diff --git a/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java b/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
index f9f45d6..9f03fa4 100644
--- a/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
+++ b/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
@@ -209,7 +209,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         }
                         //任务完毕
                         //（无车id及状态）
-                        else if (phase == 0x14) {
+                        else if (phase == 0x0A) {
                             if (ObjectUtil.isEmpty(inst)) {
                                 log.info("未找到指令号{}对应的指令", ikey);
                             } else {
diff --git a/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java b/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java
index 5d392a5..7d2c355 100644
--- a/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java
+++ b/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java
@@ -250,9 +250,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     standardOrdinarySiteDeviceDriver.setIndex(index);
                     standardOrdinarySiteDeviceDriver.setInst(inst);
                 }
-
-
-
             }
             if (ObjectUtil.isNotEmpty(data)) {
                 logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + phase + "反馈:" + Bytes2HexString(data));
diff --git a/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
index 2dc3a92..64a688c 100644
--- a/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
+++ b/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
@@ -52,6 +52,7 @@ import org.nl.system.service.dict.ISysDictService;
 import org.nl.system.service.dict.dao.Dict;
 import org.nl.system.service.param.ISysParamService;
 import org.nl.config.SpringContextHolder;
+import org.springframework.util.StringUtils;
 
 import java.time.LocalTime;
 import java.util.Arrays;
@@ -193,17 +194,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 
         if (agvaddr != 0) {
             old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
-            CommonFinalParam commonFinalParam = new CommonFinalParam();
-            if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
-                String[] point = old_device_code.split(commonFinalParam.getBARRE());
-                device_code = point[0];
-            } else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
-                String[] point = old_device_code.split("\\.");
-                device_code = point[0];
-                emptyNum = point[1];
-            } else {
-                device_code = old_device_code;
-            }
+            device_code = old_device_code;
         }
         device = deviceAppService.findDeviceByCode(device_code);
 
@@ -238,17 +229,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
             if (agvaddr != 0) {
                 old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
-                CommonFinalParam commonFinalParam = new CommonFinalParam();
-                if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
-                    String[] point = old_device_code.split(commonFinalParam.getBARRE());
-                    device_code = point[0];
-                } else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
-                    String[] point = old_device_code.split("\\.");
-                    device_code = point[0];
-                    emptyNum = point[1];
-                } else {
+
                     device_code = old_device_code;
-                }
+
             }
 
             HongXiangLocationInfo hongXiangLocationInfo = CodeParserUtil.parseCode(device_code);
@@ -297,28 +280,38 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     .build();
             logDto3.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto3);
-            HttpResponse httpResponse2 = acsToWcsService.feedbackTaskStatusToWcs(param3);
-            if (ObjectUtil.isNotEmpty(httpResponse2)) {
-                String responseBody = httpResponse2.body();
-                JSONObject responseJson = JSONObject.parseObject(responseBody);
-                int responseCode = responseJson.getIntValue("responseCode");
+            if(!StringUtils.isEmpty(param3.getString("taskCode")) && !param3.getString("taskCode").contains(CommonFinalParam.HYPHEN_)) {
+                HttpResponse httpResponse2 = acsToWcsService.feedbackTaskStatusToWcs(param3);
+                if (ObjectUtil.isNotEmpty(httpResponse2)) {
+                    String responseBody = httpResponse2.body();
+                    JSONObject responseJson = JSONObject.parseObject(responseBody);
+                    int responseCode = responseJson.getIntValue("responseCode");
 
