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format task node

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lyq 2026-02-09 13:50:34 +08:00
parent a8ed715631
commit 347f980794
1 changed files with 15 additions and 7 deletions
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22
src/communication/task_manager/src/task_manager_main.cpp
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@ -359,32 +359,39 @@ int handleMqttMessage(char* topicName, int topicLen, MQTTClient_message* message
void try_subscribe_task_topic() void try_subscribe_task_topic()
{ {
if (!identity_ready.load()) { if (!identity_ready.load())
{
LOG_DEBUG("[TASK] Identity not ready, skipping subscribe"); LOG_DEBUG("[TASK] Identity not ready, skipping subscribe");
return; return;
} }
if (mqtt_topic_sub_task.empty()) { if (mqtt_topic_sub_task.empty())
{
LOG_DEBUG("[TASK] MQTT topic not configured, skipping subscribe"); LOG_DEBUG("[TASK] MQTT topic not configured, skipping subscribe");
return; return;
} }
if (!mqtt_manager.isConnected()) { if (!mqtt_manager.isConnected())
{
LOG_DEBUG("[TASK] MQTT not connected, skipping subscribe"); LOG_DEBUG("[TASK] MQTT not connected, skipping subscribe");
subscribed.store(false); // 确保下次可以重试 subscribed.store(false); // 确保下次可以重试
return; return;
} }
if (subscribed.load()) { if (subscribed.load())
{
LOG_DEBUG("[TASK] Already subscribed, skipping"); LOG_DEBUG("[TASK] Already subscribed, skipping");
return; return;
} }
LOG_INFO("[TASK] subscribe MQTT topic: %s", mqtt_topic_sub_task.c_str()); LOG_INFO("[TASK] subscribe MQTT topic: %s", mqtt_topic_sub_task.c_str());
bool success = mqtt_manager.subscribe(mqtt_topic_sub_task, 0); bool success = mqtt_manager.subscribe(mqtt_topic_sub_task, 0);
if (success) { if (success)
{
subscribed.store(true); subscribed.store(true);
LOG_INFO("[TASK] Subscribe successful"); LOG_INFO("[TASK] Subscribe successful");
} else { }
else
{
LOG_ERROR("[TASK] Subscribe failed, will retry later"); LOG_ERROR("[TASK] Subscribe failed, will retry later");
subscribed.store(false); // 订阅失败，允许重试 subscribed.store(false); // 订阅失败，允许重试
} }
@ -442,7 +449,8 @@ class TaskManagerNode : public rclcpp::Node
vid = msg->vid; vid = msg->vid;
identity_ready.store(!vid.empty()); identity_ready.store(!vid.empty());
if (!identity_ready.load()) { if (!identity_ready.load())
{
LOG_WARN("[TASK] Invalid VID received: %s", msg->vid.c_str()); LOG_WARN("[TASK] Invalid VID received: %s", msg->vid.c_str());
return; return;
} }