diff --git a/MessageBasic/MessageBasic.vcxproj b/MessageBasic/MessageBasic.vcxproj
index 34b5807..60cb910 100644
--- a/MessageBasic/MessageBasic.vcxproj
+++ b/MessageBasic/MessageBasic.vcxproj
@@ -104,13 +104,21 @@
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
+    <ClCompile Include="componentinfo_access.cpp" />
+    <ClCompile Include="entity_operate.cpp" />
+    <ClCompile Include="MessageLoader.cpp" />
     <ClCompile Include="motion_access.cpp" />
     <ClCompile Include="route_access.cpp" />
+    <ClCompile Include="visiblecube_access.cpp" />
+    <ClInclude Include="componentinfo_access.h" />
+    <ClInclude Include="entity_operate.h" />
     <ClInclude Include="messagebasic_global.h" />
     <ClInclude Include="messagebasic.h" />
     <ClCompile Include="messagebasic.cpp" />
+    <ClInclude Include="MessageLoader.h" />
     <ClInclude Include="motion_access.h" />
     <ClInclude Include="route_access.h" />
+    <ClInclude Include="visiblecube_access.h" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Condition="Exists('$(QtMsBuild)\qt.targets')">
diff --git a/MessageBasic/MessageBasic.vcxproj.filters b/MessageBasic/MessageBasic.vcxproj.filters
index ba7057e..2e76644 100644
--- a/MessageBasic/MessageBasic.vcxproj.filters
+++ b/MessageBasic/MessageBasic.vcxproj.filters
@@ -38,6 +38,18 @@
     <ClInclude Include="motion_access.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="MessageLoader.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="visiblecube_access.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="entity_operate.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="componentinfo_access.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="route_access.cpp">
@@ -46,5 +58,17 @@
     <ClCompile Include="motion_access.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="MessageLoader.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="componentinfo_access.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="entity_operate.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="visiblecube_access.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/MessageBasic/MessageLoader.cpp b/MessageBasic/MessageLoader.cpp
new file mode 100644
index 0000000..5363b4a
--- /dev/null
+++ b/MessageBasic/MessageLoader.cpp
@@ -0,0 +1,52 @@
+#include "MessageLoader.h"
+#include "componentinfo_access.h"
+#include "entity_operate.h"
+#include "motion_access.h"
+#include "route_access.h"
+#include "visiblecube_access.h"
+
+
+MessageLoader::MessageLoader()
+{
+	_message_types << std::make_shared<DeduceRequest>();
+	_message_types << std::make_shared<RespondDefault>();
+	_message_types << std::make_shared<SyncRequest>();
+
+	_message_types << std::make_shared<Get3DBox>();
+	_message_types << std::make_shared<Box3DDesc>();
+	_message_types << std::make_shared<Set3DBoxD3Data>();
+	_message_types << std::make_shared<Set3DBoxPosture>();
+	_message_types << std::make_shared<Set3DBoxLLAPos>();
+
+	_message_types << std::make_shared<TypesQuery>();
+	_message_types << std::make_shared<TypesQueryResult>();
+	_message_types << std::make_shared<TempletOperate>();
+	_message_types << std::make_shared<EntityOperate>();
+	_message_types << std::make_shared<ComponentOperate>();
+	_message_types << std::make_shared<EntityTotalGet>();
+	_message_types << std::make_shared<EntityTotalList>();
+
+	_message_types << std::make_shared<ComponentDatasQuery>();
+	_message_types << std::make_shared<ComponentDatasQueryResult>();
