diff --git a/acs2/nladmin-system/nlsso-server/pom.xml b/acs2/nladmin-system/nlsso-server/pom.xml
index 841f5d7a8..372ada6df 100644
--- a/acs2/nladmin-system/nlsso-server/pom.xml
+++ b/acs2/nladmin-system/nlsso-server/pom.xml
@@ -435,6 +435,11 @@
             <artifactId>poi-ooxml-schemas</artifactId>
             <version>4.1.2</version>
         </dependency>
+        <dependency>
+            <groupId>org.springframework.retry</groupId>
+            <artifactId>spring-retry</artifactId>
+            <version>1.2.5.RELEASE</version>
+        </dependency>
         <!--<dependency>
             <groupId>xerces</groupId>
             <artifactId>xercesImpl</artifactId>
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/MagicAgvController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/MagicAgvController.java
index 71d749c85..c8ebdb7ae 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/MagicAgvController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/MagicAgvController.java
@@ -32,7 +32,6 @@ public class MagicAgvController {
      */
     @PostMapping("/agvack/{device}")
     @Log("AGV请求离开")
-    
     public ResponseEntity<Object> requestAck(@PathVariable String device) {
         return new ResponseEntity<>(magicAgvService.requestAck(device), HttpStatus.OK);
     }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/controller/AcsPointAngleController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/controller/AcsPointAngleController.java
index 90ef57340..ecfe7c248 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/controller/AcsPointAngleController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/controller/AcsPointAngleController.java
@@ -25,7 +25,6 @@ import java.util.Map;
  * @since 2023-12-13
  */
 @RestController
-
 @RequestMapping("/api/acsPointAngle")
 @Slf4j
 public class AcsPointAngleController {
@@ -34,7 +33,6 @@ public class AcsPointAngleController {
 
     @GetMapping
     @Log("查询点位角度")
-    
     //@PreAuthorize("@el.check('acsPointAngle:list')")
     public ResponseEntity<Object> query(@RequestParam Map whereJson, Pageable page) {
         return new ResponseEntity<>(acsPointAngleService.queryAll(whereJson, page), HttpStatus.OK);
@@ -42,7 +40,6 @@ public class AcsPointAngleController {
 
     @PostMapping
     @Log("新增点位角度")
-    
     //@PreAuthorize("@el.check('acsPointAngle:add')")
     public ResponseEntity<Object> create(@Validated @RequestBody AcsPointAngle dto) {
         acsPointAngleService.create(dto);
@@ -51,7 +48,6 @@ public class AcsPointAngleController {
 
     @PutMapping
     @Log("修改点位角度")
-    
     //@PreAuthorize("@el.check('acsPointAngle:edit')")
     public ResponseEntity<Object> update(@Validated @RequestBody AcsPointAngle dto) {
         acsPointAngleService.update(dto);
@@ -59,7 +55,6 @@ public class AcsPointAngleController {
     }
 
     @Log("删除点位角度")
-    
     //@PreAuthorize("@el.check('acsPointAngle:del')")
     @DeleteMapping
     public ResponseEntity<Object> delete(@RequestBody String[] ids) {
@@ -69,7 +64,6 @@ public class AcsPointAngleController {
 
     @GetMapping("/updateActive")
     @Log("是否启用")
-    
     public ResponseEntity<Object> updateOn(@RequestParam Long id, @RequestParam String is_active) {
         acsPointAngleService.updateOn(id, is_active);
         return new ResponseEntity<>(HttpStatus.OK);
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/AutoRunController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/AutoRunController.java
index 12e6529a4..fbb5bd479 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/AutoRunController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/AutoRunController.java
@@ -34,7 +34,7 @@ public class AutoRunController {
     @Autowired
     private AutoRunService autoRunService;
 
-    
+
     @Log("查询自动线程")
     @GetMapping
     public ResponseEntity<Object> query(Map map) throws Exception {
@@ -43,7 +43,6 @@ public class AutoRunController {
     }
 
     @Log("启动自动线程")
-    
     @PutMapping(value = "/start/{code}")
     public ResponseEntity<Object> start(@PathVariable String code) {
         autoRunService.startThread(code);
@@ -51,7 +50,6 @@ public class AutoRunController {
     }
 
     @Log("停止自动线程")
-    
     @PutMapping(value = "/stop/{code}")
     public ResponseEntity<Object> execution(@PathVariable String code) {
         autoRunService.stopThread(code);
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/rest/CustomPolicyController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/rest/CustomPolicyController.java
index 9a544a6fa..35301cce0 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/rest/CustomPolicyController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/rest/CustomPolicyController.java
@@ -19,7 +19,6 @@ import java.util.Map;
 
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/customPolicy")
 @Slf4j
 public class CustomPolicyController {
@@ -41,7 +40,6 @@ public class CustomPolicyController {
 
     @PutMapping
     @Log("修改自定义策略")
-    
     public ResponseEntity<Object> update(@Validated @RequestBody CustomPolicyDTO dto) {
         customPolicyService.update(dto);
         return new ResponseEntity<>(HttpStatus.NO_CONTENT);
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceAssignedController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceAssignedController.java
index b8eccf97b..8a6fb4dfe 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceAssignedController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceAssignedController.java
@@ -20,7 +20,6 @@ import java.util.Set;
  **/
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/deviceAssigned")
 public class DeviceAssignedController {
 
@@ -41,7 +40,6 @@ public class DeviceAssignedController {
 
     @PutMapping
     @Log("修改设备任务分配信息")
-
     public ResponseEntity update(@Validated @RequestBody Map resources) {
         deviceAssignedService.update(resources);
         return new ResponseEntity<>(HttpStatus.NO_CONTENT);
@@ -49,7 +47,6 @@ public class DeviceAssignedController {
 
     @DeleteMapping
     @Log("删除设备任务分配信息")
-
     public ResponseEntity delete(@RequestBody Set<String> ids) {
         deviceAssignedService.removeByIds(ids);
         return new ResponseEntity<>(HttpStatus.OK);
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceDbitemController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceDbitemController.java
index c58cd993c..637e03370 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceDbitemController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceDbitemController.java
@@ -20,7 +20,6 @@ import java.util.Set;
  **/
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/deviceDbitem")
 public class DeviceDbitemController {
 
@@ -54,7 +53,7 @@ public class DeviceDbitemController {
 
     /*
     @Log("导出设备DB项")
-    
+
     @GetMapping(value = "/download")
     //@PreAuthorize("@el.check('deviceDbitem:list')")
     public void download(HttpServletResponse response, DeviceDbitemQueryParam query) throws IOException {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceExtraController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceExtraController.java
index 54571672b..ba337784d 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceExtraController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceExtraController.java
@@ -21,7 +21,6 @@ import java.util.Set;
  **/
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/deviceExtra")
 public class DeviceExtraController {
 
@@ -29,7 +28,6 @@ public class DeviceExtraController {
 
     @GetMapping
     @Log("查询设备扩展")
-    
     public ResponseEntity query(DeviceExtraQueryParam query, Pageable pageable) {
         return new ResponseEntity<>(deviceExtraService.queryAll(query, pageable), HttpStatus.OK);
     }
@@ -56,7 +54,7 @@ public class DeviceExtraController {
 
     /*
     @Log("导出设备扩展")
-    
+
     @GetMapping(value = "/download")
     //@PreAuthorize("@el.check('deviceExtra:list')")
     public void download(HttpServletResponse response, DeviceExtraQueryParam query) throws IOException {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
index 8011a7485..a2d396df9 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
@@ -2,6 +2,7 @@ package org.nl.acs.device_driver.agv.ndctwo;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -11,6 +12,8 @@ import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.FeedLmsRealFailed;
+import org.nl.acs.device_driver.agv.utils.TwoAgvPhase;
 import org.nl.acs.device_driver.conveyor.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.paper_tube_pick_site.PaperTubePickSiteDeviceDriver;
@@ -20,10 +23,12 @@ import org.nl.acs.device_driver.two_conveyor.hongxiang_conveyor.HongXiangStation
 import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.ManipulatorAgvStationDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
+import org.nl.acs.history.ErrorUtil;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
@@ -33,6 +38,8 @@ import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.nl.system.service.param.ISysParamService;
 import org.nl.config.SpringContextHolder;
 
+import java.util.Map;
+
 
 /**
  * NDC双工位AGV
@@ -40,7 +47,7 @@ import org.nl.config.SpringContextHolder;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements DeviceDriver {
+public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
 
     ISysParamService ISysParamService = SpringContextHolder.getBean(ISysParamService.class);
     InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
@@ -51,7 +58,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
     DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
     LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
+    TwoAgvPhase twoAgvPhase = new TwoAgvPhase();
 
