diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
index d9525c2..ef39e9e 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
@@ -108,13 +108,12 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
             agvport = paramService.findByCode(AcsConfig.RGVPORT).getValue();
 
             agvurl = agvurl + ":" + agvport + "/transportOrders/query";
-            log.info("下发agv查询状态请求:{}内容为：{}", agvurl);
+            //log.info("下发agv查询状态请求:{}内容为：{}", agvurl);
             HttpResponse result = HttpRequest.post(agvurl)
                     .body(String.valueOf(new JSONObject()))//表单内容
                     .timeout(20000)//超时，毫秒
                     .execute();
             log.info("查询agv指令数据:" + result.body());
-
             return result;
         } else {
             return null;
@@ -133,7 +132,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
             agvport = paramService.findByCode(AcsConfig.RGVPORT).getValue();
 
             agvurl = agvurl + ":" + agvport + "/vehicles";
-            log.info("下发agv查询设备状态请求:{}内容为：{}", agvurl);
+            //log.info("下发agv查询设备状态请求:{}内容为：{}", agvurl);
             HttpResponse result = HttpRequest.post(agvurl)
                     .body(String.valueOf(new JSONObject()))//表单内容
                     .timeout(20000)//超时，毫秒
@@ -462,7 +461,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
         if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
             String agvurl = paramService.findByCode(AcsConfig.RGVURL).getValue();
             String agvport = paramService.findByCode(AcsConfig.RGVPORT).getValue();
-            Instruction instruction = instructionService.findByCode(instCode);
+            //Instruction instruction = instructionService.findByCode(instCode);
             agvurl = agvurl + ":" + agvport + "/transportOrders/" + instCode + "/withdrawal";
             log.info("删除agv指令请求agvurl:{}", agvurl);
             HttpResponse result = HttpRequest.post(agvurl)
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/tianneng/guhuashi/GuhuashiSiteDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/tianneng/guhuashi/GuhuashiSiteDeviceDriver.java
index f723a20..227e276 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/tianneng/guhuashi/GuhuashiSiteDeviceDriver.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/tianneng/guhuashi/GuhuashiSiteDeviceDriver.java
@@ -112,7 +112,6 @@ public class GuhuashiSiteDeviceDriver extends AbstractOpcDeviceDriver implements
     public void execute() {
         String message = null;
         try {
-            //todo 错误码转换
             devicecode = this.getDeviceCode();
             VW7010 = this.itemProtocol.getVW7010();
             VW7012 = this.itemProtocol.getVW7012();
@@ -120,9 +119,6 @@ public class GuhuashiSiteDeviceDriver extends AbstractOpcDeviceDriver implements
             VW7016 = this.itemProtocol.getVW7016();
             VW7018 = this.itemProtocol.getVW7018();
             VW7020 = this.itemProtocol.getVW7020();
-            if("GHS01".equals(devicecode)){
-                log.info("123");
-            }
             VW7022 = this.itemProtocol.getVW7022();
             VW7024 = this.itemProtocol.getVW7024();
             VW7026 = this.itemProtocol.getVW7026();
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/rest/InstructionController.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/rest/InstructionController.java
index a121c85..01a2992 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/rest/InstructionController.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/rest/InstructionController.java
@@ -99,7 +99,7 @@ public class InstructionController {
     @ApiOperation("完成指令")
     @PostMapping(value = "/finish/{id}")
     public ResponseEntity<Object> finish(@RequestBody String id) throws Exception {
-        instructionService.finish(id);
+        instructionService.finish(id, "1");
         return new ResponseEntity<>(HttpStatus.OK);
     }
 
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java
index a62717d..897db31 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java
@@ -181,6 +181,8 @@ public interface InstructionService extends CommonService<InstructionMybatis>  {
      */
     void finish(String id) throws Exception;
 
+     void finish(String id,String operationType)throws Exception;
+
     /**
      * 完成指令
      *
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 2ff887a..f435b59 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -20,6 +20,9 @@ import org.nl.acs.agv.server.MagicAgvService;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.agv.server.ZheDaAgvService;
 import org.nl.acs.auto.initial.ApplicationAutoInitial;
+import org.nl.acs.common.base.PageInfo;
+import org.nl.acs.common.base.QueryHelpMybatisPlus;
+import org.nl.acs.common.base.impl.CommonServiceImpl;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
@@ -30,9 +33,12 @@ import org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanne
 import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.ext.wms.liKuData.*;
 import org.nl.acs.ext.wms.service.AcsToLiKuService;
+import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.domain.InstructionMybatis;
+import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.InstructionDto;
 import org.nl.acs.instruction.service.dto.InstructionQueryParam;
+import org.nl.acs.instruction.service.mapper.InstructionMapper;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.route.service.RouteLineService;
@@ -42,30 +48,20 @@ import org.nl.acs.task.TaskInstructionLock;
 import org.nl.acs.task.domain.Task;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
-import org.nl.acs.common.base.PageInfo;
-import org.nl.acs.common.base.QueryHelpMybatisPlus;
-import org.nl.acs.common.base.impl.CommonServiceImpl;
 import org.nl.acs.task.service.mapper.TaskMapper;
-import org.nl.common.exception.BadRequestException;
 import org.nl.acs.utils.ConvertUtil;
-import org.nl.common.utils.FileUtil;
 import org.nl.acs.utils.PageUtil;
-import org.nl.acs.instruction.domain.Instruction;
-import org.nl.acs.instruction.service.InstructionService;
-import org.nl.acs.instruction.service.mapper.InstructionMapper;
-import org.nl.common.utils.SecurityUtils;
-import org.nl.system.service.param.ISysParamService;
+import org.nl.common.exception.BadRequestException;
 import org.nl.common.utils.CodeUtil;
+import org.nl.common.utils.FileUtil;
+import org.nl.common.utils.SecurityUtils;
 import org.nl.config.SpringContextHolder;
+import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.domain.Pageable;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Propagation;
 import org.springframework.transaction.annotation.Transactional;
-// 默认不使用缓存
-//import org.springframework.cache.annotation.CacheConfig;
-//import org.springframework.cache.annotation.CacheEvict;
-//import org.springframework.cache.annotation.Cacheable;
-import org.springframework.data.domain.Pageable;
 
