fix : mqtt 死锁

src/mqtt_report/include/mqtt_report/mqtt_client.hpp

@@ -3,179 +3,168 @@
 #include "paho_mqtt_3c/MQTTClient.h"
 #include <string>
 #include <iostream>
-#include <chrono>
-#include <thread>
 #include <mutex>
+#include <thread>
+#include <atomic>
+#include <chrono>
 
 class MQTTClientWrapper
 {
 public:
-    MQTTClientWrapper(const std::string &server_address, const std::string &client_id,
+    MQTTClientWrapper(const std::string &server_uri,
-                      const std::string &username = "", const std::string &password = "",
+                      const std::string &client_id,
-                      int reconnect_interval_ms = 5000) // 重连间隔(毫秒)
+                      const std::string &username = "",
-        : server_address_(server_address), client_id_(client_id),
+                      const std::string &password = "",
-          username_(username), password_(password), client_(nullptr),
+                      int reconnect_interval_ms = 3000)
-          is_connected_(false), reconnect_interval_ms_(reconnect_interval_ms)
+        : server_uri_(server_uri),
+          client_id_(client_id),
+          username_(username),
+          password_(password),
+          reconnect_interval_ms_(reconnect_interval_ms),
+          connected_(false),
+          stop_flag_(false)
     {
-        // 初始化客户端
+        int rc = MQTTClient_create(&client_,
-        int rc = MQTTClient_create(&client_, server_address.c_str(), client_id.c_str(),
+                                   server_uri_.c_str(),
-                                   MQTTCLIENT_PERSISTENCE_NONE, nullptr);
+                                   client_id_.c_str(),
+                                   MQTTCLIENT_PERSISTENCE_NONE,
+                                   nullptr);
+
         if (rc != MQTTCLIENT_SUCCESS)
         {
-            std::cerr << "Failed to create MQTT client, return code " << rc << std::endl;
+            std::cerr << "MQTTClient_create failed! rc=" << rc << std::endl;
             client_ = nullptr;
+            return;
         }
+
+        MQTTClient_setCallbacks(client_, this, conn_lost_cb, nullptr, nullptr);
+
+        reconnect_thread_ = std::thread([this]() { reconnectLoop(); });
     }
 
     ~MQTTClientWrapper()
     {
+        stop_flag_ = true;
+
+        if (reconnect_thread_.joinable())
+            reconnect_thread_.join();
+
         std::lock_guard<std::mutex> lock(mtx_);
         if (client_)
         {
-            disconnect();
+            if (connected_)
+                MQTTClient_disconnect(client_, 2000);
+
             MQTTClient_destroy(&client_);
-            client_ = nullptr;
         }
     }
 
-    bool connect(int max_retries = 5)
+    // 手动连接（可选）
+    bool connect()
+    {
+        std::lock_guard<std::mutex> lock(mtx_);
+        return doConnect();
+    }
+
+    // 发布（非阻塞，无 waitForCompletion）
+    bool publish(const std::string &topic,
+                 const std::string &payload,
+                 int qos = 0,
+                 bool retained = false)
     {
         std::lock_guard<std::mutex> lock(mtx_);
         if (!client_)
             return false;
 
-        MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer;
+        if (!connected_)
-        conn_opts.keepAliveInterval = 20;
+            return false;
-        conn_opts.cleansession = 1;
+
-        conn_opts.connectTimeout = 5;
+        MQTTClient_message msg = MQTTClient_message_initializer;
+        msg.payload = (void *)payload.c_str();
+        msg.payloadlen = payload.size();
+        msg.qos = qos;
+        msg.retained = retained ? 1 : 0;
+
+        MQTTClient_deliveryToken token;
+        int rc = MQTTClient_publishMessage(client_, topic.c_str(), &msg, &token);
+
+        if (rc != MQTTCLIENT_SUCCESS)
+        {
+            connected_ = false;
+            return false;
+        }
+
+        // 非阻塞，不等待 completion
+        return true;
+    }
+
+    bool isConnected() const { return connected_; }
+
+private:
+    bool doConnect()
+    {
+        if (!client_)
+            return false;
+
+        MQTTClient_connectOptions opts = MQTTClient_connectOptions_initializer;
+        opts.keepAliveInterval = 20;
+        opts.cleansession = 1;
+        opts.connectTimeout = 5;
 
         if (!username_.empty())
         {
-            conn_opts.username = username_.c_str();
+            opts.username = username_.c_str();
-            conn_opts.password = password_.c_str();
+            opts.password = password_.c_str();
         }
 
-        int rc;
+        int rc = MQTTClient_connect(client_, &opts);
-        for (int retry_count = 0; retry_count < max_retries; ++retry_count)
-        {
-            std::cout << "Connecting to MQTT (" << retry_count + 1 << "/" << max_retries << ")..." << std::endl;
-            rc = MQTTClient_connect(client_, &conn_opts);
-
         if (rc == MQTTCLIENT_SUCCESS)
         {
-                is_connected_ = true;
+            std::cout << "[MQTT] Connected." << std::endl;
-                std::cout << "MQTT connected successfully" << std::endl;
+            connected_ = true;
             return true;
         }
 
-            std::cerr << "Connect failed rc=" << rc << ", wait " << reconnect_interval_ms_ << " ms" << std::endl;
+        std::cerr << "[MQTT] Connect failed rc=" << rc << std::endl;
-            std::this_thread::sleep_for(std::chrono::milliseconds(reconnect_interval_ms_));
+        connected_ = false;
-        }
-
-        is_connected_ = false;
         return false;
     }
 
