优化了文件管理

device_judg/device/car.c

+#include "common.h"
+#include "thread_main.h"
+#include "gpio_pwm_carship.h"
+#include "gpio_pwm_ptz.h"
+#include "mqtt.h"
+#include "car.h"
+
+void car_Init_0101() {
+    pwm_speed(); //pwm初始化，车为停止
+    pin_init();
+    AppExit_pin_pwm=1;//车的异常停止值
+}
\ No newline at end of file

device_judg/device/car.h

+#ifndef __CAR_H__
+#define __CAR_H__
+
+void car_Init_0101();
+
+#endif
\ No newline at end of file

device_judg/device/pao.c

+#include "common.h"
+#include "thread_main.h"
+#include "gpio_pwm_carship.h"
+#include "gpio_pwm_ptz.h"
+#include "mqtt.h"
+#include "pao.h"
+
+
+void ptr_Init_0401() {
+    pin_init();
+    pwm_PTZ_hz();
+    PTZ_pwm_init();
+    AppExit_pin_pwm=4;//车的异常停止值
+}
\ No newline at end of file

device_judg/device/pao.h

+#ifndef __PAO_H__
+#define __PAO_H__
+
+void ptr_Init_0401();
+
+#endif
\ No newline at end of file

device_judg/device/ship.c

+#include "common.h"
+#include "thread_main.h"
+#include "gpio_pwm_carship.h"
+#include "gpio_pwm_ptz.h"
+#include "mqtt.h"
+#include "ship.h"
+
+void ship_Init_0301() {
+    pwm_speed();
+    pin_ship_init(); //pwm初始化，车为停止
+    AppExit_pin_pwm=3;//车的异常停止值
+}
\ No newline at end of file

device_judg/device/ship.h

+#ifndef __SHIP_H__
+#define __SHIP_H__
+
+void ship_Init_0301();
+
+#endif
\ No newline at end of file

device_judg/device/tank.c

+#include "common.h"
+#include "thread_main.h"
+#include "gpio_pwm_carship.h"
+#include "gpio_pwm_ptz.h"
+#include "mqtt.h"
+#include "tank.h"
+
+void tank_Init_0201() {
+    pin_init();
+    pinMode(2, OUTPUT);//pwm引脚改为普通引脚
+    pinMode(21, OUTPUT);//pwm引脚改为普通引脚
+    digitalWrite(2, LOW);
+    digitalWrite(21, LOW);
+    AppExit_pin_pwm=2;//坦克的异常停止值
+}
\ No newline at end of file

device_judg/device/tank.h

+#ifndef __TANK_H__
+#define __TANK_H__
+
+void tank_Init_0201();
+
+#endif
\ No newline at end of file

device_judg/judg/judg.c

+#include "common.h"
+#include "thread_main.h"
+#include "gpio_pwm_carship.h"
+#include "gpio_pwm_ptz.h"
+#include "mqtt.h"
+#include "judg.h"
+#include "delay.h"
+#include "car.h"
+#include "tank.h"
+#include "ship.h"
+#include "pao.h"
+
+int Device_File_Init() {
+    const char *readbuf=device_inspect();    
+    //将第3个和第4个字符提取出来
+    char *sub_str=malloc(5);
+    sub_str[0]=readbuf[2];
+    sub_str[1]=readbuf[3];
+    sub_str[2]=readbuf[4];
+    sub_str[3]=readbuf[5];
+    sub_str[4]='\0';
+    printf("开始初始化了");
+
+    if(strcmp(sub_str,"0101")==0){//车的编码
+        car_Init_0101() ;
+        printf("使用型号%s\n",sub_str);
+        free(sub_str) ;
+    }else if(strcmp(sub_str,"0201")==0){//坦克的编码
+        tank_Init_0201();
+        printf("使用型号%s\n",sub_str);
+        free(sub_str);
+    }else if(strcmp(sub_str,"0301")==0){//船的编码
+        ship_Init_0301();
+        printf("使用型号%s\n",sub_str);
+        free(sub_str);
+    }else if(strcmp(sub_str,"0401")==0){//炮的编码
+        ptr_Init_0401();
+        printf("使用型号%s\n",sub_str);
+        free(sub_str);
+    }
+    Delay_Ms(20,0);
+    TOPIC=malloc(24);
+    TOPIC2=malloc(24);
+    TOPIC3= malloc(16);
+    sprintf(TOPIC2,"dev2app/%s",readbuf);
+    sprintf(TOPIC,"app2dev/%s",readbuf);
+    sprintf(TOPIC3,"%s",readbuf);
+    printf("1:%s,2:%s,3:%s\n",TOPIC,TOPIC2,TOPIC3);
+    return 0;
+}