+    String error_code = "0";
     int agvaddr = 0;
     int agvaddr_copy = 0;
     int weight = 0;
@@ -59,8 +68,25 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
     String device_code = "";
     int phase = 0;
     int region = 0;
+    int error = 0;
     private Instruction instruction;
     String message = null;
+    int x = 0; //x坐标
+    int y = 0; //y坐标
+    int angle = 0; //角度
+    int electric_qty = 0; //电量
+    int status = 0; //三色灯状态
+    int last_status = 0; //三色灯状态
+    String error_message = "";
+    String error_type = "agv_error_type";
+    Boolean isonline = true;
+    Boolean iserror = false;
+
+    private synchronized void setErrorInfo(int error, String error_code, String error_message) {
+        this.error = error;
+        this.error_code = error_code;
+        this.error_message = error_message;
+    }
 
     public synchronized void processSocket(int[] arr) throws Exception {
         device_code = this.getDeviceCode();
@@ -1061,19 +1087,45 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             }
         }
         //上传AGV电量
-        else if (phase == 0x73) {
-            if (ObjectUtil.isEmpty(inst)) {
-                log.info("未找到指令号{}对应的指令", ikey);
-                return;
-            }
-            agv_power = ikey;
-            data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-            LuceneLogDto logDto = LuceneLogDto.builder()
-                    .device_code(device_code)
-                    .content("agvphase:" + phase + "反馈:" + data)
-                    .build();
-            luceneExecuteLogService.deviceExecuteLog(logDto);
+        else if (phase == 0x70) {
+            //x坐标
+            x = ikey;
+        } else if (phase == 0x71) {
+            //y坐标
+            y = ikey;
+        } else if (phase == 0x72) {
+            //车辆角度
+            angle = ikey;
+        } else if (phase == 0x73) {
+            //agv电量
+            electric_qty = ikey;
+        } else if (phase == 0x74) {
+            //三色灯状态
+            status = ikey;
 
+            if (status != last_status && status != 6 && status != 7) {
+                boolean flag = true;
+                JSONObject param = new JSONObject();
+                param.put("device_code", this.device_code);
+                if (status == 1) {
+                    param.put("mode", 0);
+                } else if (status == 2) {
+                    param.put("mode", 3);
+                } else if ("345".contains(String.valueOf(status))) {
+                    param.put("mode", 2);
+                } else {
+                    flag = false;
+                }
+
+                if (flag) {
+                    param.put("device_name", this.getDevice().getDevice_name());
+                    param.put("device_type", "4");
+                    param.put("product_area", ISysParamService.findByCode("productArea").getValue());
+                    acsToWmsService.sendDeviceStatus(param);
+                }
+            }
+
+            last_status = status;
         }  //进入区域（phase值）
         else if (phase == 0x50) {
             if (ObjectUtil.isEmpty(inst)) {
@@ -1108,8 +1160,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
         //（不需要WCS反馈）
         else if (phase == 0x67) {
             //故障信息
-            if (agvaddr == 0) {
-
+            if (ikey == 0) {
+                this.setErrorInfo(ikey, "0", "正常");
+            } else {
+                Map<String, String> error = ErrorUtil.getAgvErrorMsg(ikey);
+                String code = error.get("code");
+                String info = error.get("info");
+                this.setErrorInfo(ikey, code, info);
             }
             LuceneLogDto logDto = LuceneLogDto.builder()
                     .device_code(device_code)
@@ -1132,4 +1189,48 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
         }
     }
 
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        //agv编码
+        jo.put("car_no", this.getDevice().getDevice_code());
+        //agv名称
+        jo.put("device_name", this.getDevice().getDevice_name());
+        //x坐标
+        jo.put("x", this.getX());
+        //y坐标
+        jo.put("y", this.getY());
+        //角度
+        jo.put("angle", this.getAngle());
+        jo.put("phase", phase);
+        jo.put("phase_name", twoAgvPhase.getPhaseName(phase));
+        //电量
+        jo.put("electricity", this.getElectric_qty());
+        String status_name = this.status == 1 ? "关机" : this.status == 2 ? "工作中" : this.status == 3 ? "交通管制" : this.status == 4 ? "任务等待" : this.status == 5 ? "充电中" : this.status == 6 ? "故障中" : this.status == 7 ? "电量低" : "正常";
+        //agv状态
+        jo.put("status_name", status_name);
+        //任务号
+        jo.put("task_code", ObjectUtil.isEmpty(instruction) ? "0" : instruction.getTask_code());
+        //异常
+        jo.put("fault", this.getError_message());
+        jo.put("message", this.getMessage());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+
+    @Override
+    public JSONObject feedLmsRealFailedInfo() {
+        JSONObject jo = new JSONObject();
+        jo.put("device_code", this.getDevice().getDevice_code());
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("fault_code", String.valueOf(error));
+        jo.put("fault_info", error == 0 ? "正常" : error_message);
+        jo.put("fault_type", error_type);
+        return jo;
+    }
+
 }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java
index f8ceb5f8a..53d0f07db 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java
@@ -269,13 +269,13 @@ public class PlugPullDeviceSiteDeviceDriver extends AbstractOpcDeviceDriver impl
                     log.info("运行中");
                     break;
                 case 4:
-                    if (move == 1 && !requireSucess && task > 0) {
+                    if (move == 1 && !requireSucess) {
                         //申请套管
                         apply_casing(mode);
                     }
                     break;
                 case 5:
-                    if (!requireSucess && task > 0) {
+                    if (!requireSucess) {
                         //套管完成
                         bushingSucess(mode);
                     }
@@ -330,15 +330,17 @@ public class PlugPullDeviceSiteDeviceDriver extends AbstractOpcDeviceDriver impl
     private synchronized void apply_casing(int mode) {
         ApplyPlugPullSiteRequest applyPlugPullSiteRequest = new ApplyPlugPullSiteRequest();
         ApplyPlugPullSitResponse applyPlugPullSitResponse;
-        Instruction inst1 = instructionService.findByCode(String.valueOf(task));
-        String task_code1 = inst1.getTask_code();
+        Instruction inst1 = null;
+        if(task!=0) {
+            inst1 = instructionService.findByCode(String.valueOf(task));
+            String task_code1 = inst1.getTask_code();
+            applyPlugPullSiteRequest.setTask_code(task_code1);
+        }
         applyPlugPullSiteRequest.setDevice_code(device_code);
-        applyPlugPullSiteRequest.setTask_code(task_code1);
         applyPlugPullSiteRequest.setType("1");
         //TODO 气涨轴尺寸反馈
         applyPlugPullSitResponse = acsToWmsService.applyPlugPullSiteRequest(applyPlugPullSiteRequest);
         if (applyPlugPullSitResponse.getCode() == 200) {
-
             this.writeSignal(mode);
             logServer.deviceExecuteLog(this.device_code, "", "", "申请套管,返回参数:" + applyPlugPullSitResponse);
             message = "申请套管成功";
@@ -359,10 +361,12 @@ public class PlugPullDeviceSiteDeviceDriver extends AbstractOpcDeviceDriver impl
     private synchronized void bushingSucess(int mode) {
         ApplyPlugPullSiteRequest applyPlugPullSiteRequest = new ApplyPlugPullSiteRequest();
         ApplyPlugPullSitResponse applyPlugPullSitResponse;
-        Instruction inst1 = instructionService.findByCode(String.valueOf(task));
-        String task_code1 = inst1.getTask_code();
+        if(task!=0) {
+            Instruction inst1 = instructionService.findByCode(String.valueOf(task));
+            String task_code1 = inst1.getTask_code();
+            applyPlugPullSiteRequest.setTask_code(task_code1);
+        }
         applyPlugPullSiteRequest.setDevice_code(device_code);
-        applyPlugPullSiteRequest.setTask_code(task_code1);
         applyPlugPullSiteRequest.setWeight1(String.valueOf(weight1));
         applyPlugPullSiteRequest.setMaterial1(String.valueOf(material1));
         applyPlugPullSiteRequest.setWeight2(String.valueOf(weight2));
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
index 4ccd0d944..f8dc71607 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
@@ -159,6 +159,11 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
             task = this.itemProtocol.getTask();
             x_position = this.itemProtocol.getX_position();
             y_position = this.itemProtocol.getY_position();
+            if (mode != last_mode) {
+                requireSucess = false;
+                logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
+            }
 
             if (task > 0 && !requireSucess) {
                 update_instruction_status();
@@ -386,7 +391,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
         map.put("to_target1", next_addr);
         map.put("to_task", instructionDto.getInstruction_code());
         map.put("to_type", taskDto.getTruss_type());
-        map.put("to_empty_shaft_site", taskDto.getEmpty_shaft_site());
+        map.put("to_empty_shaft_site", taskDto.getEmpty_site());
 
