加入了动态订阅主题

CMakeLists.txt。1

-cmake_minimum_required(VERSION 3.12)
-cmake_minimum_required(VERSION 3.12)
-project(gps_tank)
-
-# 设置C++标准
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-# 查找 Paho MQTT 库。
-# 你的 dpkg 输出证明了系统中有正确的 CMake 配置文件，所以这行会成功。
-find_package(PahoMqttCpp REQUIRED)
-
-# 添加可执行文件
-add_executable(main
-    src/main.cc
-    src/serial_port.cc
-    src/mqtt_controller.cc
-)
-
-# 包含所有需要的头文件路径
-target_include_directories(main PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}/include
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_CURRENT_SOURCE_DIR}/third_party/json/include
-    # find_package 会自动处理 Paho Mqtt 的头文件路径，
-    # 因为 PahoMqtt::paho-mqttpp3 目标包含了它的 include 目录。
-    # 所以这里不再需要手动添加 ${PahoMqttCpp_INCLUDE_DIRS}。
-)
-
-# 链接库文件
-# 只需要链接最顶层的 C++ 库目标。
-# 它会自动将其依赖的 C 库 (paho-mqtt3as) 和 pthread 链接进来。
-target_link_libraries(main PRIVATE
-    paho-mqttpp3   # C++ 库
-    paho-mqtt3as   # 它依赖的 C 库 (asynchronous)
-    pthread        # 线程库
-)
-
-# 可选：添加调试和警告信息
-target_compile_options(main PRIVATE -g -Wall -Wextra)
+++ /dev/null
\ No newline at end of file