+	_message_types << std::make_shared<ProcedureSignatureQuery>();
+	_message_types << std::make_shared<ProcedureSignatureQueryResult>();
+
+	_message_types << std::make_shared<NavigateWithRoute>();
+	_message_types << std::make_shared<StrightLineMotion>();
+	_message_types << std::make_shared<HorizontalArcMotion>();
+	_message_types << std::make_shared<VerticalArcMotion>();
+	_message_types << std::make_shared<MotionDeduceRequest>();
+	_message_types << std::make_shared<MotionSequencePreviewGet>();
+	_message_types << std::make_shared<PlatformMotionSequence>();
+
+	_message_types << std::make_shared<NewPlainRoute>();
+	_message_types << std::make_shared<RemovePlainRoute>();
+	_message_types << std::make_shared<PlainRouteQuery>();
+	_message_types << std::make_shared<PlainRouteInfo>();
+	_message_types << std::make_shared<PlainRouteReset>();
+}
+
+QList<std::shared_ptr<WsMessage>> MessageLoader::allType() const
+{
+	return _message_types;
+}
diff --git a/MessageBasic/MessageLoader.h b/MessageBasic/MessageLoader.h
new file mode 100644
index 0000000..ceee94d
--- /dev/null
+++ b/MessageBasic/MessageLoader.h
@@ -0,0 +1,14 @@
+#pragma once
+#include "messagebasic.h"
+
+class MESSAGEBASIC_EXPORT MessageLoader
+{
+private:
+	QList<std::shared_ptr<WsMessage>> _message_types;
+
+public:
+	MessageLoader();
+
+	QList<std::shared_ptr<WsMessage>> allType() const;
+};
+
diff --git a/MessageBasic/componentinfo_access.cpp b/MessageBasic/componentinfo_access.cpp
new file mode 100644
index 0000000..f68b3e6
--- /dev/null
+++ b/MessageBasic/componentinfo_access.cpp
@@ -0,0 +1,21 @@
+#include "componentinfo_access.h"
+
+std::shared_ptr<TopicData> ComponentDatasQuery::newDefault() const
+{
+	return std::make_shared<ComponentDatasQuery>();
+}
+
+std::shared_ptr<TopicData> ComponentDatasQueryResult::newDefault() const
+{
+	return std::make_shared<ComponentDatasQueryResult>();
+}
+
+std::shared_ptr<TopicData> ProcedureSignatureQuery::newDefault() const
+{
+	return std::make_shared<ProcedureSignatureQuery>();
+}
+
+std::shared_ptr<TopicData> ProcedureSignatureQueryResult::newDefault() const
+{
+	return std::make_shared< ProcedureSignatureQueryResult>();
+}
diff --git a/MessageBasic/componentinfo_access.h b/MessageBasic/componentinfo_access.h
new file mode 100644
index 0000000..9f01ce6
--- /dev/null
+++ b/MessageBasic/componentinfo_access.h
@@ -0,0 +1,49 @@
+#pragma once
+#include "messagebasic.h"
+
+/// <summary>
+/// 获取指定实体的所有组件数据
+/// </summary>
+struct MESSAGEBASIC_EXPORT ComponentDatasQuery : public AbstractMessage {
+	ComponentDatasQuery();
+
+	std::shared_ptr<TopicData> newDefault() const override;
+};
+
+/// <summary>
+/// 组件数据查询结果
+/// </summary>
+struct MESSAGEBASIC_EXPORT ComponentDatasQueryResult : public AbstractMessage {
+	QJsonObject _entity_json;
+
+	ComponentDatasQueryResult();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
+/// <summary>
+/// 处理过程签名查询
+/// </summary>
+struct MESSAGEBASIC_EXPORT ProcedureSignatureQuery : public AbstractMessage {
+	ProcedureSignatureQuery();
+
+	std::shared_ptr<TopicData> newDefault() const override;
+};
+
+/// <summary>
+/// 处理过程签名查询结果
+/// </summary>
+struct MESSAGEBASIC_EXPORT ProcedureSignatureQueryResult : public AbstractMessage
+{
+	QList<WsRespondSignatureType> _signature_list;
+
+	ProcedureSignatureQueryResult();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
\ No newline at end of file
diff --git a/MessageBasic/entity_operate.cpp b/MessageBasic/entity_operate.cpp
new file mode 100644
index 0000000..636baaf
