优化了mqtt的问题，使用了异步检查重连机制

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(car 
-    VERSION 1.2.16
+    VERSION 1.2.17
     LANGUAGES C
 )
 

app/main/pthread_open.c

@@ -120,6 +120,7 @@ void *thread_mqtt_reconnect(void *arg) {
             my_zlog_warn("mqtt success");
             break;
         }else {
+            my_zlog_warn("wait... mqtt reconect");
             delay_ms(300);
             continue;
         }

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 2
-#define PROJECT_VERSION_PATCH 16
+#define PROJECT_VERSION_PATCH 17
 #define GIT_HASH ""
 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

drivers/sensors/tank_angle.c

@@ -2,6 +2,10 @@
 #include "common.h"
 #include "ads1115.h"
 
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
 double tank_angle(){
     double angle=0;
     float angle_shot=ads1115_read_channel(2);
@@ -26,16 +30,46 @@ int angle_limit(){
 }
 
 
-// double angle_ema_filter(double filtered, double raw, double alpha, double deadband) {
-//     filtered = wrap_deg(filtered);
-//     raw = wrap_deg(raw);
+/*
+  角度 EMA 滤波
+  - filter : 上次滤波值（度）
+  - raw      : 当前原始角度（度）
+  - alpha    : 衰减因子（0..1），越大越跟随原始值（推荐 0.05~0.5）
+  - deadband : 死区（度），小于该值认为是抖动
+*/
+// EN滤波结构体
+// typedef struct {
+//     double alpha;      // 滤波系数 (0~1)
+//     double filtered;   // 上一次滤波角度
+// } ENFilter;
+
+// static ENFilter filter = {.alpha = 0.5, .filtered = 0.05};
+
+// // 支持360°→0°跳变的滤波函数
+// double en_filter_update(double new_angle)
+// {
+//     double diff = new_angle - filter.filtered;
+
+//     // 处理角度环绕（支持359→0或0→359平滑过渡）
+//     if (diff > 180.0)
+//         diff -= 360.0;
+//     else if (diff < -180.0)
+//         diff += 360.0;
+
+//     // 一阶低通滤波
+//     filter.filtered += filter.alpha * diff;
 
-//     double diff = shortest_angle_diff(filtered, raw); // 从 filtered 指向 raw 的差
-//     if (fabs(diff) <= deadband) {
-//         // 抖动范围内，不更新
-//         return filtered;
-//     }
-//     // 角度版 EMA：沿最短方向移动 alpha * diff
-//     double new_filtered = filtered + alpha * diff;
-//     return wrap_deg(new_filtered);
+//     // 结果保持在[0, 360)
+//     if (filter.filtered < 0)
+//         filter.filtered += 360.0;
+//     else if (filter.filtered >= 360.0)
+//         filter.filtered -= 360.0;
+
+//     return filter.filtered;
+// }
+
+// //上次的角度滤波后的值
+// double return_en_filter_last_angle(){
+//     return filter.filtered;
 // }
+

drivers/sensors/tank_angle.h

@@ -11,4 +11,9 @@ double tank_angle();
 
 int angle_limit();
 
+// //角度滤波
+// double en_filter_update(double new_angle);
+
+// //上次角度滤波
+// double return_en_filter_last_angle();
 #endif
\ No newline at end of file

modules/mqtt/mqtt_init.c

@@ -128,6 +128,7 @@ int add_mqtt_create(const char *host, int port, int clients_count){
     }
 
     my_zlog_info("add %s mqttserver success",host);
+    mosquitto_loop_start(client_t->mosq);
     return 0;
 }
 
@@ -144,17 +145,36 @@ void mqtt_clean(){
 }
 
 int mqtt_cycle() {//非阻塞型
+
+    
     while (1) {
-        for(int i=0;i<g_mqtt_cam_config_t->mqtt_count;i++){
-          int rc=  mosquitto_loop(g_clients_t[i].mosq, 17, 1);  // 每秒检查一次
-          if(rc != MOSQ_ERR_SUCCESS){
-             my_zlog_warn("服务器 %s:%d 断开，尝试重连...",
-                        g_clients_t[i].host, g_clients_t[i].port);
-            mosquitto_reconnect(g_clients_t[i].mosq);
-          }
+        bool all_connected = true;
+
+        for (int i = 0; i < g_mqtt_cam_config_t->mqtt_count; i++) {
+            if (!g_clients_t[i].mosq) continue;
+
+            int state = mosquitto_socket(g_clients_t[i].mosq);
+            if (state == -1) {
+                all_connected = false;  
+                my_zlog_warn("检测到 MQTT [%s:%d] 已断开，尝试重连...",
+                             g_clients_t[i].host, g_clients_t[i].port);
+                mosquitto_reconnect_async(g_clients_t[i].mosq);
+            }
         }
-        delay_us(50);
+
+        delay_ms(1000); // 每 1 秒检测一次连接状态
     }
+    // while (1) {
+    //     for(int i=0;i<g_mqtt_cam_config_t->mqtt_count;i++){
+    //       int rc=  mosquitto_loop(g_clients_t[i].mosq, 17, 1);  // 每秒检查一次
+    //       if(rc != MOSQ_ERR_SUCCESS){
+    //          my_zlog_warn("服务器 %s:%d 断开，尝试重连...",
+    //                     g_clients_t[i].host, g_clients_t[i].port);
+    //         mosquitto_reconnect(g_clients_t[i].mosq);
+    //       }
+    //     }
+    //     delay_us(50);
+    // }
 
     return 0;
 }