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car-controlserver
Commit 4fe2e2b3 authored by 957dd's avatar 957dd
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加入了推送控制台和wifi保存删除和优化挖机操作

parent 879c7269
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Showing with 109 additions and 78 deletions
app/device_change/device_wifi_manager.c
View file @ 4fe2e2b3
......@@ -7,7 +7,8 @@
#define MAX_WIFI_ENTRIES 50
#define SSID_MAX_LENGTH 64
void device_wifi_public_sendmqtt(int wifi_status) { //成功发送3010
/*成功发送3010，保存wifi和删除WiFi都会发送，wifi_status未0为成功*/
void device_wifi_public_sendmqtt(int wifi_status) {
get_current_wifi();
cJSON *root = cJSON_CreateObject();
......@@ -28,6 +29,8 @@ void device_wifi_public_sendmqtt(int wifi_status) { //成功发送3010
cJSON_Delete(root); // 释放 cJSON 对象
}
/*接收到删除的mqtt消息*/
void device_wifi_rec_delete(cJSON *body){
cJSON *wifi_ssid = cJSON_GetObjectItem(body, "wifi_ssid");
cJSON *wifi_password = cJSON_GetObjectItem(body, "wifi_password");
......@@ -44,6 +47,7 @@ void device_wifi_rec_delete(cJSON *body){
}
}
/*进行保存wifi*/
int orange_pi_save_wifi(const char* ssid, const char* password) {
// 参数检查
if (!ssid || !password || strlen(ssid) == 0 || strlen(password) == 0) {
......@@ -75,6 +79,7 @@ int orange_pi_save_wifi(const char* ssid, const char* password) {
}
/*保存WiFi接口，接收到mqtt消息进行保存*/
void device_wifi_rec_sava(cJSON *body){
cJSON *wifi_ssid = cJSON_GetObjectItem(body, "wifi_ssid");
cJSON *wifi_password = cJSON_GetObjectItem(body, "wifi_password");
......@@ -131,10 +136,10 @@ int get_saved_wifi_list(char ssid_list[][SSID_MAX_LENGTH], int max_count) {
return count;
}
/**
* @brief 打印所有已保存的WiFi配置
*/
void device_send_saved_wifi(){
get_current_wifi();
......
app/device_change/device_wifi_manager.h
View file @ 4fe2e2b3
......@@ -3,10 +3,13 @@
#include "common.h"
//发送已经保存的WiFi给上层
void device_send_saved_wifi();
//删除wifi
void device_wifi_rec_delete(cJSON *body);
//接收到保存wifi消息
void device_wifi_rec_sava(cJSON *body);
#endif
\ No newline at end of file
app/device_identity/device_fileopen.h
View file @ 4fe2e2b3
......@@ -8,7 +8,5 @@ int device_id_file_init();
/*打开版本文件，版本文件是go语言进行创建，只需要读取就行了*/
char *program_version() ;
//extern char *g_device_id ;
char *device_id_function();
#endif
\ No newline at end of file
app/main/pthread_open.c
View file @ 4fe2e2b3
......@@ -51,12 +51,11 @@ void *thread_exit_time(void *arg) {
delay_ms(100);
pthread_mutex_lock(&g_exit_count_mutex);
g_devcontrol_exit_count++;
if(g_devcontrol_exit_count>=5) {
device_stop(g_device_type);
g_devcontrol_exit_count=6;
}
pthread_mutex_unlock(&g_exit_count_mutex);
......@@ -64,6 +63,7 @@ void *thread_exit_time(void *arg) {
return NULL;
}
/*心跳线程处理函数，心跳发送前会像上层请求是否需要验证*/
void *thread_mqtt_beat(void *arg) {
my_zlog_info("thread_mqtt_beat start");
g_webrtc_index=1;
......@@ -95,6 +95,7 @@ void *thread_mqtt_beat(void *arg) {
return NULL;
}
//打开游览器线程，让游览器一直在一个线程中打开并运行
void *thread_open_browser(void *arg) {
//如果为相关的不需要心跳或者游览器设备，提早结束线程
......@@ -138,7 +139,7 @@ void *thread_mqtt_reconnect(void *arg) {
}
}
g_mqtt_grc = mqtt_create(mosq);
g_mqtt_grc = mqtt_create(mosq);//创建mqtt
if (g_mqtt_grc != 0) {
my_zlog_warn("mqtt fail ...");
mqtt_clean(mosq);
......@@ -161,21 +162,19 @@ void *thread_mqtt_reconnect(void *arg) {
//专门用于计时的线程
void *thread_time_calculation(void *arg) {
while (1) {
delay_ms(5);
g_device_delay_count++;//设备计时，坦克打击倒退逻辑
delay_ms(5);
g_device_delay_back_count ++;//设备计时，坦克打击倒退逻辑
pthread_mutex_lock(&g_verify_mutex);
g_verify_count++;//验证计时,每15s一次
pthread_mutex_unlock(&g_verify_mutex);
if(g_verify_count >= 20000) {
if(g_verify_count >= 20000) {//防止溢出
pthread_mutex_lock(&g_verify_mutex);
g_verify_count = 20000;
pthread_mutex_unlock(&g_verify_mutex);
pthread_mutex_unlock(&g_verify_mutex);
}
if(g_device_delay_count >= 5000) g_device_delay_count = 5000;
if(g_device_delay_back_count >= 5000) g_device_delay_back_count = 5000;//防止溢出
}
return NULL;
}
......
