24 1214

delay.c

+#include <stdio.h>
+#include <time.h>
+
+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
+    nanosleep(&ts,NULL);
+}
\ No newline at end of file

delay.h

+#ifndef __DELAY_H__
+#define __DELAY_H__
+
+
+void Delay_Ms(int sec,int msec);
+
+#endif
\ No newline at end of file

gps.c

+#include "gps.h"
+#include "delay.h"
+
+char glat[20],glon[20];
+
+
+void parse_gnrmc(const char *nmea_sentence) {
+
+    char lat[20], lat_dir, lon[20], lon_dir;
+    //printf("dsada");
+    char time[11], status;
+    if (sscanf(nmea_sentence, "$GNRMC,%10[^,],%c,%[^,],%c,%[^,],%c", time, &status, lat, &lat_dir, lon, &lon_dir) == 6) 
+    {
+        if (status == 'A') 
+        { // 定位有效
+            //double glatitude =   convert_to_decimal(glat, glat_dir);
+            //double glongitude =  convert_to_decimal(glon, glon_dir);
+
+            printf("Time (UTC): %s\n", time);
+            printf("glatitude: %s\n", lat);
+            printf("glongitude: %s\n", lon);
+            sscanf(lat,"%[^,]",glat);
+            sscanf(lon,"%[^,]",glon);
+        } 
+        else 
+        {
+            printf("GNRMC data is invalid (status: %c)\n", status);
+        }
+    } 
+    else 
+    {
+        printf("Failed to parse GNRMC sentence.\n");
+    }
+}

gps.h

+#ifndef __GPS_H__
+#define __GPS_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>
+
+extern char glat[20],  glon[20];
+
+void parse_gnrmc(const char *nmea_sentence);//定位函数
+
+
+#endif
\ No newline at end of file

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>
-
-
-
-int ipaddr();
-
-extern  char ip_address[INET_ADDRSTRLEN];
-
-#endif
-
+#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>
+
+
+
+int ipaddr();
+
+extern  char ip_address[INET_ADDRSTRLEN];
+
+#endif
+

