diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
index 2651804b9..925181ee5 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
@@ -740,10 +740,21 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         String inst_code = requestParam.getString("task_code");
         Instruction instructionDto = instructionService.findByCodeFromCache(inst_code);
         if (ObjectUtil.isEmpty(instructionDto)) {
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .content("请求失败，未找到指令！" )
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
             throw new BadRequestException("请求失败，未找到指令！");
         }
         String address = requestParam.getString("address");
         if (StrUtil.isBlank(address)) {
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(instructionDto.getCarno())
+                    .content("请求失败，地址为空！" )
+                    .build();
+            logDto.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
             throw new BadRequestException("请求失败，地址为空！");
         }
         if (address.contains("IN") || address.contains("WAIT")) {
@@ -755,6 +766,12 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 deviceCodeNow = address.substring(0, address.length() - 5);
             }
             if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(instructionDto.getCarno())
+                        .content("设备号 " + deviceCodeNow + " 不存在！")
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
                 throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
             }
             //一楼诺宝agv
@@ -802,6 +819,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                         map.put("message", "允许叉车放货！" + "点位" + newPointCode);
                         log.info("允许仙工AGV放货，设备号 - {}", newPointCode);
                         LuceneLogDto logDto = LuceneLogDto.builder()
+                                .device_code(instructionDto.getCarno())
                                 .content("叉车允许放货" + "新点位:" + newPointCode + map )
                                 .build();
                         logDto.setLog_level(4);
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
index 48d455a21..a227e811c 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
@@ -366,6 +366,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         this.writing(list);
         message = null;
         vehicle_code = null;
+        inst_message = null;
 
     }
 
@@ -420,7 +421,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                     this.writing(list1);
                     this.requireSucess = true;
                 } else {
-                    this.iserror = false;
+                    this.iserror = true;
                     message = "申请空托盘出入库出错,返回参数:" + jo;
                     LuceneLogDto logDto2 = LuceneLogDto.builder()
                             .device_code(device_code)
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java
index 225534d39..7317909e1 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java
@@ -39,8 +39,6 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
 
 
     public void checkcontrol(Map<String, Object> itemValues) throws Exception {
-
-        CompletableFuture<String> future = CompletableFuture.supplyAsync(() -> {
             try {
                 Group group = opcServerService.getServer(this.getOpcServer());
                 Map<String, Object> write = new HashMap();
@@ -116,7 +114,7 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
                     }
 
                     if (check) {
-                        return "";
+                        return ;
                     }
 
                     if (i > 0) {
@@ -133,20 +131,7 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
                 Thread.currentThread().interrupt();
                 throw new IllegalStateException("Interrupted", e);
             }
-        });
-        try {
-            String result = future.get(2, TimeUnit.SECONDS); // 设置超时时间为2秒
-            System.out.println(result);
-        } catch (CompletionException e) {
-            Throwable cause = e.getCause();
-            if (cause instanceof TimeoutException) {
-                System.out.println("Operation timed out");
-            } else {
-                throw e; // rethrow other exceptions
-            }
-        } catch (Exception e) {
-            throw new RuntimeException(e);
-        }
+
             }
 
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java
index e34ccb88a..29120de8c 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java
@@ -274,6 +274,7 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
         this.writing(list);
         message=null;
         vehicle_code=null;
+        inst_message = null;
     }
 
 
@@ -379,7 +380,7 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                 luceneExecuteLogService.deviceExecuteLog(logDto2);
                 this.requireSucess = true;
             } else {
-                this.iserror = false;
+                this.iserror = true;
                 message = "二楼到一楼输送线申请行架任务报错,返回参数:" + jo;
                 LuceneLogDto logDto2 = LuceneLogDto.builder()
                         .device_code(device_code)
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java
index f6ecfd3d2..ae29ccab1 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java
@@ -194,7 +194,8 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             if (move != 0 && task > 0) {
                 if (null!=inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
-                }                update_instruction_status();
+                }
+                update_instruction_status();
             }
         } catch (Exception var17) {
             var17.printStackTrace();
@@ -298,6 +299,7 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
         this.writing(list);
         message = null;
         vehicle_code = null;
+        inst_message = null;
     }
 
 
@@ -390,7 +392,7 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                     requireSucess = true;
                 }else {
                     message = "申请AGV任务报错,参数,接口返回:" + jo;
-                    this.iserror = false;
+                    this.iserror = true;
                 }
 
