diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/HkHttpUtil.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/HkHttpUtil.java
index 9f0b5ea..066930e 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/HkHttpUtil.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/HkHttpUtil.java
@@ -3,9 +3,9 @@ package org.nl.acs.agv.hk;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.common.base.CommonFinalParam;
-import org.nl.acs.agv.hk.log.ToOthersInterfaceLog;
 import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
@@ -16,6 +16,7 @@ import org.springframework.stereotype.Component;
  * @Date 2024/4/22
  */
 @Component
+@Slf4j
 public class HkHttpUtil {
 
     private static final RequestAdapter REQUEST_ADAPTER = new HkRequestAdapter();
@@ -24,11 +25,11 @@ public class HkHttpUtil {
     @Autowired
     private ISysParamService paramService;
 
-    @ToOthersInterfaceLog("ACS->HK")
     public <T, W> UnifiedResponse<T> sendPostRequest(String path, W requestParam, Class<T> type) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
         }
+        log.info("sendPostRequest-----请求参数{}", requestParam.toString());
         try {
             String body = HttpRequest
                     .post(REQUEST_ADAPTER.getUrl() + path)
@@ -36,17 +37,18 @@ public class HkHttpUtil {
                     .body(JSON.toJSONString(requestParam))
                     .execute()
                     .body();
+            log.info("sendPostRequest-----返回参数{}", body);
             return RESPONSE_ADAPTER.adapt(body, type);
         } catch (Exception e) {
             return new UnifiedResponse<>(false, e.getMessage());
         }
     }
 
-    @ToOthersInterfaceLog("ACS->HK")
     public <T, W> UnifiedResponse<T> sendPostRequest(String path, W requestParam) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
         }
+        log.info("sendPostRequest-----请求参数{}", requestParam.toString());
         try {
             String body = HttpRequest
                     .post(REQUEST_ADAPTER.getUrl() + path)
@@ -54,13 +56,13 @@ public class HkHttpUtil {
                     .body(JSON.toJSONString(requestParam))
                     .execute()
                     .body();
+            log.info("sendPostRequest-----返回参数{}", body);
             return RESPONSE_ADAPTER.adapt(body, null);
         } catch (Exception e) {
             return new UnifiedResponse<>(false, e.getMessage());
         }
     }
 
-    @ToOthersInterfaceLog("ACS->HK")
     public <T> UnifiedResponse<T> sendPostRequest(String path, Class<T> type) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
@@ -77,7 +79,6 @@ public class HkHttpUtil {
         }
     }
 
-    @ToOthersInterfaceLog("ACS->HK")
     public <T> UnifiedResponse<T> sendPostRequest(String path) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
@@ -94,7 +95,6 @@ public class HkHttpUtil {
         }
     }
 
-    @ToOthersInterfaceLog("ACS->HK")
     public <T> UnifiedResponse<T> sendGetRequest(String path, Class<T> type) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
@@ -111,7 +111,6 @@ public class HkHttpUtil {
         }
     }
 
