+    #     4	工具坐标系Y轴与地面垂直，正向朝上
+    #     5	工具坐标系Z轴与地面垂直，正向朝下
+    #     6	工具坐标系Z轴与地面垂直，正向朝上
+    #     :return: as below
+    #     {
+    #         "enable_home": false,  // 是否开启 home 点快速调整
+    #         "enable_drag": false,  // 是否开启拖动位姿点快速调整
+    #         "enable_transport": false, // 是否开启发货位姿点快速调整
+    #         "joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],  // home 位姿的关节角度
+    #         "joint_drag": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],  // 拖动位姿的关节角度
+    #         "joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],  // 发货位姿的关节角度
+    #         "end_posture":0,  // 末端姿态的调整方式，取值 0-6
+    #         "home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0]  // home点误差范围
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "move.get_quickturn_pos")
+    #
+    # def set_quickturn_pos(self, enable_home: bool = False, enable_drag: bool = False, enable_transport: bool = False, end_posture: int = 0):  # OK
+    #     """
+    #     设置机器人的home位姿、拖动位姿、发货位姿，轴关节角度，Home点误差范围，详见上一个 get_quickturn_pos 功能实现
+    #     :param enable_home: 是否开启 home 点快速调整
+    #     :param enable_drag: 是否开启拖动位姿点快速调整
+    #     :param enable_transport:是否开启发货位姿点快速调整
+    #     :param end_posture: 末端姿态的调整方式，取值 0-6，详见 get_quickturn_pos 注释
+    #     :return: None
+    #     """
+    #     self.execution("move.set_quickturn_pos", enable_home=enable_home, enable_drag=enable_drag, enable_transport=enable_transport, end_posture=end_posture)
+    #
+    # def move2quickturn(self, name: str):  # OK
+    #     """
+    #     运动到指定的快速调整位姿
+    #     :param name: 指定快速调整的名称，home/drag/transport
+    #     :return: None
+    #     """
+    #     self.execution("move.quick_turn", name=name)
+    #
+    # def stop_move(self, stoptype=0):  # OK
+    #     """
+    #     停止运动
+    #     TS_READY | TS_JOG | TS_LOADIDENTIFY | TS_DYNAMICIDENTIFY | TS_DRAG | TS_PROGRAM | TS_DEMO | TS_RCI | TS_DEBUG | TS_FRICTIONIDENTIFY
+    #     :param stoptype: 对应控制器的任务空间类型TaskSpace的枚举值，0-7
+    #     :return: None
+    #     """
+    #     self.execution("move.stop", stoptype=stoptype)
+    #
+    # @property
+    # def get_jog_params(self):  # OK
+    #     """
+    #     获取JOG的参数
+    #     世界坐标系    WORLD_COORDINATE		0
+    #     法兰盘坐标系  FLANGE_COORDINATE		1
+    #     基坐标系      BASE_COORDINATE		2
+    #     工具坐标系    TOOL_COORDINATE		3
+    #     工件坐标系    FRAME_COORDINATE		4
+    #     关节空间      JOINT_SPACE			5
+    #     :return:
+    #     {
+    #         "step": 1000 [1000-连续] [10/1/0.1/0.001-点动]
+    #         "override": 0.2 速度比率
+    #         "space": 5 JOG的空间
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "jog.get_params")
+    #
+    # def set_jog_params(self, step, override, space):  # OK
+    #     """
+    #     设置JOG的参数，包含步长，空间，速度倍率
+    #     :param step: [1000-连续] [10/1/0.1/0.001-点动]
+    #     :param override: 速度比率
+    #     :param space: JOG的空间
+    #     :return: None
+    #     """
+    #     self.execution("jog.set_params", step=step, override=override, space=space)
+    #
+    # def start_jog(self, index: int, direction: bool = False, is_ext: bool = False):  # OK
+    #     """
+    #     开始 JOG 运动
+    #     :param index: 0-6，若选轴空间，则 0-6 对应 1-7 轴，若选笛卡尔空间，则 0-6 对应 xyzabc elb
+    #     :param direction: True 正方向，False 反方向
+    #     :param is_ext: 是否是外部轴 jog
+    #     :return: None
+    #     """
+    #     self.execution("jog.start", index=index, direction=direction, is_ext=is_ext)
+    #
+    # @property
+    # def get_socket_params(self):  # OK
+    #     """
+    #     获取socket参数
+    #     :return:
+    #     {
+    #       "auto_connect": true,  // True 开机启动，False 不开机启动
+    #       "disconnection_detection_time": 10,  // 链接断开检测周期(s)
+    #       "disconnection_triggering_behavior": 0,  // 断开连接触发行为 0无动作 1暂停程序 2暂停并下电
+    #       "enable": true,  // True 开启或者 False 关闭
+    #       "ip": "",  // 仅限于客户端，用于指定服务端 IP；当作为服务端时，该参数设置为空字符串，否则会报错！！！
+    #       "name": "name",  // 连接名称
+    #       "port": "8080",  // 连接端口
+    #       "reconnect_flag": true,  //  True 自动重连，False 不自动重连
+    #       "suffix": "\r",  // 指定发送分隔符
+    #       "type": 1  // 连接类型 0 client | 1 server
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "socket.get_params")
+    #
+    # def set_socket_params(self, enable: bool, port: str, suffix: str, type: int = 1, **kwargs):  # OK
+    #     """
+    #     设置 socket 参数，一般作为服务器使用
+    #     :param enable: True 开启或者 False 关闭
+    #     :param port: 连接端口
+    #     :param suffix: 指定发送分隔符
+    #     :param type: 0 client | 1 server
+    #     :return: None
+    #     """
+    #     data = self.get_socket_params
+    #     keys = data.keys()
+    #     kwargs.update({"enable": enable, "port": port, "suffix": suffix, "type": type})
+    #     for _ in keys:
+    #         if _ in kwargs.keys():
+    #             data[_] = kwargs[_]
+    #     self.execution("socket.set_params", data=data)
+    #
+    # @property
+    # def get_diagnosis_params(self, version="1.4.1"):  # OK
+    #     """
+    #     获取诊断功能开启状态，以及相应其他信息
+    #     :param version: 指定诊断工具版本
+    #     :return:
+    #     {
+    #         "delay_motion": false,  // -
+    #         "display_open": false,  // 诊断显示功能开启状态
+    #         "ecat_diagnosis_state": false,  // -
+    #         "overrun": false,  // 是否开启实时线程超时监控上报
+    #         "pdo_params": [...],  // 指定版本支持的所有曲线信息
+    #         "state": true,  // 诊断功能的开启状态
+    #         "turn_area": false  // 转弯区是否上报
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "diagnosis.get_params", version=version)
+    #
+    # def set_diagnosis_params(self, display_pdo_params: list, frequency: int = 50, version: str = "1.4.1"):  # OK
+    #     """
+    #     设置诊断功能显示参数 [{"name": "hw_joint_vel_feedback", "channel": 0}, ]
+    #     :param display_pdo_params: 指定要采集的曲线名称，具体可通过 get_diagnosis_params 函数功能获取所有目前已支持的曲线
+    #     :param frequency: 采样频率，默认 50ms
+    #     :param version: xDiagnose的版本号
+    #     :return: None
+    #     """
+    #     self.execution("diagnosis.set_params", display_pdo_params=display_pdo_params, frequency=frequency, version=version)
+    #
+    # def open_diagnosis(self, open: bool, display_open: bool, overrun: bool = False, turn_area: bool = False, delay_motion: bool = False):  # OK
+    #     """
+    #     打开或者关闭诊断曲线，并定义其他功能的开关（调试相关功能，比如是否开启线程超时监控和上报，转弯区以及运动延迟等）
