diff --git a/acs2/nladmin-system/doc/蓝芯调度系统-任务和设备接口协议V2.4.9(1).pdf b/acs2/nladmin-system/doc/蓝芯调度系统-任务和设备接口协议V2.4.9(1).pdf
new file mode 100644
index 0000000..9161f62
Binary files /dev/null and b/acs2/nladmin-system/doc/蓝芯调度系统-任务和设备接口协议V2.4.9(1).pdf differ
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java
index 680f15f..4def3dd 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java
@@ -70,6 +70,31 @@ public interface AcsConfig {
      */
     String WCSURL = "wcsurl";
 
+    /**
+     * 蓝芯调度系统接口地址
+     */
+    String LXURL = "lxUrl";
+
+    /**
+     * 蓝芯调度系统请求token
+     */
+    String LXTOKEN = "lxToken";
+
+    /**
+     * 蓝芯调度系统请求name
+     */
+    String LXNAME = "lxName";
+
+    /**
+     * 蓝芯调度系统默认区域ID
+     */
+    String LXAREAID = "lxAreaId";
+
+    /**
+     * 蓝芯调度系统默认地图ID
+     */
+    String LXMAPID = "lxMapId";
+
     String HASOTHERSYSTEM = "hasOtherSystem";
 
     String ERPURL = "erpurl";
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/rest/AcsToLxController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/rest/AcsToLxController.java
new file mode 100644
index 0000000..5a0910e
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/rest/AcsToLxController.java
@@ -0,0 +1,160 @@
+package org.nl.acs.api.lx.rest;
+
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.api.lx.service.AcsToLxService;
+import org.nl.acs.api.lx.service.dto.LxGenericTemplateSubmitRequest;
+import org.nl.acs.api.lx.service.dto.LxPauseAmrRequest;
+import org.nl.acs.api.lx.service.dto.LxReassignRequest;
+import org.nl.acs.api.lx.service.dto.LxShelfTaskSendRequest;
+import org.nl.acs.api.lx.service.dto.LxTaskAddRequest;
+import org.nl.acs.api.lx.service.dto.LxTaskChainTemplateListRequest;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PathVariable;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.List;
+
+@RestController
+@RequiredArgsConstructor
+@RequestMapping("/api/lx/acs")
+@Slf4j
+public class AcsToLxController {
+
+    private final AcsToLxService acsToLxService;
+
+    /**
+     * ACS请求蓝芯创建任务链。
+     */
+    @PostMapping("/task/add")
+    public ResponseEntity<Object> addTask(@RequestBody LxTaskAddRequest request) {
+        return new ResponseEntity<Object>(acsToLxService.addTask(request), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯按任务链ID查询任务状态。
+     */
+    @GetMapping("/task/getTaskChainByIds")
+    public ResponseEntity<Object> queryTaskChainByIds(@RequestParam List<Long> taskChainIds) {
+        return new ResponseEntity<Object>(acsToLxService.queryTaskChainByIds(taskChainIds), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯取消任务链。
+     */
+    @PostMapping("/task/cancel/{id}")
+    public ResponseEntity<Object> cancelTask(@PathVariable Long id) {
+        return new ResponseEntity<Object>(acsToLxService.cancelTask(id, null), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯强制或普通取消任务链。
+     */
+    @PostMapping("/task/cancel/{id}/{force}")
+    public ResponseEntity<Object> cancelTask(@PathVariable Long id, @PathVariable Boolean force) {
+        return new ResponseEntity<Object>(acsToLxService.cancelTask(id, force), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯按车辆改派任务。
+     */
+    @PutMapping("/taskChain/reassignByAmrId/{amrId}")
+    public ResponseEntity<Object> reassignByAmrId(@PathVariable Long amrId, @RequestBody LxReassignRequest request) {
+        return new ResponseEntity<Object>(acsToLxService.reassignByAmrId(amrId, request), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯按任务链改派任务。
+     */
+    @PutMapping("/taskChain/reassignByTaskChainId/{taskChainId}")
+    public ResponseEntity<Object> reassignByTaskChainId(@PathVariable Long taskChainId, @RequestBody LxReassignRequest request) {
+        return new ResponseEntity<Object>(acsToLxService.reassignByTaskChainId(taskChainId, request), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯按模板ID直接下发任务。
+     */
+    @GetMapping("/taskChainTemplate/submit/{id}")
+    public ResponseEntity<Object> submitTaskChainTemplate(@PathVariable Long id) {
+        return new ResponseEntity<Object>(acsToLxService.submitTaskChainTemplate(id), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯查询任务链模板列表。
+     */
+    @PostMapping("/taskChainTemplate/list")
+    public ResponseEntity<Object> listTaskChainTemplate(@RequestBody(required = false) LxTaskChainTemplateListRequest request) {
+        return new ResponseEntity<Object>(acsToLxService.listTaskChainTemplate(request), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯结束等待调度确认的任务链。
+     */
+    @GetMapping("/taskChain/endFinishPauseIsFalseTask/{taskChainId}")
+    public ResponseEntity<Object> endFinishPauseIsFalseTask(@PathVariable Long taskChainId) {
+        return new ResponseEntity<Object>(acsToLxService.endFinishPauseIsFalseTask(taskChainId), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯按通用模板提交任务。
+     */
+    @PostMapping("/taskChainTemplate/generic/submit")
+    public ResponseEntity<Object> submitGenericTemplate(@RequestBody LxGenericTemplateSubmitRequest request) {
+        return new ResponseEntity<Object>(acsToLxService.submitGenericTemplate(request), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯查询在线车辆信息。
+     */
+    @GetMapping("/amr/onlineAmr")
+    public ResponseEntity<Object> onlineAmr() {
+        return new ResponseEntity<Object>(acsToLxService.onlineAmr(), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯同步指定地图的点位数据。
+     */
+    @GetMapping("/map/getMapVertexes/{mapId}")
+    public ResponseEntity<Object> getMapVertexes(@PathVariable Long mapId) {
+        return new ResponseEntity<Object>(acsToLxService.getMapVertexes(mapId), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯暂停车辆。
+     */
+    @PostMapping("/amr/taskCommand/pause/{amrId}")
+    public ResponseEntity<Object> pauseAmr(@PathVariable Long amrId, @RequestBody(required = false) LxPauseAmrRequest request) {
+        return new ResponseEntity<Object>(acsToLxService.pauseAmr(amrId, request), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯恢复车辆。
+     */
+    @PostMapping("/amr/taskCommand/resume/{amrId}")
+    public ResponseEntity<Object> resumeAmr(@PathVariable Long amrId) {
+        return new ResponseEntity<Object>(acsToLxService.resumeAmr(amrId), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯修改任务链优先级。
+     */
+    @GetMapping("/task/priority")
+    public ResponseEntity<Object> changeTaskPriority(@RequestParam Long taskChainId, @RequestParam Integer priority) {
+        return new ResponseEntity<Object>(acsToLxService.changeTaskPriority(taskChainId, priority), HttpStatus.OK);
+    }
+
+    /**
+     * ACS请求蓝芯下发货架任务。
+     */
+    @PostMapping("/shelf/task/send")
+    public ResponseEntity<Object> sendShelfTask(@RequestBody LxShelfTaskSendRequest request) {
+        return new ResponseEntity<Object>(acsToLxService.sendShelfTask(request), HttpStatus.OK);
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/rest/LxToAcsController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/rest/LxToAcsController.java
new file mode 100644
index 0000000..36e7243
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/rest/LxToAcsController.java
@@ -0,0 +1,29 @@
+package org.nl.acs.api.lx.rest;
+
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.api.lx.service.LxToAcsService;
+import org.nl.acs.api.lx.service.dto.LxTaskInfoCallbackDto;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+@RestController
+@RequiredArgsConstructor
+@RequestMapping("/api/lx")
+@Slf4j
+public class LxToAcsController {
+
+    private final LxToAcsService lxToAcsService;
+
+    /**
+     * 蓝芯回调ACS任务执行状态。
+     */
+    @PostMapping("/push/taskInfo")
+    public ResponseEntity<Object> receiveTaskInfo(@RequestBody LxTaskInfoCallbackDto request) {
+        return new ResponseEntity<>(lxToAcsService.receiveTaskInfo(request), HttpStatus.OK);
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/AcsToLxService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/AcsToLxService.java
new file mode 100644
index 0000000..1c14d2c
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/AcsToLxService.java
@@ -0,0 +1,89 @@
+package org.nl.acs.api.lx.service;
+
+import org.nl.acs.api.lx.service.dto.LxBaseResponse;
+import org.nl.acs.api.lx.service.dto.LxGenericTemplateSubmitRequest;
+import org.nl.acs.api.lx.service.dto.LxPauseAmrRequest;
+import org.nl.acs.api.lx.service.dto.LxReassignRequest;
+import org.nl.acs.api.lx.service.dto.LxShelfTaskSendRequest;
+import org.nl.acs.api.lx.service.dto.LxTaskAddRequest;
+import org.nl.acs.api.lx.service.dto.LxTaskChainTemplateListRequest;
+
+import java.util.List;
+
+public interface AcsToLxService {
+
+    /**
+     * 向蓝芯下发任务链和子任务，生成调度任务。
+     */
+    LxBaseResponse addTask(LxTaskAddRequest request);
+
+    /**
+     * 根据任务链ID列表查询任务链执行信息。
+     */
+    LxBaseResponse queryTaskChainByIds(List<Long> taskChainIds);
+
+    /**
+     * 取消指定任务链，可选择是否强制取消。
+     */
+    LxBaseResponse cancelTask(Long id, Boolean force);
+
+    /**
+     * 按车辆改派任务，将指定车辆后续动作切换为新的任务点。
+     */
+    LxBaseResponse reassignByAmrId(Long amrId, LxReassignRequest request);
+
+    /**
+     * 按任务链改派任务，将指定任务链后续动作切换为新的任务点。
+     */
+    LxBaseResponse reassignByTaskChainId(Long taskChainId, LxReassignRequest request);
+
+    /**
+     * 根据蓝芯任务链模板ID直接下发任务。
+     */
+    LxBaseResponse submitTaskChainTemplate(Long id);
+
+    /**
+     * 查询蓝芯任务链模板列表。
+     */
+    LxBaseResponse listTaskChainTemplate(LxTaskChainTemplateListRequest request);
+
+    /**
+     * 结束处于调度确认等待中的任务链。
+     */
+    LxBaseResponse endFinishPauseIsFalseTask(Long taskChainId);
+
+    /**
+     * 按通用模板并结合外部传入点位参数生成任务。
+     */
+    LxBaseResponse submitGenericTemplate(LxGenericTemplateSubmitRequest request);
+
+    /**
+     * 查询在线车辆状态、电量、坐标和异常等信息。
+     */
+    LxBaseResponse onlineAmr();
+
+    /**
+     * 按地图ID同步地图点位信息。
+     */
+    LxBaseResponse getMapVertexes(Long mapId);
+
+    /**
+     * 暂停车辆，可指定是否立即停车。
+     */
+    LxBaseResponse pauseAmr(Long amrId, LxPauseAmrRequest request);
+
+    /**
+     * 恢复已暂停的车辆继续执行任务。
+     */
+    LxBaseResponse resumeAmr(Long amrId);
+
+    /**
+     * 调整未执行任务链的优先级。
+     */
+    LxBaseResponse changeTaskPriority(Long taskChainId, Integer priority);
+
+    /**
+     * 下发货架搬运任务。
+     */
+    LxBaseResponse sendShelfTask(LxShelfTaskSendRequest request);
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/LxToAcsService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/LxToAcsService.java
new file mode 100644
index 0000000..c6d6645
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/LxToAcsService.java
@@ -0,0 +1,12 @@
+package org.nl.acs.api.lx.service;
+
+import org.nl.acs.api.lx.service.dto.LxReceiveResponse;
+import org.nl.acs.api.lx.service.dto.LxTaskInfoCallbackDto;
+
+public interface LxToAcsService {
+
+    /**
+     * 接收蓝芯回传的任务链和子任务执行状态。
+     */
+    LxReceiveResponse receiveTaskInfo(LxTaskInfoCallbackDto request);
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxBaseResponse.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxBaseResponse.java
new file mode 100644
index 0000000..582d1d3
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxBaseResponse.java
@@ -0,0 +1,40 @@
+package org.nl.acs.api.lx.service.dto;
+
+import lombok.Data;
+
+@Data
+public class LxBaseResponse {
+
+    /**
+     * 蓝芯接口业务状态。
+     */
+    private Boolean state;
+    /**
+     * 蓝芯业务错误码。
+     */
+    private String errCode;
+    /**
+     * 蓝芯业务错误描述。
+     */
+    private String errMsg;
+    /**
+     * 蓝芯接口返回数据。
+     */
+    private Object data;
+    /**
+     * HTTP状态码。
+     */
+    private Integer httpStatus;
+    /**
+     * 实际请求地址。
+     */
+    private String url;
+    /**
+     * 接口耗时。
+     */
+    private Long duration;
+    /**
+     * 当响应无法解析时保留原始响应体。
+     */
+    private String rawBody;
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxGenericTemplateSubmitRequest.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxGenericTemplateSubmitRequest.java
new file mode 100644
index 0000000..3c68fc5
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxGenericTemplateSubmitRequest.java
@@ -0,0 +1,60 @@
+package org.nl.acs.api.lx.service.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class LxGenericTemplateSubmitRequest {
+
+    /**
+     * 是否需要蓝芯回传任务状态。
+     */
+    private Integer isReturn;
+
+    /**
+     * 模板ID，与name二选一。
+     */
+    private Long id;
+
+    /**
+     * 模板名称，与id二选一。
+     */
+    private String name;
+
+    /**
+     * 指定车辆ID。
+     */
+    private Long amrId;
+
+    /**
+     * 指定车辆分组ID。
+     */
+    private Long groupId;
+
+    /**
+     * 任务优先级。
+     */
+    private Integer priority;
+
+    /**
+     * 模板动态点位参数列表。
+     */
+    private List<Target> targets;
+
+    @Data
+    public static class Target {
+        /**
+         * 地图ID。
+         */
+        private Long mapId;
+        /**
+         * 点位编号。
+         */
+        private String code;
+        /**
+         * 点位扩展参数。
+         */
+        private String extend;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxPauseAmrRequest.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxPauseAmrRequest.java
new file mode 100644
index 0000000..5f3168a
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxPauseAmrRequest.java
@@ -0,0 +1,17 @@
+package org.nl.acs.api.lx.service.dto;
+
+import lombok.Data;
+
+@Data
+public class LxPauseAmrRequest {
+
+    /**
+     * 车辆ID。
+     */
+    private Long amrId;
+
+    /**
+     * 是否立即停车。
+     */
+    private Boolean stopNow;
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxReassignRequest.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxReassignRequest.java
new file mode 100644
index 0000000..813574f
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxReassignRequest.java
@@ -0,0 +1,40 @@
+package org.nl.acs.api.lx.service.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class LxReassignRequest {
+
+    /**
+     * 改派起始位置。
+     */
+    private Double sequence;
+
+    /**
+     * 是否保留后续子任务。
+     */
+    private Boolean isRetained;
+
+    /**
+     * 改派后的任务列表。
+     */
+    private List<ReassignTask> reassignTasks;
+
+    @Data
+    public static class ReassignTask {
+        /**
+         * 子任务动作类型。
+         */
+        private String taskType;
+        /**
+         * 地图ID。
+         */
+        private Long mapId;
+        /**
+         * 目标点编号。
+         */
+        private String endPointCode;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxReceiveResponse.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxReceiveResponse.java
new file mode 100644
index 0000000..adaecef
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxReceiveResponse.java
@@ -0,0 +1,12 @@
+package org.nl.acs.api.lx.service.dto;
+
+import lombok.Data;
+
+@Data
+public class LxReceiveResponse {
+
+    /**
+     * 蓝芯回调接收确认，固定返回1表示收到。
+     */
+    private Integer receive;
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxShelfTaskSendRequest.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxShelfTaskSendRequest.java
new file mode 100644
index 0000000..e093f9c
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxShelfTaskSendRequest.java
@@ -0,0 +1,58 @@
+package org.nl.acs.api.lx.service.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class LxShelfTaskSendRequest {
+
+    /**
+     * 货架任务列表。
+     */
+    private List<ShelfTaskInfo> shelfTaskInfo;
+
+    @Data
+    public static class ShelfTaskInfo {
+        /**
+         * 货架编号。
+         */
+        private String shelfCode;
+        /**
+         * 货架型号编号。
+         */
+        private String shelfModelCode;
+        /**
+         * 容器类型。
+         */
+        private String containerType;
+        /**
+         * 上游任务号。
+         */
+        private String taskId;
+        /**
+         * 任务名称。
+         */
+        private String taskName;
+        /**
+         * 区域编号。
+         */
+        private String areaCode;
+        /**
+         * 起点编号。
+         */
+        private String startCode;
+        /**
+         * 终点编号。
+         */
+        private String destCode;
+        /**
+         * 任务优先级。
+         */
+        private Integer priority;
+        /**
+         * 指定执行分组。
+         */
+        private Long groupId;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxTaskAddRequest.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxTaskAddRequest.java
new file mode 100644
index 0000000..1420b27
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxTaskAddRequest.java
@@ -0,0 +1,75 @@
+package org.nl.acs.api.lx.service.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class LxTaskAddRequest {
+
+    /**
+     * 任务链公共参数。
+     */
+    private TaskChain taskChain;
+
+    /**
+     * 子任务列表。
+     */
+    private List<TaskItem> tasks;
+
+    @Data
+    public static class TaskChain {
+        /**
+         * 任务链优先级。
+         */
+        private Integer priority;
+        /**
+         * 指定执行车辆。
+         */
+        private Long amrId;
+        /**
+         * 指定执行分组。
+         */
+        private Long groupId;
+        /**
+         * 上游任务号。
+         */
+        private String taskSeq;
+        /**
+         * 请求来源。
+         */
+        private String fromDetail;
+        /**
+         * 是否需要蓝芯回传任务状态。
+         */
+        private Integer isReturn;
+        /**
+         * 区域ID。
+         */
+        private Long areaId;
+        /**
+         * 任务名称。
+         */
+        private String name;
+    }
+
+    @Data
+    public static class TaskItem {
+        /**
+         * 子任务动作类型，如O1、O13、E2。
+         */
+        private String taskType;
+        /**
+         * 地图ID。
+         */
+        private Long mapId;
+        /**
+         * 目标点编号。
+         */
+        private String endPointCode;
+        /**
+         * 任务扩展参数。
+         */
+        private String extend;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxTaskChainTemplateListRequest.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxTaskChainTemplateListRequest.java
new file mode 100644
index 0000000..203d77f
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxTaskChainTemplateListRequest.java
@@ -0,0 +1,27 @@
+package org.nl.acs.api.lx.service.dto;
+
+import lombok.Data;
+
+@Data
+public class LxTaskChainTemplateListRequest {
+
+    /**
+     * 车辆分组ID。
+     */
+    private Long groupId;
+
+    /**
+     * 模板名称，支持模糊查询。
+     */
+    private String name;
+
+    /**
+     * 当前页码。
+     */
+    private Integer currentPage;
+
+    /**
+     * 每页条数。
+     */
+    private Integer pageSize;
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxTaskInfoCallbackDto.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxTaskInfoCallbackDto.java
new file mode 100644
index 0000000..67e9cf6
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/dto/LxTaskInfoCallbackDto.java
@@ -0,0 +1,110 @@
+package org.nl.acs.api.lx.service.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class LxTaskInfoCallbackDto {
+
+    /**
+     * 任务链ID。
+     */
+    private Long taskChainId;
+    /**
+     * 任务链名称。
+     */
+    private String taskChainName;
+    /**
+     * 区域ID。
+     */
+    private Long areaId;
+    /**
+     * 任务链创建时间。
+     */
+    private Long createTime;
+    /**
+     * 任务链开始时间。
+     */
+    private Long chainStartTime;
+    /**
+     * 任务链结束时间。
+     */
+    private Long chainFinishTime;
+    /**
+     * 请求来源。
+     */
+    private String fromDetail;
+    /**
+     * 扩展参数。
+     */
+    private String extend;
+    /**
+     * 小车状态ID。
+     */
+    private Integer stateId;
+    /**
+     * 小车状态名称。
+     */
+    private String state;
+    /**
+     * 货架或物料信息。
+     */
+    private List<MaterialDto> materials;
+    /**
+     * 任务状态。
+     */
+    private Integer status;
+    /**
+     * 子任务ID。
+     */
+    private Long taskId;
+    /**
+     * 小车实际动作类型。
+     */
+    private Integer action;
+    /**
+     * 子任务类型。
+     */
+    private String taskType;
+    /**
+     * 车辆ID。
+     */
+    private Long amrId;
+    /**
+     * 目标点编号。
+     */
+    private String endPointCode;
+    /**
+     * 地图ID。
+     */
+    private Long mapId;
+    /**
+     * 子任务开始时间。
+     */
+    private Long startTime;
+    /**
+     * 子任务结束时间。
+     */
+    private Long finishTime;
+    /**
+     * 上下料属性。
+     */
+    private Integer loading;
+
+    @Data
+    public static class MaterialDto {
+        /**
+         * 物料编码集合。
+         */
+        private List<String> code;
+        /**
+         * 物料位置。
+         */
+        private String position;
+        /**
+         * 货架码或补充信息。
+         */
+        private String info;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/impl/AcsToLxServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/impl/AcsToLxServiceImpl.java
new file mode 100644
index 0000000..1cbc99e
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/impl/AcsToLxServiceImpl.java
@@ -0,0 +1,471 @@
+package org.nl.acs.api.lx.service.impl;
+
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSON;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.nl.acs.AcsConfig;
+import org.nl.acs.api.lx.service.AcsToLxService;
+import org.nl.acs.api.lx.service.dto.LxBaseResponse;
+import org.nl.acs.api.lx.service.dto.LxGenericTemplateSubmitRequest;
+import org.nl.acs.api.lx.service.dto.LxPauseAmrRequest;
+import org.nl.acs.api.lx.service.dto.LxReassignRequest;
+import org.nl.acs.api.lx.service.dto.LxShelfTaskSendRequest;
+import org.nl.acs.api.lx.service.dto.LxTaskAddRequest;
+import org.nl.acs.api.lx.service.dto.LxTaskChainTemplateListRequest;
+import org.nl.system.service.param.ISysParamService;
+import org.nl.system.service.param.dao.Param;
+import org.springframework.stereotype.Service;
+
+import java.util.List;
+
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class AcsToLxServiceImpl implements AcsToLxService {
+
+    private static final int TIMEOUT = 8000;
+    private static final String DEFAULT_TOKEN = "admin123";
+    private static final String DEFAULT_NAME = "lx-script";
+
+    private final ISysParamService paramService;
+
+    /**
+     * 调用蓝芯任务下发接口。
+     */
+    @Override
+    public LxBaseResponse addTask(LxTaskAddRequest request) {
+        String url = buildUrl("/task/add");
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        String body = JSON.toJSONString(request);
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.post(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .header("Content-Type", "application/json;charset=UTF-8")
+                    .body(body)
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯任务链查询接口。
+     */
+    @Override
+    public LxBaseResponse queryTaskChainByIds(List<Long> taskChainIds) {
+        String url = buildUrl("/task/getTaskChainByIds");
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.get(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .form("taskChainIds", taskChainIds)
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯任务取消接口。
+     */
+    @Override
+    public LxBaseResponse cancelTask(Long id, Boolean force) {
+        String url;
+        if (force == null) {
+            url = buildUrl("/task/cancel/" + id);
+        } else {
+            url = buildUrl("/task/cancel/" + id + "/" + force);
+        }
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.post(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯按车辆改派接口。
+     */
+    @Override
+    public LxBaseResponse reassignByAmrId(Long amrId, LxReassignRequest request) {
+        String url = buildUrl("/taskChain/reassignByAmrId/" + amrId);
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        String body = JSON.toJSONString(request);
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.put(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .header("Content-Type", "application/json;charset=UTF-8")
+                    .body(body)
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯按任务链改派接口。
+     */
+    @Override
+    public LxBaseResponse reassignByTaskChainId(Long taskChainId, LxReassignRequest request) {
+        String url = buildUrl("/taskChain/reassignByTaskChainId/" + taskChainId);
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        String body = JSON.toJSONString(request);
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.put(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .header("Content-Type", "application/json;charset=UTF-8")
+                    .body(body)
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯任务链模板下发接口。
+     */
+    @Override
+    public LxBaseResponse submitTaskChainTemplate(Long id) {
+        String url = buildUrl("/taskChainTemplate/submit/" + id);
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.get(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯任务链模板查询接口。
+     */
+    @Override
+    public LxBaseResponse listTaskChainTemplate(LxTaskChainTemplateListRequest request) {
+        String url = buildUrl("/taskChainTemplate/list");
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        String body = JSON.toJSONString(request);
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.post(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .header("Content-Type", "application/json;charset=UTF-8")
+                    .body(body)
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯结束调度确认任务接口。
+     */
+    @Override
+    public LxBaseResponse endFinishPauseIsFalseTask(Long taskChainId) {
+        String url = buildUrl("/taskChain/endFinishPauseIsFalseTask/" + taskChainId);
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.get(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯通用模板任务提交接口。
+     */
+    @Override
+    public LxBaseResponse submitGenericTemplate(LxGenericTemplateSubmitRequest request) {
+        String url = buildUrl("/taskChainTemplate/generic/submit");
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        String body = JSON.toJSONString(request);
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.post(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .header("Content-Type", "application/json;charset=UTF-8")
+                    .body(body)
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯在线车辆查询接口。
+     */
+    @Override
+    public LxBaseResponse onlineAmr() {
+        String url = buildUrl("/amr/onlineAmr");
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.get(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯地图点位同步接口。
+     */
+    @Override
+    public LxBaseResponse getMapVertexes(Long mapId) {
+        String url = buildUrl("/map/getMapVertexes/" + mapId);
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.get(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯暂停车辆接口。
+     */
+    @Override
+    public LxBaseResponse pauseAmr(Long amrId, LxPauseAmrRequest request) {
+        String url = buildUrl("/amr/taskCommand/pause/" + amrId);
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        String body = JSON.toJSONString(request);
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.post(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .header("Content-Type", "application/json;charset=UTF-8")
+                    .body(body)
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯恢复车辆接口。
+     */
+    @Override
+    public LxBaseResponse resumeAmr(Long amrId) {
+        String url = buildUrl("/amr/taskCommand/resume/" + amrId);
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.post(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯任务优先级调整接口。
+     */
+    @Override
+    public LxBaseResponse changeTaskPriority(Long taskChainId, Integer priority) {
+        String url = buildUrl("/task/priority");
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.get(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .form("taskChainId", taskChainId)
+                    .form("priority", priority)
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    /**
+     * 调用蓝芯货架任务下发接口。
+     */
+    @Override
+    public LxBaseResponse sendShelfTask(LxShelfTaskSendRequest request) {
+        String url = buildUrl("/shelf/task/send");
+        if (StringUtils.isBlank(url)) {
+            return buildMissingUrlResponse();
+        }
+        String body = JSON.toJSONString(request);
+        long start = System.currentTimeMillis();
+        try {
+            HttpResponse response = HttpRequest.post(url)
+                    .header("token", resolveParam(AcsConfig.LXTOKEN, DEFAULT_TOKEN))
+                    .header("name", resolveParam(AcsConfig.LXNAME, DEFAULT_NAME))
+                    .header("Content-Type", "application/json;charset=UTF-8")
+                    .body(body)
+                    .timeout(TIMEOUT)
+                    .execute();
+            return buildResponse(response, url, start);
+        } catch (Exception ex) {
+            return buildErrorResponse(url, start, ex);
+        }
+    }
+
+    private LxBaseResponse buildResponse(HttpResponse response, String url, long start) {
+        LxBaseResponse result;
+        try {
+            result = JSON.parseObject(response.body(), LxBaseResponse.class);
+            if (result == null) {
+                result = new LxBaseResponse();
+            }
+        } catch (Exception ex) {
+            result = new LxBaseResponse();
+            result.setState(Boolean.TRUE);
+            result.setRawBody(response.body());
+        }
+        result.setHttpStatus(response.getStatus());
+        result.setUrl(url);
+        result.setDuration(System.currentTimeMillis() - start);
+        return result;
+    }
+
+    private LxBaseResponse buildErrorResponse(String url, long start, Exception ex) {
+        LxBaseResponse result = new LxBaseResponse();
+        result.setState(Boolean.FALSE);
+        result.setErrCode("LX_HTTP_ERROR");
+        result.setErrMsg(ex.getMessage());
+        result.setUrl(url);
+        result.setDuration(System.currentTimeMillis() - start);
+        return result;
+    }
+
+    private LxBaseResponse buildMissingUrlResponse() {
+        LxBaseResponse result = new LxBaseResponse();
+        result.setState(Boolean.FALSE);
+        result.setErrCode("LX_URL_MISSING");
+        result.setErrMsg("未配置蓝芯接口地址，请先配置参数 lxUrl 或 agvurl/agvport");
+        return result;
+    }
+
+    private String buildUrl(String path) {
+        String baseUrl = resolveBaseUrl();
+        if (StringUtils.isBlank(baseUrl)) {
+            return null;
+        }
+        return StringUtils.removeEnd(baseUrl, "/") + path;
+    }
+
+    private String resolveBaseUrl() {
+        String lxUrl = resolveParam(AcsConfig.LXURL, null);
+        if (StringUtils.isNotBlank(lxUrl)) {
+            return lxUrl;
+        }
+        String agvUrl = resolveParam(AcsConfig.AGVURL, null);
+        String agvPort = resolveParam(AcsConfig.AGVPORT, null);
+        if (StringUtils.isBlank(agvUrl)) {
+            return null;
+        }
+        if (StringUtils.startsWithIgnoreCase(agvUrl, "http://") || StringUtils.startsWithIgnoreCase(agvUrl, "https://")) {
+            if (StringUtils.isNotBlank(agvPort) && !agvUrl.contains(":" + agvPort)) {
+                return StringUtils.removeEnd(agvUrl, "/") + ":" + agvPort;
+            }
+            return agvUrl;
+        }
+        if (StringUtils.isBlank(agvPort)) {
+            return "http://" + agvUrl;
+        }
+        return "http://" + agvUrl + ":" + agvPort;
+    }
+
+    private String resolveParam(String code, String defaultValue) {
+        try {
+            Param param = paramService.findByCode(code);
+            if (param != null && StringUtils.isNotBlank(param.getValue())) {
+                return param.getValue();
+            }
+        } catch (Exception ex) {
+            log.debug("load param {} failed", code, ex);
+        }