-    @ToOthersInterfaceLog("ACS->HK")
     public <T> UnifiedResponse<T> sendGetRequest(String path) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/OtherToInterfaceLogAspect.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/OtherToInterfaceLogAspect.java
deleted file mode 100644
index 05d9d11..0000000
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/OtherToInterfaceLogAspect.java
+++ /dev/null
@@ -1,109 +0,0 @@
-package org.nl.acs.agv.hk.log;
-
-import com.alibaba.fastjson.JSON;
-import org.aspectj.lang.ProceedingJoinPoint;
-import org.aspectj.lang.annotation.Around;
-import org.aspectj.lang.annotation.Aspect;
-import org.aspectj.lang.reflect.MethodSignature;
-import org.nl.acs.agv.hk.utils.IpUtil;
-import org.nl.common.exception.BadRequestException;
-import org.nl.system.service.lucene.LuceneExecuteLogService;
-import org.nl.system.service.lucene.dto.LuceneLogDto;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-import org.springframework.web.bind.annotation.*;
-
-import java.lang.reflect.Method;
-
-/**
- * @Description TODO
- * @Author Gengby
- * @Date 2024/7/8
- */
-@Aspect
-@Component
-public class OtherToInterfaceLogAspect {
-
-    @Autowired
-    private LuceneExecuteLogService logService;
-
-    @Around("@annotation(org.nl.acs.ext.hk.log.OthersToInterfaceLog)")
-    public Object logAround(ProceedingJoinPoint joinPoint) throws Throwable {
-        long startTime = System.currentTimeMillis();
-
-        MethodSignature signature = (MethodSignature) joinPoint.getSignature();
-        Method method = signature.getMethod();
-
-        Class<?> targetClass = joinPoint.getTarget().getClass();
-        RequestMapping classRequestMapping = targetClass.getAnnotation(RequestMapping.class);
-        String classUrlValue = classRequestMapping != null ? String.join(",", classRequestMapping.value()) : "No Class Annotation";
-
-        String methodUrlValue = "";
-        if (method.isAnnotationPresent(GetMapping.class)) {
-            GetMapping getMapping = method.getAnnotation(GetMapping.class);
-            methodUrlValue = String.join(",", getMapping.value());
-        } else if (method.isAnnotationPresent(PostMapping.class)) {
-            PostMapping postMapping = method.getAnnotation(PostMapping.class);
-            methodUrlValue = String.join(",", postMapping.value());
-        } else if (method.isAnnotationPresent(PutMapping.class)) {
-            PutMapping putMapping = method.getAnnotation(PutMapping.class);
-            methodUrlValue = String.join(",", putMapping.value());
-        } else if (method.isAnnotationPresent(DeleteMapping.class)) {
-            DeleteMapping deleteMapping = method.getAnnotation(DeleteMapping.class);
-            methodUrlValue = String.join(",", deleteMapping.value());
-        } else if (method.isAnnotationPresent(RequestMapping.class)) {
-            RequestMapping methodRequestMapping = method.getAnnotation(RequestMapping.class);
-            methodUrlValue = String.join(",", methodRequestMapping.value());
-        }
-        String request_direction = "";
-        if (method.isAnnotationPresent(OthersToInterfaceLog.class)) {
-            OthersToInterfaceLog interfaceLog = method.getAnnotation(OthersToInterfaceLog.class);
-            request_direction = interfaceLog.value();
-        }
-
-        String methodName = joinPoint.getSignature().getName();
-        Object[] args = joinPoint.getArgs();
-
-        LuceneLogDto logDto =
-                LuceneLogDto.builder()
-                        .logType("接口日志")
-                        .request_url(IpUtil.localIP() + classUrlValue + methodUrlValue)
-                        .request_direction(request_direction)
-                        .request_param(JSON.toJSONString(args))
-                        .method(methodName)
-                        .content("开始请求")
-                        .build();
-        logService.interfaceExecuteLog(logDto);
-        Object result = null;
-        try {
-            result = joinPoint.proceed();
-        } catch (Exception e) {
-            logDto =
-                    LuceneLogDto.builder()
-                            .logType("接口日志")
-                            .request_url(IpUtil.localIP() + classUrlValue + methodUrlValue)
-                            .request_direction(request_direction)
-                            .request_param(JSON.toJSONString(args))
-                            .method(methodName)
-                            .response_param(e.getMessage())
-                            .executeTime(System.currentTimeMillis() - startTime)
-                            .content("响应请求")
-                            .build();
-            logService.interfaceExecuteLog(logDto);
-            throw new BadRequestException(e.getMessage());
-        }
-        logDto =
-                LuceneLogDto.builder()
-                        .logType("接口日志")
-                        .request_url(IpUtil.localIP() + classUrlValue + methodUrlValue)
-                        .request_direction(request_direction)
-                        .request_param(JSON.toJSONString(args))
-                        .method(methodName)
-                        .response_param(JSON.toJSONString(result))
-                        .executeTime(System.currentTimeMillis() - startTime)
-                        .content("响应请求")
-                        .build();
-        logService.interfaceExecuteLog(logDto);
-        return result;
-    }
-}
\ No newline at end of file
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/OthersToInterfaceLog.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/OthersToInterfaceLog.java
deleted file mode 100644
index 8d63564..0000000
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/OthersToInterfaceLog.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package org.nl.acs.agv.hk.log;
-
-import java.lang.annotation.ElementType;
-import java.lang.annotation.Retention;
-import java.lang.annotation.RetentionPolicy;
-import java.lang.annotation.Target;
-
-@Target(ElementType.METHOD)
-@Retention(RetentionPolicy.RUNTIME)
-public @interface OthersToInterfaceLog {
-    String value() default "";
-}
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/ToOtherInterfaceLogAspect.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/ToOtherInterfaceLogAspect.java
deleted file mode 100644
index 73aa3f8..0000000
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/ToOtherInterfaceLogAspect.java
+++ /dev/null
@@ -1,139 +0,0 @@
-package org.nl.acs.agv.hk.log;
-
-import com.alibaba.fastjson.JSON;
-import org.aspectj.lang.ProceedingJoinPoint;
-import org.aspectj.lang.annotation.Around;
-import org.aspectj.lang.annotation.Aspect;
-import org.aspectj.lang.reflect.MethodSignature;
-import org.nl.common.exception.BadRequestException;
