diff --git a/modules/uhd/uhd_usrp_continous/uhd_io_continous.cpp b/modules/uhd/uhd_usrp_continous/uhd_io_continous.cpp
index 219b104b4922c51bfdfb447dc6fd1f7b9c790639..a46af04fa31ebf63fbb61029bedbcb815239ba2a 100644
--- a/modules/uhd/uhd_usrp_continous/uhd_io_continous.cpp
+++ b/modules/uhd/uhd_usrp_continous/uhd_io_continous.cpp
@@ -97,6 +97,8 @@ int do_iio(const cmdlineParser & args)
 	const quint32 i_wav_rx[2]	  = {args.toUInt("wav_rx0",0),args.toUInt("wav_rx1",0)};
 	const quint32 i_wav_tx[2]	  = {args.toUInt("wav_tx0",0),args.toUInt("wav_tx1",0)};
 	const quint32 i_txWaterMark = args.toInt("tx_mark",0);
+
+
 	//设备句柄
 	uhd_usrp_handle usrp = nullptr;
 	uhd_rx_streamer_handle rx_streamer = nullptr;
@@ -104,6 +106,114 @@ int do_iio(const cmdlineParser & args)
 	uhd_tx_streamer_handle tx_streamer = nullptr;
 	uhd_tx_metadata_handle tx_meta = nullptr;
 
+	//ring buffer in short inters
+	//初始化环状缓存器
+	const quint64 sz_buffer_all = 128 * 1024 * 1024;
+	std::vector<std::vector<SPTYPE> > buf_rx_array;
+	std::vector<std::vector<SPTYPE> > buf_tx_array;
+	//In IQ Samples, RF io
+	quint64 rx_pos = 0, tx_pos = 0,stdout_pos = 0;
+	//In IQ Samples, Std IO
+	std::vector<quint64> stdin_pos;
+
+	std::vector<void *> rx_buff_ptr, tx_buff_ptr;
+	size_t num_rx_samps = 0,num_sps_sent = 0 ;
+
+	for (int ch = 0;ch<rx_channel_count;++ch)
+	{
+		buf_rx_array.push_back(std::vector<SPTYPE>(sz_buffer_all + 1024*1024,0));
+		rx_buff_ptr.push_back(0);
+	}
+	for (int ch = 0;ch<tx_channel_count;++ch)
+	{
+		buf_tx_array.push_back(std::vector<SPTYPE>(sz_buffer_all + 1024*1024,0));
+		stdin_pos.push_back(0);
+		tx_buff_ptr.push_back(0);
+	}
+	std::mutex push_mtx;
+	std::mutex * pMtx = (i_wav_rx[0]+i_wav_rx[1]+i_txWaterMark)>0?&push_mtx:nullptr;
+
+	//要及时启动stdin，以便接收和反馈水位
+	//Define StdIn Thread, Producer
+	std::function<void()> thread_stdin = [&]()->void
+	{
+		try{
+			//Read STDIN
+			while (!stop_signal_called) {
+				subject_package_header header;
+				std::vector<unsigned char> packagedta = pull_subject(&header);
+				if (!is_valid_header(header))
+				{
+					fprintf(stderr,"Recived BAD Command.");
+					fflush(stderr);
+					QThread::msleep(100);
+					continue;
+				}
+				if (packagedta.size())
+				{
+					if ( is_control_subject(header))
+					{
+						//收到命令进程退出的广播消息,退出
+						if (strstr((const char *)packagedta.data(),"function=quit;")!=nullptr)
+						{
+							fprintf(stderr,"Recived Quit Command.");
+							fflush(stderr);
+							stop_signal_called = true;
+						}
+						else
+							cmd_dealing(usrp,packagedta);
+					}
+					else
+					{
+						for (int ch = 0; ch < tx_channel_count;++ch)
+						{
+							if (header.subject_id == i_wav_tx[ch])
+							{
+								SPTYPE * buf_tx_ptr = buf_tx_array[ch].data();
+								quint64 sps_rev = packagedta.size()/2/sizeof(SPTYPE);
+								short * iq = (short *)(packagedta.data());
+								memcpy(&buf_tx_ptr[(stdin_pos[ch] * 2)% sz_buffer_all],
+										iq,  sps_rev * sizeof(SPTYPE)*2
+										);
+								const quint64 bgnext = ((stdin_pos[ch] + sps_rev) * 2) % sz_buffer_all;
+								if (bgnext < sps_rev * 2 && bgnext>0)
+								{
+									memcpy(buf_tx_ptr, buf_tx_ptr + sz_buffer_all, bgnext * sizeof(SPTYPE) );
+								}
+								stdin_pos[ch] += sps_rev;
+							}
+						}
+						if (i_txWaterMark>0)
+						{
+							qint64 watM = stdin_pos[0] - tx_pos;
+							if (tx_channel_count>1)
+							{
+								qint64 wat2 = stdin_pos[1] - tx_pos;
+								if (wat2 < watM)
+									watM = wat2;
+							}
+							TASKBUS::push_subject(
+										i_txWaterMark,
+										instance,
+										sizeof(qint64),
+										(unsigned char *) &watM,
+										pMtx);
+
+						}
+					}
+				}
+			}
+		}
+		catch (std::string er)
+		{
+			fputs(er.c_str(),stderr);
+			stop_signal_called = true;
+		}
+	};
+
+	uhd_io_thread th_wav_stdin(thread_stdin,0);
+	th_wav_stdin.start(QThread::HighestPriority);
+
 
