c语言推流基本完成

drivers/devicecontrol/car/car0107_control.c

@@ -28,6 +28,14 @@
 #define CAR0107_BACK_US_RUN_MIN        1440  /* val=53 起步即动（须低于死区 1450） */
 #define CAR0107_BACK_US_RUN_MAX        1300  /* 后退最大速度再降20%：val=200 -> 1300us */
 
+/* idle 唤醒动作：5分钟无控制后 低速后退 -> 低速前进 -> 前进刹车停止 */
+#define CAR0107_IDLE_REVERSE_US        CAR0107_BACK_US_RUN_MIN /* 1440us 刚过死区，最低速后退 */
+#define CAR0107_IDLE_FORWARD_US        CAR0107_FWD_US_RUN_MIN  /* 1560us 最低前进行走脉宽 */
+#define CAR0107_IDLE_REVERSE_MS        600   /* 后退保持时长 */
+#define CAR0107_IDLE_NEUTRAL_MS        150   /* 后退切前进前中位稳定时长 */
+#define CAR0107_IDLE_FORWARD_MS        600   /* 前进保持时长 */
+#define CAR0107_IDLE_BRAKE_WAIT_MS     250   /* 等待刹车保持+中位解锁收尾到 NEUTRAL */
+
 typedef enum {
     CAR0107_ESC_DIR_FORWARD = 1, /* App mode1 前进：高脉宽（与 0101 相反） */
     CAR0107_ESC_DIR_BACK    = 2, /* App mode2 后退：低脉宽（与 0101 相反） */
@@ -1392,3 +1400,92 @@ void car0107_esc_thread_close(void)
     pthread_mutex_unlock(&s_esc_start_mutex);
     my_zlog_info("car0107 esc thread closed");
 }
+
+/*
+ * 0107 idle 唤醒动作：5分钟无控制命令时由 idle 线程调用。
+ * 顺序：低速后退一点 -> 中位 -> 低速前进一点 -> 前进刹车停止。
+ * 前进停止遵守电调刹车动作 BRAKE_THEN_NEUTRAL -> NEUTRAL_UNLOCK -> NEUTRAL，
+ * 由电调专用线程 tick 自动完成刹车保持与中位解锁收尾。
+ * 动作期间若有真实控制命令介入（control_source 被改为非 NONE）则立即让位。
+ */
+void car0107_idle_wakeup_maneuver(void)
+{
+    /* 必须保证电调线程在运行，否则刹车序列无法由 tick 自动收尾到 NEUTRAL */
+    car0107_esc_thread_start();
+
+    /* 方向盘回正，后退/前进均走直线 */
+    pthread_mutex_lock(&s_car0107_hw_mutex);
+    s_control_source = CTRL_NONE;          /* 阻止 speed_smooth_process 串扰速度 */
+    s_target_angle = 90;
+    s_current_angle = 90;
+    car0107_calculate_L_R(90);
+
+    /* 1) 低速后退：从中位直接跳到刚过死区的后退脉宽 */
+    car0107_esc_clear_pending_stop();
+    s_esc.cmd_dir = CAR0107_ESC_DIR_BACK;
+    s_esc.last_drive_dir = CAR0107_ESC_DIR_BACK;
+    s_esc.last_nonzero_mode = CAR0107_ESC_DIR_BACK;
+    s_esc.target_us = CAR0107_IDLE_REVERSE_US;
+    s_esc.current_us = CAR0107_IDLE_REVERSE_US;
+    s_esc.state = CAR0107_ESC_REVERSE;
+    s_esc.trans_phase = CAR0107_TRANS_RAMP_RUN;
+    car0107_esc_output_us(s_esc.current_us, 0);
+    pthread_mutex_unlock(&s_car0107_hw_mutex);
+    car0107_esc_thread_wake();
+    my_zlog_info("car0107 idle maneuver: reverse %dus for %dms",
+                 CAR0107_IDLE_REVERSE_US, CAR0107_IDLE_REVERSE_MS);
+
+    delay_ms(CAR0107_IDLE_REVERSE_MS);
+
+    /* 2) 停止后退：后退松手不刹车，直接回中 */
+    pthread_mutex_lock(&s_car0107_hw_mutex);
+    if (s_control_source != CTRL_NONE) {
+        pthread_mutex_unlock(&s_car0107_hw_mutex);
+        my_zlog_info("car0107 idle maneuver: yield at neutral (control taken)");
+        return;
+    }
+    car0107_esc_begin_neutral_stop();
+    car0107_esc_output_us(CAR0107_ESC_US_NEUTRAL, 0);
+    pthread_mutex_unlock(&s_car0107_hw_mutex);
+    car0107_esc_thread_wake();
+
+    delay_ms(CAR0107_IDLE_NEUTRAL_MS);
+
+    /* 3) 低速前进：从中位直接跳到最低前进行走脉宽 */
+    pthread_mutex_lock(&s_car0107_hw_mutex);
+    if (s_control_source != CTRL_NONE) {
+        pthread_mutex_unlock(&s_car0107_hw_mutex);
+        my_zlog_info("car0107 idle maneuver: yield before forward (control taken)");
+        return;
+    }
+    car0107_esc_clear_pending_stop();
+    s_esc.cmd_dir = CAR0107_ESC_DIR_FORWARD;
+    s_esc.last_drive_dir = CAR0107_ESC_DIR_FORWARD;
+    s_esc.last_nonzero_mode = CAR0107_ESC_DIR_FORWARD;
+    s_esc.target_us = CAR0107_IDLE_FORWARD_US;
+    s_esc.current_us = CAR0107_IDLE_FORWARD_US;
+    s_esc.state = CAR0107_ESC_FORWARD;
+    s_esc.trans_phase = CAR0107_TRANS_RAMP_RUN;
+    car0107_esc_output_us(s_esc.current_us, 0);
+    pthread_mutex_unlock(&s_car0107_hw_mutex);
+    car0107_esc_thread_wake();
+    my_zlog_info("car0107 idle maneuver: forward %dus for %dms",
+                 CAR0107_IDLE_FORWARD_US, CAR0107_IDLE_FORWARD_MS);
+
+    delay_ms(CAR0107_IDLE_FORWARD_MS);
+
+    /* 4) 停止前进：遵守刹车动作，由电调线程 tick 自动收尾 */
+    pthread_mutex_lock(&s_car0107_hw_mutex);
+    if (s_control_source != CTRL_NONE) {
+        pthread_mutex_unlock(&s_car0107_hw_mutex);
+        my_zlog_info("car0107 idle maneuver: yield before brake (control taken)");
+        return;
+    }
+    car0107_esc_begin_forward_brake();
+    pthread_mutex_unlock(&s_car0107_hw_mutex);
+    car0107_esc_thread_wake();
+    my_zlog_info("car0107 idle maneuver: forward brake %dus for %dms",
+                 car0107_forward_brake_us(), CAR0107_ESC_BRAKE_HOLD_MS);
+
+    delay_ms(CAR0107_IDLE_BRAKE_WAIT_MS);
+}

drivers/devicecontrol/car/car0107_control.h

@@ -14,4 +14,7 @@ void car0107_esc_thread_start(void);
 void car0107_esc_thread_wake(void);
 void car0107_esc_thread_close(void);
 