-import org.nl.system.service.lucene.LuceneExecuteLogService;
-import org.nl.system.service.lucene.dto.LuceneLogDto;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Component;
-import org.springframework.util.ReflectionUtils;
-
-import java.lang.reflect.Field;
-import java.lang.reflect.Method;
-import java.util.concurrent.ConcurrentHashMap;
-import java.util.concurrent.ConcurrentMap;
-
-/**
- * @Description TODO
- * @Author Gengby
- * @Date 2024/7/8
- */
-@Aspect
-@Component
-public class ToOtherInterfaceLogAspect {
-
-    private static final ConcurrentMap<Class<?>, Field> fieldCache = new ConcurrentHashMap<>();
-    private static final ConcurrentMap<Class<?>, Method> methodCache = new ConcurrentHashMap<>();
-
-    @Autowired
-    private LuceneExecuteLogService logService;
-
-    @Around("@annotation(org.nl.acs.ext.hk.log.ToOthersInterfaceLog)")
-    public Object logAround(ProceedingJoinPoint joinPoint) throws Throwable {
-        long startTime = System.currentTimeMillis();
-
-        MethodSignature signature = (MethodSignature) joinPoint.getSignature();
-        Method method = signature.getMethod();
-
-
-        String request_direction = "";
-        if (method.isAnnotationPresent(ToOthersInterfaceLog.class)) {
-            ToOthersInterfaceLog interfaceLog = method.getAnnotation(ToOthersInterfaceLog.class);
-            request_direction = interfaceLog.value();
-        }
-        String methodName = joinPoint.getSignature().getName();
-        Object[] args = joinPoint.getArgs();
-        Object url = "";
-        Object requesr_param = "";
-        if (args.length > 1) {
-            url = args[0];
-            requesr_param = args[1];
-        }
-
-        Class<?> targetClass = joinPoint.getTarget().getClass();
-
-        Object ipPort = "";
-        try {
-            Field requestAdapterField = fieldCache.computeIfAbsent(targetClass, clazz -> {
-                try {
-                    Field field = clazz.getDeclaredField("REQUEST_ADAPTER");
-                    ReflectionUtils.makeAccessible(field);
-                    return field;
-                } catch (NoSuchFieldException e) {
-                    throw new RuntimeException(e);
-                }
-            });
-
-            Object requestAdapterObject = requestAdapterField.get(null);
-
-            Method getUrlMethod = methodCache.computeIfAbsent(requestAdapterObject.getClass(), clazz -> {
-                try {
-                    Method m = clazz.getDeclaredMethod("getUrl");
-                    ReflectionUtils.makeAccessible(m);
-                    return m;
-                } catch (NoSuchMethodException e) {
-                    throw new RuntimeException(e);
-                }
-            });
-
-            ipPort = getUrlMethod.invoke(requestAdapterObject);
-        } catch (Exception e) {
-            LuceneLogDto logDto =
-                    LuceneLogDto.builder()
-                            .logType("接口日志")
-                            .request_url(ipPort + String.valueOf(url))
-                            .request_direction(request_direction)
-                            .request_param(JSON.toJSONString(requesr_param))
-                            .method(methodName)
-                            .content("开始请求,获取url失败," + e.getMessage())
-                            .build();
-            logService.interfaceExecuteLog(logDto);
-        }
-
-        LuceneLogDto logDto =
-                LuceneLogDto.builder()
-                        .logType("接口日志")
-                        .request_url(ipPort + String.valueOf(url))
-                        .request_direction(request_direction)
-                        .request_param(JSON.toJSONString(requesr_param))
-                        .method(methodName)
-                        .content("开始请求")
-                        .build();
-        logService.interfaceExecuteLog(logDto);
-        Object result = null;
-        try {
-            result = joinPoint.proceed();
-        } catch (Exception e) {
-            logDto =
-                    LuceneLogDto.builder()
-                            .logType("接口日志")
-                            .request_url(ipPort + String.valueOf(url))
-                            .request_direction(request_direction)
-                            .request_param(JSON.toJSONString(requesr_param))
-                            .method(methodName)
-                            .response_param(e.getMessage())
-                            .executeTime(System.currentTimeMillis() - startTime)
-                            .content("响应请求")
-                            .build();
-            logService.interfaceExecuteLog(logDto);
-            throw new BadRequestException(e.getMessage());
-        }
-        logDto =
-                LuceneLogDto.builder()
-                        .logType("接口日志")
-                        .request_url(ipPort + String.valueOf(url))
-                        .request_direction(request_direction)
-                        .request_param(JSON.toJSONString(requesr_param))
-                        .method(methodName)
-                        .response_param(JSON.toJSONString(result))
-                        .executeTime(System.currentTimeMillis() - startTime)
-                        .content("响应请求")
-                        .build();
-        logService.interfaceExecuteLog(logDto);
-        return result;
-    }
-}
\ No newline at end of file
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/ToOthersInterfaceLog.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/ToOthersInterfaceLog.java
deleted file mode 100644
index 065810c..0000000
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/ToOthersInterfaceLog.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package org.nl.acs.agv.hk.log;
-
-import java.lang.annotation.ElementType;
-import java.lang.annotation.Retention;
-import java.lang.annotation.RetentionPolicy;
-import java.lang.annotation.Target;
-
-@Target(ElementType.METHOD)
-@Retention(RetentionPolicy.RUNTIME)
-public @interface ToOthersInterfaceLog {
-    String value() default "";
-}
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/rest/HkToACSController.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/rest/HkToACSController.java
index 6a9c96b..d643aa9 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/rest/HkToACSController.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/rest/HkToACSController.java
@@ -4,7 +4,6 @@ import cn.dev33.satoken.annotation.SaIgnore;
 import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.nl.acs.agv.hk.log.OthersToInterfaceLog;
 import org.nl.acs.agv.hk.service.HkToAcsService;
 import org.springframework.http.HttpStatus;
 import org.springframework.http.ResponseEntity;
@@ -27,14 +26,12 @@ public class HkToACSController {
 