             }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java
index 43585d2ef..9ae12bef9 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java
@@ -330,6 +330,7 @@ public class FinishedProductOutBindLableDeviceDriver extends AbstractOpcDeviceDr
 
         this.writing(list);
         message=null;
+        inst_message = null;
     }
 
     private void applyLaStrangulationAndLabeling(int mode) {
@@ -368,7 +369,7 @@ public class FinishedProductOutBindLableDeviceDriver extends AbstractOpcDeviceDr
                 packagePLCData(jo.getString("data"), mode);
                 requireSucess = true;
             } else {
-                this.iserror = false;
+                this.iserror = true;
                 LuceneLogDto logDto2 = LuceneLogDto.builder()
                         .device_code(device_code)
                         .content("申请捆扎失败,接口返回:" + response)
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/fold_disc_site/FoldDiscSiteDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/fold_disc_site/FoldDiscSiteDeviceDriver.java
index 0b4fd52f2..518d6d51a 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/fold_disc_site/FoldDiscSiteDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/fold_disc_site/FoldDiscSiteDeviceDriver.java
@@ -18,6 +18,7 @@ import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.FeedLmsRealFailed;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.conveyor.belt_conveyor.BeltConveyorDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.enums.StorageTypeEnum;
@@ -325,6 +326,7 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
         this.writing(list);
         message = null;
         vehicle_code = null;
+        inst_message = null;
     }
 
 
@@ -418,9 +420,28 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
                     requireSucess = false;
                     return true;
                 }
+                //关联站点判断
+                Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
+                BeltConveyorDeviceDriver beltConveyorDeviceDriver;
+                if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                    beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
+                    //判断对接位和关联站点光电信号
+                    getDeviceCodeList = beltConveyorDeviceDriver.getExtraDeviceCodes("link_device_code");
+                    if (CollUtil.isNotEmpty(getDeviceCodeList)) {
+                        String linkDeviceCode = getDeviceCodeList.get(0);
+                        Device linkDevice = deviceAppService.findDeviceByCode(linkDeviceCode);
+                        BeltConveyorDeviceDriver linkDeviceDriver;
+                        if (linkDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                            linkDeviceDriver = (BeltConveyorDeviceDriver) linkDevice.getDeviceDriver();
+                            if ((beltConveyorDeviceDriver.getMode() == 0 || beltConveyorDeviceDriver.getMove() == 1) || (linkDeviceDriver.getMode() == 0 || linkDeviceDriver.getMove() == 1)) {
+                                this.message = "DDJ对接位或关联输送线存在正在移动的货物或者未联机";
+                                requireSucess = false;
+                                return true;
+                            }
+                        }
 
-                Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
-                Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
+                    }
+                }
                 String next_point_code;
                 if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
                     next_point_code = taskdto.getTo_x() + "-" + taskdto.getTo_y() + "-" + taskdto.getTo_z();
@@ -457,7 +478,7 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
                 taskdto.setTask_status(TaskStatusEnum.BUSY.getIndex());
                 taskserver.update(taskdto);
                 requireSucess = true;
-                String next_addr = nextdevice.getExtraValue().get("address").toString();
+                String next_addr = nextDevice.getExtraValue().get("address").toString();
 
                 List list = new ArrayList();
                 Map map = new HashMap();
@@ -610,7 +631,7 @@ public class FoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implements
                     this.writing(list1);
                     this.requireSucess = true;
                 } else {
-                    this.iserror = false;
+                    this.iserror = true;
                     message = "申请空托盘出入库报错,接口返回:" + jo;
                     LuceneLogDto logDto2 = LuceneLogDto.builder()
                             .device_code(device_code)
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
index 4f1f3f080..41b3f3266 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
@@ -447,6 +447,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     this.writing(list2);
                     requireSucess = true;
                 } else {
+                    this.iserror = true;
                     LuceneLogDto logDto2 = LuceneLogDto.builder()
                             .device_code(device_code)
                             .content("申请高度等级,返回参数:" + response)
@@ -508,6 +509,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     this.writing(list1);
                     this.requireSucess = true;
                 } else {
+                    this.iserror = true;
                     LuceneLogDto logDto2 = LuceneLogDto.builder()
                             .device_code(device_code)
                             .content("申请退货入库,返回参数:" + response)
@@ -541,6 +543,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
         message = null;
         vehicle_code = null;
         hand_barcode = null;
+        inst_message = null;
 
     }
 
@@ -618,7 +621,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     this.writing(list1);
                     this.requireSucess = true;
                 } else {
-                    this.iserror = false;
+                    this.iserror = true;
                     message = "申请空托盘出入库报错,返回参数:" + jo;
                     LuceneLogDto logDto2 = LuceneLogDto.builder()
                             .device_code(device_code)
@@ -683,7 +686,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                     this.writing(list1);
                     requireSucess = true;
                 } else {
-                    this.iserror = false;
+                    this.iserror = true;
                     LuceneLogDto logDto2 = LuceneLogDto.builder()
                             .device_code(device_code)
                             .content("木箱、子卷入库申请入库任务,返回参数:" + response)
@@ -856,6 +859,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 requireSucess = false;
                 return true;
             }
+            //关联站点判断
             Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
             BeltConveyorDeviceDriver beltConveyorDeviceDriver;
             if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java
index e9bf657d8..2ad4ca2c3 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java
@@ -286,7 +286,7 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
 