+/* idle 唤醒动作：低速后退 -> 低速前进 -> 前进刹车停止 */
+void car0107_idle_wakeup_maneuver(void);
+
 #endif

drivers/devicecontrol/car/car0107_idle.c

@@ -6,16 +6,12 @@
 
 #define CAR0107_IDLE_CHECK_MS       10000
 #define CAR0107_IDLE_TIMEOUT_MS     (5 * 60 * 1000)
-#define CAR0107_IDLE_STEER_HOLD_MS  450
-#define CAR0107_IDLE_STEER_LEFT     115
-#define CAR0107_IDLE_STEER_RIGHT    65
 
 typedef struct {
     pthread_mutex_t mutex;
     ThreadPool_t *pool;
     bool shutdown;
     bool pool_ready;
-    int next_left;
 } car0107_idle_ctx_t;
 
 static car0107_idle_ctx_t s_idle_ctx = {
@@ -23,7 +19,6 @@ static car0107_idle_ctx_t s_idle_ctx = {
     .pool = NULL,
     .shutdown = false,
     .pool_ready = false,
-    .next_left = 1,
 };
 
 static void car0107_idle_lock(void)
@@ -67,16 +62,6 @@ static int car0107_idle_pool_init(void)
     return 0;
 }
 
-static void car0107_idle_nudge_steering(int turn_left)
-{
-    int angle = turn_left ? CAR0107_IDLE_STEER_LEFT : CAR0107_IDLE_STEER_RIGHT;
-
-    /* 速度 PWM 只由持有0107硬件锁的控制路径写，idle线程不直接碰速度。 */
-    car0107_steering_set_angle_sync(angle);
-    delay_ms(CAR0107_IDLE_STEER_HOLD_MS);
-    car0107_steering_set_angle_sync(90);
-}
-
 static void car0107_idle_monitor_task(void *arg)
 {
     (void)arg;
@@ -85,7 +70,6 @@ static void car0107_idle_monitor_task(void *arg)
     while (!car0107_idle_shutdown_get()) {
         long long now;
         long long last;
-        int turn_left;
 
         delay_ms(CAR0107_IDLE_CHECK_MS);
         if (car0107_idle_shutdown_get() || g_device_type != DEVICE_CAR0107) {
@@ -101,15 +85,10 @@ static void car0107_idle_monitor_task(void *arg)
             continue;
         }
 
-        car0107_idle_lock();
-        turn_left = s_idle_ctx.next_left;
-        s_idle_ctx.next_left = !s_idle_ctx.next_left;
-        car0107_idle_unlock();
-
-        my_zlog_info("car0107 idle %dmin: nudge steer %s",
-                     CAR0107_IDLE_TIMEOUT_MS / 60000,
-                     turn_left ? "left" : "right");
-        car0107_idle_nudge_steering(turn_left);
+        my_zlog_info("car0107 idle %dmin: wakeup maneuver (reverse->forward->brake)",
+                     CAR0107_IDLE_TIMEOUT_MS / 60000);
+        /* 低速后退一点 -> 低速前进一点 -> 前进刹车停止（遵守刹车动作）*/
+        car0107_idle_wakeup_maneuver();
         car0107_notify_control_activity();
     }
 
@@ -133,7 +112,7 @@ void car0107_idle_startup(int device_id)
     car0107_idle_unlock();
 
     car0107_notify_control_activity();
-    my_zlog_info("car0107 idle monitor enabled: steer nudge every %dmin when idle",
+    my_zlog_info("car0107 idle monitor enabled: wakeup maneuver every %dmin when idle",
                  CAR0107_IDLE_TIMEOUT_MS / 60000);
 }
 