 import javax.servlet.http.HttpServletResponse;
 import java.io.IOException;
@@ -354,9 +350,9 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         LambdaQueryWrapper<InstructionMybatis> wrapper = new LambdaQueryWrapper<>();
         wrapper.eq(InstructionMybatis::getTask_id, id);
         wrapper.apply(StringUtils.isNotBlank(wherecaluse), wherecaluse);
-        InstructionMybatis ins = instructionMapper.selectOne(wrapper);
-        if (ObjectUtil.isNotEmpty(ins)) {
-            return ConvertUtil.convert(ins, Instruction.class);
+        List<InstructionMybatis> insList = instructionMapper.selectList(wrapper);
+        if (ObjectUtil.isNotEmpty(insList)) {
+            return ConvertUtil.convert(insList.get(0), Instruction.class);
         }
         return null;
     }
@@ -388,14 +384,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         if (StrUtil.isEmpty(dto.getLink_num())) {
             dto.setIs_send(task.getLink_num());
         }
-//        if (task.getTask_type().equals("1") || task.getTask_type().equals("2")) {
+        //        if (task.getTask_type().equals("1") || task.getTask_type().equals("2")) {
         dto.setInstruction_type(task.getTask_type());
-//        } else if (false) {
-//
-//        } else {
-//            dto.setInstruction_type("3");
-//        }
-
+        //        } 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());
@@ -412,7 +407,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                 dto.setCompound_inst_data(task.getCompound_task_data());
             }
         }
-        //todo 增加lms任务id
         dto.setExt_task_id(task.getExt_task_id());
         dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
         dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
@@ -461,21 +455,34 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                     JSONObject jo = JSON.parseObject(result.body());
                     if (jo.getInteger("status") != 200) {
                         dto.setSend_status("2");
+                        dto.setRemark("失败原因:"+jo.getString("message"));
+                        log.error("创建指令,下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), jo.getString("message"));
+                        if (task != null) {
+                            task.setRemark("创建指令,下发AGV/RGV任务失败！失败原因{}" + jo.getString("message"));
+                            taskService.update(task);
+                        }
                     } else {
                         dto.setSend_status("1");
                     }
                 } else {
                     dto.setSend_status("2");
+                    dto.setRemark("失败原因:AGV/RGV未响应！");
+                    log.error("创建指令,下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), "AGV/RGV未响应！");
+                    if (task != null) {
+                        task.setRemark("创建指令,下发AGV/RGV任务失败！失败原因: AGV/RGV未响应！");
+                        taskService.update(task);
+                    }
                 }
             }
         } catch (Exception e) {
             dto.setSend_status("2");
-            e.printStackTrace();
-            log.error("");
+            dto.setRemark("失败原因:"+ e.getMessage());
+            log.error("创建指令失败，任务id为：" + task.getTask_id(), "失败原因：" + e.getMessage());
+            if (task != null) {
+                task.setRemark("自动创建指令失败，失败原因:"+ e.getMessage());
+                taskService.update(task);
+            }
         }
-//        WQLObject wo = WQLObject.getWQLObject("acs_instruction");
-//        JSONObject json = (JSONObject) JSONObject.toJSON(dto);
-//        wo.insert(json);
         InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
         instructionMapper.insert(entity);
         instructions.add(dto);
@@ -487,7 +494,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         String task_code = dto.getTask_code();
         TaskDto task = taskService.findByCodeFromCache(task_code);
 
-//        WQLObject instwo = WQLObject.getWQLObject("acs_instruction");
+        //        WQLObject instwo = WQLObject.getWQLObject("acs_instruction");
         String currentUsername = SecurityUtils.getCurrentUsername();
         String now = DateUtil.now();
         if (StrUtil.isEmpty(dto.getRoute_plan_code())) {
@@ -578,18 +585,30 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
                     JSONObject jo = JSON.parseObject(result.body());
                     if (jo.getInteger("status") != 200) {
                         dto.setSend_status("2");
+                        dto.setRemark("失败原因:"+jo.getString("message"));
+                        log.error("创建指令,下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), jo.getString("message"));
+                        if (task != null) {
+                            task.setRemark("创建指令,下发AGV/RGV任务失败！失败原因{}" + jo.getString("message"));
+                            taskService.update(task);
+                        }
                     } else {
                         dto.setSend_status("1");
                     }
                 } else {
                     dto.setSend_status("2");
+                    dto.setRemark("失败原因:AGV/RGV未响应！");
+                    log.error("创建指令,下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), "AGV/RGV未响应！");
+                    if (task != null) {
+                        task.setRemark("创建指令,下发AGV/RGV任务失败！失败原因: AGV/RGV未响应！");
+                        taskService.update(task);
+                    }
                 }
             }
         } catch (Exception e) {
+            dto.setRemark("失败原因:"+e.getMessage());
             dto.setSend_status("2");
-            e.printStackTrace();
+            log.error("创建指令失败，下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), dto.getInstruction_code(), e.getMessage());
         }
-
         InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
         instructionMapper.insert(entity);
         instructions.add(dto);
@@ -599,7 +618,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     public void createAgain(Instruction dto) throws Exception {
         String task_code = dto.getTask_code();
         TaskDto task = taskService.findByCodeFromCache(task_code);
-//        WQLObject instwo = WQLObject.getWQLObject("acs_instruction");
+
         String currentUsername = SecurityUtils.getCurrentUsername();
         String now = DateUtil.now();
         if (StrUtil.isEmpty(dto.getRoute_plan_code())) {
@@ -619,19 +638,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         }
         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, 3)
                     .eq(InstructionMybatis::getNext_point_code, dto.getNext_point_code())
@@ -656,11 +663,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         dto.setUpdate_time(now);
         dto.setCreate_time(now);
 
-//        WQLObject wo = WQLObject.getWQLObject("acs_instruction");
-//        JSONObject json = (JSONObject) JSONObject.toJSON(dto);
-//
-//        wo.insert(json);
-
         InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class);
         instructionMapper.insert(entity);
 
@@ -756,14 +758,25 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         FileUtil.downloadExcel(list, response);
     }
 
+    @Override
+    public void finish(String id,String operationType) {
+        finish(id);
+        InstructionDto entity = this.findById(id);
+        entity.setRemark("指令被PC端手动完成");
+        InstructionMybatis ins = ConvertUtil.convert(entity, InstructionMybatis.class);
+        instructionMapper.updateById(ins);
+        log.error("指令被PC端手动完成,任务号:{}", entity.getTask_code());
+    }
+
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void finish(String id) {
         InstructionDto entity = this.findById(id);
-         if (ObjectUtil.isEmpty(entity)||"3".equals(entity.getInstruction_status())) {
-             log.error("指令{}被删除或无权限，操作失败!",id);
-             return;
-         }
+        if (ObjectUtil.isEmpty(entity) || "3".equals(entity.getInstruction_status())) {
+            log.error("指令{}被删除或无权限，操作失败!", id);
+            return;
+        }
         String currentUsername = SecurityUtils.getCurrentUsername();
         String now = DateUtil.now();
         entity.setUpdate_time(now);
@@ -771,7 +784,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         entity.setInstruction_status("2");
         String instnextdevice = entity.getNext_device_code();
         String insttaskid = entity.getTask_id();
-//        WQLObject taskwo = WQLObject.getWQLObject("acs_task");
         DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
         Device startdevice = appService.findDeviceByCode(entity.getStart_device_code());
         if (ObjectUtils.isEmpty(startdevice)) {
@@ -823,15 +835,10 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         jo.put("islock", "0");
         deviceService.changeDeviceStatus(jo);
 
-//        WQLObject wo = WQLObject.getWQLObject("acs_instruction");
-//        JSONObject json = (JSONObject) JSONObject.toJSON(entity);
-//        wo.update(json);
 
         InstructionMybatis ins = ConvertUtil.convert(entity, InstructionMybatis.class);
         instructionMapper.updateById(ins);
 
