diff --git a/Universal/CMakeLists.txt b/Universal/CMakeLists.txt
index 4202338..dc75abf 100644
--- a/Universal/CMakeLists.txt
+++ b/Universal/CMakeLists.txt
@@ -2,9 +2,16 @@ find_package(Boost REQUIRED COMPONENTS log log_setup)
 
 add_library(Universal
     BoostLog.h BoostLog.inl BoostLog.cpp
+    IoContext.h IoContext.cpp
+    MessageManager.h MessageManager.inl MessageManager.cpp
+    Singleton.h
     StreamFormat.h StreamFormat.inl StreamFormat.cpp
 )
 
+target_include_directories(Universal
+    INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
 target_link_libraries(Universal
-    PRIVATE ${Boost_LIBRARIES}
+    PUBLIC ${Boost_LIBRARIES}
 )
\ No newline at end of file
diff --git a/Universal/FunctionTraits.h b/Universal/FunctionTraits.h
new file mode 100644
index 0000000..f425d7b
--- /dev/null
+++ b/Universal/FunctionTraits.h
@@ -0,0 +1,128 @@
+#ifndef FUNCTIONTRAITS_H
+#define FUNCTIONTRAITS_H
+
+#include <functional>
+#include <tuple>
+#include <type_traits>
+
+template <typename T>
+class FunctionTraits;
+
+template <typename>
+struct IsTuple : std::false_type {
+    enum {
+        num = 1,
+    };
+};
+
+template <typename... T>
+struct IsTuple<std::tuple<T...>> : std::true_type {
+    enum {
+        num = std::tuple_size<std::tuple<T...>>::value,
+    };
+};
+
+template <typename... T>
+struct IsTuple<std::pair<T...>> : std::true_type {
+    enum {
+        num = std::tuple_size<std::pair<T...>>::value,
+    };
+};
+
+template <typename Ret, typename... Args>
+class FunctionTraits<Ret(Args...)> {
+public:
+    enum { arity = sizeof...(Args), Results = IsTuple<Ret>::num };
+    using FunctionType = Ret(Args...);
+    using FunctionPointerType = FunctionType *;
+    using ReturnType = Ret;
+    using StlFunctionType = std::function<FunctionType>;
+    using Arguments = std::tuple<Args...>;
+
+    template <size_t I>
+    class Argument {
+    public:
+        static_assert(I < arity, "index is out of range, index must less than sizeof Args...");
+        using Type = std::tuple_element_t<I, Arguments>;
+    };
+
+    using FirstArgumentType = typename Argument<0>::Type;
+};
+
+template <typename Ret>
+class FunctionTraits<Ret()> {
+public:
+    enum { arity = 0, Results = IsTuple<Ret>::num };
+    using FunctionType = Ret();
+    using FunctionPointerType = FunctionType *;
+    using ReturnType = Ret;
+    using StlFunctionType = std::function<FunctionType>;
+    using Arguments = std::tuple<>;
+    using FirstArgumentType = void;
+    template <size_t I>
+    class Argument {
+    public:
+        using Type = void;
+    };
+};
+
+template <>
+class FunctionTraits<std::nullptr_t> {
+public:
+    using Arguments = std::tuple<>;
+    using FirstArgumentType = void;
+    template <size_t I>
+    class Argument {
+    public:
+        using Type = void;
+    };
+};
+
+template <typename Ret, typename... Args>
+class FunctionTraits<Ret (*)(Args...)> : public FunctionTraits<Ret(Args...)> {};
+
+template <typename Ret, typename... Args>
+class FunctionTraits<std::function<Ret(Args...)>> : public FunctionTraits<Ret(Args...)> {};
+
+template <typename Ret, typename ClassType, typename... Args>
+class FunctionTraits<Ret (ClassType::*)(Args...)> : public FunctionTraits<Ret(Args...)> {};
+
+template <typename Ret, typename ClassType, typename... Args>
+class FunctionTraits<Ret (ClassType::*)(Args...) volatile> : public FunctionTraits<Ret(Args...)> {};
+
+template <typename Ret, typename ClassType, typename... Args>
+class FunctionTraits<Ret (ClassType::*)(Args...) const> : public FunctionTraits<Ret(Args...)> {};
+
+template <typename Ret, typename ClassType, typename... Args>
+class FunctionTraits<Ret (ClassType::*)(Args...) const volatile> : public FunctionTraits<Ret(Args...)> {};
+
+// std::bind for object methods   rclcpp/rclcpp/include/rclcpp/function_traits.hpp
+template <typename ClassT, typename ReturnTypeT, typename... Args, typename... FArgs>
+#if defined _GLIBCXX_RELEASE // glibc++ (GNU C++ >= 7.1)
+struct FunctionTraits<std::_Bind<ReturnTypeT (ClassT::*(FArgs...))(Args...)>>
+#elif defined __GLIBCXX__ // glibc++ (GNU C++)
