Merge branch 'feature/wifi_change' into 'master'

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(DeviceControlSystem 
-    VERSION 1.1.6
+    VERSION 1.1.7
     LANGUAGES C
 )
 

build/Makefile

@@ -640,6 +640,30 @@ src/thread_main.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/thread_main.c.s
 .PHONY : src/thread_main.c.s
 
+src/wifichange.o: src/wifichange.c.o
+.PHONY : src/wifichange.o
+
+# target to build an object file
+src/wifichange.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/wifichange.c.o
+.PHONY : src/wifichange.c.o
+
+src/wifichange.i: src/wifichange.c.i
+.PHONY : src/wifichange.i
+
+# target to preprocess a source file
+src/wifichange.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/wifichange.c.i
+.PHONY : src/wifichange.c.i
+
+src/wifichange.s: src/wifichange.c.s
+.PHONY : src/wifichange.s
+
+# target to generate assembly for a file
+src/wifichange.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/src/wifichange.c.s
+.PHONY : src/wifichange.c.s
+
 system/gpio/gpio_common.o: system/gpio/gpio_common.c.o
 .PHONY : system/gpio/gpio_common.o
 
@@ -1503,6 +1527,9 @@ help:
 	@echo "... src/thread_main.o"
 	@echo "... src/thread_main.i"
 	@echo "... src/thread_main.s"
+	@echo "... src/wifichange.o"
+	@echo "... src/wifichange.i"
+	@echo "... src/wifichange.s"
 	@echo "... system/gpio/gpio_common.o"
 	@echo "... system/gpio/gpio_common.i"
 	@echo "... system/gpio/gpio_common.s"

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 1
-#define PROJECT_VERSION_PATCH 6
+#define PROJECT_VERSION_PATCH 7
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-06-03T10:33:26"
+#define BUILD_TIMESTAMP "2025-06-06T09:12:32"
 #define BUILD_USER "orangepi"

device_judg/judg/judg.c

@@ -13,6 +13,7 @@
 char TOPIC_middle[23];
 char TOPIC2_middle[23];
 char TOPIC3_middle[15];
+char TOPIC4_middle[23];
 
 bool device_name_exists=0;
 
@@ -24,6 +25,7 @@ void topic_middle_value() {//指针中转函数，在使用指针前调用
     TOPIC=TOPIC_middle;
     TOPIC2=TOPIC2_middle;
     TOPIC3=TOPIC3_middle;
+    TOPIC4=TOPIC4_middle;
 }
 
 // void topic_back_middle_value() {//指针中转函数，在使用指针前调用
@@ -145,10 +147,12 @@ int Device_File_Init() {//设备文件读取函数
         sprintf(TOPIC2_middle,"dev2app/%s",readbuf);
         sprintf(TOPIC_middle,"app2dev/%s",readbuf);
         sprintf(TOPIC3_middle,"%s",readbuf);
+        sprintf(TOPIC4_middle,"ser2dev/%s",readbuf);
     } else {
         sprintf(TOPIC2_middle,"dev2app/%s","00000000000000");
         sprintf(TOPIC_middle,"app2dev/%s","00000000000000");
         sprintf(TOPIC3_middle,"%s","00000000000000");
+        sprintf(TOPIC4_middle,"ser2dev/%s","00000000000000");
     }
 
 

include/audioplay.h

@@ -2,8 +2,8 @@
 #define AUDIOPLAY_H
 #include <cjson/cJSON.h>
 
-extern int audio_status;
+// extern int audio_status;
 
-void audioplay_mqtt_receive(cJSON *json) ;
-void audioplay_cycle();
+void audioplay_mqtt_receive(cJSON *body); //接收音频mqtt播放函数
+void audioplay_cycle();//音频播放线程中函数
 #endif
\ No newline at end of file

include/mqtt.h

@@ -7,6 +7,7 @@
 extern char* TOPIC;
 extern char* TOPIC2;
 extern char* TOPIC3;
+extern char* TOPIC4;
 
 extern char* TOPIC_BACK;
 extern char* TOPIC2_BACK;
@@ -27,11 +28,11 @@ extern int gPwmCount;  // 计数
 extern int gmessage_type;//message消息值
 
 int mqtt_init();//mqtt初始化
-void mqtt_create(struct mosquitto *mosq);//创建mqtt客服端
+int mqtt_create(struct mosquitto *mosq);//创建mqtt客服端
 void on_connect(struct mosquitto *mosq, void *obj, int rc);//回调函数
 void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message);//消息回调函数
 void mqtt_wirte();//发送mqtt，现为心跳
-void mqtt_cycle(struct mosquitto *mosq);//循环
+int mqtt_cycle(struct mosquitto *mosq);//循环
 void mqtt_clean(struct mosquitto *mosq);//清理
 
 #endif
\ No newline at end of file

include/thread_main.h

@@ -11,7 +11,7 @@ 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 *play_mp3_thread(void* arg);
+void *play_mp3_thread(void* arg);//等待播放音频线程
 void thread_end() ;
 
 #endif
\ No newline at end of file

include/wifichange.h

+#ifndef WIFICHANGE_H__
+#define WIFICHANGE_H__
+
+#define SSID_MAX_LEN 128
+#define PASS_MAX_LEN 128
+#define CMD_BUFFER_SIZE 256
+#define MAX_WIFI_LIST 100
+
+#define default_SSID "jking"
+#define default_password "12345678"
+
+#define WIFI_CONF_PATH "/home/orangepi/car/master/device_wifi.conf"
+#define WIFI_CONF_DIR "/home/orangepi/car/master"
+
+typedef struct {
+    char ssid[SSID_MAX_LEN];
+    int signal;
+} wifi_info_t;
+
+void scan_wifi_json();//显示以连接WiFi名称和周围已有的WiFi和过滤信号强度低于50的WiFi
+int wifi_change_sendmqtt_init();//wifi改变初始化，放在main开头,必须要等mqtt直播就绪才行
+void wifi_change_recmqtt(cJSON *body);//接收到修改WiFi指令
+
+#endif
\ No newline at end of file

src/audioplay.c

@@ -3,7 +3,7 @@
 #include "mqtt.h"
 #include "judg.h"
 