 	try{
 		fprintf(stderr, "Creating USRP with args \"%s\"...\n", dev_args.c_str());
@@ -307,31 +417,6 @@ int do_iio(const cmdlineParser & args)
 			fflush(stderr);
 		}
 
-		//ring buffer in short inters
-		const quint64 sz_buffer_all = 8 * 1024 * 1024;
-		std::vector<std::vector<SPTYPE> > buf_rx_array;
-		std::vector<std::vector<SPTYPE> > buf_tx_array;
-		//In IQ Samples, RF io
-		quint64 rx_pos = 0, tx_pos = 0,stdout_pos = 0;
-		//In IQ Samples, Std IO
-		std::vector<quint64> stdin_pos;
-
-		std::vector<void *> rx_buff_ptr, tx_buff_ptr;
-		size_t num_rx_samps = 0,num_sps_sent = 0 ;
-
-		for (int ch = 0;ch<rx_channel_count;++ch)
-		{
-			buf_rx_array.push_back(std::vector<SPTYPE>(sz_buffer_all + 1024*1024,0));
-			rx_buff_ptr.push_back(0);
-		}
-		for (int ch = 0;ch<tx_channel_count;++ch)
-		{
-			buf_tx_array.push_back(std::vector<SPTYPE>(sz_buffer_all + 1024*1024,0));
-			stdin_pos.push_back(0);
-			tx_buff_ptr.push_back(0);
-		}
-		std::mutex push_mtx;
-		std::mutex * pMtx = (i_wav_rx[0]+i_wav_rx[1]+i_txWaterMark)>0?&push_mtx:nullptr;
 		//reset time
 		uhd_usrp_set_time_now(usrp,0,0,0);
 		//Define RX Thread, Producer
@@ -414,65 +499,6 @@ int do_iio(const cmdlineParser & args)
 			}
 		};
 