-                LuceneLogDto logDto2 = LuceneLogDto.builder()
-                        .device_code(device_code)
-                        .content("申请取货返回参数:" + responseBody)
-                        .build();
-                logDto2.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(logDto2);
-
-                // 判断 responseCode 是否为 0，非 0 则返回
-                if (responseCode != 0) {
-                    LuceneLogDto errorLog = LuceneLogDto.builder()
+                    LuceneLogDto logDto2 = LuceneLogDto.builder()
                             .device_code(device_code)
-                            .content("WCS反馈失败, responseCode:" + responseCode
-                                    + ", responseMessage:" + responseJson.getString("responseMessage"))
+                            .content("申请取货返回参数:" + responseBody)
                             .build();
-                    errorLog.setLog_level(2);
-                    luceneExecuteLogService.deviceExecuteLog(errorLog);
+                    logDto2.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto2);
+
+                    // 判断 responseCode 是否为 0，非 0 则返回
+                    if (responseCode != 0) {
+                        LuceneLogDto errorLog = LuceneLogDto.builder()
+                                .device_code(device_code)
+                                .content("WCS反馈失败, responseCode:" + responseCode
+                                        + ", responseMessage:" + responseJson.getString("responseMessage"))
+                                .build();
+                        errorLog.setLog_level(2);
+                        luceneExecuteLogService.deviceExecuteLog(errorLog);
+                        return;
+                    }
+                } else {
+                    LuceneLogDto wcsNullLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[WCS响应] 取货完成响应为空")
+                            .build();
+                    wcsNullLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(wcsNullLog);
                     return;
                 }
             }
@@ -404,19 +397,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 luceneExecuteLogService.deviceExecuteLog(doorStatusLog);
 
                 if (door_open != 1) {
-                    // 下发开门指令
-                    String doorOpenCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
-                            + "_door" + hongXiangLocationInfo.getShutterDoor() + "_open";
-                    LuceneLogDto doorOpenLog = LuceneLogDto.builder()
-                            .device_code(device_code)
-                            .content("[烘箱指令] 下发开门指令: " + doorOpenCmd + " = 2")
-                            .build();
-                    doorOpenLog.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(doorOpenLog);
 
-                    hongXiangStationDeviceDriver.writing(doorOpenCmd, "2");
-                    return;
-                } else {
+
+                    String safeCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
+                            + "_door" + hongXiangLocationInfo.getShutterDoor() + "_agv_safe";
+                    LuceneLogDto safeLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[烘箱指令] 下发安全指令: " + safeCmd + " = " + 0)
+                            .build();
+                    safeLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(safeLog);
+
+                    hongXiangStationDeviceDriver.writing(safeCmd, "0");
+
                     //到达取货点
                     //门已经开了，此时请求取料
                     // to_oven1_door1_storage
@@ -430,8 +423,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     luceneExecuteLogService.deviceExecuteLog(storageLog);
 
                     hongXiangStationDeviceDriver.writing(storageCmd, String.valueOf(hongXiangLocationInfo.getStorageNo()));
-                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
-
                     // AGV反馈日志
                     LuceneLogDto agvFeedbackLog = LuceneLogDto.builder()
                             .device_code(device_code)
@@ -441,7 +432,35 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     luceneExecuteLogService.deviceExecuteLog(agvFeedbackLog);
 
                     logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
+
+
+                    // 下发开门指令
+                    String doorOpenCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
+                            + "_door" + hongXiangLocationInfo.getShutterDoor() + "_open";
+                    LuceneLogDto doorOpenLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[烘箱指令] 下发开门指令: " + doorOpenCmd + " = 2")
+                            .build();
+                    doorOpenLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(doorOpenLog);
+
+                    hongXiangStationDeviceDriver.writing(doorOpenCmd, "2");
+                    return;
                 }
+
+                data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+
+                String safeCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
+                        + "_door" + hongXiangLocationInfo.getShutterDoor() + "_agv_safe";
+                LuceneLogDto safeLog = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("[烘箱指令] 下发安全指令: " + safeCmd + " = " + 1)
+                        .build();
+                safeLog.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(safeLog);
+
+                hongXiangStationDeviceDriver.writing(safeCmd, "1");
+
             } else {
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(this.getDeviceCode())
@@ -471,17 +490,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             }
             if (agvaddr != 0) {
                 old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
-                CommonFinalParam commonFinalParam = new CommonFinalParam();
-                if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
-                    String[] point = old_device_code.split(commonFinalParam.getBARRE());
-                    device_code = point[0];
-                } else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
-                    String[] point = old_device_code.split("\\.");
-                    device_code = point[0];
-                    emptyNum = point[1];
-                } else {
+
                     device_code = old_device_code;
-                }
+
             }
 