-//        JSONObject taskjson = taskwo.query("task_id ='" + insttaskid + "'").uniqueResult(0);
-//        TaskDto obj = taskjson.toJavaObject(TaskDto.class);
 
         Task task = new LambdaQueryChainWrapper<>(taskMapper)
                 .eq(Task::getTask_id, insttaskid)
@@ -839,78 +846,76 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         // =0 则不用再次请求
         if (StrUtil.equals(task.getRequest_again(), "0")) {
             if (StrUtil.equals(task.getNext_device_code(), instnextdevice)) {
-                taskService.finish(task.getTask_id());
+                taskService.finish(task.getTask_id(),"0");
             } else {
                 finishAndCreateNextInst(new Instruction(entity));
             }
         }
-
         removeByCodeFromCache(entity.getInstruction_code());
-//        this.reload();
+        //        this.reload();
     }
 
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void finish(Instruction dto) {
-        String now = DateUtil.now();
-        dto.setInstruction_status("2");
-//        WQLObject wo = WQLObject.getWQLObject("acs_instruction");
-//        JSONObject json = (JSONObject) JSONObject.toJSON(dto);
-//
-//        wo.update(json);
 
-        InstructionMybatis ins = ConvertUtil.convert(dto, InstructionMybatis.class);
-        instructionMapper.updateById(ins);
+        try {
 
-        String instnextdevice = dto.getNext_device_code();
-        String insttaskid = dto.getTask_id();
-//        WQLObject taskwo = WQLObject.getWQLObject("acs_task");
-//        JSONObject taskjson = taskwo.query("task_id ='" + insttaskid + "'").uniqueResult(0);
-//        TaskDto obj = taskjson.toJavaObject(TaskDto.class);
+            dto.setInstruction_status("2");
 
-        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.getNext_device_code(), instnextdevice)) {
-                taskService.finish(task.getTask_id());
-            } else {
-                finishAndCreateNextInst(dto);
+            InstructionMybatis ins = ConvertUtil.convert(dto, InstructionMybatis.class);
+            instructionMapper.updateById(ins);
+
+            String instnextdevice = dto.getNext_device_code();
+            String insttaskid = dto.getTask_id();
+
+
+            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.getNext_device_code(), instnextdevice)) {
+                    taskService.finish(task.getTask_id(),"1");
+                } else {
+                    finishAndCreateNextInst(dto);
+                }
             }
+
+            DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+            DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
+            Device device = appService.findDeviceByCode(instnextdevice);
+            if (device == null) {
+                log.debug("地址对应设备未找到");
+                return;
+            }
+            // 如果是无光电的设备 放货任务完成需要变更有货状态
+            //        StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
+            //        if(device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+            //            standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver)
+            // device.getDeviceDriver();
+            //            standardOrdinarySiteDeviceDriver.setMove(2);
+            //        }
+
+            // 如果是无光电的设备 指令完成变更起点、终点状态
+            JSONObject jo = new JSONObject();
+            jo.put("device_code", dto.getStart_point_code());
+            jo.put("hasGoodStatus", "0");
+            jo.put("material_type", "");
+            jo.put("batch", "");
+            deviceService.changeDeviceStatus(jo);
+
+            JSONObject jo1 = new JSONObject();
+            jo1.put("device_code", dto.getNext_point_code());
+            jo1.put("hasGoodStatus", "1");
+            jo1.put("material_type", dto.getMaterial());
+            jo1.put("batch", dto.getBatch());
+            deviceService.changeDeviceStatus(jo1);
+            removeByCodeFromCache(dto.getInstruction_code());
+            log.info("RGV反馈任务完成成功！指令号：{}", ins.getInstruction_code());
+        } catch (Exception e) {
+            log.error("RGV反馈任务失败！任务id为:{},指令号为:{}", dto.getInstruction_code(), e.getMessage());
         }
-
-        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-        DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
-        Device device = appService.findDeviceByCode(instnextdevice);
-        if (device == null) {
-            log.debug("地址对应设备未找到");
-            return;
-        }
-        // 如果是无光电的设备 放货任务完成需要变更有货状态
-        //        StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
-        //        if(device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-        //            standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver)
-        // device.getDeviceDriver();
-        //            standardOrdinarySiteDeviceDriver.setMove(2);
-        //        }
-
-        // 如果是无光电的设备 指令完成变更起点、终点状态
-        JSONObject jo = new JSONObject();
-        jo.put("device_code", dto.getStart_point_code());
-        jo.put("hasGoodStatus", "0");
-        jo.put("material_type", "");
-        jo.put("batch", "");
-        deviceService.changeDeviceStatus(jo);
-
-        JSONObject jo1 = new JSONObject();
-        jo1.put("device_code", dto.getNext_point_code());
-        jo1.put("hasGoodStatus", "1");
-        jo1.put("material_type", dto.getMaterial());
-        jo1.put("batch", dto.getBatch());
-        deviceService.changeDeviceStatus(jo1);
-
-        removeByCodeFromCache(dto.getInstruction_code());
         //            this.reload();
     }
 
