diff --git a/src/main/java/com/qyft/gd/device/client/TcpClient.java b/src/main/java/com/qyft/gd/device/client/TcpClient.java
index e343628..2a48a01 100644
--- a/src/main/java/com/qyft/gd/device/client/TcpClient.java
+++ b/src/main/java/com/qyft/gd/device/client/TcpClient.java
@@ -56,6 +56,7 @@ public class TcpClient {
                             @Override
                             protected void initChannel(Channel ch) {
                                 ch.pipeline().addLast(deviceMessageHandler);
+                                ch.pipeline().addLast(new TcpConnectionHandler());
                             }
                         });
             }
@@ -86,12 +87,14 @@ public class TcpClient {
         }
     }
 
-    public void send(String request) {
+    public boolean send(String request) {
         if (channel != null && channel.isActive()) {
             ByteBuf byteBuf = Unpooled.copiedBuffer(request, CharsetUtil.UTF_8);
             channel.writeAndFlush(byteBuf);
+            return true;
         } else {
             log.error("TCP服务未连接，无法发送请求: {}", request);
+            return false;
         }
     }
 
@@ -103,8 +106,11 @@ public class TcpClient {
         CompletableFuture<DeviceFeedback> future = new CompletableFuture<>();
         responseMap.put(request.getId(), future);
         try {
-            this.send(JSONUtil.toJsonStr(request));
-            return future.get(tcpConfig.getFeedbackTimeout(), TimeUnit.MILLISECONDS); // 等待 FEEDBACK 响应
+            if(this.send(JSONUtil.toJsonStr(request))){
+                return future.get(tcpConfig.getFeedbackTimeout(), TimeUnit.MILLISECONDS); // 等待 FEEDBACK 响应
+            }else{
+                return null;
+            }
         } catch (Exception e) {
             log.error("发送TCP指令错误 {}", JSONUtil.toJsonStr(request), e);
         } finally {
@@ -122,4 +128,24 @@ public class TcpClient {
             log.error("未找到 requestId: {} 对应的等待请求", requestId);
         }
     }
+
+    private class TcpConnectionHandler extends ChannelInboundHandlerAdapter {
+
+        @Override
+        public void channelInactive(ChannelHandlerContext ctx) throws Exception {
+            // 连接断开时的处理逻辑
+            log.error("TCP连接丢失，准备重新连接...");
+            if (channel != null) {
+                channel.close();
+            }
+            connect();
+            super.channelInactive(ctx);
+        }
+
+        @Override
+        public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) {
+            log.error("TCP连接发生异常: {}", cause.getMessage(), cause);
+            ctx.close();
+        }
+    }
 }
diff --git a/src/main/java/com/qyft/gd/device/handler/DeviceMessageHandler.java b/src/main/java/com/qyft/gd/device/handler/DeviceMessageHandler.java
index ea89ea5..3944dca 100644
--- a/src/main/java/com/qyft/gd/device/handler/DeviceMessageHandler.java
+++ b/src/main/java/com/qyft/gd/device/handler/DeviceMessageHandler.java
@@ -8,7 +8,6 @@ import com.qyft.gd.device.model.bo.DeviceFeedback;
 import com.qyft.gd.device.model.bo.DeviceStatus;
 import com.qyft.gd.device.service.DeviceStateService;
 import io.netty.buffer.ByteBuf;
-import io.netty.buffer.Unpooled;
 import io.netty.channel.ChannelHandler;
 import io.netty.channel.ChannelHandlerContext;
 import io.netty.channel.ChannelInboundHandlerAdapter;
@@ -26,19 +25,13 @@ public class DeviceMessageHandler extends ChannelInboundHandlerAdapter {
 
     private final DeviceStateService deviceStateService;
     private final TcpClient tcpClient;
-
     @PostConstruct
     public void init() {
         tcpClient.setDeviceMessageHandler(this);
     }
 
     @Override
-    public void channelActive(ChannelHandlerContext ctx) {
-        System.out.println("client ctx =" + ctx);
-        ctx.writeAndFlush(Unpooled.copiedBuffer("Hello, Server!", CharsetUtil.UTF_8));
-    }
 
-    @Override
     public void channelRead(ChannelHandlerContext ctx, Object msg) {
         ByteBuf buf = (ByteBuf) msg;
         String serverMsg = buf.toString(CharsetUtil.UTF_8);
diff --git a/src/main/java/com/qyft/gd/device/service/DeviceService.java b/src/main/java/com/qyft/gd/device/service/DeviceService.java
index 1e2f013..606d163 100644
--- a/src/main/java/com/qyft/gd/device/service/DeviceService.java
+++ b/src/main/java/com/qyft/gd/device/service/DeviceService.java
@@ -27,8 +27,6 @@ public class DeviceService {
         return true;
     }
 
-    // 移动导轨机械臂的关节
-
     /**
      * 移动导轨机械臂的关节
      *
@@ -72,7 +70,7 @@ public class DeviceService {
         list.add("3");
         request.setParams(list);
         DeviceFeedback deviceFeedback = tcpClient.sendCommand(request);
-        if (deviceFeedback.getError() != null) {
+        if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.info("TCP openDoor指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
         }