From e4733b37ded2195375721c8fe42db655a17dc8fb Mon Sep 17 00:00:00 2001
From: "HUOJIN\\92525" <Jin980303>
Date: Sat, 10 Jan 2026 09:59:15 +0800
Subject: [PATCH] no message

---
 .../agvTask/mapper/xml/AgvTaskMapper.xml      |   4 +-
 .../cpte/modules/base/mapper/PointMapper.java |   4 +-
 .../impl/IConveyorLineServiceImpl.java        | 161 ++++++++++++++----
 .../service/processor/ScanTrayProcessor.java  |  56 +++---
 .../shipping/controller/PickController.java   |  28 ++-
 .../cpte/modules/shipping/entity/Task.java    |   7 +
 .../modules/shipping/mapper/TaskMapper.java   |   2 +-
 .../shipping/service/IPickDetailService.java  |   2 +-
 .../shipping/service/IPickService.java        |   8 +
 .../service/impl/PickServiceImpl.java         |  33 ++++
 .../service/processor/AllocateProcessor.java  |   4 +-
 .../service/processor/PickBackProcessor.java  |  35 ++--
 .../service/impl/ITesAgvServiceImpl.java      |  25 +++
 .../modules/system/mapper/SysLogMapper.java   |   2 +
 14 files changed, 290 insertions(+), 81 deletions(-)

diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/agvTask/mapper/xml/AgvTaskMapper.xml b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/agvTask/mapper/xml/AgvTaskMapper.xml
index b807f06..ebc7764 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/agvTask/mapper/xml/AgvTaskMapper.xml
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/agvTask/mapper/xml/AgvTaskMapper.xml
@@ -4,14 +4,14 @@
     <select id="queryByLastEndCode" resultType="org.cpte.modules.agvTask.entity.AgvTask">
         (SELECT * FROM data_agv_task
         WHERE start_code = #{endCode}
-        AND type IN ('INBOUND','OUTBOUND')
+        AND type = 'INBOUND'
         AND agv_vendor = 'TES'
         ORDER BY create_time DESC
         LIMIT 1)
         UNION ALL
         (SELECT * FROM data_agv_task
         WHERE end_code =  #{endCode}
-        AND type IN ('INBOUND','OUTBOUND')
+        AND type ='OUTBOUND'
         AND agv_vendor = 'TES'
         ORDER BY create_time DESC
         LIMIT 1)
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/base/mapper/PointMapper.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/base/mapper/PointMapper.java
index ea4bd2f..82d9655 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/base/mapper/PointMapper.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/base/mapper/PointMapper.java
@@ -43,8 +43,8 @@ public interface PointMapper extends BaseMapper<Point> {
     List<Point> findPointsWithSkuBatchPo(@Param("itemKeyIds") List<Long> itemKeyIds, @Param("areaCode") String areaCode);
 
     // 查询同一巷道占用数量
-    @Select("SELECT COUNT(id) FROM base_point WHERE col_num = #{colNum} AND layer_num = #{layerNum} AND status = 1")
-    int countOccupiedInSameColumn(@Param("colNum") String colNum, @Param("layerNum") String layerNum);
+    @Select("select  * from base_point p  join base_area a on a.id=p.area_id where a.area_code = #{areaCode}  and  `status`=1 ")
+    List<Point> countOccupiedInSameColumn(@Param("areaCode") String areaCode);
 
     @Select("SELECT * FROM base_point WHERE col_num = #{colNum} AND layer_num = #{layerNum} ORDER BY row_num ASC")
     List<Point> findByColAndLayer(@Param("colNum") String colNum, @Param("layerNum") String layerNum);
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/impl/IConveyorLineServiceImpl.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/impl/IConveyorLineServiceImpl.java
index ad8e099..9d5ff18 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/impl/IConveyorLineServiceImpl.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/impl/IConveyorLineServiceImpl.java
@@ -15,10 +15,14 @@ import org.cpte.modules.conveyorLine.service.processor.ScanTrayProcessor;
 import org.cpte.modules.shipping.entity.Task;
 import org.cpte.modules.shipping.mapper.TaskMapper;
 import org.cpte.modules.utils.RedisDistributedLockUtil;
+import org.jeecg.common.util.RedisUtil;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
+import java.time.LocalDate;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
 
 @Service
 @Slf4j
@@ -33,9 +37,14 @@ public class IConveyorLineServiceImpl implements IConveyorLineService {
     @Autowired
     private ScanTrayProcessor scanTrayProcessor;
 
+    @Autowired
+    private RedisUtil redisUtil;
+
     @Autowired
     private RedisDistributedLockUtil redissonLock;
 
