diff --git a/.github/workflows/Main.yml b/.github/workflows/Main.yml
new file mode 100644
index 000000000..9b66e8fd7
--- /dev/null
+++ b/.github/workflows/Main.yml
@@ -0,0 +1,138 @@
+name: CI/CD Workflow
+
+on:
+  pull_request_target:
+    branches:
+      - '*'
+    types: [labeled]
+  release:
+    types: [published]
+      
+jobs:        
+  check:
+    if: github.event.label.name == 'ci ready' || github.event_name == 'release'
+    uses: ./.github/workflows/cppcheck.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/gitlab-ci
+      image_tag: latest
+    secrets: inherit
+  
+  test_gcc11_amd64:
+    uses: ./.github/workflows/test-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-amd64-gcc11-ubuntu22_04
+      image_tag: latest
+      run_platform: amd64
+      test_report: true
+    secrets: inherit  
+    needs: [check]
+  
+  test_gcc11_arm64:
+    uses: ./.github/workflows/test-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-arm64-gcc11-ubuntu22_04
+      image_tag: latest
+      run_platform: arm64
+    secrets: inherit
+    needs: [test_gcc11_amd64]
+  
+  test_msvc:
+    uses: ./.github/workflows/test-msvc-workflow.yml
+    with:
+      run_platform: msvc
+    secrets: inherit
+    needs: [test_gcc11_amd64]
+    
+  test_gcc12_amd64:
+    uses: ./.github/workflows/test-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-amd64-gcc12-ubuntu22_04
+      image_tag: latest
+      run_platform: amd64
+    secrets: inherit
+    needs: [test_gcc11_amd64]
+  
+  test_gcc13_amd64:
+    uses: ./.github/workflows/test-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-amd64-gcc13-ubuntu22_04
+      image_tag: latest
+      run_platform: amd64
+    secrets: inherit
+    needs: [test_gcc11_amd64]
+  
+  test_clang15_amd64:
+    uses: ./.github/workflows/test-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-amd64-clang15-ubuntu22_04
+      image_tag: latest
+      run_platform: amd64
+    secrets: inherit
+    needs: [test_gcc11_amd64]
+  
+  test_clang16_amd64:
+    uses: ./.github/workflows/test-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-amd64-clang16-ubuntu22_04
+      image_tag: latest
+      run_platform: amd64
+    secrets: inherit
+    needs: [test_gcc11_amd64]
+    
+  test_clang17_amd64:
+    uses: ./.github/workflows/test-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-amd64-clang17-ubuntu22_04
+      image_tag: latest
+      run_platform: amd64
+    secrets: inherit
+    needs: [test_gcc11_amd64]
+  
+  test_clang18_amd64:
+    uses: ./.github/workflows/test-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-amd64-clang18-ubuntu22_04
+      image_tag: latest
+      run_platform: amd64
+    secrets: inherit
+    needs: [test_gcc11_amd64]
+
+
+  build_x86:
+    uses: ./.github/workflows/build-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-amd64-gcc11-ubuntu22_04
+      image_tag: v20240927
+      run_platform: amd64
+    secrets: inherit
+    needs: [test_msvc, test_gcc11_arm64, test_gcc12_amd64, test_gcc13_amd64, test_clang15_amd64, test_clang16_amd64, test_clang17_amd64, test_clang18_amd64]
+  
+  build_arm64:
+    uses: ./.github/workflows/build-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/aimrt_ci-arm64-gcc11-ubuntu22_04
+      image_tag: latest
+      run_platform: arm64
+    secrets: inherit
+    needs: [test_msvc, test_gcc11_arm64, test_gcc12_amd64, test_gcc13_amd64, test_clang15_amd64, test_clang16_amd64, test_clang17_amd64, test_clang18_amd64]
+    
+  build_msvc:
+    uses: ./.github/workflows/build-msvc-workflow.yml
+    with:
+      run_platform: msvc
+    secrets: inherit
+    needs: [test_msvc, test_gcc11_arm64, test_gcc12_amd64, test_gcc13_amd64, test_clang15_amd64, test_clang16_amd64, test_clang17_amd64, test_clang18_amd64]
+    
+
+  release:
+    uses: ./.github/workflows/release-workflow.yml
+    with:
+      image_name: registry.agibot.com/agibot-tech/gitlab-ci
+      image_tag: latest
+    secrets: inherit
+    if: |
+      github.event_name == 'release' ||
+      startsWith(github.ref, 'refs/tags/release') ||
+      startsWith(github.ref, 'refs/tags/v') ||
+      startsWith(github.ref, 'refs/heads/release')
+    needs: [build_x86, build_arm64, build_msvc]
diff --git a/.github/workflows/build-msvc-workflow.yml b/.github/workflows/build-msvc-workflow.yml
new file mode 100644
index 000000000..26750d5c5
--- /dev/null
+++ b/.github/workflows/build-msvc-workflow.yml
@@ -0,0 +1,79 @@
+name: build Workflow
+
+on:
+  workflow_call:  
+    inputs:
+      run_platform:
+        required: false
+        type: string
+        default: msvc
+    secrets:
+      BUILD_CMD:
+        required: true
+      
+jobs:
+  build:
+    runs-on: ${{ inputs.run_platform }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }} 
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+      
+      - name: Setup Visual Studio Developer Command Prompt
+        uses: microsoft/setup-msbuild@v1.0.2
+        
+      - name: Install Chocolatey
+        run: |
+          Set-ExecutionPolicy Bypass -Scope Process -Force
+          [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072
+          iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))
+          if (Test-Path "C:\ProgramData\chocolatey\bin\choco.exe") {
+            Write-Host "Chocolatey is installed."
+          } else {
+            Write-Host "Chocolatey installation failed."
+          }
+          $env:Path += ";C:\ProgramData\chocolatey\bin"
+          [Environment]::SetEnvironmentVariable("Path", $env:Path, "Machine")
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }}
+      
+      - name: Install Python using Chocolatey
+        run: | 
+          $chocoPath = "C:\ProgramData\chocolatey"
+          $env:Path += ";$chocoPath\bin"
+          [Environment]::SetEnvironmentVariable("Path", $env:Path, "Machine")
+          
+          # 使用完整路径执行 choco 命令
+          & "$chocoPath\bin\choco.exe" install python --version=3.11.0 -y
+          
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }}
+      
+      
+      - name: Run build stage
+        shell: powershell
+        run: |
+          python --version
+          ${{ secrets.BUILD_CMD_MSVC}}
+          if ($LASTEXITCODE -eq 1) {
+              Write-Host "build failed"
+              exit 1  
+          } else {
+              Write-Host "build succeeded"
+          }
+              
+      - name: upload build artifact
+        if: github.action
+        uses: actions/upload-artifact@v3
+        with:
+          name: build_artifact
+          path: |
+            ${{vars.WHL_ARTIFACTS_DIR}}
+          retention-days: 3
+      
diff --git a/.github/workflows/build-workflow.yml b/.github/workflows/build-workflow.yml
new file mode 100644
index 000000000..0844d7070
--- /dev/null
+++ b/.github/workflows/build-workflow.yml
@@ -0,0 +1,68 @@
+name: build Workflow
+
+on:
+  workflow_call:  
+    inputs:
+      image_name:
+        required: true
+        type: string
+        default: ubuntu
+      image_tag:
+        required: false
+        type: string
+        default: latest
+      run_platform:
+        required: false
+        type: string
+        default: amd64
+    secrets:
+      TEST_CMD:
+        required: true
+      
+jobs:
+  build:
+    runs-on: ${{ inputs.run_platform }}
+    container: 
+      image: ${{ inputs.image_name }}:${{ inputs.image_tag }}
+    steps:
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }}
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+    
+      - name: Run build stage
+        env:
+          https_proxy: ""
+          http_proxy: ""
+          no_proxy: "*"
+        shell: bash
+        run: |
+          if [ -d "./build" ]; then
+            ls -lah ./build
+          fi
+