+struct FunctionTraits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args...)>(FArgs...)>>
+#elif defined _MSC_VER    // MS Visual Studio
+struct FunctionTraits<std::_Binder<std::_Unforced, ReturnTypeT (ClassT::*)(Args...), FArgs...>>
+#elif defined __clang__
+struct FunctionTraits<std::__bind<ReturnTypeT (ClassT::*(FArgs...))(Args...)>>
+#else
+#error "Unsupported C++ compiler / standard library"
+#endif
+    : FunctionTraits<ReturnTypeT(Args...)> {
+};
+
+// template <typename ClassT, typename ReturnTypeT, typename... Args, typename... FArgs>
+// class FunctionTraits<std::_Bind<ReturnTypeT (ClassT::*(FArgs...))(Args...)>>
+//     : public FunctionTraits<decltype(std::_Bind<ReturnTypeT (ClassT::*(FArgs...))(Args...)>::operator())> {};
+
+template <typename Callable>
+class FunctionTraits : public FunctionTraits<decltype(&Callable::operator())> {};
+
+template <typename Function>
+typename FunctionTraits<std::decay_t<Function>>::StlFunctionType makeStlFunction(Function &&lambda) {
+    return static_cast<typename FunctionTraits<std::decay_t<Function>>::StlFunctionType>(
+        std::forward<Function>(lambda));
+}
+
+#endif // FUNCTIONTRAITS_H
\ No newline at end of file
diff --git a/Universal/IoContext.cpp b/Universal/IoContext.cpp
new file mode 100644
index 0000000..d4b3656
--- /dev/null
+++ b/Universal/IoContext.cpp
@@ -0,0 +1,28 @@
+#include "IoContext.h"
+#include <boost/asio/executor_work_guard.hpp>
+#include <boost/scope_exit.hpp>
+
+IoContext::~IoContext() {
+    m_ioContext->stop();
+    if (m_thread.joinable()) m_thread.join();
+}
+
+void IoContext::runIoContext() {
+    LOG(info) << "asio context started ...";
+    BOOST_SCOPE_EXIT(void) {
+        LOG(info) << "asio context exited ...";
+    }
+    BOOST_SCOPE_EXIT_END
+    try {
+        boost::asio::executor_work_guard<boost::asio::io_context::executor_type> work(m_ioContext->get_executor());
+        m_ioContext->run();
+    } catch (const boost::log::system_error &error) {
+        LOG(error) << error.what();
+    } catch (const std::out_of_range &e) {
+        LOG(error) << e.what();
+    } catch (const boost::exception &e) {
+        LOG(error) << boost::diagnostic_information(e);
+    } catch (const std::exception &e) {
+        LOG(error) << e.what();
+    }
+}
diff --git a/Universal/IoContext.h b/Universal/IoContext.h
new file mode 100644
index 0000000..aef0d62
--- /dev/null
+++ b/Universal/IoContext.h
@@ -0,0 +1,36 @@
+#ifndef IOCONTEXT_H
+#define IOCONTEXT_H
+
+#include "Singleton.h"
+#include <boost/asio/io_context.hpp>
+#include <thread>
+
+class IoContext {
+public:
+    enum class Mode {
+        Synchronous,
+        Asynchronous,
+    };
+    friend class Amass::Singleton<IoContext, Amass::LocalInstance>;
+    std::shared_ptr<boost::asio::io_context> ioContext() const { return m_ioContext; }
+    template <Mode mode = Mode::Asynchronous>
+    void run() {
+        if constexpr (mode == Mode::Asynchronous) {
+            m_thread = std::thread(&IoContext::runIoContext, this);
+        } else {
+            runIoContext();
+        }
+    }
+    ~IoContext();
+
+protected:
+    template <typename... Args>
+    IoContext(Args &&... args) : m_ioContext(std::make_shared<boost::asio::io_context>(std::forward<Args>(args)...)) {}
+    void runIoContext();
+
+private:
+    std::thread m_thread;
+    std::shared_ptr<boost::asio::io_context> m_ioContext;
+};
+
+#endif // IOCONTEXT_H
diff --git a/Universal/MessageManager.cpp b/Universal/MessageManager.cpp
new file mode 100644
index 0000000..bc46b89
--- /dev/null
+++ b/Universal/MessageManager.cpp
@@ -0,0 +1,37 @@
+#include "MessageManager.h"
+
+MessageManager::MessageManager() {
+    m_thread = std::thread(&MessageManager::run, this);
+}
+
+MessageManager::~MessageManager() {
+    m_exit = true;
+    if (m_thread.joinable()) m_thread.join();
+}
+
+void MessageManager::run() {
+    LOG(trace) << "message runner[" << std::this_thread::get_id() << "] start...";
+    while (!m_exit) {
+        if (m_params.empty()) {
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+            continue;
+        }