+    #     :param open: 诊断功能，控制HMI->日志->诊断设置->私服诊断开关，一般设置成 True
+    #     :param display_open: 诊断显示功能，指的是在线诊断插件中的打开 switch 的状态，需要诊断数据的情况，设置成 True
+    #     :param overrun: 实时线程超时监控上报
+    #     :param turn_area: 转弯区上报
+    #     :param delay_motion:  延迟运动
+    #     :return: None
+    #     """
+    #     self.execution("diagnosis.open", open=open, display_open=display_open, overrun=overrun, turn_area=turn_area, delay_motion=delay_motion)
+    #
+    # def save_diagnosis(self, save: bool = True):  # OK
+    #     """
+    #     保存诊断数据，也就是主动写诊断动作，HMI日志->诊断设置->保存诊断数据
+    #     :param save: 保存数据开关
+    #     :return: None
+    #     """
+    #     self.execution("diagnosis.save", save=save)
+    #
+    # @property
+    # def qurry_system_io_configuration(self):  # OK
+    #     """
+    #     系统IO配置的查询协议，trigger 参数取值参照如下：
+    #         FLANKS      0,   //边缘触发
+    #         POS_FLANK   1,   //上升沿
+    #         NEG_FLANK   2,   //下降沿
+    #         HIGH_LEVEL  3,   //高电平
+    #         LOW_LEVEL   4    //低电平
+    #     :return:
+    #     {
+    #         "input_system_io": {
+    #             "motor_on": {
+    #                 "signal":"DI0_0",
+    #                 "trigger":1
+    #             },
+    #             "motor_off": {
+    #                 "signal":"DI0_0",
+    #                 "trigger":2
+    #             }
+    #         },
+    #         "output_system_io": {
+    #             "sta_motor_on": {
+    #                 "signal":"DO0_0"
+    #             },
+    #             "sta_robot_running": {
+    #                 "signal":"DO0_1"
+    #             }
+    #         }
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "system_io.query_configuration")
+    #
+    # @property
+    # def qurry_system_io_event_configuration(self):  # OK
+    #     """
+    #     查询当前系统支持的系统IO事件列表，包括事件key、名称、支持的触发方式等配置
+    #     :return:
+    #     {
+    #         "input_system_event": [
+    #             {
+    #                 "key": "ctrl_motor_on",
+    #                 "name": "上电",
+    #                 "trigger_types": [
+    #                     1,
+    #                     2
+    #                 ]
+    #             },
+    #             {
+    #                 "key": "ctrl_motor_off",
+    #                 "name": "下电",
+    #                 "trigger_types": [
+    #                     1,
+    #                     2
+    #                 ]
+    #             }
+    #         ],
+    #         "output_system_event": [
+    #             {
+    #                 "key": "sta_motor_on",
+    #                 "name": "上下电状态"
+    #             },
+    #             {
+    #                 "key": "sta_program",
+    #                 "name": "运行状态"
+    #             }
+    #         ],
+    #         "input_mutex_event": [
+    #             {
+    #                 "key0": "ctrl_motor_on",
+    #                 "key1": "ctrl_motor_off"
+    #             },
+    #             {
+    #                 "key0": "ctrl_switch_auto",
+    #                 "key1": "ctrl_switch_manu"
+    #             }
+    #         ]
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "system_io.query_configuration")
+    #
+    # def update_system_io_configuration(self, i_funcs: list, o_funcs: list, i_signals: list, o_signals: list, trig_types: list):  # OK
+    #     """
+    #     配置系统 IO
+    #     :param i_funcs: 输入，只写功能码列表
+    #     :param o_funcs: 输出，只读功能码列表
+    #     :param i_signals: DI 信号列表
+    #     :param o_signals: DO 信号列表
+    #     :param trig_types: 触发条件列表，可参考 qurry_system_io_configuration 中的触发条件
+    #     :return: None
+    #     """
+    #     input_system_io, output_system_io = {}, {}
+    #     for i_func in i_funcs:
+    #         _index = i_funcs.index(i_func)
+    #         input_system_io[i_func] = {"signal": i_signals[_index], "trigger": trig_types[_index]}
+    #     for o_func in o_funcs:
+    #         _index = o_funcs.index(o_func)
+    #         output_system_io[o_func] = {"signal": o_signals[_index]}
+    #     self.execution("system_io.update_configuration", input_system_io=input_system_io, output_system_io=output_system_io)
+    #
+    # @property
+    # def get_fieldbus_device_params(self):  # OK
+    #     """
+    #     获取的是 HMI通讯->总线设备列表的信息，以及开关状态
+    #     :return:
+    #     {
+    #         "device_list": [
+    #             {
+    #                 "device_name": "modbus_1",
+    #                 "enable": true
+    #             }, {
+    #                 "device_name": "modbus_2",
+    #                 "enable": false
+    #             }
+    #         ]
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "fieldbus_device.get_params")
+    #
+    # def set_fieldbus_device_params(self, device_name: str, enable: bool):  # OK
+    #     """
+    #     定义开关设备的协议，一次只能打开一个设备
+    #     :param device_name: 设备列表中的名称
+    #     :param enable: 是否开启，这里操作的是 HMI通信->IO设备里面的开关状态
+    #     :return: None
+    #     """
+    #     self.execution("fieldbus_device.set_params", device_name=device_name, enable=enable)
+    #
+    # def reload_fieldbus(self):  # OK
+    #     """
+    #     触发控制器重新加载总线设备
+    #     :return: None
+    #     """
+    #     self.execution("fieldbus_device.load_cfg")
+    #
+    # @property
+    # def get_modbus_params(self):  # OK
+    #     """
+    #     获取modbus参数
+    #     :return:
+    #     {
+    #         "connect_state": true,
+    #         "enable_master": false,
+    #         "enable_slave": false,
+    #         "ip": "192.168.0.160",
+    #         "is_convert": true,
+    #         "port": 502,
+    #         "slave_id": 1
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "modbus.get_params")
+    #
+    # def set_modbus_params(self, enable_slave: bool, ip: str, port: int, slave_id: int, enable_master: bool):  # OK
+    #     """
+    #     设置modbus参数，相当于新建
+    #     :param enable_slave: Modbus从站是否自动开启
+    #     :param ip: ip 地址
+    #     :param port: 端口
+    #     :param slave_id: 从站 ID
+    #     :param enable_master: Modbus主站是否自动开启
+    #     :return:
+    #     """
+    #     self.execution("modbus.set_params", enable_slave=enable_slave, ip=ip, port=port, slave_id=slave_id, enable_master=enable_master)
+    #
+    # def reload_registers(self):  # OK
+    #     """
+    #     触发控制器重新加载寄存器列表
+    #     :return: None
+    #     """