         if (StrUtil.isNotEmpty(start_device_code2)) {
             Device startDevice2 = deviceAppservice.findDeviceByCode(start_device_code2);
@@ -433,7 +438,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
         map.put("to_onset1", start_addr);
         map.put("to_target1", next_addr);
         map.put("to_type", taskDto.getTruss_type());
-        map.put("to_empty_shaft_site", taskDto.getEmpty_shaft_site());
+        map.put("to_empty_shaft_site", taskDto.getEmpty_site());
         //创建指令
         Instruction instdto = new Instruction();
         String taskid = taskDto.getTask_id();
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/RetryableUtil.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/RetryableUtil.java
new file mode 100644
index 000000000..8e1c0fcdb
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/RetryableUtil.java
@@ -0,0 +1,67 @@
+package org.nl.acs.ext.wms;
+
+
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.common.exception.BadRequestException;
+import org.nl.common.utils.RedisUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.retry.annotation.Backoff;
+import org.springframework.retry.annotation.Recover;
+import org.springframework.retry.annotation.Retryable;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+public class RetryableUtil {
+    private static ThreadLocal<Integer> retryTimes = new ThreadLocal<>();
+    @Autowired
+    private RedisUtils redisUtils;
+    @Autowired
+    private AcsToWmsService acsToWmsService;
+
+    /**
+     * 只针对对接系统连接拒绝、连接超时进行重试机制
+     * 如果系统连接成功 但是对方返回失败不进行重试
+     *
+     * @param url
+     * @param param
+     */
+    @Retryable(maxAttempts = 5, backoff = @Backoff(delay = 15000L, multiplier = 2))
+    public void retryable(String url, String param, String token) {
+        HttpResponse httpResponse = null;
+        String respMessage = null;
+        try {
+            httpResponse =
+                    HttpRequest
+                            .post(url)
+                            .header("Authorization", token).body(String.valueOf(param))
+                            .body(param)
+                            .timeout(5000)
+                            .execute();
+        } catch (Exception e) {
+            respMessage = e.getMessage();
+        }
+        if (retryTimes.get() == null) {
+            retryTimes.set(1);
+        } else {
+            retryTimes.set(retryTimes.get() + 1);
+        }
+        if (httpResponse == null) {
+            log.error("接口进行第{}次重试,请求路径:{},请求参数:{},响应参数:{}", retryTimes.get(), url, JSONObject.parse(param), respMessage);
+            throw new BadRequestException(url + "_" + param + "_" + retryTimes.get());
+        }
+        retryTimes.remove();
+        log.info("接口重试成功,请求路径:{},请求参数:{},重试次数:{}", url, JSONObject.parse(param), retryTimes.get());
+    }
+
+    @Recover
+    public void recover(RuntimeException e) {
+        retryTimes.remove();
+        String[] excMessage = e.getMessage().split("_");
+        log.error("请求路径:{},请求参数:{},已达到最大重试次数:{},停止重试！", excMessage[0], excMessage[1], excMessage[2]);
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/BaseResponse.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/BaseResponse.java
index 6516cf83b..a47a20987 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/BaseResponse.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/BaseResponse.java
@@ -1,5 +1,6 @@
 package org.nl.acs.ext.wms.data;
 
+import com.alibaba.fastjson.JSONArray;
 import lombok.AllArgsConstructor;
 import lombok.Builder;
 import lombok.Data;
@@ -37,5 +38,42 @@ public class BaseResponse {
 
     private Map<String, String> parameters = new HashMap();
 
+    private Integer status = 0;
+    private JSONArray errArr = new JSONArray();
+
+
+
+    public Integer getstatus() {
+        return this.status;
+    }
+
+    public void setStatus(Integer status) {
+        this.status = status;
+    }
+
+    public String getMessage() {
+        return this.message;
+    }
+
+    public void setMessage(String message) {
+        this.message = message;
+    }
+
+    public Map<String, String> getParameters() {
+        return this.parameters;
+    }
+
+    public void setParameters(Map<String, String> parameters) {
+        this.parameters = parameters;
+    }
+
+    public Object getParameter(String key) {
+        return this.parameters.get(key);
+    }
+
+    public void putParameter(String key, String object) {
+        this.parameters.put(key, object);
+    }
+
 
 }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/CancelTaskRequest.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/CancelTaskRequest.java
index 5cd0a538d..bb53dfb85 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/CancelTaskRequest.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/CancelTaskRequest.java
@@ -23,6 +23,9 @@ public class CancelTaskRequest extends BaseRequest {
      */
     Map<String, String> params = new HashMap<>();
 
+
+
+
     @Override
     public String toString() {
         return "CancelTaskRequest{" +
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java
index ab49193da..e981ef349 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java
@@ -45,11 +45,12 @@ public class CreateTaskRequest extends BaseRequest {
      */
     String vehicle_type;
 
-
     /**
-     * 任务类型
+     * 载具类型
      */
-    String task_type;
+    String params2;
+
+
 
 
     /**
@@ -76,4 +77,116 @@ public class CreateTaskRequest extends BaseRequest {
                 ", params=" + params +
                 '}';
     }
+
+    /**
+     * 任务标识
+     */
+    private String ext_task_id;
+
+
+
+
+
+
+
+
+    /**
+     * 取货点2
+     */
+    String start_device_code2;
+
+    /**
+     * 放货点2
+     */
+    String next_device_code2;
+
+    /**
+     * 烘箱对接位
+     */
+    String put_device_code;
+
+
+
+
+    /**
+     * 路由方案
+     */
+    String route_plan_code;
+
+    /**
+     * 1、生箔；
+     * 2、分切
+     * 3、普通任务
+     * 4、叉车任务
+     * 5、输送任务
+     * 6、行架
+     * 7、立库
+     * 任务类型
+     */
+    String task_type;
+
+    /**
+     * 立库任务类型
+     *
+     */
+    String dtl_type;
+
+    /**
+     * Agv系统类型
+     * 1:1楼叉车系统
+     * 2:2楼1区域AGV系统
+     * 3:2楼2区域AGV系统
+     */
+    String agv_system_type;
+
+
+    /**
+     * 烘箱时间
+     */
+    String oven_time;
+
+    /**
+     * 烘箱温度
+     */
+    String temperature;
+
+    /**
+     * agv取货高度
+     */
+    private String start_height;
+
+
+    /**
+     * agv放货高度
+     */
+    private String next_height;
+
+
+    /**
+     * 行架任务类型
+     */
+    private String truss_type;
+
+    /**
+     * 空轴位
+     */
+    private String empty_site;
+
+
+    /**
+     * 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/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/AcsToLiKuController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/AcsToLiKuController.java
index 9c2b35382..2633e1ce6 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/AcsToLiKuController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/AcsToLiKuController.java
@@ -23,7 +23,6 @@ import org.springframework.web.bind.annotation.RestController;
  **/
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/liku")
 @Slf4j
 public class AcsToLiKuController {
@@ -31,77 +30,66 @@ public class AcsToLiKuController {
 
     @PostMapping("/inStore")
     @Log(value = "下发立库入库任务")
-    
     public ResponseEntity<Object> inStore(@RequestBody InStoreRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.inStore(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/outStore")
     @Log(value = "下发立库出库任务")
-    
     public ResponseEntity<Object> outStore(@RequestBody OutStoreRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.outStore(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/emptyVehicleOutStore")
     @Log(value = "下发立库空盘出库任务")
-    
     public ResponseEntity<Object> emptyVehicleOutStore(@RequestBody EmptyVehicleOutStoreRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.emptyVehicleOutStore(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/moveStore")
     @Log(value = "下发立库移库任务")
-    
     public ResponseEntity<Object> moveStore(@RequestBody MoveStoreRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.moveStore(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/inStoreReset")
     @Log(value = "下发立库入库任务调整")
-    
     public ResponseEntity<Object> inStoreReset(@RequestBody InStoreResetRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.inStoreReset(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/moveStoreReset")
     @Log(value = "下发立库移库任务调整")
-    
     public ResponseEntity<Object> moveStoreReset(@RequestBody MoveStoreResetRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.moveStoreReset(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/roadWayIsLock")
     @Log(value = "下发立库巷道锁定或解锁")
-    
     public ResponseEntity<Object> roadWayIsLock(@RequestBody RoadWayIsLockRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.roadWayIsLock(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/cancelTask")
     @Log(value = "取消立库任务")
-    
     public ResponseEntity<Object> cancelTask(@RequestBody CancelTaskRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.cancelTask(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/queryCarStatus")
     @Log(value = "查询四向车状态")
-    
     public ResponseEntity<Object> queryCarStatus(@RequestBody DeviceStatusRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.queryCarDeviceStatus(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/queryTsjStatus")
     @Log(value = "查询提升机状态")
-    
     public ResponseEntity<Object> queryTsjStatus(@RequestBody DeviceStatusRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.queryTsjDeviceStatus(requestParam), HttpStatus.OK);
     }
 
