diff --git a/human_render/CMakeLists.txt b/human_render/CMakeLists.txt
index 94b1d44..a432ee3 100644
--- a/human_render/CMakeLists.txt
+++ b/human_render/CMakeLists.txt
@@ -24,13 +24,16 @@ SET(
 
 INCLUDE_DIRECTORIES(
     ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}/Ipc
     ${Thirdparty}
-    ${Thirdparty}/libcef  
+    ${Thirdparty}/libcef
+    ${Thirdparty}/libipc
 )
 
 
 link_directories(
     ${Thirdparty}/libcef/lib/Debug
+    ${Thirdparty}/libipc/lib
 )
 
 
diff --git a/human_render/Constant.h b/human_render/Constant.h
new file mode 100644
index 0000000..fe2059a
--- /dev/null
+++ b/human_render/Constant.h
@@ -0,0 +1,44 @@
+#pragma once
+
+#include <atomic>
+
+using int8 = char;
+using uint8 = unsigned char;
+using int16 = short;
+using uint16 = unsigned short;
+using int32 = int;
+using uint32 = unsigned int;
+using ulong32 = unsigned long;
+using int64 = long long;
+using uint64 = unsigned long long;
+
+using AtomicRefCount = std::atomic<int32>;
+//
+//#ifndef MAKEWORD
+//#define MAKEWORD(a, b)      ((uint16)(((uint8)(((uint64)(a)) & 0xff)) | ((uint16)((uint8)(((uint64)(b)) & 0xff))) << 8))
+//#endif // !MAKEWORD
+//
+//#ifndef MAKELONG
+//#define MAKELONG(a, b)      ((long)(((uint16)(((uint64)(a)) & 0xffff)) | ((unsigned long)((uint16)(((uint64)(b)) & 0xffff))) << 16))
+//#endif // !MAKELONG
+//
+//#ifndef LOWORD
+//#define LOWORD(l)           ((uint16)(((uint64)(l)) & 0xffff))
+//#endif // !LOWORD
+//
+//#ifndef HIWORD
+//#define HIWORD(l)           ((uint16)((((uint64)(l)) >> 16) & 0xffff))
+//#endif // !HIWORD
+//
+//#ifndef LOBYTE
+//#define LOBYTE(w)           ((uint8)(((uint64)(w)) & 0xff))
+//#endif // !LOBYTE
+//
+//#ifndef HIBYTE
+//#define HIBYTE(w)           ((uint8)((((uint64)(w)) >> 8) & 0xff))
+//#endif // !HIBYTE
+
+
+#define NON_COPYABLE(class_name) \
+    class_name(const class_name&) = delete; \
+    class_name& operator=(const class_name&) = delete;
diff --git a/human_render/Ipc/Ipc.cpp b/human_render/Ipc/Ipc.cpp
new file mode 100644
index 0000000..08ebd35
--- /dev/null
+++ b/human_render/Ipc/Ipc.cpp
@@ -0,0 +1,128 @@
+#include "Ipc/Ipc.h"
+
+#include <functional>
+#include <locale>
+#include <codecvt>
+
+#include "Ipc/ReadCallback.h"
+
+std::shared_ptr<Ipc> Ipc::create(const char* reader_name, const char* writer_name) {
+	struct Creator : public Ipc {
+		Creator(const char* reader_name, const char* writer_name) : Ipc(reader_name, writer_name) {}
+		~Creator() override = default;
+	};
+	return std::make_shared<Creator>(reader_name, writer_name);
+}
+
+Ipc::Ipc(const char* reader_name, const char* writer_name) noexcept
+	: reader_name_(reader_name)
+	, writer_name_(writer_name) {
+	sender_ = std::make_unique<ipc::channel>(toUtf8(reader_name_).c_str(), ipc::sender);
+	fprintf(stderr, "%s, %s\n", reader_name, writer_name);
+}
+
+Ipc::~Ipc() {
+	stop();
+}
+
+bool Ipc::listen() {
+	if (!reciver_stop_.load(std::memory_order_acquire)) {
+		return false;
+	}
+
+	reciver_stop_.store(false);
+
+	std::weak_ptr<Ipc> wThis = shared_from_this();
+	reciver_thread_ = std::move(std::thread(std::bind(&Ipc::doReciver, this, wThis)));
+	return true;
+}
+
+void Ipc::stop() {
+	if (reciver_stop_.load(std::memory_order_acquire)) {
+		return;
+	}
+
+	reciver_stop_.store(true, std::memory_order_release);
+
+	sender_->disconnect();
+	receiver_->disconnect();
+
+	if (reciver_thread_.joinable()) {
+		reciver_thread_.join();
+	}
+}
+
+bool Ipc::send(const char* data, unsigned int size) {
+	if (!sender_) {
+		return false;
+	}
+
+	return sender_->send(data, size);
+}
+
+
+bool Ipc::isConnected() {
+   /* if (receiver_) {
+        return receiver_->is_connected();
+    }*/
+	return false;
+}
+
+
+void Ipc::reConnect() {
+	sender_->reconnect(ipc::sender);
+	if (receiver_) {
+		receiver_->disconnect();
+		receiver_->reconnect(ipc::receiver);
+	}
+}
+
+void Ipc::registReadCallback(const std::shared_ptr<IReaderCallback>& reader) {
+	std::lock_guard<std::mutex> lock(mutex_);
+
+	auto itor = std::find(reader_callbacks_.begin(), reader_callbacks_.end(), reader);
+	if (reader_callbacks_.end() != itor) {
+		return;
+	}
+	reader_callbacks_.emplace_back(reader);
+}
+
+void Ipc::unregistReadCallback(const std::shared_ptr<IReaderCallback>& reader) {
+	std::lock_guard<std::mutex> lock(mutex_);
+
+	auto itor = std::find(reader_callbacks_.begin(), reader_callbacks_.end(), reader);
+	if (reader_callbacks_.end() != itor) {
+		return;
+	}
+	reader_callbacks_.erase(itor);
+}
+
+void Ipc::doReciver(std::weak_ptr<Ipc> wThis) {
+	std::shared_ptr<Ipc> self(wThis.lock());
+	if (!self) {
+		return;
+	}
+
+	receiver_ = std::make_unique<ipc::channel>(writer_name_.c_str(), ipc::receiver);
+	while (!reciver_stop_.load(std::memory_order_acquire)) {
+		ipc::buff_t buffer = receiver_->recv(5);
+		if (buffer.empty()) {
+			continue;
+		}
+		const char* data = buffer.get<const char*>();
+		onReciveer(data, static_cast<unsigned int>(buffer.size()));
+	}
+}
+
+void Ipc::onReciveer(const char* buffer, unsigned int size) {
+	std::lock_guard<std::mutex> lock(mutex_);
+	for (auto& read : reader_callbacks_) {
+		read->onRead(buffer, size);
+	}
+}
+
+std::string Ipc::toUtf8(const std::string& str) {
+    std::wstring_convert<std::codecvt_utf8<wchar_t>> converter;
+    std::wstring wide_str = converter.from_bytes(str);
+    return converter.to_bytes(wide_str);
+}
diff --git a/human_render/Ipc/Ipc.h b/human_render/Ipc/Ipc.h
new file mode 100644
index 0000000..c6d7084
--- /dev/null
+++ b/human_render/Ipc/Ipc.h
@@ -0,0 +1,50 @@
+#pragma once
+
+#include <thread>
+#include <memory>
+#include <atomic>
+#include <string>
+#include <mutex>
+
+#include <libipc/ipc.h>
+
+class IReaderCallback;
+
+class Ipc : public std::enable_shared_from_this<Ipc>{
+public:
+	static std::shared_ptr<Ipc> create(const char* reader_name, const char* writer_name);
+public:
+	virtual ~Ipc();
+
+	bool listen();
+	void stop();
+	bool send(const char* data, unsigned int size);
+	bool isConnected();
+	void reConnect();
+
+	void registReadCallback(const std::shared_ptr<IReaderCallback>& reader);
+	void unregistReadCallback(const std::shared_ptr<IReaderCallback>& reader);
+
+protected:
+	Ipc(const char* reader_name, const char* writer_name) noexcept;
+
+private:
+	void doReciver(std::weak_ptr<Ipc> wThis);
+
+	void onReciveer(const char* buffer, unsigned int size);
+
+	std::string toUtf8(const std::string& str);
+
+private:
+	std::string reader_name_;
+	std::string writer_name_;
+	std::unique_ptr<ipc::channel> sender_;
+	std::unique_ptr<ipc::channel> receiver_;
+	std::thread reciver_thread_;
+	std::atomic_bool reciver_stop_{true};
+
+	std::mutex mutex_;
+	using ReaderCallbackList = std::vector<std::shared_ptr<IReaderCallback>>;
+	ReaderCallbackList reader_callbacks_;
+};
+
diff --git a/human_render/Ipc/IpcMoudle.cpp b/human_render/Ipc/IpcMoudle.cpp
new file mode 100644
index 0000000..368848f
--- /dev/null
+++ b/human_render/Ipc/IpcMoudle.cpp
@@ -0,0 +1,113 @@
+#include "Ipc/IpcMoudle.h"
+
+#include <iostream>
+
+#define STB_IMAGE_WRITE_IMPLEMENTATION
+#include <stb/stb_image_write.h>
+
+//#include "Core/Core.h"
+#include "Ipc/ipclib.h"
+//#include "ImageBuffer.h"
+//#include "VHI/VHI.h"
+
+//IpcMoudle* Singleton<IpcMoudle>::instance_ = nullptr;
+
+void OnParseImageData(const char* data, size_t size) {
+    if (size < 13) { // Minimum size check: 1 byte identifier + 4 bytes width + 4 bytes height + 4 bytes bit depth
+        std::cerr << "Invalid data size" << std::endl;
+        return;
+    }
+
+    // Extract identifier
+    char identifier = data[0];
+    const char* buffer = data + 1;
+  /*  if (0x01 == identifier) {
+        IpcMoudle::Get()->PushImage(buffer, size - 1);
+    } else if (0x02 == identifier) {
+        IpcMoudle::Get()->PushVoice(buffer, size - 1);
+    }
+
+    INFOLOG("identifier {}", static_cast<int32>(identifier));*/
+}
+
+bool IpcMoudle::Initialize() {
+    //if (!initialize("human_render", "human_product")) {
+    //    ERRORLOG("ipc initialize failed");
+    //    return false;
+    //}
+
+    //setReaderCallback([](const char* data, unsigned int size) {
+    //    //INFOLOG("ipc recive data:{}", size);
+    //    OnParseImageData(data, size);
+    //    }
+    //);
+
+    //if (!listen()) {
+    //    ERRORLOG("ipc listen failed");
+    //    return false;
+    //}
+
+    ////auto callback = [](const char* data, unsigned int size) {
+    ////    //INFOLOG("ipc recive data:{}", size);
+    ////    OnParseImageData(data, size);
+    ////};
+    ////zmqMoudle_ = std::make_unique<ZmqMoudle>(callback);
+    ////zmqMoudle_->Start();
+    //lastHeartbeatTime_ = std::chrono::steady_clock::now();
+    return true;
+}
+
+void IpcMoudle::Uninitialize() {
+    //zmqMoudle_->Stop();
+    uninitialize();
+}
+
+bool IpcMoudle::Send(const char* data, unsigned int size) {
+    return send(data, size);
+    return false;
+}
+
+void IpcMoudle::OnFrame() {
+    auto now = std::chrono::steady_clock::now();
+    auto duration = std::chrono::duration_cast<std::chrono::seconds>(now - lastHeartbeatTime_);
+
+    if (duration.count() >= 2) {
+        /* constexpr char heartbeat[] = "heartbeat";
+         if (!send("heartbeat", sizeof(heartbeat) / sizeof(heartbeat[0]))) {
+             ERRORLOG("send heartbeat failed");
+             reConnect();
+         }*/
+        lastHeartbeatTime_ = now;
+    }
+}
+
+void IpcMoudle::PushImage(const char* data, uint32 size) {
+    // Extract width
+    int width;
+    std::memcpy(&width, data, sizeof(int));
+
+    // Extract height
+    int height;
+    std::memcpy(&height, data + 4, sizeof(int));
+
+    // Extract bit depth
+    int bit_depth;
+    std::memcpy(&bit_depth, data + 8, sizeof(int));
+
+    // Extract image bytes
+    const char* img_bytes = data + 12;
+    size_t img_size = size - 12;
+    //std::vector<uint8> img_data(img_size);
+    //memcpy(img_data.data(), img_bytes, img_size);
+
+    //ImageBuffer::Get()->PushImage(ImageBuffer::IBType::Human, std::move(img_data), width, height, bit_depth);
+}
+
+void IpcMoudle::PushVoice(const char* data, uint32 size) {
+    /*  IAudioRender* audioRender = VHI::Get()->GetAudioRender();
+      if (nullptr == audioRender) {
+          return;
+      }
+
+      audioRender->Write(data, size);*/
+}
diff --git a/human_render/Ipc/IpcMoudle.h b/human_render/Ipc/IpcMoudle.h
new file mode 100644
index 0000000..a3708a9
--- /dev/null
+++ b/human_render/Ipc/IpcMoudle.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <chrono>
+
+//#include "Core/Singleton.h"
+//#include "Core/Constant.h"
+
+//#include "Ipc/ZmqMoudle.h"
+#include "Constant.h"
+
+class IpcMoudle {// : public Singleton<IpcMoudle> {
+    //NON_COPYABLE(IpcMoudle)
+
+public:
+    IpcMoudle() = default;
+    virtual ~IpcMoudle() = default;
+    bool Initialize();
+    void Uninitialize();
+
+    bool Send(const char* data, uint32 size);
+
+    void OnFrame();
+
+    void PushImage(const char* data, uint32 size);
+    void PushVoice(const char* data, uint32 size);
+
+private:
+    std::chrono::time_point<std::chrono::steady_clock> lastHeartbeatTime_;
+
+    //std::unique_ptr<ZmqMoudle> zmqMoudle_;
+};
+
diff --git a/human_render/Ipc/ReadCallback.h b/human_render/Ipc/ReadCallback.h
new file mode 100644
index 0000000..0240d20
--- /dev/null
+++ b/human_render/Ipc/ReadCallback.h
@@ -0,0 +1,9 @@
+#pragma once
+
+class IReaderCallback {
+public:
+	virtual ~IReaderCallback() = default;
+
+	// read thread callback
+	virtual void onRead(const char* buffer, unsigned int size) = 0;
+};
\ No newline at end of file
diff --git a/human_render/Ipc/ZmqMoudle.cpp b/human_render/Ipc/ZmqMoudle.cpp
new file mode 100644
index 0000000..06e530e
--- /dev/null
+++ b/human_render/Ipc/ZmqMoudle.cpp
@@ -0,0 +1,62 @@
+#include "Ipc/ZmqMoudle.h"
+
+#if 0
+#include <memory>
+#include <assert.h>
+
+#include <zmq.hpp>
+
+ ZmqMoudle::ZmqMoudle(ZmqMoudleCallback callback)
+    : callback_(callback){
+
+ }
+
+ void ZmqMoudle::Start() {
+     if (work_) {
+         return;
+     }
+
+     shouldExit_.store(false);
+     auto run = [this]() {
+         zmq::context_t context(1);
+         zmq::socket_t subscriber(context, ZMQ_SUB);
+         subscriber.connect("tcp://127.0.0.1:55661");
+         subscriber.setsockopt(ZMQ_SUBSCRIBE, "", 0);
+
+         bool isFirst = true;
+         while (!shouldExit_.load()) {
+             zmq::message_t message;
+             if (subscriber.recv(message, zmq::recv_flags::none)) {
+                 if (isFirst) {
+                     auto start = std::chrono::high_resolution_clock::now();
+
+                     // 打印自 Epoch 以来的时间（以秒为单位）
+                     auto duration = std::chrono::duration<double>(start.time_since_epoch());
+                     int64_t time = duration.count();
+                     time = 0;
+                     isFirst = true;
+                 }
+                 const char* data = static_cast<const char*>(message.data());
+                 if (nullptr != callback_) {
+                     callback_(data, message.size());
+                 }
+             } else {
+                 ::_sleep(1);
+             }
+         }
+     };
+
+     work_.reset(new std::thread(run));
+ }
+
+ void ZmqMoudle::Stop() {
+     if (!work_) {
+         return;
+     }
+
+     shouldExit_.store(true);
+     if (work_->joinable()) {
+         work_->join();
+     }
+ }
+#endif
diff --git a/human_render/Ipc/ZmqMoudle.h b/human_render/Ipc/ZmqMoudle.h
new file mode 100644
index 0000000..f64c5e2
--- /dev/null
+++ b/human_render/Ipc/ZmqMoudle.h
@@ -0,0 +1,22 @@
+#pragma once
+#if 0
+#include <memory>
+#include <functional>
+#include <thread>
+#include <atomic>
+
+using ZmqMoudleCallback = std::function<void(const char* , unsigned int)>;
+class ZmqMoudle {
+public:
+    ZmqMoudle(ZmqMoudleCallback callback);
+
+    void Start();
+    void Stop();
+
+private:
+    ZmqMoudleCallback callback_;
+    std::unique_ptr<std::thread> work_;
+    void* context_{ nullptr };
+    std::atomic<bool> shouldExit_;
+};
+#endif
\ No newline at end of file
diff --git a/human_render/Ipc/config.h b/human_render/Ipc/config.h
new file mode 100644
index 0000000..16d3f59
--- /dev/null
+++ b/human_render/Ipc/config.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#ifdef _IPC_EXPORT_
+
+#ifdef WIN32
+
+#define IPC_EXPORT __declspec( dllexport )
+
+#endif // WIN32
+
+#else
+
+#ifdef WIN32
+
+#define IPC_EXPORT __declspec( dllimport )
+
+#endif // WIN32
+
+#endif // _IPC_EXPORT_ 
+
diff --git a/human_render/Ipc/ipclib.cpp b/human_render/Ipc/ipclib.cpp
new file mode 100644
index 0000000..6f0928e
--- /dev/null
+++ b/human_render/Ipc/ipclib.cpp
@@ -0,0 +1,80 @@
+#include "Ipc/ipclib.h"
+
+#include <memory>
+#include <assert.h>
+
+#include "Ipc.h"
+#include "ReadCallback.h"
+
+class ReaderCallback : public IReaderCallback {
+public:
+	ReaderCallback() = default;
+	~ReaderCallback() override = default;
+	void onRead(const char* buffer, unsigned int size) override {
+		//printf("%s", buffer);
+		if (nullptr != m_readerCallbackFunc) {
+			m_readerCallbackFunc(buffer, size);
+		}
+	}
+
+	void setCallback(ReaderCallbackFunc func) {
+		m_readerCallbackFunc = func;
+	}
+
+private:
+	ReaderCallback(const ReaderCallback&) = delete;
+	ReaderCallback operator= (const ReaderCallback&) = delete;
+
+private:
+	ReaderCallbackFunc m_readerCallbackFunc{nullptr};
+};
+
+std::shared_ptr<Ipc> g_ipc;
+std::shared_ptr<ReaderCallback> g_readCallback;
+
+bool __stdcall initialize(const char* sender_name, const char* receiver_name) {
+	assert(!g_ipc);
+	g_ipc = Ipc::create(sender_name, receiver_name);
+	return true;
+}
+
+ void __stdcall uninitialize() {
+	 assert(g_ipc);
+	 g_ipc->stop();
+	 if (g_readCallback) {
+		 g_ipc->unregistReadCallback(g_readCallback);
+		 g_readCallback.reset();
+	 }
+	 g_ipc.reset();
+}
+
+bool __stdcall listen() {
+	assert(g_ipc);
+	return g_ipc->listen();
+ }
+
+ bool __stdcall send(const char* data, unsigned int size) {
+	 assert(g_ipc);
+	 return g_ipc->send(data, size);
+ }
+
+ bool __stdcall setReaderCallback(ReaderCallbackFunc callback) {
+	 assert(g_ipc);
+	 if (!g_readCallback) {
+		g_readCallback = std::make_shared<ReaderCallback>();
+		g_ipc->registReadCallback(g_readCallback);
+	}
+	 g_readCallback->setCallback(callback);
+	 return true;
+ }
+
+
+ void __stdcall reConnect() {
+     assert(g_ipc);
+     return g_ipc->reConnect();
+ }
+
+ bool __stdcall isConnect() {
+	 assert(g_ipc);
+	 return g_ipc->isConnected();
+ }
diff --git a/human_render/Ipc/ipclib.h b/human_render/Ipc/ipclib.h
new file mode 100644
index 0000000..cb4f149
--- /dev/null
+++ b/human_render/Ipc/ipclib.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "Ipc/config.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif // __cplusplus
+
+	typedef void(__stdcall *ReaderCallbackFunc)(const char* data, unsigned int size);
+
+    bool __stdcall initialize(const char* sender_name, const char* receiver_name);
+    void __stdcall uninitialize();
+
+    bool __stdcall listen();
+    bool __stdcall send(const char* data, unsigned int size);
+    bool __stdcall setReaderCallback(ReaderCallbackFunc callback);
+
+    void __stdcall reConnect();
+
+    bool __stdcall isConnect();
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
diff --git a/human_render/Ipc/libipc/buffer.cpp b/human_render/Ipc/libipc/buffer.cpp
new file mode 100644
index 0000000..0ac0fa7
--- /dev/null
+++ b/human_render/Ipc/libipc/buffer.cpp
@@ -0,0 +1,87 @@
+#include "libipc/buffer.h"
+#include "libipc/utility/pimpl.h"
+
+#include <cstring>
+
+namespace ipc {
+
+bool operator==(buffer const & b1, buffer const & b2) {
+    return (b1.size() == b2.size()) && (std::memcmp(b1.data(), b2.data(), b1.size()) == 0);
+}
+
+bool operator!=(buffer const & b1, buffer const & b2) {
+    return !(b1 == b2);
+}
+
+class buffer::buffer_ : public pimpl<buffer_> {
+public:
+    void*       p_;
+    std::size_t s_;
+    void*       a_;
+    buffer::destructor_t d_;
+
+    buffer_(void* p, std::size_t s, buffer::destructor_t d, void* a)
+        : p_(p), s_(s), a_(a), d_(d) {
+    }
+
+    ~buffer_() {
+        if (d_ == nullptr) return;
+        d_((a_ == nullptr) ? p_ : a_, s_);
+    }
+};
+
+buffer::buffer()
+    : buffer(nullptr, 0, nullptr, nullptr) {
+}
+
+buffer::buffer(void* p, std::size_t s, destructor_t d)
+    : p_(p_->make(p, s, d, nullptr)) {
+}
+
+buffer::buffer(void* p, std::size_t s, destructor_t d, void* additional)
+    : p_(p_->make(p, s, d, additional)) {
+}
+
+buffer::buffer(void* p, std::size_t s)
+    : buffer(p, s, nullptr) {
+}
+
+buffer::buffer(char const & c)
+    : buffer(const_cast<char*>(&c), 1) {
+}
+
+buffer::buffer(buffer&& rhs)
+    : buffer() {
+    swap(rhs);
+}
+
+buffer::~buffer() {
+    p_->clear();
+}
+
+void buffer::swap(buffer& rhs) {
+    std::swap(p_, rhs.p_);
+}
+
+buffer& buffer::operator=(buffer rhs) {
+    swap(rhs);
+    return *this;
+}
+
+bool buffer::empty() const noexcept {
+    return (impl(p_)->p_ == nullptr) || (impl(p_)->s_ == 0);
+}
+
+void* buffer::data() noexcept {
+    return impl(p_)->p_;
+}
+
+void const * buffer::data() const noexcept {
+    return impl(p_)->p_;
+}
+
+std::size_t buffer::size() const noexcept {
+    return impl(p_)->s_;
+}
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/buffer.h b/human_render/Ipc/libipc/buffer.h
new file mode 100644
index 0000000..5362114
--- /dev/null
+++ b/human_render/Ipc/libipc/buffer.h
@@ -0,0 +1,67 @@
+#pragma once
+
+#include <cstddef>
+#include <tuple>
+#include <vector>
+#include <type_traits>
+
+#include "libipc/def.h"
+
+namespace ipc {
+
+class buffer {
+public:
+    using destructor_t = void (*)(void*, std::size_t);
+
+    buffer();
+
+    buffer(void* p, std::size_t s, destructor_t d);
+    buffer(void* p, std::size_t s, destructor_t d, void* additional);
+    buffer(void* p, std::size_t s);
+
+    template <std::size_t N>
+    explicit buffer(byte_t const (& data)[N])
+        : buffer(data, sizeof(data)) {
+    }
+    explicit buffer(char const & c);
+
+    buffer(buffer&& rhs);
+    ~buffer();
+
+    void swap(buffer& rhs);
+    buffer& operator=(buffer rhs);
+
+    bool empty() const noexcept;
+
+    void *       data()       noexcept;
+    void const * data() const noexcept;
+
+    template <typename T>
+    T get() const { return T(data()); }
+
+    std::size_t size() const noexcept;
+
+    std::tuple<void*, std::size_t> to_tuple() {
+        return std::make_tuple(data(), size());
+    }
+
+    std::tuple<void const *, std::size_t> to_tuple() const {
+        return std::make_tuple(data(), size());
+    }
+
+    std::vector<byte_t> to_vector() const {
+        return {
+            get<byte_t const *>(),
+            get<byte_t const *>() + size()
+        };
+    }
+
+    friend bool operator==(buffer const & b1, buffer const & b2);
+    friend bool operator!=(buffer const & b1, buffer const & b2);
+
+private:
+    class buffer_;
+    buffer_* p_;
+};
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/circ/elem_array.h b/human_render/Ipc/libipc/circ/elem_array.h
new file mode 100644
index 0000000..0759613
--- /dev/null
+++ b/human_render/Ipc/libipc/circ/elem_array.h
@@ -0,0 +1,141 @@
+#pragma once
+
+#include <atomic>   // std::atomic<?>
+#include <limits>
+#include <utility>
+#include <type_traits>
+
+#include "libipc/def.h"
+#include "libipc/rw_lock.h"
+
+#include "libipc/circ/elem_def.h"
+#include "libipc/platform/detail.h"
+
+namespace ipc {
+namespace circ {
+
+template <typename Policy,
+          std::size_t DataSize,
+          std::size_t AlignSize = (ipc::detail::min)(DataSize, alignof(std::max_align_t))>
+class elem_array : public ipc::circ::conn_head<Policy> {
+public:
+    using base_t   = ipc::circ::conn_head<Policy>;
+    using policy_t = Policy;
+    using cursor_t = decltype(std::declval<policy_t>().cursor());
+    using elem_t   = typename policy_t::template elem_t<DataSize, AlignSize>;
+
+    enum : std::size_t {
+        head_size  = sizeof(base_t) + sizeof(policy_t),
+        data_size  = DataSize,
+        elem_max   = (std::numeric_limits<uint_t<8>>::max)() + 1, // default is 255 + 1
+        elem_size  = sizeof(elem_t),
+        block_size = elem_size * elem_max
+    };
+
+private:
+    policy_t head_;
+    elem_t   block_[elem_max] {};
+
+    /**
+     * \remarks 'warning C4348: redefinition of default parameter' with MSVC.
