diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
index 62f9cac42..6b9c6bae0 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
@@ -254,8 +254,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
             }
             if (action != last_action) {
-                this.setRequireSucess(false);
-
+                this.setFeedbackSucess(false);
                 logServer.deviceItemValue(this.device_code, "action", String.valueOf(action));
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action);
             }
@@ -302,14 +301,9 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号inflatable_shaft_size：" + last_inflatable_shaft_size + "->" + inflatable_shaft_size);
             }
 
-            if (task > 0 && getTo_task_type() == 1 && !requireSucess) {
+
+            if (task > 0 && !feedbackSucess) {
                 update_instruction_status();
-            } else if (task > 0 && getTo_task_type() == 2 && !requireSucess) {
-                update_instruction_status2();
-            } else if (task > 0 && getTo_task_type() == 6 && !requireSucess) {
-                update_instruction_status3();
-            } else if (task > 0 && getTo_task_type() == 7 && !requireSucess) {
-                update_instruction_status4();
             }
 
 
@@ -416,297 +410,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
     }
 
     private synchronized void update_instruction_status() {
-        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
-        ApplyManipulatorActionResponse applyManipulatorActionResponse;
-        Date date = new Date();
-        Instruction inst1 = checkInst();
-        if (inst1 != null) {
-            if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
-                log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
-            } else {
-                this.instruction_update_time = date;
-                //更改任务状态
-                if (task > 0) {
-                    //inst_message
-                    if (inst1 != null) {
-                        if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                            inst1.setInstruction_status("1");
-                            inst1.setExecute_device_code(this.device_code);
-                            instructionService.update(inst1);
-                        }
-                    }
-                }
-                //反馈尺寸
-                if (action == 2) {
-                    String task_code = inst1.getTask_code();
-                    applyManipulatorActionRequest.setType("2");
-                    applyManipulatorActionRequest.setTask_code(task_code);
-                    applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
-                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                    if (applyManipulatorActionResponse.getstatus() == 200) {
-                        requireSucess = true;
-                        message = "反馈LMS成功...";
-                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                        Map<String, Object> map = new LinkedHashMap<>();
-                        map.put("to_command", "2");
-                        this.writing(map);
-                    } else {
-                        requireSucess = false;
-                        message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                    }
-                }
-
-                //任务完成
-                if (action == 8) {
-                    try {
-                        finish_instruction(inst1);
-                        this.writing("to_command", "8");
-                        requireSucess = true;
-                    } catch (Exception e) {
-                        e.printStackTrace();
-                    }
-                    feedMessage = "";
-                } else {
-                    feedMessage = "行架机械手:";
-                    if (mode != 3) {
-                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
-                    }
-                    if (action != 8) {
-                        feedMessage = feedMessage + "动作信号(action)不为完成状态,";
-                    }
-                    if (move != 0) {
-                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
-                    }
-                    if (task == 0) {
-                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
-                    }
-                }
-            }
-        } else {
-            feedMessage = "";
-        }
-    }
-
-    private synchronized void update_instruction_status2() {
-        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
-        ApplyManipulatorActionResponse applyManipulatorActionResponse;
-        Date date = new Date();
-        Instruction inst1 = checkInst();
-        if (inst1 != null) {
-            if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
-                log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
-
-            } else {
-                this.instruction_update_time = date;
-                //更改任务状态
-                if (task > 0) {
-                    //inst_message
-                    if (inst1 != null) {
-                        if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                            inst1.setInstruction_status("1");
-                            inst1.setExecute_device_code(this.device_code);
-                            instructionService.update(inst1);
-                        }
-                    }
-                }
-
-                //反馈气胀轴尺寸
-                if (action == 2) {
-                    String task_code = inst1.getTask_code();
-                    applyManipulatorActionRequest.setType("2");
-                    applyManipulatorActionRequest.setTask_code(task_code);
-                    applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
-                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                    if (applyManipulatorActionResponse.getstatus() == 200) {
-                        requireSucess = true;
-                        message = "反馈LMS成功...";
-                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                        Map<String, Object> map = new LinkedHashMap<>();
-                        map.put("to_command", "2");
-                        map.put("to_task_type", "2");
-                        this.writing(map);
-                    } else {
-                        requireSucess = false;
-                        message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                    }
-                }
-
-                //申请放货点
-                if (action == 3) {
-                    String task_code = inst1.getTask_code();
-                    applyManipulatorActionRequest.setType("3");
-                    applyManipulatorActionRequest.setTask_code(task_code);
-                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                    String put_device_code = applyManipulatorActionResponse.getPut_device_code();
-                    Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "3");
-                    map.put("to_putpoint", put_device_code);
-                    this.writing(map);
-                    requireSucess = true;
-                }
-
-                //任务完成
-                if (action == 8) {
-                    if (inst1 != null) {
-                        try {
-                            requireSucess = true;
-                            finish_instruction(inst1);
-                            this.writing("to_command", "8");
-                        } catch (Exception e) {
-                            e.printStackTrace();
-                        }
-                        feedMessage = "";
-                    }
-                } else {
-                    feedMessage = "行架机械手:";
-                    if (mode != 3) {
-                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
-                    }
-                    if (action != 8) {
-                        feedMessage = feedMessage + "动作信号(action)不为完成状态,";
-                    }
-                    if (move != 0) {
-                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
-                    }
-                    if (task == 0) {