                 }else {
                     message = "木箱开盖报错,返回参数:" + jo;
-                    this.iserror = false;
+                    this.iserror = true;
                 }
 
 
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
index c608b2a05..eb2103f83 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
@@ -164,7 +164,6 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
     @Override
     public void execute() {
-        String message = null;
         try {
             device_code = this.getDeviceCode();
             mode = this.itemProtocol.getMode();
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
index 15c67264a..b9ce39591 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
@@ -136,7 +136,6 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
     @Override
     public void execute() {
-        String message = null;
         try {
             device_code = this.getDeviceCode();
             mode = this.itemProtocol.getMode();
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
index 2a4e902d2..34add76b5 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
@@ -152,7 +152,6 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
     @Override
     public void execute() {
-        String message = null;
         try {
             device_code = this.getDeviceCode();
             mode = this.itemProtocol.getMode();
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
index c43eb1975..932dfc816 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
@@ -147,7 +147,6 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
 
     @Override
     public void execute() {
-        String message = null;
         try {
             device_code = this.getDeviceCode();
             mode = this.itemProtocol.getMode();
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java
index 9af1e6ba3..533d86382 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java
@@ -167,7 +167,6 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
 
     @Override
     public void execute() {
-        String message = null;
         try {
             device_code = this.getDeviceCode();
             mode = this.itemProtocol.getMode();
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java
index 05b13c410..9ee01a092 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java
@@ -632,7 +632,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
             instructionService.update(instruction0);
             return false;
         }
-        return true;
+        //异常后上个动作命令是取货完成也要下发信号
+        return false;
     }
 
 
@@ -875,7 +876,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                         //放货完成
                         if (forkCargo == 0) {
                             //取货中或者取货完成（分入库出库）
-                            if ("1".equals(instructionErro.getExecute_code()) || "2".equals(instructionErro.getExecute_code())) {
+                            if ("1".equals(instructionErro.getExecute_code()) ) {
                                 List list = new ArrayList();
                                 String startDeviceCode = instructionErro.getStart_device_code();
                                 Device startDeviceError = deviceAppService.findDeviceByCode(startDeviceCode);
@@ -889,7 +890,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                             }
                         }
                         //放货中报警
-                        if ("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) {
+                        if (("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) || "2".equals(instructionErro.getExecute_code())) {
                             List list = new ArrayList();
                             if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) {
                                 pakagePLCData(list, instructionErro.getTo_x(), instructionErro.getTo_y(), instructionErro.getTo_z(), "2", instructionErro.getInstruction_code());
@@ -903,7 +904,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                     //出库报警
                     if (startDevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
                         //取货报警
-                        if ("1".equals(instructionErro.getExecute_code()) || "2".equals(instructionErro.getExecute_code())) {
+                        if ("1".equals(instructionErro.getExecute_code()) ) {
                             List list = new ArrayList();
                             if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name())) {
                                 pakagePLCData(list, instructionErro.getFrom_x(), instructionErro.getFrom_y(), instructionErro.getFrom_z(), "1", instructionErro.getInstruction_code());
@@ -914,7 +915,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                             message = "one_message19";
                         }
                         //放货中报警
-                        if ("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) {
+                        if (("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) || "2".equals(instructionErro.getExecute_code())) {
                             String next_device_code = instructionErro.getNext_device_code();
                             Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
                             List list = new ArrayList();
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 8ab17083a..0c8073ea3 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -421,8 +421,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 dto.setCompound_inst_data(task.getCompound_task_data());
             }
         }
-        dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
-        dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
+        dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : dto.getStart_device_code()+":自动创建");
+        dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : dto.getStart_device_code()+":自动创建");
         dto.setUpdate_time(now);
         dto.setCreate_time(now);
         dto.setStart_parent_code(task.getStart_parent_code());
@@ -599,8 +599,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 dto.setCompound_inst_data(task.getCompound_task_data());
             }
         }
-        dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
-        dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
+        dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : dto.getStart_device_code()+"手动创建");
+        dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : dto.getStart_device_code()+"手动创建");
         dto.setUpdate_time(now);
         dto.setCreate_time(now);
         dto.setStart_parent_code(task.getStart_parent_code());
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java
index 8b72ec2b8..9f644d289 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java
@@ -101,6 +101,13 @@ public class TaskController {
         return new ResponseEntity<>(HttpStatus.OK);
     }
 
