From 42f72c5b05278974e119828b3e64867e701d3464 Mon Sep 17 00:00:00 2001
From: ldj_willow <ldj_willow@163.com>
Date: Wed, 26 Oct 2022 17:30:20 +0800
Subject: [PATCH 1/2] =?UTF-8?q?=E4=BB=A3=E7=A0=81=E6=9B=B4=E6=96=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../java/org/nl/wms/sch/PointFindUtil.java    | 93 -------------------
 .../src/views/wms/sch/point/index.vue         |  2 +-
 .../src/views/wms/st/cppoint/cppInventory.vue | 34 -------
 .../src/views/wms/st/ysa/inventory.vue        | 36 +------
 4 files changed, 2 insertions(+), 163 deletions(-)
 delete mode 100644 lms/nladmin-system/src/main/java/org/nl/wms/sch/PointFindUtil.java

diff --git a/lms/nladmin-system/src/main/java/org/nl/wms/sch/PointFindUtil.java b/lms/nladmin-system/src/main/java/org/nl/wms/sch/PointFindUtil.java
deleted file mode 100644
index 43f7200..0000000
--- a/lms/nladmin-system/src/main/java/org/nl/wms/sch/PointFindUtil.java
+++ /dev/null
@@ -1,93 +0,0 @@
-package org.nl.wms.sch;
-
-import cn.hutool.core.util.ObjectUtil;
-import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSONObject;
-
-import org.nl.modules.common.exception.BadRequestException;
-import org.nl.modules.wql.WQL;
-import org.nl.modules.wql.core.bean.WQLObject;
-
-
-public class PointFindUtil {
-    public static JSONObject getInStruct(JSONObject jsonObject) {
-        String material_id = jsonObject.getString("material_id");
-        String area_type = jsonObject.getString("area_type");
-        String vehicle_code = jsonObject.getString("vehicle_code");
-        if (StrUtil.isEmpty(vehicle_code)) {
-            throw new BadRequestException("托盘不能为空！");
-        }
-        //根据托盘找托盘类型，
-        JSONObject vehicleObj = WQLObject.getWQLObject("md_pb_vehicle").query("vehicle_code='" + vehicle_code + "'").uniqueResult(0);
-        if (ObjectUtil.isEmpty(vehicleObj)) {
-            throw new BadRequestException("未找到托盘号为'" + vehicle_code + "' 托盘信息！");
-        }
-        if (StrUtil.isEmpty(material_id)) {
-            throw new BadRequestException("物料不能为空！");
-        }
-        if (StrUtil.isEmpty(area_type)) {
-            throw new BadRequestException("区域不能为空！");
-        }
-        String vehice_type = vehicleObj.getString("vehicle_type");
-        JSONObject result = WQL.getWO("QSTRUCT_RULE").addParam("flag", "2")
-                .addParam("material_id", material_id).addParam("area_type", area_type).addParam("vehice_type", vehice_type).process().uniqueResult(0);
-        return result;
-    }
-
-    public static JSONObject getOutStruct(JSONObject jsonObject) {
-        String material_id = jsonObject.getString("material_id");
-        String area_type = jsonObject.getString("area_type");
-        String is_full = jsonObject.getString("is_full");
-        String workprocedure_id = jsonObject.getString("workprocedure_id");
-
-        if (StrUtil.isEmpty(material_id)) {
-            throw new BadRequestException("物料不能为空！");
-        }
-        if (StrUtil.isEmpty(area_type)) {
-            throw new BadRequestException("区域不能为空！");
-        }
-        if (StrUtil.isEmpty(is_full)) {
-            throw new BadRequestException("是否满托不能为空！");
-        }
-        if (StrUtil.isEmpty(workprocedure_id)) {
-            throw new BadRequestException("工序不能为空！");
-        }
-        JSONObject result = WQL.getWO("QSTRUCT_RULE").addParam("flag", "3")
-                .addParam("material_id", material_id).addParam("area_type", area_type)
-                .addParam("is_full", is_full).addParam("workprocedure_id", workprocedure_id)
-                .process().uniqueResult(0);
-        return result;
-    }
-
-    public static JSONObject getEmptyVehicleInStruct(JSONObject jsonObject) {
-        String area_type = jsonObject.getString("area_type");
-        String vehicle_code = jsonObject.getString("vehicle_code");
-        if (StrUtil.isEmpty(vehicle_code)) {
-            throw new BadRequestException("托盘不能为空！");
-        }
-        //根据托盘找托盘类型，
-        JSONObject vehicleObj = WQLObject.getWQLObject("md_pb_vehicle").query("vehicle_code='" + vehicle_code + "'").uniqueResult(0);
-        if (ObjectUtil.isEmpty(vehicleObj)) {
-            throw new BadRequestException("未找到托盘号为'" + vehicle_code + "' 托盘信息！");
-        }
-        if (StrUtil.isEmpty(area_type)) {
-            throw new BadRequestException("区域不能为空！");
-        }
-        String vehice_type = vehicleObj.getString("vehicle_type");
-        JSONObject result = WQL.getWO("QSTRUCT_RULE").addParam("flag", "4")
-                .addParam("area_type", area_type).addParam("vehice_type", vehice_type).process().uniqueResult(0);
-        return result;
-    }
-
-    public static JSONObject getEmptyVehicleOutStruct(JSONObject jsonObject) {
-        String area_type = jsonObject.getString("area_type");
-        String vehicle_type = jsonObject.getString("vehicle_type");
-        if (StrUtil.isEmpty(area_type)) {
-            throw new BadRequestException("区域不能为空！");
-        }
-        JSONObject result = WQL.getWO("QSTRUCT_RULE").addParam("flag", "5")
-                .addParam("area_type", area_type).addParam("vehicle_type", vehicle_type).process().uniqueResult(0);
-        return result;
-    }
-
-}
diff --git a/lms/nladmin-ui/src/views/wms/sch/point/index.vue b/lms/nladmin-ui/src/views/wms/sch/point/index.vue
index b2acaf5..cfbce62 100644
--- a/lms/nladmin-ui/src/views/wms/sch/point/index.vue