-                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
-                    }
-                }
-            }
-        } else {
-            feedMessage = "";
-        }
-    }
-
-    private synchronized void update_instruction_status3() {
-        ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
-        ApplyManipulatorActionResponse applyManipulatorActionResponse;
-        Date date = new Date();
-        Instruction inst1 = checkInst();
-        if (inst1 != null) {
-            if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
-                log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
-
-            } else {
-                this.instruction_update_time = date;
-                //更改任务状态
-                if (task > 0) {
-                    //inst_message
-                    if (inst1 != null) {
-                        if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
-                            inst1.setInstruction_status("1");
-                            inst1.setExecute_device_code(this.device_code);
-                            instructionService.update(inst1);
-                        }
-                    }
-                }
-
-                //反馈尺寸
-                if (action == 2) {
-                    String task_code = inst1.getTask_code();
-                    applyManipulatorActionRequest.setType("2");
-                    applyManipulatorActionRequest.setTask_code(task_code);
-                    applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
-                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                    if (applyManipulatorActionResponse.getstatus() == 200) {
-                        requireSucess = true;
-                        message = "反馈LMS成功...";
-                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                        Map<String, Object> map = new LinkedHashMap<>();
-                        map.put("to_command", "2");
-                        this.writing(map);
-                    } else {
-                        requireSucess = false;
-                        message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
-                        logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
-                    }
-                }
-
-                //从拔轴机取货的新行架任务
-                if (mode == 3 && action == 1 && move == 0 && task > 0) {
-                    if (ObjectUtil.isNotEmpty(inst1)) {
-                        String start_device_code = inst1.getStart_device_code();
-                        Device device = deviceAppService.findDeviceByCode(start_device_code);
-                        PluggingUnpluggingMachineDeviceDriver pluggingUnpluggingMachineDeviceDriver;
-                        if (device.getDeviceDriver() instanceof PluggingUnpluggingMachineDeviceDriver) {
-                            pluggingUnpluggingMachineDeviceDriver = (PluggingUnpluggingMachineDeviceDriver) device.getDeviceDriver();
-                            int mode = pluggingUnpluggingMachineDeviceDriver.getMode();
-                            int error1 = pluggingUnpluggingMachineDeviceDriver.getError();
-                            int move = pluggingUnpluggingMachineDeviceDriver.getMove();
-                            if (mode == 2 && error1 == 0 && move == 1) {
-                                Map<String, Object> map = new LinkedHashMap<>();
-                                map.put("to_command", "1");
-                                this.writing(map);
-                                requireSucess = true;
-                            }
-                        }
-                    }
-                } else {
-                    feedMessage = "行架机械手:";
-                    if (mode != 3) {
-                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
-                    }
-                    if (action != 1) {
-                        feedMessage = feedMessage + "动作信号(action)不为取货中状态,";
-                    }
-                    if (move != 0) {
-                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
-                    }
-                    if (task == 0) {
-                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
-                    }
-                }
-
-
-                //申请放货点
-                if (action == 3) {
-                    String task_code = inst1.getTask_code();
-                    applyManipulatorActionRequest.setType("3");
-                    applyManipulatorActionRequest.setTask_code(task_code);
-                    applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-                    String put_device_code = applyManipulatorActionResponse.getPut_device_code();
-                    Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "3");
-                    map.put("to_putpoint", put_device_code);
-                    this.writing(map);
-                    requireSucess = true;
-                }
-
-
-                //任务完成
-                if (action == 8) {
-                    try {
-                        requireSucess = true;
-                        finish_instruction(inst1);
-                        this.writing("to_command", "8");
-                    } catch (Exception e) {
-                        e.printStackTrace();
-                    }
-                    feedMessage = "";
-                } else {
-                    feedMessage = "行架机械手:";
-                    if (mode != 3) {
-                        feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
-                    }
-                    if (action != 8) {
-                        feedMessage = feedMessage + "动作信号(action)不为完成状态,";
-                    }
-                    if (move != 0) {
-                        feedMessage = feedMessage + "光电信号(move)不为无货状态,";
-                    }
-                    if (task == 0) {
-                        feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
-                    }
-                }
-            }
-        } else {
-            feedMessage = "";
-        }
-    }
-
-    private synchronized void update_instruction_status4() {
         ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
         ApplyManipulatorActionResponse applyManipulatorActionResponse;
         Date date = new Date();
@@ -731,106 +434,131 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
 
 
                 //反馈尺寸
-                if (action == 2) {
+                if (mode == 3 && action == 2) {
                     String task_code = inst1.getTask_code();
+                    TaskDto task = taskserver.findByCode(task_code);
                     applyManipulatorActionRequest.setType("2");
-                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionRequest.setTask_code1(task_code);
                     applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
                     applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
                     if (applyManipulatorActionResponse.getstatus() == 200) {
-                        requireSucess = true;
+                        feedbackSucess = true;
                         message = "反馈LMS成功...";
                         logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
+                        String is_bushing = task.getIs_bushing();
+                        String version = task.getVersion();
+                        String bushing_num = task.getBushing_num();
                         Map<String, Object> map = new LinkedHashMap<>();
-                        map.put("to_command", "2");
+                        map.put("inflatableShaftVersion", Integer.parseInt(version));
+                        map.put("tube_num", Integer.parseInt(bushing_num));
+                        map.put("is_wrapped", Integer.parseInt(is_bushing));
+                        map.put("to_command", 2);
                         this.writing(map);
                     } else {
-                        requireSucess = false;
+                        feedbackSucess = false;
                         message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
                         logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
                     }
                 }
 
