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car-controlserver
Commit 2b1f2196 authored by 学习的菜鸟's avatar 学习的菜鸟
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加入了水坦克

parent 09dce424
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Inline Side-by-side
Showing with 333 additions and 53 deletions
app/device_identity/device_identity.c
View file @ 2b1f2196
......@@ -95,7 +95,8 @@ int hash_insert_init(HashTable_t *HashTable_t) {
insert(HashTable_t, "0104", CAR_0104);
insert(HashTable_t, "0201", TANK_0201);
insert(HashTable_t, "0202", TANK_0202);
insert(HashTable_t, "0203", TANK_0203);
insert(HashTable_t, "0203", TANK_0203);
insert(HashTable_t, "0206", TANK_0206);
insert(HashTable_t, "0301", SHIP_0301);
insert(HashTable_t, "0401", PAO_0401);
}
......@@ -103,22 +104,25 @@ int hash_insert_init(HashTable_t *HashTable_t) {
int device_judg(CodeEnum_t code,char *sub_str) {
if (code == CAR_0101) {
device_init(DEVICE_CAR0101);
my_zlog_info("使用型号%s",sub_str);
my_zlog_info("使用大车，型号%s",sub_str);
}else if(code == CAR_0102) {
device_init(DEVICE_CAR0102);
my_zlog_info("使用型号%s",sub_str);
my_zlog_info("使用小车，型号%s",sub_str);
}else if(code == CAR_0103) {
device_init(DEVICE_CAR0103);
my_zlog_info("使用型号%s",sub_str);
my_zlog_info("使用挖掘机，型号%s",sub_str);
}else if(code == CAR_0104) {
device_init(DEVICE_CAR0104);
my_zlog_info("使用型号%s",sub_str);
my_zlog_info("使用推土机，使用型号%s",sub_str);
}else if(code == TANK_0202) {
device_init(DEVICE_TANK0202);
my_zlog_info("使用型号%s",sub_str);
}else if(code == TANK_0203) {
device_init(DEVICE_TANK0203);
my_zlog_info("使用型号%s",sub_str);
my_zlog_info("使用M1A2坦克，型号%s",sub_str);
}else if(code == TANK_0206) {
device_init(DEVICE_TANK0206);
my_zlog_info("使用水坦克，型号%s",sub_str);
}else if(code ==PAO_0401) {
device_init(DEVICE_PAO_PTZ0401);
my_zlog_info("使用型号%s",sub_str);
......
app/device_identity/device_identity.h
View file @ 2b1f2196
......@@ -15,6 +15,7 @@ typedef enum {
TANK_0201,
TANK_0202,
TANK_0203,
TANK_0206,
SHIP_0301,
PAO_0401
} CodeEnum_t;
......
app/main/pthread_open.c
View file @ 2b1f2196
......@@ -82,10 +82,17 @@ void *thread_mqtt_beat(void *arg) {
}
void *thread_open_browser(void *arg) {
system("pkill chromium");
delay_s(3);
while(1){
if(g_webrtc_index==1) {
my_zlog_info("open cam");
opencamsh();//10s后打开游览器并且进入网址
if(is_browser_running() == true ) {
continue;
}else{
my_zlog_info("open cam");
opencamsh();//10s后打开游览器并且进入网址
}
}
delay_ms(200);
}
......