--- /dev/null
+++ b/MessageBasic/entity_operate.cpp
@@ -0,0 +1,37 @@
+#include "entity_operate.h"
+
+
+std::shared_ptr<TopicData> TypesQuery::newDefault() const
+{
+	return std::make_shared<TypesQuery>();
+}
+
+std::shared_ptr<TopicData> TypesQueryResult::newDefault() const
+{
+	return std::make_shared<TypesQueryResult>();
+}
+
+std::shared_ptr<TopicData> TempletOperate::newDefault() const
+{
+	return std::make_shared<TempletOperate>();
+}
+
+std::shared_ptr<TopicData> EntityOperate::newDefault() const
+{
+	return std::make_shared<EntityOperate>();
+}
+
+std::shared_ptr<TopicData> ComponentOperate::newDefault() const
+{
+	return std::make_shared<ComponentOperate>();
+}
+
+std::shared_ptr<TopicData> EntityTotalGet::newDefault() const
+{
+	return std::make_shared<EntityTotalGet>();
+}
+
+std::shared_ptr<TopicData> EntityTotalList::newDefault() const
+{
+	return std::make_shared<EntityTotalList>();
+}
diff --git a/MessageBasic/entity_operate.h b/MessageBasic/entity_operate.h
new file mode 100644
index 0000000..4e10538
--- /dev/null
+++ b/MessageBasic/entity_operate.h
@@ -0,0 +1,102 @@
+#pragma once
+#include "messagebasic.h"
+
+
+/// <summary>
+/// 查询系统中的组件类型和实体类型
+/// </summary>
+struct MESSAGEBASIC_EXPORT TypesQuery : public AbstractMessage {
+	TypesQuery();
+	std::shared_ptr<TopicData> newDefault() const override;
+};
+
+/// <summary>
+/// 返回系统内所有的组件类型和实体模板类型
+/// </summary>
+struct MESSAGEBASIC_EXPORT TypesQueryResult : public AbstractMessage {
+	QStringList _component_types;
+	QHash<QString, uint64_t> _entity_templets;
+
+	TypesQueryResult();
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
+
+/// <summary>
+/// 操作类型
+/// </summary>
+enum class EntityOperateType {
+	NEW, DELETE, MODIFY
+};
+/// <summary>
+/// 模板操作支持增、删、改
+/// </summary>
+struct MESSAGEBASIC_EXPORT TempletOperate : public AbstractMessage {
+	uint64_t _operate_code = (uint64_t)EntityOperateType::NEW;
+	QString _template_name = "";
+	uint64_t _template_id_within_0x2ff_0xffff = 0x2ff;
+
+	TempletOperate();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
+/// <summary>
+/// 实体构造操作
+/// </summary>
+struct MESSAGEBASIC_EXPORT EntityOperate : public AbstractMessage {
+	uint64_t _operate_code = (uint64_t)EntityOperateType::NEW;
+	QString _template_name = "";
+	QString _entity_name = "";
+	uint64_t _entity_id_over_0xffff = 0xffff;
+
+	EntityOperate();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
+/// <summary>
+/// 对指定实体的组件进行操作
+/// </summary>
+struct MESSAGEBASIC_EXPORT ComponentOperate : public AbstractMessage {
+	uint64_t _entity_id_within_0x2ff_0xffffffffffffffff = 0x2ff;
+	QStringList _component_types;
+
+	ComponentOperate();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
+/// <summary>
+/// 获取所有实体句柄
+/// </summary>
+struct MESSAGEBASIC_EXPORT EntityTotalGet : public AbstractMessage {
+	EntityTotalGet();
+	std::shared_ptr<TopicData> newDefault() const override;
+};
+
+/// <summary>
+/// 所有实体列表
+/// </summary>
+struct MESSAGEBASIC_EXPORT EntityTotalList : public AbstractMessage {
+	QList<uint64_t> _entities_list;
+
+	EntityTotalList();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
\ No newline at end of file
diff --git a/MessageBasic/messagebasic.cpp b/MessageBasic/messagebasic.cpp
index 8371e24..940a9db 100644
--- a/MessageBasic/messagebasic.cpp
+++ b/MessageBasic/messagebasic.cpp
@@ -1,4 +1,7 @@
 #include "messagebasic.h"
+#include "visiblecube_access.h"
+#include "entity_operate.h"
+#include "componentinfo_access.h"
 #include <QVariant>
 