+    @Log("取消任务和指令")
+    @PostMapping(value = "/cancelAndInst/{id}")
+    public ResponseEntity<Object> cancelAndInst(@RequestBody String id) throws Exception {
+        taskService.cancelAndInst(id);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
     @Log("手动创建指令")
     @PostMapping(value = "/createInst/{id}")
     public ResponseEntity<Object> createInst(@RequestBody String id) throws Exception {
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 73a3e12ac..f14fe7d93 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
@@ -303,6 +303,16 @@ public interface TaskService extends CommonService<Task> {
     void cancel(String ids) throws Exception;
 
 
+
+    /**
+     * 取消任务和指令
+     *
+     * @param ids
+     * @throws Exception
+     */
+    void cancelAndInst(String ids) throws Exception;
+
+
     /**
      * 手动创建指令
      *
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 dce19578c..f9247b2f5 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
@@ -881,6 +881,38 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         }
     }
 
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void cancelAndInst(String id) throws Exception {
+        TaskDto entity = this.findById(id);
+        if (entity == null) {
+            throw new BadRequestException(LangProcess.msg("error_sysAuth"));
+        }
+
+        InstructionDto instdto = instructionService.findByTaskid(id, "instruction_status <2 ");
+        if (instdto != null) {
+            instructionService.cancel(instdto.getInstruction_id());
+        }
+
+        String currentUsername = SecurityUtils.getCurrentNickName();
+        String now = DateUtil.now();
+        entity.setUpdate_time(now);
+        entity.setUpdate_by(currentUsername);
+        entity.setTask_status(TaskStatusEnum.CANCEL.getIndex());
+
+        Task task = ConvertUtil.convert(entity, Task.class);
+        taskMapper.updateById(task);
+
+        //移除任务缓存信息
+        this.removeByCodeFromCache(entity.getTask_code());
+        //反馈上位系统任务状态
+        this.feedWmsTaskStatus(entity);
+        //关闭仙工运单序列
+        if(StrUtil.equals(task.getTask_type(),TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode())||StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) {
+            this.markComplete(entity);
+        }
+    }
+
 
     @Override
     public Instruction createInst(String ids) throws Exception {
diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/config/application.yml b/acs2/nladmin-system/nlsso-server/src/main/resources/config/application.yml
index 409f69f12..12387255e 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/resources/config/application.yml
+++ b/acs2/nladmin-system/nlsso-server/src/main/resources/config/application.yml
@@ -51,7 +51,7 @@ spring:
       monitorInterval: 8
       tomcatTp: # tomcat webserver 线程池配置
         threadPoolAliasName: tomcat 线程池          # 线程池别名，可选
-        corePoolSize: 10
+        corePoolSize: 30
         maximumPoolSize: 50
         keepAliveTime: 60
         runTimeout: 10000
@@ -60,8 +60,8 @@ spring:
         - threadPoolName: dtpExecutor1         # 线程池名称，必填
           threadPoolAliasName: core_thread        # 线程池别名，可选
           executorType: common                 # 线程池类型 common、eager、ordered、scheduled、priority，默认 common
-          corePoolSize: 10                      # 核心线程数，默认1
-          maximumPoolSize: 30               # 最大线程数，默认cpu核数
+          corePoolSize: 30                      # 核心线程数，默认1
+          maximumPoolSize: 50               # 最大线程数，默认cpu核数
           queueCapacity: 1024                  # 队列容量，默认1024
           queueType: VariableLinkedBlockingQueue         # 任务队列，查看源码QueueTypeEnum枚举类，默认VariableLinkedBlockingQueue
           rejectedHandlerType: CallerRunsPolicy          # 拒绝策略，查看RejectedTypeEnum枚举类，默认AbortPolicy
diff --git a/acs2/nladmin-ui/src/api/acs/task/task.js b/acs2/nladmin-ui/src/api/acs/task/task.js
index 4238a9a4d..f118e1124 100644
--- a/acs2/nladmin-ui/src/api/acs/task/task.js
+++ b/acs2/nladmin-ui/src/api/acs/task/task.js
@@ -40,6 +40,14 @@ export function cancel(task_id) {
   })
 }
 
+export function cancelAndInst(task_id) {
+  return request({
+    url: 'api/task/cancelAndInst/' + task_id,
+    method: 'post',
+    data: task_id
+  })
+}
+
 export function createInst(task_id) {
   return request({
     url: 'api/task/createInst/' + task_id,
@@ -95,5 +103,5 @@ export function reload() {
   })
 }
 