                 //申请放货点
-                if (action == 3) {
+                if (mode == 3 && action == 3) {
                     String task_code = inst1.getTask_code();
                     applyManipulatorActionRequest.setType("3");
-                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionRequest.setTask_code1(task_code);
                     applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
                     String put_device_code = applyManipulatorActionResponse.getPut_device_code();
+                    Device device = deviceAppService.findDeviceByCode(put_device_code);
+                    String to_putpoint = device.getExtraValue().get("address").toString();
                     Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "3");
-                    map.put("to_putpoint", put_device_code);
+                    map.put("to_command", 3);
+                    map.put("to_putpoint", Integer.parseInt(to_putpoint));
                     this.writing(map);
-                    requireSucess = true;
+                    feedbackSucess = true;
                 }
 
                 //申请新取货点
-                if (action == 4) {
+                if (mode == 3 && action == 4) {
                     String task_code = inst1.getTask_code();
                     applyManipulatorActionRequest.setType("4");
-                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionRequest.setTask_code1(task_code);
                     applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
                     if (applyManipulatorActionResponse.getstatus() == 200) {
                         String get_device_code = applyManipulatorActionResponse.getGet_device_code();
+                        Device device = deviceAppService.findDeviceByCode(get_device_code);
+                        String to_new_getpoint = device.getExtraValue().get("address").toString();
                         Map<String, Object> map = new LinkedHashMap<>();
-                        map.put("to_command", "4");
-                        map.put("to_new_getpoint", get_device_code);
+                        map.put("to_command", 4);
+                        map.put("to_new_getpoint", Integer.parseInt(to_new_getpoint));
                         this.writing(map);
-                        requireSucess = true;
+                        feedbackSucess = true;
                         logServer.deviceExecuteLog(this.device_code, "", "", "申请新取货点,返回参数:" + applyManipulatorActionResponse);
                         message = "申请新取货点成功";
                     } else {
-                        requireSucess = false;
+                        feedbackSucess = false;
                         message = "申请失败";
                         logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
                     }
                 }
 
                 //申请二次放货点
-                if (action == 5) {
+                if (mode == 3 && action == 5) {
                     String task_code = inst1.getTask_code();
                     applyManipulatorActionRequest.setType("5");
-                    applyManipulatorActionRequest.setTask_code(task_code);
+                    applyManipulatorActionRequest.setTask_code1(task_code);
                     applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
                     if (applyManipulatorActionResponse.getstatus() == 200) {
                         String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
+                        Device device = deviceAppService.findDeviceByCode(put_device_code2);
+                        String to_two_putpoint = device.getExtraValue().get("address").toString();
                         Map<String, Object> map = new LinkedHashMap<>();
-                        map.put("to_command", "5");
-                        map.put("to_two_putpoint", put_device_code2);
+                        map.put("to_command", 5);
+                        map.put("to_two_putpoint", Integer.parseInt(to_two_putpoint));
                         this.writing(map);
-                        requireSucess = true;
+                        feedbackSucess = true;
                         logServer.deviceExecuteLog(this.device_code, "", "", "申请二次放货点,返回参数:" + applyManipulatorActionResponse);
                         message = "申请二次放货点成功";
                     } else {
-                        requireSucess = false;
+                        feedbackSucess = false;
                         message = "申请失败";
                         logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
                     }
                 }
 
                 //缓存库取货完成
-                if (action == 6) {
+                if (mode == 3 && action == 6) {
+                    String task_code = inst1.getTask_code();
+                    applyManipulatorActionRequest.setAction("1");
+                    applyManipulatorActionRequest.setTask_code1(task_code);
+                   acsToWmsService.actionFinishRequest(applyManipulatorActionRequest);
                     Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "6");
-                    requireSucess = true;
+                    map.put("to_command", 6);
+                    this.writing(map);
+                    feedbackSucess = true;
                 }
 
                 //缓存库放货完成
-                if (action == 7) {
+                if (mode == 3 && action == 7) {
+                    String task_code = inst1.getTask_code();
+                    applyManipulatorActionRequest.setAction("2");
+                    applyManipulatorActionRequest.setTask_code1(task_code);
+                    acsToWmsService.actionFinishRequest(applyManipulatorActionRequest);
                     Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "7");
-                    requireSucess = true;
+                    map.put("to_command", 7);
+                    this.writing(map);
+                    feedbackSucess = true;
                 }
 
 
                 //放货完成
-                if (action == 8) {
+                if (mode == 3 && action == 8 && move == 0) {
                     if (inst1 != null) {
                         try {
-                            requireSucess = true;
+                            feedbackSucess = true;
                             finish_instruction(inst1);
-                            this.writing("to_command", "8");
+                            Map<String, Object> map = new LinkedHashMap<>();
+                            map.put("to_command", 8);
+                            this.writing(map);
                         } catch (Exception e) {
                             e.printStackTrace();
                         }
@@ -996,18 +724,14 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                     String bushing_num = taskDto.getBushing_num();
 
