diff --git a/a8000_protocol b/a8000_protocol
index 59082bc..5c4075a 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 59082bcc8c2a856133f693619bbd1fdc64dba0fd
+Subproject commit 5c4075ae36cb16b5a1b86fc860a39a8217d2a2c8
diff --git a/src/mainwindow.cpp b/src/mainwindow.cpp
index 64a9f70..1343533 100644
--- a/src/mainwindow.cpp
+++ b/src/mainwindow.cpp
@@ -172,6 +172,39 @@ static const char *fmt(const char *fmt, ...) {
   return buf;
 }
 
+void MainWindow::parse_ptv2_cmd(zcr_cmd_header_t *frame, int32_t packetlen) {
+  int      cmdId = frame->cmdMainId * 256 + frame->cmdSubId;
+  int32_t  mid   = frame->subModuleid;
+  int32_t *param = (int32_t *)frame->data;
+
+  if (cmdId == kmodule_set_reg) {
+    ZQUI::ins()->rawshow("     [-->] module_set_reg %d(mid) %s(%d) %d(val)", mid, regindex2str(param[0]), param[0], param[1]);
+  } else if (cmdId == kmodule_get_reg) {
+    ZQUI::ins()->rawshow("     [-->] module_get_reg %d(mid) %s(%d)", mid, regindex2str(param[0]), param[0]);
+  } else {
+    ZQUI::ins()->rawshow("[CMD     ] %d cmdid:(%s)0x%04x mid:%d param:%s", frame->packetindex, cmdid2str(cmdId), cmdId, mid,  //
+                         zhex2str(frame->data, packetlen - sizeof(zcr_cmd_header_t)).c_str());
+  }
+}
+void MainWindow::parse_ptv2_ack(zcr_cmd_header_t *frame, int32_t packetlen) {
+  int      cmdId = frame->cmdMainId * 256 + frame->cmdSubId;
+  int32_t  mid   = frame->subModuleid;
+  int32_t *param = (int32_t *)frame->data;
+  if (kptv2_error_ack == frame->packetType) {
+    ZQUI::ins()->rawshow("[E-RECEI] %s(%d)", err::error2str(param[0]), param[0]);
+  } else {
+    ZQUI::ins()->rawshow("[  RECEI] %s", zhex2str((uint8_t *)frame, packetlen).c_str());
+  }
+}
+void MainWindow::parse_ptv2_event(zcr_cmd_header_t *frame, int32_t packetlen) {
+  int      cmdId    = frame->cmdMainId * 256 + frame->cmdSubId;
+  int32_t  mid      = frame->subModuleid;
+  int32_t *param    = (int32_t *)frame->data;
+  int32_t  paramLen = packetlen - sizeof(zcr_cmd_header_t);
+
+  ZQUI::ins()->rawshow("[EVENT ] id:%d e:%s(%d) p:%s(%d)", mid, cmdid2str(cmdId), cmdId, zhex2str(frame->data,paramLen ), paramLen);
+}
+
 MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWindow) {
   /**
    * @brief QT初始化
@@ -196,14 +229,13 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
 
   ui->menu_version->setTitle(QApplication::translate("MainWindow", VERSION, nullptr));
   ui->boardId_tableWidget->resizeColumnsToContents();
-  ui->boardId_tableWidget->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);              // x先自适应宽度
+  ui->boardId_tableWidget->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);  // x先自适应宽度
   // ui->boardId_tableWidget->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);  // 然后设置要根据内容使用宽度的列
   ui->boardId_tableWidget->setAlternatingRowColors(true);
   ui->boardId_tableWidget->setStyleSheet("alternate-background-color:rgb(	255,250,240);background-color:rgb(245,245,245)");
 
-
   ui->ioid_tableWidget->resizeColumnsToContents();
-  ui->ioid_tableWidget->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);              // x先自适应宽度
+  ui->ioid_tableWidget->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);  // x先自适应宽度
   // ui->ioid_tableWidget->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);  // 然后设置要根据内容使用宽度的列
   ui->ioid_tableWidget->setAlternatingRowColors(true);
   ui->ioid_tableWidget->setStyleSheet("alternate-background-color:rgb(	255,250,240);background-color:rgb(245,245,245)");
@@ -222,38 +254,25 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
   IflytopCanbusMaster::ins()->initialize(&G_QTDataChannel);
 