             HongXiangLocationInfo hongXiangLocationInfo = CodeParserUtil.parseCode(device_code);
@@ -518,6 +529,59 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 inst.setCarno(String.valueOf(carno));
                 instructionService.update(inst);
             }
+
+            //更新agv状态 - WCS系统交互
+            JSONObject param3 = new JSONObject();
+            param3.put("containerCode", inst.getVehicle_code());
+            param3.put("taskCode",  inst.getTask_code());
+            param3.put("carId", inst.getCarno());
+            param3.put("taskType", inst.getInstruction_type());
+            param3.put("feedbackStatus", FeedbackStatusEnum.TAKE_FINISH.getCode());
+
+            // WCS交互日志
+            LuceneLogDto wcsLog = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content("[WCS交互] 反馈取货完成, 参数:" + param3.toJSONString())
+                    .build();
+            wcsLog.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(wcsLog);
+            if(!StringUtils.isEmpty(param3.getString("taskCode")) && !param3.getString("taskCode").contains(CommonFinalParam.HYPHEN_)) {
+                HttpResponse httpResponse2 = acsToWcsService.feedbackTaskStatusToWcs(param3);
+                if (ObjectUtil.isNotEmpty(httpResponse2)) {
+                    String responseBody = httpResponse2.body();
+                    JSONObject responseJson = JSONObject.parseObject(responseBody);
+                    int responseCode = responseJson.getIntValue("responseCode");
+
+                    LuceneLogDto wcsResponseLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[WCS响应] 取货完成响应, status:" + httpResponse2.getStatus() + ", body:" + responseBody)
+                            .build();
+                    wcsResponseLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(wcsResponseLog);
+
+                    // 判断 responseCode 是否为 0，非 0 则返回
+                    if (responseCode != 0) {
+                        LuceneLogDto errorLog = LuceneLogDto.builder()
+                                .device_code(device_code)
+                                .content("[WCS响应] 取货完成失败, responseCode:" + responseCode
+                                        + ", responseMessage:" + responseJson.getString("responseMessage"))
+                                .build();
+                        errorLog.setLog_level(2);
+                        luceneExecuteLogService.deviceExecuteLog(errorLog);
+                        return;
+                    }
+                } else {
+                    LuceneLogDto wcsNullLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[WCS响应] 取货完成响应为空")
+                            .build();
+                    wcsNullLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(wcsNullLog);
+                    return;
+                }
+            }
+
+
             if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
                 LuceneLogDto logDto = LuceneLogDto.builder()
@@ -557,6 +621,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 luceneExecuteLogService.deviceExecuteLog(completeCmdLog);
 
                 hongXiangStationDeviceDriver.writing(completeCmd, "1");
+
+
+                String safeCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
+                        + "_door" + hongXiangLocationInfo.getShutterDoor() + "_agv_safe";
+                LuceneLogDto safeLog = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("[烘箱指令] 下发安全指令: " + safeCmd + " = " + 0)
+                        .build();
+                safeLog.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(safeLog);
+
+                hongXiangStationDeviceDriver.writing(safeCmd, "0");
+
             }
             else {
                 LuceneLogDto logDto = LuceneLogDto.builder()
@@ -567,57 +644,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 luceneExecuteLogService.deviceExecuteLog(logDto);
             }
 