+     * \see
+     *  - https://stackoverflow.com/questions/12656239/redefinition-of-default-template-parameter
+     *  - https://developercommunity.visualstudio.com/content/problem/425978/incorrect-c4348-warning-in-nested-template-declara.html
+    */
+    template <typename P, bool/* = relat_trait<P>::is_multi_producer*/>
+    struct sender_checker;
+
+    template <typename P>
+    struct sender_checker<P, true> {
+        constexpr static bool connect() noexcept {
+            // always return true
+            return true;
+        }
+        constexpr static void disconnect() noexcept {}
+    };
+
+    template <typename P>
+    struct sender_checker<P, false> {
+        bool connect() noexcept {
+            return !flag_.test_and_set(std::memory_order_acq_rel);
+        }
+        void disconnect() noexcept {
+            flag_.clear();
+        }
+
+    private:
+        // in shm, it should be 0 whether it's initialized or not.
+        std::atomic_flag flag_ = ATOMIC_FLAG_INIT;
+    };
+
+    template <typename P, bool/* = relat_trait<P>::is_multi_consumer*/>
+    struct receiver_checker;
+
+    template <typename P>
+    struct receiver_checker<P, true> {
+        constexpr static cc_t connect(base_t &conn) noexcept {
+            return conn.connect();
+        }
+        constexpr static cc_t disconnect(base_t &conn, cc_t cc_id) noexcept {
+            return conn.disconnect(cc_id);
+        }
+    };
+
+    template <typename P>
+    struct receiver_checker<P, false> : protected sender_checker<P, false> {
+        cc_t connect(base_t &conn) noexcept {
+            return sender_checker<P, false>::connect() ? conn.connect() : 0;
+        }
+        cc_t disconnect(base_t &conn, cc_t cc_id) noexcept {
+            sender_checker<P, false>::disconnect();
+            return conn.disconnect(cc_id);
+        }
+    };
+
+    sender_checker  <policy_t, relat_trait<policy_t>::is_multi_producer> s_ckr_;
+    receiver_checker<policy_t, relat_trait<policy_t>::is_multi_consumer> r_ckr_;
+
+    // make these be private
+    using base_t::connect;
+    using base_t::disconnect;
+
+public:
+    bool connect_sender() noexcept {
+        return s_ckr_.connect();
+    }
+
+    void disconnect_sender() noexcept {
+        return s_ckr_.disconnect();
+    }
+
+    cc_t connect_receiver() noexcept {
+        return r_ckr_.connect(*this);
+    }
+
+    cc_t disconnect_receiver(cc_t cc_id) noexcept {
+        return r_ckr_.disconnect(*this, cc_id);
+    }
+
+    cursor_t cursor() const noexcept {
+        return head_.cursor();
+    }
+
+    template <typename Q, typename F>
+    bool push(Q* que, F&& f) {
+        return head_.push(que, std::forward<F>(f), block_);
+    }
+
+    template <typename Q, typename F>
+    bool force_push(Q* que, F&& f) {
+        return head_.force_push(que, std::forward<F>(f), block_);
+    }
+
+    template <typename Q, typename F, typename R>
+    bool pop(Q* que, cursor_t* cur, F&& f, R&& out) {
+        if (cur == nullptr) return false;
+        return head_.pop(que, *cur, std::forward<F>(f), std::forward<R>(out), block_);
+    }
+};
+
+} // namespace circ
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/circ/elem_def.h b/human_render/Ipc/libipc/circ/elem_def.h
new file mode 100644
index 0000000..4fd5797
--- /dev/null
+++ b/human_render/Ipc/libipc/circ/elem_def.h
@@ -0,0 +1,109 @@
+#pragma once
+
+#include <atomic>
+#include <cstddef>
+#include <cstdint>
+#include <new>
+
+#include "libipc/def.h"
+#include "libipc/rw_lock.h"
+
+#include "libipc/platform/detail.h"
+
+namespace ipc {
+namespace circ {
+
+using u1_t = ipc::uint_t<8>;
+using u2_t = ipc::uint_t<32>;
+
+/** only supports max 32 connections in broadcast mode */
+using cc_t = u2_t;
+
+constexpr u1_t index_of(u2_t c) noexcept {
+    return static_cast<u1_t>(c);
+}
+
+class conn_head_base {
+protected:
+    std::atomic<cc_t> cc_{0}; // connections
+    ipc::spin_lock lc_;
+    std::atomic<bool> constructed_{false};
+
+public:
+    void init() {
+        /* DCLP */
+        if (!constructed_.load(std::memory_order_acquire)) {
+            IPC_UNUSED_ auto guard = ipc::detail::unique_lock(lc_);
+            if (!constructed_.load(std::memory_order_relaxed)) {
+                ::new (this) conn_head_base;
+                constructed_.store(true, std::memory_order_release);
+            }
+        }
+    }
+
+    conn_head_base() = default;
+    conn_head_base(conn_head_base const &) = delete;
+    conn_head_base &operator=(conn_head_base const &) = delete;
+
+    cc_t connections(std::memory_order order = std::memory_order_acquire) const noexcept {
+        return this->cc_.load(order);
+    }
+};
+
+template <typename P, bool = relat_trait<P>::is_broadcast>
+class conn_head;
+
+template <typename P>
+class conn_head<P, true> : public conn_head_base {
+public:
+    cc_t connect() noexcept {
+        for (unsigned k = 0;; ipc::yield(k)) {
+            cc_t curr = this->cc_.load(std::memory_order_acquire);
+            cc_t next = curr | (curr + 1); // find the first 0, and set it to 1.
+            if (next == 0) {
+                // connection-slot is full.
+                return 0;
+            }
+            if (this->cc_.compare_exchange_weak(curr, next, std::memory_order_release)) {
+                return next ^ curr; // return connected id
+            }
+        }
+    }
+
+    cc_t disconnect(cc_t cc_id) noexcept {
+        return this->cc_.fetch_and(~cc_id, std::memory_order_acq_rel) & ~cc_id;
+    }
+
+    std::size_t conn_count(std::memory_order order = std::memory_order_acquire) const noexcept {
+        cc_t cur = this->cc_.load(order);
+        cc_t cnt; // accumulates the total bits set in cc
+        for (cnt = 0; cur; ++cnt) cur &= cur - 1;
+        return cnt;
+    }
+};
+
+template <typename P>
+class conn_head<P, false> : public conn_head_base {
+public:
+    cc_t connect() noexcept {
+        return this->cc_.fetch_add(1, std::memory_order_relaxed) + 1;
+    }
+
+    cc_t disconnect(cc_t cc_id) noexcept {
+        if (cc_id == ~static_cast<circ::cc_t>(0u)) {
+            // clear all connections
+            this->cc_.store(0, std::memory_order_relaxed);
+            return 0u;
+        }
+        else {
+            return this->cc_.fetch_sub(1, std::memory_order_relaxed) - 1;
+        }
+    }
+
+    std::size_t conn_count(std::memory_order order = std::memory_order_acquire) const noexcept {
+        return this->connections(order);
+    }
+};
+
+} // namespace circ
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/condition.h b/human_render/Ipc/libipc/condition.h
new file mode 100644
index 0000000..2191f2d
--- /dev/null
+++ b/human_render/Ipc/libipc/condition.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include <cstdint>  // std::uint64_t
+
+#include "libipc/def.h"
+#include "libipc/mutex.h"
+
+namespace ipc {
+namespace sync {
+
+class condition {
+    condition(condition const &) = delete;
+    condition &operator=(condition const &) = delete;
+
+public:
+    condition();
+    explicit condition(char const *name);
+    ~condition();
+
+    void const *native() const noexcept;
+    void *native() noexcept;
+
+    bool valid() const noexcept;
+
+    bool open(char const *name) noexcept;
+    void close() noexcept;
+
+    bool wait(ipc::sync::mutex &mtx, std::uint64_t tm = ipc::invalid_value) noexcept;
+    bool notify(ipc::sync::mutex &mtx) noexcept;
+    bool broadcast(ipc::sync::mutex &mtx) noexcept;
+
+private:
+    class condition_;
+    condition_* p_;
+};
+
+} // namespace sync
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/def.h b/human_render/Ipc/libipc/def.h
new file mode 100644
index 0000000..45cd780
--- /dev/null
+++ b/human_render/Ipc/libipc/def.h
@@ -0,0 +1,73 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <limits>       // std::numeric_limits
+#include <new>
+#include <utility>
+
+namespace ipc {
+
+// types
+
+using byte_t = std::uint8_t;
+
+template <std::size_t N>
+struct uint;
+
+template <> struct uint<8 > { using type = std::uint8_t ; };
+template <> struct uint<16> { using type = std::uint16_t; };
+template <> struct uint<32> { using type = std::uint32_t; };
+template <> struct uint<64> { using type = std::uint64_t; };
+
+template <std::size_t N>
+using uint_t = typename uint<N>::type;
+
+// constants
+
+enum : std::uint32_t {
+    invalid_value   = (std::numeric_limits<std::uint32_t>::max)(),
+    default_timeout = 100, // ms
+};
+
+enum : std::size_t {
+    data_length     = 64,
+    large_msg_limit = data_length,
+    large_msg_align = 1024,
+    large_msg_cache = 32,
+};
+
+enum class relat { // multiplicity of the relationship
+    single,
+    multi
+};
+
+enum class trans { // transmission
+    unicast,
+    broadcast
+};
+
+// producer-consumer policy flag
+
+template <relat Rp, relat Rc, trans Ts>
+struct wr {};
+
+template <typename WR>
+struct relat_trait;
+
+template <relat Rp, relat Rc, trans Ts>
+struct relat_trait<wr<Rp, Rc, Ts>> {
+    constexpr static bool is_multi_producer = (Rp == relat::multi);
+    constexpr static bool is_multi_consumer = (Rc == relat::multi);
+    constexpr static bool is_broadcast      = (Ts == trans::broadcast);
+};
+
+template <template <typename> class Policy, typename Flag>
+struct relat_trait<Policy<Flag>> : relat_trait<Flag> {};
+
+// the prefix tag of a channel
+struct prefix {
+    char const *str;
+};
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/ipc.cpp b/human_render/Ipc/libipc/ipc.cpp
new file mode 100644
index 0000000..5b086fb
--- /dev/null
+++ b/human_render/Ipc/libipc/ipc.cpp
@@ -0,0 +1,778 @@
+
+#include <type_traits>
+#include <cstring>
+#include <algorithm>
+#include <utility>          // std::pair, std::move, std::forward
+#include <atomic>
+#include <type_traits>      // aligned_storage_t
+#include <string>
+#include <vector>
+#include <array>
+#include <cassert>
+#include <mutex>
+
+#include "libipc/ipc.h"
+#include "libipc/def.h"
+#include "libipc/shm.h"
+#include "libipc/pool_alloc.h"
+#include "libipc/queue.h"
+#include "libipc/policy.h"
+#include "libipc/rw_lock.h"
+#include "libipc/waiter.h"
+
+#include "libipc/utility/log.h"
+#include "libipc/utility/id_pool.h"
+#include "libipc/utility/scope_guard.h"
+#include "libipc/utility/utility.h"
+
+#include "libipc/memory/resource.h"
+#include "libipc/platform/detail.h"
+#include "libipc/circ/elem_array.h"
+
+namespace {
+
+using msg_id_t = std::uint32_t;
+using acc_t    = std::atomic<msg_id_t>;
+
+template <std::size_t DataSize, std::size_t AlignSize>
+struct msg_t;
+
+template <std::size_t AlignSize>
+struct msg_t<0, AlignSize> {
+    msg_id_t     cc_id_;
+    msg_id_t     id_;
+    std::int32_t remain_;
+    bool         storage_;
+};
+
+template <std::size_t DataSize, std::size_t AlignSize>
+struct msg_t : msg_t<0, AlignSize> {
+    std::aligned_storage_t<DataSize, AlignSize> data_ {};
+
+    msg_t() = default;
+    msg_t(msg_id_t cc_id, msg_id_t id, std::int32_t remain, void const * data, std::size_t size)
+        : msg_t<0, AlignSize> {cc_id, id, remain, (data == nullptr) || (size == 0)} {
+        if (this->storage_) {
+            if (data != nullptr) {
+                // copy storage-id
+                *reinterpret_cast<ipc::storage_id_t*>(&data_) =
+                     *static_cast<ipc::storage_id_t const *>(data);
+            }
+        }
+        else std::memcpy(&data_, data, size);
+    }
+};
+
+template <typename T>
+ipc::buff_t make_cache(T& data, std::size_t size) {
+    auto ptr = ipc::mem::alloc(size);
+    std::memcpy(ptr, &data, (ipc::detail::min)(sizeof(data), size));
+    return { ptr, size, ipc::mem::free };
+}
+
+acc_t *cc_acc(ipc::string const &pref) {
+    static ipc::unordered_map<ipc::string, ipc::shm::handle> handles;
+    static std::mutex lock;
+    std::lock_guard<std::mutex> guard {lock};
+    auto it = handles.find(pref);
+    if (it == handles.end()) {
+        ipc::string shm_name {ipc::make_prefix(pref, {"CA_CONN__"})};
+        ipc::shm::handle h;
+        if (!h.acquire(shm_name.c_str(), sizeof(acc_t))) {
+            ipc::error("[cc_acc] acquire failed: %s\n", shm_name.c_str());
+            return nullptr;
+        }
+        it = handles.emplace(pref, std::move(h)).first;
+    }
+    return static_cast<acc_t *>(it->second.get());
+}
+
+struct cache_t {
+    std::size_t fill_;
+    ipc::buff_t buff_;
+
+    cache_t(std::size_t f, ipc::buff_t && b)
+        : fill_(f), buff_(std::move(b))
+    {}
+
+    void append(void const * data, std::size_t size) {
+        if (fill_ >= buff_.size() || data == nullptr || size == 0) return;
+        auto new_fill = (ipc::detail::min)(fill_ + size, buff_.size());
+        std::memcpy(static_cast<ipc::byte_t*>(buff_.data()) + fill_, data, new_fill - fill_);
+        fill_ = new_fill;
+    }
+};
+
+struct conn_info_head {
+
+    ipc::string prefix_;
+    ipc::string name_;
+    msg_id_t    cc_id_; // connection-info id
+    ipc::detail::waiter cc_waiter_, wt_waiter_, rd_waiter_;
+    ipc::shm::handle acc_h_;
+
+    conn_info_head(char const * prefix, char const * name)
+        : prefix_{ipc::make_string(prefix)}
+        , name_  {ipc::make_string(name)}
+        , cc_id_ {} {}
+
+    void init() {
+        if (!cc_waiter_.valid()) cc_waiter_.open(ipc::make_prefix(prefix_, {"CC_CONN__", name_}).c_str());
+        if (!wt_waiter_.valid()) wt_waiter_.open(ipc::make_prefix(prefix_, {"WT_CONN__", name_}).c_str());
+        if (!rd_waiter_.valid()) rd_waiter_.open(ipc::make_prefix(prefix_, {"RD_CONN__", name_}).c_str());
+        if (!acc_h_.valid()) acc_h_.acquire(ipc::make_prefix(prefix_, {"AC_CONN__", name_}).c_str(), sizeof(acc_t));
+        if (cc_id_ != 0) {
+            return;
+        }
+        acc_t *pacc = cc_acc(prefix_);
+        if (pacc == nullptr) {
+            // Failed to obtain the global accumulator.
+            return;
+        }
+        cc_id_ = pacc->fetch_add(1, std::memory_order_relaxed) + 1;
+        if (cc_id_ == 0) {
+            // The identity cannot be 0.