     @PostMapping("/querySsxStatus")
     @Log(value = "查询提升机状态")
-    
     public ResponseEntity<Object> querySsxStatus(@RequestBody DeviceStatusRequest requestParam) {
         return new ResponseEntity<>(acsToLiKuService.queryTsjDeviceStatus(requestParam), HttpStatus.OK);
     }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
index 21b3348ed..bf0a01110 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
@@ -25,7 +25,6 @@ import java.util.Map;
  **/
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/wms")
 @Slf4j
 public class AcsToWmsController {
@@ -33,7 +32,7 @@ public class AcsToWmsController {
 
 //    @PostMapping("/applyTask")
 //    @Log("向WMS申请任务")
-//    
+//
 //    public ResponseEntity<Object> applyTaskToWms(@RequestBody String device_code, String container_code, int height, int weight) {
 //        return new ResponseEntity<>(acstowmsService.applyTaskToWms(device_code, container_code, height, weight), HttpStatus.OK);
 //    }
@@ -41,7 +40,6 @@ public class AcsToWmsController {
 
     @PostMapping("/taskStatusFeedback")
     @Log("向WMS反馈任务状态")
-    
     public ResponseEntity<Object> feedbackTaskStatusToWms(@RequestBody Map whereJson) {
         JSONArray data = JSONArray.parseArray(String.valueOf(whereJson));
         return new ResponseEntity<>(acstowmsService.feedbackTaskStatusToWms(data), HttpStatus.OK);
@@ -50,14 +48,12 @@ public class AcsToWmsController {
 
     @PostMapping("/feedbackAgvStatus")
     @Log("反馈AGV设备状态")
-    
     public ResponseEntity<Object> feedbackAgvStatus(@RequestBody String device_code, String error, String error_message) {
         return new ResponseEntity<>(acstowmsService.feedbackAgvStatus(device_code, error, error_message), HttpStatus.OK);
     }
 
     @PostMapping("/feedbackAgv")
     @Log("反馈AGV设备信息")
-    
     public ResponseEntity<Object> feedbackAgv(@RequestBody JSONArray from) {
         return new ResponseEntity<>(acstowmsService.feedbackAgv(from), HttpStatus.OK);
     }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/LiKuToACSController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/LiKuToACSController.java
index 75bbcb26a..ada1baccd 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/LiKuToACSController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/LiKuToACSController.java
@@ -27,7 +27,6 @@ import org.springframework.web.bind.annotation.RestController;
  **/
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/likuToACS")
 @Slf4j
 public class LiKuToACSController {
@@ -36,7 +35,6 @@ public class LiKuToACSController {
     @SaIgnore
     @PostMapping("/inStoreReport")
     @Log(value = "立库反馈入库任务状态")
-    
     public ResponseEntity<Object> inStoreReport(@RequestBody InStoreReportRequest requestParam) throws Exception {
         return new ResponseEntity<>(liKuToAcsService.inStoreReport(requestParam), HttpStatus.OK);
     }
@@ -44,7 +42,6 @@ public class LiKuToACSController {
     @SaIgnore
     @PostMapping("/outStoreReport")
     @Log(value = "立库反馈出库任务状态")
-    
     public ResponseEntity<Object> outStoreReport(@RequestBody OutStoreReportRequest requestParam) throws Exception {
         return new ResponseEntity<>(liKuToAcsService.outStoreReport(requestParam), HttpStatus.OK);
     }
@@ -52,7 +49,6 @@ public class LiKuToACSController {
     @SaIgnore
     @PostMapping("/moveStoreReport")
     @Log(value = "立库反馈移库任务状态")
-    
     public ResponseEntity<Object> moveStoreReport(@RequestBody MoveStoreReportRequest requestParam) throws Exception {
         return new ResponseEntity<>(liKuToAcsService.moveStoreReport(requestParam), HttpStatus.OK);
     }
@@ -60,7 +56,6 @@ public class LiKuToACSController {
     @SaIgnore
     @PostMapping("/putEmptyPallet")
     @Log(value = "立库请求放空盘")
-    
     public ResponseEntity<Object> putEmptyPallet(@RequestBody putEmptyPalletRequest requestParam) throws Exception {
         return new ResponseEntity<>(liKuToAcsService.putEmptyPallet(requestParam), HttpStatus.OK);
     }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
index de85c8d6d..d17a81dbf 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
@@ -28,7 +28,6 @@ import java.util.List;
  **/
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/wms")
 @Slf4j
 public class WmsToAcsController {
@@ -36,15 +35,13 @@ public class WmsToAcsController {
 
     @PostMapping("/task")
     @Log(value = "ACS接收WMS任务")
-    
     @SaIgnore
-    public ResponseEntity<Object> createFromWms(@RequestBody List<CreateTaskRequest> reqs) {
-        return new ResponseEntity<>(wmstoacsService.crateTask(reqs), HttpStatus.OK);
+    public ResponseEntity<Object> createFromWms(@RequestBody String whereJson) {
+        return new ResponseEntity<>(wmstoacsService.crateTask(whereJson), HttpStatus.OK);
     }
 
     @PostMapping("/cancelTask")
     @Log(value = "WMS取消任务")
-    
     @SaIgnore
     public ResponseEntity<Object> cancelFromWms(@RequestBody List<CancelTaskRequest> reqs) throws Exception {
         return new ResponseEntity<>(wmstoacsService.cancelFromWms(reqs), HttpStatus.OK);
@@ -52,21 +49,18 @@ public class WmsToAcsController {
 
     @PostMapping("/updateDeviceGoodsFromWms")
     @Log(value = "WMS修改点位状态")
-    
     public ResponseEntity<Object> updateDeviceGoodsFromWms(@RequestBody String whereJson) {
         return new ResponseEntity<>(wmstoacsService.updateDeviceGoodsFromWms(whereJson), HttpStatus.OK);
     }
 
     @PostMapping("/areaControl")
     @Log(value = "区域控制")
-    
     public ResponseEntity<Object> areaControl(@RequestBody JSONObject whereJson) {
         return new ResponseEntity<>(wmstoacsService.areaControl(whereJson), HttpStatus.OK);
     }
 
     @PostMapping("/action")
     @Log(value = "WMS下发点位信号")
-    
     @SaIgnore
     public ResponseEntity<Object> putAction(@RequestBody String whereJson) throws Exception {
         return new ResponseEntity<>(wmstoacsService.putAction(whereJson), HttpStatus.OK);
@@ -74,7 +68,6 @@ public class WmsToAcsController {
 
     @PostMapping("/querydevice")
     @Log(value = "WMS查询设备状态")
-    
     @SaIgnore
     public ResponseEntity<Object> queryDevice(@RequestBody String whereJson) throws Exception {
         return new ResponseEntity<>(wmstoacsService.queryDevice(whereJson), HttpStatus.OK);
@@ -82,7 +75,6 @@ public class WmsToAcsController {
 
     @PostMapping("/queryDeviceDBValue")
     @Log(value = "WMS查询设备DB值")
-    
     @SaIgnore
     public ResponseEntity<Object> queryDeviceDBValue(@RequestBody String whereJson) {
         return new ResponseEntity<>(wmstoacsService.queryDeviceDBValue(whereJson), HttpStatus.OK);
@@ -91,7 +83,6 @@ public class WmsToAcsController {
 
     @PostMapping("/putPlusPullAction")
     @Log(value = "WMS下发插拔轴动作")
-    
     @SaIgnore
     public ResponseEntity<Object> putPlusPullAction(@RequestBody String whereJson) {
         return new ResponseEntity<>(wmstoacsService.putPlusPullAction(whereJson), HttpStatus.OK);
@@ -99,7 +90,6 @@ public class WmsToAcsController {
 
     @PostMapping("/notify")
     @Log("wms下发任务动作")
-    
     @SaIgnore
     public ResponseEntity<Object> notify(@RequestBody JSONObject param) {
         return new ResponseEntity<>(wmstoacsService.notifyAcs(param), HttpStatus.OK);
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
index 1677c462f..794ccddb1 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
@@ -97,10 +97,10 @@ public interface AcsToWmsService {
 
