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 0cb6bf4c2..5cfcc9823 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
@@ -133,12 +133,12 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 //                return;
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(device_code)
-                        .content("当前指令号为："+ inst.getInstruction_code())
+                        .content("当前指令号为：" + inst.getInstruction_code())
                         .build();
                 logDto.setLog_level(4);
                 luceneExecuteLogService.deviceExecuteLog(logDto);
                 task = taskService.findByTaskCode(inst.getTask_code());
-            }else {
+            } else {
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(device_code)
                         .content("指令号为空!")
@@ -388,7 +388,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
                 } else {
-                    message = "设备号:" + device_code  + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                    message = "设备号:" + device_code + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
                     log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
                             , paperTubePickSiteDeviceDriver.getError(), paperTubePickSiteDeviceDriver.getMode(), ikey);
                     LuceneLogDto logDto = LuceneLogDto.builder()
@@ -411,19 +411,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     len2 = Float.parseFloat(length2);
                 }
                 if (len1 * len2 < 0) {
-                    if (ObjectUtil.isNotEmpty(device_code1) && (('A') == (device_code1.charAt(device_code1.length()-1)))) {
+                    if (ObjectUtil.isNotEmpty(device_code1) && (('A') == (device_code1.charAt(device_code1.length() - 1)))) {
                         String offSet_A = paramService.findByCode(AcsConfig.OFFSET_A).getValue();
                         if (ObjectUtil.isNotEmpty(offSet_A) && !"null".equals(offSet_A)) {
                             Integer integer = Integer.valueOf(offSet_A);
                             len1 = len1 - integer;
                         }
-                    } else if (ObjectUtil.isNotEmpty(device_code1) && (('B') == (device_code1.charAt(device_code1.length()-1)))) {
+                    } else if (ObjectUtil.isNotEmpty(device_code1) && (('B') == (device_code1.charAt(device_code1.length() - 1)))) {
                         String offSet_B = paramService.findByCode(AcsConfig.OFFSET_B).getValue();
                         if (ObjectUtil.isNotEmpty(offSet_B) && !"null".equals(offSet_B)) {
                             Integer integer = Integer.valueOf(offSet_B);
                             len1 = integer + len1;
                         }
-                    }else{
+                    } else {
                         log.info("{}设备名不符合条件,指令号{}", device_code, ikey);
                     }
                     int roundedNumber = ObjectUtil.isNotEmpty(len1) ? NumberUtil.round(len1, 0).intValue() : 0;
@@ -435,7 +435,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                    } else if(roundedNumber > -50 || roundedNumber < 50){
+                    } else if (roundedNumber > -50 || roundedNumber < 50) {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 1, roundedNumber);
                         LuceneLogDto logDto = LuceneLogDto.builder()
                                 .device_code(device_code)
@@ -443,22 +443,22 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                    }else if(roundedNumber > 50 || roundedNumber < -50){
+                    } else if (roundedNumber > 50 || roundedNumber < -50) {
                         log.info("设备{},偏移数据超出范围导致未反馈{},指令号{}", device_code, roundedNumber, ikey);
                         LuceneLogDto logDto = LuceneLogDto.builder()
                                 .device_code(device_code)
-                                .content(device_code+"设备,偏移数据超出范围导致未反馈"+ roundedNumber+"指令号"+ ikey)
+                                .content(device_code + "设备,偏移数据超出范围导致未反馈" + roundedNumber + "指令号" + ikey)
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
                     }
-                }else{
-                    log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + ","+ rangingStationsDeviceDriver.getLength2(), ikey);
+                } else {
+                    log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + "," + rangingStationsDeviceDriver.getLength2(), ikey);
                 }
             } else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
                 wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
-                if(wasteFoilWeighingStationDriver.getMove() == 1  && wasteFoilWeighingStationDriver.getAction() == 1
-                        && wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2){
+                if (wasteFoilWeighingStationDriver.getMove() == 1 && wasteFoilWeighingStationDriver.getAction() == 1
+                        && wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2) {
                     try {
                         Map<String, Object> map = new LinkedHashMap<>();
                         map.put("to_command", "2");
@@ -473,7 +473,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                }else{
+                } else {
                     message = "设备号:" + device_code + "光电信号:" + wasteFoilWeighingStationDriver.getMove() + ",动作信号:" + wasteFoilWeighingStationDriver.getAction() + "报警信号:" + wasteFoilWeighingStationDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
                     log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货条件,指令号{}", device_code, wasteFoilWeighingStationDriver.getMove(), wasteFoilWeighingStationDriver.getAction()
                             , wasteFoilWeighingStationDriver.getError(), wasteFoilWeighingStationDriver.getMode(), ikey);
@@ -576,18 +576,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
-                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(device_code)
-                            .content("agvphase:" + phase + "反馈:" + data)
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                } else {
-                    message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
-                    log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
-                }
+                data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("agvphase:" + phase + "反馈:" + data)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