+            cc_id_ = pacc->fetch_add(1, std::memory_order_relaxed) + 1;
+        }
+    }
+
+    void quit_waiting() {
+        cc_waiter_.quit_waiting();
+        wt_waiter_.quit_waiting();
+        rd_waiter_.quit_waiting();
+    }
+
+    auto acc() {
+        return static_cast<acc_t*>(acc_h_.get());
+    }
+
+    auto& recv_cache() {
+        thread_local ipc::unordered_map<msg_id_t, cache_t> tls;
+        return tls;
+    }
+};
+
+IPC_CONSTEXPR_ std::size_t align_chunk_size(std::size_t size) noexcept {
+    return (((size - 1) / ipc::large_msg_align) + 1) * ipc::large_msg_align;
+}
+
+IPC_CONSTEXPR_ std::size_t calc_chunk_size(std::size_t size) noexcept {
+    return ipc::make_align(alignof(std::max_align_t), align_chunk_size(
+           ipc::make_align(alignof(std::max_align_t), sizeof(std::atomic<ipc::circ::cc_t>)) + size));
+}
+
+struct chunk_t {
+    std::atomic<ipc::circ::cc_t> &conns() noexcept {
+        return *reinterpret_cast<std::atomic<ipc::circ::cc_t> *>(this);
+    }
+
+    void *data() noexcept {
+        return reinterpret_cast<ipc::byte_t *>(this)
+             + ipc::make_align(alignof(std::max_align_t), sizeof(std::atomic<ipc::circ::cc_t>));
+    }
+};
+
+struct chunk_info_t {
+    ipc::id_pool<> pool_;
+    ipc::spin_lock lock_;
+
+    IPC_CONSTEXPR_ static std::size_t chunks_mem_size(std::size_t chunk_size) noexcept {
+        return ipc::id_pool<>::max_count * chunk_size;
+    }
+
+    ipc::byte_t *chunks_mem() noexcept {
+        return reinterpret_cast<ipc::byte_t *>(this + 1);
+    }
+
+    chunk_t *at(std::size_t chunk_size, ipc::storage_id_t id) noexcept {
+        if (id < 0) return nullptr;
+        return reinterpret_cast<chunk_t *>(chunks_mem() + (chunk_size * id));
+    }
+};
+
+auto& chunk_storages() {
+    class chunk_handle_t {
+        ipc::unordered_map<ipc::string, ipc::shm::handle> handles_;
+        std::mutex lock_;
+
+        static bool make_handle(ipc::shm::handle &h, ipc::string const &shm_name, std::size_t chunk_size) {
+            if (!h.valid() &&
+                !h.acquire( shm_name.c_str(), 
+                            sizeof(chunk_info_t) + chunk_info_t::chunks_mem_size(chunk_size) )) {
+                ipc::error("[chunk_storages] chunk_shm.id_info_.acquire failed: chunk_size = %zd\n", chunk_size);
+                return false;
+            }
+            return true;
+        }
+
+    public:
+        chunk_info_t *get_info(conn_info_head *inf, std::size_t chunk_size) {
+            ipc::string pref {(inf == nullptr) ? ipc::string{} : inf->prefix_};
+            ipc::string shm_name {ipc::make_prefix(pref, {"CHUNK_INFO__", ipc::to_string(chunk_size)})};
+            ipc::shm::handle *h;
+            {
+                std::lock_guard<std::mutex> guard {lock_};
+                h = &(handles_[pref]);
+                if (!make_handle(*h, shm_name, chunk_size)) {
+                    return nullptr;
+                }
+            }
+            auto *info = static_cast<chunk_info_t*>(h->get());
+            if (info == nullptr) {
+                ipc::error("[chunk_storages] chunk_shm.id_info_.get failed: chunk_size = %zd\n", chunk_size);
+                return nullptr;
+            }
+            return info;
+        }
+    };
+    using deleter_t = void (*)(chunk_handle_t*);
+    using chunk_handle_ptr_t = std::unique_ptr<chunk_handle_t, deleter_t>;
+    static ipc::map<std::size_t, chunk_handle_ptr_t> chunk_hs;
+    return chunk_hs;
+}
+
+chunk_info_t *chunk_storage_info(conn_info_head *inf, std::size_t chunk_size) {
+    auto &storages = chunk_storages();
+    std::decay_t<decltype(storages)>::iterator it;
+    {
+        static ipc::rw_lock lock;
+        IPC_UNUSED_ std::shared_lock<ipc::rw_lock> guard {lock};
+        if ((it = storages.find(chunk_size)) == storages.end()) {
+            using chunk_handle_ptr_t = std::decay_t<decltype(storages)>::value_type::second_type;
+            using chunk_handle_t     = chunk_handle_ptr_t::element_type;
+            guard.unlock();
+            IPC_UNUSED_ std::lock_guard<ipc::rw_lock> guard {lock};
+            it = storages.emplace(chunk_size, chunk_handle_ptr_t{
+                ipc::mem::alloc<chunk_handle_t>(), [](chunk_handle_t *p) {
+                    ipc::mem::destruct(p);
+                }}).first;
+        }
+    }
+    return it->second->get_info(inf, chunk_size);
+}
+
+std::pair<ipc::storage_id_t, void*> acquire_storage(conn_info_head *inf, std::size_t size, ipc::circ::cc_t conns) {
+    std::size_t chunk_size = calc_chunk_size(size);
+    auto info = chunk_storage_info(inf, chunk_size);
+    if (info == nullptr) return {};
+
+    info->lock_.lock();
+    info->pool_.prepare();
+    // got an unique id
+    auto id = info->pool_.acquire();
+    info->lock_.unlock();
+
+    auto chunk = info->at(chunk_size, id);
+    if (chunk == nullptr) return {};
+    chunk->conns().store(conns, std::memory_order_relaxed);
+    return { id, chunk->data() };
+}
+
+void *find_storage(ipc::storage_id_t id, conn_info_head *inf, std::size_t size) {
+    if (id < 0) {
+        ipc::error("[find_storage] id is invalid: id = %ld, size = %zd\n", (long)id, size);
+        return nullptr;
+    }
+    std::size_t chunk_size = calc_chunk_size(size);
+    auto info = chunk_storage_info(inf, chunk_size);
+    if (info == nullptr) return nullptr;
+    return info->at(chunk_size, id)->data();
+}
+
+void release_storage(ipc::storage_id_t id, conn_info_head *inf, std::size_t size) {
+    if (id < 0) {
+        ipc::error("[release_storage] id is invalid: id = %ld, size = %zd\n", (long)id, size);
+        return;
+    }
+    std::size_t chunk_size = calc_chunk_size(size);
+    auto info = chunk_storage_info(inf, chunk_size);
+    if (info == nullptr) return;
+    info->lock_.lock();
+    info->pool_.release(id);
+    info->lock_.unlock();
+}
+
+template <ipc::relat Rp, ipc::relat Rc>
+bool sub_rc(ipc::wr<Rp, Rc, ipc::trans::unicast>, 
+            std::atomic<ipc::circ::cc_t> &/*conns*/, ipc::circ::cc_t /*curr_conns*/, ipc::circ::cc_t /*conn_id*/) noexcept {
+    return true;
+}
+
+template <ipc::relat Rp, ipc::relat Rc>
+bool sub_rc(ipc::wr<Rp, Rc, ipc::trans::broadcast>, 
+            std::atomic<ipc::circ::cc_t> &conns, ipc::circ::cc_t curr_conns, ipc::circ::cc_t conn_id) noexcept {
+    auto last_conns = curr_conns & ~conn_id;
+    for (unsigned k = 0;;) {
+        auto chunk_conns  = conns.load(std::memory_order_acquire);
+        if (conns.compare_exchange_weak(chunk_conns, chunk_conns & last_conns, std::memory_order_release)) {
+            return (chunk_conns & last_conns) == 0;
+        }
+        ipc::yield(k);
+    }
+}
+
+template <typename Flag>
+void recycle_storage(ipc::storage_id_t id, conn_info_head *inf, std::size_t size, ipc::circ::cc_t curr_conns, ipc::circ::cc_t conn_id) {
+    if (id < 0) {
+        ipc::error("[recycle_storage] id is invalid: id = %ld, size = %zd\n", (long)id, size);
+        return;
+    }
+    std::size_t chunk_size = calc_chunk_size(size);
+    auto info = chunk_storage_info(inf, chunk_size);
+    if (info == nullptr) return;
+
+    auto chunk = info->at(chunk_size, id);
+    if (chunk == nullptr) return;
+
+    if (!sub_rc(Flag{}, chunk->conns(), curr_conns, conn_id)) {
+        return;
+    }
+    info->lock_.lock();
+    info->pool_.release(id);
+    info->lock_.unlock();
+}
+
+template <typename MsgT>
+bool clear_message(conn_info_head *inf, void* p) {
+    auto msg = static_cast<MsgT*>(p);
+    if (msg->storage_) {
+        std::int32_t r_size = static_cast<std::int32_t>(ipc::data_length) + msg->remain_;
+        if (r_size <= 0) {
+            ipc::error("[clear_message] invalid msg size: %d\n", (int)r_size);
+            return true;
+        }
+        release_storage(*reinterpret_cast<ipc::storage_id_t*>(&msg->data_),
+                        inf, static_cast<std::size_t>(r_size));
+    }
+    return true;
+}
+
+template <typename W, typename F>
+bool wait_for(W& waiter, F&& pred, std::uint64_t tm) {
+    if (tm == 0) return !pred();
+    for (unsigned k = 0; pred();) {
+        bool ret = true;
+        ipc::sleep(k, [&k, &ret, &waiter, &pred, tm] {
+            ret = waiter.wait_if(std::forward<F>(pred), tm);
+            k   = 0;
+        });
+        if (!ret) return false; // timeout or fail
+        if (k == 0) break; // k has been reset
+    }
+    return true;
+}
+
+template <typename Policy,
+          std::size_t DataSize  = ipc::data_length,
+          std::size_t AlignSize = (ipc::detail::min)(DataSize, alignof(std::max_align_t))>
+struct queue_generator {
+
+    using queue_t = ipc::queue<msg_t<DataSize, AlignSize>, Policy>;
+
+    struct conn_info_t : conn_info_head {
+        queue_t que_;
+
+        conn_info_t(char const * pref, char const * name)
+            : conn_info_head{pref, name} { init(); }
+
+        void init() {
+            conn_info_head::init();
+            if (!que_.valid()) {
+                que_.open(ipc::make_prefix(prefix_, {
+                          "QU_CONN__",
+                          ipc::to_string(DataSize), "__",
+                          ipc::to_string(AlignSize), "__", 
+                          this->name_}).c_str());
+            }
+        }
+
+        void disconnect_receiver() {
+            bool dis = que_.disconnect();
+            this->quit_waiting();
+            if (dis) {
+                this->recv_cache().clear();
+            }
+        }
+    };
+};
+
+template <typename Policy>
+struct detail_impl {
+
+using policy_t    = Policy;
+using flag_t      = typename policy_t::flag_t;
+using queue_t     = typename queue_generator<policy_t>::queue_t;
+using conn_info_t = typename queue_generator<policy_t>::conn_info_t;
+
+constexpr static conn_info_t* info_of(ipc::handle_t h) noexcept {
+    return static_cast<conn_info_t*>(h);
+}
+
+constexpr static queue_t* queue_of(ipc::handle_t h) noexcept {
+    return (info_of(h) == nullptr) ? nullptr : &(info_of(h)->que_);
+}
+
+/* API implementations */
+
+static bool connect(ipc::handle_t * ph, ipc::prefix pref, char const * name, bool start_to_recv) {
+    assert(ph != nullptr);
+    if (*ph == nullptr) {
+        *ph = ipc::mem::alloc<conn_info_t>(pref.str, name);
+    }
+    return reconnect(ph, start_to_recv);
+}
+
+static bool connect(ipc::handle_t * ph, char const * name, bool start_to_recv) {
+    return connect(ph, {nullptr}, name, start_to_recv);
+}
+
+static void disconnect(ipc::handle_t h) {
+    auto que = queue_of(h);
+    if (que == nullptr) {
+        return;
+    }
+    que->shut_sending();
+    assert(info_of(h) != nullptr);
+    info_of(h)->disconnect_receiver();
+}
+
+static bool reconnect(ipc::handle_t * ph, bool start_to_recv) {
+    assert(ph != nullptr);
+    assert(*ph != nullptr);
+    auto que = queue_of(*ph);
+    if (que == nullptr) {
+        return false;
+    }
+    info_of(*ph)->init();
+    if (start_to_recv) {
+        que->shut_sending();
+        if (que->connect()) { // wouldn't connect twice
+            info_of(*ph)->cc_waiter_.broadcast();
+            return true;
+        }
+        return false;
+    }
+    // start_to_recv == false
+    if (que->connected()) {
+        info_of(*ph)->disconnect_receiver();
+    }
+    return que->ready_sending();
+}
+
+static void destroy(ipc::handle_t h) {
+    disconnect(h);
+    ipc::mem::free(info_of(h));
+}
+
+static std::size_t recv_count(ipc::handle_t h) noexcept {
+    auto que = queue_of(h);
+    if (que == nullptr) {
+        return ipc::invalid_value;
+    }
+    return que->conn_count();
+}
+
+static bool wait_for_recv(ipc::handle_t h, std::size_t r_count, std::uint64_t tm) {
+    auto que = queue_of(h);
+    if (que == nullptr) {
+        return false;
+    }
+    return wait_for(info_of(h)->cc_waiter_, [que, r_count] {
+        return que->conn_count() < r_count;
+    }, tm);
+}
+
+template <typename F>
+static bool send(F&& gen_push, ipc::handle_t h, void const * data, std::size_t size) {
+    if (data == nullptr || size == 0) {
+        ipc::error("fail: send(%p, %zd)\n", data, size);
+        return false;
+    }
+    auto que = queue_of(h);
+    if (que == nullptr) {
+        ipc::error("fail: send, queue_of(h) == nullptr\n");
+        return false;
+    }
+    if (que->elems() == nullptr) {
+        ipc::error("fail: send, queue_of(h)->elems() == nullptr\n");
+        return false;
+    }
+    if (!que->ready_sending()) {
+        ipc::error("fail: send, que->ready_sending() == false\n");
+        return false;
+    }
+    ipc::circ::cc_t conns = que->elems()->connections(std::memory_order_relaxed);
+    if (conns == 0) {
+        ipc::error("fail: send, there is no receiver on this connection.\n");
+        return false;
+    }
+    // calc a new message id
+    conn_info_t *inf = info_of(h);
+    auto acc = inf->acc();
+    if (acc == nullptr) {
+        ipc::error("fail: send, info_of(h)->acc() == nullptr\n");
+        return false;
+    }
+    auto msg_id   = acc->fetch_add(1, std::memory_order_relaxed);
+    auto try_push = std::forward<F>(gen_push)(inf, que, msg_id);
+    if (size > ipc::large_msg_limit) {
+        auto   dat = acquire_storage(inf, size, conns);
+        void * buf = dat.second;
+        if (buf != nullptr) {
+            std::memcpy(buf, data, size);
+            return try_push(static_cast<std::int32_t>(size) - 
+                            static_cast<std::int32_t>(ipc::data_length), &(dat.first), 0);
+        }
+        // try using message fragment
+        //ipc::log("fail: shm::handle for big message. msg_id: %zd, size: %zd\n", msg_id, size);
+    }
+    // push message fragment
+    std::int32_t offset = 0;
+    for (std::int32_t i = 0; i < static_cast<std::int32_t>(size / ipc::data_length); ++i, offset += ipc::data_length) {
+        if (!try_push(static_cast<std::int32_t>(size) - offset - static_cast<std::int32_t>(ipc::data_length),
+                      static_cast<ipc::byte_t const *>(data) + offset, ipc::data_length)) {
+            return false;
+        }
+    }
+    // if remain > 0, this is the last message fragment
+    std::int32_t remain = static_cast<std::int32_t>(size) - offset;
+    if (remain > 0) {
+        if (!try_push(remain - static_cast<std::int32_t>(ipc::data_length),
+                      static_cast<ipc::byte_t const *>(data) + offset, 
+                      static_cast<std::size_t>(remain))) {
+            return false;
+        }
+    }
+    return true;
+}
+
+static bool send(ipc::handle_t h, void const * data, std::size_t size, std::uint64_t tm) {
+    return send([tm](auto *info, auto *que, auto msg_id) {
+        return [tm, info, que, msg_id](std::int32_t remain, void const * data, std::size_t size) {
+            if (!wait_for(info->wt_waiter_, [&] {
+                    return !que->push(
+                        [](void*) { return true; },
+                        info->cc_id_, msg_id, remain, data, size);
+                }, tm)) {
+                ipc::log("force_push: msg_id = %zd, remain = %d, size = %zd\n", msg_id, remain, size);
+                if (!que->force_push(
+                        [info](void* p) { return clear_message<typename queue_t::value_t>(info, p); },
+                        info->cc_id_, msg_id, remain, data, size)) {
+                    return false;
+                }
+            }
+            info->rd_waiter_.broadcast();
+            return true;
+        };
+    }, h, data, size);
+}
+
+static bool try_send(ipc::handle_t h, void const * data, std::size_t size, std::uint64_t tm) {
+    return send([tm](auto *info, auto *que, auto msg_id) {
+        return [tm, info, que, msg_id](std::int32_t remain, void const * data, std::size_t size) {
+            if (!wait_for(info->wt_waiter_, [&] {
+                    return !que->push(
+                        [](void*) { return true; },
+                        info->cc_id_, msg_id, remain, data, size);
+                }, tm)) {
+                return false;
+            }
+            info->rd_waiter_.broadcast();
+            return true;
+        };
+    }, h, data, size);
+}
+
+static ipc::buff_t recv(ipc::handle_t h, std::uint64_t tm) {
+    auto que = queue_of(h);
+    if (que == nullptr) {
+        ipc::error("fail: recv, queue_of(h) == nullptr\n");
+        return {};
+    }
+    if (!que->connected()) {
+        // hasn't connected yet, just return.
+        return {};
+    }
+    conn_info_t *inf = info_of(h);
+    auto& rc = inf->recv_cache();
+    for (;;) {
+        // pop a new message
+        typename queue_t::value_t msg {};
+        if (!wait_for(inf->rd_waiter_, [que, &msg] {
+                return !que->pop(msg);
+            }, tm)) {
+            // pop failed, just return.
+            return {};
+        }
+        inf->wt_waiter_.broadcast();
+        if ((inf->acc() != nullptr) && (msg.cc_id_ == inf->cc_id_)) {
+            continue; // ignore message to self
+        }
+        // msg.remain_ may minus & abs(msg.remain_) < data_length
+        std::int32_t r_size = static_cast<std::int32_t>(ipc::data_length) + msg.remain_;
+        if (r_size <= 0) {
+            ipc::error("fail: recv, r_size = %d\n", (int)r_size);
+            return {};
+        }
+        std::size_t msg_size = static_cast<std::size_t>(r_size);
+        // large message
+        if (msg.storage_) {
+            ipc::storage_id_t buf_id = *reinterpret_cast<ipc::storage_id_t*>(&msg.data_);
+            void* buf = find_storage(buf_id, inf, msg_size);
+            if (buf != nullptr) {
+                struct recycle_t {
+                    ipc::storage_id_t storage_id;
+                    conn_info_t *     inf;
+                    ipc::circ::cc_t   curr_conns;
+                    ipc::circ::cc_t   conn_id;
+                } *r_info = ipc::mem::alloc<recycle_t>(recycle_t{
+                    buf_id, 
+                    inf, 
+                    que->elems()->connections(std::memory_order_relaxed), 
+                    que->connected_id()
+                });
+                if (r_info == nullptr) {
+                    ipc::log("fail: ipc::mem::alloc<recycle_t>.\n");
+                    return ipc::buff_t{buf, msg_size}; // no recycle
+                } else {
+                    return ipc::buff_t{buf, msg_size, [](void* p_info, std::size_t size) {
+                        auto r_info = static_cast<recycle_t *>(p_info);
+                        IPC_UNUSED_ auto finally = ipc::guard([r_info] {
+                            ipc::mem::free(r_info);
+                        });
+                        recycle_storage<flag_t>(r_info->storage_id, 
+                                                r_info->inf, 
+                                                size, 
+                                                r_info->curr_conns, 
+                                                r_info->conn_id);
+                    }, r_info};
+                }
+            } else {
+                ipc::log("fail: shm::handle for large message. msg_id: %zd, buf_id: %zd, size: %zd\n", msg.id_, buf_id, msg_size);
+                continue;
+            }
+        }
+        // find cache with msg.id_
+        auto cac_it = rc.find(msg.id_);
+        if (cac_it == rc.end()) {
+            if (msg_size <= ipc::data_length) {
+                return make_cache(msg.data_, msg_size);
+            }
+            // gc
+            if (rc.size() > 1024) {
+                std::vector<msg_id_t> need_del;
+                for (auto const & pair : rc) {
+                    auto cmp = std::minmax(msg.id_, pair.first);
+                    if (cmp.second - cmp.first > 8192) {
+                        need_del.push_back(pair.first);
+                    }
+                }
+                for (auto id : need_del) rc.erase(id);
+            }
+            // cache the first message fragment
+            rc.emplace(msg.id_, cache_t { ipc::data_length, make_cache(msg.data_, msg_size) });
+        }
+        // has cached before this message
+        else {
+            auto& cac = cac_it->second;
+            // this is the last message fragment
+            if (msg.remain_ <= 0) {
+                cac.append(&(msg.data_), msg_size);
+                // finish this message, erase it from cache
+                auto buff = std::move(cac.buff_);
+                rc.erase(cac_it);
+                return buff;
+            }
+            // there are remain datas after this message
+            cac.append(&(msg.data_), ipc::data_length);
+        }
+    }
+}
+
+static ipc::buff_t try_recv(ipc::handle_t h) {
+    return recv(h, 0);
+}
+
+}; // detail_impl<Policy>
+
+template <typename Flag>
+using policy_t = ipc::policy::choose<ipc::circ::elem_array, Flag>;
+
+} // internal-linkage
+
+namespace ipc {
+
+template <typename Flag>
+ipc::handle_t chan_impl<Flag>::inited() {
+    ipc::detail::waiter::init();
+    return nullptr;
+}
+
+template <typename Flag>
+bool chan_impl<Flag>::connect(ipc::handle_t * ph, char const * name, unsigned mode) {
+    return detail_impl<policy_t<Flag>>::connect(ph, name, mode & receiver);
+}
+
+template <typename Flag>
+bool chan_impl<Flag>::connect(ipc::handle_t * ph, prefix pref, char const * name, unsigned mode) {
+    return detail_impl<policy_t<Flag>>::connect(ph, pref, name, mode & receiver);
+}
+
+template <typename Flag>
+bool chan_impl<Flag>::reconnect(ipc::handle_t * ph, unsigned mode) {
+    return detail_impl<policy_t<Flag>>::reconnect(ph, mode & receiver);
+}
+
+template <typename Flag>
+void chan_impl<Flag>::disconnect(ipc::handle_t h) {
+    detail_impl<policy_t<Flag>>::disconnect(h);
+}
+
+template <typename Flag>
+void chan_impl<Flag>::destroy(ipc::handle_t h) {
+    detail_impl<policy_t<Flag>>::destroy(h);
+}
+
+template <typename Flag>
+char const * chan_impl<Flag>::name(ipc::handle_t h) {
+    auto *info = detail_impl<policy_t<Flag>>::info_of(h);
+    return (info == nullptr) ? nullptr : info->name_.c_str();
+}
+
+template <typename Flag>
+std::size_t chan_impl<Flag>::recv_count(ipc::handle_t h) {
+    return detail_impl<policy_t<Flag>>::recv_count(h);
+}
+
+template <typename Flag>
+bool chan_impl<Flag>::wait_for_recv(ipc::handle_t h, std::size_t r_count, std::uint64_t tm) {
+    return detail_impl<policy_t<Flag>>::wait_for_recv(h, r_count, tm);
+}
+
+template <typename Flag>
+bool chan_impl<Flag>::send(ipc::handle_t h, void const * data, std::size_t size, std::uint64_t tm) {
+    return detail_impl<policy_t<Flag>>::send(h, data, size, tm);
+}
+
+template <typename Flag>
+buff_t chan_impl<Flag>::recv(ipc::handle_t h, std::uint64_t tm) {
+    return detail_impl<policy_t<Flag>>::recv(h, tm);
+}
+
+template <typename Flag>
+bool chan_impl<Flag>::try_send(ipc::handle_t h, void const * data, std::size_t size, std::uint64_t tm) {
+    return detail_impl<policy_t<Flag>>::try_send(h, data, size, tm);
+}
+
+template <typename Flag>
+buff_t chan_impl<Flag>::try_recv(ipc::handle_t h) {
+    return detail_impl<policy_t<Flag>>::try_recv(h);
+}
+
+template struct chan_impl<ipc::wr<relat::single, relat::single, trans::unicast  >>;
+// template struct chan_impl<ipc::wr<relat::single, relat::multi , trans::unicast  >>; // TBD
+// template struct chan_impl<ipc::wr<relat::multi , relat::multi , trans::unicast  >>; // TBD
+template struct chan_impl<ipc::wr<relat::single, relat::multi , trans::broadcast>>;
+template struct chan_impl<ipc::wr<relat::multi , relat::multi , trans::broadcast>>;
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/ipc.h b/human_render/Ipc/libipc/ipc.h
new file mode 100644
index 0000000..fc95ce2
--- /dev/null
+++ b/human_render/Ipc/libipc/ipc.h
@@ -0,0 +1,199 @@
+#pragma once
+
+#include <string>
+
+#include "libipc/def.h"
+#include "libipc/buffer.h"
+#include "libipc/shm.h"
+
+namespace ipc {
+
+using handle_t = void*;
+using buff_t   = buffer;
+
+enum : unsigned {
+    sender,
+    receiver
+};
+
+template <typename Flag>
+struct chan_impl {
+    static ipc::handle_t inited();
+
+    static bool connect   (ipc::handle_t * ph, char const * name, unsigned mode);
+    static bool connect   (ipc::handle_t * ph, prefix, char const * name, unsigned mode);
+    static bool reconnect (ipc::handle_t * ph, unsigned mode);
+    static void disconnect(ipc::handle_t h);
+    static void destroy   (ipc::handle_t h);
+
+    static char const * name(ipc::handle_t h);
+
+    static std::size_t recv_count(ipc::handle_t h);
+    static bool wait_for_recv(ipc::handle_t h, std::size_t r_count, std::uint64_t tm);
+
+    static bool   send(ipc::handle_t h, void const * data, std::size_t size, std::uint64_t tm);
+    static buff_t recv(ipc::handle_t h, std::uint64_t tm);
+
+    static bool   try_send(ipc::handle_t h, void const * data, std::size_t size, std::uint64_t tm);
+    static buff_t try_recv(ipc::handle_t h);
+};
+
+template <typename Flag>
+class chan_wrapper {
+private:
+    using detail_t = chan_impl<Flag>;
+
+    ipc::handle_t h_ = detail_t::inited();
+    unsigned mode_   = ipc::sender;
+    bool connected_  = false;
+
+public:
+    chan_wrapper() noexcept = default;
+
+    explicit chan_wrapper(char const * name, unsigned mode = ipc::sender)
+        : connected_{this->connect(name, mode)} {
+    }
+
+    chan_wrapper(prefix pref, char const * name, unsigned mode = ipc::sender)
+        : connected_{this->connect(pref, name, mode)} {
+    }
+
+    chan_wrapper(chan_wrapper&& rhs) noexcept
+        : chan_wrapper{} {
+        swap(rhs);
+    }
+
+    ~chan_wrapper() {
+        detail_t::destroy(h_);
+    }
+
+    void swap(chan_wrapper& rhs) noexcept {
+        std::swap(h_        , rhs.h_);
+        std::swap(mode_     , rhs.mode_);
+        std::swap(connected_, rhs.connected_);
+    }
+
+    chan_wrapper& operator=(chan_wrapper rhs) noexcept {
+        swap(rhs);
+        return *this;
+    }
+
+    char const * name() const noexcept {
+        return detail_t::name(h_);
+    }
+
+    ipc::handle_t handle() const noexcept {
+        return h_;
+    }
+
+    bool valid() const noexcept {
+        return (handle() != nullptr);
+    }
+
+    unsigned mode() const noexcept {
+        return mode_;
+    }
+
+    chan_wrapper clone() const {
+        return chan_wrapper { name(), mode_ };
+    }
+
+    /**
+     * Building handle, then try connecting with name & mode flags.
+    */
+    bool connect(char const * name, unsigned mode = ipc::sender | ipc::receiver) {
+        if (name == nullptr || name[0] == '\0') return false;
+        detail_t::disconnect(h_); // clear old connection
+        return connected_ = detail_t::connect(&h_, name, mode_ = mode);
+    }
+    bool connect(prefix pref, char const * name, unsigned mode = ipc::sender | ipc::receiver) {
+        if (name == nullptr || name[0] == '\0') return false;
+        detail_t::disconnect(h_); // clear old connection
+        return connected_ = detail_t::connect(&h_, pref, name, mode_ = mode);
+    }
+
+    /**
+     * Try connecting with new mode flags.
+    */
+    bool reconnect(unsigned mode) {
+        if (!valid()) return false;
+        if (connected_ && (mode_ == mode)) return true;
+        return connected_ = detail_t::reconnect(&h_, mode_ = mode);
+    }
+
+    void disconnect() {
+        if (!valid()) return;
+        detail_t::disconnect(h_);
+        connected_ = false;
+    }
+
+    std::size_t recv_count() const {
+        return detail_t::recv_count(h_);
+    }
+
+    bool wait_for_recv(std::size_t r_count, std::uint64_t tm = invalid_value) const {
+        return detail_t::wait_for_recv(h_, r_count, tm);
+    }
+
+    static bool wait_for_recv(char const * name, std::size_t r_count, std::uint64_t tm = invalid_value) {
+        return chan_wrapper(name).wait_for_recv(r_count, tm);
+    }
+
+    /**
+     * If timeout, this function would call 'force_push' to send the data forcibly.
+    */
+    bool send(void const * data, std::size_t size, std::uint64_t tm = default_timeout) {
+        return detail_t::send(h_, data, size, tm);
+    }
+    bool send(buff_t const & buff, std::uint64_t tm = default_timeout) {
+        return this->send(buff.data(), buff.size(), tm);
+    }
+    bool send(std::string const & str, std::uint64_t tm = default_timeout) {
+        return this->send(str.c_str(), str.size() + 1, tm);
+    }
+
+    /**
+     * If timeout, this function would just return false.
