加入了射击冷却和射击时间

app/main/main.c

@@ -34,6 +34,9 @@ int main(){
       my_zlog_warn("此版本电压没有使用INA226");
    }
 
+   if(device_shot_cooling_init()!=0){
+      my_zlog_warn("该设备没有冷却");
+   }
    
    if (audio_init()==0){
       my_zlog_warn("音频初始化成功");

app/main/main.h

@@ -30,6 +30,8 @@ int device_mqtt_topic_init();
 
 int ina225_init();
 
+/*设备射击冷却初始化*/
+int device_shot_cooling_init();
 
 /*线程初始化函数*/
 int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,

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+  /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+  /usr/include/string.h \
+  /usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
+  /usr/include/strings.h \
+  ../third_party/mosquitto/include/mosquitto_broker.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
+  /usr/include/stdint.h \
+  /usr/include/aarch64-linux-gnu/bits/wchar.h \
+  /usr/include/aarch64-linux-gnu/bits/stdint-intn.h \
+  /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h \
+  /usr/include/time.h \
+  /usr/include/aarch64-linux-gnu/bits/time.h \
+  /usr/include/aarch64-linux-gnu/bits/types/clock_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/time_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
+  /usr/include/aarch64-linux-gnu/bits/endian.h \
+  /usr/include/aarch64-linux-gnu/bits/endianness.h \
+  /usr/include/aarch64-linux-gnu/bits/types/clockid_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/timer_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
+  ../third_party/mosquitto/include/mosquitto_plugin.h \
+  ../third_party/mosquitto/include/mosquitto.h \
+  ../third_party/mosquitto/include/mqtt_protocol.h
+
+
+../third_party/mosquitto/include/mqtt_protocol.h:
+
+../third_party/mosquitto/include/mosquitto.h:
+
+../third_party/mosquitto/include/mosquitto_plugin.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h:
+
+/usr/include/aarch64-linux-gnu/bits/endianness.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/time_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/clock_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdint-uintn.h:
+
+/usr/include/time.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdint-intn.h:
+
+/usr/include/aarch64-linux-gnu/bits/endian.h:
+
+/usr/include/stdint.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h:
+
+/usr/include/strings.h:
+
+/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h:
+
+../third_party/mosquitto/include/mosquitto_broker.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h:
+
+/usr/include/aarch64-linux-gnu/sys/cdefs.h:
+
+/usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
+
+/usr/include/aarch64-linux-gnu/bits/time.h:
+
+/usr/include/features.h:
+
+/usr/include/features-time64.h:
+
+/usr/include/aarch64-linux-gnu/gnu/stubs.h:
+
+/usr/include/aarch64-linux-gnu/bits/libc-header-start.h:
+
+/usr/include/aarch64-linux-gnu/bits/long-double.h:
+
+/usr/include/aarch64-linux-gnu/bits/floatn-common.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/timer_t.h:
+
+/usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h:
+
+/usr/include/stdio.h:
+
+/usr/include/aarch64-linux-gnu/bits/timesize.h:
+
+/usr/include/stdc-predef.h:
+
+/usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h:
+
+/usr/include/aarch64-linux-gnu/bits/typesizes.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdio_lim.h:
+
+/usr/include/aarch64-linux-gnu/bits/wordsize.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/locale_t.h:
+
+../third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c:
+
+/usr/include/aarch64-linux-gnu/bits/time64.h:
+
+/usr/include/string.h:
+
+/usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/struct_tm.h:
+
+/usr/include/aarch64-linux-gnu/bits/types.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/wchar.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__FILE.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/FILE.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/floatn.h:

drivers/gpio/gpio_control.c

 #include "common.h"
 #include "gpio_control.h"
 #include "tank_angle.h"
-#include "gpio_init.h"
 #include "device_init.h"
+#include "gpio_init.h"
 #include "devcontrol_common.h"
 #include "http_request.h"
 #include "delay.h"
@@ -27,13 +27,112 @@ void tank0206_pwm_value(int pin,int value);
 void ship0301_pwm_value(int pin,int value); 
 void dog0501_pwm_value(int pin,int value);
 