-export default { add, edit, del, finish, cancel, createTaskByClick, deviceAskTask, ordinaryTaskCreate, specialTaskCreate, createInst, reload }
+export default { add, edit, del, finish, cancel, createTaskByClick, deviceAskTask, ordinaryTaskCreate, specialTaskCreate, createInst, reload ,cancelAndInst}
 
diff --git a/acs2/nladmin-ui/src/i18n/langs/task/en.js b/acs2/nladmin-ui/src/i18n/langs/task/en.js
index 12a4304b9..2a76c045f 100644
--- a/acs2/nladmin-ui/src/i18n/langs/task/en.js
+++ b/acs2/nladmin-ui/src/i18n/langs/task/en.js
@@ -44,6 +44,7 @@ export default {
       'In_progress': 'In Progress',
       'Completed': 'Completed',
       'Forced_Completed': 'Forced Completed',
+      'Cancel_Tasks_And_Commands': 'Cancel tasks and commands',
       'Pickup_point': 'Pickup Point',
       'Delivery_point': 'Delivery Point',
       'Remark': 'Remark',
diff --git a/acs2/nladmin-ui/src/i18n/langs/task/in.js b/acs2/nladmin-ui/src/i18n/langs/task/in.js
index 3563c5868..006a4862c 100644
--- a/acs2/nladmin-ui/src/i18n/langs/task/in.js
+++ b/acs2/nladmin-ui/src/i18n/langs/task/in.js
@@ -44,6 +44,7 @@ export default {
       'In_progress': 'Sedang Berlangsung',
       'Completed': 'Selesai',
       'Forced_Completed': 'Penyelesaian wajib',
+      'Cancel_Tasks_And_Commands': 'Batalkan misi dan perintah',
       'Pickup_point': 'Titik Pengambilan',
       'Delivery_point': 'Titik Pengiriman',
       'Remark': 'Catatan',
diff --git a/acs2/nladmin-ui/src/i18n/langs/task/zh.js b/acs2/nladmin-ui/src/i18n/langs/task/zh.js
index 6c734df0a..2c537da26 100644
--- a/acs2/nladmin-ui/src/i18n/langs/task/zh.js
+++ b/acs2/nladmin-ui/src/i18n/langs/task/zh.js
@@ -44,6 +44,7 @@ export default {
       'In_progress': '执行中',
       'Completed': '完成',
       'Forced_Completed': '强制完成',
+      'Cancel_Tasks_And_Commands': '取消任务和指令',
       'Pickup_point': '取货点',
       'Delivery_point': '放货点',
       'Remark': '备注',
diff --git a/acs2/nladmin-ui/src/views/acs/task/index.vue b/acs2/nladmin-ui/src/views/acs/task/index.vue
index d164db0ea..1edfda0de 100644
--- a/acs2/nladmin-ui/src/views/acs/task/index.vue
+++ b/acs2/nladmin-ui/src/views/acs/task/index.vue
@@ -21,7 +21,7 @@
               style="width: 200px"
               @change="crud.toQuery"
             >
-              <el-option v-for="item in dict.task_status" :key="item.id" :label="item.label" :value="item.value" />
+              <el-option v-for="item in dict.task_status" :key="item.id" :label="item.label" :value="item.value"/>
             </el-select>
           </el-form-item>
           <el-form-item :label="$t('task.txt_box.Task_code')">
@@ -57,7 +57,7 @@
               style="width: 200px"
               @change="crud.toQuery"
             >
-              <el-option v-for="item in materialList" :key="item.id" :label="item.label" :value="item.value" />
+              <el-option v-for="item in materialList" :key="item.id" :label="item.label" :value="item.value"/>
             </el-select>
           </el-form-item>
           <el-form-item :label="$t('task.txt_box.Task_type')">
@@ -71,7 +71,7 @@
               style="width: 200px"
               @change="crud.toQuery"
             >
-              <el-option v-for="item in dict.task_type" :key="item.id" :label="item.label" :value="item.value" />
+              <el-option v-for="item in dict.task_type" :key="item.id" :label="item.label" :value="item.value"/>
             </el-select>
             <el-form-item :label="$t('task.txt_box.start_or_end')">
               <el-input
@@ -85,7 +85,7 @@
               />
             </el-form-item>
           </el-form-item>
-          <rrOperation />
+          <rrOperation/>
         </el-form>
       </div>
       <!--如果想在工具栏加入更多按钮，可以使用插槽方式， slot = 'left' or 'right'-->
@@ -118,9 +118,9 @@
         <el-form ref="form" :model="form" :rules="rules" size="small" label-width="135px">
           <el-row>
             <el-col :span="12">
-              <div class="grid-content bg-purple" />
+              <div class="grid-content bg-purple"/>
               <el-form-item v-if="false" label="任务标识" prop="task_id">
-                <el-input v-model="form.task_id" style="width: 240px;" />
+                <el-input v-model="form.task_id" style="width: 240px;"/>
               </el-form-item>
               <el-form-item :label="$t('task.txt_box.Material_type')">
                 <el-select
@@ -321,11 +321,11 @@
                 </el-select>
               </el-form-item>
               <el-form-item label="行架任务类型">
-                <el-input v-model="form.truss_type" style="width: 370px;" @change="isDisabled=false" />
+                <el-input v-model="form.truss_type" style="width: 370px;" @change="isDisabled=false"/>
               </el-form-item>
             </el-col>
             <el-col :span="12">
-              <div class="grid-content bg-purple-light" />
+              <div class="grid-content bg-purple-light"/>
               <el-form-item :label="$t('task.select.Start_point2')" prop="start_point_code2">
                 <el-select
                   v-model="form.start_point_code2"
@@ -424,10 +424,10 @@
                 </el-select>