-            //更新agv状态 - WCS系统交互
-            JSONObject param3 = new JSONObject();
-            param3.put("containerCode", inst.getVehicle_code());
-            param3.put("taskCode",  inst.getTask_code());
-            param3.put("carId", inst.getCarno());
-            param3.put("taskType", inst.getInstruction_type());
-            param3.put("feedbackStatus", FeedbackStatusEnum.TAKE_FINISH.getCode());
-
-            // WCS交互日志
-            LuceneLogDto wcsLog = LuceneLogDto.builder()
-                    .device_code(device_code)
-                    .content("[WCS交互] 反馈取货完成, 参数:" + param3.toJSONString())
-                    .build();
-            wcsLog.setLog_level(4);
-            luceneExecuteLogService.deviceExecuteLog(wcsLog);
-
-            HttpResponse httpResponse2 = acsToWcsService.feedbackTaskStatusToWcs(param3);
-
-            if (ObjectUtil.isNotEmpty(httpResponse2)) {
-                String responseBody = httpResponse2.body();
-                JSONObject responseJson = JSONObject.parseObject(responseBody);
-                int responseCode = responseJson.getIntValue("responseCode");
-
-                LuceneLogDto wcsResponseLog = LuceneLogDto.builder()
-                        .device_code(device_code)
-                        .content("[WCS响应] 取货完成响应, status:" + httpResponse2.getStatus() + ", body:" + responseBody)
-                        .build();
-                wcsResponseLog.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(wcsResponseLog);
-
-                // 判断 responseCode 是否为 0，非 0 则返回
-                if (responseCode != 0) {
-                    LuceneLogDto errorLog = LuceneLogDto.builder()
-                            .device_code(device_code)
-                            .content("[WCS响应] 取货完成失败, responseCode:" + responseCode
-                                    + ", responseMessage:" + responseJson.getString("responseMessage"))
-                            .build();
-                    errorLog.setLog_level(2);
-                    luceneExecuteLogService.deviceExecuteLog(errorLog);
-                    return;
-                }
-            } else {
-                LuceneLogDto wcsNullLog = LuceneLogDto.builder()
-                        .device_code(device_code)
-                        .content("[WCS响应] 取货完成响应为空")
-                        .build();
-                wcsNullLog.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(wcsNullLog);
-            }
-
             data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+
+
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
         }
 
@@ -639,16 +668,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             if (agvaddr != 0) {
                 CommonFinalParam commonFinalParam = new CommonFinalParam();
                 old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
-                if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
-                    String[] point = old_device_code.split(commonFinalParam.getBARRE());
-                    device_code = point[0];
-                } else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
-                    String[] point = old_device_code.split("\\.");
-                    device_code = point[0];
-                    emptyNum = point[1];
-                } else {
+
                     device_code = old_device_code;
-                }
+
             }
             HongXiangLocationInfo hongXiangLocationInfo = CodeParserUtil.parseCode(device_code);
             if(null != hongXiangLocationInfo  ){
@@ -688,28 +710,38 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     .build();
             logDto3.setLog_level(4);
             luceneExecuteLogService.deviceExecuteLog(logDto3);
-            HttpResponse httpResponse2 = acsToWcsService.feedbackTaskStatusToWcs(param3);
-            if (ObjectUtil.isNotEmpty(httpResponse2)) {
-                String responseBody = httpResponse2.body();
-                JSONObject responseJson = JSONObject.parseObject(responseBody);
-                int responseCode = responseJson.getIntValue("responseCode");
+            if(!StringUtils.isEmpty(param3.getString("taskCode")) && !param3.getString("taskCode").contains(CommonFinalParam.HYPHEN_)) {
+                HttpResponse httpResponse2 = acsToWcsService.feedbackTaskStatusToWcs(param3);
+                if (ObjectUtil.isNotEmpty(httpResponse2)) {
+                    String responseBody = httpResponse2.body();
+                    JSONObject responseJson = JSONObject.parseObject(responseBody);
+                    int responseCode = responseJson.getIntValue("responseCode");
 