                     Map<String, Object> map = new LinkedHashMap<>();
-                    map.put("to_command", "1");
-                    if (action == 2) {
-                        map.put("inflatableShaftVersion", version);
-                        map.put("tube_num", bushing_num);
-                        map.put("is_wrapped", is_bushing);
-                    }
-                    if (taskDto.getTruss_type() == "1" || taskDto.getTruss_type() == "5") {
-                        map.put("to_task_type", taskDto.getTruss_type());
-                    }
-                    map.put("to_onset", start_addr);
-                    map.put("to_task", instruction.getInstruction_code());
-                    map.put("to_target", next_addr);
+                    map.put("to_command", 1);
+                    map.put("inflatableShaftVersion", Integer.parseInt(version));
+                    map.put("tube_num", Integer.parseInt(bushing_num));
+                    map.put("is_wrapped", Integer.parseInt(is_bushing));
+                    map.put("to_task_type", Integer.parseInt(taskDto.getTruss_type()));
+                    map.put("to_onset", Integer.parseInt(start_addr));
+                    map.put("to_task", Integer.parseInt(instruction.getInstruction_code()));
+                    map.put("to_target", Integer.parseInt(next_addr));
                     this.writing(map);
                     this.setRequireSucess(true);
                     return true;
@@ -1098,22 +822,12 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
                 logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
                         + instdto.getInstruction_code() + ",指令起点:" + instdto.getStart_device_code()
                         + ",指令终点:" + instdto.getNext_device_code());
-                String is_bushing = task.getIs_bushing();
-                String version = task.getVersion();
-                String bushing_num = task.getBushing_num();
                 Map<String, Object> map = new LinkedHashMap<>();
-                map.put("to_command", "1");
-                if (action == 2) {
-                    map.put("inflatableShaftVersion", version);
-                    map.put("tube_num", bushing_num);
-                    map.put("is_wrapped", is_bushing);
-                }
-                if (task.getTruss_type() == "1" || task.getTruss_type() == "5") {
-                    map.put("to_task_type", task.getTruss_type());
-                }
-                map.put("to_onset", start_addr);
-                map.put("to_task", instdto.getInstruction_code());
-                map.put("to_target", next_addr);
+                map.put("to_command", 1);
+                map.put("to_task_type", Integer.parseInt(task.getTruss_type()));
+                map.put("to_onset", Integer.parseInt(start_addr));
+                map.put("to_task", Integer.parseInt(instdto.getInstruction_code()));
+                map.put("to_target", Integer.parseInt(next_addr));
                 this.writing(map);
                 this.setRequireSucess(true);
                 notCreateInstMessage = "";
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paper_tube_device2/PaperTubeConveyor2DeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paper_tube_device2/PaperTubeConveyor2DeviceDriver.java
index 21d47bc2c..034fafd91 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paper_tube_device2/PaperTubeConveyor2DeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paper_tube_device2/PaperTubeConveyor2DeviceDriver.java
@@ -659,9 +659,9 @@ public class PaperTubeConveyor2DeviceDriver extends AbstractOpcDeviceDriver impl
         map.put("to_material" + status, paper.getMaterial_code());
         map.put("to_out_qty" + status, paper.getQty());
         map.put("to_seq" + status, status);
-        Device nextdevice = deviceAppservice.findDeviceByCode(paper.getDevice_code());
-        String next_addr = nextdevice.getExtraValue().get("address").toString();
-        map.put("to_position" + status, next_addr);
+//        Device nextdevice = deviceAppservice.findDeviceByCode(paper.getDevice_code());
+//        String next_addr = nextdevice.getExtraValue().get("address").toString();
+        map.put("to_position" + status, paper.getDevice_code());
     }
 
 
@@ -810,7 +810,7 @@ public class PaperTubeConveyor2DeviceDriver extends AbstractOpcDeviceDriver impl
         if (item_qty12 != (last_item_qty12)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "信号qty12：" + last_item_qty12 + "->" + item_qty12);
         }
-        if (item_material1.equals(last_item_material1)) {
+        if (!item_material1.equals(last_item_material1)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "信号material1：" + last_item_material1 + "->" + item_material1);
         }
         if (!item_material2.equals(last_item_material2)) {
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/ItemProtocol.java
index df30a3944..40483ef90 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/ItemProtocol.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/ItemProtocol.java
@@ -15,7 +15,8 @@ public class ItemProtocol {
     public static String item_mode = "mode";
     public static String item_move = "move";
     public static String item_error = "error";
-    public static String item_task = "task";
+    public static String item_task1 = "task1";
+    public static String item_task2 = "task2";
     public static String item_to_command = "to_command";
 
     private PluggingUnpluggingMachineDeviceDriver driver;
@@ -40,8 +41,11 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_error);
     }
 
-    public int getTask() {
-        return this.getOpcIntegerValue(item_task);
+    public int getTask1() {
+        return this.getOpcIntegerValue(item_task1);
+    }
+    public int getTask2() {
+        return this.getOpcIntegerValue(item_task2);
     }
 
     public int getToCommand() {
@@ -75,7 +79,9 @@ public class ItemProtocol {
         list.add(new ItemDto(item_mode, "工作状态", "DB600.B2"));
         list.add(new ItemDto(item_move, "光电开关信号", "DB600.B3"));
         list.add(new ItemDto(item_error, "报警信号", "DB600.B5"));
-        list.add(new ItemDto(item_task, "任务号", "DB600.D6"));
+        list.add(new ItemDto(item_task1, "任务号1(行架任务号)", "DB600.D6"));
+        list.add(new ItemDto(item_task2, "任务号2(纸管任务号)", "DB600.D10"));
+
         return list;
     }
 