+          echo "removing CMakeCache.txt"
+          rm -rf ./build/CMakeCache.txt
+
+          source /opt/ros/humble/setup.bash
+          eval "${{ secrets.BUILD_CMD}}"
+
+          echo "ls -lah ${{vars.PROJECT_ARTIFACTS_DIR}}"
+          ls -lah ${{vars.PROJECT_ARTIFACTS_DIR}}
+          
+          echo "ls -lah ${{vars.WHL_ARTIFACTS_DIR}}"
+          ls -lah ${{vars.WHL_ARTIFACTS_DIR}}
+        
+      - name: upload build artifact
+        if: github.action
+        uses: actions/upload-artifact@v3
+        with:
+          name: build_artifact
+          path: |
+            ${{vars.WHL_ARTIFACTS_DIR}}
+          retention-days: 3
+      
\ No newline at end of file
diff --git a/.github/workflows/cppcheck.yml b/.github/workflows/cppcheck.yml
new file mode 100644
index 000000000..427199a68
--- /dev/null
+++ b/.github/workflows/cppcheck.yml
@@ -0,0 +1,246 @@
+name: check Workflow
+
+on:
+  workflow_call:  
+    inputs:
+      image_name:
+        required: true
+        type: string
+        default: ubuntu
+      image_tag:
+        required: false
+        type: string
+        default: latest
+      
+jobs:
+  check:
+    runs-on: amd64
+    container: 
+      image: ${{ inputs.image_name }}:${{ inputs.image_tag }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }}
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          
+
+      - name: Get short sha
+        id: slug
+        run: echo "sha8=$(echo ${GITHUB_SHA} | cut -c1-8)" >> $GITHUB_OUTPUT
+
+      - name: generate cppcheck.sh
+        run: |
+            echo "generate /tmp/cppcheck.sh ..."
+            cat << EOF >/tmp/cppcheck.sh  
+            #!/bin/bash
+
+            echo "Running check.sh"
+
+            default_ignore=(
+                "build/"
+                ".*_test.cc"
+                \${CPPCHECK_IGNORE[@]}
+            )
+            echo "default_ignore is : \${default_ignore[@]}"
+            # 构造忽略参数
+            ignore_args=""
+            for ignore in \${default_ignore[@]}; do
+                # 判断是否为目录
+                if [ -d "\$ignore" ]; then
+                    ignore_args="-i\$ignore \$ignore_args"
+                else
+                    files=\$(find . ! -path '*/build/*' -regex "\$ignore" -type f)
+                    for file in \$files; do
+                        ignore_args="-i\$file \$ignore_args"
+                    done
+                fi
+            done
+
+            # 如果当前目录下没有cc或者cpp或者cxx或者c文件，则直接退出，不需要进行cppcheck检查
+            if [ -z "\$(find . -name "*.cc" -o -name "*.cpp" -o -name "*.cxx" -o -name "*.c")" ]; then
+                echo "no cc or cpp or cxx files, not need to cppcheck"
+                exit 0
+            fi
+            echo "check cmd is :"
+            echo "cppcheck . --enable=warning,style,performance,portability,missingInclude --xml \$ignore_args"
+            cppcheck . --enable=warning,style,performance,portability,missingInclude --xml \$ignore_args  2>/tmp/cppcheck.xml
+            
+
+            # 如果cppcheck检查出错，直接退出
+            if [ \$? -ne 0 ]; then
+                echo "cppcheck failed"
+                exit -1
+            fi
+            echo "github.sha is : ${{ github.sha }}"
+            echo "short_sha is : ${{ steps.slug.outputs.sha8 }}"
+            
+            # 生成报告并提交到指定http文件服务器上
+            if [ -n "${{secrets.CPPCHECK_REPORT_POST_URL}}" ]; then
+                check_report_dir=${{ github.repository }}/${{ github.ref_name }}/${{ steps.slug.outputs.sha8 }}
+                mkdir -p \$check_report_dir
+                echo "github.repository_owner is : ${{ github.repository_owner }}"
+                echo "github.repository.name is : ${{ github.repository }}"
+                echo "github.ref_name is : ${{ github.ref_name }}"
+                echo "steps.slug.outputs.sha8 is : ${{ steps.slug.outputs.sha8 }}"
+                echo "check_report_dir is : \$check_report_dir"