-                LuceneLogDto logDto2 = LuceneLogDto.builder()
-                        .device_code(device_code)
-                        .content("申请放货返回参数:" + responseBody)
-                        .build();
-                logDto2.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(logDto2);
-
-                // 判断 responseCode 是否为 0，非 0 则返回
-                if (responseCode != 0) {
-                    LuceneLogDto errorLog = LuceneLogDto.builder()
+                    LuceneLogDto logDto2 = LuceneLogDto.builder()
                             .device_code(device_code)
-                            .content("WCS反馈失败, responseCode:" + responseCode
-                                    + ", responseMessage:" + responseJson.getString("responseMessage"))
+                            .content("申请放货返回参数:" + responseBody)
                             .build();
-                    errorLog.setLog_level(2);
-                    luceneExecuteLogService.deviceExecuteLog(errorLog);
+                    logDto2.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto2);
+
+                    // 判断 responseCode 是否为 0，非 0 则返回
+                    if (responseCode != 0) {
+                        LuceneLogDto errorLog = LuceneLogDto.builder()
+                                .device_code(device_code)
+                                .content("WCS反馈失败, responseCode:" + responseCode
+                                        + ", responseMessage:" + responseJson.getString("responseMessage"))
+                                .build();
+                        errorLog.setLog_level(2);
+                        luceneExecuteLogService.deviceExecuteLog(errorLog);
+                        return;
+                    }
+                } else {
+                    LuceneLogDto wcsNullLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[WCS响应] 取货完成响应为空")
+                            .build();
+                    wcsNullLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(wcsNullLog);
                     return;
                 }
             }
@@ -792,20 +824,18 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 luceneExecuteLogService.deviceExecuteLog(doorStatusLog);
 
                 if (door_open != 1) {
-                    String doorOpenCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
-                            + "_door" + hongXiangLocationInfo.getShutterDoor() + "_open";
-                    LuceneLogDto doorOpenLog = LuceneLogDto.builder()
-                            .device_code(device_code)
-                            .content("[烘箱指令] 下发开门指令: " + doorOpenCmd + " = 1")
-                            .build();
-                    doorOpenLog.setLog_level(4);
-                    luceneExecuteLogService.deviceExecuteLog(doorOpenLog);
 
-                    hongXiangStationDeviceDriver.writing(doorOpenCmd, "1");
-                    return;
-                } else {
-                    //到达放货点
-                    //门已经开了，此时请求放货
+                    String safeCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
+                            + "_door" + hongXiangLocationInfo.getShutterDoor() + "_agv_safe";
+                    LuceneLogDto safeLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[烘箱指令] 下发安全指令: " + safeCmd + " = " + 0)
+                            .build();
+                    safeLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(safeLog);
+
+                    hongXiangStationDeviceDriver.writing(safeCmd, "0");
+
                     String storageCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
                             + "_door" + hongXiangLocationInfo.getShutterDoor() + "_storage";
                     LuceneLogDto storageLog = LuceneLogDto.builder()
@@ -816,7 +846,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     luceneExecuteLogService.deviceExecuteLog(storageLog);
 
                     hongXiangStationDeviceDriver.writing(storageCmd, String.valueOf(hongXiangLocationInfo.getStorageNo()));
-                    data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+
 
                     // AGV反馈日志
                     LuceneLogDto agvFeedbackLog = LuceneLogDto.builder()
@@ -827,7 +857,33 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                     luceneExecuteLogService.deviceExecuteLog(agvFeedbackLog);
 
                     logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
+
+
+                    String doorOpenCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
+                            + "_door" + hongXiangLocationInfo.getShutterDoor() + "_open";
+                    LuceneLogDto doorOpenLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[烘箱指令] 下发开门指令: " + doorOpenCmd + " = 1")
+                            .build();
+                    doorOpenLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(doorOpenLog);
+                    hongXiangStationDeviceDriver.writing(doorOpenCmd, "1");
+                    return;
                 }
+
+                data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
+
+                String safeCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
+                        + "_door" + hongXiangLocationInfo.getShutterDoor() + "_agv_safe";
+                LuceneLogDto safeLog = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("[烘箱指令] 下发安全指令: " + safeCmd + " = " + 1)
+                        .build();
+                safeLog.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(safeLog);
+
+                hongXiangStationDeviceDriver.writing(safeCmd, "1");
+
             } else {
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(this.getDeviceCode())
@@ -860,16 +916,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
             if (agvaddr != 0) {
                 CommonFinalParam commonFinalParam = new CommonFinalParam();
                 old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
-                if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
-                    String[] point = old_device_code.split(commonFinalParam.getBARRE());
-                    device_code = point[0];
-                } else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
-                    String[] point = old_device_code.split("\\.");
-                    device_code = point[0];
-                    emptyNum = point[1];
-                } else {
+
                     device_code = old_device_code;
-                }
+
             }
 
