diff --git a/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java b/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java
index a8c78e4..df0a556 100644
--- a/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java
+++ b/web/src/main/java/com/zhehekeji/web/service/PlcCmdInfo.java
@@ -66,6 +66,8 @@ public class PlcCmdInfo {
 
     private String plcId;
 
+    private Integer times;
+
     public PlcCmdInfo(String plcId, String taskId, Integer side1, Integer leftRight1, Integer column1, Integer row1, Integer separation1, Integer side2, Integer leftRight2, Integer column2, Integer row2, Integer separation2) {
         this.taskId = taskId;
         this.side1 = side1;
diff --git a/web/src/main/java/com/zhehekeji/web/service/PlcService.java b/web/src/main/java/com/zhehekeji/web/service/PlcService.java
index d382893..402ac48 100644
--- a/web/src/main/java/com/zhehekeji/web/service/PlcService.java
+++ b/web/src/main/java/com/zhehekeji/web/service/PlcService.java
@@ -462,8 +462,34 @@ public class PlcService {
                 return cameraId;
             }
         }else {
-            //双伸
-            //todo
+            if (street.getCamera1Id() != null && street.getCamera2Id() != null && street.getCamera1Id() != 0 && street.getCamera2Id() != 0) {
+                //双伸 todo 这个因项目而异，看现场的情况
+                //默认是
+                if(plcCmdInfo.getTimes() <= 2){
+                    //左侧
+                    if(plcCmdInfo.getLeftRight1() == 1){
+
+                        if(plcCmdInfo.getSeparation1() == 1){
+                            //左侧  内货架  camera2
+                            return street.getCamera2Id();
+                        }else {
+                            //左侧  外货架  camera1
+                            return street.getCamera1Id();
+                        }
+                    }else {
+                        if(plcCmdInfo.getSeparation1() == 2){
+                            //右侧  内货架  camera2
+                            return street.getCamera1Id();
+                        }else {
+                            //右侧  外货架  camera1
+                            return street.getCamera2Id();
+                        }
+                    }
+                }
+            } else {
+                Integer cameraId = street.getCamera1Id() != null && street.getCamera1Id() != 0 ? street.getCamera1Id() : street.getCamera2Id();
+                return cameraId;
+            }
             return null;
         }
 
diff --git a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java
index bd13826..d4b6907 100644
--- a/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java
+++ b/web/src/main/java/com/zhehekeji/web/service/ksec/KsecDecoder.java
@@ -73,6 +73,7 @@ public class KsecDecoder extends DelimiterBasedFrameDecoder {
                 if (Cmd.isBaseAction(code)) {
                     //执行动作，需要保存执行到第几步了
                     Integer times = GoodsActionTimes.put(plcCmdInfo.getOrderNum());
+                    plcCmdInfo.setTimes(times);
                     code = code + "-" + plcCmdInfo.getLeftRightStr(times) + plcCmdInfo.getInOutStr(times);
                     //执行动作
                     plcService.action(plcCmdInfo, times, code);