diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 8747942..bbbbcaf 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -9,18 +9,18 @@
 int main() {
     // 创建一个共享的 io 对象
     boost::asio::io_service io;
+    auto service = new TcpService(io, "/dev/ttyACM0", 115200); //机械臂串口
 
     // 启动TCP客户端，接收来自Web端的命令，控制机器狗运动
-    std::thread client_thread([&io] {
-        TcpClient client("eth0");
+    std::thread client_thread([&io,&service] {
+        TcpClient client("eth0", service);
         client.connect("192.168.123.18", 9001);
         io.run();
     });
 
     // 启动TCP服务，接收AI结果并通过串口控制机械臂
-    std::thread service_thread([&io] {
-        TcpService service(io, "/dev/ttyACM0", 115200); //机械臂串口
-        service.start(8888);
+    std::thread service_thread([&io,&service] {
+        service->start(8888);
         io.run();
     });
 

diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 8747942..bbbbcaf 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -9,18 +9,18 @@
 int main() {
     // 创建一个共享的 io 对象
     boost::asio::io_service io;
+    auto service = new TcpService(io, "/dev/ttyACM0", 115200); //机械臂串口
 
     // 启动TCP客户端，接收来自Web端的命令，控制机器狗运动
-    std::thread client_thread([&io] {
-        TcpClient client("eth0");
+    std::thread client_thread([&io,&service] {
+        TcpClient client("eth0", service);
         client.connect("192.168.123.18", 9001);
         io.run();
     });
 
     // 启动TCP服务，接收AI结果并通过串口控制机械臂
-    std::thread service_thread([&io] {
-        TcpService service(io, "/dev/ttyACM0", 115200); //机械臂串口
-        service.start(8888);
+    std::thread service_thread([&io,&service] {
+        service->start(8888);
         io.run();
     });
 
diff --git a/src/tcp_client.cpp b/src/tcp_client.cpp
index ac6f3c5..584655c 100644
--- a/src/tcp_client.cpp
+++ b/src/tcp_client.cpp
@@ -9,7 +9,8 @@
 #include <stdexcept>
 #include <thread>
 
-TcpClient::TcpClient(const char *networkInterface): _slam(networkInterface) {
+TcpClient::TcpClient(const char *networkInterface, TcpService *tcp_service): _slam(networkInterface),
+                                                                             _tcp_service(tcp_service) {
     std::cout << "TcpClient::init success" << std::endl;
 }
 

diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 8747942..bbbbcaf 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -9,18 +9,18 @@
 int main() {
     // 创建一个共享的 io 对象
     boost::asio::io_service io;
+    auto service = new TcpService(io, "/dev/ttyACM0", 115200); //机械臂串口
 
     // 启动TCP客户端，接收来自Web端的命令，控制机器狗运动
-    std::thread client_thread([&io] {
-        TcpClient client("eth0");
+    std::thread client_thread([&io,&service] {
+        TcpClient client("eth0", service);
         client.connect("192.168.123.18", 9001);
         io.run();
     });
 
     // 启动TCP服务，接收AI结果并通过串口控制机械臂
-    std::thread service_thread([&io] {
-        TcpService service(io, "/dev/ttyACM0", 115200); //机械臂串口
-        service.start(8888);
+    std::thread service_thread([&io,&service] {
+        service->start(8888);
         io.run();
     });
 
diff --git a/src/tcp_client.cpp b/src/tcp_client.cpp
index ac6f3c5..584655c 100644
--- a/src/tcp_client.cpp
+++ b/src/tcp_client.cpp
@@ -9,7 +9,8 @@
 #include <stdexcept>
 #include <thread>
 
-TcpClient::TcpClient(const char *networkInterface): _slam(networkInterface) {
+TcpClient::TcpClient(const char *networkInterface, TcpService *tcp_service): _slam(networkInterface),
+                                                                             _tcp_service(tcp_service) {
     std::cout << "TcpClient::init success" << std::endl;
 }
 
diff --git a/src/tcp_client.hpp b/src/tcp_client.hpp
index 92b47e9..8f5bdb8 100644
--- a/src/tcp_client.hpp
+++ b/src/tcp_client.hpp
@@ -11,10 +11,11 @@
 #include <unistd.h>
 #include <vector>
 #include "slam_wrapper.hpp"
+#include "tcp_service.hpp"
 
 class TcpClient {
 public:
-    explicit TcpClient(const char *networkInterface);
+    explicit TcpClient(const char *networkInterface, TcpService *tcp_service);
 
     ~TcpClient() {
         if (_client_socket != -1) {
@@ -33,6 +34,7 @@
     int _max_retries = 12;
     int _retry_interval = 5000; //重连间隔
     SlamWrapper _slam;
+    TcpService *_tcp_service;
 
     void receive_data();
 

diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 8747942..bbbbcaf 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -9,18 +9,18 @@
 int main() {
     // 创建一个共享的 io 对象
     boost::asio::io_service io;
+    auto service = new TcpService(io, "/dev/ttyACM0", 115200); //机械臂串口
 
     // 启动TCP客户端，接收来自Web端的命令，控制机器狗运动
-    std::thread client_thread([&io] {
-        TcpClient client("eth0");
+    std::thread client_thread([&io,&service] {
+        TcpClient client("eth0", service);
         client.connect("192.168.123.18", 9001);
         io.run();
     });
 
