diff --git a/src/constant_config.hpp b/src/constant_config.hpp
new file mode 100644
index 0000000..ff5171e
--- /dev/null
+++ b/src/constant_config.hpp
@@ -0,0 +1,27 @@
+//
+// Created by pengx on 2025/4/10.
+//
+
+#ifndef CONSTANT_CONFIG_HPP
+#define CONSTANT_CONFIG_HPP
+
+namespace ConstantConfig {
+    constexpr int TCP_REMOTE_PORT = 30029;
+
+    constexpr const char *SERVICE_ADDRESS = "192.168.123.125";
+    constexpr int TCP_LOCALE_PORT = 8888;
+
+
+    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
+    constexpr int BAUD_RATE = 115200;
+
+    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
+    constexpr const char *HTTP_PORT = "30028";
+    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
+
+    constexpr const char *SLAM_NET_PORT = "eth0";
+
+    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
+}
+
+#endif //CONSTANT_CONFIG_HPP

diff --git a/src/constant_config.hpp b/src/constant_config.hpp
new file mode 100644
index 0000000..ff5171e
--- /dev/null
+++ b/src/constant_config.hpp
@@ -0,0 +1,27 @@
+//
+// Created by pengx on 2025/4/10.
+//
+
+#ifndef CONSTANT_CONFIG_HPP
+#define CONSTANT_CONFIG_HPP
+
+namespace ConstantConfig {
+    constexpr int TCP_REMOTE_PORT = 30029;
+
+    constexpr const char *SERVICE_ADDRESS = "192.168.123.125";
+    constexpr int TCP_LOCALE_PORT = 8888;
+
+
+    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
+    constexpr int BAUD_RATE = 115200;
+
+    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
+    constexpr const char *HTTP_PORT = "30028";
+    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
+
+    constexpr const char *SLAM_NET_PORT = "eth0";
+
+    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
+}
+
+#endif //CONSTANT_CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 3c38cdc..ec3d7d8 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -5,12 +5,13 @@
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
 #include "methane_serial_port.hpp"
+#include "constant_config.hpp"
 
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
         boost::asio::io_service io;
-        TcpService::getInstance().start(8888);
+        TcpService::getInstance().start(ConstantConfig::TCP_LOCALE_PORT);
         io.run();
     });
 
@@ -18,8 +19,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
-        // client.connect("111.198.10.15", 11647);
-        client.connect("192.168.123.18", 9001);
+        client.connect(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::TCP_REMOTE_PORT);
         io.run();
     });
 
@@ -28,7 +28,7 @@
         try {
             boost::asio::io_service io;
             //打开串口
-            MethaneSerialPort sp(io, "/dev/ttyUSB0", 115200); //甲烷串口
+            MethaneSerialPort sp(io, ConstantConfig::GAS_PORT, ConstantConfig::BAUD_RATE); //甲烷串口
             sp.read_from_port();
             io.run();
         } catch (std::exception &e) {

diff --git a/src/constant_config.hpp b/src/constant_config.hpp
new file mode 100644
index 0000000..ff5171e
--- /dev/null
+++ b/src/constant_config.hpp
@@ -0,0 +1,27 @@
+//
+// Created by pengx on 2025/4/10.
+//
+
+#ifndef CONSTANT_CONFIG_HPP
+#define CONSTANT_CONFIG_HPP
+
+namespace ConstantConfig {
+    constexpr int TCP_REMOTE_PORT = 30029;
+
+    constexpr const char *SERVICE_ADDRESS = "192.168.123.125";
+    constexpr int TCP_LOCALE_PORT = 8888;
+
+
+    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
+    constexpr int BAUD_RATE = 115200;
+
+    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
+    constexpr const char *HTTP_PORT = "30028";
+    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
+
+    constexpr const char *SLAM_NET_PORT = "eth0";
+
+    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
+}
+
+#endif //CONSTANT_CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 3c38cdc..ec3d7d8 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -5,12 +5,13 @@
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
 #include "methane_serial_port.hpp"
+#include "constant_config.hpp"
 
