diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceExtraServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceExtraServiceImpl.java
index a10e60086..b1c1c55f5 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceExtraServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceExtraServiceImpl.java
@@ -4,6 +4,7 @@ package org.nl.acs.device.service.impl;
 
 import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
@@ -20,6 +21,7 @@ import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
 import java.math.BigDecimal;
+import java.util.ArrayList;
 import java.util.List;
 import java.util.Map;
 
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
index 70aaa7f98..251b24381 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
@@ -741,7 +741,6 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial
         } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
             standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
             standardInspectSiteDeviceDriver.setDeviceStatus(form);
-
         } else if (device.getDeviceDriver() instanceof SlitTwoManipulatorDeviceDriver) {
             slitTwoManipulatorDeviceDriver = (SlitTwoManipulatorDeviceDriver) device.getDeviceDriver();
             slitTwoManipulatorDeviceDriver.setDeviceStatus(form);
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
index efd0adc43..716b49076 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
@@ -11,7 +11,9 @@ import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
+import org.nl.acs.device.service.DeviceExtraService;
 import org.nl.acs.device.service.DeviceService;
+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;
@@ -62,7 +64,6 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
     AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-
     DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
     @Autowired
     DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
@@ -359,9 +360,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
                     //申请任务
                     if (mode == 2 && move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && !requireSucess) {
                         apply_task();
-
                     } else {
-
                         if (!requireSucess) {
                             String remark = "";
                             if (mode != 2) {
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index 9bd423925..7bca1d530 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -344,8 +344,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                 continue;
             }
             if ((task.getStart_device_code().equals(start_device_code)
-                    || task.getStart_device_code2().equals(start_device_code))
-                    && StrUtil.equals(task.getTask_status(), "0")) {
+                    || (StrUtil.isNotEmpty(task.getStart_device_code2()) && task.getStart_device_code2().equals(start_device_code))
+                    && StrUtil.equals(task.getTask_status(), "0"))) {
                 list.add(task);
             }
         }
@@ -458,7 +458,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                 continue;
             }
             if ((task.getStart_device_code().equals(head_start_device_code)
-                    || task.getStart_device_code2().equals(head_start_device_code))
+                    || (StrUtil.isNotEmpty(task.getStart_device_code2()) && task.getStart_device_code2().equals(head_start_device_code)))
                     && StrUtil.equals(task.getTask_status(), "1")) {
                 Instruction instruction = instructionService.findByTaskcodeAndStatus(task.getTask_code());
                 if (ObjectUtil.isNotEmpty(instruction)) {
@@ -505,7 +505,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     @Transactional(rollbackFor = Exception.class)
     public void create(TaskDto dto) throws Exception {
         dto = foramte(dto);
-        if(ObjectUtil.isNotEmpty(dto.getPaperArray())){
+        if (ObjectUtil.isNotEmpty(dto.getPaperArray())) {
             dto.setPaper_array(dto.getPaperArray().toJSONString());
         }
         if (!StrUtil.isEmpty(dto.getVehicle_code())) {
@@ -578,11 +578,11 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
 //            tasks.add(dto);
 //        }
 
-        try{
+        try {
             tasks.add(dto);
-            log.warn("任务添加到任务列表:"+dto.toString());
-        } catch (Exception e){
-            log.warn("任务添加到任务列表异常:"+ dto.toString() +e.getMessage());
+            log.warn("任务添加到任务列表:" + dto.toString());
+        } catch (Exception e) {
+            log.warn("任务添加到任务列表异常:" + dto.toString() + e.getMessage());
         }
     }
 
@@ -734,11 +734,11 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         removeByCodeFromCache(entity.getTask_code());
 
         if (StrUtil.equals(dto.getTask_status(), "0") || StrUtil.equals(dto.getTask_status(), "1")) {
-            try{
+            try {
                 tasks.add(dto);
-                log.warn("任务添加到任务列表:"+dto.toString());
-            } catch (Exception e){
-                log.warn("任务添加到任务列表异常:"+ dto.toString() +e.getMessage());
+                log.warn("任务添加到任务列表:" + dto.toString());
+            } catch (Exception e) {
+                log.warn("任务添加到任务列表异常:" + dto.toString() + e.getMessage());
             }
         }
         // 判断是否为WMS下发的任务，如果是反馈任务状态给WMS
@@ -1203,16 +1203,16 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     @Override
     public boolean removeByCodeFromCache(String code) {
         CopyOnWriteArrayList<TaskDto> taskDtos = (CopyOnWriteArrayList<TaskDto>) this.tasks;
-        try{
+        try {
 
             taskDtos.removeIf((task) -> {
-                if(StrUtil.equals(task.getTask_code(),code)){
-                    log.warn("任务移除任务列表成功:"+task.toString());
+                if (StrUtil.equals(task.getTask_code(), code)) {
+                    log.warn("任务移除任务列表成功:" + task.toString());
                 }
                 return task.getTask_code().equals(code);
             });
-        } catch (Exception e){
-            log.warn("指令移除任务列表异常:"+e.getMessage());
+        } catch (Exception e) {
+            log.warn("指令移除任务列表异常:" + e.getMessage());
         }
 
         return true;
@@ -1238,6 +1238,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
 
     /**
      * 根据任务号查询任务
+     *
      * @param task_code
      * @return
      */
@@ -1446,11 +1447,11 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     @Override
     public void updateByCodeFromCache(TaskDto dto) {
         removeByCodeFromCache(dto.getTask_code());
-        try{
+        try {
             tasks.add(dto);
-            log.warn("任务添加到任务列表:"+dto.toString());
-        } catch (Exception e){
-            log.warn("任务添加到任务列表异常:"+ dto.toString() +e.getMessage());
+            log.warn("任务添加到任务列表:" + dto.toString());
+        } catch (Exception e) {
+            log.warn("任务添加到任务列表异常:" + dto.toString() + e.getMessage());
         }
     }