diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/rest/AcsToKitController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/rest/AcsToKitController.java
new file mode 100644
index 0000000..3c6c0e6
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/rest/AcsToKitController.java
@@ -0,0 +1,18 @@
+
+package org.nl.acs.ext.kit.rest;
+
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * @author ludj
+ * @date 2021-07-21
+ **/
+@RestController
+@RequiredArgsConstructor
+@RequestMapping("/api/wms")
+@Slf4j
+public class AcsToKitController {
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/rest/KitToAcsController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/rest/KitToAcsController.java
new file mode 100644
index 0000000..7b77614
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/rest/KitToAcsController.java
@@ -0,0 +1,50 @@
+
+package org.nl.acs.ext.kit.rest;
+
+import cn.dev33.satoken.annotation.SaIgnore;
+import com.alibaba.fastjson.JSONObject;
+import io.swagger.annotations.Api;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.ext.kit.service.KitToAcsService;
+import org.nl.common.exception.BadRequestException;
+import org.nl.common.logging.annotation.Log;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.util.CollectionUtils;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.Map;
+
+
+@RestController
+@RequiredArgsConstructor
+@Api(tags = "acs套件回传接口")
+@RequestMapping("/api/kitToAcs")
+@Slf4j
+public class KitToAcsController {
+
+    @Autowired
+    private KitToAcsService kitToAcsService;
+
+
+    @SaIgnore
+    @PostMapping("/agvCallback")
+    @Log("kit->ACS")
+    public ResponseEntity<Object> agvCallback(@RequestParam Map<String,Object> kitToAcsParam) throws Exception{
+        JSONObject param = null;
+        if (kitToAcsParam == null || CollectionUtils.isEmpty(kitToAcsParam)){
+            throw new BadRequestException("请求参数不能为空");
+        }
+        for (String o : kitToAcsParam.keySet()) {
+            param = JSONObject.parseObject(o);
+        }
+        log.info("---kit上报请求---"+param.toString());
+        System.out.println("---kit上报请求---"+param.toString());
+        return new ResponseEntity<>(kitToAcsService.agvCallback(param), HttpStatus.OK);
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/AcsToKitService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/AcsToKitService.java
new file mode 100644
index 0000000..1f71627
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/AcsToKitService.java
@@ -0,0 +1,8 @@
+package org.nl.acs.ext.kit.service;
+
+import cn.hutool.http.HttpResponse;
+import org.nl.acs.instruction.domain.Instruction;
+
+public interface AcsToKitService {
+    HttpResponse genAgvSchedulingTask(Instruction instruction, int type);
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/KitToAcsService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/KitToAcsService.java
new file mode 100644
index 0000000..0f6a0ef
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/KitToAcsService.java
@@ -0,0 +1,13 @@
+package org.nl.acs.ext.kit.service;
+
+import com.alibaba.fastjson.JSONObject;
+
+public interface KitToAcsService {
+
+    /**
+     * NDC反馈状态
+     * @param requestParam
+     * @return
+     */
+    JSONObject agvCallback(JSONObject requestParam) throws Exception;
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/impl/AcsToKitServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/impl/AcsToKitServiceImpl.java
new file mode 100644
index 0000000..6305c26
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/impl/AcsToKitServiceImpl.java
@@ -0,0 +1,124 @@
+package org.nl.acs.ext.kit.service.impl;
+
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.AcsConfig;
+import org.nl.acs.address.service.AddressService;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device.service.impl.DeviceServiceImpl;
+import org.nl.acs.ext.kit.service.AcsToKitService;
+import org.nl.acs.instruction.domain.Instruction;
+import org.nl.config.MapOf;
+import org.nl.config.SpringContextHolder;
