完成了自控模式的开关

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(car 
-    VERSION 1.2.17
+    VERSION 1.2.19
     LANGUAGES C
 )
 
@@ -44,6 +44,7 @@ include_directories(
     drivers/network
     drivers/sensors
     drivers/devicecontrol
+    drivers/selfcontrol
     modules/logger
     modules/delay
     modules/thread_pool
@@ -60,7 +61,8 @@ file(GLOB_RECURSE SOURCES
     drivers/gpio/*.c
     drivers/network/*.c
     drivers/sensors/*.c
-    drivers/devicecontrol/*c
+    drivers/devicecontrol/*.c
+    drivers/selfcontrol/*.c
     modules/logger/*.c
     modules/delay/*.c
     modules/thread_pool/*.c

app/main/pthread_open.c

@@ -39,18 +39,22 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
 
 //出现意外自动停止
 void *thread_exit_time(void *arg) { 
-    while(1){    
+    while(1){  
+     if(get_self_control_index()==false){
         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);
+     }else {
+        set_self_control_time_countfuntion();
+        delay_ms(20);
+     }  
+        
     }
     return NULL; 
 }

build/Makefile

@@ -942,6 +942,30 @@ drivers/network/ip_reader.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/network/ip_reader.c.s
 .PHONY : drivers/network/ip_reader.c.s
 
+drivers/selfcontrol/self_devicecontrol.o: drivers/selfcontrol/self_devicecontrol.c.o
+.PHONY : drivers/selfcontrol/self_devicecontrol.o
+
+# target to build an object file
+drivers/selfcontrol/self_devicecontrol.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/selfcontrol/self_devicecontrol.c.o
+.PHONY : drivers/selfcontrol/self_devicecontrol.c.o
+
+drivers/selfcontrol/self_devicecontrol.i: drivers/selfcontrol/self_devicecontrol.c.i
+.PHONY : drivers/selfcontrol/self_devicecontrol.i
+
+# target to preprocess a source file
+drivers/selfcontrol/self_devicecontrol.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/selfcontrol/self_devicecontrol.c.i
+.PHONY : drivers/selfcontrol/self_devicecontrol.c.i
+
+drivers/selfcontrol/self_devicecontrol.s: drivers/selfcontrol/self_devicecontrol.c.s
+.PHONY : drivers/selfcontrol/self_devicecontrol.s
+
+# target to generate assembly for a file
+drivers/selfcontrol/self_devicecontrol.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/selfcontrol/self_devicecontrol.c.s
+.PHONY : drivers/selfcontrol/self_devicecontrol.c.s
+
 drivers/sensors/INA226.o: drivers/sensors/INA226.c.o
 .PHONY : drivers/sensors/INA226.o
 
@@ -1978,6 +2002,9 @@ help:
 	@echo "... drivers/network/ip_reader.o"
 	@echo "... drivers/network/ip_reader.i"
 	@echo "... drivers/network/ip_reader.s"
+	@echo "... drivers/selfcontrol/self_devicecontrol.o"
+	@echo "... drivers/selfcontrol/self_devicecontrol.i"
+	@echo "... drivers/selfcontrol/self_devicecontrol.s"
 	@echo "... drivers/sensors/INA226.o"
 	@echo "... drivers/sensors/INA226.i"
 	@echo "... drivers/sensors/INA226.s"

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 2
-#define PROJECT_VERSION_PATCH 17
+#define PROJECT_VERSION_PATCH 19
 #define GIT_HASH ""
 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

build/third_party/mosquitto/CMakeFiles/progress.marks

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

-27
+26

drivers/devicecontrol/car0104_control.c

@@ -81,14 +81,14 @@ void  car0104_change(unsigned char *buf) {
     unsigned char val = buf[2];
 	
     if(mode == 1 ) {
-        car0104_flont(val);
+        car0104_flont(val+10);
     }else if(mode == 2 ) {
-        car0104_back(val);
+        car0104_back(val+10);
     }else if(mode == 3) {
-		if(val !=0) car0104_lift(85);
+		if(val !=0) car0104_lift(100);
 		else car0104_lift(0);
     }else if(mode == 4) {
-		if(val !=0) car0104_right(85);  
+		if(val !=0) car0104_right(100);  
 		else  car0104_lift(0);
     }
     

drivers/devicecontrol/tank0202_control.c

@@ -10,7 +10,7 @@ void tank0202_middle() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void mode_lift_flont(unsigned char gval) {
+void mode_right(unsigned char gval) {
 		int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -26,7 +26,7 @@ void mode_lift_flont(unsigned char gval) {
 	}
 }
 