     /**
      * ACS向WMS反馈任务状态
-     * @param request
+     * @param arr
      * @return
      */
-    String feedTaskStatus(BaseRequest request);
+    HttpResponse feedTaskStatus(JSONArray arr);
 
     /**
      * ACS向WMS反馈任务状态
@@ -145,4 +145,6 @@ public interface AcsToWmsService {
      */
     JSONObject queryStationState(Instruction inst);
 
+    void sendDeviceStatus(JSONObject param);
+
 }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
index c8ffead76..2a5d9a985 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
@@ -16,6 +16,7 @@ import org.nl.acs.address.service.AddressService;
 import org.nl.acs.address.service.dto.AddressDto;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.ext.wms.LmsUtil;
+import org.nl.acs.ext.wms.RetryableUtil;
 import org.nl.acs.ext.wms.data.*;
 import org.nl.acs.ext.wms.data.AcsToWmsData.applyTask.ApplyTaskRequest;
 import org.nl.acs.ext.wms.data.AcsToWmsData.applyTask.ApplyTaskResponse;
@@ -37,6 +38,7 @@ import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
 
 import java.util.Map;
+import java.util.concurrent.CompletableFuture;
 
 @Service
 @RequiredArgsConstructor
@@ -60,6 +62,9 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     @Autowired
     private LuceneExecuteLogService luceneLogService;
 
+    @Autowired
+    private RetryableUtil retryableUtil;
+
     public String token;
 
 
@@ -157,8 +162,55 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
 
 
     @Override
-    public String feedTaskStatus(BaseRequest request) {
-        return null;
+    public HttpResponse feedTaskStatus(JSONArray data) {
+        //feedTaskStatus
+        try {
+            MDC.put(log_file_type, log_type);
+            String wmsurl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+
+            String task_code = "";
+            for (int i = 0; i < data.size(); i++) {
+                JSONObject json = (JSONObject) data.get(i);
+                task_code = json.getString("task_code");
+            }
+            TaskDto taskDto = taskService.findByCode(task_code);
+            String vehicle_code = taskDto.getVehicle_code();
+
+            HttpResponse result2 = null;
+            log.info("feedbackTaskStatusToWms-----请求参数{}", data.toString());
+
+            AddressDto addressDto = addressService.findByCode("feedTaskStatus");
+            String methods_url = addressDto.getMethods_url();
+            try {
+                result2 = HttpRequest.post(wmsurl + methods_url)
+                        .header("Authorization", token).body(String.valueOf(data))
+                        .execute();
+//                //System.out.println(result2);
+            } catch (Exception e) {
+                String msg = e.getMessage();
+                //网络不通
+//                //System.out.println(msg);
+                log.info("feedbackTaskStatusToWms-----输出参数{}", msg);
+                CompletableFuture.runAsync(() -> {
+                    retryableUtil.retryable(wmsurl + methods_url, JSON.toJSONString(data), token);
+                });
+
+            }
+
+
+            String type = "";
+            if (result2.getStatus() == 200) {
+                type = "info";
+            } else {
+                type = "error";
+            }
+
+            JSONObject jo = JSONObject.parseObject(result2.body());
+            log.info("feedbackTaskStatusToWms-----输出参数{}", jo.toString());
+            return result2;
+        } finally {
+            MDC.remove(log_file_type);
+        }
     }
 
     @Override
@@ -336,6 +388,30 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             return result;
         }
     }
+    @Override
+//    @Async
+    public void sendDeviceStatus(JSONObject param) {
+        try {
+            MDC.put(log_file_type, log_type);
+
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
+                String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+                AddressDto addressDto = addressService.findByCode("sendDeviceStatus");
+                String methods_url = addressDto.getMethods_url();
+                String url = wmsUrl + methods_url;
+                log.info("sendDeviceStatus - 请求参数 {}", param);
+                HttpResponse response = HttpRequest
+                        .post(url)
+                        .body(param.toString())
+                        .execute();
+                log.info("sendDeviceStatus - 返回参数 {}", response.body());
+            }
+        } catch (Throwable ignored) {
+
+        } finally {
+            MDC.remove(log_file_type);
+        }
+    }
 
 
 }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
index 8eb0f533f..96fc2747e 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
@@ -1,14 +1,19 @@
 package org.nl.acs.ext.wms.service.impl;
 
+import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.json.JSONUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.toolkit.StringUtils;
+import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
 import lombok.Builder;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.AcsConfig;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device_driver.conveyor.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.one_manipulator.box_package_manipulator.BoxPackageManipulatorDeviceDriver;
@@ -24,16 +29,22 @@ import org.nl.acs.device_driver.two_conveyor.subvolume_weighing_station.Subvolum
 import org.nl.acs.device_driver.two_conveyor.waste_foil_weighing_station.WasteFoilWeighingStationDriver;
 import org.nl.acs.ext.wms.data.*;
 
+import org.nl.acs.ext.wms.liKuData.Resp;
 import org.nl.acs.ext.wms.service.WmsToAcsService;
 
+import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.storage_cell.domain.StorageCell;
 import org.nl.acs.storage_cell.service.mapper.StorageCellMapper;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.common.enums.LogTypeEnum;
 import org.nl.common.exception.BadRequestException;
+import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.nl.config.lucene.service.impl.LuceneExecuteLogServiceImpl;
+import org.nl.system.service.param.ISysParamService;
 import org.slf4j.MDC;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.http.HttpStatus;
@@ -56,12 +67,347 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     @Autowired
     private LuceneExecuteLogService luceneExecuteLogService;
 
+    @Autowired
+    private TaskService taskserver;
+
+
     private String log_file_type = "log_file_type";
     private String log_type = "LMS请求ACS";
 