+import org.nl.config.lucene.enums.LogDirectEnum;
+import org.nl.config.lucene.enums.LogLevelEnum;
+import org.nl.config.lucene.enums.LogTypeEnum;
+import org.nl.config.lucene.service.LuceneExecuteLogService;
+import org.nl.config.lucene.service.dto.LuceneLogDto;
+import org.nl.system.service.param.ISysParamService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.HttpStatus;
+import org.springframework.stereotype.Service;
+
+import java.util.Map;
+
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class AcsToKitServiceImpl implements AcsToKitService {
+    @Autowired
+    private ISysParamService paramService;
+    @Autowired
+    private LuceneExecuteLogService luceneExecuteLogService;
+    @Autowired
+    AddressService addressService;
+
+    public static Map<String,String> TYPE_MAP = MapOf.of(3,"下发任务",9,"取消任务",10,"取放货应答");
+
+    /**
+     * 生成任务单
+     *
+     * @param instruction
+     * @return
+     */
+    @Override
+    public HttpResponse genAgvSchedulingTask(Instruction instruction, int type) {
+        JSONObject jo = new JSONObject();
+        jo.put("receiver", "NDC");
+        jo.put("sender", "ACS");
+        jo.put("type", type);
+        JSONObject ja = new JSONObject();
+        long start = System.currentTimeMillis();
+        //type 3:下发任务
+        if (type==3) {
+            ja.put("taskId", Integer.valueOf(instruction.getInstruction_code()));
+            DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
+            int startAddress = deviceService.queryAddressBydeviceCode(instruction.getStart_point_code());
+            int nextAddress = deviceService.queryAddressBynextdeviceCode(instruction.getNext_point_code());
+            ja.put("pickId", startAddress);
+            ja.put("pickName", instruction.getStart_point_code());
+            ja.put("releaseId", nextAddress);
+            ja.put("releaseName", instruction.getNext_point_code());
+            ja.put("taskType", 5);
+            ja.put("vehicleId", 0);
+            ja.put("priority", 0);
+            jo.put("params", ja);
+        }
+        //34 9:取消任务
+        else if (type==9){
+            ja.put("taskId", Integer.valueOf(instruction.getInstruction_code()));
+            jo.put("params", ja);
+        }
+        //type 10:取放货请求应答
+        else if (type==10){
+            ja.put("taskId", Integer.valueOf(instruction.getInstruction_code()));
+            ja.put("taskPhase", Integer.valueOf(instruction.getExecute_status()));
+            ja.put("height", 0);
+            ja.put("offset", instruction.getOffSet());
+            ja.put("location_name", instruction.getOffSetName());
+            jo.put("params", ja);
+        }
+        String wmsurl = paramService.findByCode(AcsConfig.WCSURL).getValue();
+        String url = wmsurl;
+        log.info("任务号：{},指令号{},下发agv订单序列下发:{}", instruction.getTask_code(), instruction.getInstruction_code(), JSON.toJSONString(jo));
+        LuceneLogDto logDto =
+                LuceneLogDto.builder()
+                        .log(LogLevelEnum.INFO, LogTypeEnum.接口请求, LogDirectEnum.ACS_TO_KIT)
+                        .request(wmsurl,"genAgvSchedulingTask","反馈NDC套件",JSON.toJSONString(jo),start)
+                        .content("开始请求NDC"+TYPE_MAP.get(type))
+                        .build();
+        luceneExecuteLogService.interfaceExecuteLog(logDto);
+        HttpResponse result = null;
+        try {
+            result = HttpRequest.post(url)
+                    //表单内容
+                    .body(String.valueOf(jo))
+                    //超时，毫秒
+                    .timeout(8000)
+                    .execute();
+            LuceneLogDto end =
+                    LuceneLogDto.builder()
+                            .log(LogLevelEnum.INFO, LogTypeEnum.接口响应, LogDirectEnum.ACS_TO_KIT)
+                            .request(wmsurl,"genAgvSchedulingTask","反馈NDC套件",JSON.toJSONString(jo),start)
+                            .content("NDC请求完成"+TYPE_MAP.get(type))
+                            .response(result, HttpStatus.OK,System.currentTimeMillis()-start)
