From 6d8670cdf39106a1442e43ac48b75fa6ee8da1d7 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Wed, 11 Jan 2023 11:25:17 +0000
Subject: [PATCH 01/23] fix: Add a multi thread example, add windows cpp action
 file, add a cmake option ENABLE_TSAN for thread sanitizerr

---
 .github/workflows/windows_cpp_build.yml | 24 +++++++++
 CMakeLists.txt                          | 13 +++--
 README.md                               |  1 +
 cmake/cpp.cmake                         |  1 +
 examples/example.cs                     | 62 +++++++++++------------
 examples/multi_thread.cc                | 65 +++++++++++++++++++++++++
 sdk/src/jsonrpc_connector.cc            |  2 +
 sdk/src/robot.cc                        |  4 +-
 sdk/src/websocket.hh                    | 12 +++--
 9 files changed, 145 insertions(+), 39 deletions(-)
 create mode 100644 .github/workflows/windows_cpp_build.yml
 create mode 100644 examples/multi_thread.cc

diff --git a/.github/workflows/windows_cpp_build.yml b/.github/workflows/windows_cpp_build.yml
new file mode 100644
index 0000000..d10c480
--- /dev/null
+++ b/.github/workflows/windows_cpp_build.yml
@@ -0,0 +1,24 @@
+name: Windows cpp build
+run-name: ${{ github.actor }} Windows cpp pr build
+on: 
+  workflow_dispatch: 
+  pull_request: 
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+  pull-requests: read
+
+jobs: 
+  windows_cpp_pr_build:
+    runs-on: windows-latest 
+    steps: 
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Check cmake
+        run: cmake --version
+      - name: Configure
+        run: cmake -S. -Bbuild -G "Visual Studio 17 2022"
+      - name: Build
+        run: cmake --build build
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4abb28e..05c6a5a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,6 +66,14 @@ else()
   endforeach()
 endif()
 
+option(ENABLE_TSAN "Enable thread sanitier" ON)
+if(UNIX)   
+  if(ENABLE_TSAN)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=thread -g")
+    set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fsanitize=thread")
+  endif()
+endif()
+
 # By default only the C++ library is built.
 option(BUILD_CXX "Build C++ library" ON)
 message(STATUS "Build C++ library: ${BUILD_CXX}")
@@ -134,11 +142,10 @@ add_subdirectory(examples)
 
 
 
-find_package(Doxygen QUIET)
-option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" ${DOXYGEN_FOUND})
+option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" ON)
 
 if(BUILD_DOCUMENTATION)
-    # find_package(Doxygen)
+    find_package(Doxygen)
     if(NOT DOXYGEN_FOUND)
         message(FATAL_ERROR "Doxygen is needed to build the documentation.")
     endif()
diff --git a/README.md b/README.md
index f279577..dd5550c 100755
--- a/README.md
+++ b/README.md
@@ -85,6 +85,7 @@ cpack
  - TEST_ROBOT_IP: 测试程序的机器人IP地址，正确的设置该值用于单元测试 默认为127.0.0.1
  - BUILD_EXAMPLES: 是否编译示例程序 默认为ON
  - BUILD_DEB: 是否生成DEB包的构建 默认为OFF
+ - ENABLE_TSAN: 编译是否启用Thread sanitizer检查 默认为OFF
 
 ## 使用
 您可以通过docs目录下的文档了解更多各语言的信息。
diff --git a/cmake/cpp.cmake b/cmake/cpp.cmake
index e8b4de7..a7983b0 100755
--- a/cmake/cpp.cmake
+++ b/cmake/cpp.cmake
@@ -9,6 +9,7 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 configure_file("${PROJECT_SOURCE_DIR}/sdk/config.hh.in" "${PROJECT_SOURCE_DIR}/sdk/include/lebai/config.hh")
 
 include(GNUInstallDirs)
+
 add_subdirectory(sdk)
 # Install
 install(EXPORT ${PROJECT_NAME}Targets
diff --git a/examples/example.cs b/examples/example.cs
index e419ff2..b275118 100644
--- a/examples/example.cs
+++ b/examples/example.cs
@@ -1,36 +1,36 @@
 using System;
 using lebai.l_master;
 
-namespace lebai.app
-{
-    class Program
-    {
-        static void Main(string[] args)
-        {
-            Console.WriteLine($"Enter example");
-            Robot robot = new Robot("192.168.1.100", true);
-            robot.stop_sys();
-            Console.WriteLine($"stop...");
-            robot.start_sys();
-            Console.WriteLine($"start...");
-            DoubleVector jp1 = new DoubleVector();
-            jp1.Add(0.0);
-            jp1.Add(-60.0 / 180.0 * 3.14);
-            jp1.Add(80.0 / 180.0 * 3.14);
-            jp1.Add(-10.0 / 180.0 * 3.14);
-            jp1.Add(-60.0 / 180.0 * 3.14);
-            jp1.Add(0.0);
-            robot.movej(jp1, 1.0, 1.0, 0.0, 0.0);
-            DoubleVector jp2 = new DoubleVector();
-            jp2.Add(0.0);
-            jp2.Add(0.0);
-            jp2.Add(0.0);
-            jp2.Add(0.0);
-            jp2.Add(0.0);
-            jp2.Add(0.0);
-            robot.movej(jp2, 1.0, 1.0, 0.0, 0.0);
-            robot.wait_move();
-            Console.WriteLine($"Exit example");
-        }
+namespace lebai.app
+{
+    class Program
+    {
+        static void Main(string[] args)
+        {
+            Console.WriteLine($"Enter example");
+            Robot robot = new Robot("192.168.1.100", true);
+            robot.stop_sys();
+            Console.WriteLine($"stop...");
+            robot.start_sys();
+            Console.WriteLine($"start...");
+            DoubleVector jp1 = new DoubleVector();
+            jp1.Add(0.0);
+            jp1.Add(-60.0 / 180.0 * 3.14);
+            jp1.Add(80.0 / 180.0 * 3.14);
+            jp1.Add(-10.0 / 180.0 * 3.14);
+            jp1.Add(-60.0 / 180.0 * 3.14);
+            jp1.Add(0.0);
+            robot.movej(jp1, 1.0, 1.0, 0.0, 0.0);
+            DoubleVector jp2 = new DoubleVector();
+            jp2.Add(0.0);
+            jp2.Add(0.0);
+            jp2.Add(0.0);
+            jp2.Add(0.0);
+            jp2.Add(0.0);
+            jp2.Add(0.0);
+            robot.movej(jp2, 1.0, 1.0, 0.0, 0.0);
+            robot.wait_move();
+            Console.WriteLine($"Exit example");
+        }
     }
 }
diff --git a/examples/multi_thread.cc b/examples/multi_thread.cc
new file mode 100644
index 0000000..3cd9427
--- /dev/null
+++ b/examples/multi_thread.cc
@@ -0,0 +1,65 @@
+#include <stdio.h>
+#include <chrono>
+#include <thread>
+#include <iostream>
+#include <cmath>
+#include <lebai/robot.hh>
+
+void Thread1(lebai::l_master::Robot * robot){
+  while(1)
+  {
+    robot->start_task("10017");
+    robot->wait_move();
+    std::cout<<"move done"<<std::endl;
+    std::this_thread::sleep_for(std::chrono::milliseconds(200));
+  }
+  return;
+}
+
+void Thread2(lebai::l_master::Robot *robot) {
+  while(1)
+  {
+    robot->get_target_joint_speed();
+    robot->get_actual_joint_positions();
+    robot->get_actual_tcp_pose();
+    robot->get_actual_joint_positions();
+    auto jp = robot->get_actual_joint_positions();
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  }
+  return;
+}
+
+int main() {
+  // 172.17.0.4
+  lebai::l_master::Robot robot("192.168.1.100", true);
+  // lebai::l_master::Robot robot("172.17.0.4", true);
+  std::thread t1(Thread1, &robot);
+  std::thread t2(Thread2, &robot);
+  t1.join();
+  t2.join();
+
+}
+
+
+// #include <pthread.h>
+// #include <stdio.h>
+
+// int Global;
+
+// void *Thread1(void *x) {
+//   Global++;
+//   return NULL;
+// }
+
+// void *Thread2(void *x) {
+//   Global--;
+//   return NULL;
+// }
+
+// int main() {
+//   pthread_t t[2];
+//   pthread_create(&t[0], NULL, Thread1, NULL);
+//   pthread_create(&t[1], NULL, Thread2, NULL);
+//   pthread_join(t[0], NULL);
+//   pthread_join(t[1], NULL);
+// }
\ No newline at end of file
diff --git a/sdk/src/jsonrpc_connector.cc b/sdk/src/jsonrpc_connector.cc
index d22ab99..f9a2668 100755
--- a/sdk/src/jsonrpc_connector.cc
+++ b/sdk/src/jsonrpc_connector.cc
@@ -111,6 +111,8 @@ JSONRpcConnector::~JSONRpcConnector(){}
 //   }  
 // }
 
+
+
 int JSONRpcConnector::CallRpc(const std::string & method, const std::string & req_data_str, std::string * resp_data_str)
 {
   int call_jsonrpc_id = jsonrpc_id_++;
diff --git a/sdk/src/robot.cc b/sdk/src/robot.cc
index f620a5a..d3d105b 100644
--- a/sdk/src/robot.cc
+++ b/sdk/src/robot.cc
@@ -471,7 +471,7 @@ std::vector<double> Robot::get_target_joint_speed()
 
