diff --git a/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
index 6b8114b..6f339e9 100644
--- a/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
+++ b/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
@@ -28,9 +28,7 @@ import java.io.DataInputStream;
 import java.io.DataOutputStream;
 import java.io.IOException;
 import java.net.Socket;
-import java.util.Arrays;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
 import java.util.stream.IntStream;
 
 import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
@@ -120,6 +118,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                 log.info("接收agv上报任务信息：" + bs);
                 // 从字节流的开头开始读取
                 int offset = 0;
+                Map<Integer,Integer> map = new HashMap<>();
                 // 循环处理字节流，逐个拆包 按照S消息解析
                 while (offset < packetData.length) {
                     if (offset + 6 > packetData.length) {
@@ -159,6 +158,27 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             int carno = arr[20];
                             //充电桩站点号
                             int station = arr[25];
+                            // 处理重复phase
+                            if (map.containsKey(index)){
+                                if (map.get(index).equals(phase)){
+                                    log.info("agv上报phase已处理，不重复处理");
+                                    // 更新偏移量，继续处理下一个数据包
+                                    offset+=messageHeaderLength;
+                                    int indexNum = IntStream.range(offset, packetData.length - 1)
+                                            .filter(i -> packetData[i] == 135 && packetData[i + 1] == 205)
+                                            .findFirst()
+                                            .orElse(-1);
+                                    // 如果未找到，返回 -1
+                                    if (indexNum == -1) {
+                                        break;
+                                    }else {
+                                        offset = indexNum;
+                                        continue;
+                                    }
+                                }
+
+                            }
+                            map.put(index,phase);
                             Instruction link_inst = null;
                             Instruction inst = null;
                             List<Instruction> insts = null;
diff --git a/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
index 9f94440..5e5790a 100644
--- a/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
+++ b/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
@@ -403,13 +403,18 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             //到达输送线取货完成
             if (device.getDeviceDriver() instanceof SsxDeviceDriver) {
                 ssxDeviceDriver = (SsxDeviceDriver) device.getDeviceDriver();
-                if (ssxDeviceDriver.getMode() != 0) {
+                //获取最新数据
+                inst = instructionService.findByCode(String.valueOf(ikey));
+                if (ssxDeviceDriver.getMode() != 0 && inst != null && !"2".equals(inst.getExecute_status())) {
                     log.info("agv进入" + device_code + ",取货完成,开始写入信号3进行安全交互,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction());
                     ssxDeviceDriver.writing(3);
                     if (ssxDeviceDriver.getMode() == 3) {
                         flag = true;
                         log.info("设备" + device_code + "的Mode信号已变更为3,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",开始写入0清除mode信号。");
                         ssxDeviceDriver.writing(0);
+                        //提前更新 解决ndc上报指令残留问题
+                        inst.setExecute_status(AgvActionEnum.ACTION_STATUS.code("取货完成"));
+                        instructionService.update(inst);
                         data = actionComplete(index, inst, device_code, ssxDeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("取货完成")), "取货完成");
                         log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",agv开始离开。");
                     } else {
@@ -418,12 +423,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                         log.info("设备" + device_code + "已完成信号3写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction());
                     }
                     ssxDeviceDriver.setMessage("");
-                } else {
-                    String message = "agv取货完成写入信号3安全交互失败，设备允许模式mode值为0，设备异常，请检查！";
-                    agv_message = ssxDeviceDriver.getDevice_code() + message;
-                    ssxDeviceDriver.setMessage(message);
-                    log.info(message);
-                    lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message));
                 }
             }
             //到达普通站点取货完成
@@ -655,43 +654,50 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             //到达输送线放货完成
             if (device.getDeviceDriver() instanceof SsxDeviceDriver) {
                 ssxDeviceDriver = (SsxDeviceDriver) device.getDeviceDriver();
-                log.info("agv进入" + device_code + ",放货完成,开始写入信号5进行安全交互,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction());
-                ssxDeviceDriver.writing(5);
-                if (ssxDeviceDriver.getMode() == 4) {
-                    log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",开始写入0清除mode信号。");
-                    if (ObjectUtil.isNotEmpty(task)){
-                        String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
-                        if (!StrUtil.startWith(task.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
-                            FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest();
-                            request.setTask_id(task.getExt_task_id());
-                            request.setTask_code(task.getTask_code());
-                            request.setTask_status("2");
