diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
index e13a97f..0499578 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
@@ -117,6 +117,7 @@ public class AgvServiceImpl implements AgvService {
 
     @Override
     public HttpResponse queryMagicAgvDeviceStatus() {
+        log.info("查询agv状态数据-----------------");
         if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
             String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
             String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
index 5ab9d20..dfe1ece 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
@@ -423,52 +423,51 @@ public class MagicAgvServiceImpl implements MagicAgvService {
                     ModbusInspectSiteDeviceDriver driver = (ModbusInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
                     //请求取货
                     if ("Load".equals(action)) {
+                        log.info("driver.getTo_command():" + driver.getTo_command());
+                        log.info("driver.getAction():" + driver.getAction());
+                        //请求进入
                         if (driver.getTo_command() == 1) {
+                            // 1允许进入
                             if (driver.getAction() == 1) {
+                                log.info("111："+addressdevice.getExtraValue().get("inspect_in_stocck"));
+                                //是否判断光电
                                 if ("1".equals(addressdevice.getExtraValue().get("inspect_in_stocck"))) {
                                     if (driver.getMove() == 1) {
-                                        if (driver.getTo_command() == 2) {
-                                            inst.setExecute_status("1");
-                                            is_feedback = true;
-                                        } else {
-                                            driver.writing(2);
-                                        }
-                                    }
-                                } else {
-                                    if (driver.getTo_command() == 2) {
+                                        driver.writing(2);
+                                        log.info("下发to_command:2");
                                         inst.setExecute_status("1");
                                         is_feedback = true;
-                                    } else {
-                                        driver.writing(2);
                                     }
+                                } else {
+                                    driver.writing(2);
+                                    log.info("下发to_command:2");
+                                    inst.setExecute_status("1");
+                                    is_feedback = true;
                                 }
                             }
                         } else {
+                            log.info("当前to_command:" + driver.getTo_command() + ",下发to_command:1");
                             driver.writing(1);
                         }
                         //请求放货
                     } else if ("Unload".equals(action)) {
                         if (driver.getTo_command() == 1) {
                             if (driver.getAction() == 1) {
+                                log.info("111："+addressdevice.getExtraValue().get("inspect_in_stocck"));
                                 if ("1".equals(addressdevice.getExtraValue().get("inspect_in_stocck"))) {
                                     if (driver.getMove() == 0) {
-                                        if (driver.getTo_command() == 2) {
-                                            inst.setExecute_status("3");
-                                            is_feedback = true;
-                                        } else {
-                                            driver.writing(2);
-                                        }
-                                    }
-                                } else {
-                                    if (driver.getTo_command() == 2) {
+                                        driver.writing(2);
                                         inst.setExecute_status("3");
                                         is_feedback = true;
-                                    } else {
-                                        driver.writing(2);
                                     }
+                                } else {
+                                    driver.writing(2);
+                                    inst.setExecute_status("3");
+                                    is_feedback = true;
                                 }
                             }
                         } else {
+                            log.info("当前to_command:" + driver.getTo_command() + ",下发to_command:1");
                             driver.writing(1);
                         }
                     }
@@ -483,7 +482,6 @@ public class MagicAgvServiceImpl implements MagicAgvService {
                 }
                 //取放货完成
             } else if ("onStation".equals(type)) {
-
                 if (addressdevice.getDeviceDriver() instanceof ModbusInspectSiteDeviceDriver) {
                     //取货完成
                     if ("Load".equals(action)) {
@@ -576,6 +574,7 @@ public class MagicAgvServiceImpl implements MagicAgvService {
             } else if (addressdevice.getDeviceDriver() instanceof ModbusInspectSiteDeviceDriver) {
                 ModbusInspectSiteDeviceDriver driver = (ModbusInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
                 driver.writing(3);
+                log.info("AGV请求离开，to_command:{}", driver.getTo_command());
                 flag = true;
             } else {
                 flag = true;
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/inspect_site/modbus_inspect_site/ItemProtocol.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/inspect_site/modbus_inspect_site/ItemProtocol.java
index 90b70ab..f7f01b6 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/inspect_site/modbus_inspect_site/ItemProtocol.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/inspect_site/modbus_inspect_site/ItemProtocol.java
@@ -63,7 +63,6 @@ public class ItemProtocol {
         list.add(new ItemDto(item_heartbeat, "心跳", "40004"));
         list.add(new ItemDto(item_move, "光电开关信号", "40002"));
         list.add(new ItemDto(item_action, "取放信号", "40001"));
-        list.add(new ItemDto(item_to_command, "作业命令", "40006"));
         return list;
     }
 