 CartesianPose Robot::get_actual_tcp_pose()
 {
-  const auto & pose = impl_->getKinData().actual_tcp_pose();
+  auto pose = impl_->getKinData().actual_tcp_pose();
   CartesianPose cart_pose;
   cart_pose["x"] = pose.position().x();
   cart_pose["y"] = pose.position().y();
@@ -486,7 +486,7 @@ CartesianPose Robot::get_actual_tcp_pose()
 }
 CartesianPose Robot::get_target_tcp_pose()
 {
-  const auto & pose = impl_->getKinData().target_tcp_pose();
+  auto pose = impl_->getKinData().target_tcp_pose();
   CartesianPose cart_pose;
   cart_pose["x"] = pose.position().x();
   cart_pose["y"] = pose.position().y();
diff --git a/sdk/src/websocket.hh b/sdk/src/websocket.hh
index 106abf2..628b0f0 100644
--- a/sdk/src/websocket.hh
+++ b/sdk/src/websocket.hh
@@ -35,6 +35,7 @@
 #include <websocketpp/config/asio_no_tls_client.hpp>
 #include "protos/utils.hh"
 
+
 namespace lebai
 {
   typedef websocketpp::client<websocketpp::config::asio_client> WSClient;
@@ -53,14 +54,15 @@ namespace lebai
 
     void onOpen(WSClient *c, websocketpp::connection_hdl hdl)
     {
+      std::lock_guard<std::mutex> guard(status_mutex_);
       status_ = "Open";
-
       WSClient::connection_ptr con = c->get_con_from_hdl(hdl);
       server_ = con->get_response_header("Server");
     }
 
     void onFail(WSClient *c, websocketpp::connection_hdl hdl)
     {
+      std::lock_guard<std::mutex> guard(status_mutex_);
       status_ = "Failed";
       WSClient::connection_ptr con = c->get_con_from_hdl(hdl);
       server_ = con->get_response_header("Server");
@@ -69,6 +71,7 @@ namespace lebai
 
     void onClose(WSClient *c, websocketpp::connection_hdl hdl)
     {
+      std::lock_guard<std::mutex> guard(status_mutex_);
       status_ = "Closed";
       WSClient::connection_ptr con = c->get_con_from_hdl(hdl);
       std::stringstream s;
@@ -115,7 +118,10 @@ namespace lebai
 
     int getID() const { return id_; }
 
-    std::string getStatus() const { return status_; }
+    std::string getStatus() {
+      std::lock_guard<std::mutex> guard(status_mutex_);
+      return status_; 
+    }
 
     // void record_sent_message(std::string message) {
     //   m_messages.push_back(">> " + message);
@@ -142,6 +148,7 @@ namespace lebai
     std::string server_;
     std::string error_reason_;
     std::mutex promises_map_mutex_;
+    std::mutex status_mutex_;
   };
 
   // std::ostream& operator<<(std::ostream& out, ConnectionMetadata const& data) {
@@ -259,7 +266,6 @@ namespace lebai
 
     bool send(int id, std::string message)
     {
-
       websocketpp::lib::error_code ec;
 
       ConList::iterator metadata_it = connection_list_.find(id);

From edbf13c2e0f553e287ad6e3eed2f68a01cdea83f Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Wed, 11 Jan 2023 11:33:30 +0000
Subject: [PATCH 02/23] fix: Do not build doc on windows.

---
 .github/workflows/windows_cpp_build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows_cpp_build.yml b/.github/workflows/windows_cpp_build.yml
index d10c480..4ff8474 100644
--- a/.github/workflows/windows_cpp_build.yml
+++ b/.github/workflows/windows_cpp_build.yml
@@ -19,6 +19,6 @@ jobs:
       - name: Check cmake
         run: cmake --version
       - name: Configure
-        run: cmake -S. -Bbuild -G "Visual Studio 17 2022"
+        run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_DOCUMENTATION=OFF
       - name: Build
         run: cmake --build build
\ No newline at end of file

From 63b01f575c63c6c83cad988df782f102e4e6c24d Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 04:03:30 +0000
Subject: [PATCH 03/23] fix: Add linux_cpp_build.yml

---
 .github/workflows/linux_cpp_build.yml      |  57 +++++++
 .github/workflows/windows_cpp_build.yml    |   4 +-
 .github/workflows/windows_python_build.yml |  24 +++
 CMakeLists.txt                             |   2 +
 README.md                                  |  16 +-
 TODO.md                                    |  13 +-
 cmake/python.cmake                         |   2 +-
 python/setup.py.in                         |   2 +-
 sdk/include/lebai/discovery.hh             |  10 +-
 sdk/include/lebai/lebai.hh                 |  14 +-
 sdk/include/lebai/robot.hh                 | 188 ++++++++++-----------
 11 files changed, 203 insertions(+), 129 deletions(-)
 create mode 100644 .github/workflows/linux_cpp_build.yml
 create mode 100644 .github/workflows/windows_python_build.yml

diff --git a/.github/workflows/linux_cpp_build.yml b/.github/workflows/linux_cpp_build.yml
new file mode 100644
index 0000000..381f7b1
--- /dev/null
+++ b/.github/workflows/linux_cpp_build.yml
@@ -0,0 +1,57 @@
+name: Linux cpp build
+run-name: ${{ github.actor }} Linux cpp build
+on: 
+  workflow_dispatch: 
+  pull_request: 
+jobs: 
+  linux_cpp_build: 
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    steps: 
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: install components
+        run: sudo apt-get install -y build-essential doxygen graphviz python3-pip python3-dev
+
+      - name: install dependencies
+        run: pip3 install -r requirements.txt
+
+      - name: configure
+        run: cmake -S. -Bbuild -DBUILD_DEB=ON
+
+      - name: build
+        run: cmake --build build
+ 
+  test:
+   needs: build
+   runs-on: ubuntu-latest
+   container: registry.cn-shanghai.aliyuncs.com/lebai/l-master:latest
+   steps: 
+     - name: start nginx
+       run: nginx
+      
+     - name: start daemon
+       run: |
+        systemctl start l-master-rc
+        systemctl start l-master-ds
+       
+     - name: Checkout
+       uses: actions/checkout@v3
+
+     - name: install components
+       run: apt-get install -y build-essential doxygen graphviz python3-pip python3-dev
+
+     - name: install dependencies
+       run: pip3 install -r requirements.txt
+
+     - name: configure
+       run: cmake -S. -Bbuild -DBUILD_TESTING=ON
+
+     - name: build
+       run: cmake --build build
+       
+     - name: test
+       run: cmake --build build --target test
diff --git a/.github/workflows/windows_cpp_build.yml b/.github/workflows/windows_cpp_build.yml
index 4ff8474..cc7d259 100644
--- a/.github/workflows/windows_cpp_build.yml
+++ b/.github/workflows/windows_cpp_build.yml
@@ -1,5 +1,5 @@
 name: Windows cpp build
-run-name: ${{ github.actor }} Windows cpp pr build
+run-name: ${{ github.actor }} Windows cpp build
 on: 
   workflow_dispatch: 
   pull_request: 
@@ -11,7 +11,7 @@ permissions:
   pull-requests: read
 
 jobs: 
-  windows_cpp_pr_build:
+  windows_cpp_build:
     runs-on: windows-latest 
     steps: 
       - name: Checkout
diff --git a/.github/workflows/windows_python_build.yml b/.github/workflows/windows_python_build.yml
new file mode 100644
index 0000000..d8b1571
--- /dev/null
+++ b/.github/workflows/windows_python_build.yml
@@ -0,0 +1,24 @@
+name: Windows python build
+run-name: ${{ github.actor }} Windows python build
+on: 
+  workflow_dispatch: 
+  pull_request: 
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+  pull-requests: read
+
+jobs: 
+  windows_cpp_pr_build:
+    runs-on: windows-latest 
+    steps: 
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Check cmake
+        run: cmake --version
+      - name: Configure
+        run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_DOCUMENTATION=OFF
+      - name: Build
+        run: cmake --build build
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 05c6a5a..1277fab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -54,6 +54,8 @@ else()
   add_compile_definitions(NOMINMAX)
   add_compile_definitions(_DEBUG)   
   add_compile_definitions(_WEBSOCKETPP_CPP11_RANDOM_DEVICE_)
+  add_compile_options("$<$<C_COMPILER_ID:MSVC>:/utf-8>")
+  add_compile_options("$<$<CXX_COMPILER_ID:MSVC>:/utf-8>")
   set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
   set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
   set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
diff --git a/README.md b/README.md
index dd5550c..67e9b2c 100755
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-lebai-sdk的源代码仓库，可以用于控制乐白机械臂。
+lebai-sdk的源代码仓库，可以用于控制乐白机械臂.
 
 | OS     | C++ | Python | C# | Java |
 |:-------|-----|--------|----|------| 
@@ -15,7 +15,7 @@ lebai-sdk的源代码仓库，可以用于控制乐白机械臂。
 
 # 包管理直接安装
 
-python开发可以直接从[PyPI](https://pypi.org/project/pylebai/)安装。
+python开发可以直接从[PyPI](https://pypi.org/project/pylebai/)安装.
 ```
 pip install pylebai
 ```
@@ -41,9 +41,9 @@ pip install pylebai
 ```bash
 sudo apt install build-essential python3-pip dpkg-dev
 sudo pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple -r requirements.txt
-# 如果需要生成文档，还需要安装doxygen。
+# 如果需要生成文档，还需要安装doxygen
 sudo apt install doxygen graphviz
-# 如果需要生成python的wrapper包。
+# 如果需要生成python的wrapper包
 sudo apt install python3-dev
 ```
 
@@ -69,9 +69,9 @@ cpack
 
 安装python库时，选择 `Download debug binaries`
 
-在Visual Studio中载入CMake工程，即可以生成构建运行测试等。
+在Visual Studio中载入CMake工程，即可以生成构建运行测试等.
 
-目前Windows平台下python的binding部分还存在问题无法工作。
+目前Windows平台下python的binding部分还存在问题无法工作.
 