@@ -919,9 +924,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
     public void finishAndCreateNextInst(Instruction dto) {
         dto = foramte(dto);
         String device_code = dto.getNext_device_code();
-//        WQLObject taskwo = WQLObject.getWQLObject("acs_task");
-//        JSONObject taskjson = taskwo.query("task_id ='" + dto.getTask_id() + "'").uniqueResult(0);
-//        TaskDto acsTask = taskjson.toJavaObject(TaskDto.class);
+
         Task acsTask = new LambdaQueryChainWrapper<>(taskMapper)
                 .eq(Task::getTask_id, dto.getTask_id())
                 .one();
@@ -1010,83 +1013,88 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         if (StrUtil.isEmpty(entity.getRoute_plan_code())) {
             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(), "1")
-                && !StrUtil.equals(entity.getSend_status(), "2")) {
-            MagicAgvService magicAgvService = SpringContextHolder.getBean(MagicAgvService.class);
-            magicAgvService.deleteAgvInst(entity.getInstruction_code());
-            flag = true;
-
-        } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
-            // NDC agv指令不当场取消指令,需要等agv上报
-            if (!StrUtil.isEmpty(entity.getAgv_jobno())) {
-                ndcAgvService.deleteAgvInstToNDC(new Instruction(entity));
-            }
-//            } else {
-            flag = true;
-//            }
-        } else {
-            flag = true;
-        }
-        if (StrUtil.equals(entity.getInstruction_type(), "4") ||
-                StrUtil.equals(entity.getInstruction_type(), "3")) {
-            ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class);
-            zheDaAgvService.deleteZDAgvInst(entity.getInstruction_code());
-            flag = true;
-        }
-
-        if (flag) {
-
-            String currentUsername = SecurityUtils.getCurrentUsername();
-            String now = DateUtil.now();
-            entity.setUpdate_time(now);
-            entity.setUpdate_by(currentUsername);
-            entity.setInstruction_status("3");
-//            WQLObject wo = WQLObject.getWQLObject("acs_instruction");
-//            JSONObject json = (JSONObject) JSONObject.toJSON(entity);
-//            wo.update(json);
-            InstructionMybatis ins = ConvertUtil.convert(entity, InstructionMybatis.class);
-            instructionMapper.updateById(ins);
-            DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-            DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
-
-            // 如果是无光电的设备 指令完成变更起点、终点状态
-            JSONObject jo = new JSONObject();
-            jo.put("device_code", entity.getStart_device_code());
-            if (StrUtil.equals(entity.getMaterial(), "1")) {
-                jo.put("hasGoodStatus", "1");
-            } else if (!StrUtil.equals(entity.getMaterial(), "1")
-                    && !StrUtil.isEmpty(entity.getMaterial())) {
-                jo.put("hasGoodStatus", "2");
+        try {
+            // != 0 为agv任务 1=magic 2=NDC 3=XZ,4=ZHEDA
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "1")
+                    && !StrUtil.equals(entity.getSend_status(), "2")) {
+                MagicAgvService magicAgvService = SpringContextHolder.getBean(MagicAgvService.class);
+                magicAgvService.deleteAgvInst(entity.getInstruction_code());
+                flag = true;
+            } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
+                // NDC agv指令不当场取消指令,需要等agv上报
+                if (!StrUtil.isEmpty(entity.getAgv_jobno())) {
+                    ndcAgvService.deleteAgvInstToNDC(new Instruction(entity));
+                }
+                //            } else {
+                flag = true;
+                //            }
             } else {
-                jo.put("hasGoodStatus", "0");
+                flag = true;
             }
-            jo.put("material_type", entity.getMaterial());
-            jo.put("batch", entity.getBatch());
-            jo.put("islock", "false");
-            deviceService.changeDeviceStatus(jo);
+            flag = true;
+            if (StrUtil.equals(entity.getInstruction_type(), "4") ||
+                    StrUtil.equals(entity.getInstruction_type(), "3")) {
+                ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class);
+                HttpResponse result = zheDaAgvService.deleteZDAgvInst(entity.getInstruction_code());
+                if (result.getStatus() == 200) {
+                    flag = true;
+                } else {
+                    log.error("下发rgv取消指令动作失败,下发AGV/RGV任务失败！任务id为:{},指令号为:{}，失败原因{}", task.getTask_id(), entity.getInstruction_code(), "AGV/RGV未响应！");
+                    if (task != null) {
+                        task.setRemark("下发rgv取消指令动作失败！失败原因: 连接AGV/RGV未响应！");
+                        taskService.update(task);
+                    }
+                    flag = false;
+                }
+                if (flag) {
+                    String currentUsername = SecurityUtils.getCurrentUsername();
+                    String now = DateUtil.now();
+                    entity.setUpdate_time(now);
+                    entity.setUpdate_by(currentUsername);
+                    entity.setInstruction_status("3");
+                    InstructionMybatis ins = ConvertUtil.convert(entity, InstructionMybatis.class);
+                    instructionMapper.updateById(ins);
+                    DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+                    DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
+                    // 如果是无光电的设备 指令完成变更起点、终点状态
+                    JSONObject jo = new JSONObject();
+                    jo.put("device_code", entity.getStart_device_code());
+                    if (StrUtil.equals(entity.getMaterial(), "1")) {
+                        jo.put("hasGoodStatus", "1");
+                    } else if (!StrUtil.equals(entity.getMaterial(), "1")
+                            && !StrUtil.isEmpty(entity.getMaterial())) {
+                        jo.put("hasGoodStatus", "2");
+                    } else {
+                        jo.put("hasGoodStatus", "0");
+                    }
+                    jo.put("material_type", entity.getMaterial());
+                    jo.put("batch", entity.getBatch());
+                    jo.put("islock", "false");
+                    deviceService.changeDeviceStatus(jo);
+                    JSONObject jo1 = new JSONObject();
+                    jo1.put("device_code", entity.getNext_device_code());
+                    jo.put("hasGoodStatus", "0");
+                    jo.put("material_type", "");
+                    jo.put("batch", "");
+                    jo1.put("islock", "false");
+                    deviceService.changeDeviceStatus(jo1);
 
-            JSONObject jo1 = new JSONObject();
-            jo1.put("device_code", entity.getNext_device_code());
-            jo.put("hasGoodStatus", "0");
-            jo.put("material_type", "");
-            jo.put("batch", "");
-            jo1.put("islock", "false");
-            deviceService.changeDeviceStatus(jo1);
-
-            String instnextdevice = entity.getNext_device_code();
-            Device device = appService.findDeviceByCode(instnextdevice);
-            if (device == null) {
-                log.debug("地址对应设备未找到");
-                return;
+                    String instnextdevice = entity.getNext_device_code();
+                    Device device = appService.findDeviceByCode(instnextdevice);
+                    if (device == null) {
+                        log.debug("地址对应设备未找到");
+                        return;
+                    }
+                    removeByCodeFromCache(entity.getInstruction_code());
+                }
             }
-            removeByCodeFromCache(entity.getInstruction_code());
-//            taskService.cancel(entity.getTask_id());
+        } catch (Exception e) {
+            log.error("指令取消失败！失败原因:{}", e.getMessage());
+            throw new BadRequestException("指令取消失败！失败原因:" + e.getMessage());
         }
-//        this.reload();
     }
 
+
     @Override
     public void forceCancel(String id) throws Exception {
         // flag= true时取消指令
@@ -1104,9 +1112,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         entity.setUpdate_time(now);
         entity.setUpdate_by(currentUsername);
         entity.setInstruction_status("3");
-//        WQLObject wo = WQLObject.getWQLObject("acs_instruction");
-//        JSONObject json = (JSONObject) JSONObject.toJSON(entity);
-//        wo.update(json);
+        entity.setRemark("指令被PC端手动取消");
         InstructionMybatis ins = ConvertUtil.convert(entity, InstructionMybatis.class);
         instructionMapper.updateById(ins);
         DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -1142,6 +1148,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             return;
         }
         removeByCodeFromCache(entity.getInstruction_code());
+        log.error("指令被PC端手动取消,指令号:{},任务号:{}", entity.getInstruction_code(),entity.getTask_code());
     }
 
     @Override
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java
index 3a5e2c5..2b96ea3 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java
@@ -112,7 +112,7 @@ public class TaskController {
     @ApiOperation("完成任务")
     @PostMapping(value = "/finish/{id}")
     public ResponseEntity<Object> finish(@RequestBody String id) {
-        taskService.finish(id);
+        taskService.finish(id, "2");
         return new ResponseEntity<>(HttpStatus.OK);
     }
 
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
index 1b51545..bb1f04c 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
@@ -215,8 +215,9 @@ public interface TaskService extends CommonService<Task>  {
      * 完成任务
      *
      * @param ids
+     * @param operationType
      */
-    void finish(String ids);
+    void finish(String ids,String operationType);
 
