From 15b9046d8b309e11c7bff73af3a32184609f5e1c Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Thu, 19 Mar 2026 15:20:13 +0800
Subject: [PATCH] =?UTF-8?q?VID=20=E9=80=8F=E4=BC=A0=E6=94=B9=E6=88=90200ms?=
 =?UTF-8?q?=E6=8C=81=E7=BB=AD=E5=8F=91=E5=B8=83?=
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---
 src/base/mc/include/mc/vid_transmit.hpp |  8 ++++----
 src/base/mc/src/mc.cpp                  | 10 ++--------
 src/base/mc/src/timer_tasks.cpp         |  5 ++---
 3 files changed, 8 insertions(+), 15 deletions(-)

diff --git a/src/base/mc/include/mc/vid_transmit.hpp b/src/base/mc/include/mc/vid_transmit.hpp
index c539ff8..b742909 100644
--- a/src/base/mc/include/mc/vid_transmit.hpp
+++ b/src/base/mc/include/mc/vid_transmit.hpp
@@ -100,13 +100,13 @@ inline bool send_vid_to_can(CANDriver& can_driver, const std::string& vid)
 
     if (!can_driver.sendFrame(frame))
     {
-        LOG_ERROR("Failed to send VID frame to CAN bus");
+        LOG_ERROR_THROTTLE(5000, "Failed to send VID frame to CAN bus");
         return false;
     }
 
-    LOG_INFO("VID sent to CAN bus: %s (CAN ID: 0x%03X, Data: %02X %02X %02X %02X %02X %02X %02X %02X)", vid.c_str(),
-             frame.id, frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5],
-             frame.data[6], frame.data[7]);
+    LOG_INFO_THROTTLE(5000, "VID sent to CAN bus: %s (CAN ID: 0x%03X, Data: %02X %02X %02X %02X %02X %02X %02X %02X)",
+                      vid.c_str(), frame.id, frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4],
+                      frame.data[5], frame.data[6], frame.data[7]);
 
     return true;
 }
diff --git a/src/base/mc/src/mc.cpp b/src/base/mc/src/mc.cpp
index bf99110..45dcd47 100644
--- a/src/base/mc/src/mc.cpp
+++ b/src/base/mc/src/mc.cpp
@@ -16,7 +16,6 @@ namespace sweeperMsg = sweeper_interfaces::msg;
 
 CANDriver canctl;
 std::string current_vid;
-bool vid_sent = false;
 
 void vehicleIdentityCallback(const sweeperMsg::VehicleIdentity::SharedPtr msg)
 {
@@ -24,19 +23,14 @@ void vehicleIdentityCallback(const sweeperMsg::VehicleIdentity::SharedPtr msg)
     {
         LOG_INFO("Received new VID: %s", msg->vid.c_str());
         current_vid = msg->vid;
-        vid_sent = false; // 新 VID 需要重新发送
     }
 }
 
 void send_vid_task()
 {
-    if (!vid_sent && !current_vid.empty())
+    if (!current_vid.empty())
     {
-        if (vid_transmit::send_vid_to_can(canctl, current_vid))
-        {
-            vid_sent = true; // 成功发送后标记
-        }
-        else
+        if (!vid_transmit::send_vid_to_can(canctl, current_vid))
         {
             LOG_WARN("Failed to send VID, will retry");
         }
diff --git a/src/base/mc/src/timer_tasks.cpp b/src/base/mc/src/timer_tasks.cpp
index 320221c..8357a4c 100644
--- a/src/base/mc/src/timer_tasks.cpp
+++ b/src/base/mc/src/timer_tasks.cpp
@@ -90,9 +90,8 @@ void bmsTimerTask(CANDriver& canctl)
 // 注册 VID 发送定时器任务
 void setupVidTimer(rclcpp::Node::SharedPtr node, std::function<void()> callback)
 {
-    // 每秒检查一次 VID 是否需要发送
-    static auto timer_vid =
-        node->create_wall_timer(std::chrono::milliseconds(1000), callback);
+    // 200ms 持续发布 VID
+    static auto timer_vid = node->create_wall_timer(std::chrono::milliseconds(200), callback);
 
     LOG_INFO("[TIMER] VID transmit timer setup completed");
 }