+        return defaultValue;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/impl/LxToAcsServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/impl/LxToAcsServiceImpl.java
new file mode 100644
index 0000000..1340ea8
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/api/lx/service/impl/LxToAcsServiceImpl.java
@@ -0,0 +1,72 @@
+package org.nl.acs.api.lx.service.impl;
+
+import com.alibaba.fastjson.JSONObject;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.nl.acs.api.lx.service.AcsToLxService;
+import org.nl.acs.api.lx.service.LxToAcsService;
+import org.nl.acs.api.lx.service.dto.LxBaseResponse;
+import org.nl.acs.api.lx.service.dto.LxReceiveResponse;
+import org.nl.acs.api.lx.service.dto.LxTaskInfoCallbackDto;
+import org.springframework.stereotype.Service;
+
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class LxToAcsServiceImpl implements LxToAcsService {
+
+    private final AcsToLxService acsToLxService;
+
+    /**
+     * 接收蓝芯任务状态回调，并按协议返回receive=1。
+     * 当前仅处理以下6类业务判断：
+     * 1. 上报车号
+     * 2. 执行中
+     * 3. 取消
+     * 4. 完成
+     * 5. 进入某个点请求
+     * 6. 离开某个点请求
+     */
+    @Override
+    public LxReceiveResponse receiveTaskInfo(LxTaskInfoCallbackDto request) {
+        log.info("LX -> ACS taskInfo callback: {}", JSONObject.toJSONString(request));
+        if (request != null) {
+            if (request.getAmrId() != null) {
+                log.info("LX -> ACS vehicle report, amrId={}", request.getAmrId());
+            }
+
+            if (request.getStatus() != null) {
+                if (request.getStatus() == 1) {
+
+                }
+                if (request.getStatus() == 3) {
+
+                }
+                if (request.getStatus() == 2 || request.getStatus() == 7) {
+
+                }
+            }
+
+            if (StringUtils.equalsIgnoreCase(request.getTaskType(), "E2")) {
+
+                if (request.getTaskChainId() != null) {
+                    LxBaseResponse response = acsToLxService.endFinishPauseIsFalseTask(request.getTaskChainId());
+
+                } else {
+
+                }
+            }
+
+            if (request.getStatus() != null
+                    && (request.getStatus() == 2 || request.getStatus() == 7)
+                    && StringUtils.isNotBlank(request.getEndPointCode())
+                    && !StringUtils.equalsIgnoreCase(request.getTaskType(), "E2")) {
+
+            }
+        }
+        LxReceiveResponse result = new LxReceiveResponse();
+        result.setReceive(1);
+        return result;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/enums/DeviceType.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/enums/DeviceType.java
index 93c4056..111e444 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/enums/DeviceType.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/enums/DeviceType.java
@@ -12,7 +12,7 @@ public enum DeviceType {
     scanner("条码阅读器-BCR", 6),
     screen("LED点阵屏", 7),
     storage("货架", 8),
-    robot("机械手", 9),
+    robot("机器人", 9),
     autodoor("自动门", 10),
     plc("plc", 11),
     group("设备组", 12),
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/conveyor/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/conveyor/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
index bffb4b9..9b0c975 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/conveyor/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/conveyor/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
@@ -73,7 +73,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
     @Override
     public void execute() {
         try {
-            Thread.sleep(2000);
+           // Thread.sleep(2000);
             this.deviceCode = this.getDevice().getDevice_code();
             if (this.reqTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqTakeInstCode)) {
                 Instruction instruction = instructionService.findByCodeFromCache(this.reqTakeInstCode);
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/robot/standard_wall_robat/ItemProtocol.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/robot/standard_wall_robat/ItemProtocol.java
new file mode 100644
index 0000000..586a73e
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/robot/standard_wall_robat/ItemProtocol.java
@@ -0,0 +1,165 @@
+package org.nl.acs.device.device_driver.robot.standard_wall_robat;
+
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device.domain.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Data
+public class ItemProtocol {
+
+    /**
+     * 1-空闲、2-工作中、3-完成
+     */
+    public static String item_mode = "mode";
+    /**
+     * 1-设备正常(允许工作)、2-设备故障(不允许工作)
+     */
+    public static String item_error = "error";
+    /**
+     * 0-禁止写入、1-允许接收、2-接收完成
+     */
+    public static String item_status = "status";
+    /**
+     * 任务号
+     */
+    public static String item_task = "task";
+    /**
+     * 下发出入库类型1-入库、2-出库
+     */
+    public static String item_to_inout_type = "to_inout_type";
+    /**
+     * 下发AB库1-A库、2-B库
+     */
+    public static String item_to_warehouse = "to_warehouse";
+    /**
+     * 下发暂存库位行0
+     */
+    public static String item_to_temp_row = "to_temp_row";
+    /**
+     * 下发暂存库位列0-14
+     */
+    public static String item_to_temp_col = "to_temp_col";
+    /**
+     * 下发存储库位位1位2 1-2，每个库2两存储位，正常排
+     */
+    public static String item_to_storage_slot = "to_storage_slot";
+    /**
+     * 下发存储库位行 0-13，正常层
+     */
+    public static String item_to_storage_row = "to_storage_row";
+    /**
+     * 下发存储库位列 0-19，正常列
+     */
+    public static String item_to_storage_col = "to_storage_col";
+    /**
+     * 下发任务号
+     */
+    public static String item_to_task = "to_task";
+    /**
+     * 反馈收到任务完成 1
+     */
+    public static String item_to_command = "to_command";
+
+
+    private StandardWallRobotDeviceDriver driver;
+
+
+    public ItemProtocol(StandardWallRobotDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+
+    public int getMode() {
+        return this.getOpcIntegerValue(item_mode);
+    }
+
+    public int getError() {
+        return this.getOpcIntegerValue(item_error);
+    }
+
+    public int getStatus() {
+        return this.getOpcIntegerValue(item_status);
+    }
+
+    public int getTask() {
+        return this.getOpcIntegerValue(item_task);
+    }
+
+    public int getToInoutType() {
+        return this.getOpcIntegerValue(item_to_inout_type);
+    }
+
+    public int getToWarehouse() {
+        return this.getOpcIntegerValue(item_to_warehouse);
+    }
+
+    public int getToTempRow() {
+        return this.getOpcIntegerValue(item_to_temp_row);
+    }
+
+    public int getToTempCol() {
+        return this.getOpcIntegerValue(item_to_temp_col);
+    }
+
+    public int getToStorageSlot() {
+        return this.getOpcIntegerValue(item_to_storage_slot);
+    }
+
+    public int getToStorageRow() {
+        return this.getOpcIntegerValue(item_to_storage_row);
+    }
+
+    public int getToStorageCol() {
+        return this.getOpcIntegerValue(item_to_storage_col);
+    }
+
+    public int getToTask() {
+        return this.getOpcIntegerValue(item_to_task);
+    }
+
+
+    public int getToCommand() {
+        return this.getOpcIntegerValue(item_to_command);
+    }
+
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegeregerValue(protocol);
+        if (value == null) {
+            this.driver.setIsOnline(false);
+        } else {
+            this.driver.setIsOnline(true);
+            return value;
+        }
+        return 0;
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_mode, "工作模式", "40651"));
+        list.add(new ItemDto(item_error, "报警信号", "40652"));
+        list.add(new ItemDto(item_status, "状态", "40653"));
+        list.add(new ItemDto(item_task, "任务号", "40654"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_to_inout_type, "下发出入库类型(1-入库、2-出库)", "40641"));
+        list.add(new ItemDto(item_to_warehouse, "下发AB库(1-A库、2-B库)", "40642"));
+        list.add(new ItemDto(item_to_temp_row, "下发暂存库位行(默认0)", "40643"));
+        list.add(new ItemDto(item_to_temp_col, "下发暂存库位列(0-14)", "40644"));
+        list.add(new ItemDto(item_to_storage_slot, "下发存储库位排(1-2)", "40645"));
+        list.add(new ItemDto(item_to_storage_row, "下发存储库位层(0-13)", "40646"));
+        list.add(new ItemDto(item_to_storage_col, "下发存储库位列(0-19)", "40647"));
+        list.add(new ItemDto(item_to_task, "下发任务号", "40648"));
+        list.add(new ItemDto(item_to_command, "下发收到任务完成", "40649"));
+        return list;
+    }
+
+}
+
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/robot/standard_wall_robat/StandardWallRobotDefination.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/robot/standard_wall_robat/StandardWallRobotDefination.java
new file mode 100644
index 0000000..706edce
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/robot/standard_wall_robat/StandardWallRobotDefination.java
@@ -0,0 +1,61 @@
+package org.nl.acs.device.device_driver.robot.standard_wall_robat;
+
+import org.nl.acs.device.device.domain.Device;
+import org.nl.acs.device.device.domain.ItemDto;
+import org.nl.acs.device.device.enums.DeviceType;
+import org.nl.acs.device.device_driver.DeviceDriver;
+import org.nl.acs.device.device_driver.defination.OpcDeviceDriverDefination;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 说明：壁挂机器人
+ */
+@Service
+public class StandardWallRobotDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "standard_wall_robot";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "标准版-壁挂机器人";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "标准版-壁挂机器人";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new StandardWallRobotDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return StandardWallRobotDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.robot);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/robot/standard_wall_robat/StandardWallRobotDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/robot/standard_wall_robat/StandardWallRobotDeviceDriver.java
new file mode 100644
index 0000000..92ee33f
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/robot/standard_wall_robat/StandardWallRobotDeviceDriver.java
@@ -0,0 +1,480 @@
+package org.nl.acs.device.device_driver.robot.standard_wall_robat;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.google.common.util.concurrent.Uninterruptibles;
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import lombok.val;
+import org.nl.acs.api.kit.service.AcsToKitService;
+import org.nl.acs.device.device.domain.Device;
+import org.nl.acs.device.device_driver.DeviceDriver;
+import org.nl.acs.device.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.iot.opc.DeviceAppService;
+import org.nl.acs.layout.device.DeviceStageMonitor;
+import org.nl.acs.task.instruction.domain.Instruction;
+import org.nl.acs.task.instruction.enums.InstTypeEnum;
+import org.nl.acs.task.instruction.enums.InstructionStatusEnum;
+import org.nl.acs.task.instruction.service.InstructionService;
+import org.nl.acs.task.task.enums.TaskStatusEnum;
+import org.nl.acs.task.task.enums.TaskTypeEnum;
+import org.nl.acs.task.task.service.TaskService;
+import org.nl.acs.task.task.service.dto.TaskDto;
+import org.nl.common.exception.BadRequestException;
+import org.nl.common.utils.CodeUtil;
+import org.nl.common.utils.SecurityUtils;
+import org.nl.config.SpringContextHolder;
+import org.nl.config.lucene.service.LuceneExecuteLogService;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.Optional;
+import java.util.concurrent.TimeUnit;
+import java.util.stream.Collectors;
+
+
+/**
+ * 壁挂机器人
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class StandardWallRobotDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
+
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+
+    private final LuceneExecuteLogService logService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
+    private final InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
+    private final TaskService taskService = SpringContextHolder.getBean(TaskService.class);
+    private final AcsToKitService acsToKitService = SpringContextHolder.getBean(AcsToKitService.class);
+    private final DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
+
+    /**
+     * 设备在线标记
+     */
+    private Boolean isOnline = true;
+
+    /**
+     * 设备报警标记
+     */
+    private Boolean isError = false;
+
+    /**
+     * 请求标记
+     */
+    private boolean requireSuccess = false;
+
+    /**
+     * 记录出入库标记，保证出入库均衡分配。如果是false，则认为是上一个出库任务,则下一个任务下发入库任务
+     */
+    private Boolean inOutFlag = false;
+
+    /**
+     * 请求时间
+     */
+    private long requireTime = System.currentTimeMillis();
+
+    /**
+     * 请求间隔时间
+     */
+    private long requireTimeOut = 3000L;
+
+    /**
+     * 工作模式
+     */
+    private int mode = 0;
+    private int last_mode = 0;
+
+    /**
+     * 报警信号
+     */
+    private int error = 0;
+    private int last_error = 0;
+
+    /**
+     * 状态
+     */
+    private int status = 0;
+    private int last_status = 0;
+
+    /**
+     * 任务号
+     */
+    private int task = 0;
+    private int last_task = 0;
+
+    /**
+     * 下发出入库类型
+     */
+    private int to_inout_type = 0;
+    private int last_to_inout_type = 0;
+
+    /**
+     * 下发AB库
+     */
+    private int to_warehouse = 0;
+    private int last_to_warehouse = 0;
+
+    /**
+     * 下发暂存位行
+     */
+    private int to_temp_row = 0;
+    private int last_to_temp_row = 0;
+
+    /**
+     * 下发暂存位列
+     */
+    private int to_temp_col = 0;
+    private int last_to_temp_col = 0;
+
+    /**
+     * 下发存储库位排
+     */
+    private int to_storage_slot = 0;
+    private int last_to_storage_slot = 0;
+
+    /**
+     * 下发存储库位层
+     */
+    private int to_storage_row = 0;
+    private int last_to_storage_row = 0;
+
+    /**
+     * 下发存储库位列
+     */
+    private int to_storage_col = 0;
+    private int last_to_storage_col = 0;
+
+    /**
+     * 下发任务号
+     */
+    private int to_task = 0;
+    private int last_to_task = 0;
+
+    /**
+     * 下发反馈收到任务完成
+     */
+    private int to_command = 0;
+    private int last_to_command = 0;
+
+    /**
+     * 消息
+     */
+    private String message = null;
+
+    /**
+     * 当前设备号
+     */
+    private String currentDeviceCode = null;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+
+    @Override
+    public void execute() {
+        try {
+            this.mode = this.itemProtocol.getMode();
+            this.error = this.itemProtocol.getError();
+            this.status = this.itemProtocol.getStatus();
+            this.task = this.itemProtocol.getTask();
+            this.to_inout_type = this.itemProtocol.getToInoutType();
+            this.to_warehouse = this.itemProtocol.getToWarehouse();
+            this.to_temp_row = this.itemProtocol.getToTempRow();
+            this.to_temp_col = this.itemProtocol.getToTempCol();
+            this.to_storage_slot = this.itemProtocol.getToStorageSlot();
+            this.to_storage_row = this.itemProtocol.getToStorageRow();
+            this.to_storage_col = this.itemProtocol.getToStorageCol();
+            this.to_task = this.itemProtocol.getToTask();
+            this.to_command = this.itemProtocol.getToCommand();
+
+            if (this.mode != this.last_mode) {
+                System.out.println("mode由" + this.last_mode + "->" + this.mode);
+                //mode值不是工作中，复位任务下发执行标记
+                if (this.mode != 2) {
+                    System.out.println("复位请求标记:" + requireSuccess);
+                    this.requireSuccess = false;
+                }
+            }
+            if (this.status != this.last_status) {
+                System.out.println("status由" + this.last_status + "->" + this.status);
+            }
+
+            if (this.task != this.last_task) {
+                System.out.println("task由" + this.last_task + "->" + this.task);
+            }
+
+            if (mode == 2){
+                Instruction inst = this.instructionService.findByCodeFromCache(String.valueOf(this.task));
+                if (inst != null && InstructionStatusEnum.READY.getIndex().equals(inst.instruction_status)){
+                    inst.setInstruction_status(InstructionStatusEnum.BUSY.getIndex());
+                    instructionService.update(inst);
+                }
+            }
+
+            if (mode == 3 && !requireSuccess) {
+                Instruction inst = this.instructionService.findByCodeFromCache(String.valueOf(this.task));
+                if (inst != null) {
+                    instructionService.finish(inst.getInstruction_id());
+                    Map<String, Object> param = new HashMap<>();
+                    param.put("to_command", 1);
+                    this.writing(param);
+                    this.requireSuccess = true;
+                }
+            }
+
+            if (!this.isOnline) {
+                this.message = "设备离线";
+            } else if (this.error == 2) {
+                this.message = "设备报警";
+                this.isError = true;
+            } else if (this.status == 0) {
+                this.message = "设备禁止写入";
+                this.isError = true;
+            } else {
+                this.isError = false;
+                this.isOnline = true;
+                this.message = null;
+
+                if (this.mode == 1 && this.error == 1 && this.status == 1 && !this.requireSuccess) {
+                    this.executeTask();
+                }
+
+            }
+        } catch (Exception e) {
+            //logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "当前设备执行逻辑报错,错误堆栈信息: " + Arrays.toString(e.getStackTrace())));
+            Uninterruptibles.sleepUninterruptibly(5, TimeUnit.SECONDS);
+        }
+
+        this.last_mode = this.mode;
+        this.last_error = this.error;
+        this.last_status = this.status;
+        this.last_task = this.task;
+        this.last_to_inout_type = this.to_inout_type;
+        this.last_to_warehouse = this.to_warehouse;
+        this.last_to_temp_row = this.to_temp_row;
+        this.last_to_temp_col = this.to_temp_col;
+        this.last_to_storage_slot = this.to_storage_slot;
+        this.last_to_storage_row = this.to_storage_row;
+        this.last_to_storage_col = this.to_storage_col;
+        this.last_to_task = this.to_task;
+        this.last_to_command = this.to_command;
+    }
+
+
+    public void writing(Map<String, Object> param) {
+        String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code();
+        Map<String, Object> newParam = param.entrySet().stream().collect(Collectors.toMap(entry -> to_param + "." + entry.getKey(), Map.Entry::getValue));
+        try {
+            this.checkcontrol(newParam);
+            System.out.println("下发PLC信号:" + JSON.toJSONString(param));
+            //logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "下发PLC信号成功" + param));
+        } catch (Exception e) {
+            //logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "下发PLC信号失败" + param));
+        }
+    }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+
+    private boolean isTimeValid(long currentTimeMillis) {
+        return currentTimeMillis - this.requireTime >= this.requireTimeOut;
+    }
+
+    private Device getRequiredDevice(String deviceCode, String errorMessage) {
+        Device device = deviceAppService.findDeviceByCode(deviceCode);
+        if (device == null) {
+            this.message = errorMessage;
+        }
+        return device;
+    }
+
+    private Integer getRequiredExtraValue(Device device, String key, String errorMessage) {
+        Integer value = Optional.ofNullable(device.getExtraValue().get(key))
+                .map(Object::toString)
+                .map(Integer::parseInt)
+                .orElse(-1);
+        if (value == -1) {
+            this.message = errorMessage;
+        }
+        return value;
+    }
+
+    private boolean dispatchInstruction(Instruction inst, boolean inbound, boolean storageAreaFromStart,
+                                        String slotValue, String rowValue, String colValue) {
+        Device startDevice = getRequiredDevice(inst.getStart_device_code(), "指令起点不存在");
+        if (startDevice == null) {
+            return false;
+        }
+        Device nextDevice = getRequiredDevice(inst.getNext_device_code(), "指令终点不存在");
+        if (nextDevice == null) {
+            return false;
+        }
+
+        Device storageAreaDevice = storageAreaFromStart ? startDevice : nextDevice;
+        Device tempDevice = inbound ? startDevice : nextDevice;
+        Integer storage_area = getRequiredExtraValue(storageAreaDevice, "storage_area", "A/B库配置错误");
+        if (storage_area == -1) {
+            return false;
+        }
+        Integer temp_row = getRequiredExtraValue(tempDevice, "temp_z", "暂存库位行配置错误");
+        if (temp_row == -1) {
+            return false;
+        }
+        Integer temp_col = getRequiredExtraValue(tempDevice, "temp_y", "暂存库位列配置错误");
+        if (temp_col == -1) {
+            return false;
+        }
+
+        Map<String, Object> param = new HashMap<>();
+        param.put("to_inout_type", inst.getInstruction_type());
+        param.put("to_warehouse", storage_area);
+        param.put("to_temp_row", temp_row);
+        param.put("to_temp_col", temp_col);
+        param.put("to_storage_slot", Integer.parseInt(slotValue));
+        param.put("to_storage_row", Integer.parseInt(rowValue) - 1);
+        param.put("to_storage_col", Integer.parseInt(colValue) - 1);
+        param.put("to_task", inst.getInstruction_code());
+        this.writing(param);
+        this.inOutFlag = inbound;
+        this.requireSuccess = true;
+        return true;
+    }
+
+    private void executeTask() {
+        long currentTimeMillis = System.currentTimeMillis();
+        if (!isTimeValid(currentTimeMillis)) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.requireTimeOut);
+        } else {
+            this.requireTime = currentTimeMillis;
+            //先查询当前任务号，是否存在
+            //若存在直接return
+            Instruction instruction = instructionService.findByCodeFromCache(String.valueOf(this.task));
+            if (ObjectUtil.isNotEmpty(instruction)) {
+                this.message = "存在执行中的任务,不再下发";
+                return;
+            }
+            //如果上一个任务是出库任务
+            if (!inOutFlag) {
+                //先查询是否存在就绪状态下的入库指令，如果存在就下发壁挂机器人入库信息
+                Instruction inInst = instructionService.findByInstType(InstTypeEnum.WALL_ROBOT_IN.getCode());
+                if (ObjectUtil.isNotEmpty(inInst)) {
+                    if (dispatchInstruction(inInst, true, false, inInst.getTo_x(), inInst.getTo_z(), inInst.getTo_y())) {
+                        return;
+                    }
+                    return;
+                }
+                //如果不存在就绪状态下的入库指令，则查询是否存在就绪状态下的出库指令
+                Instruction outInst = instructionService.findByInstType(InstTypeEnum.WALL_ROBOT_OUT.getCode());
+                if (ObjectUtil.isNotEmpty(outInst)) {
+                    if (dispatchInstruction(outInst, false, true, outInst.getFrom_x(), outInst.getTo_z(), outInst.getFrom_y())) {
+                        return;
+                    }
+                    return;
+                }
+                //如果不存在就绪状态下的出库指令，查询就绪状态下的入库任务,并按照优先级、时间进行排序
+                TaskDto inTask = taskService.findByTaskType(TaskTypeEnum.WALL_ROBOT_IN.getCode());
+                if (ObjectUtil.isNotEmpty(inTask)) {
+                    //创建指令
+                    Instruction inst = this.packInst(inTask);
+                    if (dispatchInstruction(inst, true, false, inst.getTo_x(), inst.getTo_z(), inst.getTo_y())) {
+                        return;
+                    }
+                    return;
+                }
+                //如果不存在入库任务，查询出库任务,并按照优先级、时间进行排序
+                TaskDto outTask = taskService.findByTaskType(TaskTypeEnum.WALL_ROBOT_OUT.getCode());
+                if (ObjectUtil.isNotEmpty(outTask)) {
+                    //创建指令
+                    Instruction inst = this.packInst(outTask);
+                    dispatchInstruction(inst, false, true, inst.getFrom_x(), inst.getTo_z(), inst.getFrom_y());
+                }
+            } else {
+                //先查询是否存在就绪状态下的出库指令
+                Instruction outInst = instructionService.findByInstType(InstTypeEnum.WALL_ROBOT_OUT.getCode());
+                if (ObjectUtil.isNotEmpty(outInst)) {
+                    if (dispatchInstruction(outInst, false, true, outInst.getFrom_x(), outInst.getTo_z(), outInst.getFrom_y())) {
+                        return;
+                    }
+                    return;
+                }
+                //如果不存在则查询是否存在就绪状态下的入库指令
+                Instruction inInst = instructionService.findByInstType(InstTypeEnum.WALL_ROBOT_IN.getCode());
+                if (ObjectUtil.isNotEmpty(inInst)) {
+                    if (dispatchInstruction(inInst, true, false, inInst.getTo_x(), inInst.getTo_z(), inInst.getTo_y())) {
+                        return;
+                    }
+                    return;
+                }
+                //如果入库指令不存在，则再查询出库任务
+                TaskDto outTask = taskService.findByTaskType(TaskTypeEnum.WALL_ROBOT_OUT.getCode());
+                if (ObjectUtil.isNotEmpty(outTask)) {
+                    //创建指令
+                    Instruction inst = this.packInst(outTask);
+                    dispatchInstruction(inst, false, true, inst.getFrom_x(), inst.getTo_z(), inst.getFrom_y());
+                }
+                //如果出库任务不存在，则查询入库任务
+                TaskDto inTask = taskService.findByTaskType(TaskTypeEnum.WALL_ROBOT_IN.getCode());
+                if (ObjectUtil.isNotEmpty(inTask)) {
+                    //创建指令
+                    Instruction inst = this.packInst(inTask);
+                    dispatchInstruction(inst, true, false, inst.getTo_x(), inst.getTo_z(), inst.getTo_y());
+                }
+            }
+        }
+    }
+
+    private Instruction packInst(TaskDto taskDto) {
+        Instruction inst = new Instruction();
+        inst.setInstruction_id(IdUtil.simpleUUID());
+        inst.setInstruction_code(CodeUtil.getNewCode("INSTRUCT_NO"));
+        inst.setRoute_plan_code(taskDto.getRoute_plan_code());
+        inst.setRemark(taskDto.getRemark());
+        inst.setMaterial(taskDto.getMaterial());
+        inst.setQuantity(taskDto.getQuantity());
+        inst.setTask_id(taskDto.getTask_id());
+        inst.setTask_code(taskDto.getTask_code());
+        inst.setVehicle_code(taskDto.getVehicle_code());
+        inst.setVehicle_type(taskDto.getVehicle_type());
+        String now = DateUtil.now();
+        inst.setCreate_time(now);
+        inst.setCreate_by(SecurityUtils.getCurrentNickName());
+        inst.setStart_device_code(taskDto.getStart_device_code());
+        inst.setNext_device_code(taskDto.getNext_device_code());
+        inst.setStart_point_code(taskDto.getStart_point_code());
+        inst.setNext_point_code(taskDto.getNext_point_code());
+        inst.setPriority(taskDto.getPriority());
+        inst.setInstruction_status(InstructionStatusEnum.READY.getIndex());
+        inst.setExecute_device_code(this.currentDeviceCode);
+        inst.setInstruction_type(taskDto.getTask_type());
+        try {
+            instructionService.create(inst);
+            taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
+            taskDto.setUpdate_time(DateUtil.now());
+            taskDto.setRemark(" ");
+            taskService.update(taskDto);
+        } catch (Exception e) {
+            //logService
+            throw new BadRequestException(e.getMessage());
+        }
+        return inst;
+    }
+
+
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/storage/standard_storage/StandardStorageDefination.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/storage/standard_storage/StandardStorageDefination.java
new file mode 100644
index 0000000..48ee047
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/storage/standard_storage/StandardStorageDefination.java
@@ -0,0 +1,49 @@
+package org.nl.acs.device.device_driver.storage.standard_storage;
+
+import org.nl.acs.device.device.domain.Device;
+import org.nl.acs.device.device.enums.DeviceType;
+import org.nl.acs.device.device_driver.DeviceDriver;
+import org.nl.acs.device.device_driver.DeviceDriverDefination;
+import org.springframework.stereotype.Service;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * 货架
+ */
+@Service
+public class StandardStorageDefination implements DeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "standard_storage";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "标准版-货架";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "标准版-货架";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new StandardStorageDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return StandardStorageDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.storage);
+        return types;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/storage/standard_storage/StandardStorageDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/storage/standard_storage/StandardStorageDeviceDriver.java
new file mode 100644
index 0000000..e23275c
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/storage/standard_storage/StandardStorageDeviceDriver.java
@@ -0,0 +1,17 @@
+package org.nl.acs.device.device_driver.storage.standard_storage;
+
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.DeviceDriver;
+import org.nl.acs.device.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device.device_driver.driver.AbstractDeviceDriver;
+
+
+/**
+ * 标准版货架
+ */
+@Slf4j
+@Data
+public class StandardStorageDeviceDriver extends AbstractDeviceDriver implements RouteableDeviceDriver,  DeviceDriver {
+}
+
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/enums/InstTypeEnum.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/enums/InstTypeEnum.java
new file mode 100644
index 0000000..3a0f6a0
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/enums/InstTypeEnum.java
@@ -0,0 +1,71 @@
+package org.nl.acs.task.instruction.enums;
+
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * @author 20220102CG\noblelift
+ */
+@Getter
+@AllArgsConstructor
+public enum InstTypeEnum {
+    /**
+     * 任务类型
+      */
+    WALL_ROBOT_IN("1", "1", "壁挂机器人-入库任务"),
+    WALL_ROBOT_OUT("2", "2", "壁挂机器人-出库任务");
+
+
+    /**
+     * 索引
+     */
+    private String index;
+    /**
+     * 编码
+     */
+    private String code;
+    /**
+     * 名字
+     */
+    private String name;
+    /**
+     * 描述
+     */
+    private String desc;
+
+    /**
+     * 构造方法
+     * @param index
+     * @param code
+     * @param name
+     */
+    InstTypeEnum(String index, String code, String name) {
+        this.index = index;
+        this.code = code;
+        this.name = name;
+
+    }
+
+    public static JSONArray getList() {
+        JSONArray arr = new JSONArray();
+        JSONObject json = new JSONObject();
+        for (InstTypeEnum em : InstTypeEnum.values()) {
+            json.put("code", em.getCode());
+            json.put("name", em.getName());
+            arr.add(json);
+        }
+        return arr;
+    }
+
+    public static String getName(String code) {
+        for (InstTypeEnum c : InstTypeEnum.values()) {
+            if (c.code == code) {
+                return c.name;
+            }
+        }
+        return null;
+    }
+
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/InstructionService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/InstructionService.java
index 8a8564d..7c9bc08 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/InstructionService.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/InstructionService.java
@@ -80,14 +80,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     int removeByIds(Set<String> ids);
 