+    */
+    bool try_send(void const * data, std::size_t size, std::uint64_t tm = default_timeout) {
+        return detail_t::try_send(h_, data, size, tm);
+    }
+    bool try_send(buff_t const & buff, std::uint64_t tm = default_timeout) {
+        return this->try_send(buff.data(), buff.size(), tm);
+    }
+    bool try_send(std::string const & str, std::uint64_t tm = default_timeout) {
+        return this->try_send(str.c_str(), str.size() + 1, tm);
+    }
+
+    buff_t recv(std::uint64_t tm = invalid_value) {
+        return detail_t::recv(h_, tm);
+    }
+
+    buff_t try_recv() {
+        return detail_t::try_recv(h_);
+    }
+};
+
+template <relat Rp, relat Rc, trans Ts>
+using chan = chan_wrapper<ipc::wr<Rp, Rc, Ts>>;
+
+/**
+ * \class route
+ *
+ * \note You could use one producer/server/sender for sending messages to a route,
+ *       then all the consumers/clients/receivers which are receiving with this route,
+ *       would receive your sent messages.
+ *       A route could only be used in 1 to N (one producer/writer to multi consumers/readers).
+*/
+using route = chan<relat::single, relat::multi, trans::broadcast>;
+
+/**
+ * \class channel
+ *
+ * \note You could use multi producers/writers for sending messages to a channel,
+ *       then all the consumers/readers which are receiving with this channel,
+ *       would receive your sent messages.
+*/
+using channel = chan<relat::multi, relat::multi, trans::broadcast>;
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/memory/alloc.h b/human_render/Ipc/libipc/memory/alloc.h
new file mode 100644
index 0000000..a3e7430
--- /dev/null
+++ b/human_render/Ipc/libipc/memory/alloc.h
@@ -0,0 +1,424 @@
+#pragma once
+
+#include <algorithm>
+#include <utility>
+#include <iterator>
+#include <limits>       // std::numeric_limits
+#include <cstdlib>
+#include <cassert>      // assert
+
+#include "libipc/def.h"
+#include "libipc/rw_lock.h"
+
+#include "libipc/utility/concept.h"
+#include "libipc/memory/allocator_wrapper.h"
+#include "libipc/platform/detail.h"
+
+namespace ipc {
+namespace mem {
+
+class static_alloc {
+public:
+    static void swap(static_alloc&) {}
+
+    static void* alloc(std::size_t size) {
+        return size ? std::malloc(size) : nullptr;
+    }
+
+    static void free(void* p) {
+        std::free(p);
+    }
+
+    static void free(void* p, std::size_t /*size*/) {
+        free(p);
+    }
+};
+
+////////////////////////////////////////////////////////////////
+/// Scope allocation -- The destructor will release all allocated blocks.
+////////////////////////////////////////////////////////////////
+
+namespace detail {
+
+constexpr std::size_t aligned(std::size_t size, size_t alignment) noexcept {
+    return ( (size - 1) & ~(alignment - 1) ) + alignment;
+}
+
+IPC_CONCEPT_(has_take, take(std::move(std::declval<Type>())));
+
+class scope_alloc_base {
+protected:
+    struct block_t {
+        std::size_t size_;
+        block_t   * next_;
+    } * head_ = nullptr, * tail_ = nullptr;
+
+    enum : std::size_t {
+        aligned_block_size = aligned(sizeof(block_t), alignof(std::max_align_t))
+    };
+
+public:
+    void swap(scope_alloc_base & rhs) {
+        std::swap(head_, rhs.head_);
+        std::swap(tail_, rhs.tail_);
+    }
+
+    bool empty() const noexcept {
+        return head_ == nullptr;
+    }
+
+    void take(scope_alloc_base && rhs) {
+        if (rhs.empty()) return;
+        if (empty()) swap(rhs);
+        else {
+            std::swap(tail_->next_, rhs.head_);
+            // rhs.head_ should be nullptr here
+            tail_ = rhs.tail_;
+            rhs.tail_ = nullptr;
+        }
+    }
+
+    void free(void* /*p*/) {}
+    void free(void* /*p*/, std::size_t) {}
+};
+
+} // namespace detail
+
+template <typename AllocP = static_alloc>
+class scope_alloc : public detail::scope_alloc_base {
+public:
+    using base_t = detail::scope_alloc_base;
+    using alloc_policy = AllocP;
+
+private:
+    alloc_policy alloc_;
+
+    void free_all() {
+        while (!empty()) {
+            auto curr = head_;
+            head_ = head_->next_;
+            alloc_.free(curr, curr->size_);
+        }
+        // now head_ is nullptr
+    }
+
+public:
+    scope_alloc() = default;
+
+    scope_alloc(scope_alloc && rhs)         { swap(rhs); }
+    scope_alloc& operator=(scope_alloc rhs) { swap(rhs); return (*this); }
+
+    ~scope_alloc() { free_all(); }
+
+    void swap(scope_alloc& rhs) {
+        alloc_.swap(rhs.alloc_);
+        base_t::swap(rhs);
+    }
+
+    template <typename A = AllocP>
+    auto take(scope_alloc && rhs) -> ipc::require<detail::has_take<A>::value> {
+        base_t::take(std::move(rhs));
+        alloc_.take(std::move(rhs.alloc_));
+    }
+
+    template <typename A = AllocP>
+    auto take(scope_alloc && rhs) -> ipc::require<!detail::has_take<A>::value> {
+        base_t::take(std::move(rhs));
+    }
+
+    void* alloc(std::size_t size) {
+        std::size_t real_size = aligned_block_size + size;
+        auto curr = static_cast<block_t*>(alloc_.alloc(real_size));
+        curr->size_ = real_size;
+        curr->next_ = head_;
+        head_ = curr;
+        if (tail_ == nullptr) {
+            tail_ = curr;
+        }
+        return (reinterpret_cast<byte_t*>(curr) + aligned_block_size);
+    }
+};
+
+////////////////////////////////////////////////////////////////
+/// Fixed-size blocks allocation
+////////////////////////////////////////////////////////////////
+
+namespace detail {
+
+class fixed_alloc_base {
+protected:
+    std::size_t block_size_;
+    std::size_t init_expand_;
+    void      * cursor_;
+
+    void init(std::size_t block_size, std::size_t init_expand) {
+        block_size_  = block_size;
+        init_expand_ = init_expand;
+        cursor_      = nullptr;
+    }
+
+    static void** node_p(void* node) {
+        return reinterpret_cast<void**>(node);
+    }
+
+    static auto& next(void* node) {
+        return *node_p(node);
+    }
+
+public:
+    bool operator<(fixed_alloc_base const & right) const {
+        return init_expand_ < right.init_expand_;
+    }
+
+    void set_block_size(std::size_t block_size) {
+        block_size_ = block_size;
+    }
+
+    void swap(fixed_alloc_base& rhs) {
+        std::swap(block_size_ , rhs.block_size_);
+        std::swap(init_expand_, rhs.init_expand_);
+        std::swap(cursor_     , rhs.cursor_);
+    }
+
+    bool empty() const noexcept {
+        return cursor_ == nullptr;
+    }
+
+    void take(fixed_alloc_base && rhs) {
+        assert(block_size_ == rhs.block_size_);
+        init_expand_ = (ipc::detail::max)(init_expand_, rhs.init_expand_);
+        if (rhs.empty()) return;
+        auto curr = cursor_;
+        if (curr != nullptr) while (1) {
+            auto next_cur = next(curr);
+            if (next_cur == nullptr) {
+                std::swap(next(curr), rhs.cursor_);
+                return;
+            }
+            // next_cur != nullptr
+            else curr = next_cur;
+        }
+        // curr == nullptr, means cursor_ == nullptr
+        else std::swap(cursor_, rhs.cursor_);
+        // rhs.cursor_ must be nullptr
+    }
+
+    void free(void* p) {
+        if (p == nullptr) return;
+        next(p) = cursor_;
+        cursor_ = p;
+    }
+
+    void free(void* p, std::size_t) {
+        free(p);
+    }
+};
+
+template <typename AllocP, typename ExpandP>
+class fixed_alloc : public detail::fixed_alloc_base {
+public:
+    using base_t = detail::fixed_alloc_base;
+    using alloc_policy = AllocP;
+
+private:
+    alloc_policy alloc_;
+
+    void* try_expand() {
+        if (empty()) {
+            auto size = ExpandP::next(block_size_, init_expand_);
+            auto p = node_p(cursor_ = alloc_.alloc(size));
+            for (std::size_t i = 0; i < (size / block_size_) - 1; ++i)
+                p = node_p((*p) = reinterpret_cast<byte_t*>(p) + block_size_);
+            (*p) = nullptr;
+        }
+        return cursor_;
+    }
+
+public:
+    explicit fixed_alloc(std::size_t block_size, std::size_t init_expand = 1) {
+        init(block_size, init_expand);
+    }
+
+    fixed_alloc(fixed_alloc && rhs) {
+        init(0, 0);
+        swap(rhs);
+    }
+
+    fixed_alloc& operator=(fixed_alloc rhs) {
+        swap(rhs);
+        return (*this);
+    }
+
+    void swap(fixed_alloc& rhs) {
+        alloc_.swap(rhs.alloc_);
+        base_t::swap(rhs);
+    }
+
+    template <typename A = AllocP>
+    auto take(fixed_alloc && rhs) -> ipc::require<detail::has_take<A>::value> {
+        base_t::take(std::move(rhs));
+        alloc_.take(std::move(rhs.alloc_));
+    }
+
+    void* alloc() {
+        void* p = try_expand();
+        cursor_ = next(p);
+        return p;
+    }
+
+    void* alloc(std::size_t) {
+        return alloc();
+    }
+};
+
+} // namespace detail
+
+template <std::size_t BaseSize  = sizeof(void*) * 1024, 
+          std::size_t LimitSize = (std::numeric_limits<std::uint32_t>::max)()>
+struct fixed_expand_policy {
+
+    enum : std::size_t {
+        base_size  = BaseSize,
+        limit_size = LimitSize
+    };
+
+    constexpr static std::size_t prev(std::size_t e) noexcept {
+        return ((e / 2) == 0) ? 1 : (e / 2);
+    }
+
+    constexpr static std::size_t next(std::size_t e) noexcept {
+        return e * 2;
+    }
+
+    static std::size_t next(std::size_t block_size, std::size_t & e) {
+        auto n = ipc::detail::max<std::size_t>(block_size, base_size) * e;
+             e = ipc::detail::min<std::size_t>(limit_size, next(e));
+        return n;
+    }
+};
+
+template <std::size_t BlockSize,
+          typename AllocP  = scope_alloc<>,
+          typename ExpandP = fixed_expand_policy<>>
+class fixed_alloc : public detail::fixed_alloc<AllocP, ExpandP> {
+public:
+    using base_t = detail::fixed_alloc<AllocP, ExpandP>;
+
+    enum : std::size_t {
+        block_size = ipc::detail::max<std::size_t>(BlockSize, sizeof(void*))
+    };
+
+public:
+    explicit fixed_alloc(std::size_t init_expand)
+        : base_t(block_size, init_expand) {
+    }
+
+    fixed_alloc() : fixed_alloc(1) {}
+
+    fixed_alloc(fixed_alloc && rhs)
+        : base_t(std::move(rhs)) {
+    }
+
+    fixed_alloc& operator=(fixed_alloc rhs) {
+        swap(rhs);
+        return (*this);
+    }
+
+    void swap(fixed_alloc& rhs) {
+        base_t::swap(rhs);
+    }
+};
+
+////////////////////////////////////////////////////////////////
+/// Variable-size blocks allocation (without alignment)
+////////////////////////////////////////////////////////////////
+
+namespace detail {
+
+class variable_alloc_base {
+protected:
+    byte_t * head_ = nullptr, * tail_ = nullptr;
+
+public:
+    void swap(variable_alloc_base & rhs) {
+        std::swap(head_, rhs.head_);
+        std::swap(tail_, rhs.tail_);
+    }
+
+    std::size_t remain() const noexcept {
+        return static_cast<std::size_t>(tail_ - head_);
+    }
+
+    bool empty() const noexcept {
+        return remain() == 0;
+    }
+
+    void take(variable_alloc_base && rhs) {
+        if (remain() < rhs.remain()) {
+            // replace this by rhs
+            head_ = rhs.head_;
+            tail_ = rhs.tail_;
+        }
+        // discard rhs
+        rhs.head_ = rhs.tail_ = nullptr;
+    }
+
+    void free(void* /*p*/) {}
+    void free(void* /*p*/, std::size_t) {}
+};
+
+} // namespace detail
+
+template <std::size_t ChunkSize = (sizeof(void*) * 1024), typename AllocP = scope_alloc<>>
+class variable_alloc : public detail::variable_alloc_base {
+public:
+    using base_t       = detail::variable_alloc_base;
+    using alloc_policy = AllocP;
+
+    enum : std::size_t {
+        aligned_chunk_size = detail::aligned(ChunkSize, alignof(std::max_align_t))
+    };
+
+private:
+    alloc_policy alloc_;
+
+public:
+    variable_alloc() = default;
+
+    variable_alloc(variable_alloc && rhs)         { swap(rhs); }
+    variable_alloc& operator=(variable_alloc rhs) { swap(rhs); return (*this); }
+
+    void swap(variable_alloc& rhs) {
+        alloc_.swap(rhs.alloc_);
+        base_t::swap(rhs);
+    }
+
+    template <typename A = AllocP>
+    auto take(variable_alloc && rhs) -> ipc::require<detail::has_take<A>::value> {
+        base_t::take(std::move(rhs));
+        alloc_.take(std::move(rhs.alloc_));
+    }
+
+    void* alloc(std::size_t size) {
+        /*
+         * byte alignment is always alignof(std::max_align_t).
+        */
+        size = detail::aligned(size, alignof(std::max_align_t));
+        void* ptr;
+        // size would never be 0 here
+        if (remain() < size) {
+            std::size_t chunk_size = ipc::detail::max<std::size_t>(aligned_chunk_size, size);
+            ptr   = alloc_.alloc(chunk_size);
+            tail_ = static_cast<byte_t*>(ptr) + chunk_size;
+            head_ = tail_ - (chunk_size - size);
+        }
+        else {
+            ptr   = head_;
+            head_ += size;
+        }
+        return ptr;
+    }
+};
+
+} // namespace mem
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/memory/allocator_wrapper.h b/human_render/Ipc/libipc/memory/allocator_wrapper.h
new file mode 100644
index 0000000..a4da782
--- /dev/null
+++ b/human_render/Ipc/libipc/memory/allocator_wrapper.h
@@ -0,0 +1,121 @@
+#pragma once
+
+#include <limits>   // std::numeric_limits
+#include <utility>  // std::forward
+#include <cstddef>
+
+#include "libipc/pool_alloc.h"
+
+namespace ipc {
+namespace mem {
+
+////////////////////////////////////////////////////////////////
+/// The allocator wrapper class for STL
+////////////////////////////////////////////////////////////////
+
+namespace detail {
+
+template <typename T, typename AllocP>
+struct rebind {
+    template <typename U>
+    using alloc_t = AllocP;
+};
+
+template <typename T, template <typename> class AllocT>
+struct rebind<T, AllocT<T>> {
+    template <typename U>
+    using alloc_t = AllocT<U>;
+};
+
+} // namespace detail
+
+template <typename T, typename AllocP>
+class allocator_wrapper {
+
+    template <typename U, typename AllocU>
+    friend class allocator_wrapper;
+
+public:
+    // type definitions
+    typedef T                 value_type;
+    typedef value_type*       pointer;
+    typedef const value_type* const_pointer;
+    typedef value_type&       reference;
+    typedef const value_type& const_reference;
+    typedef std::size_t       size_type;
+    typedef std::ptrdiff_t    difference_type;
+    typedef AllocP            alloc_policy;
+
+private:
+    alloc_policy alloc_;
+
+public:
+    allocator_wrapper() noexcept {}
+
+    // construct by copying (do nothing)
+    allocator_wrapper           (const allocator_wrapper<T, AllocP>&) noexcept {}
+    allocator_wrapper& operator=(const allocator_wrapper<T, AllocP>&) noexcept { return *this; }
+	
+    // construct from a related allocator (do nothing)
+    template <typename U, typename AllocU> allocator_wrapper           (const allocator_wrapper<U, AllocU>&) noexcept {}
+    template <typename U, typename AllocU> allocator_wrapper& operator=(const allocator_wrapper<U, AllocU>&) noexcept { return *this; }
+
+    allocator_wrapper           (allocator_wrapper && rhs) noexcept : alloc_ ( std::move(rhs.alloc_) ) {}
+    allocator_wrapper& operator=(allocator_wrapper && rhs) noexcept { alloc_ = std::move(rhs.alloc_); return *this; }
+
+public:
+    // the other type of std_allocator
+    template <typename U>
+    struct rebind { 
+        using other = allocator_wrapper< U, typename detail::rebind<T, AllocP>::template alloc_t<U> >;
+    };
+
+    constexpr size_type max_size(void) const noexcept {
+        return (std::numeric_limits<size_type>::max)() / sizeof(value_type);
+    }
+
+public:
+    pointer allocate(size_type count) noexcept {
+        if (count == 0) return nullptr;
+        if (count > this->max_size()) return nullptr;
+        return static_cast<pointer>(alloc_.alloc(count * sizeof(value_type)));
+    }
+
+    void deallocate(pointer p, size_type count) noexcept {
+        alloc_.free(p, count * sizeof(value_type));
+    }
+
+    template <typename... P>
+    static void construct(pointer p, P && ... params) {
+        ipc::mem::construct(p, std::forward<P>(params)...);
+    }
+
+    static void destroy(pointer p) {
+        ipc::mem::destruct(p);
+    }
+};
+
+template <class AllocP>
+class allocator_wrapper<void, AllocP> {
+public:
+    // type definitions
+    typedef void              value_type;
+    typedef value_type*       pointer;
+    typedef const value_type* const_pointer;
+    typedef std::size_t       size_type;
+    typedef std::ptrdiff_t    difference_type;
+    typedef AllocP            alloc_policy;
+};
+
+template <typename T, typename U, class AllocP>
+constexpr bool operator==(const allocator_wrapper<T, AllocP>&, const allocator_wrapper<U, AllocP>&) noexcept {
+    return true;
+}
+
+template <typename T, typename U, class AllocP>
+constexpr bool operator!=(const allocator_wrapper<T, AllocP>&, const allocator_wrapper<U, AllocP>&) noexcept {
+    return false;
+}
+
+} // namespace mem
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/memory/resource.h b/human_render/Ipc/libipc/memory/resource.h
new file mode 100644
index 0000000..7c29dc1
--- /dev/null
+++ b/human_render/Ipc/libipc/memory/resource.h
@@ -0,0 +1,110 @@
+#pragma once
+
+#include <type_traits>
+#include <limits>
+#include <utility>
+#include <functional>
+#include <unordered_map>
+#include <map>
+#include <string>
+#include <cstdio>
+
+#include "libipc/def.h"
+
+#include "libipc/memory/alloc.h"
+#include "libipc/memory/wrapper.h"
+#include "libipc/platform/detail.h"
+
+namespace ipc {
+namespace mem {
+
+//using async_pool_alloc = static_wrapper<variable_wrapper<async_wrapper<
+//    detail::fixed_alloc<
+//        variable_alloc                           <sizeof(void*) * 1024 * 256>, 
+//        fixed_expand_policy<sizeof(void*) * 1024, sizeof(void*) * 1024 * 256>
+//    >, 
+//    default_recycler >>>;
+using async_pool_alloc = ipc::mem::static_alloc;
+
+template <typename T>
+using allocator = allocator_wrapper<T, async_pool_alloc>;
+
+} // namespace mem
+
+namespace {
+
+constexpr char const * pf(int)                { return "%d"  ; }
+constexpr char const * pf(long)               { return "%ld" ; }
+constexpr char const * pf(long long)          { return "%lld"; }
+constexpr char const * pf(unsigned int)       { return "%u"  ; }
+constexpr char const * pf(unsigned long)      { return "%lu" ; }
+constexpr char const * pf(unsigned long long) { return "%llu"; }
+constexpr char const * pf(float)              { return "%f"  ; }
+constexpr char const * pf(double)             { return "%f"  ; }
+constexpr char const * pf(long double)        { return "%Lf" ; }
+
+} // internal-linkage
+
+template <typename T>
+struct hash : public std::hash<T> {};
+
+template <typename Key, typename T>
+using unordered_map = std::unordered_map<
+    Key, T, ipc::hash<Key>, std::equal_to<Key>, ipc::mem::allocator<std::pair<Key const, T>>
+>;
+
+template <typename Key, typename T>
+using map = std::map<
+    Key, T, std::less<Key>, ipc::mem::allocator<std::pair<Key const, T>>
+>;
+
+template <typename Char>
+using basic_string = std::basic_string<
+    Char, std::char_traits<Char>, ipc::mem::allocator<Char>
+>;
+
+using string  = basic_string<char>;
+using wstring = basic_string<wchar_t>;
+
+template <> struct hash<string> {
+    std::size_t operator()(string const &val) const noexcept {
+        return std::hash<char const *>{}(val.c_str());
+    }
+};
+
+template <> struct hash<wstring> {
+    std::size_t operator()(wstring const &val) const noexcept {
+        return std::hash<wchar_t const *>{}(val.c_str());
+    }
+};
+
+template <typename T>
+ipc::string to_string(T val) {
+    char buf[std::numeric_limits<T>::digits10 + 1] {};
+    if (std::snprintf(buf, sizeof(buf), pf(val), val) > 0) {
+        return buf;
+    }
+    return {};
+}
+
+/// \brief Check string validity.
+constexpr bool is_valid_string(char const *str) noexcept {
+    return (str != nullptr) && (str[0] != '\0');
+}
+
+/// \brief Make a valid string.
+inline ipc::string make_string(char const *str) {
+    return is_valid_string(str) ? ipc::string{str} : ipc::string{};
+}
+
+/// \brief Combine prefix from a list of strings.