+                
+                cppcheck-htmlreport --file=/tmp/cppcheck.xml --title=CSA --report-dir=\$check_report_dir --source-dir=./
+                echo "check_report_dir is : \$check_report_dir"
+
+
+                # zip 压缩 \$check_report_dir
+                zip -r \${{ steps.slug.outputs.sha8 }}.zip \$check_report_dir
+                curl -F file=@${{ steps.slug.outputs.sha8 }}.zip -F unzip=true \${{secrets.CPPCHECK_REPORT_POST_URL}}
+
+                # 判断推送是否成功
+                if [ \$? -ne 0 ]; then
+                    echo "cppcheck report push failed"
+                    exit -1
+                fi
+
+                # 删除临时文件
+                rm -rf \$check_report_dir
+                rm -rf \${{ steps.slug.outputs.sha8 }}.zip
+
+                # 打印报告地址
+                # echo "cppcheck report url: ${{secrets.CPPCHECK_REPORT_POST_URL}}/\$check_report_dir/index.html"
+                echo -e "\\033[1;35m cppcheck report url: ${{secrets.CPPCHECK_REPORT_URL}}/\$check_report_dir/index.html \\033[0m"
+            fi
+            
+            EOF
+      - name: generate cppcheck_analyze.py
+        run: | 
+            echo "generate /tmp/cppcheck_analyze.py ..."
+
+            cat << EOF >/tmp/cppcheck_analyze.py
+            #!/usr/bin/env python3
+    
+            import os
+            import sys
+            import xml.dom.minidom as minidom
+    
+            #cppcheck 所有的错误类型的严重性
+            severityList=['information', 'performance', 'style', 'portability', 'warning', 'error']
+    
+            informationSeverityCount = 0
+            performanceSeverityCount = 0
+            styleSeverityCount = 0
+            portabilitySeverityCount = 0
+            warningSeverityCount = 0
+            errorSeverityCount = 0
+    
+            # 如果 /tmp/cppcheck.xml 文件不存在，则直接退出
+            if not os.path.exists('/tmp/cppcheck.xml'):
+                print("/tmp/cppcheck.xml not exists")
+                sys.exit(0)
+    
+            # 打开cppcheck输出文件  
+            with open('/tmp/cppcheck.xml', 'r') as file:  
+                # 解析XML文件  
+                dom = minidom.parse(file)  
+    
+                # 获取所有的error元素  
+                errors = dom.getElementsByTagName('error')  
+            
+                for error in errors:  
+                    # 分别统计每种严重性的错误数
+                    for i in range(len(severityList)):
+                        if error.getAttribute('severity') == severityList[i]:
+                            if i == 0:
+                                informationSeverityCount += 1
+                            elif i == 1:
+                                performanceSeverityCount += 1
+                            elif i == 2:
+                                styleSeverityCount += 1
+                            elif i == 3:
+                                portabilitySeverityCount += 1
+                            elif i == 4:
+                                warningSeverityCount += 1
+                            elif i == 5:
+                                # 如果是syntaxError则不计入errorSeverityCount
+                                if error.getAttribute('id') == 'syntaxError':
+                                    continue
+                                # 如果是internalAstError则不计入errorSeverityCount
+                                if error.getAttribute('id') == 'internalAstError':
+                                    continue
+                                # 如果是internalAstError则不计入errorSeverityCount
+                                if error.getAttribute('id') == 'unknownMacro':
+                                    continue
+                                # 如 果msg中包含"Syntax"则不计入errorSeverityCount
+                                if error.getAttribute('msg').find("Syntax") != -1:
+                                    continue