-    /**
-     * 导出数据
-     * @param all 待导出的数据
-     * @param response /
-     * @throws IOException /
-     */
-    // void download(List<InstructionDto> all, HttpServletResponse response) throws IOException;
-
     /**
      * 查询数据分页
      *
@@ -135,14 +127,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     void reload();
 
-    /**
-     * 根据ID查询
-     *
-     * @param instruction_id ID
-     * @return Instruction
-     */
-//    Instruction findById(String instruction_id);
-
     /**
      * 根据编码查询
      *
@@ -151,22 +135,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     Instruction findByCode(String code);
 
-    /**
-     * 根据任务code查询
-     *
-     * @param code code
-     * @return Instruction
-     */
-    Instruction findByTaskcode(String code);
-
-    /**
-     * 根据任务code查询
-     *
-     * @param code code
-     * @return Instruction
-     */
-    Instruction findByTaskcodeAndStatus(String code);
-
     /**
      * 根据任务id查询
      *
@@ -184,9 +152,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     void create(Instruction dto) throws Exception;
 
-
-
-
     /**
      * 创建2
      *
@@ -195,13 +160,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     void create2(Instruction dto) throws Exception;
 
-    /**
-     * 再次创建
-     *
-     * @param dto
-     * @throws Exception
-     */
-    void createAgain(Instruction dto) throws Exception;
 
     /**
      * 编辑
@@ -260,7 +218,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     void finishAndCreateHXInst(Instruction dto) throws Exception;
 
-
     /**
      * 取消指令
      *
@@ -293,92 +250,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     Instruction findByCodeFromCache(String code);
 
-    /**
-     * 根据编码查询
-     *
-     * @param code
-     * @return
-     */
-    List<Instruction> findByLinkNum(String code);
-
-    /**
-     * 根据关联编号查询下发任务
-     *
-     * @param code code
-     * @return Instruction
-     */
-    Instruction findByLinkNumSend(String code);
-
-    /**
-     * 根据关联编号查询非下发任务
-     *
-     * @param code code
-     * @return Instruction
-     */
-    Instruction findByLinkNumNoSend(String code);
-
-    /**
-     * 根据条码缓存查询
-     *
-     * @param barcode barcode
-     * @return Instruction
-     */
-    Instruction findByBarcodeFromCache(String barcode);
-
-    /**
-     * 根据设备缓存查询
-     *
-     * @param devicecode code
-     * @return Instruction
-     */
-    Instruction findByDeviceCodeFromCache(String devicecode);
-
-    /**
-     * 查找起点是否有就绪或者执行中的指令
-     */
-
-    Instruction findByNextCodeAndReadyAndRun(String device_code);
-
-    /**
-     * 根据起点设备编号查询当前是否有就绪指令
-     *
-     * @param device_code
-     * @return
-     */
-    Instruction findByStartCodeAndReady(String device_code);
-
-    /**
-     * 根据起点设备编号查询当前是否有运行的指令
-     *
-     * @param device_code
-     * @return
-     */
-    Instruction findByDeviceCodeRunFromCache(String device_code);
-
-    /**
-     * 根据终点设备编号查询当前是否有就绪指令
-     *
-     * @param device_code
-     * @return
-     */
-    Instruction findByEndCodeAndReady(String device_code);
-
-
-    /**
-     * 根据终点查询指令
-     * @param devicecode
-     * @return
-     */
-    Instruction findByNextDeviceCodeFromCache(String devicecode);
-
-    /**
-     * 根据设备id查询
-     *
-     * @param id
-     * @return Instruction
-     */
-    Instruction findByIdFromCache(String id);
-
     /**
      * 格式化
      *
@@ -402,30 +273,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     Integer querySameDestinationInst(String code);
 
-    /**
-     * 查询相同指令类型的数量
-     *
-     * @param inst_type
-     * @return
-     */
-    Integer querySameInstType(String inst_type);
-
-    /**
-     * 查询相同起点指令的数量
-     *
-     * @param code
-     * @return
-     */
-    Integer querySameOriginInst(String code);
-
-    /**
-     * 查询相同起点、终点指令的数量
-     *
-     * @param code
-     * @return
-     */
-    //Integer querySameOriginInst(String code);
-
     /**
      * 根据编码删除
      *
@@ -434,15 +281,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     boolean removeByCodeFromCache(String code);
 
-    /**
-     * 创建关联指令
-     *
-     * @param type
-     * @param inst
-     * @return
-     */
-    boolean createLkInst(String type, Instruction inst);
-
     /**
      * 初始化指令
      *
@@ -450,15 +288,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     void init(String id);
 
-    /**
-     * 根据指令某个参数查找指令集合
-     *
-     * @param instruction1
-     * @param flay
-     * @return
-     */
-    List<Instruction> findByDeviceCodes(Instruction instruction1, Boolean flay);
-
 
     /**
      * 根据条件查询指令
@@ -478,29 +307,5 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
     void downloadInstLogging(List<JSONObject> instList, HttpServletResponse response) throws IOException;
 
 
-    /**
-     * 查询是否有相同终点的指令,但是是入库的指令,即指令起点设备类型不是货架
-     *
-     * @param nextDeviceCode
-     * @return
-     */
-    Boolean querySameNextDeviceCodeInstByIn(String nextDeviceCode);
-
-    /**
-     * 查询是否有相同终点的指令,但是是出库的指令,即指令起点设备类型是货架
-     *
-     * @param nextDeviceCode
-     * @return
-     */
-    Boolean querySameNextDeviceCodeInstByOut(String nextDeviceCode);
-
-   List<Instruction> findByCodeAndExcute(String nextDeviceCode);
-
-
-    List<Instruction> findByNextCode(String nextDeviceCode);
-
-    List<Instruction> findReadyIns();
-    List<Instruction> findReadyIns2();
-
-    Instruction findByStarCodeAndExcute(String deviceCode);
+    Instruction findByInstType(String instType);
 }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/impl/InstructionServiceImpl.java
index 4e14209..99841b9 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/impl/InstructionServiceImpl.java
@@ -17,6 +17,10 @@ import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.ObjectUtils;
+import org.nl.acs.AcsConfig;
+import org.nl.acs.api.lx.service.AcsToLxService;
+import org.nl.acs.api.lx.service.dto.LxBaseResponse;
+import org.nl.acs.api.lx.service.dto.LxTaskAddRequest;
 import org.nl.acs.autoThread.initial.ApplicationAutoInitial;
 import org.nl.acs.task.instruction.domain.Instruction;
 import org.nl.acs.task.instruction.domain.InstructionMybatis;
@@ -57,6 +61,7 @@ import org.nl.config.lucene.enums.LogLevelEnum;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.nl.system.service.param.ISysParamService;
+import org.nl.system.service.param.dao.Param;
 import org.nl.common.utils.CodeUtil;
 import org.nl.config.SpringContextHolder;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -97,6 +102,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Autowired
     private LuceneExecuteLogService luceneExecuteLogService;
+    @Autowired
+    private AcsToLxService acsToLxService;
 
     private List<Instruction> instructions = new CopyOnWriteArrayList();
 
@@ -169,10 +176,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     public synchronized void reload() {
-        List<InstructionMybatis> list = new LambdaQueryChainWrapper<InstructionMybatis>(instructionMapper)
-                .lt(InstructionMybatis::getInstruction_status, InstructionStatusEnum.FINISHED.getIndex())
-                .eq(InstructionMybatis::getIs_delete, "0")
-                .list();
+        List<InstructionMybatis> list = new LambdaQueryChainWrapper<InstructionMybatis>(instructionMapper).lt(InstructionMybatis::getInstruction_status, InstructionStatusEnum.FINISHED.getIndex()).eq(InstructionMybatis::getIs_delete, "0").list();
 //        List list = this.queryAll("instruction_status <2 and is_delete =0");
         this.instructions = new CopyOnWriteArrayList<>(ConvertUtil.convertList(list, Instruction.class));
     }
@@ -257,9 +261,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     public Map<String, Object> getByTaskId(String id) {
-        List<InstructionMybatis> insList = new LambdaQueryChainWrapper<>(instructionMapper)
-                .eq(InstructionMybatis::getTask_id, id)
-                .list();
+        List<InstructionMybatis> insList = new LambdaQueryChainWrapper<>(instructionMapper).eq(InstructionMybatis::getTask_id, id).list();
         JSONObject jsonObject = new JSONObject();
         JSONArray content = JSONArray.parseArray(JSON.toJSONString(insList));
         JSONArray array = new JSONArray();
@@ -283,16 +285,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     public List<Instruction> queryAll(Map whereJson) {
-        List<InstructionMybatis> insList = new LambdaQueryChainWrapper<>(instructionMapper)
-                .list();
+        List<InstructionMybatis> insList = new LambdaQueryChainWrapper<>(instructionMapper).list();
         return ConvertUtil.convertList(insList, Instruction.class);
     }
 
     @Override
     public List queryAll(String whereJson) {
-        List<InstructionMybatis> insList = new LambdaQueryChainWrapper<>(instructionMapper)
-                .lt(InstructionMybatis::getInstruction_status, InstructionStatusEnum.FINISHED.getIndex())
-                .list();
+        List<InstructionMybatis> insList = new LambdaQueryChainWrapper<>(instructionMapper).lt(InstructionMybatis::getInstruction_status, InstructionStatusEnum.FINISHED.getIndex()).list();
         return ConvertUtil.convertList(insList, Instruction.class);
     }
 
@@ -309,31 +308,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         return null;
     }
 
-    @Override
-    public Instruction findByTaskcode(String code) {
-        InstructionMybatis ins = new LambdaQueryChainWrapper<>(instructionMapper)
-                .eq(InstructionMybatis::getTask_code, code)
-                .eq(InstructionMybatis::getInstruction_status, InstructionStatusEnum.BUSY.getIndex())
-                .one();
-        if (ObjectUtil.isEmpty(ins)) {
-            return null;
-        }
-        return ConvertUtil.convert(ins, Instruction.class);
-    }
-
-    @Override
-    public Instruction findByTaskcodeAndStatus(String code) {
-        Iterator var3 = instructions.iterator();
-        while (var3.hasNext()) {
-            Instruction instruction = (Instruction) var3.next();
-            if (StrUtil.equals(instruction.getTask_code(), code)
-                    && StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex())) {
-                return instruction;
-            }
-        }
-        return null;
-    }
-
     @Override
     public Instruction findByTaskid(String id, String wherecaluse) {
 
@@ -344,13 +318,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         if (ObjectUtil.isNotEmpty(ins)) {
             return ConvertUtil.convert(ins, Instruction.class);
         }
-//        if(instructions.size() > 0){
-//            List<Instruction> collect = instructions.stream().filter(instruction -> instruction.getTask_id().equals(id)
-//                    && Integer.parseInt(instruction.getInstruction_status()) < 2).collect(Collectors.toList());
-//            if(collect.size() > 0){
-//                return collect.get(0);
-//            }
-//        }
         return null;
     }
 