               </el-form-item>
               <el-form-item :label="$t('task.txt_box.Priority')">
-                <el-input v-model="form.priority" style="width: 370px;" @change="isDisabled=false" />
+                <el-input v-model="form.priority" style="width: 370px;" @change="isDisabled=false"/>
               </el-form-item>
               <el-form-item :label="$t('task.txt_box.Vehicle_number')">
-                <el-input v-model="form.vehicle_code" style="width: 370px;" @change="isDisabled=false" />
+                <el-input v-model="form.vehicle_code" style="width: 370px;" @change="isDisabled=false"/>
               </el-form-item>
               <el-form-item :label="$t('task.txt_box.empty_shaft_position')">
                 <el-select
@@ -451,14 +451,16 @@
                 </div>
               </el-form-item>
               <el-form-item :label="$t('task.select.Description')" prop="description">
-                <el-input v-model="form.remark" style="width: 370px;" type="textarea" @change="isDisabled=false" />
+                <el-input v-model="form.remark" style="width: 370px;" type="textarea" @change="isDisabled=false"/>
               </el-form-item>
             </el-col>
           </el-row>
         </el-form>
         <div slot="footer" class="dialog-footer">
           <el-button type="text" @click="formDia=false">{{ $t('task.select.Cancel') }}</el-button>
-          <el-button :loading="crud.cu === 2" :disabled="isDisabled" type="primary" @click="saveBtn">{{ $t('task.select.Confirm') }}</el-button>
+          <el-button :loading="crud.cu === 2" :disabled="isDisabled" type="primary" @click="saveBtn">
+            {{ $t('task.select.Confirm') }}
+          </el-button>
         </div>
       </el-dialog>
       <el-dialog :visible.sync="dialogVisible" :title="$t('task.txt_box.extension_field')" @close="closeDialog">
@@ -475,7 +477,7 @@
                 stripe
                 border
               >
-                <el-table-column type="index" label="序号" min-width="50" />
+                <el-table-column type="index" label="序号" min-width="50"/>
                 <el-table-column label="扩展字段" prop="name" min-width="115">
                   <template slot-scope="scope">
                     <el-select
@@ -495,12 +497,14 @@
                 </el-table-column>
                 <el-table-column label="扩展字段值" prop="value" min-width="115">
                   <template slot-scope="scope">
-                    <el-input v-model="scope.row.value" style="width: 100%" />
+                    <el-input v-model="scope.row.value" style="width: 100%"/>
                   </template>
                 </el-table-column>
                 <el-table-column label="操作" min-width="115" align="center">
                   <template slot-scope="scope">
-                    <el-button size="mini" type="danger" icon="el-icon-minus" circle @click="deleteField(scope.$index)" />
+                    <el-button size="mini" type="danger" icon="el-icon-minus" circle
+                               @click="deleteField(scope.$index)"
+                    />
                   </template>
                 </el-table-column>
               </el-table>
@@ -514,16 +518,22 @@
         </el-form>
       </el-dialog>
       <!--表格渲染-->
-      <el-table ref="table" v-loading="crud.loading" :data="crud.data" size="small" style="width: 100%;" @selection-change="crud.selectionChangeHandler">
-        <el-table-column type="selection" width="25" />
-        <el-table-column v-if="false" prop="task_id" label="任务标识" />
-        <el-table-column prop="task_code" :label="$t('task.txt_box.Task_code')" :min-width="flexWidth('task_code',crud.data,$t('task.txt_box.Task_code'))" />
+      <el-table ref="table" v-loading="crud.loading" :data="crud.data" size="small" style="width: 100%;"
+                @selection-change="crud.selectionChangeHandler"
+      >
+        <el-table-column type="selection" width="25"/>
+        <el-table-column v-if="false" prop="task_id" label="任务标识"/>
+        <el-table-column prop="task_code" :label="$t('task.txt_box.Task_code')"
+                         :min-width="flexWidth('task_code',crud.data,$t('task.txt_box.Task_code'))"
+        />
         <el-table-column prop="task_type" :label="$t('task.txt_box.Task_type')" width="100px">
           <template slot-scope="scope">
             {{ dict.label.task_type[scope.row.task_type] }}
           </template>
         </el-table-column>
-        <el-table-column prop="agv_action_type" :label="$t('task.txt_box.Action_type')" :min-width="flexWidth('agv_action_type',crud.data,$t('task.txt_box.Action_type'))">
+        <el-table-column prop="agv_action_type" :label="$t('task.txt_box.Action_type')"
+                         :min-width="flexWidth('agv_action_type',crud.data,$t('task.txt_box.Action_type'))"
+        >
           <template slot-scope="scope">
             <span v-if="scope.row.agv_action_type===1 ">{{ $t('task.txt_box.ORDINARY') }}</span>
             <span v-if="scope.row.agv_action_type===2 ">{{ $t('task.txt_box.IN_STOCK') }}</span>
@@ -532,7 +542,9 @@
           </template>
         </el-table-column>
 
