加入了自控开启和关闭

app/main/pthread_open.c

@@ -50,9 +50,9 @@ void *thread_exit_time(void *arg) {
         g_devcontrol_exit_count=6;
         } 
         pthread_mutex_unlock(&g_exit_count_mutex);
-     }else {
-        set_self_control_time_countfuntion();
+     }else if(get_self_control_index()==true){
         delay_ms(20);
+        set_self_control_time_countfuntion();
      }  
         
     }

drivers/devicecontrol/tank0204_control.c

@@ -134,23 +134,23 @@ void  tank0204_change(unsigned char *buf) {
 			tank0204_mode_back(tank0204_front_val+10);
 			tank0204_mode_lift(0);
 	}else if(tank0204_front_t ==0&&tank0204_steering_t==1){
-			tank0204_mode_lift(tank0204_steering_val + tank0204_count+20);
+			tank0204_mode_lift(tank0204_steering_val + tank0204_count);
 			tank0204_mode_back(0);
 	}else if(tank0204_front_t ==0&&tank0204_steering_t==2){
-			tank0204_mode_right(tank0204_steering_val + tank0204_count+20);
+			tank0204_mode_right(tank0204_steering_val + tank0204_count);
 			tank0204_mode_back(0);
 	}
 	else if(tank0204_front_t ==1&&tank0204_steering_t==1){
-		tank0204_mode_lift(tank0204_steering_val+ 40);
+		tank0204_mode_lift(tank0204_steering_val+ tank0204_count+100);
         tank0204_mode_flont(tank0204_steering_val + 20);
 	}else if(tank0204_front_t ==1&&tank0204_steering_t==2){
-		tank0204_mode_right(tank0204_steering_val+ 40);
+		tank0204_mode_right(tank0204_steering_val+ tank0204_count+100);
         tank0204_mode_flont(tank0204_steering_val + 20);
 	}else if(tank0204_front_t ==2&&tank0204_steering_t==1){
-		tank0204_mode_lift(tank0204_steering_val+ 40);
+		tank0204_mode_lift(tank0204_steering_val+ tank0204_count+100);
         tank0204_mode_back(tank0204_steering_val + 20);
 	}else if(tank0204_front_t ==2&&tank0204_steering_t==2){
-		tank0204_mode_right(tank0204_steering_val+ 40);
+		tank0204_mode_right(tank0204_steering_val+ tank0204_count+100);
         tank0204_mode_back(tank0204_steering_val + 20);
 	}
     

drivers/selfcontrol/self_devicecontrol.c

@@ -5,38 +5,97 @@
 #include "drivers_common.h"
 
 
-static ThreadPool_t *g_self_devicecontrol_task_t;
+static ThreadPool_t *g_self_devicecontrol_task_t;//自控任务线程函数
 
 static bool g_self_device_control_switch_index=false;//自控开关。是否打开或者关闭
 
-static int self_control_interval=0;
+static int g_self_control_interval=0;
 
-static int self_control_time_count=0;
+static int g_self_control_time_count=0;
+static pthread_mutex_t g_self_control_time_count_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+static devicecontroltask_t *g_self_device_control_date=NULL;//设备自控全局数据指针
+static pthread_mutex_t g_self_device_control_date_mutex = PTHREAD_MUTEX_INITIALIZER;
 
 /*
-* @brief 设置g_self_devicecontrol_task_t
+* @brief 释放内存
 */
-void set_device_tasks(devicecontroltask_t *new_tasks) {
-    g_self_devicecontrol_task_t = new_tasks;
+void free_device_tasks_memory() { 
+    if(g_self_device_control_date!=NULL){
+         pthread_mutex_lock(&g_self_device_control_date_mutex);
+         free(g_self_device_control_date);
+         g_self_device_control_date=NULL;
+         my_zlog_info("free g_self_device_control_date");
+         pthread_mutex_unlock(&g_self_device_control_date_mutex);
+    } else return;  
+   
 }
 
 /*
-* @brief 自控线程中的任务
+* @brief 分配内存封装函数
 */
-void self_device_control_task(){
-    static unsigned char s_valt[4];
-    device_walk_control(g_device_type,s_valt);
-    device_gpio_control(g_device_type,s_valt[1],s_valt[2]);
+void malloc_device_tasks_memory() {
+    pthread_mutex_lock(&g_self_device_control_date_mutex);
+    if(g_self_device_control_date==NULL){
+        g_self_device_control_date=(devicecontroltask_t*)malloc(sizeof(devicecontroltask_t));
+        my_zlog_info("malloc g_self_device_control_date");
+    }
+   pthread_mutex_unlock(&g_self_device_control_date_mutex);
 }
 
