diff --git a/others/src/serial/serial.cpp b/others/src/serial/serial.cpp
index f9c1507..edc76e8 100644
--- a/others/src/serial/serial.cpp
+++ b/others/src/serial/serial.cpp
@@ -16,162 +16,162 @@ parity(parity),
 databits(databits),
 stopsbits(stopsbits),
 dwCommEvents(dwCommEvents){
-	if (wait_uart) {
-		LOGM("Waiting for serial COM%d", portNo);
-		while (InitPort(portNo, baud, parity, databits, stopsbits, dwCommEvents) == false);
-		LOGM("Port COM%d open success!", portNo);
-	} else {
-		if (InitPort(portNo, baud, parity, databits, stopsbits, dwCommEvents)) {
-			LOGM("Port COM%d open success!", portNo);
-		} else {
-			LOGE("Port COM%d open fail!", portNo);
-		}
-	}
+    if (wait_uart) {
+        LOGM("Waiting for serial COM%d", portNo);
+        while (InitPort(portNo, baud, parity, databits, stopsbits, dwCommEvents) == false);
+        LOGM("Port COM%d open success!", portNo);
+    } else {
+        if (InitPort(portNo, baud, parity, databits, stopsbits, dwCommEvents)) {
+            LOGM("Port COM%d open success!", portNo);
+        } else {
+            LOGE("Port COM%d open fail!", portNo);
+        }
+    }
 }
 
 Serial::~Serial() {
-	ClosePort();
+    ClosePort();
 }
 
 void Serial::ErrorHandler() {
-	if (wait_uart) {
-		LOGE("Serial COM%d offline, waiting for serial COM%d", portNo, portNo);
-		while (InitPort(portNo, baud, parity, databits, stopsbits, dwCommEvents) == false);
-		LOGM("Port COM%d reopen success!", portNo);
-	}
+    if (wait_uart) {
+        LOGE("Serial COM%d offline, waiting for serial COM%d", portNo, portNo);
+        while (InitPort(portNo, baud, parity, databits, stopsbits, dwCommEvents) == false);
+        LOGM("Port COM%d reopen success!", portNo);
+    }
 }
 
 bool Serial::openPort(UINT  portNo) {
-	char szPort[50];
-	sprintf_s(szPort, "COM%d", portNo);
+    char szPort[50];
+    sprintf_s(szPort, "COM%d", portNo);
 
-	/** 打开指定的串口 */
-	hComm = CreateFileA(szPort,	      /** 设备名,COM1,COM2等 */
-		GENERIC_READ | GENERIC_WRITE, /** 访问模式,可同时读写 */
-		0,                            /** 共享模式,0表示不共享 */
-		NULL,                         /** 安全性设置,一般使用NULL */
-		OPEN_EXISTING,                /** 该参数表示设备必须存在,否则创建失败 */
-		0,
-		0);
+    /** 打开指定的串口 */
+    hComm = CreateFileA(szPort,	      /** 设备名,COM1,COM2等 */
+        GENERIC_READ | GENERIC_WRITE, /** 访问模式,可同时读写 */
+        0,                            /** 共享模式,0表示不共享 */
+        NULL,                         /** 安全性设置,一般使用NULL */
+        OPEN_EXISTING,                /** 该参数表示设备必须存在,否则创建失败 */
+        0,
+        0);
 
-	return hComm != INVALID_HANDLE_VALUE;
+    return hComm != INVALID_HANDLE_VALUE;
 }
 
 void Serial::ClosePort() {
-	/** 如果有串口被打开，关闭它 */
-	if (hComm != INVALID_HANDLE_VALUE) {
-		CloseHandle(hComm);
-		hComm = INVALID_HANDLE_VALUE;
-	}
+    /** 如果有串口被打开，关闭它 */
+    if (hComm != INVALID_HANDLE_VALUE) {
+        CloseHandle(hComm);
+        hComm = INVALID_HANDLE_VALUE;
+    }
 }
 
 bool Serial::InitPort(UINT  portNo, UINT baud, char parity, UINT databits, UINT stopsbits, DWORD dwCommEvents) {
-	/** 临时变量,将制定参数转化为字符串形式,以构造DCB结构 */
-	char szDCBparam[50];
-	sprintf_s(szDCBparam, "baud=%d parity=%c data=%d stop=%d", baud, parity, databits, stopsbits);
-	
-	if (!openPort(portNo)){
-		cout << "open error!" << endl;
-		return false;
-	}
+    /** 临时变量,将制定参数转化为字符串形式,以构造DCB结构 */
+    char szDCBparam[50];
+    sprintf_s(szDCBparam, "baud=%d parity=%c data=%d stop=%d", baud, parity, databits, stopsbits);
 