 void from_to_save(uint64_t f, uint64_t t, QJsonObject& o) {
@@ -14,11 +17,21 @@ DeduceRequest::DeduceRequest()
 	:AbstractMessage(NAME(DeduceRequest)) {
 }
 
+std::shared_ptr<TopicData> DeduceRequest::newDefault() const
+{
+	return std::make_shared<DeduceRequest>();
+}
+
 SyncRequest::SyncRequest()
 	:AbstractMessage(NAME(SyncRequest)),
 	_time_current(0) {
 }
 
+std::shared_ptr<TopicData> SyncRequest::newDefault() const
+{
+return std::make_shared<SyncRequest>();
+}
+
 void SyncRequest::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
@@ -36,6 +49,11 @@ RespondDefault::RespondDefault()
 	_time_consume(0) {
 }
 
+std::shared_ptr<TopicData> RespondDefault::newDefault() const
+{
+return std::make_shared<RespondDefault>();
+}
+
 void RespondDefault::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
diff --git a/MessageBasic/messagebasic.h b/MessageBasic/messagebasic.h
index 9488ded..e5ad3fd 100644
--- a/MessageBasic/messagebasic.h
+++ b/MessageBasic/messagebasic.h
@@ -39,11 +39,26 @@ public:
 	uint64_t sourceEntity() const override;
 };
 
+/// <summary>
+/// 时间同步消息
+/// </summary>
+struct MESSAGEBASIC_EXPORT SyncRequest : public AbstractMessage {
+	double _time_current;
+
+	SyncRequest();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
 /// <summary>
 /// 推演请求
 /// </summary>
 struct MESSAGEBASIC_EXPORT DeduceRequest : public AbstractMessage {
 	DeduceRequest();
+	std::shared_ptr<TopicData> newDefault() const override;
 };
 
 /// <summary>
@@ -57,214 +72,7 @@ struct MESSAGEBASIC_EXPORT RespondDefault : public AbstractMessage {
 	RespondDefault();
 