+    private static final String CONVEYOR_LINE_KEY = "CONVEYOR_LINE_KEY";
+
     @Override
     public void scanTray(ScanTrayRequest scanTrayRequest) {
         String lockKey = "scanTray:" + scanTrayRequest.getContent().getSignal().getBarCode();
@@ -59,48 +68,136 @@ public class IConveyorLineServiceImpl implements IConveyorLineService {
 
     @Override
     public JSONObject showConveyorLine(String conveyorLine) {
+        JSONObject jsonObject = initJsonObject();
+        jsonObject.put("endCode", conveyorLine);
+
+        //工作站
+        Area area = areaMapper.queryByPointCode(conveyorLine);
+        if (area == null) {
+            return jsonObject;
+        }
+
+        // 设置任务类型
+        String taskType = BusinessTypeEnum.OUTBOUND.getDesc();
+        if (AreaTypeEnum.RK_DOCK.getValue().equals(area.getAreaCode())) {
+            taskType = BusinessTypeEnum.INBOUND.getDesc();
+        }
+        jsonObject.put("taskType", taskType);
+
+        //获取工作站的最新任务
+        AgvTask agvTask = agvTaskMapper.queryByLastEndCode(conveyorLine);
+        if (agvTask == null) {
+            jsonObject.put("description", "无出库任务");
+            if (AreaTypeEnum.RK_DOCK.getValue().equals(area.getAreaCode())) {
+                jsonObject.put("description", "无入库任务");
+            }
+            return jsonObject;
+        }
+
+        // 设置公共字段
+        setCommonFields(jsonObject, agvTask);
+
+        // 根据区域类型处理不同逻辑
+        if (AreaTypeEnum.RK_DOCK.getValue().equals(area.getAreaCode())) {
+            handleInboundTask(jsonObject, agvTask);
+            if (AgvStatusEnum.COMPLETED.getValue().equals(agvTask.getStatus())) {
+                Object dateObj = redisUtil.get(CONVEYOR_LINE_KEY);
+                if (dateObj != null) {
+                    String  description = "工作站无入库任务";
+                    return cleanJsonObject(conveyorLine,description);
+                } else {
+                    redisUtil.set(CONVEYOR_LINE_KEY, agvTask.getId());
+                }
+            }
+        } else {
+            handleOutboundTask(jsonObject, agvTask);
+        }
+
+        return jsonObject;
+    }
+
+    /**
+     * 初始化JSON对象
+     */
+    private JSONObject initJsonObject() {
         JSONObject jsonObject = new JSONObject();
         jsonObject.put("stockCode", "");
         jsonObject.put("taskType", "");
         jsonObject.put("endCode", "");
         jsonObject.put("izAll", "");
         jsonObject.put("description", "");
-        String description;
-        //工作站库区
-        Area area = areaMapper.queryByPointCode(conveyorLine);
-        if(area==null){
-            return jsonObject;
-        }
+        return jsonObject;
+    }
 
-        if(AreaTypeEnum.RK_DOCK.getValue().equals(area.getAreaCode())){
-
-        }else{
-
-        }
-        AgvTask agvTask = agvTaskMapper.queryByLastEndCode(conveyorLine);
-        if (agvTask == null) {
-            return jsonObject;
-        }
-
-        if(BusinessTypeEnum.INBOUND.getValue().equals(agvTask.getType())){
-            //先查询扫描成功的日志并返回成功描述信息，如果没有则返回扫描异常信息
-        }
-
-        String stockCode = agvTask.getCarrierCode();
-        String taskType = BusinessTypeEnum.getDescByValue(agvTask.getType());
-        String endCode = agvTask.getEndCode();
-        String izAll = agvTask.getIzAll() == 1 ? "拆托" : "整托";
-         description = izAll.equals("拆托")
-                ? "请人工将托盘【" + stockCode + "】叉走,避免任务拥堵"
-                : "请等待AGV将托盘【" + stockCode + "】叉走";
-
-        jsonObject.put("stockCode", stockCode);
-        jsonObject.put("taskType", taskType);
-        jsonObject.put("endCode", endCode);
-        jsonObject.put("izAll", izAll);
+    private JSONObject cleanJsonObject(String  conveyorLine, String description) {
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("stockCode", "");
+        jsonObject.put("taskType", "");
+        jsonObject.put("endCode", conveyorLine);
+        jsonObject.put("izAll", "");
         jsonObject.put("description", description);
         return jsonObject;
     }
+
+    /**
+     * 设置公共字段
+     */
+    private void setCommonFields(JSONObject jsonObject, AgvTask agvTask) {
+        jsonObject.put("stockCode", agvTask.getCarrierCode());
+        jsonObject.put("izAll", agvTask.getIzAll() == 1 ? "拆托" : "整托");
+    }
+
+    /**
+     * 处理入库任务
+     */
+    private void handleInboundTask(JSONObject jsonObject, AgvTask agvTask) {
+        String description = getInboundDescription(agvTask);
+
+        jsonObject.put("description", description);
+    }
+
+    private void updateAgvTaskId(AgvTask agvTask) {
+        redisUtil.set(CONVEYOR_LINE_KEY, agvTask.getId());
+    }
+
+    /**
+     * 根据状态获取入库描述
+     */
+    private String getInboundDescription(AgvTask agvTask) {
+        String carrierCode = agvTask.getCarrierCode();
+
+        Map<Integer, String> statusDescriptionMap = new HashMap<>();
+        statusDescriptionMap.put(AgvStatusEnum.CREATED.getValue(),
+                "托盘异常:" + agvTask.getResMessage());
+        statusDescriptionMap.put(AgvStatusEnum.EXECUTING.getValue(),
+                "托盘检测成功,入库中");
+        statusDescriptionMap.put(AgvStatusEnum.COMPLETED.getValue(),
+                "托盘入库完成");
+        statusDescriptionMap.put(AgvStatusEnum.CANCELLED.getValue(),
+                "托盘入库已取消或已失败,人工确认");
+
+        //成功更新缓存
+        if (AgvStatusEnum.COMPLETED.getValue().equals(agvTask.getStatus())) {
+            updateAgvTaskId(agvTask);
+        }
+
+        return statusDescriptionMap.getOrDefault(agvTask.getStatus(),
+                "【" + carrierCode + "】托盘状态未知");
+    }
+
+    /**
+     * 处理出库任务
+     */
+    private void handleOutboundTask(JSONObject jsonObject, AgvTask agvTask) {
+        String stockCode = agvTask.getCarrierCode();
+        String izAll = agvTask.getIzAll() == 1 ? "拆托" : "整托";
+
+        String description = izAll.equals("拆托")
+                ? "请人工将托盘叉走,避免任务拥堵"
+                : "请等待AGV将托盘叉走";
+
+        jsonObject.put("description", description);
+    }
 }
 