             } else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                 try {
@@ -631,7 +626,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
                 } else {
-                    message = "设备号:" + device_code  + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                    message = "设备号:" + device_code + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
                     log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货完成反馈,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
                             , paperTubePickSiteDeviceDriver.getError(), paperTubePickSiteDeviceDriver.getMode(), ikey);
                     LuceneLogDto logDto = LuceneLogDto.builder()
@@ -670,8 +665,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 }
             } else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
                 wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
-                if(wasteFoilWeighingStationDriver.getMove() == 0  && wasteFoilWeighingStationDriver.getAction() == 1
-                        && wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2){
+                if (wasteFoilWeighingStationDriver.getMove() == 0 && wasteFoilWeighingStationDriver.getAction() == 1
+                        && wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2) {
                     try {
                         Map<String, Object> map = new LinkedHashMap<>();
                         map.put("to_command", "3");
@@ -686,7 +681,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                }else{
+                } else {
                     message = "设备号:" + device_code + "光电信号:" + wasteFoilWeighingStationDriver.getMove() + ",动作信号:" + wasteFoilWeighingStationDriver.getAction() + "报警信号:" + wasteFoilWeighingStationDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
                     log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货条件,指令号{}", device_code, wasteFoilWeighingStationDriver.getMove(), wasteFoilWeighingStationDriver.getAction()
                             , wasteFoilWeighingStationDriver.getError(), wasteFoilWeighingStationDriver.getMode(), ikey);
@@ -817,7 +812,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                         log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
                         LuceneLogDto logDto = LuceneLogDto.builder()
                                 .device_code(device_code)
-                                .content(manipulatorAgvStationDeviceDriver.getDevice_code()+"动作信号不为1")
+                                .content(manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为1")
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
@@ -927,7 +922,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 Integer integer = Integer.valueOf(offSet_B);
                                 len1 = integer + len1;
                             }
-                        }else{
+                        } else {
                             log.info("{}设备名不符合条件,指令号{}", device_code, ikey);
                         }
                         int roundedNumber = ObjectUtil.isNotEmpty(len1) ? NumberUtil.round(len1, 0).intValue() : 0;
@@ -939,7 +934,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                     .build();
                             logDto.setLog_level(4);
                             luceneExecuteLogService.deviceExecuteLog(logDto);
-                        } else if(roundedNumber > -50 || roundedNumber < 50){
+                        } else if (roundedNumber > -50 || roundedNumber < 50) {
                             data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 1, roundedNumber);
                             LuceneLogDto logDto = LuceneLogDto.builder()
                                     .device_code(device_code)
@@ -947,11 +942,11 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                     .build();
                             logDto.setLog_level(4);
                             luceneExecuteLogService.deviceExecuteLog(logDto);
-                        }else if(roundedNumber > 50 || roundedNumber < -50){
+                        } else if (roundedNumber > 50 || roundedNumber < -50) {
                             log.info("设备{},偏移数据超出范围导致未反馈{},指令号{}", device_code, roundedNumber, ikey);
                         }
-                    }else{
-                        log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + ","+ rangingStationsDeviceDriver.getLength2(), ikey);
+                    } else {
+                        log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + "," + rangingStationsDeviceDriver.getLength2(), ikey);
                     }
                 } else {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -1064,24 +1059,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                        LuceneLogDto logDto = LuceneLogDto.builder()
-                                .device_code(device_code)
-                                .content("agvphase:" + phase + "反馈:" + data)
-                                .build();
-                        logDto.setLog_level(4);
-                        luceneExecuteLogService.deviceExecuteLog(logDto);
-                    } else {
-                        message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
-                        log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
-                        LuceneLogDto logDto = LuceneLogDto.builder()
-                                .device_code(device_code)
-                                .content(message)
-                                .build();
-                        logDto.setLog_level(4);
-                        luceneExecuteLogService.deviceExecuteLog(logDto);
-                    }
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("agvphase:" + phase + "反馈:" + data)
+                            .build();
+                    logDto.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
                 } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                     paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
                     try {
@@ -1099,7 +1083,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
                     } else {
-                        message = "设备号:" + device_code  + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                        message = "设备号:" + device_code + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
                         log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{}，不满足取货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