 
 
@@ -88,7 +88,7 @@ cpack
  - ENABLE_TSAN: 编译是否启用Thread sanitizer检查 默认为OFF
 
 ## 使用
-您可以通过docs目录下的文档了解更多各语言的信息。
+您可以通过docs目录下的文档了解更多各语言的信息.
 
 ### Python
 build目录下会生成python的whl包，可以直接使用:
@@ -96,7 +96,7 @@ build目录下会生成python的whl包，可以直接使用:
 cd build/python/dist
 ## 安装
 pip3 install pylebai-xxx.whl
-### XXX取决于您的sdk版本，python版本，操作系统平台。
+### XXX取决于您的sdk版本，python版本，操作系统平台.
 ## 卸载
 pip3 uninstall pylebai
 ```
diff --git a/TODO.md b/TODO.md
index fb65cb1..828278b 100644
--- a/TODO.md
+++ b/TODO.md
@@ -1,13 +1,4 @@
 # TODO
 
-## v1.0.9
-
-- [x] SDK版本  
-- [x] 系统控制-reboot  
-- [x] 配置-从资源库加载TCP  
-- [x] 位置-从资源库加载路点位姿  
-- [x] 运动-关节跟随运动  
-- [x] 运动-圆弧运动
-- [x] ModBus
-- [x] 把IO相关的API整合一致（类型通过参数传入）
-- [x] 获取任务状态
+- [] Windows平台python不能运行（GIL锁）的问题 
+- [] Python, C#, C++的测试程序
diff --git a/cmake/python.cmake b/cmake/python.cmake
index 337b21e..8f78eff 100755
--- a/cmake/python.cmake
+++ b/cmake/python.cmake
@@ -20,7 +20,7 @@ endif()
 # Find Python 3
 
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module)
-list(APPEND CMAKE_SWIG_FLAGS  "-threads" "-py3" "-DPY3")
+list(APPEND CMAKE_SWIG_FLAGS "-threads" "-py3" "-DPY3")
 
 # Find if the python module is available,
 # otherwise install it (PACKAGE_NAME) to the Python3 user install directory.
diff --git a/python/setup.py.in b/python/setup.py.in
index a2a0669..8df0266 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -13,7 +13,7 @@ class InstallPlatlib(install):
         install.finalize_options(self)
         self.install_lib=self.install_platlib
 
-with open(r"../../README.md", "r") as fh:
+with open(r"../../README.md", "r", encoding='UTF-8') as fh:
     long_description = fh.read()
 
 setup(
diff --git a/sdk/include/lebai/discovery.hh b/sdk/include/lebai/discovery.hh
index 169bd50..26664c8 100755
--- a/sdk/include/lebai/discovery.hh
+++ b/sdk/include/lebai/discovery.hh
@@ -25,7 +25,7 @@ namespace lebai
   namespace zeroconf
   {
   /**
-   * \brief Lebai机械臂控制器的信息数据结构
+   * \brief Lebai机械臂控制器的信息数据结构.
    * 
    */
   class ControllerInfo
@@ -48,7 +48,7 @@ namespace lebai
   };
     
   /**
-   *  @brief 自动发现局域网内lebai机械臂。
+   *  @brief 自动发现局域网内lebai机械臂.
    *
    */
   class Discovery
@@ -71,14 +71,14 @@ namespace lebai
     virtual ~Discovery();
 
     /**
-     * @brief 获取局域网内lebai机械臂的信息数据,可以用来自动发现局域网内的所有机械臂控制器
+     * @brief 获取局域网内lebai机械臂的信息数据,可以用来自动发现局域网内的所有机械臂控制器.
      * 
-     * @return std::vector<std::string> 所有的机械臂的信息数据
+     * @return std::vector<std::string> 所有的机械臂的信息数据.
      */
     std::vector<ControllerInfo> resolve();
 
   protected:
-    std::unique_ptr<DiscoveryImpl> impl_; /*!< 内部实现数据结构，用户无需关注。 */
+    std::unique_ptr<DiscoveryImpl> impl_; /*!< 内部实现数据结构，用户无需关注. */
   };
   }
 
diff --git a/sdk/include/lebai/lebai.hh b/sdk/include/lebai/lebai.hh
index 167e9b2..0eb96d1 100644
--- a/sdk/include/lebai/lebai.hh
+++ b/sdk/include/lebai/lebai.hh
@@ -3,22 +3,22 @@
 /*! \mainpage lebai
  * [TOC]
  * # 概述 
- * Lebai机械臂All in one开发包。开发包通过C++实现和机械臂的通讯,提供和机械臂控制器交互的接口,并且通过[SWIG](https://www.swig.org/ "SWIG")生成其它各种语言的接口库。
+ * Lebai机械臂All in one开发包。开发包通过C++实现和机械臂的通讯,提供和机械臂控制器交互的接口,并且通过[SWIG](https://www.swig.org/ "SWIG")生成其它各种语言的接口库.
  * 
- * 您可以通过项目的README文档来了解如何构建和安装本开发包。
+ * 您可以通过项目的README文档来了解如何构建和安装本开发包.
  * 
- * 您也可以基于本开发包创建使用其它语言的开发包。
+ * 您也可以基于本开发包创建使用其它语言的开发包.
  * 
  * # 如何开始
- * 查阅 \ref README.md "README" 文档,了解如何构建和安装本开发包。
+ * 查阅 \ref README.md "README" 文档,了解如何构建和安装本开发包.
  *  
  * # ChangeLog
- *  查阅 \ref doc/changelog.md 。
+ *  查阅 \ref doc/changelog.md.
  *  
  * # Python
- * 查看 \ref doc/python.md 来获取使用python相关的内容。
+ * 查看 \ref doc/python.md 来获取使用python相关的内容.
  * 
  * # Develop
- * 如果需要开发sdk，添加新的功能，可以参考 \ref doc/develop.md 。
+ * 如果需要开发sdk，添加新的功能，可以参考 \ref doc/develop.md.
  */
 
diff --git a/sdk/include/lebai/robot.hh b/sdk/include/lebai/robot.hh
index 907608c..ab7cfff 100644
--- a/sdk/include/lebai/robot.hh
+++ b/sdk/include/lebai/robot.hh
@@ -273,12 +273,12 @@ namespace lebai
      * @brief 通过坐标位置发送机械臂直线移动
      * @note 该接口为异步接口，仅向控制器内部的运动缓冲区写入一个关节移动即返回，不会等待运动结束.
      * @param cart_pose: 目标位置在机器人基座标系下的坐标数据(目前不支持在其它坐标系下的坐标数据)，CartesianPose = std::map<std::string,double>，应当包括键为x,y,z,rz,ry,rx的值.
-     * @param a: 加速度
-     * @param v: 速度
+     * @param a: 加速度.
+     * @param v: 速度.
      * @param t: 时间参数，如果设置时间不为零，则按照时间计算出速度，而不使用速度参数.
      * @param r: 交融半径，设置为0，则无交融半径.
-     * @return >0 发送成功
-     * @return <=0 发送失败
+     * @return >0 发送成功.
+     * @return <=0 发送失败.
      */    
     int movel(const CartesianPose & cart_pose, double a, double v, double t, double r);
     /**
@@ -288,16 +288,16 @@ namespace lebai
      *     {-28/ 180.0 * M_PI, -59.0/ 180.0 * M_PI, 96.0/ 180.0 * M_PI, -2.0/ 180.0 * M_PI, -92.0/ 180.0 * M_PI, 16.0/ 180.0 * M_PI},
      *     0.0, 1.0, 0.5, 0.0, 0.0);
      * 
-     * @brief 通过关节位置发送机械臂圆弧运动     * 
+     * @brief 通过关节位置发送机械臂圆弧运动. 
      * @param[in] joint_via 圆弧上途径点关节位置，为关节的角度值构成的数组.为圆上三点中的一点.
      * @param[in] joint 圆弧目标点关节位置，为关节的角度值构成的数组.如果编程rad不为零，则为圆上三点中的一点.
      * @param[in] rad 圆弧角度值，单位为弧度，如果为零，则走到目标点，正负值用来确定圆弧方向.
-     * @param[in] a 加速度
-     * @param[in] v 速度
+     * @param[in] a 加速度.
+     * @param[in] v 速度.
      * @param[in] t: 时间参数，如果设置时间不为零，则按照时间计算出速度，而不使用速度参数.
      * @param[in] r: 交融半径，设置为0，则无交融半径.
-     * @return >0 发送成功
-     * @return <=0 发送失败
+     * @return >0 发送成功.
+     * @return <=0 发送失败.
      */
     int movec(const std::vector<double> & joint_via, const std::vector<double> & joint, double rad, double a, double v, double t, double r);
     /**
@@ -306,12 +306,12 @@ namespace lebai
      * @param[in] cart_via 圆弧上途径点坐标位置，应当包括键为x,y,z,rz,ry,rx的值.为圆上三点中的一点.
      * @param[in] cart 圆弧目标点坐标位置，应当包括键为x,y,z,rz,ry,rx的值.如果编程rad不为零，则为圆上三点中的一点.
      * @param[in] rad 圆弧角度值，单位为弧度，如果为零，则走到目标点，正负值用来确定圆弧方向.
-     * @param[in] a 加速度
-     * @param[in] v 速度
+     * @param[in] a 加速度.
+     * @param[in] v 速度.
      * @param[in] t: 时间参数，如果设置时间不为零，则按照时间计算出速度，而不使用速度参数.
      * @param[in] r: 交融半径，设置为0，则无交融半径.
-     * @return >0 发送成功
-     * @return <=0 发送失败
+     * @return >0 发送成功.
+     * @return <=0 发送失败.
      */    
     int movec(const CartesianPose & cart_via, const CartesianPose & cart, double rad, double a, double v, double t, double r);
     /**
@@ -321,50 +321,50 @@ namespace lebai
      *     robot.toawrdj(joint_positions, 3.0, 1.0, 0.0, 0.0);
      * 
      * 
-     * @brief   通过关节位置发送机械臂关节自由移动
+     * @brief   通过关节位置发送机械臂关节自由移动.
      * @note  该接口为异步接口，仅向控制器内部的运动缓冲区写入一个关节自由移动即返回，不会等待运动结束.
      * @param[in] joint_positions: 目标位置的关节数据,为关节的角度值构成的数组.
      * @param[in] a: 加速度.
      * @param[in] v: 速度.
      * @param[in] t: 时间参数，如果设置时间不为零，则按照时间计算出速度，而不使用速度参数.
      * @param[in] r: 交融半径，设置为0，则无交融半径.
-     * @return  >0 发送成功
-     * @return  <=0 发送失败
+     * @return  >0 发送成功.
+     * @return  <=0 发送失败.
      * 
      */
     int towardj(const std::vector<double> & joint_positions, double a, double v, double t, double r);
     /**
      * @brief 伺服运动PVAT
      * 
-     * @param p 关节位置，或者坐标位置（将通过运动学反解转为关节位置）
-     * @param v 每个关节的速度 (rad/s)。如该值为数字，则表示所有关节速度相同。
-     * @param a 每个关节的加速度 (rad/s2)。如该值为数字，则表示所有关节加速度相同。
+     * @param p 关节位置，或者坐标位置（将通过运动学反解转为关节位置）.
+     * @param v 每个关节的速度 (rad/s)。如该值为数字，则表示所有关节速度相同.
+     * @param a 每个关节的加速度 (rad/s2)。如该值为数字，则表示所有关节加速度相同.
      * @param t 运动时间 (s)
     */
     void move_pvat(std::vector<double> p, std::vector<double> v, std::vector<double> a, double t);
     /**
-     * @brief 等待运动完成
+     * @brief 等待运动完成.
      * 
-     * @param id 指定运动的id(0为等待全部任务)
+     * @param id 指定运动的id(0为等待全部任务).
     */
     void wait_move(unsigned int id);
     /**
-     * @brief 等待所有运动完成
+     * @brief 等待所有运动完成.
      * 
     */    
     void wait_move();
     /**
-     * @brief 查询当前正在运动的MotionId(无运动时返回上次MotionId) 
+     * @brief 查询当前正在运动的MotionId(无运动时返回上次MotionId).
     */
     unsigned int get_running_motion();
     /**
-     * @brief 查询指定MotionId的运动状态
+     * @brief 查询指定MotionId的运动状态.
      * 
-     * @param id 指定的运动id 
+     * @param id 指定的运动id.
     */
     std::string get_motion_state(unsigned int id);
     /**
-     * @brief 停止所有运动
+     * @brief 停止所有运动.
     */
     void stop_move();
     /** @}*/
@@ -670,15 +670,15 @@ namespace lebai
     */
     void resume_task(unsigned int id);
     /**
-     * @brief 取消任务与运动
+     * @brief 取消任务与运动.
      * 
-     * @param id 任务的ID
+     * @param id 任务的ID.
     */
     void cancel_task(unsigned int id);
     /**
-     * @brief 获取任务状态
+     * @brief 获取任务状态.
      * 
-     * @param id 任务的ID
+     * @param id 任务的ID.
     */
     std::string get_task_state(unsigned int id);
     /** @}*/
@@ -735,10 +735,10 @@ namespace lebai
     /**
      * @brief 重命名文件
      * 
-     * @param from_dir: 源文件所在的文件夹
-     * @param from_name: 源文件名称
-     * @param to_dir: 目标文件文件夹