 
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/processor/ScanTrayProcessor.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/processor/ScanTrayProcessor.java
index 94f05cc..5d7ac3a 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/processor/ScanTrayProcessor.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/conveyorLine/service/processor/ScanTrayProcessor.java
@@ -208,6 +208,9 @@ public class ScanTrayProcessor {
         //根据巷道分组，得到每个巷道有多个库位,<巷道编号,库位个数>
         Map<String, Long> colMap = getColMap(areaCode);
 
+        //获取每个巷道已占用的库位
+        Map<String, Long> colUsedMap = getColUsedMap(areaCode);
+
         //根据layerNum层来分组
         Map<String, List<Point>> layerMap = availablePoints.stream().collect(Collectors.groupingBy(Point::getLayerNum));
 
@@ -216,15 +219,15 @@ public class ScanTrayProcessor {
 
         //移位选择最优库位
         if (type.equals(BusinessTypeEnum.MOVE.getValue())) {
-            firstScoredPoints = selectBestPointForMove(station, itemKeys,colMap,layerMap);
+            firstScoredPoints = selectBestPointForMove(station, itemKeys, colMap, layerMap, colUsedMap);
         } else {
             //计算第一层的库位分数
             Station firstStation = new Station(station.getPositionX(), station.getPositionY());
-            firstScoredPoints = selectBestPointForStorage(firstStation, itemKeys, CommonStatusEnum.ONE.getValue(), colMap, layerMap);
+            firstScoredPoints = selectBestPointForStorage(firstStation, itemKeys, CommonStatusEnum.ONE.getValue(), colMap, layerMap, colUsedMap);
 
             //计算第二层的库位分数
             Station secondStation = new Station(station.getPositionTwoX(), station.getPositionTwoY());
-            secondScoredPoints= selectBestPointForStorage(secondStation, itemKeys, CommonStatusEnum.TWO.getValue(), colMap, layerMap);
+            secondScoredPoints = selectBestPointForStorage(secondStation, itemKeys, CommonStatusEnum.TWO.getValue(), colMap, layerMap, colUsedMap);
         }
 
         //合并获取最优库位
@@ -265,7 +268,7 @@ public class ScanTrayProcessor {
     /**
      * 移位选择最优库位评分
      */
-    private List<PointScore> selectBestPointForMove(Point station, List<ItemKey> itemKeys, Map<String, Long> colMap, Map<String, List<Point>> layerMap) {
+    private List<PointScore> selectBestPointForMove(Point station, List<ItemKey> itemKeys, Map<String, Long> colMap, Map<String, List<Point>> layerMap, Map<String, Long> colUsedMap) {
 
