diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
index ae697c853..b0a3165fb 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
@@ -729,7 +729,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 
         }
         if (!ObjectUtil.isEmpty(data)) {
-            phase =0;
+            //phase =0;
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + Bytes2HexString(data));
             if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
                 TwoNDCSocketConnectionAutoRun.write(data);
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 f5e0c01c5..e0659ac70 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
@@ -550,10 +550,10 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
                 String methods_url = addressDto.getMethods_url();
                 String url = wmsUrl + methods_url;
 //                log.info("sendDeviceStatus - 请求参数 {}", param);
-//                HttpRequest
-//                        .post(url)
-//                        .body(param.toString())
-//                        .execute();
+                HttpRequest
+                        .post(url)
+                        .body(param.toString())
+                        .execute();
 //                    log.info("sendDeviceStatus - 返回参数 {}", response.body());
             }
         } catch (Throwable ignored) {
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 0a4920ef7..c614956c7 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
@@ -883,18 +883,51 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                 String task_code = jsonObject.getString("task_code");
                 //1-允许取放； 2-允许离开
                 String option = jsonObject.getString("option");
-                StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
-                Device device_k = deviceAppService.findDeviceByCode(device_code + "_K");
-                Device device_m = deviceAppService.findDeviceByCode(device_code + "_M");
-                if (device_k.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device_k.getDeviceDriver();
-                    standardOrdinarySiteDeviceDriver.setOption(Integer.parseInt(option));
-                }
-                if (device_m.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device_m.getDeviceDriver();
-                    standardOrdinarySiteDeviceDriver.setOption(Integer.parseInt(option));
-                }
+                Instruction inst = instructionService.findByTaskcode(task_code);
+                if(ObjectUtil.isEmpty(inst)){
+                    JSONObject jo = new JSONObject();
+                    jo.put("task_code",task_code);
+                    jo.put("message","未找到对应任务");
+                    errArr.add(jo);
+                    continue;
+                } else {
+                    String carNo = inst.getCarno();
+                    if(ObjectUtil.isEmpty(carNo)) {
+                        JSONObject jo = new JSONObject();
+                        jo.put("task_code", task_code);
+                        jo.put("message", "未找到任务对应车号");
+                        errArr.add(jo);
+                        continue;
+                    } else {
+                        Device device = deviceAppService.findDeviceByCode(carNo);
+                        AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
+                        if(device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver ){
+                            agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver)device.getDeviceDriver();
+                            int phase = agvNdcTwoDeviceDriver.getPhase();
+                            if(phase == 0x03 ||  phase == 0x05 || phase == 0x08)
+                            {
+                                StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+                                Device device_k = deviceAppService.findDeviceByCode(device_code + "_K");
+                                Device device_m = deviceAppService.findDeviceByCode(device_code + "_M");
+                                if (device_k.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device_k.getDeviceDriver();
+                                    standardOrdinarySiteDeviceDriver.setOption(Integer.parseInt(option));
+                                }
+                                if (device_m.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device_m.getDeviceDriver();
+                                    standardOrdinarySiteDeviceDriver.setOption(Integer.parseInt(option));
+                                }
+                            } else {
+                                JSONObject jo = new JSONObject();
+                                jo.put("task_code", task_code);
+                                jo.put("message", "AGV未就绪无法设置");
+                                errArr.add(jo);
+                                continue;
+                            }
+                        }
+                    }
 
+                }
             }
         }
         JSONObject resultJson = new JSONObject();