-int audio_status=3;
+int audio_status=7;
 char urlbuf[512];
 char keybuf[256];
 double audio_volume=0.8;
@@ -26,7 +26,8 @@ void audioplay_mqtt_receive(cJSON *json) {
         char *key=key_char->valuestring;
         snprintf(keybuf, sizeof(keybuf), "%s", key);
     } else {
-        my_zlog_warn("错误：无法解析密钥字段\n");
+        my_zlog_warn("错误：无法解析音频链接");
+        audio_status=5;
     }
 
     // 解析"status"字段
@@ -48,16 +49,21 @@ void audioplay_mqtt_receive(cJSON *json) {
     }
 }  
 
-void  audioplay_send_mqtt() {
-    cJSON* root = cJSON_CreateObject();
-
+void  audioplay_send_mqtt() {//发送音频播放是否完毕
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
         // 添加各个字段到 JSON 对象
-    cJSON_AddStringToObject(root, "type", "audio");
-    cJSON_AddStringToObject(root, "audioLink", urlbuf);
-    cJSON_AddStringToObject(root, "key", keybuf);
-    cJSON_AddNumberToObject(root, "status", audio_status);
-    cJSON_AddNumberToObject(root, "volume", audio_volume);
+    cJSON_AddStringToObject(body, "type", "audio");
+    cJSON_AddStringToObject(body, "audioLink", urlbuf);
+    cJSON_AddStringToObject(body, "key", keybuf);
+    cJSON_AddNumberToObject(body, "status", audio_status);
+    cJSON_AddNumberToObject(body, "volume", audio_volume);
+
+    cJSON_AddNumberToObject(head, "message_type",3001);
 
+    cJSON_AddItemToObject(root, "body", body);
+    cJSON_AddItemToObject(root, "head",head);
     // 将 JSON 对象转换为字符串
     char* json_string = cJSON_PrintUnformatted(root);
     my_zlog_debug("%s",json_string);
@@ -85,15 +91,14 @@ void audioplay_cycle(){
             }
 
             if (WIFEXITED(ret) && WEXITSTATUS(ret) == 0) {
-                my_zlog_debug("播放已成功完成 : %s \n", urlbuf);
-                
-                audio_status=1;
-                audioplay_send_mqtt();
+                my_zlog_debug("播放已成功完成 : %s ", urlbuf);  
+                audio_status=1;   
             } else {
-                my_zlog_warn("播放失败或中断: %s \n", urlbuf);
+                my_zlog_warn("播放失败或中断: %s ", urlbuf);
                 audio_status=2;
             }
-            audioplay_send_mqtt();
+        audioplay_send_mqtt();
         }
+    
     }
 }
\ No newline at end of file

src/download.c

@@ -15,7 +15,7 @@ static size_t WriteMemoryCallback(void *contents, size_t size, size_t nmemb, voi
     
     char *ptr = realloc(mem->memory, mem->size + realsize + 1);
     if(!ptr) {
-        my_zlog_warn("not enough memory (realloc returned NULL)\n");
+        my_zlog_warn("not enough memory (realloc returned NULL)");
         return 0;
     }
     

src/mqtt.c

@@ -13,6 +13,8 @@
 #include "device_change.h"
 #include "judg.h"
 #include "ads1115.h"
+#include "audioplay.h"
+#include "wifichange.h"
 
 struct mosquitto *mosq;
 
@@ -21,6 +23,7 @@ int heartbeat_count=0;
 char*  TOPIC = NULL;
 char*  TOPIC2 = NULL;
 char*  TOPIC3 = NULL;
+char*  TOPIC4 = NULL;
 
 char*  TOPIC_BACK = NULL;
 char*  TOPIC2_BACK = NULL;
@@ -48,17 +51,14 @@ char  *glon=NULL;//加入gps后删除，心跳预留，不更改
 time_t gStart;//时间戳
 
 int mqtt_init() {
- // 初始化 mosquitto 库
-    mosquitto_lib_init();  
-
-    mosq = mosquitto_new(NULL, true, NULL);//
+    mosquitto_lib_init();
+    // 这里创建mosq可以保留，也可以删除这一行，让创建放到 Mqtt_onnect 里
+    mosq = mosquitto_new(NULL, true, NULL);
     if (!mosq) {
         my_zlog_fatal("Failed to create Mosquitto client");
         return -1;
     }
-
     mosquitto_int_option(mosq, MOSQ_OPT_PROTOCOL_VERSION, MQTT_PROTOCOL_V5);
-
     return 0;
 }
 
@@ -67,7 +67,7 @@ void on_connect(struct mosquitto *mosq, void *obj, int rc) {//回调函数
         my_zlog_debug("Connected to broker");
         topic_middle_value();
         mosquitto_subscribe(mosq, NULL, TOPIC, 0);
-     //mosquitto_subscribe(mosq, NULL, TOPIC_BACK, 0);
+        mosquitto_subscribe(mosq, NULL, TOPIC4, 0);
     } else {
         fprintf(stderr, "Connection failed with code %d\n", rc);
         my_zlog_fatal("Connection failed");
@@ -156,7 +156,12 @@ void mqtt_wirte(){//心跳格式，每5s一次心跳
 
 }
 
-void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm  
+void message_3(cJSON *body){//message_type为3，控制pwm  
+    cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
+    cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
+    if(pwm_ctrl==NULL||pin_setctrl==NULL){ 
+        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)
@@ -182,7 +187,13 @@ void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm
         
 }
 
-void message_4(cJSON *body, cJSON *pin_setctrl){//message 为4时候
+void message_4(cJSON *body){//message 为4时候
+
+    cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
+    cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
+    if(pwm_ctrl==NULL||pin_setctrl==NULL){ 
+        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)
     