-	BOOL bIsSuccess = TRUE;
-	COMMTIMEOUTS  CommTimeouts;
-	CommTimeouts.ReadIntervalTimeout = 0;
-	CommTimeouts.ReadTotalTimeoutMultiplier = 0;
-	CommTimeouts.ReadTotalTimeoutConstant = 0;
-	CommTimeouts.WriteTotalTimeoutMultiplier = 0;
-	CommTimeouts.WriteTotalTimeoutConstant = 0;
-	if (bIsSuccess) {
-		bIsSuccess = SetCommTimeouts(hComm, &CommTimeouts);
-	} else {
-		cout << "SetCommTimeouts error!" << endl;
-	}
+    if (!openPort(portNo)){
+        cout << "open error!" << endl;
+        return false;
+    }
 
-	DCB  dcb;
-	if (bIsSuccess)	{
-		/** 获取当前串口配置参数,并且构造串口DCB参数 */
-		bIsSuccess = GetCommState(hComm, &dcb);
-		bIsSuccess = BuildCommDCB(szDCBparam, &dcb);
-		if (!bIsSuccess) {
-			
-			cout << "Create dcb fail with "<< GetLastError() << endl;
-		}
-		/** 开启RTS flow控制 */
-		dcb.fRtsControl = RTS_CONTROL_ENABLE;
-	}
+    BOOL bIsSuccess = TRUE;
+    COMMTIMEOUTS  CommTimeouts;
+    CommTimeouts.ReadIntervalTimeout = 0;
+    CommTimeouts.ReadTotalTimeoutMultiplier = 0;
+    CommTimeouts.ReadTotalTimeoutConstant = 0;
+    CommTimeouts.WriteTotalTimeoutMultiplier = 0;
+    CommTimeouts.WriteTotalTimeoutConstant = 0;
+    if (bIsSuccess) {
+        bIsSuccess = SetCommTimeouts(hComm, &CommTimeouts);
+    } else {
+        cout << "SetCommTimeouts error!" << endl;
+    }
 
-	if (bIsSuccess)	{
-		/** 使用DCB参数配置串口状态 */
-		bIsSuccess = SetCommState(hComm, &dcb);
-		if (!bIsSuccess) {
-			cout << "SetCommState error!" << endl;
-		}
-	}
+    DCB  dcb;
+    if (bIsSuccess)	{
+        /** 获取当前串口配置参数,并且构造串口DCB参数 */
+        bIsSuccess = GetCommState(hComm, &dcb);
+        bIsSuccess = BuildCommDCB(szDCBparam, &dcb);
+        if (!bIsSuccess) {
 
-	/**  清空串口缓冲区 */
-	PurgeComm(hComm, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT);
+            cout << "Create dcb fail with "<< GetLastError() << endl;
+        }
+        /** 开启RTS flow控制 */
+        dcb.fRtsControl = RTS_CONTROL_ENABLE;
+    }
 
-	return bIsSuccess;
+    if (bIsSuccess)	{
+        /** 使用DCB参数配置串口状态 */
+        bIsSuccess = SetCommState(hComm, &dcb);
+        if (!bIsSuccess) {
+            cout << "SetCommState error!" << endl;
+        }
+    }
+
+    /**  清空串口缓冲区 */
+    PurgeComm(hComm, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT);
+
+    return bIsSuccess;
 }
 
 UINT Serial::GetBytesInCOM() const {
-	DWORD dwError = 0;  /** 错误码 */
-	COMSTAT  comstat;   /** COMSTAT结构体,记录通信设备的状态信息 */
-	memset(&comstat, 0, sizeof(COMSTAT));
+    DWORD dwError = 0;  /** 错误码 */
+    COMSTAT  comstat;   /** COMSTAT结构体,记录通信设备的状态信息 */
+    memset(&comstat, 0, sizeof(COMSTAT));
 