+++ b/lms/nladmin-ui/src/views/wms/sch/point/index.vue
@@ -295,7 +295,7 @@
         </el-table-column>
         <el-table-column prop="vehicle_code" label="载具编码" />
         <el-table-column prop="vehicle_qty" label="载具数量" />
-        <el-table-column prop="remark" label="备注" />
+        <el-table-column prop="remark" label="备注" min-width="100" show-overflow-tooltip/>
         <el-table-column prop="is_used" label="是否启用">
           <template slot-scope="scope">
             {{ scope.row.is_used=='1' ? '是' : '否' }}
diff --git a/lms/nladmin-ui/src/views/wms/st/cppoint/cppInventory.vue b/lms/nladmin-ui/src/views/wms/st/cppoint/cppInventory.vue
index bf3f569..af3efad 100644
--- a/lms/nladmin-ui/src/views/wms/st/cppoint/cppInventory.vue
+++ b/lms/nladmin-ui/src/views/wms/st/cppoint/cppInventory.vue
@@ -50,23 +50,6 @@
               @keyup.enter.native="crud.toQuery"
             />
           </el-form-item>
-          <el-form-item label="点位状态">
-            <el-select
-              v-model="query.point_status"
-              clearable
-              filterable
-              size="mini"
-              class="filter-item"
-              style="width: 185px;"
-              @change="hand"
-            >
-              <el-option
-                v-for="item in dict.sch_point_status"
-                :label="item.label"
-                :value="item.value"
-              />
-            </el-select>
-          </el-form-item>
           <el-form-item label="载具类型">
             <el-select
               v-model="query.vehicle_type"
@@ -145,22 +128,6 @@
           <el-form-item label="点位编码" prop="standing_time">
             <el-input v-model="form.point_code" style="width: 370px;" :disabled="true"/>
           </el-form-item>
-          <el-form-item label="点位状态">
-            <el-select
-              v-model="form.point_status"
-              clearable
-              filterable
-              size="mini"
-              class="filter-item"
-              style="width: 370px;"
-            >
-              <el-option
-                v-for="item in dict.sch_point_status"
-                :label="item.label"
-                :value="item.value"
-              />
-            </el-select>
-          </el-form-item>
           <el-form-item label="托盘类型">
             <el-select
               v-model="form.vehicle_type"
@@ -207,7 +174,6 @@
         <el-table-column prop="pcsn" label="批次" />
         <el-table-column prop="ivt_qty" label="库存数" :formatter="crud.formatNum3"/>
         <el-table-column prop="instorage_time" label="入库时间" min-width="150" show-overflow-tooltip/>
-        <el-table-column prop="point_status_name" label="点位状态" />
         <el-table-column prop="vehicle_type" label="托盘类型" min-width="100"/>
         <el-table-column prop="remark" label="备注" />
         <el-table-column prop="is_used" label="是否启用" >
diff --git a/lms/nladmin-ui/src/views/wms/st/ysa/inventory.vue b/lms/nladmin-ui/src/views/wms/st/ysa/inventory.vue
index 330a511..36ecca6 100644
--- a/lms/nladmin-ui/src/views/wms/st/ysa/inventory.vue
+++ b/lms/nladmin-ui/src/views/wms/st/ysa/inventory.vue
@@ -50,23 +50,6 @@
               @keyup.enter.native="crud.toQuery"
             />
           </el-form-item>
-          <el-form-item label="点位状态">
-            <el-select
-              v-model="query.point_status"
-              clearable
-              filterable
-              size="mini"
-              class="filter-item"
-              style="width: 185px;"
-              @change="hand"
-            >
-              <el-option
-                v-for="item in dict.sch_point_status"
-                :label="item.label"
-                :value="item.value"
-              />
-            </el-select>
-          </el-form-item>
           <el-form-item label="载具类型">
             <el-select
               v-model="query.vehicle_type"
@@ -133,22 +116,6 @@
           <el-form-item label="点位编码" prop="standing_time">
             <el-input v-model="form.point_code" style="width: 370px;" :disabled="true" />
           </el-form-item>
-          <el-form-item label="点位状态">
-            <el-select
-              v-model="form.point_status"
-              clearable
-              filterable
-              size="mini"
-              class="filter-item"
-              style="width: 370px;"
-            >
-              <el-option
-                v-for="item in dict.sch_point_status"
-                :label="item.label"
-                :value="item.value"
-              />
-            </el-select>
-          </el-form-item>
           <el-form-item label="托盘类型">
             <el-select
               v-model="form.vehicle_type"
@@ -196,9 +163,8 @@
         <el-table-column prop="point_code" label="点位编码" min-width="100" show-overflow-tooltip />
         <el-table-column prop="region_name" label="区域名称" min-width="120" show-overflow-tooltip />
         <el-table-column prop="pcsn" label="批次" />
-        <el-table-column prop="ivt_qty" label="库存数" />
+        <el-table-column prop="ivt_qty" label="库存数" :formatter="crud.formatNum3"/>
         <el-table-column prop="instorage_time" label="入库时间" min-width="150" show-overflow-tooltip/>
-        <el-table-column prop="point_status_name" label="点位状态" />
         <el-table-column prop="lock_type" label="锁定类型">
           <template slot-scope="scope">
             {{ dict.label.d_lock_type[scope.row.lock_type] }}