main.c

-#include "ip.h"
-#include "mqtt.h"
-#include "serial.h"
-
-
-//mosq = mosquitto_new(CLIENT_ID, true, NULL);
-
-void Delay_Ms()
-{
-    struct timespec ts;
-    ts.tv_sec = 0; // 秒
-    ts.tv_nsec = 100000000; // 1毫秒 = 1000000纳秒
-    nanosleep(&ts,NULL);
-}
-
-
-
-
-
-void *serial_usart1(void *arg)
-{ 
-
-    serial_Receive();
-    
-    return NULL; 
-}
-
-void *serial_usart2(void *arg)
-{ 
-
-    serial_Receive_2();
-    
-    return NULL; 
-}
-
-void *AppExit(void *arg)
-{ 
-    unsigned char bufpwm1[3]={0x01,0x01,0x00};
-    unsigned char bufpwm2[3]={0x01,0x02,0x00};
-    unsigned char bufpwm3[3]={0x01,0x03,0x00};
-    while(1)
-    {
-        Delay_Ms();
-        gPwmCount++;
-        if(gPwmCount>20)
-        {
-        gPwmCount=21;
-        serial_Write(bufpwm1);
-        serial_Write(bufpwm2);
-        serial_Write(bufpwm3);
-       
-        } 
-    }
-    
-    return NULL; 
-}
-
-
-
-int main(int argc, char *argv[]) {
-    //struct mosquitto *mosq;
-    int rc=0;
-
-    serial_Init();
-
-    gStart=time(NULL);
-    // 初始化 mosquitto 库
-    mosquitto_lib_init();
-    mosq = mosquitto_new(CLIENT_ID, true, NULL);
-    init_mqtt(mosq);
-
-    // 连接到 MQTT 代理
-    rc = mosquitto_connect(mosq, BROKER_ADDRESS, BROKER_PORT, 60);
-    if (rc != MOSQ_ERR_SUCCESS) {
-        fprintf(stderr, "Failed to connect to broker: %s\n", mosquitto_strerror(rc));
-        mosquitto_destroy(mosq);
-        return EXIT_FAILURE;
-    }
-   
-    ipaddr();
-   send_mqtt_message(mosq, TOPIC,ip_address);//将ip发送给mqtt
- 
-
-    pthread_t thread[3];//线程标识符
-    
-    if(pthread_create(&thread[0],NULL,serial_usart1,NULL)!=0)
-    {
-        perror("Failed to create thread 1");
-        return 1;
-    }
-
-    if(pthread_create(&thread[1],NULL,AppExit,NULL)!=0)
-    {
-        perror("Failed to create thread 2");
-        return 1;
-    }
-
-    if(pthread_create(&thread[2],NULL,serial_usart2,NULL)!=0)
-    {
-        perror("Failed to create thread 2");
-        return 1;
-    }
-    
-   
-   //开始循环，处理网络流量
-    //mosquitto_loop_start(mosq);//后台处理
-    mosquitto_loop_forever(mosq, -1, 1000); // -1 表示无限等待，1 表示处理消息的最大数量
-
-    // 清理
-    mosquitto_destroy(mosq);
-    mosquitto_lib_cleanup(); 
-    // 等待线程1结束
-    pthread_join(thread[0], NULL);
-
-    // 等待线程2结束
-    pthread_join(thread[1], NULL);
-
-    // 等待线程3结束
-    pthread_join(thread[2], NULL);
-
-    return EXIT_SUCCESS;
+#include "main.h"
+#include "ip.h"
+#include "mqtt.h"
+#include "serial.h"
+
+void *serial_usart1(void *arg)
+{ 
+    printf("serial_usart 1 start\n");
+    
+    serial_Receive_1();
+
+    return NULL; 
+}
+
+void *AppExit(void *arg)
+{ 
+
+    
+    /*
+    unsigned char bufpwm1[3]={0x01,0x01,0x00};
+    unsigned char bufpwm2[3]={0x01,0x02,0x00};
+    unsigned char bufpwm3[3]={0x01,0x03,0x00};
+    while(1)
+    {
+        Delay_Ms();
+        gPwmCount++;
+        if(gPwmCount>20)
+        {
+        gPwmCount=21;
+        serial_Write(bufpwm1);
+        serial_Write(bufpwm2);
+        serial_Write(bufpwm3);
+       
+        } 
+    }*/
+    
+    return NULL; 
+}
+
+void *Mqttbeat(void *arg)
+{
+    printf("Mqttbeat start\n");
+   
+    
+    while(1)
+    {
+        mqtt_wirte();
+        Delay_Ms(3,200);
+    }
+    
+    
+    return NULL;
+}
+
+void *serial_usart2(void *arg)
+{ 
+    printf("serial_usart 2 start\n");
+    serial_Receive_2();
+
+}
+
+int main(int argc, char *argv[]) {
+
+       
+    gStart=time(NULL);//开始时间戳
+
+    serial_Init();//串口初始化
+
+    mqtt_init();//mqtt初始化
+
+    mqtt_create(mosq);//创建mqtt客户端
+  
+    ipaddr();//获取ip
+    mqtt_wirte();//mqtt心跳首次发送
+
+    thread_start(serial_usart1,AppExit,Mqttbeat,serial_usart2);
+    mqtt_cycle(mosq);
+   
+
+    mqtt_clean(mosq);
+    thread_end();
+
+    return EXIT_SUCCESS;
 }
\ No newline at end of file

main.h

+#ifndef __MAIN_H__
+#define __MAIN_H__
+
+#include "ip.h"
+#include "mqtt.h"
+#include "serial.h"
+#include "delay.h"
+
+pthread_t thread[4];
+
+
+
+
+int thread_start(void *serial_usart1(void *arg),void *AppExit(void *arg),void *Mqttbeat(void *arg),void *serial_usart2(void *arg))
+{
+    
+
+    if(pthread_create(&thread[0],NULL,serial_usart1,NULL)!=0)
+    {
+        perror("Failed to create thread 1");
+        return 1;
+    }
+
+    if(pthread_create(&thread[1],NULL,AppExit,NULL)!=0)
+    {
+        perror("Failed to create thread 2");
+        return 2;
+    }
+
+    if(pthread_create(&thread[2],NULL,Mqttbeat,NULL)!=0)
+    {
+        perror("Failed to create thread 3");
+        return 3;
+    }
+
+    if(pthread_create(&thread[3],NULL,serial_usart2,NULL)!=0)
+    {
+        perror("Failed to create thread 1");
+        return 4;
+    }
+}
+
+void thread_end()
+{
+     // 等待线程1结束
+    pthread_join(thread[0], NULL);
+
+    // 等待线程2结束
+    pthread_join(thread[1], NULL);
+
+     // 等待线程1结束
+    pthread_join(thread[2], NULL);
+
+    pthread_join(thread[3], NULL);
+}
+
+#endif
\ No newline at end of file

mqtt.c

 #include "mqtt.h"
-
+#include "gps.h"
 time_t gStart;
 
