diff --git a/api/i_cmdparser.hpp b/api/i_cmdparser.hpp
index 7ab825f..b43429c 100644
--- a/api/i_cmdparser.hpp
+++ b/api/i_cmdparser.hpp
@@ -25,6 +25,21 @@ class ICmdParserACK {
   uint8_t             rawdata[512];
   int32_t             rawlen;
 
+ public:
+  void setInt32Ack(int32_t ecode, int32_t val) {
+    this->ecode           = ecode;
+    acktype               = kAckType_int32;
+    rawlen                = sizeof(int32_t);
+    *((int32_t *)rawdata) = val;
+  }
+
+  void setNoneAck(int32_t ecode) {
+    this->ecode   = ecode;
+    acktype       = kAckType_none;
+    rawlen        = 0;
+    rawdata[0]    = 0;
+  }
+
   int32_t *getAck(int index) {
     if (index < 0 || index >= rawlen / (int)sizeof(int32_t)) {
       return nullptr;
diff --git a/api/zi_motor.hpp b/api/zi_motor.hpp
index 4888554..11bc028 100644
--- a/api/zi_motor.hpp
+++ b/api/zi_motor.hpp
@@ -19,7 +19,7 @@ class ZIMotor {
   virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
   virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return err::koperation_not_support; }
 
-  virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) { return err::koperation_not_support; }
+  virtual int32_t motor_move_to_with_torque(int32_t direction, int32_t torque) { return err::koperation_not_support; }
 
   virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
   virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
diff --git a/protocol_proxy.hpp b/protocol_proxy.hpp
index 62f9cf4..0361d59 100644
--- a/protocol_proxy.hpp
+++ b/protocol_proxy.hpp
@@ -59,7 +59,7 @@ class ZIProtocolProxy : public ZIMotor,    //
   virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
   virtual int32_t motor_move_by(int32_t direction, int32_t motor_velocity, int32_t acc) override;
   virtual int32_t motor_move_to(int32_t direction, int32_t motor_velocity, int32_t acc) override;
-  virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) override;
+  virtual int32_t motor_move_to_with_torque(int32_t direction, int32_t torque) override;
 
   virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
   virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;
diff --git a/zmodule_device_manager.cpp b/zmodule_device_manager.cpp
index 7509054..27ee6ec 100644
--- a/zmodule_device_manager.cpp
+++ b/zmodule_device_manager.cpp
@@ -1,6 +1,7 @@
 #include "zmodule_device_manager.hpp"
 
 #include <assert.h>
+#include <stdio.h>
 using namespace iflytop;
 using namespace std;
 
diff --git a/zmodule_device_script_cmder_paser.cpp b/zmodule_device_script_cmder_paser.cpp
index 13c3a07..a75bb0f 100644
--- a/zmodule_device_script_cmder_paser.cpp
+++ b/zmodule_device_script_cmder_paser.cpp
@@ -93,41 +93,41 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
   virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
 #endif
 
