diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
index c012d99..10871ed 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
@@ -159,28 +159,31 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             inst.setAgv_jobno(String.valueOf(index));
                             inst.setSend_status("1");
                             instructionService.update(inst);
-                            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) {
+//                            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")
+//                            ||StrUtil.startWith(inst.getTask_code(), "-")) {
                                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-                            } else {
-                                    JSONArray req = new JSONArray();
-                                    JSONObject map = new JSONObject();
-                                    map.put("uuid", IdUtil.simpleUUID());
-                                    map.put("taskNo", inst.getTask_id());
-                                    map.put("businessType", "PENDING");
-                                    req.add(map);
-                                    HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
-                                    if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
-                                        JSONObject resp = JSONObject.parseObject(httpResponse.body());
-                                        if (resp.getInteger("code") == 200) {
-                                            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-                                            log.info("指令号:{},acs请求wms任务执行申请成功,wms允许agv任务执行,已反馈agv任务执行", inst.getInstruction_code());
-                                        } else {
-                                            log.warn("指令号:{},acs请求wms任务执行任务执行失败,wms不允许agv任务执行离开,未反馈agv任务执行", inst.getInstruction_code());
-                                        }
-                                    } else {
-                                        log.warn("指令号:{},acs请求wms任务执行任务执行失败，连接被拒绝,未反馈agv任务执行", inst.getInstruction_code());
-                                    }
-                            }
+//                            } else {
+//                                    JSONArray req = new JSONArray();
+//                                    JSONObject map = new JSONObject();
+//                                    map.put("uuid", IdUtil.simpleUUID());
+//                                    map.put("taskNo", inst.getTask_code());
+//                                    map.put("businessType", "PENDING");
+//                                    map.put("containerNo",inst.getVehicle_code());
+//                                    map.put("deviceNo",inst.getCarno());
+//                                    req.add(map);
+//                                    HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
+//                                    if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
+//                                        JSONObject resp = JSONObject.parseObject(httpResponse.body());
+//                                        if (resp.getInteger("code") == 200) {
+//                                            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+//                                            log.info("指令号:{},acs请求wms任务执行申请成功,wms允许agv任务执行,已反馈agv任务执行", inst.getInstruction_code());
+//                                        } else {
+//                                            log.warn("指令号:{},acs请求wms任务执行任务执行失败,wms不允许agv任务执行离开,未反馈agv任务执行", inst.getInstruction_code());
+//                                        }
+//                                    } else {
+//                                        log.warn("指令号:{},acs请求wms任务执行任务执行失败，连接被拒绝,未反馈agv任务执行", inst.getInstruction_code());
+//                                    }
+//                            }
                         }
                     }
                     //任务完毕
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
index 73416a2..eed8e57 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
@@ -132,7 +132,15 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             inst.setCarno(String.valueOf(carno));
             instructionService.update(inst);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data);
-
+//            JSONArray req = new JSONArray();
+            JSONObject map = new JSONObject();
+            map.put("uuid", IdUtil.simpleUUID());
+            map.put("taskNo", inst.getTask_code());
+            map.put("businessType", "PENDING");
+            map.put("containerNo",inst.getVehicle_code());
+            map.put("deviceNo",inst.getCarno());
+//            req.add(map);
+            HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(map);
             //到达取货点
             //(需要WCS反馈)
         } else if (phase == 0x03) {
@@ -208,16 +216,19 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 return;
             }
 
-            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) {
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")
+                    ||StrUtil.startWith(inst.getTask_code(), "-")) {
                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             } else {
-                    JSONArray req = new JSONArray();
+//                    JSONArray req = new JSONArray();
                     JSONObject map = new JSONObject();
                     map.put("uuid", IdUtil.simpleUUID());
-                    map.put("taskNo", inst.getTask_id());
+                    map.put("taskNo", inst.getTask_code());
                     map.put("businessType", "LEAVE_FROM_POINT");
-                    req.add(map);
-                    HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
+                    map.put("containerNo",inst.getVehicle_code());
+                    map.put("deviceNo",inst.getCarno());
+//                    req.add(map);
+                    HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(map);
                     if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
                         JSONObject resp = JSONObject.parseObject(httpResponse.body());
                         if (resp.getInteger("code") == 200) {
@@ -301,16 +312,19 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 log.info("未找到编号{}对应的指令", ikey);
                 return;
             }
-            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) {
+            if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")
+                    ||StrUtil.startWith(inst.getTask_code(), "-")) {
                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             } else {
-                    JSONArray req = new JSONArray();
+//                    JSONArray req = new JSONArray();
                     JSONObject map = new JSONObject();
                     map.put("uuid", IdUtil.simpleUUID());
-                    map.put("taskNo", inst.getTask_id());
+                    map.put("taskNo", inst.getTask_code());
                     map.put("businessType", "ARRIVE_TO_POINT");
-                    req.add(map);
-                    HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
+                    map.put("containerNo",inst.getVehicle_code());
+                    map.put("deviceNo",inst.getCarno());
+//                    req.add(map);
+                    HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(map);
                     if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
                         JSONObject resp = JSONObject.parseObject(httpResponse.body());
                         if (resp.getInteger("code") == 200) {
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
index 213c1f3..189bf9f 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
@@ -107,7 +107,7 @@ public class AcsToWmsController {
     @PostMapping("/feedAgvTaskStatus")
     @Log(value = "反馈AGV取放货状态", isInterfaceLog = true, interfaceLogType = InterfaceLogType.ACS_TO_LMS)
     @ApiOperation("反馈AGV取放货状态")
-    public ResponseEntity<Object> feedAgvTaskStatus(@RequestBody JSONArray from) {
+    public ResponseEntity<Object> feedAgvTaskStatus(@RequestBody JSONObject from) {
         return new ResponseEntity<>(acstowmsService.feedAgvTaskStatus(from), HttpStatus.OK);
     }
 
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
index 53de2bd..0d68fe5 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
@@ -113,7 +113,7 @@ public interface AcsToWmsService {
      * @param from
      * @return
      */
-    HttpResponse feedAgvTaskStatus(JSONArray from);
+    HttpResponse feedAgvTaskStatus(JSONObject from);
 
     JSONObject test(JSONObject form);
 }
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 2da3a54..e9e8c7c 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
@@ -556,7 +556,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     }
 
     @Override
-    public HttpResponse feedAgvTaskStatus(JSONArray from) {
+    public HttpResponse feedAgvTaskStatus(JSONObject from) {
         if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
             log.info("开始反馈WMS AGV取放货状态，请求参数：{}", from);
             this.getTokenFromWms();
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/JDToAcsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/JDToAcsServiceImpl.java
index 2d98f85..29938ee 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/JDToAcsServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/JDToAcsServiceImpl.java
@@ -467,7 +467,7 @@ public class JDToAcsServiceImpl implements JDToAcsService {
                 String start_device_code = reqs.getCarryTask().getFromPoint();
                 String next_device_code = reqs.getCarryTask().getToPoint();
                 String priority = reqs.getPriority();
-                String vehicle_code = reqs.getDeviceNo();
+                String vehicle_code = reqs.getCarryTask().getContainerNo();
 //                String vehicle_type = req.getVehicle_type();
                 String task_type = "1";
 //                String remark = req.getRemark();