-void mode_lift_back(unsigned char gval) {
+void mode_lift(unsigned char gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -41,7 +41,7 @@ void mode_lift_back(unsigned char gval) {
 	}     
 }
 
-void mode_right_flont(unsigned char gval) {
+void mode_flont(unsigned char gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -56,7 +56,7 @@ void mode_right_flont(unsigned char gval) {
 	}
 }
 
-void mode_right_back(unsigned char gval) {
+void mode_back(unsigned char gval) {
 		int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -128,33 +128,33 @@ void  tank0202_change(unsigned char *buf) {
 	}
 
 	if(tank0202_front_t ==0&&tank0202_steering_t==0){
-		mode_lift_flont(0);
-        mode_right_flont(0);
+		mode_right(0);
+        mode_flont(0);
 	}else if(tank0202_front_t ==1&&tank0202_steering_t==0){
-			mode_right_flont(tank0202_front_val+10);
-			mode_lift_flont(0);
+			mode_flont(tank0202_front_val+10);
+			mode_right(0);
 	}else if(tank0202_front_t ==2&&tank0202_steering_t==0){
-			mode_right_back(tank0202_front_val+10);
-			mode_lift_back(0);
+			mode_back(tank0202_front_val+10);
+			mode_lift(0);
 	}else if(tank0202_front_t ==0&&tank0202_steering_t==1){
-			mode_lift_back(tank0202_steering_val + tank0202_count+20);
-			mode_right_back(0);
+			mode_lift(tank0202_steering_val + tank0202_count+20);
+			mode_back(0);
 	}else if(tank0202_front_t ==0&&tank0202_steering_t==2){
-			mode_lift_flont(tank0202_steering_val + tank0202_count+20);
-			mode_right_back(0);
+			mode_right(tank0202_steering_val + tank0202_count+20);
+			mode_back(0);
 	}
 	else if(tank0202_front_t ==1&&tank0202_steering_t==1){
-		mode_lift_back(tank0202_steering_val + 10);
-        mode_right_flont(tank0202_steering_val + 20);
+		mode_lift(tank0202_steering_val + 10);
+        mode_flont(tank0202_steering_val + 20);
 	}else if(tank0202_front_t ==1&&tank0202_steering_t==2){
-		mode_lift_flont(tank0202_steering_val +10);
-        mode_right_flont(tank0202_steering_val + 20);
+		mode_right(tank0202_steering_val +10);
+        mode_flont(tank0202_steering_val + 20);
 	}else if(tank0202_front_t ==2&&tank0202_steering_t==1){
-		mode_lift_back(tank0202_steering_val + 10);
-        mode_right_back(tank0202_steering_val + 20);
+		mode_lift(tank0202_steering_val + 10);
+        mode_back(tank0202_steering_val + 20);
 	}else if(tank0202_front_t ==2&&tank0202_steering_t==2){
-		mode_lift_flont(tank0202_steering_val + 10);
-        mode_right_back(tank0202_steering_val + 20);
+		mode_right(tank0202_steering_val + 10);
+        mode_back(tank0202_steering_val + 20);
 	}
 	
     

drivers/devicecontrol/tank0204_control.c

@@ -8,7 +8,7 @@ void tank0204_stop() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void tank0204_mode_lift_flont(unsigned char gval) {
+void tank0204_mode_lift(unsigned char gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -24,7 +24,7 @@ void tank0204_mode_lift_flont(unsigned char gval) {
 	}
 }
 