         //当前库位的层数
         String layerNum = station.getLayerNum();
@@ -277,7 +280,7 @@ public class ScanTrayProcessor {
         currentLayerPoints = currentLayerPoints.stream().filter(point -> !point.getColNum().equals(station.getColNum())).toList();
         if (CollectionUtils.isNotEmpty(currentLayerPoints)) {
             return currentLayerPoints.stream()
-                    .map(point -> clusterPointScore(point, currentStation, itemKeys, colMap))
+                    .map(point -> clusterPointScore(point, currentStation, itemKeys, colMap, colUsedMap))
                     .toList();
         }
         return new ArrayList<>();
@@ -286,11 +289,11 @@ public class ScanTrayProcessor {
     /**
      * 入库选择最优库位评分
      */
-    private List<PointScore> selectBestPointForStorage(Station station, List<ItemKey> itemKeys, Integer layerNum, Map<String, Long> colMap, Map<String, List<Point>> layerMap) {
+    private List<PointScore> selectBestPointForStorage(Station station, List<ItemKey> itemKeys, Integer layerNum, Map<String, Long> colMap, Map<String, List<Point>> layerMap, Map<String, Long> colUsedMap) {
         List<Point> currLayerPoints = layerMap.get(String.valueOf(layerNum));
         if (CollectionUtils.isNotEmpty(currLayerPoints)) {
             return currLayerPoints.stream()
-                    .map(point -> clusterPointScore(point, station, itemKeys, colMap))
+                    .map(point -> clusterPointScore(point, station, itemKeys, colMap, colUsedMap))
                     .toList();
         }
         return new ArrayList<>();
@@ -300,26 +303,26 @@ public class ScanTrayProcessor {
     /**
      * 库位评分计算
      */
-    private PointScore clusterPointScore(Point point, Station station, List<ItemKey> itemKeys, Map<String, Long> colMap) {
+    private PointScore clusterPointScore(Point point, Station station, List<ItemKey> itemKeys, Map<String, Long> colMap, Map<String, Long> colUsedMap) {
         double totalScore;
 
         // 1. 距离评分 - 考虑从入库口到库位的距离
-        double distanceScore = calculateClusterDistanceCost(point, station) * 0.3;// 权重30%
+        double distanceScore = calculateClusterDistanceCost(point, station) * 0.45;// 权重30%
 
         // 2. 通道深度策略评分 - 新增核心策略
-        double channelDepthScore = calculateChannelDepthScore(point, colMap) * 0.25; // 权重25%
+        double channelDepthScore = calculateChannelDepthScore(point, colMap) * 0.20; // 权重20%
 
         // 3. 通道类型评分 - 双通道优先
-        double channelScore = calculateChannelScore(point) * 0.2; // 权重20%
+        double channelScore = calculateChannelScore(point) * 0.25; // 权重25%
 
         // 4. 均衡评分 - 避免热点区域
-        // double balanceScore = calculateBalanceScore(point) * 0.1; // 权重10%
+        double balanceScore = calculateBalanceScore(point, colMap, colUsedMap) * 0.10; // 权重20%
 
         // 5. 物料聚集潜力评分 - 新增
         // double clusterPotentialScore = calculateClusterPotentialScore(point, itemKeys) * 0.2; // 权重20%
 
-        totalScore = distanceScore + channelDepthScore + channelScore;
-        log.info("【{}】库位总分:{} - 距离评分: {} - 通道深度策略评分: {} - 通道类型评分: {} - 均衡评分: {} - 物料聚集评分: {}", point.getPointCode(), totalScore, distanceScore, channelDepthScore, channelScore, 0, 0);
+        totalScore = distanceScore + channelDepthScore + channelScore + balanceScore;
+        log.info("【{}】库位总分:{} - 距离评分: {} - 通道深度策略评分: {} - 通道类型评分: {} - 均衡评分: {} - 物料聚集评分: {}", point.getPointCode(), totalScore, distanceScore, channelDepthScore, channelScore, balanceScore, 0);
 
         return new PointScore(point, totalScore);
     }
@@ -391,12 +394,16 @@ public class ScanTrayProcessor {
      * 计算均衡评分
      * 避免同一区域过于集中，考虑周围库位占用情况
      */
-    private double calculateBalanceScore(Point point) {
-        // 查询同一巷道相邻库位的占用情况
-        int sameColumnOccupied = pointMapper.countOccupiedInSameColumn(point.getColNum(), point.getLayerNum());
-
+    private double calculateBalanceScore(Point point, Map<String, Long> colMap, Map<String, Long> colUsedMap) {
+        // 当前库位巷道的占用个数
+        Long sameColumnOccupied = colUsedMap.get(point.getColNum());
+        if (sameColumnOccupied == null) {
+            sameColumnOccupied = 0L;
+        }
+        //当前库位巷道的最大深度
+        Long maxDepth = colMap.get(point.getColNum());
         // 占用率越低，分数越高
-        double occupancyRate = sameColumnOccupied / 7.0; // 7个深度位置
+        double occupancyRate = (double) sameColumnOccupied / maxDepth; // 修复：转换为浮点数除法
         return (1 - occupancyRate) * 100;
     }
 