From d191833f50945f6739594c6047fcb3963a961602 Mon Sep 17 00:00:00 2001
From: "USER-20220102CG\\noblelift" <546428999@qq.com>
Date: Thu, 27 Oct 2022 16:55:02 +0800
Subject: [PATCH 2/2] =?UTF-8?q?=E6=9B=B4=E6=96=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../src/main/java/org/nl/acs/AcsConfig.java   | 12 +--
 .../agv/server/impl/ZheDaAgvServiceImpl.java  | 98 +++++++++++--------
 .../CargoLiftConveyorDeviceDriver.java        | 54 +++++++++-
 ...tyVehicleStackingPositionDeviceDriver.java | 46 ++++++++-
 .../HailiangSmartplcTestDeviceDriver.java     | 46 ++++++++-
 .../HaoKaiAutoConveyorDeviceDriver.java       | 46 ++++++++-
 .../PaintConveyorDeviceDriver.java            | 45 ++++++++-
 .../StandardCoveyorControlDeviceDriver.java   | 45 ++++++++-
 ...eyorControlWithPlcScannerDeviceDriver.java | 45 ++++++++-
 ...CoveyorControlWithScannerDeviceDriver.java | 46 +++++----
 .../StandardInspectSiteDeviceDriver.java      | 43 +++++++-
 .../StandardOrdinarySiteDeviceDriver.java     | 46 ++++++++-
 .../StandardScannerDeviceDriver.java          | 21 +++-
 .../acs/ext/wms/rest/WmsToAcsController.java  |  2 +
 .../wms/service/impl/AcsToWmsServiceImpl.java |  2 -
 .../service/impl/InstructionServiceImpl.java  | 21 +---
 .../nl/acs/monitor/DeviceStageMonitor.java    |  2 +-
 .../rest/DeviceStageMonitorController.java    |  2 +-
 .../service/DeviceStageMonitorService.java    |  2 +-
 .../impl/DeviceStageMonitorServiceImpl.java   |  2 +-
 .../task/service/impl/TaskServiceImpl.java    |  1 -
 .../modules/quartz/task/AutoCreateInst.java   | 59 +++++------
 .../quartz/task/QueryZDAgvTaskStatus.java     |  2 +-
 .../src/main/resources/initsql.txt            | 16 +++
 .../empty_vehicle_stacking_position.vue       |  7 +-
 ...standard_conveyor_control_with_scanner.vue | 50 ++++++++++
 .../src/views/acs/instruction/index.vue       |  1 +
 acs/nladmin-ui/src/views/acs/task/index.vue   |  5 +-
 28 files changed, 633 insertions(+), 134 deletions(-)
 create mode 100644 acs/nladmin-system/src/main/resources/initsql.txt

diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/AcsConfig.java b/acs/nladmin-system/src/main/java/org/nl/acs/AcsConfig.java
index aba4594..6b05bc5 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/AcsConfig.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/AcsConfig.java
@@ -15,15 +15,13 @@ public interface AcsConfig {
     //撤销任务检查
     String CANCELTASKCHECK = "cancelTaskCheck";
     //二楼agv系统接口地址
-    String AGVURL = "agvurl";
+    String AGVURL2 = "agvurl2";
     //一楼agv系统接口地址
-    String AGVURL2 = "agvurl";
-    //双工AGV系统端口
+    String AGVURL = "agvurl";
+    //AGV系统端口
     String AGVPORT = "agvport";
-    //单工agv系统接口地址
-    String ONEAGVURL = "oneagvurl";
-    //单工AGV系统端口
-    String ONEAGVPORT = "oneagvport";
+    //二楼AGV系统端口
+    String AGVPORT2 = "agvport2";
     //指定AGV系统
     String AGVTYPE = "agvType";
     //WMS系统接口地址
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
index 24bfc0f..0885e94 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
@@ -3,6 +3,7 @@ package org.nl.acs.agv.server.impl;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
@@ -15,6 +16,7 @@ import org.nl.acs.device_driver.basedriver.empty_vehicle_stacking_position.Empty
 import org.nl.acs.device_driver.basedriver.hailiang_smart_plc_test.HailiangSmartplcTestDeviceDriver;
 import org.nl.acs.device_driver.basedriver.haokai_auto_conveyor.HaoKaiAutoConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.paint_conveyor.PaintConveyorDeviceDriver;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.LokiLog;
@@ -22,6 +24,8 @@ import org.nl.acs.log.LokiLogType;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.springframework.stereotype.Service;
@@ -37,11 +41,14 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
         JSONObject jo = new JSONObject();
         String start_point_code = inst.getStart_point_code();
         String next_point_code = inst.getNext_point_code();
-        //1、叠盘架追加任务；2、养生区需要追加任务，在缓存点等待3、二楼普通任务4、一楼普通任务
+        //1楼AGV普通任务
+        //2楼AGV普通任务
+        //2楼AGV起点追加任务
+        //2楼AGV终点追加任务
         String task_type = inst.getInstruction_type();
         jo.put("deadline", AgvUtil.getNextDay(1));
         //判断是否追加任务
-        if (task_type.equals("2") || task_type.equals("1")) {
+        if (task_type.equals("3") || task_type.equals("4")) {
             jo.put("complete", "false");
         } else {
             jo.put("complete", "true");
@@ -49,31 +56,32 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
         jo.put("task_code", inst.getInstruction_code());
         //根据任务，下发指令类型
         JSONArray destinations = new JSONArray();
-        if (task_type.equals("1")) {
+        if (task_type.equals("3")) {
             destinations.add(destination(start_point_code, "Wait", "5", "1"));
+        } else if (task_type.equals("4")) {
+            destinations.add(destination(start_point_code, "Load", "1", "1"));
+            destinations.add(destination(next_point_code, "Wait", "5", "1"));
         } else {
             destinations.add(destination(start_point_code, "Load", "1", "1"));
-            if (task_type.equals("2")) {
-                destinations.add(destination(next_point_code, "Wait", "5", "1"));
-            } else {
-                destinations.add(destination(next_point_code, "Unload", "5", "1"));
-            }
+            destinations.add(destination(next_point_code, "Unload", "1", "1"));
         }
+
         jo.put("destinations", destinations);
 
         if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
-            String url = "";
             String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
             String agvurl2 = paramService.findByCode(AcsConfig.AGVURL2).getValue();
             String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
+            String agvport2 = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
+
+
             //不同楼层下发不同的agv系统
-            if (task_type.equals("8")) {
-                url = agvurl2;
+            if (task_type.equals("1")) {
+                agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + inst.getInstruction_code();
             } else {
-                url = agvurl;
+                agvurl = agvurl2 + ":" + agvport2 + "/v1/transportOrders/" + inst.getInstruction_code();
             }
-            url = url + ":" + agvport + "v1/transportOrders/" + inst.getInstruction_code();
-            log.info("下发agv任务请求:{}", url);
+            log.info("下发agv任务请求:{}", agvurl);
 