-		//Define StdIn Thread, Producer
-		std::function<void()> thread_stdin = [&]()->void
-		{
-			try{
-				//Read STDIN
-				while (!stop_signal_called) {
-					subject_package_header header;
-					std::vector<unsigned char> packagedta = pull_subject(&header);
-					if (!is_valid_header(header))
-					{
-						fprintf(stderr,"Recived BAD Command.");
-						fflush(stderr);
-						QThread::msleep(100);
-						continue;
-					}
-					if (packagedta.size())
-					{
-						if ( is_control_subject(header))
-						{
-							//收到命令进程退出的广播消息,退出
-							if (strstr((const char *)packagedta.data(),"function=quit;")!=nullptr)
-							{
-								fprintf(stderr,"Recived Quit Command.");
-								fflush(stderr);
-								stop_signal_called = true;
-							}
-							else
-								cmd_dealing(usrp,packagedta);
-						}
-						else
-						{
-							for (int ch = 0; ch < tx_channel_count;++ch)
-							{
-								if (header.subject_id == i_wav_tx[ch])
-								{
-									SPTYPE * buf_tx_ptr = buf_tx_array[ch].data();
-									quint64 sps_rev = packagedta.size()/2/sizeof(SPTYPE);
-									short * iq = (short *)(packagedta.data());
-									memcpy(&buf_tx_ptr[(stdin_pos[ch] * 2)% sz_buffer_all],
-											iq,  sps_rev * sizeof(SPTYPE)*2
-											);
-									const quint64 bgnext = ((stdin_pos[ch] + sps_rev) * 2) % sz_buffer_all;
-									if (bgnext < sps_rev * 2 && bgnext>0)
-									{
-										memcpy(buf_tx_ptr, buf_tx_ptr + sz_buffer_all, bgnext * sizeof(SPTYPE) );
-									}
-									stdin_pos[ch] += sps_rev;
-								}
-							}
-						}
-					}
-				}
-			}
-			catch (std::string er)
-			{
-				fputs(er.c_str(),stderr);
-				stop_signal_called = true;
-			}
-		};
 
 		//Define thread_tx, Consumer
 		std::function<void()> thread_tx = [&]()->void
@@ -542,7 +568,6 @@ int do_iio(const cmdlineParser & args)
 
 		uhd_io_thread th_wav_rx(thread_rx,0);
 		uhd_io_thread th_wav_stdout(thread_stdout,0);
-		uhd_io_thread th_wav_stdin(thread_stdin,0);
 		uhd_io_thread th_wav_tx(thread_tx,0);
 
 		if (rx_on)
@@ -554,7 +579,6 @@ int do_iio(const cmdlineParser & args)
 		{
 			th_wav_tx.start(QThread::HighestPriority);
 		}
-		th_wav_stdin.start(QThread::HighestPriority);
 
 		while (!stop_signal_called)
 		{
@@ -572,7 +596,6 @@ int do_iio(const cmdlineParser & args)
 		th_wav_rx.wait();
 		th_wav_stdout.wait();
 		th_wav_tx.wait();
-		th_wav_stdin.wait();
 	}
 	catch(std::string s)
 	{
@@ -592,6 +615,8 @@ int do_iio(const cmdlineParser & args)
 	}
 	uhd_usrp_free(&usrp);
 
+	th_wav_stdin.wait();
+
 	fprintf(stderr, (return_code ? "Failure\n" : "Success\n"));
 	fflush(stderr);
 	return return_code;
@@ -599,6 +624,8 @@ int do_iio(const cmdlineParser & args)
 
 void cmd_dealing(uhd_usrp_handle usrp,std::vector<unsigned char> & cmd)
 {
+	if (!usrp)
+		return;
 	std::map<std::string,std::string> mcmd = TASKBUS::ctrlpackage_to_map(cmd);
 	if (mcmd["function"]=="handle_set")
 	{
diff --git a/modules/uhd/uhd_usrp_io/uhd_io.cpp b/modules/uhd/uhd_usrp_io/uhd_io.cpp
index 9215fc50a73bbfa850257a9389fcaa9e5c6f8df7..0dd104c37a73e43285b7f4443dff78b185b4e610 100644
--- a/modules/uhd/uhd_usrp_io/uhd_io.cpp
+++ b/modules/uhd/uhd_usrp_io/uhd_io.cpp
@@ -138,6 +138,7 @@ int do_iio(const cmdlineParser & args)
 	const quint32 i_rx_tm = args.toInt("rx_time",0);
 	const quint32 i_tx_tm = args.toInt("tx_time",0);
 	const quint32 i_txWaterMark = args.toInt("tx_mark",0);
+
 	//设备句柄
 	uhd_usrp_handle usrp = nullptr;
 	uhd_rx_streamer_handle rx_streamer = nullptr;
@@ -146,6 +147,129 @@ int do_iio(const cmdlineParser & args)
 	uhd_tx_metadata_handle tx_meta = nullptr;
 