Deviceld.txt

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\ No newline at end of file

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+  /usr/include/aarch64-linux-gnu/bits/wordsize.h \
+  /usr/include/aarch64-linux-gnu/bits/timesize.h \
+  /usr/include/aarch64-linux-gnu/sys/cdefs.h \
+  /usr/include/aarch64-linux-gnu/bits/long-double.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/cpu_defines.h \
+  /usr/include/c++/11/pstl/pstl_config.h \
+  /usr/include/c++/11/ostream \
+  /usr/include/c++/11/ios \
+  /usr/include/c++/11/iosfwd \
+  /usr/include/c++/11/bits/stringfwd.h \
+  /usr/include/c++/11/bits/memoryfwd.h \
+  /usr/include/c++/11/bits/postypes.h \
+  /usr/include/c++/11/cwchar \
+  /usr/include/wchar.h \
+  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h \
+  /usr/include/aarch64-linux-gnu/bits/wchar.h \
+  /usr/include/aarch64-linux-gnu/bits/types/wint_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/mbstate_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
+  /usr/include/c++/11/exception \
+  /usr/include/c++/11/bits/exception.h \
+  /usr/include/c++/11/bits/exception_ptr.h \
+  /usr/include/c++/11/bits/exception_defines.h \
+  /usr/include/c++/11/bits/cxxabi_init_exception.h \
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+  /usr/include/c++/11/new \
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+  /usr/include/c++/11/type_traits \
+  /usr/include/c++/11/bits/nested_exception.h \
+  /usr/include/c++/11/bits/char_traits.h \
+  /usr/include/c++/11/bits/stl_algobase.h \
+  /usr/include/c++/11/bits/functexcept.h \
+  /usr/include/c++/11/bits/cpp_type_traits.h \
+  /usr/include/c++/11/ext/type_traits.h \
+  /usr/include/c++/11/ext/numeric_traits.h \
+  /usr/include/c++/11/bits/stl_pair.h \
+  /usr/include/c++/11/bits/stl_iterator_base_types.h \
+  /usr/include/c++/11/bits/stl_iterator_base_funcs.h \
+  /usr/include/c++/11/bits/concept_check.h \
+  /usr/include/c++/11/debug/assertions.h \
+  /usr/include/c++/11/bits/stl_iterator.h \
+  /usr/include/c++/11/bits/ptr_traits.h \
+  /usr/include/c++/11/debug/debug.h \
+  /usr/include/c++/11/bits/predefined_ops.h \
+  /usr/include/c++/11/cstdint \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
+  /usr/include/stdint.h \
+  /usr/include/aarch64-linux-gnu/bits/types.h \
+  /usr/include/aarch64-linux-gnu/bits/typesizes.h \
+  /usr/include/aarch64-linux-gnu/bits/time64.h \
+  /usr/include/aarch64-linux-gnu/bits/stdint-intn.h \
+  /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h \
+  /usr/include/c++/11/bits/localefwd.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/c++locale.h \
+  /usr/include/c++/11/clocale \
+  /usr/include/locale.h \
+  /usr/include/aarch64-linux-gnu/bits/locale.h \
+  /usr/include/c++/11/cctype \
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+  /usr/include/aarch64-linux-gnu/bits/endian.h \
+  /usr/include/aarch64-linux-gnu/bits/endianness.h \
+  /usr/include/c++/11/bits/ios_base.h \
+  /usr/include/c++/11/ext/atomicity.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/gthr.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/gthr-default.h \
+  /usr/include/pthread.h \
+  /usr/include/sched.h \
+  /usr/include/aarch64-linux-gnu/bits/types/time_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
+  /usr/include/aarch64-linux-gnu/bits/sched.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_sched_param.h \
+  /usr/include/aarch64-linux-gnu/bits/cpu-set.h \
+  /usr/include/time.h \
+  /usr/include/aarch64-linux-gnu/bits/time.h \
+  /usr/include/aarch64-linux-gnu/bits/timex.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h \
+  /usr/include/aarch64-linux-gnu/bits/types/clock_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \
+  /usr/include/aarch64-linux-gnu/bits/types/clockid_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/timer_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
+  /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h \
+  /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \
+  /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \
+  /usr/include/aarch64-linux-gnu/bits/atomic_wide_counter.h \
+  /usr/include/aarch64-linux-gnu/bits/struct_mutex.h \
+  /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h \
+  /usr/include/aarch64-linux-gnu/bits/setjmp.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct___jmp_buf_tag.h \
+  /usr/include/aarch64-linux-gnu/bits/pthread_stack_min-dynamic.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/atomic_word.h \
+  /usr/include/aarch64-linux-gnu/sys/single_threaded.h \
+  /usr/include/c++/11/bits/locale_classes.h \
+  /usr/include/c++/11/string \
+  /usr/include/c++/11/bits/allocator.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/c++allocator.h \
+  /usr/include/c++/11/ext/new_allocator.h \
+  /usr/include/c++/11/bits/ostream_insert.h \
+  /usr/include/c++/11/bits/cxxabi_forced.h \
+  /usr/include/c++/11/bits/stl_function.h \
+  /usr/include/c++/11/backward/binders.h \
+  /usr/include/c++/11/bits/range_access.h \
+  /usr/include/c++/11/initializer_list \
+  /usr/include/c++/11/bits/basic_string.h \
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+  /usr/include/c++/11/bits/alloc_traits.h \
+  /usr/include/c++/11/bits/stl_construct.h \
+  /usr/include/c++/11/string_view \
+  /usr/include/c++/11/bits/functional_hash.h \
+  /usr/include/c++/11/bits/string_view.tcc \
+  /usr/include/c++/11/ext/string_conversions.h \
+  /usr/include/c++/11/cstdlib \
+  /usr/include/stdlib.h \
+  /usr/include/aarch64-linux-gnu/bits/waitflags.h \
+  /usr/include/aarch64-linux-gnu/bits/waitstatus.h \
+  /usr/include/aarch64-linux-gnu/sys/types.h \
+  /usr/include/endian.h \
+  /usr/include/aarch64-linux-gnu/bits/byteswap.h \
+  /usr/include/aarch64-linux-gnu/bits/uintn-identity.h \
+  /usr/include/aarch64-linux-gnu/sys/select.h \
+  /usr/include/aarch64-linux-gnu/bits/select.h \
+  /usr/include/aarch64-linux-gnu/bits/types/sigset_t.h \
+  /usr/include/alloca.h \
+  /usr/include/aarch64-linux-gnu/bits/stdlib-float.h \
+  /usr/include/c++/11/bits/std_abs.h \
+  /usr/include/c++/11/cstdio \
+  /usr/include/stdio.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/cookie_io_functions_t.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
+  /usr/include/c++/11/cerrno \
+  /usr/include/errno.h \
+  /usr/include/aarch64-linux-gnu/bits/errno.h \
+  /usr/include/linux/errno.h \
+  /usr/include/aarch64-linux-gnu/asm/errno.h \
+  /usr/include/asm-generic/errno.h \
+  /usr/include/asm-generic/errno-base.h \
+  /usr/include/aarch64-linux-gnu/bits/types/error_t.h \
+  /usr/include/c++/11/bits/charconv.h \
+  /usr/include/c++/11/bits/basic_string.tcc \
+  /usr/include/c++/11/bits/locale_classes.tcc \
+  /usr/include/c++/11/system_error \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/error_constants.h \
+  /usr/include/c++/11/stdexcept \
+  /usr/include/c++/11/streambuf \
+  /usr/include/c++/11/bits/streambuf.tcc \
+  /usr/include/c++/11/bits/basic_ios.h \
+  /usr/include/c++/11/bits/locale_facets.h \
+  /usr/include/c++/11/cwctype \
+  /usr/include/wctype.h \
+  /usr/include/aarch64-linux-gnu/bits/wctype-wchar.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/ctype_base.h \
+  /usr/include/c++/11/bits/streambuf_iterator.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/ctype_inline.h \
+  /usr/include/c++/11/bits/locale_facets.tcc \
+  /usr/include/c++/11/bits/basic_ios.tcc \
+  /usr/include/c++/11/bits/ostream.tcc \
+  /usr/include/c++/11/istream \
+  /usr/include/c++/11/bits/istream.tcc \
+  /usr/include/c++/11/fstream \
+  /usr/include/c++/11/bits/codecvt.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/basic_file.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/c++io.h \
+  /usr/include/c++/11/bits/fstream.tcc \
+  /usr/include/c++/11/sstream \
+  /usr/include/c++/11/bits/sstream.tcc
+
 CMakeFiles/main.dir/src/main.cc.o: ../src/main.cc \
   /usr/include/stdc-predef.h \
   /usr/include/c++/11/iostream \
@@ -186,26 +375,30 @@ CMakeFiles/main.dir/src/main.cc.o: ../src/main.cc \
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   /usr/include/c++/11/bits/vector.tcc \
-  /usr/include/c++/11/iomanip \
-  /usr/include/c++/11/locale \
-  /usr/include/c++/11/bits/locale_facets_nonio.h \
-  /usr/include/c++/11/ctime \
-  /usr/include/aarch64-linux-gnu/c++/11/bits/time_members.h \
-  /usr/include/aarch64-linux-gnu/c++/11/bits/messages_members.h \
-  /usr/include/libintl.h \
-  /usr/include/c++/11/bits/codecvt.h \
-  /usr/include/c++/11/bits/locale_facets_nonio.tcc \
-  /usr/include/c++/11/bits/locale_conv.h \
+  /usr/include/c++/11/memory \
+  /usr/include/c++/11/bits/stl_tempbuf.h \
+  /usr/include/c++/11/bits/stl_raw_storage_iter.h \
+  /usr/include/c++/11/bits/align.h \
+  /usr/include/c++/11/bit \
+  /usr/include/c++/11/bits/uses_allocator.h \
   /usr/include/c++/11/bits/unique_ptr.h \
   /usr/include/c++/11/utility \
   /usr/include/c++/11/bits/stl_relops.h \
   /usr/include/c++/11/tuple \
   /usr/include/c++/11/array \
-  /usr/include/c++/11/bits/uses_allocator.h \
   /usr/include/c++/11/bits/invoke.h \
-  /usr/include/c++/11/bits/quoted_string.h \
-  /usr/include/c++/11/sstream \
-  /usr/include/c++/11/bits/sstream.tcc \
+  /usr/include/c++/11/bits/shared_ptr.h \
+  /usr/include/c++/11/bits/shared_ptr_base.h \
+  /usr/include/c++/11/bits/allocated_ptr.h \
+  /usr/include/c++/11/bits/refwrap.h \
+  /usr/include/c++/11/ext/aligned_buffer.h \
+  /usr/include/c++/11/ext/concurrence.h \
+  /usr/include/c++/11/bits/shared_ptr_atomic.h \
+  /usr/include/c++/11/bits/atomic_base.h \
+  /usr/include/c++/11/bits/atomic_lockfree_defines.h \
+  /usr/include/c++/11/backward/auto_ptr.h \