build/main
View file @ 4fe2e2b3
No preview for this file type
drivers/devicecontrol/car0102_control.c
View file @ 4fe2e2b3
......@@ -4,8 +4,8 @@
#include "device_init.h"
#include "gpio_control.h"
void car0102_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
//将角度转化为对应的舵机pwm值
void car0102_calculate_L_R(int angle) {
if (angle < 0) {
angle = 0;
} else if (angle > 180) {
......@@ -17,8 +17,8 @@ void car0102_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
int val = (int)((pulse_width / period) * 1000);
pwmWrite(PWM_PIN_CHANGE,val);
}
void car0102_speed_stop() {
//device_gpio_control(g_device_type,26,0);
pwmWrite(PWM_PIN_SPEED,0);
car0102_calculate_L_R(90);
}
......@@ -166,7 +166,8 @@ void car0102_mode_4_right(unsigned char gval) {
}
}
void car0102_speed_change(unsigned char *buf) {//车速度和转向引脚数值处理函数
//车速度和转向引脚数值处理函数
void car0102_speed_change(unsigned char *buf) {
unsigned char mode=buf[1];
unsigned char val=buf[2];
switch(mode){
......
drivers/devicecontrol/car0103_control.c
View file @ 4fe2e2b3
......@@ -37,13 +37,13 @@ void mode_car0103_lift_back(unsigned char gval) {
}
void mode_car0103_right_flont(unsigned char gval) {
int b=0;
int b=1;
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
}else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
pwmWrite(PWM_PIN_CHANGE, 79+b);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 80);
pwmWrite(PWM_PIN_CHANGE, 80+b);
}else if(gval >70){
int flont_speed = 80+(gval-70)/10+b;
pwmWrite(PWM_PIN_CHANGE, flont_speed);
......@@ -51,20 +51,21 @@ void mode_car0103_right_flont(unsigned char gval) {
}
void mode_car0103_right_back(unsigned char gval) {
int b=0;
int b=1;
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
}else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 71);
pwmWrite(PWM_PIN_CHANGE, 71-b);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
pwmWrite(PWM_PIN_CHANGE, 70-b);
} else if(gval >70){
int back_speed = 70 - (gval-70)/10-b;
pwmWrite(PWM_PIN_CHANGE, back_speed);
}
}
void car0103_change(unsigned char *buf) {
/*挖机的速度处理接口*/
void car0103_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
static int modecount_car0103=0;
......
drivers/devicecontrol/car0103_control.h
View file @ 4fe2e2b3
#ifndef CAR0103_CONTROL_H__
#define CAR0103_CONTROL_H__
//停止接口
void car0103_middle();
void car0103_change(unsigned char *buf);
/*挖机的速度处理接口*/
void car0103_change(unsigned char *buf);
#endif
\ No newline at end of file
drivers/devicecontrol/car0104_control.c
View file @ 4fe2e2b3
......@@ -8,6 +8,7 @@ void car0104_stop() {
pwmWrite(PWM_PIN_CHANGE,75);
}
//铲车后退
void car0104_back(unsigned char gval) {
int b=7;
int c=2;
......@@ -25,6 +26,7 @@ void car0104_back(unsigned char gval) {
}
}
//铲车前进
void car0104_flont(unsigned char gval) {
int b=7;
int c=2;
......@@ -41,6 +43,7 @@ void car0104_flont(unsigned char gval) {
}
}
//铲车右
void car0104_right(unsigned char gval) {
int b=5;
if (gval < 50) {
......@@ -57,6 +60,7 @@ void car0104_right(unsigned char gval) {
}
}
//铲车左
void car0104_lift(unsigned char gval) {
int b=5;
if (gval < 50) {
......