+    #     self.execution("modbus.load_cfg")
+    #
+    # def get_modbus_values(self, mode: str = "all"):  # OK
+    #     """
+    #     用于获取 modbus 寄存器变量值的更新信息，展示在状态监控界面
+    #     :param mode: all/change
+    #     :return:
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "modbus.get_values", mode=mode)
+    #
+    # @property
+    # def get_soft_limit_params(self):  # OK
+    #     """
+    #     获取软限位参数
+    #     :return:
+    #     {
+    #         "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]
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "soft_limit.get_params")
+    #
+    # def set_soft_limit_params(self, **kwargs):  # OK
+    #     """
+    #     设定软限位参数 enable: bool, upper: list, lower: list, reduced_upper: list, reduced_lower: list
+    #     :enable: 是否启用软限位
+    #     :upper: 软限位上限
+    #     :lower: 软限位下限
+    #     :reduced_upper: 缩减模式软限位上限
+    #     :reduced_lower: 缩减模式软限位下限
+    #     :return: None
+    #     """
+    #     data = self.get_soft_limit_params
+    #     keys = data.keys()
+    #     for _ in keys:
+    #         if _ in kwargs.keys():
+    #             data[_] = kwargs[_]
+    #     self.execution("soft_limit.set_params", data=data)
+    #
+    # @property
+    # def get_device_params(self):  # OK
+    #     """
+    #     获取设备信息
+    #     :return:
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "device.get_params")
+    #
+    # @property
+    # def get_cart_pos(self):  # OK
+    #     """
+    #     获取机器人的当前位姿:包括轴关节角度，笛卡尔关节角度，四元数，欧拉角（臂角）
+    #     :return:
+    #     {
+    #         "joint":[0.0,0.0,0.0,0.0,0.0,0.0],
+    #         "position":[0.0,0.0,0.0,0.0,0.0,0.0],
+    #         "euler":[0.0,0.0,0.0],
+    #         "quaternion"[0.0,0.0,0.0,0.0],
+    #         "elb":0.0, // 可缺省
+    #         "ext_joint":[0.0,0.0,0.0,0.0,0.0]
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "move.get_pos")
+    #
+    # @property
+    # def get_joint_pos(self):  # OK
+    #     """
+    #     获取机器人的当前关节角度:包括内部轴和外部轴
+    #     :return:
+    #     {
+    #         "inner_pos": [0,0,0,0,0,0,0],
+    #         "extern_pos": [0,0,0,0,0,0,0]
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "move.get_joint_pos")
+    #
+    # @property
+    # def get_monitor_cfg(self):  # OK
+    #     """
+    #     获取机器人的监控配置参数，RefCoordinateType 类型数据，表示当前控制器位置监测的相对坐标系
+    #     基坐标系	    REF_COORDINATE_BASE		0
+    #     世界坐标系	REF_COORDINATE_WORLD	1
+    #     工件坐标系	REF_COORDINATE_WOBJ		2
+    #     :return:
+    #     {
+    #         "ref_coordinate": 0
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "move.get_monitor_cfg")
+    #
+    # def set_monitor_cfg(self, ref_coordinate):  # OK
+    #     """
+    #     设置机器人的监控配置参数
+    #     :ref_coordinate: RefCoordinateType类型数据，用来设置当前控制器位置监测的相对坐标系
+    #     :return: None
+    #     """
+    #     self.execution("move.set_monitor_cfg", ref_coordinate=ref_coordinate)
+    #
+    # @property
+    # def get_move_params(self):  # OK
+    #     """
+    #     获取机器人的运动参数：包括减速比、耦合比、最大速度、加速度、加加速度、acc ramp time、规划步长等信息
+    #     :return:
+    #     {
+    #       "MOTION": {
+    #         "ACC_RAMPTIME_JOG": 0.5,
+    #         "ACC_RAMPTIME_STOP": 0.5,
+    #         "DEFAULT_ACC_PARAMS": [1.0, 0.5],
+    #         "JERK_LIMIT_CART": 0,
+    #         "JERK_LIMIT_JOINT": 0,
+    #         "JERK_LIMIT_ROT": 0,
+    #         "JOINT_MAX_ACC": [500, 500, 1000, 1000, 1000],
+    #         "JOINT_MAX_JERK": [2000, 2000, 2000, 4000, 4000, 4000],
+    #         "JOINT_MAX_SPEED": [120.0, 120.0, 180.0, 180.0, 180.0, 180.0],
+    #         "MAX_ACC_PARAMS": [1.0, 1],
+    #         "MIN_ACC_PARAMS": [0.3, 0.05],
+    #         "TCP_MAX_ACC": 5000,
+    #         "TCP_MAX_JERK": 10000,
+    #         "TCP_MAX_SPEED": 1000,
+    #         "TCP_ROTATE_MAX_ACC": 1800,
+    #         "TCP_ROTATE_MAX_JERK": 3600,
+    #         "TCP_ROTATE_MAX_SPEED": 180,
+    #         "VEL_SMOOTH_FACTOR": 1.0,
+    #         "VEL_SMOOTH_FACTOR_RANGE": [1.0, 10.0]
+    #       }
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "move.get_params")
+    #
+    # def set_move_params(self, **kwargs):  # OK
+    #     """
+    #     设置机器人的运动参数：轴最大速度、轴最大加加速度、速度、加加速度、加速度、加加速度、acc ramp time、规划步长等信息
+    #     可选参数：参考 get_move_params 函数返回值 MOTION 里面的选项
+    #     :return: None
+    #     """
+    #     data = self.get_move_params["MOTION"]
+    #     print(f"res = {data}")
+    #     keys = data.keys()
+    #     for _ in keys:
+    #         if _ in kwargs.keys():
+    #             data[_] = kwargs[_]
+    #     self.execution("move.set_params", data=data)
+    #
+    # @property
+    # def get_quick_stop_distance(self):  # OK
+    #     """
+    #     获取机器人 search 指令最大停止距离
+    #     :return:
+    #     {
+    #        "distance":2.0
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "move.get_quickstop_distance")
+    #
+    # def set_quick_stop_distance(self, distance: float):  # OK
+    #     """
+    #     设置机器人 search 指令最大停止距离
+    #     :param distance: 停止距离，单位 mm
+    #     :return: None
+    #     """
+    #     self.execution("move.set_quickstop_distance", distance=distance)
+    #
+    # @property
+    # def get_collision_params(self):  # OK
+    #     """
+    #     获取碰撞检测相关参数
+    #     :return:
+    #     {
+    #         "action": 1,  // 触发行为：1-安全停止；2-触发暂停；3-柔顺停止
+    #         "coeff": [100, 100, 100, 100, 100, 100], // 0-整机灵敏度百分比，1-单轴灵敏度百分比，2-单轴和整机灵敏度百分比
+    #         "coeff_level": 0,  // 灵敏度等级：0-低，1-中，2-高
+    #         "compliance": 0,  // 柔顺功能比例系数，[0-1]
+    #         "enable": true, // 功能使能开关
+    #         "fallback_distance": 3,  // 回退距离
+    #         "mode": 0,  // 力传感器系数，0 整机 1 单轴
+    #         "percent": 100,  // 0-200，整机灵敏度百分比
+    #         "percent_axis": [100, 100, 100, 100, 100, 100],  // 0-200，单轴灵敏度百分比
+    #         "reduced_percent": 100,  //  0-200，整机缩减模式灵敏度百分比
+    #         "reduced_percent_axis": [100, 100, 100, 100, 100, 100]  // 0-200，单轴缩减模式灵敏度百分比
+    #      }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "collision.get_params")
+    #
+    # def set_collision_params(self, enable, mode, action, percent, **kwargs):  # OK
+    #     """
+    #     设置碰撞检测相关参数
+    #     :param enable: 功能使能开关
+    #     :param mode: 力传感器系数，0 整机 1 单轴
+    #     :param action: 触发行为：1-安全停止；2-触发暂停；3-柔顺停止
+    #     :param percent: 0-200，整机灵敏度百分比
+    #     :return:
+    #     """