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDefination.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDefination.java
index e38405519..563fc8e8f 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDefination.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDefination.java
@@ -2,7 +2,6 @@ package org.nl.acs.device_driver.basedriver.plugging_unplugging_machine;
 
 import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
 import org.nl.acs.device_driver.DeviceDriver;
-import org.nl.acs.device_driver.basedriver.standard_inspect_site.ItemProtocol;
 import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceType;
@@ -51,7 +50,7 @@ public class PluggingUnpluggingMachineDefination implements OpcDeviceDriverDefin
 
     @Override
     public List<ItemDto> getReadableItemDtos() {
-        return org.nl.acs.device_driver.basedriver.standard_inspect_site.ItemProtocol.getReadableItemDtos();
+        return ItemProtocol.getReadableItemDtos();
     }
 
     @Override
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java
index 584de33af..8ea99edbf 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java
@@ -1,5 +1,6 @@
 package org.nl.acs.device_driver.basedriver.plugging_unplugging_machine;
 
+import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONObject;
@@ -60,17 +61,22 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
     int mode = 0;
     int error = 0;
     int move = 0;
-    int task = 0;
+    int task1 = 0;
+    int task2 = 0;
     int last_mode = 0;
     int last_error = 0;
     int last_move = 0;
-    int last_task = 0;
+    int last_task1 = 0;
+    int last_task2 = 0;
     Boolean isonline = true;
 
     Boolean iserror = false;
     //行架机械手申请任务成功标识
     boolean requireSucess = false;
 
+    //当前指令
+    Instruction inst = null;
+
     //1-执行任务；2-取货完成；3-放货完成；
     int flag;
 
@@ -91,9 +97,11 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
             mode = this.itemProtocol.getMode();
             error = this.itemProtocol.getError();
             move = this.itemProtocol.getMove();
-            task = this.itemProtocol.getTask();
+            task1 = this.itemProtocol.getTask1();
+            task2 = this.itemProtocol.getTask2();
 
             if (mode != last_mode) {
+                this.requireSucess=false;
                 logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记");
             }
             if (move != last_move) {
@@ -129,13 +137,13 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
                 case 3:
                     break;
                 case 4:
-                    if (!requireSucess) {
-                        feedback();
+                    if ((task1 > 0 || task2 > 0) && !requireSucess) {
+                        applyBushing();
                     }
                     break;
                 case 5:
-                    if (!requireSucess) {
-                        feedback1();
+                    if ((task1 > 0 || task2 > 0) && !requireSucess) {
+                        bushingSucess();
                     }
                     break;
                 default:
@@ -147,45 +155,61 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
         last_mode = mode;
         last_error = error;
         last_move = move;
-        last_task = task;
+        last_task1 = task1;
+        last_task2 = task2;
     }
 
-    private synchronized void feedback1() {
+
+    private synchronized void bushingSucess() {
         ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
         ApplyManipulatorActionResponse applyManipulatorActionResponse;
+        Instruction inst1 = instructionService.findByCode(String.valueOf(task1));
+        Instruction inst2 = instructionService.findByCode(String.valueOf(task2));
+        String task_code1 = inst1.getTask_code();
+        String task_code2 = inst2.getTask_code();
+        applyManipulatorActionRequest.setDevice_code(device_code);
+        applyManipulatorActionRequest.setTask_code1(task_code1);
+        applyManipulatorActionRequest.setTask_code2(task_code2);
         applyManipulatorActionRequest.setType("7");
         applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-        if (applyManipulatorActionResponse.getstatus() == 200) {
+        if (applyManipulatorActionResponse.getstatus()==200) {
             Map<String, Object> map = new LinkedHashMap<>();
-            map.put("to_command", "5");
+            map.put("to_command", 5);
             requireSucess = true;
             logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
             message = "套轴完成成功";
-        } else {
+        }else{
             message = applyManipulatorActionResponse.getMessage();
             Map<String, Object> map = new LinkedHashMap<>();
-            map.put("to_command", "99");
+            map.put("to_command", 99);
             requireSucess = true;
             message = "套轴失败";
             logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
         }
     }
 
-    private synchronized void feedback() {
+    private synchronized void applyBushing() {
         ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
         ApplyManipulatorActionResponse applyManipulatorActionResponse;
+        Instruction inst1 = instructionService.findByCode(String.valueOf(task1));
+        Instruction inst2 = instructionService.findByCode(String.valueOf(task2));
+        String task_code1 = inst1.getTask_code();
+        String task_code2 = inst2.getTask_code();
+        applyManipulatorActionRequest.setDevice_code(device_code);
+        applyManipulatorActionRequest.setTask_code1(task_code1);
+        applyManipulatorActionRequest.setTask_code2(task_code2);
         applyManipulatorActionRequest.setType("6");
         applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
-        if (applyManipulatorActionResponse.getstatus() == 200) {
+        if (applyManipulatorActionResponse.getstatus()==200) {
             Map<String, Object> map = new LinkedHashMap<>();
-            map.put("to_command", "4");
+            map.put("to_command", 4);
             requireSucess = true;
             logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
             message = "套轴申请成功";
-        } else {
+        }else {
             message = applyManipulatorActionResponse.getMessage();
             Map<String, Object> map = new LinkedHashMap<>();
-            map.put("to_command", "99");
+            map.put("to_command", 99);
             requireSucess = true;
             message = "申请失败";
             logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java
index 4fec7dd92..ddcd86a25 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java
@@ -17,14 +17,23 @@ public class ApplyManipulatorActionRequest extends BaseRequest  {
     private String type;
 
