diff --git a/CMakeLists.txt b/CMakeLists.txt
index e233d79..f0ca49a 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,5 @@
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
         src/utils.cpp
-        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e233d79..f0ca49a 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,5 @@
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
         src/utils.cpp
-        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 8a15d63..1961f89 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -72,7 +72,7 @@
     if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
         upload_to_server_async(result);
     } else {
-        std::cout << "网络异常，上传失败" << std::endl;
+        std::cout << "网络异常，上传甲烷数据到" << ConstantConfig::SERVICE_ADDRESS << "失败" << std::endl;
     }
 }
 
@@ -90,9 +90,10 @@
 }
 
 void MethaneSerialPort::start_timer() {
-    timer_.expires_from_now(boost::posix_time::seconds(3));
+    timer_.expires_from_now(boost::posix_time::seconds(1));
     timer_.async_wait([this](const boost::system::error_code &error) {
         if (!error) {
+            buffer_.consume(buffer_.size()); // 每次启动都清空缓冲区
             read_from_port();
         }
     });
@@ -108,25 +109,13 @@
 
         // 检查数据包的头和尾
         if (response[0] == 0xCC && response[7] == 0x77) {
-            // 数据包完整且正确
-            std::cout << "received 8 bytes: ";
-            for (size_t i = 0; i < 8; ++i) {
-                std::cout << std::hex
-                        << std::uppercase
-                        << std::setw(2)
-                        << std::setfill('0')
-                        << static_cast<int>(response[i])
-                        << " ";
-            }
-            std::cout << std::endl;
-
             handle_response(response);
 
             // 清空 buffer_，确保不缓存数据
             buffer_.consume(8);
         } else {
             // 数据包不完整或不正确，丢弃该数据包
-            buffer_.consume(1); // 丢弃第一个字节并重新开始
+            buffer_.consume(buffer_.size());
         }
 
         // 重新启动定时器

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e233d79..f0ca49a 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,5 @@
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
         src/utils.cpp
-        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 8a15d63..1961f89 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -72,7 +72,7 @@
     if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
         upload_to_server_async(result);
     } else {
-        std::cout << "网络异常，上传失败" << std::endl;
+        std::cout << "网络异常，上传甲烷数据到" << ConstantConfig::SERVICE_ADDRESS << "失败" << std::endl;
     }
 }
 
@@ -90,9 +90,10 @@
 }
 
 void MethaneSerialPort::start_timer() {
-    timer_.expires_from_now(boost::posix_time::seconds(3));
+    timer_.expires_from_now(boost::posix_time::seconds(1));
     timer_.async_wait([this](const boost::system::error_code &error) {
         if (!error) {
+            buffer_.consume(buffer_.size()); // 每次启动都清空缓冲区
             read_from_port();
         }
     });
@@ -108,25 +109,13 @@
 
         // 检查数据包的头和尾
         if (response[0] == 0xCC && response[7] == 0x77) {
-            // 数据包完整且正确
-            std::cout << "received 8 bytes: ";
-            for (size_t i = 0; i < 8; ++i) {
-                std::cout << std::hex
-                        << std::uppercase
-                        << std::setw(2)
-                        << std::setfill('0')
-                        << static_cast<int>(response[i])
-                        << " ";
-            }
-            std::cout << std::endl;
-
             handle_response(response);
 
             // 清空 buffer_，确保不缓存数据
             buffer_.consume(8);
         } else {
             // 数据包不完整或不正确，丢弃该数据包
-            buffer_.consume(1); // 丢弃第一个字节并重新开始
+            buffer_.consume(buffer_.size());
         }
 
         // 重新启动定时器
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index 7e01df9..cecbe58 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -341,7 +341,7 @@
     if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
         upload_pcd_file();
     } else {
-        std::cout << "网络异常，上传失败" << std::endl;
+        std::cout << "网络异常，上传PCD文件到" << ConstantConfig::SERVICE_ADDRESS << "失败" << std::endl;
     }
 }
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e233d79..f0ca49a 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,5 @@
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
         src/utils.cpp
-        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 8a15d63..1961f89 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -72,7 +72,7 @@
     if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
         upload_to_server_async(result);
     } else {
-        std::cout << "网络异常，上传失败" << std::endl;
+        std::cout << "网络异常，上传甲烷数据到" << ConstantConfig::SERVICE_ADDRESS << "失败" << std::endl;
     }
 }
 
@@ -90,9 +90,10 @@
 }
 
 void MethaneSerialPort::start_timer() {
-    timer_.expires_from_now(boost::posix_time::seconds(3));
+    timer_.expires_from_now(boost::posix_time::seconds(1));
     timer_.async_wait([this](const boost::system::error_code &error) {
         if (!error) {
+            buffer_.consume(buffer_.size()); // 每次启动都清空缓冲区
             read_from_port();
         }
     });
@@ -108,25 +109,13 @@
 
         // 检查数据包的头和尾
         if (response[0] == 0xCC && response[7] == 0x77) {
-            // 数据包完整且正确
-            std::cout << "received 8 bytes: ";
-            for (size_t i = 0; i < 8; ++i) {
-                std::cout << std::hex
-                        << std::uppercase
-                        << std::setw(2)
-                        << std::setfill('0')
-                        << static_cast<int>(response[i])
-                        << " ";
-            }
-            std::cout << std::endl;
-
             handle_response(response);
 
             // 清空 buffer_，确保不缓存数据
             buffer_.consume(8);
         } else {
             // 数据包不完整或不正确，丢弃该数据包
-            buffer_.consume(1); // 丢弃第一个字节并重新开始
+            buffer_.consume(buffer_.size());
         }
 