 	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
-
-/// <summary>
-/// 时间同步消息
-/// </summary>
-struct MESSAGEBASIC_EXPORT SyncRequest : public AbstractMessage {
-	double _time_current;
-
-	SyncRequest();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-// 体积盒可视化插件定义消息 =======================================================
-/// <summary>
-/// 获取体积盒详细数据
-/// </summary>
-struct MESSAGEBASIC_EXPORT Get3DBox : public AbstractMessage {
-	Get3DBox();
-};
-
-/// <summary>
-/// 姿态数据结构定义
-/// </summary>
-struct Posture {
-	double _azimuth_deg = 0;
-	double _pitch_deg = 0;
-	double _roll_deg = 0;
-};
-/// <summary>
-/// 三维数据结构定义
-/// </summary>
-struct VolumeData {
-	double _length_m = 0;
-	double _width_m = 0;
-	double _height_m = 0;
-};
-
-/// <summary>
-/// 体积盒详细数据定义
-/// </summary>
-struct MESSAGEBASIC_EXPORT Box3DDesc : public AbstractMessage {
-	VolumeData _d3_data;
-	Posture _posture_d3;
-	LonLatAlt _lla_pos;
-
-	Box3DDesc();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-struct MESSAGEBASIC_EXPORT Set3DBoxD3Data : public AbstractMessage {
-	VolumeData _d3_data;
-
-	Set3DBoxD3Data();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-struct MESSAGEBASIC_EXPORT Set3DBoxPosture : public AbstractMessage
-{
-	Posture _posture_d3;
-
-	Set3DBoxPosture();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-struct MESSAGEBASIC_EXPORT Set3DBoxLLAPos : public AbstractMessage
-{
-	LonLatAlt _lla_pos;
-
-	Set3DBoxLLAPos();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-// 实体构造消息定义 ==========================================
-
-/// <summary>
-/// 查询系统重的组件类型和实体类型
-/// </summary>
-struct MESSAGEBASIC_EXPORT TypesQuery : public AbstractMessage {
-	TypesQuery();
-};
-/// <summary>
-/// 返回系统内所有的组件类型和实体模板类型
-/// </summary>
-struct MESSAGEBASIC_EXPORT TypesQueryResult : public AbstractMessage {
-	QStringList _component_types;
-	QHash<QString, uint64_t> _entity_templets;
-
-	TypesQueryResult();
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-
-/// <summary>
-/// 操作类型
-/// </summary>
-enum class EntityOperateType {
-	NEW, DELETE, MODIFY
-};
-/// <summary>
-/// 模板操作支持增、删、改
-/// </summary>
-struct MESSAGEBASIC_EXPORT TempletOperate : public AbstractMessage {
-	uint64_t _operate_code = (uint64_t)EntityOperateType::NEW;
-	QString _template_name = "";
-	uint64_t _template_id_within_0x2ff_0xffff = 0x2ff;
-
-	TempletOperate();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-/// <summary>
-/// 实体构造操作
-/// </summary>
-struct MESSAGEBASIC_EXPORT EntityOperate : public AbstractMessage {
-	uint64_t _operate_code = (uint64_t)EntityOperateType::NEW;
-	QString _template_name = "";
-	QString _entity_name = "";
-	uint64_t _entity_id_over_0xffff = 0xffff;
-
-	EntityOperate();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-struct MESSAGEBASIC_EXPORT ComponentOperate : public AbstractMessage {
-	uint64_t _entity_id_within_0x2ff_0xffffffffffffffff = 0x2ff;
-	QStringList _component_types;
-
-	ComponentOperate();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-/// <summary>
-/// 获取所有实体句柄
-/// </summary>
-struct MESSAGEBASIC_EXPORT EntityTotalGet : public AbstractMessage {
-	EntityTotalGet();
-};
-/// <summary>
-/// 所有实体列表
-/// </summary>
-struct MESSAGEBASIC_EXPORT EntityTotalList : public AbstractMessage {
-	QList<uint64_t> _entities_list;
-
-	EntityTotalList();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-// componoents_desc ===================================
-
-/// <summary>
-/// 获取指定实体的所有组件数据
-/// </summary>
-struct MESSAGEBASIC_EXPORT ComponentDatasQuery : public AbstractMessage {
-	ComponentDatasQuery();
-};
-
-struct MESSAGEBASIC_EXPORT ComponentDatasQueryResult : public AbstractMessage {
-	QJsonObject _entity_json;
-
-	ComponentDatasQueryResult();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
-
-struct MESSAGEBASIC_EXPORT ProcedureSignatureQuery : public AbstractMessage {
-	ProcedureSignatureQuery();
-};
-
-struct MESSAGEBASIC_EXPORT ProcedureSignatureQueryResult : public AbstractMessage
-{
-	QList<WsRespondSignatureType> _signature_list;
-
-	ProcedureSignatureQueryResult();
-
-	// 通过 WsMessage 继承
-	void recoveryFrom(const QJsonObject& obj) override;
-	void saveTo(QJsonObject& obj) const override;
-};
\ No newline at end of file
diff --git a/MessageBasic/motion_access.cpp b/MessageBasic/motion_access.cpp
index 6bdecea..9ca2683 100644
--- a/MessageBasic/motion_access.cpp
+++ b/MessageBasic/motion_access.cpp
@@ -24,6 +24,11 @@ void NavigateWithRoute::saveTo(QJsonObject& obj) const
 	UINT64_SAVE(_drive_mode);
 }
 