             HttpResponse result = HttpRequest.post(agvurl)
                     .body(String.valueOf(jo))//表单内容
@@ -92,16 +100,17 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
     public HttpResponse queryAgvInstStatus(String type) {
         if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
             String agvurl = "";
+            String agvport = "";
             if (type.equals("1")) {
                 agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
+                agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
             }
             if (type.equals("2")) {
                 agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue();
+                agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
             }
-            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
-
-            agvurl = agvurl + ":" + agvport + "/transportOrders";
 
+            agvurl = agvurl + ":" + agvport + "/v1/transportOrders";
             HttpResponse result = HttpRequest.get(agvurl)
                     .timeout(20000)//超时，毫秒
                     .execute();
@@ -128,8 +137,11 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
             address = address.substring(0, address.indexOf("-"));
         }
         InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
-        Instruction inst = instructionService.findByCodeFromCache(jobno);
+        TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
+        AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
 
+        Instruction inst = instructionService.findByCodeFromCache(jobno);
+        TaskDto task = taskService.findByCode(inst.getTask_code());
 
         DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
         Device addressdevice = appService.findDeviceByCode(address);
@@ -233,35 +245,43 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                 JSONArray destinations = new JSONArray();
                 String inst_type = inst.getInstruction_type();
                 //如果任务类型为1，在点位进行等待，则查询当前叠盘位的数量，取当前数量的层数进行追加任务
-                if ("1".equals(inst_type)) {
-                    emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver();
-                    int current_num = emptyVehicleStackingPositionDeviceDriver.getNumber();
-                    if (current_num > 12) {
-                        log.info("当前叠盘架:" + jobno + "已放满！");
-                        return null;
-                    }
-                    String start_point_code = inst.getStart_point_code();
-                    String next_point_code = inst.getNext_point_code();
-                    start_point_code = start_point_code + "." + (current_num + 1);
-                    destinations.add(destination(start_point_code, "Load", "1", "1"));
-                    destinations.add(destination(next_point_code, "Unload", "1", "1"));
+//                if ("1".equals(inst_type)) {
+//                    emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver();
+//                    int current_num = emptyVehicleStackingPositionDeviceDriver.getNumber();
+//                    if (current_num > 12) {
+//                        log.info("当前叠盘架:" + jobno + "已放满！");
+//                        return null;
+//                    }
+//                    String start_point_code = inst.getStart_point_code();
+//                    String next_point_code = inst.getNext_point_code();
+//                    start_point_code = start_point_code + "." + (current_num + 1);
+//                    destinations.add(destination(start_point_code, "Load", "1", "1"));
+//                    destinations.add(destination(next_point_code, "Unload", "1", "1"));
+//
+//                }
 
+                String resp = acsToWmsService.requestTaskAgain(address,task.getExt_task_id(),inst.getVehicle_code());
+                JSONObject respjson = JSONObject.parseObject(resp);
+
+                if(StrUtil.equals(inst.getInstruction_type(),"3")){
+                    //2楼AGV起点追加任务
+                    String start_device_code = respjson.getString("device_code");
+                    String next_device_code = inst.getNext_device_code();
+                    destinations.add(destination(start_device_code, "load", "1", "1"));
+                    destinations.add(destination(next_device_code, "Unload", "1", "1"));
+
+                } else if(StrUtil.equals(inst.getInstruction_type(),"4")){
+                    //2楼AGV终点追加任务
+                    String next_device_code = respjson.getString("device_code");
+                    destinations.add(destination(next_device_code, "Unload", "1", "1"));
                 }
 
-                //如果任务类型为2，在点位进行等待，则调用LMS的货位申请接口
-                if ("2".equals(inst_type)) {
-                    String next_point_code = "";
-                    //调用LMS接口
-
-
-                    destinations.add(destination(next_point_code, "Unload", "5", "1"));
-                }
                 jo.put("destinations", destinations);
 
                 String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
                 String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
 
-                String url = agvurl + ":" + agvport + "addDestinations";
+                String url = agvurl + ":" + agvport + "/addDestinations";
                 log.info("下发agv任务请求:{}", url);
 
                 HttpResponse result = HttpRequest.post(url)
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/cargo_lift_conveyor/CargoLiftConveyorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/cargo_lift_conveyor/CargoLiftConveyorDeviceDriver.java
index 2a8cb33..2b566d8 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/cargo_lift_conveyor/CargoLiftConveyorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/cargo_lift_conveyor/CargoLiftConveyorDeviceDriver.java
@@ -4,6 +4,7 @@ import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -20,6 +21,7 @@ import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
@@ -39,7 +41,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
 
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
@@ -310,4 +312,54 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
 
         ReadUtil.write(itemMap, server);
     }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getAction() == 0) {
+            action = "禁止取放";
+        } else if (this.getAction() == 1) {
+            action = "允许取货";
+        } else if (this.getAction() == 2) {
+            action = "允许放货";
+        } else if (this.getAction() == 3) {
+            action = "允许取放";
+        }
+
+
+        if (this.getMove() == 0) {
+            move = "无货";
+        } else if (this.getMove() == 1) {
+            move = "有货";
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/empty_vehicle_stacking_position/EmptyVehicleStackingPositionDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/empty_vehicle_stacking_position/EmptyVehicleStackingPositionDeviceDriver.java
index 8fdbcd6..a02e553 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/empty_vehicle_stacking_position/EmptyVehicleStackingPositionDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/empty_vehicle_stacking_position/EmptyVehicleStackingPositionDeviceDriver.java
@@ -1,5 +1,6 @@
 package org.nl.acs.device_driver.basedriver.empty_vehicle_stacking_position;
 