drivers/devicecontrol/tank0203_control.c
View file @ 4fe2e2b3
......@@ -18,9 +18,9 @@ void tank0203_mode_lift_flont(unsigned char gval) {
pwmWrite(PWM_PIN_SPEED, 75);
}
else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 79);
pwmWrite(PWM_PIN_SPEED, 79+b);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 80);
pwmWrite(PWM_PIN_SPEED, 80+b);
}else if(gval >70){
int flont_speed = 80+(gval-70)/10+b;
if(flont_speed>95) flont_speed = 95;
......@@ -33,9 +33,9 @@ void tank0203_mode_lift_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
} else if (gval <= 60) {
pwmWrite(PWM_PIN_SPEED, 71);
pwmWrite(PWM_PIN_SPEED, 71-b);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_SPEED, 70);
pwmWrite(PWM_PIN_SPEED, 70-b);
} else if(gval >70){
int back_speed = 70 - (gval-70)/10-b;
if(back_speed<55) back_speed =55;
......@@ -48,9 +48,9 @@ void tank0203_mode_right_back(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
}else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 79);
pwmWrite(PWM_PIN_CHANGE, 79+b);
}else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 80);
pwmWrite(PWM_PIN_CHANGE, 80+b);
}else if(gval >70){
int flont_speed = 80+(gval-70)/10+b;
if(flont_speed>95) flont_speed = 95;
......@@ -63,9 +63,9 @@ void tank0203_mode_right_flont(unsigned char gval) {
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
}else if (gval <= 60) {
pwmWrite(PWM_PIN_CHANGE, 71);
pwmWrite(PWM_PIN_CHANGE, 71-b);
} else if (gval <= 70) {
pwmWrite(PWM_PIN_CHANGE, 70);
pwmWrite(PWM_PIN_CHANGE, 70-b);
} else if(gval >70){
int back_speed = 70 - (gval-70)/10-b;
if(back_speed<55) back_speed =55;
......@@ -73,36 +73,34 @@ void tank0203_mode_right_flont(unsigned char gval) {
}
}
void tank0203_change(unsigned char *buf) {
//tank0203控制函数
void tank0203_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
static int modecount_tank0203=0;
static int tank0203_index =0;
// static int s_val_1=0;
// static int s_val_2=0;
if(mode == 1 ) {
tank0203_mode_lift_flont(val);
tank0203_mode_right_flont(val);
modecount_tank0203=0;
//s_val_1 = val;
}else if(mode == 2 ) {
tank0203_mode_lift_back(val);
tank0203_mode_right_back(val);
modecount_tank0203=1;
//s_val_2 = val;
modecount_tank0203=1;
}
if((mode == 1||mode == 2)&&val == 0) {
modecount_tank0203 = 0;
tank0203_index = 0;
}
if((mode == 1||mode == 2)&&val != 0) tank0203_index = 1;
if(mode == 3) {
if(modecount_tank0203 == 0){
if(tank0203_index == 1) {
tank0203_mode_lift_flont(0);
//tank0203_mode_right_flont(s_val_1-20);
}
else {
tank0203_mode_lift_back(val+30);
......@@ -112,29 +110,24 @@ void tank0203_change(unsigned char *buf) {
if(modecount_tank0203 == 1) {
if(tank0203_index == 1) {
tank0203_mode_lift_back(0);
//tank0203_mode_lift_back(s_val_2-20);
}else {
tank0203_mode_lift_back(val+30);
tank0203_mode_right_flont(val+30);
}
}
}else if(mode == 4) {
if(modecount_tank0203 == 1){
if(tank0203_index == 1) {
//tank0203_mode_right_back(s_val_1);
tank0203_mode_right_back(0);
}
else {
tank0203_mode_lift_flont(val+30);
tank0203_mode_right_back(val+30);
}
}
if(modecount_tank0203 == 0) {
if(tank0203_index == 1) {
//tank0203_mode_lift_flont(s_val_1-20);
tank0203_mode_right_flont(0);
}
else {
......