@@ -366,10 +333,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
         String start_device_code = dto.getStart_device_code();
         if (StrUtil.isNotEmpty(dto.getTask_code())) {
-            List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class)
-                    .eq(InstructionMybatis::getTask_code, dto.getTask_code()));
-            if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code()
-                    .equals(start_device_code))) {
+            List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class).eq(InstructionMybatis::getTask_code, dto.getTask_code()));
+            if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code().equals(start_device_code))) {
                 return;
             }
         }
@@ -399,8 +364,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
         // 起点设备与终点设备相同则为初始指令
         if (StrUtil.equals(task.getStart_device_code(), dto.getStart_device_code())) {
-            if (!StrUtil.equals(dto.getCompound_inst(), "0")
-                    && StrUtil.equals(task.getCompound_task(), CommonFinalParam.ONE)) {
+            if (!StrUtil.equals(dto.getCompound_inst(), "0") && StrUtil.equals(task.getCompound_task(), CommonFinalParam.ONE)) {
                 dto.setCompound_inst(CommonFinalParam.ONE);
                 dto.setCompound_inst_data(task.getCompound_task_data());
             }
@@ -424,8 +388,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             /*String start_device_code = dto.getStart_device_code();*/
             String next_device_code = dto.getNext_device_code();
             String route_plan_code = task.getRoute_plan_code();
-            List<RouteLineDto> shortPathsList =
-                    routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+            List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
             if (ObjectUtils.isEmpty(shortPathsList)) {
                 throw new Exception(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由不通");
             }
@@ -434,64 +397,79 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             }
             if (shortPathsList.size() > 0 && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE) && dto.getAgv_system_type().equals(AgvSystemTypeEnum.Two_NDC_System_Type.getIndex())) {
                 // 0为输送、立库任务  1 1楼叉车系统  2 2楼1区域AGV系统 3 2楼2区域AGV系统
-                if (!StrUtil.equals(task.getAgv_system_type(), "0")
-                        && ObjectUtil.isNotEmpty(task.getAgv_system_type())) {
-                    if (StrUtil.isBlank(dto.getAgv_inst_type())) {
-                        String agv_system_type = task.getAgv_system_type();
-                        String task_type = task.getTask_type();
-                        if (!StrUtil.equals(agv_system_type, "1")) {
-                            // task_type
-                            //1、生箔； Itype=1:取空，取满，放空，放满；
-                            //2、分切  Itype=3取满、取空、放满、放空；
-                            //3、普通任务 Itype=2:取货、放货；
-                            //4、叉车任务
-                            //5、输送任务
-                            //6、行架
-                            //7、立库
-                            if (StrUtil.equals(task_type, "1")) {
-                                dto.setAgv_inst_type("1");
-                            } else if (StrUtil.equals(task_type, "3")) {
-                                dto.setAgv_inst_type("2");
-                            } else if (StrUtil.equals(task_type, "2")) {
-                                dto.setAgv_inst_type("3");
-                            } else if (StrUtil.equals(task_type, "8")) {
-                                dto.setAgv_inst_type("2");
-                            } else {
-                                log.info("未找到对应的AGV指令类型，任务号:" + task.getTask_code() + ",task_type:" + task.getTask_type());
-                            }
-                        } else {
-                            dto.setAgv_inst_type("4");
-                        }
-                        dto.setAgv_system_type(task.getAgv_system_type());
-                    }
-                   // NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
-                    log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type()
-                            + ",AGV指令类型:" + dto.getInstruction_type());
+                if (!StrUtil.equals(task.getAgv_system_type(), "0") && ObjectUtil.isNotEmpty(task.getAgv_system_type())) {
+                    // NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
+                    log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type() + ",AGV指令类型:" + dto.getInstruction_type());
                     try {
                         if (StrUtil.isEmpty(dto.getAgv_inst_type()) || StrUtil.isEmpty(dto.getAgv_system_type())) {
-                            log.info("sendAgvInstToNDC 指令校验:" + dto.getInstruction_code() + ",inst_type:" + dto.getInstruction_type()
-                                    + ",inst_system_type:" + dto.getAgv_system_type());
+                            log.info("sendAgvInstToNDC 指令校验:" + dto.getInstruction_code() + ",inst_type:" + dto.getInstruction_type() + ",inst_system_type:" + dto.getAgv_system_type());
+                        }
+                        LxTaskAddRequest request = new LxTaskAddRequest();
+                        LxTaskAddRequest.TaskChain taskChain = new LxTaskAddRequest.TaskChain();
+                        taskChain.setPriority(StrUtil.isNumeric(dto.getPriority()) ? Integer.valueOf(dto.getPriority()) : 0);
+                        taskChain.setTaskSeq(dto.getInstruction_code());
+                        taskChain.setFromDetail("InstructionServiceImpl.create");
+                        taskChain.setIsReturn(1);
+                        taskChain.setName(dto.getTask_code());
+                        if (StrUtil.isNotBlank(dto.getCarno()) && StrUtil.isNumeric(dto.getCarno())) {
+                            taskChain.setAmrId(Long.valueOf(dto.getCarno()));
+                        }
+                        Param areaParam = paramService.findByCode(AcsConfig.LXAREAID);
+                        if (areaParam != null && StrUtil.isNotBlank(areaParam.getValue()) && StrUtil.isNumeric(areaParam.getValue())) {
+                            taskChain.setAreaId(Long.valueOf(areaParam.getValue()));
+                        } else {
+                            taskChain.setAreaId(1L);
+                        }
+                        request.setTaskChain(taskChain);
+
+                        Param mapParam = paramService.findByCode(AcsConfig.LXMAPID);
+                        Long mapId = 1L;
+                        if (mapParam != null && StrUtil.isNotBlank(mapParam.getValue()) && StrUtil.isNumeric(mapParam.getValue())) {
+                            mapId = Long.valueOf(mapParam.getValue());
+                        }
+
+                        LxTaskAddRequest.TaskItem firstTask = new LxTaskAddRequest.TaskItem();
+                        firstTask.setTaskType("O1");
+                        firstTask.setMapId(mapId);
+                        firstTask.setEndPointCode(dto.getStart_point_code());
+                        if (StrUtil.isNotBlank(dto.getStart_height()) && !"0".equals(dto.getStart_height())) {
+                            JSONObject extend = new JSONObject();
+                            extend.put("platform_height", dto.getStart_height());
+                            firstTask.setExtend(extend.toJSONString());
+                        }
+
+                        LxTaskAddRequest.TaskItem secondTask = new LxTaskAddRequest.TaskItem();
+                        secondTask.setTaskType("O13");
+                        secondTask.setMapId(mapId);
+                        secondTask.setEndPointCode(dto.getNext_point_code());
+                        if (StrUtil.isNotBlank(dto.getNext_height()) && !"0".equals(dto.getNext_height())) {
+                            JSONObject extend = new JSONObject();
+                            extend.put("platform_height", dto.getNext_height());
+                            secondTask.setExtend(extend.toJSONString());
+                        }
+
+                        if (StrUtil.isBlank(dto.getStart_point_code())) {
+                            secondTask.setTaskType("O0");
+                            request.setTasks(Collections.singletonList(secondTask));
+                        } else {
+                            request.setTasks(Arrays.asList(firstTask, secondTask));
+                        }
+
+                        LxBaseResponse lxResponse = acsToLxService.addTask(request);
+                        if (Boolean.FALSE.equals(lxResponse.getState())) {
+                            dto.setSend_status("2");
+                            dto.setRemark("蓝芯下发失败:" + lxResponse.getErrMsg());
+                            throw new BadRequestException("蓝芯下发失败:" + lxResponse.getErrMsg());
+                        } else {
+                            dto.setSend_status("1");
+                            dto.setRemark("蓝芯下发成功");
                         }
-//                        log.info("2楼1区域AGV系统链接开始");
-//                        String ip = paramService.findByCode(AcsConfig.AGVURL).getValue();
-//                        int port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue());
-//                        InetSocketAddress socketAddress = new InetSocketAddress(ip, port);
-//                        Socket s = new Socket();
-//                        s.connect(socketAddress, 2 * 1000);
-//                        if (ObjectUtil.isNotEmpty(s)&&s.isConnected()==true) {
-                      //  ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
-//                        } else {
-//                            log.error("agv连接出现异常:服务端被关闭");
-//                        }
                     } catch (Exception e) {
                         dto.setSend_status("2");
                         dto.setRemark(e.getMessage());
                         e.printStackTrace();
                         log.warn("下发AGV指令异常:" + e);
-                        LuceneLogDto logDto1 = LuceneLogDto.builder()
-                                .deviceCode(start_device_code)
-                                .content("下发AGV指令异常")
-                                .build();
+                        LuceneLogDto logDto1 = LuceneLogDto.builder().deviceCode(start_device_code).content("下发AGV指令异常").build();
                         logDto1.setLogLevel((LogLevelEnum.ERROR));
                         luceneExecuteLogService.deviceExecuteLog(logDto1);
                     }
@@ -519,14 +497,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         }
 
         String start_device_code = dto.getStart_device_code();
-//        if (StrUtil.isNotEmpty(dto.getTask_code())) {
-//            List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class)
-//                    .eq(InstructionMybatis::getTask_code, dto.getTask_code()));
-//            if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code()
-//                    .equals(start_device_code))) {
-//                return;
-//            }
-//        }
+
         String currentUsername = SecurityUtils.getCurrentNickName();
         String now = DateUtil.now();
         if (StrUtil.isEmpty(dto.getRoute_plan_code())) {
@@ -544,14 +515,10 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         if (StrUtil.isEmpty(dto.getIs_send())) {
             dto.setIs_send(task.getIs_send());
         }
-//        if (StrUtil.isEmpty(dto.getLink_num())) {
-//            dto.setIs_send(task.getLink_num());
-//        }
 
         if (StrUtil.isEmpty(dto.getVehicle_code2())) {
             dto.setVehicle_code2(task.getVehicle_code2());
         }
-//        if (task.getTask_type().equals(CommonFinalParam.ONE) || task.getTask_type().equals("2")) {
         if (StrUtil.isEmpty(task.getClass_type())) {
             dto.setInstruction_type(task.getTask_type());
         } else {
@@ -561,24 +528,9 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 dto.setInstruction_type(task.getTask_type());
             }
         }
-//        } else if (false) {
-//
-//        } else {
-//            dto.setInstruction_type("3");
-//        }
-
-        // 查询是否存在相同指令号
-        //            if (!StrUtil.isEmpty(dto.getVehicle_code() )) {
-        //                Instruction inst_dto = findByContainer(dto.getVehicle_code());
-        //                if (inst_dto != null) {
-        //                    log.error("存在相同载具号任务,载具号"+dto.getVehicle_code());
-        //                    throw new BadRequestException("存在相同载具号任务！");
-        //                }
-        //            }
         // 起点设备与终点设备相同则为初始指令
         if (StrUtil.equals(task.getStart_device_code(), dto.getStart_device_code())) {
-            if (!StrUtil.equals(dto.getCompound_inst(), "0")
-                    && StrUtil.equals(task.getCompound_task(), CommonFinalParam.ONE)) {
+            if (!StrUtil.equals(dto.getCompound_inst(), "0") && StrUtil.equals(task.getCompound_task(), CommonFinalParam.ONE)) {
                 dto.setCompound_inst(CommonFinalParam.ONE);
                 dto.setCompound_inst_data(task.getCompound_task_data());
             }
@@ -590,27 +542,20 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         dto.setStart_parent_code(task.getStart_parent_code());
         dto.setNext_parent_code(task.getNext_parent_code());
 
-//        if (ObjectUtil.isNotEmpty(task.getTask_type())) {
-//            dto.setInstruction_type(task.getTask_type());
-//        }
-
         DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
         Device startdevice = appService.findDeviceByCode(dto.getStart_device_code());
 
 
         try {
-            /*String start_device_code = dto.getStart_device_code();*/
             String next_device_code = dto.getNext_device_code();
             String route_plan_code = task.getRoute_plan_code();
-            List<RouteLineDto> shortPathsList =
-                    routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+            List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
             RouteLineDto route = null;
             for (int i = 0; i < shortPathsList.size(); i++) {
                 RouteLineDto routeLineDto = shortPathsList.get(i);
                 String route_device = routeLineDto.getDevice_code();
                 String route_next_device = routeLineDto.getNext_device_code();
-                if (route_device.equals(dto.getStart_device_code())
-                        && route_next_device.equals(dto.getNext_device_code())) {
+                if (route_device.equals(dto.getStart_device_code()) && route_next_device.equals(dto.getNext_device_code())) {
                     route = routeLineDto;
                     break;
                 }
@@ -622,6 +567,68 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             //判断是否是仙工AGV
             if (shortPathsList.size() > 0 && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
                 Device deviceByCode = deviceAppService.findDeviceByCode(dto.getStart_device_code());
+                if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.Two_NDC_System_Type.getIndex())) {
+                    LxTaskAddRequest request = new LxTaskAddRequest();
+                    LxTaskAddRequest.TaskChain taskChain = new LxTaskAddRequest.TaskChain();
+                    taskChain.setPriority(StrUtil.isNumeric(dto.getPriority()) ? Integer.valueOf(dto.getPriority()) : 0);
+                    taskChain.setTaskSeq(dto.getInstruction_code());
+                    taskChain.setFromDetail("InstructionServiceImpl.create2");
+                    taskChain.setIsReturn(1);
+                    taskChain.setName(dto.getTask_code());
+                    if (StrUtil.isNotBlank(dto.getCarno()) && StrUtil.isNumeric(dto.getCarno())) {
+                        taskChain.setAmrId(Long.valueOf(dto.getCarno()));
+                    }
+                    Param areaParam = paramService.findByCode(AcsConfig.LXAREAID);
+                    if (areaParam != null && StrUtil.isNotBlank(areaParam.getValue()) && StrUtil.isNumeric(areaParam.getValue())) {
+                        taskChain.setAreaId(Long.valueOf(areaParam.getValue()));
+                    } else {
+                        taskChain.setAreaId(1L);
+                    }
+                    request.setTaskChain(taskChain);
+
+                    Param mapParam = paramService.findByCode(AcsConfig.LXMAPID);
+                    Long mapId = 1L;
+                    if (mapParam != null && StrUtil.isNotBlank(mapParam.getValue()) && StrUtil.isNumeric(mapParam.getValue())) {
+                        mapId = Long.valueOf(mapParam.getValue());
+                    }
+
+                    LxTaskAddRequest.TaskItem firstTask = new LxTaskAddRequest.TaskItem();
+                    firstTask.setTaskType("O1");
+                    firstTask.setMapId(mapId);
+                    firstTask.setEndPointCode(dto.getStart_point_code());
+                    if (StrUtil.isNotBlank(dto.getStart_height()) && !"0".equals(dto.getStart_height())) {
+                        JSONObject extend = new JSONObject();
+                        extend.put("platform_height", dto.getStart_height());
+                        firstTask.setExtend(extend.toJSONString());
+                    }
+
+                    LxTaskAddRequest.TaskItem secondTask = new LxTaskAddRequest.TaskItem();
+                    secondTask.setTaskType("O13");
+                    secondTask.setMapId(mapId);
+                    secondTask.setEndPointCode(dto.getNext_point_code());
+                    if (StrUtil.isNotBlank(dto.getNext_height()) && !"0".equals(dto.getNext_height())) {
+                        JSONObject extend = new JSONObject();
+                        extend.put("platform_height", dto.getNext_height());
+                        secondTask.setExtend(extend.toJSONString());
+                    }
+
+                    if (StrUtil.isBlank(dto.getStart_point_code())) {
+                        secondTask.setTaskType("O0");
+                        request.setTasks(Collections.singletonList(secondTask));
+                    } else {
+                        request.setTasks(Arrays.asList(firstTask, secondTask));
+                    }
+
+                    LxBaseResponse lxResponse = acsToLxService.addTask(request);
+                    if (Boolean.FALSE.equals(lxResponse.getState())) {
+                        dto.setSend_status("2");
+                        dto.setRemark("蓝芯下发失败:" + lxResponse.getErrMsg());
+                        throw new BadRequestException("蓝芯下发失败:" + lxResponse.getErrMsg());
+                    } else {
+                        dto.setSend_status("1");
+                        dto.setRemark("蓝芯下发成功");
+                    }
+                }
 
             }
         } catch (Exception e) {
@@ -634,96 +641,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         instructions.add(dto);
     }
 
-    @Override
-    public void createAgain(Instruction dto) throws Exception {
-        String task_code = dto.getTask_code();
-        TaskDto task = taskService.findByCodeFromCache(task_code);
-        String currentUsername = SecurityUtils.getCurrentNickName();
-        String now = DateUtil.now();
-        if (StrUtil.isEmpty(dto.getRoute_plan_code())) {
-            dto.setRoute_plan_code(task.getRoute_plan_code());
-        }
-        if (StrUtil.isEmpty(dto.getInstruction_code())) {
-            dto.setInstruction_code(CodeUtil.getNewCode("INSTRUCT_NO"));
-        }
-        if (StrUtil.isEmpty(dto.getInstruction_id())) {
-            dto.setInstruction_id(IdUtil.simpleUUID());
-        }
-        List<RouteLineDto> shortPathsList =
-                routeLineService.getShortPathLines(
-                        dto.getStart_device_code(), dto.getNext_device_code(), dto.getRoute_plan_code());
-        if (ObjectUtils.isEmpty(shortPathsList)) {
-            throw new Exception(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由不通");
-        }
-        String type = shortPathsList.get(0).getType();
-        if (!StrUtil.equals(type, "0")) {
-//            JSONObject instcheckjson =
-//                    instwo
-//                            .query(
-//                                    " instruction_status <3 and next_point_code= '"
-//                                            + dto.getNext_point_code()
-//                                            + "'"
-//                                            + " and start_point_code = '"
-//                                            + dto.getStart_point_code()
-//                                            + "'"
-//                                            + " and task_id = '"
-//                                            + dto.getTask_id()
-//                                            + "'")
-//                            .uniqueResult(0);
-            InstructionMybatis ins = new LambdaQueryChainWrapper<>(instructionMapper)
-                    .lt(InstructionMybatis::getInstruction_status, InstructionStatusEnum.CANCEL.getIndex())
-                    .eq(InstructionMybatis::getNext_point_code, dto.getNext_point_code())
-                    .eq(InstructionMybatis::getStart_point_code, dto.getStart_point_code())
-                    .eq(InstructionMybatis::getTask_id, dto.getTask_id())
-                    .one();
-
-
-            if (ins != null) {
-                throw new Exception(dto.getTask_code() + ":该任务已存在待完成指令!");
-            }
-        }
-
-        if (!StrUtil.equals(dto.getCompound_inst(), "0")
-                && StrUtil.equals(task.getCompound_task(), CommonFinalParam.ONE)) {
-            dto.setCompound_inst(CommonFinalParam.ONE);
-            dto.setCompound_inst_data(task.getCompound_task_data());
-        }
-
-        dto.setCreate_by(currentUsername);
-        dto.setUpdate_by(currentUsername);
-        dto.setUpdate_time(now);
-        dto.setCreate_time(now);
-
-
-        InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
-        instructionMapper.insert(entity);
-
-        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-        Device startdevice = appService.findDeviceByCode(dto.getStart_device_code());
-        Device nextdevice = appService.findDeviceByCode(dto.getNext_device_code());
-
-
-        if (!ObjectUtils.isEmpty(nextdevice.getExtraValue().get("link_three_lamp"))) {
-            String lamd_device = nextdevice.getExtraValue().get("link_three_lamp").toString();
-            Device lamddevice = appService.findDeviceByCode(lamd_device);
-        }
-
-        // != 0 为agv任务
-        //        if(!StrUtil.equals(type,"0")){
-        //            if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), CommonFinalParam.ONE))
-        // {
-        //                agvService.sendAgvInstToMagic(dto);
-        //            } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(),
-        // "2")) {
-        //                agvService.sendAgvInstToNDC(dto);
-        //            } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(),
-        // "3")) {
-        //                agvService.addOrderSequences(dto);
-        //            }
-        //        }
-        instructions.add(dto);
-    }
-
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void update(Instruction dto) {
@@ -791,7 +708,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     @Transactional(rollbackFor = Exception.class)
     public void finish(String id) {
         InstructionDto entity = this.findById(id);
-        // if (entity == null) throw new BadRequestException(LangProcess.msg("error_sysAuth"));
         String currentUsername = SecurityUtils.getCurrentNickName();
         String now = DateUtil.now();
         entity.setUpdate_time(now);
@@ -858,9 +774,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         instructionMapper.updateById(ins);
         removeByCodeFromCache(entity.getInstruction_code());
 
-        Task task = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_id, insttaskid)
-                .one();
+        Task task = new LambdaQueryChainWrapper<>(taskMapper).eq(Task::getTask_id, insttaskid).one();
         // =0 则不用再次请求
         if (StrUtil.equals(task.getRequest_again(), "0")) {
             if (StrUtil.equals(task.getTask_type(), "8")) {
@@ -914,9 +828,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         String instnextdevice = dto.getNext_device_code();
         String insttaskid = dto.getTask_id();
 
-        Task task = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_id, insttaskid)
-                .one();
+        Task task = new LambdaQueryChainWrapper<>(taskMapper).eq(Task::getTask_id, insttaskid).one();
         // =0 则不用再次请求
         if (StrUtil.equals(task.getRequest_again(), "0")) {
             if (StrUtil.equals(task.getTask_type(), "8")) {
@@ -971,14 +883,10 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     public void finishAndCreateNextInst(Instruction dto) {
         dto = foramte(dto);
         String device_code = dto.getNext_device_code();
-        Task acsTask = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_id, dto.getTask_id())
-                .one();
+        Task acsTask = new LambdaQueryChainWrapper<>(taskMapper).eq(Task::getTask_id, dto.getTask_id()).one();
 
         RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class);
-        List<RouteLineDto> list =
-                routeLineService.getShortPathLines(
-                        dto.getNext_device_code(), acsTask.getNext_device_code(), acsTask.getRoute_plan_code());
+        List<RouteLineDto> list = routeLineService.getShortPathLines(dto.getNext_device_code(), acsTask.getNext_device_code(), acsTask.getRoute_plan_code());
         if (ObjectUtils.isEmpty(list)) {
             throw new BadRequestException(LangProcess.msg("route_isNull"));
         }
@@ -999,20 +907,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         String start_device_code = dto.getNext_device_code();
         String start_point_code = null;
         String next_point_code = null;
-        String start_device =
-                deviceAppService
-                        .findDeviceByCode(start_device_code)
-                        .getDeviceDriverDefination()
-                        .getFitDeviceTypes()
-                        .get(0)
-                        .name();
-        String next_device =
-                deviceAppService
-                        .findDeviceByCode(next_device_code)
-                        .getDeviceDriverDefination()
-                        .getFitDeviceTypes()
-                        .get(0)
-                        .name();
+        String start_device = deviceAppService.findDeviceByCode(start_device_code).getDeviceDriverDefination().getFitDeviceTypes().get(0).name();
+        String next_device = deviceAppService.findDeviceByCode(next_device_code).getDeviceDriverDefination().getFitDeviceTypes().get(0).name();
         if (StrUtil.equals("storage", start_device)) {
             start_point_code = start_device_code + "-" + acsTask.getFrom_y() + "-" + acsTask.getFrom_z();
         } else {
@@ -1063,20 +959,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         String start_device_code = dto.getNext_device_code();
         String start_point_code = null;
         String next_point_code = null;
-        String start_device =
-                deviceAppService
-                        .findDeviceByCode(start_device_code)
-                        .getDeviceDriverDefination()
-                        .getFitDeviceTypes()
-                        .get(0)
-                        .name();
-        String next_device =
-                deviceAppService
-                        .findDeviceByCode(next_device_code)
-                        .getDeviceDriverDefination()
-                        .getFitDeviceTypes()
-                        .get(0)
-                        .name();
+        String start_device = deviceAppService.findDeviceByCode(start_device_code).getDeviceDriverDefination().getFitDeviceTypes().get(0).name();
+        String next_device = deviceAppService.findDeviceByCode(next_device_code).getDeviceDriverDefination().getFitDeviceTypes().get(0).name();
         if (StrUtil.equals("storage", start_device)) {
             start_point_code = start_device_code + "-" + acsTask.getFrom_y() + "-" + acsTask.getFrom_z();
         } else {
@@ -1127,14 +1011,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             entity.setRoute_plan_code(task.getRoute_plan_code());
         }
 
-        // != 0 为agv任务 1=magic 2=NDC 3=XZ,4=ZHEDA
-//        if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), CommonFinalParam.ONE)
-//                && !StrUtil.equals(entity.getSend_status(), "2")) {
-//            MagicAgvService magicAgvService = SpringContextHolder.getBean(MagicAgvService.class);
-//            magicAgvService.deleteAgvInst(entity.getInstruction_code());
-//            flag = true;
-//
-//        } else
         //1=XZ 2=NDC
         if (ObjectUtil.isNotEmpty(entity.getAgv_system_type()) && entity.getAgv_system_type().equals(CommonFinalParam.TWO)) {
             // NDC agv指令不当场取消指令,需要等agv上报
@@ -1147,6 +1023,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             flag = true;
         }
         if (flag) {
+            if (StrUtil.isNotBlank(entity.getInstruction_code()) && StrUtil.isNumeric(entity.getInstruction_code())) {
+                try {
+                    acsToLxService.cancelTask(Long.valueOf(entity.getInstruction_code()), false);
+                } catch (Exception e) {
+                    log.warn("蓝芯取消指令失败, instructionCode={}", entity.getInstruction_code(), e);
+                }
+            }
             String currentUsername = SecurityUtils.getCurrentNickName();
             String now = DateUtil.now();
             entity.setUpdate_time(now);
@@ -1163,8 +1046,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             jo.put("device_code", entity.getStart_device_code());
             if (StrUtil.equals(entity.getMaterial(), CommonFinalParam.ONE)) {
                 jo.put("hasGoodStatus", CommonFinalParam.ONE);
-            } else if (!StrUtil.equals(entity.getMaterial(), CommonFinalParam.ONE)
-                    && !StrUtil.isEmpty(entity.getMaterial())) {
+            } else if (!StrUtil.equals(entity.getMaterial(), CommonFinalParam.ONE) && !StrUtil.isEmpty(entity.getMaterial())) {
                 jo.put("hasGoodStatus", "2");
             } else {
                 jo.put("hasGoodStatus", "0");
@@ -1188,9 +1070,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 log.debug("地址对应设备未找到");
                 return;
             }
-//            removeByCodeFromCache(entity.getInstruction_code());
         }
-//        this.reload();
     }
 