     @SaIgnore
     @PostMapping("/agv/agvCallbackService/agvCallback")
-    @OthersToInterfaceLog("HK->ACS")
     public ResponseEntity<Object> agvCallback(@RequestBody JSONObject requestParam) {
         return new ResponseEntity<>(hkToAcsService.agvCallback(requestParam), HttpStatus.OK);
     }
 
     @SaIgnore
     @PostMapping("/agvCallbackService/warnCallback")
-    @OthersToInterfaceLog("HK->ACS")
     public ResponseEntity<Object> warnCallback(@RequestBody JSONObject requestParam) {
         return new ResponseEntity<>(hkToAcsService.warnCallback(requestParam), HttpStatus.OK);
     }
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/HkToAcsServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/HkToAcsServiceImpl.java
index ca7c7ce..2b686f4 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/HkToAcsServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/HkToAcsServiceImpl.java
@@ -168,8 +168,8 @@ public class HkToAcsServiceImpl implements HkToAcsService {
                 Map<String, Object> map = new HashMap<>();
                 map.put("to_out", "0");
                 robotArmDeviceDriver.writing(map);
-                robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true);
-                robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode);
+//                robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true);
+//                robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode);
             }
         }
         //method 回调6、放料箱申请outApply
@@ -216,8 +216,8 @@ public class HkToAcsServiceImpl implements HkToAcsService {
                 Map<String, Object> map = new HashMap<>();
                 map.put("to_in", "0");
                 robotArmDeviceDriver.writing(map);
-                robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true);
-                robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode);
+//                robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true);
+//                robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode);
             }
         }
         resp.put("code", "0");
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
index b530d63..e2bbe57 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
@@ -223,8 +223,11 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             StandardAutodoorDeviceDriver driver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
 
                             log.info("agv车号为"+carno+",进入自动门:"+device_code+"区域，请求开门中");
-                            // 状态不为0且门开到位
-                            if (driver.getMode() != 0) {
+                            // 下发开门
+                            driver.writing(ItemProtocol.to_open,"1");
+                            log.info("agv车号为"+carno+",进入自动门区域"+"自动门:"+device_code+"已联机，允许开门。");
+                            logServer.deviceExecuteLog(device_code, "", "", "允许开门。");
+                            if (driver.getOpen() == 1) {
                                 flag = true;
                             } else {
                                 String message = "自动门未联机或未开到位，无法开门。";
@@ -233,13 +236,6 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 log.error("agv车号为"+carno+",进入自动门区域:"+"自动门:"+device_code+"未联机，无法开门。");
                             }
                             if (flag) {
-                                driver.writing(ItemProtocol.item_to_command,"1");
-                                driver.setMessage("");
-                                log.info("agv车号为"+carno+",进入自动门区域"+"自动门:"+device_code+"已联机，允许开门。");
-                                logServer.deviceExecuteLog(device_code, "", "", "允许开门。");
-                            }
-                            log.info("自动门:"+device_code+"开门的action的值此时为："+driver.getAction()+"该值应为1");
-                            if (driver.getAction() == 1) {
                                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
                                 log.info("自动门:"+device_code+"返回开门到位,"+"agv车号为"+carno+",进入自动门。");
                             }
@@ -266,27 +262,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
 
                         if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
                             StandardAutodoorDeviceDriver driver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
+                            // 关门
+                            driver.writing(ItemProtocol.to_open,"0");
                             log.info("agv车号为"+carno+",准备离开自动门:"+device_code+"区域，请求关门中");
-                            if (driver.getMode() != 0) {
-                                flag = true;
-                            } else {
-                                String message = "自动门未联机，无法关门。";
-                                log.error("agv车号为"+carno+",准备离开自动门区域:"+"自动门:"+device_code+"未联机，无法关门。");
-                                driver.setMessage(message);
-                                logServer.deviceExecuteLog(device_code, "", "", message);
-                            }
-                            log.info("自动门:"+device_code+"关门的action的值此时为："+driver.getAction()+"该值应为0");
-                            if (flag) {
-                                driver.writing(ItemProtocol.item_to_command,"2");
-                                driver.setMessage("");
-                                log.info("自动门:"+device_code+"工作模式正常,"+"agv车号为"+carno+",写入关门信号2，准备离开自动门。");
-                                logServer.deviceExecuteLog(device_code, "", "", "允许关门。");
-                            }
-                            //百济没有2已关，0就当作已关门
-                            if (driver.getAction() == 0) {
-                                log.info("自动门:"+device_code+"接收到agv写入2信号，返回action信号为0,交互成功,"+"agv车号为"+carno+",离开自动门。");
-                                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-                            }
+                            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
                         }
                     } else {
                         //上报异常信息
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/ItemProtocol.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/ItemProtocol.java
index 3afdea3..59c4044 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/ItemProtocol.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/ItemProtocol.java
@@ -8,13 +8,10 @@ import java.util.List;
 