+                                errorSeverityCount += 1
+                                print(error.getAttribute('msg'))
+                    
+            # 打印结果  
+            # print(severityList)
+            print("informationSeverityCount: ", informationSeverityCount)
+            print("performanceSeverityCount: ", performanceSeverityCount)
+            print("styleSeverityCount: ", styleSeverityCount)
+            print("portabilitySeverityCount: ", portabilitySeverityCount)
+            print("warningSeverityCount: ", warningSeverityCount)
+            print("errorSeverityCount: ", errorSeverityCount)
+    
+            # 获取环境变量，如果超过阈值则返回-1，否则返回0
+    
+    
+            # 获取环境变量
+            informationSeverityMax = os.environ.get('INFORMATION_SEVERITY_MAX')
+            performanceSeverityMax = os.environ.get('PERFORMANCE_SEVERITY_MAX')
+            styleSeverityMax = os.environ.get('STYLE_SEVERITY_MAX')
+            portabilitySeverityMax = os.environ.get('PORTABILITY_SEVERITY_MAX')
+            warningSeverityMax = os.environ.get('WARNING_SEVERITY_MAX')
+            errorSeverityMax = os.environ.get('ERROR_SEVERITY_MAX')
+    
+            # 如果环境变量不存在则不做处理
+            if informationSeverityMax != None:
+                if informationSeverityCount >= int(informationSeverityMax):
+                    print("informationSeverityCount[{}] >= informationSeverityMax[{}]".format(informationSeverityCount, informationSeverityMax))
+                    sys.exit(-1)
+    
+            if performanceSeverityMax != None:
+                if performanceSeverityCount >= int(performanceSeverityMax):
+                    print("performanceSeverityCount[{}] >= performanceSeverityMax[{}]".format(performanceSeverityCount, performanceSeverityMax))
+                    sys.exit(-1)
+    
+            if styleSeverityMax != None:
+                if styleSeverityCount >= int(styleSeverityMax):
+                    print("styleSeverityCount[{}] >= styleSeverityMax[{}]".format(styleSeverityCount, styleSeverityMax))
+                    sys.exit(-1)
+    
+            if portabilitySeverityMax != None:
+                if portabilitySeverityCount >= int(portabilitySeverityMax):
+                    print("portabilitySeverityCount[{}] >= portabilitySeverityMax[{}]".format(portabilitySeverityCount, portabilitySeverityMax))
+                    sys.exit(-1)
+    
+            if warningSeverityMax != None:
+                if warningSeverityCount >= int(warningSeverityMax):
+                    print("warningSeverityCount[{}] >= warningSeverityMax[{}]".format(warningSeverityCount, warningSeverityMax))
+                    sys.exit(-1)
+    
+            if errorSeverityMax != None:
+                if errorSeverityCount >= int(errorSeverityMax):
+                    print("errorSeverityCount[{}] >= errorSeverityMax[{}]".format(errorSeverityCount, errorSeverityMax))
+                    sys.exit(-1)
+    
+            EOF
+      - name: run cppcheck
+        run: |
+          chmod +x /tmp/cppcheck.sh
+          chmod +x /tmp/cppcheck_analyze.py
+          /tmp/cppcheck.sh
+          /tmp/cppcheck_analyze.py
+      
+      - name: run format
+        run: |
+          ./format.sh
+          git config --global --add safe.directory '*'
+          git status
+          if [ -n "$(git status --porcelain)" ]; then
+            echo "check ${{ github.ref_name }} failed"
+            exit 1
+          fi
+         
\ No newline at end of file
diff --git a/.github/workflows/release-workflow.yml b/.github/workflows/release-workflow.yml
new file mode 100644
index 000000000..12a18a24b
--- /dev/null
+++ b/.github/workflows/release-workflow.yml
@@ -0,0 +1,90 @@
+name: deploy Workflow
+
+on:
+  workflow_call:  
+    inputs:
+      image_name:
+        required: true
+        type: string
+        default: ubuntu
+      image_tag:
+        required: false