-void tank0204_mode_lift_back(unsigned char gval) {
+void tank0204_mode_right(unsigned char gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -39,7 +39,7 @@ void tank0204_mode_lift_back(unsigned char gval) {
 	}  
 }
 
-void tank0204_mode_right_back(unsigned char gval) {
+void tank0204_mode_flont(unsigned char gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -54,7 +54,7 @@ void tank0204_mode_right_back(unsigned char gval) {
 	}
 }
 
-void tank0204_mode_right_flont(unsigned char gval) {
+void tank0204_mode_back(unsigned char gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -125,33 +125,33 @@ void  tank0204_change(unsigned char *buf) {
 	}
 
 	if(tank0204_front_t ==0&&tank0204_steering_t==0){
-		tank0204_mode_lift_flont(0);
-        tank0204_mode_right_flont(0);
+		tank0204_mode_right(0);
+        tank0204_mode_flont(0);
 	}else if(tank0204_front_t ==1&&tank0204_steering_t==0){
-			tank0204_mode_right_flont(tank0204_front_val+10);
-			tank0204_mode_lift_flont(0);
+			tank0204_mode_flont(tank0204_front_val+10);
+			tank0204_mode_right(0);
 	}else if(tank0204_front_t ==2&&tank0204_steering_t==0){
-			tank0204_mode_right_back(tank0204_front_val+10);
-			tank0204_mode_lift_back(0);
+			tank0204_mode_back(tank0204_front_val+10);
+			tank0204_mode_lift(0);
 	}else if(tank0204_front_t ==0&&tank0204_steering_t==1){
-			tank0204_mode_lift_back(tank0204_steering_val + tank0204_count+20);
-			tank0204_mode_right_back(0);
+			tank0204_mode_lift(tank0204_steering_val + tank0204_count+20);
+			tank0204_mode_back(0);
 	}else if(tank0204_front_t ==0&&tank0204_steering_t==2){
-			tank0204_mode_lift_flont(tank0204_steering_val + tank0204_count+20);
-			tank0204_mode_right_back(0);
+			tank0204_mode_right(tank0204_steering_val + tank0204_count+20);
+			tank0204_mode_back(0);
 	}
 	else if(tank0204_front_t ==1&&tank0204_steering_t==1){
-		tank0204_mode_lift_back(tank0204_steering_val + 10);
-        tank0204_mode_right_flont(tank0204_steering_val + 20);
+		tank0204_mode_lift(tank0204_steering_val+ 40);
+        tank0204_mode_flont(tank0204_steering_val + 20);
 	}else if(tank0204_front_t ==1&&tank0204_steering_t==2){
-		tank0204_mode_lift_flont(tank0204_steering_val +10);
-        tank0204_mode_right_flont(tank0204_steering_val + 20);
+		tank0204_mode_right(tank0204_steering_val+ 40);
+        tank0204_mode_flont(tank0204_steering_val + 20);
 	}else if(tank0204_front_t ==2&&tank0204_steering_t==1){
-		tank0204_mode_lift_back(tank0204_steering_val + 10);
-        tank0204_mode_right_back(tank0204_steering_val + 20);
+		tank0204_mode_lift(tank0204_steering_val+ 40);
+        tank0204_mode_back(tank0204_steering_val + 20);
 	}else if(tank0204_front_t ==2&&tank0204_steering_t==2){
-		tank0204_mode_lift_flont(tank0204_steering_val + 10);
-        tank0204_mode_right_back(tank0204_steering_val + 20);
+		tank0204_mode_right(tank0204_steering_val+ 40);
+        tank0204_mode_back(tank0204_steering_val + 20);
 	}
     