+                            .build();
+            luceneExecuteLogService.interfaceExecuteLog(end);
+            log.info("任务号：{},指令号{},状态{},下发agv订单序列反馈:{}", instruction.getTask_code(), instruction.getInstruction_code(), result.getStatus(), result.body());
+        }catch (Exception ex){
+            LuceneLogDto error =
+                    LuceneLogDto.builder()
+                            .log(LogLevelEnum.ERROR, LogTypeEnum.接口响应, LogDirectEnum.ACS_TO_KIT)
+                            .request(wmsurl,"genAgvSchedulingTask","反馈NDC套件",JSON.toJSONString(jo),start)
+                            .content("NDC请求失败:"+ex.getMessage())
+                            .response(result, HttpStatus.BAD_REQUEST,System.currentTimeMillis()-start)
+                            .build();
+            luceneExecuteLogService.interfaceExecuteLog(error);
+        }
+        return result;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/impl/KitToAcsServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/impl/KitToAcsServiceImpl.java
new file mode 100644
index 0000000..f9e1b69
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/kit/service/impl/KitToAcsServiceImpl.java
@@ -0,0 +1,214 @@
+package org.nl.acs.ext.kit.service.impl;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSONObject;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.domain.Device;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.ext.kit.enums.MsgTypeEnum;
+import org.nl.acs.ext.kit.enums.TaskPhaseEnum;
+import org.nl.acs.ext.kit.enums.TaskStateEnum;
+import org.nl.acs.ext.kit.service.KitToAcsService;
+import org.nl.acs.instruction.domain.Instruction;
+import org.nl.acs.instruction.enums.InstructionStatusEnum;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.storage_cell.service.StorageCellService;
+import org.nl.acs.storage_cell.service.dto.StorageCellDto;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class KitToAcsServiceImpl implements KitToAcsService {
+    @Autowired
+    private InstructionService instructionService;
+    @Autowired
+    private StorageCellService storageCellService;
+    @Autowired
+    private DeviceAppService deviceAppService;
+
+    @Override
+    public JSONObject agvCallback(JSONObject requestParam) throws Exception{
+        JSONObject resp = new JSONObject();
+        Integer type = requestParam.getInteger("type");
+        JSONObject params = requestParam.getJSONObject("params");
+        //任务状态上报
+        if (MsgTypeEnum.TASK_STATE_RPT.getValue().equals(type)) {
+            String instTaskId = params.getString("taskId");
+            String taskPhase = params.getString("taskPhase");
+            String taskState = params.getString("taskState");
+            String taskPoint = params.getString("taskPoint");//请求进入/离开需要上报站点号
+            if (StrUtil.isEmpty(taskPhase)){
+                resp.put("code", "400");
+                resp.put("message", "taskPhase参数异常");
+                log.info("---响应kit请求---"+resp.toString());
+                return resp;
+            }
+            Instruction instruction = instructionService.findByCodeFromCache(instTaskId);
+            if (ObjectUtil.isEmpty(instruction)) {
+                instruction = instructionService.findByCode(instTaskId);
+                if (ObjectUtil.isEmpty(instruction)){
+                    resp.put("code", "400");
+                    resp.put("message", "请求失败，任务信息不存在,指令号:" + instTaskId);
+                    log.info("---响应kit请求---"+resp.toString());
+                    return resp;
+                }
+                instructionService.reload();
+            }
+
+            //taskPhase 任务取消
+            if (TaskStateEnum.CANCELED.getValue().equals(taskState)){
+                instructionService.cancel(instruction.getInstruction_id());
+                resp.put("code", "200");
+                resp.put("message", "取消任务成功");
+                log.info("---响应kit请求---"+resp.toString());
+                return resp;
+            }
+            Device device = null;
+            TaskPhaseEnum taskPhaseEnum = TaskPhaseEnum.fromPhase(taskPhase);