+        type: string
+        default: latest
+      run_platform:
+        required: false
+        type: string
+        default: amd64
+    secrets:
+      TEST_CMD:
+        required: true
+      
+jobs:
+  release:
+    runs-on: ${{ inputs.run_platform }}
+    container: 
+      image: ${{ inputs.image_name }}:${{ inputs.image_tag }}
+    
+    steps:
+      - name: download build artifact
+        uses: actions/download-artifact@v3
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }}
+        with:
+          name: build_artifact
+          path: |
+            ${{vars.WHL_ARTIFACTS_DIR}}
+            
+
+      - name: Get short sha
+        id: slug
+        run: echo "sha8=$(echo ${GITHUB_SHA} | cut -c1-8)" >> $GITHUB_OUTPUT
+
+      - name: Set up release information
+        id: release_info
+        shell: bash
+        run: |
+          VERSION=$(echo ${{ github.ref_name }} | sed 's/^v//')
+          echo "RELEASE_NAME=${{ github.ref_name }}" >> $GITHUB_OUTPUT
+          echo "RELEASE_DIR=${{ github.repository }}/${{ github.ref_name }}/${{ github.sha }}" >> $GITHUB_OUTPUT
+          echo "VERSION=${VERSION}" >> $GITHUB_OUTPUT
+
+
+      - name: Upload wheel packages
+        shell: bash
+        id: whl_upload
+        run: |
+          set -x
+          ls -lah ${{ vars.WHL_ARTIFACTS_DIR }}
+          echo ${{ vars.WHL_ARTIFACTS_DIR }}
+          echo "${{ secrets.ARTIFACTS_URL }}/${{ steps.release_info.outputs.VERSION }}"
+          
+          find "${{ vars.WHL_ARTIFACTS_DIR }}" -name "*.whl" -exec curl -F "file=@{}" "${{ secrets.ARTIFACTS_WHL_URL }}/${{ steps.release_info.outputs.VERSION }}" \;
+          echo "上传 whl 包成功"
+
+
+      - name: 上传Release 产物
+        uses: softprops/action-gh-release@v1
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }}
+          GITHUB_TOKEN: ${{ secrets.PATOKEN }}
+        with:
+          name: ${{ github.ref_name }}
+          files: |
+            ${{ vars.WHL_ARTIFACTS_DIR }}/*.whl
+
+      - name: 显示 report 文件
+        shell: bash
+        run: |
+          if [ -n "${{secrets.CPPCHECK_REPORT_POST_URL}}" ]; then
+            check_report_dir=${{ github.repository }}/${{ github.ref_name }}/${{ steps.slug.outputs.sha8 }}
+            echo "cppcheck report url: ${{secrets.CPPCHECK_REPORT_URL}}/$check_report_dir/index.html"
+          fi
+          if [ -n "${{secrets.TEST_COVERAGE_REPORT_POST_URL}}" ]; then
+            test_coverage_dir=${{ github.repository_owner }}/${{ github.event.repository.name }}/${{ github.ref_name }}/${{ steps.slug.outputs.sha8 }}
+            echo "test coverage report url: ${{secrets.TEST_COVERAGE_REPORT_URL}}/$test_coverage_dir/index.html"
+          fi
+
+        
diff --git a/.github/workflows/test-msvc-workflow.yml b/.github/workflows/test-msvc-workflow.yml
new file mode 100644
index 000000000..3246dfa3c
--- /dev/null
+++ b/.github/workflows/test-msvc-workflow.yml
@@ -0,0 +1,71 @@
+name: test Workflow
+
+on:
+  workflow_call:  
+    inputs:
+      run_platform:
+        required: false
+        type: string
+        default: msvc
+    secrets:
+      BUILD_CMD:
+        required: true
+      
+jobs:
+  test:
+    runs-on: ${{ inputs.run_platform }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }} 
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+      
+      - name: Setup Visual Studio Developer Command Prompt
+        uses: microsoft/setup-msbuild@v1.0.2
+        
+      - name: Install Chocolatey
+        run: |
+          Set-ExecutionPolicy Bypass -Scope Process -Force
+          [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072
+          iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))
+          if (Test-Path "C:\ProgramData\chocolatey\bin\choco.exe") {
+            Write-Host "Chocolatey is installed."
+          } else {
+            Write-Host "Chocolatey installation failed."
