diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
index 42f0114..f52f5bc 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
@@ -63,8 +63,9 @@ public class AcsToWmsController {
     @PostMapping("/feedbackAgv")
     @Log("反馈AGV设备信息")
     @ApiOperation("反馈AGV设备信息")
-    public ResponseEntity<Object> feedbackAgv(@RequestBody JSONArray from) {
-        return new ResponseEntity<>(acstowmsService.feedbackAgv(from), HttpStatus.OK);
+    public ResponseEntity<Object> feedbackAgv(@RequestBody String from) {
+        JSONArray array = JSONArray.fromObject(from);
+        return new ResponseEntity<>(acstowmsService.feedbackAgv(array), HttpStatus.OK);
     }
 
     @PostMapping("/weighing")
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
index 7fe9134..c91afac 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
@@ -115,10 +115,12 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
                     .header("Authorization", token).body(String.valueOf(data))
                     .execute();
             System.out.println(result2);
+            log.info("feedbackTaskStatusToWms-----返回参数{}", result2.body());
         } catch (Exception e) {
             String msg = e.getMessage();
             //网络不通
             System.out.println(msg);
+            log.info("feedbackTaskStatusToWms-----异常{}", msg);
         }
 
         String type = "";
@@ -438,6 +440,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             String msg = e.getMessage();
             //网络不通
             System.out.println(msg);
+            log.info("feedbackAgv----异常{}", msg);
         }
         return result;
     }
diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskFeedbackServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskFeedbackServiceImpl.java
index 756d7df..e371b44 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskFeedbackServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskFeedbackServiceImpl.java
@@ -163,7 +163,8 @@ public class TaskFeedbackServiceImpl implements TaskFeedbackService {
         feed_jo.put("task_uuid", entity.getTask_id());
         feed_jo.put("task_code", entity.getTask_code());
         feed_jo.put("task_status", entity.getTask_status());
-        JSONArray ja = new JSONArray();
+
+        JSONArray ja = JSONArray.fromObject(feed_jo);
 
         HttpResponse body = null;
         String error_message = null;
diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/TaskFeekback.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/TaskFeekback.java
new file mode 100644
index 0000000..9f5eb6e
--- /dev/null
+++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/TaskFeekback.java
@@ -0,0 +1,41 @@
+package org.nl.modules.quartz.task;
+
+
+import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONObject;
+import org.nl.acs.task.service.TaskFeedbackService;
+import org.nl.acs.task.service.dto.TaskFeedbackDto;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 向wms反馈任务状态
+ */
+@Slf4j
+@Component
+public class TaskFeekback {
+
+    @Autowired
+    TaskFeedbackService taskFeedbackService;
+
+    public void run() throws Exception {
+        JSONObject json = new JSONObject();
+        List<TaskFeedbackDto> taskFeedbackDtos = taskFeedbackService.queryAll(json);
+        List<TaskFeedbackDto> dtos = new ArrayList<>();
+
+        for (int i = 0; i < taskFeedbackDtos.size(); i++) {
+            TaskFeedbackDto dto = taskFeedbackDtos.get(i);
+            if (!dto.getError_code().equals("200") && dto.getIs_finished().equals("0")) {
+                dtos.add(dto);
+            }
+        }
+
+        for (int i = 0; i < dtos.size(); i++) {
+            TaskFeedbackDto taskFeedbackDto = dtos.get(i);
+            taskFeedbackService.retry(taskFeedbackDto.getTaskback_id());
+        }
+    }
+}
diff --git a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
index 2700794..c91f438 100644
--- a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
+++ b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
@@ -3565,19 +3565,20 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                                 else if (phase == 0x67) {
                                     AgvDto dto = null;
                                     Map<String, AgvDto> map = AgvService.findAllAgvFromCache();
+                                    carno = arr[18] * 256 + arr[19];
                                     if (map.containsKey(String.valueOf(carno))) {
                                         dto = map.get(String.valueOf(carno));
                                     } else {
                                         dto = new AgvDto();
                                     }
                                     dto.setName(String.valueOf(carno));
-                                    if (arr[18] * 256 + arr[19] == 0) {
+                                    if (ikey == 0) {
                                         dto.setState("IDLE");
                                         acsToWmsService.feedbackAgvStatus(String.valueOf(carno), "0", "");
                                     } else {
                                         StringBuffer errbs = new StringBuffer();
                                         for (int i = 0; i < ERROR.length; i++) {
-                                            if (((arr[18] * 256 + arr[19]) & (1 << i)) > 0)
+                                            if (((ikey) & (1 << i)) > 0)
                                                 errbs.append("," + ERROR[i]);
                                             //反馈故障
                                         }