接收到相应的消息就在相应的发送相应的位置

build/CMakeFiles/main.dir/src/main.cc.o.d

@@ -252,7 +252,7 @@ CMakeFiles/main.dir/src/main.cc.o: /home/orangepi/gps/master/src/main.cc \
  /usr/include/aarch64-linux-gnu/bits/termios-tcflow.h \
  /usr/include/aarch64-linux-gnu/bits/termios-misc.h \
  /usr/include/aarch64-linux-gnu/sys/ttydefaults.h \
- /home/orangepi/gps/master/include/tank_data.hpp \
+ /home/orangepi/gps/master/include/positioning_data.hpp \
  /home/orangepi/gps/master/third_party/json/include/nlohmann/json.hpp \
  /usr/include/c++/11/algorithm \
  /usr/include/c++/11/pstl/glue_algorithm_defs.h \

include/tank_data.hpp → include/positioning_data.hpp

-// tank_data.hpp (正确的版本)
-#ifndef TANK_DATA_HPP
-#define TANK_DATA_HPP
+#pragma once 
 
 #include <string>
 #include <nlohmann/json.hpp>
 
 using json = nlohmann::json;
 
-struct TankWarMapData {
-    int id;
-    std::string type;
+struct positioningMapData {
+    int id;//std::string
     int resWidth;
     int resHeight;
     int resX;
@@ -17,11 +14,10 @@ struct TankWarMapData {
     int resZ;
 };
 
-// 这个函数只负责 TankWarMapData 的转换，不应包含任何其他内容
-void to_json(json& j, const TankWarMapData& data) {
+// 这个函数只负责 positioningMapData 的转换，不应包含任何其他内容
+void to_json(json& j, const positioningMapData& data) {
     j = json{
         {"id", data.id},
-        {"type", data.type},
         {"resWidth", data.resWidth},
         {"resHeight", data.resHeight},
         {"resX", data.resX},
@@ -30,4 +26,12 @@ void to_json(json& j, const TankWarMapData& data) {
     };
 }
 
-#endif // TANK_DATA_HPP
\ No newline at end of file
+
+std::string transfor_json( positioningMapData &data) {
+    json j;
+    j["body"] = data;
+    j["head"] = {{"message_type", 1}};
+
+    std::string json_payload = j.dump();
+    return json_payload;
+}

include/serial_port.hpp

@@ -56,6 +56,8 @@ private:
     // 监听线程的主循环函数
     void listenerLoop();
 
+    const std::vector<uint8_t> _stop_serial_modbus = {0x01, 0x10, 0x00, 0x3B, 0x00, 0x01, 0x02, 0x00, 0x00, 0xA2, 0xDB};//停止串口
+
     // 内部状态
     std::string port_name_;
     int fd_; // 文件描述符

src/main.cc

@@ -5,9 +5,10 @@
 #include <thread>
 #include <chrono>
 #include <iomanip>
+#include <string>
 #include "device_tag_bind.hpp"
 #include "serial_port.hpp"
-#include "tank_data.hpp"
+#include "positioning_data.hpp"
 #include "mqtt_used.hpp" // 注意：这里应该是 MqttTopicsHandler.hpp
 #include "file_operations.hpp"
 
@@ -20,8 +21,10 @@ const std::string PASSWORD = "admin";
 // 主题定义
 const std::string g_base_topic_prefix = "ser2dev/"; // 用于接收动态订阅指令的主题
 const std::string publish_topic_prefix = "positioning/"; // 发布数据的主题前缀
+std::string final_publish_topic;
 std::string g_device_id;
 
+positioningMapData g_positioning_data_t;
 
 // --- 全局变量 ---
 // 使用智能指针管理串口和MQTT客户端的生命周期
@@ -63,7 +66,7 @@ void onSerialMessageReceived(const std::vector<uint8_t>& message) {
     // 直接从 message vector 访问数据，无需拷贝
     if (message[10] == 0x01) {
         int i = static_cast<int>(message[8]);
-        if (i >= 0 && i < x_local.size()) {
+        if (i>0 && static_cast<size_t>(i) < x_local.size()) {
             x_local[i] = (static_cast<uint16_t>(message[13]) << 8) | message[14];
             y_local[i] = (static_cast<uint16_t>(message[15]) << 8) | message[16];
             
@@ -102,7 +105,7 @@ std::shared_ptr<MqttTopicsHandler> mqtt_init_and_connect() {
     std::string g_base_topic = g_base_topic_prefix + g_device_id;
 