@@ -206,7 +217,46 @@ void message_4(cJSON *body, cJSON *pin_setctrl){//message 为4时候
     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
+int download_message(cJSON *body){//接收的下载的mqtt消息
+    if (cJSON_IsObject(body)) {
+        // 获取 doby 对象
+            // 获取 site 中的 name 和 url
+            cJSON *name = cJSON_GetObjectItem(body, "name");
+            cJSON *url = cJSON_GetObjectItem(body, "url");
+            if (cJSON_IsString(name) && cJSON_IsString(url)) {
+                my_zlog_debug("Site Name: %s", name->valuestring);
+                my_zlog_debug("Site URL: %s", url->valuestring);
+            }
+        
+            // 获取 type 中的 suf、dir 和 sername
+            cJSON *down_suf = cJSON_GetObjectItem(body, "suf");
+            //cJSON *down_dir = cJSON_GetObjectItem(type, "dir");&& cJSON_IsString(down_dir)
+            cJSON *down_sername = cJSON_GetObjectItem(body, "sername");
+            if (cJSON_IsString(down_suf)  && cJSON_IsString(down_sername)) {
+                my_zlog_debug("Type Suf: %s", down_suf->valuestring);
+                //my_zlog_debug("Type Dir: %s", down_dir->valuestring);
+                my_zlog_debug("Type Sername: %s", down_sername->valuestring);
+            }
+        
+    }else  return -1;
+
+    return 0;
+}
+
+int device_mqttchange_name(cJSON *device_id){
+    cJSON *id = cJSON_GetObjectItem(device_id, "id");// 提取ID   
+    cJSON *date = cJSON_GetObjectItem(device_id, "date");// 提取日期
+    char *device_change_id=id->valuestring;
+    char *device_change_date=date->valuestring;
+    device_changename_back(device_change_date,device_change_id);
+    // 输出提取的数据
+    my_zlog_debug("设备ID: %s", device_change_id);
+    my_zlog_debug("日期: %s", device_change_date);
+
+    return 0;
+}
+
+int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
     
     cJSON *head = cJSON_GetObjectItem(json, "head");
     cJSON *message_type = cJSON_GetObjectItem(head, "message_type");
@@ -218,12 +268,6 @@ int device_message(cJSON *json){//接收到的控制设备的mqtt消息
             return 1;
         }
 
-        cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
-        cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
-        if(pwm_ctrl==NULL||pin_setctrl==NULL){ 
-            return 2;
-        }
-
         gmessage_type=message_type->valueint;
         my_zlog_debug("message_type: %d",message_type->valueint);
         switch(gmessage_type){
@@ -236,13 +280,32 @@ int device_message(cJSON *json){//接收到的控制设备的mqtt消息
                 my_zlog_debug("刷新成功");
                 break;
             case 3:
-                message_3(body,pwm_ctrl);
+                message_3(body);
                 my_zlog_debug("进入pwm控制");
                 break;
             case 4:
-                message_4(body,pin_setctrl);
+                message_4(body);
                 my_zlog_debug("进入引脚控制");
                 break;
+            case 2001: 
+                audioplay_mqtt_receive(body);
+                my_zlog_debug("进入音频播放");
+                break;
+            case 2002:
+                device_mqttchange_name(body);
+                my_zlog_debug("进入修改设备号");
+                break;
+            case 2003:
+                scan_wifi_json();
+                my_zlog_debug("进入查询WiFi");
+                break;
+            case 2004:
+                wifi_change_recmqtt(body);
+                my_zlog_debug("进入修改WiFi");
+                break;
+            case 2005:
+                download_message(body);
+                break;
             default:
                 break;
         }
@@ -251,53 +314,6 @@ int device_message(cJSON *json){//接收到的控制设备的mqtt消息
     return 0;
 }
 
-int download_message(cJSON *root){//接收的下载的mqtt消息
-   cJSON *down = cJSON_GetObjectItem(root, "down");
-    if (cJSON_IsObject(down)) {
-        // 获取 site 对象
-        cJSON *site = cJSON_GetObjectItem(down, "site");
-        if (cJSON_IsObject(site)) {
-            // 获取 site 中的 name 和 url
-            cJSON *name = cJSON_GetObjectItem(site, "name");
-            cJSON *url = cJSON_GetObjectItem(site, "url");
-            if (cJSON_IsString(name) && cJSON_IsString(url)) {
-                my_zlog_debug("Site Name: %s", name->valuestring);
-                my_zlog_debug("Site URL: %s", url->valuestring);
-            }
-        }
-
-        // 获取 type 对象
-        cJSON *type = cJSON_GetObjectItem(down, "type");
-        if (cJSON_IsObject(type)) {
-            // 获取 type 中的 suf、dir 和 sername
-            cJSON *down_suf = cJSON_GetObjectItem(type, "suf");
-            //cJSON *down_dir = cJSON_GetObjectItem(type, "dir");&& cJSON_IsString(down_dir)
-            cJSON *down_sername = cJSON_GetObjectItem(type, "sername");
-            if (cJSON_IsString(down_suf)  && cJSON_IsString(down_sername)) {
-                my_zlog_debug("Type Suf: %s", down_suf->valuestring);
-                //my_zlog_debug("Type Dir: %s", down_dir->valuestring);
-                my_zlog_debug("Type Sername: %s", down_sername->valuestring);
-            }
-        }
-    }else  return -1;
-
-    return 0;
-}
-
-
-int device_mqttchange_name(cJSON *device_id){
-    cJSON *id = cJSON_GetObjectItem(device_id, "id");// 提取ID   
-    cJSON *date = cJSON_GetObjectItem(device_id, "date");// 提取日期
-    char *device_change_id=id->valuestring;
-    char *device_change_date=date->valuestring;
-    device_changename_back(device_change_date,device_change_id);
-    // 输出提取的数据
-    my_zlog_debug("设备ID: %s", device_change_id);
-    my_zlog_debug("日期: %s", device_change_date);
-
-    return 0;
-}
-
 void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {//消息回环函数  
     time_t end = time(NULL);
 
