diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index 27bed0e..7fcacc2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -72,7 +72,6 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-
         return response;
     }
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index 27bed0e..7fcacc2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -72,7 +72,6 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-
         return response;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetPointRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetPointRequest.java
index 1ff3ddc..28165b2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetPointRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetPointRequest.java
@@ -3,6 +3,9 @@
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
+import java.math.BigDecimal;
+import java.math.RoundingMode;
+
 /**
  * 获取循迹路线下发指令
  */

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
index 27bed0e..7fcacc2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/StartTrackCmdHandler.java
@@ -72,7 +72,6 @@
      */
     @Override
     public ResponseDataDTO afterInvoke(StartTrackRequest request, ResponseDataDTO response) {
-
         return response;
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetPointRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetPointRequest.java
index 1ff3ddc..28165b2 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetPointRequest.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TargetPointRequest.java
@@ -3,6 +3,9 @@
 import io.swagger.annotations.ApiModelProperty;
 import lombok.Data;
 
+import java.math.BigDecimal;
+import java.math.RoundingMode;
+
 /**
  * 获取循迹路线下发指令
  */
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
index e022a6e..0bcb375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java
@@ -46,6 +46,7 @@
 import java.io.File;
 import java.io.Serializable;
 import java.math.BigDecimal;
+import java.math.RoundingMode;
 import java.util.*;
 import java.util.concurrent.atomic.AtomicInteger;
 
@@ -369,9 +370,6 @@
             if (!flag) {
                 return;
             }
-            log.info("curr point:{}", curPoint);
-            log.debug("curr pointGrid:{}", pointDTO);
-            log.debug("oldEstimateGrid:{}", oldEstimateGrid);
 
             GridPushDTO gridPushDTO = new GridPushDTO();
             gridPushDTO.setCurrGridX(pointDTO.getX());
@@ -440,11 +438,12 @@
                         request.setRobotId(robotInfo.getId());
                         //设置为急停
                         request.setControl(1);
-//                        baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
+                        //baseRobotService.execCmdHandler(request, InstructCodeEnums.SOFTWARE_STOP);
                         //循迹任务结束
                         closeTask(null, robotId);
+
                         TaskEndMsg endMsg = new TaskEndMsg();
-                        endMsg.setCode(1);
+                        endMsg.setCode(response.getCoordinate()==null?0:1);
                         endMsg.setRobotId(robotId);
 
                         PointNextDTO nextDTO = response.getCoordinate();
@@ -663,7 +662,9 @@
             request.setX(Convert.toStr(gridCenterPoint.getX()));
             request.setY(Convert.toStr(gridCenterPoint.getY()));
             request.setZ(curPoint.getZ().toString());
-            request.setTheta(curPoint.getTheta().toString());
+            //计算方位角
+            double theta = calculateAzimuth(curPoint.getX(), curPoint.getY(), gridCenterPoint.getX(), gridCenterPoint.getY());
+            request.setTheta(Convert.toStr(theta));
             request.setRobotId(robotInfo.getId());
             log.info("下发寻源点位:{}", request);
             //执行巡点指令
@@ -675,6 +676,32 @@
     }
 
     /**
+     * 计算方位角
+     *
+     * @param x1
+     * @param y1
+     * @param x2
+     * @param y2
+     * @return
+     */
+    public static double calculateAzimuth(BigDecimal x1, BigDecimal y1, BigDecimal x2, BigDecimal y2) {
+        // 计算x和y的差异
+        double deltaX = x2.subtract(x1).doubleValue();
+        double deltaY = y2.subtract(y1).doubleValue();
+
+        // 计算角度（弧度）
+        double angleInRadians = Math.atan2(deltaY, deltaX);
+
+        // 将弧度转换为度
+        double angleInDegrees = Math.toDegrees(angleInRadians);
+
+        // 调整到0°到360°的范围
+//        angleInDegrees = (angleInDegrees + 360) % 360;
+//        System.out.println(angleInDegrees);
+        return new BigDecimal(angleInRadians).setScale(2, RoundingMode.HALF_UP).doubleValue();
+    }
+
+    /**
      * 任务相关图片保存
      *
      * @param imgDTO