+          }
+          $env:Path += ";C:\ProgramData\chocolatey\bin"
+          [Environment]::SetEnvironmentVariable("Path", $env:Path, "Machine")
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }}
+      
+      - name: Install Python using Chocolatey
+        run: | 
+          $chocoPath = "C:\ProgramData\chocolatey"
+          $env:Path += ";$chocoPath\bin"
+          [Environment]::SetEnvironmentVariable("Path", $env:Path, "Machine")
+          
+          # 使用完整路径执行 choco 命令
+          & "$chocoPath\bin\choco.exe" install python --version=3.11.0 -y
+          
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }}
+      
+      
+      - name: Run test stage
+        shell: powershell
+        run: |
+          python --version
+          ${{ secrets.TEST_CMD_MSVC}}
+          if ($LASTEXITCODE -eq 1) {
+              Write-Host "test failed"
+              exit 1  
+          } else {
+              Write-Host "test succeeded"
+          }
+      
+
diff --git a/.github/workflows/test-workflow.yml b/.github/workflows/test-workflow.yml
new file mode 100644
index 000000000..7ed0aca55
--- /dev/null
+++ b/.github/workflows/test-workflow.yml
@@ -0,0 +1,203 @@
+name: test Workflow
+
+on:
+  workflow_call:  
+    inputs:
+      image_name:
+        required: true
+        type: string
+        default: ubuntu
+      image_tag:
+        required: false
+        type: string
+        default: latest
+      run_platform:
+        required: false
+        type: string
+        default: amd64
+      test_report:
+        required: false
+        type: boolean
+        default: false
+    secrets:
+      TEST_CMD:
+        required: true
+      
+jobs:
+  test:
+    runs-on: ${{ inputs.run_platform }}
+    container: 
+      image: ${{ inputs.image_name }}:${{ inputs.image_tag }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        env:
+          https_proxy: ${{ secrets.https_proxy }}
+          http_proxy: ${{ secrets.http_proxy }}
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          
+      - name: Get short sha
+        id: slug
+        run: echo "sha8=$(echo ${GITHUB_SHA} | cut -c1-8)" >> $GITHUB_OUTPUT
+
+      - name: generate test_coverage.sh
+        if: inputs.test_report == true
+        run: |          
+           echo "generate /tmp/test_coverage.sh ..."
+
+            cat << EOF >/tmp/test_coverage.sh
+            #!/bin/bash
+
+            # 生成报告并提交到指定http文件服务器上
+            if [ -z "${{ secrets.TEST_COVERAGE_REPORT_POST_URL }}" ]; then
+                echo "TEST_COVERAGE_REPORT_POST_URL is empty, not generate test coverage report"
+                exit 0
+            fi
+
+            ret=0
+
+            # 创建一个\$workdir文件夹，用于存放所有的.gcda文件
+            workdir='/tmp/gtest_report'
+
+            rm \$workdir -rf
+
+            mkdir -p \$workdir
+
+            default_ignore=(
+                "_test.cc"
+                "_test.c"
+                "_test.cpp"
+                "*/build/_deps/*"
+            )
+
+            default_test_cov_ignore=(
+              "*/include/*"
+              "*/build/_deps/*"
+              \${TEST_COVERAGE_IGNORE[@]}
+            )
+
+            # 查找同时存在 *.gcda 和 *.gcno 文件的文件
+            gcda_files=\$(find ./build -type f -name "*.gcda")
+            for gcda_file in \$gcda_files; do
+                # 如果匹配了 \$default_ignore 中的文件，则跳过
+                for ignore in \${default_ignore[@]}; do
+                    # 使用正则表达式匹配
+                    if [[ \$gcda_file =~ \$ignore ]]; then
+                        echo "ignore \$gcda_file"
+                        continue 2
+                    fi
+                done
+
+                gcno_file="\${gcda_file%.gcda}.gcno"
+                if [ -f "\$gcno_file" ]; then
+                    cp "\$gcda_file" "\$workdir"
+                    cp "\$gcno_file" "\$workdir"
+                fi
+            done
+
+            cd \$workdir
+