@@ -319,23 +335,10 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
 
         // 解析 JSON
         cJSON *json = cJSON_Parse(payload_str);
-        if (json == NULL) {
-            //fprintf(stderr, "Error before: [%s]\n", cJSON_GetErrorPtr());
-            my_zlog_error("Error before: [%s]", cJSON_GetErrorPtr());
-        }  else if(cJSON_GetObjectItem(json, "device_id") != NULL) {
-            cJSON *device_id=cJSON_GetObjectItem(json, "device_id");
-            device_mqttchange_name(device_id); 
-            my_zlog_debug("接收到设备号更改");
-        } else if(cJSON_GetObjectItem(json, "type") != NULL) {
-            cJSON *type = cJSON_GetObjectItem(json, "type");
-          if (type && cJSON_IsString(type) && strcmp(type->valuestring, "audio") == 0) {
-                audioplay_mqtt_receive(json);
-                my_zlog_debug("接收到音频播放");
-            }
-        }else {// 提取 head 对象
-            if(download_message(json) == 0) my_zlog_debug("接收到dowwnload下载");
-            if(device_message(json) != 0) my_zlog_debug("没有接收到控制信息，代码编号：%d",device_message(json));                       
-        }
+        if(json != NULL){
+            if(device_message_receive(json)==0) my_zlog_debug("进入设备接收mqtt");
+        }                     
+        
         // 释放 payload 字符串
         free(payload_str); 
         cJSON_Delete(json); 
@@ -343,27 +346,42 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
 }
 
 
-void mqtt_create(struct mosquitto *mosq) {//创建mqtt客服端
+int mqtt_create(struct mosquitto *mosq) { // 返回连接结果，0成功，非0失败
     mosquitto_reconnect_delay_set(mosq, 2, 10, true);
-       // 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));
+
+    int rc = mosquitto_connect(mosq, BROKER_ADDRESS, BROKER_PORT, 60);
+    if (rc != MOSQ_ERR_SUCCESS) {
         my_zlog_warn("Failed to connect to broker: %s", mosquitto_strerror(rc));
-        mosquitto_destroy(mosq);
-        //return EXIT_FAILURE;
+        // 不销毁 mosq，等待调用者处理重连
+        return rc;
+    }
+    return 0; // 成功
+}   
+
+int mqtt_cycle(struct mosquitto *mosq) {//阻塞型
+    // 这个函数会阻塞直到连接断开或错误返回
+    int rc = mosquitto_loop_forever(mosq, -1, 1);
+    if (rc != MOSQ_ERR_SUCCESS) {
+        my_zlog_warn("mqtt loop error: %s", mosquitto_strerror(rc));
+        return rc;
     }
-}    
-
-void mqtt_cycle(struct mosquitto *mosq){
-    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
 }
 
+// int mqtt_cycle(struct mosquitto *mosq) {//非阻塞型
+//     int rc;
+//     while (1) {
+//         rc = mosquitto_loop(mosq, 100, 1);  // 每秒检查一次
+//         if (rc != MOSQ_ERR_SUCCESS) {
+//             my_zlog_warn("mosquitto loop error: %s,(code: %d)", mosquitto_strerror(rc),rc);
+//             return -1;  // 跳出循环，重新连接
+//         }
+//         Delay_Ms(0, 3);  // 防止空转
+//     }
+// }
+
 void mqtt_clean(struct mosquitto *mosq){
       // 清理
     mosquitto_destroy(mosq);

src/thread_main.c

@@ -10,9 +10,14 @@
 #include "common.h"
 #include "device_exit.h"
 #include "thread_main.h"
+#include "wifichange.h"
 
 pthread_t thread[6];  // 全局线程句柄数组（或传参）
 
+int gwebrtc_index=0;
+
+int grc=0;
+
 void* args[6] = { NULL, NULL, NULL, NULL, NULL, NULL };
 
 int thread_start(ThreadFunc AppExit, ThreadFunc Mqttbeat,
@@ -37,7 +42,8 @@ int thread_start(ThreadFunc AppExit, ThreadFunc Mqttbeat,
     return 0;
 }
 
-void *AppExit(void *arg) { //出现意外自动停止
+//出现意外自动停止
+void *AppExit(void *arg) { 
     while(1){    
         Delay_Ms(0,100);
         gPwmCount++;
@@ -58,15 +64,18 @@ void *AppExit(void *arg) { //出现意外自动停止
 void *Mqttbeat(void *arg) { 
     //printf("Mqttbeat start\n");
     my_zlog_info("Mqttbeat start");
-    Delay_Ms(15,0);
+    Delay_Ms(5,0);
+    wifi_change_sendmqtt_init();
+    gwebrtc_index=1;
     while(1) {
-        ipaddr();//获取ip
         if( AppExit_pin_pwm == 202) Delay_Ms(0,45);
         if( AppExit_pin_pwm != 202) Delay_Ms(0,100);
         heartbeat_count++;
-        mqtt_wirte();//心跳，3s一个 
-        if(heartbeat_count>=30) heartbeat_count=0;
-              
+        if(grc == 0){
+            ipaddr();//获取ip
+            mqtt_wirte();//心跳，3s一个   
+        }
+        if(heartbeat_count>=30) heartbeat_count=0;   
     }
     return NULL;
 }
@@ -74,24 +83,56 @@ void *Mqttbeat(void *arg) {
 void *opensh(void *arg) { 
     Delay_Ms(5,0);
     //printf("open cam\n");
-    my_zlog_info("open cam");
-    opencamsh();//10s后打开游览器并且进入网址
+    while(1){
+        if(gwebrtc_index==1) {
+            my_zlog_info("open cam");
+            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
+//mqtt异常处理，断开自动重连，简单粗暴
+void *Mqtt_onnect(void *arg) {
     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
+
+    if (mqtt_init() != 0) {
+        my_zlog_fatal("mqtt_init failed");
+        return NULL;
+    }
+
+    while (1) {
+        if (mosq == NULL) {
+            mqtt_init();
+            if (!mosq) {
+                mqtt_clean(mosq);
+                my_zlog_error("Failed to create mosquitto client");
+                continue;
+            }
+        }
+
+        grc = mqtt_create(mosq);
+        if (grc != 0) {
+            mqtt_clean(mosq);
+            mosq = NULL;
+            continue;
+        }
+
+        grc = mqtt_cycle(mosq);  // 阻塞直到断开
+        if(grc !=0 ){
+            mqtt_clean(mosq);
+            mosq = NULL;
+        }
+        my_zlog_warn("mqtt disconnected ...");
     }
     mqtt_clean(mosq);
     return NULL;
 }
 