             HongXiangLocationInfo hongXiangLocationInfo = CodeParserUtil.parseCode(device_code);
@@ -896,6 +945,57 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 log.info("未找到指令号{}对应的指令", ikey);
                 return;
             }
+            //更新agv状态 - WCS系统交互
+            JSONObject param3 = new JSONObject();
+            param3.put("containerCode", inst.getVehicle_code());
+            param3.put("taskCode",  inst.getTask_code());
+            param3.put("carId", inst.getCarno());
+            param3.put("taskType", inst.getInstruction_type());
+            param3.put("feedbackStatus", FeedbackStatusEnum.PUT_FINISH.getCode());
+
+            // WCS交互日志
+            LuceneLogDto wcsLog = LuceneLogDto.builder()
+                    .device_code(device_code)
+                    .content("[WCS交互] 反馈放货完成, 参数:" + param3.toJSONString())
+                    .build();
+            wcsLog.setLog_level(4);
+            luceneExecuteLogService.deviceExecuteLog(wcsLog);
+            if(!StringUtils.isEmpty(param3.getString("taskCode")) && !param3.getString("taskCode").contains(CommonFinalParam.HYPHEN_)) {
+                HttpResponse httpResponse2 = acsToWcsService.feedbackTaskStatusToWcs(param3);
+
+                if (ObjectUtil.isNotEmpty(httpResponse2)) {
+                    String responseBody = httpResponse2.body();
+                    JSONObject responseJson = JSONObject.parseObject(responseBody);
+                    int responseCode = responseJson.getIntValue("responseCode");
+
+                    LuceneLogDto wcsResponseLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[WCS响应] 放货完成响应, status:" + httpResponse2.getStatus() + ", body:" + responseBody)
+                            .build();
+                    wcsResponseLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(wcsResponseLog);
+
+                    // 判断 responseCode 是否为 0，非 0 则返回
+                    if (responseCode != 0) {
+                        LuceneLogDto errorLog = LuceneLogDto.builder()
+                                .device_code(device_code)
+                                .content("[WCS响应] 放货完成失败, responseCode:" + responseCode
+                                        + ", responseMessage:" + responseJson.getString("responseMessage"))
+                                .build();
+                        errorLog.setLog_level(2);
+                        luceneExecuteLogService.deviceExecuteLog(errorLog);
+                        return;
+                    }
+                } else {
+                    LuceneLogDto wcsNullLog = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("[WCS响应] 放货完成响应为空")
+                            .build();
+                    wcsNullLog.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(wcsNullLog);
+                }
+            }
+
             if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 LuceneLogDto logDto = LuceneLogDto.builder()
                         .device_code(this.getDeviceCode())
@@ -932,6 +1032,19 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
 
                 hongXiangStationDeviceDriver.writing(completeCmd, "1");
 
+
+
+                String safeCmd = "to_oven" + hongXiangLocationInfo.getOvenNo()
+                        + "_door" + hongXiangLocationInfo.getShutterDoor() + "_agv_safe";
+                LuceneLogDto safeLog = LuceneLogDto.builder()
+                        .device_code(device_code)
+                        .content("[烘箱指令] 下发安全指令: " + safeCmd + " = " + 0)
+                        .build();
+                safeLog.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(safeLog);
+
+                hongXiangStationDeviceDriver.writing(safeCmd, "0");
+
             }
             else {
                 LuceneLogDto logDto = LuceneLogDto.builder()
@@ -942,55 +1055,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
                 luceneExecuteLogService.deviceExecuteLog(logDto);
             }
 