-  PROCESS_PACKET_10(module_stop, "module_stop (mid)");
-  PROCESS_PACKET_10(module_break, "module_break (mid)");
-  PROCESS_PACKET_11(module_get_last_exec_status, "module_get_last_exec_status (mid)");
-  PROCESS_PACKET_11(module_get_status, "module_get_status (mid)");
-  PROCESS_PACKET_30(module_set_param, "module_set_param (mid, param_id, param_value)");
-  PROCESS_PACKET_21(module_get_param, "module_get_param (mid, param_id)");
-  PROCESS_PACKET_11(module_readio, "module_readio (mid)");
-  PROCESS_PACKET_20(module_writeio, "module_writeio (mid, io)");
-  PROCESS_PACKET_21(module_read_adc, "module_read_adc (mid,adc_id, adcindex)");
-  PROCESS_PACKET_11(module_get_error, "module_get_error (mid)");
-  PROCESS_PACKET_10(module_clear_error, "module_clear_error (mid)");
-  PROCESS_PACKET_20(module_set_inited_flag, "module_set_inited_flag (mid, flag)");
-  PROCESS_PACKET_11(module_get_inited_flag, "module_get_inited_flag (mid)");
-  PROCESS_PACKET_10(module_factory_reset, "module_factory_reset (mid)");
-  PROCESS_PACKET_10(module_flush_cfg, "module_flush_cfg (mid)");
-  PROCESS_PACKET_10(module_active_cfg, "module_active_cfg (mid)");
-
-  PROCESS_PACKET_20(motor_enable, "motor_enable (mid, enable)");
-  PROCESS_PACKET_40(motor_rotate, "motor_rotate (mid, direction, motor_velocity, acc)");
-  PROCESS_PACKET_40(motor_move_by, "motor_move_by (mid, distance, motor_velocity, acc)");
-  PROCESS_PACKET_40(motor_move_to, "motor_move_to (mid, position, motor_velocity, acc)");
-
-  PROCESS_PACKET_40(motor_rotate_acctime, "motor_rotate_acctime (mid, direction, motor_velocity, acctime)");
-  PROCESS_PACKET_40(motor_move_by_acctime, "motor_move_by_acctime (mid, distance, motor_velocity, acctime)");
-  PROCESS_PACKET_40(motor_move_to_acctime, "motor_move_to_acctime (mid, position, motor_velocity, acctime)");
-
-  PROCESS_PACKET_30(motor_move_to_with_torque, "motor_move_to_with_torque (mid, pos, torque)");
-  PROCESS_PACKET_50(motor_move_to_zero_forward, "motor_move_to_zero_forward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
-  PROCESS_PACKET_50(motor_move_to_zero_backward, "motor_move_to_zero_backward (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
-
-  PROCESS_PACKET_11(motor_read_pos, "motor_read_pos (mid)");
-  PROCESS_PACKET_20(motor_set_current_pos_by_change_shift, "motor_set_current_pos_by_change_shift (mid, pos)");
-
-  PROCESS_PACKET_50(motor_move_to_zero_forward_and_calculated_shift, "motor_move_to_zero_forward_and_calculated_shift (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
-  PROCESS_PACKET_50(motor_move_to_zero_backward_and_calculated_shift, "motor_move_to_zero_backward_and_calculated_shift (mid, findzerospeed, findzeroedge_speed, acc, overtime)");
+  PROCESS_PACKET_10(module_stop, "(mid)");
+  PROCESS_PACKET_10(module_break, "(mid)");
+  PROCESS_PACKET_11(module_get_last_exec_status, "(mid)");
+  PROCESS_PACKET_11(module_get_status, "(mid)");
+  PROCESS_PACKET_30(module_set_param, "(mid, param_id, param_value)");
+  PROCESS_PACKET_21(module_get_param, "(mid, param_id)");
+  PROCESS_PACKET_11(module_readio, "(mid)");
+  PROCESS_PACKET_20(module_writeio, "(mid, io)");
+  PROCESS_PACKET_21(module_read_adc, "(mid,adc_id, adcindex)");
+  PROCESS_PACKET_11(module_get_error, "(mid)");
+  PROCESS_PACKET_10(module_clear_error, "(mid)");
+  PROCESS_PACKET_20(module_set_inited_flag, "(mid, flag)");
+  PROCESS_PACKET_11(module_get_inited_flag, "(mid)");
+  PROCESS_PACKET_10(module_factory_reset, "(mid)");
+  PROCESS_PACKET_10(module_flush_cfg, "(mid)");
+  PROCESS_PACKET_10(module_active_cfg, "(mid)");
+
+  PROCESS_PACKET_20(motor_enable, "(mid, enable)");
+  PROCESS_PACKET_40(motor_rotate, "(mid, direction, motor_velocity, acc)");
+  PROCESS_PACKET_40(motor_move_by, "(mid, distance, motor_velocity, acc)");
+  PROCESS_PACKET_40(motor_move_to, "(mid, position, motor_velocity, acc)");
+
+  PROCESS_PACKET_40(motor_rotate_acctime, "(mid, direction, motor_velocity, acctime)");
+  PROCESS_PACKET_40(motor_move_by_acctime, "(mid, distance, motor_velocity, acctime)");
+  PROCESS_PACKET_40(motor_move_to_acctime, "(mid, position, motor_velocity, acctime)");
+
+  PROCESS_PACKET_30(motor_move_to_with_torque, "(mid, pos, torque)");
+  PROCESS_PACKET_50(motor_move_to_zero_forward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
+  PROCESS_PACKET_50(motor_move_to_zero_backward, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
+
+  PROCESS_PACKET_11(motor_read_pos, "(mid)");
+  PROCESS_PACKET_20(motor_set_current_pos_by_change_shift, "(mid, pos)");
+
+  PROCESS_PACKET_50(motor_move_to_zero_forward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
+  PROCESS_PACKET_50(motor_move_to_zero_backward_and_calculated_shift, "(mid, findzerospeed, findzeroedge_speed, acc, overtime)");
 
 #if 0
   virtual int32_t xymotor_enable(int32_t enable) { return err::koperation_not_support; }
@@ -137,10 +137,10 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
   virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; }
   virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) { return err::koperation_not_support; }
 #endif
-  PROCESS_PACKET_20(xymotor_enable, "xymotor_enable (mid, enable)");
-  PROCESS_PACKET_40(xymotor_move_by, "xymotor_move_by (mid, dx, dy, motor_velocity)");
-  PROCESS_PACKET_40(xymotor_move_to, "xymotor_move_to (mid, x, y, motor_velocity)");
-  PROCESS_PACKET_10(xymotor_move_to_zero, "xymotor_move_to_zero (mid)");
-  PROCESS_PACKET_10(xymotor_move_to_zero_and_calculated_shift, "xymotor_move_to_zero_and_calculated_shift (mid)");
-  PROCESS_PACKET_12(xymotor_read_pos, "xymotor_read_pos (mid)");
+  PROCESS_PACKET_20(xymotor_enable, "(mid, enable)");
+  PROCESS_PACKET_40(xymotor_move_by, "(mid, dx, dy, motor_velocity)");
+  PROCESS_PACKET_40(xymotor_move_to, "(mid, x, y, motor_velocity)");
+  PROCESS_PACKET_10(xymotor_move_to_zero, "(mid)");
+  PROCESS_PACKET_10(xymotor_move_to_zero_and_calculated_shift, "(mid)");
+  PROCESS_PACKET_12(xymotor_read_pos, "(mid)");
 }