+  /usr/include/c++/11/pstl/glue_memory_defs.h \
+  /usr/include/c++/11/pstl/execution_defs.h \
   /usr/include/c++/11/csignal \
   /usr/include/signal.h \
   /usr/include/aarch64-linux-gnu/bits/signum-generic.h \
@@ -256,22 +449,30 @@ CMakeFiles/main.dir/src/main.cc.o: ../src/main.cc \
   /usr/include/aarch64-linux-gnu/bits/types/struct_sigstack.h \
   /usr/include/aarch64-linux-gnu/bits/sigthread.h \
   /usr/include/aarch64-linux-gnu/bits/signal_ext.h \
-  /usr/include/c++/11/cstring \
-  /usr/include/string.h \
-  /usr/include/strings.h \
   /usr/include/c++/11/thread \
   /usr/include/c++/11/bits/std_thread.h \
-  /usr/include/c++/11/bits/refwrap.h \
   /usr/include/c++/11/bits/this_thread_sleep.h \
   /usr/include/c++/11/chrono \
   /usr/include/c++/11/ratio \
   /usr/include/c++/11/limits \
+  /usr/include/c++/11/ctime \
   /usr/include/c++/11/bits/parse_numbers.h \
-  ../include/mqtt_controller.hpp \
+  /usr/include/c++/11/iomanip \
+  /usr/include/c++/11/locale \
+  /usr/include/c++/11/bits/locale_facets_nonio.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/time_members.h \
+  /usr/include/aarch64-linux-gnu/c++/11/bits/messages_members.h \
+  /usr/include/libintl.h \
+  /usr/include/c++/11/bits/codecvt.h \
+  /usr/include/c++/11/bits/locale_facets_nonio.tcc \
+  /usr/include/c++/11/bits/locale_conv.h \
+  /usr/include/c++/11/bits/quoted_string.h \
+  /usr/include/c++/11/sstream \
+  /usr/include/c++/11/bits/sstream.tcc \
+  ../include/serial_port.hpp \
   /usr/include/c++/11/functional \
   /usr/include/c++/11/bits/std_function.h \
   /usr/include/c++/11/unordered_map \
-  /usr/include/c++/11/ext/aligned_buffer.h \
   /usr/include/c++/11/bits/hashtable.h \
   /usr/include/c++/11/bits/hashtable_policy.h \
   /usr/include/c++/11/bits/enable_special_members.h \
@@ -281,73 +482,11 @@ CMakeFiles/main.dir/src/main.cc.o: ../src/main.cc \
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   /usr/include/c++/11/bits/stl_heap.h \
-  /usr/include/c++/11/bits/stl_tempbuf.h \
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-  /usr/include/c++/11/memory \
-  /usr/include/c++/11/bits/stl_raw_storage_iter.h \
-  /usr/include/c++/11/bits/align.h \
-  /usr/include/c++/11/bit \
-  /usr/include/c++/11/bits/shared_ptr.h \
-  /usr/include/c++/11/bits/shared_ptr_base.h \
-  /usr/include/c++/11/bits/allocated_ptr.h \
-  /usr/include/c++/11/ext/concurrence.h \
-  /usr/include/c++/11/bits/shared_ptr_atomic.h \
-  /usr/include/c++/11/bits/atomic_base.h \
-  /usr/include/c++/11/bits/atomic_lockfree_defines.h \
-  /usr/include/c++/11/backward/auto_ptr.h \
-  /usr/include/c++/11/pstl/glue_memory_defs.h \
-  /usr/include/c++/11/pstl/execution_defs.h \
   /usr/include/c++/11/atomic \
-  /usr/include/mqtt/async_client.h \
-  /usr/include/MQTTAsync.h \
-  /usr/include/MQTTExportDeclarations.h \
-  /usr/include/MQTTProperties.h \
-  /usr/include/MQTTReasonCodes.h \
-  /usr/include/MQTTSubscribeOpts.h \
-  /usr/include/MQTTClientPersistence.h \
-  /usr/include/mqtt/types.h \
-  /usr/include/mqtt/token.h \
-  /usr/include/mqtt/iaction_listener.h \
-  /usr/include/mqtt/exception.h \
-  /usr/include/mqtt/properties.h \
-  /usr/include/MQTTProperties.h \
-  /usr/include/mqtt/buffer_ref.h \
-  /usr/include/mqtt/string_collection.h \
-  /usr/include/c++/11/map \
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-  /usr/include/c++/11/bits/stl_map.h \
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   /usr/include/c++/11/bits/unique_lock.h \
-  /usr/include/c++/11/condition_variable \
-  /usr/include/mqtt/create_options.h \
-  /usr/include/mqtt/delivery_token.h \
-  /usr/include/mqtt/message.h \
-  /usr/include/mqtt/iclient_persistence.h \
-  /usr/include/mqtt/buffer_view.h \
-  /usr/include/mqtt/callback.h \
-  /usr/include/mqtt/thread_queue.h \
-  /usr/include/c++/11/deque \
-  /usr/include/c++/11/bits/stl_deque.h \
-  /usr/include/c++/11/bits/deque.tcc \
-  /usr/include/c++/11/queue \
-  /usr/include/c++/11/bits/stl_queue.h \
-  /usr/include/c++/11/algorithm \
-  /usr/include/c++/11/pstl/glue_algorithm_defs.h \
-  /usr/include/mqtt/iasync_client.h \
-  /usr/include/mqtt/connect_options.h \
-  /usr/include/mqtt/topic.h \
-  /usr/include/mqtt/subscribe_options.h \
-  /usr/include/MQTTSubscribeOpts.h \
-  /usr/include/mqtt/will_options.h \
-  /usr/include/mqtt/ssl_options.h \
-  /usr/include/mqtt/disconnect_options.h \
-  /usr/include/c++/11/list \
-  /usr/include/c++/11/bits/stl_list.h \
-  /usr/include/c++/11/bits/list.tcc \
-  ../include/serial_port.hpp \
   /usr/include/termios.h \
   /usr/include/aarch64-linux-gnu/bits/termios.h \
   /usr/include/aarch64-linux-gnu/bits/termios-struct.h \
@@ -362,6 +501,8 @@ CMakeFiles/main.dir/src/main.cc.o: ../src/main.cc \
   /usr/include/aarch64-linux-gnu/sys/ttydefaults.h \
   ../include/tank_data.hpp \
   ../third_party/json/include/nlohmann/json.hpp \
+  /usr/include/c++/11/algorithm \
+  /usr/include/c++/11/pstl/glue_algorithm_defs.h \
   /usr/include/c++/11/cstddef \
   /usr/include/c++/11/iterator \
   /usr/include/c++/11/bits/stream_iterator.h \
@@ -371,6 +512,10 @@ CMakeFiles/main.dir/src/main.cc.o: ../src/main.cc \
   /usr/include/c++/11/forward_list \
   /usr/include/c++/11/bits/forward_list.h \
   /usr/include/c++/11/bits/forward_list.tcc \
+  /usr/include/c++/11/map \
+  /usr/include/c++/11/bits/stl_tree.h \
+  /usr/include/c++/11/bits/stl_map.h \
+  /usr/include/c++/11/bits/stl_multimap.h \
   /usr/include/c++/11/valarray \
   /usr/include/c++/11/cmath \
   /usr/include/math.h \
@@ -423,6 +568,9 @@ CMakeFiles/main.dir/src/main.cc.o: ../src/main.cc \
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   ../third_party/json/include/nlohmann/json_fwd.hpp \
   ../third_party/json/include/nlohmann/detail/string_concat.hpp \
+  /usr/include/c++/11/cstring \
+  /usr/include/string.h \
+  /usr/include/strings.h \
   ../third_party/json/include/nlohmann/detail/meta/identity_tag.hpp \
   ../third_party/json/include/nlohmann/detail/meta/std_fs.hpp \
   /usr/include/c++/11/filesystem \
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+ /usr/include/c++/11/version /usr/include/c++/11/cassert \
+ /usr/include/assert.h \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/string_escape.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/input/position_t.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/meta/cpp_future.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/meta/type_traits.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/iterators/iterator_traits.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/meta/call_std/begin.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/meta/call_std/end.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/json_fwd.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/string_concat.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/meta/identity_tag.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/meta/std_fs.hpp \
+ /usr/include/c++/11/filesystem /usr/include/c++/11/bits/fs_fwd.h \
+ /usr/include/c++/11/bits/fs_path.h /usr/include/c++/11/locale \
+ /usr/include/c++/11/bits/locale_facets_nonio.h \
+ /usr/include/aarch64-linux-gnu/c++/11/bits/time_members.h \
+ /usr/include/aarch64-linux-gnu/c++/11/bits/messages_members.h \
+ /usr/include/libintl.h /usr/include/c++/11/bits/codecvt.h \
+ /usr/include/c++/11/bits/locale_facets_nonio.tcc \
+ /usr/include/c++/11/bits/locale_conv.h /usr/include/c++/11/iomanip \
+ /usr/include/c++/11/bits/quoted_string.h /usr/include/c++/11/sstream \
+ /usr/include/c++/11/bits/sstream.tcc /usr/include/c++/11/codecvt \
+ /usr/include/c++/11/bits/fs_dir.h /usr/include/c++/11/bits/fs_ops.h \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/conversions/to_json.hpp \
+ /usr/include/c++/11/optional \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/iterators/iteration_proxy.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/string_utils.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/byte_container_with_subtype.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/hash.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/input/binary_reader.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/input/input_adapters.hpp \
+ /usr/include/c++/11/numeric /usr/include/c++/11/bits/stl_numeric.h \
+ /usr/include/c++/11/pstl/glue_numeric_defs.h \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/input/json_sax.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/input/lexer.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/meta/is_sax.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/input/parser.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/iterators/internal_iterator.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/iterators/primitive_iterator.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/iterators/iter_impl.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/iterators/json_reverse_iterator.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/json_custom_base_class.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/json_pointer.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/json_ref.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/output/binary_writer.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/output/output_adapters.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/output/serializer.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/conversions/to_chars.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/ordered_map.hpp \
+ /usr/include/c++/11/any \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/detail/macro_unscope.hpp \
+ /home/orangepi/gps/master/third_party/json/include/nlohmann/thirdparty/hedley/hedley_undef.hpp