-     * @param to_name: 目标文件文件名
+     * @param from_dir: 源文件所在的文件夹.
+     * @param from_name: 源文件名称.
+     * @param to_dir: 目标文件文件夹.
+     * @param to_name: 目标文件文件名.
     */
     void rename_file(const std::string &from_dir,const std::string &from_name,const std::string &to_dir,const std::string &to_name);
     
@@ -753,42 +753,42 @@ namespace lebai
     std::tuple<bool,std::string> load_file(const std::string &dir,const std::string &name);
     
     /**
-     * @brief 查询文件列表
+     * @brief 查询文件列表.
      * 
-     * @param dir: 文件的目录
-     * @param prefix: 前缀
-     * @param suffix: 后缀
+     * @param dir: 文件的目录.
+     * @param prefix: 前缀.
+     * @param suffix: 后缀.
      * 
-     * @return 文件列表
+     * @return 文件列表.
     */
     std::vector<std::tuple<bool,std::string>> load_file_list(const std::string &dir,const std::string &prefix,const std::string &suffix);
     /**
-     * @brief 将文件从文件系统中压缩到zip文件
+     * @brief 将文件从文件系统中压缩到zip文件.
      * 
-     * @param from_dir 源文件的目录
-     * @param files 源文件的文件名
-     * @param to_dir  压缩后文件的路径
-     * @param name 压缩后文件的名称
+     * @param from_dir 源文件的目录.
+     * @param files 源文件的文件名.
+     * @param to_dir  压缩后文件的路径.
+     * @param name 压缩后文件的名称.
     */
     // void zip(const std::string &from_dir, std::vector<std::string> files, const std::string &to_dir, const std::string &name);
     // /**
-    //  *  @brief 将zip文件解压到文件系统
+    //  *  @brief 将zip文件解压到文件系统.
     //  *
-    //  * @param from_dir zip文件的路径
-    //  * @param name zip文件的名称
-    //  * @param files zip文件内的文件名
-    //  * @param to_dir  解压到的路径
+    //  * @param from_dir zip文件的路径.
+    //  * @param name zip文件的名称.
+    //  * @param files zip文件内的文件名.
+    //  * @param to_dir  解压到的路径.
     //  */
     // void unzip(const std::string &from_dir, const std::string &name, std::vector<std::string> files, const std::string &to_dir);
     // /**
-    //  * @brief 查询文件列表
+    //  * @brief 查询文件列表.
     //  *
-    //  * @brief 目标zip文件名
-    //  * @param dir 文件的目录
-    //  * @param prefix 前缀
-    //  * @param suffix 后缀
+    //  * @brief 目标zip文件名.
+    //  * @param dir 文件的目录.
+    //  * @param prefix 前缀.
+    //  * @param suffix 后缀.
     //  *
-    //  * @return 文件列表
+    //  * @return 文件列表.
     //  */
     // //std::vector<std::tuple<bool,string>> load_zip_list(const std::string &zip,const std::string &dir,const std::string &prefix,const std::string &suffix);
 
@@ -798,59 +798,59 @@ namespace lebai
      *  @{
      */
     /**
-     *  @brief 设置工具中心点(TCP)坐标，坐标值相对于工具坐标系
+     *  @brief 设置工具中心点(TCP)坐标，坐标值相对于工具坐标系.
      * 
-     *  @param tcp 参数为六元组，表示一个空间位置变换
+     *  @param tcp 参数为六元组，表示一个空间位置变换.
     */
     void set_tcp(std::array<double, 6> tcp);
     /**
-     *  @brief 获取当前机器人工具中心点设置
+     *  @brief 获取当前机器人工具中心点设置.
      * 
-     *  @return 当前机器人的工具中心点参数，为六元组
+     *  @return 当前机器人的工具中心点参数，为六元组.
     */
     std::array<double, 6> get_tcp();
     /**
-     *  @brief 设置速度因子
+     *  @brief 设置速度因子.
      * 
-     *  @param factor 速度因子百分比，范围0-100
+     *  @param factor 速度因子百分比，范围0-100.
     */
     void set_velocity_factor(int factor);
     /**
-     *  @brief 获取当前的速度因子
+     *  @brief 获取当前的速度因子.
      * 
-     *  @return 速度因子百分比
+     *  @return 速度因子百分比.
     */
     int get_velocity_factor();
     /**
-     *  @brief 设置机器人末端负载
+     *  @brief 设置机器人末端负载.
      *
-     *  @param mass 末端负载的质量(kg)
-     *  @param cog 质心相对于TCP坐标系的偏移
+     *  @param mass 末端负载的质量(kg).
+     *  @param cog 质心相对于TCP坐标系的偏移.
      */
     void set_payload(double mass, std::map<std::string, double> cog);
     /**
-     *  @brief 获取末端负载设置
+     *  @brief 获取末端负载设置.
      *
-     *  @return 由负载质量mass和负载偏移组成的元组
+     *  @return 由负载质量mass和负载偏移组成的元组.
      */
     std::tuple<double, std::map<std::string, double>> get_payload();
     /**
-     *  @brief 设置机器人重力加速度方向
+     *  @brief 设置机器人重力加速度方向.
      *
-     *  @param gravity 相对于机器人基座标的重力方向
+     *  @param gravity 相对于机器人基座标的重力方向.
      */
     void set_gravity(std::map<std::string, double> gravity);
     /**
-     *  @brief 获取机器人重力加速度的方向
+     *  @brief 获取机器人重力加速度的方向.
      *
-     *  @return 相对于机器人基座标的重力方向
+     *  @return 相对于机器人基座标的重力方向.
      */
     std::map<std::string, double> get_gravity();
     /**
-     * @brief 从资源库加载tcp
+     * @brief 从资源库加载tcp.
      * 
-     * @param name 点位名称
-     * @param dir 点位目录
+     * @param name 点位名称.
+     * @param dir 点位目录.
     */
     CartesianPose load_tcp(std::string name, std::string dir = "");
     /** @}*/
@@ -861,54 +861,54 @@ namespace lebai
     */
 
     /**
-     * @brief 写单个线圈
+     * @brief 写单个线圈.
      * 
-     * @param device 设备名称
-     * @param addr 寄存器地址
-     * @param value 待设置的值 
+     * @param device 设备名称.
+     * @param addr 寄存器地址.
+     * @param value 待设置的值.
     */
     void write_single_coil(std::string device, std::string addr, bool value);
 
     /**
      * @brief 写多个线圈
      * 
-     * @param device 设备名称
-     * @param addr 寄存器地址
-     * @param values 待设置的值 
+     * @param device 设备名称.
+     * @param addr 寄存器地址.
+     * @param values 待设置的值.
     */
     void wirte_multiple_coils(std::string device, std::string addr, std::vector<bool> values);
 
     /**
      * @brief 读线圈
      * 
-     * @param device 设备名称
-     * @param addr 寄存器地址
-     * @param num 连续数量
+     * @param device 设备名称.
+     * @param addr 寄存器地址.
+     * @param num 连续数量.
     */
     std::vector<bool> read_coils(std::string device, std::string addr, unsigned int num);
     /**
      * @brief 读离散输入
      * 
-     * @param device 设备名称
-     * @param addr 寄存器地址
-     * @param num 连续数量
+     * @param device 设备名称.
+     * @param addr 寄存器地址.
+     * @param num 连续数量.
     */
     std::vector<bool> read_discrete_inputs(std::string device, std::string addr, unsigned int num);
 
     /**
      * @brief 写单个寄存器
      * 
-     * @param device 设备名称
-     * @param addr 寄存器地址
-     * @param value 待设置的值
+     * @param device 设备名称.
+     * @param addr 寄存器地址.
+     * @param value 待设置的值.
     */
     void write_single_register(std::string device, std::string addr, unsigned int value);
     /**
      * @brief 写多个寄存器
      * 
-     * @param device 设备名称
-     * @param addr 寄存器地址
-     * @param values 待设置的值
+     * @param device 设备名称.
+     * @param addr 寄存器地址.
+     * @param values 待设置的值.
     */
     void write_multiple_registers(std::string device, std::string addr, std::vector<unsigned int> values);
 

From ff39285b994ca58c29ca1205f1e7e645a5f3b046 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 04:06:43 +0000
Subject: [PATCH 04/23] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3linux=5Fcpp=5Fbu?=
 =?UTF-8?q?ild.yml=E9=94=99=E8=AF=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_cpp_build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/linux_cpp_build.yml b/.github/workflows/linux_cpp_build.yml
index 381f7b1..3ce9aac 100644
--- a/.github/workflows/linux_cpp_build.yml
+++ b/.github/workflows/linux_cpp_build.yml
@@ -25,8 +25,8 @@ jobs:
       - name: build
         run: cmake --build build
  
-  test:
-   needs: build
+  linux_cpp_test:
+   needs: linux_cpp_build
    runs-on: ubuntu-latest
    container: registry.cn-shanghai.aliyuncs.com/lebai/l-master:latest
    steps: 

From e052912880a6429083b8b95df40f17404afd91d5 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 05:05:34 +0000
Subject: [PATCH 05/23] fix: Add linux_python_build.yml

---
 .github/workflows/linux_python_build.yml | 40 ++++++++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 .github/workflows/linux_python_build.yml

diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
new file mode 100644
index 0000000..cc397ca
--- /dev/null
+++ b/.github/workflows/linux_python_build.yml
@@ -0,0 +1,40 @@
+name: Linux python build
+run-name: ${{ github.actor }} Linux python build
+on: 
+  workflow_dispatch: 
+  pull_request: 
+jobs: 
+  linux_python_build: 
+    runs-on: ubuntu-latest
+    container: quay.io/pypa/manylinux2010_x86_64
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+        
+      - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
+      - run: /opt/python/cp310-cp310/bin/pip install twine==2.0.0
+
+      - name: configure
+        run: cmake -S. -Bbuild -DBUILD_PYTHON=ON
+
+      - name: build
+        run: cmake --build build
+
+      - name: create-whl-dir
+        run: mkdir -p whl
+
+      - name: build with python
+        run: for PY in /opt/python/*;do
+        rm -rf build;
+        cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
+        cmake --build build;
+        cp build/python/dist/*.whl whl/;
+        done;
+        
+      - name: repair
+        run: for PYWHL in whl/*.whl;do
+        auditwheel repair ${PYWHL};
+        done;
+        
+      - name: list Pypi
+        run: ls wheelhouse/*