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
         boost::asio::io_service io;
-        TcpService::getInstance().start(8888);
+        TcpService::getInstance().start(ConstantConfig::TCP_LOCALE_PORT);
         io.run();
     });
 
@@ -18,8 +19,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
-        // client.connect("111.198.10.15", 11647);
-        client.connect("192.168.123.18", 9001);
+        client.connect(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::TCP_REMOTE_PORT);
         io.run();
     });
 
@@ -28,7 +28,7 @@
         try {
             boost::asio::io_service io;
             //打开串口
-            MethaneSerialPort sp(io, "/dev/ttyUSB0", 115200); //甲烷串口
+            MethaneSerialPort sp(io, ConstantConfig::GAS_PORT, ConstantConfig::BAUD_RATE); //甲烷串口
             sp.read_from_port();
             io.run();
         } catch (std::exception &e) {
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 30d986e..f7e2b80 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -3,6 +3,9 @@
 //
 
 #include "methane_serial_port.hpp"
+#include "tcp_service.hpp"
+#include "constant_config.hpp"
+
 #include <iomanip>
 #include <iostream>
 #include <boost/beast/core.hpp>
@@ -10,7 +13,6 @@
 #include <boost/beast/version.hpp>
 #include <boost/asio/connect.hpp>
 #include <boost/asio/ip/tcp.hpp>
-#include "tcp_service.hpp"
 
 namespace beast = boost::beast;
 namespace http = beast::http;
@@ -18,25 +20,26 @@
 using tcp = net::ip::tcp;
 
 void upload_to_server(const int value) {
-    //TODO 根据实际情况修改为服务器TCP客户端HTTP和端口
-    const std::string server_address = "192.168.123.125";
-    const std::string server_port = "30028";
-    const std::string dog_code = "B42D4000OCAD3N82";
     net::io_context ioc;
     tcp::resolver resolver{ioc};
-    auto const results = resolver.resolve(server_address, server_port);
+    auto const results = resolver.resolve(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT);
     tcp::socket socket{ioc};
     try {
         net::connect(socket, results.begin(), results.end());
         // 构建HTTP请求
-        http::request<http::string_body> req{http::verb::post, "/device/receiveData", 11};
-        req.set(http::field::host, server_address);
+        http::request<http::string_body> req{http::verb::post, ConstantConfig::API_RECEIVE_DATA, 11};
+        req.set(http::field::host, ConstantConfig::SERVICE_ADDRESS);
         req.set(http::field::user_agent, BOOST_BEAST_VERSION_STRING);
         req.set(http::field::content_type, "application/json");
         req.set(http::field::connection, "keep-alive");
         //{"type":6,"devcode":"1212","data":{"gas":"20"}}
-        const std::string body = R"({"type":6,"devcode":")" + dog_code + R"(","data":{"gas":")" + std::to_string(value) +
-                                 "\"}}";
+        std::ostringstream oss;
+        oss << R"({"type":6,"devcode":")"
+                << ConstantConfig::DOG_CODE
+                << R"(","data":{"gas":")"
+                << value
+                << R"("}})";
+        std::string body = oss.str();
         req.body() = body;
         req.prepare_payload();
 

diff --git a/src/constant_config.hpp b/src/constant_config.hpp
new file mode 100644
index 0000000..ff5171e
--- /dev/null
+++ b/src/constant_config.hpp
@@ -0,0 +1,27 @@
+//
+// Created by pengx on 2025/4/10.
+//
+
+#ifndef CONSTANT_CONFIG_HPP
+#define CONSTANT_CONFIG_HPP
+
+namespace ConstantConfig {
+    constexpr int TCP_REMOTE_PORT = 30029;
+
+    constexpr const char *SERVICE_ADDRESS = "192.168.123.125";
+    constexpr int TCP_LOCALE_PORT = 8888;
+
+
+    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
+    constexpr int BAUD_RATE = 115200;
+
+    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
+    constexpr const char *HTTP_PORT = "30028";
+    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
+
+    constexpr const char *SLAM_NET_PORT = "eth0";
+
+    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
+}
+
+#endif //CONSTANT_CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 3c38cdc..ec3d7d8 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -5,12 +5,13 @@
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
 #include "methane_serial_port.hpp"
+#include "constant_config.hpp"
 