     // 启动TCP服务，接收AI结果并通过串口控制机械臂
-    std::thread service_thread([&io] {
-        TcpService service(io, "/dev/ttyACM0", 115200); //机械臂串口
-        service.start(8888);
+    std::thread service_thread([&io,&service] {
+        service->start(8888);
         io.run();
     });
 
diff --git a/src/tcp_client.cpp b/src/tcp_client.cpp
index ac6f3c5..584655c 100644
--- a/src/tcp_client.cpp
+++ b/src/tcp_client.cpp
@@ -9,7 +9,8 @@
 #include <stdexcept>
 #include <thread>
 
-TcpClient::TcpClient(const char *networkInterface): _slam(networkInterface) {
+TcpClient::TcpClient(const char *networkInterface, TcpService *tcp_service): _slam(networkInterface),
+                                                                             _tcp_service(tcp_service) {
     std::cout << "TcpClient::init success" << std::endl;
 }
 
diff --git a/src/tcp_client.hpp b/src/tcp_client.hpp
index 92b47e9..8f5bdb8 100644
--- a/src/tcp_client.hpp
+++ b/src/tcp_client.hpp
@@ -11,10 +11,11 @@
 #include <unistd.h>
 #include <vector>
 #include "slam_wrapper.hpp"
+#include "tcp_service.hpp"
 
 class TcpClient {
 public:
-    explicit TcpClient(const char *networkInterface);
+    explicit TcpClient(const char *networkInterface, TcpService *tcp_service);
 
     ~TcpClient() {
         if (_client_socket != -1) {
@@ -33,6 +34,7 @@
     int _max_retries = 12;
     int _retry_interval = 5000; //重连间隔
     SlamWrapper _slam;
+    TcpService *_tcp_service;
 
     void receive_data();
 
diff --git a/src/tcp_service.cpp b/src/tcp_service.cpp
index c7d2876..b874a23 100644
--- a/src/tcp_service.cpp
+++ b/src/tcp_service.cpp
@@ -14,6 +14,10 @@
 #include <arpa/inet.h>
 #include <unistd.h>
 
+void TcpService::send_command(const std::vector<uint8_t> &command) {
+    boost::asio::write(_port, boost::asio::buffer(command));
+}
+
 void TcpService::init_serial_port(const std::string &port_name, const int baud_rate) {
     _port.open(port_name);
     if (_port.is_open()) {

diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 8747942..bbbbcaf 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -9,18 +9,18 @@
 int main() {
     // 创建一个共享的 io 对象
     boost::asio::io_service io;
+    auto service = new TcpService(io, "/dev/ttyACM0", 115200); //机械臂串口
 
     // 启动TCP客户端，接收来自Web端的命令，控制机器狗运动
-    std::thread client_thread([&io] {
-        TcpClient client("eth0");
+    std::thread client_thread([&io,&service] {
+        TcpClient client("eth0", service);
         client.connect("192.168.123.18", 9001);
         io.run();
     });
 
     // 启动TCP服务，接收AI结果并通过串口控制机械臂
-    std::thread service_thread([&io] {
-        TcpService service(io, "/dev/ttyACM0", 115200); //机械臂串口
-        service.start(8888);
+    std::thread service_thread([&io,&service] {
+        service->start(8888);
         io.run();
     });
 
diff --git a/src/tcp_client.cpp b/src/tcp_client.cpp
index ac6f3c5..584655c 100644
--- a/src/tcp_client.cpp
+++ b/src/tcp_client.cpp
@@ -9,7 +9,8 @@
 #include <stdexcept>
 #include <thread>
 
-TcpClient::TcpClient(const char *networkInterface): _slam(networkInterface) {
+TcpClient::TcpClient(const char *networkInterface, TcpService *tcp_service): _slam(networkInterface),
+                                                                             _tcp_service(tcp_service) {
     std::cout << "TcpClient::init success" << std::endl;
 }
 
diff --git a/src/tcp_client.hpp b/src/tcp_client.hpp
index 92b47e9..8f5bdb8 100644
--- a/src/tcp_client.hpp
+++ b/src/tcp_client.hpp
@@ -11,10 +11,11 @@
 #include <unistd.h>
 #include <vector>
 #include "slam_wrapper.hpp"
+#include "tcp_service.hpp"
 
 class TcpClient {
 public:
-    explicit TcpClient(const char *networkInterface);
+    explicit TcpClient(const char *networkInterface, TcpService *tcp_service);
 
     ~TcpClient() {
         if (_client_socket != -1) {
@@ -33,6 +34,7 @@
     int _max_retries = 12;
     int _retry_interval = 5000; //重连间隔
     SlamWrapper _slam;
+    TcpService *_tcp_service;
 
     void receive_data();
 
diff --git a/src/tcp_service.cpp b/src/tcp_service.cpp
index c7d2876..b874a23 100644
--- a/src/tcp_service.cpp
+++ b/src/tcp_service.cpp
@@ -14,6 +14,10 @@
 #include <arpa/inet.h>
 #include <unistd.h>
 
+void TcpService::send_command(const std::vector<uint8_t> &command) {
+    boost::asio::write(_port, boost::asio::buffer(command));
+}
+
 void TcpService::init_serial_port(const std::string &port_name, const int baud_rate) {
     _port.open(port_name);
     if (_port.is_open()) {
diff --git a/src/tcp_service.hpp b/src/tcp_service.hpp
index 999a2f7..ec5037e 100644
--- a/src/tcp_service.hpp
+++ b/src/tcp_service.hpp
@@ -18,6 +18,8 @@
 
     void init_serial_port(const std::string &port_name, int baud_rate);
 
+    void send_command(const std::vector<uint8_t> &command);
+
 private:
     int _socket_fd;
     boost::asio::io_context &_context;