-    void disconnect()
+    static void conn_lost_cb(void *context, char *cause)
+    {
+        auto *self = static_cast<MQTTClientWrapper *>(context);
+        std::cerr << "[MQTT] Connection lost: " << (cause ? cause : "unknown") << std::endl;
+        self->connected_ = false;
+    }
+
+    // 自动重连线程
+    void reconnectLoop()
+    {
+        while (!stop_flag_)
+        {
+            if (!connected_)
             {
                 std::lock_guard<std::mutex> lock(mtx_);
-        if (client_ && is_connected_)
+                doConnect();
-        {
-            int rc = MQTTClient_disconnect(client_, 10000);
-            if (rc != MQTTCLIENT_SUCCESS)
-            {
-                std::cerr << "Failed to disconnect, return code " << rc << std::endl;
-            }
-            else
-            {
-                std::cout << "MQTT disconnected." << std::endl;
-            }
-            is_connected_ = false;
-        }
             }
 
-    // 发布消息，自动处理重连
+            std::this_thread::sleep_for(
-    bool publish(const std::string &topic, const std::string &payload, int qos = 0, bool retained = false)
+                std::chrono::milliseconds(reconnect_interval_ms_));
-    {
-        std::lock_guard<std::mutex> lock(mtx_);
-        if (!client_)
-        {
-            std::cerr << "MQTT client not initialized" << std::endl;
-            return false;
         }
-
-        // 检查连接状态，断开则尝试重连
-        if (!is_connected_ || !check_actual_connection())
-        {
-            std::cerr << "MQTT connection lost, trying to reconnect..." << std::endl;
-            if (!connect()) // 使用默认重试次数重连
-            {
-                std::cerr << "Reconnection failed, cannot publish message" << std::endl;
-                return false;
-            }
-        }
-
-        MQTTClient_message pubmsg = MQTTClient_message_initializer;
-        MQTTClient_deliveryToken token;
-
-        pubmsg.payload = const_cast<char *>(payload.c_str());
-        pubmsg.payloadlen = payload.length();
-        pubmsg.qos = qos;
-        pubmsg.retained = retained ? 1 : 0;
-
-        int rc = MQTTClient_publishMessage(client_, topic.c_str(), &pubmsg, &token);
-        if (rc != MQTTCLIENT_SUCCESS)
-        {
-            std::cerr << "Failed to publish message, return code " << rc << std::endl;
-            is_connected_ = false; // 发布失败标记为断开
-            return false;
-        }
-
-        // 等待发布完成
-        rc = MQTTClient_waitForCompletion(client_, token, 10000L); // 超时10秒
-        if (rc != MQTTCLIENT_SUCCESS)
-        {
-            std::cerr << "Failed to wait for completion, return code " << rc << std::endl;
-            // is_connected_ = false; // 确认失败标记为断开
-            return false;
-        }
-
-        // 可选：取消注释以打印发布信息
-        // std::cout << "Published to " << topic << std::endl;
-        return true;
-    }
-
-    // 检查实际连接状态（通过MQTTClient API）
-    bool is_connected()
-    {
-        std::lock_guard<std::mutex> lock(mtx_);
-        return check_actual_connection();
-    }
-
-    // 设置重连间隔（毫秒）
-    void set_reconnect_interval(int interval_ms)
-    {
-        std::lock_guard<std::mutex> lock(mtx_);
-        reconnect_interval_ms_ = interval_ms;
     }
 
 private:
-    // 内部检查连接状态的实现
+    MQTTClient client_;
-    bool check_actual_connection()
+    std::string server_uri_;
-    {
-        if (!client_)
-            return false;
-        int state = MQTTClient_isConnected(client_);
-        is_connected_ = (state == 1);
-        return is_connected_;
-    }
-
-    std::string server_address_;
     std::string client_id_;
     std::string username_;
     std::string password_;
-    MQTTClient client_;
+
-    bool is_connected_;         // 连接状态标记
+    int reconnect_interval_ms_;
-    int reconnect_interval_ms_; // 重连间隔（毫秒）
+
-    std::mutex mtx_;            // 线程安全锁
+    std::atomic<bool> connected_;
+    std::atomic<bool> stop_flag_;
+
+    std::mutex mtx_;
+    std::thread reconnect_thread_;
 };

src/mqtt_report/src/mqtt_report.cpp

@@ -273,12 +273,6 @@ public:
           info_topic_(config.info_topic),
           fault_topic_(config.fault_topic)
     {
-        // 初始连接（带重试）
-        if (!mqtt_client_.connect(5)) // 最多重试5次
-        {
-            RCLCPP_WARN(this->get_logger(), "Initial MQTT connection failed, will retry in background");
-        }
-
         subscription_ = this->create_subscription<sweeperMsg::CanFrame>(
             "can_data", 10, std::bind(&CanDataSubscriber::topic_callback, this, std::placeholders::_1));
 
@@ -302,8 +296,6 @@ public:
         info_timer_->cancel();
         fault_timer_->cancel();
         connection_check_timer_->cancel();
-        // 断开MQTT连接
-        mqtt_client_.disconnect();
     }
 
 private:
@@ -346,10 +338,9 @@ private:
     // 定期检查连接状态，主动重连
    void check_connection_callback()
     {
-        if (!mqtt_client_.is_connected())
+        if (!mqtt_client_.isConnected())
         {
-            RCLCPP_WARN(this->get_logger(), "MQTT connection check failed, attempting to reconnect");
+            RCLCPP_WARN(this->get_logger(), "MQTT connection lost.");
-            mqtt_client_.connect(3); // 检查时重试3次
         }
     }