-        <el-table-column prop="vehicle_code" :label="$t('task.txt_box.Vehicle_number')" :min-width="flexWidth('vehicle_code',crud.data,$t('task.txt_box.Vehicle_number'))" />
+        <el-table-column prop="vehicle_code" :label="$t('task.txt_box.Vehicle_number')"
+                         :min-width="flexWidth('vehicle_code',crud.data,$t('task.txt_box.Vehicle_number'))"
+        />
         <el-table-column prop="task_status" :label="$t('task.txt_box.Task_status')" width="150px">
           <template slot-scope="scope">
             <span v-if="scope.row.task_status==='0' ">{{ $t('task.select.Ready') }}</span>
@@ -540,28 +552,52 @@
             <span v-if="scope.row.task_status==='2' ">{{ $t('task.select.Completed') }}</span>
           </template>
         </el-table-column>
-        <el-table-column prop="priority" :label="$t('task.txt_box.Priority')" :min-width="flexWidth('priority',crud.data,$t('task.txt_box.Priority'))" />
-        <el-table-column prop="start_point_code" :label="$t('task.select.Pickup_point')" :min-width="flexWidth('start_point_code',crud.data,$t('task.select.Pickup_point'))" />
-        <el-table-column prop="next_point_code" :label="$t('task.select.Delivery_point')" :min-width="flexWidth('next_point_code',crud.data,$t('task.select.Delivery_point'))" />
-        <el-table-column prop="start_point_code2" :label="$t('task.select.Start_point2')" :min-width="flexWidth('start_point_code2',crud.data,$t('task.select.Start_point2'))" />
-        <el-table-column prop="next_point_code2" :label="$t('task.select.Destination2')" :min-width="flexWidth('next_point_code2',crud.data,$t('task.select.Destination2'))" />
-        <el-table-column prop="interaction_json" :label="$t('task.select.Interaction_json')" show-overflow-tooltip="true" width="150px" />
-        <el-table-column prop="agv_system_type" :label="$t('task.txt_box.AGV_system')" show-overflow-tooltip="true" width="150px">
+        <el-table-column prop="priority" :label="$t('task.txt_box.Priority')"
+                         :min-width="flexWidth('priority',crud.data,$t('task.txt_box.Priority'))"
+        />
+        <el-table-column prop="start_point_code" :label="$t('task.select.Pickup_point')"
+                         :min-width="flexWidth('start_point_code',crud.data,$t('task.select.Pickup_point'))"
+        />
+        <el-table-column prop="next_point_code" :label="$t('task.select.Delivery_point')"
+                         :min-width="flexWidth('next_point_code',crud.data,$t('task.select.Delivery_point'))"
+        />
+        <el-table-column prop="start_point_code2" :label="$t('task.select.Start_point2')"
+                         :min-width="flexWidth('start_point_code2',crud.data,$t('task.select.Start_point2'))"
+        />
+        <el-table-column prop="next_point_code2" :label="$t('task.select.Destination2')"
+                         :min-width="flexWidth('next_point_code2',crud.data,$t('task.select.Destination2'))"
+        />
+        <el-table-column prop="interaction_json" :label="$t('task.select.Interaction_json')"
+                         show-overflow-tooltip="true" width="150px"
+        />
+        <el-table-column prop="agv_system_type" :label="$t('task.txt_box.AGV_system')" show-overflow-tooltip="true"
+                         width="150px"
+        >
           <template slot-scope="scope">
             {{ getAgvSystemLabel(scope.row.agv_system_type) }}
           </template>
         </el-table-column>
-        <el-table-column prop="put_point_code" :label="$t('TaskRecord.table.Transit_point')" :min-width="flexWidth('put_point_code',crud.data,$t('TaskRecord.table.Transit_point'))" />
-        <el-table-column prop="remark" :label="$t('task.select.Remark')" :min-width="flexWidth('remark',crud.data,$t('task.select.Remark'))" />
-        <el-table-column prop="create_by" :label="$t('task.select.Creator')" :min-width="flexWidth('create_by',crud.data,$t('task.select.Creator'))" />
-        <el-table-column prop="create_time" :label="$t('task.select.Create_time')" :min-width="flexWidth('create_time',crud.data,$t('task.select.Create_time'))" />
-        <el-table-column v-permission="['admin','task:edit','task:del']" :label="$t('task.select.Operation')" width="200px" align="center">
+        <el-table-column prop="put_point_code" :label="$t('TaskRecord.table.Transit_point')"
+                         :min-width="flexWidth('put_point_code',crud.data,$t('TaskRecord.table.Transit_point'))"
+        />
+        <el-table-column prop="remark" :label="$t('task.select.Remark')"
+                         :min-width="flexWidth('remark',crud.data,$t('task.select.Remark'))"
+        />
+        <el-table-column prop="create_by" :label="$t('task.select.Creator')"
+                         :min-width="flexWidth('create_by',crud.data,$t('task.select.Creator'))"
+        />
+        <el-table-column prop="create_time" :label="$t('task.select.Create_time')"
+                         :min-width="flexWidth('create_time',crud.data,$t('task.select.Create_time'))"
+        />
+        <el-table-column v-permission="['admin','task:edit','task:del']" :label="$t('task.select.Operation')"
+                         width="200px" align="center"
+        >
           <template slot-scope="scope">
             <el-dropdown>
               <span class="el-dropdown-link">
                 <i class="el-icon-setting">More</i>
                 <el-icon class="el-icon--right">
-                  <arrow-down />
+                  <arrow-down/>
                 </el-icon>
               </span>
               <template #dropdown>
@@ -602,6 +638,15 @@
                       {{ $t('task.select.Forced_Completed') }}
                     </el-button>
                   </el-dropdown-item>
+                  <el-dropdown-item>
+                    <el-button
+                      type="text"
+                      icon="el-icon-finished"
+                      @click="handleCommand(scope.$index, scope.row,'e')"
+                    >
+                      {{ $t('task.select.Cancel_Tasks_And_Commands') }}
+                    </el-button>
+                  </el-dropdown-item>
                 </el-dropdown-menu>
               </template>
             </el-dropdown>
@@ -609,13 +654,13 @@
         </el-table-column>
       </el-table>
       <!--分页组件-->
-      <pagination />
+      <pagination/>
     </div>
   </div>
 </template>
 