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
         boost::asio::io_service io;
-        TcpService::getInstance().start(8888);
+        TcpService::getInstance().start(ConstantConfig::TCP_LOCALE_PORT);
         io.run();
     });
 
@@ -18,8 +19,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
-        // client.connect("111.198.10.15", 11647);
-        client.connect("192.168.123.18", 9001);
+        client.connect(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::TCP_REMOTE_PORT);
         io.run();
     });
 
@@ -28,7 +28,7 @@
         try {
             boost::asio::io_service io;
             //打开串口
-            MethaneSerialPort sp(io, "/dev/ttyUSB0", 115200); //甲烷串口
+            MethaneSerialPort sp(io, ConstantConfig::GAS_PORT, ConstantConfig::BAUD_RATE); //甲烷串口
             sp.read_from_port();
             io.run();
         } catch (std::exception &e) {
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 30d986e..f7e2b80 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -3,6 +3,9 @@
 //
 
 #include "methane_serial_port.hpp"
+#include "tcp_service.hpp"
+#include "constant_config.hpp"
+
 #include <iomanip>
 #include <iostream>
 #include <boost/beast/core.hpp>
@@ -10,7 +13,6 @@
 #include <boost/beast/version.hpp>
 #include <boost/asio/connect.hpp>
 #include <boost/asio/ip/tcp.hpp>
-#include "tcp_service.hpp"
 
 namespace beast = boost::beast;
 namespace http = beast::http;
@@ -18,25 +20,26 @@
 using tcp = net::ip::tcp;
 
 void upload_to_server(const int value) {
-    //TODO 根据实际情况修改为服务器TCP客户端HTTP和端口
-    const std::string server_address = "192.168.123.125";
-    const std::string server_port = "30028";
-    const std::string dog_code = "B42D4000OCAD3N82";
     net::io_context ioc;
     tcp::resolver resolver{ioc};
-    auto const results = resolver.resolve(server_address, server_port);
+    auto const results = resolver.resolve(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT);
     tcp::socket socket{ioc};
     try {
         net::connect(socket, results.begin(), results.end());
         // 构建HTTP请求
-        http::request<http::string_body> req{http::verb::post, "/device/receiveData", 11};
-        req.set(http::field::host, server_address);
+        http::request<http::string_body> req{http::verb::post, ConstantConfig::API_RECEIVE_DATA, 11};
+        req.set(http::field::host, ConstantConfig::SERVICE_ADDRESS);
         req.set(http::field::user_agent, BOOST_BEAST_VERSION_STRING);
         req.set(http::field::content_type, "application/json");
         req.set(http::field::connection, "keep-alive");
         //{"type":6,"devcode":"1212","data":{"gas":"20"}}
-        const std::string body = R"({"type":6,"devcode":")" + dog_code + R"(","data":{"gas":")" + std::to_string(value) +
-                                 "\"}}";
+        std::ostringstream oss;
+        oss << R"({"type":6,"devcode":")"
+                << ConstantConfig::DOG_CODE
+                << R"(","data":{"gas":")"
+                << value
+                << R"("}})";
+        std::string body = oss.str();
         req.body() = body;
         req.prepare_payload();
 
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index a751e0c..cb0bd6b 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -4,16 +4,18 @@
 
 #include "slam_wrapper.hpp"
 #include "tcp_service.hpp"
+#include "constant_config.hpp"
+
 #include <cmath>
 #include <thread>
 