@@ -508,4 +515,15 @@ public class ScanTrayProcessor {
         return pointList.stream().collect(Collectors.groupingBy(Point::getColNum, Collectors.counting()));
     }
 
+    /**
+     * 获取每个巷道的库位个数
+     *
+     * @param areaCode 库区
+     * @return Map<巷道编码, 库位个数>
+     */
+    private Map<String, Long> getColUsedMap(String areaCode) {
+        List<Point> pointList = pointMapper.countOccupiedInSameColumn(areaCode);
+        return pointList.stream().collect(Collectors.groupingBy(Point::getColNum, Collectors.counting()));
+    }
+
 }
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/controller/PickController.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/controller/PickController.java
index ad9ff4c..9dee141 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/controller/PickController.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/controller/PickController.java
@@ -363,20 +363,38 @@ public class PickController {
             return Result.error("请选择需要回传的出库单");
         }
         try {
-            PickData data=new PickData();
+            PickData data = new PickData();
             Pick pick = pickService.getById(id);
-            Map<Long,Pick> pickMap = new HashMap<>();
-            pickMap.put(id,pick);
+            Map<Long, Pick> pickMap = new HashMap<>();
+            pickMap.put(id, pick);
             List<PickDetail> pickDetails = pickDetailService.selectByMainId(id);
-            Map<Long,PickDetail> pickDetailMap = pickDetails. stream().collect(Collectors.toMap(PickDetail::getId, PickDetail -> PickDetail));
+            Map<Long, PickDetail> pickDetailMap = pickDetails.stream().collect(Collectors.toMap(PickDetail::getId, PickDetail -> PickDetail));
             List<Task> tasks = taskMapper.queryTaskByMainId(id);
             data.setPickMap(pickMap);
             data.setPickDetailMap(pickDetailMap);
-            pickBackProcessor.pickBack(data,tasks);
+            pickBackProcessor.pickBack(data, tasks);
             pickDetailService.refreshPick(pick, pickDetailService.selectByMainId(id));
             return Result.OK("回传成功");
         } catch (Exception e) {
             return Result.error("回传异常：" + e.getMessage());
         }
     }
+
+    @AutoLog(value = "手工关单")
+    @Operation(summary = "手工关单")
+    @RequiresPermissions("shipping:data_pick:closePick")
+    @GetMapping(value = "/closePick")
+    public Result<String> closePick(@RequestParam(name = "ids", required = true) String ids) {
+        if (StringUtils.isBlank(ids)) {
+            return Result.error("请选择需要拣货的出库单");
+        }
+        try {
+            List<String> idsList = Arrays.asList(ids.split(","));
+            List<Long> pickIds = idsList.stream().map(Long::parseLong).toList();
+            pickService.closePick(pickIds);
+            return Result.OK("操作成功");
+        } catch (Exception e) {
+            return Result.error("操作异常：" + e.getMessage());
+        }
+    }
 }
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/entity/Task.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/entity/Task.java
index c56b075..03814ae 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/entity/Task.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/entity/Task.java
@@ -167,6 +167,13 @@ public class Task implements Serializable {
     @Schema(description = "完成时间")
     private java.util.Date completeTime;
 
+    /**
+     * 请求报文
+     */
+    @Excel(name = "请求报文", width = 15)
+    @Schema(description = "请求报文")
+    private java.lang.String reqMessage;
+
     /**
      * 返回报文
      */
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/mapper/TaskMapper.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/mapper/TaskMapper.java
index a3854f2..f35e088 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/mapper/TaskMapper.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/mapper/TaskMapper.java
@@ -21,7 +21,7 @@ public interface TaskMapper extends BaseMapper<Task> {
      *
      * @return List<Pick>
      */
-    @Select("SELECT * FROM data_task  WHERE agv_task_id is null order by create_time ")
+    @Select("SELECT * FROM data_task  WHERE agv_task_id is null and to_point_id is not null order by create_time ")
     List<Task> queryUnIssuedTask();
 
     @Select("SELECT * FROM data_task  WHERE agv_task_id = #{agvTaskId} ")
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/IPickDetailService.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/IPickDetailService.java
index d0a6c02..ae29303 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/IPickDetailService.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/IPickDetailService.java
@@ -43,7 +43,7 @@ public interface IPickDetailService extends IService<PickDetail> {
      * @return List<PickDetail>
      */
     public List<PickDetail> selectByMainId(Long mainId);
-
+    
     /**
      * 根据出库单ID查询出库单Map
      *
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/IPickService.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/IPickService.java
index 1ad71f6..1f82a6c 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/IPickService.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/IPickService.java
@@ -69,4 +69,12 @@ public interface IPickService extends IService<Pick> {
      */
     void pickTask(List<Task> tasks);
 