 }

drivers/devicecontrol/tank_common.c

@@ -145,7 +145,9 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val){
 	
 }
 
-/*销毁坦克使用的线程池，让其正常销毁，只有在tank相关设备号下才有用，最后销毁都会到device——common.h中*/
+/*
+* @brief 销毁坦克使用的线程池，让其正常销毁，只有在tank相关设备号下才有用，最后销毁都会到device——common.h中
+*/
 void tank_thread_close(){
 	thread_pool_destroy(pool_tank_t);
 	thread_pool_destroy(g_pool_device_gpio_control_t);

drivers/gpio/gpio_control.c

@@ -19,6 +19,7 @@ void car0103_pin_value(int pin,int value);
 void car0104_pin_value(int pin,int value);
 
 void public_pwm_value(int pin ,int value);
+void car0103_pwm_value(int pin ,int value);
 void tank0202_pwm_value(int pin,int value);
 void tank0203_pwm_value(int pin,int value);
 void tank0204_pwm_value(int pin,int value);
@@ -32,16 +33,6 @@ uint64_t g_tank_shot_ms=1000; //射击时间
 
 TankFireControl g_device_shot_t;   // 真正的结构体变量
 
-/*获取时间戳函数*/
-// uint64_t get_shot_timestamp_ms() {
-//     struct timeval tv;
-//     if (gettimeofday(&tv, NULL) == -1) {
-//         my_zlog_error("gettimeofday failed");
-//         return 0;
-//     }
-//     return (uint64_t)tv.tv_sec * 1000 + tv.tv_usec / 1000;
-// }
-
 /**
  * @brief 初始化坦克射击控制器
  * @param this 控制器指针
@@ -114,7 +105,7 @@ int device_fire_check(TankFireControl* this) {
 }
 
 /*
-*设备加上冷却射击切换
+* @brief 设备加上冷却射击切换
 */
 int device_shoting_check(int pin,int val){
     if(device_fire_check(&g_device_shot_t)!=0){
@@ -124,7 +115,8 @@ int device_shoting_check(int pin,int val){
     }
 }
 
-/*坦克限位线程函数*/
+/*
+* @brief 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) {
@@ -401,14 +393,28 @@ void tank0204_pwm_value(int pin,int value){
 		
 		if(pin == 27){
           device_shoting_check(27,30); 
-        } else {
+        }else if(pin == 5) {
+            softPwmWrite(7, 30);
+            my_zlog_info("pwm:7,0");
+        }else if(pin == 7) {
+            softPwmWrite(5, 30);
+            my_zlog_info("pwm:5,0");
+        }else {
             softPwmWrite(pin, 30);
             my_zlog_info("pwm:%d",pin);
         }
         
 	}else if(value==0) {
-		softPwmWrite(pin, 0);
-		my_zlog_info("pwm:%d,0",pin);
+         if(pin == 5) {
+            softPwmWrite(7, 0);
+            my_zlog_info("pwm:7,0");
+        }else if(pin == 7) {
+            softPwmWrite(5, 0);
+            my_zlog_info("pwm:5,0",pin);
+        }else{
+            softPwmWrite(pin, 0);
+            my_zlog_info("pwm:%d,0",pin);
+        }
 	}
     my_zlog_info("tank0204 pwm");
 }

