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Commit 2842a9b4 authored by 957dd's avatar 957dd
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Merge branch 'feature/tank_shot_back' into 'master'

Feature/tank shot back See merge request !34
parents caaed94f 3de842c5
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Deviceld.txt
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Deviceld.txt
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CMakeLists.txt
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/home/orangepi/car/master/zlog/src/conf.h \
/home/orangepi/car/master/zlog/src/zc_defs.h \
/home/orangepi/car/master/zlog/src/zc_profile.h \
/home/orangepi/car/master/zlog/src/zc_arraylist.h \
/home/orangepi/car/master/zlog/src/zc_hashtable.h \
/home/orangepi/car/master/zlog/src/zc_xplatform.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/limits.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/syslimits.h \
/usr/include/limits.h /usr/include/aarch64-linux-gnu/bits/posix1_lim.h \
/usr/include/aarch64-linux-gnu/bits/local_lim.h \
/usr/include/linux/limits.h \
/usr/include/aarch64-linux-gnu/bits/posix2_lim.h \
/usr/include/aarch64-linux-gnu/bits/xopen_lim.h \
/usr/include/aarch64-linux-gnu/bits/uio_lim.h \
/home/orangepi/car/master/zlog/src/zc_util.h \
/home/orangepi/car/master/zlog/src/format.h \
/home/orangepi/car/master/zlog/src/thread.h \
/home/orangepi/car/master/zlog/src/event.h \
/usr/include/aarch64-linux-gnu/sys/time.h \
/home/orangepi/car/master/zlog/src/buf.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h /usr/include/stdint.h \
/usr/include/aarch64-linux-gnu/bits/wchar.h \
/usr/include/aarch64-linux-gnu/bits/stdint-uintn.h \
/home/orangepi/car/master/zlog/src/mdc.h \
/home/orangepi/car/master/zlog/src/rotater.h \
/home/orangepi/car/master/zlog/src/lockfile.h /usr/include/errno.h \
/usr/include/aarch64-linux-gnu/bits/errno.h /usr/include/linux/errno.h \
/usr/include/aarch64-linux-gnu/asm/errno.h \
/usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
/usr/include/fcntl.h /usr/include/aarch64-linux-gnu/bits/fcntl.h \
/usr/include/aarch64-linux-gnu/bits/fcntl-linux.h \
/usr/include/aarch64-linux-gnu/bits/stat.h \
/usr/include/aarch64-linux-gnu/bits/struct_stat.h \
/usr/include/aarch64-linux-gnu/sys/stat.h /usr/include/unistd.h \
/usr/include/aarch64-linux-gnu/bits/posix_opt.h \
/usr/include/aarch64-linux-gnu/bits/environments.h \
/usr/include/aarch64-linux-gnu/bits/confname.h \
/usr/include/aarch64-linux-gnu/bits/getopt_posix.h \
/usr/include/aarch64-linux-gnu/bits/getopt_core.h \
/usr/include/aarch64-linux-gnu/bits/unistd_ext.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
/home/orangepi/car/master/zlog/src/category_table.h \
/home/orangepi/car/master/zlog/src/category.h \
/home/orangepi/car/master/zlog/src/record_table.h \
/home/orangepi/car/master/zlog/src/record.h \
/home/orangepi/car/master/zlog/src/rule.h \
/home/orangepi/car/master/zlog/src/version.h
build/CTestTestfile.cmake deleted 100644 → 0
View file @ caaed94f
# CMake generated Testfile for
# Source directory: /home/orangepi/car/master
# Build directory: /home/orangepi/car/master/build
#
# This file includes the relevant testing commands required for
# testing this directory and lists subdirectories to be tested as well.
build/cmake_install.cmake deleted 100644 → 0
View file @ caaed94f
# Install script for directory: /home/orangepi/car/master
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr/local")
endif()
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
# Set the install configuration name.
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
if(BUILD_TYPE)
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
else()
set(CMAKE_INSTALL_CONFIG_NAME "")
endif()
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif()
# Set the component getting installed.
if(NOT CMAKE_INSTALL_COMPONENT)
if(COMPONENT)
message(STATUS "Install component: \"${COMPONENT}\"")
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
else()
set(CMAKE_INSTALL_COMPONENT)
endif()
endif()