+
 int gPwmCount = 0;  // 计数
+int gmessage_type=10086;
+int rc=0;
 struct mosquitto *mosq;
 
 
-int init_mqtt(struct mosquitto *mosq) 
+unsigned char gmodeTmep=0;
+unsigned char gtypeTemp=0;
+unsigned char gpinTemp=0;
+unsigned char gvaltemp=0;
+unsigned char gvalt[4];
+
+
+void on_connect(struct mosquitto *mosq, void *obj, int rc) //回调函数
 {
-    
+    if (rc == 0) 
+    {
+     printf("Connected to broker\n");
+     mosquitto_subscribe(mosq, NULL, TOPIC, 0);
+     time_t start=time(NULL);
+    }   
+    else 
+    {
+    fprintf(stderr, "Connection failed with code %d\n", rc);
+    }
+}
 
+
+int mqtt_init()
+{
+ // 初始化 mosquitto 库
+    mosquitto_lib_init();  
+    mosq = mosquitto_new(CLIENT_ID, true, NULL);
     if (!mosq) {
         fprintf(stderr, "Failed to create Mosquitto client\n");
         return -1;
     }
-       // 设置连接和消息回调
-    mosquitto_connect_callback_set(mosq, on_connect);
-   mosquitto_message_callback_set(mosq, on_message);
-
-    //设置用户名和密码
-    mosquitto_username_pw_set(mosq, USERNAME, PASSWORD);
+    mosquitto_int_option(mosq, MOSQ_OPT_PROTOCOL_VERSION, MQTT_PROTOCOL_V5);
+    
 }
 
-void send_mqtt_message(struct mosquitto *mosq,const char *topic, const char *message) 
+//int init_mqtt(struct mosquitto *mosq)
+
+
+
+void mqtt_wirte()
 {
-    mosquitto_publish(mosq, NULL, topic, strlen(message), message, 0, false) ;
     
+    int message=1;
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
+    cJSON_AddStringToObject(body, "ip", ip_address);
+    cJSON_AddStringToObject(body, "ID", TOPIC);
+    cJSON_AddStringToObject(body, "N", glat);
+    cJSON_AddStringToObject(body, "E", glon);
+    if(gmessage_type==0)
+    {
+        message=0;
+    }else{
+        message=1;
+    }
+    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, TOPIC, strlen(payload), payload, 0, false); 
+    
+      
 }
 