build/CMakeFiles/progress.marks

-21
+23

build/Makefile

@@ -217,6 +217,30 @@ paho-mqttpp3-shared/fast:
 	$(MAKE) $(MAKESILENT) -f third_party/paho.mqtt.cpp/src/CMakeFiles/paho-mqttpp3-shared.dir/build.make third_party/paho.mqtt.cpp/src/CMakeFiles/paho-mqttpp3-shared.dir/build
 .PHONY : paho-mqttpp3-shared/fast
 
+src/file_operations.o: src/file_operations.cc.o
+.PHONY : src/file_operations.o
+
+# target to build an object file
+src/file_operations.cc.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/file_operations.cc.o
+.PHONY : src/file_operations.cc.o
+
+src/file_operations.i: src/file_operations.cc.i
+.PHONY : src/file_operations.i
+
+# target to preprocess a source file
+src/file_operations.cc.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/file_operations.cc.i
+.PHONY : src/file_operations.cc.i
+
+src/file_operations.s: src/file_operations.cc.s
+.PHONY : src/file_operations.s
+
+# target to generate assembly for a file
+src/file_operations.cc.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/file_operations.cc.s
+.PHONY : src/file_operations.cc.s
+
 src/main.o: src/main.cc.o
 .PHONY : src/main.o
 
@@ -265,6 +289,30 @@ src/mqtt_controller.cc.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/mqtt_controller.cc.s
 .PHONY : src/mqtt_controller.cc.s
 
+src/mqtt_used.o: src/mqtt_used.cc.o
+.PHONY : src/mqtt_used.o
+
+# target to build an object file
+src/mqtt_used.cc.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/mqtt_used.cc.o
+.PHONY : src/mqtt_used.cc.o
+
+src/mqtt_used.i: src/mqtt_used.cc.i
+.PHONY : src/mqtt_used.i
+
+# target to preprocess a source file
+src/mqtt_used.cc.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/mqtt_used.cc.i
+.PHONY : src/mqtt_used.cc.i
+
+src/mqtt_used.s: src/mqtt_used.cc.s
+.PHONY : src/mqtt_used.s
+
+# target to generate assembly for a file
+src/mqtt_used.cc.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/mqtt_used.cc.s
+.PHONY : src/mqtt_used.cc.s
+
 src/serial_port.o: src/serial_port.cc.o
 .PHONY : src/serial_port.o
 
@@ -306,12 +354,18 @@ help:
 	@echo "... test"
 	@echo "... main"
 	@echo "... paho-mqttpp3-shared"
+	@echo "... src/file_operations.o"
+	@echo "... src/file_operations.i"
+	@echo "... src/file_operations.s"
 	@echo "... src/main.o"
 	@echo "... src/main.i"
 	@echo "... src/main.s"
 	@echo "... src/mqtt_controller.o"
 	@echo "... src/mqtt_controller.i"
 	@echo "... src/mqtt_controller.s"
+	@echo "... src/mqtt_used.o"
+	@echo "... src/mqtt_used.i"
+	@echo "... src/mqtt_used.s"
 	@echo "... src/serial_port.o"
 	@echo "... src/serial_port.i"
 	@echo "... src/serial_port.s"

build/third_party/paho.mqtt.cpp/src/CMakeFiles/paho-mqttpp3-shared.dir/progress.make

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-CMAKE_PROGRESS_17 = 21
+CMAKE_PROGRESS_1 = 7
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+CMAKE_PROGRESS_14 = 20
+CMAKE_PROGRESS_15 = 21
+CMAKE_PROGRESS_16 = 22
+CMAKE_PROGRESS_17 = 23
 

httpserver.py

@@ -19,7 +19,7 @@ def get_local_ip():
 def write_to_file(data):
     try:
         # 打开文件，模式为写入模式（会清空已有内容）
-        with open("./master/Deviceld.txt", "w", encoding="utf-8") as file:
+        with open("/home/orangepi/car/master/Deviceld.txt", "w", encoding="utf-8") as file:
             file.write(data)
         print("数据已成功写入 Deviceld.txt")
     except Exception as e:
@@ -28,8 +28,8 @@ def write_to_file(data):
 
 def read_from_file():
     try:
-        if os.path.exists("./master/Deviceld.txt"):
-            with open("./master/Deviceld.txt", "r", encoding="utf-8") as file:
+        if os.path.exists("/home/orangepi/car/master/Deviceld.txt"):
+            with open("/home/orangepi/car/master/Deviceld.txt", "r", encoding="utf-8") as file:
                 return file.read()
         return "文件内容为空。"
     except Exception as e:

include/file_operations.hpp

+#pragma once 
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <string>
+
+class FileReader{
+    private:
+        std::string _filePath;
+        std::ifstream _fileStream;
+        void close();
+
+    public:
+    // 构造函数，传入文件路径
+    FileReader(const std::string& path) : _filePath(path) {}
+
+     // 打开文件
+    bool open();
+
+     // 读取整个文件内容为字符串
+    std::string readAll();
+
+    // 析构函数确保文件关闭
+    ~FileReader() {
+        close();
+    }
+
+};
\ No newline at end of file

include/mqtt_controller.hpp

-// mqtt_controller.hpp
 #ifndef MQTT_CONTROLLER_HPP
 #define MQTT_CONTROLLER_HPP
 
 #include <string>
+#include <vector>
 #include <functional>
 #include <memory>
 #include <atomic>
-#include <mqtt/async_client.h> // 引入Paho C++库头文件
+#include <mutex>
+#include <unordered_map>
+#include <mqtt/async_client.h>
 
 class MqttController {
 public:
-    // 定义消息回调函数的类型，方便用户使用
+    // 定义回调函数类型
     using MessageCallback = std::function<void(const std::string& topic, const std::string& payload)>;
+    using ConnectionSuccessCallback = std::function<void()>;
+    using ConnectionLostCallback = std::function<void(const std::string& cause)>;
 
     // 构造函数：需要代理地址和客户端ID
     MqttController(const std::string& broker_address, const std::string& client_id);
@@ -23,8 +27,11 @@ public:
     MqttController& operator=(const MqttController&) = delete;
 
     // 连接到MQTT代理
-    // @return 连接成功或正在连接返回true
-    bool connect(const std::string& username, const std::string& password);
+    // @param username 用户名
+    // @param password 密码
+    // @param automatic_reconnect 是否启用自动重连
+    // @return 连接请求已发送返回true，立即出错返回false
+    bool connect(const std::string& username, const std::string& password, bool automatic_reconnect = true);
 
     // 断开连接
     void disconnect();
@@ -32,29 +39,40 @@ public:
     // 检查客户端是否已连接
     bool isConnected() const;
 
-    // 订阅一个主题，并设置一个专门处理该主题消息的回调函数
-    void subscribe(const std::string& topic, MessageCallback callback);
+    // 设置连接成功的回调
+    void setOnConnectSuccessCallback(ConnectionSuccessCallback cb);
+    // 设置连接丢失的回调
+    void setOnConnectionLostCallback(ConnectionLostCallback cb);
+
+    // 订阅一个主题
+    void subscribe(const std::string& topic, int qos, MessageCallback callback);
+
+    // 订阅多个主题（使用相同的回调和QoS）
+    void subscribe(const std::vector<std::string>& topics, int qos, MessageCallback callback);
+
+    // 取消订阅
+    void unsubscribe(const std::string& topic);
     
     // 发布消息
     void publish(const std::string& topic, const std::string& payload, int qos = 1, bool retained = false);
 
 private:
-    // Paho库需要一个回调处理类，我们将其作为内部类以实现良好封装
+    // 内部类，用于处理来自Paho库的回调
     class CallbackHandler : public virtual mqtt::callback {
     public:
         CallbackHandler(MqttController& controller) : controller_(controller) {}
 
     private:
-        // 当连接成功建立时调用
         void connected(const std::string& cause) override;
-        // 当连接丢失时调用
         void connection_lost(const std::string& cause) override;
-        // 当订阅的消息到达时调用
         void message_arrived(mqtt::const_message_ptr msg) override;
         
         MqttController& controller_;
     };
 
+    // 静态辅助函数，用于MQTT主题通配符匹配
+    static bool topic_matches_sub(const std::string& sub, const std::string& topic);
+
     // Paho异步客户端的智能指针
     std::unique_ptr<mqtt::async_client> client_;
     // 回调处理类的实例
@@ -63,7 +81,13 @@ private:
     std::atomic<bool> is_connected_;
 