     /**
-     * 任务号
+     * 行架任务号
      */
-    private String task_code;
+    private String task_code1;
 
+    /**
+     * 纸管任务号
+     */
+    private String task_code2;
     /**
      * 气胀轴尺寸 3/6寸
      */
     private String size;
 
+    /**
+     * 动作完成
+     * 取货完成1 放货完成2
+     */
+    private String action;
 
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java
index 226fb0a07..9d559cfb8 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java
@@ -1,5 +1,6 @@
 package org.nl.acs.ext.wms.data;
 
+import com.alibaba.fastjson.JSONArray;
 import lombok.Data;
 import org.nl.acs.device_driver.basedriver.paper_tube_device2.Paper;
 
@@ -122,6 +123,27 @@ public class CreateTaskRequest extends BaseRequest  {
      */
     Map<String,String> params;
 
-    private List<Paper> paper_array;
+    /**
+     * 行架任务类型
+     */
+    private String truss_type;
+
+
+    /**
+     * 气胀轴代数
+     */
+    private String version;
+
+    /**
+     * 是否套管
+     */
+    private String is_bushing;
+
+    /**
+     * 套管数量
+     */
+    private String bushing_num;
+
+    private String paper_array;
 
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
index 41b51958b..fa57630d6 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
@@ -107,6 +107,13 @@ public class AcsToWmsController {
         return new ResponseEntity<>(acstowmsService.applyManipulatorActionRequest(param), HttpStatus.OK);
     }
 
+    @PostMapping("/actionFinishRequest")
+    @Log(value = "动作完成请求",isInterfaceLog = true,interfaceLogType= InterfaceLogType.ACS_TO_LMS)
+    @ApiOperation("动作完成请求")
+    public ResponseEntity<Object> actionFinishRequest(@RequestBody ApplyManipulatorActionRequest param) {
+        return new ResponseEntity<>(acstowmsService.actionFinishRequest(param), HttpStatus.OK);
+    }
+
     @PostMapping("/liKuApplyTaskRequest")
     @Log(value = "立库申请任务",isInterfaceLog = true,interfaceLogType= InterfaceLogType.ACS_TO_LMS)
     @ApiOperation("立库申请任务")
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
index d5039b06a..a6ea893db 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
@@ -117,4 +117,5 @@ public interface AcsToWmsService {
     void sendDeviceStatus(JSONObject param);
 
     ApplyManipulatorActionResponse applyManipulatorActionRequest(ApplyManipulatorActionRequest param);
+    ApplyManipulatorActionResponse actionFinishRequest(ApplyManipulatorActionRequest param);
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
index 451ae2399..a8b5c7019 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
@@ -444,8 +444,38 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         } finally {
             MDC.remove(log_file_type);
         }
+    }
 
-
+    @Override
+    public ApplyManipulatorActionResponse actionFinishRequest(ApplyManipulatorActionRequest param) {
+        try {
+            MDC.put(log_file_type, log_type);
+            ApplyManipulatorActionResponse actionFinishRequestResponse = new ApplyManipulatorActionResponse();
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
+                String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+                AddressDto addressDto = addressService.findByCode("actionFinishRequest");
+                String methods_url = addressDto.getMethods_url();
+                String url = wmsUrl + methods_url;
+                log.info("ApplyManipulatorActionRequest----请求参数{}", param);
+                try {
+//                    String result = "";
+                    String result = HttpRequest.post(url)
+                            .body(JSON.toJSONString(param))
+                            .execute().body();
+                    JSONObject jsonObject = JSONObject.parseObject(result);
+                    log.info("ApplyManipulatorActionResponse----返回参数{}", result);
+                    actionFinishRequestResponse = JSONObject.toJavaObject(jsonObject, ApplyManipulatorActionResponse.class);
+                } catch (Exception e) {
+                    JSONObject map = new JSONObject();
+                    map.put("status", 400);
+                    map.put("message", e.getMessage());
+                    return JSONObject.toJavaObject(map, ApplyManipulatorActionResponse.class);
+                }
+            }
+            return actionFinishRequestResponse;
+        } finally {
+            MDC.remove(log_file_type);
+        }
     }
 