From 7dcbb8f295f8d0e9681daa53e944f0c65ce98e1b Mon Sep 17 00:00:00 2001
From: liufang-robot <61956285+liufang-robot@users.noreply.github.com>
Date: Thu, 12 Jan 2023 13:09:43 +0800
Subject: [PATCH 06/23] fix: fix linux_python_build yml format problems.

---
 .github/workflows/linux_python_build.yml | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
index cc397ca..f75b1b6 100644
--- a/.github/workflows/linux_python_build.yml
+++ b/.github/workflows/linux_python_build.yml
@@ -25,16 +25,16 @@ jobs:
 
       - name: build with python
         run: for PY in /opt/python/*;do
-        rm -rf build;
-        cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
-        cmake --build build;
-        cp build/python/dist/*.whl whl/;
-        done;
+          rm -rf build;
+          cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
+          cmake --build build;
+          cp build/python/dist/*.whl whl/;
+          done;
         
       - name: repair
         run: for PYWHL in whl/*.whl;do
-        auditwheel repair ${PYWHL};
-        done;
+          auditwheel repair ${PYWHL};
+          done;
         
       - name: list Pypi
         run: ls wheelhouse/*

From ab4e70a635656d1a3319797a561872ae64fee0cf Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 06:47:50 +0000
Subject: [PATCH 07/23] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3linux=5Fpython?=
 =?UTF-8?q?=5Fbuild=E9=85=8D=E7=BD=AE=E9=94=99=E8=AF=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_python_build.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
index f75b1b6..f2ceaac 100644
--- a/.github/workflows/linux_python_build.yml
+++ b/.github/workflows/linux_python_build.yml
@@ -10,7 +10,10 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v1
-        
+      
+      - name: install component
+        run: sudo apt-get install -y build-essential doxygen graphviz python3-pip python3-dev dpkg-dev
+
       - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
       - run: /opt/python/cp310-cp310/bin/pip install twine==2.0.0
 

From de11b7aaf87248e17e0812621f81ec2ad4f53e49 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 07:07:17 +0000
Subject: [PATCH 08/23] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3linux=5Fpython?=
 =?UTF-8?q?=5Fbuild=E9=94=99=E8=AF=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_cpp_build.yml | 2 +-
 .github/workflows/release.yml         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/linux_cpp_build.yml b/.github/workflows/linux_cpp_build.yml
index 3ce9aac..4d2493d 100644
--- a/.github/workflows/linux_cpp_build.yml
+++ b/.github/workflows/linux_cpp_build.yml
@@ -14,7 +14,7 @@ jobs:
         uses: actions/checkout@v3
 
       - name: install components
-        run: sudo apt-get install -y build-essential doxygen graphviz python3-pip python3-dev
+        run: apt-get install -y build-essential doxygen graphviz python3-pip python3-dev
 
       - name: install dependencies
         run: pip3 install -r requirements.txt
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index e5f7614..a2879bb 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -32,7 +32,7 @@ jobs:
          python-version: ${{ matrix.py-version }}
 
       - name: install component
-        run: sudo apt-get install -y build-essential doxygen graphviz python3-pip python3-dev dpkg-dev
+        run: apt-get install -y build-essential doxygen graphviz python3-pip python3-dev dpkg-dev
 
       - name: install dependencies
         run: pip3 install -r requirements.txt

From 8feb4cc6b0d8ae921494ed517de01942c6dfd473 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 07:09:36 +0000
Subject: [PATCH 09/23] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3linux=5Fpython?=
 =?UTF-8?q?=5Fbuild=E9=94=99=E8=AF=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_python_build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
index f2ceaac..90b139a 100644
--- a/.github/workflows/linux_python_build.yml
+++ b/.github/workflows/linux_python_build.yml
@@ -12,7 +12,7 @@ jobs:
         uses: actions/checkout@v1
       
       - name: install component
-        run: sudo apt-get install -y build-essential doxygen graphviz python3-pip python3-dev dpkg-dev
+        run: apt-get install -y build-essential doxygen graphviz python3-pip python3-dev dpkg-dev
 
       - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
       - run: /opt/python/cp310-cp310/bin/pip install twine==2.0.0

From 8fd250d6dfa0d94ca458dcb12ffe5e371b611b7c Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 07:18:29 +0000
Subject: [PATCH 10/23] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3workflows?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_cpp_build.yml      |  2 +-
 .github/workflows/linux_python_release.yml | 64 ++++++++++------------
 .github/workflows/release.yml              |  2 +-
 3 files changed, 32 insertions(+), 36 deletions(-)

diff --git a/.github/workflows/linux_cpp_build.yml b/.github/workflows/linux_cpp_build.yml
index 4d2493d..3ce9aac 100644
--- a/.github/workflows/linux_cpp_build.yml
+++ b/.github/workflows/linux_cpp_build.yml
@@ -14,7 +14,7 @@ jobs:
         uses: actions/checkout@v3
 
       - name: install components
-        run: apt-get install -y build-essential doxygen graphviz python3-pip python3-dev
+        run: sudo apt-get install -y build-essential doxygen graphviz python3-pip python3-dev
 
       - name: install dependencies
         run: pip3 install -r requirements.txt
diff --git a/.github/workflows/linux_python_release.yml b/.github/workflows/linux_python_release.yml
index 0073b56..06d0c64 100644
--- a/.github/workflows/linux_python_release.yml
+++ b/.github/workflows/linux_python_release.yml
@@ -1,5 +1,5 @@
 name: Linux python release
-run-name: ${{ github.actor }} released page
+run-name: ${{ github.actor }} Linux python release
 on: 
   workflow_dispatch: 
   push:
@@ -14,36 +14,32 @@ permissions:
 
 jobs: 
   linux_python_build_and_release: 
-     runs-on: ubuntu-latest
-     container: quay.io/pypa/manylinux2010_x86_64
-     steps:
-       - name: Checkout
-         uses: actions/checkout@v1
-         
-       - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
-       - run: /opt/python/cp310-cp310/bin/pip install twine==2.0.0
-
-       - name: configure
-         run: cmake -S. -Bbuild -DBUILD_PYTHON=ON
-
-       - name: build
-         run: cmake --build build
-
-       - name: create-whl-dir
-         run: mkdir -p whl
-
-       - name: build with python
-         run: for PY in /opt/python/*;do
-          rm -rf build;
-          cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
-          cmake --build build;
-          cp build/python/dist/*.whl whl/;
-          done;
-         
-       - name: repair
-         run: for PYWHL in whl/*.whl;do
-          auditwheel repair ${PYWHL};
-          done;
-          
-       - name: upload Pypi
-         run: /opt/python/cp310-cp310/bin/twine upload -u ${{ secrets.USRNAME }} -p ${{ secrets.PASSWD }} wheelhouse/*.whl
\ No newline at end of file
+    runs-on: ubuntu-latest
+    container: quay.io/pypa/manylinux2010_x86_64
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+        
+      - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
+      - run: /opt/python/cp310-cp310/bin/pip install twine==2.0.
+      - name: configure
+        run: cmake -S. -Bbuild -DBUILD_PYTHON=O
+      - name: build
+        run: cmake --build buil
+      - name: create-whl-dir
+        run: mkdir -p wh
+      - name: build with python
+        run: for PY in /opt/python/*;do
+        rm -rf build;
+        cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
+        cmake --build build;
+        cp build/python/dist/*.whl whl/;
+        done;
+        
+      - name: repair
+        run: for PYWHL in whl/*.whl;do
+        auditwheel repair ${PYWHL};
+        done;
+        
+      - name: upload Pypi
+        run: /opt/python/cp310-cp310/bin/twine upload -u ${{ secrets.USRNAME }} -p ${{ secrets.PASSWD }} wheelhouse/*.whl
\ No newline at end of file
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index a2879bb..e5f7614 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -32,7 +32,7 @@ jobs:
          python-version: ${{ matrix.py-version }}
 
       - name: install component
-        run: apt-get install -y build-essential doxygen graphviz python3-pip python3-dev dpkg-dev
+        run: sudo apt-get install -y build-essential doxygen graphviz python3-pip python3-dev dpkg-dev
 
       - name: install dependencies
         run: pip3 install -r requirements.txt

From f02adff1c69d11d721e764400f210e74a5a1f8eb Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 07:21:27 +0000