         // 重新启动定时器
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index 7e01df9..cecbe58 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -341,7 +341,7 @@
     if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
         upload_pcd_file();
     } else {
-        std::cout << "网络异常，上传失败" << std::endl;
+        std::cout << "网络异常，上传PCD文件到" << ConstantConfig::SERVICE_ADDRESS << "失败" << std::endl;
     }
 }
 
diff --git a/src/utils.cpp b/src/utils.cpp
index b795f3c..dc29814 100644
--- a/src/utils.cpp
+++ b/src/utils.cpp
@@ -4,6 +4,11 @@
 
 #include "utils.hpp"
 
+Utils::Utils() {
+}
+
+Utils::~Utils() = default;
+
 bool Utils::is_network_reachable(const std::string &host, const std::string &service) {
     try {
         boost::asio::io_context io;
@@ -11,9 +16,27 @@
         boost::asio::ip::tcp::socket socket(io);
 
         const auto endpoints = resolver.resolve(host, service);
-        boost::asio::connect(socket, endpoints);
 
-        return true;
+        // 设置连接超时为1000ms
+        boost::asio::deadline_timer timer(io, boost::posix_time::millisec(1000));
+        boost::system::error_code ec;
+
+        // 异步连接并在超时后取消
+        socket.async_connect(endpoints->endpoint(), [&](const boost::system::error_code &connect_ec) {
+            if (!connect_ec) {
+                timer.cancel();
+            }
+        });
+
+        timer.async_wait([&](const boost::system::error_code &) {
+            if (socket.is_open()) {
+                socket.close();
+            }
+        });
+
+        io.run(ec);
+
+        return !ec && socket.is_open();
     } catch (std::exception &e) {
         std::cerr << "Network error: " << e.what() << std::endl;
         return false;

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e233d79..f0ca49a 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,6 +18,5 @@
         src/robotic_arm_serial_port.cpp
         src/methane_serial_port.cpp
         src/utils.cpp
-        src/utils.hpp
 )
 target_link_libraries(message_handler unitree_sdk2)
\ No newline at end of file
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 8a15d63..1961f89 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -72,7 +72,7 @@
     if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
         upload_to_server_async(result);
     } else {
-        std::cout << "网络异常，上传失败" << std::endl;
+        std::cout << "网络异常，上传甲烷数据到" << ConstantConfig::SERVICE_ADDRESS << "失败" << std::endl;
     }
 }
 
@@ -90,9 +90,10 @@
 }
 
 void MethaneSerialPort::start_timer() {
-    timer_.expires_from_now(boost::posix_time::seconds(3));
+    timer_.expires_from_now(boost::posix_time::seconds(1));
     timer_.async_wait([this](const boost::system::error_code &error) {
         if (!error) {
+            buffer_.consume(buffer_.size()); // 每次启动都清空缓冲区
             read_from_port();
         }
     });
@@ -108,25 +109,13 @@
 
         // 检查数据包的头和尾
         if (response[0] == 0xCC && response[7] == 0x77) {
-            // 数据包完整且正确
-            std::cout << "received 8 bytes: ";
-            for (size_t i = 0; i < 8; ++i) {
-                std::cout << std::hex
-                        << std::uppercase
-                        << std::setw(2)
-                        << std::setfill('0')
-                        << static_cast<int>(response[i])
-                        << " ";
-            }
-            std::cout << std::endl;
-
             handle_response(response);
 
             // 清空 buffer_，确保不缓存数据
             buffer_.consume(8);
         } else {
             // 数据包不完整或不正确，丢弃该数据包
-            buffer_.consume(1); // 丢弃第一个字节并重新开始
+            buffer_.consume(buffer_.size());
         }
 
         // 重新启动定时器
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index 7e01df9..cecbe58 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -341,7 +341,7 @@
     if (Utils::is_network_reachable(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT)) {
         upload_pcd_file();
     } else {
-        std::cout << "网络异常，上传失败" << std::endl;
+        std::cout << "网络异常，上传PCD文件到" << ConstantConfig::SERVICE_ADDRESS << "失败" << std::endl;
     }
 }
 
diff --git a/src/utils.cpp b/src/utils.cpp
index b795f3c..dc29814 100644
--- a/src/utils.cpp
+++ b/src/utils.cpp
@@ -4,6 +4,11 @@
 
 #include "utils.hpp"
 
+Utils::Utils() {
+}
+
+Utils::~Utils() = default;
+
 bool Utils::is_network_reachable(const std::string &host, const std::string &service) {
     try {
         boost::asio::io_context io;
@@ -11,9 +16,27 @@
         boost::asio::ip::tcp::socket socket(io);
 
         const auto endpoints = resolver.resolve(host, service);
-        boost::asio::connect(socket, endpoints);
 
-        return true;
+        // 设置连接超时为1000ms
+        boost::asio::deadline_timer timer(io, boost::posix_time::millisec(1000));
+        boost::system::error_code ec;
+
+        // 异步连接并在超时后取消
+        socket.async_connect(endpoints->endpoint(), [&](const boost::system::error_code &connect_ec) {
+            if (!connect_ec) {
+                timer.cancel();
+            }
+        });
+
+        timer.async_wait([&](const boost::system::error_code &) {
+            if (socket.is_open()) {
+                socket.close();
+            }
+        });
+
+        io.run(ec);
+
+        return !ec && socket.is_open();
     } catch (std::exception &e) {
         std::cerr << "Network error: " << e.what() << std::endl;
         return false;
diff --git a/src/utils.hpp b/src/utils.hpp
index bb20489..58f00bc 100644
--- a/src/utils.hpp
+++ b/src/utils.hpp
@@ -10,6 +10,10 @@
 
 class Utils {
 public:
+    Utils();
+
+    ~Utils();
+
     static bool is_network_reachable(const std::string &host, const std::string &service);
 };