代码重构初步完成，差测试，cmake和头文件管理还需后续优化

app/main/main.c

@@ -37,7 +37,7 @@ int main(){
    int thread_rc=thread_start_init( thread_exit_time,thread_mqtt_beat,thread_open_browser,thread_mqtt_reconnect,thread_time_calculation,thread_play_mp3);
     
     thread_end_close();
-    device_close();
+    device_end_close(g_device_type);
     my_log_close();//关闭日志
     my_zlog_info("程序关闭成功");
     return 0;

app/main/main.h

@@ -9,6 +9,7 @@
 #include "softiic.h"
 #include "INA226.h"
 #include "devcontrol_common.h"
+#include "gpio_init.h"
 
 /*设备id读取初始化*/
 int device_id_file_init();
@@ -39,7 +40,7 @@ int request_date();
 void thread_end_close() ;
 
 /*相关设备线程等关闭函数*/
-void device_close();
+void device_end_close(int device_id);
 
 /*关闭log日志记录*/
 void my_log_close();

app/main/pthread_open.c

@@ -6,6 +6,7 @@
 #include "browser_open.h"
 #include "mqtt_verify.h"
 #include "device_wifi_change.h"
+#include "devcontrol_common.h"
 #include "browser_open.h"
 #include "device_init.h"
 #include "audioplay.h"
@@ -47,7 +48,7 @@ void *thread_exit_time(void *arg) {
         delay_ms(100);
         g_devcontrol_exit_count++;
         if(g_devcontrol_exit_count>=5) {
-        //device_warn_exit();
+        device_stop(g_device_type);
         g_devcontrol_exit_count=6;
         } 
     }

build/Makefile

@@ -606,6 +606,30 @@ drivers/devicecontrol/car0104_control.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/car0104_control.c.s
 .PHONY : drivers/devicecontrol/car0104_control.c.s
 
+drivers/devicecontrol/devcontrol_common.o: drivers/devicecontrol/devcontrol_common.c.o
+.PHONY : drivers/devicecontrol/devcontrol_common.o
+
+# target to build an object file
+drivers/devicecontrol/devcontrol_common.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/devcontrol_common.c.o
+.PHONY : drivers/devicecontrol/devcontrol_common.c.o
+
+drivers/devicecontrol/devcontrol_common.i: drivers/devicecontrol/devcontrol_common.c.i
+.PHONY : drivers/devicecontrol/devcontrol_common.i
+
+# target to preprocess a source file
+drivers/devicecontrol/devcontrol_common.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/devcontrol_common.c.i
+.PHONY : drivers/devicecontrol/devcontrol_common.c.i
+
+drivers/devicecontrol/devcontrol_common.s: drivers/devicecontrol/devcontrol_common.c.s
+.PHONY : drivers/devicecontrol/devcontrol_common.s
+
+# target to generate assembly for a file
+drivers/devicecontrol/devcontrol_common.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/devcontrol_common.c.s
+.PHONY : drivers/devicecontrol/devcontrol_common.c.s
+
 drivers/devicecontrol/ptz0401_control.o: drivers/devicecontrol/ptz0401_control.c.o
 .PHONY : drivers/devicecontrol/ptz0401_control.o
 
@@ -1696,6 +1720,9 @@ help:
 	@echo "... drivers/devicecontrol/car0104_control.o"
 	@echo "... drivers/devicecontrol/car0104_control.i"
 	@echo "... drivers/devicecontrol/car0104_control.s"
+	@echo "... drivers/devicecontrol/devcontrol_common.o"
+	@echo "... drivers/devicecontrol/devcontrol_common.i"
+	@echo "... drivers/devicecontrol/devcontrol_common.s"
 	@echo "... drivers/devicecontrol/ptz0401_control.o"
 	@echo "... drivers/devicecontrol/ptz0401_control.i"
 	@echo "... drivers/devicecontrol/ptz0401_control.s"

build/third_party/mosquitto/apps/CMakeFiles/progress.marks

-23
+24

build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

-CMAKE_PROGRESS_1 = 
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+CMAKE_PROGRESS_1 = 80
+CMAKE_PROGRESS_2 = 
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@@ -9,6 +9,6 @@ CMAKE_PROGRESS_8 =
 CMAKE_PROGRESS_9 = 
 CMAKE_PROGRESS_10 = 83
 CMAKE_PROGRESS_11 = 
-CMAKE_PROGRESS_12 = 
-CMAKE_PROGRESS_13 = 84
+CMAKE_PROGRESS_12 = 84
+CMAKE_PROGRESS_13 = 
 

build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/mosquitto_passwd.dir/progress.make