+    #     data = self.get_collision_params
+    #     keys = data.keys()
+    #     kwargs.update({"enable": enable, "mode": mode, "action": action, "percent": percent})
+    #     for _ in keys:
+    #         if _ in kwargs.keys():
+    #             data[_] = kwargs[_]
+    #     self.execution("collision.set_params", data=data)
+    #
+    # def set_collision_state(self, collision_state: bool):  # NG
+    #     """
+    #     开启或者关闭虚拟墙碰撞检测，测试该函数功能无效！！！
+    #     :param collision_state: 碰撞检测的开关状态
+    #     :return: None
+    #     """
+    #     self.execution("collision.set_state", collision_state=collision_state)
+    #
+    # @property
+    # def get_robot_state(self):  # OK
+    #     """
+    #     {
+    #         "rc_state":"normal",  # "fatal" 、"error"、"block"、"normal"
+    #         "engine":"on",  # "fatal" 、"error"、"GStop"、"EStop"、"on"、"off"
+    #         "servo_mode":"position",  # "torque"、"position"
+    #         "operate": "auto",  # "auto"、"manual"
+    #         "task_space": "program",  # "jog"、"drag"、"ready"、"load_identify"、"demo"、"rci"、"dynamic_identify"、"program"、"debug"
+    #         "robot_action": "idle",  # "idle"、"busy"
+    #         "safety_mode": "collision"  # "normal"、"collision"、"collaboration"
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "state.get_state")
+    #
+    # def set_controller_params(self, robot_time: str):  # OK
+    #     """
+    #     设置控制器系统时间
+    #     :param robot_time: 系统时间，"2020-02-28 15:28:30"
+    #     :return: None
+    #     """
+    #     self.execution("controller.set_params", time=robot_time)
+    #
+    # @property
+    # def get_robot_params(self):  # OK
+    #     """
+    #     "alias": "",
+    #     "auth_state":
+    #     "controller_type": "XBC_XMATE",
+    #     "controller_types": ["XBC_3", "XBC_5", "XBC_XMATE"],
+    #     "disk_serial_number": "2338020401535",
+    #     "mac_addr": "34:df:20:03:1b:45",
+    #     "model":,
+    #     "nic_list": ["enp1s0", "enp2s0"],
+    #     "occupied_addr": "192.168.2.123:49269",
+    #     "period": 0.002,
+    #     "period_types": [0.001, 0.002, 0.003, 0.004],
+    #     "robot_template": 10,
+    #     "robot_type": "XMC12-R1300-W7G3B1C",
+    #     "robot_types": ["XMC12-R1300-B7S3B0C", "XMC12-R1300-W7G3B1C", "XMC17_5-R1900-W7G3B1C", "XMC20-R1650-B7G3Z0C"],
+    #     "security_type": "ROKAE_RSC",
+    #     "security_types": ["ROKAE_MINI", "ROKAE_RSC"],
+    #     "time": "2024-09-13 12:36:38",
+    #     "version": "2.3.0.4"
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "controller.get_params")
+    #
+    # def switch_tp_mode(self, mode: str):  # OK
+    #     """
+    #     切换示教器模式
+    #     :param mode: with/without
+    #     :return: None
+    #     """
+    #     match mode:
+    #         case "with":
+    #             self.execution("state.set_tp_mode", tp_mode="with")
+    #         case "without":
+    #             self.execution("state.set_tp_mode", tp_mode="without")
+    #         case _:
+    #             clibs.insert_logdb("ERROR", "openapi", "hr: switch_tp_mode 参数错误 非法参数，只接受 with/without")
+    #
+    # @property
+    # def get_tp_mode(self):  # OK
+    #     """
+    #     获取示教器连接状态
+    #     :return:
+    #     {
+    #         "tp_mode":"with"
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "state.get_tp_mode")
+    #
+    # @property
+    # def get_drag_params(self):  # OK
+    #     """
+    #     获取拖动模式参数
+    #     :return:
+    #     {
+    #         "enable": true,
+    #         "space": 0,
+    #         "type": 0
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "drag.get_params")
+    #
+    # def set_drag_params(self, enable: bool, space: int = 1, type: int = 2):  # OK
+    #     """
+    #     设置拖动模式开关以及参数
+    #     :param enable: 是否启用拖动
+    #     :param space: 拖动空间 - 0 代表关节 1 代表笛卡尔
+    #     :param type: 拖动类型 - 0 只平移 1 只旋转 2 自由拖动
+    #     :return: None
+    #     """
+    #     self.execution("drag.set_params", enable=enable, space=space, type=type)
+    #
+    # def set_safety_area_signal(self, signal: bool):  # OK
+    #     """
+    #     设置安全区域信号控制使能开关
+    #     :param signal: True 打开 False 关闭
+    #     :return: None
+    #     """
+    #     self.execution("safety.safety_area.signal_enable", protocol_flag=1, signal=signal)
+    #
+    # def set_safety_area_overall(self, enable: bool):  # OK
+    #     """
+    #     设置安全区域整体控制使能开关
+    #     :param enable: True 打开 False 关闭
+    #     :return: None
+    #     """
+    #     self.execution("safety.safety_area.overall_enable", protocol_flag=1, enable=enable)
+    #
+    # @property
+    # def get_safety_area_params(self):  # OK
+    #     """
+    #     获取安全区所有的配置信息
+    #     :return:
+    #       "g": {
+    #         "safety_area_data": {
+    #           "overall_enable": true,
+    #           "safety_area_setting": [
+    #             {
+    #               "box": {
+    #                 "Lx": 100.0,
+    #                 "Ly": 100.0,
+    #                 "Lz": 100.0,
+    #                 "direction": false,
+    #                 "ori": {
+    #                   "euler": {
+    #                     "a": 179.9963851353547,
+    #                     "b": -0.006653792532429416,
+    #                     "c": 179.9934560302729
+    #                   },
+    #                   "quaternion": {
+    #                     "q1": 0.0,
+    #                     "q2": 0.0,
+    #                     "q3": 0.0,
+    #                     "q4": 0.0
+    #                   }
+    #                 },
+    #                 "pos": {
+    #                   "x": 0.0,
+    #                   "y": 0.0,
+    #                   "z": 0.0
+    #                 }
+    #               },
+    #               "enable": false,
+    #               "id": 0,
+    #               "name": "region1",
+    #               "plane": {
+    #                 "direction": true,
+    #                 "point": {
+    #                   "x": 0.0,
+    #                   "y": 0.0,
+    #                   "z": 0.0
+    #                 },
+    #                 "vector": {
+    #                   "x": 0.0,
+    #                   "y": 0.0,
+    #                   "z": 0.0
+    #                 }
+    #               },
+    #               "shape": 0,
+    #               "shared_bind_di": "",