-	UINT BytesInQue = 0;
-	/** 在调用ReadFile和WriteFile之前,通过本函数清除以前遗留的错误标志 */
-	if (ClearCommError(hComm, &dwError, &comstat)) {
-		BytesInQue = comstat.cbInQue; /** 获取在输入缓冲区中的字节数 */
-	}
+    UINT BytesInQue = 0;
+    /** 在调用ReadFile和WriteFile之前,通过本函数清除以前遗留的错误标志 */
+    if (ClearCommError(hComm, &dwError, &comstat)) {
+        BytesInQue = comstat.cbInQue; /** 获取在输入缓冲区中的字节数 */
+    }
 
-	return BytesInQue;
+    return BytesInQue;
 }
 
 bool Serial::WriteData(const unsigned char* pData, unsigned int length) {
-	if (hComm == INVALID_HANDLE_VALUE) {
-		ErrorHandler();
-		return false;
-	}
+    if (hComm == INVALID_HANDLE_VALUE) {
+        ErrorHandler();
+        return false;
+    }
 
-	/** 向缓冲区写入指定量的数据 */
-	BOOL   bResult = TRUE;
-	DWORD  BytesToSend = 0;
-	bResult = WriteFile(hComm, pData, length, &BytesToSend, NULL);
-	if (!bResult) {
-		DWORD dwError = GetLastError();
-		/** 清空串口缓冲区 */
-		PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
-		ErrorHandler();
-		return false;
-	}
-	return true;
+    /** 向缓冲区写入指定量的数据 */
+    BOOL   bResult = TRUE;
+    DWORD  BytesToSend = 0;
+    bResult = WriteFile(hComm, pData, length, &BytesToSend, NULL);
+    if (!bResult) {
+        DWORD dwError = GetLastError();
+        /** 清空串口缓冲区 */
+        PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
+        ErrorHandler();
+        return false;
+    }
+    return true;
 }
 
 bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
-	if (hComm == INVALID_HANDLE_VALUE) {
-		ErrorHandler();
-		return false;
-	}
+    if (hComm == INVALID_HANDLE_VALUE) {
+        ErrorHandler();
+        return false;
+    }
 
-	/** 从缓冲区读取length字节的数据 */
-	BOOL  bResult = TRUE;
-	DWORD totalRead = 0, onceRead = 0;
-	while (totalRead < length) {
-		bResult = ReadFile(hComm, buffer, length-totalRead, &onceRead, NULL);
-		totalRead += onceRead;
-		if ((!bResult)) {
-			/** 获取错误码,可以根据该错误码查出错误原因 */
-			DWORD dwError = GetLastError();
+    /** 从缓冲区读取length字节的数据 */
+    BOOL  bResult = TRUE;
+    DWORD totalRead = 0, onceRead = 0;
+    while (totalRead < length) {
+        bResult = ReadFile(hComm, buffer, length-totalRead, &onceRead, NULL);
+        totalRead += onceRead;
+        if ((!bResult)) {
+            /** 获取错误码,可以根据该错误码查出错误原因 */
+            DWORD dwError = GetLastError();
 
-			/** 清空串口缓冲区 */
-			PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
-			ErrorHandler();
-			return false;
-		}
-	}
-	return bResult;
+            /** 清空串口缓冲区 */
+            PurgeComm(hComm, PURGE_RXCLEAR | PURGE_RXABORT);
+            ErrorHandler();
+            return false;
+        }
+    }
+    return bResult;
 }
 
 #elif defined(Linux) || defined(Darwin)
@@ -180,23 +180,23 @@ bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
 
 using namespace std;
 
-string get_uart_dev_name(){
-    FILE* ls = popen("ls /dev/ttyUSB* --color=never", "r");
+string get_uart_dev_name() {
+    FILE *ls = popen("ls /dev/ttyUSB* --color=never", "r");
     char name[20] = {0};
     fscanf(ls, "%s", name);
     return name;
 }
 