-void on_connect(struct mosquitto *mosq, void *obj, int rc) 
+
+
+
+void message_0()//message_type为0时候要改变的值
 {
-    if (rc == 0) 
-    {
-     printf("Connected to broker\n");
-     mosquitto_subscribe(mosq, NULL, TOPIC, 0);
-     time_t start=time(NULL);
-    }   
-    else 
+    for(int i=0;i<2;i++)
     {
-    fprintf(stderr, "Connection failed with code %d\n", rc);
+        gPwmCount = 0;
+        switch(i)
+        {
+            case 0:
+                gvalt[0]=gmodeTmep;
+                gvalt[1]=0;
+                gvalt[2]=0;
+                printf("gmodeTmep:%d\n",gvalt[0]); 
+                printf("gtypeTemp:%d\n",gvalt[1]);
+                printf("gvaltemp:%d\n",gvalt[2]);
+                serial_Write(gvalt);
+                break;
+            case 1:
+                gvalt[0]=gmodeTmep;
+                gvalt[1]=1;
+                gvalt[2]=0;
+                printf("gmodeTmep:%d\n",gvalt[0]); 
+                printf("gtypeTemp:%d\n",gvalt[1]);
+                printf("gvaltemp:%d\n",gvalt[2]);
+                serial_Write(gvalt);
+                break;
+            case 2:
+                gvalt[0]=gmodeTmep;
+                gvalt[1]=2;
+                gvalt[2]=0;
+                printf("gmodeTmep:%d\n",gvalt[0]); 
+                printf("gtypeTemp:%d\n",gvalt[1]);
+                printf("gvaltemp:%d\n",gvalt[2]);
+                serial_Write(gvalt);
+                break;
+            default:
+                break;
+        }
     }
+    printf("已断开连接\n");
+    
+}
+
+void message_3(cJSON *body,cJSON *pwm_ctrl)//message_type为3，控制pwm
+{
+    //pwm控制
+    // 提取 pin_ctrl_req 对象
+    //cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
+    if (!cJSON_IsObject(pwm_ctrl)) 
+        {
+            return;
+        }
+        
+        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)
+        gmodeTmep= mode->valueint;
+        gtypeTemp=type->valueint;
+        gvaltemp= val->valueint;
+        gvalt[0]=gmodeTmep;
+        gvalt[1]=gtypeTemp;
+        gvalt[2]=gvaltemp;
+
+        gPwmCount = 0;
+        printf("gmodeTmep:%d\n",gvalt[0]); 
+        printf("gtypeTemp:%d\n",gvalt[1]);
+        printf("gvaltemp:%d\n",gvalt[2]);
+        serial_Write(gvalt);  
+}
+
+void message_4(cJSON *body, cJSON *pin_setctrl)
+{
+    //cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
+    if (!cJSON_IsObject(pin_setctrl)) 
+        {
+            return;
+        }
+    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)
+    gpinTemp=pin->valueint;
+    gvaltemp= val->valueint;
+    gPwmCount=0;
+    gvalt[0]=0;
+    gvalt[1]=gpinTemp;
+    gvalt[2]=gvaltemp;
+    printf("gpinTemp:%d\n",gpinTemp); 
+    printf("gtypeTemp:%d\n",gvaltemp);
+    serial_Write(gvalt);
 }
 
