From 347f9807948198f02a01ceadf843a325adb9be91 Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Mon, 9 Feb 2026 13:50:34 +0800
Subject: [PATCH] format task node

---
 .../task_manager/src/task_manager_main.cpp    | 22 +++++++++++++------
 1 file changed, 15 insertions(+), 7 deletions(-)

diff --git a/src/communication/task_manager/src/task_manager_main.cpp b/src/communication/task_manager/src/task_manager_main.cpp
index b95a8fa..4921000 100644
--- a/src/communication/task_manager/src/task_manager_main.cpp
+++ b/src/communication/task_manager/src/task_manager_main.cpp
@@ -359,32 +359,39 @@ int handleMqttMessage(char* topicName, int topicLen, MQTTClient_message* message
 
 void try_subscribe_task_topic()
 {
-    if (!identity_ready.load()) {
+    if (!identity_ready.load())
+    {
         LOG_DEBUG("[TASK] Identity not ready, skipping subscribe");
         return;
     }
-    if (mqtt_topic_sub_task.empty()) {
+    if (mqtt_topic_sub_task.empty())
+    {
         LOG_DEBUG("[TASK] MQTT topic not configured, skipping subscribe");
         return;
     }
 
-    if (!mqtt_manager.isConnected()) {
+    if (!mqtt_manager.isConnected())
+    {
         LOG_DEBUG("[TASK] MQTT not connected, skipping subscribe");
         subscribed.store(false);  // 确保下次可以重试
         return;
     }
 
-    if (subscribed.load()) {
+    if (subscribed.load())
+    {
         LOG_DEBUG("[TASK] Already subscribed, skipping");
         return;
     }
 
     LOG_INFO("[TASK] subscribe MQTT topic: %s", mqtt_topic_sub_task.c_str());
     bool success = mqtt_manager.subscribe(mqtt_topic_sub_task, 0);
-    if (success) {
+    if (success)
+    {
         subscribed.store(true);
         LOG_INFO("[TASK] Subscribe successful");
-    } else {
+    }
+    else
+    {
         LOG_ERROR("[TASK] Subscribe failed, will retry later");
         subscribed.store(false);  // 订阅失败，允许重试
     }
@@ -442,7 +449,8 @@ class TaskManagerNode : public rclcpp::Node
                 vid = msg->vid;
                 identity_ready.store(!vid.empty());
 
-                if (!identity_ready.load()) {
+                if (!identity_ready.load())
+                {
                     LOG_WARN("[TASK] Invalid VID received: %s", msg->vid.c_str());
                     return;
                 }