device_judg/judg/judg.h

+#ifndef __JUDG_H__
+#define __JUDG_H__
+
+int Device_File_Init();
+
+#endif
\ No newline at end of file

include/common.h

+#ifndef COMMON_H
+#define COMMON_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <termios.h>
+#include <time.h>
+#include <pthread.h>
+#include <errno.h>
+#include <wiringPi.h>
+#include <stdbool.h>
+// 其他公共声明
+
+#endif

lib/delay.h → include/delay.h

 #ifndef __DELAY_H__
 #define __DELAY_H__
 
-#include <stdio.h>
-#include <time.h>
-
 void Delay_Ms(int sec,int msec);
 
 #endif
\ No newline at end of file

lib/ip.h → include/ip.h

 #ifndef __IP_H__
 #define __IP_H__
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
+
 #include <arpa/inet.h>
-#include <ifaddrs.h>
+
 
 extern  char ip_address[INET_ADDRSTRLEN];//读到的ip地址
 
 int ipaddr();//ip地址函数
 
 
-
 #endif
 

lib/mqtt.h → include/mqtt.h

 #ifndef __MQTT_H__
 #define __MQTT_H__
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <string.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <termios.h>
+#include <time.h>
 #include <mosquitto.h>
 #include <cjson/cJSON.h>
-#include<time.h>
-#include "ip.h"
-#include "opensh.h"
-#include "gpio_pwm.h"
-#include "INA226.h"
-#include "pthrpoll.h"
-#include "gpio_pwm_2.h"
-#include "heat.h"
-
-extern char* TOPIC ;//="app2dev/controlcar0004"
-extern char* TOPIC2 ;//="dev2app/controlcar0004"
-extern char* TOPIC3;//= "controlcar0004"
-
-extern ThreadPool *pool;
 
+extern char* TOPIC ;
+extern char* TOPIC2 ;
+extern char* TOPIC3 ;
+extern uint8_t AppExit_pin_pwm;
+//extern ThreadPool *pool;
 #define BROKER_ADDRESS "119.45.167.177"
 #define BROKER_PORT 1883
-
-extern uint8_t AppExit_pin_pwm;
-
 #define USERNAME "admin"    // 替换为你的用户名
 #define PASSWORD "admin"       // 替换为你的密码
-
 extern struct mosquitto *mosq;//创建客服端
-
 extern time_t gStart;//开始时间戳
-
 extern int gPwmCount;  // 计数
-
 extern int gmessage_type;//message消息值
 
 int mqtt_init();//mqtt初始化

lib/opensh.h → include/opensh.h

 #ifndef __opensh_H__
 #define __opensh_H__ 
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include "mqtt.h"
+
 
 int opencamsh();//打开摄像头函数
 

lib/pthrpoll.h → include/pthrpoll.h

 #ifndef THREAD_POOL_H
 #define THREAD_POOL_H
 
-#include <pthread.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <errno.h>
-#include <unistd.h>
+#include "common.h"
+
 // 任务结构体
 typedef struct Task {
     void (*function)(void *);

include/thread_main.h

+#ifndef __THREAD_MAIN_H__
+#define __THREAD_MAIN_H__
+
+#define filename "/home/orangepi/car/master/Deviceld.txt"
+
+int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg)) ;
+void *AppExit(void *arg) ;
+void *Mqttbeat(void *arg) ;
+void *opensh(void *arg) ;
+void *Mqtt_onnect(void *arg) ;
+char *device_inspect() ;
+void thread_end() ;
+
+#endif
\ No newline at end of file

makefile

 # 编译器
 CC = gcc
-# 编译选项
-CFLAGS = -Wall -g -Ilib 
+# 编译选项-Ilib
+CFLAGS = -Wall -g  -Iinclude -Isystem/gpio -Isystem/sensor -Iusr  -Idevice_judg/judg \
+			 -Idevice_judg/device
 # 链接库
 LDFLAGS = -lwiringPi -lmosquitto -lcjson -lm
 # 目标可执行文件
 TARGET = main
 # 源文件目录
-SRC_DIR = usr src
+SRC_DIR = usr src system/gpio system/sensor device_judg/judg device_judg/device \
 # 头文件目录
-INC_DIR = lib
+INC_DIR = usr include system/gpio system/sensor device_judg/judg device_judg/device \
 # 查找所有 .c 文件
 SRCS = $(foreach dir,$(SRC_DIR),$(wildcard $(dir)/*.c))
 # 目标文件

src/delay.c

+#include "common.h"
 #include "delay.h"
 