 @Slf4j
 public class ItemProtocol {
-    public static String item_heartbeat = "heartbeat";
-    public static String item_mode = "mode";
-    public static String item_state = "state";
-    public static String item_action = "action";
-    public static String item_error = "error";
-    public static String item_to_command = "to_command";
-    public static String item_to_state = "to_state";
+    public static String close = "close";
+    public static String open = "open";
+    public static String to_close = "to_close";
+    public static String to_open = "to_open";
 
 
     private StandardAutodoorDeviceDriver driver;
@@ -23,31 +20,22 @@ public class ItemProtocol {
         this.driver = driver;
     }
 
-    public int getHeartbeat() {
-        return this.getOpcIntegerValue(item_heartbeat);
+    public int getClose() {
+        return this.getOpcIntegerValue(close);
     }
 
-    public int getMode() {
-        return this.getOpcIntegerValue(item_mode);
+    public int getOpen() {
+        return this.getOpcIntegerValue(open);
     }
 
-    public int getAction() {
-        return this.getOpcIntegerValue(item_action);
+    public int getToClose() {
+        return this.getOpcIntegerValue(to_close);
     }
 
-    public int getError() {
-        return this.getOpcIntegerValue(item_error);
+    public int getToOpen() {
+        return this.getOpcIntegerValue(to_open);
     }
 
-    public int getToCommand() {
-        return this.getOpcIntegerValue(item_to_command);
-    }
-
-    public int getToState() {
-        return this.getOpcIntegerValue(item_to_state);
-    }
-
-
     public int getOpcIntegerValue(String protocol) {
         Integer value = this.driver.getIntegeregerValue(protocol);
         if (value == null) {
@@ -61,15 +49,15 @@ public class ItemProtocol {
 
     public static List<ItemDto> getReadableItemDtos() {
         ArrayList list = new ArrayList();
-        list.add(new ItemDto(item_heartbeat, "心跳", "VB100"));
-        list.add(new ItemDto(item_mode, "工作模式", "VB101", Boolean.valueOf(true)));
-        list.add(new ItemDto(item_action, "动作信号", "VB102"));
+        list.add(new ItemDto(open, "开门到位", "10001"));
+        list.add(new ItemDto(close, "关门到位", "10002"));
         return list;
     }
 
     public static List<ItemDto> getWriteableItemDtos() {
         ArrayList list = new ArrayList();
-        list.add(new ItemDto(item_to_command, "作业命令", "VW200", Boolean.valueOf(true)));
+        list.add(new ItemDto(to_open, "开门", "00001", Boolean.valueOf(true)));
+        list.add(new ItemDto(to_close, "关门", "00002", Boolean.valueOf(true)));
         return list;
     }
 
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDefination.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDefination.java
index fa6d61c..d68785f 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDefination.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDefination.java
@@ -56,10 +56,8 @@ public class StandardAutodoorDefination implements OpcDeviceDriverDefination {
 
     public static List<ItemDto> getReadableItemDtos2() {
         List<ItemDto> list = new ArrayList();
-        list.add(new ItemDto(ItemProtocol.item_heartbeat, "心跳", "DB600.B0"));
-        list.add(new ItemDto(ItemProtocol.item_mode, "工作状态", "DB600.B1", true));
-        list.add(new ItemDto(ItemProtocol.item_action, "动作信号", "DB600.B2"));
-        list.add(new ItemDto(ItemProtocol.item_error, "报警信号", "DB600.B4"));
+        list.add(new ItemDto(ItemProtocol.close, "关门到位", "10002"));
+        list.add(new ItemDto(ItemProtocol.open, "开门到位", "10001"));
         return list;
     }
 
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java
index e43c3fb..3ef19db 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java
@@ -57,18 +57,19 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem
     //有货标记
     protected boolean has_goods_tag = false;
     String devicecode;
-    int mode = 0;
-    int action = 0;
+    int close = 0;
+    int open = 0;
+    int to_close = 0;
+    int to_open = 0;
     int error = 0;
     Boolean iserror = false;
 
     int move = 0;
     int task = 0;
-    int last_action = 0;
-    int last_mode = 0;
-    int last_error = 0;
-    int last_move = 0;
-    int last_task = 0;
+    int last_close= 0;
+    int last_open= 0;
+    int last_to_close= 0;
+    int last_to_open= 0;
 
     boolean hasVehicle = false;
     boolean isReady = false;
@@ -108,31 +109,19 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem
     @Override
     public void execute() {
         devicecode = this.getDevice().getDevice_code();
-        mode = this.itemProtocol.getMode();
-        action = this.itemProtocol.getAction();
-        error = this.itemProtocol.getError();
+        open = this.itemProtocol.getOpen();
+        close = this.itemProtocol.getClose();
+        to_close = this.itemProtocol.getToClose();
+        to_open = this.itemProtocol.getToOpen();
 
-        last_action = action;
-        last_mode = mode;
-        last_error = error;
+        last_close = close;
+        last_open = open;
+        last_to_close = to_close;
+        last_to_open = to_open;
     }
 
     public synchronized String getStatus() {
-        JSONObject jo = new JSONObject();
-
-        if (action == 1) {
-            jo.put("name", this.getDevice().getDevice_code());
-            jo.put("status", "OPEN");
-
-        } else if (action == 2) {
-            jo.put("name", this.getDevice().getDevice_code());
-            jo.put("status", "CLOSE");
-
-        } else {
-            jo.put("name", this.getDevice().getDevice_code());
-            jo.put("status", "ERROR");
-        }
-        return jo.toString();
+        return null;
     }
 