build/Makefile
View file @ 2b1f2196
......@@ -702,6 +702,30 @@ drivers/devicecontrol/tank0203_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0203_control.c.s
.PHONY : drivers/devicecontrol/tank0203_control.c.s
drivers/devicecontrol/tank0206_control.o: drivers/devicecontrol/tank0206_control.c.o
.PHONY : drivers/devicecontrol/tank0206_control.o
# target to build an object file
drivers/devicecontrol/tank0206_control.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0206_control.c.o
.PHONY : drivers/devicecontrol/tank0206_control.c.o
drivers/devicecontrol/tank0206_control.i: drivers/devicecontrol/tank0206_control.c.i
.PHONY : drivers/devicecontrol/tank0206_control.i
# target to preprocess a source file
drivers/devicecontrol/tank0206_control.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0206_control.c.i
.PHONY : drivers/devicecontrol/tank0206_control.c.i
drivers/devicecontrol/tank0206_control.s: drivers/devicecontrol/tank0206_control.c.s
.PHONY : drivers/devicecontrol/tank0206_control.s
# target to generate assembly for a file
drivers/devicecontrol/tank0206_control.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0206_control.c.s
.PHONY : drivers/devicecontrol/tank0206_control.c.s
drivers/devicecontrol/tank_common.o: drivers/devicecontrol/tank_common.c.o
.PHONY : drivers/devicecontrol/tank_common.o
......@@ -1780,6 +1804,9 @@ help:
@echo "... drivers/devicecontrol/tank0203_control.o"
@echo "... drivers/devicecontrol/tank0203_control.i"
@echo "... drivers/devicecontrol/tank0203_control.s"
@echo "... drivers/devicecontrol/tank0206_control.o"
@echo "... drivers/devicecontrol/tank0206_control.i"
@echo "... drivers/devicecontrol/tank0206_control.s"
@echo "... drivers/devicecontrol/tank_common.o"
@echo "... drivers/devicecontrol/tank_common.i"
@echo "... drivers/devicecontrol/tank_common.s"
......
build/main
View file @ 2b1f2196
No preview for this file type
build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make
View file @ 2b1f2196
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......
drivers/devicecontrol/car0104_control.c
View file @ 2b1f2196
......@@ -173,13 +173,13 @@ void car0104_change(unsigned char *buf) {
unsigned char val = buf[2];
if(mode == 1 ) {
car0104_flont(val);
car0104_flont(val+25);
}else if(mode == 2 ) {
car0104_back(val);
car0104_back(val+25);
}else if(mode == 3) {
car0104_lift(val+20);
car0104_lift(90);
}else if(mode == 4) {
car0104_right(val+20);
car0104_right(90);
}
}
drivers/devicecontrol/devcontrol_common.c
View file @ 2b1f2196
......@@ -27,6 +27,10 @@ const device_didrive device_didrive_control_config_t[]={
.device_id = DEVICE_TANK0203,
.device_didrive_control = tank0203_change
},
{
.device_id = DEVICE_TANK0206,
.device_didrive_control = tank0206_change
},
{
.device_id = DEVICE_PAO_PTZ0401,
.device_didrive_control = PTZ_pwm_change
......@@ -81,6 +85,14 @@ const device_abnormal_close_t devcontrol_config_t[]= {
},
{
.device_id = DEVICE_TANK0206,
.device_abnormal_stop = tank0206_middle,
.device_close = tank_thread_close,
.gpio_pin_pulled=pin_all_default,
.gpio_pwm_pulled=pwm_all_default
},
{
.device_id = DEVICE_PAO_PTZ0401,
.device_abnormal_stop = PTZ_pwm_init,
.gpio_pin_pulled=pin_all_default,
......@@ -102,7 +114,7 @@ void device_stop(int device_id) {
}
if(!config) {
my_zlog_error("Error: Device stop ID %d not found!\n", device_id);
my_zlog_error("Error: Device stop ID %d not found!", device_id);
return;
}
......@@ -124,7 +136,7 @@ void device_end_close(int device_id) {
}
if(!config) {
my_zlog_error("Error: Device close ID %d not found!\n", device_id);
my_zlog_error("Error: Device close ID %d not found!", device_id);
return;
}
......@@ -145,7 +157,7 @@ void device_walk_control(int device_id,unsigned char *valt) {
}
if(!config) {
my_zlog_error("Error: Device close ID %d not found!\n", device_id);
my_zlog_error("Error: Device close ID %d not found!", device_id);
return;
}
......