-void Delay_Ms(int sec,int msec)
-{
+void Delay_Ms(int sec,int msec) {
     struct timespec ts;
     ts.tv_sec = sec; // 秒
     ts.tv_nsec = msec*1000000; // 1毫秒 = 1000000纳秒

src/ip.c

+#include <sys/socket.h>
+#include <netinet/in.h> 
+#include <ifaddrs.h>
+#include "common.h"
 #include "ip.h"
 
 struct ifaddrs *ifap, *ifa;
 struct sockaddr_in *sa;
+
 char ip_address[INET_ADDRSTRLEN];
 
 int ipaddr() {//获取ip

src/mqtt.c

+#include "common.h"
+#include "gpio_pwm_carship.h"
+#include "gpio_pwm_ptz.h"
+#include "ip.h"
+#include "opensh.h"
+#include "INA226.h"
+#include "heat.h"
 #include "mqtt.h"
 
+struct mosquitto *mosq;
+
 char*  TOPIC;
 char*  TOPIC2;
 char*  TOPIC3;
@@ -12,59 +21,63 @@ int message;//存放gmessage_type的值发送心跳，2，3消息为1；
 uint8_t AppExit_pin_pwm=0;//判断坦克或者车的退出
 
 int rc=0;//判断mqtt是否成功创建
-
-ThreadPool *pool;//线程池线程函数
+//ThreadPool *pool;//线程池线程函数
 
 unsigned char modeTemp=0;
 unsigned char typeTemp=0;
 unsigned char pinTemp=0;
 unsigned char valTemp=0;
-
 unsigned char gvalt[4];//存放mqtt接收的tpye，mode等
 
-struct mosquitto *mosq;
-time_t gStart;
-
-
 char  *glat=NULL;//加入gps后删除，心跳预留，不更改
 char  *glon=NULL;//加入gps后删除，心跳预留，不更改
 
+time_t gStart;
+
 int mqtt_init() {
  // 初始化 mosquitto 库
     mosquitto_lib_init();  
+
     mosq = mosquitto_new(NULL, true, NULL);
     if (!mosq) {
         fprintf(stderr, "Failed to create Mosquitto client\n");
         return -1;
     }
+
     mosquitto_int_option(mosq, MOSQ_OPT_PROTOCOL_VERSION, MQTT_PROTOCOL_V5);
+
     return 0;
 }
 
 void on_connect(struct mosquitto *mosq, void *obj, int rc) {//回调函数
-    if (rc == 0) 
-    {
+    if (rc == 0) {
      printf("Connected to broker\n");
+
      mosquitto_subscribe(mosq, NULL, TOPIC, 0);
-    }   
-    else 
-    {
+
+    } else {
     fprintf(stderr, "Connection failed with code %d\n", rc);
     }
 }
 
 void mqtt_wirte(){//心跳格式
+
     float voltage = INA226_readBusVoltage(sda_pin, scl_pin);
     float current = INA226_readCurrent(sda_pin, scl_pin);
+    
     char voltage_str[20];  // 足够存储转换后的字符串的缓冲区
     sprintf(voltage_str, "%.2f", voltage); 
     char current_str[20];  // 足够存储转换后的字符串的缓冲区
     sprintf(current_str, "%.2f", current); 
+
     heat_tem();//获取CPU温度
+
     message=1;
+
     cJSON *root = cJSON_CreateObject();
     cJSON *body = cJSON_CreateObject();
     cJSON *head = cJSON_CreateObject();
+
     cJSON_AddStringToObject(body, "ip", ip_address);//发送设备id
     cJSON_AddStringToObject(body, "ID", TOPIC);//发送设备号
     cJSON_AddStringToObject(body, "V:", voltage_str);//心跳发送电压
@@ -72,9 +85,12 @@ void mqtt_wirte(){//心跳格式
     cJSON_AddStringToObject(body,"Tem:",temperature);//发送温度
     cJSON_AddStringToObject(body, "N", glat);//gps
     cJSON_AddStringToObject(body, "E", glon);//gps
+
     cJSON_AddNumberToObject(head, "message_type",message);
+
     cJSON_AddItemToObject(root, "body", body);
     cJSON_AddItemToObject(root, "head",head);
+
     char *payload = cJSON_PrintUnformatted(root);
     printf("%s\n",payload);
     mosquitto_publish(mosq, NULL, TOPIC2, strlen(payload), payload, 0, false); 
@@ -82,72 +98,80 @@ void mqtt_wirte(){//心跳格式
 }
 