+
+    /**
+     * 关闭出库单
+     *
+     * @param pickIds 出库单集合
+     */
+    void closePick(List<Long> pickIds);
+
 }
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/impl/PickServiceImpl.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/impl/PickServiceImpl.java
index 29bbf04..2e57db3 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/impl/PickServiceImpl.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/impl/PickServiceImpl.java
@@ -1,6 +1,7 @@
 package org.cpte.modules.shipping.service.impl;
 
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.collections4.CollectionUtils;
 import org.apache.commons.lang3.StringUtils;
 import org.cpte.modules.constant.enums.*;
 import org.cpte.modules.shipping.entity.Pick;
@@ -24,6 +25,7 @@ import org.springframework.transaction.annotation.Transactional;
 import java.io.Serializable;
 import java.util.*;
 import java.util.concurrent.atomic.AtomicInteger;
+import java.util.stream.Collectors;
 
 /**
  * @Description: 出库单
@@ -162,4 +164,35 @@ public class PickServiceImpl extends ServiceImpl<PickMapper, Pick> implements IP
         pickProcessor.pick(tasks);
     }
 
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void closePick(List<Long> pickIds) {
+        if(CollectionUtils.isEmpty(pickIds)){
+            throw new RuntimeException("请选择需要关闭的出库单");
+        }
+        Map<Long,Pick> pickMap = pickDetailService.queryByPickIdsToMap(pickIds);
+        List<PickDetail> pickDetails = pickDetailMapper.queryByPickIds(pickIds);
+        //根据出库单ID分组
+        Map<Long, List<PickDetail>> pickDetailMapGroup = pickDetails.stream().collect(Collectors.groupingBy(PickDetail::getPickId));
+        //遍历集合
+        List<Pick> pickToUpdate = new ArrayList<>();
+        List<PickDetail> pickDetailToUpdate = new ArrayList<>();
+        for (Map.Entry<Long, List<PickDetail>> entry : pickDetailMapGroup.entrySet()) {
+            Pick pick = pickMap.get(entry.getKey());
+            List<PickDetail> pickDetailList = entry.getValue();
+            for (PickDetail pickDetail : pickDetailList){
+                pickDetail.setStatus(PickStatusEnum.CLOSED.getValue());
+                pickDetailToUpdate.add(pickDetail);
+            }
+            pick.setStatus(PickStatusEnum.CLOSED.getValue());
+            pickToUpdate.add(pick);
+        }
+        if(CollectionUtils.isNotEmpty(pickDetailToUpdate)){
+            pickDetailMapper.updateById(pickDetailToUpdate);
+        }
+        if(CollectionUtils.isNotEmpty(pickToUpdate)){
+            this.updateBatchById(pickToUpdate);
+        }
+    }
+
 }
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/processor/AllocateProcessor.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/processor/AllocateProcessor.java
index b7fcdd1..d338b5e 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/processor/AllocateProcessor.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/processor/AllocateProcessor.java
@@ -675,8 +675,8 @@ public class AllocateProcessor {
         Point fromPoint = data.getPointMap().get(inventory.getPointId());
 
         // 判断是否整托分配
-        BigDecimal originalAvailableQty = inventory.getQuantity();
-        Integer izAll = originalAvailableQty.compareTo(allocateQty) == 0 ? 0 : 1;
+        BigDecimal originalAvailableQty = BigDecimalUtil.subtract(inventory.getQuantity(), inventory.getQueuedQty(),0);
+        Integer izAll = originalAvailableQty.compareTo(BigDecimal.ZERO) <= 0 ? 0 : 1;
 
         // 目标库位
         //Point toPoint = inventoryScore.getOutPoint();
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/processor/PickBackProcessor.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/processor/PickBackProcessor.java
index 3155c49..f0ae122 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/processor/PickBackProcessor.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/shipping/service/processor/PickBackProcessor.java
@@ -106,43 +106,42 @@ public class PickBackProcessor {
      * @param tasks 任务
      */
     public void pickBack(PickData data, List<Task> tasks) {
-        Map<Long, List<PickDetail>> pickDetailsCache = new HashMap<>();
+
         tasks = tasks.stream().filter(task -> task.getPlanQty().equals(task.getMoveQty())).toList();
         for (Task task : tasks) {
             Pick pick = data.getPickMap().get(task.getPickId());
             PickDetail pickDetail = data.getPickDetailMap().get(task.getPickDetailId());
             Long pickId = pick.getId();
             try {
-                // 缓存查询结果，避免重复查询
-                List<PickDetail> pickDetails = pickDetailsCache.computeIfAbsent(pickId, id -> pickDetailMapper.selectByMainId(id));
+                List<PickDetail> pickDetails = pickDetailMapper.selectByMainId(pickId);
 