 
@@ -195,13 +184,6 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem
 
     public synchronized void OpenOrClose(String type) {
 
-        //开门
-        if (CommonFinalParam.ONE.equals(type)) {
-            writing(ItemProtocol.item_to_command, "1");
-        } else {
-            writing(ItemProtocol.item_to_command, "2");
-        }
-
     }
 
 }
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
index 5b5c537..ba55adb 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
@@ -228,25 +228,30 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             // 到达机械手
             if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) {
                 RobotArmDeviceDriver deviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver();
-                // 下发正在取货
-                deviceDriver.writing(org.nl.acs.device_driver.basedriver.robot_arm.ItemProtocol.to_out, "1");
-                log.info("到达{}取货点开始取货", device_code);
-                inst.setExecute_status("1");
-                instructionService.update(inst);
-                data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
-                flag = true;
+                if (deviceDriver.getHeartbeat() == 1) {
+                    // 下发正在取货
+                    deviceDriver.writing(org.nl.acs.device_driver.basedriver.robot_arm.ItemProtocol.to_out, "1");
+                    log.info("到达{}取货点开始取货", device_code);
+                    inst.setExecute_status("1");
+                    instructionService.update(inst);
+                    data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
+                    flag = true;
+                }
             }
 
             // 到达拆盘机
             if (device.getDeviceDriver() instanceof PalletDispenseDeviceDriver) {
                 PalletDispenseDeviceDriver deviceDriver = (PalletDispenseDeviceDriver) device.getDeviceDriver();
-                // 下发正在取货
-                deviceDriver.writing(org.nl.acs.device_driver.basedriver.pallet_dispenser.ItemProtocol.to_out, "1");
-                log.info("到达{}取货点开始取货", device_code);
-                inst.setExecute_status("1");
-                instructionService.update(inst);
-                data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
-                flag = true;
+                // 判断是否允许取
+                if (deviceDriver.getEmp_ready() == 1) {
+                    // 下发正在取货
+                    deviceDriver.writing(org.nl.acs.device_driver.basedriver.pallet_dispenser.ItemProtocol.to_out, "1");
+                    log.info("到达{}取货点开始取货", device_code);
+                    inst.setExecute_status("1");
+                    instructionService.update(inst);
+                    data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
+                    flag = true;
+                }
             }
 
         } else if (phase == 0x04) {
@@ -315,6 +320,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 
             // 到达机械手取货完成
             if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) {
+                RobotArmDeviceDriver deviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver();
+                // 取货复位
+                deviceDriver.writing("to_out","0");
                 data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                 log.info("agv进入" + device_code + "取货完成");
                 flag = true;
@@ -322,6 +330,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 
             // 到达拆盘机手取货完成
             if (device.getDeviceDriver() instanceof PalletDispenseDeviceDriver) {
+                PalletDispenseDeviceDriver deviceDriver = (PalletDispenseDeviceDriver) device.getDeviceDriver();
+                deviceDriver.writing("to_out","0");
                 data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                 log.info("agv进入" + device_code + "取货完成");
                 flag = true;
@@ -402,25 +412,15 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             // 机械手
             if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) {
                 RobotArmDeviceDriver deviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver();
-                // 下发请求放货
-                deviceDriver.writing(org.nl.acs.device_driver.basedriver.robot_arm.ItemProtocol.to_in, "1");
-                log.info("到达{}放货点开始放货", device_code);
-                inst.setExecute_status("1");
-                instructionService.update(inst);
-                data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
-                flag = true;
-            }
-
-            // 拆盘机
-            if (device.getDeviceDriver() instanceof PalletDispenseDeviceDriver) {
-                PalletDispenseDeviceDriver deviceDriver = (PalletDispenseDeviceDriver) device.getDeviceDriver();
-                // 下发请求放货
-                deviceDriver.writing(org.nl.acs.device_driver.basedriver.pallet_dispenser.ItemProtocol.to_in, "1");
-                log.info("到达{}放货点开始放货", device_code);
-                inst.setExecute_status("1");
-                instructionService.update(inst);
-                data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
-                flag = true;
+                if (deviceDriver.getHeartbeat() == 1) {
+                    // 下发请求放货
+                    deviceDriver.writing(org.nl.acs.device_driver.basedriver.robot_arm.ItemProtocol.to_in, "1");
+                    log.info("到达{}放货点开始放货", device_code);
+                    inst.setExecute_status("1");
+                    instructionService.update(inst);
+                    data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
+                    flag = true;
+                }
             }
             //放货完毕
             //(需要WCS反馈)
@@ -491,13 +491,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 
             // 到达机械手放货完成
             if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) {
-                data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
-                log.info("{}放货完成", device_code);
-                flag = true;
-            }
-
-            // 到达拆盘机放货完成
-            if (device.getDeviceDriver() instanceof PalletDispenseDeviceDriver) {
+                RobotArmDeviceDriver deviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver();
+                deviceDriver.writing("to_in","0");
                 data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
                 log.info("{}放货完成", device_code);
                 flag = true;
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/pallet_dispenser/PalletDispenseDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/pallet_dispenser/PalletDispenseDeviceDriver.java
index 1a2f49f..72b3041 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/pallet_dispenser/PalletDispenseDeviceDriver.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/pallet_dispenser/PalletDispenseDeviceDriver.java
@@ -115,7 +115,7 @@ public class PalletDispenseDeviceDriver extends AbstractOpcDeviceDriver implemen
         last_emp_ready = emp_ready;
         last_emp_apply = emp_apply;
 