     @Override
@@ -1211,6 +1091,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             if ("1".equals(entity.getSend_status())) {
             }
         }
+        if (StrUtil.isNotBlank(entity.getInstruction_code()) && StrUtil.isNumeric(entity.getInstruction_code())) {
+            try {
+                acsToLxService.cancelTask(Long.valueOf(entity.getInstruction_code()), true);
+            } catch (Exception e) {
+                log.warn("蓝芯强制取消指令失败, instructionCode={}", entity.getInstruction_code(), e);
+            }
+        }
         String currentUsername = SecurityUtils.getCurrentNickName();
         String now = DateUtil.now();
         entity.setUpdate_time(now);
@@ -1226,8 +1113,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         jo.put("device_code", entity.getStart_device_code());
         if (StrUtil.equals(entity.getMaterial(), CommonFinalParam.ONE)) {
             jo.put("hasGoodStatus", CommonFinalParam.ONE);
-        } else if (!StrUtil.equals(entity.getMaterial(), CommonFinalParam.ONE)
-                && !StrUtil.isEmpty(entity.getMaterial())) {
+        } else if (!StrUtil.equals(entity.getMaterial(), CommonFinalParam.ONE) && !StrUtil.isEmpty(entity.getMaterial())) {
             jo.put("hasGoodStatus", "2");
         } else {
             jo.put("hasGoodStatus", "0");
@@ -1251,7 +1137,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             log.debug("地址对应设备未找到");
             return;
         }
-//        removeByCodeFromCache(entity.getInstruction_code());
     }
 
     @Override
@@ -1282,8 +1167,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         jo.put("device_code", entity.getStart_device_code());
         if (StrUtil.equals(entity.getMaterial(), CommonFinalParam.ONE)) {
             jo.put("hasGoodStatus", CommonFinalParam.ONE);
-        } else if (!StrUtil.equals(entity.getMaterial(), CommonFinalParam.ONE)
-                && !StrUtil.isEmpty(entity.getMaterial())) {
+        } else if (!StrUtil.equals(entity.getMaterial(), CommonFinalParam.ONE) && !StrUtil.isEmpty(entity.getMaterial())) {
             jo.put("hasGoodStatus", "2");
         } else {
             jo.put("hasGoodStatus", "0");
@@ -1311,45 +1195,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         removeByCodeFromCache(entity.getInstruction_code());
     }
 
-    @Override
-    public Instruction findByLinkNumSend(String code) {
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            if (StrUtil.equals(code, inst.getLink_num()) && StrUtil.equals(inst.getIs_send(), CommonFinalParam.ONE)) {
-                return inst;
-            }
-        }
-
-        return null;
-    }
-
-    @Override
-    public List<Instruction> findByLinkNum(String code) {
-        List<Instruction> list = new ArrayList<>();
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            if (StrUtil.equals(code, inst.getLink_num()) && StrUtil.equals(inst.getIs_send(), "0")) {
-                list.add(inst);
-            }
-        }
-        return list;
-    }
-
-    @Override
-    public Instruction findByLinkNumNoSend(String code) {
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            if (StrUtil.equals(code, inst.getLink_num()) && StrUtil.equals(inst.getIs_send(), "0")) {
-                return inst;
-            }
-        }
-
-        return null;
-    }
-
     @Override
     public Instruction findByCodeFromCache(String code) {
         Iterator<Instruction> it = instructions.iterator();
@@ -1362,30 +1207,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         return null;
     }
 
-    @Override
-    public Instruction findByBarcodeFromCache(String barcode) {
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            if (StrUtil.equals(barcode, inst.getVehicle_code())) {
-                return inst;
-            }
-        }
-        return null;
-    }
-
-    @Override
-    public Instruction findByIdFromCache(String id) {
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            if (StrUtil.equals(id, inst.getInstruction_id())) {
-                return inst;
-            }
-        }
-        return null;
-    }
-
     @Override
     public Instruction foramte(Instruction inst) {
         CommonFinalParam commonFinalParam = new CommonFinalParam();
@@ -1415,11 +1236,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         } else {
             DeviceDriverDefination deviceDriverDefination = deviceAppService.findDeviceByCode(start_point_code).getDeviceDriverDefination();
             if (BeanUtil.isNotEmpty(deviceDriverDefination)) {
-                String start_device =
-                        deviceDriverDefination
-                                .getFitDeviceTypes()
-                                .get(0)
-                                .name();
+                String start_device = deviceDriverDefination.getFitDeviceTypes().get(0).name();
                 if (StrUtil.equals("storage", start_device)) {
                     String[] start_point = start_point_code.split(commonFinalParam.getBARRE());
                     Device starPoint = deviceAppService.findDeviceByCode(start_point[0]);
@@ -1443,11 +1260,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         } else {
             DeviceDriverDefination deviceDriverDefination = deviceAppService.findDeviceByCode(next_device_code).getDeviceDriverDefination();
             if (BeanUtil.isNotEmpty(deviceDriverDefination)) {
-                String next_device =
-                        deviceDriverDefination
-                                .getFitDeviceTypes()
-                                .get(0)
-                                .name();
+                String next_device = deviceDriverDefination.getFitDeviceTypes().get(0).name();
                 if (StrUtil.equals("storage", next_device)) {
                     String[] next_point = start_point_code.split("-");
                     Device nextDevice = deviceAppService.findDeviceByCode(next_point[0]);
@@ -1463,76 +1276,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         return inst;
     }
 
-    @Override
-    public Instruction findByDeviceCodeFromCache(String devicecode) {
-        List<Instruction> instructionList = instructions;
-        ListUtil.sort(
-                instructionList,
-                new Comparator<Instruction>() {
-                    @Override
-                    public int compare(Instruction o1, Instruction o2) {
-                        return o1.getCreate_time().compareTo(o2.getCreate_time());
-                    }
-                });
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            if (StrUtil.equals(devicecode, inst.getStart_device_code())
-                    && inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex())) {
-                return inst;
-            }
-        }
-
-        return null;
-    }
-
-
-    @Override
-    public Instruction findByDeviceCodeRunFromCache(String devicecode) {
-        List<Instruction> instructionList = instructions;
-        ListUtil.sort(
-                instructionList,
-                new Comparator<Instruction>() {
-                    @Override
-                    public int compare(Instruction o1, Instruction o2) {
-                        return o1.getCreate_time().compareTo(o2.getCreate_time());
-                    }
-                });
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            if (StrUtil.equals(devicecode, inst.getStart_device_code())
-                    && inst.getInstruction_status().equals(InstructionStatusEnum.BUSY.getIndex())) {
-                return inst;
-            }
-        }
-
-        return null;
-    }
-
-
-    @Override
-    public Instruction findByNextDeviceCodeFromCache(String devicecode) {
-        List<Instruction> instructionList = instructions;
-        ListUtil.sort(
-                instructionList,
-                new Comparator<Instruction>() {
-                    @Override
-                    public int compare(Instruction o1, Instruction o2) {
-                        return o1.getCreate_time().compareTo(o2.getCreate_time());
-                    }
-                });
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            if (StrUtil.equals(devicecode, inst.getNext_device_code()) && Integer.parseInt(inst.getInstruction_status()) <= Integer.parseInt(InstructionStatusEnum.BUSY.getIndex()) && !inst.getInstruction_type().equals(TaskTypeEnum.Mxddhj_Task.getIndex())) {
-                return inst;
-            }
-        }
-
-        return null;
-    }
-
     @Override
     public List<Instruction> findAllInstFromCache() {
         return instructions;
@@ -1540,43 +1283,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
     @Override
     public Integer querySameDestinationInst(String deviceCode) {
-        return (int) Optional
-                .ofNullable(this.instructions)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(instruction -> deviceCode.equals(instruction.getNext_point_code().indexOf(".") != -1 ? instruction.getNext_point_code().substring(0, instruction.getNext_point_code().indexOf(".")) : instruction.getNext_point_code()))
-                .count();
-    }
-
-    @Override
-    public Integer querySameInstType(String inst_type) {
-        int num = 0;
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            if (StrUtil.equals(inst.getInstruction_type(), inst_type)) {
-                num = num + 1;
-            }
-        }
-        return num;
-    }
-
-    @Override
-    public Integer querySameOriginInst(String devicecode) {
-        int num = 0;
-        Iterator<Instruction> it = instructions.iterator();
-        while (it.hasNext()) {
-            Instruction inst = it.next();
-            // 处理空盘位站点
-            String start_code = inst.getStart_point_code();
-            if (start_code.indexOf(".") != -1) {
-                start_code = start_code.substring(0, start_code.indexOf("."));
-            }
-            if (StrUtil.equals(devicecode, start_code)) {
-                num = num + 1;
-            }
-        }
-        return num;
+        return (int) Optional.ofNullable(this.instructions).orElse(new CopyOnWriteArrayList<>()).stream().filter(instruction -> deviceCode.equals(instruction.getNext_point_code().indexOf(".") != -1 ? instruction.getNext_point_code().substring(0, instruction.getNext_point_code().indexOf(".")) : instruction.getNext_point_code())).count();
     }
 
     @Override
@@ -1585,21 +1292,9 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         instructions.removeIf((inst) -> {
             return inst.getInstruction_code().equals(code);
         });
-//      while (iterator.hasNext()) {
-//        Instruction instruction = iterator.next();
-//        if (instruction.getInstruction_code().equals(code)) {
-//          iterator.remove();
-//          return true;
-//        }
-//      }
         return true;
     }
 
-    @Override
-    public boolean createLkInst(String type, Instruction dto) {
-        return false;
-    }
-
     /*
      * 判断是否为整数
      * @param str 传入的字符串
@@ -1623,69 +1318,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         }
     }
 
-    @Override
-    public Instruction findByStartCodeAndReady(String device_code) {
-        Optional<Instruction> optionalInstruction = instructions.stream()
-                .filter(instruction -> StrUtil.equals(instruction.getStart_device_code(), device_code)
-                        && StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) && !instruction.getInstruction_type().equals(TaskTypeEnum.Mxddhj_Task.getIndex()))
-                .findFirst();
-        return optionalInstruction.orElse(null);
-    }
-
-    @Override
-    public Instruction findByNextCodeAndReadyAndRun(String device_code) {
-        Optional<Instruction> optionalInstruction = instructions.stream()
-                .filter(instruction -> StrUtil.equals(instruction.getNext_device_code(), device_code)
-                        && (StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) || StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.BUSY.getIndex())))
-                .findFirst();
-        return optionalInstruction.orElse(null);
-    }
-
-    @Override
-    public Instruction findByEndCodeAndReady(String device_code) {
-        Optional<Instruction> optionalInstruction = instructions.stream()
-                .filter(instruction -> StrUtil.equals(instruction.getNext_device_code(), device_code)
-                        && StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex()))
-                .findFirst();
-        return optionalInstruction.orElse(null);
-    }
-
-    @Override
-    public List<Instruction> findByDeviceCodes(Instruction instruction1, Boolean flay) {
-        List<Instruction> instructionList = new ArrayList<>();
-        for (Instruction instruction : instructions) {
-            if (flay) {
-                if (Integer.parseInt(instruction.getInstruction_status()) < 2) {
-                    instructionList.add(instruction);
-                }
-            } else {
-                if (instruction.getInstruction_status().equals(instruction1.getInstruction_status())) {
-                    instructionList.add(instruction);
-                }
-            }
-            if (StrUtil.isNotBlank(instruction.getStart_device_code()) && instruction.getStart_device_code().equals(instruction1.getStart_device_code())) {
-                instructionList.add(instruction);
-            }
-            if (StrUtil.isNotBlank(instruction.getNext_device_code()) && instruction.getNext_device_code().equals(instruction1.getNext_device_code())) {
-                instructionList.add(instruction);
-            }
-        }
-        /*if (ObjectUtil.isNull(instruction1)) {
-            return null;
-        }
-        LambdaQueryWrapper<InstructionMybatis> wrapper = new LambdaQueryWrapper<>();
-        if (flay) {
-            wrapper.le(StrUtil.isNotBlank(instruction1.getInstruction_status()), InstructionMybatis::getInstruction_status, instruction1.getInstruction_status());
-        } else {
-            wrapper.eq(StrUtil.isNotBlank(instruction1.getInstruction_status()), InstructionMybatis::getInstruction_status, instruction1.getInstruction_status());
-        }
-        wrapper.eq(StrUtil.isNotBlank(instruction1.getStart_device_code()), InstructionMybatis::getStart_device_code, instruction1.getStart_device_code());
-        wrapper.eq(StrUtil.isNotBlank(instruction1.getNext_device_code()), InstructionMybatis::getNext_device_code, instruction1.getNext_device_code());
-        List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(wrapper);
-        List<Instruction> instructions = ConvertUtil.convertList(instructionMybatis, Instruction.class);*/
-        return instructionList;
-    }
-
     @Override
     public List<JSONObject> getInstList(Map whereJson) {
         String task_code = (String) whereJson.get("code");
@@ -1763,81 +1395,23 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     }
 
     @Override
-    public Boolean querySameNextDeviceCodeInstByIn(String nextDeviceCode) {
-        return Optional
-                .ofNullable(this.instructions)
-                .orElse(new CopyOnWriteArrayList<>())
+    public Instruction findByInstType(String instType) {
+        return Optional.ofNullable(this.instructions)
+                .orElse(Collections.emptyList())
                 .stream()
-                .filter(instruction -> instruction.getNext_device_code().equals(nextDeviceCode)
-                        && !deviceAppService.findDeviceByCode(instruction.getStart_device_code()).getDevice_type().equals(DeviceType.storage.toString()))
-                .collect(Collectors.toList())
-                .isEmpty();
-    }
-
-    @Override
-    public Boolean querySameNextDeviceCodeInstByOut(String nextDeviceCode) {
-        return Optional
-                .ofNullable(this.instructions)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(instruction -> instruction.getNext_device_code().equals(nextDeviceCode)
-                        && deviceAppService.findDeviceByCode(instruction.getStart_device_code()).getDevice_type().equals(DeviceType.storage.toString()))
-                .collect(Collectors.toList())
-                .isEmpty();
-    }
-
-    @Override
-    public List<Instruction> findByCodeAndExcute(String next_code) {
-        List<Instruction> instructionList = instructions.stream().filter(item -> item.getNext_device_code().equals(next_code)).collect(Collectors.toList());
-
-        return instructionList;
-    }
-
-
-    @Override
-    public List<Instruction> findByNextCode(String next_code) {
-        List<Instruction> instructionList = instructions.stream().filter(item -> item.getNext_device_code().equals(next_code)).collect(Collectors.toList());
-
-        return instructionList;
-    }
-
-    @Override
-    public List<Instruction> findReadyIns2() {
-
-        //根据时间升序取第一个
-        List<Instruction> instructionsList = instructions.stream()
-                .filter(item -> StrUtil.equals(item.getInstruction_type(), TaskTypeEnum.Truss_Task.getIndex())
-                        && StrUtil.equals(item.getInstruction_status(), TaskStatusEnum.READY.getIndex())).collect(Collectors.toList());
-        return instructionsList;
-    }
-
-    @Override
-    public List<Instruction> findReadyIns() {
-
-        //根据时间升序取第一个
-        List<Instruction> instructionsList = instructions.stream()
-                .filter(item -> StrUtil.equals(item.getInstruction_type(), TaskTypeEnum.Mxddhj_Task.getIndex())
-                        && StrUtil.equals(item.getInstruction_status(), TaskStatusEnum.READY.getIndex())).collect(Collectors.toList());
-        return instructionsList;
-    }
-
-    @Override
-    public Instruction findByStarCodeAndExcute(String start_code) {
-        Optional<Instruction> optionalInstruction = instructions.stream()
-                .filter(instruction -> StrUtil.equals(instruction.getStart_device_code(), start_code)
-                        && StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex()))
-                .findFirst();
-        return optionalInstruction.orElse(null);
-    }
-
-
-    public List<Instruction> findReadyInstructions() {
-
-        //根据时间升序取第一个
-        List<Instruction> instructionsList = instructions.stream()
-                .filter(item -> StrUtil.equals(item.getInstruction_type(), TaskTypeEnum.Truss_Task.getIndex())
-                        && StrUtil.equals(item.getInstruction_status(), TaskStatusEnum.READY.getIndex())).collect(Collectors.toList());
-        return instructionsList;
+                .filter(inst -> Objects.equals(inst.getInstruction_type(), instType))
+                .filter(inst -> Objects.equals(inst.getInstruction_status(), InstructionStatusEnum.READY.getIndex()))
+                .sorted(Comparator
+                        .comparingInt((Instruction inst) -> {
+                            try {
+                                return Integer.parseInt(inst.getPriority());
+                            } catch (Exception e) {
+                                return Integer.MAX_VALUE;
+                            }
+                        })
+                        .thenComparing(inst -> Optional.ofNullable(inst.getCreate_time()).orElse("")))
+                .findFirst()
+                .orElse(null);
     }
 
 }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/enums/TaskTypeEnum.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/enums/TaskTypeEnum.java
index bbee672..82a7d35 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/enums/TaskTypeEnum.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/enums/TaskTypeEnum.java
@@ -13,24 +13,8 @@ public enum TaskTypeEnum {
     /**
      * 任务类型
       */
-    Raw_Foil_AGV_Task("1", "1", "生箔AGV任务"),
-    Cutting_AGV_Task("2", "2", "分切AGV任务"),
-    Standard_AGV_Task("3", "3", "普通AGV任务"),
-    Forklift_AGV_Task("4", "4", "叉车AGV任务"),
-    Conveyor_Task("5", "5", "输送线任务"),
-    Truss_Task("6", "6", "行架任务"),
-    AGV_Task("7", "7", "立库任务"),
-
-    Oven_Truss_Task("8", "8", "烘箱行架任务"),
-
-
-    Stacker_Task("11", "11", "堆垛机任务"),
-    Box_Storage("12", "12", "木箱入库行架任务"),
-    Box_Package("13", "13", "装箱入库行架任务"),
-    Return_Good("14", "14", "退货入库行架任务"),
-    Rgv_Conveyor_Task("15", "15", "RGV输送任务"),
-    Inner_Truss_Task("16", "16", "子卷下线行架任务"),
-    Mxddhj_Task("17", "17", "木箱堆叠行架任务");
+    WALL_ROBOT_IN("1", "1", "壁挂机器人-入库任务"),
+    WALL_ROBOT_OUT("2", "2", "壁挂机器人-出库任务");
 
 
     /**
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/rest/TaskController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/rest/TaskController.java
index 7348638..cbad222 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/rest/TaskController.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/rest/TaskController.java
@@ -1,16 +1,12 @@
 package org.nl.acs.task.task.rest;
 
 import cn.dev33.satoken.annotation.SaIgnore;
-import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
-import org.nl.acs.task.task.enums.TaskTypeEnum;
 import org.nl.acs.task.task.service.TaskService;
 import org.nl.acs.task.task.service.dto.TaskDto;
 import org.nl.acs.task.task.service.dto.TaskIdAndStatusDTO;
-import org.nl.common.exception.BadRequestException;
 import org.nl.common.logging.annotation.Log;
-import org.nl.config.language.LangProcess;
 import org.springframework.data.domain.Pageable;
 import org.springframework.http.HttpStatus;
 import org.springframework.http.ResponseEntity;
@@ -57,20 +53,10 @@ public class TaskController {
     //@SaCheckPermission("task:add")
     public ResponseEntity<Object> create(@Validated @RequestBody TaskDto dto) throws Exception {
         //校验排列层为空
-        checkYZ(dto);
         taskService.create(dto);
         return new ResponseEntity<>(HttpStatus.CREATED);
     }
 
-    private static void checkYZ(TaskDto dto) {
-        if (dto.getTask_type().equals(TaskTypeEnum.AGV_Task.getIndex())){
-            if ((dto.getNext_point_code().startsWith("L")&&(StrUtil.isEmpty(dto.getTo_y()) || StrUtil.isEmpty(dto.getTo_z()))) || (dto.getStart_point_code().startsWith("L")&&(StrUtil.isEmpty(dto.getFrom_y()) || StrUtil.isEmpty(dto.getFrom_z())))){
-                throw new BadRequestException(LangProcess.msg("point_null"));
-            }
-
-        }
-    }
-
     @PostMapping(value = "/adds")
     @Log("常规任务保存")
     //@PreAuthorize("@el.check('task:add')")
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/service/TaskService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/service/TaskService.java
index e4cd249..97fe60f 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/service/TaskService.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/service/TaskService.java
@@ -50,13 +50,6 @@ public interface TaskService extends CommonService<Task> {
      */
     Task getById(String id);
 
-    /**
-     * 根据设备号和任务状态查询
-     * @param device_code
-     * @return
-     */
-    List<TaskDto> queryTaskByDeviceCodeAndStatus2(String device_code);
-
     /**
      * 根据ID查询
      *
@@ -97,14 +90,6 @@ public interface TaskService extends CommonService<Task> {
      */
     int removeByIds(Set<String> ids);
 
-    /**
-     * 导出数据
-     * @param all 待导出的数据
-     * @param response /
-     * @throws IOException /
-     */
-    // void download(List<TaskDto> all, HttpServletResponse response) throws IOException;
-
     /**
      * 查询数据分页
      *
@@ -114,15 +99,6 @@ public interface TaskService extends CommonService<Task> {
      */
     Map<String, Object> queryAll(Map whereJson, Pageable page);
 
-    /**
-     * 在缓存中查询所有任务列表
-     *
-     * @param whereJson 条件
-     * @param page      分页参数
-     * @return
-     */
-    Map<String, Object> queryAllByCache(Map whereJson, Pageable page);
-
     /**
      * 数据同步
      */
@@ -161,42 +137,6 @@ public interface TaskService extends CommonService<Task> {
      */
     List<TaskDto> queryAll(Map whereJson);
 
-    /**
-     * 根据ID查询
-     *
-     * @param task_id ID
-     * @return AcsTask
-     */
-//    TaskDto findById(String task_id);
-
-    /**
-     * 查询所有未完成任务
-     *
-     * @param whereJson 条件参数
-     * @return List<AcsTaskDto>
-     */
-    List<TaskDto> queryAllUnfinished(Map whereJson);
-
-    /**
-     * 根据设备号查询未完成的任务
-     */
-    List<TaskDto> queryUnfinishTaskByDeviceCode(String device_code);
-
-    /**
-     * 根据状态查询
-     *
-     * @param task_status task_status
-     * @return AcsTask
-     */
-    List<TaskDto> queryByStauts(String task_status);
-
-    /**
-     * 根绝状态查询缓存
-     * @param task_status
-     * @return
-     */
-    List<TaskDto> findByTaskStatus(String task_status);
-
     /**
      * 根据编码查询
      *
@@ -205,69 +145,6 @@ public interface TaskService extends CommonService<Task> {
      */
     TaskDto findByCode(String code);
 
-    TaskDto findByBarcodeFromCache(String barcode);
-
-    /**
-     * 根据设备号查询未执行的任务
-     *
-     * @param device_code
-     * @return
-     */
-    List<TaskDto> queryTaskByDeviceCode(String device_code);
-
-    /**
-     * 根据设备号查询未执行的任务
-     *
-     * @param start_device_code
-     * @return List<TaskDto>
-     */
-    List<TaskDto> queryTaskByStartDeviceCode(String start_device_code);
-
-    /**
-     * 根据设备号查询未执行的任务
-     *
-     * @param back_start_device_code
-     * @return List<TaskDto></TaskDto>
-     */
-    List<TaskDto> queryTaskByBackDeviceCode(String back_start_device_code);
-
-    /**
-     * 根据设备号和任务状态查询
-     *
-     * @param device_code
-     * @return List<TaskDto></TaskDto>
-     */
-    List<TaskDto> queryTaskByDeviceCodeAndStatus(String device_code);
-
-
-    /**
-     * 根据设备号和任务状态查询
-     *
-     * @param device_code
-     * @return List<TaskDto></TaskDto>
-     */
-    List<TaskDto> queryTaskByDeviceCodeAndStatus3(String device_code);
-
-
-
-
-    /**
-     * 根据前工位取货点查找执行中的任务
-     *
-     * @param head_start_device_code
-     * @return List<TaskDto></TaskDto>
-     */
-    List<TaskDto> queryTaskByStartAndIntStatus(String head_start_device_code);
-
-    /**
-     * 根据后工位取货点查找执行中的任务
-     *
-     * @param head_next_device_code
-     * @return List<TaskDto></TaskDto>
-     */
-    List<TaskDto> queryTaskByNextAndIntStatus(String head_next_device_code);
-
-
     /**
      * 创建
      *
@@ -322,8 +199,6 @@ public interface TaskService extends CommonService<Task> {
      */
     void cancel(String ids) throws Exception;
 