+            switch (taskPhaseEnum){
+                case ENTER_REQUEST_OR_ALLOWED:
+                case LEAVE_NOTICE_OR_ALLOWED:
+                    StorageCellDto storageCellDto = storageCellService.findByAddress(taskPoint);
+                    if (ObjectUtil.isEmpty(storageCellDto)) {
+                        resp.put("code", "400");
+                        resp.put("message", "请求失败，点位信息不存在,点位站点号:" + taskPoint);
+                        log.info("---响应kit请求---"+resp.toString());
+                        return resp;
+                    }
+                    device = deviceAppService.findDeviceByCode(storageCellDto.getStorage_code());
+                    if (ObjectUtil.isEmpty(device)) {
+                        resp.put("code", "400");
+                        resp.put("message", "请求失败，请求位置编号不存在！");
+                        log.info("---响应kit请求---"+resp.toString());
+                        return resp;
+                    }
+                    DeviceDriver deviceDriver = device.getDeviceDriver();
+                    deviceDriver.setDeviceInnerParam(instTaskId,taskPhase);
+                    break;
+                case PICKUP_REQUEST_OR_RESPONSE:
+                case PICKUP_COMPLETE:
+                case RELEASE_REQUEST_OR_RESPONSE:
+                case RELEASE_COMPLETE:
+                    if (TaskPhaseEnum.PICKUP_REQUEST_OR_RESPONSE.getValue().equals(taskPhase) || TaskPhaseEnum.PICKUP_COMPLETE.getValue().equals(taskPhase)){
+                        device = deviceAppService.findDeviceByCode(instruction.getStart_point_code());
+                    }
+                    //taskPhase 请求放货上报,放货完成上报
+                    if (TaskPhaseEnum.RELEASE_REQUEST_OR_RESPONSE.getValue().equals(taskPhase)||TaskPhaseEnum.RELEASE_COMPLETE.getValue().equals(taskPhase)){
+                        device = deviceAppService.findDeviceByCode(instruction.getNext_point_code());
+                    }
+                    if (device == null){
+                        resp.put("code", "400");
+                        resp.put("message", "点位驱动不存在");
+                        log.info("---响应kit请求---"+resp.toString());
+                        return resp;
+                    }
+                    device.getDeviceDriver().setDeviceInnerParam(instTaskId,taskPhase);
+                    if (!taskPhase.equals(instruction.getExecute_status())){
+                        instruction.setExecute_status(taskPhase);
+                        instructionService.update(instruction);
+                    }
+                    //taskPhase 任务完成
+                    if (TaskStateEnum.COMPLETED.getValue().equals(taskState)){
+                        resp.put("code", "200");
+                        resp.put("message", "完成任务成功");
+                        log.info("---响应kit请求---"+resp.toString());
+                    }
+                    break;
+                default:
+                    resp.put("code", "400");
+                    resp.put("message", "taskPhase值不存在");
+                    log.info("---响应kit请求---"+resp.toString());
+                    return resp;
+            }
+            resp.put("code", "200");
+            resp.put("message", taskPhaseEnum.getDescription()+"处理完毕");
+            log.info("---响应kit请求---"+resp.toString());
+            return resp;
+        }
+        //任务分配车辆上报
+        else if (MsgTypeEnum.AGV_ID_RPT.getValue().equals(type)){
+            String taskId = params.getString("taskId");
+            String agvId = params.getString("agvId");
+            Instruction instruction = instructionService.findByCodeFromCache(taskId);
+            if (ObjectUtil.isEmpty(instruction)) {
+                resp.put("code", "400");
+                resp.put("message", "请求失败，任务信息不存在,指令号:" + taskId);
+                log.info("---响应kit请求---"+resp.toString());
+                return resp;
+            }
+            //更新车号
+            instruction.setCarno(agvId);
+            instruction.setInstruction_status(InstructionStatusEnum.BUSY.getCode());