     @Override
     public CreateTaskResponse crateTask(String param) {
-        return null;
+        try {
+            MDC.put(log_file_type, log_type);
+            log.info("crateTask-----输入参数{}", param);
+            JSONArray datas = JSONArray.parseArray(param);
+            CreateTaskResponse response = new CreateTaskResponse();
+//            ParamService paramService = SpringContextHolder.getBean(ParamService.class);
+            ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
+//            String cancelTaskCheck = paramService.findByCode(AcsConfig.ISALLOWTASK).getValue();
+            JSONArray errArr = new JSONArray();
+//            if (StrUtil.equals(cancelTaskCheck, "0")) {
+//                response.setStatus(400);
+//                response.setMessage("ACS系统需要更新，请稍等");
+//                response.setErrArr(datas);
+//                return response;
+//            }
+            for (int i = 0; i < datas.size(); i++) {
+                String data = datas.get(i).toString();
+                CreateTaskRequest request = JsonUtl.format(data, CreateTaskRequest.class);
+                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();
+                String start_device_code2 = request.getStart_device_code2();
+                String next_device_code = request.getNext_device_code();
+                String next_device_code2 = request.getNext_device_code2();
+                String put_device_code = request.getPut_device_code();
+                String priority = request.getPriority();
+                String vehicle_code = request.getVehicle_code();
+                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 empty_site = request.getEmpty_site();
+                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();
+                double oven_time = 0.00d;
+                if (StrUtil.isNotEmpty(request.getOven_time())) {
+                    oven_time = Double.parseDouble(request.getOven_time());
+                }
+                String temperature = request.getTemperature();
+                String start_height = request.getStart_height();
+                String next_height = request.getNext_height();
+                String params2 = request.getParams2();
+                Map<String, String> params = request.getParams();
+
+                String start_point_code = "";
+                String start_point_code2 = "";
+                String next_point_code = "";
+                String next_point_code2 = "";
+                String put_point_code = "";
+                if (StrUtil.isEmpty(task_code)) {
+                    JSONObject json = new JSONObject();
+                    json.put("task_code", task_code);
+                    json.put("ext_task_id", ext_task_id);
+                    json.put("message", "任务号不能为空");
+                    errArr.add(json);
+                    continue;
+                }
+                if (StrUtil.isEmpty(start_device_code)) {
+                    JSONObject json = new JSONObject();
+                    json.put("task_code", task_code);
+                    json.put("ext_task_id", ext_task_id);
+                    json.put("message", "起点不能为空");
+                    errArr.add(json);
+                    continue;
+                }
+                if (StrUtil.isEmpty(next_device_code)) {
+                    JSONObject json = new JSONObject();
+                    json.put("task_code", task_code);
+                    json.put("ext_task_id", ext_task_id);
+                    json.put("message", "终点不能为空");
+                    errArr.add(json);
+                    continue;
+                }
+
+                if (StrUtil.equals(task_type, "8")) {
+                    next_device_code = request.getPut_device_code();
+                    put_device_code = request.getNext_device_code();
+                }
+
+                StorageCell start_storageCell = new LambdaQueryChainWrapper<>(storageCellMapper)
+                        .eq(StorageCell::getStorage_code, start_device_code)
+                        .one();
+                StorageCell next_storageCell = new LambdaQueryChainWrapper<>(storageCellMapper)
+                        .eq(StorageCell::getStorage_code, next_device_code)
+                        .one();
+                StorageCell start2_storageCell = new LambdaQueryChainWrapper<>(storageCellMapper)
+                        .eq(StorageCell::getStorage_code, start_device_code2)
+                        .one();
+                StorageCell next2_storageCell = new LambdaQueryChainWrapper<>(storageCellMapper)
+                        .eq(StorageCell::getStorage_code, next_device_code2)
+                        .one();
+                StorageCell put_storageCell = new LambdaQueryChainWrapper<>(storageCellMapper)
+                        .eq(StorageCell::getStorage_code, put_device_code)
+                        .one();
+
+                JSONObject start_device_json = (JSONObject) JSONObject.toJSON(start_storageCell);
+                if (!ObjectUtil.isEmpty(start_device_json)) {
+                    start_point_code = (String) start_device_json.get("parent_storage_code") == null ? start_device_code : (String) start_device_json.get("storage_code");
+                }
+                JSONObject next_device_json =(JSONObject) JSONObject.toJSON(next_storageCell);
+                if (!ObjectUtil.isEmpty(next_device_json)) {
+                    next_point_code = (String) next_device_json.get("parent_storage_code") == null ? next_point_code : (String) next_device_json.get("storage_code");
+                }
+                JSONObject start_device_json2 = (JSONObject) JSONObject.toJSON(start2_storageCell);
+                if (!ObjectUtil.isEmpty(start_device_json2)) {
+                    start_point_code2 = (String) start_device_json2.get("parent_storage_code") == null ? start_device_code2 : (String) start_device_json2.get("storage_code");
+                }
+                JSONObject next_device_json2 = (JSONObject) JSONObject.toJSON(next2_storageCell);
+                if (!ObjectUtil.isEmpty(next_device_json2)) {
+                    next_point_code2 = (String) next_device_json2.get("parent_storage_code") == null ? next_device_code2 : (String) next_device_json2.get("storage_code");
+                }
+                JSONObject put_device_json = (JSONObject) JSONObject.toJSON(put_storageCell);
+                if (!ObjectUtil.isEmpty(put_device_json)) {
+                    put_point_code = (String) put_device_json.get("parent_storage_code") == null ? put_device_code : (String) put_device_json.get("storage_code");
+                }
+                if (StrUtil.isNotEmpty(start_point_code) && start_point_code.indexOf("-") > 0) {
+                    String str[] = start_point_code.split("-");
+                    start_device_code = str[0];
+                } else {
+                    start_device_code = start_point_code;
+                }
+
+                if (StrUtil.isNotEmpty(next_point_code) && next_point_code.indexOf("-") > 0) {
+                    String str[] = next_point_code.split("-");
+                    next_device_code = str[0];
+                } else {
+                    next_device_code = next_point_code;
+                }
+
+                if (StrUtil.isNotEmpty(start_point_code2) && start_point_code2.indexOf("-") > 0) {
+                    String str[] = start_point_code2.split("-");
+                    start_device_code2 = str[0];
+                } else {
+                    start_device_code2 = start_point_code2;
+                }
+
+                if (StrUtil.isNotEmpty(next_point_code2) && next_point_code2.indexOf("-") > 0) {
+                    String str[] = next_point_code2.split("-");
+                    next_device_code2 = str[0];
+                } else {
+                    next_device_code2 = next_point_code2;
+                }
+
+                if (StrUtil.isNotEmpty(put_point_code) && put_point_code.indexOf("-") > 0) {
+                    String str[] = put_point_code.split("-");
+                    put_device_code = str[0];
+                } else {
+                    put_device_code = put_point_code;
+                }
+
+                if (StrUtil.isEmpty(route_plan_code)) {
+                    route_plan_code = "normal";
+                }
+
+                if (StrUtil.equals(task_type, "5")) {
+                    Device device = deviceAppService.findDeviceByCode(next_device_code);
+                    SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
+                    if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
+                        siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
+                        if (ObjectUtil.equal("true", siemensConveyorDeviceDriver.getExtraValue().get("inspect_in_stock"))) {
+                            if (siemensConveyorDeviceDriver.getMove() == 1) {
+                                JSONObject json = new JSONObject();
+                                json.put("task_code", task_code);
+                                json.put("ext_task_id", ext_task_id);
+                                json.put("message", "终点" + siemensConveyorDeviceDriver.getDevice_code() + "有货无法生成任务");
+                                errArr.add(json);
+                                continue;
+                            }
+                        }
+                    }
+
+                    if (taskserver.querySameDeviceReadyTask(start_device_code, next_device_code, "0") > 1) {
+                        JSONObject json = new JSONObject();
+                        json.put("task_code", task_code);
+                        json.put("ext_task_id", ext_task_id);
+                        json.put("message", "已存在相同的起点:" + start_device_code + "终点:" + next_device_code + "未执行的输送任务");
+                        errArr.add(json);
+                        continue;
+                    }
+                }
+
+                TaskDto taskDto = taskserver.findByCodeFromCache(task_code);
+                if (taskDto != null) {
+                    JSONObject json = new JSONObject();
+                    json.put("task_code", task_code);
+                    json.put("ext_task_id", ext_task_id);
+                    json.put("message", "存在相同的任务号:" + task_code);
+                    errArr.add(json);
+                    continue;
+                }
+                if (!StrUtil.isEmpty(vehicle_code)) {
+                    TaskDto vehicle_dto = taskserver.findByContainer(vehicle_code);
+                    if (vehicle_dto != null) {
+                        JSONObject json = new JSONObject();
+                        json.put("task_code", task_code);
+                        json.put("ext_task_id", ext_task_id);
+                        json.put("message", "已存在任务编号为" + vehicle_dto.getTask_code() + "托盘号:" + vehicle_code);
+                        errArr.add(json);
+                        continue;
+                    }
+                }
+
+                if (StrUtil.isEmpty(start_point_code)) {
+                    JSONObject json = new JSONObject();
+                    json.put("task_code", task_code);
+                    json.put("ext_task_id", ext_task_id);
+                    json.put("message", request.getStart_device_code() + " 该设备号未找到对应点位");
+                    errArr.add(json);
+                    continue;
+                }
+                if (StrUtil.isEmpty(next_point_code)) {
+                    JSONObject json = new JSONObject();
+                    json.put("task_code", task_code);
+                    json.put("ext_task_id", ext_task_id);
+                    json.put("message", request.getNext_device_code() + " 该设备号未找到对应点位");
+                    errArr.add(json);
+                    continue;
+                }
+
+                JSONObject jo = new JSONObject();
+                jo.put("task_id", IdUtil.simpleUUID());
+                jo.put("task_code", task_code);
+                jo.put("start_point_code", start_point_code);
+                jo.put("next_point_code", next_point_code);
+                jo.put("start_point_code2", start_point_code2);
+                jo.put("next_point_code2", next_point_code2);
+                jo.put("put_point_code", put_point_code);
+                jo.put("start_parent_code", start_point_code);
+                jo.put("next_parent_code", next_point_code);
+                jo.put("start_device_code", start_device_code);
+                jo.put("next_device_code", next_device_code);
+                jo.put("start_device_code2", start_device_code2);
+                jo.put("next_device_code2", next_device_code2);
+                jo.put("put_device_code", put_device_code);
+                jo.put("priority", priority);
+                jo.put("vehicle_code", vehicle_code);
+                jo.put("vehicle_type", vehicle_type);
+                jo.put("storage_task_type", storage_task_type);
+                jo.put("agv_system_type", agv_system_type);
+                jo.put("start_height", start_height);
+                jo.put("next_height", next_height);
+                jo.put("oven_time", (int) Math.ceil(oven_time));
+                jo.put("remark", remark);
+                jo.put("params", params);
+                jo.put("params2", params2);
+                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("empty_site", JSONUtil.toJsonStr(empty_site));
+                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)) {
+                    jo.put("ext_task_id", ext_task_id);
+                }
+
+                TaskDto task_dto = jo.toJavaObject(TaskDto.class);
+                try {
+                    // task_type=7 则是立库任务需要下刻下发
+                    if (StrUtil.equals(task_dto.getTask_type(), "7")) {
+                        //创建临时指令 不创建、不生成
+                        //等立库反馈成功才能创建任务和指令
+                        Instruction inst = null;
+                        try {
+//                            inst = taskserver.createTemporaryInst(task_dto);
+                        } catch (Exception e) {
+                            JSONObject json = new JSONObject();
+                            json.put("task_code", task_code);
+                            json.put("ext_task_id", ext_task_id);
+                            json.put("message", "起始点:"+ task_dto.getStart_point_code() + ",终点:"+
+                                    task_dto.getNext_point_code()+",条码:" + task_dto.getVehicle_code() +
+                                    "," + e.getMessage());
+                            errArr.add(json);
+                            continue;
+                        }
+//                        Resp resp = acsToLiKuService.sendInst(task_dto.getStorage_task_type(), inst);
+
+//                        if (StrUtil.equals(resp.result, "true")) {
+//                            //创建任务和指令
+//                            taskserver.create(task_dto);
+//                            inst.setSend_status("1");
+////                            taskserver.extCreateInst(inst);
+//
+//                        } else {
+//                            JSONObject json = new JSONObject();
+//                            json.put("task_code", task_code);
+//                            json.put("ext_task_id", ext_task_id);
+////                            json.put("message", resp.getComment());
+////                            json.put("code", resp.code);
+//                            json.put("data", data);
+//                            errArr.add(json);
+//                            continue;
+//                        }
+
+                    } else {
+                        taskserver.create(task_dto);
+                    }
+                } catch (Exception e) {
+//                    e.printStackTrace();
+                    JSONObject json = new JSONObject();
+                    json.put("task_code", task_code);
+                    json.put("ext_task_id", ext_task_id);
+                    json.put("message", e.getMessage());
+                    errArr.add(json);
+                    continue;
+                }
+            }
+            if (ObjectUtil.isEmpty(errArr)) {
+                response.setStatus(200);
+                response.setMessage("success");
+            } else {
+                response.setStatus(400);
+                if (ObjectUtil.isNotEmpty(errArr)) {
+                    response.setMessage(errArr.getJSONObject(0).getString("message"));
+                } else {
+                    response.setMessage("false");
+                }
+                response.setErrArr(errArr);
+            }
+            log.info("createFromWms--------------:输出参数：" + JSON.toJSONString(response));
+
+            return response;
+        } finally {
+            MDC.remove(log_file_type);
+        }
     }
 