+import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -15,6 +16,7 @@ import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
@@ -35,7 +37,7 @@ import java.util.Map;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class EmptyVehicleStackingPositionDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class EmptyVehicleStackingPositionDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
@@ -191,4 +193,46 @@ public class EmptyVehicleStackingPositionDeviceDriver extends AbstractOpcDeviceD
         itemMap.put(to_command, value);
         ReadUtil.write(itemMap, server);
     }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_smart_plc_test/HailiangSmartplcTestDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_smart_plc_test/HailiangSmartplcTestDeviceDriver.java
index 481d7b6..c18c2d9 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_smart_plc_test/HailiangSmartplcTestDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_smart_plc_test/HailiangSmartplcTestDeviceDriver.java
@@ -15,6 +15,7 @@ import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
@@ -34,7 +35,7 @@ import java.util.Map;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class HailiangSmartplcTestDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class HailiangSmartplcTestDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
@@ -224,4 +225,47 @@ public class HailiangSmartplcTestDeviceDriver extends AbstractOpcDeviceDriver im
         itemMap.put(to_command, value);
         ReadUtil.write(itemMap, server);
     }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/haokai_auto_conveyor/HaoKaiAutoConveyorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/haokai_auto_conveyor/HaoKaiAutoConveyorDeviceDriver.java
index e1a086c..08d53f3 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/haokai_auto_conveyor/HaoKaiAutoConveyorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/haokai_auto_conveyor/HaoKaiAutoConveyorDeviceDriver.java
@@ -18,6 +18,7 @@ import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
@@ -38,7 +39,7 @@ import java.util.Map;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class HaoKaiAutoConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class HaoKaiAutoConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver , DeviceStageMonitor {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
@@ -233,4 +234,47 @@ public class HaoKaiAutoConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
 
         ReadUtil.write(itemMap, server);
     }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paint_conveyor/PaintConveyorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paint_conveyor/PaintConveyorDeviceDriver.java
index 9ad35d0..a90ec80 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paint_conveyor/PaintConveyorDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/paint_conveyor/PaintConveyorDeviceDriver.java
@@ -15,6 +15,7 @@ import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
@@ -34,7 +35,7 @@ import java.util.Map;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class PaintConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class PaintConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
@@ -257,4 +258,46 @@ public class PaintConveyorDeviceDriver extends AbstractOpcDeviceDriver implement
         itemMap.put(to_command, value);
         ReadUtil.write(itemMap, server);
     }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java
index 0d69401..351e8e3 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java
@@ -17,6 +17,7 @@ import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.WcsConfig;
@@ -42,7 +43,7 @@ import java.util.Map;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
@@ -435,4 +436,46 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver
     public synchronized boolean apply_InEmpty() throws Exception {
         return false;
     }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_plcscanner/StandardCoveyorControlWithPlcScannerDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_plcscanner/StandardCoveyorControlWithPlcScannerDeviceDriver.java
index 8716517..370748e 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_plcscanner/StandardCoveyorControlWithPlcScannerDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_plcscanner/StandardCoveyorControlWithPlcScannerDeviceDriver.java
@@ -20,6 +20,7 @@ import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.WcsConfig;
@@ -42,7 +43,7 @@ import java.util.*;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class StandardCoveyorControlWithPlcScannerDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class StandardCoveyorControlWithPlcScannerDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
@@ -835,5 +836,47 @@ public class StandardCoveyorControlWithPlcScannerDeviceDriver extends AbstractOp
         }
     }
 
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
+
 
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java
index c2af26a..713669c 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java
@@ -72,7 +72,8 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
     private Date instruction_finished_time = new Date();
     private Date instruction_apply_time = new Date();
     private int instruction_require_time_out = 3000;
-
+    //当前指令
+    Instruction inst = null;
     int heartbeat = 0;
     int mode = 0;
     int move = 0;
@@ -92,7 +93,7 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
     int last_error = 0;
     int last_task = 0;
     String last_container;
-
+    String inst_message;
     String device_code;
 
     String message;
@@ -132,7 +133,10 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
         ScannerDeviceDriver scanner = this.getScanner();
         scanner.cleanBarcode();
     }
-
+    public synchronized boolean finish_instruction() throws Exception {
+        instructionService.finish(inst);
+        return true;
+    }
 
     private ScannerDeviceDriver getScanner() throws Exception {
         String scanner_code = (String) this.getDevice().getExtraValue().get(StandardConveyorWithScannerConfig.relation_scanner);
@@ -183,6 +187,21 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
             if (error != last_error) {
             }
 
+            if (mode == 2 && move != 0 && task > 0) {
+                //inst_message
+                inst = instructionService.findByCodeFromCache(String.valueOf(task));
+                if (inst != null) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + "  载具号：" + inst.getVehicle_code();
+                    if (StrUtil.equals(inst.getInstruction_status(), "1") && StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) {
+                        finish_instruction();
+                    }
+                    if (StrUtil.equals(inst.getInstruction_status(), "0") && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) {
+                        inst.setInstruction_status("1");
+                        instructionService.update(inst);
+                    }
+                }
+            }
+
         } catch (Exception var17) {
             return;
         }
@@ -552,27 +571,15 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
         JSONObject jo = new JSONObject();
         String mode = "";
         String action = "";
-        String io_action = "";
         String move = "";
-        String status = "";
         if (this.getMode() == 0) {
             mode = "未联机";
         } else if (this.getMode() == 1) {
             mode = "单机";
         } else if (this.getMode() == 2) {
             mode = "联机";
-        } else if (this.getMode() == 4) {
-            mode = "人工排产确认";
-        } else if (this.getMode() == 5) {
-            mode = "申请空盘";
-        } else if (this.getMode() == 6) {
-            mode = "申请入库";
-        } else if (this.getMode() == 7) {
-            mode = "码垛完成";
-        } else if (this.getMode() == 8) {
-            mode = "码垛强制完成";
-        } else if (this.getMode() == 9) {
-            mode = "工单完成";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
         }
 
         if (this.getAction() == 0) {
@@ -588,17 +595,18 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
 
         if (this.getMove() == 0) {
             move = "无货";
+            jo.put("hasGoods", false);
         } else if (this.getMove() == 1) {
             move = "有货";
+            jo.put("hasGoods", true);
         } else if (this.getMove() == 2) {
             move = "有托盘有货";
+            jo.put("hasGoods", true);
         }
         jo.put("device_name", this.getDevice().getDevice_name());
         jo.put("mode", mode);
         jo.put("move", move);
         jo.put("action", action);
-        jo.put("status", status);
-        jo.put("io_action", io_action);
         jo.put("isOnline", this.getIsonline());
         jo.put("error", this.getError());
         jo.put("isError", this.getIserror());
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java
index 25110f9..032f77a 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java
@@ -15,6 +15,7 @@ import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
@@ -40,7 +41,7 @@ import java.util.Map;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver , DeviceStageMonitor {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
     @Autowired
     InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
@@ -437,5 +438,45 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
         }
     }
 