 Serial::Serial(int nSpeed, char nEvent, int nBits, int nStop) :
-nSpeed(nSpeed), nEvent(nEvent), nBits(nBits), nStop(nStop){
-    if(wait_uart){
+        nSpeed(nSpeed), nEvent(nEvent), nBits(nBits), nStop(nStop) {
+    if (wait_uart) {
         LOGM("Wait for serial be ready!");
-        while(InitPort(nSpeed, nEvent, nBits, nStop) == false);
+        while (InitPort(nSpeed, nEvent, nBits, nStop) == false);
         LOGM("Port set successfully!");
-    }else{
-        if(InitPort(nSpeed, nEvent, nBits, nStop)){
+    } else {
+        if (InitPort(nSpeed, nEvent, nBits, nStop)) {
             LOGM("Port set successfully!");
-        }else{
+        } else {
             LOGE("Port set fail!");
         }
     }
@@ -207,15 +207,15 @@ Serial::~Serial() {
     fd = -1;
 }
 
-bool Serial::InitPort(int nSpeed, char nEvent, int nBits, int nStop){
+bool Serial::InitPort(int nSpeed, char nEvent, int nBits, int nStop) {
     string name = get_uart_dev_name();
-    if(name == ""){
+    if (name == "") {
         return false;
     }
-    if((fd=open(name.data(), O_RDWR)) < 0){
+    if ((fd = open(name.data(), O_RDWR)) < 0) {
         return false;
     }
-    if(set_opt(fd, nSpeed, nEvent, nBits, nStop) < 0){
+    if (set_opt(fd, nSpeed, nEvent, nBits, nStop) < 0) {
         return false;
     }
     return true;
@@ -225,13 +225,14 @@ bool Serial::InitPort(int nSpeed, char nEvent, int nBits, int nStop){
 //
 //}
 
-bool Serial::WriteData(const unsigned char* pData, unsigned int length){
-    int cnt=0, curr=0;
-    while((curr=write(fd, pData+cnt, length-cnt))>0 && (cnt+=curr)<length);
-    if(cnt < 0){
+bool Serial::WriteData(const unsigned char *pData, unsigned int length) {
+    int cnt = 0, curr = 0;
+    if (fd <= 0)return false;
+    while ((curr = write(fd, pData + cnt, length - cnt)) > 0 && (cnt += curr) < length);
+    if (cnt < 0) {
         LOGE("Serial offline!");
         close(fd);
-        if(wait_uart){
+        if (wait_uart) {
             InitPort(nSpeed, nEvent, nBits, nStop);
         }
         return false;
@@ -239,13 +240,13 @@ bool Serial::WriteData(const unsigned char* pData, unsigned int length){
     return true;
 }
 
-bool Serial::ReadData(unsigned char* buffer, unsigned int length){
-    int cnt=0, curr=0;
-    while((curr=read(fd, buffer+cnt, length-cnt))>0 && (cnt+=curr)<length);
-    if(cnt < 0){
+bool Serial::ReadData(unsigned char *buffer, unsigned int length) {
+    int cnt = 0, curr = 0;
+    while ((curr = read(fd, buffer + cnt, length - cnt)) > 0 && (cnt += curr) < length);
+    if (cnt < 0) {
         LOGE("Serial offline!");
         close(fd);
-        if(wait_uart){
+        if (wait_uart) {
             InitPort(nSpeed, nEvent, nBits, nStop);
         }
         return false;
@@ -265,10 +266,13 @@ int Serial::set_opt(int fd, int nSpeed, char nEvent, int nBits, int nStop) {
 
     switch (nBits) {
         case 7:
-            newtio.c_cflag |= CS7;break;
+            newtio.c_cflag |= CS7;
+            break;
         case 8:
-            newtio.c_cflag |= CS8;break;
-        default:break;
+            newtio.c_cflag |= CS8;
+            break;
+        default:
+            break;
     }
 
     switch (nEvent) {
@@ -285,7 +289,8 @@ int Serial::set_opt(int fd, int nSpeed, char nEvent, int nBits, int nStop) {
         case 'N':  //无校验
             newtio.c_cflag &= ~PARENB;
             break;
-        default:break;
+        default:
+            break;
     }
 
     switch (nSpeed) {