+inline ipc::string make_prefix(ipc::string prefix, std::initializer_list<ipc::string> args) {
+    prefix += "__IPC_SHM__";
+    for (auto const &txt: args) {
+        if (txt.empty()) continue;
+        prefix += txt;
+    }
+    return prefix;
+}
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/memory/wrapper.h b/human_render/Ipc/libipc/memory/wrapper.h
new file mode 100644
index 0000000..bd98d46
--- /dev/null
+++ b/human_render/Ipc/libipc/memory/wrapper.h
@@ -0,0 +1,327 @@
+#pragma once
+
+#include <tuple>
+#include <thread>
+#include <deque>        // std::deque
+#include <functional>   // std::function
+#include <utility>      // std::forward
+#include <cstddef>
+#include <cassert>      // assert
+#include <type_traits>  // std::aligned_storage_t
+
+#include "libipc/def.h"
+#include "libipc/rw_lock.h"
+#include "libipc/pool_alloc.h"
+
+#include "libipc/utility/concept.h"
+#include "libipc/memory/alloc.h"
+#include "libipc/platform/detail.h"
+
+namespace ipc {
+namespace mem {
+
+////////////////////////////////////////////////////////////////
+/// Thread-safe allocation wrapper
+////////////////////////////////////////////////////////////////
+
+namespace detail {
+
+IPC_CONCEPT_(is_comparable, operator<(std::declval<Type>()));
+
+} // namespace detail
+
+template <typename AllocP, bool = detail::is_comparable<AllocP>::value>
+class limited_recycler;
+
+template <typename AllocP>
+class limited_recycler<AllocP, true> {
+public:
+    using alloc_policy = AllocP;
+
+protected:
+    std::deque<alloc_policy> master_allocs_;
+    ipc::spin_lock master_lock_;
+
+    template <typename F>
+    void take_first_do(F && pred) {
+        auto it = master_allocs_.begin();
+        pred(const_cast<alloc_policy&>(*it));
+        master_allocs_.erase(it);
+    }
+
+public:
+    void try_recover(alloc_policy & alc) {
+        IPC_UNUSED_ auto guard = ipc::detail::unique_lock(master_lock_);
+        if (master_allocs_.empty()) return;
+        take_first_do([&alc](alloc_policy & first) { alc.swap(first); });
+    }
+
+    void collect(alloc_policy && alc) {
+        IPC_UNUSED_ auto guard = ipc::detail::unique_lock(master_lock_);
+        if (master_allocs_.size() >= 32) {
+            take_first_do([](alloc_policy &) {}); // erase first
+        }
+        master_allocs_.emplace_back(std::move(alc));
+    }
+
+    IPC_CONSTEXPR_ auto try_replenish(alloc_policy&, std::size_t) noexcept {}
+};
+
+template <typename AllocP>
+class default_recycler : public limited_recycler<AllocP> {
+
+    IPC_CONCEPT_(has_remain, remain());
+    IPC_CONCEPT_(has_empty , empty());
+
+    template <typename A>
+    void try_fill(A & alc) {
+        IPC_UNUSED_ auto guard = ipc::detail::unique_lock(this->master_lock_);
+        if (this->master_allocs_.empty()) return;
+        this->take_first_do([&alc](alloc_policy & first) { alc.take(std::move(first)); });
+    }
+
+public:
+    using alloc_policy = typename limited_recycler<AllocP>::alloc_policy;
+
+    template <typename A = AllocP>
+    auto try_replenish(alloc_policy & alc, std::size_t size)
+        -> ipc::require<detail::has_take<A>::value && has_remain<A>::value> {
+        if (alc.remain() >= size) return;
+        this->try_fill(alc);
+    }
+
+    template <typename A = AllocP>
+    auto try_replenish(alloc_policy & alc, std::size_t /*size*/)
+        -> ipc::require<detail::has_take<A>::value && !has_remain<A>::value && has_empty<A>::value> {
+        if (!alc.empty()) return;
+        this->try_fill(alc);
+    }
+
+    template <typename A = AllocP>
+    auto try_replenish(alloc_policy & alc, std::size_t /*size*/)
+        -> ipc::require<!detail::has_take<A>::value && has_empty<A>::value> {
+        if (!alc.empty()) return;
+        this->try_recover(alc);
+    }
+
+    template <typename A = AllocP>
+    IPC_CONSTEXPR_ auto try_replenish(alloc_policy & /*alc*/, std::size_t /*size*/) noexcept
+        -> ipc::require<(!detail::has_take<A>::value || !has_remain<A>::value) && !has_empty<A>::value> {
+        // Do Nothing.
+    }
+};
+
+template <typename AllocP>
+class empty_recycler {
+public:
+    using alloc_policy = AllocP;
+
+    IPC_CONSTEXPR_ void try_recover(alloc_policy&)                noexcept {}
+    IPC_CONSTEXPR_ auto try_replenish(alloc_policy&, std::size_t) noexcept {}
+    IPC_CONSTEXPR_ void collect(alloc_policy&&)                   noexcept {}
+};
+
+template <typename AllocP,
+          template <typename> class RecyclerP = default_recycler>
+class async_wrapper {
+public:
+    using alloc_policy = AllocP;
+
+private:
+    RecyclerP<alloc_policy> recycler_;
+
+    class alloc_proxy : public AllocP {
+        async_wrapper * w_ = nullptr;
+
+    public:
+        alloc_proxy(alloc_proxy && rhs) = default;
+
+        template <typename ... P>
+        alloc_proxy(async_wrapper* w, P && ... pars)
+            : AllocP(std::forward<P>(pars) ...), w_(w) {
+            assert(w_ != nullptr);
+            w_->recycler_.try_recover(*this);
+        }
+
+        ~alloc_proxy() {
+            w_->recycler_.collect(std::move(*this));
+        }
+
+        auto alloc(std::size_t size) {
+            w_->recycler_.try_replenish(*this, size);
+            return AllocP::alloc(size);
+        }
+    };
+
+    friend class alloc_proxy;
+    using ref_t = alloc_proxy&;
+
+    std::function<ref_t()> get_alloc_;
+
+public:
+    template <typename ... P>
+    async_wrapper(P ... pars) {
+        get_alloc_ = [this, pars ...]()->ref_t {
+            thread_local alloc_proxy tls(pars ...);
+            return tls;
+        };
+    }
+
+    void* alloc(std::size_t size) {
+        return get_alloc_().alloc(size);
+    }
+
+    void free(void* p, std::size_t size) {
+        get_alloc_().free(p, size);
+    }
+};
+
+////////////////////////////////////////////////////////////////
+/// Thread-safe allocation wrapper (with spin_lock)
+////////////////////////////////////////////////////////////////
+
+template <typename AllocP, typename MutexT = ipc::spin_lock>
+class sync_wrapper {
+public:
+    using alloc_policy = AllocP;
+    using mutex_type   = MutexT;
+
+private:
+    mutex_type   lock_;
+    alloc_policy alloc_;
+
+public:
+    template <typename ... P>
+    sync_wrapper(P && ... pars)
+        : alloc_(std::forward<P>(pars) ...)
+    {}
+
+    void swap(sync_wrapper& rhs) {
+        IPC_UNUSED_ auto guard = ipc::detail::unique_lock(lock_);
+        alloc_.swap(rhs.alloc_);
+    }
+
+    void* alloc(std::size_t size) {
+        IPC_UNUSED_ auto guard = ipc::detail::unique_lock(lock_);
+        return alloc_.alloc(size);
+    }
+
+    void free(void* p, std::size_t size) {
+        IPC_UNUSED_ auto guard = ipc::detail::unique_lock(lock_);
+        alloc_.free(p, size);
+    }
+};
+
+////////////////////////////////////////////////////////////////
+/// Variable memory allocation wrapper
+////////////////////////////////////////////////////////////////
+
+template <std::size_t BaseSize = 0, std::size_t IterSize = sizeof(void*)>
+struct default_mapping_policy {
+
+    enum : std::size_t {
+        base_size    = BaseSize,
+        iter_size    = IterSize,
+        classes_size = 64
+    };
+
+    template <typename F, typename ... P>
+    IPC_CONSTEXPR_ static void foreach(F && f, P && ... params) {
+        for (std::size_t i = 0; i < classes_size; ++i) {
+            f(i, std::forward<P>(params)...);
+        }
+    }
+
+    IPC_CONSTEXPR_ static std::size_t block_size(std::size_t id) noexcept {
+        return (id < classes_size) ? (base_size + (id + 1) * iter_size) : 0;
+    }
+
+    template <typename F, typename D, typename ... P>
+    IPC_CONSTEXPR_ static auto classify(F && f, D && d, std::size_t size, P && ... params) {
+        std::size_t id = (size - base_size - 1) / iter_size;
+        return (id < classes_size) ? 
+            f(id, size, std::forward<P>(params)...) : 
+            d(size, std::forward<P>(params)...);
+    }
+};
+
+template <typename FixedAlloc,
+          typename DefaultAlloc = mem::static_alloc,
+          typename MappingP     = default_mapping_policy<>>
+class variable_wrapper {
+
+    struct initiator {
+
+        using falc_t = std::aligned_storage_t<sizeof(FixedAlloc), alignof(FixedAlloc)>;
+        falc_t arr_[MappingP::classes_size];
+
+        initiator() {
+            MappingP::foreach([](std::size_t id, falc_t * a) {
+                ipc::mem::construct(&initiator::at(a, id), MappingP::block_size(id));
+            }, arr_);
+        }
+
+        ~initiator() {
+            MappingP::foreach([](std::size_t id, falc_t * a) {
+                ipc::mem::destruct(&initiator::at(a, id));
+            }, arr_);
+        }
+
+        static FixedAlloc & at(falc_t * arr, std::size_t id) noexcept {
+            return reinterpret_cast<FixedAlloc&>(arr[id]);
+        }
+    } init_;
+
+    using falc_t = typename initiator::falc_t;
+
+public:
+    void swap(variable_wrapper & other) {
+        MappingP::foreach([](std::size_t id, falc_t * in, falc_t * ot) {
+            initiator::at(in, id).swap(initiator::at(ot, id));
+        }, init_.arr_, other.init_.arr_);
+    }
+
+    void* alloc(std::size_t size) {
+        return MappingP::classify([](std::size_t id, std::size_t size, falc_t * a) {
+            return initiator::at(a, id).alloc(size);
+        }, [](std::size_t size, falc_t *) {
+            return DefaultAlloc::alloc(size);
+        }, size, init_.arr_);
+    }
+
+    void free(void* p, std::size_t size) {
+        MappingP::classify([](std::size_t id, std::size_t size, void* p, falc_t * a) {
+            initiator::at(a, id).free(p, size);
+        }, [](std::size_t size, void* p, falc_t *) {
+            DefaultAlloc::free(p, size);
+        }, size, p, init_.arr_);
+    }
+};
+
+////////////////////////////////////////////////////////////////
+/// Static allocation wrapper
+////////////////////////////////////////////////////////////////
+
+template <typename AllocP>
+class static_wrapper {
+public:
+    using alloc_policy = AllocP;
+
+    static alloc_policy& instance() {
+        static alloc_policy alloc;
+        return alloc;
+    }
+
+    static void swap(static_wrapper&) {}
+
+    static void* alloc(std::size_t size) {
+        return instance().alloc(size);
+    }
+
+    static void free(void* p, std::size_t size) {
+        instance().free(p, size);
+    }
+};
+
+} // namespace mem
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/mutex.h b/human_render/Ipc/libipc/mutex.h
new file mode 100644
index 0000000..ea41ab0
--- /dev/null
+++ b/human_render/Ipc/libipc/mutex.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include <cstdint>  // std::uint64_t
+#include <system_error>
+
+#include "libipc/def.h"
+
+namespace ipc {
+namespace sync {
+
+class mutex {
+    mutex(mutex const &) = delete;
+    mutex &operator=(mutex const &) = delete;
+
+public:
+    mutex();
+    explicit mutex(char const *name);
+    ~mutex();
+
+    void const *native() const noexcept;
+    void *native() noexcept;
+
+    bool valid() const noexcept;
+
+    bool open(char const *name) noexcept;
+    void close() noexcept;
+
+    bool lock(std::uint64_t tm = ipc::invalid_value) noexcept;
+    bool try_lock() noexcept(false); // std::system_error
+    bool unlock() noexcept;
+
+private:
+    class mutex_;
+    mutex_* p_;
+};
+
+} // namespace sync
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/platform/detail.h b/human_render/Ipc/libipc/platform/detail.h
new file mode 100644
index 0000000..d552969
--- /dev/null
+++ b/human_render/Ipc/libipc/platform/detail.h
@@ -0,0 +1,136 @@
+#ifndef LIBIPC_SRC_PLATFORM_DETAIL_H_
+#define LIBIPC_SRC_PLATFORM_DETAIL_H_
+
+// detect platform
+
+#if defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || \
+    defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) || \
+    defined(WINCE) || defined(_WIN32_WCE)
+#   define IPC_OS_WINDOWS_
+#elif defined(__linux__) || defined(__linux)
+#   define IPC_OS_LINUX_
+#elif defined(__QNX__)
+#   define IPC_OS_QNX_
+#elif defined(__APPLE__)
+#elif defined(__ANDROID__)
+// TBD
+#endif
+
+#if defined(__cplusplus)
+
+#include <memory>
+#include <mutex>
+#include <shared_mutex>
+#include <type_traits>
+#include <tuple>
+#include <algorithm>
+
+// pre-defined
+
+#ifdef IPC_UNUSED_
+#   error "IPC_UNUSED_ has been defined."
+#endif
+#ifdef IPC_FALLTHROUGH_
+#   error "IPC_FALLTHROUGH_ has been defined."
+#endif
+#ifdef IPC_STBIND_
+#   error "IPC_STBIND_ has been defined."
+#endif
+#ifdef IPC_CONSTEXPR_
+#   error "IPC_CONSTEXPR_ has been defined."
+#endif
+
+#if __cplusplus >= 201703L
+
+#define IPC_UNUSED_      [[maybe_unused]]
+#define IPC_FALLTHROUGH_ [[fallthrough]]
+#define IPC_STBIND_(A, B, ...) auto [A, B] = __VA_ARGS__
+#define IPC_CONSTEXPR_   constexpr
+
+#else /*__cplusplus < 201703L*/
+
+#if defined(_MSC_VER)
+#   define IPC_UNUSED_ __pragma(warning(suppress: 4100 4101 4189))
+#elif defined(__GNUC__)
+#   define IPC_UNUSED_ __attribute__((__unused__))
+#else
+#   define IPC_UNUSED_
+#endif
+
+#define IPC_FALLTHROUGH_
+
+#define IPC_STBIND_(A, B, ...)       \
+    auto tp___ = __VA_ARGS__         \
+    auto A     = std::get<0>(tp___); \
+    auto B     = std::get<1>(tp___)
+
+#define IPC_CONSTEXPR_ inline
+
+#endif/*__cplusplus < 201703L*/
+
+#if __cplusplus >= 201703L
+
+namespace std {
+
+// deduction guides for std::unique_ptr
+template <typename T>
+unique_ptr(T* p) -> unique_ptr<T>;
+template <typename T, typename D>
+unique_ptr(T* p, D&& d) -> unique_ptr<T, std::decay_t<D>>;
+
+} // namespace std
+
+namespace ipc {
+namespace detail {
+
+using std::unique_ptr;
+using std::unique_lock;
+using std::shared_lock;
+using std::max;
+using std::min;
+
+#else /*__cplusplus < 201703L*/
+
+namespace ipc {
+namespace detail {
+
+// deduction guides for std::unique_ptr
+template <typename T>
+constexpr auto unique_ptr(T* p) noexcept {
+    return std::unique_ptr<T> { p };
+}
+
+template <typename T, typename D>
+constexpr auto unique_ptr(T* p, D&& d) noexcept {
+    return std::unique_ptr<T, std::decay_t<D>> { p, std::forward<D>(d) };
+}
+
+// deduction guides for std::unique_lock
+template <typename T>
+constexpr auto unique_lock(T&& lc) noexcept {
+    return std::unique_lock<std::decay_t<T>> { std::forward<T>(lc) };
+}
+
+// deduction guides for std::shared_lock
+template <typename T>
+constexpr auto shared_lock(T&& lc) noexcept {
+    return std::shared_lock<std::decay_t<T>> { std::forward<T>(lc) };
+}
+
+template <typename T>
+constexpr const T& (max)(const T& a, const T& b) {
+    return (a < b) ? b : a;
+}
+
+template <typename T>
+constexpr const T& (min)(const T& a, const T& b) {
+    return (b < a) ? b : a;
+}
+
+#endif/*__cplusplus < 201703L*/
+
+} // namespace detail
+} // namespace ipc
+
+#endif // defined(__cplusplus)
+#endif // LIBIPC_SRC_PLATFORM_DETAIL_H_
diff --git a/human_render/Ipc/libipc/platform/platform.cpp1 b/human_render/Ipc/libipc/platform/platform.cpp1
new file mode 100644
index 0000000..f48668a
--- /dev/null
+++ b/human_render/Ipc/libipc/platform/platform.cpp1
@@ -0,0 +1,3 @@
+
+#include "libipc/platform/detail.h"
+#include "libipc/platform/win/shm_win.cpp"
diff --git a/human_render/Ipc/libipc/platform/win/condition.h b/human_render/Ipc/libipc/platform/win/condition.h
new file mode 100644
index 0000000..538aa08
--- /dev/null
+++ b/human_render/Ipc/libipc/platform/win/condition.h
@@ -0,0 +1,119 @@
+#pragma once
+
+#include <cstdint>
+#include <string>
+#include <mutex>
+
+#include <Windows.h>
+
+#include "libipc/utility/log.h"
+#include "libipc/utility/scope_guard.h"
+#include "libipc/platform/detail.h"
+#include "libipc/mutex.h"
+#include "libipc/semaphore.h"
+#include "libipc/shm.h"
+
+namespace ipc {
+namespace detail {
+namespace sync {
+
+class condition {
+    ipc::sync::semaphore sem_;
+    ipc::sync::mutex lock_;
+    ipc::shm::handle shm_;
+
+    std::int32_t &counter() {
+        return *static_cast<std::int32_t *>(shm_.get());
+    }
+
+public:
+    condition() = default;
+    ~condition() noexcept = default;
+
+    auto native() noexcept {
+        return sem_.native();
+    }
+
+    auto native() const noexcept {
+        return sem_.native();
+    }
+
+    bool valid() const noexcept {
+        return sem_.valid() && lock_.valid() && shm_.valid();
+    }
+
+    bool open(char const *name) noexcept {
+        close();
+        if (!sem_.open((std::string{name} + "_COND_SEM_").c_str())) {
+            return false;
+        }
+        auto finally_sem = ipc::guard([this] { sem_.close(); }); // close when failed
+        if (!lock_.open((std::string{name} + "_COND_LOCK_").c_str())) {
+            return false;
+        }
+        auto finally_lock = ipc::guard([this] { lock_.close(); }); // close when failed
+        if (!shm_.acquire((std::string{name} + "_COND_SHM_").c_str(), sizeof(std::int32_t))) {
+            return false;
+        }
+        finally_lock.dismiss();
+        finally_sem.dismiss();
+        return valid();
+    }
+
+    void close() noexcept {
+        if (!valid()) return;
+        sem_.close();
+        lock_.close();
+        shm_.release();
+    }
+
+    bool wait(ipc::sync::mutex &mtx, std::uint64_t tm) noexcept {
+        if (!valid()) return false;
+        auto &cnt = counter();
+        {
+            IPC_UNUSED_ std::lock_guard<ipc::sync::mutex> guard {lock_};
+            cnt = (cnt < 0) ? 1 : cnt + 1;
+        }
+        DWORD ms = (tm == invalid_value) ? INFINITE : static_cast<DWORD>(tm);
+        /**
+         * \see
+         *  - https://www.microsoft.com/en-us/research/wp-content/uploads/2004/12/ImplementingCVs.pdf
+         *  - https://docs.microsoft.com/en-us/windows/win32/api/synchapi/nf-synchapi-signalobjectandwait
+        */
+        bool rs = ::SignalObjectAndWait(mtx.native(), sem_.native(), ms, FALSE) == WAIT_OBJECT_0;
+        bool rl = mtx.lock(); // INFINITE
+        if (!rs) {
+            IPC_UNUSED_ std::lock_guard<ipc::sync::mutex> guard {lock_};
+            cnt -= 1;
+        }
+        return rs && rl;
+    }
+
+    bool notify(ipc::sync::mutex &) noexcept {
+        if (!valid()) return false;
+        auto &cnt = counter();
+        if (!lock_.lock()) return false;
+        bool ret = false;
+        if (cnt > 0) {
+            ret = sem_.post(1);
+            cnt -= 1;
+        }
+        return lock_.unlock() && ret;
+    }
+
+    bool broadcast(ipc::sync::mutex &) noexcept {
+        if (!valid()) return false;
+        auto &cnt = counter();
+        if (!lock_.lock()) return false;
+        bool ret = false;
+        if (cnt > 0) {
+            ret = sem_.post(cnt);
+            cnt = 0;
+        }
+        return lock_.unlock() && ret;
+    }
+};
+
+} // namespace sync
+} // namespace detail
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/platform/win/get_sa.h b/human_render/Ipc/libipc/platform/win/get_sa.h
new file mode 100644
index 0000000..74b68d4
--- /dev/null
+++ b/human_render/Ipc/libipc/platform/win/get_sa.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <securitybaseapi.h>
+
+namespace ipc {
+namespace detail {
+
+inline LPSECURITY_ATTRIBUTES get_sa() {
+    static struct initiator {
+
+        SECURITY_DESCRIPTOR sd_;
+        SECURITY_ATTRIBUTES sa_;
+
+        bool succ_ = false;
+
+        initiator() {
+            if (!::InitializeSecurityDescriptor(&sd_, SECURITY_DESCRIPTOR_REVISION)) {
+                ipc::error("fail InitializeSecurityDescriptor[%d]\n", static_cast<int>(::GetLastError()));
+                return;
+            }
+            if (!::SetSecurityDescriptorDacl(&sd_, TRUE, NULL, FALSE)) {
+                ipc::error("fail SetSecurityDescriptorDacl[%d]\n", static_cast<int>(::GetLastError()));
+                return;
+            }
+            sa_.nLength = sizeof(SECURITY_ATTRIBUTES);
+            sa_.bInheritHandle = FALSE;
+            sa_.lpSecurityDescriptor = &sd_;
+            succ_ = true;
+        }
+    } handle;
+    return handle.succ_ ? &handle.sa_ : nullptr;
+}
+
+} // namespace detail
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/platform/win/mutex.h b/human_render/Ipc/libipc/platform/win/mutex.h
new file mode 100644
index 0000000..c0cb543
--- /dev/null
+++ b/human_render/Ipc/libipc/platform/win/mutex.h
@@ -0,0 +1,98 @@
+#pragma once
+
+#include <cstdint>
+#include <system_error>
+
+#include <Windows.h>
+
+#include "libipc/utility/log.h"
+
+#include "to_tchar.h"
+#include "get_sa.h"
+
+namespace ipc {
+namespace detail {
+namespace sync {
+
+class mutex {
+    HANDLE h_ = NULL;
+
+public:
+    mutex() noexcept = default;
+    ~mutex() noexcept = default;
+
+    static void init() {}
+
+    HANDLE native() const noexcept {
+        return h_;
+    }
+
+    bool valid() const noexcept {
+        return h_ != NULL;
+    }
+
+    bool open(char const *name) noexcept {
+        close();
+        h_ = ::CreateMutex(detail::get_sa(), FALSE, detail::to_tchar(name).c_str());
+        if (h_ == NULL) {
+            ipc::error("fail CreateMutex[%lu]: %s\n", ::GetLastError(), name);
+            return false;
+        }
+        return true;
+    }
+
+    void close() noexcept {
+        if (!valid()) return;
+        ::CloseHandle(h_);
+        h_ = NULL;
+    }
+
+    bool lock(std::uint64_t tm) noexcept {
+        DWORD ret, ms = (tm == invalid_value) ? INFINITE : static_cast<DWORD>(tm);
+        for(;;) {
+            switch ((ret = ::WaitForSingleObject(h_, ms))) {
+            case WAIT_OBJECT_0:
+                return true;
+            case WAIT_TIMEOUT:
+                return false;
+            case WAIT_ABANDONED:
+                ipc::log("fail WaitForSingleObject[%lu]: WAIT_ABANDONED, try again.\n", ::GetLastError());
+                if (!unlock()) {
+                    return false;
+                }
+                break; // loop again
+            default:
+                ipc::error("fail WaitForSingleObject[%lu]: 0x%08X\n", ::GetLastError(), ret);
+                return false;
+            }
+        }
+    }
+
+    bool try_lock() noexcept(false) {
+        DWORD ret = ::WaitForSingleObject(h_, 0);
+        switch (ret) {
+        case WAIT_OBJECT_0:
+            return true;
+        case WAIT_TIMEOUT:
+            return false;
+        case WAIT_ABANDONED:
+            unlock();
+            IPC_FALLTHROUGH_;
+        default:
+            ipc::error("fail WaitForSingleObject[%lu]: 0x%08X\n", ::GetLastError(), ret);
+            throw std::system_error{static_cast<int>(ret), std::system_category()};
+        }
+    }
+
+    bool unlock() noexcept {
+        if (!::ReleaseMutex(h_)) {
+            ipc::error("fail ReleaseMutex[%lu]\n", ::GetLastError());
+            return false;
+        }
+        return true;
+    }
+};
+
+} // namespace sync
+} // namespace detail
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/platform/win/semaphore.h b/human_render/Ipc/libipc/platform/win/semaphore.h
new file mode 100644
index 0000000..5c44846
--- /dev/null
+++ b/human_render/Ipc/libipc/platform/win/semaphore.h
@@ -0,0 +1,74 @@
+#pragma once
+
+#include <cstdint>
+
+#include <Windows.h>
+
+#include "libipc/utility/log.h"
+
+#include "to_tchar.h"
+#include "get_sa.h"
+
+namespace ipc {
+namespace detail {
+namespace sync {
+
+class semaphore {
+    HANDLE h_ = NULL;
+
+public:
+    semaphore() noexcept = default;
+    ~semaphore() noexcept = default;
+
+    HANDLE native() const noexcept {
+        return h_;
+    }
+
+    bool valid() const noexcept {
+        return h_ != NULL;
+    }
+
+    bool open(char const *name, std::uint32_t count) noexcept {
+        close();
+        h_ = ::CreateSemaphore(detail::get_sa(), 
+                               static_cast<LONG>(count), LONG_MAX, 
+                               detail::to_tchar(name).c_str());
+        if (h_ == NULL) {
+            ipc::error("fail CreateSemaphore[%lu]: %s\n", ::GetLastError(), name);
+            return false;
+        }
+        return true;
+    }
+
+    void close() noexcept {
+        if (!valid()) return;
+        ::CloseHandle(h_);
+        h_ = NULL;
+    }
+
+    bool wait(std::uint64_t tm) noexcept {
+        DWORD ret, ms = (tm == invalid_value) ? INFINITE : static_cast<DWORD>(tm);
+        switch ((ret = ::WaitForSingleObject(h_, ms))) {
+        case WAIT_OBJECT_0:
+            return true;
+        case WAIT_TIMEOUT:
+            return false;
+        case WAIT_ABANDONED:
+        default:
+            ipc::error("fail WaitForSingleObject[%lu]: 0x%08X\n", ::GetLastError(), ret);
+            return false;
+        }
+    }
+
+    bool post(std::uint32_t count) noexcept {
+        if (!::ReleaseSemaphore(h_, static_cast<LONG>(count), NULL)) {
+            ipc::error("fail ReleaseSemaphore[%lu]\n", ::GetLastError());
+            return false;
+        }
+        return true;
+    }
+};
+
+} // namespace sync
+} // namespace detail
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/platform/win/shm_win.cpp b/human_render/Ipc/libipc/platform/win/shm_win.cpp
new file mode 100644
index 0000000..06efccf
--- /dev/null
+++ b/human_render/Ipc/libipc/platform/win/shm_win.cpp
@@ -0,0 +1,140 @@
+
+#include <Windows.h>
+
+#include <string>
+#include <utility>
+
+#include "libipc/shm.h"
+#include "libipc/def.h"
+#include "libipc/pool_alloc.h"
+
+#include "libipc/utility/log.h"
+#include "libipc/memory/resource.h"
+
+#include "to_tchar.h"
+#include "get_sa.h"
+
+namespace {
+
+struct id_info_t {
+    HANDLE      h_    = NULL;
+    void*       mem_  = nullptr;
+    std::size_t size_ = 0;
+};
+
+} // internal-linkage
+
+namespace ipc {
+namespace shm {
+
+id_t acquire(char const * name, std::size_t size, unsigned mode) {
+    if (!is_valid_string(name)) {
+        ipc::error("fail acquire: name is empty\n");
+        return nullptr;
+    }
+    HANDLE h;
+    auto fmt_name = ipc::detail::to_tchar(name);
+    // Opens a named file mapping object.