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
 
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", this.getIsonline());
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        jo.put("task", this.getTask());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
index 085be85..22ffd78 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
@@ -1,6 +1,7 @@
 package org.nl.acs.device_driver.basedriver.standard_ordinary_site;
 
 import cn.hutool.core.util.ObjectUtil;
+import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -16,6 +17,7 @@ import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.task.service.TaskService;
@@ -31,7 +33,7 @@ import java.util.Date;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver , DeviceStageMonitor {
     @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
     @Autowired
@@ -181,5 +183,47 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
         }
 
     }
+
+    @Override
+    public JSONObject getDeviceStatusName() {
+        JSONObject jo = new JSONObject();
+        String mode = "";
+        String action = "";
+        String move = "";
+        if (this.getMode() == 0) {
+            mode = "未联机";
+        } else if (this.getMode() == 1) {
+            mode = "单机";
+        } else if (this.getMode() == 2) {
+            mode = "联机";
+        } else if (this.getMode() == 3) {
+            mode = "运行中";
+        }
+
+        if (this.getMove() == 0) {
+            move = "无货";
+            jo.put("hasGoods", false);
+        } else if (this.getMove() == 1) {
+            move = "有货";
+            jo.put("hasGoods", true);
+        } else if (this.getMove() == 2) {
+            move = "有托盘有货";
+            jo.put("hasGoods", true);
+        }
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("mode", mode);
+        jo.put("move", move);
+        jo.put("action", action);
+        jo.put("isOnline", true);
+        jo.put("error", this.getError());
+        jo.put("isError", this.getIserror());
+        return jo;
+    }
+
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
 }
 
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_scanner/StandardScannerDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_scanner/StandardScannerDeviceDriver.java
index 28f4035..d36492a 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_scanner/StandardScannerDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_scanner/StandardScannerDeviceDriver.java
@@ -1,11 +1,13 @@
 package org.nl.acs.device_driver.basedriver.standard_scanner;
 
 import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.ScannerDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.socket.SocketConfig;
 import org.nl.acs.udw.UnifiedDataAccessor;
 import org.nl.acs.udw.UnifiedDataAccessorFactory;
@@ -15,7 +17,7 @@ import org.nl.acs.udw.UnifiedDataAccessorFactory;
  */
 @Slf4j
 @Data
-public class StandardScannerDeviceDriver extends AbstractDeviceDriver implements ScannerDeviceDriver, DeviceDriver {
+public class StandardScannerDeviceDriver extends AbstractDeviceDriver implements ScannerDeviceDriver, DeviceDriver, DeviceStageMonitor {
 
     UnifiedDataAccessor accessor_value;
 
@@ -59,5 +61,22 @@ public class StandardScannerDeviceDriver extends AbstractDeviceDriver implements
         }
     }
 
+    @Override
+    public JSONObject getDeviceStatusName() throws Exception {
+        JSONObject jo = new JSONObject();
+        jo.put("device_name", this.getDevice().getDevice_name());
+        jo.put("isOnline", true);
+        jo.put("device_type", device.getDevice_type());
+        //点击弹出
+        jo.put("is_click", true);
+        jo.put("ip", this.getIp());
+        jo.put("container", StrUtil.isEmpty(this.readBarcode()) ? "" : this.readBarcode());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
 }
 
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
index 017aba3..769893e 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
@@ -2,6 +2,7 @@
 package org.nl.acs.ext.wms.rest;
 
 
+import cn.dev33.satoken.annotation.SaIgnore;
 import com.alibaba.fastjson.JSONObject;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
@@ -31,6 +32,7 @@ public class WmsToAcsController {
     @PostMapping("/task")
     @Log("接收WMS任务")
     @ApiOperation("接收WMS任务")
+    @SaIgnore
     public ResponseEntity<Object> createFromWms(@RequestBody String whereJson) {
         return new ResponseEntity<>(wmstoacsService.createFromWms(whereJson), HttpStatus.OK);
     }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
index 464dc39..a69b673 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
@@ -202,9 +202,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         String wmsurl = paramService.findByCode(AcsConfig.WMSURL).getValue();
         String device_code = deviceService.queryDeviceCodeByAddress(Integer.parseInt(address));
         JSONObject jo = new JSONObject();
-        jo.put("device_code", device_code);
         jo.put("task_id", task_id);
-        jo.put("vehicle_code", vehicle_code);
         String result2 = null;
 
         AddressDto addressDto = addressService.findByCode("requestTaskAgain");
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 794f4a6..3ec7fee 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -290,15 +290,8 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         dto.setStart_parent_code(task.getStart_parent_code());
         dto.setNext_parent_code(task.getNext_parent_code());
 
-
-        if (StrUtil.equals(task.getTask_type(), "1")) {
-            dto.setAgv_inst_type("1");
-        } else if (StrUtil.equals(task.getTask_type(), "2")) {
-            dto.setAgv_inst_type("2");
-        } else if (StrUtil.equals(task.getTask_type(), "3")) {
-            dto.setAgv_inst_type("3");
-        } else if (StrUtil.equals(task.getTask_type(), "4")) {
-            dto.setAgv_inst_type("4");
+        if(ObjectUtil.isNotEmpty(task.getTask_type())){
+            dto.setInstruction_type(task.getTask_type());
         }
 
         DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -501,16 +494,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
             // != 0 为agv任务
             if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
 