 void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {
     
     time_t end = time(NULL);
+
     if(gStart+5>end)
     {
         printf("正在处理过期消息");
@@ -56,89 +184,112 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
     {
         // 将消息内容转换为字符串
         char *payload_str = (char *)malloc(message->payloadlen + 1);
-        if (payload_str) 
+        if (!payload_str) 
         {
-            memcpy(payload_str, message->payload, message->payloadlen);
-            payload_str[message->payloadlen] = '\0';
+            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) 
+        // 解析 JSON
+        cJSON *json = cJSON_Parse(payload_str);
+        if (json == NULL) 
+        {
+            fprintf(stderr, "Error before: [%s]\n", cJSON_GetErrorPtr());
+        } 
+        else 
+        {
+            // 提取 head 对象
+            cJSON *head = cJSON_GetObjectItem(json, "head");
+            if (!cJSON_IsObject(head)) 
             {
-                fprintf(stderr, "Error before: [%s]\n", cJSON_GetErrorPtr());
-            } 
-            else 
+                return;
+            }
+               // 提取 message_type
+            cJSON *message_type = cJSON_GetObjectItem(head, "message_type");
+            if (!cJSON_IsNumber(message_type)) 
+            {
+                return;
+            }
+            cJSON *body = cJSON_GetObjectItem(json, "body");
+            if (!cJSON_IsObject(body)) 
+            {
+                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)
             {
-                // 提取 head 对象
-                cJSON *head = cJSON_GetObjectItem(json, "head");
-                if (!cJSON_IsObject(head)) 
-                {
-                    return;
-                }
-                // 提取 message_type
-                cJSON *message_type = cJSON_GetObjectItem(head, "message_type");
-                if (!cJSON_IsNumber(message_type)) 
-                {
-                    return;
-                }
-                cJSON *body = cJSON_GetObjectItem(json, "body");
-                if (!cJSON_IsObject(body)) 
-                {
-                    return;
-                }
-                printf("message_type: %d\n", message_type->valueint);
-                if (message_type->valueint==3)
-                {  //pwm控制
-                    // 提取 pin_ctrl_req 对象
-                    cJSON *pwm_ctrl_req = cJSON_GetObjectItem(body, "p_ctrl_req");
-                    if (!cJSON_IsObject(pwm_ctrl_req)) 
-                    {
-                        return;
-                    }
-                    // 提取 data 数组
-                    cJSON *data = cJSON_GetObjectItem(pwm_ctrl_req, "data");
-                    if (!cJSON_IsArray(data)) 
-                    {
-                        return;
-                    }
-                    
-                    // 遍历数组
-                    for (int i = 0; i < cJSON_GetArraySize(data); ++i) 
-                    {
-                        // 提取数组中的每个对象
-                        cJSON *item = cJSON_GetArrayItem(data, i);
-                        if (!cJSON_IsObject(item)) 
-                        {
-                            continue;
-                        }
-                        cJSON *mode = cJSON_GetObjectItem(item, "mode");   //mode=1 速度，mode=2 转向(unsigned char)
-                        cJSON *type = cJSON_GetObjectItem(item, "type");
-                        cJSON *val =   cJSON_GetObjectItem(item, "val");  //val为pwm的值 0~100(unsigned char)(unsigned char)
-                        unsigned char modeTmep= mode->valueint;
-                        unsigned char typeTemp=type->valueint;
-                        unsigned char valtemp= val->valueint;
-                        unsigned char valt[4];
-                        valt[0]=modeTmep;
-                        valt[1]=typeTemp;
-                        valt[2]=valtemp;
-
-                        gPwmCount = 0;
-                        printf("%d\n",valt[0]); 
-                        printf("%d\n",valt[1]);
-                        printf("%d\n",valt[2]);
-                        serial_Write(valt);
-                           
-                    }
-                           
-                }
-            
-            // 释放 payload 字符串
-            free(payload_str); 
-            }  
-                
-
-             
-        }   
+                case 0:
+                    message_0();
+                    break;
+                case 3:
+                    message_3(body,pwm_ctrl);
+                    break;
+                case 4:
+                    message_4(body,pin_setctrl);
+                    break;
+                default:
+                    break;
+            }   
+        
+            } 
+             // 释放 payload 字符串
+            free(payload_str);
+                                      
     }
 }
-    
\ No newline at end of file
+
+int mqtt_create(struct mosquitto *mosq) //创建mqtt客服端
+{
+    
+    
+       // 设置连接和消息回调
+    mosquitto_connect_callback_set(mosq, on_connect);
+    mosquitto_message_callback_set(mosq, on_message);
+
+    //设置用户名和密码
+    mosquitto_username_pw_set(mosq, USERNAME, PASSWORD);
+
+   
+    // 创建 mosquitto 客户端
+    rc = mosquitto_connect(mosq, BROKER_ADDRESS, BROKER_PORT, 60);
+    if (rc != MOSQ_ERR_SUCCESS) {                             
+        fprintf(stderr, "Failed to connect to broker: %s\n", mosquitto_strerror(rc));
+        mosquitto_destroy(mosq);
+        return EXIT_FAILURE;
+    }
+    //mosquitto_subscribe_opt_set(mosq, TOPIC, strlen(TOPIC), 1, MOSQ_OPT_NO_LOCAL);
+
+    
+}    
+
+int mqtt_cycle(struct mosquitto *mosq)
+{
+
+   
+    //mosquitto_message_callback_set(mosq, NULL);
+    // 开始循环，处理网络流量
+    //mosquitto_loop_start(mosq);//后台处理
+    //mosquitto_subscribe_with_options(mosq, NULL, TOPIC, 0, MQTT_SUB_OPT_NO_LOCAL);
+    mosquitto_loop_forever(mosq, -1, 1); // -1 表示无限等待，1 表示处理消息的最大数量
+     //mosquitto_message_retry_set(mosq, 10);
+}
+
+int mqtt_clean(struct mosquitto *mosq)
+{
+      // 清理
+    mosquitto_destroy(mosq);
+    mosquitto_lib_cleanup(); 
+}
\ No newline at end of file

mqtt.h

@@ -13,7 +13,7 @@
 #define BROKER_ADDRESS "119.45.167.177"
 #define BROKER_PORT 1883
 #define CLIENT_ID "device1car/carer5434"
-#define TOPIC "devices/controcar02"
+#define TOPIC "controcar0005"
 #define USERNAME "admin"    // 替换为你的用户名
 #define PASSWORD "admin"       // 替换为你的密码
 
@@ -23,11 +23,14 @@ extern time_t gStart;
 
 extern int gPwmCount;  // 计数
 
+extern int gmessage_type;
 
-int init_mqtt(struct mosquitto *mosq) ;
-void send_mqtt_message(struct mosquitto *mosq,const char *topic, const char *message);
 