@@ -4,5 +4,5 @@ CMAKE_PROGRESS_3 =
 CMAKE_PROGRESS_4 = 
 CMAKE_PROGRESS_5 = 91
 CMAKE_PROGRESS_6 = 
-CMAKE_PROGRESS_7 = 
+CMAKE_PROGRESS_7 = 92
 

build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/progress.marks

-2
+3

build/third_party/mosquitto/client/CMakeFiles/mosquitto_rr.dir/progress.make

 CMAKE_PROGRESS_1 = 
 CMAKE_PROGRESS_2 = 95
 CMAKE_PROGRESS_3 = 
-CMAKE_PROGRESS_4 = 
-CMAKE_PROGRESS_5 = 96
+CMAKE_PROGRESS_4 = 96
+CMAKE_PROGRESS_5 = 
 CMAKE_PROGRESS_6 = 
 

build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

@@ -25,8 +25,8 @@ CMAKE_PROGRESS_24 =
 CMAKE_PROGRESS_25 = 
 CMAKE_PROGRESS_26 = 26
 CMAKE_PROGRESS_27 = 
-CMAKE_PROGRESS_28 = 27
-CMAKE_PROGRESS_29 = 
+CMAKE_PROGRESS_28 = 
+CMAKE_PROGRESS_29 = 27
 CMAKE_PROGRESS_30 = 
 CMAKE_PROGRESS_31 = 28
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@@ -36,8 +36,8 @@ CMAKE_PROGRESS_35 =
 CMAKE_PROGRESS_36 = 
 CMAKE_PROGRESS_37 = 30
 CMAKE_PROGRESS_38 = 
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-CMAKE_PROGRESS_40 = 
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build/third_party/mosquitto/plugins/CMakeFiles/progress.marks

-6
+5

build/third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_security.dir/progress.make

@@ -7,7 +7,7 @@ CMAKE_PROGRESS_6 =
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-CMAKE_PROGRESS_10 = 
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build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/progress.make

-CMAKE_PROGRESS_1 = 92
+CMAKE_PROGRESS_1 = 
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build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/progress.marks

-1
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build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/progress.make

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+CMAKE_PROGRESS_65 = 76
+CMAKE_PROGRESS_66 = 
 CMAKE_PROGRESS_67 = 
 CMAKE_PROGRESS_68 = 77
 CMAKE_PROGRESS_69 = 

drivers/devicecontrol/car0103_control.h

 #ifndef CAR0103_CONTROL_H__
-#define CAR0104_CONTROL_H__
+#define CAR0103_CONTROL_H__
 
 void car0103_middle();
+
 int  car0103_change(unsigned char *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/car0104_control.c

-#include "common.h"
-#include "gpio_init.h"
 #include "car0104_control.h"
+#include "gpio_init.h"
+#include "common.h"
 
 
-void car0104_middle() {
+void car0104_stop() {
     pwmWrite(PWM_PIN_SPEED,75);
     pwmWrite(PWM_PIN_CHANGE,75);
 }

drivers/devicecontrol/car0104_control.h

 #ifndef CAR0104_CONTROL_H__
 #define CAR0104_CONTROL_H__
 
-
-void car0104_middle();
+void car0104_stop();
 
 int  car0104_change(unsigned char *buf);
 