     // 构造发布主题，例如：positioning/CN040300000002
-    std::string final_publish_topic = publish_topic_prefix + g_device_id; 
+    final_publish_topic = publish_topic_prefix + g_device_id; 
 
    handler->AddSubscription(g_base_topic,
     [weak_handler = std::weak_ptr<MqttTopicsHandler>(handler)](const std::string& topic, const nlohmann::json& json) {
@@ -111,25 +114,49 @@ std::shared_ptr<MqttTopicsHandler> mqtt_init_and_connect() {
             if (json.value("/head/message_type"_json_pointer, 0) != 5000) return;
 
             auto dev_id = json.at("body").at("dev_id").get<std::string>();
+            auto tag_id = json.at("body").at("id").get<std::string>();
             auto data_topic = "app2dev/" + dev_id;
-            g_device_tag_t.set(dev_id, data_topic);
+            g_device_tag_t.set(tag_id, data_topic);
+
+            // 转换为整数
+            int tag_id_num_int = std::stoi(tag_id);  // 可能抛出 std::invalid_argument 或 std::out_of_range
+            positioningMapData bind_tag_send_data_t = {
+                .id = tag_id_num_int,
+                .resWidth = 500,
+                .resHeight = 500,
+                .resX = x_local[tag_id_num_int],
+                .resY = y_local[tag_id_num_int],
+                .resZ = 0
+            };
+            g_positioning_data_t=bind_tag_send_data_t;
+            g_mqtt_handler->publish(final_publish_topic, transfor_json(g_positioning_data_t));
 
             if (auto shared_handler = weak_handler.lock()) {
                 std::cout << "指令解析成功，准备动态订阅主题: " << data_topic << std::endl;
                 // 调用 AddSubscription，它现在会将订阅任务 post 到工作线程，避免死锁
                 shared_handler->AddSubscription(data_topic,
                     [](const std::string& sub_topic, const nlohmann::json& sub_json) {
-                        std::cout<<"发送成功"<<std::endl;
                         if (sub_json.contains("head") && 
                             sub_json["head"].is_object() &&
                             sub_json["head"].contains("message_type") &&
                             sub_json["head"]["message_type"].is_number_integer() &&
                             sub_json["head"]["message_type"].get<int>() == 3){
-                                    std::cout<<"发送成功123"<<std::endl;
+                                    
                         std::string device_local_label_id=g_device_tag_t.find(sub_topic);
+                        int tag_id_num_int = std::stoi(device_local_label_id);
                         if(device_local_label_id!="empty"){
-                            std::cout<<"发送成123功"<<std::endl;
-                                            // 使用全局的 g_mqtt_handler 来发布
+                               positioningMapData bind_tag_send_data_t = {
+                                .id = tag_id_num_int,
+                                .resWidth = 500,
+                                .resHeight = 500,
+                                .resX = x_local[tag_id_num_int],
+                                .resY = y_local[tag_id_num_int],
+                                .resZ = 0
+                                };
+                                g_positioning_data_t=bind_tag_send_data_t;
+                                std::cout<<"发送成功"<<std::endl;
+                            g_mqtt_handler->publish(final_publish_topic, transfor_json(g_positioning_data_t));
+                                //使用全局的 g_mqtt_handler 来发布
                             //mqtt_handler->PublishJson(final_publish_topic, root_json);
                             }
                         }
@@ -147,6 +174,7 @@ std::shared_ptr<MqttTopicsHandler> mqtt_init_and_connect() {
 
 int main(int argc, char* argv[]) {
     // 注册信号处理
+    //signal(SIGTERM, signalHandler); 
     signal(SIGINT, signalHandler);
     
     // 初始化 tag_id
@@ -181,34 +209,10 @@ int main(int argc, char* argv[]) {
     // 发送开始连续读取的指令
     g_serial_port->send(cmd_continuous);
     std::cout << "已发送连续读取指令到串口设备。" << std::endl;
-
-    // --- 3. 主循环：从串口获取数据并通过 MQTT 发布 ---
-    std::cout << "进入主循环，将通过 MQTT 发布数据..." << std::endl;
-    while (true) {
-        // 遍历所有标签，检查是否有新数据并发布
-        for (int current_id : tag_id) {
-            // 这里可以添加一个逻辑，比如只发布坐标有变化的数据
-            // 为简化，我们每次都发布
-            TankWarMapData tank_data = {
-                .id = current_id,
-                .type = "tank",
-                .resWidth = 500,
-                .resHeight = 500,
-                .resX = x_local[current_id],
-                .resY = y_local[current_id],
-                .resZ = 0,
-            };
-
-            nlohmann::json root_json;
-            root_json["body"] = tank_data;
-            root_json["head"] = {{"message_type", 1}};
-
-          
-        }
-        
-        // 每秒发布一次所有标签的数据
-        std::this_thread::sleep_for(std::chrono::seconds(1));
+    while(1){
+         std::this_thread::sleep_for(std::chrono::milliseconds(300));
     }
+    
 
     return 0; // 正常情况下不会执行到这里
 }
\ No newline at end of file

src/serial_port.cc

@@ -17,6 +17,7 @@ SerialPort::SerialPort(const std::string& port_name)
       stop_listener_(false) {}
 
 SerialPort::~SerialPort() {
+    send(_stop_serial_modbus);
     close();
 }