diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 1c59b4a..8747942 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -7,37 +7,38 @@
 #include "serial_port_wrapper.hpp"
 
 int main() {
+    // 创建一个共享的 io 对象
+    boost::asio::io_service io;
+
     // 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([] {
+    std::thread client_thread([&io] {
         TcpClient client("eth0");
         client.connect("192.168.123.18", 9001);
+        io.run();
     });
-    client_thread.join();
 
     // 启动TCP服务，接收AI结果并通过串口控制机械臂
-    std::thread service_thread([] {
-        boost::asio::io_context _context;
-        TcpService service(_context, "/dev/ttyACM0", 115200); //机械臂串口
+    std::thread service_thread([&io] {
+        TcpService service(io, "/dev/ttyACM0", 115200); //机械臂串口
         service.start(8888);
+        io.run();
     });
-    service_thread.join();
 
     // 启动甲烷数据查询串口线程，定时发送查询指令
-    std::thread gas_serial_port_thread([] {
+    std::thread gas_serial_port_thread([&io] {
         try {
-            boost::asio::io_service io;
             //打开串口
             SerialPortWrapper wrapper(io, "/dev/ttyUSB0", 115200); //甲烷串口
-
-            // 从串口读取数据
-            boost::asio::streambuf buffer;
-            wrapper.read_from_port(buffer);
-
+            wrapper.read_from_port();
             io.run();
         } catch (std::exception &e) {
             std::cerr << e.what() << std::endl;
         }
     });
+
+    // 等待所有线程完成
+    client_thread.join();
+    service_thread.join();
     gas_serial_port_thread.join();
     return 0;
 }

diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 1c59b4a..8747942 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -7,37 +7,38 @@
 #include "serial_port_wrapper.hpp"
 
 int main() {
+    // 创建一个共享的 io 对象
+    boost::asio::io_service io;
+
     // 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([] {
+    std::thread client_thread([&io] {
         TcpClient client("eth0");
         client.connect("192.168.123.18", 9001);
+        io.run();
     });
-    client_thread.join();
 
     // 启动TCP服务，接收AI结果并通过串口控制机械臂
-    std::thread service_thread([] {
-        boost::asio::io_context _context;
-        TcpService service(_context, "/dev/ttyACM0", 115200); //机械臂串口
+    std::thread service_thread([&io] {
+        TcpService service(io, "/dev/ttyACM0", 115200); //机械臂串口
         service.start(8888);
+        io.run();
     });
-    service_thread.join();
 
     // 启动甲烷数据查询串口线程，定时发送查询指令
-    std::thread gas_serial_port_thread([] {
+    std::thread gas_serial_port_thread([&io] {
         try {
-            boost::asio::io_service io;
             //打开串口
             SerialPortWrapper wrapper(io, "/dev/ttyUSB0", 115200); //甲烷串口
-
-            // 从串口读取数据
-            boost::asio::streambuf buffer;
-            wrapper.read_from_port(buffer);
-
+            wrapper.read_from_port();
             io.run();
         } catch (std::exception &e) {
             std::cerr << e.what() << std::endl;
         }
     });
+
+    // 等待所有线程完成
+    client_thread.join();
+    service_thread.join();
     gas_serial_port_thread.join();
     return 0;
 }
diff --git a/src/serial_port_wrapper.cpp b/src/serial_port_wrapper.cpp
index fbb54c5..cde8a36 100644
--- a/src/serial_port_wrapper.cpp
+++ b/src/serial_port_wrapper.cpp
@@ -18,21 +18,30 @@
 
 SerialPortWrapper::SerialPortWrapper(
     boost::asio::io_service &io_service, const std::string &port_name, const int baud_rate
-): io_service_(io_service), port_(io_service, port_name), timer_(io_service, std::chrono::seconds(3)) {
+): io_service_(io_service), port_(io_service, port_name), timer_(io_service) {
     port_.set_option(serial_port_base::baud_rate(baud_rate));
     port_.set_option(serial_port_base::character_size(8));
     port_.set_option(serial_port_base::parity(serial_port_base::parity::none));
     port_.set_option(serial_port_base::stop_bits(serial_port_base::stop_bits::one));
+
+    timer_.expires_from_now(boost::posix_time::seconds(3));
+    timer_.async_wait([this](const boost::system::error_code &error) {
+        if (!error) {
+            read_from_port();
+        } else {
+            std::cerr << "Timer error: " << error.message() << std::endl;
+        }
+    });
 }
 
 //CC 05 00 00 00 00 0D 77
-void SerialPortWrapper::read_from_port(boost::asio::streambuf &buffer) {
+void SerialPortWrapper::read_from_port() {
     async_read_until(
-        port_, buffer, 0x77, //结束位，一定要匹配
-        [this,&buffer](const boost::system::error_code &error, const size_t bytes_transferred) {
+        port_, buffer_, 0x77,
+        [this](const boost::system::error_code &error, const size_t bytes_transferred) mutable {
             if (!error) {
                 // 获取接收到的数据
-                std::istream is(&buffer);
+                std::istream is(&buffer_);
                 std::vector<uint8_t> received_data(static_cast<std::streamsize>(bytes_transferred));
                 is.read(
                     reinterpret_cast<char *>(received_data.data()), static_cast<std::streamsize>(bytes_transferred)
@@ -51,11 +60,10 @@
 
                 handle_data(received_data);
 
