diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
index e317808..64f7279 100644
--- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
+++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
@@ -173,8 +173,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                 (byte) indexhigh, (byte) indexlow,
                 (byte) 0X01, (byte) 0X14,
                 (byte) phasehigh, (byte) phaselow,
-                (byte) phasehigh, (byte) phaselow,
-                (byte) phasehigh, (byte) phaselow
+                (byte) pickuphigh, (byte) pickuplow,
+                (byte) releasehigh, (byte) releaselow
         };
 
 
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 9a494d0..86d509f 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
@@ -297,30 +297,41 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 log.info("未找到关联编号{}对应的指令", ikey);
                 return;
             }
+            TaskDto task =taskService.findById(inst.getTask_id());
+            int start_height= ObjectUtil.isNotEmpty(task.getStart_height())?Integer.parseInt(task.getStart_height()):0;
+            int next_height= ObjectUtil.isNotEmpty(task.getNext_height())?Integer.parseInt(task.getNext_height()):0;
 //            Object reqWms = device.getExtraValue().get("reqWms");
 //            if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
-//                JSONArray req = new JSONArray();
-//                JSONObject map = new JSONObject();
-//                map.put("vehicle_code", inst.getVehicle_code());
-//                map.put("status", "3");
-//                map.put("device_code", inst.getNext_point_code());
-//                map.put("task_code", inst.getTask_code());
-//                req.add(map);
-//                HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
-//                if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
-//                    JSONObject resp = JSONObject.parseObject(httpResponse.body());
-    //                    if (resp.getInteger("status") == 200) {
-//                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
-//                        log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
-//                    } else {
-//                        log.warn("指令号:{},acs请求wms放货申请成功,wms不允许agv申请放货,未反馈agv允许放货", inst.getInstruction_code());
-//                    }
-//                } else {
-//                    log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
-//                }
-//            } else {
-                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
-//            }
+            if(!StrUtil.startWith(task.getTask_code(), '-')){
+//            Object reqWms = device.getExtraValue().get("reqWms");
+//            if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
+                JSONArray req = new JSONArray();
+                JSONObject map = new JSONObject();
+                map.put("vehicle_code", inst.getVehicle_code());
+                map.put("status", "3");
+                map.put("device_code", inst.getNext_point_code());
+                map.put("task_code", inst.getTask_code());
+                req.add(map);
+                HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
+                if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
+                    JSONObject resp = JSONObject.parseObject(httpResponse.body()).getJSONObject("data");
+                    if (resp.getInteger("status") == 200) {
+                        start_height=resp.getInteger("start_height");
+                        next_height=resp.getInteger("next_height");
+                        task.setStart_height(String.valueOf(start_height));
+                        task.setNext_height(String.valueOf(next_height));
+                        taskService.update(task);
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,start_height,next_height);
+                        log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
+                    } else {
+                        log.warn("指令号:{},acs请求wms放货申请成功,wms不允许agv申请放货,未反馈agv允许放货", inst.getInstruction_code());
+                    }
+                } else {
+                    log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
+                }
+            } else {
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,start_height,next_height);
+            }
             //放货完毕
             //(需要WCS反馈)
         } else if (phase == 0x09) {
@@ -422,6 +433,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         } else if (phase == 0x74) {
             //三色灯状态
             status = ikey;
+            if(status==4) {
+                order = "";
+            }
         }
         if (!ObjectUtil.isEmpty(data)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);