diff --git a/usrc/intelligent_winding_robot_ctrl.cpp b/usrc/intelligent_winding_robot_ctrl.cpp
index 649158d..c69add1 100644
--- a/usrc/intelligent_winding_robot_ctrl.cpp
+++ b/usrc/intelligent_winding_robot_ctrl.cpp
@@ -64,8 +64,9 @@ class WidthDetector {
 
   void wait_module_idle(int32_t moduleid, int32_t timeout_ms) {
     zos_delay(100);
-    int     i           = 0;
-    int32_t enterticket = zos_get_tick();
+    int        i           = 0;
+    int32_t    enterticket = zos_get_tick();
+    ThisThread thisThread;
     while (true) {
       int32_t status = 0;
       int32_t ecode  = m_dm->module_get_status(moduleid, &status);
@@ -86,15 +87,18 @@ class WidthDetector {
         throw (int32_t)err::kcatch_exception;
         break;
       };
-      if (i % 30 == 0) {
+      if (i % 1000 == 0) {
         ZLOGI(TAG, "wait_module_idle %d %d....", moduleid, status);
       }
       i++;
       zos_delay(10);
+      if (thisThread.getExitFlag()) {
+        break;
+      }
     }
   }
 
-  void m14_raoxiantance_move_to_reset() { m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_reset_pos, 330, 0); }
+  void m14_raoxiantance_move_to_reset() { m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_reset_pos, 500, 0); }
   void start_run_back() {
     m_dm->motor_move_to(14, cfg->m14_raoxiantance_reset_pos, 30, 0);
     g_isrunning = true;
@@ -104,7 +108,7 @@ class WidthDetector {
     g_isrunning = true;
   }
   void start_run_forward() {
-    m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 330, 0);
+    m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 500, 0);
     g_isrunning = true;
   }
   void stop_run() {
@@ -184,7 +188,7 @@ class WidthDetector {
   void stopDetect() {
     m_detect_thread.stop();
 
-    m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_reset_pos, 330, 0);
+    m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_reset_pos, 500, 0);
     wait_module_idle(14, 0);
   }
 
@@ -202,6 +206,14 @@ class WidthDetector {
 
 WidthDetector g_widthDetector;
 
+static void prv_sleep(int32_t ms) {
+  ThisThread thisThread;
+  thisThread.sleep(ms);
+
+  if (thisThread.getExitFlag()) {
+    throw (int32_t)0;
+  }
+}
 int32_t IntelligentWindingRobotCtrl::initialize(APPDM* dm, ICmdParser* cmdparse) {
   m_dm       = dm;
   m_cmdparse = cmdparse;
@@ -277,63 +289,8 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() {
   return 0;
 }
 