     @Override
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
index 3ae28e74c..7c6469602 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
@@ -21,15 +21,19 @@ import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
 import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver;
 import org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.CargoLiftConveyorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.casing_station.CasingStationConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.device_status.DeviceStatusDeviceDriver;
 import org.nl.acs.device_driver.basedriver.empty_vehicle_stacking_position.EmptyVehicleStackingPositionDeviceDriver;
 import org.nl.acs.device_driver.basedriver.hongxiang_conveyor.HongXiangStationDeviceDriver;
 import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver;
+import org.nl.acs.device_driver.basedriver.indoor_manipulator.IndoorManipulatorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.lamp_three_color.LampThreecolorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.oven_manipulator.OvenGantryManipulatorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.paper_tube_device.PaperTubeConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.paper_tube_device2.Paper;
+import org.nl.acs.device_driver.basedriver.paper_tube_device2.PaperTubeConveyor2DeviceDriver;
 import org.nl.acs.device_driver.basedriver.plug_pull_device_site.PlugPullDeviceSiteDeviceDriver;
+import org.nl.acs.device_driver.basedriver.plugging_unplugging_machine.PluggingUnpluggingMachineDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor_ckk.SiemensConveyorCkkDeviceDriver;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor_labeling.SiemensConveyorLabelingDeviceDriver;
@@ -238,8 +242,17 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
             StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver;
             //纸管库
             PaperTubeConveyorDeviceDriver paperTubeConveyorDeviceDriver;
+            //纸管库2
+            PaperTubeConveyor2DeviceDriver paperTubeConveyor2DeviceDriver;
             //立库设备
             DeviceStatusDeviceDriver deviceStatusDeviceDriver;
+            //插拔轴机
+            PlugPullDeviceSiteDeviceDriver plugPullDeviceSiteDeviceDriver;
+            //内包间行架机械手
+            IndoorManipulatorDeviceDriver indoorManipulatorDeviceDriver;
+            //套管工位
+            CasingStationConveyorDeviceDriver casingStationConveyorDeviceDriver;
+
             if (datas.size() == 0) {
                 throw new BadRequestException("缺少输入参数！");
             }
@@ -291,6 +304,19 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     jo.put("action", standardCoveyorControlWithScannerDeviceDriver.getAction());
                     jo.put("error", standardCoveyorControlWithScannerDeviceDriver.getError());
 