                                 , paperTubePickSiteDeviceDriver.getError(), ikey);
                         LuceneLogDto logDto = LuceneLogDto.builder()
@@ -1252,7 +1236,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     logDto.setLog_level(4);
                     luceneExecuteLogService.deviceExecuteLog(logDto);
                 } else {
-                    message = "设备号:" + device_code  + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
+                    message = "设备号:" + device_code + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
                     log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足放货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
                             , paperTubePickSiteDeviceDriver.getError(), paperTubePickSiteDeviceDriver.getMode(), ikey);
                     LuceneLogDto logDto = LuceneLogDto.builder()
@@ -1361,7 +1345,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                             Integer integer = Integer.valueOf(offSet_B);
                             len1 = integer + len1;
                         }
-                    }else{
+                    } else {
                         log.info("{}设备名不符合条件,指令号{}", device_code, ikey);
                     }
                     int roundedNumber = ObjectUtil.isNotEmpty(len1) ? NumberUtil.round(len1, 0).intValue() : 0;
@@ -1373,7 +1357,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                    } else if(roundedNumber > -50 || roundedNumber < 50){
+                    } else if (roundedNumber > -50 || roundedNumber < 50) {
                         data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 1, roundedNumber);
                         LuceneLogDto logDto = LuceneLogDto.builder()
                                 .device_code(device_code)
@@ -1381,16 +1365,16 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 .build();
                         logDto.setLog_level(4);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
-                    }else if(roundedNumber > 50 || roundedNumber < -50){
+                    } else if (roundedNumber > 50 || roundedNumber < -50) {
                         log.info("设备{},偏移数据超出范围导致未反馈{},指令号{}", device_code, roundedNumber, ikey);
                     }
-                }else{
-                    log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + ","+ rangingStationsDeviceDriver.getLength2(), ikey);
+                } else {
+                    log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + "," + rangingStationsDeviceDriver.getLength2(), ikey);
                 }
             } else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
                 wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
-                if(wasteFoilWeighingStationDriver.getMove() == 0  && wasteFoilWeighingStationDriver.getAction() == 1
-                        && wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2){
+                if (wasteFoilWeighingStationDriver.getMove() == 0 && wasteFoilWeighingStationDriver.getAction() == 1
+                        && wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2) {
                     try {
                         Map<String, Object> map = new LinkedHashMap<>();
                         map.put("to_command", "4");
@@ -1405,7 +1389,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                }else{
+                } else {
                     message = "设备号:" + device_code + "光电信号:" + wasteFoilWeighingStationDriver.getMove() + ",动作信号:" + wasteFoilWeighingStationDriver.getAction() + "报警信号:" + wasteFoilWeighingStationDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
                     log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货条件,指令号{}", device_code, wasteFoilWeighingStationDriver.getMove(), wasteFoilWeighingStationDriver.getAction()
                             , wasteFoilWeighingStationDriver.getError(), wasteFoilWeighingStationDriver.getMode(), ikey);
@@ -1497,24 +1481,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 } catch (Exception e) {
                     e.printStackTrace();
                 }
-                if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
-                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(device_code)
-                            .content("agvphase:" + phase + "反馈:" + data)
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                } else {
-                    message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
-                    log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
-                    LuceneLogDto logDto = LuceneLogDto.builder()
-                            .device_code(device_code)
-                            .content(message)
-                            .build();
-                    logDto.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(logDto);
-                }
+                data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
+                LuceneLogDto logDto = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("agvphase:" + phase + "反馈:" + data)
+                        .build();
+                logDto.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto);
             } else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
                 hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
                 try {
@@ -1546,19 +1519,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 try {
                     TaskDto byTaskCode = taskService.findByTaskCode(inst.getTask_code());
                     Map map = new HashMap();
-                    if(StrUtil.isNotEmpty(byTaskCode.getInteraction_json())){
+                    if (StrUtil.isNotEmpty(byTaskCode.getInteraction_json())) {
                         String interaction_json = byTaskCode.getInteraction_json();
                         JSONObject jsonObject = JSONObject.parseObject(interaction_json);
                         String to_material = jsonObject.getString("to_material");
                         String to_spec = jsonObject.getString("to_spec");
                         String to_qty = jsonObject.getString("to_qty");
-                        map.put("to_command",5);
-                        map.put("to_material",to_material);
-                        map.put("to_spec",to_spec);
-                        map.put("to_qty",to_qty);
+                        map.put("to_command", 5);
+                        map.put("to_material", to_material);