drivers/devicecontrol/tank0202_control.h
View file @ 2b1f2196
......@@ -7,6 +7,4 @@ void tank0202_middle();
void tank0202_change(unsigned char *buf);
/*销毁坦克使用的线程池，让其正常销毁，只有在tank0202设备号下才有用*/
void tank0202_thread_close();
#endif
\ No newline at end of file
drivers/devicecontrol/tank0203_control.h
View file @ 2b1f2196
......@@ -7,6 +7,4 @@ void tank0203_middle();
void tank0203_change(unsigned char *buf);
/*销毁坦克使用的线程池，让其正常销毁，只有在tank0202设备号下才有用*/
void tank0203_thread_close();
#endif
\ No newline at end of file
drivers/devicecontrol/tank0206_control.c 0 → 100755
View file @ 2b1f2196
#include "common.h"
#include "gpio_init.h"
#include "pthrpoll.h"
#include "tank0206_control.h"
void tank0206_middle() {
pwmWrite(PWM_PIN_SPEED,75);
pwmWrite(PWM_PIN_CHANGE,75);
}
void tank0206_mode_lift_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 94);
}
}
void tank0206_mode_lift_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_SPEED, 72);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 71);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_SPEED, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 69);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_SPEED, 68);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_SPEED, 67);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_SPEED, 66);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_SPEED, 65);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_SPEED, 64);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_SPEED, 63);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_SPEED, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_SPEED, 61);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_SPEED, 60);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_SPEED, 59);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_SPEED, 58);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_SPEED, 57);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_SPEED, 56);
}
}
void tank0206_mode_right_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 78);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 80);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 81);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 82);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 83);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 84);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 85);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 86);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 87);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 88);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 89);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 90);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 91);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 92);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 93);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 94);
}
}
void tank0206_mode_right_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
} else if (gval <= 55) {
pwmWrite(PWM_PIN_CHANGE, 71);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 65) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
} else if (gval <= 75) {
pwmWrite(PWM_PIN_CHANGE, 69);
} else if (gval <= 90) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 100) {
pwmWrite(PWM_PIN_CHANGE, 68);
} else if (gval <= 110) {
pwmWrite(PWM_PIN_CHANGE, 66);
} else if (gval <= 120) {
pwmWrite(PWM_PIN_CHANGE, 65);
} else if (gval <= 130) {
pwmWrite(PWM_PIN_CHANGE, 64);
} else if (gval <= 140) {
pwmWrite(PWM_PIN_CHANGE, 62);
} else if (gval <= 150) {
pwmWrite(PWM_PIN_CHANGE, 60);
} else if (gval <= 160) {
pwmWrite(PWM_PIN_CHANGE, 59);
} else if (gval <= 170) {
pwmWrite(PWM_PIN_CHANGE, 58);
} else if (gval <= 180) {
pwmWrite(PWM_PIN_CHANGE, 57);
} else if (gval <= 190) {
pwmWrite(PWM_PIN_CHANGE, 56);
} else if (gval <= 200) {
pwmWrite(PWM_PIN_CHANGE, 55);
}
}
void tank0206_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
if(mode == 1 ) {
tank0206_mode_lift_flont(val);
//tank0206_mode_right_flont(val);
}else if(mode == 2 ) {
//tank0206_mode_lift_back(val);
tank0206_mode_right_back(val);
}
if(mode == 3) {
//tank0206_mode_lift_flont(val);
tank0206_mode_lift_back(val);
}else if(mode == 4) {
//tank0206_mode_lift_back(val);
tank0206_mode_right_flont(val);
}
}
drivers/devicecontrol/tank0206_control.h 0 → 100755
View file @ 2b1f2196
#ifndef TANK0206_CONTROL_H__
#define TANK0206_CONTROL_H__
void tank0206_middle();
void tank0206_change(unsigned char *buf);
#endif
\ No newline at end of file
drivers/devicecontrol/tank_common.c
View file @ 2b1f2196
......@@ -142,7 +142,7 @@ void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val) {
}
if(!g_tank_common_config_t) {
my_zlog_error("Error: Device stop ID %d not found!\n", device_id);
my_zlog_error("Error: Device stop ID %d not found!", device_id);
return;
}
g_tank_common_config_t->shot_back(pin,val);
......