-void *delay_count(void *arg) {//专门用于计时的线程
+//专门用于计时的线程
+void *delay_count(void *arg) {
     while (1) {
         Delay_Ms(0,5);
        device_delay_count++;
@@ -100,7 +141,8 @@ void *delay_count(void *arg) {//专门用于计时的线程
     return NULL;
 }
 
-void *play_mp3_thread(void* arg) {//专门处理MP3播放
+//专门处理MP3播放
+void *play_mp3_thread(void* arg) {
     audioplay_cycle();
     return NULL;
 }

src/wifichange.c

+#include <cjson/cJSON.h>
+#include "wifichange.h"
+#include "mqtt.h"
+#include "common.h"
+#include "judg.h"
+
+char current_ssid[SSID_MAX_LEN] = {0};//用于存现在已连接WiFi
+char wifi_Last_ssid[SSID_MAX_LEN]= {0} ;
+char wifi_Last_password[SSID_MAX_LEN]= {0} ;
+
+//获取当前连接wifi
+void get_current_wifi() {
+    //显示已连接代码
+    FILE *fp = popen("nmcli -t -f ACTIVE,SSID dev wifi", "r");
+    if (!fp) {
+        my_zlog_error("{\"error\": \"无法执行扫描命令\"}");
+        return;
+    }
+
+    char line[256];
+    while (fgets(line, sizeof(line), fp)) {
+        char *active = strtok(line, ":");
+        char *ssid = strtok(NULL, "\n");
+        if (active && ssid && strcmp(active, "yes") == 0 && strlen(ssid) > 0) {
+            strncpy(current_ssid, ssid, SSID_MAX_LEN - 1);
+            current_ssid[SSID_MAX_LEN - 1] = '\0';
+            break;
+        }
+    }
+    pclose(fp);
+}
+
+//找重复的WiFi名称
+int find_ssid(wifi_info_t list[], int count, const char *ssid) {
+    for (int i = 0; i < count; i++) {
+        if (strcmp(list[i].ssid, ssid) == 0) {
+            return i;
+        }
+    }
+    return -1;
+}
+//进行qsort前，此未降序操作
+int cmp_signal_desc(const void *a, const void *b) {
+    wifi_info_t *wa = (wifi_info_t *)a;
+    wifi_info_t *wb = (wifi_info_t *)b;
+    return wb->signal - wa->signal;
+}
+//显示以连接WiFi名称和周围已有的WiFi和过滤掉信号强度低于50的WiFi
+void scan_wifi_json() { 
+    
+    get_current_wifi();
+    char line[100];
+    //显示WiFi名称与信号强度
+    FILE *fp = popen("nmcli -t -f SSID,SIGNAL dev wifi list", "r");
+    if (!fp) {
+        my_zlog_error("{\"error\": \"无法执行扫描命令\"}");
+        return;
+    }
+
+    wifi_info_t wifi_list[MAX_WIFI_LIST];
+    int wifi_count = 0;
+
+    while (fgets(line, sizeof(line), fp)) {
+        char *ssid = strtok(line, ":");
+        char *signal_str = strtok(NULL, "\n");
+        if (!ssid || !signal_str) continue;
+        if (strlen(ssid) == 0) continue;
+
+        int signal = atoi(signal_str);
+        int idx = find_ssid(wifi_list, wifi_count, ssid);//去重 + 只保留信号最强的
+        if (idx == -1) {
+            if (wifi_count < MAX_WIFI_LIST) {
+                strncpy(wifi_list[wifi_count].ssid, ssid, SSID_MAX_LEN - 1);
+                wifi_list[wifi_count].ssid[SSID_MAX_LEN - 1] = '\0';
+                wifi_list[wifi_count].signal = signal;
+                wifi_count++;
+            }
+        } else {
+            if (signal > wifi_list[idx].signal) {
+                wifi_list[idx].signal = signal;
+            }
+        }
+    }
+    pclose(fp);
+
+    qsort(wifi_list, wifi_count, sizeof(wifi_info_t), cmp_signal_desc);//通过信号强度进行排序
+
+    //将WiFi信息转化为json格式
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
+    cJSON_AddStringToObject(body, "current_connected", current_ssid[0] ? current_ssid : "");
+
+    cJSON *array = cJSON_CreateArray();
+    for (int i = 0; i < wifi_count; i++) {
+        if (wifi_list[i].signal < 50) continue;  // 过滤信号小于50的
+        cJSON *item = cJSON_CreateObject();
+        cJSON_AddStringToObject(item, "ssid", wifi_list[i].ssid);
+        cJSON_AddNumberToObject(item, "strength", wifi_list[i].signal);
+        cJSON_AddItemToArray(array, item);
+    }
+    cJSON_AddItemToObject(body, "available_wifi", array);
+    cJSON_AddNumberToObject(head, "message_type", 3003);
+    cJSON_AddItemToObject(root, "body", body);
+    cJSON_AddItemToObject(root, "head",head);
+
+    char *json_str = cJSON_Print(root);
+    if (json_str) {
+        my_zlog_debug("%s", json_str);
+        topic_middle_value();
+        mosquitto_publish(mosq, NULL, TOPIC3, strlen(json_str), json_str, 0, false); 
+        free(json_str);
+    }
+    cJSON_Delete(root);
+}
+
+//连接WiFi
+int connect_wifi(const char* ssid, const char* password) {
+    char cmd[CMD_BUFFER_SIZE];
+    snprintf(cmd, sizeof(cmd), "nmcli dev wifi connect '%s' password '%s' 2>&1", ssid, password);
+
+    my_zlog_debug("🔌 正在连接 Wi-Fi：%s...", ssid);
+
+    FILE *fp = popen(cmd, "r");
+    if (!fp) {
+        my_zlog_warn("❌ 无法执行连接命令。");
+        return -1;
+    }
+
+    char output[512] = {0};
+    fread(output, 1, sizeof(output) - 1, fp);
+    pclose(fp);
+
+    if (strstr(output, "successfully activated")) {
+        my_zlog_debug("✅ 已成功连接到：%s", ssid);
+        return 0;
+    } else if (strstr(output, "No network with SSID")) {
+        my_zlog_warn("❌ 连接失败：Wi-Fi '%s' 不存在。", ssid);
+        return -2;
+    } else if (strstr(output, "Secrets were required") || strstr(output, "incorrect password")) {
+        my_zlog_warn("❌ 连接失败：密码错误。");
+        return -3;
+    } else {
+        my_zlog_error("❌ 连接失败，未知错误：%s", output);
+        return -4;
+    }
+}
+//如果连接失败则回退
+int connect_wifi_with_fallback(const char* ssid, const char* password, const char* fallback_ssid) {
+    int ret = connect_wifi(ssid, password);
+    if (ret != 0 && fallback_ssid && fallback_ssid[0] != 0) {
+        my_zlog_warn("⚠️ 连接失败，尝试回退连接原Wi-Fi：%s", fallback_ssid);
+        char cmd[CMD_BUFFER_SIZE];
+        snprintf(cmd, sizeof(cmd), "nmcli dev wifi connect '%s' 2>&1", fallback_ssid);
+        FILE *fp = popen(cmd, "r");