-            //更新agv状态 - WCS系统交互
-            JSONObject param3 = new JSONObject();
-            param3.put("containerCode", inst.getVehicle_code());
-            param3.put("taskCode",  inst.getTask_code());
-            param3.put("carId", inst.getCarno());
-            param3.put("taskType", inst.getInstruction_type());
-            param3.put("feedbackStatus", FeedbackStatusEnum.PUT_FINISH.getCode());
-
-            // WCS交互日志
-            LuceneLogDto wcsLog = LuceneLogDto.builder()
-                    .device_code(device_code)
-                    .content("[WCS交互] 反馈放货完成, 参数:" + param3.toJSONString())
-                    .build();
-            wcsLog.setLog_level(4);
-            luceneExecuteLogService.deviceExecuteLog(wcsLog);
-
-            HttpResponse httpResponse2 = acsToWcsService.feedbackTaskStatusToWcs(param3);
-
-            if (ObjectUtil.isNotEmpty(httpResponse2)) {
-                String responseBody = httpResponse2.body();
-                JSONObject responseJson = JSONObject.parseObject(responseBody);
-                int responseCode = responseJson.getIntValue("responseCode");
-
-                LuceneLogDto wcsResponseLog = LuceneLogDto.builder()
-                        .device_code(device_code)
-                        .content("[WCS响应] 放货完成响应, status:" + httpResponse2.getStatus() + ", body:" + responseBody)
-                        .build();
-                wcsResponseLog.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(wcsResponseLog);
-
-                // 判断 responseCode 是否为 0，非 0 则返回
-                if (responseCode != 0) {
-                    LuceneLogDto errorLog = LuceneLogDto.builder()
-                            .device_code(device_code)
-                            .content("[WCS响应] 放货完成失败, responseCode:" + responseCode
-                                    + ", responseMessage:" + responseJson.getString("responseMessage"))
-                            .build();
-                    errorLog.setLog_level(2);
-                    luceneExecuteLogService.deviceExecuteLog(errorLog);
-                    return;
-                }
-            } else {
-                LuceneLogDto wcsNullLog = LuceneLogDto.builder()
-                        .device_code(device_code)
-                        .content("[WCS响应] 放货完成响应为空")
-                        .build();
-                wcsNullLog.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(wcsNullLog);
-            }
 
             data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
 
diff --git a/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWcsServiceImpl.java b/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWcsServiceImpl.java
index c2e84f2..6edbc6e 100644
--- a/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWcsServiceImpl.java
+++ b/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWcsServiceImpl.java
@@ -16,6 +16,7 @@ import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.address.service.AddressService;
 import org.nl.acs.address.service.dto.AddressDto;
+import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.ext.wms.RetryableUtil;
 import org.nl.acs.ext.wms.service.AcsToWcsService;
@@ -32,6 +33,7 @@ import org.nl.system.service.param.ISysParamService;
 import org.slf4j.MDC;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
 
 @Service
 @RequiredArgsConstructor
@@ -69,9 +71,16 @@ public class AcsToWcsServiceImpl implements AcsToWcsService {
 
 
 
+
+
     @Override
     public HttpResponse feedbackTaskStatusToWcs(JSONObject jo) {
         try {
+            //查询task
+            if(!StringUtils.isEmpty(jo.getString("taskCode")) && jo.getString("taskCode").contains(CommonFinalParam.HYPHEN_)){
+                return null;
+            }
+
             MDC.put(log_file_type, log_type);
             log.info("feedbackTaskStatusToWcs-----agv状态更新输入参数{}", jo);
             String wcsurl = paramService.findByCode(AcsConfig.WCSURL).getValue();
diff --git a/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index dc8b0cc..1d50bd1 100644
--- a/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -17,6 +17,7 @@ import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
 import groovy.lang.Lazy;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.ObjectUtils;
 import org.jetbrains.annotations.NotNull;
 import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.server.AcsToWmsZDService;
@@ -627,10 +628,8 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
             task_code = CodeUtil.getNewCode("TASK_NO");
             task_code = CommonFinalParam.HYPHEN_ + task_code;
         }
-        String start_point_code;
         String next_point_code = dto.getNext_point_code();
-        String start_device_code = dto.getStart_device_code();
-        String next_device_code = dto.getNext_device_code();
+        String start_point_code = dto.getStart_point_code();
         String route_plan_code = dto.getRoute_plan_code();
         //本项目默认为2
         dto.setAgv_system_type("2");
@@ -643,7 +642,8 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         dto.setTask_status(TaskStatusEnum.READY.getIndex());
         dto.setStart_device_code2(dto.getStart_point_code2());
         dto.setNext_device_code2(dto.getNext_point_code2());
-
+        dto.setStart_device_code(dto.getStart_point_code());
+        dto.setNext_device_code(dto.getNext_point_code());
 