                 //已关闭的出库单
                 int state = 7;
-                List<PickDetail> pickPickDetails = pickDetails.stream().filter(detail -> PickStatusEnum.PICKED.getValue().equals(detail.getStatus())).toList();
+                List<PickDetail> pickPickDetails = pickDetails.stream().filter(
+                        detail -> PickStatusEnum.PICKED.getValue().equals(detail.getStatus()) ||
+                                PickStatusEnum.CLOSED.getValue().equals(detail.getStatus())).toList();
                 if (CollectionUtils.isNotEmpty(pickPickDetails)) {
                     state = pickDetails.size() - pickPickDetails.size() == 0 ? 5 : 7;
                 }
-
                 pickBackProcessor(pick, pickDetail, task, state);
             } catch (Exception e) {
                 log.error("出库任务回传失败，任务ID: {}, 错误信息: {}", task.getId(), e.getMessage(), e);
             }
-            List<PickDetail> latestPickDetails = pickDetailMapper.selectByMainId(pickId);
-            pickDetailsCache.put(pickId, latestPickDetails); // 更新缓存
+
         }
     }
 
     private void pickBackProcessor(Pick pick, PickDetail pickDetail, Task task, Integer state) {
         // 检查接口开关, 未开启则返回
         if (sysDictMapper.queryByDictCode(GeneralConstant.OPEN_FLAG) == null) {
-            updatePickDetailResponse(pickDetail, task, GeneralConstant.SMOM_FAIL_CODE, "接口未开启");
+            updatePickDetailResponse(pickDetail, task, GeneralConstant.SMOM_FAIL_CODE,null ,"接口未开启");
             return;
         }
 
         if (TaskStatusEnum.CLOSED.getValue().equals(task.getTaskStatus())) {
             return;
         }
-
+        String reqMessage = null;
         try {
             Map<String, String> authInfo = swmsLoginUtil.Login();
             if (authInfo == null || authInfo.isEmpty()) {
@@ -151,13 +150,13 @@ public class PickBackProcessor {
 
             String ticket = authInfo.get("Ticket");
             String authorization = authInfo.get("authorization");
-            String json = pickTaskCallbackJson(pick, pickDetail, task, state, ticket);
+            reqMessage = pickTaskCallbackJson(pick, pickDetail, task, state, ticket);
             String url = openApiMapper.getRequestUrl(GeneralConstant.OUTBOUND_CALLBACK).getOriginUrl();
-            JSONObject jsonObject = swmsLoginUtil.sendSMOMResponse(json, url, authorization);
+            JSONObject jsonObject = swmsLoginUtil.sendSMOMResponse(reqMessage, url, authorization);
             String code = validateResponse(jsonObject);
-            updatePickDetailResponse(pickDetail, task, code, jsonObject.toJSONString());
+            updatePickDetailResponse(pickDetail, task, code, reqMessage, jsonObject.toJSONString());
         } catch (Exception e) {
-            updatePickDetailResponse(pickDetail, task, GeneralConstant.SMOM_FAIL_CODE, e.getMessage());
+            updatePickDetailResponse(pickDetail, task, GeneralConstant.SMOM_FAIL_CODE,reqMessage, e.getMessage());
         }
     }
 
@@ -183,10 +182,11 @@ public class PickBackProcessor {
     /**
      * 更新任务状态
      *
-     * @param task    出库任务
-     * @param message 信息
+     * @param task       出库任务
+     * @param reqMessage 请求报文
+     * @param resMessage 返回报文
      */
-    private void updatePickDetailResponse(PickDetail pickDetail, Task task, String code, String message) {
+    private void updatePickDetailResponse(PickDetail pickDetail, Task task, String code, String reqMessage, String resMessage) {
         if (GeneralConstant.SMOM_SUCCESS_CODE.equals(code)) {
             if (pickDetail.getOrderQty().equals(pickDetail.getPickedQty())) {
                 pickDetail.setStatus(PickStatusEnum.CLOSED.getValue());
@@ -194,7 +194,8 @@ public class PickBackProcessor {
             }
             task.setTaskStatus(TaskStatusEnum.CLOSED.getValue());
         }
-        task.setResMessage(message);
+        task.setReqMessage(reqMessage);
+        task.setResMessage(resMessage);
         task.setResTime(new Date());
         taskMapper.updateById(task);
     }
diff --git a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/tesAgv/service/impl/ITesAgvServiceImpl.java b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/tesAgv/service/impl/ITesAgvServiceImpl.java
index 802c95f..2f938ef 100644
--- a/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/tesAgv/service/impl/ITesAgvServiceImpl.java
+++ b/cpte-boot-module/cpte-module-wms/src/main/java/org/cpte/modules/tesAgv/service/impl/ITesAgvServiceImpl.java
@@ -7,10 +7,14 @@ import org.apache.commons.lang3.StringUtils;
 import org.cpte.modules.agvTask.entity.AgvTask;
 import org.cpte.modules.agvTask.mapper.AgvTaskMapper;
 import org.cpte.modules.agvTask.service.IAgvTaskService;
+import org.cpte.modules.base.entity.Point;
+import org.cpte.modules.base.mapper.PointMapper;
+import org.cpte.modules.base.service.IPointService;
 import org.cpte.modules.constant.GeneralConstant;
 import org.cpte.modules.constant.enums.AgvStatusEnum;
 import org.cpte.modules.constant.enums.AgvVendorEnum;
 import org.cpte.modules.constant.enums.BusinessTypeEnum;
+import org.cpte.modules.constant.enums.CommonStatusEnum;
 import org.cpte.modules.inventory.service.IInventoryService;
 import org.cpte.modules.inventory.service.impl.InventoryServiceImpl;
 import org.cpte.modules.receive.service.IAsnService;
@@ -39,6 +43,9 @@ public class ITesAgvServiceImpl implements ITesAgvService {
     @Autowired
     private SysDictMapper sysDictMapper;
 