-        if (last_heartbeat == 1) {
+ /*       if (last_heartbeat == 1) {
             Date date = new Date();
             if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
                 log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
@@ -123,7 +123,7 @@ public class PalletDispenseDeviceDriver extends AbstractOpcDeviceDriver implemen
                 this.instruction_require_time = date;
                 this.executeTask();
             }
-        }
+        }*/
     }
 
     /**
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/robot_arm/RobotArmDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/robot_arm/RobotArmDeviceDriver.java
index c4dc0fa..897eea6 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/robot_arm/RobotArmDeviceDriver.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/robot_arm/RobotArmDeviceDriver.java
@@ -164,7 +164,7 @@ public class RobotArmDeviceDriver extends AbstractOpcDeviceDriver implements Dev
             }
         }
         // 申请下料任务
-        if (pallet_apply == 1) {
+        if (last_pallet_apply == 1) {
             List<Task> list = taskserver.list(
                     new QueryWrapper<Task>().lambda()
                             .eq(Task::getStart_device_code, devicecode)
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/LmsHttpUtil.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/LmsHttpUtil.java
index dada17d..81d9c27 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/LmsHttpUtil.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/LmsHttpUtil.java
@@ -7,7 +7,6 @@ import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.hk.RequestAdapter;
 import org.nl.acs.agv.hk.ResponseAdapter;
 import org.nl.acs.agv.hk.UnifiedResponse;
-import org.nl.acs.agv.hk.log.ToOthersInterfaceLog;
 import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -27,7 +26,6 @@ public class LmsHttpUtil {
     @Autowired
     private ISysParamService paramService;
 
-    @ToOthersInterfaceLog("ACS->WMS")
     public <T, W> UnifiedResponse<T> sendPostRequest(String path, W requestParam, Class<T> type) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
@@ -45,7 +43,6 @@ public class LmsHttpUtil {
         }
     }
 
-    @ToOthersInterfaceLog("ACS->WMS")
     public <T, W> UnifiedResponse<T> sendPostRequest(String path, W requestParam) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
@@ -63,7 +60,6 @@ public class LmsHttpUtil {
         }
     }
 
-    @ToOthersInterfaceLog("ACS->WMS")
     public <T> UnifiedResponse<T> sendPostRequest(String path, Class<T> type) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
@@ -80,7 +76,6 @@ public class LmsHttpUtil {
         }
     }
 
-    @ToOthersInterfaceLog("ACS->WMS")
     public <T> UnifiedResponse<T> sendPostRequest(String path) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
@@ -97,7 +92,6 @@ public class LmsHttpUtil {
         }
     }
 
-    @ToOthersInterfaceLog("ACS->WMS")
     public <T> UnifiedResponse<T> sendGetRequest(String path, Class<T> type) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
@@ -114,7 +108,6 @@ public class LmsHttpUtil {
         }
     }
 