-                            request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode());
-                            request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName());
-                            request.setStartLocation(task.getStart_point_code());
-                            request.setEndLocation(task.getNext_point_code());
-                            String res = acsToWmsService.feedTaskStatus(request);
-                            JSONObject result = JSONObject.parseObject(res);
-                            if (StringUtil.isNotBlank(result.getString("status")) && "200".equals(result.getString("status"))) {
-                                log.info("任务号" + request.getTask_code() + "放货完成---反馈wcs任务完成状态" + "成功。");
-                            } else if (StringUtil.isNotBlank(result.getString("status")) && !"200".equals(result.getString("status"))){
-                                log.info("任务号" + request.getTask_code() + "放货完成---反馈wcs任务完成状态" + "失败,服务器响应的失败原因为：" + result.getString("message"));
-                            }else if (StringUtil.isNotBlank(result.getString("code")) && "500".equals(result.getString("code"))){
-                                log.info("任务号" + request.getTask_code() + "放货完成---请求不通" + "失败,服务器响应的失败原因为：" + result.getString("message"));
-                                return;
+                //获取最新数据
+                inst = instructionService.findByCode(String.valueOf(ikey));
+                if (ssxDeviceDriver.getMode() != 0 && inst != null && !"4".equals(inst.getExecute_status())) {
+                    log.info("agv进入" + device_code + ",放货完成,开始写入信号5进行安全交互,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction());
+                    ssxDeviceDriver.writing(5);
+                    if (ssxDeviceDriver.getMode() == 4) {
+                        log.info("设备" + device_code + "的Mode信号已变更为4,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",开始写入0清除mode信号。");
+                        if (ObjectUtil.isNotEmpty(task)){
+                            String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
+                            if (!StrUtil.startWith(task.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
+                                FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest();
+                                request.setTask_id(task.getExt_task_id());
+                                request.setTask_code(task.getTask_code());
+                                request.setTask_status("2");
+                                request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode());
+                                request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName());
+                                request.setStartLocation(task.getStart_point_code());
+                                request.setEndLocation(task.getNext_point_code());
+                                String res = acsToWmsService.feedTaskStatus(request);
+                                JSONObject result = JSONObject.parseObject(res);
+                                if (StringUtil.isNotBlank(result.getString("status")) && "200".equals(result.getString("status"))) {
+                                    log.info("任务号" + request.getTask_code() + "放货完成---反馈wcs任务完成状态" + "成功。");
+                                } else if (StringUtil.isNotBlank(result.getString("status")) && !"200".equals(result.getString("status"))){
+                                    log.info("任务号" + request.getTask_code() + "放货完成---反馈wcs任务完成状态" + "失败,服务器响应的失败原因为：" + result.getString("message"));
+                                }else if (StringUtil.isNotBlank(result.getString("code")) && "500".equals(result.getString("code"))){
+                                    log.info("任务号" + request.getTask_code() + "放货完成---请求不通" + "失败,服务器响应的失败原因为：" + result.getString("message"));
+                                    return;
+                                }
                             }
                         }
+                        ssxDeviceDriver.writing(0);
+                        //提前更新 解决ndc上报指令残留问题
+                        inst.setExecute_status(AgvActionEnum.ACTION_STATUS.code("放货完成"));
+                        instructionService.update(inst);
+                        flag = true;
+                        data = actionComplete(index, inst, device_code, ssxDeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成");
+                        log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",agv开始离开。");
+                    } else {
+                        log.info("设备" + device_code + "的Mode信号未变更为4,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",尝试重新写入信号5进行安全交互");
+                        ssxDeviceDriver.writing(5);
+                        log.info("设备" + device_code + "已完成信号5写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction());
                     }
-                    ssxDeviceDriver.writing(0);
-                    flag = true;
-                    data = actionComplete(index, inst, device_code, ssxDeviceDriver.getTo_command(), Integer.parseInt(AgvActionEnum.ACTION_STATUS.code("放货完成")), "放货完成");
-                    log.info("设备" + device_code + "已完成信号0写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",agv开始离开。");
-               } else {
-                  log.info("设备" + device_code + "的Mode信号未变更为4,当前信号值为：Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction() + ",尝试重新写入信号5进行安全交互");
-                  ssxDeviceDriver.writing(5);
-                 log.info("设备" + device_code + "已完成信号5写入,当前信号值为：" + "Mode:" + ssxDeviceDriver.getMode() + ",Move:" + ssxDeviceDriver.getMove() + ",Action:" + ssxDeviceDriver.getAction());
-               }
-                ssxDeviceDriver.setMessage("");
+                    ssxDeviceDriver.setMessage("");
+                }
             }
             //agv普通站点放货完成
             if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {