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car-controlserver
Commit 4d92d557 authored by 学习的菜鸟's avatar 学习的菜鸟
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代码重构初步完成，差测试，cmake和头文件管理还需后续优化

parent 073c8e3f
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Showing with 189 additions and 83 deletions
app/main/main.c
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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/main
View file @ 4d92d557
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build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make
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CMAKE_PROGRESS_1 =
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......@@ -4,5 +4,5 @@ CMAKE_PROGRESS_3 =
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......@@ -25,8 +25,8 @@ CMAKE_PROGRESS_24 =
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......
drivers/devicecontrol/car0101_control.c 100644 → 100755
View file @ 4d92d557
File mode changed from 100644 to 100755
drivers/devicecontrol/car0101_control.h 100644 → 100755
View file @ 4d92d557
File mode changed from 100644 to 100755
drivers/devicecontrol/car0102_control.c 100644 → 100755
View file @ 4d92d557
File mode changed from 100644 to 100755
drivers/devicecontrol/car0102_control.h 100644 → 100755
View file @ 4d92d557
File mode changed from 100644 to 100755
drivers/devicecontrol/car0103_control.c 100644 → 100755
View file @ 4d92d557
File mode changed from 100644 to 100755
drivers/devicecontrol/car0103_control.h 100644 → 100755
View file @ 4d92d557
#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 100644 → 100755
View file @ 4d92d557
#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 100644 → 100755
View file @ 4d92d557
#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 0 → 100644
View file @ 4d92d557
#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 100644 → 100755
View file @ 4d92d557
......@@ -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/devicecontrol/tank02002_control.h 100644 → 100755
View file @ 4d92d557
File mode changed from 100644 to 100755
drivers/gpio/device_init.c
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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
View file @ 4d92d557
......@@ -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
......
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