 SlamWrapper::SlamWrapper() {
-    ChannelFactory::Instance()->Init(0, "eth0");
+    ChannelFactory::Instance()->Init(0, ConstantConfig::SLAM_NET_PORT);
 
     std::thread serial_port_thread([this] {
         //初始化机械臂串口
         boost::asio::io_service io;
-        serial_port_ = new RoboticArmSerialPort(io, "/dev/ttyACM0", 115200);
+        serial_port_ = new RoboticArmSerialPort(io, ConstantConfig::ROBOTIC_ARM_PORT, ConstantConfig::BAUD_RATE);
         io.run();
     });
     serial_port_thread.detach();
@@ -114,34 +116,34 @@
         str_ = seq->data().substr(begin_ + 7, end_ - begin_ - 7);
         const int arrive_ = atoi(str_.c_str());
         std::cout << "I arrived node " << arrive_ << ". " << notice_ << std::endl;
-        TcpService::getInstance().update_node(arrive_);
-        if (arrive_ == 2) {
-            //发送暂停指令
-            pause_navigation();
+        //发送暂停指令
+        pause_navigation();
+        //倒计时结束后恢复巡检
+        std::thread countdown_thread([this,&arrive_] {
+            try {
+                //朝右下方
+                std::cout << "发送机械臂转动指令，倒计时开始，请等待10秒" << std::endl;
+                serial_port_->write({
+                    0xFE, 0xFE, 0x0F, 0x3C,
+                    0x0B, 0x71, 0x08, 0x25, 0x06, 0xFB,
+                    0x08, 0x2E, 0x0A, 0xCB, 0x08, 0x28,
+                    0x14, 0xFA
+                });
+                std::this_thread::sleep_for(std::chrono::seconds(5));
 
-            //TODO 控制机械臂转动到预设的角度
-            //朝右下方
-            std::cout << "发送机械臂转动指令，倒计时开始，请等待10秒" << std::endl;
-            serial_port_->write({
-                0xFE, 0xFE, 0x0F, 0x3C,
-                0x0B, 0x71, 0x08, 0x25, 0x06, 0xFB,
-                0x08, 0x2E, 0x0A, 0xCB, 0x08, 0x28,
-                0x14, 0xFA
-            });
+                //延迟5~10秒更新节点
+                TcpService::getInstance().update_node(arrive_);
 
-            //倒计时结束后恢复巡检
-            std::thread countdown_thread([this] {
-                try {
-                    std::this_thread::sleep_for(std::chrono::seconds(10));
-                    recover_navigation();
-                    std::cout << "倒计时结束，恢复机械臂初始位置，恢复巡检";
-                    serial_port_->write(default_command);
-                } catch (const std::exception &e) {
-                    std::cerr << "线程执行过程中发生异常: " << e.what() << std::endl;
-                }
-            });
-            countdown_thread.join();
-        }
+                std::this_thread::sleep_for(std::chrono::seconds(5));
+
+                recover_navigation();
+                std::cout << "倒计时结束，恢复机械臂初始位置，恢复巡检";
+                serial_port_->write(default_command);
+            } catch (const std::exception &e) {
+                std::cerr << "线程执行过程中发生异常: " << e.what() << std::endl;
+            }
+        });
+        countdown_thread.join();
     }
 }
 

diff --git a/src/constant_config.hpp b/src/constant_config.hpp
new file mode 100644
index 0000000..ff5171e
--- /dev/null
+++ b/src/constant_config.hpp
@@ -0,0 +1,27 @@
+//
+// Created by pengx on 2025/4/10.
+//
+
+#ifndef CONSTANT_CONFIG_HPP
+#define CONSTANT_CONFIG_HPP
+
+namespace ConstantConfig {
+    constexpr int TCP_REMOTE_PORT = 30029;
+
+    constexpr const char *SERVICE_ADDRESS = "192.168.123.125";
+    constexpr int TCP_LOCALE_PORT = 8888;
+
+
+    constexpr const char *GAS_PORT = "/dev/ttyUSB0";
+    constexpr int BAUD_RATE = 115200;
+
+    constexpr const char *API_RECEIVE_DATA = "/device/receiveData";
+    constexpr const char *HTTP_PORT = "30028";
+    constexpr const char *DOG_CODE = "B42D4000OCAD3N82";
+
+    constexpr const char *SLAM_NET_PORT = "eth0";
+
+    constexpr const char *ROBOTIC_ARM_PORT = "/dev/ttyACM0";
+}
+
+#endif //CONSTANT_CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 3c38cdc..ec3d7d8 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -5,12 +5,13 @@
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
 #include "methane_serial_port.hpp"
+#include "constant_config.hpp"
 