Subject: [PATCH 11/23] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3workflow?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_python_release.yml | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/linux_python_release.yml b/.github/workflows/linux_python_release.yml
index 06d0c64..b02822f 100644
--- a/.github/workflows/linux_python_release.yml
+++ b/.github/workflows/linux_python_release.yml
@@ -30,16 +30,16 @@ jobs:
         run: mkdir -p wh
       - name: build with python
         run: for PY in /opt/python/*;do
-        rm -rf build;
-        cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
-        cmake --build build;
-        cp build/python/dist/*.whl whl/;
-        done;
+          rm -rf build;
+          cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
+          cmake --build build;
+          cp build/python/dist/*.whl whl/;
+          done;
         
       - name: repair
         run: for PYWHL in whl/*.whl;do
-        auditwheel repair ${PYWHL};
-        done;
+          auditwheel repair ${PYWHL};
+          done;
         
       - name: upload Pypi
         run: /opt/python/cp310-cp310/bin/twine upload -u ${{ secrets.USRNAME }} -p ${{ secrets.PASSWD }} wheelhouse/*.whl
\ No newline at end of file

From 33375f7e6980d8a014bae9b83781fac99d3ecc8a Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 07:28:40 +0000
Subject: [PATCH 12/23] =?UTF-8?q?fix:=20workflow=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_python_build.yml | 3 ---
 CMakeLists.txt                           | 9 ++++-----
 2 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
index 90b139a..61014c7 100644
--- a/.github/workflows/linux_python_build.yml
+++ b/.github/workflows/linux_python_build.yml
@@ -11,9 +11,6 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v1
       
-      - name: install component
-        run: apt-get install -y build-essential doxygen graphviz python3-pip python3-dev dpkg-dev
-
       - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
       - run: /opt/python/cp310-cp310/bin/pip install twine==2.0.0
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1277fab..45215ae 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -143,13 +143,12 @@ message(STATUS "Build examples: ${BUILD_EXAMPLES}")
 add_subdirectory(examples)
 
 
-
-option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" ON)
+find_package(Doxygen)
+option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" ${DOXYGEN_FOUND})
 
 if(BUILD_DOCUMENTATION)
-    find_package(Doxygen)
-    if(NOT DOXYGEN_FOUND)
-        message(FATAL_ERROR "Doxygen is needed to build the documentation.")
+    if(NOT DOXYGEN_FOUND)      
+      message(FATAL_ERROR "Doxygen is needed to build the documentation.")
     endif()
 
     set(doxyfile_in ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile  )

From adbaadbfdcb3e60dc8c9fb39104c28200f027898 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 07:33:44 +0000
Subject: [PATCH 13/23] fix: change ENABLE_TSAN default to OFF

---
 .github/workflows/windows_cpp_build.yml    | 2 +-
 .github/workflows/windows_python_build.yml | 2 +-
 CMakeLists.txt                             | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/windows_cpp_build.yml b/.github/workflows/windows_cpp_build.yml
index cc7d259..f3a1aa8 100644
--- a/.github/workflows/windows_cpp_build.yml
+++ b/.github/workflows/windows_cpp_build.yml
@@ -19,6 +19,6 @@ jobs:
       - name: Check cmake
         run: cmake --version
       - name: Configure
-        run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_DOCUMENTATION=OFF
+        run: cmake -S. -Bbuild -G "Visual Studio 17 2022"
       - name: Build
         run: cmake --build build
\ No newline at end of file
diff --git a/.github/workflows/windows_python_build.yml b/.github/workflows/windows_python_build.yml
index d8b1571..abce0dd 100644
--- a/.github/workflows/windows_python_build.yml
+++ b/.github/workflows/windows_python_build.yml
@@ -19,6 +19,6 @@ jobs:
       - name: Check cmake
         run: cmake --version
       - name: Configure
-        run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_DOCUMENTATION=OFF
+        run: cmake -S. -Bbuild -G "Visual Studio 17 2022"
       - name: Build
         run: cmake --build build
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 45215ae..2997313 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -68,8 +68,8 @@ else()
   endforeach()
 endif()
 
-option(ENABLE_TSAN "Enable thread sanitier" ON)
-if(UNIX)   
+option(ENABLE_TSAN "Enable thread sanitier" OFF)
+if(UNIX)
   if(ENABLE_TSAN)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=thread -g")
     set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fsanitize=thread")

From e1d9ba2858304dc7cd38d28f09c55701061609d1 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 07:59:26 +0000
Subject: [PATCH 14/23] fix: set BUILD_DOCUMENTATION default to OFF

---
 .github/workflows/build.yml                | 10 +++++-----
 .github/workflows/linux_cpp_build.yml      |  2 +-
 .github/workflows/linux_cpp_release.yml    |  2 +-
 .github/workflows/linux_python_release.yml |  4 ++--
 .github/workflows/release.yml              | 10 +++++-----
 CMakeLists.txt                             |  6 +++---
 CMakeSettings.json                         |  4 ++--
 Doxyfile                                   |  2 +-
 8 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index eea1d3c..b10a5c6 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -1,9 +1,9 @@
-name: Building and checking
-run-name: ${{ github.actor }} Building
+name: build
+run-name: ${{ github.actor }} build
 on: 
   workflow_dispatch: 
-  push: 
-  pull_request: 
+  # push: 
+  # pull_request: 
   
 jobs: 
   build: 
@@ -31,7 +31,7 @@ jobs:
         run: pip3 install -r requirements.txt
 
       - name: configure
-        run: cmake -S. -Bbuild -DBUILD_PYTHON=ON -DBUILD_DEB=ON
+        run: cmake -S. -Bbuild -DBUILD_PYTHON=ON -DBUILD_DEB=ON -DBUILD_DOCUMENTATION=ON
 
       - name: build
         run: cmake --build build
diff --git a/.github/workflows/linux_cpp_build.yml b/.github/workflows/linux_cpp_build.yml
index 3ce9aac..e65c464 100644
--- a/.github/workflows/linux_cpp_build.yml
+++ b/.github/workflows/linux_cpp_build.yml
@@ -48,7 +48,7 @@ jobs:
        run: pip3 install -r requirements.txt
 
      - name: configure
-       run: cmake -S. -Bbuild -DBUILD_TESTING=ON
+       run: cmake -S. -Bbuild -DBUILD_TESTING=ON -DBUILD_DOCUMENTATION=ON
 
      - name: build
        run: cmake --build build
diff --git a/.github/workflows/linux_cpp_release.yml b/.github/workflows/linux_cpp_release.yml
index d308e34..80854f9 100644
--- a/.github/workflows/linux_cpp_release.yml
+++ b/.github/workflows/linux_cpp_release.yml
@@ -38,7 +38,7 @@ jobs:
         run: pip3 install -r requirements.txt
 
       - name: configure
-        run: cmake -S. -Bbuild -DBUILD_PYTHON=ON -DBUILD_DEB=ON
+        run: cmake -S. -Bbuild -DBUILD_DEB=ON -DBUILD_DOCUMENTATION=ON
 
       - name: build
         run: cmake --build build
diff --git a/.github/workflows/linux_python_release.yml b/.github/workflows/linux_python_release.yml
index b02822f..2efe7e7 100644
--- a/.github/workflows/linux_python_release.yml
+++ b/.github/workflows/linux_python_release.yml
@@ -23,9 +23,9 @@ jobs:
       - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
       - run: /opt/python/cp310-cp310/bin/pip install twine==2.0.
       - name: configure
-        run: cmake -S. -Bbuild -DBUILD_PYTHON=O
+        run: cmake -S. -Bbuild -DBUILD_PYTHON=ON
       - name: build
-        run: cmake --build buil
+        run: cmake --build build
       - name: create-whl-dir
         run: mkdir -p wh
       - name: build with python
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index e5f7614..7ff4442 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -1,10 +1,10 @@
 name: release
-run-name: ${{ github.actor }} released page
+run-name: ${{ github.actor }} release
 on: 
   workflow_dispatch: 
-  push:
-   tags:
-    - v1.*.*
+  # push:
+  #  tags:
+  #   - v1.*.*
 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
 permissions:
   contents: read
@@ -38,7 +38,7 @@ jobs:
         run: pip3 install -r requirements.txt
 
       - name: configure
-        run: cmake -S. -Bbuild -DBUILD_PYTHON=ON -DBUILD_DEB=ON
+        run: cmake -S. -Bbuild -DBUILD_PYTHON=ON -DBUILD_DEB=ON -DBUILD_DOCUMENTATION=ON
 
       - name: build
         run: cmake --build build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2997313..b4ac2ec 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
 
 
-project(lebai VERSION 1.0.12 LANGUAGES CXX)
+project(lebai VERSION 1.0.13 LANGUAGES CXX)