 void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm  
-        cJSON *mode = cJSON_GetObjectItem(pwm_ctrl, "mode");   //mode=1 速度，mode=2 转向(unsigned char)
-        cJSON *type = cJSON_GetObjectItem(pwm_ctrl, "type");
-        cJSON *val =   cJSON_GetObjectItem(pwm_ctrl, "val");  //val为pwm的值 0~100(unsigned char)(unsigned char)
-        modeTemp= mode->valueint;
-        typeTemp=type->valueint;
+    cJSON *mode = cJSON_GetObjectItem(pwm_ctrl, "mode");   //mode=1 速度，mode=2 转向(unsigned char)
+    cJSON *type = cJSON_GetObjectItem(pwm_ctrl, "type");
+    cJSON *val =   cJSON_GetObjectItem(pwm_ctrl, "val");  //val为pwm的值 0~100(unsigned char)(unsigned char)
+    
+    modeTemp= mode->valueint;
+    typeTemp=type->valueint;
+    valTemp= val->valueint;
+
+    if(typeTemp==3){ 
         valTemp= val->valueint;
-        if(typeTemp==3){ 
-            valTemp= val->valueint;
-        }
-        gvalt[0]=typeTemp;
-        gvalt[1]=modeTemp;
-        gvalt[2]=valTemp;
-        gPwmCount = 0;
-        printf("typeTemp:%d\n",gvalt[0]); 
-        printf("modeTemp:%d\n",gvalt[1]);
-        printf("valTemp:%d\n",gvalt[2]);
-        if(AppExit_pin_pwm==1)speed_change(gvalt);
-        if(AppExit_pin_pwm==3) {
-        if (thread_pool_add_task(pool, ship_speed_change, gvalt) != 0) {
-            printf("Failed to add task\n");
-            }
-        }
-        if(AppExit_pin_pwm == 4) {
-            PTZ_pwm_change(gvalt);
-        }
+    }
+
+    gvalt[0]=typeTemp;
+    gvalt[1]=modeTemp;
+    gvalt[2]=valTemp;
+    gPwmCount = 0;
+
+    printf("typeTemp:%d\n",gvalt[0]); 
+    printf("modeTemp:%d\n",gvalt[1]);
+    printf("valTemp:%d\n",gvalt[2]);
+
+    if(AppExit_pin_pwm==1) speed_change(gvalt) ;
+    if(AppExit_pin_pwm==3) ship_speed_change(gvalt) ;
+    if(AppExit_pin_pwm == 4) PTZ_pwm_change(gvalt);
+        
 }
 
 void message_4(cJSON *body, cJSON *pin_setctrl){//message 为4时候
     cJSON *pin = cJSON_GetObjectItem(pin_setctrl, "pin");
     cJSON *val = cJSON_GetObjectItem(pin_setctrl, "val");  //val为pwm的值 0~100(unsigned char)(unsigned char)
+    
     pinTemp=pin->valueint;
     valTemp= val->valueint;
+
     if(valTemp>=1){
         valTemp=1;
     }
+
     gPwmCount=0;
     gvalt[0]=0;
     gvalt[1]=pinTemp;
     gvalt[2]=valTemp;
+
     printf("pinTemp:%d\n",gvalt[1]); 
     printf("valTemp:%d\n",gvalt[2]);
+
     pin_value(gvalt[1],gvalt[2]);
 
 }
 
 void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {//消息回环函数  
     time_t end = time(NULL);
+
     if(gStart+5>end){
         printf("正在处理过期消息\n");
         return;     
     }
+
     // 确保消息有效
     if (message->payload && message->payloadlen) { // 将消息内容转换为字符串
         char *payload_str = (char *)malloc(message->payloadlen + 1);
         if (!payload_str) {
             return;
         } 
+
         memcpy(payload_str, message->payload, message->payloadlen);
         payload_str[message->payloadlen] = '\0';
+
         // 解析 JSON
         cJSON *json = cJSON_Parse(payload_str);
         if (json == NULL) {
             fprintf(stderr, "Error before: [%s]\n", cJSON_GetErrorPtr());
             free(payload_str);
-        } 
-        else {// 提取 head 对象
+        }  else {// 提取 head 对象
             cJSON *head = cJSON_GetObjectItem(json, "head");
             if (!cJSON_IsObject(head)) {
                 free(payload_str);
@@ -159,21 +183,24 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
                 free(payload_str);
                 return;
             }
+
             //提取 body数据段
             cJSON *body = cJSON_GetObjectItem(json, "body");
             if (!cJSON_IsObject(body)) {
                 free(payload_str);
                 return;
             }
+
             cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
             cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
-
             if(pwm_ctrl==NULL||pin_setctrl==NULL){ 
                 free(payload_str);
                 return;
             }
+
             gmessage_type=message_type->valueint;
             printf("message_type: %d\n",message_type->valueint);
+            
             switch(gmessage_type){
                 case 1:
                     system("sudo reboot");//重启香橙派