-void IntelligentWindingRobotCtrl::regcb() {
-  // device_reset
-  m_cmdparse->regCMD("device_reset", "()", 0, [this](PARAM) { device_reset(); });
-  m_cmdparse->regCMD("enable_all_module", "()", 0, [this](PARAM) { enable_all_module(); });
-  m_cmdparse->regCMD("disable_all_module", "()", 0, [this](PARAM) { disable_all_module(); });
-  // m_cmdparse->regCMD("xy_run_to_clip_pos_test", "()", 1, [this](PARAM) { return xy_run_to_clip_pos_test(atoi(paraV[0])); });
-  m_cmdparse->regCMD("step_take_bullet", "()", 1, [this](PARAM) { return step_take_bullet(atoi(paraV[0])); });
-  m_cmdparse->regCMD("step_take_back_bullet", "()", 1, [this](PARAM) { return step_take_back_bullet(atoi(paraV[0])); });
-  m_cmdparse->regCMD("step_prepare_remove_line", "()", 1, [this](PARAM) {
-    bool hasbullet = false;
-    return step_prepare_remove_line(atoi(paraV[0]), hasbullet);
-  });
-  m_cmdparse->regCMD("step_winding_prepare", "()", 0, [this](PARAM) { return step_winding_prepare(); });
-  m_cmdparse->regCMD("step_winding", "()", 0, [this](PARAM) { return step_winding(); });
-  m_cmdparse->regCMD("step_remove_line", "()", 0, [this](PARAM) { return step_remove_line(); });
-  m_cmdparse->regCMD("step_winding_lineend", "()", 0, [this](PARAM) { return step_winding_lineend(); });
-  m_cmdparse->regCMD("step_winding_lineend_prepare", "()", 1, [this](PARAM) { return step_winding_lineend_prepare(atoi(paraV[0])); });
-  m_cmdparse->regCMD("step_winding_take_bullet_from_cooking_to_origin_pos", "()", 1, [this](PARAM) { return step_winding_take_bullet_from_cooking_to_origin_pos(atoi(paraV[0])); });
-  m_cmdparse->regCMD("start_winding", "()", 0, [this](PARAM) { return start_winding(); });
-  m_cmdparse->regCMD("stop_winding", "()", 0, [this](PARAM) { return stop_winding(); });
-  m_cmdparse->regCMD("start_remove_line", "()", 0, [this](PARAM) { return start_remove_line(); });
-
-  // m_cmdparse->regCMD("disable_all_motor", "()", 0, [this](PARAM) { return disable_all_motor(); });
-
-  m_cmdparse->regCMD("m11_arm_jiaxian_move_to_reset_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_reset_pos(); });
-  m_cmdparse->regCMD("m11_arm_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_clamp_pos(); });
-  m_cmdparse->regCMD("m12_jiaxian_move_to_open_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_open_pos(); });
-  m_cmdparse->regCMD("m12_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_clamp_pos(); });
-  m_cmdparse->regCMD("m13_yaxian_move_to_reset_forward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_forward(); });
-  m_cmdparse->regCMD("m13_yaxian_move_to_reset_backward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_backward(); });
-  m_cmdparse->regCMD("m13_yaxian_press_clip", "()", 0, [this](PARAM) { return m13_yaxian_press_clip(); });
-  m_cmdparse->regCMD("m14_raoxiantance_move_to_reset", "()", 0, [this](PARAM) { return m14_raoxiantance_move_to_reset(); });
-  m_cmdparse->regCMD("m15_paifei_moveto_reset", "()", 0, [this](PARAM) { return m15_paifei_moveto_reset(); });
-  m_cmdparse->regCMD("m15_paifei_moveto_press", "()", 0, [this](PARAM) { return m15_paifei_moveto_press(); });
-  m_cmdparse->regCMD("m16_xianlajin_move_to_reset", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_reset(); });
-  m_cmdparse->regCMD("m16_xianlajin_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_tight_line_pos(); });
-  m_cmdparse->regCMD("m16_xianlajin_move_to_winding_low_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_low_pos(); });
-  m_cmdparse->regCMD("m16_xianlajin_move_to_winding_up_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_up_pos(); });
-  m_cmdparse->regCMD("m16_xianlajin_move_to_line_entry_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_line_entry_pos(); });
-  m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_high_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_cook_lineend_high_pos(); });
-  m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_low_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_cook_lineend_low_pos(); });
-  m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_ready_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_cook_lineend_ready_pos(); });
-
-  m_cmdparse->regCMD("m21_arm_hook_claws_reset", "()", 0, [this](PARAM) { return m21_arm_hook_claws_reset(); });
-  m_cmdparse->regCMD("m21_arm_hook_claws_move_to_half_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_half_pos(); });
-  m_cmdparse->regCMD("m21_arm_hook_claws_move_to_full_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_full_pos(); });
-
-  m_cmdparse->regCMD("m22_scissors_move_reset_pos", "()", 0, [this](PARAM) { return m22_scissors_move_reset_pos(); });
-  m_cmdparse->regCMD("m22_scissors_cut", "()", 0, [this](PARAM) { return m22_scissors_cut(); });
-  m_cmdparse->regCMD("m23_laxian_motor_move_to_reset_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_reset_pos(); });
-  m_cmdparse->regCMD("m23_laxian_motor_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_tight_line_pos(); });
-  m_cmdparse->regCMD("start_probe_bullet_pos", "()", 0, [this](PARAM) { return start_probe_bullet_pos(); });
-  m_cmdparse->regCMD("start_probe_bullet_pos_forward", "()", 0, [this](PARAM) { return start_probe_bullet_pos_forward(); });
-}
-
 void IntelligentWindingRobotCtrl::wait_module_idle(int32_t moduleid, int32_t timeout_ms) {
-  zos_delay(100);
+  prv_sleep(100);
   int     i           = 0;
   int32_t enterticket = zos_get_tick();
   while (true) {
@@ -356,11 +313,11 @@ void IntelligentWindingRobotCtrl::wait_module_idle(int32_t moduleid, int32_t tim
       throw (int32_t)err::kcatch_exception;
       break;
     };
-    if (i % 30 == 0) {
+    if (i % 1000 == 0) {
       ZLOGI(TAG, "wait_module_idle %d %d....", moduleid, status);
     }
     i++;
-    zos_delay(10);
+    prv_sleep(10);
   }
 }
 