+    #               "shared_bind_do": "",
+    #               "sphere": {
+    #                 "ori": {
+    #                   "euler": {
+    #                     "a": 0.0,
+    #                     "b": 0.0,
+    #                     "c": 0.0
+    #                   },
+    #                   "quaternion": {
+    #                     "q1": 0.0,
+    #                     "q2": 0.0,
+    #                     "q3": 0.0,
+    #                     "q4": 0.0
+    #                   }
+    #                 },
+    #                 "pos": {
+    #                   "x": 0.0,
+    #                   "y": 0.0,
+    #                   "z": 0.0
+    #                 },
+    #                 "radius": 0.0
+    #               },
+    #               "state": true,
+    #               "trigger": 0,
+    #               "type": 0,
+    #               "vertebral": {
+    #                 "high": 0.0,
+    #                 "ori": {
+    #                   "euler": {
+    #                     "a": 0.0,
+    #                     "b": 0.0,
+    #                     "c": 0.0
+    #                   },
+    #                   "quaternion": {
+    #                     "q1": 0.0,
+    #                     "q2": 0.0,
+    #                     "q3": 0.0,
+    #                     "q4": 0.0
+    #                   }
+    #                 },
+    #                 "pos": {
+    #                   "x": 0.0,
+    #                   "y": 0.0,
+    #                   "z": 0.0
+    #                 },
+    #                 "radius": 0.0
+    #               }
+    #             },
+    #             ... // 剩余 9 个安全区域的配置信息
+    #           ],
+    #           "signal_enable": true
+    #         }
+    #       }
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "safety_area_data", flag=1)
+    #
+    # def set_safety_area_enable(self, id: int, enable: bool):  # OK
+    #     """
+    #     设置每个安全区域的开关
+    #     :param id: 安全区域开关，0-9
+    #     :param enable: True 打开，False 关闭
+    #     :return: None
+    #     """
+    #     self.execution("safety.safety_area.safety_area_enable", protocol_flag=1, id=id, enable=enable)
+    #
+    # def set_safety_area_param(self, id: int, enable: bool, **kwargs):  # OK
+    #     """
+    #     设定单独安全区的参数
+    #     :param id: 安全区 id
+    #     :param enable: 是否开启
+    #     :param kwargs: 其他参数，参考 get_safety_area_params 的返回值形式
+    #     :return: None
+    #     """
+    #     data = self.get_safety_area_params["g"]["safety_area_data"]["safety_area_setting"][id]
+    #     keys = data.keys()
+    #     kwargs.update({"id": id, "enable": enable})
+    #     for _ in keys:
+    #         if _ in kwargs.keys():
+    #             data[_] = kwargs[_]
+    #     self.execution("safety.safety_area.set_param", protocol_flag=1, data=data)
+    #     self.execution("safety.safety_area.safety_area_enable", protocol_flag=1, id=id, enable=enable)
+    #
+    # @property
+    # def get_filtered_error_code(self):  # OK
+    #     """
+    #     获取已设定的错误码过滤列表
+    #     :return:
+    #     {
+    #         "g": {
+    #             "log_code.data": {
+    #                 "code_list": [
+    #                     {
+    #                         "id": 100,
+    #                         "title": "DEMO\\u610f\\u5916\\u505c\\u6b62"
+    #                     },
+    #                     {
+    #                         "id": 10000,
+    #                         "title": "HMI\\u8bf7\\u6c42\\u5305\\u89e3\\u6790\\u9519\\u8bef"
+    #                     },
+    #                     {
+    #                         "id": 10002,
+    #                         "title": "\\u5feb\\u901f\\u8c03\\u6574\\u542f\\u52a8\\u5931\\u8d25"
+    #                     }
+    #                 ],
+    #                 "version": 1
+    #             }
+    #         }
+    #     }
+    #     """
+    #     return self.__get_data(currentframe().f_code.co_name, "log_code.data", flag=1)
+    #
+    # def set_filtered_error_code(self, action: str, code_list: list):  # OK
+    #     """
+    #     清空，增加，删除错误过滤码
+    #     :param action: 支持 add/remove/clear，当为 clear 时，code_list 可为任意列表
+    #     :param code_list: 需要添加/删除的过滤码列表
+    #     :return: None
+    #     """
+    #     origin_code_list = self.get_filtered_error_code["g"]["log_code.data"]["code_list"]
+    #     # [{"id": 10000, "title": "HMI请求包解析错误"}, {"id": 10002, "title": "快速调整启动失败"}]
+    #     if action == "clear":
+    #         code_list = []
+    #     elif action == "add":
+    #         for error_code in code_list:
+    #             for item in origin_code_list:
+    #                 if error_code == item["id"]:
+    #                     break
+    #             else:
+    #                 origin_code_list.append({"id": error_code, "title": ""})
+    #         code_list = origin_code_list
+    #     elif action == "remove":
+    #         for error_code in code_list:
+    #             for item in origin_code_list:
+    #                 if error_code == item["id"]:
+    #                     origin_code_list.remove(item)
+    #         code_list = origin_code_list
+    #
+    #     self.execution("log_code.data.code_list", protocol_flag=1, code_list=code_list)
+    #
+    # @staticmethod
+    # def __cannot_find_response(func_name, req_id):
+    #     # 无法获取响应信息时，记录错误信息，并退出
+    #     clibs.insert_logdb("ERROR", "openapi", f"hr: [{func_name}] 无法找到 {req_id} 的响应信息，执行失败，退出...")
+    #     exit()
+    #
+    # def __get_data(self, upper_func, command, flag=0, **kwargs):
+    #     r_id = self.execution(command, protocol_flag=flag, **kwargs)
+    #     res = self.get_from_id(r_id, flag=flag)
+    #     if res is not None:
+    #         return res
+    #     else:
+    #         self.__cannot_find_response(upper_func, r_id)
+    # =================================== ↑↑↑ specific functions ↑↑↑ ===================================
+
+
+class ExternalCommunication(object):
+    def __init__(self):
+        self.__c = None
+        self.suffix = "\r"
+        self.socket_client()
+        self.exec_desc = " :--: 返回 true 表示执行成功，false 失败"
+
+    def socket_client(self):
+        self.__c = socket(AF_INET, SOCK_STREAM)
+        try:
+            self.__c.connect((clibs.ip_addr, clibs.external_port))
+            clibs.insert_logdb("INFO", "openapi", f"ec: 外部通信连接成功...")
