优化了浏览器启动与刷新的日志与失败重试策略（含连续失败计数）、下调了部分非致命错误日志级别，并调整了 ship0301 设备转向参数

app/device_change/device_id_change.c

@@ -143,7 +143,7 @@ time_t extract_timestamp(const char *filename) {
 char *find_latest_file(const char *dir_path) {
     DIR *dir = opendir(dir_path);
     if (!dir) {
-        my_zlog_error("无法打开目录: %s", dir_path);
+        my_zlog_warn("无法打开目录: %s", dir_path);
         return NULL;
     }
 

app/main/pthread_open.c

@@ -177,7 +177,7 @@ void *thread_open_browser(void *arg)
     int result = system("pkill  chromium");
     if (result != 0)
     {
-        my_zlog_error("system error,chrmium is close");
+        my_zlog_warn("system error,chrmium is close");
     }
     delay_s(5); 
     while (1)

drivers/devicecontrol/ship0301_control.c

@@ -135,7 +135,7 @@ void  ship0301_change(int *buf) {
 		ship0301_mode_lift_back(ship0301_front_val);
         ship0301_mode_right_back(ship0301_front_val);
 	}else if(ship0301_front_t ==0&&ship0301_steering_t==1){
-		ship0301_mode_right_flont(ship0301_steering_val+ship0301_count);
+		ship0301_mode_right_flont(ship0301_steering_val+ship0301_count+10);
 		ship0301_mode_lift_flont(0);
 	}else if(ship0301_front_t ==0&&ship0301_steering_t==2){
 		ship0301_mode_right_flont(0);
@@ -156,6 +156,4 @@ void  ship0301_change(int *buf) {
 
 
    
-
-    
 }
\ No newline at end of file

modules/browser/browser_open.c

@@ -4,17 +4,37 @@
 #include "http_config_mqtt.h"
 
 static char s_webcam[2048];//存放启动火狐网站命令
+static int s_open_cam_enter_count = 0;      // 记录 opencamsh 进入次数
+static int s_open_cam_fail_streak = 0;      // 连续启动失败次数
+static int s_refresh_cam_enter_count = 0;   // 记录 refresh_cam 进入次数
+static int s_refresh_cam_fail_count = 0;    // 刷新失败累计次数
 
 int  opencamsh() {
-    
     char urls[512];
+    int cmd_ret = 0;
+
+    s_open_cam_enter_count++;
+    my_zlog_info("opencamsh enter count:%d", s_open_cam_enter_count);
 
-    sprintf(urls,"%s%s",g_mqtt_cam_config_t->videourl,mqtt_topic_pure_number());
+    snprintf(urls, sizeof(urls), "%s%s", g_mqtt_cam_config_t->videourl, mqtt_topic_pure_number());
 
     //setenv("DISPLAY", ":0", 1);//设置环境变量https://jywy.yd-ss.com?dev=controcar0004 --new-window sudo 
-    sprintf(s_webcam,"su - orangepi -c \"chromium-browser --use-fake-ui-for-media-stream %s\"",urls);
-    if(system(s_webcam)!=0){
-        my_zlog_error("start fail");
+    snprintf(s_webcam, sizeof(s_webcam), "su - orangepi -c \"chromium-browser --use-fake-ui-for-media-stream %s\"", urls);
+    cmd_ret = system(s_webcam);
+    if (cmd_ret != 0) {
+        s_open_cam_fail_streak++;
+        if (s_open_cam_fail_streak >= 10 && (s_open_cam_fail_streak % 10) == 0) {
+            my_zlog_error("chromium start fail, ret:%d, continuous fail:%d, enter count:%d",
+                          cmd_ret, s_open_cam_fail_streak, s_open_cam_enter_count);
+        } else {
+            my_zlog_warn("chromium start fail, ret:%d, continuous fail:%d, enter count:%d",
+                         cmd_ret, s_open_cam_fail_streak, s_open_cam_enter_count);
+        }
+    } else {
+        if (s_open_cam_fail_streak > 0) {
+            my_zlog_info("chromium start recovered, previous continuous fail:%d", s_open_cam_fail_streak);
+        }
+        s_open_cam_fail_streak = 0;
     }
     my_zlog_debug("%s",s_webcam);
     my_zlog_debug("open cam");
@@ -23,7 +43,13 @@ int  opencamsh() {
 
 
 void refresh_cam() {//刷新页面
+    int refreshed_windows = 0;
+    int failed_windows = 0;
 