drivers/selfcontrol/self_devicecontrol.c

+#include "common.h"
+#include "self_devicecontrol.h"
+#include "modules_common.h"
+#include "app_device_common.h"
+#include "drivers_common.h"
+
+
+static ThreadPool_t *g_self_devicecontrol_task_t;
+
+static bool g_self_device_control_switch_index=false;//自控开关。是否打开或者关闭
+
+static int self_control_interval=0;
+
+static int self_control_time_count=0;
+
+/*
+* @brief 设置g_self_devicecontrol_task_t
+*/
+void set_device_tasks(devicecontroltask_t *new_tasks) {
+    g_self_devicecontrol_task_t = new_tasks;
+}
+
+/*
+* @brief 自控线程中的任务
+*/
+void self_device_control_task(){
+    static unsigned char s_valt[4];
+    device_walk_control(g_device_type,s_valt);
+    device_gpio_control(g_device_type,s_valt[1],s_valt[2]);
+}
+
+/*
+* @brief 自控线程中的计时函数接口,每20ms加一次
+* @param[in] self_control_time_count，计时次数
+*/
+void set_self_control_time_countfuntion(){
+    self_control_time_count++;
+}
+
+/*
+* @brief 自控线程
+*/
+void self_device_control_task_function(){
+    my_zlog_info("自控线程池循环开始");
+    while(1){
+        if(g_self_device_control_switch_index==true){
+            self_device_control_task();
+        }else if(g_self_device_control_switch_index==false){
+            delay_ms(100);
+        }
+    }
+    my_zlog_info("自控线程池循环终止");
+    return ;
+}
+
+/*
+* @brief 开启自控线程
+*/
+void self_device_pthrpoll_task_init(){
+
+	g_self_devicecontrol_task_t=thread_pool_init(1,1);
+	thread_pool_add_task(g_self_devicecontrol_task_t, self_device_control_task_function, NULL);
+	my_zlog_info("自控线程池打开");
+}
+
+
+/*
+* @brief 返回自控是否打开的标识接口
+*/
+bool get_self_control_index(){
+
+    return g_self_device_control_switch_index;
+}
+
+/*
+* @brief 自控的线程开启标识设置。
+* @param[in]  当index为，true为开，false为关
+*/
+void set_self_control_index(bool index){    
+    g_self_device_control_switch_index =index;
+}
+
+/*
+* @brief 销毁自控的线程
+*/
+void self_control_thread_close(){
+    if(get_self_control_index()==true){
+        my_zlog_info("Destroy the thread of the automatic control device");
+	    thread_pool_destroy(g_self_devicecontrol_task_t);
+    }
+    my_zlog_info("The thread of the automatic control device is not opened");
+}
+
+/*
+* @brief 返回MQTT自控打开或者关闭的函数 
+*/
+void send_self_contorl_mqtt(){
+    // 创建根对象
+    cJSON *root = cJSON_CreateObject();
+    
+    // 创建head对象
+    cJSON *head = cJSON_CreateObject();
+    cJSON_AddNumberToObject(head, "message_type", 3018);
+    cJSON_AddItemToObject(root, "head", head);
+    
+    // 创建body对象
+    cJSON *body = cJSON_CreateObject();
+    cJSON_AddStringToObject(body, "cmd", "device_mycontrol");
+    cJSON_AddNumberToObject(body, "switch_reply_status", get_self_control_index());
+    cJSON_AddItemToObject(root, "body", body);
+    
+    // 将cJSON对象转换为字符串
+    char *json_str = cJSON_PrintUnformatted(root);
+
+    my_zlog_debug("%s",json_str);
+
+    for(int i=0;i<g_mqtt_cam_config_t->mqtt_count;i++){
+        mosquitto_publish(g_clients_t[i].mosq, NULL, mqtt_topic_pure_number(), strlen(json_str), json_str, 0, false); 
+    } 
+
+    cJSON_Delete(root);  // 释放 cJSON 对象
+}
+
+
+/*
+* @brief MQTT接收自控消息的函数 
+*/
+void receive_self_contorl_mqtt(cJSON *body){
+
+    if (!body) {
+        my_zlog_error("JSON error!");
+        return;
+    }
+
+    cJSON *switch_status = cJSON_GetObjectItem(body, "switch_status");
+    static int s_switch_status = 0;
+    static bool s_thread_index=0;
+    s_switch_status=switch_status->valueint;
+    if(s_switch_status == DEVICE_SELF_CONTROL_OPEN){
+       if(s_thread_index==0) self_device_pthrpoll_task_init();
+       g_self_device_control_switch_index =true;
+       s_thread_index=1;
+    }else if(s_switch_status == DEVICE_SELF_CONTROL_CLOSE) {
+       g_self_device_control_switch_index =false;
+    }
+
+     // 2️ id_run 数组
+    // cJSON *id_run = cJSON_GetObjectItem(body, "id_run");
+    // g_self_devicecontrol_task_t->id_run_count = 0;
+    // if (cJSON_IsArray(id_run)) {
+    //     int size = cJSON_GetArraySize(id_run);
+    //     for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX; i++) {
+    //         cJSON *item = cJSON_GetArrayItem(id_run, i);
+    //         g_self_devicecontrol_task_t->id_run[i] = item->valueint;
+    //         g_self_devicecontrol_task_t->id_run_count++;
+    //     }
+    // }
+
+
+    send_self_contorl_mqtt();
+
+    return;
+}
\ No newline at end of file