-                // 递归调用以继续读取数据
-                read_from_port(buffer);
+                read_from_port();
             } else {
                 std::cerr << "error: " << error.message() << std::endl;
+                read_from_port();
             }
-        }
-    );
-}
\ No newline at end of file
+        });
+}

diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 1c59b4a..8747942 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -7,37 +7,38 @@
 #include "serial_port_wrapper.hpp"
 
 int main() {
+    // 创建一个共享的 io 对象
+    boost::asio::io_service io;
+
     // 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([] {
+    std::thread client_thread([&io] {
         TcpClient client("eth0");
         client.connect("192.168.123.18", 9001);
+        io.run();
     });
-    client_thread.join();
 
     // 启动TCP服务，接收AI结果并通过串口控制机械臂
-    std::thread service_thread([] {
-        boost::asio::io_context _context;
-        TcpService service(_context, "/dev/ttyACM0", 115200); //机械臂串口
+    std::thread service_thread([&io] {
+        TcpService service(io, "/dev/ttyACM0", 115200); //机械臂串口
         service.start(8888);
+        io.run();
     });
-    service_thread.join();
 
     // 启动甲烷数据查询串口线程，定时发送查询指令
-    std::thread gas_serial_port_thread([] {
+    std::thread gas_serial_port_thread([&io] {
         try {
-            boost::asio::io_service io;
             //打开串口
             SerialPortWrapper wrapper(io, "/dev/ttyUSB0", 115200); //甲烷串口
-
-            // 从串口读取数据
-            boost::asio::streambuf buffer;
-            wrapper.read_from_port(buffer);
-
+            wrapper.read_from_port();
             io.run();
         } catch (std::exception &e) {
             std::cerr << e.what() << std::endl;
         }
     });
+
+    // 等待所有线程完成
+    client_thread.join();
+    service_thread.join();
     gas_serial_port_thread.join();
     return 0;
 }
diff --git a/src/serial_port_wrapper.cpp b/src/serial_port_wrapper.cpp
index fbb54c5..cde8a36 100644
--- a/src/serial_port_wrapper.cpp
+++ b/src/serial_port_wrapper.cpp
@@ -18,21 +18,30 @@
 
 SerialPortWrapper::SerialPortWrapper(
     boost::asio::io_service &io_service, const std::string &port_name, const int baud_rate
-): io_service_(io_service), port_(io_service, port_name), timer_(io_service, std::chrono::seconds(3)) {
+): io_service_(io_service), port_(io_service, port_name), timer_(io_service) {
     port_.set_option(serial_port_base::baud_rate(baud_rate));
     port_.set_option(serial_port_base::character_size(8));
     port_.set_option(serial_port_base::parity(serial_port_base::parity::none));
     port_.set_option(serial_port_base::stop_bits(serial_port_base::stop_bits::one));
+
+    timer_.expires_from_now(boost::posix_time::seconds(3));
+    timer_.async_wait([this](const boost::system::error_code &error) {
+        if (!error) {
+            read_from_port();
+        } else {
+            std::cerr << "Timer error: " << error.message() << std::endl;
+        }
+    });
 }
 
 //CC 05 00 00 00 00 0D 77
-void SerialPortWrapper::read_from_port(boost::asio::streambuf &buffer) {
+void SerialPortWrapper::read_from_port() {
     async_read_until(
-        port_, buffer, 0x77, //结束位，一定要匹配
-        [this,&buffer](const boost::system::error_code &error, const size_t bytes_transferred) {
+        port_, buffer_, 0x77,
+        [this](const boost::system::error_code &error, const size_t bytes_transferred) mutable {
             if (!error) {
                 // 获取接收到的数据
-                std::istream is(&buffer);
+                std::istream is(&buffer_);
                 std::vector<uint8_t> received_data(static_cast<std::streamsize>(bytes_transferred));
                 is.read(
                     reinterpret_cast<char *>(received_data.data()), static_cast<std::streamsize>(bytes_transferred)
@@ -51,11 +60,10 @@
 
                 handle_data(received_data);
 
-                // 递归调用以继续读取数据
-                read_from_port(buffer);
+                read_from_port();
             } else {
                 std::cerr << "error: " << error.message() << std::endl;
+                read_from_port();
             }
-        }
-    );
-}
\ No newline at end of file
+        });
+}
diff --git a/src/serial_port_wrapper.hpp b/src/serial_port_wrapper.hpp
index 04591db..b4c90f4 100644
--- a/src/serial_port_wrapper.hpp
+++ b/src/serial_port_wrapper.hpp
@@ -17,12 +17,13 @@
 
     boost::asio::serial_port &get() { return port_; }
 
-    void read_from_port(boost::asio::streambuf &buffer);
+    void read_from_port();
 
 private:
     boost::asio::io_service &io_service_;
     boost::asio::serial_port port_;
-    steady_timer timer_;
+    boost::asio::deadline_timer timer_;
+    boost::asio::streambuf buffer_;
 };
 
 #endif //SERIAL_PORT_WRAPPER_HPP