     // 存储用户为特定主题设置的回调函数
-    MessageCallback message_callback_;
+    std::unordered_map<std::string, MessageCallback> topic_callbacks_;
+    // 互斥锁，用于保护回调映射的线程安全访问
+    std::mutex callbacks_mutex_;
+
+    // 存储连接状态的回调
+    ConnectionSuccessCallback on_connect_success_cb_;
+    ConnectionLostCallback on_connection_lost_cb_;
 };
 
 #endif // MQTT_CONTROLLER_HPP
\ No newline at end of file

include/mqtt_used.hpp

+#pragma once
+
+#include "mqtt_controller.hpp" // 假设之前的 MqttController 类代码可用
+#include <unordered_map>
+#include <functional>
+#include <vector>
+#include "nlohmann/json.hpp"
+
+class MqttTopicsHandler : public MqttController {
+public:
+    using JsonCallback = std::function<void(const std::string& topic, const nlohmann::json& json_payload)>;
+    using SimpleJsonCallback = std::function<void(const nlohmann::json& json_payload)>;
+
+    // 构造函数：启动工作线程
+    MqttTopicsHandler(const std::string& broker_address, const std::string& client_id);
+    // 析构函数：停止工作线程
+    ~MqttTopicsHandler();
+
+    // ... 其他方法保持不变 ...
+    void InitBaseSubscription();
+    void AddSubscription(const std::string& topic, JsonCallback callback);
+    void AddSubscription(const std::string& topic, SimpleJsonCallback callback);
+    void AddSubscriptions(const std::vector<std::string>& topics, SimpleJsonCallback common_callback);
+    void RemoveSubscription(const std::string& topic);
+    void PublishJson(const std::string& topic, const nlohmann::json& json_payload, int qos = 1, bool retained = false);
+
+private:
+    // 将订阅请求封装成一个任务
+    void post_task(std::function<void()> task);
+    // 工作线程的执行函数
+    void worker_thread_func();
+
+    std::unordered_map<std::string, JsonCallback> active_subscriptions_;
+    
+    // --- 新增的成员变量 ---
+    std::queue<std::function<void()>> task_queue_; // 任务队列
+    std::mutex queue_mutex_;                       // 保护队列的互斥锁
+    std::condition_variable condition_;            // 用于唤醒工作线程的条件变量
+    std::thread worker_thread_;                    // 工作线程
+    std::atomic<bool> stop_worker_{false};         // 控制线程停止的原子标志
+};
\ No newline at end of file

src/file_operations.cc

+#include "file_operations.hpp"
+
+// 打开文件
+bool FileReader::open() {
+    _fileStream.open(_filePath, std::ios::in);
+    if (!_fileStream.is_open()) {
+        std::cerr << "Failed to open file: " << _filePath << std::endl;
+        return false;
+    }
+    return true;
+}
+
+// 读取整个文件内容为字符串
+std::string FileReader::readAll() {
+    if (!_fileStream.is_open()) {
+        throw std::runtime_error("File not opened");
+    }
+    std::ostringstream ss;
+    ss << _fileStream.rdbuf();
+    return ss.str();
+}
+
+// 关闭文件
+void FileReader::close() {
+    if (_fileStream.is_open()) {
+        _fileStream.close();
+    }
+}
+
+
+
+

src/main.cc

-// main.cpp
 #include <iostream>
 #include <vector>
-#include <iomanip>
+#include <memory>
 #include <csignal>
-#include <cstring>
 #include <thread>
 #include <chrono>
 #include <iomanip>
-#include "mqtt_controller.hpp"
 #include "serial_port.hpp"
-#include "tank_data.hpp"       // 包含我们新的数据结构头文件
-#include "nlohmann/json.hpp"  // 包含json库头文件
-
-// 预设指令（不含CRC）
-const std::vector<uint8_t> cmd_once      = {0x01, 0x10, 0x00, 0x3B, 0x00, 0x01, 0x02, 0x00, 0x01};
-const std::vector<uint8_t> cmd_get_last  = {0x01, 0x03, 0x01, 0x00, 0x00, 0x15};
-const std::vector<uint8_t> cmd_continuous = {0x01 ,0x10 ,0x00 ,0x3B ,0x00 ,0x01 ,0x02 ,0x00 ,0x04 ,0xA3 ,0x18};
-const std::vector<uint8_t> cmd_stop_modbus = {0x01,0x10,0x00,0x3B,0x00,0x01,0x02,0x00,0x00,0xA2,0xDB};
+#include "tank_data.hpp"
+#include "mqtt_used.hpp" // 注意：这里应该是 MqttTopicsHandler.hpp
 
 // --- 配置信息 ---
-#define BROKER_ADDRESS "tcp://119.45.167.177:1883"
-#define CLIENT_ID      "json_publisher_client_final" // 客户端ID必须唯一
-#define USERNAME       "admin"                       // 替换为你的用户名
-#define PASSWORD       "admin"                       // 替换为你的密码
-#define TOPIC_TO_LISTEN "tank/ditu"
-#define PUBLISH_TOPIC   "positioning/CN040300000002"
-
-#define TAG_COUNT 2
-
-std::vector<uint16_t> x_local(20);
-
-std::vector<uint16_t> y_local(20);
-
-std::vector<int> tag_id={0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20};
+const std::string BROKER_ADDRESS = "tcp://119.45.167.177:1883";
+const std::string CLIENT_ID = "cpp_client_6456456"; // 客户端ID必须唯一
+const std::string USERNAME = "admin";
+const std::string PASSWORD = "admin";
 
-int i=0;
+// 主题定义
+const std::string DYNAMIC_CMD_TOPIC = "ser2dev/CN040300000002"; // 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
 
-// 全局的串口对象指针，用于信号处理
+// --- 全局变量 ---
+// 使用智能指针管理串口和MQTT客户端的生命周期
 std::unique_ptr<SerialPort> g_serial_port;
+std::shared_ptr<MqttTopicsHandler> g_mqtt_handler; // 改为 shared_ptr 并使用 MqttTopicsHandler 类型
 
-// 全局智能指针，用于RAII和信号处理
-std::unique_ptr<MqttController> g_mqtt_controller;
+// 串口数据相关的全局变量
+std::vector<uint16_t> x_local(21);
+std::vector<uint16_t> y_local(21);
+std::vector<int> tag_id;
+
+// 预设指令
+const std::vector<uint8_t> cmd_continuous = {0x01, 0x10, 0x00, 0x3B, 0x00, 0x01, 0x02, 0x00, 0x04, 0xA3, 0x18};
+const std::vector<uint8_t> cmd_stop_modbus = {0x01, 0x10, 0x00, 0x3B, 0x00, 0x01, 0x02, 0x00, 0x00, 0xA2, 0xDB};
 
 // 信号处理函数，用于优雅地退出
 void signalHandler(int signum) {
-    std::cout << "\nInterrupt signal (" << signum << ") received." << std::endl;
-    if (g_serial_port) {
+    std::cout << "\n捕获到中断信号 (" << signum << ")，正在优雅退出..." << std::endl;
+    if (g_serial_port && g_serial_port->isOpen()) {
+        std::cout << "正在发送停止指令并关闭串口..." << std::endl;
         g_serial_port->send(cmd_stop_modbus);
         g_serial_port->close();
     }
-    exit(signum);
-}
-
-
-// 这是我们为 "tank/ditu" 主题专门准备的回调函数
-void on_tank_ditu_message(const std::string& topic, const std::string& payload) {
-    std::cout << "\n[后台消息处理] 收到来自主题 '" << topic << "' 的新消息!" << std::endl;
-    std::cout << "  消息内容: " << payload << std::endl;
-    // 重新打印提示符，避免被用户的当前输入行覆盖
-    //std::cout << "\n输入要作为'desc'字段发布的消息 (或 'q' 退出): " << std::flush;
-}
-
-// 打印收到的消息
-void print_hex(const std::vector<uint8_t>& data) {
-    for (uint8_t byte : data) {
-        std::cout << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(byte) << " ";
+    if (g_mqtt_handler && g_mqtt_handler->isConnected()) {
+        std::cout << "正在断开MQTT连接..." << std::endl;
+        g_mqtt_handler->disconnect();
     }
-    std::cout << std::dec; // 恢复十进制输出
+    exit(signum);
 }
 