-
-
     /**
      * 取消任务和指令
      *
@@ -332,16 +207,6 @@ public interface TaskService extends CommonService<Task> {
      */
     void cancelAndInst(String ids) throws Exception;
 
-
-    /**
-     * 强制取消任务和指令
-     *
-     * @param ids
-     * @throws Exception
-     */
-    void forceCancelAndInst(String ids) throws Exception;
-
-
     /**
      * 手动创建指令
      *
@@ -420,64 +285,6 @@ public interface TaskService extends CommonService<Task> {
     TaskDto findByStartCode(String device_code);
 
 
-    /**
-     * 根据起点设备编号查询当前是否有就绪任务
-     *
-     * @param device_code
-     * @return
-     */
-    TaskDto findByStartCodeAndReady(String device_code);
-
-
-    /**
-     * 查找符合条件的堆叠行架任务
-     * @return
-     */
-    List<TaskDto> findByTrappedManipulatorReady();
-
-
-    /**
-     * 根据起载具号查询就绪任务
-     *
-     * @param device_code
-     * @return
-     */
-    TaskDto findByVehicleCodeCodeAndReady(String device_code);
-
-    /**
-     * 根据木箱号查询执行中任务
-     *
-     * @param device_code
-     * @return
-     */
-    TaskDto findByVehicleCode2AndExcute(String device_code);
-
-    /**
-     * 根据起点设备编号查询当前是否有执行中任务
-     *
-     * @param start_code
-     * @param next_code
-     * @return
-     */
-    TaskDto findByCodeAndExcute(String start_code,String next_code);
-
-
-    /**
-     * 查询起点执行的任务
-     * @param start_code
-     * @return
-     */
-    TaskDto findByStarCodeAndExcute(String start_code);
-
-    /**
-     * 根据终点设备编号查询当前是否有就绪任务
-     *
-     * @param device_code
-     * @return
-     */
-    TaskDto findByEndCodeAndReady(String device_code);
-
-
     /**
      * 查询内存任务
      *
@@ -509,32 +316,6 @@ public interface TaskService extends CommonService<Task> {
      */
     String queryAssignedByDevice(String device_code, String task_nextdevice_code);
 
-
-    /**
-     * 查询相同起点任务的数量
-     *
-     * @param code
-     * @return
-     */
-    Integer querySameOriginTask(String code);
-
-    /**
-     * 查询相同终点任务的数量
-     *
-     * @param code
-     * @return
-     */
-    Integer querySameDestinationTask(String code);
-
-    /**
-     * 查询相同起终任务的数量
-     *
-     * @param
-     * @return
-     */
-    Integer querySameDeviceReadyTask(String start_device,String next_device,String status);
-
-
     /**
      * 条件查询任务和指令
      *
@@ -569,31 +350,9 @@ public interface TaskService extends CommonService<Task> {
      */
     List<JSONObject> getTaskList(Map whereJson);
 
-    List<TaskDto> findByStartCodeAndBusy(String deviceCode);
-
-    /**
-     * 任务平均分配原则 根据任务起点和终点去找对应的指令终点
-     * 除了包含之前的分配原则外
-     * 新增了立库堆叠机双向点位出入库点位分配的逻辑
-     * 即任务信息A->C,则拆分成指令信息为A->B,B->C
-     *
-     * @param device_code         A
-     * @param task_nextDeice_code C
-     * @return 指令终点 B
-     */
-    String queryAssignedByDeviceCode(String device_code, String task_nextDeice_code);
-
-    /**
-     * 根据编号查询
-     *
-     * @param task_code
-     * @return AcsTask
-     */
-    TaskDto findByTaskCode(String task_code);
-
-    List<TaskDto> queryAllHJReadyTask();
-
     List<Map<String, Object>> countByStatusAndCreateTimeBetween(
             Date start,
            Date end);
+
+    TaskDto findByTaskType(String taskType);
 }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/service/impl/TaskServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/service/impl/TaskServiceImpl.java
index c5eda0b..de707db 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/service/impl/TaskServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/service/impl/TaskServiceImpl.java
@@ -137,33 +137,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         return taskMapper.selectById(id);
     }
 
-    @Override
-    public List<TaskDto> queryTaskByDeviceCodeAndStatus2(String device_code) {
-        List<TaskDto> list = new ArrayList<>();
-        Iterator<TaskDto> iterator = tasks.iterator();
-        while (iterator.hasNext()) {
-            TaskDto task = iterator.next();
-            if (task.getStart_device_code().equals(device_code)
-                    && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex())) {
-                Instruction instruction = instructionService.findByTaskcodeAndStatus(task.getTask_code());
-                if (ObjectUtil.isNotEmpty(instruction)) {
-                    list.add(task);
-                }
-            } else {
-                if (StrUtil.equals(task.getTask_type(), TaskTypeEnum.Truss_Task.getIndex()) && StrUtil.isNotEmpty(task.getPut_device_code())) {
-                    Instruction instruction = instructionService.findByDeviceCodeFromCache(task.getNext_device_code());
-                    if (ObjectUtil.isNotEmpty(instruction)) {
-                        if (StrUtil.equals(instruction.getStart_device_code(), device_code)) {
-                            list.add(task);
-                        }
-                    }
-                }
-            }
-        }
-        return list;
-    }
-
-
     @Override
     public TaskDto findById(String id) {
         return ConvertUtil.convert(getById(id), TaskDto.class);
@@ -214,20 +187,13 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     @Override
     public List<TaskDto> queryAll() {
-        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
-                .lt(Task::getTask_status, TaskStatusEnum.FINISHED.getIndex())
-                .eq(Task::getIs_delete, "0")
-                .orderByDesc(Task::getCreate_time)
-                .list();
+        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper).lt(Task::getTask_status, TaskStatusEnum.FINISHED.getIndex()).eq(Task::getIs_delete, "0").orderByDesc(Task::getCreate_time).list();
         return ConvertUtil.convertList(taskList, TaskDto.class);
     }
 
     @Override
     public List<TaskDto> queryAllByStatus(String task_status) {
-        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_status, task_status)
-                .eq(Task::getIs_delete, "0")
-                .list();
+        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper).eq(Task::getTask_status, task_status).eq(Task::getIs_delete, "0").list();
         return ConvertUtil.convertList(taskList, TaskDto.class);
     }
 
@@ -280,70 +246,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         return json;
     }
 
-    @Override
-    public Map<String, Object> queryAllByCache(Map whereJson, Pageable page) {
-        String task_code = (String) whereJson.get("task_code");
-        String vehicle_code = (String) whereJson.get("vehicle_code");
-        String vehicle_code2 = (String) whereJson.get("vehicle_code2");
-        String material_type = (String) whereJson.get("material_type");
-        String status = (String) whereJson.get("status");
-        String point_code = (String) whereJson.get("point_code");
-        String task_type = (String) whereJson.get("task_type");
-        String is_over = (String) whereJson.get("is_over");
-        Integer currentPageNumber = page.getPageNumber() + 1;
-        Integer pageMaxSize = page.getPageSize();
-        List<TaskDto> taskList =
-                Optional
-                        .ofNullable(this.tasks)
-                        .orElse(new CopyOnWriteArrayList<>())
-                        .stream()
-                        .filter(t -> {
-                            if (StrUtil.isNotEmpty(task_code)) {
-                                return t.getTask_code().contains(task_code);
-                            }
-                            return true;
-                        })
-                        .filter(t -> {
-                            if (StrUtil.isNotEmpty(vehicle_code)) {
-                                return t.getVehicle_code().contains(vehicle_code);
-                            }
-                            return true;
-                        })
-                        .filter(t -> {
-                            if (StrUtil.isNotEmpty(material_type)) {
-                                return t.getMaterial().contains(material_type);
-                            }
-                            return true;
-                        })
-                        .filter(t -> {
-                            if (StrUtil.isNotEmpty(status)) {
-                                return t.getTask_status().contains(status);
-                            }
-                            return true;
-                        })
-                        .filter(t -> {
-                            if (StrUtil.isNotEmpty(point_code)) {
-                                return t.getStart_point_code().contains(point_code) || t.getNext_point_code().equals(point_code) || t.getPut_point_code().equals(point_code);
-                            }
-                            return true;
-                        })
-                        .filter(t -> {
-                            if (StrUtil.isNotEmpty(task_type)) {
-                                return t.getTask_type().contains(task_type);
-                            }
-                            return true;
-                        })
-                        .sorted((task1, task2) -> DateUtil.compare(DateUtil.parseDate(task1.getCreate_time()), DateUtil.parse(task2.getCreate_time())))
-                        .collect(Collectors.toList());
-        List<TaskDto> skipList = taskList.stream().skip((currentPageNumber - 1) * pageMaxSize)
-                .limit(pageMaxSize)
-                .collect(Collectors.toList());
-        JSONObject jo = new JSONObject();
-        jo.put("content", skipList);
-        jo.put("totalElements", taskList.size());
-        return jo;
-    }
-
     @Override
     public Map<String, Object> getAll(Map whereJson, Pageable page) {
         String task_code = (String) whereJson.get("task_code");
@@ -401,197 +303,17 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     @Override
     public List<TaskDto> queryAll(Map whereJson) {
-        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
-                .list();
+        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper).list();
         return ConvertUtil.convertList(taskList, TaskDto.class);
     }
 
 
-    @Override
-    public List<TaskDto> queryAllUnfinished(Map whereJson) {
-        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
-                .lt(Task::getTask_status, TaskStatusEnum.FINISHED.getIndex())
-                .list();
-        return ConvertUtil.convertList(taskList, TaskDto.class);
-    }
-
-    @Override
-    public List<TaskDto> queryUnfinishTaskByDeviceCode(String device_code) {
-        List<TaskDto> list = new ArrayList<>();
-        Iterator<TaskDto> iterator = tasks.iterator();
-        while (iterator.hasNext()) {
-            TaskDto task = iterator.next();
-            if (task.getStart_point_code().equals(device_code)
-                    && (StrUtil.equals(task.getTask_status(), "0"))) {
-                list.add(task);
-            }
-        }
-        return list;
-    }
-
     @Override
     public TaskDto findByCode(String code) {
-        Task task = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_code, code)
-                .one();
+        Task task = new LambdaQueryChainWrapper<>(taskMapper).eq(Task::getTask_code, code).one();
         return ConvertUtil.convert(task, TaskDto.class);
     }
 
-    @Override
-    public TaskDto findByBarcodeFromCache(String barcode) {
-        Task task = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getVehicle_code, barcode)
-                .eq(Task::getTask_status, TaskStatusEnum.READY.getIndex())
-                .one();
-        return ConvertUtil.convert(task, TaskDto.class);
-    }
-
-    @Override
-    public List<TaskDto> queryTaskByDeviceCode(String device_code) {
-        return Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(taskDto -> taskDto.getStart_device_code().equals(device_code)
-                        && StrUtil.equals(taskDto.getTask_status(), TaskStatusEnum.READY.getIndex()))
-                .collect(Collectors.toList());
-    }
-
-    @Override
-    public List<TaskDto> queryTaskByStartDeviceCode(String start_device_code) {
-        return Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(task -> StrUtil.equals(task.getTask_type(), "6")
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex())
-                        && (task.getStart_device_code().equals(start_device_code)
-                        || task.getStart_device_code2().equals(start_device_code)))
-                .collect(Collectors.toList());
-    }
-
-    @Override
-    public List<TaskDto> queryTaskByBackDeviceCode(String back_start_device_code) {
-        return Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(task -> StrUtil.equals(task.getTask_type(), "6")
-                        && task.getStart_device_code().equals(back_start_device_code)
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex()))
-                .collect(Collectors.toList());
-    }
-
-    @Override
-    public List<TaskDto> queryTaskByDeviceCodeAndStatus(String device_code) {
-
-        List<TaskDto> collect = Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(task -> task.getStart_device_code().equals(device_code)
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex()))
-                .filter(task -> instructionService.findByTaskcodeAndStatus(task.getTask_code()) != null)
-                .collect(Collectors.toList());
-        if (CollUtil.isEmpty(collect)) {
-            tasks.forEach(
-                    task -> {
-                        if (TASK_TYPE.equals(task.getTask_type()) && StrUtil.isNotEmpty(task.getPut_device_code())) {
-                            Instruction instruction = instructionService.findByDeviceCodeFromCache(task.getNext_device_code());
-                            if (ObjectUtil.isNotEmpty(instruction)) {
-                                if (StrUtil.equals(instruction.getStart_device_code(), device_code)) {
-                                    collect.add(task);
-                                }
-                            }
-                        }
-                    }
-            );
-        }
-        return collect;
-
-    }
-
-
-    @Override
-    public List<TaskDto> queryTaskByDeviceCodeAndStatus3(String device_code) {
-
-        List<TaskDto> collect = Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(task -> task.getStart_device_code().equals(device_code)
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex()))
-                .filter(task -> instructionService.findByTaskcodeAndStatus(task.getTask_code()) != null)
-                .collect(Collectors.toList());
-        if (CollUtil.isEmpty(collect)) {
-            tasks.forEach(
-                    task -> {
-                        if (BQHJ_TYPE.equals(task.getTask_type()) && StrUtil.isNotEmpty(task.getPut_device_code())) {
-                            Instruction instruction = instructionService.findByDeviceCodeFromCache(task.getNext_device_code());
-                            if (ObjectUtil.isNotEmpty(instruction)) {
-                                if (StrUtil.equals(instruction.getStart_device_code(), device_code)) {
-                                    collect.add(task);
-                                }
-                            }
-                        }
-                    }
-            );
-        }
-        return collect;
-
-    }
-
-    @Override
-    public List<TaskDto> queryTaskByStartAndIntStatus(String head_start_device_code) {
-        return Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(task -> StrUtil.equals(task.getTask_type(), "6")
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex())
-                        && (task.getStart_device_code().equals(head_start_device_code)
-                        || task.getStart_device_code2().equals(head_start_device_code)))
-                .filter(task -> instructionService.findByTaskcodeAndStatus(task.getTask_code()) != null)
-                .collect(Collectors.toList());
-    }
-
-    @Override
-    public List<TaskDto> queryTaskByNextAndIntStatus(String back_start_device_code) {
-        return Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(task -> StrUtil.equals(task.getTask_type(), "6")
-                        && task.getStart_device_code().equals(back_start_device_code)
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex()))
-                .filter(task -> instructionService.findByTaskcodeAndStatus(task.getTask_code()) != null)
-                .collect(Collectors.toList());
-    }
-
-
-    @Override
-    public List<TaskDto> queryByStauts(String status) {
-        List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
-                .eq(Task::getTask_status, status)
-                .list();
-        return ConvertUtil.convertList(taskList, TaskDto.class);
-    }
-
-
-    @Override
-    public List<TaskDto> findByTaskStatus(String status) {
-        List<TaskDto> taskDtoList = new ArrayList<>();
-        Iterator<TaskDto> iterator = tasks.iterator();
-        while (iterator.hasNext()) {
-            TaskDto task = iterator.next();
-            if (StrUtil.equals(task.getTask_status(), status)) {
-                taskDtoList.add(task);
-            }
-        }
-        return taskDtoList;
-    }
-
-
     @Override
     public void create(TaskDto dto) throws Exception {
         dto = foramte(dto);
@@ -638,10 +360,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         String nextDeviceType = deviceAppService.findDeviceTypeByCode(dto.getNext_device_code());
         // 同一排转库任务不做路由校验
         if (!(StrUtil.equals(DeviceType.storage.toString(), startDeviceType) && StrUtil.equals(DeviceType.storage.toString(), nextDeviceType) && StrUtil.equals(start_device_code, next_device_code))) {
-            if (routeLineService
-                    .getShortPathLines(dto.getStart_device_code(), dto.getNext_device_code(), plan_code)
-                    .size()
-                    == 0) {
+            if (routeLineService.getShortPathLines(dto.getStart_device_code(), dto.getNext_device_code(), plan_code).size() == 0) {
                 throw new BadRequestException(dto.getStart_point_code() + "->" + dto.getNext_point_code() + "   " + LangProcess.msg("route_isNull"));
             }
         }
@@ -751,10 +470,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             String device_code = MapUtil.getStr(whereJson, "device_code");
             dto.setRoute_plan_code("one");
             String next_device_code = "";
-            String plan_uuid =
-                    new LambdaQueryChainWrapper<>(routePlanMapper)
-                            .eq(RoutePlan::getPlan_code, dto.getRoute_plan_code())
-                            .one().getPlan_uuid();
+            String plan_uuid = new LambdaQueryChainWrapper<>(routePlanMapper).eq(RoutePlan::getPlan_code, dto.getRoute_plan_code()).one().getPlan_uuid();
             JSONArray ja = routeLineService.queryNextLine(device_code, plan_uuid);
             for (int j = 0; j < ja.size(); j++) {
                 JSONObject jo = (JSONObject) ja.get(j);
@@ -824,8 +540,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
                 next_device_code = MapUtil.getStr(whereJson, "device_code");
             }
 
-            if (ObjectUtil.isNotEmpty(this.findByStartCode(start_device_code))
-                    || ObjectUtil.isNotEmpty(this.findByNextCode(next_device_code))) {
+            if (ObjectUtil.isNotEmpty(this.findByStartCode(start_device_code)) || ObjectUtil.isNotEmpty(this.findByNextCode(next_device_code))) {
                 throw new BadRequestException(LangProcess.msg("task_checkExist", start_device_code + " or " + next_device_code));
             }
             if (StrUtil.equals(material_type, "") || StrUtil.equals(quantity, "")) {
@@ -932,34 +647,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         this.feedWmsTaskStatus(entity);
     }
 
-    @Override
-    public void forceCancelAndInst(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());
-        entity.setRemark("堆垛机空出");
-
-        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);
-    }
-
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void cancelAndInst(String id) throws Exception {
@@ -1021,12 +708,9 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         String start_height = acsTask.getStart_height();
         String next_height = acsTask.getNext_height();
         /** 开始平均分解校验 */
-        String this_device_code =
-                this.queryAssignedByDevice(acsTask.getStart_device_code(), acsTask.getNext_device_code());
+        String this_device_code = this.queryAssignedByDevice(acsTask.getStart_device_code(), acsTask.getNext_device_code());
         if (StrUtil.isEmpty(this_device_code)) {
-            List<RouteLineDto> shortPathsList =
-                    routeLineService.getShortPathLines(
-                            start_device_code, acsTask.getNext_device_code(), route_plan_code);
+            List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, acsTask.getNext_device_code(), route_plan_code);
             if (shortPathsList.size() == 0) {
                 throw new BadRequestException(start_device_code + "->" + acsTask.getNext_device_code() + "路由不存在！");
             }
@@ -1064,6 +748,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         instdto.setTask_id(taskid);
         instdto.setTask_code(taskcode);
         instdto.setVehicle_code(vehiclecode);
+        instdto.setCarno(acsTask.getCarno());
         String now = DateUtil.now();
         instdto.setCreate_time(now);
         instdto.setCreate_by(SecurityUtils.getCurrentNickName());
@@ -1178,111 +863,28 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     @Override
     public TaskDto findByContainer(String container_code) {
-        Optional<TaskDto> optionalTask = tasks.stream()
-                .filter(task -> StrUtil.equals(task.getVehicle_code(), container_code))
-                .findFirst();
+        Optional<TaskDto> optionalTask = tasks.stream().filter(task -> StrUtil.equals(task.getVehicle_code(), container_code)).findFirst();
 
         return optionalTask.orElse(null);
     }
 
     @Override
     public TaskDto findByCodeFromCache(String task_code) {
-        Optional<TaskDto> optionalTask = tasks.stream()
-                .filter(task -> StrUtil.equals(task.getTask_code(), task_code))
-                .findFirst();
+        Optional<TaskDto> optionalTask = tasks.stream().filter(task -> StrUtil.equals(task.getTask_code(), task_code)).findFirst();
 
         return optionalTask.orElse(null);
     }
 
     @Override
     public TaskDto findByNextCode(String device_code) {
-        Optional<TaskDto> optionalTask = tasks.stream()
-                .filter(task -> StrUtil.equals(task.getNext_device_code(), device_code))
-                .findFirst();
-        return optionalTask.orElse(null);
-    }
-
-
-    @Override
-    public TaskDto findByStartCodeAndReady(String device_code) {
-        //根据时间升序取第一个
-        Optional<TaskDto> optionalTask = tasks.stream()
-                .filter(task -> StrUtil.equals(task.getStart_device_code(), device_code)
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex())).sorted(Comparator.comparing(TaskDto::getCreate_time))
-                .findFirst();
-        return optionalTask.orElse(null);
-    }
-
-    @Override
-    public List<TaskDto> findByTrappedManipulatorReady() {
-        //根据时间升序取第一个
-        List<TaskDto> taskDtoList = tasks.stream()
-                .filter(task -> StrUtil.equals(task.getTask_type(), TaskTypeEnum.Truss_Task.getIndex())
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex())).collect(Collectors.toList());
-        return taskDtoList;
-    }
-
-    @Override
-    public TaskDto findByVehicleCodeCodeAndReady(String vehicleCode) {
-        Optional<TaskDto> optionalTask = tasks.stream()
-                .filter(task -> StrUtil.equals(task.getVehicle_code(), vehicleCode)
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex()))
-                .findFirst();
-        return optionalTask.orElse(null);
-    }
-
-
-    @Override
-    public TaskDto findByVehicleCode2AndExcute(String vehicleCode) {
-        Optional<TaskDto> optionalTask = tasks.stream()
-                .filter(task -> StrUtil.equals(task.getVehicle_code2(), vehicleCode)
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex()))
-                .findFirst();
-        return optionalTask.orElse(null);
-    }
-
-    @Override
-    public TaskDto findByCodeAndExcute(String start_code, String next_code) {
-        Task task = this.lambdaQuery()
-                .eq(Task::getStart_device_code, start_code)
-                .eq(Task::getNext_device_code, next_code)
-                .eq(Task::getTask_status, TaskStatusEnum.BUSY.getIndex())
-                .one();
-        TaskDto taskDto = BeanUtil.copyProperties(task, TaskDto.class);
-        return taskDto;
-    }
-
-
-    @Override
-    public TaskDto findByStarCodeAndExcute(String start_code) {
-        Optional<TaskDto> optionalTask = tasks.stream()
-                .filter(task -> StrUtil.equals(task.getStart_device_code(), start_code)
-                        && (StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex()) || StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex())))
-                .findFirst();
-        return optionalTask.orElse(null);
-    }
-
-
-    @Override
-    public TaskDto findByEndCodeAndReady(String device_code) {
-        Optional<TaskDto> optionalTask = tasks.stream()
-                .filter(task -> StrUtil.equals(task.getNext_device_code(), device_code)
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex())
-                )
-                .findFirst();
+        Optional<TaskDto> optionalTask = tasks.stream().filter(task -> StrUtil.equals(task.getNext_device_code(), device_code)).findFirst();
         return optionalTask.orElse(null);
     }
 
 
     @Override
     public TaskDto findByStartCode(String device_code) {
-        return Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(task -> StrUtil.equals(task.getStart_device_code(), device_code))
-                .findFirst()
-                .orElse(null);
+        return Optional.ofNullable(this.tasks).orElse(new CopyOnWriteArrayList<>()).stream().filter(task -> StrUtil.equals(task.getStart_device_code(), device_code)).findFirst().orElse(null);
     }
 