 
+	//发射缓存要提前配置，以便及时反馈水位
+	//Time plan for tx
+	std::list<tag_tx_plain> tx_plan;
+	std::mutex mtx_plan;
+
+	//ring buffer In IQ Points, TX io
+	const quint64 sz_buffer_tx = 256 * 1024 * 1024;
+	std::vector<std::vector<SPTYPE> > buf_tx_array;
+	std::vector<quint64> tx_pos;
+	std::vector<quint64> stdin_pos;
+	std::vector<void *> tx_buff_ptr;
+	size_t num_sps_sent = 0;
+	for (int ch = 0;ch<tx_channel_count;++ch)
+	{
+		buf_tx_array.push_back(std::vector<SPTYPE>(sz_buffer_tx + 1024*1024*32,0));
+		stdin_pos.push_back(0);
+		tx_pos.push_back(0);
+		tx_buff_ptr.push_back(0);
+	}
+	std::mutex push_mtx;
+	std::mutex * pMtx = (i_wav_rx[0]+i_wav_rx[1]+i_txWaterMark)>0?&push_mtx:nullptr;
+
+	qint64 total_points_left = -1;
+	//Define StdIn Thread, Producer
+	std::function<void()> thread_stdin = [&]()->void
+	{
+		try{
+			//Read STDIN
+			while (!stop_signal_called)
+			{
+				subject_package_header header;
+				std::vector<unsigned char> packagedta = pull_subject(&header);
+				if (!is_valid_header(header))
+				{
+					fprintf(stderr,"Recived BAD Command.");
+					fflush(stderr);
+					QThread::msleep(100);
+					continue;
+				}
+				if (packagedta.size())
+				{
+					if ( is_control_subject(header))
+					{
+						//收到命令进程退出的广播消息,退出
+						if (strstr((const char *)packagedta.data(),"function=quit;")!=nullptr)
+						{
+							fprintf(stderr,"Recived Quit Command.");
+							fflush(stderr);
+							stop_signal_called = true;
+						}
+						else
+							cmd_dealing(usrp,packagedta);
+					}
+					else
+					{
+						if (header.subject_id==i_tx_tm)
+						{
+							if (packagedta.size()==sizeof(tag_tx_plain))
+							{
+								tag_tx_plain * plan = (tag_tx_plain *) (packagedta.data());
+								if (total_points_left<=0)
+									total_points_left = plan->length_left;
+								fprintf(stderr,"plan %d points\n",plan->length_left);
+								mtx_plan.lock();
+								tx_plan.push_back(*plan);
+								mtx_plan.unlock();
+							}
+							else
+								fprintf(stderr,"Error Timeplan subject size %d recieved. Expected should be %d.\n",
+										(int)packagedta.size(),(int)sizeof(tag_tx_plain));
+
+						}
+						else
+						{
+							fprintf(stderr,"recv %d points\n",packagedta.size()/2/sizeof(SPTYPE));
+							for (int ch = 0; ch < tx_channel_count;++ch)
+							{
+								if (header.subject_id == i_wav_tx[ch])
+								{
+									SPTYPE * buf_tx_ptr = buf_tx_array[ch].data();
+									quint64 sps_rev = packagedta.size()/2/sizeof(SPTYPE);
+									short * iq = (short *)(packagedta.data());
+									memcpy(&buf_tx_ptr[(stdin_pos[ch] * 2)% sz_buffer_tx],
+											iq,  sps_rev * sizeof(SPTYPE)*2
+											);
+									const quint64 bgnext = ((stdin_pos[ch] + sps_rev) * 2) % sz_buffer_tx;
+									if (bgnext < sps_rev * 2 && bgnext>0)
+									{
+										memcpy(buf_tx_ptr, buf_tx_ptr + sz_buffer_tx, bgnext * sizeof(SPTYPE) );
+									}
+									stdin_pos[ch] += sps_rev;
+								}//end if (header.subject_id == i_wav_tx[ch])
+							}//end for (int ch = 0; ch < tx_channel_count;++ch)
+							if (total_points_left<0&&i_txWaterMark>0)
+							{
+								qint64 watM = stdin_pos[0] - tx_pos[0];
+								if (tx_channel_count>1)
+								{
+									qint64 wat2 = stdin_pos[1] - tx_pos[1];
+									if (wat2 < watM)
+										watM = wat2;
+								}
+								TASKBUS::push_subject(
+											i_txWaterMark,
+											instance,
+											sizeof(qint64),
+											(unsigned char *) &watM,
+											pMtx);
+							}//end if (total_points_left<0)
+						}//end else if (header.subject_id==i_tx_tm)
+					}//end else if if ( is_control_subject(header))
+				}//end if (packagedta.size())
+			}//end while (!stop_signal_called)
+		}//end try
+		catch (std::string er)
+		{
+			fputs(er.c_str(),stderr);
+			stop_signal_called = true;
+		}
+	};//end std::function<void()> thread_stdin = [&]()->void
+	uhd_io_thread th_wav_stdin(thread_stdin,0);
+	th_wav_stdin.start(QThread::HighestPriority);
+
 	try{
 		fprintf(stderr, "Creating USRP with args \"%s\"...\n", dev_args.c_str());
 		UHD_DO(uhd_usrp_make(&usrp, dev_args.c_str()));
@@ -373,27 +497,6 @@ int do_iio(const cmdlineParser & args)
 				buf_rx_list[buf_ct].ch_ptr.push_back((void *)buf_rx_list[buf_ct].ch_data[ch].data());
 		}
 