@@ -392,6 +349,7 @@ int32_t IntelligentWindingRobotCtrl::stop_all_module() {
 }
 
 int32_t IntelligentWindingRobotCtrl::disable_all_module() {
+  ZLOGI(TAG, "m_dm->motor_enable(2, 0)");
   m_dm->motor_enable(2, 0);
   m_dm->xymotor_enable(3, 0);
   m_dm->motor_enable(4, 0);
@@ -655,6 +613,7 @@ int32_t IntelligentWindingRobotCtrl::step_prepare_remove_line(int32_t bulletinde
    *
    */
   if (is_hasbullet()) {
+    stop_probe_bullet_pos();
     xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y - 3623);
     xymove_to(cfg.xy_platform_remove_line_pos_x, cfg.xy_platform_cook_bullet_pos_y - 3623);
     xymove_to(cfg.xy_platform_remove_line_pos_x, cfg.xy_platform_remove_line_pos_y);
@@ -687,12 +646,13 @@ int32_t IntelligentWindingRobotCtrl::step_prepare_remove_line(int32_t bulletinde
 
 int32_t IntelligentWindingRobotCtrl::step_remove_line() {
   ZLOGI(TAG, "step_remove_line");
-  start_probe_bullet_pos_forward();
   m15_paifei_moveto_press();
   WAIT_MODULES_IDLE(15);
 
   m_dm->motor_rotate_acctime(2, -1, 1000, 1000);
-  int overtime = 90;
+  #if 0
+  int overtime = 30;
+
   for (int i = 0; i < overtime; i++) {
     osDelay(1000);
     if (g_widthDetector.isRemoveLineEnd()) {
@@ -707,8 +667,15 @@ int32_t IntelligentWindingRobotCtrl::step_remove_line() {
       break;
     }
   }
-  osDelay(10 * 1000);
+  #endif
+  prv_sleep(30 * 1000);
   m_dm->module_stop(2);
+  start_probe_bullet_pos_forward();
+  if (!g_widthDetector.isRemoveLineEnd()) {
+    throw (int32_t)0;
+  }
+  
+
   // m15_paifei_moveto_reset();
   m15_paifei_moveto_reset();
   stop_probe_bullet_pos();
@@ -783,7 +750,8 @@ int32_t IntelligentWindingRobotCtrl::step_winding() {
     }
 
     if (g_widthDetector.distanceIsStopChange()) {
-      ZLOGI(TAG, "distanceIsStopChange......");
+      ZLOGW(TAG, "distanceIsStopChange......");
+      throw 0;
       break;
     }
   }
@@ -1009,46 +977,10 @@ int32_t IntelligentWindingRobotCtrl::setcfg(const char* cfgname, int32_t cfgvalu
 int32_t IntelligentWindingRobotCtrl::dumpcfg() { return 0; }
 
 int32_t IntelligentWindingRobotCtrl::start_winding() {  //
+#if 0
   m_work_thread.start([this]() {
     try {
-      ZLOGI(TAG, "start_winding");
-      m_iswinding        = true;
-      m_nowwinding_index = 0;
-      device_reset();
-      bool hasbullet = false;
-      for (size_t i = 0; i < 5 * 12; i++) {
-        if (m_work_thread.getExitFlag()) {
-          break;
-        }
-        if (!(i / 5 == 0 || i / 5 == 6 || i / 5 == 11)) {
-          continue;
-        }
-
-        m_nowwinding_index = i + 1;
-        step_take_bullet(i);
-        step_prepare_remove_line(i, hasbullet);
-        if (!hasbullet) {
-          continue;
-        }
-        step_remove_line();
-        if (m_work_thread.getExitFlag()) break;
-        step_winding_prepare();
-        if (m_work_thread.getExitFlag()) break;
-        step_winding();
-        if (m_work_thread.getExitFlag()) break;
-        step_winding_lineend_prepare(i);
-        if (m_work_thread.getExitFlag()) break;
-        step_winding_lineend();
-        if (m_work_thread.getExitFlag()) break;
-        step_winding_take_bullet_from_cooking_to_origin_pos(i);
-        if (m_work_thread.getExitFlag()) break;
-      }
-
-      m4_zmove_to(0);
-      wait_module_idle(4);
-      xymove_to(0, 0);
-      wait_module_idle(3);
-      stop_all_module();
+    
 