drivers/sensors/audioplay.c.bak.20260710_111731

-#include "common.h"
-#include "audioplay.h"
-#include "audio_sink.h"  /* USB声卡排队锁 */
-#include "device_identity.h"
-#include "mqtt_init.h"
-#include "http_config_mqtt.h"
-#include "audiotts_play.h"
-#include "wifi_autoconfig.h"
-#include <stdio.h>
-#include <pthread.h>
-#include <strings.h>
-#include <unistd.h>
-#include <sys/wait.h>
-
-#define AUDIO_USB_ALSA_DEVICE "hw:2,0"
-#define AUDIO_LOCAL_ALSA_DEVICE "plughw:2,0"
-#define AUDIO_LOCAL_PLAY_TIMEOUT_SEC 8
-
-static int s_audio_status=7;
-static char s_urlbuf[512];
-static char s_keybuf[256];
-static double s_audio_volume=0.8;
-
-#define AUDIO_DRIVING_LEVEL_MAX 30
-
-static int s_local_play_pending = 0;
-static char s_local_filepath[512];
-static pthread_mutex_t s_local_play_mutex = PTHREAD_MUTEX_INITIALIZER;
-
-static int local_is_cn_lang(const char *lang) {
-    return lang != NULL && (strcmp(lang, AUDIO_LANG_ZH) == 0 || strcmp(lang, "cn") == 0);
-}
-
-static int local_is_en_lang(const char *lang) {
-    return lang != NULL &&
-           (strcmp(lang, AUDIO_LANG_EN) == 0 || strcmp(lang, "en") == 0 || strcmp(lang, "EN") == 0);
-}
-
-static void local_resolve_lang(const char *language_override, char *out, size_t size) {
-    if (language_override == NULL || language_override[0] == '\0' ||
-        strcasecmp(language_override, "default") == 0) {
-        snprintf(out, size, "%s", audio_get_language());
-        return;
-    }
-    if (local_is_cn_lang(language_override)) {
-        snprintf(out, size, "%s", AUDIO_LANG_ZH);
-        return;
-    }
-    if (local_is_en_lang(language_override)) {
-        snprintf(out, size, "%s", AUDIO_LANG_EN);
-        return;
-    }
-    snprintf(out, size, "%s", audio_get_language());
-    my_zlog_warn("2017 未知 language: %s，使用当前语言: %s", language_override, out);
-}
-
-static int local_resolve_filepath(const char *filename, const char *language_override,
-                                  char *out, size_t size) {
-    char lang[8];
-    int use_default_lang = (language_override == NULL || language_override[0] == '\0' ||
-                            strcasecmp(language_override, "default") == 0);
-
-    local_resolve_lang(language_override, lang, sizeof(lang));
-
-    if (local_is_cn_lang(lang)) {
-        snprintf(out, size, "%s/%s", AUDIO_LOCAL_BASE, filename);
-        return access(out, F_OK) == 0;
-    }
-
-    snprintf(out, size, "%s/%s/%s", AUDIO_LOCAL_BASE, lang, filename);
-    if (access(out, F_OK) == 0) {
-        return 1;
-    }
-    if (use_default_lang) {
-        snprintf(out, size, "%s/%s", AUDIO_LOCAL_BASE, filename);
-        return access(out, F_OK) == 0;
-    }
-    return 0;
-}
-
-static void local_queue_play(const char *filename, const char *language) {
-    char resolved[512];
-    if (!local_resolve_filepath(filename, language, resolved, sizeof(resolved))) {
-        my_zlog_warn("2017 本地音频不存在: %s", filename);
-        return;
-    }
-    pthread_mutex_lock(&s_local_play_mutex);
-    snprintf(s_local_filepath, sizeof(s_local_filepath), "%s", resolved);
-    s_local_play_pending = 1;
-    pthread_mutex_unlock(&s_local_play_mutex);
-    my_zlog_info("2017 已排队本地音频: %s", resolved);
-}
-
-void audioplay_local_mqtt_receive(cJSON *body) {
-    if (!cJSON_IsObject(body)) {
-        my_zlog_warn("2017 body 无效");
-        return;
-    }
-
-    cJSON *status = cJSON_GetObjectItemCaseSensitive(body, "status");
-    cJSON *level_item = cJSON_GetObjectItemCaseSensitive(body, "level");
-    cJSON *language = cJSON_GetObjectItemCaseSensitive(body, "language");
-
-    if (!cJSON_IsString(status) || status->valuestring == NULL) {
-        my_zlog_warn("2017 缺少 status");
-        return;
-    }
-
-    const char *lang = "default";
-    if (cJSON_IsString(language) && language->valuestring != NULL) {
-        lang = language->valuestring;
-    }
-
-    if (strcmp(status->valuestring, "speed") == 0) {
-        local_queue_play("Speedupforoneminute.mp3", lang);
-        return;
-    }
-
-    if (strcmp(status->valuestring, "drivinglevel") == 0) {
-        int level = 0;
-        if (cJSON_IsString(level_item) && level_item->valuestring != NULL) {
-            level = atoi(level_item->valuestring);
-        } else if (cJSON_IsNumber(level_item)) {
-            level = level_item->valueint;
-        } else {
-            my_zlog_warn("2017 drivinglevel 缺少 level");
-            return;
-        }
-        if (level < 1 || level > AUDIO_DRIVING_LEVEL_MAX) {
-            my_zlog_warn("2017 drivinglevel level 无效: %d (1-%d)",
-                         level, AUDIO_DRIVING_LEVEL_MAX);
-            return;
-        }
-        char filename[48];
-        snprintf(filename, sizeof(filename), "DrivingLevel%d.mp3", level);
-        local_queue_play(filename, lang);
-        return;
-    }
-
-    my_zlog_warn("2017 未知 status: %s", status->valuestring);
-}
-
-static double audioplay_volume_clamp(double v) {
-	if (v < 0.0) {
-		return 0.0;
-	}
-	if (v > 2.0) {
-		return 2.0;
-	}
-	return v;
-}
-
-int audio_wheat_init();
-
-static int audio_system_exit_code(int status) {
-    if (status == -1) {
-        return -1;
-    }
-    if (WIFEXITED(status)) {
-        return WEXITSTATUS(status);
-    }
-    if (WIFSIGNALED(status)) {
-        return 128 + WTERMSIG(status);
-    }
-    return -1;
-}
-
-static void shell_single_quote(char *out, size_t size, const char *in) {
-    size_t pos = 0;
-    if (!out || size == 0) {
-        return;
-    }