-                /**
-                 * 1 双工agv双任务
-                 * 2 双工agv但认为
-                 * 3 单入-单任务
-                 * 4 双入-双任务
-                 * 5 点对点任务
-                 * 6 称重平台称重PS20 agvtype:1
-                 * 7 不去称重平台称重PS20 agvtype:2
-                 * 8 RT20  agvtype:3
-                 */
                 if (StrUtil.equals("1", dto.getInstruction_type())) {
                     ndcAgvService.sendAgvTwoInstToNDC(dto, dto2);
                     dto.setSend_status("1");
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/monitor/DeviceStageMonitor.java b/acs/nladmin-system/src/main/java/org/nl/acs/monitor/DeviceStageMonitor.java
index 2cc1e37..5310d2b 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/monitor/DeviceStageMonitor.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/monitor/DeviceStageMonitor.java
@@ -12,7 +12,7 @@ public interface DeviceStageMonitor {
      * 根据设备获取设备状态(中文名：如故障、联机等)
      * @return
      */
-    public JSONObject getDeviceStatusName();
+    public JSONObject getDeviceStatusName() throws Exception;
 
     /**
      * 根据舞台数据修改设备驱动状态
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/monitor/rest/DeviceStageMonitorController.java b/acs/nladmin-system/src/main/java/org/nl/acs/monitor/rest/DeviceStageMonitorController.java
index 2aef441..66692b2 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/monitor/rest/DeviceStageMonitorController.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/monitor/rest/DeviceStageMonitorController.java
@@ -31,7 +31,7 @@ public class DeviceStageMonitorController {
     @Log("获取舞台设备信息")
     @ApiOperation("获取舞台设备信息")
     @PostMapping("/getDeviceByCodes")
-    public ResponseEntity<Object> getDeviceByCodes(@RequestBody String json) {
+    public ResponseEntity<Object> getDeviceByCodes(@RequestBody String json) throws Exception {
         JSONArray jsonArray = JSONArray.parseArray(json);
         return new ResponseEntity<>(deviceStageMonitorService.getData(jsonArray), HttpStatus.OK);
     }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/monitor/service/DeviceStageMonitorService.java b/acs/nladmin-system/src/main/java/org/nl/acs/monitor/service/DeviceStageMonitorService.java
index 485f6a0..27d0bca 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/monitor/service/DeviceStageMonitorService.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/monitor/service/DeviceStageMonitorService.java
@@ -14,5 +14,5 @@ public interface DeviceStageMonitorService {
      * @param jsonArray 前端传来设备编号和节点的id
      * @return
      */
-    public JSONArray getData(JSONArray jsonArray);
+    public JSONArray getData(JSONArray jsonArray) throws Exception;
 }
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/monitor/service/impl/DeviceStageMonitorServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/monitor/service/impl/DeviceStageMonitorServiceImpl.java
index 333aa2b..53bca4d 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/monitor/service/impl/DeviceStageMonitorServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/monitor/service/impl/DeviceStageMonitorServiceImpl.java
@@ -24,7 +24,7 @@ public class DeviceStageMonitorServiceImpl implements DeviceStageMonitorService
 
 
     @Override
-    public JSONArray getData(JSONArray jsonArray) {
+    public JSONArray getData(JSONArray jsonArray) throws Exception {
         JSONArray arr = new JSONArray();
         for (int i = 0; i < jsonArray.size(); i++) {
             JSONObject obj = new JSONObject();
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index 613ec94..4400827 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -829,7 +829,6 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         String compound_task = acsTask.getCompound_task();
         String next_point_code = acsTask.getNext_point_code();
         String next_device_code = acsTask.getNext_device_code();
-        String maxInstnumber = paramService.findByCode(AcsConfig.MAXINSTNUMBER).getValue();
 
         /**
          * 开始平均分解校验
diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
index c1b4fda..be68a17 100644
--- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
+++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
@@ -58,37 +58,38 @@ public class AutoCreateInst {
             if(StrUtil.equals(is_send,"0")){
                 continue;
             }
-
-            //校验路由关系
-            List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
-            if (ObjectUtils.isEmpty(shortPathsList)) {
-                acsTask.setRemark("路由不通无法生成指令");
-                taskserver.updateByCodeFromCache(acsTask);
-                continue;
-            }
-
-            if (!StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
-                continue;
-            }
-
-            RouteLineDto routeLineDto = shortPathsList.get(0);
-            String path = routeLineDto.getPath();
-            String type = routeLineDto.getType();
-            String[] str = path.split("->");
-            List<String> pathlist = Arrays.asList(str);
-            int index = 0;
-            for (int m = 0; m < pathlist.size(); m++) {
-                if (pathlist.get(m).equals(start_device_code)) {
-                    index = m + 1;
-                    break;
+            if(StrUtil.equals(acsTask.getTask_type(),"1") || StrUtil.equals(acsTask.getTask_type(),"2")){
+                //校验路由关系
+                List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+                if (ObjectUtils.isEmpty(shortPathsList)) {
+                    acsTask.setRemark("路由不通无法生成指令");
+                    taskserver.updateByCodeFromCache(acsTask);
+                    continue;
                 }
-            }
-            next_device_code = pathlist.get(index);
 
-            if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
-                next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
-            } else {
-                next_point_code = next_device_code;
+                if (!StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
+                    continue;
+                }
+
+                RouteLineDto routeLineDto = shortPathsList.get(0);
+                String path = routeLineDto.getPath();
+                String type = routeLineDto.getType();
+                String[] str = path.split("->");
+                List<String> pathlist = Arrays.asList(str);
+                int index = 0;
+                for (int m = 0; m < pathlist.size(); m++) {
+                    if (pathlist.get(m).equals(start_device_code)) {
+                        index = m + 1;
+                        break;
+                    }
+                }
+                next_device_code = pathlist.get(index);
+
+                if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
+                    next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
+                } else {
+                    next_point_code = next_device_code;
+                }
             }
 
             Instruction instdto = new Instruction();
diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java
index b226b1a..668a57c 100644
--- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java
+++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java
@@ -98,7 +98,7 @@ public class QueryZDAgvTaskStatus {
 