   IflytopCanbusMaster::ins()->regOnRawData([this](raw_data_type_t type, uint8_t *hex, uint32_t hexlen) {
-    zcr_cmd_header_t *frame      = (zcr_cmd_header_t *)hex;
-    int               cmdId      = frame->cmdMainId * 256 + frame->cmdSubId;
-    int32_t          *param      = (int32_t *)frame->data;
-    int32_t           mid        = frame->subModuleid;
-    int32_t           packetType = frame->packetType;
-
-    if (type == kcmd_cmd) {
-      if (cmdId == kmodule_set_reg) {
-        // ZQUI::ins()->rawshow("[CMD     ] %s", zhex2str(hex, hexlen).c_str());
-        ZQUI::ins()->rawshow("     [-->] module_set_reg %d(mid) %s(%d) %d(val)", mid, regindex2str(param[0]), param[0], param[1]);
-      } else if (cmdId == kmodule_get_reg) {
-        // ZQUI::ins()->rawshow("[CMD     ] %s", zhex2str(hex, hexlen).c_str());
-        ZQUI::ins()->rawshow("     [-->] module_get_reg %d(mid) %s(%d)", mid, regindex2str(param[0]), param[0]);
-      } else {
-        if (cmdId != kmodule_get_status) {
-          ZQUI::ins()->rawshow("[CMD     ] %d cmdid:(%s)0x%04x mid:%d param:%s", frame->packetindex, cmdid2str(cmdId), cmdId, mid, zhex2str(frame->data, hexlen - sizeof(zcr_cmd_header_t)).c_str());
-        } else {
-          // ZQUI::ins()->rawshow("[CMD     ] %s", zhex2str(hex, hexlen).c_str());
-        }
-      }
-
-    } else if (type == kcmd_receipt) {
-      if (kptv2_error_ack == packetType) {
-        ZQUI::ins()->rawshow("[E-RECEI] %s(%d)", err::error2str(param[0]), param[0]);
-      } else {
-        if (cmdId != kmodule_get_status) {
-          ZQUI::ins()->rawshow("[  RECEI] %s", zhex2str(hex, hexlen).c_str());
-        } else {
-        }
-      }
-    } else if (type == kcmd_report) {
-      ZQUI::ins()->rawshow("[REPORT ] %s", zhex2str(hex, hexlen).c_str());
+    zcr_cmd_header_t *frame = (zcr_cmd_header_t *)hex;
+    int               cmdId = frame->cmdMainId * 256 + frame->cmdSubId;
+
+    if (cmdId == kmodule_get_status) return;  // 过滤掉kmodule_get_status指令
+
+    switch (frame->packetType) {
+      case kptv2_cmd:
+        parse_ptv2_cmd(frame, hexlen);
+        break;
+      case kptv2_ack:
+      case kptv2_error_ack:
+        parse_ptv2_ack(frame, hexlen);
+        break;
+      case kptv2_event:
+        parse_ptv2_event(frame, hexlen);
+        break;
+      default:
+        ZQUI::ins()->rawshow("[UNKOWN ] %s", zhex2str((uint8_t *)hex, hexlen).c_str());
+        break;
     }
   });
 }
diff --git a/src/mainwindow.h b/src/mainwindow.h
index d603cb2..d6eb563 100644
--- a/src/mainwindow.h
+++ b/src/mainwindow.h
@@ -39,6 +39,7 @@
 #include "qfunction.hpp"
 #include "zexception.hpp"
 #include "zqthread.hpp"
+#include "a8000_protocol\api\apibasic\packet_interface.hpp"
 QT_BEGIN_NAMESPACE
 namespace Ui {
 class MainWindow;
@@ -126,5 +127,10 @@ class MainWindow : public QMainWindow {
   void       endAllocNewTab(QWidget *tab);
 
   int32_t getDeviceId();
+
+ private:
+  void parse_ptv2_cmd(iflytop::zcr::zcr_cmd_header_t *packet, int32_t packetlen);
+  void parse_ptv2_ack(iflytop::zcr::zcr_cmd_header_t *packet, int32_t packetlen);
+  void parse_ptv2_event(iflytop::zcr::zcr_cmd_header_t *packet, int32_t packetlen);
 };
 #endif  // MAINWINDOW_H
diff --git a/src/tab/xyrobot_tab.cpp b/src/tab/xyrobot_tab.cpp
index 23af9df..3d2ceee 100644
--- a/src/tab/xyrobot_tab.cpp
+++ b/src/tab/xyrobot_tab.cpp
@@ -61,7 +61,7 @@ void XYRobotTab::construct(QTabWidget *fathertab) {
     box->newFunc("设置位置", {"x", "y"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kxymotor_set_pos, atoi(args[0]), atoi(args[1])); });
     box->newFunc("相对移动", {"dx", "dy", "velocity"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_move_by, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
     box->newFunc("绝对移动", {"x", "y", "velocity"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_move_to, atoi(args[0]), atoi(args[1]), atoi(args[2])); });
-    box->newFunc("直接控制电机相对移动", {"motor1_dpos", "motor2_dpos"}, [this](int argn, const char **args) { ICM->callcmd3(getDeviceId(), kxymotor_motor_move_by_direct, atoi(args[0]), atoi(args[1])); });
+    box->newFunc("直接控制电机相对移动", {"motor1_dpos", "motor2_dpos"}, [this](int argn, const char **args) { ICM->callcmd2(getDeviceId(), kxymotor_motor_move_by_direct, atoi(args[0]), atoi(args[1])); });
 
     box->newFunc("读取全部输入IO", {}, [this](int argn, const char **args) {
       int32_t portState    = 0;