# Install shared libraries without execute permission?
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
# Is this installation the result of a crosscompile?
if(NOT DEFINED CMAKE_CROSSCOMPILING)
set(CMAKE_CROSSCOMPILING "FALSE")
endif()
# Set default install directory permissions.
if(NOT DEFINED CMAKE_OBJDUMP)
set(CMAKE_OBJDUMP "/usr/bin/objdump")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/main" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/main")
file(RPATH_CHECK
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/main"
RPATH "")
endif()
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/bin" TYPE EXECUTABLE FILES "/home/orangepi/car/master/build/main")
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/main" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/main")
if(CMAKE_INSTALL_DO_STRIP)
execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/main")
endif()
endif()
endif()
if(CMAKE_INSTALL_COMPONENT)
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
else()
set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
endif()
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
"${CMAKE_INSTALL_MANIFEST_FILES}")
file(WRITE "/home/orangepi/car/master/build/${CMAKE_INSTALL_MANIFEST}"
"${CMAKE_INSTALL_MANIFEST_CONTENT}")
build/include/version.h
View file @ 2842a9b4
#define PROJECT_VERSION_MAJOR 1
#define PROJECT_VERSION_MINOR 1
#define PROJECT_VERSION_PATCH 1
#define PROJECT_VERSION_PATCH 2
#define GIT_HASH ""
#define BUILD_TIMESTAMP "2025-05-16T06:54:04"
#define BUILD_TIMESTAMP "2025-05-19T12:32:09"
#define BUILD_USER "orangepi"
build/main
View file @ 2842a9b4
No preview for this file type
include/thread_main.h
View file @ 2842a9b4
#ifndef THREAD_MAIN_H__
#define THREAD_MAIN_H__
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) ;
int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg),void *delay_count(void *arg)) ;
void *AppExit(void *arg) ;//异常停止线程
void *Mqttbeat(void *arg) ;//心跳线程
void *opensh(void *arg) ;//启动游览器线程
void *Mqtt_onnect(void *arg) ;//mqtt自带重连线程
void *delay_count(void *arg) ;//延时计算延迟
void thread_end() ;
#endif
\ No newline at end of file
src/mqtt.c
View file @ 2842a9b4
......@@ -174,6 +174,7 @@ void message_4(cJSON *body, cJSON *pin_setctrl){//message 为4时候
pin_value(gvalt[1],gvalt[2]);
pwm_value(gvalt[1],gvalt[2]);
if(AppExit_pin_pwm == 202 ) tank_shot_back_stop(gvalt[1],gvalt[2]);
}
int device_message(cJSON *json){//接收到的控制设备的mqtt消息
......
src/thread_main.c
View file @ 2842a9b4
......@@ -11,9 +11,10 @@
#include "device_exit.h"
#include "thread_main.h"
pthread_t thread[4];
pthread_t thread[5];
//开启线程
int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg)){
int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),
void *opensh(void *arg),void *Mqtt_onnect(void *arg),void *delay_count(void *arg)){
if(pthread_create(&thread[0],NULL,AppExit,NULL)!=0) {
//perror("Failed to create thread 0");
my_zlog_error("Failed to create thread 0");
......@@ -34,6 +35,11 @@ int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh
my_zlog_error("Failed to create thread 3");
return 4;
}
if(pthread_create(&thread[4],NULL,delay_count,NULL)!=0) {
//perror("Failed to create thread 3");
my_zlog_error("Failed to create thread 4");
return 5;
}
return 0;
}
......@@ -87,6 +93,14 @@ void *Mqtt_onnect(void *arg) {//mqtt异常处理，断开自动重连，简单
return NULL;
}
void *delay_count(void *arg) {//专门用于计时的线程
while (1) {
Delay_Ms(0,1);
device_delay_count++;
if(device_delay_count >= 10000) device_delay_count = 10000;
}
}
// 等待线程结束
void thread_end() {
......@@ -94,5 +108,6 @@ void thread_end() {
pthread_join(thread[1], NULL);