     } catch (int32_t ecode) {
       ZLOGE(TAG, "work thread catch exception %d", ecode);
@@ -1059,59 +991,184 @@ int32_t IntelligentWindingRobotCtrl::start_winding() {  //
     }
     m_iswinding = false;
   });
+#endif
+  ZLOGI(TAG, "start_winding");
+  m_iswinding        = true;
+  m_nowwinding_index = 0;
+  device_reset();
+  bool hasbullet = false;
+  for (size_t i = 0; i < 5 * 12; i++) {
+    if (m_work_thread.getExitFlag()) {
+      break;
+    }
+    if (!(i / 5 == 0 || i / 5 == 6 || i / 5 == 11)) {
+      continue;
+    }
+
+    m_nowwinding_index = i + 1;
+    step_take_bullet(i);
+    step_prepare_remove_line(i, hasbullet);
+    if (!hasbullet) {
+      continue;
+    }
+    step_remove_line();
+    if (m_work_thread.getExitFlag()) break;
+    step_winding_prepare();
+    if (m_work_thread.getExitFlag()) break;
+    step_winding();
+    if (m_work_thread.getExitFlag()) break;
+    step_winding_lineend_prepare(i);
+    if (m_work_thread.getExitFlag()) break;
+    step_winding_lineend();
+    if (m_work_thread.getExitFlag()) break;
+    step_winding_take_bullet_from_cooking_to_origin_pos(i);
+    if (m_work_thread.getExitFlag()) break;
+  }
+
+  m4_zmove_to(0);
+  wait_module_idle(4);
+  xymove_to(0, 0);
+  wait_module_idle(3);
+  stop_all_module();
   return 0;
 }
 int32_t IntelligentWindingRobotCtrl::start_remove_line() {
   //
-  m_work_thread.start([this]() {
-    try {
-      ZLOGI(TAG, "start_winding");
-      m_iswinding        = true;
-      m_nowwinding_index = 0;
-      device_reset();
-      bool hasbullet = false;
-      for (size_t i = 0; i < 5 * 12; i++) {
-        if (m_work_thread.getExitFlag()) {
-          break;
-        }
-        if (!(i / 5 == 0 || i / 5 == 6 || i / 5 == 11)) {
-          continue;
-        }
+  try {
+    ZLOGI(TAG, "start_winding");
+    m_iswinding        = true;
+    m_nowwinding_index = 0;
+    device_reset();
+    bool hasbullet = false;
+    for (size_t i = 0; i < 5 * 12; i++) {
+      if (m_work_thread.getExitFlag()) {
+        break;
+      }
+      if (!(i / 5 == 0 || i / 5 == 6 || i / 5 == 11)) {
+        continue;
+      }
 
-        m_nowwinding_index = i + 1;
-        step_take_bullet(i);
-        step_prepare_remove_line(i, hasbullet);
-        if (!hasbullet) {
-          continue;
-        }
-        step_remove_line();
-        stop_probe_bullet_pos();
-        substep_zaxis_do_bullet_action(kCookPos, kTakeBullet, kKeepLine, NULL);
-        xymove_to_bullet_pos(i);
-        substep_zaxis_do_bullet_action(kBulletBulletHolderPos, kTakeBackBullet, kReleaseLine, NULL);
-        if (m_work_thread.getExitFlag()) break;
+      m_nowwinding_index = i + 1;
+      step_take_bullet(i);
+      step_prepare_remove_line(i, hasbullet);
+      if (!hasbullet) {
+        continue;
       }
+      step_remove_line();
+      stop_probe_bullet_pos();
+      substep_zaxis_do_bullet_action(kCookPos, kTakeBullet, kKeepLine, NULL);
+      xymove_to_bullet_pos(i);
+      substep_zaxis_do_bullet_action(kBulletBulletHolderPos, kTakeBackBullet, kReleaseLine, NULL);
+      if (m_work_thread.getExitFlag()) break;
+    }
+
+    m4_zmove_to(0);
+    wait_module_idle(4);
+    xymove_to(0, 0);
+    wait_module_idle(3);
+    stop_all_module();
+
+  } catch (int32_t ecode) {
+    ZLOGE(TAG, "work thread catch exception %d", ecode);
+    disable_all_module();  // todo : 完成一个无异常版本
+  } catch (...) {
+    ZLOGE(TAG, "work thread catch unkown exception");
+    disable_all_module();  // todo : 完成一个无异常版本
+  }
+  m_iswinding = false;
+  // m_work_thread.start([this]() {
+
+  // });
+  // return 0;
+}
 
