diff --git a/README.md b/README.md
index 86dd975..819b6cb 100644
--- a/README.md
+++ b/README.md
@@ -7,6 +7,15 @@
     2. 解析CAN消息，并上报给ws
     3. 解析ws消息并发送给CAN
 
+TOOD:
+    1. 机械臂扫码功能
+    2. 
+
+测试:
+    1. websocket下发一条can指令，can卡能够收到
+    2. can卡上报一条指令，websocket能够收到
+
+
 ```
 
 ## 编译RK3328
@@ -45,4 +54,20 @@
 
 ```
 
-
+测试指令
+```json
+{
+    "channel":"can0",
+    "protocol":"iflytopCanProtocolStackV1",
+    "message": {
+        "attribute": "normal",
+        "priority": 4, 
+        "type": "read",
+        "targetId": 129, 
+        "sourceId": 1, 
+        "seq": 0, 
+        "regAdd": 0, 
+        "regValue": 100 
+    }
+}
+```
\ No newline at end of file
diff --git a/dep/iflytopcpp b/dep/iflytopcpp
index 5bcf536..26a9bfa 160000
--- a/dep/iflytopcpp
+++ b/dep/iflytopcpp
@@ -1 +1 @@
-Subproject commit 5bcf536387d8b316efc986e3497c14c5e61cfdaa
+Subproject commit 26a9bfa768e95a4c7d8761900b07370bfd3f866c
diff --git a/src/service/iflytop_hardware_ws_service.cpp b/src/service/iflytop_hardware_ws_service.cpp
index f54ad6b..4d92200 100644
--- a/src/service/iflytop_hardware_ws_service.cpp
+++ b/src/service/iflytop_hardware_ws_service.cpp
@@ -6,7 +6,9 @@ using namespace core;
 using namespace ix;
 
 void IflytopWSService::initialize() {
-  m_server.reset(new WebSocketServer(19001));
+  logger->info("IflytopWSService initialize {}", 19001);
+
+  m_server.reset(new WebSocketServer(19001,"0.0.0.0"));
   m_server->setOnConnectionCallback([this](weak_ptr<WebSocket> webSocket, shared_ptr<ConnectionState> connectionState) {
     logger->info("Remote ip: {}", connectionState->getRemoteIp());
     auto ws = webSocket.lock();
@@ -27,12 +29,19 @@ void IflytopWSService::initialize() {
   }
   m_server->disablePerMessageDeflate();
   m_server->start();
-  m_server->wait();
+  // m_server->wait();
+  logger->info("IflytopWSService initialize done");
+  m_initialized = false;
 }
 void IflytopWSService::sendMessage(const string& message) {
+  if (!m_initialized) {
+    logger->error("IflytopWSService not initialized");
+    return;
+  }
   /**
    * @brief 广播消息给所有连接的客户端
    */
+  logger->debug("uplink msg: {}", message);
   auto clients = m_server->getClients();
   for (auto& each : clients) {
     if (each) {
@@ -52,10 +61,7 @@ void IflytopWSService::onMessageCallback(weak_ptr<WebSocket> webSocket, shared_p
     }
     onConnect(webSocket, msg);
   } else if (msg->type == ix::WebSocketMessageType::Message) {
-    // auto ws = webSocket.lock();
-    // if (ws) {
-    //   ws->send(msg->str, msg->binary);
-    // }
+    logger->debug("downlink msg: {}", msg->str);
     onMessage(webSocket, msg);
   } else if (msg->type == ix::WebSocketMessageType::Close) {
     logger->info("{} Closed connection", msg->closeInfo.remote);
diff --git a/src/service/iflytop_hardware_ws_service.hpp b/src/service/iflytop_hardware_ws_service.hpp
index bebced5..caadcfc 100644
--- a/src/service/iflytop_hardware_ws_service.hpp
+++ b/src/service/iflytop_hardware_ws_service.hpp
@@ -47,6 +47,7 @@ class IflytopWSService : public enable_shared_from_this<IflytopWSService> {
   // WebSocketServer的使用参考:http://192.168.1.3:3000/z3rd_lib/IXWebSocket/src/branch/master/docs/usage.md
   //
   shared_ptr<ix::WebSocketServer> m_server;
+  bool                            m_initialized = false;
 
  public:
   void initialize();
@@ -55,7 +56,6 @@ class IflytopWSService : public enable_shared_from_this<IflytopWSService> {
   void sendMessage(const string& message);
 
  private:
-  void onMessageCallback(weak_ptr<WebSocket> webSocket, shared_ptr<ConnectionState> connectionState,
-                         const ix::WebSocketMessagePtr& msg);
+  void onMessageCallback(weak_ptr<WebSocket> webSocket, shared_ptr<ConnectionState> connectionState, const ix::WebSocketMessagePtr& msg);
 };
 }  // namespace iflytop
\ No newline at end of file
diff --git a/src/service/main_control_service.cpp b/src/service/main_control_service.cpp
index 8ac977e..399595c 100644
--- a/src/service/main_control_service.cpp
+++ b/src/service/main_control_service.cpp
@@ -61,21 +61,22 @@ bool MainControlService::createIflytopHardwareWSPacket(shared_ptr<icps::Packet>
   return true;
 }
 
-bool MainControlService::createICPSPacket(json jin, shared_ptr<icps::Packet>& packetin) {  //
-  shared_ptr<icps::Packet> packetout(new icps::Packet());
+bool MainControlService::createICPSPacket(json jin, shared_ptr<icps::Packet>& packetout) {  //
+  shared_ptr<icps::Packet> _packetout(new icps::Packet());
   if (jin["protocol"] != "iflytopCanProtocolStackV1") {
     logger->error("create ICPSPacket failed, protocol not match,protocol:{}", jin["protocol"].get<string>());
     return false;
   }
 
-  packetin->setAttributeByStr(jin["message"]["attribute"]);
-  packetin->setPriority(jin["message"]["priority"]);
-  packetin->setTypeByStr(jin["message"]["type"]);
-  packetin->setTargetId(jin["message"]["targetId"]);
-  packetin->setSourceId(jin["message"]["sourceId"]);
-  packetin->setSeq(jin["message"]["seq"]);
-  packetin->setRegAdd(jin["message"]["regAdd"]);
-  packetin->setRegValue(jin["message"]["regValue"]);
+  _packetout->setAttributeByStr(jin["message"]["attribute"]);
+  _packetout->setPriority(jin["message"]["priority"]);
+  _packetout->setTypeByStr(jin["message"]["type"]);
+  _packetout->setTargetId(jin["message"]["targetId"]);
+  _packetout->setSourceId(jin["message"]["sourceId"]);
+  _packetout->setSeq(jin["message"]["seq"]);
+  _packetout->setRegAdd(jin["message"]["regAdd"]);
+  _packetout->setRegValue(jin["message"]["regValue"]);
+  packetout = _packetout;
   return true;
 }
 
@@ -110,6 +111,7 @@ void MainControlService::websocketServerInitialize() {
       json message = json::parse(msgtext);
       processIflytopWSMsg(message);
     } catch (const std::exception& e) {
+      logger->error("m_iflytopWSService:onMessag,parse json failed,exception:{},{}", e.what(), msgtext);
     }
   });
 }