src/opensh.c

+#include "common.h"
+#include "mqtt.h"
 #include "opensh.h"
 
-
 char gwebcam[254];//存放启动火狐网站命令
 
-
 int opencamsh(){
     const char* url = "https://jywy.yd-ss.com?dev=";
     char urls[50];
@@ -11,7 +11,7 @@ int opencamsh(){
     sprintf(urls,"%s%s",url,TOPIC3);
 
     //setenv("DISPLAY", ":0", 1);//设置环境变量https://jywy.yd-ss.com?dev=controcar0004 --new-window sudo 
-   sprintf(gwebcam,"su - orangepi -c \"chromium-browser --use-fake-ui-for-media-stream %s\"",urls);
+    sprintf(gwebcam,"su - orangepi -c \"chromium-browser --use-fake-ui-for-media-stream %s\"",urls);
     system(gwebcam);
     printf("%s\n",gwebcam);
     printf("open cam\n");
@@ -24,18 +24,27 @@ int opencamsh(){
 void refresh_cam() {//刷新页面
 
     setenv("XAUTHORITY", "/home/orangepi/.Xauthority", 1);//加入授权
+
     const char *search_command = "xdotool search --class \"chromium-browser\"";//获取窗口id
+
     FILE *fp = popen(search_command, "r");
+
     if (!fp) {
         perror("Failed to execute search command");
         return;
     }
+
     char window_id[32];
+
     while (fgets(window_id, sizeof(window_id), fp) != NULL) {
         window_id[strcspn(window_id, "\n")] = '\0';
+        
         char activate_command[128];
+
         snprintf(activate_command, sizeof(activate_command), "xdotool windowactivate --sync %s key Ctrl+r", window_id);
+        
         pid_t pid = fork();
+
         if (pid == 0) {
             // 子进程执行命令
             execl("/bin/sh", "sh", "-c", activate_command, (char *)NULL);
@@ -48,7 +57,9 @@ void refresh_cam() {//刷新页面
             perror("Failed to fork");
         }
     }
+
     pclose(fp);
     printf("recam\n");
+
 }
 

src/pthrpoll.c

 #include "pthrpoll.h"
 
-
 // 初始化任务队列
 static int task_queue_init(TaskQueue *queue) {
     queue->head = NULL;