+            # 如果当前目录下没有gcda文件，则直接退出，不需要进行测试覆盖率检查
+            if [ -z "\$(find . -name "*.gcda")" ]; then
+                echo "no gcda files, not need to test coverage"
+                exit 0
+            fi
+
+            # 使用 gcov 来生成覆盖率数据
+            gcov *.gcno >/dev/null 2>&1
+
+            # 生成报告
+            lcov -c -d . -o coverage.info >/dev/null 2>&1
+
+            # 过滤掉不需要的信息
+
+            for ignore in \${default_test_cov_ignore[@]}; do
+                lcov --remove coverage.info "\$ignore" -o coverage.info >/dev/null 2>&1
+            done
+
+            # 列出测试覆盖率
+            lcov -l coverage.info
+
+            # 判断整体覆盖率是否达标
+            test_coverage=\$(lcov -l coverage.info | grep "Total:" | sed 's/|/| /g' | awk '{print \$2}' | awk -F '%' '{print \$1}')
+            # if error to get test_coverage
+            if [ -z "\$test_coverage" ];
+            then
+                echo "no test coverage, skip"
+                exit 0
+            fi
+
+            # 生成html报告
+            
+
+            test_coverage_dir=${{ github.repository_owner }}/${{ github.event.repository.name }}/${{ github.ref_name }}/${{ steps.slug.outputs.sha8 }}
+            mkdir -p \$test_coverage_dir
+
+            genhtml coverage.info -o \$test_coverage_dir >/dev/null 2>&1
+
+            # zip 压缩 \$test_coverage_dir
+            zip -r ${{ steps.slug.outputs.sha8 }}.zip \$test_coverage_dir
+
+            # 生成报告并提交到指定http文件服务器上
+            curl -F file=@\${{ steps.slug.outputs.sha8 }}.zip -F unzip=true \${{secrets.TEST_COVERAGE_REPORT_POST_URL}}
+
+            # 判断推送是否成功
+            if [ \$? -ne 0 ]; then
+                echo "test report push failed ..." 
+                ret=1
+            fi
+
+            # 如果 TEST_COVERAGE_THRESHOLD 变量为空，则默认为 0
+            if [ -z "\$TEST_COVERAGE_THRESHOLD" ]; then
+                TEST_COVERAGE_THRESHOLD=0
+            fi
+
+
+
+            echo "test coverage: \$test_coverage"
+
+            # 将TEST_COVERAGE_THRESHOLD转换为数字，防止出现字符串比较的情况
+            test_coverage_threshold=\$(echo \$TEST_COVERAGE_THRESHOLD | tr -d '"')
+
+            #比较两个数的大小，一个是小数，一个是整数
+            if [ \$(echo "\$test_coverage >= \$test_coverage_threshold" | bc) -eq 1 ]; then
+                echo "test coverage is greater than \$test_coverage_threshold"
+            else
+                echo "test coverage is less than \$test_coverage_threshold"
+                ret=1
+            fi
+
+            # 删除临时文件
+            rm -rf \$test_coverage_dir
+            rm -rf ${{ steps.slug.outputs.sha8 }}.zip
+
+            # 打印报告地址
+            echo -e "\\033[1;35m test coverage report url: ${{secrets.TEST_COVERAGE_REPORT_URL}}/\$test_coverage_dir/index.html \\033[0m"
+
+            exit \$ret
+
+            EOF
+          
+      - name: Run test stage
+        shell: bash
+        env:
+          https_proxy: ""
+          http_proxy: ""
+          no_proxy: "*"
+        run: |
+          echo "runnint test in workflow_call"
+          source /opt/ros/humble/setup.bash
+          echo "${{ secrets.TEST_CMD}}"
+          eval "${{ secrets.TEST_CMD}}"
+
+      - name: authorize test_coverage.sh
+        if: inputs.test_report == true
+        env:
+          https_proxy: ""
+          http_proxy: ""
+          no_proxy: "*"
+        run: |
+          chmod +x /tmp/test_coverage.sh
+          echo "test_coverage.sh is authorized"
+          bash /tmp/test_coverage.sh
\ No newline at end of file
diff --git a/build.sh b/build.sh
index 204d6a9f3..d23123abc 100755
--- a/build.sh
+++ b/build.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # exit on error and print each command
-set -ex
+set -e
 
 cmake -B build \
     -DCMAKE_BUILD_TYPE=Release \
diff --git a/test.sh b/test.sh
index 11b201361..82fdc0a0d 100755
--- a/test.sh
+++ b/test.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # exit on error and print each command
-set -ex
+set -e
 
 cmake -B build \
     -DCMAKE_BUILD_TYPE=Release \