+    if (mode == open) {
+        h = ::OpenFileMapping(FILE_MAP_ALL_ACCESS, FALSE, fmt_name.c_str());
+        if (h == NULL) {
+          ipc::error("fail OpenFileMapping[%d]: %s\n", static_cast<int>(::GetLastError()), name);
+          return nullptr;
+        }
+    }
+    // Creates or opens a named file mapping object for a specified file.
+    else {
+        h = ::CreateFileMapping(INVALID_HANDLE_VALUE, detail::get_sa(), PAGE_READWRITE | SEC_COMMIT,
+                                0, static_cast<DWORD>(size), fmt_name.c_str());
+        DWORD err = ::GetLastError();
+        // If the object exists before the function call, the function returns a handle to the existing object 
+        // (with its current size, not the specified size), and GetLastError returns ERROR_ALREADY_EXISTS.
+        if ((mode == create) && (err == ERROR_ALREADY_EXISTS)) {
+            if (h != NULL) ::CloseHandle(h);
+            h = NULL;
+        }
+        if (h == NULL) {
+          ipc::error("fail CreateFileMapping[%d]: %s\n", static_cast<int>(err), name);
+          return nullptr;
+        }
+    }
+    auto ii = mem::alloc<id_info_t>();
+    ii->h_    = h;
+    ii->size_ = size;
+    return ii;
+}
+
+std::int32_t get_ref(id_t) {
+    return 0;
+}
+
+void sub_ref(id_t) {
+    // Do Nothing.
+}
+
+void * get_mem(id_t id, std::size_t * size) {
+    if (id == nullptr) {
+        ipc::error("fail get_mem: invalid id (null)\n");
+        return nullptr;
+    }
+    auto ii = static_cast<id_info_t*>(id);
+    if (ii->mem_ != nullptr) {
+        if (size != nullptr) *size = ii->size_;
+        return ii->mem_;
+    }
+    if (ii->h_ == NULL) {
+        ipc::error("fail to_mem: invalid id (h = null)\n");
+        return nullptr;
+    }
+    LPVOID mem = ::MapViewOfFile(ii->h_, FILE_MAP_ALL_ACCESS, 0, 0, 0);
+    if (mem == NULL) {
+        ipc::error("fail MapViewOfFile[%d]\n", static_cast<int>(::GetLastError()));
+        return nullptr;
+    }
+    MEMORY_BASIC_INFORMATION mem_info;
+    if (::VirtualQuery(mem, &mem_info, sizeof(mem_info)) == 0) {
+        ipc::error("fail VirtualQuery[%d]\n", static_cast<int>(::GetLastError()));
+        return nullptr;
+    }
+    ii->mem_  = mem;
+    ii->size_ = static_cast<std::size_t>(mem_info.RegionSize);
+    if (size != nullptr) *size = ii->size_;
+    return static_cast<void *>(mem);
+}
+
+std::int32_t release(id_t id) {
+    if (id == nullptr) {
+        ipc::error("fail release: invalid id (null)\n");
+        return -1;
+    }
+    auto ii = static_cast<id_info_t*>(id);
+    if (ii->mem_ == nullptr || ii->size_ == 0) {
+        ipc::error("fail release: invalid id (mem = %p, size = %zd)\n", ii->mem_, ii->size_);
+    }
+    else ::UnmapViewOfFile(static_cast<LPCVOID>(ii->mem_));
+    if (ii->h_ == NULL) {
+        ipc::error("fail release: invalid id (h = null)\n");
+    }
+    else ::CloseHandle(ii->h_);
+    mem::free(ii);
+    return 0;
+}
+
+void remove(id_t id) {
+    if (id == nullptr) {
+        ipc::error("fail release: invalid id (null)\n");
+        return;
+    }
+    release(id);
+}
+
+void remove(char const * name) {
+    if (!is_valid_string(name)) {
+        ipc::error("fail remove: name is empty\n");
+        return;
+    }
+    // Do Nothing.
+}
+
+} // namespace shm
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/platform/win/to_tchar.h b/human_render/Ipc/libipc/platform/win/to_tchar.h
new file mode 100644
index 0000000..7f78043
--- /dev/null
+++ b/human_render/Ipc/libipc/platform/win/to_tchar.h
@@ -0,0 +1,74 @@
+#pragma once
+
+#include <Windows.h>
+
+#include <type_traits>
+#include <string>
+#include <locale>
+#include <codecvt>
+#include <cstring>
+#include <stdexcept>
+#include <cstddef>
+
+#include "libipc/utility/concept.h"
+#include "libipc/memory/resource.h"
+#include "libipc/platform/detail.h"
+
+namespace ipc {
+namespace detail {
+
+struct has_value_type_ {
+    template <typename T> static std::true_type  check(typename T::value_type *);
+    template <typename T> static std::false_type check(...);
+};
+
+template <typename T, typename U, typename = decltype(has_value_type_::check<U>(nullptr))>
+struct is_same_char : std::is_same<T, U> {};
+
+template <typename T, typename U>
+struct is_same_char<T, U, std::true_type> : std::is_same<T, typename U::value_type> {};
+
+template <typename T, typename S, typename R = S>
+using IsSameChar = ipc::require<is_same_char<T, S>::value, R>;
+
+////////////////////////////////////////////////////////////////
+/// to_tchar implementation
+////////////////////////////////////////////////////////////////
+
+template <typename T = TCHAR>
+constexpr auto to_tchar(ipc::string &&str) -> IsSameChar<T, ipc::string, ipc::string &&> {
+    return std::move(str); // noconv
+}
+
+/**
+ * \remarks codecvt_utf8_utf16/std::wstring_convert is deprecated
+ * \see https://codingtidbit.com/2020/02/09/c17-codecvt_utf8-is-deprecated/
+ *      https://stackoverflow.com/questions/42946335/deprecated-header-codecvt-replacement
+ *      https://en.cppreference.com/w/cpp/locale/codecvt/in
+ *      https://docs.microsoft.com/en-us/windows/win32/api/stringapiset/nf-stringapiset-multibytetowidechar
+*/
+template <typename T = TCHAR>
+auto to_tchar(ipc::string &&external) -> IsSameChar<T, ipc::wstring> {
+    if (external.empty()) {
+        return {}; // noconv
+    }
+    /**
+     * CP_ACP       : The system default Windows ANSI code page.
+     * CP_MACCP     : The current system Macintosh code page.
+     * CP_OEMCP     : The current system OEM code page.
+     * CP_SYMBOL    : Symbol code page (42).
+     * CP_THREAD_ACP: The Windows ANSI code page for the current thread.
+     * CP_UTF7      : UTF-7. Use this value only when forced by a 7-bit transport mechanism. Use of UTF-8 is preferred.
+     * CP_UTF8      : UTF-8.
+    */
+    int size_needed = ::MultiByteToWideChar(CP_UTF8, 0, &external[0], (int)external.size(), NULL, 0);
+    if (size_needed <= 0) {
+        return {};
+    }
+    ipc::wstring internal(size_needed, L'\0');
+    ::MultiByteToWideChar(CP_UTF8, 0, &external[0], (int)external.size(), &internal[0], size_needed);
+    return internal;
+}
+
+} // namespace detail
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/policy.h b/human_render/Ipc/libipc/policy.h
new file mode 100644
index 0000000..f88ab5d
--- /dev/null
+++ b/human_render/Ipc/libipc/policy.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <type_traits>
+
+#include "libipc/def.h"
+#include "libipc/prod_cons.h"
+
+#include "libipc/circ/elem_array.h"
+
+namespace ipc {
+namespace policy {
+
+template <template <typename, std::size_t...> class Elems, typename Flag>
+struct choose;
+
+template <typename Flag>
+struct choose<circ::elem_array, Flag> {
+    using flag_t = Flag;
+
+    template <std::size_t DataSize, std::size_t AlignSize>
+    using elems_t = circ::elem_array<ipc::prod_cons_impl<flag_t>, DataSize, AlignSize>;
+};
+
+} // namespace policy
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/pool_alloc.cpp b/human_render/Ipc/libipc/pool_alloc.cpp
new file mode 100644
index 0000000..c945759
--- /dev/null
+++ b/human_render/Ipc/libipc/pool_alloc.cpp
@@ -0,0 +1,17 @@
+#include "libipc/pool_alloc.h"
+
+#include "libipc/memory/resource.h"
+
+namespace ipc {
+namespace mem {
+
+void* pool_alloc::alloc(std::size_t size) {
+    return async_pool_alloc::alloc(size);
+}
+
+void pool_alloc::free(void* p, std::size_t size) {
+    async_pool_alloc::free(p, size);
+}
+
+} // namespace mem
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/pool_alloc.h b/human_render/Ipc/libipc/pool_alloc.h
new file mode 100644
index 0000000..654889c
--- /dev/null
+++ b/human_render/Ipc/libipc/pool_alloc.h
@@ -0,0 +1,102 @@
+#pragma once
+
+#include <new>
+#include <utility>
+
+#include "libipc/def.h"
+
+namespace ipc {
+namespace mem {
+
+class pool_alloc {
+public:
+    static void* alloc(std::size_t size);
+    static void  free (void* p, std::size_t size);
+};
+
+////////////////////////////////////////////////////////////////
+/// construct/destruct an object
+////////////////////////////////////////////////////////////////
+
+namespace detail {
+
+template <typename T>
+struct impl {
+    template <typename... P>
+    static T* construct(T* p, P&&... params) {
+        ::new (p) T(std::forward<P>(params)...);
+        return p;
+    }
+
+    static void destruct(T* p) {
+        reinterpret_cast<T*>(p)->~T();
+    }
+};
+
+template <typename T, size_t N>
+struct impl<T[N]> {
+    using type = T[N];
+
+    template <typename... P>
+    static type* construct(type* p, P&&... params) {
+        for (size_t i = 0; i < N; ++i) {
+            impl<T>::construct(&((*p)[i]), std::forward<P>(params)...);
+        }
+        return p;
+    }
+
+    static void destruct(type* p) {
+        for (size_t i = 0; i < N; ++i) {
+            impl<T>::destruct(&((*p)[i]));
+        }
+    }
+};
+
+} // namespace detail
+
+template <typename T, typename... P>
+T* construct(T* p, P&&... params) {
+    return detail::impl<T>::construct(p, std::forward<P>(params)...);
+}
+
+template <typename T, typename... P>
+T* construct(void* p, P&&... params) {
+    return construct(static_cast<T*>(p), std::forward<P>(params)...);
+}
+
+template <typename T>
+void destruct(T* p) {
+    return detail::impl<T>::destruct(p);
+}
+
+template <typename T>
+void destruct(void* p) {
+    destruct(static_cast<T*>(p));
+}
+
+////////////////////////////////////////////////////////////////
+/// general alloc/free
+////////////////////////////////////////////////////////////////
+
+inline void* alloc(std::size_t size) {
+    return pool_alloc::alloc(size);
+}
+
+template <typename T, typename... P>
+T* alloc(P&&... params) {
+    return construct<T>(pool_alloc::alloc(sizeof(T)), std::forward<P>(params)...);
+}
+
+inline void free(void* p, std::size_t size) {
+    pool_alloc::free(p, size);
+}
+
+template <typename T>
+void free(T* p) {
+    if (p == nullptr) return;
+    destruct(p);
+    pool_alloc::free(p, sizeof(T));
+}
+
+} // namespace mem
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/prod_cons.h b/human_render/Ipc/libipc/prod_cons.h
new file mode 100644
index 0000000..c9004bb
--- /dev/null
+++ b/human_render/Ipc/libipc/prod_cons.h
@@ -0,0 +1,433 @@
+#pragma once
+
+#include <atomic>
+#include <utility>
+#include <cstring>
+#include <type_traits>
+#include <cstdint>
+
+#include "libipc/def.h"
+
+#include "libipc/platform/detail.h"
+#include "libipc/circ/elem_def.h"
+#include "libipc/utility/log.h"
+#include "libipc/utility/utility.h"
+
+namespace ipc {
+
+////////////////////////////////////////////////////////////////
+/// producer-consumer implementation
+////////////////////////////////////////////////////////////////
+
+template <typename Flag>
+struct prod_cons_impl;
+
+template <>
+struct prod_cons_impl<wr<relat::single, relat::single, trans::unicast>> {
+
+    template <std::size_t DataSize, std::size_t AlignSize>
+    struct elem_t {
+        std::aligned_storage_t<DataSize, AlignSize> data_ {};
+    };
+
+    alignas(cache_line_size) std::atomic<circ::u2_t> rd_; // read index
+    alignas(cache_line_size) std::atomic<circ::u2_t> wt_; // write index
+
+    constexpr circ::u2_t cursor() const noexcept {
+        return 0;
+    }
+
+    template <typename W, typename F, typename E>
+    bool push(W* /*wrapper*/, F&& f, E* elems) {
+        auto cur_wt = circ::index_of(wt_.load(std::memory_order_relaxed));
+        if (cur_wt == circ::index_of(rd_.load(std::memory_order_acquire) - 1)) {
+            return false; // full
+        }
+        std::forward<F>(f)(&(elems[cur_wt].data_));
+        wt_.fetch_add(1, std::memory_order_release);
+        return true;
+    }
+
+    /**
+     * In single-single-unicast, 'force_push' means 'no reader' or 'the only one reader is dead'.
+     * So we could just disconnect all connections of receiver, and return false.
+    */
+    template <typename W, typename F, typename E>
+    bool force_push(W* wrapper, F&&, E*) {
+        wrapper->elems()->disconnect_receiver(~static_cast<circ::cc_t>(0u));
+        return false;
+    }
+
+    template <typename W, typename F, typename R, typename E>
+    bool pop(W* /*wrapper*/, circ::u2_t& /*cur*/, F&& f, R&& out, E* elems) {
+        auto cur_rd = circ::index_of(rd_.load(std::memory_order_relaxed));
+        if (cur_rd == circ::index_of(wt_.load(std::memory_order_acquire))) {
+            return false; // empty
+        }
+        std::forward<F>(f)(&(elems[cur_rd].data_));
+        std::forward<R>(out)(true);
+        rd_.fetch_add(1, std::memory_order_release);
+        return true;
+    }
+};
+
+template <>
+struct prod_cons_impl<wr<relat::single, relat::multi , trans::unicast>>
+     : prod_cons_impl<wr<relat::single, relat::single, trans::unicast>> {
+
+    template <typename W, typename F, typename E>
+    bool force_push(W* wrapper, F&&, E*) {
+        wrapper->elems()->disconnect_receiver(1);
+        return false;
+    }
+
+    template <typename W, typename F, typename R, 
+              template <std::size_t, std::size_t> class E, std::size_t DS, std::size_t AS>
+    bool pop(W* /*wrapper*/, circ::u2_t& /*cur*/, F&& f, R&& out, E<DS, AS>* elems) {
+        byte_t buff[DS];
+        for (unsigned k = 0;;) {
+            auto cur_rd = rd_.load(std::memory_order_relaxed);
+            if (circ::index_of(cur_rd) ==
+                circ::index_of(wt_.load(std::memory_order_acquire))) {
+                return false; // empty
+            }
+            std::memcpy(buff, &(elems[circ::index_of(cur_rd)].data_), sizeof(buff));
+            if (rd_.compare_exchange_weak(cur_rd, cur_rd + 1, std::memory_order_release)) {
+                std::forward<F>(f)(buff);
+                std::forward<R>(out)(true);
+                return true;
+            }
+            ipc::yield(k);
+        }
+    }
+};
+
+template <>
+struct prod_cons_impl<wr<relat::multi , relat::multi, trans::unicast>>
+     : prod_cons_impl<wr<relat::single, relat::multi, trans::unicast>> {
+
+    using flag_t = std::uint64_t;
+
+    template <std::size_t DataSize, std::size_t AlignSize>
+    struct elem_t {
+        std::aligned_storage_t<DataSize, AlignSize> data_ {};
+        std::atomic<flag_t> f_ct_ { 0 }; // commit flag
+    };
+
+    alignas(cache_line_size) std::atomic<circ::u2_t> ct_; // commit index
+
+    template <typename W, typename F, typename E>
+    bool push(W* /*wrapper*/, F&& f, E* elems) {
+        circ::u2_t cur_ct, nxt_ct;
+        for (unsigned k = 0;;) {
+            cur_ct = ct_.load(std::memory_order_relaxed);
+            if (circ::index_of(nxt_ct = cur_ct + 1) ==
+                circ::index_of(rd_.load(std::memory_order_acquire))) {
+                return false; // full
+            }
+            if (ct_.compare_exchange_weak(cur_ct, nxt_ct, std::memory_order_acq_rel)) {
+                break;
+            }
+            ipc::yield(k);
+        }
+        auto* el = elems + circ::index_of(cur_ct);
+        std::forward<F>(f)(&(el->data_));
+        // set flag & try update wt
+        el->f_ct_.store(~static_cast<flag_t>(cur_ct), std::memory_order_release);
+        while (1) {
+            auto cac_ct = el->f_ct_.load(std::memory_order_acquire);
+            if (cur_ct != wt_.load(std::memory_order_relaxed)) {
+                return true;
+            }
+            if ((~cac_ct) != cur_ct) {
+                return true;
+            }
+            if (!el->f_ct_.compare_exchange_strong(cac_ct, 0, std::memory_order_relaxed)) {
+                return true;
+            }
+            wt_.store(nxt_ct, std::memory_order_release);
+            cur_ct = nxt_ct;
+            nxt_ct = cur_ct + 1;
+            el = elems + circ::index_of(cur_ct);
+        }
+        return true;
+    }
+
+    template <typename W, typename F, typename E>
+    bool force_push(W* wrapper, F&&, E*) {
+        wrapper->elems()->disconnect_receiver(1);
+        return false;
+    }
+
+    template <typename W, typename F, typename R, 
+              template <std::size_t, std::size_t> class E, std::size_t DS, std::size_t AS>
+    bool pop(W* /*wrapper*/, circ::u2_t& /*cur*/, F&& f, R&& out, E<DS, AS>* elems) {
+        byte_t buff[DS];
+        for (unsigned k = 0;;) {
+            auto cur_rd = rd_.load(std::memory_order_relaxed);
+            auto cur_wt = wt_.load(std::memory_order_acquire);
+            auto id_rd  = circ::index_of(cur_rd);
+            auto id_wt  = circ::index_of(cur_wt);
+            if (id_rd == id_wt) {
+                auto* el = elems + id_wt;
+                auto cac_ct = el->f_ct_.load(std::memory_order_acquire);
+                if ((~cac_ct) != cur_wt) {
+                    return false; // empty
+                }
+                if (el->f_ct_.compare_exchange_weak(cac_ct, 0, std::memory_order_relaxed)) {
+                    wt_.store(cur_wt + 1, std::memory_order_release);
+                }
+                k = 0;
+            }
+            else {
+                std::memcpy(buff, &(elems[circ::index_of(cur_rd)].data_), sizeof(buff));
+                if (rd_.compare_exchange_weak(cur_rd, cur_rd + 1, std::memory_order_release)) {
+                    std::forward<F>(f)(buff);
+                    std::forward<R>(out)(true);
+                    return true;
+                }
+                ipc::yield(k);
+            }
+        }
+    }
+};
+
+template <>
+struct prod_cons_impl<wr<relat::single, relat::multi, trans::broadcast>> {
+
+    using rc_t = std::uint64_t;
+
+    enum : rc_t {
+        ep_mask = 0x00000000ffffffffull,
+        ep_incr = 0x0000000100000000ull
+    };
+
+    template <std::size_t DataSize, std::size_t AlignSize>
+    struct elem_t {
+        std::aligned_storage_t<DataSize, AlignSize> data_ {};
+        std::atomic<rc_t> rc_ { 0 }; // read-counter
+    };
+
+    alignas(cache_line_size) std::atomic<circ::u2_t> wt_;   // write index
+    alignas(cache_line_size) rc_t epoch_ { 0 };             // only one writer
+
+    circ::u2_t cursor() const noexcept {
+        return wt_.load(std::memory_order_acquire);
+    }
+
+    template <typename W, typename F, typename E>
+    bool push(W* wrapper, F&& f, E* elems) {
+        E* el;
+        for (unsigned k = 0;;) {
+            circ::cc_t cc = wrapper->elems()->connections(std::memory_order_relaxed);
+            if (cc == 0) return false; // no reader
+            el = elems + circ::index_of(wt_.load(std::memory_order_relaxed));
+            // check all consumers have finished reading this element
+            auto cur_rc = el->rc_.load(std::memory_order_acquire);
+            circ::cc_t rem_cc = cur_rc & ep_mask;
+            if ((cc & rem_cc) && ((cur_rc & ~ep_mask) == epoch_)) {
+                return false; // has not finished yet
+            }
+            // consider rem_cc to be 0 here
+            if (el->rc_.compare_exchange_weak(
+                        cur_rc, epoch_ | static_cast<rc_t>(cc), std::memory_order_release)) {
+                break;
+            }
+            ipc::yield(k);
+        }
+        std::forward<F>(f)(&(el->data_));
+        wt_.fetch_add(1, std::memory_order_release);
+        return true;
+    }
+
+    template <typename W, typename F, typename E>
+    bool force_push(W* wrapper, F&& f, E* elems) {
+        E* el;
+        epoch_ += ep_incr;
+        for (unsigned k = 0;;) {
+            circ::cc_t cc = wrapper->elems()->connections(std::memory_order_relaxed);
+            if (cc == 0) return false; // no reader
+            el = elems + circ::index_of(wt_.load(std::memory_order_relaxed));
+            // check all consumers have finished reading this element
+            auto cur_rc = el->rc_.load(std::memory_order_acquire);
+            circ::cc_t rem_cc = cur_rc & ep_mask;
+            if (cc & rem_cc) {
+                ipc::log("force_push: k = %u, cc = %u, rem_cc = %u\n", k, cc, rem_cc);
+                cc = wrapper->elems()->disconnect_receiver(rem_cc); // disconnect all invalid readers
+                if (cc == 0) return false; // no reader
+            }
+            // just compare & exchange
+            if (el->rc_.compare_exchange_weak(
+                        cur_rc, epoch_ | static_cast<rc_t>(cc), std::memory_order_release)) {
+                break;
+            }
+            ipc::yield(k);
+        }
+        std::forward<F>(f)(&(el->data_));
+        wt_.fetch_add(1, std::memory_order_release);
+        return true;
+    }
+
+    template <typename W, typename F, typename R, typename E>
+    bool pop(W* wrapper, circ::u2_t& cur, F&& f, R&& out, E* elems) {
+        if (cur == cursor()) return false; // acquire
+        auto* el = elems + circ::index_of(cur++);
+        std::forward<F>(f)(&(el->data_));
+        for (unsigned k = 0;;) {
+            auto cur_rc = el->rc_.load(std::memory_order_acquire);
+            if ((cur_rc & ep_mask) == 0) {
+                std::forward<R>(out)(true);
+                return true;
+            }
+            auto nxt_rc = cur_rc & ~static_cast<rc_t>(wrapper->connected_id());
+            if (el->rc_.compare_exchange_weak(cur_rc, nxt_rc, std::memory_order_release)) {
+                std::forward<R>(out)((nxt_rc & ep_mask) == 0);
+                return true;
+            }
+            ipc::yield(k);
+        }
+    }
+};
+
+template <>
+struct prod_cons_impl<wr<relat::multi, relat::multi, trans::broadcast>> {
+
+    using rc_t   = std::uint64_t;
+    using flag_t = std::uint64_t;
+
+    enum : rc_t {
+        rc_mask = 0x00000000ffffffffull,
+        ep_mask = 0x00ffffffffffffffull,
+        ep_incr = 0x0100000000000000ull,
+        ic_mask = 0xff000000ffffffffull,
+        ic_incr = 0x0000000100000000ull
+    };
+
+    template <std::size_t DataSize, std::size_t AlignSize>
+    struct elem_t {
+        std::aligned_storage_t<DataSize, AlignSize> data_ {};
+        std::atomic<rc_t  > rc_   { 0 }; // read-counter
+        std::atomic<flag_t> f_ct_ { 0 }; // commit flag
+    };
+
+    alignas(cache_line_size) std::atomic<circ::u2_t> ct_;   // commit index
+    alignas(cache_line_size) std::atomic<rc_t> epoch_ { 0 };
+
+    circ::u2_t cursor() const noexcept {
+        return ct_.load(std::memory_order_acquire);
+    }
+
+    constexpr static rc_t inc_rc(rc_t rc) noexcept {