 <script>
-import crudTask from '@/api/acs/task/task'
+import crudTask, { cancelAndInst } from '@/api/acs/task/task'
 import CRUD, { crud, header, presenter } from '@crud/crud'
 import crudOperation from '@crud/CRUD.operation'
 import rrOperation from '@crud/RR.operation'
@@ -631,7 +676,8 @@ export default {
   dicts: ['task_status', 'task_type', 'agv_system_type', 'storage_task_type', 'kezhuan', 'empty_shaft_position'],
   mixins: [presenter(), header(), crud()],
   cruds() {
-    return CRUD({ title: i18n.t('task.txt_box.Task'), url: 'api/task', idField: 'task_id', sort: 'task_id,desc',
+    return CRUD({
+      title: i18n.t('task.txt_box.Task'), url: 'api/task', idField: 'task_id', sort: 'task_id,desc',
       optShow: {
         add: false,
         edit: true,
@@ -639,7 +685,8 @@ export default {
         reset: false,
         download: false
       },
-      crudMethod: { ...crudTask }})
+      crudMethod: { ...crudTask }
+    })
   },
   data() {
     const checkFromY = (rule, value, callback) => {
@@ -809,7 +856,8 @@ export default {
       // 清空表单数据
       this.extension = [{
         name: '',
-        value: '' }]
+        value: ''
+      }]
       this.dialogVisible = false
     },
     saveForm() {
@@ -833,7 +881,8 @@ export default {
       })
       this.extension = [{
         name: '',
-        value: '' }]
+        value: ''
+      }]
       // 设置定时器，等待一定时间后再次允许请求
       setTimeout(() => {
         this.isDisabled = false // 可根据具体需求进行调整
@@ -867,6 +916,14 @@ export default {
         console.log(err.response.data.message)
       })
     },
+    cancelAndInst(index, row) {
+      crudTask.cancelAndInst(row.task_id).then(res => {
+        this.crud.toQuery()
+        this.crud.notify('取消成功', CRUD.NOTIFICATION_TYPE.SUCCESS)
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
     createInst(index, row) {
       crudTask.createInst(row.task_id).then(res => {
         this.crud.toQuery()
@@ -901,9 +958,12 @@ export default {
         case 'c':// 创建指令
           this.createInst(index, row)
           break
-        case 'd':// 完成
+        case 'd':// 强制完成
           this.finish('4', row)
           break
+        case 'e':// 取消任务和指令
+          this.cancelAndInst('3', row)
+          break
       }
     },
     showStartStorage(val) {
@@ -1011,6 +1071,7 @@ export default {
   cursor: pointer;
   color: #409EFF;
 }
+
 .el-icon-arrow-down {
   font-size: 12px;
 }