+
 /*
 * @brief 自控线程中的计时函数接口,每20ms加一次
 * @param[in] self_control_time_count，计时次数
 */
 void set_self_control_time_countfuntion(){
-    self_control_time_count++;
+    pthread_mutex_lock(&g_self_control_time_count_mutex);
+    g_self_control_time_count++;
+    if(g_self_control_time_count>30000) g_self_control_time_count=30001;
+    pthread_mutex_unlock(&g_self_control_time_count_mutex);
+}
+
+
+/*
+* @brief 自控线程中的任务
+*/
+void self_device_control_task(){
+    static int i=0;
+    static unsigned char s_valt[3];
+    s_valt[1]=1;
+    s_valt[2]=80;
+
+    long long time_now = g_self_control_time_count*20;
+
+    if(i>=g_self_device_control_date->id_run_count){
+            
+            if(g_self_control_interval<time_now){
+               
+                return;
+            }
+            i=0;
+    }
+    my_zlog_debug("id_run:%d",g_self_device_control_date->id_run[i]);
+    my_zlog_debug("cool:%d",g_self_device_control_date->run_cool[g_self_device_control_date->id_run[i]]);
+    my_zlog_debug("run:%d",g_self_device_control_date->timed_run[g_self_device_control_date->id_run[i]]);
+    if(time_now > g_self_device_control_date->run_cool[g_self_device_control_date->id_run[i]]&&
+       time_now <= (g_self_device_control_date->run_cool[g_self_device_control_date->id_run[i]]+g_self_device_control_date->timed_run[g_self_device_control_date->id_run[i]])){
+        device_walk_control(g_device_type,s_valt);
+    }else if(time_now >
+            (g_self_device_control_date->run_cool[g_self_device_control_date->id_run[i]]+g_self_device_control_date->timed_run[g_self_device_control_date->id_run[i]]))
+    {
+        s_valt[2]=0;
+        device_walk_control(g_device_type,s_valt);
+
+        pthread_mutex_lock(&g_self_control_time_count_mutex);
+        g_self_control_time_count=0;
+        pthread_mutex_unlock(&g_self_control_time_count_mutex); 
+        i=i+1;
+    }
+  
 }
 
+
 /*
 * @brief 自控线程
 */
@@ -46,6 +105,7 @@ void self_device_control_task_function(){
         if(g_self_device_control_switch_index==true){
             self_device_control_task();
         }else if(g_self_device_control_switch_index==false){
+
             delay_ms(100);
         }
     }
@@ -63,15 +123,6 @@ void self_device_pthrpoll_task_init(){
 	my_zlog_info("自控线程池打开");
 }
 
-
-/*
-* @brief 返回自控是否打开的标识接口
-*/
-bool get_self_control_index(){
-
-    return g_self_device_control_switch_index;
-}
-
 /*
 * @brief 自控的线程开启标识设置。
 * @param[in]  当index为，true为开，false为关
@@ -81,6 +132,13 @@ void set_self_control_index(bool index){
 }
 
 /*
+* @brief 获取自控的线程开启标识。
+*/
+bool get_self_control_index(){
+    return g_self_device_control_switch_index;
+}
+
+/*
 * @brief 销毁自控的线程
 */
 void self_control_thread_close(){
@@ -121,7 +179,6 @@ void send_self_contorl_mqtt(){
     cJSON_Delete(root);  // 释放 cJSON 对象
 }
 
-
 /*
 * @brief MQTT接收自控消息的函数 
 */
@@ -138,26 +195,75 @@ void receive_self_contorl_mqtt(cJSON *body){
     s_switch_status=switch_status->valueint;
     if(s_switch_status == DEVICE_SELF_CONTROL_OPEN){
        if(s_thread_index==0) self_device_pthrpoll_task_init();
+       g_self_control_time_count=0;
        g_self_device_control_switch_index =true;
        s_thread_index=1;
     }else if(s_switch_status == DEVICE_SELF_CONTROL_CLOSE) {
        g_self_device_control_switch_index =false;
+       free_device_tasks_memory();
+       send_self_contorl_mqtt();
+       return ;
     }
 