     @Override
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/monitor/rest/DeviceStageMonitorController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/monitor/rest/DeviceStageMonitorController.java
index 3b9196ffb..9f749b077 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/monitor/rest/DeviceStageMonitorController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/monitor/rest/DeviceStageMonitorController.java
@@ -22,7 +22,6 @@ import org.springframework.web.bind.annotation.RestController;
 @Slf4j
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/deviceInfo")
 public class DeviceStageMonitorController {
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/rest/OpcController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/rest/OpcController.java
index fb4a40e39..77e24aa58 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/rest/OpcController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/rest/OpcController.java
@@ -21,7 +21,6 @@ import java.util.Map;
  **/
 @RestController
 @RequiredArgsConstructor
-
 @RequestMapping("/api/opc")
 public class OpcController {
 
@@ -29,14 +28,12 @@ public class OpcController {
 
     @GetMapping
     @Log("查询opc")
-    
     public ResponseEntity<Object> query(@RequestParam Map whereJson, Pageable page) {
         return new ResponseEntity<>(opcService.queryAll(whereJson, page), HttpStatus.OK);
     }
 
     @PostMapping
     @Log("新增opc")
-    
     //@PreAuthorize("@el.check('opc:add')")
     public ResponseEntity<Object> create(@Validated @RequestBody OpcDto dto) {
         opcService.insert(dto);
@@ -45,7 +42,6 @@ public class OpcController {
 
     @PutMapping
     @Log("修改opc")
-    
     //@PreAuthorize("@el.check('opc:edit')")
     public ResponseEntity<Object> update(@Validated @RequestBody OpcDto dto) {
         opcService.update(dto);
@@ -53,7 +49,6 @@ public class OpcController {
     }
 
     @Log("删除opc")
-    
     //@PreAuthorize("@el.check('opc:del')")
     @DeleteMapping
     public ResponseEntity<Object> delete(@RequestBody String[] ids) {
@@ -62,7 +57,6 @@ public class OpcController {
     }
 
     @Log("导出opc")
-    
     @GetMapping(value = "/download")
     //@PreAuthorize("@el.check('opc:list')")
     public void download(HttpServletResponse response, Map whereJson) throws IOException {
@@ -71,14 +65,12 @@ public class OpcController {
 
     @GetMapping("/selectList")
     @Log("下拉选OPC")
-    
     //@PreAuthorize("@el.check('routePlan:list')")
     public ResponseEntity<Object> selectList() {
         return new ResponseEntity<>(opcService.selectList(), HttpStatus.OK);
     }
 
     @Log("导出opc")
-    
     @PostMapping(value = "/getmeteal")
     //@PreAuthorize("@el.check('opc:list')")
     public ResponseEntity<Object> getmeteal(@RequestBody Map whereJson) throws IOException {
@@ -86,7 +78,6 @@ public class OpcController {
     }
 
     @Log("新增PLC")
-    
     @PostMapping(value = "/addPLC")
     //@PreAuthorize("@el.check('opc:list')")
     public ResponseEntity<Object> createPlc(@RequestBody Map whereJson) throws IOException {
@@ -94,7 +85,7 @@ public class OpcController {
         return new ResponseEntity<>(HttpStatus.CREATED);
     }
 
-    
+
     @GetMapping(value = "/queryServerPlc")
     //@PreAuthorize("@el.ceck('menu:list','roles:list')")
     public ResponseEntity<Object> query(@RequestParam String id) {
@@ -102,7 +93,6 @@ public class OpcController {
     }
 
     @Log("删除PLC")
-    
     @PostMapping(value = "/delPLC")
     //@PreAuthorize("@el.check('opc:list')")
     public ResponseEntity<Object> delPLC(@RequestBody Map whereJson) throws IOException {
@@ -111,7 +101,6 @@ public class OpcController {
     }
 
     @Log("编辑PLC")
-    
     @PostMapping(value = "/editPLC")
     //@PreAuthorize("@el.check('opc:list')")
     public ResponseEntity<Object> editPLC(@RequestBody JSONObject json) throws IOException {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/domain/Task.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/domain/Task.java
index 7a48e24ae..73cc690d0 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/domain/Task.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/domain/Task.java
@@ -34,206 +34,210 @@ import java.io.Serializable;
 public class Task extends CommonModel<Task> implements Serializable {
     private static final long serialVersionUID = 1L;
 
-    
+
     @TableId(type = IdType.ASSIGN_ID)
     private String task_id;
 
-    
+
     private String ext_task_id;
 
-    
+
     @NotBlank
     private String task_code;
 
-    
+
     private String vehicle_code;
 
-    
+
     private String vehicle_type;
 
-    
+
     @NotBlank
     private String task_type;
 
-    
+
     @NotBlank
     private String task_status;
 
-    
+
     @NotBlank
     private String compound_task;
 
-    
+
     private String compound_task_data;
 
-    
+
     private String request_again;
 
-    
+
     private String request_again_success;
 
-    
+
     private String link_num;
 
-    
+
     private String is_send;
 
-    
+
     private String material;
 
-    
+
     @NotNull
     private BigDecimal quantity;
 
-    
+
     private String priority;
 
-    
+
     @NotBlank
     private String create_type;
 
-    
+
     @NotBlank
     private String finish_type;
 
-    
+
     private String execute_code;
 
-    
+
     private String execute_message;
 
-    
+
     private String start_point_code;
 
-    
+
     private String start_device_code;
 
-    
+
     private String put_point_code;
 
-    
+
     private String put_device_code;
 
-    
+
     private String start_point_code2;
 
-    
+
     private String start_device_code2;
 
-    
+
     private String next_point_code;
 
-    
+
     private String next_device_code;
 
-    
+
     private String next_point_code2;
 
-    
+
     private String next_device_code2;
 
-    
+
     private String from_x;
 
-    
+
     private String from_y;
 
-    
+
     private String from_z;
 
-    
+
     private String put_x;
 
-    
+
     private String put_y;
 
-    
+
     private String put_z;
 
-    
+
     private String to_x;
 
-    
+
     private String to_y;
 
-    
+
     private String to_z;
 
-    
+
     private String from_x2;
 
-    
+
     private String from_y2;
 
-    
+
     private String from_z2;
 
-    
+
     private String to_x2;
 
-    
+
     private String to_y2;
 
-    
+
     private String to_z2;
 
-    
+
     private String route_plan_name;
 
-    
+
     private String route_plan_code;
 
-    
+
     private String is_needfeedback;
 
-    
+
     private String emptypallet_num;
 
-    
+
     private String remark;
 
