From 80711d985ce5ff3a26150cef8a393232af3500fe Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Fri, 8 May 2026 10:19:31 +0800
Subject: [PATCH] =?UTF-8?q?fix=20bug=20:=20=E4=B8=8A=E6=8A=A5=E5=8D=A1?=
 =?UTF-8?q?=E9=A1=BF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/base/mc/src/mc.cpp                                     | 2 +-
 .../mqtt_report/include/mqtt_report/mqtt_client.hpp        | 7 +++++++
 .../mqtt_report/src/node/mqtt_vehicle_node.cpp             | 2 +-
 3 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/base/mc/src/mc.cpp b/src/base/mc/src/mc.cpp
index 45dcd47..bd66453 100644
--- a/src/base/mc/src/mc.cpp
+++ b/src/base/mc/src/mc.cpp
@@ -72,7 +72,7 @@ int main(int argc, char** argv)
     auto node = rclcpp::Node::make_shared("can_driver_node");
     LOG_INFO("Starting mc package...");
 
-    auto pub = node->create_publisher<sweeperMsg::CanFrame>("can_data", 10);
+    auto pub = node->create_publisher<sweeperMsg::CanFrame>("can_data", 100);
     auto sub = node->create_subscription<sweeperMsg::McCtrl>("mc_ctrl", 10, mcCtrlCallback);
     auto vid_sub = node->create_subscription<sweeperMsg::VehicleIdentity>("/vehicle/identity", rclcpp::QoS(1).transient_local().reliable(), vehicleIdentityCallback);
 
diff --git a/src/communication/mqtt_report/include/mqtt_report/mqtt_client.hpp b/src/communication/mqtt_report/include/mqtt_report/mqtt_client.hpp
index 06cf8fd..54af120 100644
--- a/src/communication/mqtt_report/include/mqtt_report/mqtt_client.hpp
+++ b/src/communication/mqtt_report/include/mqtt_report/mqtt_client.hpp
@@ -70,6 +70,9 @@ class MQTTClientWrapper
 
     bool publish(const std::string& topic, const std::string& payload, int qos = 0, bool retained = false)
     {
+        // 快速检查连接状态，避免不必要的锁竞争
+        if (!connected_) return false;
+
         std::lock_guard<std::mutex> lock(mtx_);
         if (!client_ || !connected_) return false;
 
@@ -195,6 +198,10 @@ class MQTTClientWrapper
         {
             if (!connected_)
             {
+                // 尝试连接前先释放锁，给 publish 线程机会
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
+                if (stop_flag_) break;
+
                 std::lock_guard<std::mutex> lock(mtx_);
                 doConnect();
             }
diff --git a/src/communication/mqtt_report/src/node/mqtt_vehicle_node.cpp b/src/communication/mqtt_report/src/node/mqtt_vehicle_node.cpp
index 89ca9b2..8d1e406 100644
--- a/src/communication/mqtt_report/src/node/mqtt_vehicle_node.cpp
+++ b/src/communication/mqtt_report/src/node/mqtt_vehicle_node.cpp
@@ -37,7 +37,7 @@ class VehicleReportNode : public rclcpp::Node
     {
         // CAN
         subscription_ = this->create_subscription<sweeperMsg::CanFrame>(
-            "can_data", 10, std::bind(&VehicleReportNode::topic_callback, this, std::placeholders::_1));
+            "can_data", 100, std::bind(&VehicleReportNode::topic_callback, this, std::placeholders::_1));
 
         // Identity
         identity_sub_ = this->create_subscription<VehicleIdentity>(