drivers/selfcontrol/self_devicecontrol.h

+#ifndef SELF_DEVICECONTROL_H
+#define SELF_DEVICECONTROL_H
+
+/**
+ * @file self_devicecontrol.h
+ * @brief 设备自己控制模块头文件
+ */
+
+#define DEVICE_WALK_SIGN_MAX 10
+
+#define DEVICE_SELF_CONTROL_OPEN 1
+
+#define DEVICE_SELF_CONTROL_CLOSE 0
+
+//结构体，用来存放这些
+typedef struct {
+    int id_run[DEVICE_WALK_SIGN_MAX];
+    int id_run_count;
+    int run_cool[DEVICE_WALK_SIGN_MAX];
+    int timed_run[DEVICE_WALK_SIGN_MAX];
+} devicecontroltask_t;
+
+void set_self_control_time_countfuntion();//计时
+
+void self_control_thread_close();
+
+void receive_self_contorl_mqtt(cJSON *body);
+
+bool get_self_control_index();
+
+void set_self_control_index(bool index);
+#endif
\ No newline at end of file

drivers/sensors/tank_angle.c

@@ -2,10 +2,6 @@
 #include "common.h"
 #include "ads1115.h"
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
 double tank_angle(){
     double angle=0;
     float angle_shot=ads1115_read_channel(2);

include/drivers_common.h

@@ -5,5 +5,6 @@
 #include "gpio_common.h"
 #include "ip_reader.h"
 #include "sensors_common.h"
+#include"self_devicecontrol.h"
 
 #endif
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

@@ -7,12 +7,15 @@
 
 int g_heartbeat_count=0;
 
+/*
+*
+*/
 pthread_mutex_t g_exit_count_mutex = PTHREAD_MUTEX_INITIALIZER;//互斥锁 
 int g_devcontrol_exit_count=0;
 
 int g_message_type=0;
 
-unsigned char g_valt[4];//存放mqtt接收的tpye，mode等
+static unsigned char g_valt[4];//存放mqtt接收的tpye，mode等
 
 //心跳发送格式*5/2
 void heartbeat_send() {
@@ -254,12 +257,19 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 break;
             case 3:
                 message_3_judyverify(body);
+                set_self_control_index(false);
                 my_zlog_debug("进入pwm控制");
                 break;
             case 4:
                 message_4_judyverify(body);
+                set_self_control_index(false);
                 my_zlog_debug("进入引脚控制");
                 break;
+            case 5:
+                audio_wheat_init();
+                audio_speaker_init();
+                my_zlog_debug("执行麦和喇叭命令");
+                break;
             case 2001: 
                 audioplay_mqtt_receive(body);
                 my_zlog_debug("进入音频播放");
@@ -312,6 +322,10 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 control_pthread_function("close");
                 my_zlog_debug("关闭控制台推送");
                 break;
+            case 2025:
+                receive_self_contorl_mqtt(body);
+                my_zlog_debug("device self comtrol");
+                break;
             default:
                 break;
         }

modules/mqtt/mqtt_verify.c

@@ -180,7 +180,6 @@ int message2006_verify(cJSON *body){
     }
 
     return 0;
-
  }
 
 /*接收到是否打开验证的函数*/
@@ -200,7 +199,7 @@ int message2013_recverigy_open(cJSON *body){
         my_zlog_debug("verify open");
      }
     return 0;
- }
+}
 
 /*发送是否打开验证的mqtt给后端验证*/
 int message_sendopen_verify(){

modules/thread_pool/pthrpoll.h

@@ -2,7 +2,7 @@
 #define PTHRPOLL_H
 
 // 为了让头文件自给自足，直接包含它所需要的依赖
-#include <common.h> 
+#include "common.h"
 
 // 任务结构体
 typedef struct Task {