+            return self.__c
+        except Exception as Err:
+            clibs.insert_logdb("ERROR", "openapi", f"ec: 外部通信连接失败... {Err}")
+
+    def s_string(self, directive):
+        order = "".join([directive, self.suffix])
+        self.__c.send(order.encode())
+        time.sleep(clibs.interval)
+
+    def r_string(self, directive):
+        result, char = "", ""
+        while char != self.suffix:
+            try:
+                char = self.__c.recv(1).decode(encoding="unicode_escape")
+            except TimeoutError:
+                clibs.insert_logdb("ERROR", "openapi", f"ec: 获取请求指令 {directive} 的返回数据超时，需确认指令发送格式以及内容正确！")
+                exit(101)
+            result = "".join([result, char])
+        time.sleep(clibs.interval)
+        return result
+
+    # =================================== ↓↓↓ specific functions ↓↓↓ ===================================
+    def motor_on(self):  # OK
+        return self.__exec_cmd("motor_on", "电机上电", self.exec_desc)
+
+    def motor_off(self):  # OK
+        return self.__exec_cmd("motor_off", "电机下电", self.exec_desc)
+
+    def pp_to_main(self):  # OK
+        return self.__exec_cmd("pp_to_main", "程序指针到", self.exec_desc)
+
+    def program_start(self):  # OK
+        return self.__exec_cmd("start", "程序启动(可能需先清告警)", self.exec_desc)
+
+    def program_stop(self):  # OK
+        return self.__exec_cmd("stop", "程序停止", self.exec_desc)
+
+    def clear_alarm(self):  # OK
+        return self.__exec_cmd("clear_alarm", "清除伺服报警", self.exec_desc)
+
+    def switch_operation_auto(self):  # OK
+        return self.__exec_cmd("switch_mode:auto", "切换到自动模式", self.exec_desc)
+
+    def switch_operation_manual(self):  # OK
+        return self.__exec_cmd("switch_mode:manual", "切换到手动模式", self.exec_desc)
+
+    def open_drag_mode(self):  # OK
+        return self.__exec_cmd("open_drag", "打开拖动", self.exec_desc)
+
+    def close_drag_mode(self):  # OK
+        return self.__exec_cmd("close_drag", "关闭拖动", self.exec_desc)
+
+    def get_program_list(self):  # OK
+        return self.__exec_cmd("list_prog", "获取工程列表")
+
+    def get_current_program(self):  # OK
+        return self.__exec_cmd("current_prog", "当前工程")
+
+    def load_program(self, program_name):  # OK
+        return self.__exec_cmd(f"load_prog:{program_name}", "加载工程", self.exec_desc)
+
+    def estop_reset(self):  # OK | 复原外部 IO 急停和安全门急停，前提是硬件已复原
+        return self.__exec_cmd("estop_reset", "急停复位", self.exec_desc)
+
+    def estopreset_and_clearalarm(self):  # OK | 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.__exec_cmd("estopreset_and_clearalarm", "急停复位并清除报警", self.exec_desc)
+
+    def motoron_pp2main_start(self):  # OK
+        return self.__exec_cmd("motoron_pptomain_start", "依次执行上电，程序指针到main，启动程序(可以是手动模式，必要时需清告警)", self.exec_desc)
+
+    def motoron_start(self):  # OK
+        return self.__exec_cmd("motoron_start", "依次执行上电，启动程序(可以是手动模式，必要时需清告警)", self.exec_desc)
+
+    def pause_motoroff(self):  # OK
+        return self.__exec_cmd("pause_motoroff", "暂停程序并下电", self.exec_desc)
+
+    def set_program_speed(self, speed: int):  # OK | 1-100
+        return self.__exec_cmd(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):  # OK
+        return self.__exec_cmd(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):  # OK
+        return self.__exec_cmd("switch_auto_motoron", "切换自动模式并上电", self.exec_desc)
+
+    def open_safe_region(self, number: int):  # OK | 1-10
+        return self.__exec_cmd(f"open_safe_region:{number}", f"打开第 {number} 个安全区域(1-10，信号控制开关需打开，不限操作模式)", self.exec_desc)
+
+    def close_safe_region(self, number: int):  # OK | 1-10
+        return self.__exec_cmd(f"close_safe_region:{number}", f"关闭第 {number} 个安全区域(1-10，信号控制开关需打开，不限操作模式)", self.exec_desc)
+
+    def open_reduced_mode(self):  # OK
+        return self.__exec_cmd("open_reduced_mode", "开启缩减模式(不限操作模式)", self.exec_desc)
+
+    def close_reduced_mode(self):  # OK
+        return self.__exec_cmd("close_reduced_mode", "关闭缩减模式(不限操作模式)", self.exec_desc)
+
+    def setdo_value(self, do_name: str, do_value: str):  # OK | do_value 为 true/false
+        return self.__exec_cmd(f"setdo:{do_name},{do_value}", f"设置 {do_name} 的值为 {do_value} ", self.exec_desc)
+
+    def modify_system_time(self, robot_time):  # OK
+        return self.__exec_cmd(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):  # OK
+        return self.__exec_cmd("motor_on_state", "获取上电状态", " :--: 返回 true 表示已上电，false 已下电")
+
+    @property
+    def robot_running_state(self):  # OK
+        return self.__exec_cmd("robot_running_state", "获取程序运行状态", " :--: 返回 true 表示正在运行，false 未运行")
+
+    @property
+    def estop_state(self):  # OK | 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，就会返回 true
+        return self.__exec_cmd("estop_state", "急停状态", " :--: 返回 true 表示处于急停状态，false 非急停")
+
+    @property
+    def operation_mode(self):  # OK
+        return self.__exec_cmd("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):  # OK | 需要设置一下 "HMI 设置->快速调整"
+        return self.__exec_cmd("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):  # OK
+        return self.__exec_cmd("fault_state", "获取 故障状态", " :--: 返回 true 表示处于故障状态，false 非故障状态")
+
+    @property
+    def collision_state(self):  # OK | 但是触发后，无法清除？
+        return self.__exec_cmd("collision_state", "获取碰撞触发状态", " :--: 返回 true 表示碰撞已触发，false 未触发")
+
+    @property
+    def task_state(self):  # OK
+        return self.__exec_cmd("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 未运行")
+
+    @property
+    def get_cart_pos(self):  # OK | cart_pos/cart_pos_name 都可以正常返回，区别在返回的前缀，可测试辨别
+        return self.__exec_cmd("cart_pos", "获取笛卡尔位置")
+
+    @property
+    def get_joint_pos(self):  # OK | jnt_pos/jnt_pos_name 都可以正常返回，区别在返回的前缀，可测试辨别
+        return self.__exec_cmd("jnt_pos", "获取轴位置")
+
+    @property
+    def get_axis_vel(self):  # OK | jnt_vel/jnt_vel_name 都可以正常返回，区别在返回的前缀，可测试辨别
+        return self.__exec_cmd("jnt_vel", "获取轴速度")
+
+    @property
+    def get_axis_trq(self):  # OK | jnt_trq/jnt_trq_name 都可以正常返回，区别在返回的前缀，可测试辨别
+        return self.__exec_cmd("jnt_trq", "获取轴力矩")
+
+    @property
+    def reduced_mode_state(self):  # OK
+        return self.__exec_cmd("reduced_mode_state", "获取缩减模式状态", " :--: 返回 true 表示缩减模式，false 非缩减模式")
+
+    def get_io_state(self, io_list: str):  # OK | DO0_0,DI1_3,DO2_5，不能有空格
+        return self.__exec_cmd(f"io_state:{io_list}", "获取 IO 状态值")
+
+    @property
+    def alarm_state(self):  # OK
+        return self.__exec_cmd("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):  # OK
+        return self.__exec_cmd("collision_alarm_state", "获取碰撞报警状态", " :--: 返回 true 表示有碰撞告警，false 没有碰撞告警")
+
+    @property
+    def collision_open_state(self):  # OK
+        return self.__exec_cmd("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 未开启")
+
+    @property
+    def controller_is_running(self):  # OK