     @Override
@@ -1322,11 +924,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         } else {
             DeviceDriverDefination deviceDriverDefination = deviceAppService.findDeviceByCode(start_point_code).getDeviceDriverDefination();
             if (BeanUtil.isNotEmpty(deviceDriverDefination)) {
-                String start_device =
-                        deviceDriverDefination
-                                .getFitDeviceTypes()
-                                .get(0)
-                                .name();
+                String start_device = deviceDriverDefination.getFitDeviceTypes().get(0).name();
                 // 如果point_device为货架，则不包含列层信息，需要重新拼接
                 if (StrUtil.equals("storage", start_device)) {
                     if (StrUtil.isEmpty(task.getFrom_x())) {
@@ -1388,11 +986,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         } else {
             DeviceDriverDefination deviceDriverDefination = deviceAppService.findDeviceByCode(next_point_code).getDeviceDriverDefination();
             if (BeanUtil.isNotEmpty(deviceDriverDefination)) {
-                String next_device =
-                        deviceDriverDefination
-                                .getFitDeviceTypes()
-                                .get(0)
-                                .name();
+                String next_device = deviceDriverDefination.getFitDeviceTypes().get(0).name();
                 if (StrUtil.equals("storage", next_device)) {
                     if (StrUtil.isEmpty(task.getTo_x())) {
                         throw new BadRequestException(LangProcess.msg("endpoint_column"));
@@ -1435,8 +1029,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
 
     @Override
     public String queryAssignedByDevice(String device_code, String task_nextdeice_code) {
-        List<DeviceAssignedDto> list =
-                deviceAssignedService.queryAssignedByDevice(device_code, task_nextdeice_code);
+        List<DeviceAssignedDto> list = deviceAssignedService.queryAssignedByDevice(device_code, task_nextdeice_code);
         int flag1 = 0;
         String flag2 = null;
         for (int i = 0; i < list.size(); i++) {
@@ -1601,146 +1194,46 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
     public List<JSONObject> getTaskList(Map whereJson) {
         LambdaQueryWrapper<Task> wrapper = getTaskLambdaQueryWrapper(whereJson);
         List<Task> taskList = taskMapper.selectList(wrapper);
-        return Optional
-                .ofNullable(taskList)
-                .orElse(new ArrayList<>())
-                .stream()
-                .map(task -> {
-                    JSONObject ins = new JSONObject();
-                    ins.put("task_code", task.getTask_code());
-                    ins.put("vehicle_code", task.getVehicle_code());
-                    ins.put("task_status", task.getTask_status());
-                    ins.put("priority", task.getPriority());
-                    ins.put("start_point_code", task.getStart_point_code());
-                    ins.put("next_point_code", task.getNext_point_code());
-                    ins.put("matarial", task.getMaterial());
-                    ins.put("quantity", task.getQuantity());
-                    ins.put("remark", task.getRemark());
-                    ins.put("create_by", task.getCreate_by());
-                    ins.put("create_time", task.getCreate_time());
-                    return ins;
-                })
-                .collect(Collectors.toList());
-    }
-
-    @Override
-    public List<TaskDto> findByStartCodeAndBusy(String deviceCode) {
-        return Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(task -> StrUtil.equals(task.getStart_device_code(), deviceCode)
-                        && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex()))
-                .limit(2)
-                .collect(Collectors.toList());
-    }
-
-
-    @Override
-    public Integer querySameOriginTask(String code) {
-        return (int) Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(task -> StrUtil.equals(task.getStart_device_code(), code))
-                .count();
-    }
-
-    @Override
-    public Integer querySameDestinationTask(String code) {
-        return Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(taskDto -> StrUtil.equals(taskDto.getNext_device_code(), code))
-                .collect(Collectors.toList())
-                .size();
-    }
-
-    @Override
-    public Integer querySameDeviceReadyTask(String start_device, String next_device, String status) {
-        int num = 0;
-        Iterator<TaskDto> iterator = tasks.iterator();
-        while (iterator.hasNext()) {
-            TaskDto task = iterator.next();
-            if (StrUtil.equals(task.getStart_device_code(), start_device)
-                    && StrUtil.equals(task.getNext_device_code(), next_device)
-                    && StrUtil.equals(task.getTask_status(), status)) {
-                num++;
-            }
-        }
-
-        return num;
-    }
-
-    @Override
-    public String queryAssignedByDeviceCode(String device_code, String task_nextDeice_code) {
-        List<DeviceAssignedDto> list =
-                deviceAssignedService.queryAssignedByDevice(device_code, task_nextDeice_code);
-        for (int i = 0; i < list.size(); i++) {
-            DeviceAssignedDto dto = list.get(i);
-            String deviceCode = dto.getDevice_code();
-            String inst_nextDevice_code = dto.getInst_nextDevice_code();
-            JSONObject param = JSON.parseObject(dto.getParam());
-            List<String> pathList = this.getPathList(inst_nextDevice_code);
-            for (int j = 0; j < pathList.size(); j++) {
-                String inst_next_device_code = pathList.get(j);
-                String limit = param.getString("limit");
-                Boolean inOut = param.getBoolean("inOut");
-                if (inOut) {
-                    Device device = deviceAppService.findDeviceByCode(deviceCode);
-                    if (device != null) {
-                        if (StrUtil.equals(device.getDevice_type(), DeviceType.storage.toString())) {
-                            if (instructionService.querySameNextDeviceCodeInstByIn(inst_next_device_code)) {
-                                return inst_next_device_code;
-                            }
-                        } else {
-                            if (instructionService.querySameNextDeviceCodeInstByOut(inst_next_device_code)) {
-                                return inst_next_device_code;
-                            }
-                        }
-                    }
-                } else {
-                    Integer sameInstNum = instructionService.querySameDestinationInst(inst_next_device_code);
-                    if (sameInstNum < Integer.parseInt(limit)) {
-                        return inst_next_device_code;
-                    }
-                }
-            }
-        }
-        return null;
-    }
-
-    @Override
-    public TaskDto findByTaskCode(String task_code) {
-
-        List<TaskDto> list = new ArrayList<>();
-        Iterator<TaskDto> iterator = tasks.iterator();
-        while (iterator.hasNext()) {
-            TaskDto task = iterator.next();
-            if (StrUtil.equals(task.getTask_code(), task_code)) {
-                return task;
-            }
-        }
-        return null;
-    }
-
-    @Override
-    public List<TaskDto> queryAllHJReadyTask() {
-        return Optional
-                .ofNullable(this.tasks)
-                .orElse(new CopyOnWriteArrayList<>())
-                .stream()
-                .filter(taskDto -> StrUtil.equals(taskDto.getTask_type(), TaskTypeEnum.Truss_Task.getIndex())
-                        && StrUtil.equals(taskDto.getTask_status(), TaskStatusEnum.READY.getIndex()))
-                .collect(Collectors.toList());
+        return Optional.ofNullable(taskList).orElse(new ArrayList<>()).stream().map(task -> {
+            JSONObject ins = new JSONObject();
+            ins.put("task_code", task.getTask_code());
+            ins.put("vehicle_code", task.getVehicle_code());
+            ins.put("task_status", task.getTask_status());
+            ins.put("priority", task.getPriority());
+            ins.put("start_point_code", task.getStart_point_code());
+            ins.put("next_point_code", task.getNext_point_code());
+            ins.put("matarial", task.getMaterial());
+            ins.put("quantity", task.getQuantity());
+            ins.put("remark", task.getRemark());
+            ins.put("create_by", task.getCreate_by());
+            ins.put("create_time", task.getCreate_time());
+            return ins;
+        }).collect(Collectors.toList());
     }
 
     @Override
     public List<Map<String, Object>> countByStatusAndCreateTimeBetween(Date start, Date end) {
+        return taskMapper.countByStatusAndCreateTimeBetween(DateUtil.format(start, "yyyy-MM-dd HH:mm:ss.SSS"), DateUtil.format(end, "yyyy-MM-dd HH:mm:ss.SSS"));
+    }
 
-        return taskMapper.countByStatusAndCreateTimeBetween(DateUtil.format(start,"yyyy-MM-dd HH:mm:ss.SSS"),
-                DateUtil.format(end,"yyyy-MM-dd HH:mm:ss.SSS"));
+    @Override
+    public TaskDto findByTaskType(String taskType) {
+        return Optional.ofNullable(this.tasks)
+                .orElse(new CopyOnWriteArrayList<>())
+                .stream()
+                .filter(taskDto -> Objects.equals(taskDto.getTask_type(), taskType))
+                .filter(taskDto -> Objects.equals(taskDto.getTask_status(), TaskStatusEnum.READY.getIndex()))
+                .sorted(Comparator
+                        .comparingInt((TaskDto taskDto) -> {
+                            try {
+                                return Integer.parseInt(taskDto.getPriority());
+                            } catch (Exception e) {
+                                return Integer.MAX_VALUE;
+                            }
+                        })
+                        .thenComparing(taskDto -> Optional.ofNullable(taskDto.getCreate_time()).orElse("")))
+                .findFirst()
+                .orElse(null);
     }
 
 
@@ -1771,12 +1264,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         TaskDto entity = this.findById(taskDto.getTask_id());
         String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
         if (!StrUtil.startWith(taskDto.getTask_code(), CommonFinalParam.HYPHEN_) && StrUtil.equals(hasWms, CommonFinalParam.ONE)) {
-//            FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest();
-//            request.setTask_id(taskDto.getExt_task_id());
-//            request.setTask_code(taskDto.getTask_code());
-//            request.setTask_status(taskDto.getTask_status());
-//            request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode());
-//            request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName());
             JSONObject feed_jo = new JSONObject();
             feed_jo.put("task_id", entity.getExt_task_id());
             feed_jo.put("task_code", entity.getTask_code());
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java
index ff068a7..7fd6399 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java
@@ -22,6 +22,7 @@ import org.nl.common.utils.CodeUtil;
 import org.nl.common.utils.SecurityUtils;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
+import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.nl.config.lucene.service.impl.LuceneExecuteLogServiceImpl;
 import org.springframework.stereotype.Component;
 
@@ -49,12 +50,6 @@ public class AutoCreateInst {
         List<TaskDto> list = taskserver.queryAllByStatus("0");
         for (int i = 0; i < list.size(); i++) {
             TaskDto acsTask = list.get(i);
-            if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.AGV_Task.getIndex()) && !StrUtil.startWith(acsTask.getTask_code(), "-")) {
-                continue;
-            }
-            if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.Truss_Task.getIndex()) && !StrUtil.startWith(acsTask.getTask_code(), "-")) {
-                continue;
-            }
             String taskid = acsTask.getTask_id();
             String taskcode = acsTask.getTask_code();
             String task_type = acsTask.getTask_type();
@@ -149,6 +144,7 @@ public class AutoCreateInst {
             instdto.setTask_id(taskid);
             instdto.setTask_code(taskcode);
             instdto.setVehicle_code(vehiclecode);
+            instdto.setCarno(acsTask.getCarno());
             instdto.setVehicle_code2(vehiclecode2);
             String now = DateUtil.now();
             instdto.setCreate_time(now);
@@ -203,17 +199,17 @@ public class AutoCreateInst {
                 instdto.setAgv_inst_type("4");
             }
             try {
-               instructionService.create(instdto);
+                instructionService.create(instdto);
             } catch (Exception e) {
                 acsTask.setRemark(e.getMessage());
                 taskserver.updateByCodeFromCache(acsTask);
                 continue;
             }
             //创建指令后修改任务状态
-                acsTask.setTask_status(TaskStatusEnum.BUSY.getIndex());
-                acsTask.setUpdate_time(DateUtil.now());
-                acsTask.setRemark(" ");
-                taskserver.update(acsTask);
+            acsTask.setTask_status(TaskStatusEnum.BUSY.getIndex());
+            acsTask.setUpdate_time(DateUtil.now());
+            acsTask.setRemark(" ");
+            taskserver.update(acsTask);
 
         }
     }
diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml b/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml
index dd02509..f388ea6 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml
+++ b/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml
@@ -8,9 +8,9 @@ spring:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.251}:${DB_PORT:3306}/${DB_NAME:stand_acs_kit}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:stand_acs_kit}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
       username: ${DB_USER:root}
-      password: ${DB_PWD:P@ssw0rd.}
+      password: ${DB_PWD:password}
       #      password: ${DB_PWD:p@ssw0rd}
       # 初始连接数
       initial-size: 20
diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
index 427aaa5..e133110 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
+++ b/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
@@ -68,11 +68,11 @@ https://juejin.cn/post/6844903775631572999
     <!--开发环境:打印控制台-->
     <springProfile name="dev">
         <root level="info">
-<!--            <appender-ref ref="asyncLuceneAppender"/>-->
-<!--            <appender-ref ref="asyncFileAppender"/>-->
-            <appender-ref ref="CONSOLE"/>
+            <appender-ref ref="asyncLuceneAppender"/>
+            <appender-ref ref="asyncFileAppender"/>
+<!--            <appender-ref ref="CONSOLE"/>-->
         </root>
-     <!--   <logger name="jdbc" level="ERROR" additivity="true">
+      <logger name="jdbc" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
         </logger>
         <logger name="org.springframework" level="ERROR" additivity="true">
@@ -95,7 +95,7 @@ https://juejin.cn/post/6844903775631572999
         </logger>
         <logger name="org.jinterop" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
-        </logger>-->
+        </logger>
     </springProfile>
 
     <!--测试环境:打印控制台-->
@@ -114,7 +114,7 @@ https://juejin.cn/post/6844903775631572999
         <root level="info">
             <appender-ref ref="asyncLuceneAppender"/>
             <appender-ref ref="asyncFileAppender"/>
-<!--            <appender-ref ref="CONSOLE"/>-->
+            <appender-ref ref="CONSOLE"/>
         </root>
         <logger name="jdbc" level="ERROR" additivity="true">
             <appender-ref ref="asyncLuceneAppender"/>
diff --git a/acs2/nladmin-ui/src/views/acs/device/config.vue b/acs2/nladmin-ui/src/views/acs/device/config.vue
index 5f73b43..2aece4f 100644
--- a/acs2/nladmin-ui/src/views/acs/device/config.vue
+++ b/acs2/nladmin-ui/src/views/acs/device/config.vue
@@ -63,7 +63,9 @@
       </el-col>
 
       <!--  组件-->
-      <component :is="currentComponent" :parent-form="form" />
+      <el-col :span="24">
+        <component :is="currentComponent" :parent-form="form" />
+      </el-col>
 
     </el-row>
   </div>
@@ -76,7 +78,9 @@ import { getDicts } from '@/views/system/dict/dict'
 import standard_autodoor from '@/views/acs/device/driver/standard_autodoor'
 import standard_inspect_site from './driver/standard_inspect_site'
 import standard_ordinary_site from './driver/standard_ordinary_site'
+import standard_wall_robot from './driver/standard_wall_robot'
 import belt_conveyor from '@/views/acs/device/driver/belt_conveyor'
+import standard_storage from '@/views/acs/device/driver/standard_storage'
 import agv_ndc_one from '@/views/acs/device/driver/agv/agv_ndc_one'
 import agv_ndc_two from '@/views/acs/device/driver/agv/agv_ndc_two'
 import xg_agv from '@/views/acs/device/driver/agv/xg_agv'
@@ -93,7 +97,9 @@ export default {
     xg_agv,
     belt_conveyor,
     standard_manipulator,
-    xg_agv_car
+    xg_agv_car,
+    standard_wall_robot,
+    standard_storage
   },
   dicts: ['device_type'],
   mixins: [crud],
diff --git a/acs2/nladmin-ui/src/views/acs/device/driver/standard_ordinary_site.vue b/acs2/nladmin-ui/src/views/acs/device/driver/standard_ordinary_site.vue
index 1e00648..73faf97 100644
--- a/acs2/nladmin-ui/src/views/acs/device/driver/standard_ordinary_site.vue
+++ b/acs2/nladmin-ui/src/views/acs/device/driver/standard_ordinary_site.vue
@@ -1,151 +1,114 @@
 <template>
   <!--普通站点-->
-  <div>
-    <el-card class="box-card" shadow="never">
+  <div class="ordinary-site-page">
+    <el-card class="box-card config-card" shadow="never">
       <div slot="header" class="clearfix">
-        <span class="role-span">输送系统：</span>
+        <span class="role-span">暂存位坐标：</span>
       </div>
-      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
-        <el-row>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="110px" class="config-form">
+        <el-row :gutter="20">
           <el-col :span="8">
-            <el-tooltip class="item" effect="dark" content="设备为输送机或者NDC系统时需为数字" placement="bottom-end">
-              <el-form-item label="电气调度号" label-width="150px">
-                <el-input v-model="form.address" />
-              </el-form-item>
-            </el-tooltip>
+            <el-form-item label="X坐标" prop="temp_x" label-width="120px" class="full-width-item coordinate-item">
+              <el-input v-model="tempXInput" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="Y坐标" prop="temp_y" label-width="120px" class="full-width-item coordinate-item">
+              <el-input v-model="tempYInput" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="Z坐标" prop="temp_z" label-width="120px" class="full-width-item coordinate-item">
+              <el-input v-model="tempZInput" />
+            </el-form-item>
           </el-col>
         </el-row>
       </el-form>
     </el-card>
-    <el-card class="box-card" shadow="never">
+
+    <el-card class="box-card config-card" shadow="never">
       <div slot="header" class="clearfix">
         <span class="role-span">指令相关：</span>
       </div>
-      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
-        <el-row>
-          <el-col :span="8">
-            <el-form-item label="忽略校验">
-              <el-switch v-model="form.inspect_in_stocck" />
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="取货校验" label-width="150px">
-              <el-switch v-model="form.ignore_pickup_check" />
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="放货校验" label-width="150px">
-              <el-switch v-model="form.ignore_release_check" />
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="取货完成反馈" label-width="78px">
-              <el-switch v-model="form.feedbackToLms" />
-            </el-form-item>
-          </el-col>
-        </el-row>
-
-        <el-row>
-          <el-col :span="8">
-            <el-form-item label="呼叫">
-              <el-switch v-model="form.apply_task" />
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="响应" label-width="150px">
-              <el-switch v-model="form.manual_create_task" />
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="自动创建任务" label-width="150px">
-              <el-switch v-model="form.auto_create_task" />
-            </el-form-item>
-          </el-col>
-        </el-row>
-        <el-row>
-          <el-tooltip class="item" effect="dark" content="创建设备点位记录有无货信号" placement="bottom-end">
-            <el-form-item label="站点管理" label-width="150px">
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px" class="config-form">
+        <div class="setting-grid">
+          <div class="setting-item">
+            <div class="setting-text">
+              <div class="setting-title">忽略校验</div>
+              <div class="setting-desc">控制站点是否跳过库存校验。</div>
+            </div>
+            <el-switch v-model="form.inspect_in_stocck" />
+          </div>
+          <div class="setting-item">
+            <div class="setting-text">
+              <div class="setting-title">取货校验</div>
+              <div class="setting-desc">取货动作前是否执行校验。</div>
+            </div>
+            <el-switch v-model="form.ignore_pickup_check" />
+          </div>
+          <div class="setting-item">
+            <div class="setting-text">
+              <div class="setting-title">放货校验</div>
+              <div class="setting-desc">放货动作前是否执行校验。</div>
+            </div>
+            <el-switch v-model="form.ignore_release_check" />
+          </div>
+          <div class="setting-item">
+            <div class="setting-text">
+              <div class="setting-title">站点管理</div>
+              <div class="setting-desc">创建设备点位记录有无货信号。</div>
+            </div>
+            <el-tooltip class="item" effect="dark" content="创建设备点位记录有无货信号" placement="bottom-end">
               <el-switch v-model="form.station_manager" />
-            </el-form-item>
-          </el-tooltip>
-          <el-col :span="8">
-            <el-form-item label="清除" label-width="80px">
-              <el-switch v-model="form.auto_clean_task" />
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="是否输入物料" label-width="150px">
-              <el-switch v-model="form.input_material" />
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="是否开启等待" label-width="150px">
-              <el-switch v-model="form.wait" />
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="是否请求wms" label-width="150px">
-              <el-switch v-model="form.reqWms" />
-            </el-form-item>
-          </el-col>
-        </el-row>
-        <el-row>
-          <el-col :span="8">
-            <el-form-item label="关联三色灯" prop="device_code" label-width="100px">
-              <el-select
-                v-model="form.link_three_lamp"
-                filterable
-                clearable
-                placeholder="请选择"
-              >
-                <el-option
-                  v-for="item in deviceList"
-                  :key="item.device_code"
-                  :label="item.device_name"
-                  :value="item.device_code"
-                />
-              </el-select>
-            </el-form-item>
+            </el-tooltip>
+          </div>
+        </div>
+        <el-row :gutter="20" class="link-row">
+          <el-col :span="12">
           </el-col>
         </el-row>
       </el-form>
     </el-card>
 
-    <el-card class="box-card" shadow="never">
+    <el-card class="box-card config-card" shadow="never">
       <div slot="header" class="clearfix">
         <span class="role-span">AGV相关：</span>
       </div>
-      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
-        <el-row>
-          <el-col :span="8">
-            <el-form-item label="取货">
-              <el-switch v-model="form.is_pickup" />
-            </el-form-item>
-          </el-col>
-          <el-col :span="8">
-            <el-form-item label="放货">
-              <el-switch v-model="form.is_release" />
-            </el-form-item>
-          </el-col>
-        </el-row>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px" class="config-form">
+        <div class="setting-grid compact-grid">
+          <div class="setting-item">
+            <div class="setting-text">
+              <div class="setting-title">取货</div>
+              <div class="setting-desc">控制 AGV 是否允许执行取货动作。</div>
+            </div>
+            <el-switch v-model="form.is_pickup" />
+          </div>
+          <div class="setting-item">
+            <div class="setting-text">
+              <div class="setting-title">放货</div>
+              <div class="setting-desc">控制 AGV 是否允许执行放货动作。</div>
+            </div>
+            <el-switch v-model="form.is_release" />
+          </div>
+        </div>
       </el-form>
     </el-card>
 
-    <el-card class="box-card" shadow="never">
-      <div slot="header" class="clearfix">
-        <span class="role-span" />
+    <el-card class="box-card action-card" shadow="never">
+      <div class="action-bar">
+        <div>
+        </div>
         <el-button
           :loading="configLoading"
           icon="el-icon-check"
           size="mini"
-          style="float: right; padding: 6px 9px"
           type="primary"
+          class="save-button"
           @click="doSubmit"
         >保存
         </el-button>
       </div>
     </el-card>
-
   </div>
 </template>
 
@@ -165,13 +128,31 @@ export default {
     }
   },
   data() {
+    const validateOptionalNonNegativeInteger = (rule, value, callback) => {
+      if (value === '' || value === null || value === undefined) {
+        callback()
+        return
+      }
+      const num = Number(value)
+      if (!Number.isInteger(num) || num < 0) {
+        callback(new Error('请输入非负整数'))
+        return
+      }
+      callback()
+    }
     return {
       device_code: '',
       device_id: '',
       configLoading: false,
       deviceList: [],
       address: '',
+      tempXInput: '0',
+      tempYInput: '0',
+      tempZInput: '0',
       form: {
+        temp_x: 0,
+        temp_y: 0,
+        temp_z: 0,
         inspect_in_stocck: true,
         ignore_pickup_check: true,
         ignore_release_check: true,
@@ -186,7 +167,17 @@ export default {
         input_material: true,
         reqWms: true
       },
-      rules: {}
+      rules: {
+        temp_x: [
+          { validator: (rule, value, callback) => validateOptionalNonNegativeInteger(rule, this.tempXInput, callback), trigger: 'blur' }
+        ],
+        temp_y: [
+          { validator: (rule, value, callback) => validateOptionalNonNegativeInteger(rule, this.tempYInput, callback), trigger: 'blur' }
+        ],
+        temp_z: [
+          { validator: (rule, value, callback) => validateOptionalNonNegativeInteger(rule, this.tempZInput, callback), trigger: 'blur' }
+        ]
+      }
     }
   },
   created() {
@@ -202,6 +193,9 @@ export default {
           if (arr.length > 0) {
             this.form = data.form
           }
+          this.tempXInput = this.normalizeCoordinate(this.form.temp_x)
+          this.tempYInput = this.normalizeCoordinate(this.form.temp_y)
+          this.tempZInput = this.normalizeCoordinate(this.form.temp_z)
         }
       })
       deviceCrud.selectDeviceList().then(data => {
@@ -210,6 +204,20 @@ export default {
     })
   },
   methods: {
+    normalizeCoordinate(value) {
+      if (value === '' || value === null || value === undefined) {
+        return '0'
+      }
+      const num = Number(value)
+      return Number.isNaN(num) ? '0' : String(num)
+    },
+    normalizeCoordinateForSubmit(value) {
+      if (value === '' || value === null || value === undefined) {
+        return 0
+      }
+      const num = Number(value)
+      return Number.isNaN(num) ? 0 : num
+    },
     doSubmit() {
       this.$refs['form'].validate((valid) => {
         if (valid) {
@@ -217,7 +225,16 @@ export default {
           // 根据驱动类型判断是否为路由设备
           const parentForm = this.parentForm
           parentForm.is_route = false
-          updateConfig(parentForm, this.form).then(res => {
+          this.form.temp_x = this.normalizeCoordinateForSubmit(this.tempXInput)
+          this.form.temp_y = this.normalizeCoordinateForSubmit(this.tempYInput)
+          this.form.temp_z = this.normalizeCoordinateForSubmit(this.tempZInput)
+          const submitForm = {
+            ...this.form,
+            temp_x: this.form.temp_x,
+            temp_y: this.form.temp_y,
+            temp_z: this.form.temp_z
+          }
+          updateConfig(parentForm, submitForm).then(res => {
             this.notify('保存成功', 'success')
             this.configLoading = false
           }).catch(err => {
@@ -232,5 +249,137 @@ export default {
 </script>
 