-    out[pos++] = '\'';
-    if (in) {
-        for (const char *p = in; *p && pos + 5 < size; p++) {
-            if (*p == '\'') {
-                const char *esc = "'\\''";
-                for (const char *e = esc; *e && pos + 1 < size; e++) {
-                    out[pos++] = *e;
-                }
-            } else {
-                out[pos++] = *p;
-            }
-        }
-    }
-    if (pos + 1 < size) {
-        out[pos++] = '\'';
-    }
-    out[pos] = '\0';
-}
-
-static int play_local_audio_file(const char *filepath) {
-    char quoted_path[1024];
-    char command[2048];
-    int ret;
-    int exit_code;
-
-    shell_single_quote(quoted_path, sizeof(quoted_path), filepath);
-
-    /* 排队等待USB声卡: 如果audio_sink正在播放手机音频, 等它释放 */
-    audio_sink_lock_alsa();
-
-    snprintf(command, sizeof(command),
-             "timeout %ds gst-launch-1.0 -q filesrc location=%s ! mpegaudioparse ! mpg123audiodec ! audioconvert ! audioresample ! alsasink device=%s sync=false async=false",
-             AUDIO_LOCAL_PLAY_TIMEOUT_SEC, quoted_path, AUDIO_LOCAL_ALSA_DEVICE);
-
-    ret = system(command);
-    exit_code = audio_system_exit_code(ret);
-
-    if (exit_code != 0) {
-        my_zlog_warn("本地音频 GStreamer 播放失败 exit=%d，尝试 ffplay: %s",
-                     exit_code, filepath);
-        snprintf(command, sizeof(command),
-                 "timeout %ds ffplay -nodisp -autoexit -loglevel warning %s",
-                 AUDIO_LOCAL_PLAY_TIMEOUT_SEC, quoted_path);
-        ret = system(command);
-        exit_code = audio_system_exit_code(ret);
-    }
-
-    audio_sink_unlock_alsa();
-    return exit_code;
-}
-
-//接收音频播放
-void audioplay_mqtt_receive(cJSON *json) {
-    // 解析"audioLink"字段（修正了原始JSON中的拼写错误）
-    cJSON *audio_link = cJSON_GetObjectItemCaseSensitive(json, "audioLink");
-    if (cJSON_IsString(audio_link) && (audio_link->valuestring != NULL)) {
-        my_zlog_debug("音频链接: %s", audio_link->valuestring);
-        char *url=audio_link->valuestring;
-        snprintf(s_urlbuf, sizeof(s_urlbuf), "%s", url);
-    } else {
-        my_zlog_warn("错误：无法解析音频链接字段");
-    }
-
-    // 解析"key"字段
-    cJSON *key_char = cJSON_GetObjectItemCaseSensitive(json, "key");
-    if (cJSON_IsString(key_char) && (key_char->valuestring != NULL)) {
-        my_zlog_debug("音频链接KEY: %s", key_char->valuestring);
-        char *key=key_char->valuestring;
-        snprintf(s_keybuf, sizeof(s_keybuf), "%s", key);
-    } else {
-        my_zlog_warn("错误：无法解析音频链接");
-        s_audio_status=5;
-    }
-
-    // 解析"status"字段
-    cJSON *s_audio_status_val = cJSON_GetObjectItemCaseSensitive(json, "status");
-    if (cJSON_IsNumber(s_audio_status_val)) {
-        my_zlog_debug("标志: %d", s_audio_status_val->valueint);
-        s_audio_status=s_audio_status_val->valueint;
-    } else {
-        my_zlog_warn("错误：无法解析标志字段");
-    }
-
-    // 解析"volume"字段
-    cJSON *volume = cJSON_GetObjectItemCaseSensitive(json, "volume");
-    if (cJSON_IsNumber(volume)) {
-        my_zlog_debug("声量大小: %.3f", volume->valuedouble);
-        s_audio_volume = audioplay_volume_clamp(volume->valuedouble);
-    } else {
-        my_zlog_warn("错误：无法解析声量字段");
-    }
-}  
-
-//发送音频播放是否完毕
-void  audioplay_send_mqtt() {
-    cJSON *root = cJSON_CreateObject();
-    cJSON *body = cJSON_CreateObject();
-    cJSON *head = cJSON_CreateObject();
-        // 添加各个字段到 JSON 对象
-    cJSON_AddStringToObject(body, "type", "audio");
-    cJSON_AddStringToObject(body, "audioLink", s_urlbuf);
-    cJSON_AddStringToObject(body, "key", s_keybuf);
-    cJSON_AddNumberToObject(body, "status", s_audio_status);
-    cJSON_AddNumberToObject(body, "volume", s_audio_volume);
-
-    cJSON_AddNumberToObject(head, "message_type",3001);
-
-    cJSON_AddItemToObject(root, "body", body);
-    cJSON_AddItemToObject(root, "head",head);
-    // 将 JSON 对象转换为字符串
-    char* json_string = cJSON_PrintUnformatted(root);
-    my_zlog_debug("%s",json_string);
-
-    mqtt_publish_to_all(mqtt_topic_pure_number(), json_string, 0);
-    free(json_string);
-    cJSON_Delete(root);
-}
-
-//音频播放
-void audioplay_cycle(){
-    char command[2048];
-    int ret;
-    while(1){
-        if(s_audio_status==0){
-
-            char *urlmoddle=s_urlbuf;
-            s_audio_volume = audioplay_volume_clamp(s_audio_volume);
-            snprintf(command, sizeof(command),
-            "sudo ffplay -nodisp -autoexit -loglevel quiet -af \"volume=%.3f\" \"%s\"",
-            s_audio_volume,urlmoddle);
-
-            my_zlog_debug("播放地址: %s", s_urlbuf);
-            my_zlog_debug("执行播放命令: %s", command);
-            ret = system(command);
-            if (ret != 0) {
-                my_zlog_error("播放失败");
-                s_audio_status=2;
-            }
-
-            if (WIFEXITED(ret) && WEXITSTATUS(ret) == 0) {
-                my_zlog_debug("播放已成功完成 : %s ", s_urlbuf);  
-                s_audio_status=1;   
-            } else {
-                my_zlog_warn("播放失败或中断: %s ", s_urlbuf);
-                s_audio_status=2;
-            }
-        audioplay_send_mqtt();
-        }
-
-        char local_filepath[sizeof(s_local_filepath)];
-        int local_play_pending = 0;
-
-        pthread_mutex_lock(&s_local_play_mutex);
-        if (s_local_play_pending) {
-            s_local_play_pending = 0;
-            snprintf(local_filepath, sizeof(local_filepath), "%s", s_local_filepath);
-            local_play_pending = 1;
-        }
-        pthread_mutex_unlock(&s_local_play_mutex);