pthread_join(thread[2], NULL);
pthread_join(thread[3], NULL);
pthread_join(thread[4], NULL);
}
system/gpio/gpio_common.c
View file @ 2842a9b4
#include "common.h"
#include "gpio_common.h"
#include "mqtt.h"
#include "request.h"
#include "gpio_pwm_tank0202.h"
#define MIN_DUTY 0 // 最小占空比
#define MAX_DUTY 100 // 最大占空比
int device_delay_count =0;//设备计算函数
int gpioPwm[30];//软件控制
int gpioWPi[40]; //能使用高低引脚和其他引脚
......@@ -97,4 +101,8 @@ void pwm_init_speed() {
pwmSetClock(PWM_PIN_CHANGE,pwm_clock);//=19200*1000/(hz*2000)
pwmSetRange(PWM_PIN_CHANGE,1000);//占空比范围
}
void Device_exit_end(){//main最后结束需要调用的函数
if(AppExit_pin_pwm == 202) tank_shot_back_stop_task_end();
}
\ No newline at end of file
system/gpio/gpio_common.h
View file @ 2842a9b4
/*
此文件为通用文件，一般用于50hz的驱动等和引脚高低，适合车和船使用，
如果有其他需求，此文件就不需要使用
*/
#ifndef GPIO_COMMON_H__
#define GPIO_COMMON_H__
......@@ -10,6 +5,10 @@
#define PWM_PIN_SPEED 21
#define PWM_PIN_CHANGE 2
extern int device_delay_count;//延时计算函数，使用前必须置0
void Device_exit_end();//main最后结束需要调用的函数
void init_gpioWPi(int *values_pin);//gpio引脚初始化
void init_gpioPwm(int *values_pwm);
......@@ -22,4 +21,8 @@ void pin_value(int pin,int value);
void pwm_init_speed();
void pwm_value(int pin,int value); //软件陪我们控制调速
#endif
\ No newline at end of file
#endif
/*
此文件为通用文件，一般用于50hz的驱动等和引脚高低，适合车和船使用，
如果有其他需求，此文件就不需要使用
*/
\ No newline at end of file
system/gpio/gpio_pwm_tank0202.c
View file @ 2842a9b4
#include "common.h"
#include "pthrpoll.h"
#include "gpio_pwm_tank0202.h"
int modecount=0;
......@@ -8,6 +9,10 @@ int tank0202_middle() {
pwmWrite(PWM_PIN_CHANGE,75);
return 0;
}
long long shot_device_time_start ;
long long shot_device_time_end = 0;
void mode_lift_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
......@@ -192,4 +197,57 @@ int tank0202_change(unsigned char *buf) {
if(modecount == 1) mode_lift_back(val+25);
}
}
// 函数功能：获取当前精确到毫秒的时间戳
// 返回值：当前时间的毫秒数
long long get_current_time_millis() {
struct timeval tv;
// 获取当前时间，存储在tv结构体中，第二个参数一般传NULL
if (gettimeofday(&tv, NULL)!= 0) {
perror("gettimeofday error");
return -1;
}
// 秒数部分转换为毫秒（乘以1000），微秒数部分转换为毫秒（除以1000），然后相加
return (long long)tv.tv_sec * 1000 + tv.tv_usec / 1000;
}
void tank_shot_back_stop_task_function(void *arg) {
if(device_delay_count>=20&&device_delay_count<=40) {
mode_right_back(80);
}
if(device_delay_count>40) {
mode_right_back(0);
}
}
ThreadPool *pool_tank;
void tank_shot_back_stop_task_end(){
thread_pool_destroy(pool_tank);
}
int tank_shot_back_stop(int pin,int val){
static int shot_count=0;
shot_device_time_start=get_current_time_millis();
if(pin !=27){
my_zlog_debug("非27引脚\n");
return 1;
}
if(val == 0) {
mode_right_back(0);
shot_count=1;
//thread_pool_destroy(pool);
}
if(val != 0) {
if(shot_count == 0){
int arg =1;
pool_tank=thread_pool_init(1,1);
thread_pool_add_task(pool_tank, tank_shot_back_stop_task_function, &arg);
shot_count=1;
}if(shot_count == 1){
device_delay_count=0;
}
}
shot_device_time_end=get_current_time_millis();
}
\ No newline at end of file
system/gpio/gpio_pwm_tank0202.h
View file @ 2842a9b4
......@@ -3,5 +3,9 @@
int tank0202_middle();
void tank_shot_back_stop_task_end();
int tank0202_change(unsigned char *buf);
int tank_shot_back_stop(int pin,int val);
#endif
\ No newline at end of file
usr/main.c
View file @ 2842a9b4
......@@ -60,7 +60,7 @@ int main(int argc, char *argv[]) {
my_zlog_fatal("I获取失败");
return -1;
}
if(thread_start(AppExit,Mqttbeat,opensh,Mqtt_onnect) !=0 ) {//开启线程)
if(thread_start(AppExit,Mqttbeat,opensh,Mqtt_onnect,delay_count) !=0 ) {//开启线程)
my_zlog_fatal("开启线程失败");
return -1 ;
}
......
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