+        return self.__exec_cmd("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 未运行")
+
+    @property
+    def encoder_low_battery_state(self):  # OK
+        return self.__exec_cmd("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 电压正常")
+
+    @property
+    def robot_error_code(self):  # OK
+        return self.__exec_cmd("robot_error_code", "获取机器人错误码")
+
+    @property
+    def rl_pause_state(self):  # OK
+        # 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.__exec_cmd("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):  # OK
+        return self.__exec_cmd("program_reset_state", "获取程序复位状态", " :--: 返回 true 表示指针指向 main，false 未指向 main")
+
+    @property
+    def program_speed_value(self):  # OK | 速度滑块
+        return self.__exec_cmd("program_speed", "获取程序运行速度")
+
+    @property
+    def robot_is_busy(self):  # OK | 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.__exec_cmd("robot_is_busy", "获取程序忙碌状态", " :--: 返回 1 表示控制器忙碌，0 非忙碌状态")
+
+    @property
+    def robot_is_moving(self):  # OK
+        return self.__exec_cmd("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):  # OK
+        return self.__exec_cmd("safe_door_state", "获取安全门状态", " :--: 返回 true 表示安全门已触发，false 未触发")
+
+    @property
+    def soft_estop_state(self):  # OK
+        return self.__exec_cmd("soft_estop_state", "获取软急停状态", " :--: 返回 true 表示软急停已触发，false 未触发")
+
+    @property
+    def get_cart_vel(self):  # OK
+        return self.__exec_cmd("cart_vel", "获取笛卡尔速度")
+
+    @property
+    def get_tcp_pos(self):  # OK
+        return self.__exec_cmd("tcp_pose", "获取 TCP 位姿")
+
+    @property
+    def get_tcp_vel(self):  # OK
+        return self.__exec_cmd("tcp_vel", "获取 TCP 速度")
+
+    @property
+    def get_tcp_vel_mag(self):  # OK
+        return self.__exec_cmd("tcp_vel_mag", "获取 TCP 合成线速度")
+
+    @property
+    def ext_estop_state(self):  # OK
+        return self.__exec_cmd("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 未触发")
+
+    @property
+    def hand_estop_state(self):  # OK
+        return self.__exec_cmd("hand_estop_state", "获取手持急停状态", " :--: 返回 true 表示手持急停已触发，false 未触发")
+
+    @property
+    def collaboration_state(self):  # OK
+        return self.__exec_cmd("collaboration_state", "获取协作模式状态(其实就是缩减模式)", " :--: 返回 true 表示协作模式，false 非协作模式")
+
+    def __exec_cmd(self, directive, description, more_desc=""):
+        self.s_string(directive)
+        result = self.r_string(directive).strip()
+        clibs.insert_logdb("INFO", "openapi", f"ec: 执行{description}指令是 {directive}，返回值为 {result}{more_desc}")
+        return result
+
+
+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(clibs.ip_addr, clibs.ssh_port, username=clibs.username, password=clibs.password)
+            self.__sftp = self.__ssh.open_sftp()
+        except Exception as Err:
+            msg = f"predos: SSH 无法连接到 {clibs.ip_addr}:{clibs.ssh_port}，需检查网络连通性或者登录信息是否正确 {Err}"
+            clibs.insert_logdb("ERROR", "openapi", msg)
+            clibs.w2t(msg, "red", f"SSHError: cannot connected to {clibs.ip_addr}:{clibs.ssh_port}")
+
+    def push_prj_to_server(self, prj_file):
+        # prj_file：本地工程完整路径
+        self.__ssh2server()
+        prj_name = prj_file.split("\\")[-1].split("/")[-1].split(".")[0]
+        self.__sftp.put(prj_file, f"/tmp/{prj_name}.zip")
+        cmd = f"cd /tmp; mkdir {prj_name}; unzip -d {prj_name} -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):  # NG | 可以拉取文件，但是导入之后，有问题
+        # prj_name：要拉取的服务端工程名
+        # local_prj_path：本地工程文件的完整路径
+        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")
+        print(stdout.read().decode())  # 需要read一下才能正常执行
+        print(stderr.read().decode())
+
+        self.__sftp.get(f"/tmp/{prj_name}.zip", local_prj_path)
+        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")
+        print(stdout.read().decode())  # 需要read一下才能正常执行
+        print(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 = local_file.split("\\")[-1].split("/")[-1]
+        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()
+
+
+def robot_init():
+    hr = HmiRequest()
+    pd = PreDos()
+    # 推送配置文件
+    clibs.insert_logdb("INFO", "openapi", "init: 推送配置文件 fieldbus_device.json/registers.json/registers.xml 到控制器，并配置 IO 设备，设备号为 7...")
+    robot_params = hr.get_robot_params
+    robot_type = robot_params["robot_type"]
+    security_type = robot_params["security_type"]
+    controller_type = robot_params["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 = [
+        "..\\assets\\configs\\fieldbus_device.json",
+        "..\\assets\\configs\\registers.json",
+        "..\\assets\\configs\\registers.xml"
+    ]
+    for config_file in config_files:
+        filename = config_file.split("\\")[-1]
+        pd.push_file_to_server(config_file, f"{user_settings}/{filename}")
+        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"..\\assets\\configs\\{io_device_file}"
+    io_device_file_local_tmp = f"..\\assets\\configs\\{io_device_file}_tmp"
+    io_device_file_remote = f"{user_settings}/{io_device_file}"
+    pd.pull_file_from_server(io_device_file_remote, 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, indent=4)
+            pd.push_file_to_server(io_device_file_local_tmp, f"{user_settings}/{io_device_file}")
+            pd.push_file_to_server(io_device_file_local_tmp, f"{interactive_data}/{io_device_file}")
+
+    hr.reload_io()
+    hr.reload_registers()
+    hr.reload_fieldbus()
+    hr.set_fieldbus_device_params("autotest", True)
+
+    md = ModbusRequest()
+    # 触发急停并恢复
+    md.r_soft_estop(0)
+    md.r_soft_estop(1)
+
+    # 断开示教器连接
+    clibs.insert_logdb("INFO", "openapi", "init: 断开示教器连接...")
+    hr.switch_tp_mode("without")
+
+    # 清空 system IO 配置
+    clibs.insert_logdb("INFO", "openapi", "init: 清空所有的 System IO 功能配置...")
+    hr.update_system_io_configuration([], [], [], [], [])
+
+    # 关闭缩减模式
+    md.r_reduced_mode(0)
+
+    # 打开软限位
+    clibs.insert_logdb("INFO", "openapi", "init: 打开软限位开关...")
+    hr.set_soft_limit_params(enable=True)
+
+    # 关闭安全区域
+    clibs.insert_logdb("INFO", "openapi", "init: 正在关闭所有的安全区，并关闭总使能开关...")
+    hr.set_safety_area_overall(False)
+    hr.set_safety_area_signal(False)
+    for i in range(10):
+        hr.set_safety_area_enable(i, False)
+
+    # 打开外部通信，并设置控制器时间同步
+    clibs.insert_logdb("INFO", "openapi", "init: 配置并打开外部通信，默认服务器，8080端口，后缀为 \"\\r\"...")
+    hr.set_socket_params(True, "8080", "\r", 1)
+    ec = ExternalCommunication()
+    ec.modify_system_time(time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time())))
+
+    # 关闭拖动
+    if robot_type.upper()[:2] not in ["XB", "NB"]:
+        clibs.insert_logdb("INFO", "openapi", "init: 关闭拖动模式...")
+        hr.set_drag_params(False, 1, 2)
+
+    # 关闭碰撞检测
+    clibs.insert_logdb("INFO", "openapi", "init: 关闭碰撞检测...")
+    hr.set_collision_params(False, 0, 1, 100)
+
+    # 清除所有过滤错误码
+    clibs.insert_logdb("INFO", "openapi", "init: 清除所有过滤错误码设定...")