+        return (rc & ic_mask) | ((rc + ic_incr) & ~ic_mask);
+    }
+
+    constexpr static rc_t inc_mask(rc_t rc) noexcept {
+        return inc_rc(rc) & ~rc_mask;
+    }
+
+    template <typename W, typename F, typename E>
+    bool push(W* wrapper, F&& f, E* elems) {
+        E* el;
+        circ::u2_t cur_ct;
+        rc_t epoch = epoch_.load(std::memory_order_acquire);
+        for (unsigned k = 0;;) {
+            circ::cc_t cc = wrapper->elems()->connections(std::memory_order_relaxed);
+            if (cc == 0) return false; // no reader
+            el = elems + circ::index_of(cur_ct = ct_.load(std::memory_order_relaxed));
+            // check all consumers have finished reading this element
+            auto cur_rc = el->rc_.load(std::memory_order_relaxed);
+            circ::cc_t rem_cc = cur_rc & rc_mask;
+            if ((cc & rem_cc) && ((cur_rc & ~ep_mask) == epoch)) {
+                return false; // has not finished yet
+            }
+            else if (!rem_cc) {
+                auto cur_fl = el->f_ct_.load(std::memory_order_acquire);
+                if ((cur_fl != cur_ct) && cur_fl) {
+                    return false; // full
+                }
+            }
+            // consider rem_cc to be 0 here
+            if (el->rc_.compare_exchange_weak(
+                        cur_rc, inc_mask(epoch | (cur_rc & ep_mask)) | static_cast<rc_t>(cc), std::memory_order_relaxed) &&
+                epoch_.compare_exchange_weak(epoch, epoch, std::memory_order_acq_rel)) {
+                break;
+            }
+            ipc::yield(k);
+        }
+        // only one thread/process would touch here at one time
+        ct_.store(cur_ct + 1, std::memory_order_release);
+        std::forward<F>(f)(&(el->data_));
+        // set flag & try update wt
+        el->f_ct_.store(~static_cast<flag_t>(cur_ct), std::memory_order_release);
+        return true;
+    }
+
+    template <typename W, typename F, typename E>
+    bool force_push(W* wrapper, F&& f, E* elems) {
+        E* el;
+        circ::u2_t cur_ct;
+        rc_t epoch = epoch_.fetch_add(ep_incr, std::memory_order_release) + ep_incr;
+        for (unsigned k = 0;;) {
+            circ::cc_t cc = wrapper->elems()->connections(std::memory_order_relaxed);
+            if (cc == 0) return false; // no reader
+            el = elems + circ::index_of(cur_ct = ct_.load(std::memory_order_relaxed));
+            // check all consumers have finished reading this element
+            auto cur_rc = el->rc_.load(std::memory_order_acquire);
+            circ::cc_t rem_cc = cur_rc & rc_mask;
+            if (cc & rem_cc) {
+                ipc::log("force_push: k = %u, cc = %u, rem_cc = %u\n", k, cc, rem_cc);
+                cc = wrapper->elems()->disconnect_receiver(rem_cc); // disconnect all invalid readers
+                if (cc == 0) return false; // no reader
+            }
+            // just compare & exchange
+            if (el->rc_.compare_exchange_weak(
+                        cur_rc, inc_mask(epoch | (cur_rc & ep_mask)) | static_cast<rc_t>(cc), std::memory_order_relaxed)) {
+                if (epoch == epoch_.load(std::memory_order_acquire)) {
+                    break;
+                }
+                else if (push(wrapper, std::forward<F>(f), elems)) {
+                    return true;
+                }
+                epoch = epoch_.fetch_add(ep_incr, std::memory_order_release) + ep_incr;
+            }
+            ipc::yield(k);
+        }
+        // only one thread/process would touch here at one time
+        ct_.store(cur_ct + 1, std::memory_order_release);
+        std::forward<F>(f)(&(el->data_));
+        // set flag & try update wt
+        el->f_ct_.store(~static_cast<flag_t>(cur_ct), std::memory_order_release);
+        return true;
+    }
+
+    template <typename W, typename F, typename R, typename E, std::size_t N>
+    bool pop(W* wrapper, circ::u2_t& cur, F&& f, R&& out, E(& elems)[N]) {
+        auto* el = elems + circ::index_of(cur);
+        auto cur_fl = el->f_ct_.load(std::memory_order_acquire);
+        if (cur_fl != ~static_cast<flag_t>(cur)) {
+            return false; // empty
+        }
+        ++cur;
+        std::forward<F>(f)(&(el->data_));
+        for (unsigned k = 0;;) {
+            auto cur_rc = el->rc_.load(std::memory_order_acquire);
+            if ((cur_rc & rc_mask) == 0) {
+                std::forward<R>(out)(true);
+                el->f_ct_.store(cur + N - 1, std::memory_order_release);
+                return true;
+            }
+            auto nxt_rc = inc_rc(cur_rc) & ~static_cast<rc_t>(wrapper->connected_id());
+            bool last_one = false;
+            if ((last_one = (nxt_rc & rc_mask) == 0)) {
+                el->f_ct_.store(cur + N - 1, std::memory_order_release);
+            }
+            if (el->rc_.compare_exchange_weak(cur_rc, nxt_rc, std::memory_order_release)) {
+                std::forward<R>(out)(last_one);
+                return true;
+            }
+            ipc::yield(k);
+        }
+    }
+};
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/queue.h b/human_render/Ipc/libipc/queue.h
new file mode 100644
index 0000000..e2335ab
--- /dev/null
+++ b/human_render/Ipc/libipc/queue.h
@@ -0,0 +1,223 @@
+#pragma once
+
+#include <type_traits>
+#include <new>
+#include <utility>  // [[since C++14]]: std::exchange
+#include <algorithm>
+#include <atomic>
+#include <tuple>
+#include <thread>
+#include <chrono>
+#include <string>
+#include <cassert>  // assert
+
+#include "libipc/def.h"
+#include "libipc/shm.h"
+#include "libipc/rw_lock.h"
+
+#include "libipc/utility/log.h"
+#include "libipc/platform/detail.h"
+#include "libipc/circ/elem_def.h"
+#include "libipc/memory/resource.h"
+
+namespace ipc {
+namespace detail {
+
+class queue_conn {
+protected:
+    circ::cc_t connected_ = 0;
+    shm::handle elems_h_;
+
+    template <typename Elems>
+    Elems* open(char const * name) {
+        if (!is_valid_string(name)) {
+            ipc::error("fail open waiter: name is empty!\n");
+            return nullptr;
+        }
+        if (!elems_h_.acquire(name, sizeof(Elems))) {
+            return nullptr;
+        }
+        auto elems = static_cast<Elems*>(elems_h_.get());
+        if (elems == nullptr) {
+            ipc::error("fail acquire elems: %s\n", name);
+            return nullptr;
+        }
+        elems->init();
+        return elems;
+    }
+
+    void close() {
+        elems_h_.release();
+    }
+
+public:
+    queue_conn() = default;
+    queue_conn(const queue_conn&) = delete;
+    queue_conn& operator=(const queue_conn&) = delete;
+
+    bool connected() const noexcept {
+        return connected_ != 0;
+    }
+
+    circ::cc_t connected_id() const noexcept {
+        return connected_;
+    }
+
+    template <typename Elems>
+    auto connect(Elems* elems) noexcept
+                         /*needs 'optional' here*/
+     -> std::tuple<bool, bool, decltype(std::declval<Elems>().cursor())> {
+        if (elems == nullptr) return {};
+        // if it's already connected, just return
+        if (connected()) return {connected(), false, 0};
+        connected_ = elems->connect_receiver();
+        return {connected(), true, elems->cursor()};
+    }
+
+    template <typename Elems>
+    bool disconnect(Elems* elems) noexcept {
+        if (elems == nullptr) return false;
+        // if it's already disconnected, just return false
+        if (!connected()) return false;
+        elems->disconnect_receiver(std::exchange(connected_, 0));
+        return true;
+    }
+};
+
+template <typename Elems>
+class queue_base : public queue_conn {
+    using base_t = queue_conn;
+
+public:
+    using elems_t  = Elems;
+    using policy_t = typename elems_t::policy_t;
+
+protected:
+    elems_t * elems_ = nullptr;
+    decltype(std::declval<elems_t>().cursor()) cursor_ = 0;
+    bool sender_flag_ = false;
+
+public:
+    using base_t::base_t;
+
+    queue_base() = default;
+
+    explicit queue_base(char const * name)
+        : queue_base{} {
+        elems_ = queue_conn::template open<elems_t>(name);
+    }
+
+    explicit queue_base(elems_t * elems) noexcept
+        : queue_base{} {
+        assert(elems != nullptr);
+        elems_ = elems;
+    }
+
+    /* not virtual */ ~queue_base() {
+        base_t::close();
+    }
+
+    bool open(char const * name) noexcept {
+        base_t::close();
+        elems_ = queue_conn::template open<elems_t>(name);
+        return elems_ != nullptr;
+    }
+
+    elems_t       * elems()       noexcept { return elems_; }
+    elems_t const * elems() const noexcept { return elems_; }
+
+    bool ready_sending() noexcept {
+        if (elems_ == nullptr) return false;
+        return sender_flag_ || (sender_flag_ = elems_->connect_sender());
+    }
+
+    void shut_sending() noexcept {
+        if (elems_ == nullptr) return;
+        if (!sender_flag_) return;
+        elems_->disconnect_sender();
+    }
+
+    bool connect() noexcept {
+        auto tp = base_t::connect(elems_);
+        if (std::get<0>(tp) && std::get<1>(tp)) {
+            cursor_ = std::get<2>(tp);
+            return true;
+        }
+        return std::get<0>(tp);
+    }
+
+    bool disconnect() noexcept {
+        return base_t::disconnect(elems_);
+    }
+
+    std::size_t conn_count() const noexcept {
+        return (elems_ == nullptr) ? static_cast<std::size_t>(invalid_value) : elems_->conn_count();
+    }
+
+    bool valid() const noexcept {
+        return elems_ != nullptr;
+    }
+
+    bool empty() const noexcept {
+        return !valid() || (cursor_ == elems_->cursor());
+    }
+
+    template <typename T, typename F, typename... P>
+    bool push(F&& prep, P&&... params) {
+        if (elems_ == nullptr) return false;
+        return elems_->push(this, [&](void* p) {
+            if (prep(p)) ::new (p) T(std::forward<P>(params)...);
+        });
+    }
+
+    template <typename T, typename F, typename... P>
+    bool force_push(F&& prep, P&&... params) {
+        if (elems_ == nullptr) return false;
+        return elems_->force_push(this, [&](void* p) {
+            if (prep(p)) ::new (p) T(std::forward<P>(params)...);
+        });
+    }
+
+    template <typename T, typename F>
+    bool pop(T& item, F&& out) {
+        if (elems_ == nullptr) {
+            return false;
+        }
+        return elems_->pop(this, &(this->cursor_), [&item](void* p) {
+            ::new (&item) T(std::move(*static_cast<T*>(p)));
+        }, std::forward<F>(out));
+    }
+};
+
+} // namespace detail
+
+template <typename T, typename Policy>
+class queue final : public detail::queue_base<typename Policy::template elems_t<sizeof(T), alignof(T)>> {
+    using base_t = detail::queue_base<typename Policy::template elems_t<sizeof(T), alignof(T)>>;
+
+public:
+    using value_t = T;
+
+    using base_t::base_t;
+
+    template <typename... P>
+    bool push(P&&... params) {
+        return base_t::template push<T>(std::forward<P>(params)...);
+    }
+
+    template <typename... P>
+    bool force_push(P&&... params) {
+        return base_t::template force_push<T>(std::forward<P>(params)...);
+    }
+
+    bool pop(T& item) {
+        return base_t::pop(item, [](bool) {});
+    }
+
+    template <typename F>
+    bool pop(T& item, F&& out) {
+        return base_t::pop(item, std::forward<F>(out));
+    }
+};
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/rw_lock.h b/human_render/Ipc/libipc/rw_lock.h
new file mode 100644
index 0000000..76cd2bd
--- /dev/null
+++ b/human_render/Ipc/libipc/rw_lock.h
@@ -0,0 +1,171 @@
+#pragma once
+
+#include <atomic>
+#include <thread>
+#include <chrono>
+#include <limits>
+#include <type_traits>
+#include <utility>
+
+////////////////////////////////////////////////////////////////
+/// Gives hint to processor that improves performance of spin-wait loops.
+////////////////////////////////////////////////////////////////
+
+#pragma push_macro("IPC_LOCK_PAUSE_")
+#undef  IPC_LOCK_PAUSE_
+
+#if defined(_MSC_VER)
+#include <windows.h>    // YieldProcessor
+/*
+    See: http://msdn.microsoft.com/en-us/library/windows/desktop/ms687419(v=vs.85).aspx
+    Not for intel c++ compiler, so ignore http://software.intel.com/en-us/forums/topic/296168
+*/
+#   define IPC_LOCK_PAUSE_() YieldProcessor()
+#elif defined(__GNUC__)
+#if defined(__i386__) || defined(__x86_64__)
+/*
+    See: Intel(R) 64 and IA-32 Architectures Software Developer's Manual V2
+         PAUSE-Spin Loop Hint, 4-57
+         http://www.intel.com/content/www/us/en/architecture-and-technology/64-ia-32-architectures-software-developer-instruction-set-reference-manual-325383.html?wapkw=instruction+set+reference
+*/
+#   define IPC_LOCK_PAUSE_() __asm__ __volatile__("pause")
+#elif defined(__ia64__) || defined(__ia64)
+/*
+    See: Intel(R) Itanium(R) Architecture Developer's Manual, Vol.3
+         hint - Performance Hint, 3:145
+         http://www.intel.com/content/www/us/en/processors/itanium/itanium-architecture-vol-3-manual.html
+*/
+#   define IPC_LOCK_PAUSE_() __asm__ __volatile__ ("hint @pause")
+#elif defined(__arm__)
+/*
+    See: ARM Architecture Reference Manuals (YIELD)
+         http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.subset.architecture.reference/index.html
+*/
+#   define IPC_LOCK_PAUSE_() __asm__ __volatile__ ("yield")
+#endif
+#endif/*compilers*/
+
+#if !defined(IPC_LOCK_PAUSE_)
+/*
+    Just use a compiler fence, prevent compiler from optimizing loop
+*/
+#   define IPC_LOCK_PAUSE_() std::atomic_signal_fence(std::memory_order_seq_cst)
+#endif/*!defined(IPC_LOCK_PAUSE_)*/
+
+////////////////////////////////////////////////////////////////
+/// Yield to other threads
+////////////////////////////////////////////////////////////////
+
+namespace ipc {
+
+template <typename K>
+inline void yield(K& k) noexcept {
+    if (k < 4)  { /* Do nothing */ }
+    else
+    if (k < 16) { IPC_LOCK_PAUSE_(); }
+    else
+    if (k < 32) { std::this_thread::yield(); }
+    else {
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        return;
+    }
+    ++k;
+}
+
+template <std::size_t N = 32, typename K, typename F>
+inline void sleep(K& k, F&& f) {
+    if (k < static_cast<K>(N)) {
+        std::this_thread::yield();
+    }
+    else {
+        static_cast<void>(std::forward<F>(f)());
+        return;
+    }
+    ++k;
+}
+
+template <std::size_t N = 32, typename K>
+inline void sleep(K& k) {
+    sleep<N>(k, [] {
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    });
+}
+
+} // namespace ipc
+
+#pragma pop_macro("IPC_LOCK_PAUSE_")
+
+namespace ipc {
+
+class spin_lock {
+    std::atomic<unsigned> lc_ { 0 };
+
+public:
+    void lock(void) noexcept {
+        for (unsigned k = 0;
+             lc_.exchange(1, std::memory_order_acquire);
+             yield(k)) ;
+    }
+
+    void unlock(void) noexcept {
+        lc_.store(0, std::memory_order_release);
+    }
+};
+
+class rw_lock {
+    using lc_ui_t = unsigned;
+
+    std::atomic<lc_ui_t> lc_ { 0 };
+
+    enum : lc_ui_t {
+        w_mask = (std::numeric_limits<std::make_signed_t<lc_ui_t>>::max)(), // b 0111 1111
+        w_flag = w_mask + 1                                                 // b 1000 0000
+    };
+
+public:
+    rw_lock() = default;
+
+    rw_lock(const rw_lock&) = delete;
+    rw_lock& operator=(const rw_lock&) = delete;
+    rw_lock(rw_lock&&) = delete;
+    rw_lock& operator=(rw_lock&&) = delete;
+
+    void lock() noexcept {
+        for (unsigned k = 0;;) {
+            auto old = lc_.fetch_or(w_flag, std::memory_order_acq_rel);
+            if (!old) return;           // got w-lock
+            if (!(old & w_flag)) break; // other thread having r-lock
+            yield(k);                   // other thread having w-lock
+        }
+        // wait for reading finished
+        for (unsigned k = 0;
+             lc_.load(std::memory_order_acquire) & w_mask;
+             yield(k)) ;
+    }
+
+    void unlock() noexcept {
+        lc_.store(0, std::memory_order_release);
+    }
+
+    void lock_shared() noexcept {
+        auto old = lc_.load(std::memory_order_acquire);
+        for (unsigned k = 0;;) {
+            // if w_flag set, just continue
+            if (old & w_flag) {
+                yield(k);
+                old = lc_.load(std::memory_order_acquire);
+            }
+            // otherwise try cas lc + 1 (set r-lock)
+            else if (lc_.compare_exchange_weak(old, old + 1, std::memory_order_release)) {
+                return;
+            }
+            // set r-lock failed, old has been updated
+        }
+    }
+
+    void unlock_shared() noexcept {
+        lc_.fetch_sub(1, std::memory_order_release);
+    }
+};
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/semaphore.h b/human_render/Ipc/libipc/semaphore.h
new file mode 100644
index 0000000..e1c0b1d
--- /dev/null
+++ b/human_render/Ipc/libipc/semaphore.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <cstdint>  // std::uint64_t
+
+#include "libipc/def.h"
+
+namespace ipc {
+namespace sync {
+
+class semaphore {
+    semaphore(semaphore const &) = delete;
+    semaphore &operator=(semaphore const &) = delete;
+
+public:
+    semaphore();
+    explicit semaphore(char const *name, std::uint32_t count = 0);
+    ~semaphore();
+
+    void const *native() const noexcept;
+    void *native() noexcept;
+
+    bool valid() const noexcept;
+
+    bool open(char const *name, std::uint32_t count = 0) noexcept;
+    void close() noexcept;
+
+    bool wait(std::uint64_t tm = ipc::invalid_value) noexcept;
+    bool post(std::uint32_t count = 1) noexcept;
+
+private:
+    class semaphore_;
+    semaphore_* p_;
+};
+
+} // namespace sync
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/shm.cpp b/human_render/Ipc/libipc/shm.cpp
new file mode 100644
index 0000000..28885b6
--- /dev/null
+++ b/human_render/Ipc/libipc/shm.cpp
@@ -0,0 +1,113 @@
+
+#include <string>
+#include <utility>
+
+#include "libipc/shm.h"
+
+#include "libipc/utility/pimpl.h"
+#include "libipc/utility/log.h"
+#include "libipc/memory/resource.h"
+
+namespace ipc {
+namespace shm {
+
+class handle::handle_ : public pimpl<handle_> {
+public:
+    shm::id_t id_ = nullptr;
+    void*     m_  = nullptr;
+
+    ipc::string n_;
+    std::size_t s_ = 0;
+};
+
+handle::handle()
+    : p_(p_->make()) {
+}
+
+handle::handle(char const * name, std::size_t size, unsigned mode)
+    : handle() {
+    acquire(name, size, mode);
+}
+
+handle::handle(handle&& rhs)
+    : handle() {
+    swap(rhs);
+}
+
+handle::~handle() {
+    release();
+    p_->clear();
+}
+
+void handle::swap(handle& rhs) {
+    std::swap(p_, rhs.p_);
+}
+
+handle& handle::operator=(handle rhs) {
+    swap(rhs);
+    return *this;
+}
+
+bool handle::valid() const noexcept {
+    return impl(p_)->m_ != nullptr;
+}
+
+std::size_t handle::size() const noexcept {
+    return impl(p_)->s_;
+}
+
+char const * handle::name() const noexcept {
+    return impl(p_)->n_.c_str();
+}
+
+std::int32_t handle::ref() const noexcept {
+    return shm::get_ref(impl(p_)->id_);
+}
+
+void handle::sub_ref() noexcept {
+    shm::sub_ref(impl(p_)->id_);
+}
+
+bool handle::acquire(char const * name, std::size_t size, unsigned mode) {
+    if (!is_valid_string(name)) {
+        ipc::error("fail acquire: name is empty\n");
+        return false;
+    }
+    if (size == 0) {
+        ipc::error("fail acquire: size is 0\n");
+        return false;
+    }
+    release();
+    impl(p_)->n_  = name;
+    impl(p_)->id_ = shm::acquire(name, size, mode);
+    impl(p_)->m_  = shm::get_mem(impl(p_)->id_, &(impl(p_)->s_));
+    return valid();
+}
+
+std::int32_t handle::release() {
+    if (impl(p_)->id_ == nullptr) return -1;
+    return shm::release(detach());
+}
+
+void* handle::get() const {
+    return impl(p_)->m_;
+}
+
+void handle::attach(id_t id) {
+    if (id == nullptr) return;
+    release();
+    impl(p_)->id_ = id;
+    impl(p_)->m_  = shm::get_mem(impl(p_)->id_, &(impl(p_)->s_));
+}
+
+id_t handle::detach() {
+    auto old = impl(p_)->id_;
+    impl(p_)->id_ = nullptr;
+    impl(p_)->m_  = nullptr;
+    impl(p_)->s_  = 0;
+    impl(p_)->n_.clear();
+    return old;
+}
+
+} // namespace shm
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/shm.h b/human_render/Ipc/libipc/shm.h
new file mode 100644
index 0000000..2c8a507
--- /dev/null
+++ b/human_render/Ipc/libipc/shm.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+
+
+namespace ipc {
+namespace shm {
+
+using id_t = void*;
+
+enum : unsigned {
+    create = 0x01,
+    open   = 0x02
+};
+
+extern id_t         acquire(char const * name, std::size_t size, unsigned mode = create | open);
+extern void *       get_mem(id_t id, std::size_t * size);
+extern std::int32_t release(id_t id);
+extern void         remove (id_t id);
+extern void         remove (char const * name);
+
+extern std::int32_t get_ref(id_t id);
+extern void sub_ref(id_t id);
+
+class handle {
+public:
+    handle();
+    handle(char const * name, std::size_t size, unsigned mode = create | open);
+    handle(handle&& rhs);
+
+    ~handle();
+
+    void swap(handle& rhs);
+    handle& operator=(handle rhs);
+
+    bool         valid() const noexcept;
+    std::size_t  size () const noexcept;
+    char const * name () const noexcept;
+
+    std::int32_t ref() const noexcept;
+    void sub_ref() noexcept;
+
+    bool acquire(char const * name, std::size_t size, unsigned mode = create | open);
+    std::int32_t release();
+
+    void* get() const;
+
+    void attach(id_t);
+    id_t detach();
+
+private:
+    class handle_;
+    handle_* p_;
+};
+
+} // namespace shm
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/sync/condition.cpp b/human_render/Ipc/libipc/sync/condition.cpp
new file mode 100644
index 0000000..36896a7
--- /dev/null
+++ b/human_render/Ipc/libipc/sync/condition.cpp
@@ -0,0 +1,77 @@
+
+#include "libipc/condition.h"
+
+#include "libipc/utility/pimpl.h"
+#include "libipc/utility/log.h"
+#include "libipc/memory/resource.h"
+#include "libipc/platform/detail.h"
+#if defined(IPC_OS_WINDOWS_)
+#include "libipc/platform/win/condition.h"
+#elif defined(IPC_OS_LINUX_)
+#include "libipc/platform/linux/condition.h"
+#elif defined(IPC_OS_QNX_)
+#include "libipc/platform/posix/condition.h"
+#else/*IPC_OS*/
+#   error "Unsupported platform."
