lyq/sweeper_200
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

format task node

Browse Source
This commit is contained in:
lyq 2026-02-09 13:50:34 +08:00
parent a8ed715631
commit 347f980794
1 changed files with 15 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
src/communication/task_manager/src/task_manager_main.cpp
View File

@ -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;
}