+int mqtt_init();
+int mqtt_create(struct mosquitto *mosq);
 void on_connect(struct mosquitto *mosq, void *obj, int rc);
 void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) ;
-
+void mqtt_wirte();
+int mqtt_cycle(struct mosquitto *mosq);
+int mqtt_clean(struct mosquitto *mosq);
 #endif
\ No newline at end of file

serial.c

 #include "serial.h"
 #include "mqtt.h"
+#include "delay.h"
+#include "gps.h"
 
-int fd, fds;
-
-int init_serials(const char *port, int baudrate)
-{
-    int fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
-    if (fd == -1) {
-        perror("open serial port");
-        return -1;
-    }
-
-    struct termios options;
-    tcgetattr(fd, &options);
-
-    // 设置波特率
-    cfsetispeed(&options, B9600);
-    cfsetospeed(&options, B9600);
-
-    // 配置串口
-    options.c_cflag &= ~PARENB; // 无校验
-    options.c_cflag &= ~CSTOPB; // 1停止位
-    options.c_cflag &= ~CSIZE;  // 清除数据位设置
-    options.c_cflag |= CS8;     // 8数据位
-    options.c_cflag |= CLOCAL | CREAD; // 忽略调制解调器状态，开启接收器
-
-    options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); // 原始模式
-    options.c_iflag &= ~(IXON | IXOFF | IXANY);         // 禁用流控
-    options.c_oflag &= ~OPOST;                         // 原始输出
-
-    tcsetattr(fd, TCSANOW, &options);
-    return fd;
-}
+int fd1,fd2;
 
 int init_serial(const char *port, int baudrate) {
     int fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
@@ -62,109 +34,112 @@ int init_serial(const char *port, int baudrate) {
     return fd;
 }
 
-void Delay_Ms1()
-{
-    struct timespec ts1;
-    ts1.tv_sec = 1; // 秒
-    ts1.tv_nsec =0 ;//100000000; // 1毫秒 = 1000000纳秒
-    nanosleep(&ts1,NULL);
-}
 
-
-void serial_Receive_2() {
-     char buffer[256];
+void serial_Receive_2()
+{
+    char buffer[BUFFER_SIZE];
+    char nmea_sentence[BUFFER_SIZE];
+    int index=0;
     //mosq = mosquitto_new(CLIENT_ID, true, NULL);
-    while (1) { 
-        int bytes_read = read(fds, buffer, sizeof(buffer)-1);
-        if (bytes_read > 0) {
-             //printf("Received chatdate: %s\n", buffer);
+    while (1) 
+    { 
+        int bytes_read = read(fd2, buffer, BUFFER_SIZE-1);
+        if (bytes_read > 0) 
+        {
             buffer[bytes_read] = '\0';
-            printf("Received chatdate: %s\n", buffer);
-            //int receivedNumber = atoi(buffer);
-            //printf("Received intdate: %d\n", receivedNumber);
-            //mosquitto_publish(mosq, NULL, TOPIC, strlen(buffer), buffer, 0, false);
-            //printf("%s\n",mosq);
-                                                
+            for (int i = 0; i < bytes_read; i++) 
+            {
+                if (buffer[i] == '$') 
+                {
+                    index = 0; // 新语句开始
+                }
+                if (index < BUFFER_SIZE - 1) 
+                {
+                    nmea_sentence[index++] = buffer[i];
+                    nmea_sentence[index] = '\0';
+                }
+                if (buffer[i] == '\n') 
+                { // 一条语句结束
+                    if (strstr(nmea_sentence, "$GNRMC")) 
+                    {
+                        parse_gnrmc(nmea_sentence); // 解析$GNRMC语句
+                        
+                    }
+                }
+            }   
         }
-        
-        
+     Delay_Ms(2,0);
     }
-    close(fds);
-    //free(buffer);
+    close(fd2);
 }
 