         HttpResponse response2 = agvService.queryAgvInstStatus("2");
         //查询AGV指令列表
-        JSONArray inst_rows2 = JSONArray.parseArray(response.body());
+        JSONArray inst_rows2 = JSONArray.parseArray(response2.body());
         for (int i = 0; i < inst_rows2.size(); i++) {
             JSONObject inst_jo = inst_rows2.getJSONObject(i);
             String inst_code = inst_jo.getString("task_code");
diff --git a/acs/nladmin-system/src/main/resources/initsql.txt b/acs/nladmin-system/src/main/resources/initsql.txt
new file mode 100644
index 0000000..dc704cb
--- /dev/null
+++ b/acs/nladmin-system/src/main/resources/initsql.txt
@@ -0,0 +1,16 @@
+delete from acs_device_runpoint;
+delete from acs_device_extra;
+delete from acs_device;
+delete from acs_device_assigned;
+delete from acs_opc_plc;
+delete from acs_opc;
+delete from acs_route_line;
+delete from acs_instruction;
+delete from acs_task;
+delete from sys_log;
+delete from acs_log;
+delete from acs_task_feedback;
+delete from sys_quartz_log;
+delete from  acs_storage_cell;
+update acs_stage_actor set device_code='',image_name ='1';
+update sys_code_rule_detail set current_value=0;
\ No newline at end of file
diff --git a/acs/nladmin-ui/src/views/acs/device/driver/empty_vehicle_stacking_position.vue b/acs/nladmin-ui/src/views/acs/device/driver/empty_vehicle_stacking_position.vue
index 57f2284..097cd0b 100644
--- a/acs/nladmin-ui/src/views/acs/device/driver/empty_vehicle_stacking_position.vue
+++ b/acs/nladmin-ui/src/views/acs/device/driver/empty_vehicle_stacking_position.vue
@@ -30,8 +30,8 @@
             v-model="plc_id"
             placeholder="无"
             clearable
-            @change="changePlc"
             filterable
+            @change="changePlc"
           >
             <el-option
               v-for="item in dataOpcPlcs"
@@ -97,6 +97,11 @@
         </el-row>
 
         <el-row>
+          <el-col :span="8">
+            <el-form-item label="最大数量">
+              <el-input v-model="form.max_emptypalletnum" />
+            </el-form-item>
+          </el-col>
           <el-col :span="8">
             <el-form-item label="关联设备" prop="device_code">
               <el-select
diff --git a/acs/nladmin-ui/src/views/acs/device/driver/standard_conveyor_control_with_scanner.vue b/acs/nladmin-ui/src/views/acs/device/driver/standard_conveyor_control_with_scanner.vue
index e8bcada..a569996 100644
--- a/acs/nladmin-ui/src/views/acs/device/driver/standard_conveyor_control_with_scanner.vue
+++ b/acs/nladmin-ui/src/views/acs/device/driver/standard_conveyor_control_with_scanner.vue
@@ -152,6 +152,42 @@
             </el-form-item>
           </el-col>
         </el-row>
+        <el-row>
+          <el-col :span="8">
+            <el-form-item label="门" prop="door" label-width="100px">
+              <el-select
+                v-model="form.door"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in doors"
+                  :key="item.key"
+                  :label="item.label"
+                  :value="item.key"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+          <el-col :span="8">
+            <el-form-item label="楼" prop="floor" label-width="100px">
+              <el-select
+                v-model="form.floor"
+                filterable
+                clearable
+                placeholder="请选择"
+              >
+                <el-option
+                  v-for="item in floors"
+                  :key="item.key"
+                  :label="item.label"
+                  :value="item.key"
+                />
+              </el-select>
+            </el-form-item>
+          </el-col>
+        </el-row>
       </el-form>
     </el-card>
 
@@ -298,6 +334,20 @@ export default {
       plc_code: '',
       opc_id: '',
       opc_code: '',
+      doors: [{
+        key: '1',
+        label: '前门'
+      }, {
+        key: '2',
+        label: '后门'
+      }],
+      floors: [{
+        key: '1',
+        label: '1楼'
+      }, {
+        key: '2',
+        label: '2楼'
+      }],
       address: '',
       configLoading: false,
       dataOpcservers: [],
diff --git a/acs/nladmin-ui/src/views/acs/instruction/index.vue b/acs/nladmin-ui/src/views/acs/instruction/index.vue
index 3947310..7e82e25 100644
--- a/acs/nladmin-ui/src/views/acs/instruction/index.vue
+++ b/acs/nladmin-ui/src/views/acs/instruction/index.vue
@@ -109,6 +109,7 @@
         <el-table-column type="selection" width="55" />
         <el-table-column v-if="false" prop="instruction_id" label="指令标识" />
         <el-table-column prop="instruction_code" label="指令编号" />
+        <el-table-column prop="instruction_type" label="指令类型" />
         <el-table-column prop="link_num" label="关联编号" />
         <el-table-column prop="task_code" label="任务号" />
         <el-table-column prop="vehicle_code" label="载具号" />
diff --git a/acs/nladmin-ui/src/views/acs/task/index.vue b/acs/nladmin-ui/src/views/acs/task/index.vue
index a9a05bf..d95937c 100644
--- a/acs/nladmin-ui/src/views/acs/task/index.vue
+++ b/acs/nladmin-ui/src/views/acs/task/index.vue
@@ -251,6 +251,7 @@
         <el-table-column type="selection" width="25" />
         <el-table-column v-if="false" prop="task_id" label="任务标识" />
         <el-table-column prop="task_code" label="任务号" />
+        <el-table-column prop="task_type" label="任务类型" />
         <el-table-column prop="link_num" label="关联编号" />
         <el-table-column prop="vehicle_code" label="载具号" />
         <el-table-column prop="task_status" label="任务状态">
@@ -266,9 +267,9 @@
           </template>
         </el-table-column>-->
         <el-table-column prop="priority" label="任务优先级" />
-        <el-table-column prop="start_point_code" label="取货点" width="120px"/>
+        <el-table-column prop="start_point_code" label="取货点" width="120px" />
         <el-table-column prop="put_point_code" label="倒料点" />
-        <el-table-column prop="next_point_code" label="放货点" width="120px"/>
+        <el-table-column prop="next_point_code" label="放货点" width="120px" />
         <el-table-column prop="compound_task" label="复合任务">
           <template slot-scope="scope">
             <span v-if="scope.row.compound_task==='0' ">否</span>