-// 消息处理回调函数
-void onMessageReceived(const std::vector<uint8_t>& message) {
-   size_t message_len = message.size();
-    if (message_len == 0) {
+// 串口消息处理回调函数
+void onSerialMessageReceived(const std::vector<uint8_t>& message) {
+    if (message.size() < 17) { // 基本长度检查
         return;
     }
 
-    // 使用我们推荐的 unique_ptr 方法来创建数组
-    auto data_array = std::make_unique<uint8_t[]>(message_len);
-    memcpy(data_array.get(), message.data(), message_len);
-
-    // // --- 正确地以十六进制格式打印数组内容 ---
-    // std::cout << "\n<-- Received " << message_len << " bytes. Copied to array:\n    ";
-      
-    if(data_array[10]==0x01){
-        i = static_cast<int>(data_array[8]);
-        x_local[i]=(static_cast<uint8_t>(data_array[13])<< 8) | data_array[14];
-        y_local[i]=(static_cast<uint8_t>(data_array[15])<< 8) | data_array[16];
-        
-        std::cout << std::dec << "tag:" << tag_id[i]<< std::endl;
-        std::cout<<" "<<"x_local:" << x_local[i] <<",y_local:" <<y_local [i]<<std::endl;
+    // 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()) {
+            x_local[i] = (static_cast<uint16_t>(message[13]) << 8) | message[14];
+            y_local[i] = (static_cast<uint16_t>(message[15]) << 8) | message[16];
             
+            std::cout << "串口数据更新 -> 标签ID: " << tag_id[i]
+                      << ", X: " << x_local[i]
+                      << ", Y: " << y_local[i] << std::endl;
+        }
     }
+}
 
-    // 恢复为十进制模式是个好习惯，以免影响后续的其他输出
-    std::cout << std::dec << std::endl;
+// MQTT 初始化和配置函数
+// **关键改动**: 此函数现在负责创建、配置并返回一个可用的 MQTT 客户端实例
+std::shared_ptr<MqttTopicsHandler> mqtt_init_and_connect() {
+    auto handler = std::make_shared<MqttTopicsHandler>(BROKER_ADDRESS, CLIENT_ID);
 
-    // 你也可以在这里进行CRC校验等操作
-    if (message_len > 2) {
-        uint16_t received_crc = (static_cast<uint16_t>(data_array[message_len - 1]) << 8) | data_array[message_len - 2];
-        uint16_t calculated_crc = SerialPort::crc16(data_array.get(), message_len - 2);
+    handler->setOnConnectionLostCallback([](const std::string& cause) {
+        std::cerr << "严重错误: MQTT连接已丢失！原因: " << cause << std::endl;
+        // 在这里可以添加重连逻辑或退出程序的逻辑
+    });
 
-        std::cout << "    CRC Check on array data: " 
-                  << (received_crc == calculated_crc ? "OK" : "FAILED!") << std::endl;
+    if (!handler->connect(USERNAME, PASSWORD)) {
+        std::cerr << "MQTT连接失败" << std::endl;
+        return nullptr; // 返回空指针表示失败
     }
     
-    // 重新打印菜单提示符，让用户界面更友好
-    std::cout << "\nEnter your choice: " << std::flush;
+    std::cout << "MQTT连接成功。" << std::endl;
+
+   handler->AddSubscription(DYNAMIC_CMD_TOPIC,
+    [weak_handler = std::weak_ptr<MqttTopicsHandler>(handler)](const std::string& topic, const nlohmann::json& json) {
+        std::cout << "收到来自指令主题 [" << topic << "] 的消息。" << std::endl;
+        try {
+            if (json.value("/head/message_type"_json_pointer, 0) != 5000) return;
+
+            auto dev_id = json.at("body").at("dev_id").get<std::string>();
+            auto data_topic = "ser2dev/" + dev_id;
+
+            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) {
+                        if (sub_json.contains("value")) {
+                            std::cout << "动态订阅消息 -> 来自 [" << sub_topic
+                                        << "] 的传感器数据: "
+                                        << sub_json["value"] << std::endl;
+                        }
+                    });
+            }
+        } catch (const nlohmann::json::exception& e) {
+            std::cerr << "处理指令时JSON解析出错: " << e.what() << std::endl;
+        }
+    });
 
+    return handler; // 返回成功创建并配置好的客户端实例
 }
 
 int main(int argc, char* argv[]) {
-    // 注册信号处理，以便Ctrl+C可以正常关闭串口
+    // 注册信号处理
     signal(SIGINT, signalHandler);
     
+    // 初始化 tag_id
+    for (int i = 0; i <= 20; ++i) {
+        tag_id.push_back(i);
+    }
+
+    // --- 1. 初始化 MQTT ---
+    g_mqtt_handler = mqtt_init_and_connect();
+    if (!g_mqtt_handler) {
+        return 1; // 如果 MQTT 连接失败，则退出
+    }
+
+    // --- 2. 初始化串口 ---
     std::string port = "/dev/ttyUSB0";
     if (argc > 1) {
         port = argv[1];
     }
-    g_mqtt_controller = std::make_unique<MqttController>(BROKER_ADDRESS, CLIENT_ID);
     g_serial_port = std::make_unique<SerialPort>(port);
-
     if (!g_serial_port->open()) {
         return 1;
     }
     
-       // 2. 尝试连接 (异步过程)
-    if (!g_mqtt_controller->connect(USERNAME, PASSWORD)) {
-        std::cerr << "MQTT 客户端启动失败，程序退出。" << std::endl;
-        return 1;
-    }
-
-       // 等待连接成功
-    std::cout << "等待连接建立..." << std::endl;
-    while (!g_mqtt_controller->isConnected()) {
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    }
-
-    // 启动监听线程，并提供回调函数
-    g_serial_port->startListening(onMessageReceived);
-
-    // 3. 连接成功后，订阅监听主题并设置回调函数
-    //g_mqtt_controller->subscribe(TOPIC_TO_LISTEN, on_tank_ditu_message);
-
-    //char choice;
-    //print_menu();
+    // 启动串口监听线程
+    g_serial_port->startListening(onSerialMessageReceived);
+    std::cout << "串口监听线程已启动。" << std::endl;
 
+    // 发送开始连续读取的指令
     g_serial_port->send(cmd_continuous);
-
-    while(1){
-
-  
-            for(int j=0;j<TAG_COUNT;j++){
-
+    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 = tag_id[j],
+                .id = current_id,
                 .type = "tank",
-                .resWidth = 50,
-                .resHeight = 50,
-                .resX = x_local[j],
-                .resY = y_local[j],
+                .resWidth = 500,
+                .resHeight = 500,
+                .resX = x_local[current_id],
+                .resY = y_local[current_id],
                 .resZ = 0,
             };
 
-            // B. 创建一个顶层JSON对象，用于组装最终消息
-            json root_json;
-
-            // C. 将 tank_data 对象放入 "body" 字段
-            //    nlohmann/json 库会自动调用我们在 tank_data.hpp 中定义的 to_json 函数
+            nlohmann::json root_json;
             root_json["body"] = tank_data;
+            root_json["head"] = {{"message_type", 1}};
 