-    
+    private String truss_type;
+
+    private String empty_site;
+
+
     @NotBlank
     private String is_active;
 
-    
+
     @NotBlank
     private String is_delete;
 
-    
+
     @NotBlank
     @TableField(fill = FieldFill.INSERT)
     private String create_by;
 
-    
+
     @NotBlank
     @TableField(fill = FieldFill.INSERT)
     private String create_time;
 
-    
+
     @TableField(fill = FieldFill.INSERT_UPDATE)
     private String update_by;
 
-    
+
     @TableField(fill = FieldFill.INSERT_UPDATE)
     private String update_time;
 
-    
+
     private String weight;
 
-    
+
     private String agv_system_type;
 
-    
+
     private String storage_task_type;
 
-    
+
     private String temperature;
 
-    
+
     private String oven_time;
 
-    
+
     private String interaction_json;
 
     public void copyFrom(Task source) {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
index f53e36461..2f9c4300d 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
@@ -446,6 +446,14 @@ public interface TaskService extends CommonService<Task> {
      */
     Integer querySameDestinationTask(String code);
 
+    /**
+     * 查询相同起终任务的数量
+     *
+     * @param
+     * @return
+     */
+    Integer querySameDeviceReadyTask(String start_device,String next_device,String status);
+
 
     /**
      * 条件查询任务和指令
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/dto/TaskDto.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/dto/TaskDto.java
index 823677906..1b8714662 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/dto/TaskDto.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/dto/TaskDto.java
@@ -314,8 +314,18 @@ public class TaskDto implements Serializable {
      */
     private String truss_type;
 
+    /**
+     * 空轴位
+     */
+    private String empty_site;
+
     /**
      * 空轴位
      */
     private String empty_shaft_site;
+
+    /**
+     * 是否套管
+     */
+    private String is_bushing;
 }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index b459750a0..5bb66fa78 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -506,6 +506,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
     }
 
 
+    @Override
     public void create(TaskDto dto) throws Exception {
         dto = foramte(dto);
         dto.setInteraction_json(ObjectUtil.isNotEmpty(dto.getInteractionJson()) ? dto.getInteractionJson().toJSONString() : "");
@@ -1447,6 +1448,22 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
                 .size();
     }
 
+    @Override
+    public Integer querySameDeviceReadyTask(String start_device, String next_device, String status) {
+        int num = 0;
+        Iterator<TaskDto> iterator = tasks.iterator();
+        while (iterator.hasNext()) {
+            TaskDto task = iterator.next();
+            if (StrUtil.equals(task.getStart_device_code(), start_device)
+                    && StrUtil.equals(task.getNext_device_code(), next_device)
+                    && StrUtil.equals(task.getTask_status(), status)) {
+                num++;
+            }
+        }
+
+        return num;
+    }
+
     @Override
     public String queryAssignedByDeviceCode(String device_code, String task_nextDeice_code) {
         List<DeviceAssignedDto> list =
@@ -1523,16 +1540,23 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
      */
     private void feedWmsTaskStatus(TaskDto taskDto) {
         // 判断是否为WMS下发的任务，如果是反馈任务状态给WMS
+        TaskDto entity = this.findById(taskDto.getTask_id());
         String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
         if (!StrUtil.startWith(taskDto.getTask_code(), CommonFinalParam.HYPHEN_) && StrUtil.equals(hasWms, CommonFinalParam.ONE)) {
-            FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest();
-            request.setTask_id(taskDto.getExt_task_id());
-            request.setTask_code(taskDto.getTask_code());
-            request.setTask_status(taskDto.getTask_status());
-            request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode());
-            request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName());
+//            FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest();
+//            request.setTask_id(taskDto.getExt_task_id());
+//            request.setTask_code(taskDto.getTask_code());
+//            request.setTask_status(taskDto.getTask_status());
+//            request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode());
+//            request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName());
+            JSONObject feed_jo = new JSONObject();
+            feed_jo.put("task_id", entity.getExt_task_id());
+            feed_jo.put("task_code", entity.getTask_code());
+            feed_jo.put("task_status", entity.getTask_status());
+            JSONArray ja = new JSONArray();
+            ja.add(feed_jo);
             //TODO 有需要根据上位系统反馈的信息再做进一步处理
-            acstowmsService.feedTaskStatus(request);
+            acstowmsService.feedTaskStatus(ja);
         }
     }
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/logicflow/StageController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/logicflow/StageController.java
index 22901849c..23635f2d6 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/logicflow/StageController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/logicflow/StageController.java
@@ -37,7 +37,6 @@ public class StageController {
 
     @GetMapping
     @Log("查询舞台")
-
     //@SaCheckPermission("stage:list")
     public ResponseEntity<Object> query(@RequestParam Map whereJson, PageQuery page) {
         return new ResponseEntity<>(TableDataInfo.build(stageService.queryAll(whereJson, page)), HttpStatus.OK);
@@ -45,7 +44,6 @@ public class StageController {
 
     @PostMapping
     @Log("新增舞台")
-
     //@SaCheckPermission("stage:add")
     public ResponseEntity<Object> create(@Validated @RequestBody Stage dto) {
         stageService.create(dto);
@@ -54,7 +52,6 @@ public class StageController {
 
     @PutMapping
     @Log("修改舞台")
-
     //@SaCheckPermission("stage:edit")
     public ResponseEntity<Object> update(@Validated @RequestBody Stage dto) {
         stageService.update(dto);
@@ -62,7 +59,6 @@ public class StageController {
     }
 
     @Log("删除舞台")
-
     //@SaCheckPermission("stage:del")
     @DeleteMapping
     public ResponseEntity<Object> delete(@RequestBody Set<String> ids) {
@@ -72,7 +68,6 @@ public class StageController {
 
     @GetMapping("/selectList")
     @Log("下拉选舞台")
-
     //@SaCheckPermission("routePlan:list")
     public ResponseEntity<Object> selectList() {
         return new ResponseEntity<>(stageService.selectList(), HttpStatus.OK);
@@ -80,7 +75,6 @@ public class StageController {
 
     @PostMapping("/addNewStage")
     @Log("保存舞台数据")
-
     public ResponseEntity<Object> addNewStage(@Validated @RequestBody Stage dto) {
         log.info("dto{}",dto);
         stageService.addNewStage(dto);
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/param/SysParamController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/param/SysParamController.java
index a78b89894..72a54b28d 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/param/SysParamController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/param/SysParamController.java
@@ -36,9 +36,9 @@ class SysParamController {
 
     @Autowired
     private ISysParamService paramService;
+    
     @GetMapping
     @Log("查询系统参数")
-    
     //@SaCheckPermission("param:list")
     public ResponseEntity<Object> query(@RequestParam Map whereJson, Pageable page){
         return new ResponseEntity<>(TableDataInfo.build(paramService.queryPage(whereJson, page)), HttpStatus.OK);
@@ -46,7 +46,6 @@ class SysParamController {
 
     @PostMapping
     @Log("新增系统参数")
-    
     //@SaCheckPermission("param:add")
     public ResponseEntity<Object> create(@Validated @RequestBody Param param){
         paramService.create(param);
@@ -55,7 +54,6 @@ class SysParamController {
 
     @PutMapping
     @Log("修改系统参数")
-    
     //@SaCheckPermission("param:edit")
     public ResponseEntity<Object> update(@Validated @RequestBody Param param){
         paramService.update(param);
@@ -63,7 +61,6 @@ class SysParamController {
     }
 
     @Log("删除系统参数")
-    
     //@SaCheckPermission("param:del")
     @DeleteMapping
     public ResponseEntity<Object> delete(@RequestBody String[] ids) {
@@ -74,7 +71,6 @@ class SysParamController {
 
     @PostMapping("/getValueByCode/{code}")
     @Log("根据编码获取值")
-    
     @SaIgnore
     public ResponseEntity<Object> getValueByCode(@PathVariable String code) {
         return new ResponseEntity<>(paramService.findByCode(code), HttpStatus.CREATED);
diff --git a/acs2/nladmin-ui/src/views/system/monitor/device/index.vue b/acs2/nladmin-ui/src/views/system/monitor/device/index.vue
index 5e95fff17..b3f50d409 100644
--- a/acs2/nladmin-ui/src/views/system/monitor/device/index.vue
+++ b/acs2/nladmin-ui/src/views/system/monitor/device/index.vue
@@ -232,7 +232,7 @@ export default {
   name: 'MonitorDevice',
   data() {
     return {
-      stageParam: 'age', // 舞台参数
+      stageParam: 'stage_code', // 舞台参数
       dialogDeviceMsgVisible: false, // 显示设备信息的dialog
       device_code: null,
       tops: '20vh', // 初始top