+        if (fp) {
+            char output[512] = {0};
+            fread(output, 1, sizeof(output) - 1, fp);
+            pclose(fp);
+            if (strstr(output, "successfully activated")) {
+                my_zlog_debug("✅ 回退连接成功：%s", fallback_ssid);
+            } else {
+                my_zlog_warn("❌ 回退连接失败：%s", output);
+                ret = -5;
+            }
+        } else {
+            my_zlog_error("❌ 无法执行回退连接命令。");
+            ret = -5;
+        }
+    }
+    return ret;
+}
+//改变WiFi连接
+int change_wifi_connect(const char *wifi_ssid,const char *wifi_password) {
+    get_current_wifi();
+    int ret = connect_wifi_with_fallback(wifi_ssid, wifi_password, current_ssid);
+    my_zlog_notice("返回代码：%d", ret);
+    return ret;
+}
+
+// 连续尝试 2 次 ping，任意一次成功即认为联网成功
+int can_access_internet() { 
+    for (int i = 0; i < 4; ++i) {
+        int ret = system("ping -c 1 -W 1 baidu.com > /dev/null 2>&1");
+        if (ret == 0) {
+            return 0; // 有一次成功就返回 true
+        }
+    }
+    return 1; // 都失败
+}
+
+//删除对应wifi
+int delete_wifi_by_ssid(const char* ssid) {
+    if (ssid == NULL || strlen(ssid) == 0) {
+        fprintf(stderr, "SSID is empty.\n");
+        return -1;
+    }
+
+    char command[256];
+    // 直接尝试删除这个名字的连接（假设连接名就是 SSID）
+    snprintf(command, sizeof(command), "nmcli connection delete \"%s\"", ssid);
+
+    int ret = system(command);
+    if (ret == 0) {
+        my_zlog_debug("Successfully deleted WiFi connection named: %s", ssid);
+    } else {
+        my_zlog_warn("Failed to delete WiFi connection named: %s", ssid);
+    }
+
+    return ret;
+}
+
+
+// 检查文件是否存在，不存在则创建
+int check_or_create_wifi_conf() {
+    struct stat st;
+    if (stat(WIFI_CONF_PATH, &st) == 0) {
+        // 文件已存在
+        return 0;
+    }
+
+    // 创建空配置文件
+    FILE *fp = fopen(WIFI_CONF_PATH, "w");
+    if (!fp) {
+        perror("Failed to create device_wifi.conf");
+        return -1;
+    }
+    fclose(fp);
+    return 0;
+}
+
+// 执行命令并获取结果,通过此函数获取到WiFi密码
+char *get_command_output(const char *cmd, char *buffer, size_t size) {
+    FILE *fp = popen(cmd, "r");
+    if (!fp) return NULL;
+    if (fgets(buffer, size, fp)) {
+        buffer[strcspn(buffer, "\n")] = '\0'; // 去除换行符
+    }
+    pclose(fp);
+    return buffer;
+}
+// 写入当前 WiFi SSID 和密码到配置文件
+int write_wifi_conf() {
+    char ssid[128] = {0};
+    char cmd[256];
+    char password[128] = {0};
+
+    // 获取 SSID
+    if (!get_command_output("iwgetid -r", ssid, sizeof(ssid))) {
+        fprintf(stderr, "获取当前连接的 SSID 失败\n");
+        return -1;
+    }
+
+    // 从 NetworkManager 配置中获取密码
+    snprintf(cmd, sizeof(cmd),
+             "grep -r '^psk=' /etc/NetworkManager/system-connections/ | grep '%s' | head -n1 | cut -d'=' -f2",
+             ssid);
+    if (!get_command_output(cmd, password, sizeof(password))) {
+        fprintf(stderr, "获取 WiFi 密码失败（可能无权限或未使用 NetworkManager）\n");
+        return -1;
+    }
+
+    // 写入文件
+    FILE *fp = fopen(WIFI_CONF_PATH, "w");
+    if (!fp) {
+        my_zlog_error("打开配置文件失败");
+        return -1;
+    }
+
+    fprintf(fp, "SSID=%s\n", ssid);
+    fprintf(fp, "PASSWORD=%s\n", password);
+    fclose(fp);
+
+    my_zlog_debug("已写入到配置文件: %s\n", WIFI_CONF_PATH);
+    return 0;
+}
+
+//删除对应的存在ssid的conf
+void delete_wifi_conf() {
+    DIR *dir = opendir(WIFI_CONF_DIR);
+    if (!dir) {
+        my_zlog_warn("opendir failed");
+        return;
+    }
+
+    struct dirent *entry;
+    char full_path[1024];
+
+    while ((entry = readdir(dir)) != NULL) {
+        // 只查找文件名为 "device_wifi.conf"
+        if (strcmp(entry->d_name, "device_wifi.conf") == 0) {
+            snprintf(full_path, sizeof(full_path), "%s/%s", WIFI_CONF_DIR, entry->d_name);
+            if (unlink(full_path) == 0) {
+                my_zlog_debug("Deleted: %s\n", full_path);
+            } else {
+                my_zlog_warn("Failed to delete");
+            }
+            break;  // 找到并删除就退出
+        }
+    }
+
+    closedir(dir);
+}
+
+//提取WiFi名称和密码
+int extract_wifi_file(){
+    FILE *fp = fopen(WIFI_CONF_PATH, "r");
+    if (fp == NULL) {
+        perror("无法打开配置文件");
+        return -1;
+    }
+
+    char line[256];
+
+    while (fgets(line, sizeof(line), fp)) {
+        // 去除换行符
+        line[strcspn(line, "\r\n")] = 0;
+
+        if (strncmp(line, "SSID=", 5) == 0) {
+            strncpy(wifi_Last_ssid, line + 5, sizeof(wifi_Last_ssid) - 1);
+        } else if (strncmp(line, "PASSWORD=", 9) == 0) {
+            strncpy(wifi_Last_password, line + 9, sizeof(wifi_Last_password) - 1);
+        }
+    }
+
+    fclose(fp);
+
+    my_zlog_debug("SSID: %s", wifi_Last_ssid);
+    my_zlog_debug("PASSWORD: %s", wifi_Last_password);
+
+    return 0;
+}
+
+// 从文件读取 SSID，比较当前连接的 WiFi 名称
+int compare_ssid_with_file() {
+    char file_ssid[128] = {0};
+    get_current_wifi();
+    FILE *fp = fopen(WIFI_CONF_PATH, "r");
+    if (!fp) {
+        perror("Failed to open device_wifi.conf");
+        return -1;
+    }
+
+    char line[256];
+    while (fgets(line, sizeof(line), fp)) {
+        if (strncmp(line, "SSID=", 5) == 0) {
+            strncpy(file_ssid, line + 5, sizeof(file_ssid) - 1);
+            file_ssid[strcspn(file_ssid, "\n")] = 0;
+            break;
+        }
+    }
+    fclose(fp);
+
+
+    my_zlog_debug("File SSID: %s", file_ssid);
+    my_zlog_debug("Current SSID: %s", current_ssid);
+
+    if (strcmp(file_ssid, current_ssid) == 0) {
+        my_zlog_debug("wifi没有发生改变或其他问题");
+        return 0;
+    } else {