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
index 907b45f..459edf4 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
@@ -855,15 +855,17 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             String url = wmsUrl + methods_url;
             HttpResponse result = null;
             log.info("feedbackAgv----请求参数{}", from);
+            log.info("feedbackAgv----请求url{}", url);
 
             try {
                 result = HttpRequest.post(url)
                         .body(String.valueOf(from))
                         .execute();
-                System.out.println(result);
-                log.info("feedbackAgv----返回参数{}", result);
+                System.out.println(result.body());
+                log.info("feedbackAgv----返回参数{}", result.body());
             } catch (Exception e) {
                 String msg = e.getMessage();
+                log.info("feedbackAgv----异常返回参数{}", result.body());
                 //网络不通
                 System.out.println(msg);
             }
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
index 27aa397..fbc926e 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
@@ -42,6 +42,7 @@ import org.nl.utils.SpringContextHolder;
 import org.nl.wql.WQL;
 import org.nl.wql.core.bean.WQLObject;
 import org.nl.wql.util.WqlUtil;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.data.domain.Pageable;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -68,6 +69,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
 
     private final AcsConfigService acsConfigService;
     private final RouteLineService routeLineService;
+    @Lazy
     private final TaskService taskService;
 
 
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
index 453a2d7..1e2fb1b 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
@@ -46,6 +46,7 @@ import org.nl.wql.WQL;
 import org.nl.wql.core.bean.WQLObject;
 import org.nl.wql.util.WqlUtil;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.data.domain.Pageable;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -65,6 +66,7 @@ import java.util.regex.Pattern;
 @Service
 @RequiredArgsConstructor
 @Slf4j
+
 public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
 
     List<TaskDto> tasks = new ArrayList();
@@ -84,6 +86,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
 
     private final DeviceAssignedService deviceAssignedService;
     @Autowired
+    @Lazy
     private   InstructionService instructionService;
 
     private final StorageCellService storageCellService;
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java b/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java
index 3cd15df..1373e80 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java
@@ -17,7 +17,7 @@ import org.springframework.stereotype.Component;
  * 查询AGV设备状态
  */
 @Slf4j
-@Component("queryMagicAgvDeviceStatus")
+@Component
 public class QueryMagicAgvDeviceStatus {
 
     @Autowired
@@ -27,8 +27,7 @@ public class QueryMagicAgvDeviceStatus {
     AgvService agvService;
 
 
-    public void run() throws Exception {
-        HttpResponse response = agvService.queryMagicAgvDeviceStatus();
+    public void run() throws Exception { HttpResponse response = agvService.queryMagicAgvDeviceStatus();
 
     }
 
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java b/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java
index 72af367..b4644a9 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java
@@ -15,7 +15,7 @@ import org.springframework.stereotype.Component;
 import java.util.Map;
 
 /**
- * 查询AGV设备状态
+ * 反馈AGV设备信息
  */
 @Slf4j
 @Component
@@ -31,9 +31,10 @@ public class ToAgvDevice {
         Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
 
         JSONArray agv_rows = new JSONArray();
-        JSONObject row = new JSONObject();
+
 
         for (AgvDto agvDto : agv_map.values()) {
+            JSONObject row = new JSONObject();
             row.put("device_code", agvDto.getName());
             row.put("energyLevel", agvDto.getEnergyLevel());
             if (agvDto.getState().equals("UNKNOWN")) {
diff --git a/acs/hd/nladmin-system/src/main/resources/log/AcsToWms.xml b/acs/hd/nladmin-system/src/main/resources/log/AcsToWms.xml
index 690ae29..fb101c1 100644
--- a/acs/hd/nladmin-system/src/main/resources/log/AcsToWms.xml
+++ b/acs/hd/nladmin-system/src/main/resources/log/AcsToWms.xml
@@ -3,7 +3,7 @@
     <springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
     <property name="LOG_HOME" value="${logPath}"/>
     <!-- 按照每天生成日志文件 -->
-    <appender name="FILEACSTOWMS" class="ch.qos.logback.core.rolling.RollingFileAppender">
+    <appender name="FILEAcsToWmsServiceImpl" class="ch.qos.logback.core.rolling.RollingFileAppender">
         <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
             <!--日志文件输出的文件名-->
             <FileNamePattern>${LOG_HOME}/ACS请求WMS/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
@@ -26,7 +26,7 @@
       </logger>-->
 