+    hr.set_filtered_error_code("clear", [])
+
+    # 回拖动位姿
+    clibs.insert_logdb("INFO", "openapi", "init: 正在回拖动位姿...")
+    hr.switch_operation_mode("manual")
+    hr.switch_motor_state("on")
+    hr.set_quickturn_pos(enable_drag=True)
+    hr.move2quickturn("drag")
+    while True:
+        if md.w_robot_is_moving:
+            time.sleep(1)
+        else:
+            break
+    hr.stop_move(1)
+    hr.switch_motor_state("off")
+    hr.close()
+
+    # 清除所有告警
+    md.r_clear_alarm()
+
+
+def fw_updater(local_file_path):
+    fw_size = os.path.getsize(local_file_path)
+    if fw_size > 10000000:
+        # get previous version of xCore
+        hr = HmiRequest()
+        version_previous = hr.get_robot_params["version"]
+        hr.close()
+
+    # var def
+    remote_file_path = './upgrade/lircos.zip'
+    fw_content = bytearray()
+    package_data = bytearray()
+    package_data_with_head = bytearray()
+
+    # socket connect
+    clibs.insert_logdb("INFO", "openapi", f"update firmware: 正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...")
+    try:
+        tcp_socket = socket(AF_INET, SOCK_STREAM)
+        tcp_socket.connect((clibs.ip_addr, clibs.upgrade_port))
+        tcp_socket.setblocking(True)
+    except Exception as Err:
+        clibs.insert_logdb("ERROR", "openapi", f"update firmware: {Err} | 连接 {clibs.ip_addr}:{clibs.upgrade_port} 失败...")
+        exit(1)
+
+    # get firmware content of binary format
+    clibs.insert_logdb("INFO", "openapi", f"update firmware: 正在读取 {local_file_path} 文件内容...")
+    with open(local_file_path, 'rb') as f_fw:
+        fw_content += f_fw.read()
+
+    # construct package data: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634148
+    clibs.insert_logdb("INFO", "openapi", "update firmware: 正在构造数据包，以及包头...")
+    # 1 protocol id
+    protocol_id = c_ushort(htons(0))  # 2 bytes
+    package_data += protocol_id
+
+    # 2 write type
+    write_type = c_ubyte(0)
+    package_data += bytes(write_type)
+
+    # 3 md5
+    md5_hash = hashlib.md5()
+    md5_hash.update(fw_content)
+    fw_md5 = md5_hash.hexdigest()
+    i = 0
+    while i < len(fw_md5):
+        _ = (fw_md5[i:i + 2])
+        package_data += bytes.fromhex(_)
+        i += 2
+
+    # 4 remote path len
+    remote_file_path_len = c_ushort(htons(len(remote_file_path)))
+    package_data += remote_file_path_len
+
+    # 5 remote path
+    package_data += remote_file_path.encode("ascii")
+
+    # 6 file
+    package_data += fw_content
+
+    # construct communication protocol: http://confluence.i.rokae.com/pages/viewpage.action?pageId=15634045
+    # 1 get package data with header
+    package_size = c_uint(htonl(len(package_data)))
+    package_type = c_ubyte(1)  # 0-无协议 1-文件 2-json
+    package_reserve = c_ubyte(0)  # 预留位
+
+    package_data_with_head += package_size
+    package_data_with_head += package_type
+    package_data_with_head += package_reserve
+    package_data_with_head += package_data
+
+    # 2 send data to server
+    clibs.insert_logdb("INFO", "openapi", "update firmware: 正在发送数据到 xCore，升级控制器无需重启，升级配置文件会自动软重启...")
+    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 = tcp_socket.send((package_data_with_head[start:end]))
+        time.sleep(0.01)
+        if sent == 0:
+            raise RuntimeError("socket connection broken")
+        else:
+            start += sent
+
+    waited = 5 if fw_size > 10000000 else 25
+    time.sleep(waited)
+
+    if fw_size > 10000000:
+        # get current version of xCore
+        hr = HmiRequest()
+        version_current = hr.get_robot_params["version"]
+        hr.close()
+
+        clibs.insert_logdb("INFO", "openapi", f"update firmware: 控制器升级成功：from {version_previous} to {version_current} :)")
+    else:
+        clibs.insert_logdb("INFO", "openapi", f"update firmware: 配置文件升级成功 :)")
+
+    tcp_socket.close()
+
+
+class UpgradeJsonCmd(object):
+    def __init__(self):
+        self.__c = None
+        self.__sock_conn()
+
+    def __sock_conn(self):
+        # socket connect
+        clibs.insert_logdb("INFO", "clibs", f"正在连接 {clibs.ip_addr}:{clibs.upgrade_port}...")
+        try:
+            self.__c = socket(AF_INET, SOCK_STREAM)
+            self.__c.connect((clibs.ip_addr, clibs.upgrade_port))
+            self.__c.setblocking(True)
+            self.__c.settimeout(3)
+        except Exception as Err:
+            clibs.insert_logdb("ERROR", "openapi", f"upgrade: {Err} | 连接 {clibs.ip_addr}:{clibs.upgrade_port} 失败...")
+            exit(1)
+
+    @staticmethod
+    def __do_package(cmd):
+        package_size = struct.pack('!I', len(cmd))
+        package_type = struct.pack('B', 2)
+        reserved_byte = struct.pack('B', 0)
+        return package_size + package_type + reserved_byte + cmd
+
+    def __recv_result(self, cmd):
+        time.sleep(2)
+        try:
+            res = self.__c.recv(10240).decode()
+        except timeout:
+            res = "ResponseNone"
+        clibs.insert_logdb("INFO", "openapi", f"upgrade: 请求命令 {cmd.decode()} 的返回信息：\n{res[8:]}")
+        self.__c.close()
+        time.sleep(2)
+
+    def __exec(self, command: dict):
+        try:
+            self.__c.recv(10240)
+        except timeout:
+            pass
+        cmd = json.dumps(command, separators=(",", ":")).encode("utf-8")
+        self.__c.sendall(self.__do_package(cmd))
+        self.__recv_result(cmd)
+
+    def erase_cfg(self):
+        # 一键抹除机器人配置(.rc_cfg)、交互数据配置(interactive_data)，但保留用户日志
+        # 场景：如果xCore版本升级跨度过大，配置文件可能不兼容导致无法启动，可以使用该功能抹除配置，重新生成配置。
+        # 机器人参数、零点等会丢失！
+        self.__exec({"cmd": "erase"})
+
+    def clear_rubbish(self):
+        self.__exec({"cmd": "clearRubbish"})
+
+    def soft_reboot(self):
+        self.__exec({"cmd": "soft_reboot"})
+
+    def version_query(self):
+        self.__exec({"query": "version"})
+
+    def robot_reboot(self):
+        self.__exec({"cmd": "reboot"})
+
+    def reset_passwd(self):
+        # 不生效，有问题
+        self.__exec({"cmd": "passwd"})
+
+    def backup_origin(self):
+        # xCore
+        # .rc_cfg /
+        # interactive_data /
+        # module /
+        # demo_project /
+        # robot_cfg /
+        # dev_eni.xml
+        # ecat_license
+        # libemllI8254x.so & libemllI8254x_v3.so
+        # set_network_parameters
+        self.__exec({"cmd": "backup_origin"})
+
+    def origin_recovery(self):
+        self.__exec({"cmd": "recover"})
+