-
-        if (local_play_pending) {
-            int exit_code;
-            my_zlog_info("播放本地音频: %s", local_filepath);
-            exit_code = play_local_audio_file(local_filepath);
-            if (exit_code == 0) {
-                my_zlog_debug("本地音频播放完成: %s", local_filepath);
-            } else {
-                my_zlog_warn("本地音频播放失败 exit=%d: %s", exit_code, local_filepath);
-            }
-        }
-
-        video_tts_play();
-
-        delay_ms(100);
-    
-    }
-}
-
-static void trim_line(char *s)
-{
-    if (!s)
-        return;
-    s[strcspn(s, "\r\n")] = '\0';
-}
-
-static int pulse_pactl_exit_code(int status)
-{
-    if (status == -1)
-        return -1;
-    if (WIFEXITED(status))
-        return WEXITSTATUS(status);
-    return -1;
-}
-
-static int pulse_output_means_already_loaded(const char *output)
-{
-    if (!output || !output[0])
-        return 0;
-    return strstr(output, "already loaded") != NULL ||
-           strstr(output, "Already loaded") != NULL ||
-           strstr(output, "Module exists") != NULL;
-}
-
-static int pulse_module_exists(const char *module_name, const char *device)
-{
-    FILE *fp = popen("pactl list modules short 2>/dev/null", "r");
-    char line[512];
-    char needle[96];
-
-    if (!fp)
-        return 0;
-
-    snprintf(needle, sizeof(needle), "device=%s", device);
-    while (fgets(line, sizeof(line), fp) != NULL) {
-        if (strstr(line, module_name) != NULL && strstr(line, needle) != NULL) {
-            pclose(fp);
-            return 1;
-        }
-    }
-
-    pclose(fp);
-    return 0;
-}
-
-static int pulse_load_alsa_module(const char *module_name, const char *label)
-{
-    char cmd[256];
-    char output[512];
-    char line[256];
-
-    if (pulse_module_exists(module_name, AUDIO_USB_ALSA_DEVICE)) {
-        my_zlog_info("%s 已注册，跳过 (%s device=%s)",
-                     label, module_name, AUDIO_USB_ALSA_DEVICE);
-        return 0;
-    }
-
-    snprintf(cmd, sizeof(cmd), "pactl load-module %s device=%s 2>&1",
-             module_name, AUDIO_USB_ALSA_DEVICE);
-
-    FILE *fp = popen(cmd, "r");
-    if (!fp) {
-        my_zlog_warn("%s 注册失败: 无法执行 pactl (%s)", label, strerror(errno));
-        return -1;
-    }
-
-    output[0] = '\0';
-    while (fgets(line, sizeof(line), fp) != NULL) {
-        trim_line(line);
-        if (!line[0])
-            continue;
-        if (output[0]) {
-            strncat(output, "; ", sizeof(output) - strlen(output) - 1);
-        }
-        strncat(output, line, sizeof(output) - strlen(output) - 1);
-    }
-
-    int status = pclose(fp);
-    int exit_code = pulse_pactl_exit_code(status);
-
-    if (exit_code == 0) {
-        my_zlog_info("%s 注册成功 (%s device=%s)%s%s",
-                     label, module_name, AUDIO_USB_ALSA_DEVICE,
-                     output[0] ? ", pactl: " : "", output[0] ? output : "");
-        return 0;
-    }
-
-    if (pulse_output_means_already_loaded(output) ||
-        pulse_module_exists(module_name, AUDIO_USB_ALSA_DEVICE)) {
-        my_zlog_info("%s 已注册，跳过 (%s device=%s)%s%s",
-                     label, module_name, AUDIO_USB_ALSA_DEVICE,
-                     output[0] ? ": " : "", output[0] ? output : "");
-        return 0;
-    }
-
-    my_zlog_warn("%s 注册失败 (%s device=%s): exit=%d%s%s",
-                 label, module_name, AUDIO_USB_ALSA_DEVICE, exit_code,
-                 output[0] ? ", pactl: " : ", pactl 无输出",
-                 output[0] ? output : "");
-    return -1;
-}
-
-int audio_wheat_init(){
-    return pulse_load_alsa_module("module-alsa-sink", "喇叭");
-}
-
-int audio_speaker_init() {
-    return pulse_load_alsa_module("module-alsa-source", "麦");
-}
-
-int audio_init(){
-
-    delay_s(1);
-    audio_wheat_init();
-    delay_s(1);
-    audio_speaker_init();
-
-    return 0;
-}
-
-
-#define CONFIG_FILE "/usr/share/pulseaudio/alsa-mixer/profile-sets/default.conf"
-
-static const char *s_yundea_block =
-"# 为 Yundea 1076 USB 二合一设备添加配置\n"
-"[Mapping yundea-input]\n"
-"device-strings = hw:%f,0\n"
-"direction = input\n"
-"priority = 100\n"
-"channel-map = mono\n"
-"\n"
-"[Mapping yundea-output]\n"
-"device-strings = hw:%f,0\n"
-"direction = output\n"
-"priority = 100\n"
-"channel-map = left,right\n"
-"\n"
-"[Profile yundea-duplex]\n"
-"input-mappings = yundea-input\n"
-"output-mappings = yundea-output\n"
-"priority = 200\n";
-
-/*
-*功能：加入usb声卡配置
-*
-*/
-int audio_config_init() {
-
-    delay_s(12);
-
-    FILE *fp = fopen(CONFIG_FILE, "r");
-    if (!fp) {
-        perror("无法打开配置文件进行读取");
-        return 1;
-    }
-
-    // 获取文件大小
-    fseek(fp, 0, SEEK_END);
-    long size = ftell(fp);
-    fseek(fp, 0, SEEK_SET);
-
-    char *buffer = malloc(size + 1);
-    if (!buffer) {
-        my_zlog_error("内存分配失败");
-        fclose(fp);
-        return 1;
-    }
-
-    size_t result =fread(buffer, 1, size, fp);
-    if (result != size) {
-    my_zlog_warn("Error: Failed to read audio data");
-    }
-    buffer[size] = '\0';
-    fclose(fp);
-
-    // 检查是否包含完整配置块
-    if (strstr(buffer, s_yundea_block) != NULL) {
-        my_zlog_debug("配置文件中已包含指定配置，跳过添加。");
-        free(buffer);
-        return 0;
-    }
-
-    free(buffer);
-
-   my_zlog_info("未找到指定配置，正在追加到文件末尾...");
-
-    // 打开文件追加配置
-    fp = fopen(CONFIG_FILE, "a");
-    if (!fp) {
-        my_zlog_error("无法打开配置文件进行写入");
-        return 1;
-    }
-
-    fprintf(fp, "\n%s", s_yundea_block);
-    fclose(fp);
-
-    my_zlog_info("配置已成功追加。");
-    return 0;
-}