+std::shared_ptr<TopicData> NavigateWithRoute::newDefault() const
+{
+	return std::make_shared<NavigateWithRoute>();
+}
+
 #include <QJsonArray>
 #include <QJsonObject>
 MotionSequencePreviewGet::MotionSequencePreviewGet()
@@ -31,12 +36,22 @@ MotionSequencePreviewGet::MotionSequencePreviewGet()
 }
 
 
+std::shared_ptr<TopicData> MotionSequencePreviewGet::newDefault() const
+{
+	return std::make_shared<MotionSequencePreviewGet>();
+}
+
 PlatformMotionSequence::PlatformMotionSequence()
 	:AbstractMessage(NAME(PlatformMotionSequence))
 {
 
 }
 
+std::shared_ptr<TopicData> PlatformMotionSequence::newDefault() const
+{
+	return std::shared_ptr<PlatformMotionSequence>();
+}
+
 void PlatformMotionSequence::recoveryFrom(const QJsonObject& obj)
 {
 	throw - 1;
@@ -87,6 +102,11 @@ QVector3D StrightLineMotion::speedAtTimeSpan(double time) const
 	return QVector3D(0, vspeed, 0);
 }
 
+std::shared_ptr<TopicData> StrightLineMotion::newDefault() const
+{
+	return std::make_shared<StrightLineMotion>();
+}
+
 void StrightLineMotion::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
@@ -139,6 +159,11 @@ QVector3D HorizontalArcMotion::speedAtTimeSpan(double time) const
 	return speed_nv.normalized() * _speed_motion;
 }
 
+std::shared_ptr<TopicData> HorizontalArcMotion::newDefault() const
+{
+	return std::make_shared<HorizontalArcMotion>();
+}
+
 void HorizontalArcMotion::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
@@ -203,6 +228,11 @@ QVector3D VerticalArcMotion::speedAtTimeSpan(double time) const
 	return speed_nv.normalized() * _speed_motion;
 }
 
+std::shared_ptr<TopicData> VerticalArcMotion::newDefault() const
+{
+	return std::make_shared<VerticalArcMotion>();
+}
+
 void VerticalArcMotion::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
@@ -233,6 +263,11 @@ MotionDeduceRequest::MotionDeduceRequest()
 	: AbstractMessage(NAME(MotionDeduceRequest)) {
 }
 
+std::shared_ptr<TopicData> MotionDeduceRequest::newDefault() const
+{
+	return std::make_shared<MotionDeduceRequest>();
+}
+
 void MotionDeduceRequest::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
diff --git a/MessageBasic/motion_access.h b/MessageBasic/motion_access.h
index 0977672..0b7e687 100644
--- a/MessageBasic/motion_access.h
+++ b/MessageBasic/motion_access.h
@@ -19,6 +19,7 @@ struct MESSAGEBASIC_EXPORT NavigateWithRoute : public AbstractMessage {
 	NavigateWithRoute();
 
 	// Serializable
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
@@ -61,6 +62,7 @@ struct MESSAGEBASIC_EXPORT MotionDeduceRequest : public AbstractMessage {
 	MotionDeduceRequest();
 
 	// Serializable
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
@@ -70,6 +72,7 @@ struct MESSAGEBASIC_EXPORT MotionDeduceRequest : public AbstractMessage {
 /// </summary>
 struct MESSAGEBASIC_EXPORT MotionSequencePreviewGet : public AbstractMessage {
 	MotionSequencePreviewGet();
+	std::shared_ptr<TopicData> newDefault() const override;
 };
 
 /// <summary>
@@ -81,6 +84,7 @@ struct MESSAGEBASIC_EXPORT PlatformMotionSequence : public AbstractMessage {
 	PlatformMotionSequence();
 