lib/main.h → src/thread_main.c

-#ifndef __MAIN_H__
-#define __MAIN_H__
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <string.h>
-#include <fcntl.h>
-#include <pthread.h>
-#include <unistd.h>
-#include <termios.h>
-#include <wiringPi.h>
-#include "gpio_pwm.h"
-#include "gpio_pwm_2.h"
-#include "ip.h"
-#include "mqtt.h"
-#include "delay.h"
-#include "opensh.h"
-#include "INA226.h"
-#include "pthrpoll.h"
-#include "heat.h"
-
-
-
-#define filename "/home/orangepi/car/master/Deviceld.txt"
-pthread_t thread[4];
-char buffer[30]; // 用于存储文件内容
-
-//开启线程
-int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg)){
-    if(pthread_create(&thread[0],NULL,AppExit,NULL)!=0) {
-        perror("Failed to create thread 0");
-        return 0;
-    }
-    if(pthread_create(&thread[1],NULL,Mqttbeat,NULL)!=0) {
-        perror("Failed to create thread 1");
-        return 1;
-    }
-    if(pthread_create(&thread[2],NULL,opensh,NULL)!=0){
-        perror("Failed to create thread 2");
-        return 2;
-    }
-    if(pthread_create(&thread[3],NULL,Mqtt_onnect,NULL)!=0) {
-        perror("Failed to create thread 3");
-        return 3;
-    }
-        return 10086;
-}
-
-
-void *AppExit(void *arg){ //出现意外自动停止
-    while(1){    
-        Delay_Ms(0,100);
-        gPwmCount++;
-        if(gPwmCount>=5) {
-            if(AppExit_pin_pwm==1) {//车异常问题处理
-                midde_pwm();
-                pin_all_default();
-            }
-            if(AppExit_pin_pwm==2) {//坦克异常问题处理
-                midde_pwm();
-                pin_all_default();
-                digitalWrite(2, LOW);
-                digitalWrite(21, LOW);
-            } 
-            if(AppExit_pin_pwm==3) {//船异常问题处理
-                ship_stop_pwm();
-                pin_all_ship_default();
-            }
-            gPwmCount=6;
-        } 
-    }
-    return NULL; 
-}
-
-void *Mqttbeat(void *arg) { 
-    printf("Mqttbeat start\n");
-    Delay_Ms(15,0);
-    while(1) {
-        ipaddr();//获取ip
-        Delay_Ms(3,0);
-        mqtt_wirte();//心跳，3s一个        
-    }
-    return NULL;
-}
-
-void *opensh(void *arg) { 
-    Delay_Ms(5,0);
-    printf("open cam\n");
-    opencamsh();//10s后打开游览器并且进入网址
-    return NULL; 
-}
-
-void *Mqtt_onnect(void *arg) {//mqtt异常处理，断开自动重连，简单粗暴
-    Delay_Ms(5,0);
-    mqtt_init();//mqtt初始化
-    mqtt_create(mosq);//创建mqtt客户端
-    while(1){
-        mqtt_create(mosq);//创建mqtt客户端     
-        mqtt_cycle(mosq); //进入mqtt死循环，异常退出继续执行while
-    }
-    mqtt_clean(mosq);
-    return NULL;
-}
-
-char *device_inspect() {//读出文件函数
-    FILE *file;
-    while (1) {
-        file = fopen(filename, "r"); // 以只读模式打开文件
-
-        if (file == NULL) {
-            printf("文件 %s 打开失败，等待中...\n", filename);
-        } 
-        else {
-            // 尝试读取文件内容
-            if (fgets(buffer, sizeof(buffer), file) != NULL) {
-                // 如果文件内容不为空
-                fclose(file);
-                printf("读取到文件内容: %s\n", buffer);
-                return  buffer;
-            } else {
-                printf("文件为空，等待中...\n");
-            }
-            fclose(file);
-        }
-    Delay_Ms(1,0); // 等待1秒后再次检查
-    }
-}
-
-
-// 等待线程结束
-void thread_end() {
-    pthread_join(thread[0], NULL);
-    pthread_join(thread[1], NULL);
-    pthread_join(thread[2], NULL);
-    pthread_join(thread[3], NULL);
-}
-
-#endif
\ No newline at end of file
+#include "gpio_pwm_carship.h"
+#include "gpio_pwm_ptz.h"
+#include "ip.h"
+#include "mqtt.h"
+#include "delay.h"
+#include "opensh.h"
+#include "INA226.h"
+#include "pthrpoll.h"
+#include "heat.h"
+#include "common.h"
+#include "thread_main.h"
+
+char buffer[30]; // 用于存储文件内容
+pthread_t thread[4];
+//开启线程
+int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg)){
+    if(pthread_create(&thread[0],NULL,AppExit,NULL)!=0) {
+        perror("Failed to create thread 0");
+        return 0;
+    }
+    if(pthread_create(&thread[1],NULL,Mqttbeat,NULL)!=0) {
+        perror("Failed to create thread 1");
+        return 1;
+    }
+    if(pthread_create(&thread[2],NULL,opensh,NULL)!=0){
+        perror("Failed to create thread 2");
+        return 2;
+    }
+    if(pthread_create(&thread[3],NULL,Mqtt_onnect,NULL)!=0) {
+        perror("Failed to create thread 3");
+        return 3;
+    }
+        return -1;
+}
+
+
+void *AppExit(void *arg) { //出现意外自动停止
+    while(1){    
+        Delay_Ms(0,100);
+        gPwmCount++;
+        if(gPwmCount>=5) {
+            if(AppExit_pin_pwm==1) {//车异常问题处理
+                midde_pwm();
+                pin_all_default();
+            }
+            if(AppExit_pin_pwm==2) {//坦克异常问题处理
+                midde_pwm();
+                pin_all_default();
+                digitalWrite(2, LOW);
+                digitalWrite(21, LOW);
+            } 
+            if(AppExit_pin_pwm==3) {//船异常问题处理
+                ship_stop_pwm();
+                pin_all_ship_default();
+            }
+            gPwmCount=6;
+        } 
+    }
+    return NULL; 
+}
+
+void *Mqttbeat(void *arg) { 
+    printf("Mqttbeat start\n");
+    Delay_Ms(15,0);
+    while(1) {
+        ipaddr();//获取ip
+        Delay_Ms(3,0);
+        mqtt_wirte();//心跳，3s一个        
+    }
+    return NULL;
+}
+
+void *opensh(void *arg) { 
+    Delay_Ms(5,0);
+    printf("open cam\n");
+    opencamsh();//10s后打开游览器并且进入网址
+    return NULL; 
+}
+
+void *Mqtt_onnect(void *arg) {//mqtt异常处理，断开自动重连，简单粗暴
+    Delay_Ms(5,0);
+    mqtt_init();//mqtt初始化
+    mqtt_create(mosq);//创建mqtt客户端
+    while(1){
+        mqtt_create(mosq);//创建mqtt客户端     
+        mqtt_cycle(mosq); //进入mqtt死循环，异常退出继续执行while
+    }
+    mqtt_clean(mosq);
+    return NULL;
+}
+
+char *device_inspect() {//读出文件函数
+    FILE *file;
+    while (1) {
+        file = fopen(filename, "r"); // 以只读模式打开文件
+
+        if (file == NULL) {
+            printf("文件 %s 打开失败，等待中...\n", filename);
+        } 
+        else {
+            // 尝试读取文件内容
+            if (fgets(buffer, sizeof(buffer), file) != NULL) {
+                // 如果文件内容不为空
+                fclose(file);
+                printf("读取到文件内容: %s\n", buffer);
+                return  buffer;
+            } else {
+                printf("文件为空，等待中...\n");
+            }
+            fclose(file);
+        }
+    Delay_Ms(1,0); // 等待1秒后再次检查
+    }
+}
+
+
+// 等待线程结束
+void thread_end() {
+    pthread_join(thread[0], NULL);
+    pthread_join(thread[1], NULL);
+    pthread_join(thread[2], NULL);
+    pthread_join(thread[3], NULL);
+}
+