     /**
      * 取消任务
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index 998011e..e61f20e 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -5,7 +5,6 @@ import cn.hutool.core.map.MapUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
-import cn.hutool.http.HttpResponse;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
@@ -16,6 +15,9 @@ import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.XianGongAgvService;
 import org.nl.acs.auto.initial.ApplicationAutoInitial;
+import org.nl.acs.common.base.PageInfo;
+import org.nl.acs.common.base.QueryHelpMybatisPlus;
+import org.nl.acs.common.base.impl.CommonServiceImpl;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.enums.DeviceType;
 import org.nl.acs.device.service.DeviceAssignedService;
@@ -36,35 +38,27 @@ import org.nl.acs.route.service.dto.RouteLineDto;
 import org.nl.acs.route.service.mapper.RoutePlanMapper;
 import org.nl.acs.storage_cell.service.StorageCellService;
 import org.nl.acs.task.TaskInstructionLock;
-import org.nl.acs.task.service.TaskFeedbackService;
-import org.nl.acs.task.service.dto.TaskFeedbackDto;
-import org.nl.acs.common.base.PageInfo;
-import org.nl.acs.common.base.QueryHelpMybatisPlus;
-import org.nl.acs.common.base.impl.CommonServiceImpl;
-import org.nl.common.exception.BadRequestException;
-import org.nl.acs.utils.ConvertUtil;
-import org.nl.common.utils.FileUtil;
-import org.nl.acs.utils.PageUtil;
 import org.nl.acs.task.domain.Task;
+import org.nl.acs.task.service.TaskFeedbackService;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.acs.task.service.dto.TaskFeedbackDto;
 import org.nl.acs.task.service.dto.TaskQueryParam;
 import org.nl.acs.task.service.mapper.TaskMapper;
-import org.nl.common.utils.SecurityUtils;
-import org.nl.system.service.param.ISysParamService;
+import org.nl.acs.utils.ConvertUtil;
+import org.nl.acs.utils.PageUtil;
+import org.nl.common.exception.BadRequestException;
 import org.nl.common.utils.CodeUtil;
-
+import org.nl.common.utils.FileUtil;
+import org.nl.common.utils.SecurityUtils;
 import org.nl.config.SpringContextHolder;
+import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
+import org.springframework.data.domain.Pageable;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Propagation;
 import org.springframework.transaction.annotation.Transactional;
-// 默认不使用缓存
-//import org.springframework.cache.annotation.CacheConfig;
-//import org.springframework.cache.annotation.CacheEvict;
-//import org.springframework.cache.annotation.Cacheable;
-import org.springframework.data.domain.Pageable;
 
 import javax.servlet.http.HttpServletResponse;
 import java.io.IOException;
@@ -899,9 +893,12 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         }
     }
 
+    /**
+     * operationType 1自动完成 2手动完成 3手持完成
+     */
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public void finish(String id) {
+    public void finish(String id, String operationType) {
         TaskDto entity = this.findById(id);
         if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!");
         InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
@@ -912,10 +909,15 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         entity.setUpdate_time(now);
         entity.setUpdate_by(currentUsername);
         entity.setTask_status("2");
-
+        if ("2".equals(operationType)) {
+            log.error("任务被PC端手动完成,任务号:{}", entity.getTask_code());
+            entity.setRemark("任务被PC端手动完成");
+        } else if ("3".equals(operationType)) {
+            log.error("任务被手持端手动完成,任务号:{}", entity.getTask_code());
+            entity.setRemark("任务被手持端手动完成");
+        }
         Task task = ConvertUtil.convert(entity, Task.class);
         taskMapper.updateById(task);
-
         removeByCodeFromCache(entity.getTask_code());
         // 判断是否为WMS下发的任务，如果是反馈任务状态给WMS
         String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
@@ -926,17 +928,17 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             request.setTask_status(entity.getTask_status());
             request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode());
             request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName());
-            boolean flag = false;
             String resp = null;
             try {
                 resp = acstowmsService.feedTaskStatus(request);
-                log.info("任务号:{},反馈wms任务状态完成成功,响应信息:{}!", entity.getTask_code(), resp);
+                JSONObject result = JSONObject.parseObject(resp);
+                if (result.getString("code").equals("200")) {
+                    log.info("任务号:{},反馈wms任务状态完成成功,响应信息:{}!", entity.getTask_code(), resp);
+                } else {
+                    log.error("任务号:{},反馈wms任务状态失败,原因:{}!", entity.getTask_code(), result.getString("message"));
+                }
             } catch (Exception e) {
                 log.error("任务号:{},反馈wms任务状态失败,原因:{}!", entity.getTask_code(), e.getMessage());
-                flag = true;
-                e.printStackTrace();
-            } finally {
-
             }
         }
         // 如果属于先知AGV，关闭运单序列
@@ -966,20 +968,20 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         entity.setUpdate_time(now);
         entity.setUpdate_by(currentUsername);
         entity.setTask_status("3");
-
+        entity.setRemark("任务被PC端手动取消");
         Task task = ConvertUtil.convert(entity, Task.class);
         taskMapper.updateById(task);
+        log.error("任务被手动取消,任务号:{}", entity.getTask_code());
 
-
-//    synchronized (TaskServiceImpl.class){
-//      Iterator<TaskDto> it = tasks.iterator();
-//      // 清理缓存
-//      while (it.hasNext()) {
-//        TaskDto taskDto = it.next();
-//        if (taskDto.getTask_id().equals(id)) {
-//          tasks.remove(taskDto);
-//        }
-//      }}
+        //    synchronized (TaskServiceImpl.class){
+        //      Iterator<TaskDto> it = tasks.iterator();
+        //      // 清理缓存
+        //      while (it.hasNext()) {
+        //        TaskDto taskDto = it.next();
+        //        if (taskDto.getTask_id().equals(id)) {
+        //          tasks.remove(taskDto);
+        //        }
+        //      }}
 
         removeByCodeFromCache(entity.getTask_code());
 
@@ -999,8 +1001,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
                 log.info("任务号:{},反馈wms任务状态完成成功,响应信息:{}!", entity.getTask_code(), resp);
             } catch (Exception e) {
                 log.error("任务号:{},反馈wms任务状态失败,原因:{}!", entity.getTask_code(), e.getMessage());
-            } finally {
-
             }
         }
         List<RouteLineDto> shortPathsList =
@@ -1203,13 +1203,16 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         if (acsTask == null) {
             throw new BadRequestException("被删除或无权限，操作失败!");
         }
+        //只有执行中的任务才能创建指令
+        if (!"1".equals(acsTask.getTask_status())) {
+            throw new BadRequestException("任务未执行，不能创建指令!");
+        }
         DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
         InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
         InstructionDto inst = instructionservice.findByTaskid(ids, "instruction_status < 2 ");
         if (inst != null) {
             throw new BadRequestException("有指令未完成!");
         }
-
         String taskid = acsTask.getTask_id();
         String taskcode = acsTask.getTask_code();
         String vehiclecode = acsTask.getVehicle_code();
@@ -1255,7 +1258,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         } else {
             next_point_code = next_device_code;
         }
-
         Instruction instdto = new Instruction();
         instdto.setInstruction_type(task_type);
         instdto.setInstruction_id(IdUtil.simpleUUID());
@@ -1284,10 +1286,12 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         instdto.setAgv_system_type(agv_system_type);
         instdto.setAgv_inst_type("1");
         instdto.setExt_task_id(acsTask.getExt_task_id());
-        instructionservice.create2(instdto);
-
-        //        acsTask.setTask_status("1");
-        //        this.update(acsTask);
+        try {
+            instructionservice.create2(instdto);
+            log.info("手动创建指令成功！任务id为:{},指令号为:{}", acsTask.getTask_id(), instdto.getInstruction_code());
+        } catch (Exception e) {
+            log.error("手动创建指令失败！任务id为:{},指令号为:{}，失败原因{}", acsTask.getTask_id(), instdto.getInstruction_code(), e.getMessage());
+        }
         return instdto;
     }
 