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
         boost::asio::io_service io;
-        TcpService::getInstance().start(8888);
+        TcpService::getInstance().start(ConstantConfig::TCP_LOCALE_PORT);
         io.run();
     });
 
@@ -18,8 +19,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
-        // client.connect("111.198.10.15", 11647);
-        client.connect("192.168.123.18", 9001);
+        client.connect(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::TCP_REMOTE_PORT);
         io.run();
     });
 
@@ -28,7 +28,7 @@
         try {
             boost::asio::io_service io;
             //打开串口
-            MethaneSerialPort sp(io, "/dev/ttyUSB0", 115200); //甲烷串口
+            MethaneSerialPort sp(io, ConstantConfig::GAS_PORT, ConstantConfig::BAUD_RATE); //甲烷串口
             sp.read_from_port();
             io.run();
         } catch (std::exception &e) {
diff --git a/src/methane_serial_port.cpp b/src/methane_serial_port.cpp
index 30d986e..f7e2b80 100644
--- a/src/methane_serial_port.cpp
+++ b/src/methane_serial_port.cpp
@@ -3,6 +3,9 @@
 //
 
 #include "methane_serial_port.hpp"
+#include "tcp_service.hpp"
+#include "constant_config.hpp"
+
 #include <iomanip>
 #include <iostream>
 #include <boost/beast/core.hpp>
@@ -10,7 +13,6 @@
 #include <boost/beast/version.hpp>
 #include <boost/asio/connect.hpp>
 #include <boost/asio/ip/tcp.hpp>
-#include "tcp_service.hpp"
 
 namespace beast = boost::beast;
 namespace http = beast::http;
@@ -18,25 +20,26 @@
 using tcp = net::ip::tcp;
 
 void upload_to_server(const int value) {
-    //TODO 根据实际情况修改为服务器TCP客户端HTTP和端口
-    const std::string server_address = "192.168.123.125";
-    const std::string server_port = "30028";
-    const std::string dog_code = "B42D4000OCAD3N82";
     net::io_context ioc;
     tcp::resolver resolver{ioc};
-    auto const results = resolver.resolve(server_address, server_port);
+    auto const results = resolver.resolve(ConstantConfig::SERVICE_ADDRESS, ConstantConfig::HTTP_PORT);
     tcp::socket socket{ioc};
     try {
         net::connect(socket, results.begin(), results.end());
         // 构建HTTP请求
-        http::request<http::string_body> req{http::verb::post, "/device/receiveData", 11};
-        req.set(http::field::host, server_address);
+        http::request<http::string_body> req{http::verb::post, ConstantConfig::API_RECEIVE_DATA, 11};
+        req.set(http::field::host, ConstantConfig::SERVICE_ADDRESS);
         req.set(http::field::user_agent, BOOST_BEAST_VERSION_STRING);
         req.set(http::field::content_type, "application/json");
         req.set(http::field::connection, "keep-alive");
         //{"type":6,"devcode":"1212","data":{"gas":"20"}}
-        const std::string body = R"({"type":6,"devcode":")" + dog_code + R"(","data":{"gas":")" + std::to_string(value) +
-                                 "\"}}";
+        std::ostringstream oss;
+        oss << R"({"type":6,"devcode":")"
+                << ConstantConfig::DOG_CODE
+                << R"(","data":{"gas":")"
+                << value
+                << R"("}})";
+        std::string body = oss.str();
         req.body() = body;
         req.prepare_payload();
 
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index a751e0c..cb0bd6b 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -4,16 +4,18 @@
 
 #include "slam_wrapper.hpp"
 #include "tcp_service.hpp"
+#include "constant_config.hpp"
+
 #include <cmath>
 #include <thread>
 