src/gpio_pwm.c → system/gpio/gpio_pwm_carship.c

-#include "gpio_pwm.h"
-#include <stdbool.h>
+#include "gpio_pwm_carship.h"
+#include "common.h"
 
 // 定义 PWM 引脚的 WiringPi 编号
 #define PWM_PIN_SPEED 21
@@ -8,7 +8,6 @@
 int count_mode = 0;
 
 const int gpioWPi[] = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27};//车能使用高低引脚
-
 const int gpioWPi_ship[] = {5, 6, 7,10, 16, 20, 22, 23, 24,25,26, 27};//船能使用高低引脚
 
 void pin_init() {//初始化引脚,车和坦克共用

lib/gpio_pwm.h → system/gpio/gpio_pwm_carship.h

-#ifndef __GPIO_PWM_H__
-#define __GPIO_PWM_H__
+#ifndef __GPIO_PWM_CARSHIP_H__
+#define __GPIO_PWM_CARSHIP_H__
 
-#include <wiringPi.h>
-#include <stdio.h>
-#include <stdlib.h>
 // 定义 PWM 引脚的 WiringPi 编号
-
 void pwm_speed();//pwm控制函数
 void midde_pwm();//车pwm停止函数
 void speed_change(unsigned char *buf);//速度和转向值处理mqtt函数

src/gpio_pwm_2.c → system/gpio/gpio_pwm_ptz.c

-#include "gpio_pwm_2.h"
+#include "common.h"
+#include "gpio_pwm_ptz.h"
 
 #define PWM_PIN_up 21
 #define PWM_PIN_down 2
 
 // 舵机最小脉冲宽度（ms）
 #define MIN_PULSE_WIDTH 0.5
-
 // 舵机最大脉冲宽度（ms）
 #define MAX_PULSE_WIDTH 2.5
 

lib/gpio_pwm_2.h → system/gpio/gpio_pwm_ptz.h

-#ifndef __GPIO_PWM_2_H__
-#define __GPIO_PWM_2_H__
-
-#include <wiringPi.h>
-#include <stdio.h>
-#include <stdlib.h>
+#ifndef __GPIO_PWM_PTZ_H__
+#define __GPIO_PWM_PTZ_H__
 
 void pwm_PTZ_hz();
 void PTZ_pwm_init();
 void PTZ_pwm_change(unsigned char *buf) ;
+
 #endif
\ No newline at end of file

src/INA226.c → system/sensor/INA226.c

+#include <math.h>
+#include "common.h"
 #include "INA226.h"
 float currentLSB ;
 

lib/INA226.h → system/sensor/INA226.h

 #ifndef INA226_H
 #define INA226_H
 
-#include <stdint.h>
-#include <stdbool.h>
-#include <wiringPi.h>
-#include <stdio.h>
-#include <math.h>
-
 extern int sda_pin;  // GPIO0
 extern int scl_pin;   // GPIO1
 

src/heat.c → system/sensor/heat.c

+#include "common.h"
 #include "heat.h"
 