 set(PROJECT_NAMESPACE lebai)
 message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
 # message(STATUS "major: ${PROJECT_VERSION_MAJOR}")
@@ -144,9 +144,9 @@ add_subdirectory(examples)
 
 
 find_package(Doxygen)
-option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" ${DOXYGEN_FOUND})
+option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" OFF)
 
-if(BUILD_DOCUMENTATION)
+if(BUILD_DOCUMENTATION AND DOXYGEN_FOUND)
     if(NOT DOXYGEN_FOUND)      
       message(FATAL_ERROR "Doxygen is needed to build the documentation.")
     endif()
diff --git a/CMakeSettings.json b/CMakeSettings.json
index 89648ee..c2f03d0 100755
--- a/CMakeSettings.json
+++ b/CMakeSettings.json
@@ -28,7 +28,7 @@
         },
         {
           "name": "BUILD_PYTHON",
-          "value": "False",
+          "value": "True",
           "type": "BOOL"
         },
         {
@@ -38,7 +38,7 @@
         },
         {
           "name": "BUILD_DOTNET",
-          "value": "True",
+          "value": "False",
           "type": "BOOL"
         }
       ]
diff --git a/Doxyfile b/Doxyfile
index fe551de..d8b0cb6 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "lebai sdk"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.0.12
+PROJECT_NUMBER         = 1.0.13
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

From 8ae3ff82f018607567d440eab6ee2c08493492f0 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 08:04:58 +0000
Subject: [PATCH 15/23] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3windows=5Fpython?=
 =?UTF-8?q?=5Fbuild?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/windows_python_build.yml | 4 ++--
 CMakeSettings.json                         | 5 +++++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows_python_build.yml b/.github/workflows/windows_python_build.yml
index abce0dd..869c345 100644
--- a/.github/workflows/windows_python_build.yml
+++ b/.github/workflows/windows_python_build.yml
@@ -11,7 +11,7 @@ permissions:
   pull-requests: read
 
 jobs: 
-  windows_cpp_pr_build:
+  windows_python_build:
     runs-on: windows-latest 
     steps: 
       - name: Checkout
@@ -19,6 +19,6 @@ jobs:
       - name: Check cmake
         run: cmake --version
       - name: Configure
-        run: cmake -S. -Bbuild -G "Visual Studio 17 2022"
+        run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_PYTHON=ON
       - name: Build
         run: cmake --build build
\ No newline at end of file
diff --git a/CMakeSettings.json b/CMakeSettings.json
index c2f03d0..cf8740e 100755
--- a/CMakeSettings.json
+++ b/CMakeSettings.json
@@ -40,6 +40,11 @@
           "name": "BUILD_DOTNET",
           "value": "False",
           "type": "BOOL"
+        },
+        {
+          "name": "BUILD_DOCUMENTATION",
+          "value": "False",
+          "type": "BOOL"
         }
       ]
     }

From 608c8275a420e07bbd7bcd13387fcb0d5c9c4042 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Thu, 12 Jan 2023 08:22:11 +0000
Subject: [PATCH 16/23] add python-setup in windows_python_build

---
 .github/workflows/windows_python_build.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/windows_python_build.yml b/.github/workflows/windows_python_build.yml
index 869c345..799d0e0 100644
--- a/.github/workflows/windows_python_build.yml
+++ b/.github/workflows/windows_python_build.yml
@@ -2,7 +2,7 @@ name: Windows python build
 run-name: ${{ github.actor }} Windows python build
 on: 
   workflow_dispatch: 
-  pull_request: 
+  # pull_request:
 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
 permissions:
   contents: read
@@ -16,6 +16,9 @@ jobs:
     steps: 
       - name: Checkout
         uses: actions/checkout@v3
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.10'
       - name: Check cmake
         run: cmake --version
       - name: Configure

From 11cb6302f6901d48b91635e6632133944255c543 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Sat, 14 Jan 2023 11:25:42 +0000
Subject: [PATCH 17/23] =?UTF-8?q?fix:=20=E6=B7=BB=E5=8A=A0dotnet=E7=9A=84w?=
 =?UTF-8?q?orkflow?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_dotnet_build.yml   | 28 +++++++++++++++++
 .github/workflows/linux_dotnet_release.yml | 35 ++++++++++++++++++++++
 .github/workflows/windows_cpp_build.yml    |  2 +-
 .github/workflows/windows_python_build.yml |  2 +-
 CMakeLists.txt                             |  2 +-
 TODO.md                                    |  1 +
 6 files changed, 67 insertions(+), 3 deletions(-)
 create mode 100644 .github/workflows/linux_dotnet_build.yml
 create mode 100644 .github/workflows/linux_dotnet_release.yml

diff --git a/.github/workflows/linux_dotnet_build.yml b/.github/workflows/linux_dotnet_build.yml
new file mode 100644
index 0000000..08a0ef8
--- /dev/null
+++ b/.github/workflows/linux_dotnet_build.yml
@@ -0,0 +1,28 @@
+name: Linux dotnet build
+run-name: ${{ github.actor }} Linux dotnet build
+on: 
+  workflow_dispatch: 
+  pull_request: 
+jobs: 
+  linux_dotnet_build: 
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+      
+      - name: Setup .NET Core 3.1
+        uses: actions/setup-dotnet@v3.0.3
+
+      - name: Setup .NET 6.0
+        uses: actions/setup-dotnet@v1
+        with:
+          dotnet-version: 6.0.x
+
+      - name: Check dotnet
+        run: dotnet --info
+
+      - name: configure
+        run: cmake -S. -Bbuild -DBUILD_DOTNET=ON
+
+      - name: build
+        run: cmake --build build
diff --git a/.github/workflows/linux_dotnet_release.yml b/.github/workflows/linux_dotnet_release.yml
new file mode 100644
index 0000000..3b78853
--- /dev/null
+++ b/.github/workflows/linux_dotnet_release.yml
@@ -0,0 +1,35 @@
+name: Linux dotnet release
+run-name: ${{ github.actor }} Linux dotnet release
+on: 
+  workflow_dispatch: 
+  push:
+   tags:
+    - v1.*.*
+jobs: 
+  linux_dotnet_build_and_release: 
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+      
+      - name: Setup .NET Core 3.1
+        uses: actions/setup-dotnet@v3.0.3
+
+      - name: Setup .NET 6.0
+        uses: actions/setup-dotnet@v1
+        with:
+          dotnet-version: 6.0.x
+
+      - name: Check dotnet
+        run: dotnet --info
+
+      - name: configure
+        run: cmake -S. -Bbuild -DBUILD_DOTNET=ON
+
+      - name: build
+        run: cmake --build build
+
+      - name: upload pacakges
+        run: 
+          cd ./build/dotnet/packages
+          dotnet nuget push lebai.1.0.*.nupkg --api-key ${{ secrets.NUGET_KEY }} --source https://api.nuget.org/v3/index.json
\ No newline at end of file
diff --git a/.github/workflows/windows_cpp_build.yml b/.github/workflows/windows_cpp_build.yml
index f3a1aa8..cc7d259 100644
--- a/.github/workflows/windows_cpp_build.yml
+++ b/.github/workflows/windows_cpp_build.yml
@@ -19,6 +19,6 @@ jobs:
       - name: Check cmake
         run: cmake --version
       - name: Configure
-        run: cmake -S. -Bbuild -G "Visual Studio 17 2022"
+        run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_DOCUMENTATION=OFF
       - name: Build
         run: cmake --build build
\ No newline at end of file
diff --git a/.github/workflows/windows_python_build.yml b/.github/workflows/windows_python_build.yml
index 799d0e0..a2dc0bd 100644
--- a/.github/workflows/windows_python_build.yml
+++ b/.github/workflows/windows_python_build.yml
@@ -22,6 +22,6 @@ jobs:
       - name: Check cmake
         run: cmake --version
       - name: Configure
-        run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_PYTHON=ON
+        run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_PYTHON=ON -DBUILD_DOCUMENTATION=OFF
       - name: Build
         run: cmake --build build
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e6e5d41..23603d8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -143,7 +143,7 @@ add_subdirectory(examples)
 
 
 find_package(Doxygen)
-option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" OFF)
+option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" ON)
 
 if(BUILD_DOCUMENTATION AND DOXYGEN_FOUND)
     if(NOT DOXYGEN_FOUND)      
diff --git a/TODO.md b/TODO.md
index 828278b..9ab320f 100644
--- a/TODO.md
+++ b/TODO.md
@@ -1,4 +1,5 @@
 # TODO
 
+- [] 把workflow拆分成平台+语言的结构，分成build和release
 - [] Windows平台python不能运行（GIL锁）的问题 
 - [] Python, C#, C++的测试程序

From 292f72ea9ea68a8800e481d4f1d24aec859f9c0b Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Sat, 14 Jan 2023 11:57:31 +0000
Subject: [PATCH 18/23] =?UTF-8?q?fix:=20=E6=B7=BB=E5=8A=A0java=20workflow?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_java_build.yml | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)
 create mode 100644 .github/workflows/linux_java_build.yml