+            instruction.setUpdate_time(DateUtil.now());
+            instructionService.update(instruction);
+            resp.put("code", "200");
+            resp.put("message", "更新车号成功");
+            log.info("---响应kit请求---"+resp.toString());
+            return resp;
+        }
+        else if (MsgTypeEnum.TASK_RUN_RPT.getValue().equals(type)){
+            System.out.println("------");
+            resp.put("code", "200");
+            resp.put("message", "更新车号成功");
+            log.info("---响应kit请求---"+resp.toString());
+            return resp;
+        }
+        //车辆任务生成上报
+        else if (MsgTypeEnum.TASK_INDEX_RPT.getValue().equals(type)){
+            String taskId = params.getString("taskId");
+            Instruction instruction = instructionService.findByCodeFromCache(taskId);
+            if (ObjectUtil.isEmpty(instruction)) {
+                resp.put("code", "400");
+                resp.put("message", "请求失败，任务信息不存在,指令号:" + taskId);
+                log.info("---响应kit请求---"+resp.toString());
+                return resp;
+            }
+            //修改指令状态执行中
+            instruction.setInstruction_status(InstructionStatusEnum.BUSY.getCode());
+            instruction.setUpdate_time(DateUtil.now());
+            instructionService.update(instruction);
+            resp.put("code", "200");
+            resp.put("message", "更新指令执行中成功");
+            log.info("---响应kit请求---"+resp.toString());
+            return resp;
+        }
+        else if (MsgTypeEnum.AGV_POWER_RPT.getValue().equals(type)){
+            int agvId = params.getIntValue("agvId");
+            int stateValue = params.getIntValue("stateValue");
+            resp.put("code", "200");
+            resp.put("message", "更新指令执行中成功");
+            log.info("---响应kit请求---"+resp.toString());
+            return resp;
+        }
+        else if (MsgTypeEnum.AGV_STATE_RPT.getValue().equals(type)){
+            int agvId = params.getIntValue("agvId");
+            int stateValue = params.getIntValue("stateValue");
+            int xLocation = params.getIntValue("xLocation");
+            int yLocation = params.getIntValue("yLocation");
+            int angle = params.getIntValue("angle");
+            int speed = params.getIntValue("speed");
+            resp.put("code", "200");
+            resp.put("message", "更新指令执行中成功");
+            log.info("---响应kit请求---"+resp.toString());
+            return resp;
+        }
+        else if (MsgTypeEnum.AGV_ERROR_RPT.getValue().equals(type)){
+            int agvId = params.getIntValue("agvId");
+            int errorCode = params.getIntValue("errState");
+            resp.put("code", "200");
+            resp.put("message", "更新指令执行中成功");
+            log.info("---响应kit请求---"+resp.toString());
+            return resp;
+        }
+        resp.put("code", "400");
+        resp.put("message", type+"type类型未定义");
+        log.info("---响应kit请求---"+resp.toString());
+        return resp;
+    }
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/lucene/enums/LogDirectEnum.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/lucene/enums/LogDirectEnum.java
new file mode 100644
index 0000000..72a63e8
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/lucene/enums/LogDirectEnum.java
@@ -0,0 +1,15 @@
+package org.nl.config.lucene.enums;
+
+import lombok.Getter;
+
+@Getter
+public enum LogDirectEnum {
+    MES_TO_ACS,
+    WMS_TO_ACS,
+    KIT_TO_ACS,
+    TO_ACS,
+    ACS_TO_HJX,
+    ACS_TO_MES,
+    ACS_TO_KIT,
+    ACS_TO_WMS;
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/lucene/enums/LogLevelEnum.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/lucene/enums/LogLevelEnum.java
new file mode 100644
index 0000000..a2ff7b7
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/lucene/enums/LogLevelEnum.java
@@ -0,0 +1,16 @@
+package org.nl.config.lucene.enums;
+
+import lombok.Getter;
+
+@Getter
+public enum LogLevelEnum {
+    INFO(1),
+    WARN(2),
+    ERROR(3);
+
+    private Integer code;
+
+    LogLevelEnum(Integer i) {
+        this.code=i;
+    }
+}