+#endif
+
+namespace ipc {
+namespace sync {
+
+class condition::condition_ : public ipc::pimpl<condition_> {
+public:
+    ipc::detail::sync::condition cond_;
+};
+
+condition::condition()
+    : p_(p_->make()) {
+}
+
+condition::condition(char const * name)
+    : condition() {
+    open(name);
+}
+
+condition::~condition() {
+    close();
+    p_->clear();
+}
+
+void const *condition::native() const noexcept {
+    return impl(p_)->cond_.native();
+}
+
+void *condition::native() noexcept {
+    return impl(p_)->cond_.native();
+}
+
+bool condition::valid() const noexcept {
+    return impl(p_)->cond_.valid();
+}
+
+bool condition::open(char const *name) noexcept {
+    if (!is_valid_string(name)) {
+        ipc::error("fail condition open: name is empty\n");
+        return false;
+    }
+    return impl(p_)->cond_.open(name);
+}
+
+void condition::close() noexcept {
+    impl(p_)->cond_.close();
+}
+
+bool condition::wait(ipc::sync::mutex &mtx, std::uint64_t tm) noexcept {
+    return impl(p_)->cond_.wait(mtx, tm);
+}
+
+bool condition::notify(ipc::sync::mutex &mtx) noexcept {
+    return impl(p_)->cond_.notify(mtx);
+}
+
+bool condition::broadcast(ipc::sync::mutex &mtx) noexcept {
+    return impl(p_)->cond_.broadcast(mtx);
+}
+
+} // namespace sync
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/sync/mutex.cpp b/human_render/Ipc/libipc/sync/mutex.cpp
new file mode 100644
index 0000000..91bd0bb
--- /dev/null
+++ b/human_render/Ipc/libipc/sync/mutex.cpp
@@ -0,0 +1,77 @@
+
+#include "libipc/mutex.h"
+
+#include "libipc/utility/pimpl.h"
+#include "libipc/utility/log.h"
+#include "libipc/memory/resource.h"
+#include "libipc/platform/detail.h"
+#if defined(IPC_OS_WINDOWS_)
+#include "libipc/platform/win/mutex.h"
+#elif defined(IPC_OS_LINUX_)
+#include "libipc/platform/linux/mutex.h"
+#elif defined(IPC_OS_QNX_)
+#include "libipc/platform/posix/mutex.h"
+#else/*IPC_OS*/
+#   error "Unsupported platform."
+#endif
+
+namespace ipc {
+namespace sync {
+
+class mutex::mutex_ : public ipc::pimpl<mutex_> {
+public:
+    ipc::detail::sync::mutex lock_;
+};
+
+mutex::mutex()
+    : p_(p_->make()) {
+}
+
+mutex::mutex(char const * name)
+    : mutex() {
+    open(name);
+}
+
+mutex::~mutex() {
+    close();
+    p_->clear();
+}
+
+void const *mutex::native() const noexcept {
+    return impl(p_)->lock_.native();
+}
+
+void *mutex::native() noexcept {
+    return impl(p_)->lock_.native();
+}
+
+bool mutex::valid() const noexcept {
+    return impl(p_)->lock_.valid();
+}
+
+bool mutex::open(char const *name) noexcept {
+    if (!is_valid_string(name)) {
+        ipc::error("fail mutex open: name is empty\n");
+        return false;
+    }
+    return impl(p_)->lock_.open(name);
+}
+
+void mutex::close() noexcept {
+    impl(p_)->lock_.close();
+}
+
+bool mutex::lock(std::uint64_t tm) noexcept {
+    return impl(p_)->lock_.lock(tm);
+}
+
+bool mutex::try_lock() noexcept(false) {
+    return impl(p_)->lock_.try_lock();
+}
+
+bool mutex::unlock() noexcept {
+    return impl(p_)->lock_.unlock();
+}
+
+} // namespace sync
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/sync/semaphore.cpp b/human_render/Ipc/libipc/sync/semaphore.cpp
new file mode 100644
index 0000000..e58e8ec
--- /dev/null
+++ b/human_render/Ipc/libipc/sync/semaphore.cpp
@@ -0,0 +1,71 @@
+
+#include "libipc/semaphore.h"
+
+#include "libipc/utility/pimpl.h"
+#include "libipc/utility/log.h"
+#include "libipc/memory/resource.h"
+#include "libipc/platform/detail.h"
+#if defined(IPC_OS_WINDOWS_)
+#include "libipc/platform/win/semaphore.h"
+#elif defined(IPC_OS_LINUX_) || defined(IPC_OS_QNX_)
+#include "libipc/platform/posix/semaphore_impl.h"
+#else/*IPC_OS*/
+#   error "Unsupported platform."
+#endif
+
+namespace ipc {
+namespace sync {
+
+class semaphore::semaphore_ : public ipc::pimpl<semaphore_> {
+public:
+    ipc::detail::sync::semaphore sem_;
+};
+
+semaphore::semaphore()
+    : p_(p_->make()) {
+}
+
+semaphore::semaphore(char const * name, std::uint32_t count)
+    : semaphore() {
+    open(name, count);
+}
+
+semaphore::~semaphore() {
+    close();
+    p_->clear();
+}
+
+void const *semaphore::native() const noexcept {
+    return impl(p_)->sem_.native();
+}
+
+void *semaphore::native() noexcept {
+    return impl(p_)->sem_.native();
+}
+
+bool semaphore::valid() const noexcept {
+    return impl(p_)->sem_.valid();
+}
+
+bool semaphore::open(char const *name, std::uint32_t count) noexcept {
+    if (!is_valid_string(name)) {
+        ipc::error("fail semaphore open: name is empty\n");
+        return false;
+    }
+    return impl(p_)->sem_.open(name, count);
+}
+
+void semaphore::close() noexcept {
+    impl(p_)->sem_.close();
+}
+
+bool semaphore::wait(std::uint64_t tm) noexcept {
+    return impl(p_)->sem_.wait(tm);
+}
+
+bool semaphore::post(std::uint32_t count) noexcept {
+    return impl(p_)->sem_.post(count);
+}
+
+} // namespace sync
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/sync/waiter.cpp b/human_render/Ipc/libipc/sync/waiter.cpp
new file mode 100644
index 0000000..3a04abf
--- /dev/null
+++ b/human_render/Ipc/libipc/sync/waiter.cpp
@@ -0,0 +1,22 @@
+#include "libipc/waiter.h"
+
+#include "libipc/platform/detail.h"
+#if defined(IPC_OS_WINDOWS_)
+#include "libipc/platform/win/mutex.h"
+#elif defined(IPC_OS_LINUX_)
+#include "libipc/platform/linux/mutex.h"
+#elif defined(IPC_OS_QNX_)
+#include "libipc/platform/posix/mutex.h"
+#else/*IPC_OS*/
+#   error "Unsupported platform."
+#endif
+
+namespace ipc {
+namespace detail {
+
+void waiter::init() {
+    ipc::detail::sync::mutex::init();
+}
+
+} // namespace detail
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/utility/concept.h b/human_render/Ipc/libipc/utility/concept.h
new file mode 100644
index 0000000..7e2b583
--- /dev/null
+++ b/human_render/Ipc/libipc/utility/concept.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <type_traits>  // std::enable_if
+
+namespace ipc {
+
+// concept helpers
+
+template <bool Cond, typename R = void>
+using require = typename std::enable_if<Cond, R>::type;
+
+#ifdef IPC_CONCEPT_
+#   error "IPC_CONCEPT_ has been defined."
+#endif
+
+#define IPC_CONCEPT_(NAME, WHAT)                                       \
+template <typename T>                                                  \
+class NAME {                                                           \
+private:                                                               \
+    template <typename Type>                                           \
+    static std::true_type check(decltype(std::declval<Type>().WHAT)*); \
+    template <typename Type>                                           \
+    static std::false_type check(...);                                 \
+public:                                                                \
+    using type = decltype(check<T>(nullptr));                          \
+    constexpr static auto value = type::value;                         \
+}
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/utility/id_pool.h b/human_render/Ipc/libipc/utility/id_pool.h
new file mode 100644
index 0000000..24d32e4
--- /dev/null
+++ b/human_render/Ipc/libipc/utility/id_pool.h
@@ -0,0 +1,103 @@
+#pragma once
+
+#include <type_traits>  // std::aligned_storage_t
+#include <cstring>      // std::memcmp
+#include <cstdint>
+
+#include "libipc/def.h"
+#include "libipc/platform/detail.h"
+
+namespace ipc {
+
+using storage_id_t = std::int32_t;
+
+template <std::size_t DataSize, std::size_t AlignSize>
+struct id_type;
+
+template <std::size_t AlignSize>
+struct id_type<0, AlignSize> {
+    uint_t<8> id_;
+
+    id_type& operator=(storage_id_t val) {
+        id_ = static_cast<uint_t<8>>(val);
+        return (*this);
+    }
+
+    operator uint_t<8>() const {
+        return id_;
+    }
+};
+
+template <std::size_t DataSize, std::size_t AlignSize>
+struct id_type : id_type<0, AlignSize> {
+    std::aligned_storage_t<DataSize, AlignSize> data_;
+};
+
+template <std::size_t DataSize  = 0,
+          std::size_t AlignSize = (ipc::detail::min)(DataSize, alignof(std::max_align_t))>
+class id_pool {
+
+    static constexpr std::size_t limited_max_count() {
+        return ipc::detail::min<std::size_t>(large_msg_cache, (std::numeric_limits<uint_t<8>>::max)());
+    }
+
+public:
+    enum : std::size_t {
+        /* eliminate error: taking address of temporary */
+        max_count = limited_max_count()
+    };
+
+private:
+    id_type<DataSize, AlignSize> next_[max_count];
+    uint_t<8> cursor_ = 0;
+    bool prepared_ = false;
+
+public:
+    void prepare() {
+        if (!prepared_ && this->invalid()) this->init();
+        prepared_ = true;
+    }
+
+    void init() {
+        for (storage_id_t i = 0; i < max_count;) {
+            i = next_[i] = (i + 1);
+        }
+    }
+
+    bool invalid() const {
+        static id_pool inv;
+        return std::memcmp(this, &inv, sizeof(id_pool)) == 0;
+    }
+
+    bool empty() const {
+        return cursor_ == max_count;
+    }
+
+    storage_id_t acquire() {
+        if (empty()) return -1;
+        storage_id_t id = cursor_;
+        cursor_ = next_[id]; // point to next
+        return id;
+    }
+
+    bool release(storage_id_t id) {
+        if (id < 0) return false;
+        next_[id] = cursor_;
+        cursor_ = static_cast<uint_t<8>>(id); // put it back
+        return true;
+    }
+
+    void       * at(storage_id_t id)       { return &(next_[id].data_); }
+    void const * at(storage_id_t id) const { return &(next_[id].data_); }
+};
+
+template <typename T>
+class obj_pool : public id_pool<sizeof(T), alignof(T)> {
+    using base_t = id_pool<sizeof(T), alignof(T)>;
+
+public:
+    T       * at(storage_id_t id)       { return reinterpret_cast<T       *>(base_t::at(id)); }
+    T const * at(storage_id_t id) const { return reinterpret_cast<T const *>(base_t::at(id)); }
+};
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/utility/log.h b/human_render/Ipc/libipc/utility/log.h
new file mode 100644
index 0000000..d06da12
--- /dev/null
+++ b/human_render/Ipc/libipc/utility/log.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#include <cstdio>
+#include <utility>
+
+namespace ipc {
+namespace detail {
+
+template <typename O>
+void print(O out, char const * str) {
+    std::fprintf(out, "%s", str);
+}
+
+template <typename O, typename P1, typename... P>
+void print(O out, char const * fmt, P1&& p1, P&&... params) {
+    std::fprintf(out, fmt, std::forward<P1>(p1), std::forward<P>(params)...);
+}
+
+} // namespace detail
+
+inline void log(char const * fmt) {
+    ipc::detail::print(stdout, fmt);
+}
+
+template <typename P1, typename... P>
+void log(char const * fmt, P1&& p1, P&&... params) {
+    ipc::detail::print(stdout, fmt, std::forward<P1>(p1), std::forward<P>(params)...);
+}
+
+inline void error(char const * str) {
+    ipc::detail::print(stderr, str);
+}
+
+template <typename P1, typename... P>
+void error(char const * fmt, P1&& p1, P&&... params) {
+    ipc::detail::print(stderr, fmt, std::forward<P1>(p1), std::forward<P>(params)...);
+}
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/utility/pimpl.h b/human_render/Ipc/libipc/utility/pimpl.h
new file mode 100644
index 0000000..8d4711d
--- /dev/null
+++ b/human_render/Ipc/libipc/utility/pimpl.h
@@ -0,0 +1,64 @@
+#pragma once
+
+#include <new>
+#include <utility>
+
+#include "libipc/platform/detail.h"
+#include "libipc/utility/concept.h"
+#include "libipc/pool_alloc.h"
+
+namespace ipc {
+
+// pimpl small object optimization helpers
+
+template <typename T, typename R = T*>
+using IsImplComfortable = ipc::require<(sizeof(T) <= sizeof(T*)), R>;
+
+template <typename T, typename R = T*>
+using IsImplUncomfortable = ipc::require<(sizeof(T) > sizeof(T*)), R>;
+
+template <typename T, typename... P>
+IPC_CONSTEXPR_ auto make_impl(P&&... params) -> IsImplComfortable<T> {
+    T* buf {};
+    ::new (&buf) T { std::forward<P>(params)... };
+    return buf;
+}
+
+template <typename T>
+IPC_CONSTEXPR_ auto impl(T* const (& p)) -> IsImplComfortable<T> {
+    return reinterpret_cast<T*>(&const_cast<char &>(reinterpret_cast<char const &>(p)));
+}
+
+template <typename T>
+IPC_CONSTEXPR_ auto clear_impl(T* p) -> IsImplComfortable<T, void> {
+    if (p != nullptr) impl(p)->~T();
+}
+
+template <typename T, typename... P>
+IPC_CONSTEXPR_ auto make_impl(P&&... params) -> IsImplUncomfortable<T> {
+    return mem::alloc<T>(std::forward<P>(params)...);
+}
+
+template <typename T>
+IPC_CONSTEXPR_ auto clear_impl(T* p) -> IsImplUncomfortable<T, void> {
+    mem::free(p);
+}
+
+template <typename T>
+IPC_CONSTEXPR_ auto impl(T* const (& p)) -> IsImplUncomfortable<T> {
+    return p;
+}
+
+template <typename T>
+struct pimpl {
+    template <typename... P>
+    IPC_CONSTEXPR_ static T* make(P&&... params) {
+        return make_impl<T>(std::forward<P>(params)...);
+    }
+
+    IPC_CONSTEXPR_ void clear() {
+        clear_impl(static_cast<T*>(const_cast<pimpl*>(this)));
+    }
+};
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/utility/scope_guard.h b/human_render/Ipc/libipc/utility/scope_guard.h
new file mode 100644
index 0000000..9f42149
--- /dev/null
+++ b/human_render/Ipc/libipc/utility/scope_guard.h
@@ -0,0 +1,64 @@
+#pragma once
+
+#include <utility>      // std::forward, std::move
+#include <algorithm>    // std::swap
+#include <type_traits>  // std::decay
+
+namespace ipc {
+
+////////////////////////////////////////////////////////////////
+/// Execute guard function when the enclosing scope exits
+////////////////////////////////////////////////////////////////
+
+template <typename F>
+class scope_guard {
+    F destructor_;
+    mutable bool dismiss_;
+
+public:
+    template <typename D>
+    scope_guard(D && destructor)
+        : destructor_(std::forward<D>(destructor))
+        , dismiss_(false) {
+    }
+
+    scope_guard(scope_guard&& rhs)
+        : destructor_(std::move(rhs.destructor_))
+        , dismiss_(true) /* dismiss rhs */ {
+        std::swap(dismiss_, rhs.dismiss_);
+    }
+
+    ~scope_guard() {
+        try { do_exit(); }
+        /**
+         * In the realm of exceptions, it is fundamental that you can do nothing
+         * if your "undo/recover" action fails.
+        */
+        catch (...) { /* Do nothing */ }
+    }
+
+    void swap(scope_guard & rhs) {
+        std::swap(destructor_, rhs.destructor_);
+        std::swap(dismiss_   , rhs.dismiss_);
+    }
+
+    void dismiss() const noexcept {
+        dismiss_ = true;
+    }
+
+    void do_exit() {
+        if (!dismiss_) {
+            dismiss_ = true;
+            destructor_();
+        }
+    }
+};
+
+template <typename D>
+constexpr auto guard(D && destructor) noexcept {
+    return scope_guard<std::decay_t<D>> {
+        std::forward<D>(destructor)
+    };
+}
+
+} // namespace ipc
\ No newline at end of file
diff --git a/human_render/Ipc/libipc/utility/utility.h b/human_render/Ipc/libipc/utility/utility.h
new file mode 100644
index 0000000..4b3a859
--- /dev/null
+++ b/human_render/Ipc/libipc/utility/utility.h
@@ -0,0 +1,64 @@
+#pragma once
+
+#include <utility>      // std::forward, std::integer_sequence
+#include <cstddef>      // std::size_t
+#include <new>          // std::hardware_destructive_interference_size
+#include <type_traits>  // std::is_trivially_copyable
+
+#include "libipc/platform/detail.h"
+
+namespace ipc {
+
+template <typename F, typename D>
+constexpr decltype(auto) static_switch(std::size_t /*i*/, std::index_sequence<>, F&& /*f*/, D&& def) {
+    return std::forward<D>(def)();
+}
+
+template <typename F, typename D, std::size_t N, std::size_t...I>
+constexpr decltype(auto) static_switch(std::size_t i, std::index_sequence<N, I...>, F&& f, D&& def) {
+    return (i == N) ? std::forward<F>(f)(std::integral_constant<std::size_t, N>{}) :
+                      static_switch(i, std::index_sequence<I...>{}, std::forward<F>(f), std::forward<D>(def));
+}
+
+template <std::size_t N, typename F, typename D>
+constexpr decltype(auto) static_switch(std::size_t i, F&& f, D&& def) {
+    return static_switch(i, std::make_index_sequence<N>{}, std::forward<F>(f), std::forward<D>(def));
+}
+
+template <typename F, std::size_t...I>
+IPC_CONSTEXPR_ void static_for(std::index_sequence<I...>, F&& f) {
+    IPC_UNUSED_ auto expand = { (std::forward<F>(f)(std::integral_constant<std::size_t, I>{}), 0)... };
+}
+
+template <std::size_t N, typename F>
+IPC_CONSTEXPR_ void static_for(F&& f) {
+    static_for(std::make_index_sequence<N>{}, std::forward<F>(f));
+}
+
+// Minimum offset between two objects to avoid false sharing.
+enum {
+// #if __cplusplus >= 201703L
+//     cache_line_size = std::hardware_destructive_interference_size
+// #else /*__cplusplus < 201703L*/
+    cache_line_size = 64
+// #endif/*__cplusplus < 201703L*/
+};
+
+template <typename T, typename U>
+auto horrible_cast(U rhs) noexcept
+    -> typename std::enable_if<std::is_trivially_copyable<T>::value
+                            && std::is_trivially_copyable<U>::value, T>::type {
+    union {
+        T t;
+        U u;
+    } r = {};
+    r.u = rhs;
+    return r.t;
+}
+
+IPC_CONSTEXPR_ std::size_t make_align(std::size_t align, std::size_t size) {
+    // align must be 2^n
+    return (size + align - 1) & ~(align - 1);
+}
+
+} // namespace ipc
diff --git a/human_render/Ipc/libipc/waiter.h b/human_render/Ipc/libipc/waiter.h
new file mode 100644
index 0000000..628ce5e
--- /dev/null
+++ b/human_render/Ipc/libipc/waiter.h
@@ -0,0 +1,87 @@
+#pragma once
+
+#include <utility>
+#include <string>
+#include <mutex>
+#include <atomic>
+
+#include "libipc/def.h"
+#include "libipc/mutex.h"
+#include "libipc/condition.h"
+#include "libipc/platform/detail.h"
+
+namespace ipc {
+namespace detail {
+
+class waiter {
+    ipc::sync::condition cond_;
+    ipc::sync::mutex     lock_;
+    std::atomic<bool>    quit_ {false};
+
+public:
+    static void init();
+
+    waiter() = default;
+    waiter(char const *name) {
+        open(name);
+    }
+
+    ~waiter() {
+        close();
+    }
+
+    bool valid() const noexcept {
+        return cond_.valid() && lock_.valid();
+    }
+
+    bool open(char const *name) noexcept {
+        quit_.store(false, std::memory_order_relaxed);
+        if (!cond_.open((std::string{name} + "_WAITER_COND_").c_str())) {
+            return false;
+        }
+        if (!lock_.open((std::string{name} + "_WAITER_LOCK_").c_str())) {
+            cond_.close();
+            return false;
+        }
+        return valid();
+    }
+
+    void close() noexcept {
+        cond_.close();
+        lock_.close();
+    }
+
+    template <typename F>
+    bool wait_if(F &&pred, std::uint64_t tm = ipc::invalid_value) noexcept {
+        IPC_UNUSED_ std::lock_guard<ipc::sync::mutex> guard {lock_};
+        while ([this, &pred] {
+                    return !quit_.load(std::memory_order_relaxed)
+                        && std::forward<F>(pred)();
+                }()) {
+            if (!cond_.wait(lock_, tm)) return false;
+        }
+        return true;
+    }
+
+    bool notify() noexcept {
+        {
+            IPC_UNUSED_ std::lock_guard<ipc::sync::mutex> barrier{lock_}; // barrier
+        }
+        return cond_.notify(lock_);
+    }
+
+    bool broadcast() noexcept {
+        {
+            IPC_UNUSED_ std::lock_guard<ipc::sync::mutex> barrier{lock_}; // barrier
+        }
+        return cond_.broadcast(lock_);
+    }
+
+    bool quit_waiting() {
+        quit_.store(true, std::memory_order_release);
+        return broadcast();
+    }
+};
+
+} // namespace detail
+} // namespace ipc