 SlamWrapper::SlamWrapper() {
-    ChannelFactory::Instance()->Init(0, "eth0");
+    ChannelFactory::Instance()->Init(0, ConstantConfig::SLAM_NET_PORT);
 
     std::thread serial_port_thread([this] {
         //初始化机械臂串口
         boost::asio::io_service io;
-        serial_port_ = new RoboticArmSerialPort(io, "/dev/ttyACM0", 115200);
+        serial_port_ = new RoboticArmSerialPort(io, ConstantConfig::ROBOTIC_ARM_PORT, ConstantConfig::BAUD_RATE);
         io.run();
     });
     serial_port_thread.detach();
@@ -114,34 +116,34 @@
         str_ = seq->data().substr(begin_ + 7, end_ - begin_ - 7);
         const int arrive_ = atoi(str_.c_str());
         std::cout << "I arrived node " << arrive_ << ". " << notice_ << std::endl;
-        TcpService::getInstance().update_node(arrive_);
-        if (arrive_ == 2) {
-            //发送暂停指令
-            pause_navigation();
+        //发送暂停指令
+        pause_navigation();
+        //倒计时结束后恢复巡检
+        std::thread countdown_thread([this,&arrive_] {
+            try {
+                //朝右下方
+                std::cout << "发送机械臂转动指令，倒计时开始，请等待10秒" << std::endl;
+                serial_port_->write({
+                    0xFE, 0xFE, 0x0F, 0x3C,
+                    0x0B, 0x71, 0x08, 0x25, 0x06, 0xFB,
+                    0x08, 0x2E, 0x0A, 0xCB, 0x08, 0x28,
+                    0x14, 0xFA
+                });
+                std::this_thread::sleep_for(std::chrono::seconds(5));
 
-            //TODO 控制机械臂转动到预设的角度
-            //朝右下方
-            std::cout << "发送机械臂转动指令，倒计时开始，请等待10秒" << std::endl;
-            serial_port_->write({
-                0xFE, 0xFE, 0x0F, 0x3C,
-                0x0B, 0x71, 0x08, 0x25, 0x06, 0xFB,
-                0x08, 0x2E, 0x0A, 0xCB, 0x08, 0x28,
-                0x14, 0xFA
-            });
+                //延迟5~10秒更新节点
+                TcpService::getInstance().update_node(arrive_);
 
-            //倒计时结束后恢复巡检
-            std::thread countdown_thread([this] {
-                try {
-                    std::this_thread::sleep_for(std::chrono::seconds(10));
-                    recover_navigation();
-                    std::cout << "倒计时结束，恢复机械臂初始位置，恢复巡检";
-                    serial_port_->write(default_command);
-                } catch (const std::exception &e) {
-                    std::cerr << "线程执行过程中发生异常: " << e.what() << std::endl;
-                }
-            });
-            countdown_thread.join();
-        }
+                std::this_thread::sleep_for(std::chrono::seconds(5));
+
+                recover_navigation();
+                std::cout << "倒计时结束，恢复机械臂初始位置，恢复巡检";
+                serial_port_->write(default_command);
+            } catch (const std::exception &e) {
+                std::cerr << "线程执行过程中发生异常: " << e.what() << std::endl;
+            }
+        });
+        countdown_thread.join();
     }
 }
 
diff --git a/src/tcp_client.cpp b/src/tcp_client.cpp
index 91c6720..e819793 100644
--- a/src/tcp_client.cpp
+++ b/src/tcp_client.cpp
@@ -5,6 +5,7 @@
 #include "tcp_client.hpp"
 #include "tcp_service.hpp"
 #include "slam_wrapper.hpp"
+#include "constant_config.hpp"
 
 #include <cstring>
 #include <iostream>
@@ -146,7 +147,7 @@
                     << ", waiting for command ..." << std::endl;
 
             //连接成功后把自己的编号发送给Tcp Service
-            const std::string dog_code = "B42D4000OCAD3N82";
+            const std::string dog_code = std::string("devCode:") + ConstantConfig::DOG_CODE;
             send(_client_socket, dog_code.c_str(), dog_code.size(), 0);
 
             // 启动接收数据的线程