 	// Serializable
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
@@ -116,6 +120,7 @@ struct MESSAGEBASIC_EXPORT StrightLineMotion : public PlatformMotionCommand {
 	QVector3D posAtTimeSpan(double time) const override;
 	QVector3D speedAtTimeSpan(double time) const override;
 
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
@@ -149,6 +154,7 @@ struct MESSAGEBASIC_EXPORT HorizontalArcMotion : public PlatformMotionCommand {
 	QVector3D posAtTimeSpan(double time) const override;
 	QVector3D speedAtTimeSpan(double time) const override;
 
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
@@ -181,6 +187,7 @@ struct MESSAGEBASIC_EXPORT VerticalArcMotion : public PlatformMotionCommand {
 	QVector3D posAtTimeSpan(double time) const override;
 	QVector3D speedAtTimeSpan(double time) const override;
 
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
\ No newline at end of file
diff --git a/MessageBasic/route_access.cpp b/MessageBasic/route_access.cpp
index 478791a..91928c7 100644
--- a/MessageBasic/route_access.cpp
+++ b/MessageBasic/route_access.cpp
@@ -4,6 +4,11 @@ PlainRouteReset::PlainRouteReset()
 	:AbstractMessage(NAME(PlainRouteReset)) {
 }
 
+std::shared_ptr<TopicData> PlainRouteReset::newDefault() const
+{
+	return std::make_shared<PlainRouteReset>();
+}
+
 void PlainRouteReset::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
@@ -37,6 +42,11 @@ NewPlainRoute::NewPlainRoute()
 	:AbstractMessage(NAME(NewPlainRoute)) {
 }
 
+std::shared_ptr<TopicData> NewPlainRoute::newDefault() const
+{
+	return std::make_shared<NewPlainRoute>();
+}
+
 void NewPlainRoute::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
@@ -55,6 +65,11 @@ RemovePlainRoute::RemovePlainRoute()
 
 }
 
+std::shared_ptr<TopicData> RemovePlainRoute::newDefault() const
+{
+	return std::make_shared<RemovePlainRoute>();
+}
+
 void RemovePlainRoute::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
@@ -73,6 +88,11 @@ PlainRouteQuery::PlainRouteQuery()
 
 }
 
+std::shared_ptr<TopicData> PlainRouteQuery::newDefault() const
+{
+	return std::make_shared<PlainRouteQuery>();
+}
+
 void PlainRouteQuery::recoveryFrom(const QJsonObject& obj)
 {
 	AbstractMessage::recoveryFrom(obj);
@@ -91,6 +111,11 @@ PlainRouteInfo::PlainRouteInfo()
 }
 
 
+std::shared_ptr<TopicData> PlainRouteInfo::newDefault() const
+{
+	return std::make_shared<PlainRouteInfo>();
+}
+
 void PlainRouteInfo::recoveryFrom(const QJsonObject& obj)
 {
 	RespondDefault::recoveryFrom(obj);
diff --git a/MessageBasic/route_access.h b/MessageBasic/route_access.h
index 7fa7087..520a456 100644
--- a/MessageBasic/route_access.h
+++ b/MessageBasic/route_access.h
@@ -11,6 +11,7 @@ struct MESSAGEBASIC_EXPORT NewPlainRoute : public AbstractMessage {
 	NewPlainRoute();
 
 	// Serializable
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
@@ -24,6 +25,7 @@ struct MESSAGEBASIC_EXPORT RemovePlainRoute : public AbstractMessage {
 	RemovePlainRoute();
 
 	// Serializable
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
@@ -38,6 +40,7 @@ struct MESSAGEBASIC_EXPORT PlainRouteReset : public AbstractMessage {
 	PlainRouteReset();
 
 	// Serializable
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
@@ -51,6 +54,7 @@ struct MESSAGEBASIC_EXPORT PlainRouteQuery : public AbstractMessage {
 	PlainRouteQuery();
 