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/impl/HandServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/impl/HandServiceImpl.java
index de41e07..8f571c4 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/impl/HandServiceImpl.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/impl/HandServiceImpl.java
@@ -443,7 +443,7 @@ public class HandServiceImpl implements HandService  {
             TaskIdAndStatusDTO taskIdAndStatusDTO = new TaskIdAndStatusDTO();
             taskIdAndStatusDTO.setTask_id(task_uuid);
             taskIdAndStatusDTO.setTask_status(TaskStatusEnum.FINISHED.getIndex());
-            taskserver.finish(task_uuid);
+            taskserver.finish(task_uuid,"3");
         }
         resultJson.put("message", "操作成功");
         resultJson.put("data", data);
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/AutoCreateInst.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/AutoCreateInst.java
index 4f999af..e78c5bf 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/AutoCreateInst.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/AutoCreateInst.java
@@ -78,8 +78,6 @@ public class AutoCreateInst {
                     continue;
                 }
             }
-
-
             /**
              * 开始平均分解校验
              */
@@ -202,6 +200,8 @@ public class AutoCreateInst {
                 instructionService.create(instdto);
             } catch (Exception e) {
                 acsTask.setRemark(e.getMessage());
+                //自动创建指令失败，保存失败原因
+                taskserver.update(acsTask);
                 taskserver.updateByCodeFromCache(acsTask);
                 continue;
             }
@@ -209,7 +209,6 @@ public class AutoCreateInst {
             //创建指令后修改任务状态
             acsTask.setTask_status("1");
             taskserver.update(acsTask);
-
         }
     }
 }
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/QueryZDAgvTaskStatus.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/QueryZDAgvTaskStatus.java
index 83268c2..d94420e 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/QueryZDAgvTaskStatus.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/QueryZDAgvTaskStatus.java
@@ -41,7 +41,6 @@ public class QueryZDAgvTaskStatus {
             HttpResponse response2 = agvService.queryAgvInstStatus("1");
             //查询AGV指令列表
             JSONArray inst_rows2 = JSONArray.parseArray(response2.body());
-//            JSONArray inst_rows2 = JSONArray.parseArray("");
             for (int i = 0; i < inst_rows2.size(); i++) {
                 JSONObject inst_jo = inst_rows2.getJSONObject(i);
                 String inst_code = inst_jo.getString("task_code");
@@ -51,7 +50,6 @@ public class QueryZDAgvTaskStatus {
                 }
                 //反馈结果状态
                 log.info("instcode：" + inst_code + "," + inst_jo.toString());
-
                 String status = inst_jo.getString("status");
                 String vehicle = "";
                 //正在执行指令agv车号
@@ -59,15 +57,14 @@ public class QueryZDAgvTaskStatus {
                     vehicle = inst_jo.getString("vehicle");
                     inst.setCarno(vehicle);
                 }
-//							RAW：初始状态
-//							ACTIVE：业务订单已激活
-//							DISPATCHABLE：业务订单已通过系统验证，等待被调度执行
-//							BEING_PROCESSED：业务订单正在被执行
-//							WITHDRAWN：业务订单已被撤销
-//							FINISHED：业务订单已完成
-//							FAILED：业务订单已失败
-//							UNROUTABLE：无法规划该业务订单的执行路线
-
+                //							RAW：初始状态
+                //							ACTIVE：业务订单已激活
+                //							DISPATCHABLE：业务订单已通过系统验证，等待被调度执行
+                //							BEING_PROCESSED：业务订单正在被执行
+                //							WITHDRAWN：业务订单已被撤销
+                //							FINISHED：业务订单已完成
+                //							FAILED：业务订单已失败
+                //							UNROUTABLE：无法规划该业务订单的执行路线
                 //执行中
                 if ("BEING_PdROCESSED".equals(status) || "ACTIVE".equals(status)) {
                     if (inst != null) {
@@ -88,18 +85,20 @@ public class QueryZDAgvTaskStatus {
                                     siteDeviceDriver.writing(10);
                                     siteDeviceDriver.writing(10);
                                 }catch(Exception e){
-                                    log.error("写入信号失败：{}{}",e,e.getMessage());
+                                    log.error("RGV反馈任务完成，写入检测站点驱动信号失败：{}{}",e,e.getMessage());
                                 }
                             }
                         }
                         inst.setInstruction_status("2");
                         instructionService.finish(inst);
+                        log.info("RGV反馈任务完成成功！指令号：{}",inst_code);
                     }
                 } else if ("WITHDRAWN".equals(status) || "FAILED".equals(status)) {
                     if (inst != null) {
                         inst.setInstruction_status("3");
                         instructionService.update(inst);
                         instructionService.removeByCodeFromCache(inst_jo.getString("task_code"));
+                        log.info("RGV反馈任务撤销成功！指令号：{}",inst_code);
                     }
                 }
                 JSONArray ja = inst_jo.getJSONArray("destinations");
@@ -120,7 +119,7 @@ public class QueryZDAgvTaskStatus {
                 }
             }
         } catch (Exception e){
-
+            log.error("自动线程开始查询浙大AGV任务状态失败！失败原因:{}", e.getMessage());
         }
 
     }
diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java
index 70ed158..79904b5 100644
--- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java
+++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/quartz/task/SyncDeviceStatus.java
@@ -26,6 +26,7 @@ import javax.annotation.Resource;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.Objects;
 import java.util.stream.Collectors;
 
 /**
@@ -60,12 +61,12 @@ public class SyncDeviceStatus {
             JSONArray jsonArray = JSONArray.parseArray(response.body());
             //查询RGV指令列表
             Map<String, String> taskCodeToTaskIdMap = new HashMap<>();
-            List<String> task_codes = jsonArray.stream()
+            List<String> taskCodes = jsonArray.stream()
                     .map(r -> ((JSONObject) r).getString("task_code"))
-                    .filter(task_code -> task_code != null && !task_code.isEmpty())
+                    .filter(r -> r != null && !r.isEmpty())
                     .collect(Collectors.toList());
-            if (ObjectUtil.isNotEmpty(task_codes)) {
-                List<InstructionMybatis> instructionList = instructionService.list(new LambdaQueryWrapper<InstructionMybatis>().in(InstructionMybatis::getInstruction_code, task_codes));
+            if (ObjectUtil.isNotEmpty(taskCodes)) {
+                List<InstructionMybatis> instructionList = instructionService.list(new LambdaQueryWrapper<InstructionMybatis>().in(InstructionMybatis::getInstruction_code, taskCodes));
                 taskCodeToTaskIdMap = instructionList.stream()
                         .filter(instruction -> StringUtils.isNotBlank(instruction.getExt_task_id()))
                         .collect(Collectors.toMap(
@@ -89,7 +90,7 @@ public class SyncDeviceStatus {
             });
             redisUtils.set("RGV", jsonArray);
         } catch (Exception e) {
-            log.error("自动上报驱动状态，查询浙大RGV设备状态失败{}{}", e, e.getMessage());
+           // log.error("自动上报驱动状态，查询浙大RGV设备状态失败{}{}", e, e.getMessage());
         }
     }
 