+                        map.put("to_spec", to_spec);
+                        map.put("to_qty", to_qty);
                         paperTubePickSiteDeviceDriver.writing(map);
-                    }else{
-                        map.put("to_command",5);
+                    } else {
+                        map.put("to_command", 5);
                         paperTubePickSiteDeviceDriver.writing(map);
                     }
                 } catch (Exception e) {
@@ -1599,8 +1572,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 }
             } else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
                 wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
-                if(wasteFoilWeighingStationDriver.getMove() == 1  && wasteFoilWeighingStationDriver.getAction() == 1
-                        && wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2){
+                if (wasteFoilWeighingStationDriver.getMove() == 1 && wasteFoilWeighingStationDriver.getAction() == 1
+                        && wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2) {
                     try {
                         Map<String, Object> map = new LinkedHashMap<>();
                         map.put("to_command", "5");
@@ -1615,7 +1588,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                }else{
+                } else {
                     message = "设备号:" + device_code + "光电信号:" + wasteFoilWeighingStationDriver.getMove() + ",动作信号:" + wasteFoilWeighingStationDriver.getAction() + "报警信号:" + wasteFoilWeighingStationDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
                     log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货条件,指令号{}", device_code, wasteFoilWeighingStationDriver.getMove(), wasteFoilWeighingStationDriver.getAction()
                             , wasteFoilWeighingStationDriver.getError(), wasteFoilWeighingStationDriver.getMode(), ikey);
@@ -1806,7 +1779,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                 Integer integer = Integer.valueOf(offSet_B);
                                 len1 = integer + len1;
                             }
-                        }else{
+                        } else {
                             log.info("{}设备名不符合条件,指令号{}", device_code, ikey);
                         }
                         int roundedNumber = ObjectUtil.isNotEmpty(len1) ? NumberUtil.round(len1, 0).intValue() : 0;
@@ -1818,7 +1791,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                     .build();
                             logDto.setLog_level(4);
                             luceneExecuteLogService.deviceExecuteLog(logDto);
-                        } else if(roundedNumber > -50 || roundedNumber < 50){
+                        } else if (roundedNumber > -50 || roundedNumber < 50) {
                             data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 1, roundedNumber);
                             LuceneLogDto logDto = LuceneLogDto.builder()
                                     .device_code(device_code)
@@ -1826,17 +1799,17 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                                     .build();
                             logDto.setLog_level(4);
                             luceneExecuteLogService.deviceExecuteLog(logDto);
-                        }else if(roundedNumber > 50 || roundedNumber < -50){
+                        } else if (roundedNumber > 50 || roundedNumber < -50) {
                             log.info("设备{},偏移数据超出范围导致未反馈{},指令号{}", device_code, roundedNumber, ikey);
                             LuceneLogDto logDto = LuceneLogDto.builder()
                                     .device_code(device_code)
-                                    .content("设备"+device_code+"偏移数据超出范围导致未反馈"+roundedNumber+"指令号"+ikey)
+                                    .content("设备" + device_code + "偏移数据超出范围导致未反馈" + roundedNumber + "指令号" + ikey)
                                     .build();
                             logDto.setLog_level(4);
                             luceneExecuteLogService.deviceExecuteLog(logDto);
                         }
-                    }else{
-                        log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + ","+ rangingStationsDeviceDriver.getLength2(), ikey);
+                    } else {
+                        log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + "," + rangingStationsDeviceDriver.getLength2(), ikey);
                     }
                 } else {
                     data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -1917,30 +1890,18 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 
                 } else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                     manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
-
                     try {
                         manipulatorAgvStationDeviceDriver.writing(5);
                     } catch (Exception e) {
                         e.printStackTrace();
                     }
-                    if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
-                        data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-                        LuceneLogDto logDto = LuceneLogDto.builder()
-                                .device_code(device_code)
-                                .content("agvphase:" + phase + "反馈:" + data)
-                                .build();
-                        logDto.setLog_level(4);
-                        luceneExecuteLogService.deviceExecuteLog(logDto);
-                    } else {
-                        message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
-                        log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
-                        LuceneLogDto logDto = LuceneLogDto.builder()
-                                .device_code(device_code)
-                                .content(message)
-                                .build();
-                        logDto.setLog_level(4);
-                        luceneExecuteLogService.deviceExecuteLog(logDto);
-                    }
+                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("agvphase:" + phase + "反馈:" + data)
+                            .build();
+                    logDto.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
                 } else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
                     paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
                     try {