+uint64_t g_tank_shot_interval_ms=5000; //冷却时间
+ 
+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
+ * @param interval_ms 冷却时间（毫秒）
+ * @param duration_ms 射击持续时间（毫秒）
+ */
+void device_shot_fire_init(TankFireControl* this, uint32_t interval_ms, uint32_t duration_ms) {
+    this->last_shot_end_time = 0;
+    this->shooting_start_time = 0;
+    this->state = TANK_STATE_READY;
+    this->shot_interval_ms = interval_ms;
+    this->shot_duration_ms = duration_ms;
+}
+
+/*
+**射击需要的相关设备冷却初始化
+**对需要射击冷却的进行初始化
+*/
+int device_shot_cooling_init(){
+    if(g_device_type ==DEVICE_TANK0202||g_device_type ==DEVICE_TANK0203){
+        my_zlog_info("using %d shot init",g_device_type);
+        device_shot_fire_init(&g_device_shot_t,g_tank_shot_interval_ms,g_tank_shot_ms);
+    }else {
+        return -1;
+    }
+
+    return 0; 
+}
+
+
+
+/**
+ * @brief 检查坦克射击状态
+ * @param this 控制器指针
+ * @return 0=允许射击, -1=禁止射击（冷却中或射击中）
+ */
+int device_fire_check(TankFireControl* this) {
+    uint64_t current_time = get_shot_timestamp_ms(); // 假设已实现此函数
+
+    switch (this->state) {
+        case TANK_STATE_READY:
+            if (current_time - this->last_shot_end_time < this->shot_interval_ms) {
+                return -1; // 仍在冷却
+            }
+            my_zlog_info("shot start");
+            // 开始新射击
+            this->shooting_start_time = current_time;
+            this->state = TANK_STATE_SHOOTING;
+            return 0;
+
+        case TANK_STATE_SHOOTING:
+            if (current_time - this->shooting_start_time > this->shot_duration_ms) {
+                // 射击结束，进入冷却
+                my_zlog_info("shotend，cooling");
+                this->last_shot_end_time = current_time;
+                this->state = TANK_STATE_COOLDOWN;
+                return -1;
+            }
+            my_zlog_info("shot continue");
+            return 0; // 继续射击
+
+        case TANK_STATE_COOLDOWN:
+            if (current_time - this->last_shot_end_time >= this->shot_interval_ms) {
+                this->state = TANK_STATE_READY;
+                my_zlog_info("coolend");
+                return 0; // 冷却完成
+            }
+            return -1; // 仍在冷却
+    }
+    return -1;
+}
+
+/*
+*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){
+        softPwmWrite(pin, 0);
+    }else{
+        softPwmWrite(pin, val);
+    }
+}
+
 /*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);
     }
-     printf("limit task started.\n");
+    my_zlog_debug("limit task started.");
     while(1){
         int limit_status = angle_limit();
         if(limit_status==1) {
@@ -64,7 +163,6 @@ void device_gpio_control_threadpoll_init(){
     *arg_gpio = 2;
     g_pool_device_gpio_control_t = thread_pool_init(1,1);
     thread_pool_add_task(g_pool_device_gpio_control_t, tank_angle_limit_function, arg_gpio);
-    
 }
 
 /*设备拉低引脚结构体数组*/
@@ -146,7 +244,7 @@ void device_gpio_control(int device_id,int pin,int val) {
         }
         for(int i=0;i<GPIO_ID_THREAD_COUNT;i++ ){
             if(gpio_control_config_t && device_id == gpio_device_id[i]){
-                my_zlog_info("线程函数:%d\n", device_id);
+                my_zlog_info("线程函数:%d", device_id);
                 gpio_control_config_t->device_gpio_pthread_create(); //创建线程，线程关闭在tank.common.h中何tank需要的其他线程关闭
             }
         }
@@ -254,7 +352,7 @@ void tank0202_pwm_value(int pin,int value) {	//软件陪我们控制调速
     
     if(value==1) {
 		if(pin == 27){
-            softPwmWrite(pin, 30);
+            device_shoting_check(27,30);   
         } else {
             softPwmWrite(pin, 40);
             my_zlog_debug("pwm:%d",pin);
@@ -279,7 +377,7 @@ void tank0203_pwm_value(int pin,int value) {	//软件陪我们控制调速
     if(value==1) {
 		
 		if(pin == 27){
-            softPwmWrite(pin, 38);
+            device_shoting_check(27,30); 
         } else {
             softPwmWrite(pin, 35);
             my_zlog_debug("pwm:%d",pin);
@@ -304,7 +402,7 @@ void tank0204_pwm_value(int pin,int value){
     if(value==1) {
 		
 		if(pin == 27){
-            softPwmWrite(pin, 38);
+          device_shoting_check(27,30); 
         } else {
             softPwmWrite(pin, 35);
             my_zlog_debug("pwm:%d",pin);

drivers/gpio/gpio_control.h

@@ -10,8 +10,26 @@ typedef struct {
     void (*device_gpio_pthread_create)(void);
 } gpiocontrol_t;
 
+// 坦克射击状态枚举
+typedef enum {
+    TANK_STATE_READY,     // 可射击
+    TANK_STATE_SHOOTING,  // 射击中
+    TANK_STATE_COOLDOWN   // 冷却中
+} TankState;
+
+// 坦克射击控制结构体
+typedef struct {
+    uint64_t last_shot_end_time;   // 上次射击结束时间
+    uint64_t shooting_start_time;  // 本次射击开始时间
+    TankState state;               // 当前状态
+    uint32_t shot_interval_ms;     // 射击冷却间隔（毫秒）
+    uint32_t shot_duration_ms;     // 单次射击持续时间（毫秒）
+} TankFireControl;
+
 void device_gpio_control(int device_id,int pin,int val);
 
-extern ThreadPool_t *g_pool_device_gpio_control_t;
+int device_shot_cooling_init();
 
+extern ThreadPool_t *g_pool_device_gpio_control_t;
+ 
 #endif
\ No newline at end of file

drivers/sensors/warn.h

@@ -2,7 +2,7 @@
 #define WARN_H__
 
 /*当mode为1时候打开警报，为2时候关闭警告*/
-#define WARN_MODE 1
+#define WARN_MODE 2
 
 int alarm_control(float voltage);
 

include/devcontrol_common.h

@@ -2,6 +2,7 @@
 #define DEVCONTROL_COMMON_H
 
 #include "device_init.h"
+#include "gpio_control.h"
 #include "car0101_control.h"
 #include "car0102_control.h"
 #include "car0103_control.h"

zlog.conf

+[global]
+strict init = true
+buffer min = 1024
+buffer max = 2MB
+default format = "%d(%Y-%m-%d %H:%M:%S.%ms) %-6V (%c:%F:%L) - %m%n"
+file perms = 600              # 设置文件权限
+
+[formats]
+millisecond = "%d(%Y-%m-%d %H:%M:%S.%ms) [%V] %m%n"
+
+[rules]
+# 日志文件路径，30天轮询，自动创建目录
+my_log.*    "/home/orangepi/car/master/log/log.log", 30D; millisecond