diff --git a/MessageBasic/MessageLoader.cpp b/MessageBasic/MessageLoader.cpp
index 5363b4a..0d1dfcf 100644
--- a/MessageBasic/MessageLoader.cpp
+++ b/MessageBasic/MessageLoader.cpp
@@ -46,7 +46,25 @@ MessageLoader::MessageLoader()
 	_message_types << std::make_shared<PlainRouteReset>();
 }
 
-QList<std::shared_ptr<WsMessage>> MessageLoader::allType() const
+#include <QMutexLocker>
+QList<QString> MessageLoader::allType() const
 {
-	return _message_types;
+	QMutexLocker o(&const_cast<MessageLoader*>(this)->_type_mutex);
+
+	QList<QString> keys;
+	std::transform(_message_types.begin(), _message_types.end(), std::back_inserter(keys),
+		[](std::shared_ptr<WsMessage> ins) { return ins->topicString(); });
+
+	return keys;
+}
+
+std::shared_ptr<WsMessage> MessageLoader::makeDefault(const QString& topic) const
+{
+	QMutexLocker o(&const_cast<MessageLoader*>(this)->_type_mutex);
+
+	for(auto it : this->_message_types)
+		if(it->topicString() == topic)
+			return std::dynamic_pointer_cast<WsMessage>(it->newDefault());
+
+	return nullptr;
 }
diff --git a/MessageBasic/MessageLoader.h b/MessageBasic/MessageLoader.h
index ceee94d..2b9c6fa 100644
--- a/MessageBasic/MessageLoader.h
+++ b/MessageBasic/MessageLoader.h
@@ -1,14 +1,17 @@
 #pragma once
 #include "messagebasic.h"
+#include <QMutex>
 
 class MESSAGEBASIC_EXPORT MessageLoader
 {
 private:
 	QList<std::shared_ptr<WsMessage>> _message_types;
+	QMutex _type_mutex;
 
 public:
 	MessageLoader();
 
-	QList<std::shared_ptr<WsMessage>> allType() const;
+	QList<QString> allType() const;
+	std::shared_ptr<WsMessage> makeDefault(const QString &topic) const;
 };
 
diff --git a/MessageBasic/messagebasic.cpp b/MessageBasic/messagebasic.cpp
index 940a9db..c3d7246 100644
--- a/MessageBasic/messagebasic.cpp
+++ b/MessageBasic/messagebasic.cpp
@@ -29,7 +29,7 @@ SyncRequest::SyncRequest()
 
 std::shared_ptr<TopicData> SyncRequest::newDefault() const
 {
-return std::make_shared<SyncRequest>();
+	return std::make_shared<SyncRequest>();
 }
 
 void SyncRequest::recoveryFrom(const QJsonObject& obj)
@@ -51,7 +51,7 @@ RespondDefault::RespondDefault()
 
 std::shared_ptr<TopicData> RespondDefault::newDefault() const
 {
-return std::make_shared<RespondDefault>();
+	return std::make_shared<RespondDefault>();
 }
 
 void RespondDefault::recoveryFrom(const QJsonObject& obj)
@@ -404,3 +404,21 @@ void Set3DBoxLLAPos::saveTo(QJsonObject& obj) const
 	DOUBLE_SAVE(_lla_pos._lat_deg);
 	DOUBLE_SAVE(_lla_pos._alt_m);
 }
+
+EntityInitialRequest::EntityInitialRequest()
+	:AbstractMessage(NAME(EntityInitialRequest)) {
+}
+
+std::shared_ptr<TopicData> EntityInitialRequest::newDefault() const
+{
+	return std::make_shared<EntityInitialRequest>();
+}
+
+EntityPreparedRequest::EntityPreparedRequest()
+	:AbstractMessage(NAME(EntityPreparedRequest)) {
+}
+
+std::shared_ptr<TopicData> EntityPreparedRequest::newDefault() const
+{
+	return std::make_shared<EntityPreparedRequest>();
+}
diff --git a/MessageBasic/messagebasic.h b/MessageBasic/messagebasic.h
index e5ad3fd..4c9df50 100644
--- a/MessageBasic/messagebasic.h
+++ b/MessageBasic/messagebasic.h
@@ -6,7 +6,7 @@
 #include <QStringList>
 #include <QHash>
 
-#define NAME(v) #v
+#define NAME(v) QString(#v).replace(".","_").replace("->","_")
 #define DOUBLE_SAVE(u) obj[NAME(u)] = u
 #define DOUBLE_PEAK(u) u = obj[NAME(u)].toDouble()
 
@@ -76,3 +76,19 @@ struct MESSAGEBASIC_EXPORT RespondDefault : public AbstractMessage {
 	void recoveryFrom(const QJsonObject& obj) override;
 	void saveTo(QJsonObject& obj) const override;
 };
+
+/// <summary>
+/// 实体初始化消息
+/// </summary>
+struct MESSAGEBASIC_EXPORT EntityInitialRequest : public AbstractMessage {
+	EntityInitialRequest();
+	std::shared_ptr<TopicData> newDefault() const override;
+};
+
+/// <summary>
+/// 实体仿真准备消息
+/// </summary>
+struct MESSAGEBASIC_EXPORT EntityPreparedRequest : public AbstractMessage{
+	EntityPreparedRequest();
+	std::shared_ptr<TopicData> newDefault() const override;
+};
\ No newline at end of file
diff --git a/MessageBasic/motion_access.cpp b/MessageBasic/motion_access.cpp
index 9ca2683..5cea00c 100644
--- a/MessageBasic/motion_access.cpp
+++ b/MessageBasic/motion_access.cpp
@@ -63,10 +63,6 @@ void PlatformMotionSequence::saveTo(QJsonObject& obj) const
 }
 
 #include <standardglobe.h>
-
-#define PI 3.14159265354
-auto deg2a = [](double v) { return v / 180.0 * PI; };
-auto rad2d = [](double v) { return v / PI * 180.0; };
 #include <QVector2D>
 #include <cmath>
 StrightLineMotion::StrightLineMotion()