drivers/devicecontrol/tank_common.c
View file @ 4fe2e2b3
......@@ -12,6 +12,7 @@ const tank_common_back *g_tank_common_config_t = NULL;
long long shot_device_time_start =0 ;
long long shot_device_time_end = 0;
/*击打后退速度设置，混空模式下为单路，单独模式下为双路控制，后续需要优化*/
void tank_shot_back(unsigned char gval) {
int b=0;
......@@ -39,7 +40,6 @@ void tank_shot_back(unsigned char gval) {
if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_SPEED, speed_2);
if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_CHANGE, change_1);
}
}
......@@ -71,18 +71,35 @@ const tank_common_back tank_common_config_t[]={
{ .device_id = -1 }
};
void tank_shot_back_stop_task_function(void *arg) {//多线程处理坦克发射后退线程池
//多线程处理坦克发射后退线程池
void tank_shot_back_stop_task_function(void *arg) {
if(arg!= NULL){
free(arg);
}
// 设置 GPIO 23 为输入模式，启用内部上拉电阻
// pinMode(23, INPUT);
// pullUpDnControl(23, PUD_UP);
// my_zlog_debug("开始监测 GPIO 23 状态...\n");
while(1){
//下面一部分为检测射击后后退
// if(digitalRead(27)==LOW){
// if(g_device_delay_back_count <= g_tank_common_config_t->back_time) {
// tank_shot_back(g_tank_common_config_t->shot_back_speed);
// my_zlog_debug("操作耗时: %lld 毫秒", interval);
// }
// }else tank_shot_back(0);
//下面一部分为射击后按时间后退
long long interval=shot_device_time_start-shot_device_time_end;
if(g_device_delay_count > g_tank_common_config_t->back_time&&g_device_delay_count < (g_tank_common_config_t->back_time+30))
if(g_device_delay_back_count > g_tank_common_config_t->back_time&&g_device_delay_back_count < (g_tank_common_config_t->back_time+30))
tank_shot_back(0);
if(interval > g_tank_common_config_t->back_interval_back){
if(g_device_delay_count <= g_tank_common_config_t->back_time) {
if(g_device_delay_back_count <= g_tank_common_config_t->back_time) {
tank_shot_back(g_tank_common_config_t->shot_back_speed);
my_zlog_debug("操作耗时: %lld 毫秒", interval);
}
......@@ -92,8 +109,9 @@ void tank_shot_back_stop_task_function(void *arg) {//多线程处理坦克发射
}
ThreadPool_t *pool_tank_t;
ThreadPool_t *pool_tank_t;//坦克后退线程函数
/*坦克后退线程池打开*/
void tank_shot_pthrpoll_task_init(){
int *arg = malloc(sizeof(int));
*arg = 1;
......@@ -102,6 +120,7 @@ void tank_shot_pthrpoll_task_init(){
my_zlog_debug("线程池打开");
}
/*坦克后退射击*/
int tank_shot_back_stop(unsigned char pin,unsigned char val){
static int shot_count=0;
shot_device_time_start=get_current_time_millis();
......@@ -121,7 +140,7 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val){
}
shot_count=1;
if(shot_count == 1){
g_device_delay_count=0;
g_device_delay_back_count =0;
}
}
......@@ -134,6 +153,7 @@ void tank_thread_close(){
thread_pool_destroy(g_pool_device_gpio_control_t);
}
/*坦克射击接口，只有在特定设备号下使用*/
void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val) {
if (!g_tank_common_config_t || g_tank_common_config_t->device_id != device_id) {
......
drivers/devicecontrol/tank_common.h
View file @ 4fe2e2b3
......@@ -11,10 +11,10 @@ typedef struct {
int(*shot_back)(unsigned char pin,unsigned char val);
} tank_common_back;
/*坦克射击接口，只有在特定设备号下使用*/
void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val);
/*关闭线程*/
void tank_thread_close();
int angele_limit();
#endif
\ No newline at end of file
drivers/gpio/device_init.c
View file @ 4fe2e2b3
......@@ -3,11 +3,11 @@
#include "common.h"
#include "gpio_init.h"
int g_device_delay_count =0;
int g_device_delay_back_count =0;//设备计时，比如坦克打击倒退逻辑
int abnormal_pin_pwm_stop=0;
int g_device_type =0; //设备类型，比如tank0202、car0101
int g_device_type =0; //设备详细类型，比如tank0202、car0101
const deviceconfig_t device_configs[] = {
// car0101配置
......@@ -54,7 +54,7 @@ const deviceconfig_t device_configs[] = {
{
.device_id = DEVICE_TANK0202,
.device_name = "tank0202",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0202_middle,/* 补充速度控制函数 */
......@@ -63,7 +63,7 @@ const deviceconfig_t device_configs[] = {
{
.device_id = DEVICE_TANK0203,
.device_name = "tank0203",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0203_middle,/* 补充速度控制函数 */
......@@ -72,7 +72,7 @@ const deviceconfig_t device_configs[] = {
{
.device_id = DEVICE_TANK0204,
.device_name = "tank0204",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0204_stop,/* 补充速度控制函数 */
......
