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/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;
 }

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;