         if (StrUtil.isEmpty(dto.getPriority())) {
             dto.setPriority(CommonFinalParam.ONE);
@@ -652,50 +652,28 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         // 判断起点终点设备类型
         String startDeviceType = deviceAppService.findDeviceTypeByCode(dto.getStart_device_code());
         String nextDeviceType = deviceAppService.findDeviceTypeByCode(dto.getNext_device_code());
-        // 同一排转库任务不做路由校验
-        if (!(StrUtil.equals(DeviceType.storage.toString(), startDeviceType) && StrUtil.equals(DeviceType.storage.toString(), nextDeviceType) && StrUtil.equals(start_device_code, next_device_code))) {
-            if (routeLineService
-                    .getShortPathLines(dto.getStart_device_code(), dto.getNext_device_code(), plan_code)
-                    .size()
-                    == 0) {
-                throw new BadRequestException(dto.getStart_point_code() + "->" + dto.getNext_point_code() + "   " + LangProcess.msg("route_isNull"));
-            }
-        }
         String createTaskCheck = paramService.findByCode(AcsConfig.CREATETASKCHECK).getValue();
         DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
         DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-        Device nextdevice = appService.findDeviceByCode(next_device_code);
+        Device nextdevice = appService.findDeviceByCode(next_point_code);
         if (nextdevice == null) {
             //TODO 国际化处理
             throw new BadRequestException("终点设备未配置");
         }
-        Device startdevice = appService.findDeviceByCode(start_device_code);
+        Device startdevice = appService.findDeviceByCode(start_point_code);
         if (startdevice == null) {
             //TODO 国际化处理
             throw new BadRequestException("起点设备未配置");
         }
         dto.setMaterial(startdevice.getMaterial_type());
-        if (StrUtil.equals(DeviceType.storage.toString(), startDeviceType)) {
-            start_point_code = start_device_code + CommonFinalParam.HYPHEN_ + dto.getFrom_y() + CommonFinalParam.HYPHEN_ + dto.getFrom_z();
-            dto.setStart_point_code(start_point_code);
+        List<RouteLineDto> shortPathsList =
+                routeLineService.getShortPathLines(
+                        dto.getStart_device_code(), dto.getNext_device_code(), dto.getRoute_plan_code());
+        if (ObjectUtils.isEmpty(shortPathsList)) {
+            throw new Exception(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由不通");
         }
-        if (StrUtil.equals(DeviceType.storage.toString(), nextDeviceType)) {
-            next_point_code = next_device_code + CommonFinalParam.HYPHEN_ + dto.getTo_y() + CommonFinalParam.HYPHEN_ + dto.getTo_z();
-            dto.setNext_point_code(next_point_code);
-        }
-        if (StrUtil.equals(createTaskCheck, CommonFinalParam.ONE)) {
-            // 判断起点为输送设备
-            if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {
-
-            }
-
-            if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {
-            }
-        } else {
-            // 判断起点为输送设备
-            if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {
-            }
 
+        if (!StrUtil.equals(createTaskCheck, CommonFinalParam.ONE)) {
             if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {
                 //                if (nextdevice.getDeviceDriver() instanceof
                 // XgAgvCarDeviceDriver) {