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 16b0fdc..e0f135b 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
@@ -72,6 +72,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     int last_electric_qty = 0;
     int last_status = 0;
     int last_error = 0;
+    String order = "";
 
     @LokiLog(type = LokiLogType.ACS_TO_LMS)
     public synchronized void processSocket(int[] arr) throws Exception {
@@ -99,6 +100,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             if (ObjectUtil.isEmpty(inst)) {
                 inst = instructionService.findByCode(String.valueOf(ikey));
             }
+            if(ObjectUtil.isNotEmpty(inst)) {
+                order = inst.getTask_code();
+            }
         }
         if (!ObjectUtil.isEmpty(link_inst)) {
             link_flag = true;
diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java
index 7f1d710..0269f2a 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java
@@ -264,13 +264,13 @@ public class DeviceAppServiceImpl implements DeviceAppService, ApplicationAutoIn
     @Override
     public List<Device> findDeviceByType(DeviceType deviceType) {
         List<Device> list = this.findDevice(deviceType);
-        Map<String, String> map = new HashMap();
-        Iterator var4 = list.iterator();
-
-        while (var4.hasNext()) {
-            Device device = (Device) var4.next();
-            list.add(device);
-        }
+//        Map<String, String> map = new HashMap();
+//        Iterator var4 = list.iterator();
+//
+//        while (var4.hasNext()) {
+//            Device device = (Device) var4.next();
+//            list.add(device);
+//        }
         return list;
     }
 
diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java
index 0c2c606..a7fe09e 100644
--- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java
+++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java
@@ -5,13 +5,18 @@ import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.agv.server.AgvService;
 import org.nl.acs.agv.server.dto.AgvDto;
+import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceType;
 import org.nl.modules.mnt.websocket.MsgType;
 import org.nl.modules.mnt.websocket.SocketMsg;
 import org.nl.modules.mnt.websocket.WebSocketServer;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
+import java.util.List;
 import java.util.Map;
 
 /**
@@ -25,17 +30,20 @@ public class ToAgvDevice {
     AcsToWmsService acsToWmsService;
     @Autowired
     AgvService agvService;
-
+    @Autowired
+    DeviceAppService deviceAppService;
     public void run() throws Exception {
-        JSONObject json = new JSONObject();
-        Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
-
         JSONArray agv_rows = new JSONArray();
         JSONObject row = new JSONObject();
 
-        for (AgvDto agvDto : agv_map.values()) {
-            row.put("device_code", agvDto.getName());
-            row.put("energyLevel", agvDto.getEnergyLevel());
+        AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
+        try {
+            List<Device> deviceList = deviceAppService.findDeviceByType(DeviceType.agv);
+        for(Device device:deviceList) {
+            if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
+                agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
+                row.put("device_code", agvNdcOneDeviceDriver.getDevice_code());
+                row.put("energyLevel", agvNdcOneDeviceDriver.getElectric_qty());
 //            车状态：
 //            1：关机
 //            2：运行中
@@ -44,64 +52,43 @@ public class ToAgvDevice {
 //            5：充电中
 //            6：故障中
 //            7：低电量
-            if (agvDto.getState().equals("1")) {
-                row.put("device_status", "UNKNOWN");
-                row.put("status_name", "关机");
-            } else if (agvDto.getState().equals("2")) {
-                row.put("device_status", "EXECUTING");
-                row.put("status_name", "有任务");
-            } else if (agvDto.getState().equals("3")) {
+                if (agvNdcOneDeviceDriver.getStatus()==1) {
+                    row.put("device_status", "UNKNOWN");
+                    row.put("status_name", "关机");
+                } else if (agvNdcOneDeviceDriver.getStatus()==2) {
+                    row.put("device_status", "EXECUTING");
+                    row.put("status_name", "有任务");
+                } else if (agvNdcOneDeviceDriver.getStatus()==3) {
 //                row.put("device_status", "EXECUTING");
 //                row.put("status_name", "交通管制");
-            } else if (agvDto.getState().equals("4")) {
-                row.put("device_status", "IDLE");
-                row.put("status_name", "空闲");
-            } else if (agvDto.getState().equals("5")) {
-                row.put("device_status", "CHARGING");
-                row.put("status_name", "充电");
-            } else if (agvDto.getState().equals("6")) {
-                row.put("device_status", "ERROR");
-                row.put("status_name", "故障");
-            } else if (agvDto.getState().equals("7")) {
+                } else if (agvNdcOneDeviceDriver.getStatus()==4) {
+                    row.put("device_status", "IDLE");
+                    row.put("status_name", "空闲");
+                } else if (agvNdcOneDeviceDriver.getStatus()==5) {
+                    row.put("device_status", "CHARGING");
+                    row.put("status_name", "充电");
+                } else if (agvNdcOneDeviceDriver.getStatus()==6) {
+                    row.put("device_status", "ERROR");
+                    row.put("status_name", "故障");
+                } else if (agvNdcOneDeviceDriver.getStatus()==7) {
 //                row.put("device_status", "ERROR");
 //                row.put("status_name", "低电量");
-            }
+                }
 
+                row.put("transportOrder", agvNdcOneDeviceDriver.getOrder());
+                row.put("positionX", agvNdcOneDeviceDriver.getX());
+                row.put("positionY", agvNdcOneDeviceDriver.getY());
+                row.put("positionAngle", agvNdcOneDeviceDriver.getAngle());
+                agv_rows.add(row);
 
-//            if (agvDto.getState().equals("UNKNOWN")) {
-//                row.put("status_name", "有任务");
-//                row.put("status_name", "有任务");
-//                row.put("flag", "1");
-//            }
-//            if (agvDto.getState().equals("UNAVAILABLE")) {
-//                row.put("status_name", "网络异常");
-//                row.put("flag", "1");
-//            }
-//            if (agvDto.getState().equals("ERROR")) {
-//                row.put("status_name", "机器错误");
-//                row.put("flag", "1");
-//            }
-//            if (agvDto.getState().equals("IDLE")) {
-//                row.put("status_name", "空闲");
-//                row.put("flag", "0");
-//            }
-//            if (agvDto.getState().equals("EXECUTING")) {
-//                row.put("status_name", "运行中");
-//                row.put("flag", "0");
-//            }
-//            if (agvDto.getState().equals("CHARGING")) {
-//                row.put("status_name", "充电中");
-//                row.put("flag", "0");
-//            }
-            row.put("transportOrder", agvDto.getTransportOrder());
-            row.put("positionX", agvDto.getPositionX());
-            row.put("positionY", agvDto.getPositionY());
-            row.put("positionAngle", agvDto.getPositionAngle());
-            agv_rows.add(row);
+            }
+        }
+
+        }catch (Exception e){
+            System.out.println(e.getMessage());
         }
-//        json.put("agv_rows", agv_rows);
-//        SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO);
-//        WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data");
+
+        System.out.println(agv_rows.toString());
 
         acsToWmsService.feedbackAgv(agv_rows);
     }