+                } else if (device.getDeviceDriver() instanceof CasingStationConveyorDeviceDriver) {
+                    casingStationConveyorDeviceDriver = (CasingStationConveyorDeviceDriver) device.getDeviceDriver();
+                    jo.put("device_code", parent_device_code);
+                    jo.put("mode", casingStationConveyorDeviceDriver.getMode());
+                    jo.put("move", casingStationConveyorDeviceDriver.getMove());
+                    jo.put("heartbeat", casingStationConveyorDeviceDriver.getHeartbeat());
+                    jo.put("carrier_direction", casingStationConveyorDeviceDriver.getCarrier_direction());
+                    jo.put("error", casingStationConveyorDeviceDriver.getError());
+                    jo.put("task", casingStationConveyorDeviceDriver.getTask());
+                    jo.put("material1", casingStationConveyorDeviceDriver.getMaterial1());
+                    jo.put("material2", casingStationConveyorDeviceDriver.getMaterial2());
+
+
                 } else if (device.getDeviceDriver() instanceof PaperTubeConveyorDeviceDriver) {
                     paperTubeConveyorDeviceDriver = (PaperTubeConveyorDeviceDriver) device.getDeviceDriver();
                     jo.put("device_code", parent_device_code);
@@ -356,6 +382,42 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     jo.put("y", driver.getY_position());
                     jo.put("error", driver.getError());
                     jo.put("error_msg", driver.getError() == 0 ? "" : ErrorUtil.getDictDetail("fqhj_error_type", String.valueOf(driver.getError())));
+                }else if (device.getDeviceDriver() instanceof PaperTubeConveyor2DeviceDriver) {
+                    paperTubeConveyor2DeviceDriver = (PaperTubeConveyor2DeviceDriver) device.getDeviceDriver();
+                    jo.put("device_code", parent_device_code);
+                    jo.put("heartbeat",paperTubeConveyor2DeviceDriver.getHeartbeat());
+                    jo.put("mode",paperTubeConveyor2DeviceDriver.getMode());
+                    jo.put("move",paperTubeConveyor2DeviceDriver.getMove());
+                    jo.put("carrier_direction",paperTubeConveyor2DeviceDriver.getCarrier_direction());
+                    jo.put("error",paperTubeConveyor2DeviceDriver.getError());
+                    jo.put("task",paperTubeConveyor2DeviceDriver.getTask());
+                    jo.put("out_seq_arr",paperTubeConveyor2DeviceDriver.getItem_out_seq_arr());
+                    jo.put("out_qty_arr",paperTubeConveyor2DeviceDriver.getItem_out_qty_arr());
+                    jo.put("material1",paperTubeConveyor2DeviceDriver.getItem_material1());
+                    jo.put("qty1",paperTubeConveyor2DeviceDriver.getItem_qty1());
+                    jo.put("material2",paperTubeConveyor2DeviceDriver.getItem_material2());
+                    jo.put("qty2",paperTubeConveyor2DeviceDriver.getItem_qty2());
+                    jo.put("material3",paperTubeConveyor2DeviceDriver.getItem_material3());
+                    jo.put("qty3",paperTubeConveyor2DeviceDriver.getItem_qty3());
+                    jo.put("material4",paperTubeConveyor2DeviceDriver.getItem_material4());
+                    jo.put("qty4",paperTubeConveyor2DeviceDriver.getItem_qty4());
+                    jo.put("material5",paperTubeConveyor2DeviceDriver.getItem_material5());
+                    jo.put("qty5",paperTubeConveyor2DeviceDriver.getItem_qty5());
+                    jo.put("material6",paperTubeConveyor2DeviceDriver.getItem_material6());
+                    jo.put("qty6",paperTubeConveyor2DeviceDriver.getItem_qty6());
+                    jo.put("material7",paperTubeConveyor2DeviceDriver.getItem_material7());
+                    jo.put("qty7",paperTubeConveyor2DeviceDriver.getItem_qty7());
+                    jo.put("material8",paperTubeConveyor2DeviceDriver.getItem_material8());
+                    jo.put("qty8",paperTubeConveyor2DeviceDriver.getItem_qty8());
+                    jo.put("material9",paperTubeConveyor2DeviceDriver.getItem_material9());
+                    jo.put("qty9",paperTubeConveyor2DeviceDriver.getItem_qty9());
+                    jo.put("material10",paperTubeConveyor2DeviceDriver.getItem_material10());
+                    jo.put("qty10",paperTubeConveyor2DeviceDriver.getItem_qty10());
+                    jo.put("material11",paperTubeConveyor2DeviceDriver.getItem_material11());
+                    jo.put("qty11",paperTubeConveyor2DeviceDriver.getItem_qty11());
+                    jo.put("material12",paperTubeConveyor2DeviceDriver.getItem_material12());
+                    jo.put("qty12",paperTubeConveyor2DeviceDriver.getItem_qty12());
+
                 } else if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
                     SiemensConveyorDeviceDriver driver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
                     jo.put("device_code", driver.getDevice().getDevice_code());
@@ -384,6 +446,31 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     jo.put("status", Math.min(3, driver.getMode()));
                     jo.put("error", driver.getError());
                     jo.put("error_msg", driver.getError() == 0 ? "" : ErrorUtil.getDictDetail("ssx_error_type", String.valueOf(driver.getError())));
+                } else if (device.getDeviceDriver() instanceof IndoorManipulatorDeviceDriver) {
+                    IndoorManipulatorDeviceDriver driver = (IndoorManipulatorDeviceDriver) device.getDeviceDriver();
+                    jo.put("device_code", driver.getDevice().getDevice_code());
+                    jo.put("device_name", driver.getDevice().getDevice_name());
+                    jo.put("status", Math.min(3, driver.getMode()));
+                    jo.put("mode", driver.getMode());
+                    jo.put("move", driver.getMove());
+                    jo.put("action", driver.getAction());
+                    jo.put("walk_y", driver.getWalk_y());
+                    jo.put("task", driver.getTask());
+                    jo.put("x_position", driver.getX_position());
+                    jo.put("y_position", driver.getY_position());
+                    jo.put("inflatable_shaft_size", driver.getInflatable_shaft_size());
+                    jo.put("error_msg", driver.getError() == 0 ? "" : ErrorUtil.getDictDetail("ssx_error_type", String.valueOf(driver.getError())));
+                }else if (device.getDeviceDriver() instanceof PluggingUnpluggingMachineDeviceDriver) {
+                    PluggingUnpluggingMachineDeviceDriver driver = (PluggingUnpluggingMachineDeviceDriver) device.getDeviceDriver();
+                    jo.put("device_code", driver.getDevice().getDevice_code());
+                    jo.put("device_name", driver.getDevice().getDevice_name());
+                    jo.put("status", Math.min(3, driver.getMode()));
+                    jo.put("mode", driver.getMode());
+                    jo.put("move", driver.getMove());
+                    jo.put("task1", driver.getTask1());
+                    jo.put("task2", driver.getTask2());
+                    jo.put("error", driver.getError());
+                    jo.put("error_msg", driver.getError() == 0 ? "" : ErrorUtil.getDictDetail("ssx_error_type", String.valueOf(driver.getError())));
                 } else {
                     jo.put("device_code", parent_device_code);
                 }
@@ -616,7 +703,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
             for (int i = 0; i < datas.size(); i++) {
                 String data = datas.get(i).toString();
                 CreateTaskRequest request = JsonUtl.format(data, CreateTaskRequest.class);
-                List<Paper> paper_array = request.getPaper_array();
+                String paper_array = request.getPaper_array();
                 String ext_task_id = request.getExt_task_id();
                 String task_code = request.getTask_code();
                 String start_device_code = request.getStart_device_code();
@@ -629,6 +716,10 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                 String vehicle_type = request.getVehicle_type();
                 String route_plan_code = request.getRoute_plan_code();
                 String task_type = request.getTask_type();
+                String truss_type = request.getTruss_type();
+                String is_bushing = request.getIs_bushing();
+                String version = request.getVersion();
+                String bushing_num = request.getBushing_num();
                 String storage_task_type = request.getDtl_type();
                 String agv_system_type = request.getAgv_system_type();
                 String remark = request.getRemark();
@@ -827,6 +918,10 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                 jo.put("params", params);
                 jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type));
                 jo.put("paper_array", JSONUtil.toJsonStr(paper_array));
+                jo.put("truss_type", JSONUtil.toJsonStr(truss_type));
+                jo.put("is_bushing", JSONUtil.toJsonStr(is_bushing));
+                jo.put("version", JSONUtil.toJsonStr(version));
+                jo.put("bushing_num", JSONUtil.toJsonStr(bushing_num));
 
 
                 if (!StrUtil.isEmpty(ext_task_id)) {