-     // 2️ id_run 数组
-    // cJSON *id_run = cJSON_GetObjectItem(body, "id_run");
-    // g_self_devicecontrol_task_t->id_run_count = 0;
-    // if (cJSON_IsArray(id_run)) {
-    //     int size = cJSON_GetArraySize(id_run);
-    //     for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX; i++) {
-    //         cJSON *item = cJSON_GetArrayItem(id_run, i);
-    //         g_self_devicecontrol_task_t->id_run[i] = item->valueint;
-    //         g_self_devicecontrol_task_t->id_run_count++;
-    //     }
-    // }
+    cJSON *interval=cJSON_GetObjectItem(body, "interval");
+    g_self_control_interval=interval->valueint;
+
+    malloc_device_tasks_memory();//分配内存
 
+    // 2️ id_run 数组
+    cJSON *id_run = cJSON_GetObjectItem(body, "id_run");
+    g_self_device_control_date->id_run_count = 0;
+    if (cJSON_IsArray(id_run)) {
+        int size = cJSON_GetArraySize(id_run);
+        for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX; i++) {
+            cJSON *item = cJSON_GetArrayItem(id_run, i);
+            g_self_device_control_date->id_run[i] = item->valueint-1;
+            g_self_device_control_date->id_run_count++;
+        }
+    }
+
+     // 3 run_cool 数组
+    cJSON *run_cool = cJSON_GetObjectItem(body, "run_cool");
+    //g_self_device_control_date->id_run_count = 0;
+    if (cJSON_IsArray(run_cool)) {
+        int size = cJSON_GetArraySize(run_cool);
+        for (int i = 0; i < size&& i < DEVICE_WALK_SIGN_MAX ; i++) {
+            cJSON *item = cJSON_GetArrayItem(run_cool, i);
+            g_self_device_control_date->run_cool[g_self_device_control_date->id_run[i]] = item->valueint;
+            my_zlog_debug("run_cool:%d",g_self_device_control_date->timed_run[g_self_device_control_date->id_run[i]]);
+            //g_self_device_control_date->id_run_count++;
+        }
+    }
+
+      // 4 timed_run 数组
+    cJSON *timed_run = cJSON_GetObjectItem(body, "timed_run");
+    //g_self_device_control_date->id_run_count = 0;
+    if (cJSON_IsArray(timed_run)) {
+        int size = cJSON_GetArraySize(timed_run);
+        for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX ; i++) {
+            cJSON *item = cJSON_GetArrayItem(timed_run, i);
+            g_self_device_control_date->timed_run[g_self_device_control_date->id_run[i]] = item->valueint;
+            my_zlog_debug("arry:%d",g_self_device_control_date->timed_run[g_self_device_control_date->id_run[i]]);
+            //g_self_device_control_date->id_run_count++;
+        }
+    }
 
     send_self_contorl_mqtt();
 
+    my_zlog_debug("count:%d",g_self_device_control_date->id_run_count);
+
     return;
+}
+
+
+
+
+/*
+* @brief MQTT接收自控的相关的动作控制消息的函数 
+*/
+void receive_self_contorl_date_mqtt(cJSON *body){
+    if (!body) {
+        my_zlog_error("JSON error!");
+        return;
+    }
 }
\ No newline at end of file

drivers/selfcontrol/self_devicecontrol.h

@@ -20,6 +20,13 @@ typedef struct {
     int timed_run[DEVICE_WALK_SIGN_MAX];
 } devicecontroltask_t;
 
+
+typedef struct{
+    int mode[DEVICE_WALK_SIGN_MAX];
+    int val[DEVICE_WALK_SIGN_MAX];
+    int action_count;
+}device_automatic_date_t;
+
 void set_self_control_time_countfuntion();//计时
 
 void self_control_thread_close();

modules/mqtt/mqtt_infor_handle.c

@@ -5,7 +5,7 @@
 #include "drivers_common.h"
 #include "modules_common.h"
 
-int g_heartbeat_count=0;
+int g_heartbeat_count=0;//心跳计数
 
 /*
 *
@@ -13,7 +13,7 @@ int g_heartbeat_count=0;
 pthread_mutex_t g_exit_count_mutex = PTHREAD_MUTEX_INITIALIZER;//互斥锁 
 int g_devcontrol_exit_count=0;
 
-int g_message_type=0;
+int g_message_type=0;//接收的mqtt的g_message_type
 
 static unsigned char g_valt[4];//存放mqtt接收的tpye，mode等