diff --git a/youchain-system/src/main/java/com/youchain/businessdata/rest/KMReSController.java b/youchain-system/src/main/java/com/youchain/businessdata/rest/KMReSController.java
index db3fda0..7d713c0 100644
--- a/youchain-system/src/main/java/com/youchain/businessdata/rest/KMReSController.java
+++ b/youchain-system/src/main/java/com/youchain/businessdata/rest/KMReSController.java
@@ -1,7 +1,5 @@
 package com.youchain.businessdata.rest;
 
-import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
 import com.youchain.annotation.Log;
 import com.youchain.annotation.AnonymousAccess;
 import com.youchain.appupdate.inputJson.MissionStateCallback;
@@ -29,24 +27,15 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.HttpStatus;
 import org.springframework.http.ResponseEntity;
-import org.springframework.scheduling.annotation.Async;
-import org.springframework.scheduling.annotation.EnableAsync;
-import org.springframework.transaction.annotation.Transactional;
 import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
 import java.sql.Timestamp;
-import java.util.Date;
-import java.util.HashSet;
-import java.util.List;
-import java.util.Set;
+import java.util.*;
 import java.util.concurrent.CompletableFuture;
-import java.util.concurrent.ExecutionException;
 
-import static org.springframework.http.HttpStatus.BAD_REQUEST;
-import static org.springframework.http.HttpStatus.OK;
 
 @RestController
 @RequiredArgsConstructor
@@ -87,36 +76,34 @@ public class KMReSController {
 
     }
 
-    private void asnTask(String id, String missionStatus) {
+    public void asnTask(String id, String missionStatus) {
+        //执行第一个任务后 可以继续执行第二个任务 并携带第一个任务的返回值 第二个任务执行完没有返回值
         AgvTaskDto agvTaskDto = agvTaskService.findById(Integer.parseInt(id));
         AgvTask agvTask = agvTaskService.toEntity(agvTaskDto);
         Task task = getFirstTask(agvTask.getId());
-
-        if (task == null) {
-            throw new RuntimeException("任务不存在!");
-        }
-
         agvTaskService.agvTaskCallback(agvTask, task, missionStatus);
-        returnMo(task.getBillCode());// 回传MO信息
 
+        CompletableFuture<Void> returnMoFuture = CompletableFuture.runAsync(() -> {
+            returnMo(task.getBillCode());// 回传MO信息
+        });
     }
 
-    private void pickTask(String id, String containerCode, String missionStatus) throws Exception {
+    public void pickTask(String id, String containerCode, String missionStatus) {
         if ("CANCELED".equals(missionStatus)) {
             cancelAgvTasks(id);
         } else {
             AgvTask agvTask = agvTaskService.findByjobCode(id, containerCode);
             Task task = getFirstTask(agvTask.getId());
-
-            if (task == null) {
-                throw new RuntimeException("任务不存在!");
-            }
-            returnIssue(task);// 叫料结果回传
             agvTaskService.agvTaskCallback(agvTask, missionStatus, containerCode);
+
+            CompletableFuture<Void> returnIssueFuture = CompletableFuture.runAsync(() -> {
+
+                returnIssue(task);// 叫料结果回传
+            });
         }
     }
 
-    private void cancelAgvTasks(String id) {
+    public void cancelAgvTasks(String id) {
         List<AgvTask> agvTaskList = agvTaskService.findByjobCode(id);
         for (AgvTask agvTask : agvTaskList) {
             if (!agvTask.getStatus().equals(BizStatus.FINISH)) {
@@ -127,7 +114,7 @@ public class KMReSController {
         }
     }
 
-    private Task getFirstTask(Integer agvTaskId) {
+    public Task getFirstTask(Integer agvTaskId) {
         List<Task> taskList = taskRepository.getAgvTaskList(agvTaskId);
         return taskList.isEmpty() ? null : taskList.get(0);
     }
diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/MlsService.java b/youchain-system/src/main/java/com/youchain/businessdata/service/MlsService.java
index d4405cf..f6381db 100644
--- a/youchain-system/src/main/java/com/youchain/businessdata/service/MlsService.java
+++ b/youchain-system/src/main/java/com/youchain/businessdata/service/MlsService.java
@@ -4,6 +4,8 @@ import com.youchain.annotation.Log;
 import com.youchain.businessdata.inputJson.*;
 import io.swagger.annotations.ApiOperation;
 
+import java.util.concurrent.ExecutionException;
+
 /**
  * MLS接口
  */
diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java
index 848e492..f2d17f3 100644
--- a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java
+++ b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/AgvTaskServiceImpl.java
@@ -274,7 +274,7 @@ public class AgvTaskServiceImpl implements AgvTaskService {
 
         objMap.put("missionData", missionDataArray);
         jsonObject.putAll(objMap);
-        String resultJson="{\n" +
+        String resultJson = "{\n" +
                 " \"data\": null,\n" +
                 " \"code\": \"0\",\n" +
                 " \"message\": null,\n" +
diff --git a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/MlsServiceImpl.java b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/MlsServiceImpl.java
index 3dd433c..1242bf6 100644
--- a/youchain-system/src/main/java/com/youchain/businessdata/service/impl/MlsServiceImpl.java
+++ b/youchain-system/src/main/java/com/youchain/businessdata/service/impl/MlsServiceImpl.java
@@ -22,7 +22,6 @@ import org.springframework.transaction.annotation.Transactional;
 
 import java.util.*;
 import java.util.concurrent.CompletableFuture;
-import java.util.concurrent.ExecutionException;
 import java.util.stream.Collectors;
 
 @Service
@@ -330,8 +329,6 @@ public class MlsServiceImpl implements MlsService {
                 batchCreateOrUpdate.batchUpdate(mosToUpdate);
             }
         });
-
-
     }
 
     /**
@@ -482,7 +479,7 @@ public class MlsServiceImpl implements MlsService {
         });
 
 
-        CompletableFuture<Void> pickDetailFuture = inventoryFuture.runAsync(() -> {
+        CompletableFuture<Void> pickDetailFuture = inventoryFuture.thenRun(() -> {
             //批量生成叫料明细
             if (!pickDetailToCreate.isEmpty()) {
                 batchCreateOrUpdate.batchCreate(pickDetailToCreate);
@@ -503,7 +500,6 @@ public class MlsServiceImpl implements MlsService {
             }
         });
 
-
     }
 
     /**