+    s_refresh_cam_enter_count++;
+    my_zlog_info("refresh_cam enter count:%d", s_refresh_cam_enter_count);
+
+    setenv("DISPLAY", ":0", 1); // 确保 xdotool 在图形会话中执行
     setenv("XAUTHORITY", "/home/orangepi/.Xauthority", 1);//加入授权
 
     const char *search_command = "xdotool search --class \"chromium-browser\"";//获取窗口id
@@ -31,7 +57,8 @@ void refresh_cam() {//刷新页面
     FILE *fp = popen(search_command, "r");
 
     if (!fp) {
-        perror("Failed to execute search command");
+        s_refresh_cam_fail_count++;
+        my_zlog_error("refresh_cam popen fail, total fail:%d", s_refresh_cam_fail_count);
         return;
     }
 
@@ -44,24 +71,32 @@ void refresh_cam() {//刷新页面
 
         snprintf(activate_command, sizeof(activate_command), "xdotool windowactivate --sync %s key Ctrl+r", window_id);
 
-        pid_t pid = fork();
-
-        if (pid == 0) {
-            // 子进程执行命令
-            execl("/bin/sh", "sh", "-c", activate_command, (char *)NULL);
-            perror("Failed to execute command");
-            exit(EXIT_FAILURE);
-        } else if (pid > 0) {
-            // 父进程不等待子进程结束，继续执行
-            printf("Executing in child process: %s\n", activate_command);
+        if (system(activate_command) == 0) {
+            refreshed_windows++;
         } else {
-            perror("Failed to fork");
+            failed_windows++;
+            my_zlog_warn("refresh_cam command fail, window id:%s", window_id);
         }
     }
 
     pclose(fp);
-    //printf("recam\n");
-    my_zlog_debug("刷新成功");
+
+    if (refreshed_windows == 0) {
+        s_refresh_cam_fail_count++;
+        my_zlog_warn("refresh_cam no chromium window, total fail:%d, enter count:%d",
+                     s_refresh_cam_fail_count, s_refresh_cam_enter_count);
+        return;
+    }
+
+    if (failed_windows > 0) {
+        s_refresh_cam_fail_count++;
+        my_zlog_warn("refresh_cam partial fail, success:%d fail:%d total fail:%d",
+                     refreshed_windows, failed_windows, s_refresh_cam_fail_count);
+        return;
+    }
+
+    my_zlog_info("refresh_cam success, windows:%d, enter count:%d",
+                 refreshed_windows, s_refresh_cam_enter_count);
 }
 
 // 检查Chromium进程是否已运行

modules/tailscale_deploy/tailscale_deploy.c

@@ -36,7 +36,7 @@ int tailscale_control(cJSON *body) {
             if (WEXITSTATUS(ret) == 0) {
                  my_zlog_info("tailscale_control: Tailscale stopped successfully");
             } else {
-                 my_zlog_error("tailscale_control: Failed to stop Tailscale, ret=%d", WEXITSTATUS(ret));
+                 my_zlog_warn("tailscale_control: Failed to stop Tailscale, ret=%d", WEXITSTATUS(ret));
                  return -3;
             }
         } else {
@@ -51,7 +51,7 @@ int tailscale_control(cJSON *body) {
             // 安装 tailscale
             int install_ret = system("curl -fsSL https://tailscale.com/install.sh | sh");
             if (install_ret != 0) {
-                my_zlog_error("tailscale_control: Failed to install Tailscale, ret=%d", install_ret);
+                my_zlog_warn("tailscale_control: Failed to install Tailscale, ret=%d", install_ret);
                 return -4;
             }
             // 用户要求不开机自启，因此先 disable
@@ -80,7 +80,7 @@ int tailscale_control(cJSON *body) {
              if (WEXITSTATUS(start_ret) == 0) {
                 my_zlog_info("tailscale_control: Tailscale started successfully");
              } else {
-                my_zlog_error("tailscale_control: Failed to start Tailscale, ret=%d", WEXITSTATUS(start_ret));
+                my_zlog_warn("tailscale_control: Failed to start Tailscale, ret=%d", WEXITSTATUS(start_ret));
                 return -5;
              }
         } else {

zlog.conf

@@ -9,4 +9,4 @@ file perms = 600
 millisecond = "%d(%Y-%m-%d %H:%M:%S).%ms [%V] %m%n"
 
 [rules]
-my_log.*    "/home/orangepi/car/master/log/log_2026-03-19.log"; millisecond
+my_log.*    "/home/orangepi/car/master/log/log_2026-03-23.log"; millisecond