+        my_zlog_debug("wifi发生改变或其他问题");
+        return 1;
+    }
+}
+
+/*当wifi_status为0为连接jking,当wifi_status为1为修改成功，2是继续使用正常wifi，3是恢复到默认jking，4为wifi不存在
+，5为密码错误，6为未知错误，7为回退失败，8为没网切回默认wifi*/
+void wifichange_sendmqtt(int wifi_status) { //改WiFi发送
+
+    topic_middle_value();//指针中间函数
+    get_current_wifi();
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
+
+    cJSON_AddNumberToObject(body, "wifi_status", wifi_status);//为0成功
+    cJSON_AddStringToObject(body, "wifi_ssid", current_ssid);//为0成功
+
+    cJSON_AddNumberToObject(head, "message_type",3004);
+
+    cJSON_AddItemToObject(root, "body", body);
+    cJSON_AddItemToObject(root, "head",head);
+
+    char *payload = cJSON_PrintUnformatted(root);
+    my_zlog_debug("%s",payload);
+    mosquitto_publish(mosq, NULL, TOPIC3, strlen(payload), payload, 0, false); 
+    
+    cJSON_Delete(root);  // 释放 cJSON 对象
+}
+
+//默认连接jking
+void connect_wifi_jking() {
+    if(check_or_create_wifi_conf() == 0) my_zlog_debug("文件已创建");
+    if(write_wifi_conf() == 0) my_zlog_debug("写入成功");
+    int ret=change_wifi_connect(default_SSID,default_password);
+    Delay_Ms(15,0);
+    if(can_access_internet()==0) {
+        system("sudo reboot");//重启香橙派
+        my_zlog_debug("重启成功");
+    }
+}
+
+//wifi改变初始化，放在main开头,必须要等mqtt直播就绪才行
+int wifi_change_sendmqtt_init(){
+    int wififile_fd = compare_ssid_with_file();
+    if(wififile_fd==-1){
+        if(can_access_internet()!=0){
+            get_current_wifi();
+            if(strcmp(default_SSID,current_ssid)==0){
+                my_zlog_debug("没有更改WiFi");
+                return 0;
+            }
+            check_or_create_wifi_conf();
+            write_wifi_conf();
+            change_wifi_connect(default_SSID,default_password);
+            delete_wifi_by_ssid(current_ssid);
+        }
+        if(strcmp(default_SSID,current_ssid)==0)  wifichange_sendmqtt(0); 
+
+    }else if(wififile_fd==1){
+        get_current_wifi();
+        if(strcmp(default_SSID,current_ssid)==0){
+            extract_wifi_file();
+            if(change_wifi_connect(wifi_Last_ssid,wifi_Last_password)==0){
+                Delay_Ms(15,0);
+                if(can_access_internet()==0){
+                delete_wifi_by_ssid(current_ssid);
+                delete_wifi_conf();
+                my_zlog_debug("成功回朔到上次WiFi");
+                }else {
+                    change_wifi_connect(default_SSID,default_password);
+                    my_zlog_debug("成功回朔到上次WiFi但没网回到默认wifi");
+                }
+
+            }else {
+                change_wifi_connect(default_SSID,default_password);
+                my_zlog_debug("说明不止一次更换wifi过");
+            }
+        }else{
+            if(can_access_internet()==0){
+                wifichange_sendmqtt(1);
+                my_zlog_debug("wifi更改成功");
+                delete_wifi_conf();
+            }else {
+                if(change_wifi_connect(default_SSID,default_password)==0)delete_wifi_conf();
+                my_zlog_debug("WiFi无网切回");
+                Delay_Ms(10,0);
+            }
+
+        }
+        
+    } else if(wififile_fd==0){
+       if(can_access_internet()==0) {
+            wifichange_sendmqtt(2);//2是继续使用正常wifi
+             my_zlog_debug("wifi更改失败，继续使用原WiFi，可使用查询指令查询");
+            delete_wifi_conf();
+       } else {//不需要删除文件，不同回删除conf源文件，相同也会删除
+            wifichange_sendmqtt(3);//3是恢复到默认jking
+            my_zlog_debug("在WiFi更改失败情况下使用默认连接jking");
+            delete_wifi_conf();
+            connect_wifi_jking();
+       }
+    }
+    return 0;
+}
+
+//接收mqtt消息
+void wifi_change_recmqtt(cJSON *body){
+    cJSON *wifi_ssid = cJSON_GetObjectItem(body, "wifi_ssid");
+    cJSON *wifi_password = cJSON_GetObjectItem(body, "wifi_password");
+    cJSON *wifi_status = cJSON_GetObjectItem(body, "wifi_status");
+    if(cJSON_IsString(wifi_ssid)  && cJSON_IsString(wifi_password)){
+        char *ssid = wifi_ssid->valuestring,*password=wifi_password->valuestring;
+        int wifi_statustemp = wifi_status->valueint;
+        if(check_or_create_wifi_conf() == 0) my_zlog_debug("文件已创建");
+        if(write_wifi_conf() == 0) my_zlog_debug("写入成功");
+        int ret = change_wifi_connect(ssid,password);
+        Delay_Ms(15,0);  
+        if(strcmp(default_SSID,ssid)==0){
+            delete_wifi_by_ssid(current_ssid);
+            my_zlog_debug("ssid:%S",current_ssid);
+            delete_wifi_conf();
+            system("sudo reboot");//重启香橙派
+            my_zlog_debug("重启成功");
+        } 
+        if(ret == 0){
+            if(can_access_internet()==0){
+                delete_wifi_by_ssid(current_ssid);
+                my_zlog_debug("ssid:%S",current_ssid);
+                system("sudo reboot");//重启香橙派
+                my_zlog_debug("重启成功");
+            }else {
+                delete_wifi_conf();
+                if(change_wifi_connect(default_SSID,default_password)==0) delete_wifi_by_ssid(current_ssid);
+                 my_zlog_debug("无网切回默认WiFi");
+                 Delay_Ms(15,0); 
+                wifichange_sendmqtt(8);
+            }
+        }
+        if(ret == -1) {
+            wifichange_sendmqtt(4);
+        }else if(ret == -2){
+            wifichange_sendmqtt(5);
+        }else if(ret == -3){
+            wifichange_sendmqtt(6);
+        }else if(ret == -4 || ret == -5){
+            wifichange_sendmqtt(7);
+            system("sudo reboot");//重启香橙派
+            my_zlog_debug("重启成功");
+        }
+
+    }
+}
\ No newline at end of file