-void serial_Receive() {
+void serial_Receive_1() 
+{
     unsigned char buffer[256];
-    //mosq = mosquitto_new(CLIENT_ID, true, NULL);
-    while (1) { 
-        int bytes_read = read(fd, buffer, sizeof(buffer)-1);
+
+    while(1) 
+    { 
+        //printf("sada\n");
+        int bytes_read =read(fd1, buffer, sizeof(buffer)-1);
+        
         if (bytes_read > 0) {
              //printf("Received chatdate: %s\n", buffer);
-            //buffer[bytes_read] = '0xFF';
-            printf("Received chatdate:: %d\n", buffer[1]);
+            //buffer[bytes_read] = '\0';
+            printf("Received chatdate: %hhn\n", buffer);
             //int receivedNumber = atoi(buffer);
             //printf("Received intdate: %d\n", receivedNumber);
-            //mosquitto_publish(mosq, NULL, TOPIC, strlen(buffer), buffer, 0, false);
-            //printf("%s\n",mosq);
-            int i=buffer[1];
-            if(i==1)
-            {
-                send_mqtt_message(mosq, TOPIC,"1");
-                i=0;
-            }
-            if(i==2)
-            {
-                send_mqtt_message(mosq, TOPIC,"2");
-                i=0;
-            }
-            if(i==3)
-            {
-                send_mqtt_message(mosq, TOPIC,"3");
-                i=0;
-            }
-            if(i==4)
-            {
-                send_mqtt_message(mosq, TOPIC,"4");
-                i=0;
-            }
-            
-            
         }
-        Delay_Ms1();
-        
+         
+        Delay_Ms(1,0); 
     }
-    close(fd);
-    //free(buffer);
+    close(fd1);
 }
 
 void serial_Write(unsigned char *buf)
 {
     unsigned char buffers[5];
-    buffers[0]=0xAA;
-    //write(fd, buffers[0], sizeof(buffers));
-    for(int i=1;i<4;i++)
+    if(gmessage_type==3)
+    {
+        buffers[0]=0xAA;
+        //write(fd, buffers[0], sizeof(buffers));
+        for(int i=1;i<4;i++)
+        {
+            buffers[i]=buf[i-1];
+            //write(fd, buffers[i], sizeof(buffers));
+        }
+        buffers[4]=0xFE;
+        write(fd1, buffers, sizeof(buffers));
+    }
+    if(gmessage_type==4)
     {
-        buffers[i]=buf[i-1];
-        //write(fd, buffers[i], sizeof(buffers));
+        buffers[0]=0xAA;
+        buffers[1]=0xEE;
+        //write(fd, buffers[0], sizeof(buffers));
+        for(int i=2;i<4;i++)
+        {
+            buffers[i]=buf[i-1];
+            //write(fd, buffers[i], sizeof(buffers));
+        }
+        buffers[4]=0xFE;
+        write(fd1, buffers, sizeof(buffers));
     }
-    buffers[4]=0xFE;
-    write(fd, buffers, sizeof(buffers));
     
-    //printf("%d\n",buffers[0]);
-    //printf("%d\n",buffers[1]);
-    //printf("%d\n",buffers[2]);
-    //printf("%d\n",buffers[3]);
-    //printf("%d\n",buffers[4]);
+
 }
 
 
 
 int serial_Init()
 {
-    fd = init_serial(SERIAL_PORT, 9600);
-    fds = init_serials(SERIAL_PORT_2, 9600);
-    if (fd == -1) return -1;
-    if (fds == -1) return -1;
-    printf("Serial communication started...\n");
+    fd1 = init_serial(SERIAL_PORT1, 9600);
+    fd2 = init_serial(SERIAL_PORT2, 9600);
+    if (fd1 == -1) {
+        return -1;
+    printf("Serial 1 communication started...\n");
+    }
+    if (fd2 == -1) {
+        return -1;
+    printf("Serial 2 communication started...\n");
+    }
     
 }

serial.h

@@ -9,15 +9,11 @@
 #include <unistd.h>
 #include <termios.h>
 
-#define SERIAL_PORT "/dev/ttyS3" // 根据实际设备修改
-
-#define SERIAL_PORT_2 "/dev/ttyS7" // 根据实际设备修改
-
+#define SERIAL_PORT1 "/dev/ttyS3" // 根据实际设备修改
+#define SERIAL_PORT2 "/dev/ttyS7" 
+#define BUFFER_SIZE 256
 int serial_Init();
-void serial_Receive();
-void serial_Receive_2(); 
+void serial_Receive_1(); 
+void serial_Receive_2();
 void serial_Write(unsigned char *buf);
-//extern int fd;
-int init_serial(const char *port, int baudrate); 
-int init_serials(const char *port, int baudrate);
 #endif
\ No newline at end of file