there is a bug in the os image
Due to my neglect, both “devterm-thermal-printer” and “devterm-thermal-printer-cm4” coexisted in the system image of cm4, which is an incorrect approach. Although it seems that there are no usage problems, there are potential issues that exist.
here is the way to fix if you met any printing problems:
sudo apt update
sudo apt remove devterm-thermal-printer devterm-thermal-printer-cm4 devterm-thermal-printer-cups -y
sudo dpkg --purge devterm-thermal-printer-cups
sudo apt install -y devterm-thermal-printer-cm4 devterm-thermal-printer-cups
sudo reboot