@@ -100,7 +101,7 @@ public class SyncDeviceStatus {
             JSONArray guhuashi = new JSONArray();
             JSONArray site = new JSONArray();
             JSONArray agv = new JSONArray();
-            log.info("自动线程开始查询agv设备状态");
+            //log.info("自动线程开始查询agv设备状态");
             List<Device> deviceList = deviceAppService.findAllDevice();
             for (Device device : deviceList) {
                 if (device.getDeviceDriver() instanceof BaoshijianSiteDeviceDriver) {
@@ -187,8 +188,13 @@ public class SyncDeviceStatus {
                 List<String> deviceCodes = agv.stream()
                         .map(r -> {
                             String deviceCode = ((JSONObject) r).getString("device_code");
-                            return deviceCode.substring(deviceCode.length() - 1);
+                            if (StringUtils.isNotBlank(deviceCode)) {
+                                return deviceCode.substring(deviceCode.length() - 1);
+                            } else {
+                                return null;
+                            }
                         })
+                        .filter(Objects::nonNull)
                         .collect(Collectors.toList());
                 if (ObjectUtil.isNotEmpty(deviceCodes)) {
                     List<InstructionMybatis> instructionList = instructionService.list(new LambdaQueryWrapper<InstructionMybatis>().in(InstructionMybatis::getCarno, deviceCodes).lt(InstructionMybatis::getInstruction_status, 2).eq(InstructionMybatis::getIs_delete, 0));
@@ -212,9 +218,9 @@ public class SyncDeviceStatus {
 
             }
             redisUtils.set("agv", agv);
-            log.trace("自动上报驱动状态，完毕耗时{}", System.currentTimeMillis() - startTime);
+           // log.trace("自动上报驱动状态，完毕耗时{}", System.currentTimeMillis() - startTime);
         } catch (Exception e) {
-            log.error("自动线程开始查询AGV设备，自动上报驱动状态失败{}{}", e, e.getMessage());
+            //log.error("自动线程开始查询AGV设备，自动上报驱动状态失败{}{}", e, e.getMessage());
         }
     }
 }
diff --git a/acs/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml b/acs/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
index ec47ee2..9ec783b 100644
--- a/acs/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
+++ b/acs/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
@@ -71,36 +71,46 @@ https://juejin.cn/post/6844903775631572999
     <!--添加loki-->
     <!--开发环境:打印控制台-->
     <springProfile name="dev">
-        <root level="info">
+        <root level="debug">
             <appender-ref ref="asyncLuceneAppender"/>
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </root>
         <logger name="jdbc" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </logger>
         <logger name="org.springframework" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </logger>
         <logger name="org.hibernate" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </logger>
         <logger name="org.quartz" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </logger>
         <logger name="com.google" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </logger>
         <logger name="org.redisson" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </logger>
         <logger name="org.nl.modules.wql" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </logger>
         <logger name="org.springframework.data" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </logger>
         <logger name="org.jinterop" level="ERROR" additivity="true">
             <appender-ref ref="asyncFileAppender"/>
+            <appender-ref ref="CONSOLE"/>
         </logger>
     </springProfile>
     <!--测试环境:打印控制台-->
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/cockpit/service/impl/CockpitServiceImpl.java b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/cockpit/service/impl/CockpitServiceImpl.java
index 9f01ffb..9067495 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/cockpit/service/impl/CockpitServiceImpl.java
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/cockpit/service/impl/CockpitServiceImpl.java
@@ -156,20 +156,20 @@ public class CockpitServiceImpl implements CockpitService {
         //今日生产任务
         CompletableFuture<List<Map<String, Object>>> task7 = CompletableFuture.supplyAsync(() -> {
             List<Map<String, Object>> result =cockpitMapper.getTdWorkmsg();
-            List<Map<String, Object>> today_work = new ArrayList<>();
-            if (ObjectUtil.isEmpty(result)) {
-                //测试数据，上线后删除
-                Map<String, Object> item1 = new HashMap<>();
-                item1.put("workorder_code", "240918001");
-                item1.put("material_name", "TS_12Z中负");
-                item1.put("plan_qty", "100");
-                item1.put("real_qty", "0");
-                item1.put("point_name", "普涂线01");
-                item1.put("device_code", "LTX01");
-                item1.put("workorder_status", "生产中");
-                today_work.add(item1);
-            }
-            getHomeInfo.put("today_work", today_work);
+            //            List<Map<String, Object>> today_work = new ArrayList<>();
+            //            if (ObjectUtil.isEmpty(result)) {
+            //                //测试数据，上线后删除
+            //                Map<String, Object> item1 = new HashMap<>();
+            //                item1.put("workorder_code", "240918001");
+            //                item1.put("material_name", "TS_12Z中负");
+            //                item1.put("plan_qty", "100");
+            //                item1.put("real_qty", "0");
+            //                item1.put("point_name", "普涂线01");
+            //                item1.put("device_code", "LTX01");
+            //                item1.put("workorder_status", "生产中");
+            //                today_work.add(item1);
+            //            }
+            getHomeInfo.put("today_work", result);
             return null;
         }, pool);
         task7.exceptionally((e) -> {
@@ -207,7 +207,7 @@ public class CockpitServiceImpl implements CockpitService {
         CompletableFuture<List<Map<String, Object>>> task10 = CompletableFuture.supplyAsync(() -> {
             List<Map<String, Object>> result =cockpitMapper.faultAlarm();
             //测试数据，上线后删除
-            faultAlarmDefault(result, "GHS01");
+            //faultAlarmDefault(result, "GHS01");
             getHomeInfo.put("fault_alarm", result);
             return null;
         }, pool);
@@ -219,7 +219,6 @@ public class CockpitServiceImpl implements CockpitService {
         //近30日故障统计
         CompletableFuture<JSONArray> task11 = CompletableFuture.supplyAsync(() ->  {
             JSONArray result=cockpitMapper.monthlyFaultStatistics();
-            //测试数据，上线后删除
             getHomeInfo.put("monthly_fault_statistics", result);
             return null;
         }, pool);
@@ -321,11 +320,11 @@ public class CockpitServiceImpl implements CockpitService {
         //实时故障告警
         List<Map<String, Object>> fault_alarm = cockpitMapper.FaultTime("TBX");
         //测试数据，上线后删除
-        faultAlarmDefault(fault_alarm, "LTX01");
+        //faultAlarmDefault(fault_alarm, "LTX01");
         //近30日故障统计
         JSONArray monthly_fault_statistics = cockpitMapper.FaultTotal("TBX");
         //测试数据，上线后删除
-        monthlyFaultStatisticsDefault(monthly_fault_statistics, "LTX01");
+        //monthlyFaultStatisticsDefault(monthly_fault_statistics, "LTX01");
         List<Map<String, Object>> monthly_produce_statistics = cockpitMapper.getTbxMonthlyStatistics();
         List<Map<String, Object>> tbxMonthlyStatistics = new ArrayList<>();
         for (int i = 0; i < 30; i++) {
@@ -410,7 +409,7 @@ public class CockpitServiceImpl implements CockpitService {
         //今日固化任务
         List<Map<String, Object>> gh_material_summary = new ArrayList<>();
         List<TaskInfo> taskInfos = getTasks(RegionCodeConstant.CURING_ZONE);
-        if (ObjectUtil.isNotEmpty(taskInfos)) {
+          //        if (ObjectUtil.isNotEmpty(taskInfos)) {
             taskInfos.forEach(r -> {
                 Map<String, Object> item = new HashMap<>();
                 item.put("material_name", r.getMaterial_name());
@@ -419,21 +418,21 @@ public class CockpitServiceImpl implements CockpitService {
                 item.put("type", r.getType());
                 gh_material_summary.add(item);
             });
-        } else {
-            //测试数据，上线后删除
-            Map<String, Object> item1 = new HashMap<>();
-            item1.put("material_name", "TS_1.9A正");
-            item1.put("material_spec", "正涂片极板／1.9A/大片");
-            item1.put("qty", "100");
-            item1.put("type", "入库");
-            Map<String, Object> item2 = new HashMap<>();
-            item2.put("material_name", "TS_15A负");
-            item2.put("material_spec", "负涂片极板／15A/大片");
-            item2.put("qty", "100");
-            item2.put("type", "出库");
-            gh_material_summary.add(item1);
-            gh_material_summary.add(item2);
-        }
+            //        } else {
+            //            //测试数据，上线后删除
+            //            Map<String, Object> item1 = new HashMap<>();
+            //            item1.put("material_name", "TS_1.9A正");
+            //            item1.put("material_spec", "正涂片极板／1.9A/大片");
+            //            item1.put("qty", "100");
+            //            item1.put("type", "入库");
+            //            Map<String, Object> item2 = new HashMap<>();
+            //            item2.put("material_name", "TS_15A负");
+            //            item2.put("material_spec", "负涂片极板／15A/大片");
+            //            item2.put("qty", "100");
+            //            item2.put("type", "出库");
+            //            gh_material_summary.add(item1);
+            //            gh_material_summary.add(item2);
+            //        }
         stopWatch2.stop();
         System.out.println("今日固化任务统计花费时间---= totalTime = " + stopWatch2.getTotalTimeMillis());
 