modules/webrtcpush/mpp_h264_source.c

@@ -73,6 +73,8 @@ struct MppH264Source {
   guint8 *jpeg_tmp_v;
   size_t jpeg_tmp_capacity;
   guint keyframe_req;
+  gint pending_bitrate_bps;
+  guint applied_bitrate_bps;
   volatile gboolean pending_idr;
   gboolean pending_idr_event_sent;
   gint64 last_keyframe_event_us;
@@ -104,6 +106,7 @@ static gboolean pull_sample(MppH264Source *src, gboolean require_idr,
                             size_t *size, gboolean *is_idr,
                             guint64 *pts_ns);
 static gboolean send_force_key_unit(MppH264Source *src);
+static void apply_pending_bitrate(MppH264Source *src);
 static gpointer mjpeg_decode_thread(gpointer user_data);
 static void timing_mark_encoder_in(MppH264Source *src, guint64 pts_ns,
                                    gint64 enc_in_us);
@@ -1648,6 +1651,9 @@ gboolean mpp_h264_source_pull(MppH264Source *src, gboolean force_idr,
   if (!src || !src->appsink || !data || !size)
     return FALSE;
 
+  /* 编码帧之间应用动态码率，避免从 REMB/RTP 回调线程直接重配编码器。 */
+  apply_pending_bitrate(src);
+
   /* bus 报 ERROR 后 pipeline 卡死，这里及时恢复避免长期黑屏 */
   if (src->pending_recover && mpp_h264_source_recover(src)) {
     src->pending_idr = TRUE;
@@ -1676,7 +1682,7 @@ gboolean mpp_h264_source_pull(MppH264Source *src, gboolean force_idr,
   return pull_sample(src, FALSE, timeout_ms, data, size, is_idr, pts_ns);
 }
 
-void mpp_h264_source_set_bitrate(MppH264Source *src, guint bitrate_bps)
+static void apply_bitrate_now(MppH264Source *src, guint bitrate_bps)
 {
   GstElementFactory *f;
   const gchar *name;
@@ -1710,6 +1716,36 @@ void mpp_h264_source_set_bitrate(MppH264Source *src, guint bitrate_bps)
   } else if (name && g_str_has_prefix(name, "x264enc")) {
     g_object_set(src->enc, "bitrate", bitrate_bps / 1000, NULL);
   }
+  src->applied_bitrate_bps = bitrate_bps;
+  my_zlog_info("mpp_h264_source: bitrate applied at frame boundary %u kbps",
+               bitrate_bps / 1000);
+}
+
+static void apply_pending_bitrate(MppH264Source *src)
+{
+  gint pending;
+
+  if (!src)
+    return;
+  pending = g_atomic_int_get(&src->pending_bitrate_bps);
+  if (pending <= 0 ||
+      !g_atomic_int_compare_and_exchange(&src->pending_bitrate_bps,
+                                         pending, 0))
+    return;
+  if ((guint)pending == src->applied_bitrate_bps)
+    return;
+  apply_bitrate_now(src, (guint)pending);
+}
+
+void mpp_h264_source_set_bitrate(MppH264Source *src, guint bitrate_bps)
+{
+  if (!src || !bitrate_bps)
+    return;
+  if (bitrate_bps < MPP_VIDEO_MIN_BPS)
+    bitrate_bps = MPP_VIDEO_MIN_BPS;
+  if (bitrate_bps > MPP_VIDEO_MAX_BPS)
+    bitrate_bps = MPP_VIDEO_MAX_BPS;
+  g_atomic_int_set(&src->pending_bitrate_bps, (gint)bitrate_bps);
 }
 
 gboolean mpp_h264_source_recover(MppH264Source *src)

modules/webrtcpush/rtc_client.c

@@ -88,6 +88,8 @@ typedef struct {
   guint last_remb_bitrate;
   guint remb_filtered;
   guint remb_down_samples;
+  gboolean initial_probe_complete;
+  gint64 probe_target_reached_us;
   gint64 last_bitrate_ramp_us;
   gint64 last_mpp_bitrate_apply_us;
   gint64 last_idr_request_us;
@@ -1021,6 +1023,7 @@ static void apply_bitrate(RtcClient *client, int track, guint bitrate)
   guint b;
   guint old_b;
   guint old_mpp_b;
+  guint mpp_apply_b = 0;
   guint mpp_delta;
   gint64 now_us;
   gint64 last_mpp_apply_us;
@@ -1039,11 +1042,25 @@ static void apply_bitrate(RtcClient *client, int track, guint bitrate)
     old_mpp_b = old_b ? old_b : b;
   client->target_bitrate = b;
   mpp_delta = bitrate_delta(old_mpp_b, b);
-  if (mpp_delta >= WEBRTCPUSH_MPP_RECONFIG_MIN_DELTA_BPS &&
+  if ((guint64)mpp_delta * 100U >=
+          (guint64)old_mpp_b * WEBRTCPUSH_MPP_RECONFIG_MIN_DELTA_PERCENT &&
       now_us - last_mpp_apply_us >=
           (gint64)WEBRTCPUSH_MPP_RECONFIG_MIN_INTERVAL_MS * 1000) {
     apply_mpp = TRUE;
-    client->applied_mpp_bitrate = b;
+    mpp_apply_b = b;
+    if (b > old_mpp_b) {
+      guint max_up = (guint)(((guint64)old_mpp_b *
+          (100U + WEBRTCPUSH_MPP_RECONFIG_MAX_STEP_PERCENT)) / 100U);
+      if (mpp_apply_b > max_up)
+        mpp_apply_b = max_up;
+    } else {
+      guint min_down = (guint)(((guint64)old_mpp_b *
+          (100U - WEBRTCPUSH_MPP_RECONFIG_MAX_STEP_PERCENT)) / 100U);
+      if (mpp_apply_b < min_down)
+        mpp_apply_b = min_down;
+    }
+    mpp_apply_b = clamp_bitrate(mpp_apply_b);
+    client->applied_mpp_bitrate = mpp_apply_b;
     client->last_mpp_bitrate_apply_us = now_us;
   }
   g_mutex_unlock(&client->lock);
@@ -1058,12 +1075,13 @@ static void apply_bitrate(RtcClient *client, int track, guint bitrate)
     g_mutex_unlock(&client->send_lock);
   }
   if (apply_mpp) {
-    mpp_h264_source_set_bitrate(client->h264_source, b);
-    my_zlog_info("libdatachannel: RTCP bitrate control -> target=%u->%u kbps, MPP=%u->%u kbps pacing=%u kbps",
-                 old_b / 1000, b / 1000, old_mpp_b / 1000, b / 1000,
+    /* 这里只投递原子目标；真正的 mpph264enc 属性更新在拉帧边界执行。 */
+    mpp_h264_source_set_bitrate(client->h264_source, mpp_apply_b);
+    my_zlog_info("libdatachannel: bitrate control -> target=%u->%u kbps, MPP queued=%u->%u kbps pacing=%u kbps",
+                 old_b / 1000, b / 1000, old_mpp_b / 1000, mpp_apply_b / 1000,
                  pacing_bitrate_for_encoder(b) / 1000);
   } else {
-    my_zlog_info("libdatachannel: RTCP bitrate control -> target=%u->%u kbps, MPP hold=%u kbps pacing=%u kbps",
+    my_zlog_info("libdatachannel: bitrate control -> target=%u->%u kbps, MPP hold=%u kbps pacing=%u kbps",
                  old_b / 1000, b / 1000, old_mpp_b / 1000,
                  pacing_bitrate_for_encoder(b) / 1000);
   }
@@ -1093,11 +1111,11 @@ static void ramp_bitrate_toward_ceiling(RtcClient *client, int track)
     return; /* confirmed decreases are applied by on_remb() */
 