drivers/devicecontrol/devcontrol_common.c

+#include "devcontrol_common.h"
+
+const device_abnormal_close_t devcontrol_config_t[]= {
+        {
+        .device_id = DEVICE_CAR0101,
+        .device_abnormal_stop = car0101_middle_pwm
+    },
+        {
+        .device_id = DEVICE_CAR0102,
+        .device_abnormal_stop = car0102_speed_stop
+    },
+        {
+        .device_id = DEVICE_CAR0103,
+        .device_abnormal_stop = car0103_middle
+    },
+        {
+        .device_id = DEVICE_CAR0104,
+        .device_abnormal_stop = car0104_stop
+    },
+        {
+        .device_id = DEVICE_TANK0202,
+        .device_abnormal_stop = tank0202_middle,
+        .device_close=tank0202_thread_close
+    },
+        {
+        .device_id = DEVICE_PAO_PTZ0401,
+        .device_abnormal_stop = PTZ_pwm_init
+    },
+    // 结束标记
+    { .device_id = -1 }
+};
+
+void device_stop(int device_id) {
+    const device_abnormal_close_t *config = NULL;
+    
+    // 查找设备配置
+    for(int i = 0; devcontrol_config_t[i].device_id != -1; i++) {
+        if(devcontrol_config_t[i].device_id == device_id) {
+            config = &devcontrol_config_t[i];
+            break;
+        }
+    }
+    
+    if(!config) {
+        my_zlog_error("Error: Device ID %d not found!\n", device_id);
+        return;
+    }
+    
+    config->device_abnormal_stop();          // 速度控制初始化
+
+    
+    my_zlog_debug("device stop successfully!,:%d",device_id);
+}
+
+void device_end_close(int device_id) {
+    const device_abnormal_close_t *config = NULL;
+    
+    // 查找设备配置
+    for(int i = 0; devcontrol_config_t[i].device_id != -1; i++) {
+        if(devcontrol_config_t[i].device_id == device_id) {
+            config = &devcontrol_config_t[i];
+            break;
+        }
+    }
+    
+    if(!config) {
+        my_zlog_error("device close and end successfully!,:%d",device_id);
+        return;
+    }
+    
+    config->device_close();          // 速度控制初始化
+
+}
+

drivers/devicecontrol/tank02002_control.c

@@ -8,7 +8,6 @@ int g_modecount_tank0202=0;
 void tank0202_middle() {
     pwmWrite(PWM_PIN_SPEED,75);
     pwmWrite(PWM_PIN_CHANGE,75);
-    return 0;
 }
 
 void mode_lift_flont(unsigned char gval) {

drivers/gpio/device_init.c

@@ -10,7 +10,7 @@ int g_device_type =0;
 const deviceconfig_t device_configs[] = {
     // car0101配置
     {
-        .device_id = 101,
+        .device_id = DEVICE_CAR0101,
         .device_name = "car0101",
         .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,  -1},
         .gpio_pwms = {27,-1},
@@ -20,7 +20,7 @@ const deviceconfig_t device_configs[] = {
     },
     // car0102配置
     {
-        .device_id = 102,
+        .device_id = DEVICE_CAR0102,
         .device_name = "car0102",
         .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
         .gpio_pwms = {-1},
@@ -30,27 +30,27 @@ const deviceconfig_t device_configs[] = {
     },
     // car0103配置（根据您的需求补充）
     {
-        .device_id = 103,
+        .device_id = DEVICE_CAR0103,
         .device_name = "car0103",
         .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
         .gpio_pwms = {-1},
         .device_pwm_init = physics_pwm_init,
-        .device_control_stop =  car0103_middle,/* 补充速度控制函数 */
+        .device_control_stop = car0103_middle,/* 补充速度控制函数 */
         .emergency_code = 103
     },
     // car0104配置（根据您的需求补充）
     {
-        .device_id = 104,
+        .device_id = DEVICE_CAR0104,
         .device_name = "car0104",
         .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
         .gpio_pwms = {-1},
         .device_pwm_init = physics_pwm_init,
-        .device_control_stop =  car0104_middle,/* 补充速度控制函数 */
+        .device_control_stop =  car0104_stop,/* 补充速度控制函数 */
         .emergency_code = 104
     },
      // tank0202配置（根据您的需求补充）
     {
-        .device_id = 202,
+        .device_id = DEVICE_TANK0202,
         .device_name = "tank0202",
         .gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
         .gpio_pwms = {5 , 7 ,24,26, 27,-1},
@@ -60,7 +60,7 @@ const deviceconfig_t device_configs[] = {
     },
 
     {
-        .device_id = 401,
+        .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 */
         .gpio_pwms = { 27,-1},
@@ -91,7 +91,7 @@ void device_init(int device_id) {
     }
     
     if(!config) {
-        printf("Error: Device ID %d not found!\n", device_id);
+        my_zlog_error("Error: Device ID %d not found!", device_id);
         return;
     }
     
@@ -103,5 +103,5 @@ void device_init(int device_id) {
     g_device_type =config->emergency_code;
 
     
-    printf("%s initialized successfully!\n", config->device_name);
+    my_zlog_debug("%s initialized successfully!", config->device_name);
 }
\ No newline at end of file

include/common.h

@@ -28,6 +28,7 @@
 #include <pthread.h>    // 多线程
 #include <math.h>       // 数学函数
 #include <time.h>       // 时间处理
+#include <stddef.h>
 