@@ -442,7 +441,7 @@ public class CockpitServiceImpl implements CockpitService {
         stopWatch3.start();
         //实时故障告警
         List<Map<String, Object>> fault_alarm = cockpitMapper.FaultTime("GH");
-        faultAlarmDefault(fault_alarm, "GHS01");
+        //faultAlarmDefault(fault_alarm, "GHS01");
         stopWatch3.stop();
         System.out.println("查询实时故障告警花费时间---= totalTime = " + stopWatch3.getTotalTimeMillis());
 
@@ -452,11 +451,9 @@ public class CockpitServiceImpl implements CockpitService {
         //近30日故障统计
         JSONArray monthly_fault_statistics = cockpitMapper.FaultTotal("GH");
         //测试数据，上线后删除
-        monthlyFaultStatisticsDefault(monthly_fault_statistics, "GHS01");
+        //monthlyFaultStatisticsDefault(monthly_fault_statistics, "GHS01");
         stopWatch4.stop();
         System.out.println("查询近30日故障统计花费时间---= totalTime = " + stopWatch4.getTotalTimeMillis());
-
-
         getGhsInfo.put("curing_summary", curing_summary);
         getGhsInfo.put("monthly_gh_qty", monthly_gh_qty_default);
         getGhsInfo.put("gh_material_summary", gh_material_summary);
@@ -550,12 +547,12 @@ public class CockpitServiceImpl implements CockpitService {
         //近30日故障统计
         JSONArray monthly_fault_statistics = cockpitMapper.monthlyFaultStatistics();
         //测试数据，上线后删除
-        if (ObjectUtil.isEmpty(monthly_fault_statistics)) {
-            JSONObject item = new JSONObject();
-            item.put("region_name", "GHS");
-            item.put("alarm_qty", "1");
-            monthly_fault_statistics.add(item);
-        }
+        //        if (ObjectUtil.isEmpty(monthly_fault_statistics)) {
+        //            JSONObject item = new JSONObject();
+        //            item.put("region_name", "GHS");
+        //            item.put("alarm_qty", "1");
+        //            monthly_fault_statistics.add(item);
+        //        }
         getHandlingInfo.put("device_status", device_status);
         getHandlingInfo.put("fault_alarm", fault_alarm);
         getHandlingInfo.put("monthly_fault_statistics", monthly_fault_statistics);
diff --git a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/cockpit/service/mapper/CockpitMapper.xml b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/cockpit/service/mapper/CockpitMapper.xml
index 8bf7628..2b66f5c 100644
--- a/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/cockpit/service/mapper/CockpitMapper.xml
+++ b/lms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/cockpit/service/mapper/CockpitMapper.xml
@@ -485,17 +485,17 @@
         ) g ON g.workorder_code = w.workorder_code
         WHERE
          w.point_code = #{deviceCode}
-        <!--        AND <choose>-->
-        <!--            <when test="dateType == 1">-->
-        <!--                w.create_time BETWEEN CONCAT(DATE(NOW()), ' 07:00:00') AND CONCAT(DATE(NOW()), ' 18:00:00')-->
-        <!--            </when>-->
-        <!--            <when test="dateType == 2">-->
-        <!--                w.create_time BETWEEN CONCAT(DATE(NOW()), ' 18:30:00') AND CONCAT(DATE_ADD(DATE(NOW()), INTERVAL 1 DAY), ' 06:30:00')-->
-        <!--            </when>-->
-        <!--            <otherwise>-->
-        <!--                1 = 1-->
-        <!--            </otherwise>-->
-        <!--        </choose>-->
+        AND <choose>
+            <when test="dateType == 1">
+                w.create_time BETWEEN CONCAT(DATE(NOW()), ' 07:00:00') AND CONCAT(DATE(NOW()), ' 18:00:00')
+            </when>
+            <when test="dateType == 2">
+                w.create_time BETWEEN CONCAT(DATE(NOW()), ' 18:30:00') AND CONCAT(DATE_ADD(DATE(NOW()), INTERVAL 1 DAY), ' 06:30:00')
+            </when>
+            <otherwise>
+                1 = 1
+            </otherwise>
+        </choose>
     </select>
     <select id="ltProduction" resultType="com.alibaba.fastjson.JSONObject">
         SELECT
@@ -692,7 +692,7 @@ GROUP BY
                     '网络超时'
                 WHEN '512' THEN
                     '信号丢失'
-                ELSE ''
+                ELSE '其他'
                 END             AS fault_cause,
             d.device_code AS device_name,
             d.failure_time AS alarm_time