   diff = tgt - cur;
-  step = (guint)(((guint64)cur * 12U) / 100U);
-  if (step < 50000U)
-    step = 50000U;
-  if (step > 250000U)
-    step = 250000U;
+  step = (guint)(((guint64)cur * WEBRTCPUSH_BITRATE_RAMP_UP_PERCENT) / 100U);
+  if (step < WEBRTCPUSH_BITRATE_RAMP_UP_STEP_MIN_BPS)
+    step = WEBRTCPUSH_BITRATE_RAMP_UP_STEP_MIN_BPS;
+  if (step > WEBRTCPUSH_BITRATE_RAMP_UP_STEP_MAX_BPS)
+    step = WEBRTCPUSH_BITRATE_RAMP_UP_STEP_MAX_BPS;
   if (step > diff)
     step = diff;
   next = cur + step;
@@ -1144,8 +1162,10 @@ static void RTC_API on_remb(int track, unsigned int bitrate, void *ptr)
   gboolean can_step_down = FALSE;
   gboolean have_pacing;
   gboolean first_frame_sent;
+  gboolean recent_idr = FALSE;
   gboolean remb_sane_floor = FALSE;
   gboolean log_remb_sane_floor = FALSE;
+  gboolean probe_completed_now = FALSE;
   guint pacing_packets = 0;
   guint pacing_bytes = 0;
   guint pacing_delay_ms = 0;
@@ -1161,13 +1181,34 @@ static void RTC_API on_remb(int track, unsigned int bitrate, void *ptr)
   g_mutex_lock(&client->lock);
   current = client->target_bitrate;
   first_frame_sent = client->first_frame_sent;
+  recent_idr = client->last_idr_sent_us > 0 &&
+      now_us - client->last_idr_sent_us <
+          (gint64)WEBRTCPUSH_REMB_IDR_GRACE_MS * 1000;
   client->last_remb_bitrate = bitrate;
   can_step_down = now_us - client->last_bitrate_ramp_us >=
       (gint64)WEBRTCPUSH_BITRATE_RAMP_DOWN_MS * 1000;
+  /*
+   * REMB 在低发送量时容易形成“低码率 -> 低估计 -> 永远无法探测”的闭环。
+   * 初次连接主动爬到健康探测目标并保持一段时间，让接收端用真实流量重新估计。
+   * 探测完成后仍保留“发送端受限”保护：pacing 健康时，低 REMB 只能阻止
+   * 继续上升，不能把发送量越压越低。只有持续积压且不在 IDR 窗口才允许下降。
+   */
+  if (!client->initial_probe_complete) {
+    if (current + WEBRTCPUSH_REMB_DOWN_MIN_STEP >=
+        WEBRTCPUSH_HEALTHY_PROBE_TARGET_BPS) {
+      if (client->probe_target_reached_us == 0)
+        client->probe_target_reached_us = now_us;
+      else if (now_us - client->probe_target_reached_us >=
+                   (gint64)WEBRTCPUSH_INITIAL_PROBE_HOLD_MS * 1000) {
+        client->initial_probe_complete = TRUE;
+        probe_completed_now = TRUE;
+      }
+    }
+  }
   estimate_bitrate = bitrate;
   if (first_frame_sent && have_pacing &&
       bitrate < WEBRTCPUSH_REMB_SANE_RAW_MAX_BPS &&
-      pacing_delay_ms <= WEBRTCPUSH_REMB_SANE_PACING_MAX_MS) {
+      (pacing_delay_ms <= WEBRTCPUSH_REMB_SANE_PACING_MAX_MS || recent_idr)) {
     estimate_bitrate = WEBRTCPUSH_REMB_SANE_FLOOR_BPS;
     remb_sane_floor = TRUE;
     if (client->last_remb_sane_log_us == 0 ||
@@ -1234,10 +1275,16 @@ static void RTC_API on_remb(int track, unsigned int bitrate, void *ptr)
   }
   g_mutex_unlock(&client->lock);
 
+  if (probe_completed_now) {
+    my_zlog_info("libdatachannel: initial bandwidth probe complete at %u kbps; steady sender-limited REMB guard enabled",
+                 current / 1000);
+  }
+
   if (log_remb_sane_floor) {
-    my_zlog_info("libdatachannel: RTCP REMB suspicious low raw=%u kbps, use=%u kbps (pacing=%u pkt/%u bytes/%ums)",
+    my_zlog_info("libdatachannel: RTCP REMB sender-limited raw=%u kbps, use=%u kbps (pacing=%u pkt/%u bytes/%ums idr_grace=%d)",
                  bitrate / 1000, estimate_bitrate / 1000,
-                 pacing_packets, pacing_bytes, pacing_delay_ms);
+                 pacing_packets, pacing_bytes, pacing_delay_ms,
+                 recent_idr ? 1 : 0);
   }
 
   if (next) {
@@ -1492,13 +1539,14 @@ static gpointer send_thread_main(gpointer data)
         actual_fps_x10 = (guint)(((guint64)sent_window_frames * 10U * 1000000U) /
                                 elapsed_us);
       }
-      my_zlog_info("libdatachannel: stats encoder=%u actual_h264=%u kbps sent_fps=%u.%u raw_remb=%u filtered_remb=%u ceiling=%u kbps pacing=%u pkt/%u bytes/%ums queue_dropped=%u",
+      my_zlog_info("libdatachannel: stats encoder=%u actual_h264=%u kbps sent_fps=%u.%u raw_remb=%u filtered_remb=%u ceiling=%u kbps pacing=%u pkt/%u bytes/%ums queue_dropped=%u probe=%s",
                    target_bps / 1000, actual_kbps,
                    actual_fps_x10 / 10, actual_fps_x10 % 10,
                    raw_remb_bps / 1000, filtered_remb_bps / 1000,
                    remb_bps / 1000,
                    pacing_packets, pacing_bytes, pacing_delay_ms,
-                   queue_dropped);
+                   queue_dropped,
+                   client->initial_probe_complete ? "done" : "active");
       send_datachannel_mbps(client, actual_kbps);
       /* 修复: MPP CBR失控时actual>>target, pacing必须跟actual否则永远堆积 */
       if (actual_kbps > 0) {
@@ -1975,6 +2023,8 @@ int rtc_client_start(AppState *app)
   client->target_bitrate = WEBRTCPUSH_INITIAL_BITRATE;
   client->applied_mpp_bitrate = WEBRTCPUSH_INITIAL_BITRATE;
   client->remb_ceiling = WEBRTCPUSH_INITIAL_BITRATE;
+  client->initial_probe_complete = FALSE;
+  client->probe_target_reached_us = 0;
   client->last_remb_bitrate = 0;
   client->remb_filtered = 0;
   client->remb_down_samples = 0;
@@ -2201,6 +2251,8 @@ int rtc_client_handle_offer(AppState *app, const char *sdp)
   client->target_bitrate = WEBRTCPUSH_INITIAL_BITRATE;
   client->applied_mpp_bitrate = WEBRTCPUSH_INITIAL_BITRATE;
   client->remb_ceiling = WEBRTCPUSH_INITIAL_BITRATE;
+  client->initial_probe_complete = FALSE;
+  client->probe_target_reached_us = 0;
   client->last_remb_bitrate = 0;
   client->remb_filtered = 0;
   client->remb_down_samples = 0;