diff --git a/.github/workflows/linux_java_build.yml b/.github/workflows/linux_java_build.yml
new file mode 100644
index 0000000..44b6a5e
--- /dev/null
+++ b/.github/workflows/linux_java_build.yml
@@ -0,0 +1,22 @@
+name: Linux java build
+run-name: ${{ github.actor }} Linux java build
+on: 
+  workflow_dispatch: 
+  pull_request: 
+jobs: 
+  linux_java_build: 
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - uses: actions/setup-java@v1
+        with:
+          java-version: '11'
+
+      - name: configure
+        run: cmake -S. -Bbuild -DBUILD_JAVA=ON
+
+      - name: build
+        run: cmake --build build
+

From 70a92226879559e1d24b02ba95434f4ee0d045ae Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Sat, 14 Jan 2023 12:12:06 +0000
Subject: [PATCH 19/23] =?UTF-8?q?fix:=20=E4=BF=AE=E6=94=B9python=E9=85=8D?=
 =?UTF-8?q?=E7=BD=AE=EF=BC=8C=E5=B0=9D=E8=AF=95windows=E7=9A=84=E7=BC=96?=
 =?UTF-8?q?=E8=AF=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_python_build.yml |  2 +-
 CMakeLists.txt                           | 10 ++++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
index 61014c7..b105d03 100644
--- a/.github/workflows/linux_python_build.yml
+++ b/.github/workflows/linux_python_build.yml
@@ -26,7 +26,7 @@ jobs:
       - name: build with python
         run: for PY in /opt/python/*;do
           rm -rf build;
-          cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
+          cmake -S. -Bbuild -DBUILD_PYTHON=ON
           cmake --build build;
           cp build/python/dist/*.whl whl/;
           done;
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 23603d8..1af1535 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -89,10 +89,12 @@ option(BUILD_JAVA "Build Java Library" OFF)
 message(STATUS "Build Java: ${BUILD_JAVA}")
 
 if(BUILD_PYTHON)
-  if(DEFINED PYTHONPATH)
-    message(STATUS "Python path: ${PYTHONPATH}")
-    set(Python3_ROOT_DIR ${PYTHONPATH})
-  endif()
+  option(FETCH_PYTHON_DEPS "Install python required modules if not available" ON)
+  message(STATUS "Python fetch dependencies: ${FETCH_PYTHON_DEPS}")
+  # if(DEFINED PYTHONPATH)
+  #   message(STATUS "Python path: ${PYTHONPATH}")
+  #   set(Python3_ROOT_DIR ${PYTHONPATH})
+  # endif()
 endif()
 
 # Disable CTest targets

From 7b7ce4b6bea7812fc8b0fdc542ad5f9b18ea3612 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Sat, 14 Jan 2023 12:37:38 +0000
Subject: [PATCH 20/23] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3linux=5Fpython?=
 =?UTF-8?q?=5Fbuild=E7=9A=84bug?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/linux_python_build.yml   | 2 +-
 .github/workflows/linux_python_release.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
index b105d03..0a3bd39 100644
--- a/.github/workflows/linux_python_build.yml
+++ b/.github/workflows/linux_python_build.yml
@@ -26,7 +26,7 @@ jobs:
       - name: build with python
         run: for PY in /opt/python/*;do
           rm -rf build;
-          cmake -S. -Bbuild -DBUILD_PYTHON=ON
+          cmake -S. -Bbuild -DBUILD_PYTHON=ON;
           cmake --build build;
           cp build/python/dist/*.whl whl/;
           done;
diff --git a/.github/workflows/linux_python_release.yml b/.github/workflows/linux_python_release.yml
index 2efe7e7..34d2442 100644
--- a/.github/workflows/linux_python_release.yml
+++ b/.github/workflows/linux_python_release.yml
@@ -31,7 +31,7 @@ jobs:
       - name: build with python
         run: for PY in /opt/python/*;do
           rm -rf build;
-          cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
+          cmake -S. -Bbuild -DBUILD_PYTHON=ON;
           cmake --build build;
           cp build/python/dist/*.whl whl/;
           done;

From c07ec873d75250f7097c0f58d9e50890c61fc8fc Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Sat, 14 Jan 2023 12:53:47 +0000
Subject: [PATCH 21/23] =?UTF-8?q?fix:=20=E4=BF=AECMakeLists.txt?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sdk/python/CMakeLists.txt | 22 ++--------------------
 1 file changed, 2 insertions(+), 20 deletions(-)

diff --git a/sdk/python/CMakeLists.txt b/sdk/python/CMakeLists.txt
index 9cdd93b..f1da554 100755
--- a/sdk/python/CMakeLists.txt
+++ b/sdk/python/CMakeLists.txt
@@ -15,16 +15,7 @@ target_include_directories(l_master
   )
 set_property(TARGET l_master PROPERTY SWIG_USE_TARGET_INCLUDE_DIRECTORIES ON)
 
-# note: macOS is APPLE and also UNIX !
-if(APPLE)
-  set_target_properties(l_master PROPERTIES
-    SUFFIX ".so"
-    INSTALL_RPATH "@loader_path;@loader_path/../../${PYTHON_PROJECT}/.libs"
-    )
-  set_property(TARGET l_master APPEND PROPERTY
-    LINK_FLAGS "-flat_namespace -undefined suppress"
-    )
-elseif(UNIX)
+if(UNIX)
   set_target_properties(l_master PROPERTIES
     INSTALL_RPATH "$ORIGIN:$ORIGIN/../${PYTHON_PROJECT}/.libs"
     )
@@ -58,16 +49,7 @@ target_include_directories(zeroconf
   )
 set_property(TARGET zeroconf PROPERTY SWIG_USE_TARGET_INCLUDE_DIRECTORIES ON)
 
-# note: macOS is APPLE and also UNIX !
-if(APPLE)
-  set_target_properties(zeroconf PROPERTIES
-    SUFFIX ".so"
-    INSTALL_RPATH "@loader_path;@loader_path/../../${PYTHON_PROJECT}/.libs"
-    )
-  set_property(TARGET zeroconf APPEND PROPERTY
-    LINK_FLAGS "-flat_namespace -undefined suppress"
-    )
-elseif(UNIX)
+if(UNIX)
   set_target_properties(zeroconf PROPERTIES
     INSTALL_RPATH "$ORIGIN:$ORIGIN/../${PYTHON_PROJECT}/.libs"
     )

From c2096ee638217c512016b1ff8f7f100bf147dd12 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Sat, 14 Jan 2023 13:39:23 +0000
Subject: [PATCH 22/23] =?UTF-8?q?fix:=20v1.0.14=E7=89=88=E6=9C=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 CMakeLists.txt   | 2 +-
 Doxyfile         | 2 +-
 doc/changelog.md | 4 ++++
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1af1535..275f9bb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
 
-project(lebai VERSION 1.0.13 LANGUAGES CXX)
+project(lebai VERSION 1.0.14 LANGUAGES CXX)
 set(PROJECT_NAMESPACE lebai)
 message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
 # message(STATUS "major: ${PROJECT_VERSION_MAJOR}")
diff --git a/Doxyfile b/Doxyfile
index d8b0cb6..8a0e534 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "lebai sdk"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.0.13
+PROJECT_NUMBER         = 1.0.14
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/doc/changelog.md b/doc/changelog.md
index 769579c..a18b69e 100644
--- a/doc/changelog.md
+++ b/doc/changelog.md
@@ -1,5 +1,9 @@
 # ChangeLog
 
+## 1.0.14
+
+文档更新，持续集成更新，修正程序的错误
+
 ## 1.0.11
 
 文档更新，持续集成更新

From 027ec192687571f828650d168b94782234fb5437 Mon Sep 17 00:00:00 2001
From: liufang <liufang_robot@outlook.com>
Date: Sat, 14 Jan 2023 13:54:27 +0000
Subject: [PATCH 23/23] =?UTF-8?q?fix:=20=E6=B7=BB=E5=8A=A0dotnet=E7=9A=84g?=
 =?UTF-8?q?ithub=20action=E6=9E=84=E5=BB=BA=E7=8A=B6=E6=80=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 CMakeLists.txt | 2 +-
 README.md      | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 275f9bb..173045a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@ get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
 if(isMultiConfig)
   if(NOT CMAKE_CONFIGURATION_TYPES)
     set(CMAKE_CONFIGURATION_TYPES "Release;Debug" CACHE STRING
-    "Choose the type of builds, options are: Debug Release RelWithDebInfo MinSizeRel. (default: Release;Debug)"
+    "Choose the type ofgi builds, options are: Debug Release RelWithDebInfo MinSizeRel. (default: Release;Debug)"
     FORCE)
   endif()
   message(STATUS "Configuration types: ${CMAKE_CONFIGURATION_TYPES}")
diff --git a/README.md b/README.md
index 67e9b2c..75140d7 100755
--- a/README.md
+++ b/README.md
@@ -2,13 +2,15 @@ lebai-sdk的源代码仓库，可以用于控制乐白机械臂.
 
 | OS     | C++ | Python | C# | Java |
 |:-------|-----|--------|----|------| 
-| Linux  | [![Status][cpp_linux_svg]][cpp_linux_link] | [![Status][python_linux_svg]][python_linux_link] | TODO | TODO |
+| Linux  | [![Status][cpp_linux_svg]][cpp_linux_link] | [![Status][python_linux_svg]][python_linux_link] | [![Status][dotnet_linux_svg]][dotnet_linux_link] | TODO |
 | Windows | TODO | TODO | TODO | TODO |
 
 [cpp_linux_svg]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_cpp_release.yml/badge.svg
 [cpp_linux_link]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_cpp_release.yml
 [python_linux_svg]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_python_release.yml/badge.svg
 [python_linux_link]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_python_release.yml
+[dotnet_linux_svg]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_dotnet_release.yml/badge.svg
+[dotnet_linux_link]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_dotnet_release.yml
 
 
 [SDK在线文档](http://help.lebai.ltd/sdk/)