 	// Serializable
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
@@ -65,6 +69,7 @@ struct MESSAGEBASIC_EXPORT PlainRouteInfo : public RespondDefault {
 	PlainRouteInfo();
 
 	// Serializable
+	std::shared_ptr<TopicData> newDefault() const override;
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
\ No newline at end of file
diff --git a/MessageBasic/visiblecube_access.cpp b/MessageBasic/visiblecube_access.cpp
new file mode 100644
index 0000000..7f4973c
--- /dev/null
+++ b/MessageBasic/visiblecube_access.cpp
@@ -0,0 +1,28 @@
+#include "visiblecube_access.h"
+
+
+
+std::shared_ptr<TopicData> Get3DBox::newDefault() const
+{
+	return std::make_shared<Get3DBox>();
+}
+
+std::shared_ptr<TopicData> Box3DDesc::newDefault() const
+{
+	return std::make_shared<Box3DDesc>();
+}
+
+std::shared_ptr<TopicData> Set3DBoxD3Data::newDefault() const
+{
+	return std::make_shared<Set3DBoxD3Data>();
+}
+
+std::shared_ptr<TopicData> Set3DBoxPosture::newDefault() const
+{
+	return std::make_shared<Set3DBoxPosture>();
+}
+
+std::shared_ptr<TopicData> Set3DBoxLLAPos::newDefault() const
+{
+	return std::make_shared<Set3DBoxLLAPos>();
+}
diff --git a/MessageBasic/visiblecube_access.h b/MessageBasic/visiblecube_access.h
new file mode 100644
index 0000000..652bb99
--- /dev/null
+++ b/MessageBasic/visiblecube_access.h
@@ -0,0 +1,90 @@
+#pragma once
+
+#include "messagebasic.h"
+
+
+// 体积盒可视化插件定义消息 =======================================================
+/// <summary>
+/// 获取体积盒详细数据
+/// </summary>
+struct MESSAGEBASIC_EXPORT Get3DBox : public AbstractMessage {
+	Get3DBox();
+	std::shared_ptr<TopicData> newDefault() const override;
+};
+
+/// <summary>
+/// 姿态数据结构定义
+/// </summary>
+struct Posture {
+	double _azimuth_deg = 0;
+	double _pitch_deg = 0;
+	double _roll_deg = 0;
+};
+/// <summary>
+/// 三维数据结构定义
+/// </summary>
+struct VolumeData {
+	double _length_m = 0;
+	double _width_m = 0;
+	double _height_m = 0;
+};
+
+/// <summary>
+/// 体积盒详细数据定义
+/// </summary>
+struct MESSAGEBASIC_EXPORT Box3DDesc : public AbstractMessage {
+	VolumeData _d3_data;
+	Posture _posture_d3;
+	LonLatAlt _lla_pos;
+
+	Box3DDesc();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
+/// <summary>
+/// 设置三维数据
+/// </summary>
+struct MESSAGEBASIC_EXPORT Set3DBoxD3Data : public AbstractMessage {
+	VolumeData _d3_data;
+
+	Set3DBoxD3Data();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
+/// <summary>
+/// 设置姿态数据
+/// </summary>
+struct MESSAGEBASIC_EXPORT Set3DBoxPosture : public AbstractMessage
+{
+	Posture _posture_d3;
+
+	Set3DBoxPosture();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};
+
+/// <summary>
+/// 设置地理定位
+/// </summary>
+struct MESSAGEBASIC_EXPORT Set3DBoxLLAPos : public AbstractMessage
+{
+	LonLatAlt _lla_pos;
+
+	Set3DBoxLLAPos();
+
+	// 通过 WsMessage 继承
+	std::shared_ptr<TopicData> newDefault() const override;
+	void recoveryFrom(const QJsonObject& obj) override;
+	void saveTo(QJsonObject& obj) const override;
+};