-      m4_zmove_to(0);
-      wait_module_idle(4);
-      xymove_to(0, 0);
-      wait_module_idle(3);
-      stop_all_module();
+int32_t IntelligentWindingRobotCtrl::stop_winding() {
+  m_work_thread.stop();
+  m_iswinding = false;
+  return 0;
+}
 
+int32_t IntelligentWindingRobotCtrl::doaction(function<void()> action) {
+  m_work_thread.stop();
+  m_work_thread.start([this, action]() {
+    try {
+      enable_all_module();
+      action();
     } catch (int32_t ecode) {
       ZLOGE(TAG, "work thread catch exception %d", ecode);
-      disable_all_module();  // todo : 完成一个无异常版本
+      stop_all_module();  // todo : 完成一个无异常版本
     } catch (...) {
       ZLOGE(TAG, "work thread catch unkown exception");
-      disable_all_module();  // todo : 完成一个无异常版本
+      stop_all_module();  // todo : 完成一个无异常版本
     }
     m_iswinding = false;
   });
   return 0;
 }
 
-int32_t IntelligentWindingRobotCtrl::stop_winding() {
-  m_work_thread.stop();
-  m_iswinding = false;
-  return 0;
-}
+#define REG_FUNC(dowhat)                                    \
+  [this](PARAM) {                                           \
+    int32_t param0 = 0;                                     \
+    int32_t param1 = 0;                                     \
+    int32_t param2 = 0;                                     \
+    if (paramN >= 1) param0 = atoi(paraV[0]);               \
+    if (paramN >= 2) param1 = atoi(paraV[1]);               \
+    if (paramN >= 3) param2 = atoi(paraV[2]);               \
+    doaction([this, param0, param1, param2]() { dowhat; }); \
+    return 0;                                               \
+  }
+
+void IntelligentWindingRobotCtrl::regcb() {
+#if 0
+  m_cmdparse->regCMD("step_prepare_remove_line", "()", 1, [this](PARAM) {
+    bool hasbullet = false;
+    return step_prepare_remove_line(atoi(paraV[0]), hasbullet);
+  });
+#endif
+
+  m_cmdparse->regCMD("device_reset", "()", 0, REG_FUNC(device_reset()));
+  m_cmdparse->regCMD("enable_all_module", "()", 0, REG_FUNC(enable_all_module()));
+  m_cmdparse->regCMD("disable_all_module", "()", 0, REG_FUNC(disable_all_module()));
+  m_cmdparse->regCMD("step_take_bullet", "()", 1, REG_FUNC(step_take_bullet(param0)));
+  m_cmdparse->regCMD("m4_zmove_to", "()", 1, REG_FUNC(m4_zmove_to(param0)));
+
+  m_cmdparse->regCMD("step_take_back_bullet", "()", 1, REG_FUNC(step_take_back_bullet(param0)));
+  m_cmdparse->regCMD("step_winding_prepare", "()", 0, REG_FUNC(step_winding_prepare()));
+  m_cmdparse->regCMD("step_winding", "()", 0, REG_FUNC(step_winding()));
+  m_cmdparse->regCMD("step_remove_line", "()", 0, REG_FUNC(step_remove_line()));
+  m_cmdparse->regCMD("step_winding_lineend", "()", 0, REG_FUNC(step_winding_lineend()));
+  m_cmdparse->regCMD("step_winding_lineend_prepare", "()", 1, REG_FUNC(step_winding_lineend_prepare(param0)));
+  m_cmdparse->regCMD("step_winding_take_bullet_from_cooking_to_origin_pos", "()", 1, REG_FUNC(step_winding_take_bullet_from_cooking_to_origin_pos(param0)));
+  m_cmdparse->regCMD("start_winding", "()", 0, REG_FUNC(start_winding()));
+  m_cmdparse->regCMD("stop_winding", "()", 0, [this](PARAM) { stop_winding(); });
+  m_cmdparse->regCMD("start_remove_line", "()", 0, REG_FUNC(start_remove_line()));
+  m_cmdparse->regCMD("m11_arm_jiaxian_move_to_reset_pos", "()", 0, REG_FUNC(m11_arm_jiaxian_move_to_reset_pos()));
+  m_cmdparse->regCMD("m11_arm_jiaxian_move_to_clamp_pos", "()", 0, REG_FUNC(m11_arm_jiaxian_move_to_clamp_pos()));