     <!-- 打印sql -->
-    <logger name="org.nl.acs.agv.server.impl.AgvServiceImpl" level="info" additivity="false">
-        <appender-ref ref="FILEACSTOWMS"/>
+    <logger name="org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl" level="info" additivity="false">
+        <appender-ref ref="FILEAcsToWmsServiceImpl"/>
     </logger>
 </included>
diff --git a/acs/hd/nladmin-system/src/main/resources/log/MagicAgvServiceImpl.xml b/acs/hd/nladmin-system/src/main/resources/log/MagicAgvServiceImpl.xml
index 2a7b829..cbfd700 100644
--- a/acs/hd/nladmin-system/src/main/resources/log/MagicAgvServiceImpl.xml
+++ b/acs/hd/nladmin-system/src/main/resources/log/MagicAgvServiceImpl.xml
@@ -3,10 +3,10 @@
     <springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
     <property name="LOG_HOME" value="${logPath}"/>
     <!-- 按照每天生成日志文件 -->
-    <appender name="FILEMagicAgvServiceImpl" class="ch.qos.logback.core.rolling.RollingFileAppender">
+    <appender name="FILEAgvServiceImpl" class="ch.qos.logback.core.rolling.RollingFileAppender">
         <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
             <!--日志文件输出的文件名-->
-            <FileNamePattern>${LOG_HOME}/查询agv状态/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
+            <FileNamePattern>${LOG_HOME}/查询AGV设备状态/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
             <!--日志文件保留天数-->
             <maxHistory>15</maxHistory>
             <!--单个日志最大容量 至少10MB才能看得出来-->
@@ -26,7 +26,7 @@
       </logger>-->
 
     <!-- 打印sql -->
-    <logger name="package org.nl.acs.agv.server.impl.MagicAgvServiceImpl" level="info" additivity="false">
-        <appender-ref ref="FILEMagicAgvServiceImpl"/>
+    <logger name="org.nl.acs.agv.server.impl.AgvServiceImpl" level="info" additivity="false">
+        <appender-ref ref="FILEAgvServiceImpl"/>
     </logger>
 </included>
diff --git a/acs/hd/nladmin-system/src/main/resources/log/QueryAgvTaskStatus.xml b/acs/hd/nladmin-system/src/main/resources/log/QueryAgvTaskStatus.xml
index 53bbd12..de25cd3 100644
--- a/acs/hd/nladmin-system/src/main/resources/log/QueryAgvTaskStatus.xml
+++ b/acs/hd/nladmin-system/src/main/resources/log/QueryAgvTaskStatus.xml
@@ -3,10 +3,10 @@
     <springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
     <property name="LOG_HOME" value="${logPath}"/>
     <!-- 按照每天生成日志文件 -->
-    <appender name="FILEQueryMagicAgvTaskStatus" class="ch.qos.logback.core.rolling.RollingFileAppender">
+    <appender name="FILEMagicAgvServiceImpl" class="ch.qos.logback.core.rolling.RollingFileAppender">
         <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
             <!--日志文件输出的文件名-->
-            <FileNamePattern>${LOG_HOME}/查询agv任务状态/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
+            <FileNamePattern>${LOG_HOME}/查询AGV任务状态/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
             <!--日志文件保留天数-->
             <maxHistory>15</maxHistory>
             <!--单个日志最大容量 至少10MB才能看得出来-->
@@ -26,7 +26,7 @@
       </logger>-->
 
     <!-- 打印sql -->
-    <logger name="package org.nl.modules.quartz.task.QueryMagicAgvTaskStatus" level="info" additivity="false">
-        <appender-ref ref="FILEQueryMagicAgvTaskStatus"/>
+    <logger name="org.nl.acs.agv.server.impl.MagicAgvServiceImpl" level="info" additivity="false">
+        <appender-ref ref="FILEMagicAgvServiceImpl"/>
     </logger>
 </included>
diff --git a/acs/hd/nladmin-system/src/main/resources/logback-spring.xml b/acs/hd/nladmin-system/src/main/resources/logback-spring.xml
index 1769485..48625fc 100644
--- a/acs/hd/nladmin-system/src/main/resources/logback-spring.xml
+++ b/acs/hd/nladmin-system/src/main/resources/logback-spring.xml
@@ -22,6 +22,7 @@ https://juejin.cn/post/6844903775631572999
     <include resource="log/AcsToWms.xml"/>
     <include resource="log/QueryAgvTaskStatus.xml"/>
 
+
     <appender name="CONSOLE" class="ch.qos.logback.core.ConsoleAppender">
         <encoder>
             <pattern>${log.pattern}</pattern>
@@ -70,6 +71,7 @@ https://juejin.cn/post/6844903775631572999
     <springProfile name="dev">
         <root level="info">
             <appender-ref ref="CONSOLE"/>
+            <appender-ref ref="asyncFileAppender"/>
         </root>
 
         <logger name="jdbc.audit" level="ERROR" additivity="false">
@@ -106,3 +108,4 @@ https://juejin.cn/post/6844903775631572999
         </root>
     </springProfile>
 </configuration>
+