-            // D. 添加 "header" 字段，并内联创建一个包含 message_type 的JSON对象
-            root_json["head"] = {
-                {"message_type", 1}
-            };
-
-            // E. 将JSON对象序列化为紧凑的字符串，适合网络传输
-            std::string json_payload = root_json.dump();
-
-
-            // G. 发布最终的JSON字符串
-            g_mqtt_controller->publish(PUBLISH_TOPIC, json_payload);
+            // 构造发布主题，例如：positioning/CN040300000002
+            std::string final_publish_topic = PUBLISH_TOPIC_PREFIX + CLIENT_ID; 
 
+            // 使用全局的 g_mqtt_handler 来发布
+            g_mqtt_handler->PublishJson(final_publish_topic, root_json);
         }
         
-            std::this_thread::sleep_for(std::chrono::milliseconds(200));
-
+        // 每秒发布一次所有标签的数据
+        std::this_thread::sleep_for(std::chrono::seconds(1));
     }
 
-
-    std::cout << "Exiting..." << std::endl;
-    // g_serial_port的析构函数会自动被调用，关闭串口和线程
-    return 0;
+    return 0; // 正常情况下不会执行到这里
 }
\ No newline at end of file

src/mqtt_controller.cc

-// mqtt_controller.cpp
 #include "mqtt_controller.hpp"
 #include <iostream>
+#include <utility>
 
 // 构造函数：初始化客户端和回调处理器
 MqttController::MqttController(const std::string& broker_address, const std::string& client_id)
@@ -18,14 +18,16 @@ MqttController::~MqttController() {
 }
 
 // 连接到代理
-bool MqttController::connect(const std::string& username, const std::string& password) {
+bool MqttController::connect(const std::string& username, const std::string& password, bool automatic_reconnect) {
     if (isConnected()) {
         return true;
     }
     
     mqtt::connect_options conn_opts;
-    conn_opts.set_keep_alive_interval(30);
+    conn_opts.set_keep_alive_interval(60);
     conn_opts.set_clean_session(true);
+    conn_opts.set_automatic_reconnect(automatic_reconnect); // 设置自动重连
+
     if (!username.empty()) {
         conn_opts.set_user_name(username);
         conn_opts.set_password(password);
@@ -34,9 +36,10 @@ bool MqttController::connect(const std::string& username, const std::string& pas
     try {
         std::cout << "正在连接到 MQTT 代理..." << std::endl;
         // connect是异步的，它会立即返回。连接过程在后台进行。
-        client_->connect(conn_opts);
+        client_->connect(conn_opts)->wait(); // 使用 wait() 使其变为同步调用，简化示例
     } catch (const mqtt::exception& exc) {
         std::cerr << "错误：连接时发生异常 - " << exc.what() << std::endl;
+        is_connected_ = false; // 确保状态正确
         return false;
     }
     return true;
@@ -44,39 +47,102 @@ bool MqttController::connect(const std::string& username, const std::string& pas
 
 // 断开连接
 void MqttController::disconnect() {
-    if (isConnected() || client_->is_connected()) {
+    if (isConnected()) {
         try {
             std::cout << "正在断开与 MQTT 代理的连接..." << std::endl;
-            is_connected_ = false;
-            // disconnect是异步的，但我们通常希望等待它完成
+            // disconnect是异步的，我们等待它完成
             client_->disconnect()->wait();
             std::cout << "已断开连接。" << std::endl;
         } catch (const mqtt::exception& exc) {
             std::cerr << "错误：断开连接时发生异常 - " << exc.what() << std::endl;
         }
     }
+    is_connected_ = false; // 确保状态被更新
 }
 
 bool MqttController::isConnected() const {
     return is_connected_;
 }
 
+void MqttController::setOnConnectSuccessCallback(ConnectionSuccessCallback cb) {
+    on_connect_success_cb_ = std::move(cb);
+}
+
+void MqttController::setOnConnectionLostCallback(ConnectionLostCallback cb) {
+    on_connection_lost_cb_ = std::move(cb);
+}
+
 // 订阅主题，并为这个主题的后续消息设置回调
-void MqttController::subscribe(const std::string& topic, MessageCallback callback) {
+void MqttController::subscribe(const std::string& topic, int qos, MessageCallback callback) {
     if (!isConnected()) {
-        std::cerr << "错误：未连接，无法订阅主题。" << std::endl;
+        std::cerr << "错误：未连接，无法订阅主题 \"" << topic << "\"" << std::endl;
         return;
     }
 
+    std::lock_guard<std::mutex> lock(callbacks_mutex_);
+    topic_callbacks_[topic] = std::move(callback);
+    
+    try {
         std::cout << "正在订阅主题: " << topic << std::endl;
-    message_callback_ = callback; // 保存回调函数
-    client_->subscribe(topic, 1); // QoS 等级为 1
+        client_->subscribe(topic, qos);
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "订阅错误: " << exc.what() << std::endl;
+        // 如果订阅失败，移除回调以避免混淆
+        topic_callbacks_.erase(topic);
+    }
+}
+
+void MqttController::subscribe(const std::vector<std::string>& topics, int qos, MessageCallback callback) {
+    if (!isConnected()) {
+        std::cerr << "未连接，无法订阅多个主题" << std::endl;
+        return;
+    }
+
+    std::lock_guard<std::mutex> lock(callbacks_mutex_);
+    for (const auto& topic : topics) {
+        topic_callbacks_[topic] = callback; // 使用相同的回调
+    }
+
+    // Paho V1.2.0及以上版本支持批量订阅
+    auto topic_collection = std::make_shared<mqtt::string_collection>();
+    for (const auto& topic : topics) {
+        topic_collection->push_back(topic);
+    }
+    std::vector<int> qos_levels(topics.size(), qos);
+
+    try {
+        std::cout << "正在批量订阅主题..." << std::endl;
+        client_->subscribe(topic_collection, qos_levels);
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "批量订阅错误: " << exc.what() << std::endl;
+        // 如果失败，移除所有刚刚添加的回调
+        for (const auto& topic : topics) {
+            topic_callbacks_.erase(topic);
+        }
+    }
+}
+
+void MqttController::unsubscribe(const std::string& topic) {
+    if (!isConnected()) {
+        std::cerr << "错误：未连接，无法取消订阅主题 \"" << topic << "\"" << std::endl;
+        return;
+    }
+    
+    std::lock_guard<std::mutex> lock(callbacks_mutex_);
+    topic_callbacks_.erase(topic);
+    
+    try {
+        std::cout << "正在取消订阅主题: " << topic << std::endl;
+        client_->unsubscribe(topic);
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "取消订阅错误: " << exc.what() << std::endl;
+    }
 }
 
 // 发布消息
 void MqttController::publish(const std::string& topic, const std::string& payload, int qos, bool retained) {
     if (!isConnected()) {
-        std::cerr << "错误：未连接，无法发布消息。" << std::endl;
+        std::cerr << "错误：未连接，无法发布消息到主题 \"" << topic << "\"" << std::endl;
         return;
     }
     
@@ -92,23 +158,73 @@ void MqttController::publish(const std::string& topic, const std::string& payloa
 
 // --- 内部回调处理类的实现 ---
 
-// 连接成功时，由Paho库的后台线程调用
-void MqttController::CallbackHandler::connected(const std::string& cause) {
+void MqttController::CallbackHandler::connected(const std::string& /*cause*/) {
     std::cout << "连接成功！" << std::endl;
     controller_.is_connected_ = true;
+    if (controller_.on_connect_success_cb_) {
+        controller_.on_connect_success_cb_();
+    }
 }
 
-// 连接丢失时，由Paho库的后台线程调用
 void MqttController::CallbackHandler::connection_lost(const std::string& cause) {
     std::cerr << "错误：连接已丢失。原因: " << cause << std::endl;
     controller_.is_connected_ = false;
+    if (controller_.on_connection_lost_cb_) {
+        controller_.on_connection_lost_cb_(cause);
+    }
 }
 