-		//Time plan for tx
-		std::list<tag_tx_plain> tx_plan;
-		std::mutex mtx_plan;
-
-		//ring buffer In IQ Points, TX io
-		const quint64 sz_buffer_tx = 256 * 1024 * 1024;
-		std::vector<std::vector<SPTYPE> > buf_tx_array;
-		std::vector<quint64> tx_pos;
-		std::vector<quint64> stdin_pos;
-		std::vector<void *> tx_buff_ptr;
-		size_t num_sps_sent = 0;
-		for (int ch = 0;ch<tx_channel_count;++ch)
-		{
-			buf_tx_array.push_back(std::vector<SPTYPE>(sz_buffer_tx + 1024*1024*32,0));
-			stdin_pos.push_back(0);
-			tx_pos.push_back(0);
-			tx_buff_ptr.push_back(0);
-		}
-		std::mutex push_mtx;
-		std::mutex * pMtx = (i_wav_rx[0]+i_wav_rx[1]+i_txWaterMark)>0?&push_mtx:nullptr;
-
 		//reset time
 		uhd_usrp_set_time_now(usrp,0,0,0);
 		//Define RX Thread, Producer
@@ -496,89 +599,6 @@ int do_iio(const cmdlineParser & args)
 			}
 		};//end std::function<void()> thread_stdout = [&]()->void
 