+    @Autowired
+    private PointMapper pointMapper;
+
     @Autowired
     private TaskMapper taskMapper;
 
@@ -48,6 +55,9 @@ public class ITesAgvServiceImpl implements ITesAgvService {
     @Autowired
     private OpenApiMapper openApiMapper;
 
+    @Autowired
+    private IPointService pointService;
+
     @Autowired
     private IAsnService asnService;
 
@@ -140,6 +150,7 @@ public class ITesAgvServiceImpl implements ITesAgvService {
                 //4.成功-任务完成
                 handleEnd(agvTask.getBusinessDetailId(), agvTask);
                 break;
+            case 5:
             case 6:
                 //6.已取消-任务取消
                 handleCelled(agvTask);
@@ -235,6 +246,13 @@ public class ITesAgvServiceImpl implements ITesAgvService {
      * @param agvTask 任务
      */
     private void handleCelled(AgvTask agvTask) {
+        if(BusinessTypeEnum.INBOUND.getValue().equals(agvTask.getType()) || BusinessTypeEnum.MOVE.getValue().equals(agvTask.getType())){
+            Point point = pointMapper.queryByPointCode(agvTask.getEndCode());
+            if(point!=null){
+                point.setStatus(CommonStatusEnum.FREE.getValue());
+                pointMapper.updateById(point);
+            }
+        }
         agvTask.setStatus(AgvStatusEnum.CANCELLED.getValue());
         agvTask.setEndTime(new Date());
         agvTaskMapper.updateById(agvTask);
@@ -249,10 +267,17 @@ public class ITesAgvServiceImpl implements ITesAgvService {
         if (agvTaskMapper.existsByStockCode(agvTask.getCarrierCode(), AgvVendorEnum.TES.getValue()) != null) {
             throw new RuntimeException("任务已重新生成，请勿重复操作! ");
         }
+
         AgvTask newAgvTask = agvTaskService.createAgvTask(agvTask.getBusinessDetailId(), agvTask.getCarrierCode(), agvTask.getStartCode(), agvTask.getEndCode(), null, agvTask.getType(), agvTask.getIzAll(), AgvVendorEnum.TES.getValue());
+        if(BusinessTypeEnum.INBOUND.getValue().equals(agvTask.getType()) || BusinessTypeEnum.MOVE.getValue().equals(agvTask.getType())){
+            Point point = pointMapper.queryByPointCode(agvTask.getEndCode());
+            point.setStatus(CommonStatusEnum.USED.getValue());
+            pointMapper.updateById(point);
+        }
         switch (agvTask.getType()) {
             case "INBOUND":
             case "OUTBOUND":
+            case "MOVE":
                 //下发四向车任务
                 sendTesAgvTask(GeneralConstant.TES_POD_TASK, generateTesAgvTaskJson(newAgvTask), newAgvTask);
                 break;
diff --git a/cpte-module-system/cpte-system-biz/src/main/java/org/jeecg/modules/system/mapper/SysLogMapper.java b/cpte-module-system/cpte-system-biz/src/main/java/org/jeecg/modules/system/mapper/SysLogMapper.java
index 47b8c5a..1b7fcc4 100644
--- a/cpte-module-system/cpte-system-biz/src/main/java/org/jeecg/modules/system/mapper/SysLogMapper.java
+++ b/cpte-module-system/cpte-system-biz/src/main/java/org/jeecg/modules/system/mapper/SysLogMapper.java
@@ -57,4 +57,6 @@ public interface SysLogMapper extends BaseMapper<SysLog> {
 	 * @return
 	 */
 	List<Map<String,Object>> findVisitCount(@Param("dayStart") Date dayStart, @Param("dayEnd") Date dayEnd, @Param("dbType") String dbType);
+
+
 }