+        auto &[topic, args] = m_params.front();
+        callExecutor(topic, std::move(args));
+        m_params.pop();
+    }
+    LOG(trace) << "message runner exit...";
+}
+
+void MessageManager::callExecutor(const std::string &signature, std::any &&parameter) {
+    auto executors = m_executors.equal_range(signature);
+    for (auto executor = executors.first; executor != executors.second; ++executor) {
+        try {
+            if (!executor->second(parameter)) {
+                LOG(warning) << "topic: " << signature << " execute failed, parameter cast failed.";
+            }
+        } catch (const std::exception &e) {
+            LOG(error) << e.what();
+        }
+    }
+}
diff --git a/Universal/MessageManager.h b/Universal/MessageManager.h
new file mode 100644
index 0000000..117f273
--- /dev/null
+++ b/Universal/MessageManager.h
@@ -0,0 +1,93 @@
+#ifndef MESSAGEMANAGER_H
+#define MESSAGEMANAGER_H
+
+#include <functional>
+#include <queue>
+#include <string>
+#include <string_view>
+#include <thread>
+#include <type_traits>
+#include <unordered_map>
+#ifdef ANDROID
+#include <boost/any.hpp>
+#else
+#include <any>
+#endif
+
+class MessageManager {
+#ifdef ANDROID
+    using ParamEntry = boost::any;
+    using BadEntryCast = boost::bad_any_cast;
+#else
+    using ParamEntry = std::any;
+    using BadEntryCast = std::bad_any_cast;
+#endif
+    using AsyncParam = std::pair<std::string, ParamEntry>;
+    using Executor = std::function<bool(const ParamEntry &)>;
+
+public:
+    template <typename... Args>
+    class Message {
+    public:
+        explicit constexpr Message(const char *topic) : topic(topic) {
+        }
+        std::string_view topic;
+    };
+    MessageManager();
+    ~MessageManager();
+
+    /**
+     * @brief std::bind() is not recommended,recommended to use lambda. if you must use std::bind(),do not use
+     * placeholders!
+     *
+     * @tparam Function
+     * @param topic
+     * @param f
+     */
+    template <typename Function>
+    void registerTopic(const std::string_view &topic, Function &&f);
+
+    template <typename Function, typename... Args>
+    void registerTopic(const Message<Args...> &topic, Function &&f);
+
+    template <typename Function>
+    void removeTopic(const std::string_view &topic);
+
+    template <typename Function>
+    size_t topicCount(const std::string_view &topic);
+
+    template <typename... Args>
+    void sendMessage(const std::string_view &topic, Args &&...args);
+
+    template <typename Function, typename... Args>
+    void sendMessage(const std::string_view &topic, Args &&...args);
+
+    template <typename... TArgs, typename... Args>
+    void sendMessage(const Message<TArgs...> &topic, Args &&...args);
+
+    template <typename... Args>
+    void sendAsyncMessage(const std::string_view &topic, Args &&...args);
+
+    template <typename Function, typename... Args>
+    void sendAsyncMessage(const std::string_view &topic, Args &&...args);
+
+    template <typename... TArgs, typename... Args>
+    void sendAsyncMessage(const Message<TArgs...> &topic, Args &&...args);
+
+protected:
+    MessageManager(const MessageManager &) = delete;
+    template <typename Function>
+    static Executor executorWrapper(Function &&f);
+    void callExecutor(const std::string &signature, std::any &&parameter);
+    void run();
+
+private:
+    std::unordered_multimap<std::string, Executor> m_executors;
+    std::queue<AsyncParam> m_params;
+    std::thread m_thread;
+    bool m_exit{false};
+};
+
+#include "MessageManager.inl"
+
+#endif // MESSAGEMANAGER_H
\ No newline at end of file
diff --git a/Universal/MessageManager.inl b/Universal/MessageManager.inl
new file mode 100644
index 0000000..5e96ae2
--- /dev/null
+++ b/Universal/MessageManager.inl
@@ -0,0 +1,153 @@
+#ifndef __MESSAGEMANAGER_INL__
+#define __MESSAGEMANAGER_INL__
+
+#include "BoostLog.h"
+#include "FunctionTraits.h"
+#include "MessageManager.h"
+#include <boost/type_index.hpp>
+#include <sstream>
+
+template <typename Args>
+class Signature;
+
+template <typename... Args>
+class Signature<std::tuple<Args...>> {
+public:
+    using Type = std::tuple<std::decay_t<Args>...>;
+};
+
+template <typename Type>
+static void formatSignature(std::ostringstream &oss, Type &&type) {
+    oss << boost::typeindex::type_id<Type>();
+}
+
+template <typename Type, typename... Args>
+static void formatSignature(std::ostringstream &oss, Type &&type, Args &&...args) {
+    oss << boost::typeindex::type_id<Type>() << ",";
+    formatSignature(oss, args...);
+}
+
+template <typename ArgTuple, std::size_t... I>
+static void formatSignature(std::ostringstream &oss, ArgTuple &&args, std::index_sequence<I...>) {
+    formatSignature(oss, std::get<I>(args)...);
+}
+
+template <typename Function>
+static std::string formatTopicWithFunction(const std::string_view &topic) {
+    std::ostringstream oss;
+    using Arguments = typename FunctionTraits<std::decay_t<Function>>::Arguments;
+    using Sigs = typename Signature<Arguments>::Type;
+
+    oss << topic << "###[";
+    if constexpr (std::tuple_size<Arguments>::value > 0) {
+        formatSignature<Arguments>(oss, Sigs{}, std::make_index_sequence<std::tuple_size<Arguments>::value>{});
+    } else {
+        oss << "void";
+    }
+    oss << "]";
+    return oss.str();
+}
+
+template <typename... Args>
+static std::string formatTopicWithParameters(const std::string_view &topic, Args &&...args) {
+    std::ostringstream oss;
+    oss << topic << "###[";
+    if constexpr (sizeof...(Args) > 0) {
+        formatSignature(oss, std::forward<Args>(args)...);
+    } else {
+        oss << "void";
+    }
+
+    oss << "]";
+    return oss.str();
+}
+
+template <typename Function>
+void MessageManager::registerTopic(const std::string_view &topic, Function &&f) {
+    auto signature = formatTopicWithFunction<Function>(topic);
+    m_executors.emplace(signature, executorWrapper(std::move(f)));
+    LOG(debug) << "register message,topic: " << signature;
+}
+
+template <typename Function, typename... Args>
+void MessageManager::registerTopic(const Message<Args...> &topic, Function &&f) {
+    using Arguments = typename FunctionTraits<std::decay_t<Function>>::Arguments;
+    static_assert(std::is_same_v<Arguments, std::tuple<Args...>>, "arguments not same...");
+    registerTopic(topic.topic, std::forward<Function>(f));
+}
+
+template <typename Function>
+size_t MessageManager::topicCount(const std::string_view &topic) {
+    auto signature = formatTopicWithFunction<Function>(topic);
+    return m_executors.count(signature);
+}
+
+template <typename Function>
+void MessageManager::removeTopic(const std::string_view &topic) {
+    auto signature = formatTopicWithFunction<Function>(topic);
+    m_executors.erase(signature);
+}
+
+template <typename... Args>
+void MessageManager::sendMessage(const std::string_view &topic, Args &&...args) {
+    auto signature = formatTopicWithParameters(topic, std::forward<Args>(args)...);
+    callExecutor(signature, std::make_tuple(std::forward<Args>(args)...));
+}
+
+template <typename Function, typename... Args>
+void MessageManager::sendMessage(const std::string_view &topic, Args &&...args) {
+    using Arguments = typename FunctionTraits<std::decay_t<Function>>::Arguments;
+    // LOG(debug) << boost::typeindex::type_id<Arguments>();
+    auto signature = formatTopicWithFunction<Function>(topic);
+    callExecutor(signature, Arguments{std::forward<Args>(args)...});
+}
+
+template <typename... TArgs, typename... Args>
+void MessageManager::sendMessage(const Message<TArgs...> &topic, Args &&...args) {
+    using Arguments = typename FunctionTraits<void(TArgs...)>::Arguments;
+    auto signature = formatTopicWithFunction<void(TArgs...)>(topic.topic);
+    callExecutor(signature, Arguments{std::forward<TArgs>(args)...});
+}
+
+template <typename... Args>
+void MessageManager::sendAsyncMessage(const std::string_view &topic, Args &&...args) {
+    auto signature = formatTopicWithParameters(topic, std::forward<Args>(args)...);
+    m_params.push({signature, std::make_tuple(std::forward<Args>(args)...)});
+    LOG(debug) << "call async message,topic: " << signature;
+}
+
+template <typename Function, typename... Args>