-		qint64 total_points_left = -1;
-		//Define StdIn Thread, Producer
-		std::function<void()> thread_stdin = [&]()->void
-		{
-			try{
-				//Read STDIN
-				while (!stop_signal_called)
-				{
-					subject_package_header header;
-					std::vector<unsigned char> packagedta = pull_subject(&header);
-					if (!is_valid_header(header))
-					{
-						fprintf(stderr,"Recived BAD Command.");
-						fflush(stderr);
-						QThread::msleep(100);
-						continue;
-					}
-					if (packagedta.size())
-					{
-						if ( is_control_subject(header))
-						{
-							//收到命令进程退出的广播消息,退出
-							if (strstr((const char *)packagedta.data(),"function=quit;")!=nullptr)
-							{
-								fprintf(stderr,"Recived Quit Command.");
-								fflush(stderr);
-								stop_signal_called = true;
-							}
-							else
-								cmd_dealing(usrp,packagedta);
-						}
-						else
-						{
-							if (header.subject_id==i_tx_tm)
-							{
-								if (packagedta.size()==sizeof(tag_tx_plain))
-								{
-									tag_tx_plain * plan = (tag_tx_plain *) (packagedta.data());
-									if (total_points_left<=0)
-										total_points_left = plan->length_left;
-									fprintf(stderr,"plan %d points\n",plan->length_left);
-									mtx_plan.lock();
-									tx_plan.push_back(*plan);
-									mtx_plan.unlock();
-								}
-								else
-									fprintf(stderr,"Error Timeplan subject size %d recieved. Expected should be %d.\n",
-											(int)packagedta.size(),(int)sizeof(tag_tx_plain));
-
-							}
-							else
-							{
-								fprintf(stderr,"recv %d points\n",packagedta.size()/2/sizeof(SPTYPE));
-								for (int ch = 0; ch < tx_channel_count;++ch)
-								{
-									if (header.subject_id == i_wav_tx[ch])
-									{
-										SPTYPE * buf_tx_ptr = buf_tx_array[ch].data();
-										quint64 sps_rev = packagedta.size()/2/sizeof(SPTYPE);
-										short * iq = (short *)(packagedta.data());
-										memcpy(&buf_tx_ptr[(stdin_pos[ch] * 2)% sz_buffer_tx],
-												iq,  sps_rev * sizeof(SPTYPE)*2
-												);
-										const quint64 bgnext = ((stdin_pos[ch] + sps_rev) * 2) % sz_buffer_tx;
-										if (bgnext < sps_rev * 2 && bgnext>0)
-										{
-											memcpy(buf_tx_ptr, buf_tx_ptr + sz_buffer_tx, bgnext * sizeof(SPTYPE) );
-										}
-										stdin_pos[ch] += sps_rev;
-									}//end if (header.subject_id == i_wav_tx[ch])
-								}//end for (int ch = 0; ch < tx_channel_count;++ch)
-							}//end else if (header.subject_id==i_tx_tm)
-						}//end else if if ( is_control_subject(header))
-					}//end if (packagedta.size())
-				}//end while (!stop_signal_called)
-			}//end try
-			catch (std::string er)
-			{
-				fputs(er.c_str(),stderr);
-				stop_signal_called = true;
-			}
-		};//end std::function<void()> thread_stdin = [&]()->void
-
 		const int tx_frame = 10000;
 		//Define thread_tx, Consumer
 		std::function<void()> thread_tx = [&]()->void
@@ -730,7 +750,6 @@ int do_iio(const cmdlineParser & args)
 
 		uhd_io_thread th_wav_rx(thread_rx,0);
 		uhd_io_thread th_wav_stdout(thread_stdout,0);
-		uhd_io_thread th_wav_stdin(thread_stdin,0);
 		uhd_io_thread th_wav_tx(thread_tx,0);
 
 		if (rx_on)
@@ -742,7 +761,6 @@ int do_iio(const cmdlineParser & args)
 		{
 			th_wav_tx.start(QThread::HighestPriority);
 		}
-		th_wav_stdin.start(QThread::HighestPriority);
 
 		while (!stop_signal_called)
 		{
@@ -760,7 +778,6 @@ int do_iio(const cmdlineParser & args)
 		th_wav_rx.wait();
 		th_wav_stdout.wait();
 		th_wav_tx.wait();
-		th_wav_stdin.wait();
 	}//end top try
 	catch(std::string s)
 	{
@@ -780,6 +797,8 @@ int do_iio(const cmdlineParser & args)
 	}
 	uhd_usrp_free(&usrp);
 
+	th_wav_stdin.wait();
+
 	fprintf(stderr, (return_code ? "Failure\n" : "Success\n"));
 	fflush(stderr);
 	return return_code;
@@ -787,6 +806,8 @@ int do_iio(const cmdlineParser & args)
 
 void cmd_dealing(uhd_usrp_handle usrp,std::vector<unsigned char> & cmd)
 {
+	if (!usrp)
+		return ;
 	std::map<std::string,std::string> mcmd = TASKBUS::ctrlpackage_to_map(cmd);
 	if (mcmd["function"]=="handle_set")
 	{