 <style scoped>
+.ordinary-site-page {
+  padding-bottom: 8px;
+}
 
+.config-card {
+  margin-bottom: 16px;
+  border-radius: 14px;
+  border: 1px solid #e8edf5;
+  overflow: hidden;
+}
+
+.config-card /deep/ .el-card__header {
+  padding: 16px 20px;
+  background: linear-gradient(180deg, #fbfcfe 0%, #f4f7fb 100%);
+  border-bottom: 1px solid #eef2f7;
+}
+
+.config-card /deep/ .el-card__body {
+  padding: 20px;
+}
+
+.config-form {
+  margin-bottom: -8px;
+}
+
+.full-width-item /deep/ .el-form-item__content {
+  width: calc(100% - 150px);
+}
+
+.full-width-select {
+  width: 100%;
+}
+
+.coordinate-item /deep/ .el-form-item__content {
+  width: calc(100% - 120px);
+}
+
+.setting-grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(320px, 1fr));
+  gap: 14px 18px;
+  margin-bottom: 20px;
+}
+
+.compact-grid {
+  margin-bottom: 0;
+}
+
+.setting-item {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 16px;
+  min-height: 74px;
+  padding: 16px 18px;
+  border: 1px solid #e8edf5;
+  border-radius: 12px;
+  background: linear-gradient(180deg, #ffffff 0%, #f8fafc 100%);
+}
+
+.setting-text {
+  flex: 1;
+  min-width: 0;
+}
+
+.setting-title {
+  margin-bottom: 6px;
+  color: #1f2937;
+  font-size: 14px;
+  font-weight: 600;
+  line-height: 20px;
+}
+
+.setting-desc {
+  color: #7a8699;
+  font-size: 12px;
+  line-height: 18px;
+}
+
+.link-row {
+  margin-top: 4px;
+}
+
+.action-card {
+  border-radius: 14px;
+  border: 1px solid #dbe7ff;
+  background: linear-gradient(135deg, #f7fbff 0%, #eef5ff 100%);
+}
+
+.action-card /deep/ .el-card__body {
+  padding: 18px 20px;
+}
+
+.action-bar {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 20px;
+}
+
+.action-title {
+  color: #1d2a3a;
+  font-size: 15px;
+  font-weight: 600;
+  line-height: 22px;
+}
+
+.action-desc {
+  margin-top: 4px;
+  color: #6f7c91;
+  font-size: 12px;
+  line-height: 18px;
+}
+
+.save-button {
+  min-width: 88px;
+  height: 36px;
+  padding: 0 20px;
+  border-radius: 18px;
+}
+
+@media (max-width: 1200px) {
+  .setting-grid {
+    grid-template-columns: 1fr;
+  }
+}
+
+@media (max-width: 768px) {
+  .action-bar {
+    flex-direction: column;
+    align-items: flex-start;
+  }
+}
 </style>
diff --git a/acs2/nladmin-ui/src/views/acs/device/driver/standard_storage.vue b/acs2/nladmin-ui/src/views/acs/device/driver/standard_storage.vue
new file mode 100644
index 0000000..c5ed42b
--- /dev/null
+++ b/acs2/nladmin-ui/src/views/acs/device/driver/standard_storage.vue
@@ -0,0 +1,353 @@
+<template>
+  <!-- 标准版-货架-->
+  <div>
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">指令相关：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="A/B库" label-width="150px">
+              <el-radio-group v-model="form.storage_area" class="storage-area-group">
+                <el-radio-button label="1">A库</el-radio-button>
+                <el-radio-button label="2">B库</el-radio-button>
+              </el-radio-group>
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">设备协议：</span>
+      </div>
+
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-row>
+          <el-col :span="12">
+            <el-form-item label="排：" label-width="150px" prop="x">
+              <el-input v-model.number="form.x" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="12">
+            <el-form-item label="巷道：" label-width="150px" prop="tunnel">
+              <el-input v-model.number="form.tunnel" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+        <el-row>
+          <el-col :span="12">
+            <el-form-item label="最大列：" label-width="150px" prop="maxY">
+              <el-input v-model.number="form.maxY" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="12">
+            <el-form-item label="最小列：" label-width="150px" prop="minY">
+              <el-input v-model.number="form.minY" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+        <el-row>
+          <el-col :span="12">
+            <el-form-item label="最大层：" label-width="150px" prop="maxZ">
+              <el-input v-model.number="form.maxZ" />
+            </el-form-item>
+          </el-col>
+          <el-col :span="12">
+            <el-form-item label="最小层：" label-width="150px" prop="minZ">
+              <el-input v-model.number="form.minZ" />
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+    <el-card class="box-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span" />
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          style="float: right; padding: 6px 9px"
+          type="primary"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
+import crud from '@/mixins/crud'
+import deviceCrud from '@/api/acs/device/device'
+
+export default {
+  name: 'StandardStorage',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      required: true
+    }
+  },
+  data() {
+    const checkMaxY = (rule, value, callback) => {
+      if (value < this.form.minY) {
+        callback(new Error('最大列应大于最小列！'))
+      } else {
+        callback()
+      }
+    }
+    const checkMinY = (rule, value, callback) => {
+      if (value > this.form.maxY) {
+        callback(new Error('最小列应小于最大列！'))
+      } else {
+        callback()
+      }
+    }
+    const checkMaxZ = (rule, value, callback) => {
+      if (value < this.form.minZ) {
+        callback(new Error('最大层应大于最小层！'))
+      } else {
+        callback()
+      }
+    }
+    const checkMinZ = (rule, value, callback) => {
+      if (value > this.form.maxZ) {
+        callback(new Error('最小层应小于最大层！'))
+      } else {
+        callback()
+      }
+    }
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      opc_id: '',
+      opc_code: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      deviceList: [],
+      data1: [],
+      data2: [],
+      form: {
+        x: 1,
+        tunnel: 1,
+        maxY: 1,
+        maxZ: 1,
+        minY: 1,
+        minZ: 1,
+        storage_area: '1'
+      },
+      rules: {
+        x: [
+          { required: true, message: '排不能为空', trigger: 'blur' }
+        ],
+        tunnel: [
+          { required: true, type: 'number', min: 0, message: '请输入大于0的数字', trigger: 'blur' }
+        ],
+        maxY: [
+          { required: true, type: 'number', min: 0, message: '请输入大于0的数字', trigger: 'blur' },
+          { validator: checkMaxY, trigger: 'blur' }
+        ],
+        maxZ: [
+          { required: true, type: 'number', min: 0, message: '请输入大于0的数字', trigger: 'blur' },
+          { validator: checkMaxZ, trigger: 'blur' }
+        ],
+        minY: [
+          { required: true, type: 'number', min: 0, message: '请输入大于0的数字', trigger: 'blur' },
+          { validator: checkMinY, trigger: 'blur' }
+        ],
+        minZ: [
+          { required: true, type: 'number', min: 0, message: '请输入大于0的数字', trigger: 'blur' },
+          { validator: checkMinZ, trigger: 'blur' }
+        ]
+      }
+    }
+  },
+  created() {
+    this.$nextTick(() => {
+      // 从父表单获取设备编码
+      this.device_id = this.$props.parentForm.device_id
+      this.device_code = this.$props.parentForm.device_code
+      queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
+        // 给表单赋值，并且属性不能为空
+        if (data.form) {
+          const arr = Object.keys(data.form)
+          // 不为空
+          if (arr.length > 0) {
+            data.form.x = this.toNumberOrDefault(data.form.x)
+            data.form.tunnel = this.toNumberOrDefault(data.form.tunnel)
+            data.form.minY = this.toNumberOrDefault(data.form.minY)
+            data.form.maxY = this.toNumberOrDefault(data.form.maxY)
+            data.form.minZ = this.toNumberOrDefault(data.form.minZ)
+            data.form.maxZ = this.toNumberOrDefault(data.form.maxZ)
+            this.form = data.form
+          }
+        }
+
+        // 给表单赋值，并且属性不能为空
+        if (data.parentForm) {
+          const arr = Object.keys(data.parentForm)
+          // 不为空
+          if (arr.length > 0) {
+            this.opc_code = data.parentForm.opc_code
+            this.plc_code = data.parentForm.plc_code
+          }
+        }
+        this.data1 = data.rs
+        this.data2 = data.ws
+        this.sliceItem()
+      })
+      selectPlcList().then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = this.$props.parentForm.opc_plc_id
+      })
+      selectOpcList().then(data => {
+        this.dataOpcservers = data
+        this.opc_id = this.$props.parentForm.opc_server_id
+      })
+      deviceCrud.selectDeviceList().then(data => {
+        this.deviceList = data
+      })
+    })
+  },
+  methods: {
+    toNumberOrDefault(value, defaultValue = 1) {
+      const num = Number(value)
+      return Number.isNaN(num) ? defaultValue : num
+    },
+    changeOpc(val) {
+      this.dataOpcservers.forEach(item => {
+        if (item.opc_id === val) {
+          this.opc_code = item.opc_code
+        }
+      })
+      selectListByOpcID(val).then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = ''
+        this.plc_code = ''
+        if (this.dataOpcPlcs && this.dataOpcPlcs.length > 0) {
+          this.plc_id = this.dataOpcPlcs[0].plc_id
+          this.plc_code = this.dataOpcPlcs[0].plc_code
+        }
+        this.sliceItem()
+      })
+    },
+    changePlc(val) {
+      this.dataOpcPlcs.forEach(item => {
+        if (item.plc_id === val) {
+          this.plc_code = item.plc_code
+          this.sliceItem()
+          return
+        }
+      })
+    },
+    test_read1() {
+      testRead(this.data1, this.opc_id).then(data => {
+        this.data1 = data
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_write1() {
+      testwrite(this.data2, this.opc_id).then(data => {
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    doSubmit() {
+      this.$refs['form'].validate((valid) => {
+        if (valid) {
+          this.configLoading = true
+          // 根据驱动类型判断是否为路由设备
+          const parentForm = this.parentForm
+          parentForm.is_route = true
+          parentForm.plc_id = this.plc_id
+          parentForm.opc_id = this.opc_id
+          updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
+            this.notify('保存成功', 'success')
+            this.configLoading = false
+          }).catch(err => {
+            this.configLoading = false
+            console.log(err.response.data.message)
+          })
+        }
+      })
+    },
+    sliceItem() { // 拼接DB的Item值
+      this.data1.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+      this.data2.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+    }
+  }
+}
+</script>
+
+<style scoped>
+.storage-area-group /deep/ .el-radio-button__inner {
+  min-width: 72px;
+  height: 36px;
+  line-height: 34px;
+  padding: 0 22px;
+  border: 1px solid #d7deea;
+  background: linear-gradient(180deg, #ffffff 0%, #f4f7fb 100%);
+  color: #4a5568;
+  font-weight: 600;
+  box-shadow: none;
+  transition: all 0.2s ease;
+}
+
+.storage-area-group /deep/ .el-radio-button:first-child .el-radio-button__inner {
+  border-radius: 10px 0 0 10px;
+}
+
+.storage-area-group /deep/ .el-radio-button:last-child .el-radio-button__inner {
+  border-radius: 0 10px 10px 0;
+}
+
+.storage-area-group /deep/ .el-radio-button__orig-radio:checked + .el-radio-button__inner {
+  border-color: #1677ff;
+  background: linear-gradient(135deg, #1677ff 0%, #409eff 100%);
+  color: #fff;
+  box-shadow: 0 8px 18px rgba(22, 119, 255, 0.2);
+}
+
+.storage-area-group /deep/ .el-radio-button__inner:hover {
+  color: #1677ff;
+  border-color: #a9c9ff;
+}
+</style>
diff --git a/acs2/nladmin-ui/src/views/acs/device/driver/standard_wall_robot.vue b/acs2/nladmin-ui/src/views/acs/device/driver/standard_wall_robot.vue
new file mode 100644
index 0000000..995a991
--- /dev/null
+++ b/acs2/nladmin-ui/src/views/acs/device/driver/standard_wall_robot.vue
@@ -0,0 +1,458 @@
+<template>
+  <!--纸管抓取位-->
+  <div class="wall-robot-page">
+    <el-card class="box-card config-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">设备协议：</span>
+      </div>
+
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="100px" class="protocol-form">
+        <el-row :gutter="20">
+          <el-col :span="12">
+            <el-form-item label="OpcServer" class="protocol-item">
+              <el-select
+                v-model="opc_id"
+                placeholder="无"
+                clearable
+                filterable
+                class="full-width-select"
+                @change="changeOpc"
+              >
+                <el-option
+                  v-for="item in dataOpcservers"
+                  :key="item.opc_id"
+                  :label="item.opc_name"
+                  :value="item.opc_id"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="12">
+            <el-form-item label="PLC" class="protocol-item">
+              <el-select
+                v-model="plc_id"
+                placeholder="无"
+                clearable
+                filterable
+                class="full-width-select"
+                @change="changePlc"
+              >
+                <el-option
+                  v-for="item in dataOpcPlcs"
+                  :key="item.plc_id"
+                  :label="item.plc_name"
+                  :value="item.plc_id"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+        </el-row>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card config-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC读取字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data1"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块" width="170">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data1[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishReadEdit(data1[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value" width="180">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read1()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data1[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card config-card" shadow="never">
+      <div slot="header" class="clearfix">
+        <span class="role-span">PLC写入字段：</span>
+      </div>
+      <el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
+        <el-table
+          v-loading="false"
+          :data="data2"
+          :max-height="550"
+          size="small"
+          style="width: 100%;margin-bottom: 15px"
+        >
+
+          <el-table-column prop="name" label="用途" />
+          <el-table-column prop="code" label="别名要求" />
+          <el-table-column prop="db" label="DB块" width="170">
+            <template slot-scope="scope">
+              <el-input
+                v-model="data2[scope.$index].db"
+                size="mini"
+                class="edit-input"
+                @input="finishWriteEdit(data2[scope.$index])"
+              />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbr_value2" width="180">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_read2()">测试读</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$index].dbr_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+          <el-table-column prop="dbw_value" width="180">
+            <template slot="header">
+              <el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>
+            </template>
+            <template slot-scope="scope">
+              <el-input v-model="data2[scope.$index].dbw_value" size="mini" class="edit-input" />
+            </template>
+          </el-table-column>
+        </el-table>
+      </el-form>
+    </el-card>
+
+    <el-card class="box-card action-card" shadow="never">
+      <div class="action-bar">
+        <div>
+        </div>
+        <el-button
+          :loading="false"
+          icon="el-icon-check"
+          size="mini"
+          type="primary"
+          class="save-button"
+          @click="doSubmit"
+        >保存
+        </el-button>
+      </div>
+    </el-card>
+  </div>
+</template>
+
+<script>
+import {
+  queryDriverConfig,
+  updateConfig,
+  testRead,
+  testwrite
+} from '@/api/acs/device/driverConfig'
+import { selectOpcList } from '@/api/acs/device/opc'
+import { selectPlcList } from '@/api/acs/device/opcPlc'
+import { selectListByOpcID } from '@/api/acs/device/opcPlc'
+
+import crud from '@/mixins/crud'
+
+export default {
+  name: 'StandardInspectSite',
+  mixins: [crud],
+  props: {
+    parentForm: {
+      type: Object,
+      required: true
+    }
+  },
+  data() {
+    return {
+      device_code: '',
+      device_id: '',
+      plc_id: '',
+      plc_code: '',
+      opc_id: '',
+      opc_code: '',
+      configLoading: false,
+      dataOpcservers: [],
+      dataOpcPlcs: [],
+      data1: [],
+      data2: [],
+      form: {},
+      rules: {},
+      region: []
+    }
+  },
+  created() {
+    this.$nextTick(() => {
+      // 从父表单获取设备编码
+      this.device_id = this.$props.parentForm.device_id
+      this.device_code = this.$props.parentForm.device_code
+      queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
+        // 给表单赋值，并且属性不能为空
+        if (data.form) {
+          const arr = Object.keys(data.form)
+          // 不为空
+          if (arr.length > 0) {
+            this.form = data.form
+          }
+        }
+
+        // 给表单赋值，并且属性不能为空
+        if (data.parentForm) {
+          const arr = Object.keys(data.parentForm)
+          // 不为空
+          if (arr.length > 0) {
+            this.opc_code = data.parentForm.opc_code
+            this.plc_code = data.parentForm.plc_code
+          }
+        }
+        this.data1 = data.rs
+        this.data2 = data.ws
+        this.sliceItem()
+      })
+      selectPlcList().then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = this.$props.parentForm.opc_plc_id
+      })
+      selectOpcList().then(data => {
+        this.dataOpcservers = data
+        this.opc_id = this.$props.parentForm.opc_server_id
+      })
+    })
+  },
+  methods: {
+    finishReadEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('mode') !== -1) {
+        debugger
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        for (const val in this.data1) {
+          if (this.data1[val].code.indexOf('move') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 1)
+          }
+          if (this.data1[val].code.indexOf('error') !== -1) {
+            this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 5)
+          }
+          if (this.data1[val].code.indexOf('task') !== -1) {
+            this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 7)
+          }
+        }
+      }
+    },
+    finishWriteEdit(data) {
+      // 编辑的是code列,并且值包含mode
+      if (data.code.indexOf('to_command') !== -1) {
+        const dbValue = data.db
+        // .之前的字符串
+        const beforeStr = dbValue.match(/(\S*)\./)[1]
+        // .之后的字符串
+        const afterStr = dbValue.match(/\.(\S*)/)[1]
+        // 取最后数字
+        const endNumber = afterStr.substring(1)
+        // 最后为非数字
+        if (isNaN(parseInt(endNumber))) {
+          return
+        }
+        for (const val in this.data2) {
+          if (this.data2[val].code.indexOf('to_target') !== -1) {
+            this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
+          }
+          if (this.data2[val].code.indexOf('to_task') !== -1) {
+            this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 6)
+          }
+        }
+      }
+    },
+    changeOpc(val) {
+      this.dataOpcservers.forEach(item => {
+        if (item.opc_id === val) {
+          this.opc_code = item.opc_code
+        }
+      })
+
+      selectListByOpcID(val).then(data => {
+        this.dataOpcPlcs = data
+        this.plc_id = ''
+        this.plc_code = ''
+        if (this.dataOpcPlcs && this.dataOpcPlcs.length > 0) {
+          this.plc_id = this.dataOpcPlcs[0].plc_id
+          this.plc_code = this.dataOpcPlcs[0].plc_code
+        }
+        this.sliceItem()
+      })
+    },
+    changePlc(val) {
+      this.dataOpcPlcs.forEach(item => {
+        if (item.plc_id === val) {
+          this.plc_code = item.plc_code
+          this.sliceItem()
+          return
+        }
+      })
+    },
+    test_read1() {
+      testRead(this.data1, this.opc_id).then(data => {
+        this.data1 = data
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_read2() {
+      testRead(this.data2, this.opc_id).then(data => {
+        this.data2 = data
+        console.log(this.data2)
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    test_write1() {
+      testwrite(this.data2, this.opc_id).then(data => {
+        this.notify('操作成功!', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    },
+    doSubmit() {
+      this.$refs['form'].validate((valid) => {
+        if (valid) {
+          this.configLoading = true
+          // 根据驱动类型判断是否为路由设备
+          const parentForm = this.parentForm
+          parentForm.is_route = true
+          parentForm.plc_id = this.plc_id
+          parentForm.opc_id = this.opc_id
+          updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
+            this.notify('保存成功', 'success')
+            this.configLoading = false
+          }).catch(err => {
+            this.configLoading = false
+            console.log(err.response.data.message)
+          })
+        }
+      })
+    },
+    sliceItem() { // 拼接DB的Item值
+      this.data1.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+      this.data2.forEach(item => {
+        const str = item.code
+        // 是否包含.
+        if (str.search('.') !== -1) {
+          // 截取最后一位
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
+        } else {
+          item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
+        }
+      })
+    }
+  }
+}
+</script>
+
+<style scoped>
+.wall-robot-page {
+  padding-bottom: 8px;
+}
+
+.config-card {
+  margin-bottom: 16px;
+  border-radius: 14px;
+  border: 1px solid #e8edf5;
+  overflow: hidden;
+}
+
+.config-card /deep/ .el-card__header {
+  padding: 16px 20px;
+  background: linear-gradient(180deg, #fbfcfe 0%, #f4f7fb 100%);
+  border-bottom: 1px solid #eef2f7;
+}
+
+.config-card /deep/ .el-card__body {
+  padding: 20px;
+}
+
+.protocol-form {
+  margin-bottom: -8px;
+}
+
+.protocol-item /deep/ .el-form-item__content {
+  width: calc(100% - 100px);
+}
+
+.full-width-select {
+  width: 100%;
+}
+
+.action-card {
+  border-radius: 14px;
+  border: 1px solid #dbe7ff;
+  background: linear-gradient(135deg, #f7fbff 0%, #eef5ff 100%);
+}
+
+.action-card /deep/ .el-card__body {
+  padding: 18px 20px;
+}
+
+.action-bar {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 20px;
+}
+
+.action-title {
+  color: #1d2a3a;
+  font-size: 15px;
+  font-weight: 600;
+  line-height: 22px;
+}
+
+.action-desc {
+  margin-top: 4px;
+  color: #6f7c91;
+  font-size: 12px;
+  line-height: 18px;
+}
+
+.save-button {
+  min-width: 88px;
+  height: 36px;
+  padding: 0 20px;
+  border-radius: 18px;
+}
+
+@media (max-width: 768px) {
+  .action-bar {
+    flex-direction: column;
+    align-items: flex-start;
+  }
+}
+</style>
diff --git a/acs2/nladmin-ui/src/views/acs/device/opc/index.vue b/acs2/nladmin-ui/src/views/acs/device/opc/index.vue
index c5d7477..c85bc07 100644
--- a/acs2/nladmin-ui/src/views/acs/device/opc/index.vue
+++ b/acs2/nladmin-ui/src/views/acs/device/opc/index.vue
@@ -104,12 +104,11 @@
       <el-table
         v-loading="crud.loading"
         :data="crud.data"
-        highlight-current-row
-        style="width: 100%"
+        highlight-current-row  style="width: 100%"
         row-key="opc_id"
         border
-        default-expand-all
-        :tree-props="{children: 'children', has_children: 'has_children'}"
+        :default-expand-all="true"
+        :tree-props="{children: 'children', hasChildren: 'hasChildren'}"
         @select="crud.selectChange"
         @select-all="crud.selectAllChange"
         @selection-change="crud.selectionChangeHandler"
@@ -232,6 +231,25 @@ export default {
     [CRUD.HOOK.beforeRefresh]() {
       return true
     },
+    [CRUD.HOOK.afterRefresh]() {
+      this.crud.data = this.processTreeData(this.crud.data);
+    },
+    processTreeData(data) {
+      if (!data || !Array.isArray(data)) return data;
+      return data.map(item => {
+        if (item.hasOwnProperty('hasChildren')) {
+          item.hasChildren = item.hasChildren === "1" || item.hasChildren === 1 || item.hasChildren === true;
+        } else if (item.children && item.children.length > 0) {
+          item.hasChildren = true;
+        } else {
+          item.hasChildren = false;
+        }
+        if (item.children && Array.isArray(item.children)) {
+          item.children = this.processTreeData(item.children);
+        }
+        return item;
+      });
+    },
     handleClick(row, flag) {
       // flag为0是新增，flag为1是编辑，flag为2是删除
       // 如果是父类操作