+void MessageManager::sendAsyncMessage(const std::string_view &topic, Args &&...args) {
+    using Arguments = typename FunctionTraits<std::decay_t<Function>>::Arguments;
+    auto signature = formatTopicWithFunction<Function>(topic);
+    m_params.push({signature, Arguments{std::forward<Args>(args)...}});
+}
+
+template <typename... TArgs, typename... Args>
+void MessageManager::sendAsyncMessage(const Message<TArgs...> &topic, Args &&...args) {
+    using Function = void(TArgs...);
+    using Arguments = typename FunctionTraits<Function>::Arguments;
+    auto signature = formatTopicWithFunction<Function>(topic.topic);
+    m_params.push({signature, Arguments{std::forward<TArgs>(args)...}});
+}
+
+template <typename Function>
+MessageManager::Executor MessageManager::executorWrapper(Function &&f) {
+    return [executor(std::move(f))](const std::any &args) -> bool {
+        using Arguments = typename FunctionTraits<Function>::Arguments;
+        auto arguments = std::any_cast<Arguments>(&args);
+        if (arguments != nullptr) {
+            std::apply(executor, *arguments);
+            return true;
+        }
+        using Signature = typename Signature<Arguments>::Type;
+        auto signature = std::any_cast<Signature>(&args);
+        if (signature != nullptr) {
+            std::apply(executor, *signature);
+            return true;
+        }
+        return false;
+    };
+}
+
+#endif // __MESSAGEMANAGER_H__
diff --git a/Universal/Singleton.h b/Universal/Singleton.h
new file mode 100644
index 0000000..5bf5b49
--- /dev/null
+++ b/Universal/Singleton.h
@@ -0,0 +1,82 @@
+#ifndef SINGLETON_H
+#define SINGLETON_H
+
+#include "BoostLog.h"
+#include <boost/assert.hpp>
+#include <memory>
+
+namespace Amass {
+
+using GlobalInstance = std::true_type;
+using LocalInstance = std::false_type;
+
+struct Construct {};
+struct Reference {};
+struct Register {};
+
+template <typename T, typename Style = LocalInstance>
+class Singleton;
+
+template <typename T>
+class Singleton<T, LocalInstance> {
+public:
+    template <typename Invoke = Reference, typename InstanceType = T, typename... Args>
+    static std::shared_ptr<T> instance(Args &&...args) {
+        // LOG(debug) << typeid(T).name() << " address: " << (size_t)&m_instance;
+        static_assert(std::is_base_of_v<T, InstanceType>, "InstanceType must be child of T ...");
+        if constexpr (std::is_same_v<Invoke, Construct>) {
+            if (!m_instance.expired()) {
+                throw std::runtime_error("an instance have constructed ...");
+            }
+            auto instance = std::shared_ptr<T>(new InstanceType(std::forward<Args>(args)...));
+            m_instance = instance;
+            return instance;
+        } else if constexpr (std::is_same_v<Invoke, Reference>) {
+            return m_instance.expired() ? nullptr : m_instance.lock();
+        } else if constexpr (std::is_same_v<Invoke, Register>) {
+            static_assert(sizeof...(args) == 1, "args must equal to 1...");
+            m_instance = std::get<0>(std::forward_as_tuple(args)...);
+            return std::get<0>(std::forward_as_tuple(args)...);
+        } else {
+            static_assert(!std::is_same_v<Invoke, GlobalInstance>, "Can not to it!");
+        }
+    }
+
+    static std::weak_ptr<T> weakPointer() {
+        return m_instance;
+    }
+
+private:
+    Singleton() = delete;
+    ~Singleton() = delete;
+    Singleton(const Singleton &) = delete;
+    Singleton &operator=(const Singleton &) = delete;
+
+private:
+    inline static std::weak_ptr<T> m_instance;
+};
+
+template <typename T>
+class Singleton<T, GlobalInstance> {
+public:
+    template <typename... Args>
+    static T *instance(Args &&...args) {
+        if (!m_value) {
+            m_value.reset(new T(std::forward<Args>(args)...));
+        }
+        return m_value.get();
+    }
+
+private:
+    Singleton() = delete;
+    ~Singleton() = delete;
+    Singleton(const Singleton &) = delete;
+    Singleton &operator=(const Singleton &) = delete;
+
+private:
+    inline static std::shared_ptr<T> m_value;
+};
+
+} // namespace Amass
+
+#endif // SINGLETON_H