drivers/gpio/device_init.c
View file @ 2b1f2196
......@@ -68,6 +68,15 @@ const deviceconfig_t device_configs[] = {
.emergency_code = 203
},
{
.device_id = DEVICE_TANK0206,
.device_name = "tank0206",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0206_middle,/* 补充速度控制函数 */
.emergency_code = 206
},
{
.device_id = DEVICE_PAO_PTZ0401,
.device_name = "ptz0401",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */
......
drivers/gpio/gpio_init.c
View file @ 2b1f2196
......@@ -69,6 +69,7 @@ void pwm_value(int pin,int value) { //软件陪我们控制调速
if(pin == 27){
if(g_device_type == DEVICE_TANK0202) softPwmWrite(pin, 50);
else if(g_device_type == DEVICE_TANK0203) softPwmWrite(pin, 50);
else if(g_device_type == DEVICE_TANK0206) softPwmWrite(pin, 45);
else {
softPwmWrite(pin, shot_speed);
my_zlog_debug("pin:%d,%d",pin,shot_speed);
......@@ -76,6 +77,7 @@ void pwm_value(int pin,int value) { //软件陪我们控制调速
} else {
if(g_device_type == DEVICE_TANK0202) softPwmWrite(pin, 35);
if(g_device_type == DEVICE_TANK0203) softPwmWrite(pin, 35);
if(g_device_type == DEVICE_TANK0206) softPwmWrite(pin, 35);
else{
softPwmWrite(pin, shot_speed);
}
......
fcsgdevintroduce.md
View file @ 2b1f2196
......@@ -21,6 +21,11 @@
## 设备速冻后台设置
- tank0202 最大为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
- tank0203 M1A2最大为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
- tank0204 M1A2最大为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
- tank0205 M1A2最大为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
- tank0202~0205为眯眼潮玩坦克。
- tank0206 为可以发射水枪的水坦克.原电池为3.3v，大概为80左右
- car0101 最大为150，尽量不能这么大
- car0102 为小车 最大速度为200
- car0103 为挖机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
......
include/devcontrol_common.h
View file @ 2b1f2196
......@@ -9,6 +9,7 @@
#include "ptz0401_control.h"
#include "tank0202_control.h"
#include "tank0203_control.h"
#include "tank0206_control.h"
#include "tank_common.h"
#include "common.h"
......@@ -19,6 +20,7 @@
#define DEVICE_TANK0201 201
#define DEVICE_TANK0202 202
#define DEVICE_TANK0203 203
#define DEVICE_TANK0206 206
#define DEVICE_PAO_PTZ0401 401
typedef struct {
......
modules/browser/browser_open.c
View file @ 2b1f2196
......@@ -119,3 +119,13 @@ void refresh_cam() {//刷新页面
my_zlog_debug("刷新成功");
}
// 检查Chromium进程是否已运行
bool is_browser_running() {
FILE *fp = popen("pgrep chromium", "r");
if (fp == NULL) return false;
char buf[16];
bool running = (fgets(buf, sizeof(buf), fp) != NULL);
pclose(fp);
return running;
}
\ No newline at end of file
modules/browser/browser_open.h
View file @ 2b1f2196
......@@ -8,4 +8,6 @@ int opencamsh();
void refresh_cam();//刷新摄像头函数
bool is_browser_running();
#endif
\ No newline at end of file
modules/http/http_request.c
View file @ 2b1f2196
......@@ -9,7 +9,7 @@ const char *c_post = "http://47.119.190.60/api/v1/device/config";
int g_errCodeValue;
bool g_enable_buzzer_value=0;
bool g_enable_buzzer_value=false;
double g_warn_voltage_value=10.7;
double g_err_voltage_value=9.7;
double g_shot_speed_value=0.5;
......
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