 #define MAX_LINE_LENGTH 20

lib/heat.h → system/sensor/heat.h

 #ifndef __HEAT_H__
 #define __HEAT_H__
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 
 int heat_tem();//获取CPU温度
 extern char temperature[];//温度存储

usr/main.c

 #include "main.h"
 
-int Device_File_Init() {
-    const char *readbuf=device_inspect();    
-    //将第3个和第4个字符提取出来
-    char *sub_str=malloc(3);
-    sub_str[0]=readbuf[2];
-    sub_str[1]=readbuf[3];
-    sub_str[2]='\0';
-    printf("开始初始化了");
-
-
-    
-
-
-    if(strcmp(sub_str,"01")==0){//车的编码
-        pwm_speed(); //pwm初始化，车为停止
-        pin_init();
-        AppExit_pin_pwm=1;//车的异常停止值
-        free(sub_str);
-    }else if(strcmp(sub_str,"02")==0){//坦克的编码
-        pin_init();
-        pinMode(2, OUTPUT);//pwm引脚改为普通引脚
-		pinMode(21, OUTPUT);//pwm引脚改为普通引脚
-        digitalWrite(2, LOW);
-        digitalWrite(21, LOW);
-        AppExit_pin_pwm=2;//坦克的异常停止值
-        free(sub_str);
-    }else if(strcmp(sub_str,"03")==0){//船的编码
-        pwm_speed();
-        pin_ship_init(); //pwm初始化，车为停止
-        pool = thread_pool_init(1, 1);
-        AppExit_pin_pwm=3;//车的异常停止值
-        free(sub_str);
-    }else if(strcmp(sub_str,"04")==0){//船的编码
-        pin_init();
-        pwm_PTZ_hz();
-        PTZ_pwm_init();
-        AppExit_pin_pwm=4;//车的异常停止值
-        free(sub_str);
-    }
-    Delay_Ms(20,0);
-    TOPIC=malloc(24);
-    TOPIC2=malloc(24);
-    TOPIC3= malloc(16);
-    sprintf(TOPIC2,"dev2app/%s",readbuf);
-    sprintf(TOPIC,"app2dev/%s",readbuf);
-    sprintf(TOPIC3,"%s",readbuf);
-    printf("1:%s,2:%s,3:%s\n",TOPIC,TOPIC2,TOPIC3);
-    return 0;
-}
-
 int main(int argc, char *argv[]) {
+
     if (wiringPiSetup() == -1) {
         printf("WiringPi setup failed!\n");
         return 1;
-        }
+    }
+
     if (!INA226_begin(sda_pin, scl_pin)) {
         printf("INA226 初始化失败！\n");
         return 2;
     }
+
     if(Device_File_Init()!=0) {
         printf("设备文件读取初始化失败！\n");
         return 3;
     }
+    printf("识别初始化成功\n");
+    
     system("pkill  chromium");
     // 配置 INA226
+
     INA226_configure(sda_pin, scl_pin);
     // 校准 INA226
     float rShuntValue = 0.1; // 分流电阻值（单位：欧姆）
     float iMaxExpected = 5; // 最大预期电流（单位：安培）
     INA226_calibrate(sda_pin, scl_pin, rShuntValue, iMaxExpected);
+
     gStart=time(NULL);//开始时间戳
+
     ipaddr();//获取ip
+
     thread_start(AppExit,Mqttbeat,opensh,Mqtt_onnect);//开启线程
     thread_end();
+
     return EXIT_SUCCESS;
 }
\ No newline at end of file

usr/main.h

+#ifndef __HAIN_H__
+#define __HAIN_H__
+
+#include "common.h"
+#include "gpio_pwm_carship.h"
+#include "gpio_pwm_ptz.h"
+#include "ip.h"
+#include "mqtt.h"
+#include "delay.h"
+#include "opensh.h"
+#include "INA226.h"
+#include "pthrpoll.h"
+#include "heat.h"
+#include "thread_main.h"
+#include "judg.h"
+
+
+#endif
\ No newline at end of file