modules/webrtcpush/webrtcpush_config.h

@@ -8,7 +8,7 @@
  *
  * 原生分支：v4l2 采集 → mpph264enc（或 x264enc 回退）→ libdatachannel 发送。
  */
-#define WEBRTCPUSH_USE_MPP 0
+#define WEBRTCPUSH_USE_MPP 1
 
 /* 正常固定 24fps；弱网以降码率为主，后续若启用动态帧率也不得低于 22fps。 */
 #define WEBRTCPUSH_H264_FPS 24
@@ -22,24 +22,33 @@
  */
 #define WEBRTCPUSH_INITIAL_BITRATE 900000U
 #define WEBRTCPUSH_MIN_BITRATE 800000U
-#define WEBRTCPUSH_MAX_BITRATE 2600000U
+#define WEBRTCPUSH_MAX_BITRATE 3000000U
 #define WEBRTCPUSH_REMB_UTIL_PERCENT 80U
 #define WEBRTCPUSH_REMB_DOWN_MIN_STEP 100000U
 #define WEBRTCPUSH_REMB_DOWN_CONFIRMATIONS 8U
 #define WEBRTCPUSH_REMB_SEVERE_CONFIRMATIONS 2U
 #define WEBRTCPUSH_REMB_SEVERE_PERCENT 65U
-#define WEBRTCPUSH_BITRATE_RAMP_UP_MS 1800U
+#define WEBRTCPUSH_BITRATE_RAMP_UP_MS 1200U
 #define WEBRTCPUSH_BITRATE_RAMP_DOWN_MS 2000U
+#define WEBRTCPUSH_BITRATE_RAMP_UP_PERCENT 12U
+#define WEBRTCPUSH_BITRATE_RAMP_UP_STEP_MIN_BPS 70000U
+#define WEBRTCPUSH_BITRATE_RAMP_UP_STEP_MAX_BPS 250000U
 #define WEBRTCPUSH_REMB_DOWN_STEP_PERCENT 10U
 #define WEBRTCPUSH_REMB_DOWN_STEP_MIN_BPS 60000U
 #define WEBRTCPUSH_REMB_DOWN_STEP_MAX_BPS 120000U
 /* REMB 低估保护：pacing 不堵时，过低浏览器估计不直接压糊 720p。 */
-#define WEBRTCPUSH_REMB_SANE_FLOOR_BPS 2200000U
-#define WEBRTCPUSH_REMB_SANE_RAW_MAX_BPS 1200000U
+#define WEBRTCPUSH_HEALTHY_PROBE_TARGET_BPS 2700000U
+/* 3.375Mbps * 80% = 2.7Mbps. 这是 REMB 原始估计的探测地板，不是编码码率。 */
+#define WEBRTCPUSH_REMB_SANE_FLOOR_BPS 3375000U
+#define WEBRTCPUSH_REMB_SANE_RAW_MAX_BPS WEBRTCPUSH_REMB_SANE_FLOOR_BPS
 #define WEBRTCPUSH_REMB_SANE_PACING_MAX_MS 100U
-#define WEBRTCPUSH_PACING_HEADROOM_PERCENT 180U
+/* IDR 会产生短时大包，不能在这个窗口内把瞬时 pacing 峰值误判成网络拥塞。 */
+#define WEBRTCPUSH_REMB_IDR_GRACE_MS 1000U
+/* 达到 2.3Mbps 后继续发送一段时间，让浏览器有真实流量可重新估计带宽。 */
+#define WEBRTCPUSH_INITIAL_PROBE_HOLD_MS 6000U
+#define WEBRTCPUSH_PACING_HEADROOM_PERCENT 135U
 #define WEBRTCPUSH_PACING_INTERVAL_MS 5U
-#define WEBRTCPUSH_PACING_MAX_BITRATE 4000000U
+#define WEBRTCPUSH_PACING_MAX_BITRATE 4200000U
 #define WEBRTCPUSH_PACING_MAX_QUEUE_MS 260U
 #define WEBRTCPUSH_PACING_GUARD_COOLDOWN_MS 1000U
 /* 首个/刚恢复的 IDR 允许短暂排队，避免首屏关键帧刚发出就被清队列 */
@@ -48,8 +57,9 @@
 #define WEBRTCPUSH_PACING_RESYNC_IDR_MS 5000U
 
 /* RK MPP 运行中小幅改 bps 容易顿一下；小变化只调 pacing，少重配硬编。 */
-#define WEBRTCPUSH_MPP_RECONFIG_MIN_DELTA_BPS 200000U
-#define WEBRTCPUSH_MPP_RECONFIG_MIN_INTERVAL_MS 5000U
+#define WEBRTCPUSH_MPP_RECONFIG_MIN_DELTA_PERCENT 20U
+#define WEBRTCPUSH_MPP_RECONFIG_MAX_STEP_PERCENT 25U
+#define WEBRTCPUSH_MPP_RECONFIG_MIN_INTERVAL_MS 1000U
 
 /* RTP 分片与 NACK（MTU=1200，留 SRTP/DTLS/FU 余量） */
 #define WEBRTCPUSH_RTP_MAX_FRAGMENT 1050U

zlog.conf

@@ -9,4 +9,4 @@ file perms = 600
 millisecond = "%d(%Y-%m-%d %H:%M:%S).%ms [%V] %m%n"
 
 [rules]
-my_log.*    "/home/orangepi/car/master/log/log_2026-07-10.log"; millisecond
+my_log.*    "/home/orangepi/car/master/log/log_2026-07-11.log"; millisecond