system/gpio/gpio_common.h

@@ -11,10 +11,6 @@ extern int device_delay_count;//延时计算函数，使用前必须置0
 #define PWM_PIN_SPEED 21
 #define PWM_PIN_CHANGE 2
 
-
-
-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);
 
@@ -27,4 +23,6 @@ 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
 
+void Device_exit_end();//main最后结束需要调用的函数
+
 #endif

system/gpio/gpio_pwm_tank0202.c

@@ -212,7 +212,7 @@ long long get_current_time_millis() {
     return (long long)tv.tv_sec * 1000 + tv.tv_usec / 1000;
 }
 
-void tank_shot_back_stop_task_function(void *arg) {
+void tank_shot_back_stop_task_function(void *arg) {//多线程处理坦克发射后退线程池
 	while(1){
 		long long interval=shot_device_time_start-shot_device_time_end;
 		if(device_delay_count>10&&device_delay_count<=25) mode_right_back(0);
@@ -224,6 +224,7 @@ void tank_shot_back_stop_task_function(void *arg) {
 		}
 
 	}
+	free(arg);
 }
 
 ThreadPool *pool_tank;
@@ -231,6 +232,14 @@ void tank_shot_back_stop_task_end(){
 	thread_pool_destroy(pool_tank);
 }
 
+void tank_shot_pthrpoll_task_init(){
+	int *arg = malloc(sizeof(int));
+	*arg = 1;
+	pool_tank=thread_pool_init(1,1);
+	thread_pool_add_task(pool_tank, tank_shot_back_stop_task_function, &arg);
+	my_zlog_debug("线程池打开");
+}
+
 int tank_shot_back_stop(int pin,int val){
 	static int shot_count=0;
 	shot_device_time_start=get_current_time_millis();
@@ -246,10 +255,7 @@ int tank_shot_back_stop(int pin,int val){
 	}
 	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);
-			my_zlog_debug("线程池打开");
+			tank_shot_pthrpoll_task_init();
 			shot_count=1;
 		}
 		shot_count=1;