+  m_cmdparse->regCMD("m12_jiaxian_move_to_open_pos", "()", 0, REG_FUNC(m12_jiaxian_move_to_open_pos()));
+  m_cmdparse->regCMD("m12_jiaxian_move_to_clamp_pos", "()", 0, REG_FUNC(m12_jiaxian_move_to_clamp_pos()));
+  m_cmdparse->regCMD("m13_yaxian_move_to_reset_forward", "()", 0, REG_FUNC(m13_yaxian_move_to_reset_forward()));
+  m_cmdparse->regCMD("m13_yaxian_move_to_reset_backward", "()", 0, REG_FUNC(m13_yaxian_move_to_reset_backward()));
+  m_cmdparse->regCMD("m13_yaxian_press_clip", "()", 0, REG_FUNC(m13_yaxian_press_clip()));
+  m_cmdparse->regCMD("m14_raoxiantance_move_to_reset", "()", 0, REG_FUNC(m14_raoxiantance_move_to_reset()));
+  m_cmdparse->regCMD("m15_paifei_moveto_reset", "()", 0, REG_FUNC(m15_paifei_moveto_reset()));
+  m_cmdparse->regCMD("m15_paifei_moveto_press", "()", 0, REG_FUNC(m15_paifei_moveto_press()));
+  m_cmdparse->regCMD("m16_xianlajin_move_to_reset", "()", 0, REG_FUNC(m16_xianlajin_move_to_reset()));
+  m_cmdparse->regCMD("m16_xianlajin_move_to_tight_line_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_tight_line_pos()));
+  m_cmdparse->regCMD("m16_xianlajin_move_to_winding_low_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_winding_low_pos()));
+  m_cmdparse->regCMD("m16_xianlajin_move_to_winding_up_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_winding_up_pos()));
+  m_cmdparse->regCMD("m16_xianlajin_move_to_line_entry_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_line_entry_pos()));
+  m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_high_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_cook_lineend_high_pos()));
+  m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_low_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_cook_lineend_low_pos()));
+  m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_ready_pos", "()", 0, REG_FUNC(m16_xianlajin_move_to_cook_lineend_ready_pos()));
+
+  m_cmdparse->regCMD("m21_arm_hook_claws_reset", "()", 0, REG_FUNC(m21_arm_hook_claws_reset()));
+  m_cmdparse->regCMD("m21_arm_hook_claws_move_to_half_pos", "()", 0, REG_FUNC(m21_arm_hook_claws_move_to_half_pos()));
+  m_cmdparse->regCMD("m21_arm_hook_claws_move_to_full_pos", "()", 0, REG_FUNC(m21_arm_hook_claws_move_to_full_pos()));
+
+  m_cmdparse->regCMD("m22_scissors_move_reset_pos", "()", 0, REG_FUNC(m22_scissors_move_reset_pos()));
+  m_cmdparse->regCMD("m22_scissors_cut", "()", 0, REG_FUNC(m22_scissors_cut()));
+  m_cmdparse->regCMD("m23_laxian_motor_move_to_reset_pos", "()", 0, REG_FUNC(m23_laxian_motor_move_to_reset_pos()));
+  m_cmdparse->regCMD("m23_laxian_motor_move_to_tight_line_pos", "()", 0, REG_FUNC(m23_laxian_motor_move_to_tight_line_pos()));
+  m_cmdparse->regCMD("start_probe_bullet_pos", "()", 0, REG_FUNC(start_probe_bullet_pos()));
+  m_cmdparse->regCMD("start_probe_bullet_pos_forward", "()", 0, REG_FUNC(start_probe_bullet_pos_forward()));
+}
\ No newline at end of file
diff --git a/usrc/intelligent_winding_robot_ctrl.hpp b/usrc/intelligent_winding_robot_ctrl.hpp
index 08acac3..f847db9 100644
--- a/usrc/intelligent_winding_robot_ctrl.hpp
+++ b/usrc/intelligent_winding_robot_ctrl.hpp
@@ -253,6 +253,9 @@ class IntelligentWindingRobotCtrl {
   int32_t get_exception_val() { return m_exception_val; }
 
   void processError(int32_t err);
+
+ private:
+  int32_t doaction(function<void()> func);
 };
 
 }  // namespace iflytop