-// 收到消息时，由Paho库的后台线程调用
 void MqttController::CallbackHandler::message_arrived(mqtt::const_message_ptr msg) {
-    // 检查用户是否设置了回调函数
-    if (controller_.message_callback_) {
-        // 调用用户设置的C++回调函数，将消息传递出去
-        controller_.message_callback_(msg->get_topic(), msg->to_string());
+    std::lock_guard<std::mutex> lock(controller_.callbacks_mutex_);
+    const std::string received_topic = msg->get_topic();
+    const std::string payload = msg->to_string();
+    bool matched = false;
+
+    // 遍历所有注册的回调，查找匹配的订阅（支持通配符）
+    for (const auto& pair : controller_.topic_callbacks_) {
+        const std::string& subscribed_topic = pair.first;
+        if (topic_matches_sub(subscribed_topic, received_topic)) {
+            if (pair.second) {
+                pair.second(received_topic, payload);
+                matched = true;
+            }
+        }
     }
+    
+    if (!matched) {
+        std::cout << "收到消息，但未匹配任何已注册的回调: " << received_topic << std::endl;
+    }
+}
+
+// --- 静态通配符匹配函数 ---
+bool MqttController::topic_matches_sub(const std::string& sub, const std::string& topic) {
+    auto sub_it = sub.begin();
+    auto topic_it = topic.begin();
+
+    while (sub_it != sub.end() && topic_it != topic.end()) {
+        if (*sub_it == *topic_it) {
+            sub_it++;
+            topic_it++;
+        } else if (*sub_it == '+') {
+            // '+' 匹配一个层级
+            sub_it++;
+            while (topic_it != topic.end() && *topic_it != '/') {
+                topic_it++;
+            }
+        } else if (*sub_it == '#') {
+            // '#' 必须是订阅的最后一个字符，匹配所有剩余层级
+            return sub_it + 1 == sub.end();
+        } else {
+            return false;
+        }
+    }
+
+    // 如果订阅以 "/#" 结尾，它可以匹配没有后续层级的主题
+    if (topic_it == topic.end() && sub_it != sub.end()) {
+        if (*sub_it == '/' && (sub_it + 1) != sub.end() && *(sub_it + 1) == '#') {
+            return (sub_it + 2) == sub.end();
+        }
+    }
+
+    return sub_it == sub.end() && topic_it == topic.end();
 }
\ No newline at end of file

src/mqtt_used.cc

+#include "mqtt_controller.hpp"
+#include <iostream>
+#include "mqtt_used.hpp" 
+
+// 构造函数：启动工作线程
+MqttTopicsHandler::MqttTopicsHandler(const std::string& broker_address, const std::string& client_id)
+    : MqttController(broker_address, client_id) {
+    worker_thread_ = std::thread(&MqttTopicsHandler::worker_thread_func, this);
+}
+
+// 析构函数：优雅地停止工作线程
+MqttTopicsHandler::~MqttTopicsHandler() {
+    stop_worker_ = true;
+    condition_.notify_one(); // 唤醒线程，让它退出循环
+    if (worker_thread_.joinable()) {
+        worker_thread_.join();
+    }
+}
+
+// 将任务放入队列
+void MqttTopicsHandler::post_task(std::function<void()> task) {
+    {
+        std::lock_guard<std::mutex> lock(queue_mutex_);
+        task_queue_.push(std::move(task));
+    }
+    condition_.notify_one(); // 唤醒工作线程来处理新任务
+}
+
+// 工作线程的主循环
+void MqttTopicsHandler::worker_thread_func() {
+    while (!stop_worker_) {
+        std::function<void()> task;
+        {
+            std::unique_lock<std::mutex> lock(queue_mutex_);
+            // 等待直到队列不为空或收到停止信号
+            condition_.wait(lock, [this] { return !task_queue_.empty() || stop_worker_; });
+
+            if (stop_worker_) {
+                return;
+            }
+
+            task = std::move(task_queue_.front());
+            task_queue_.pop();
+        }
+        if (task) {
+            task(); // 在工作线程中执行任务
+        }
+    }
+}
+
+
+// **关键修改**：在 AddSubscription 中，如果是在回调中被调用，则将实际订阅操作 post 到工作线程
+// 为了简化，我们统一将实际的订阅操作都 post 出去
+void MqttTopicsHandler::AddSubscription(const std::string& topic, JsonCallback callback) {
+    if (active_subscriptions_.count(topic)) {
+        std::cerr << "警告：主题 \"" << topic << "\" 的订阅已存在，将被覆盖。" << std::endl;
+    }
+
+    auto wrapped_callback = [callback](const std::string& received_topic, const std::string& payload) {
+        try {
+            nlohmann::json j = nlohmann::json::parse(payload);
+            callback(received_topic, j);
+        } catch (const nlohmann::json::parse_error& e) {
+            std::cerr << "在主题 \"" << received_topic << "\" 上发生JSON解析错误: " << e.what() << std::endl;
+        }
+    };
+
+    active_subscriptions_[topic] = std::move(callback);
+
+    // 将真正的 subscribe 调用封装成一个任务，交给工作线程执行
+    post_task([this, topic, wrapped_callback]() {
+        std::cout << "工作线程：正在执行订阅主题: " << topic << std::endl;
+        // 假设 QoS 为 1
+        subscribe(topic, 1, wrapped_callback);
+    });
+}
+
+// 其他方法保持类似逻辑，或者如果它们不涉及阻塞调用，则无需更改
+// (此处省略了其他方法的代码，它们与之前版本相同)
+// ...
+// ... AddSubscription(SimpleJsonCallback), AddSubscriptions, RemoveSubscription, PublishJson 的实现 ...
+// ... 为了简洁，这里不再重复贴出，它们的实现无需改动，因为它们最终都调用了上面的 AddSubscription(...)
+// ... 唯一需要注意的是，RemoveSubscription 内部的 Unsubscribe 也应该被 post_task
+void MqttTopicsHandler::RemoveSubscription(const std::string& topic) {
+    if (active_subscriptions_.erase(topic) > 0) {
+        post_task([this, topic]() {
+            unsubscribe(topic);
+            std::cout << "工作线程：已取消订阅主题: " << topic << std::endl;
+        });
+    } else {
+        std::cerr << "无法移除订阅：主题 \"" << topic << "\" 未被订阅。" << std::endl;
+    }
+}
+
+// ... InitBaseSubscription 和 PublishJson 的实现保持不变
+void MqttTopicsHandler::InitBaseSubscription() {
+    AddSubscription("ser/dev", [](const nlohmann::json& json) {
+        try {
+            std::cout << "[收到系统状态] " << json.dump(2) << std::endl;
+        } catch (const std::exception& e) {
+            std::cerr << "处理系统状态时出错: " << e.what() << std::endl;
+        }
+    });
+}
+
+void MqttTopicsHandler::PublishJson(
+    const std::string& topic,
+    const nlohmann::json& json_payload,
+    int qos,
+    bool retained) {
+    try {
+        publish(topic, json_payload.dump(), qos, retained);
+    } catch (const std::exception& e) {
+        std::cerr << "向主题 \"" << topic << "\" 发布 JSON 失败: " << e.what() << std::endl;
+    }
+}
+void MqttTopicsHandler::AddSubscription(const std::string& topic, SimpleJsonCallback callback) {
+    JsonCallback full_callback = [callback](const std::string& /*topic*/, const nlohmann::json& json) {
+        callback(json);
+    };
+    AddSubscription(topic, std::move(full_callback));
+}
+void MqttTopicsHandler::AddSubscriptions(const std::vector<std::string>& topics, SimpleJsonCallback common_callback) {
+    for (const auto& topic : topics) {
+        AddSubscription(topic, common_callback);
+    }
+}
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