drivers/gpio/device_init.h
View file @ 4fe2e2b3
......@@ -3,7 +3,7 @@
extern int g_device_type;//设备类型，比如tank0202、car0101
extern int g_device_delay_count ; //设备延时函数
extern int g_device_delay_back_count ; //设备延时函数，坦克倒退逻辑
typedef struct {
int device_id; // 设备ID (101, 102等)
......
drivers/gpio/gpio_control.c
View file @ 4fe2e2b3
......@@ -9,14 +9,11 @@
#define GPIO_ID_THREAD_COUNT 3
int gpio_device_id[GPIO_ID_THREAD_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203,DEVICE_TANK0204};
int gpio_device_id[GPIO_ID_THREAD_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203,DEVICE_TANK0204};//需要打开线程池设备号
const gpiocontrol_t *gpio_control_config_t = NULL ;
ThreadPool_t *g_pool_device_gpio_control_t;
static bool s_poll_tank_index =0;
const gpiocontrol_t *gpio_control_config_t = NULL ;//gpio结构体标识
ThreadPool_t *g_pool_device_gpio_control_t;//gpio限位线程池标识，只在特地设备中打开
void public_pin_value(int pin,int value);
void car0103_pin_value(int pin,int value);
......@@ -30,8 +27,9 @@ void tank0206_pwm_value(int pin,int value);
void ship0301_pwm_value(int pin,int value);
void dog0501_pwm_value(int pin,int value);
/*坦克限位线程函数*/
void tank_angle_limit_function(void *arg_gpio){
static int limit_log_count=0;
if (arg_gpio != NULL) {
free(arg_gpio);
}
......@@ -48,13 +46,18 @@ void tank_angle_limit_function(void *arg_gpio){
}
else if(limit_status==0) {
delay_ms(5);
my_zlog_debug("limit stop");
limit_log_count++;
if(limit_log_count>=400){
my_zlog_debug("limit stop");
limit_log_count=0;
}
}
}
free(arg_gpio);
}
/*角度限位线程池初始化*/
void device_gpio_control_threadpoll_init(){
int *arg_gpio = malloc(sizeof(int));
my_zlog_info("device_gpio_control_threadpoll_init start\n");
......@@ -64,7 +67,7 @@ void device_gpio_control_threadpoll_init(){
}
/*设备拉低引脚结构体数组*/
const gpiocontrol_t gpio_configs[] = {
{
.device_id = DEVICE_CAR0101,
......
drivers/gpio/gpio_init.c
View file @ 4fe2e2b3
......@@ -8,12 +8,13 @@
#define MIN_DUTY 0 // 最小占空比
#define MAX_DUTY 100 // 最大占空比
int g_gpioPwm[30];//软件控制
int g_gpioPwm[30];//软件控制pwm引脚
int g_gpiowpi[40]; //能使用高低引脚和其他引脚
int g_gpiocount=0;
int g_gpio_softpwmcount=0;
int g_gpiocount=0; //gpio引脚数量
int g_gpio_softpwmcount=0;//pwm引脚数量
/*初始化gpio*/
void init_gpiowpi(const int *values_pin) {
while (values_pin[g_gpiocount] != -1) {
g_gpiocount++;
......@@ -28,6 +29,7 @@ void init_gpiowpi(const int *values_pin) {
}
}
/*初始化gpio pwm*/
void init_gpiopwm(const int *values_pwm) {
while (values_pwm[g_gpio_softpwmcount] != -1) {
g_gpio_softpwmcount++;
......
drivers/gpio/gpio_init.h
View file @ 4fe2e2b3
......@@ -12,8 +12,8 @@
extern int g_gpioPwm[30];//软件控制
extern int g_gpiowpi[40]; //能使用高低引脚和其他引脚
extern int g_gpiocount;
extern int g_gpio_softpwmcount;
extern int g_gpiocount;//gpio引脚数量
extern int g_gpio_softpwmcount;//pwm引脚数量
void init_gpiowpi(const int *values_pin);//gpio引脚初始化
void init_gpiopwm(const int *values_pwm);
......
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