 #include "mosquitto.h"
 #include "cjson/cJSON.h"

include/devcontrol_common.h

@@ -8,7 +8,13 @@
 #include "car0104_control.h"
 #include "ptz0401_control.h"
 #include "tank02002_control.h"
+#include "common.h"
 
+typedef struct {
+    int device_id;              // 设备ID (101, 102等)
+    void (*device_abnormal_stop)(void);    // PWM初始化函数指针
+    void (*device_close)(void);// 速度控制函数指针
+} device_abnormal_close_t;
 
 #define DEVICE_CAR0101 101
 #define DEVICE_CAR0102 102
@@ -18,10 +24,8 @@
 #define DEVICE_TANK0202 202
 #define DEVICE_PAO_PTZ0401 401 
 
+void device_stop(int device_id);
 
-/*关闭相关的设备需要关闭的，比如线程池等*/
-void device_close(){
-    if(g_device_type == DEVICE_TANK0202) tank0202_thread_close();
-}
+void device_end_close(int device_id);
 
 #endif 
\ No newline at end of file

modules/browser/browser_open.h

@@ -2,7 +2,7 @@
 #define BROWSER_OPEN_H__ 
 
 /*打开摄像头函数,当MODE为1时候为国内网址，2时为国外网址*/
-#define BROWSER_MODE 2
+#define BROWSER_MODE 1
 
 int  opencamsh();
 

modules/mqtt/mqtt_infor_handle.c

@@ -79,20 +79,15 @@ void heartbeat_send() {
     
     cJSON_Delete(root);  // 释放 cJSON 对象
 }
-#define DEVICE_CAR0102 102
-#define DEVICE_CAR0103 103
-#define DEVICE_CAR0104 104
-#define DEVICE_TANK0201 201
-#define DEVICE_TANK0202 101
-#define DEVICE_PAO_PTZ0401 401 
+
 //mqtt设备行走驱动函数
 void device_driver(){
-    if( device_type == DEVICE_CAR0101) car0101_control_change(g_valt) ;
-    if(device_type == DEVICE_CAR0102) car0102_speed_change(g_valt) ;
-    if(device_type == DEVICE_CAR0103 ) car0103_change(g_valt) ;
-    if(device_type == DEVICE_CAR0104 ) car0104_change(g_valt) ;
-    if(device_type == DEVICE_TANK0202)  tank0202_change(g_valt);
-    if(device_type == DEVICE_PAO_PTZ0401) PTZ_pwm_change(g_valt);
+    if( g_device_type == DEVICE_CAR0101) car0101_control_change(g_valt) ;
+    if(g_device_type == DEVICE_CAR0102) car0102_speed_change(g_valt) ;
+    if(g_device_type == DEVICE_CAR0103 ) car0103_change(g_valt) ;
+    if(g_device_type == DEVICE_CAR0104 ) car0104_change(g_valt) ;
+    if(g_device_type == DEVICE_TANK0202)  tank0202_change(g_valt);
+    if(g_device_type == DEVICE_PAO_PTZ0401) PTZ_pwm_change(g_valt);
 }
 
 //角度发送
@@ -121,7 +116,7 @@ void mqtt_wirte(){
         heartbeat_send();
         g_heartbeat_count=0;
      }
-    if( device_type == 202) angle_mqtt_send();  
+    if( g_device_type == 202) angle_mqtt_send();  
 
 }
 

modules/mqtt/mqtt_infor_handle.h

@@ -3,8 +3,6 @@
 
 #include "cjson/cJSON.h"
 
-/*1为打开验证0为关闭验证*/
-#define VERIFIED_MODE 1 
 
 extern int g_heartbeat_count;
 

modules/mqtt/mqtt_init.h

@@ -6,7 +6,7 @@
 
 //extern ThreadPool *pool;
 
-#define MQTT_IPMODE 2  // 或通过编译选项 -DMODE=1 指定
+#define MQTT_IPMODE 1  // 或通过编译选项 -DMODE=1 指定
 
 #if MQTT_IPMODE == 1
     #define BROKER_ADDRESS "119.45.167.177"

modules/mqtt/mqtt_verify.h

@@ -3,6 +3,9 @@
 
 #include "cjson/cJSON.h"
 
+/*1为打开验证0为关闭验证*/
+#define VERIFIED_MODE 1 
+
 #define AES_BLOCK_SIZE 16
 
 extern int g_verify_count;//验证计时