-    @ToOthersInterfaceLog("ACS->WMS")
     public <T> UnifiedResponse<T> sendGetRequest(String path) {
         if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 659c2ab..4792cfb 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -434,7 +434,12 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             if (ObjectUtil.isEmpty(route)) {
                 throw new BadRequestException(LangProcess.msg("error_isNull", "route"));
             }
-            if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
+            /*if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
+                NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
+                ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
+            }*/
+            // 下发ndc系统
+            if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.NDC_System_Type.getIndex())) {
                 NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
                 ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
             }
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvSystemTypeEnum.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvSystemTypeEnum.java
index 659ef32..d5aa77a 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvSystemTypeEnum.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvSystemTypeEnum.java
@@ -11,17 +11,9 @@ import lombok.Getter;
 @AllArgsConstructor
 public enum AgvSystemTypeEnum {
     /**
-     * 一期1楼叉车NDC系统
+     * NDC系统
      */
-    One_NDC_System_Type("1", "1", "一期1楼叉车NDC系统"),
-    /**
-     * 一期2楼NDC系统
-     */
-    Two_NDC_System_Type("2", "2", "一期2楼NDC系统"),
-    /**
-     * 仙工AGV系统
-     */
-//    XG_System_Type("3", "3", "仙工AGV系统");
+    NDC_System_Type("2", "2", "NDC系统"),
     /**
      * 海康调度系统
      */
diff --git a/acs/nladmin-system/nlsso-server/src/main/resources/log/XgAgvDeviceDriver.xml b/acs/nladmin-system/nlsso-server/src/main/resources/log/AcsToHK.xml
similarity index 63%
rename from acs/nladmin-system/nlsso-server/src/main/resources/log/XgAgvDeviceDriver.xml
rename to acs/nladmin-system/nlsso-server/src/main/resources/log/AcsToHK.xml
index c805802..0c1241f 100644
--- a/acs/nladmin-system/nlsso-server/src/main/resources/log/XgAgvDeviceDriver.xml
+++ b/acs/nladmin-system/nlsso-server/src/main/resources/log/AcsToHK.xml
@@ -2,16 +2,15 @@
 <included>
     <springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
     <property name="LOG_HOME" value="${logPath}"/>
-    <!--<define name="DEVICECODE" class="org.nl.common.logging.DeviceCodeDir"/>-->
     <!-- 按照每天生成日志文件 -->
-    <appender name="FILE_XGAGV" class="ch.qos.logback.core.rolling.RollingFileAppender">
+    <appender name="AcsToHK" class="ch.qos.logback.core.rolling.RollingFileAppender">
         <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
             <!--日志文件输出的文件名-->
-            <FileNamePattern>${LOG_HOME}/XgAgvDeviceDriver/${DEVICECODE}/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
+            <FileNamePattern>${LOG_HOME}/下发HK任务/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
             <!--日志文件保留天数-->
             <maxHistory>15</maxHistory>
             <!--单个日志最大容量 至少10MB才能看得出来-->
-            <maxFileSize>200MB</maxFileSize>
+            <maxFileSize>100MB</maxFileSize>
             <!--所有日志最多占多大容量-->
             <totalSizeCap>2GB</totalSizeCap>
         </rollingPolicy>
@@ -20,15 +19,14 @@
             <pattern>%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n</pattern>
             <charset>${log.charset}</charset>
         </encoder>
-
     </appender>
 
-    <!--  <logger name="org.nl.start.Init" level="info" additivity="false">
-          <appender-ref ref="FILE3"/>
-      </logger>-->
-
-    <!-- 打印sql -->
-    <logger name="org.nl.system.service.lucene.impl.LuceneExecuteLogServiceImpl" level="info" additivity="false">
-        <appender-ref ref="FILE_XGAGV"/>
+    <appender name="asyncFileAppender" class="ch.qos.logback.classic.AsyncAppender">
+        <appender-ref ref="AcsToHK" />
+        <!-- 设置队列大小，根据您的需求调整 -->
+        <queueSize>512</queueSize>
+    </appender>
+    <logger name="org.nl.acs.agv.hk.HkHttpUtil" level="info" additivity="true">
+        <appender-ref ref="asyncFileAppender"/>
     </logger>
 </included>
diff --git a/acs/nladmin-system/nlsso-server/src/main/resources/log/HKToAcs.xml b/acs/nladmin-system/nlsso-server/src/main/resources/log/HKToAcs.xml
new file mode 100644
index 0000000..16e125c
--- /dev/null
+++ b/acs/nladmin-system/nlsso-server/src/main/resources/log/HKToAcs.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<included>
+    <springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
+    <property name="LOG_HOME" value="${logPath}"/>
+    <!-- 按照每天生成日志文件 -->
+    <appender name="HKToAcs" class="ch.qos.logback.core.rolling.RollingFileAppender">
+        <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
+            <!--日志文件输出的文件名-->
+            <FileNamePattern>${LOG_HOME}/HK请求ACS/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
+            <!--日志文件保留天数-->
+            <maxHistory>15</maxHistory>
+            <!--单个日志最大容量 至少10MB才能看得出来-->
+            <maxFileSize>100MB</maxFileSize>
+            <!--所有日志最多占多大容量-->
+            <totalSizeCap>2GB</totalSizeCap>
+        </rollingPolicy>
+        <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
+            <!--格式化输出：%d表示日期，%thread表示线程名，%-5level：级别从左显示5个字符宽度%msg：日志消息，%n是换行符-->
+            <pattern>%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n</pattern>
+            <charset>${log.charset}</charset>
+        </encoder>
+    </appender>
+
+    <appender name="asyncFileAppender" class="ch.qos.logback.classic.AsyncAppender">
+        <appender-ref ref="HKToAcs" />
+        <!-- 设置队列大小，根据您的需求调整 -->
+        <queueSize>512</queueSize>
+    </appender>
+    <logger name="org.nl.acs.agv.hk.service.impl.HkToAcsServiceImpl" level="info" additivity="true">
+        <appender-ref ref="asyncFileAppender"/>
+    </logger>
+</included>
diff --git a/acs/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml b/acs/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
index 4998ae6..15307fb 100644
--- a/acs/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
+++ b/acs/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
@@ -25,6 +25,8 @@ https://juejin.cn/post/6844903775631572999
     <include resource="log/NDCAgvServiceImpl.xml"/>
     <include resource="log/NDCSocketConnectionAutoRun.xml"/>
     <include resource="log/WmsToAcs.xml"/>
+    <include resource="log/AcsToHK.xml"/>
+    <include resource="log/HKToAcs.xml"/>
 
     <appender name="CONSOLE" class="ch.qos.logback.core.ConsoleAppender">
         <!--withJansi 参数改为true-->