2

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(car 
-    VERSION 1.1.3
+    VERSION 1.2.0
     LANGUAGES C
 )
 
@@ -41,8 +41,15 @@ include_directories(
     app/main
     app/device_change
     drivers/common
+    drivers/gpio
+    drivers/network
+    drivers/sensors
     modules/logger
     modules/delay
+    modules/thread_pool
+    modules/mqtt
+    modules/http
+    modules/brower
     third_party/zlog/src
     third_party/mosquitto/include
     third_party/mosquitto/lib
@@ -50,8 +57,15 @@ include_directories(
 
 # 源文件收集
 file(GLOB_RECURSE SOURCES
+    drivers/gpio/*.c
+    drivers/network/*.c
+    drivers/sensors/*.c
     modules/logger/*.c
     modules/delay/*.c
+    modules/thread_pool/*.c
+    modules/mqtt/*.c
+    modules/http/*.c
+    modules/brower/*.c
     app/device_identity/*.c
     app/device_change/*.c
     app/main/*.c

app/device_identity/device_identity.c

@@ -159,13 +159,13 @@ int device_mqtt_topic_init() {
           
     delay_s(20);
     if(g_device_name_exists == 0) {
-        sprintf(g_app2dev_topic,"dev2app/%s",readbuf);
-        sprintf(g_dev2app_topic,"app2dev/%s",readbuf);
+        sprintf(g_app2dev_topic,"app2dev/%s",readbuf);
+        sprintf(g_dev2app_topic,"dev2app/%s",readbuf);
         sprintf(g_pure_topic,"%s",readbuf);
         sprintf(g_ser2dev_topic,"ser2dev/%s",readbuf);
     } else {
-        sprintf(g_app2dev_topic,"dev2app/%s","00000000000000");
-        sprintf(g_dev2app_topic,"app2dev/%s","00000000000000");
+        sprintf(g_app2dev_topic,"app2dev/%s","00000000000000");
+        sprintf(g_dev2app_topic,"dev2app/%s","00000000000000");
         sprintf(g_pure_topic,"%s","00000000000000");
         sprintf(g_ser2dev_topic,"ser2dev/%s","00000000000000");
     }

app/device_identity/device_identity.h

@@ -37,6 +37,16 @@ typedef struct {
 */
 int device_mqtt_topic_init();
 
+/*纯设备号*/
+char *mqtt_topic_pure_number();
 
+/*app2dev设备号*/
+char *mqtt_topic_app2dev_number();
+
+/*dev2app设备号*/
+char *mqtt_topic_dev2app_number();
+
+/*ser2dev设备号*/
+char *mqtt_topic_ser2dev_number();
 
 #endif
\ No newline at end of file

app/main/main.c

@@ -15,9 +15,11 @@ int main(){
     my_zlog_error("mqtt的topic读取失败");
        return -2;
     }
-
-    my_zlog_info("程序关闭成功");
+    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();
     my_log_close();//关闭日志
+    my_zlog_info("程序关闭成功");
     return 0;
 
 }
\ No newline at end of file

app/main/main.h

@@ -5,6 +5,7 @@
 #include "device_fileopen.h"
 #include "mylog.h"
 #include "device_identity.h"
+#include "pthread_open.h"
 
 /*设备id读取初始化*/
 int device_id_file_init();
@@ -15,6 +16,14 @@ int mylog_init();
 /*mqtt的topic初始化*/
 int device_mqtt_topic_init();
 
+/*线程初始化函数*/
+int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
+                 ThreadFunc thread_open_browser, ThreadFunc thread_mqtt_reconnect,
+                 ThreadFunc thread_time_calculation, ThreadFunc thread_play_mp3);
+
+/*线程关闭函数*/
+void thread_end_close() ;
+
 /*关闭log日志记录*/
 void my_log_close();
 #endif

app/main/pthread_open.c

+#include "common.h"
+#include "delay.h"
+#include "pthread_open.h"
+#include "mylog.h"
+#include "mqtt_init.h"
+#include "mqtt_infor_handle.h"
+#include "mqtt_verify.h"
+
+pthread_t g_thread[6];  // 全局线程句柄数组（或传参）
+
+int g_webrtc_index=0;
+
+int g_mqtt_grc=0;
+
+void* g_args[6] = { NULL, NULL, NULL, NULL, NULL, NULL };
+
+int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
+                 ThreadFunc thread_open_browser, ThreadFunc thread_mqtt_reconnect,
+                 ThreadFunc thread_time_calculation, ThreadFunc thread_play_mp3) {
+    
+    ThreadFunc thread_funcs[] = {
+        thread_exit_time,
+        thread_mqtt_beat,
+        thread_open_browser,
+        thread_mqtt_reconnect,
+        thread_time_calculation,
+        thread_play_mp3
+    };
+
+    for (int i = 0; i < 6; i++) {
+        if (pthread_create(&g_thread[i], NULL, thread_funcs[i], g_args[i]) != 0) {
+            my_zlog_error("创建线程 %d 失败", i);
+            return i + 1;
+        }
+    }
+    return 0;
+}
+
+
+//出现意外自动停止
+void *thread_exit_time(void *arg) { 
+    // while(1){    
+    //     delay_ms(100);
+    //     gPwmCount++;
+    //     if(gPwmCount>=5) {
+    //     device_warn_exit();
+    //     gPwmCount=6;
+    //     } 
+    // }
+    return NULL; 
+}
+
+void *thread_mqtt_beat(void *arg) { 
+    my_zlog_info("thread_mqtt_beat start");
+    //wifi_change_sendmqtt_init();
+    delay_s(5);
+    g_webrtc_index=1;
+    while(1) {
+        //if( AppExit_pin_pwm == 202) delay_ms(45);
+        //if( AppExit_pin_pwm != 202)
+        delay_ms(100);
+        g_heartbeat_count++;
+        if(g_mqtt_grc == 0){
+            
+            mqtt_wirte();//心跳，3s一个   
+        }   
+    }
+    return NULL;
+}
+
+void *thread_open_browser(void *arg) { 
+    // while(1){
+    //     if(g_webrtc_index==1) {
+    //         my_zlog_info("open cam");
+    //         opencamsh();//10s后打开游览器并且进入网址 
+    //     }
+    //     delay_ms(200);
+    // }
+    
+    return NULL; 
+}
+
+//mqtt异常处理，断开自动重连，简单粗暴
+void *thread_mqtt_reconnect(void *arg) {
+    delay_s(5);
+
+    if (mqtt_init() != 0) {
+        my_zlog_fatal("mqtt_init failed");
+        return NULL;
+    }
+
+    while (1) {
+        if (mosq == NULL) {
+            mqtt_init();
+            if (!mosq) {
+                mqtt_clean(mosq);
+                my_zlog_error("Failed to create mosquitto client");
+                continue;
+            }
+        }
+
+        g_mqtt_grc = mqtt_create(mosq);
+        if (g_mqtt_grc != 0) {
+            mqtt_clean(mosq);
+            mosq = NULL;
+            continue;
+        }
+
+        g_mqtt_grc = mqtt_cycle(mosq);  // 阻塞直到断开
+        if(g_mqtt_grc !=0 ){
+            mqtt_clean(mosq);
+            mosq = NULL;
+        }
+        my_zlog_warn("mqtt disconnected ...");
+    }
+    mqtt_clean(mosq);
+    return NULL;
+}
+
+//专门用于计时的线程
+void *thread_time_calculation(void *arg) {
+     while (1) {
+         delay_ms(5);
+        //device_delay_count++;//设备计时，坦克打击倒退逻辑
+        g_verify_count++;//验证计时,每15s一次
+        if(g_verify_count >= 20000) g_verify_count = 20000;
+        //if(device_delay_count >= 5000) device_delay_count = 5000;
+     }
+    return NULL;
+}
+
+//专门处理MP3播放
+void *thread_play_mp3(void* arg) {
+    //audioplay_cycle();
+    return NULL;
+}
+
+// 等待线程结束
+void thread_end_close() {
+    for (int i = 0; i < 6; i++) {
+        if (g_thread[i]) pthread_join(g_thread[i], NULL);
+    }
+}
+

app/main/pthread_open.h

+#ifndef PTHREAD_OPEN_H__
+#define PTHREAD_OPEN_H__
+
+typedef void *(*ThreadFunc)(void *);
+
+int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
+                 ThreadFunc thread_open_browser, ThreadFunc thread_mqtt_reconnect,
+                 ThreadFunc thread_time_calculation, ThreadFunc thread_play_mp3);
+void *thread_exit_time(void *arg) ;//异常停止线程
+void *thread_mqtt_beat(void *arg) ;//心跳线程
+void *thread_open_browser(void *arg) ;//启动游览器线程
+void *thread_mqtt_reconnect(void *arg) ;//mqtt自带重连线程
+void *thread_time_calculation(void *arg) ;//延时计算延迟
+void *thread_play_mp3(void* arg);//等待播放音频线程
+void thread_end_close() ;
+
+#endif
\ No newline at end of file

build/Makefile

@@ -486,6 +486,78 @@ app/main/main.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/app/main/main.c.s
 .PHONY : app/main/main.c.s
 
+app/main/pthread_open.o: app/main/pthread_open.c.o
+.PHONY : app/main/pthread_open.o
+
+# target to build an object file
+app/main/pthread_open.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/app/main/pthread_open.c.o
+.PHONY : app/main/pthread_open.c.o
+
+app/main/pthread_open.i: app/main/pthread_open.c.i
+.PHONY : app/main/pthread_open.i
+
+# target to preprocess a source file
+app/main/pthread_open.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/app/main/pthread_open.c.i
+.PHONY : app/main/pthread_open.c.i
+
+app/main/pthread_open.s: app/main/pthread_open.c.s
+.PHONY : app/main/pthread_open.s
+
+# target to generate assembly for a file
+app/main/pthread_open.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/app/main/pthread_open.c.s
+.PHONY : app/main/pthread_open.c.s
+
+drivers/network/ip_reader.o: drivers/network/ip_reader.c.o
+.PHONY : drivers/network/ip_reader.o
+
+# target to build an object file
+drivers/network/ip_reader.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/network/ip_reader.c.o
+.PHONY : drivers/network/ip_reader.c.o
+
+drivers/network/ip_reader.i: drivers/network/ip_reader.c.i
+.PHONY : drivers/network/ip_reader.i
+
+# target to preprocess a source file
+drivers/network/ip_reader.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/network/ip_reader.c.i
+.PHONY : drivers/network/ip_reader.c.i
+
+drivers/network/ip_reader.s: drivers/network/ip_reader.c.s
+.PHONY : drivers/network/ip_reader.s
+
+# target to generate assembly for a file
+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/sensors/temperature.o: drivers/sensors/temperature.c.o
+.PHONY : drivers/sensors/temperature.o
+
+# target to build an object file
+drivers/sensors/temperature.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/temperature.c.o
+.PHONY : drivers/sensors/temperature.c.o
+
+drivers/sensors/temperature.i: drivers/sensors/temperature.c.i
+.PHONY : drivers/sensors/temperature.i
+
+# target to preprocess a source file
+drivers/sensors/temperature.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/temperature.c.i
+.PHONY : drivers/sensors/temperature.c.i
+
+drivers/sensors/temperature.s: drivers/sensors/temperature.c.s
+.PHONY : drivers/sensors/temperature.s
+
+# target to generate assembly for a file
+drivers/sensors/temperature.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/temperature.c.s
+.PHONY : drivers/sensors/temperature.c.s
+
 modules/delay/delay.o: modules/delay/delay.c.o
 .PHONY : modules/delay/delay.o
 
@@ -534,6 +606,102 @@ modules/logger/mylog.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/logger/mylog.c.s
 .PHONY : modules/logger/mylog.c.s
 
+modules/mqtt/mqtt_infor_handle.o: modules/mqtt/mqtt_infor_handle.c.o
+.PHONY : modules/mqtt/mqtt_infor_handle.o
+
+# target to build an object file
+modules/mqtt/mqtt_infor_handle.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/mqtt/mqtt_infor_handle.c.o
+.PHONY : modules/mqtt/mqtt_infor_handle.c.o
+
+modules/mqtt/mqtt_infor_handle.i: modules/mqtt/mqtt_infor_handle.c.i
+.PHONY : modules/mqtt/mqtt_infor_handle.i
+
+# target to preprocess a source file
+modules/mqtt/mqtt_infor_handle.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/mqtt/mqtt_infor_handle.c.i
+.PHONY : modules/mqtt/mqtt_infor_handle.c.i
+
+modules/mqtt/mqtt_infor_handle.s: modules/mqtt/mqtt_infor_handle.c.s
+.PHONY : modules/mqtt/mqtt_infor_handle.s
+
+# target to generate assembly for a file
+modules/mqtt/mqtt_infor_handle.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/mqtt/mqtt_infor_handle.c.s
+.PHONY : modules/mqtt/mqtt_infor_handle.c.s
+
+modules/mqtt/mqtt_init.o: modules/mqtt/mqtt_init.c.o
+.PHONY : modules/mqtt/mqtt_init.o
+
+# target to build an object file
+modules/mqtt/mqtt_init.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/mqtt/mqtt_init.c.o
+.PHONY : modules/mqtt/mqtt_init.c.o
+
+modules/mqtt/mqtt_init.i: modules/mqtt/mqtt_init.c.i
+.PHONY : modules/mqtt/mqtt_init.i
+
+# target to preprocess a source file
+modules/mqtt/mqtt_init.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/mqtt/mqtt_init.c.i
+.PHONY : modules/mqtt/mqtt_init.c.i
+
+modules/mqtt/mqtt_init.s: modules/mqtt/mqtt_init.c.s
+.PHONY : modules/mqtt/mqtt_init.s
+
+# target to generate assembly for a file
+modules/mqtt/mqtt_init.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/mqtt/mqtt_init.c.s
+.PHONY : modules/mqtt/mqtt_init.c.s
+
+modules/mqtt/mqtt_verify.o: modules/mqtt/mqtt_verify.c.o
+.PHONY : modules/mqtt/mqtt_verify.o
+
+# target to build an object file
+modules/mqtt/mqtt_verify.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/mqtt/mqtt_verify.c.o
+.PHONY : modules/mqtt/mqtt_verify.c.o
+
+modules/mqtt/mqtt_verify.i: modules/mqtt/mqtt_verify.c.i
+.PHONY : modules/mqtt/mqtt_verify.i
+
+# target to preprocess a source file
+modules/mqtt/mqtt_verify.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/mqtt/mqtt_verify.c.i
+.PHONY : modules/mqtt/mqtt_verify.c.i
+
+modules/mqtt/mqtt_verify.s: modules/mqtt/mqtt_verify.c.s
+.PHONY : modules/mqtt/mqtt_verify.s
+
+# target to generate assembly for a file
+modules/mqtt/mqtt_verify.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/mqtt/mqtt_verify.c.s
+.PHONY : modules/mqtt/mqtt_verify.c.s
+
+modules/thread_pool/pthrpoll.o: modules/thread_pool/pthrpoll.c.o
+.PHONY : modules/thread_pool/pthrpoll.o
+
+# target to build an object file
+modules/thread_pool/pthrpoll.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/thread_pool/pthrpoll.c.o
+.PHONY : modules/thread_pool/pthrpoll.c.o
+
+modules/thread_pool/pthrpoll.i: modules/thread_pool/pthrpoll.c.i
+.PHONY : modules/thread_pool/pthrpoll.i
+
+# target to preprocess a source file
+modules/thread_pool/pthrpoll.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/thread_pool/pthrpoll.c.i
+.PHONY : modules/thread_pool/pthrpoll.c.i
+
+modules/thread_pool/pthrpoll.s: modules/thread_pool/pthrpoll.c.s
+.PHONY : modules/thread_pool/pthrpoll.s
+
+# target to generate assembly for a file
+modules/thread_pool/pthrpoll.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/thread_pool/pthrpoll.c.s
+.PHONY : modules/thread_pool/pthrpoll.c.s
+
 third_party/cjson/cJSON.o: third_party/cjson/cJSON.c.o
 .PHONY : third_party/cjson/cJSON.o
 
@@ -1105,12 +1273,33 @@ help:
 	@echo "... app/main/main.o"
 	@echo "... app/main/main.i"
 	@echo "... app/main/main.s"
+	@echo "... app/main/pthread_open.o"
+	@echo "... app/main/pthread_open.i"
+	@echo "... app/main/pthread_open.s"
+	@echo "... drivers/network/ip_reader.o"
+	@echo "... drivers/network/ip_reader.i"
+	@echo "... drivers/network/ip_reader.s"
+	@echo "... drivers/sensors/temperature.o"
+	@echo "... drivers/sensors/temperature.i"
+	@echo "... drivers/sensors/temperature.s"
 	@echo "... modules/delay/delay.o"
 	@echo "... modules/delay/delay.i"
 	@echo "... modules/delay/delay.s"
 	@echo "... modules/logger/mylog.o"
 	@echo "... modules/logger/mylog.i"
 	@echo "... modules/logger/mylog.s"
+	@echo "... modules/mqtt/mqtt_infor_handle.o"
+	@echo "... modules/mqtt/mqtt_infor_handle.i"
+	@echo "... modules/mqtt/mqtt_infor_handle.s"
+	@echo "... modules/mqtt/mqtt_init.o"
+	@echo "... modules/mqtt/mqtt_init.i"
+	@echo "... modules/mqtt/mqtt_init.s"
+	@echo "... modules/mqtt/mqtt_verify.o"
+	@echo "... modules/mqtt/mqtt_verify.i"
+	@echo "... modules/mqtt/mqtt_verify.s"
+	@echo "... modules/thread_pool/pthrpoll.o"
+	@echo "... modules/thread_pool/pthrpoll.i"
+	@echo "... modules/thread_pool/pthrpoll.s"
 	@echo "... third_party/cjson/cJSON.o"
 	@echo "... third_party/cjson/cJSON.i"
 	@echo "... third_party/cjson/cJSON.s"

build/include/version.h

+#define PROJECT_VERSION_MAJOR 1
+#define PROJECT_VERSION_MINOR 2
+#define PROJECT_VERSION_PATCH 0
+#define GIT_HASH ""
+#define BUILD_TIMESTAMP ""
+#define BUILD_USER ""

build/third_party/mosquitto/CMakeFiles/progress.marks

-89
+86

build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

-CMAKE_PROGRESS_1 = 78
+CMAKE_PROGRESS_1 = 
 CMAKE_PROGRESS_2 = 
-CMAKE_PROGRESS_3 = 
-CMAKE_PROGRESS_4 = 79
-CMAKE_PROGRESS_5 = 
-CMAKE_PROGRESS_6 = 80
+CMAKE_PROGRESS_3 = 79
+CMAKE_PROGRESS_4 = 
+CMAKE_PROGRESS_5 = 80
+CMAKE_PROGRESS_6 = 
 CMAKE_PROGRESS_7 = 
-CMAKE_PROGRESS_8 = 
-CMAKE_PROGRESS_9 = 81
-CMAKE_PROGRESS_10 = 
-CMAKE_PROGRESS_11 = 82
+CMAKE_PROGRESS_8 = 81
+CMAKE_PROGRESS_9 = 
+CMAKE_PROGRESS_10 = 82
+CMAKE_PROGRESS_11 = 
 CMAKE_PROGRESS_12 = 
-CMAKE_PROGRESS_13 = 
+CMAKE_PROGRESS_13 = 83
 

build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/mosquitto_passwd.dir/progress.make

-CMAKE_PROGRESS_1 = 
-CMAKE_PROGRESS_2 = 89
+CMAKE_PROGRESS_1 = 89
+CMAKE_PROGRESS_2 = 
 CMAKE_PROGRESS_3 = 
 CMAKE_PROGRESS_4 = 90
 CMAKE_PROGRESS_5 = 
-CMAKE_PROGRESS_6 = 
-CMAKE_PROGRESS_7 = 91
+CMAKE_PROGRESS_6 = 91
+CMAKE_PROGRESS_7 = 
 

build/third_party/mosquitto/lib/CMakeFiles/libmosquitto.dir/progress.make

 CMAKE_PROGRESS_1 = 1
 CMAKE_PROGRESS_2 = 
-CMAKE_PROGRESS_3 = 2
-CMAKE_PROGRESS_4 = 
+CMAKE_PROGRESS_3 = 
+CMAKE_PROGRESS_4 = 2
 CMAKE_PROGRESS_5 = 
 CMAKE_PROGRESS_6 = 3
 CMAKE_PROGRESS_7 = 
-CMAKE_PROGRESS_8 = 4
-CMAKE_PROGRESS_9 = 
+CMAKE_PROGRESS_8 = 
+CMAKE_PROGRESS_9 = 4
 CMAKE_PROGRESS_10 = 
 CMAKE_PROGRESS_11 = 5
 CMAKE_PROGRESS_12 = 
-CMAKE_PROGRESS_13 = 6
-CMAKE_PROGRESS_14 = 
+CMAKE_PROGRESS_13 = 
+CMAKE_PROGRESS_14 = 6
 CMAKE_PROGRESS_15 = 
 CMAKE_PROGRESS_16 = 7
 CMAKE_PROGRESS_17 = 
-CMAKE_PROGRESS_18 = 8
-CMAKE_PROGRESS_19 = 
+CMAKE_PROGRESS_18 = 
+CMAKE_PROGRESS_19 = 8
 CMAKE_PROGRESS_20 = 
-CMAKE_PROGRESS_21 = 9
-CMAKE_PROGRESS_22 = 
-CMAKE_PROGRESS_23 = 10
-CMAKE_PROGRESS_24 = 
+CMAKE_PROGRESS_21 = 
+CMAKE_PROGRESS_22 = 9
+CMAKE_PROGRESS_23 = 
+CMAKE_PROGRESS_24 = 10
 CMAKE_PROGRESS_25 = 
-CMAKE_PROGRESS_26 = 11
-CMAKE_PROGRESS_27 = 
-CMAKE_PROGRESS_28 = 12
-CMAKE_PROGRESS_29 = 
+CMAKE_PROGRESS_26 = 
+CMAKE_PROGRESS_27 = 11
+CMAKE_PROGRESS_28 = 
+CMAKE_PROGRESS_29 = 12
 CMAKE_PROGRESS_30 = 
-CMAKE_PROGRESS_31 = 13
-CMAKE_PROGRESS_32 = 
-CMAKE_PROGRESS_33 = 14
-CMAKE_PROGRESS_34 = 
+CMAKE_PROGRESS_31 = 
+CMAKE_PROGRESS_32 = 13
+CMAKE_PROGRESS_33 = 
+CMAKE_PROGRESS_34 = 14
 CMAKE_PROGRESS_35 = 
-CMAKE_PROGRESS_36 = 15
-CMAKE_PROGRESS_37 = 
-CMAKE_PROGRESS_38 = 16
+CMAKE_PROGRESS_36 = 
+CMAKE_PROGRESS_37 = 15
+CMAKE_PROGRESS_38 = 
 CMAKE_PROGRESS_39 = 
-CMAKE_PROGRESS_40 = 
-CMAKE_PROGRESS_41 = 17
-CMAKE_PROGRESS_42 = 
-CMAKE_PROGRESS_43 = 18
+CMAKE_PROGRESS_40 = 16
+CMAKE_PROGRESS_41 = 
+CMAKE_PROGRESS_42 = 17
+CMAKE_PROGRESS_43 = 
 CMAKE_PROGRESS_44 = 
 

build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

-CMAKE_PROGRESS_1 = 
-CMAKE_PROGRESS_2 = 19
-CMAKE_PROGRESS_3 = 
-CMAKE_PROGRESS_4 = 20
+CMAKE_PROGRESS_1 = 18
+CMAKE_PROGRESS_2 = 
+CMAKE_PROGRESS_3 = 19
+CMAKE_PROGRESS_4 = 
 CMAKE_PROGRESS_5 = 
-CMAKE_PROGRESS_6 = 
-CMAKE_PROGRESS_7 = 21
-CMAKE_PROGRESS_8 = 
-CMAKE_PROGRESS_9 = 22
+CMAKE_PROGRESS_6 = 20
+CMAKE_PROGRESS_7 = 
+CMAKE_PROGRESS_8 = 21
+CMAKE_PROGRESS_9 = 
 CMAKE_PROGRESS_10 = 
-CMAKE_PROGRESS_11 = 
-CMAKE_PROGRESS_12 = 23
+CMAKE_PROGRESS_11 = 22
+CMAKE_PROGRESS_12 = 
 CMAKE_PROGRESS_13 = 
-CMAKE_PROGRESS_14 = 24
+CMAKE_PROGRESS_14 = 23
 CMAKE_PROGRESS_15 = 
-CMAKE_PROGRESS_16 = 
-CMAKE_PROGRESS_17 = 25
+CMAKE_PROGRESS_16 = 24
+CMAKE_PROGRESS_17 = 
 CMAKE_PROGRESS_18 = 
-CMAKE_PROGRESS_19 = 26
+CMAKE_PROGRESS_19 = 25
 CMAKE_PROGRESS_20 = 
-CMAKE_PROGRESS_21 = 
-CMAKE_PROGRESS_22 = 27
+CMAKE_PROGRESS_21 = 26
+CMAKE_PROGRESS_22 = 
 CMAKE_PROGRESS_23 = 
-CMAKE_PROGRESS_24 = 28
+CMAKE_PROGRESS_24 = 27
 CMAKE_PROGRESS_25 = 
-CMAKE_PROGRESS_26 = 
-CMAKE_PROGRESS_27 = 29
+CMAKE_PROGRESS_26 = 28
+CMAKE_PROGRESS_27 = 
 CMAKE_PROGRESS_28 = 
-CMAKE_PROGRESS_29 = 30
+CMAKE_PROGRESS_29 = 29
 CMAKE_PROGRESS_30 = 
 CMAKE_PROGRESS_31 = 
-CMAKE_PROGRESS_32 = 31
+CMAKE_PROGRESS_32 = 30
 CMAKE_PROGRESS_33 = 
-CMAKE_PROGRESS_34 = 32
+CMAKE_PROGRESS_34 = 31
 CMAKE_PROGRESS_35 = 
 CMAKE_PROGRESS_36 = 
-CMAKE_PROGRESS_37 = 33
+CMAKE_PROGRESS_37 = 32
 CMAKE_PROGRESS_38 = 
-CMAKE_PROGRESS_39 = 34
+CMAKE_PROGRESS_39 = 33
 CMAKE_PROGRESS_40 = 
 CMAKE_PROGRESS_41 = 
-CMAKE_PROGRESS_42 = 35
+CMAKE_PROGRESS_42 = 34
 CMAKE_PROGRESS_43 = 
-CMAKE_PROGRESS_44 = 36
+CMAKE_PROGRESS_44 = 35
 

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

-38
+37

build/third_party/mosquitto/lib/cpp/CMakeFiles/progress.marks

-20
+19

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

-7
+6

build/third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_security.dir/progress.make

-CMAKE_PROGRESS_1 = 83
-CMAKE_PROGRESS_2 = 
-CMAKE_PROGRESS_3 = 84
+CMAKE_PROGRESS_1 = 
+CMAKE_PROGRESS_2 = 84
+CMAKE_PROGRESS_3 = 
 CMAKE_PROGRESS_4 = 
-CMAKE_PROGRESS_5 = 
-CMAKE_PROGRESS_6 = 85
+CMAKE_PROGRESS_5 = 85
+CMAKE_PROGRESS_6 = 
 CMAKE_PROGRESS_7 = 
 CMAKE_PROGRESS_8 = 86
 CMAKE_PROGRESS_9 = 
-CMAKE_PROGRESS_10 = 
-CMAKE_PROGRESS_11 = 87
+CMAKE_PROGRESS_10 = 87
+CMAKE_PROGRESS_11 = 
 CMAKE_PROGRESS_12 = 
 

build/third_party/mosquitto/plugins/dynamic-security/CMakeFiles/progress.marks

-5
+4

build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/progress.make

-CMAKE_PROGRESS_1 = 48
+CMAKE_PROGRESS_1 = 
 CMAKE_PROGRESS_2 = 
-CMAKE_PROGRESS_3 = 
-CMAKE_PROGRESS_4 = 49
+CMAKE_PROGRESS_3 = 50
+CMAKE_PROGRESS_4 = 
 CMAKE_PROGRESS_5 = 
-CMAKE_PROGRESS_6 = 50
+CMAKE_PROGRESS_6 = 51
 CMAKE_PROGRESS_7 = 
-CMAKE_PROGRESS_8 = 
-CMAKE_PROGRESS_9 = 51
+CMAKE_PROGRESS_8 = 52
+CMAKE_PROGRESS_9 = 
 CMAKE_PROGRESS_10 = 
-CMAKE_PROGRESS_11 = 52
+CMAKE_PROGRESS_11 = 53
 CMAKE_PROGRESS_12 = 
-CMAKE_PROGRESS_13 = 
-CMAKE_PROGRESS_14 = 53
+CMAKE_PROGRESS_13 = 54
+CMAKE_PROGRESS_14 = 
 CMAKE_PROGRESS_15 = 
-CMAKE_PROGRESS_16 = 54
+CMAKE_PROGRESS_16 = 55
 CMAKE_PROGRESS_17 = 
-CMAKE_PROGRESS_18 = 
-CMAKE_PROGRESS_19 = 55
+CMAKE_PROGRESS_18 = 56
+CMAKE_PROGRESS_19 = 
 CMAKE_PROGRESS_20 = 
-CMAKE_PROGRESS_21 = 56
+CMAKE_PROGRESS_21 = 57
 CMAKE_PROGRESS_22 = 
 CMAKE_PROGRESS_23 = 
-CMAKE_PROGRESS_24 = 57
+CMAKE_PROGRESS_24 = 58
 CMAKE_PROGRESS_25 = 
-CMAKE_PROGRESS_26 = 58
+CMAKE_PROGRESS_26 = 59
 CMAKE_PROGRESS_27 = 
 CMAKE_PROGRESS_28 = 
-CMAKE_PROGRESS_29 = 59
+CMAKE_PROGRESS_29 = 60
 CMAKE_PROGRESS_30 = 
-CMAKE_PROGRESS_31 = 60
+CMAKE_PROGRESS_31 = 61
 CMAKE_PROGRESS_32 = 
 CMAKE_PROGRESS_33 = 
-CMAKE_PROGRESS_34 = 61
+CMAKE_PROGRESS_34 = 62
 CMAKE_PROGRESS_35 = 
-CMAKE_PROGRESS_36 = 62
+CMAKE_PROGRESS_36 = 63
 CMAKE_PROGRESS_37 = 
 CMAKE_PROGRESS_38 = 
-CMAKE_PROGRESS_39 = 63
+CMAKE_PROGRESS_39 = 64
 CMAKE_PROGRESS_40 = 
-CMAKE_PROGRESS_41 = 64
-CMAKE_PROGRESS_42 = 
+CMAKE_PROGRESS_41 = 
+CMAKE_PROGRESS_42 = 65
 CMAKE_PROGRESS_43 = 
-CMAKE_PROGRESS_44 = 65
+CMAKE_PROGRESS_44 = 66
 CMAKE_PROGRESS_45 = 
-CMAKE_PROGRESS_46 = 66
-CMAKE_PROGRESS_47 = 
+CMAKE_PROGRESS_46 = 
+CMAKE_PROGRESS_47 = 67
 CMAKE_PROGRESS_48 = 
-CMAKE_PROGRESS_49 = 67
+CMAKE_PROGRESS_49 = 68
 CMAKE_PROGRESS_50 = 
-CMAKE_PROGRESS_51 = 68
-CMAKE_PROGRESS_52 = 
+CMAKE_PROGRESS_51 = 
+CMAKE_PROGRESS_52 = 69
 CMAKE_PROGRESS_53 = 
-CMAKE_PROGRESS_54 = 69
+CMAKE_PROGRESS_54 = 70
 CMAKE_PROGRESS_55 = 
-CMAKE_PROGRESS_56 = 70
-CMAKE_PROGRESS_57 = 
+CMAKE_PROGRESS_56 = 
+CMAKE_PROGRESS_57 = 71
 CMAKE_PROGRESS_58 = 
-CMAKE_PROGRESS_59 = 71
-CMAKE_PROGRESS_60 = 
-CMAKE_PROGRESS_61 = 72
-CMAKE_PROGRESS_62 = 
+CMAKE_PROGRESS_59 = 
+CMAKE_PROGRESS_60 = 72
+CMAKE_PROGRESS_61 = 
+CMAKE_PROGRESS_62 = 73
 CMAKE_PROGRESS_63 = 
-CMAKE_PROGRESS_64 = 73
-CMAKE_PROGRESS_65 = 
-CMAKE_PROGRESS_66 = 74
-CMAKE_PROGRESS_67 = 
+CMAKE_PROGRESS_64 = 
+CMAKE_PROGRESS_65 = 74
+CMAKE_PROGRESS_66 = 
+CMAKE_PROGRESS_67 = 75
 CMAKE_PROGRESS_68 = 
-CMAKE_PROGRESS_69 = 75
-CMAKE_PROGRESS_70 = 
-CMAKE_PROGRESS_71 = 76
-CMAKE_PROGRESS_72 = 
+CMAKE_PROGRESS_69 = 
+CMAKE_PROGRESS_70 = 76
+CMAKE_PROGRESS_71 = 
+CMAKE_PROGRESS_72 = 77
 CMAKE_PROGRESS_73 = 
-CMAKE_PROGRESS_74 = 77
-CMAKE_PROGRESS_75 = 
+CMAKE_PROGRESS_74 = 
+CMAKE_PROGRESS_75 = 78
 

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

-30
+29

drivers/common/common.h

@@ -9,6 +9,7 @@
 #include <string.h>
 #include <errno.h>
 
+
 // ========== 硬件相关 ==========
 #include <wiringPi.h>      // GPIO控制
 #include <softPwm.h>       // PWM控制
@@ -28,11 +29,13 @@
 #include <math.h>       // 数学函数
 #include <time.h>       // 时间处理
 
+#include <mosquitto.h>
+#include <cjson/cJSON.h>
 
 // ========== 香橙派优化宏 ==========
-#define ORANGE_GPIO_SET(pin, val) { \
-    pinMode(pin, OUTPUT); \
-    digitalWrite(pin, val); \
-}
+// #define ORANGE_GPIO_SET(pin, val) { \
+//     pinMode(pin, OUTPUT); \
+//     digitalWrite(pin, val); \
+// }
 
 #endif // COMMON_H
\ No newline at end of file

drivers/network/ip_reader.c

+#include <sys/socket.h>
+#include <netinet/in.h> 
+#include <ifaddrs.h>
+#include "common.h"
+#include "ip_reader.h"
+#include  "mylog.h"
+
+struct ifaddrs *ifap, *ifa;
+struct sockaddr_in *sa;
+
+char g_ip_address[INET_ADDRSTRLEN];
+
+/*获取ip*/
+int ipaddr_obtain() {
+    if (getifaddrs(&ifap) == -1) {
+        //perror("getifaddrs() error");
+        my_zlog_error("getifaddrs() error");
+        return -1;
+    }
+
+    for (ifa = ifap; ifa != NULL; ifa = ifa->ifa_next) {
+        if (ifa->ifa_addr != NULL && ifa->ifa_addr->sa_family == AF_INET) {
+            sa = (struct sockaddr_in *) ifa->ifa_addr;
+            inet_ntop(AF_INET, &sa->sin_addr, g_ip_address, sizeof(g_ip_address));
+        }
+    }
+
+    freeifaddrs(ifap);
+    
+    return 0;
+}
+
+

drivers/network/ip_reader.h

+#ifndef IP_READER_H__
+#define IP_READER_H__
+
+#include <arpa/inet.h>
+
+extern char g_ip_address[INET_ADDRSTRLEN];//读到的ip地址
+
+int ipaddr_obtain();//ip地址函数
+
+
+#endif
+

drivers/sensors/temperature.c

+#include "common.h"
+#include "temperature.h"
+#include "mylog.h"
+
+#define MAX_LINE_LENGTH 20
+
+char g_temperature[20];
+
+/*温度获取*/
+int heat_tem() {
+    FILE *file;
+    float temp_str;
+    char line[MAX_LINE_LENGTH];
+    file = fopen("/sys/class/thermal/thermal_zone0/temp", "r");
+    if (file == NULL) {
+        perror("无法打开温度文件");
+        return 1;
+    }
+
+    if (fgets(line, sizeof(line), file) != NULL) {
+        temp_str = (float)atof(line) / 1000.0;
+        sprintf(g_temperature, "%.2f°C", temp_str);
+        my_zlog_debug("CPU 温度: %.2f°C", temp_str);
+    }else {
+        temp_str =0;
+        sprintf(g_temperature, "%.2f°C", temp_str);
+        my_zlog_debug("CPU 温度: %.2f°C", temp_str);
+    }
+    fclose(file);
+    return 0;
+}    
\ No newline at end of file

drivers/sensors/temperature.h

+#ifndef TEMPERATURE_H__
+#define TEMPERATURE_H__
+
+int heat_tem();//获取CPU温度
+
+extern char g_temperature[];//温度存储
+
+#endif
\ No newline at end of file

include/version.h.in

+#define PROJECT_VERSION_MAJOR @PROJECT_VERSION_MAJOR@
+#define PROJECT_VERSION_MINOR @PROJECT_VERSION_MINOR@
+#define PROJECT_VERSION_PATCH @PROJECT_VERSION_PATCH@
+#define GIT_HASH "@GIT_HASH@"
+#define BUILD_TIMESTAMP "@BUILD_TIMESTAMP@"
+#define BUILD_USER "@BUILD_USER@"
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

+#include "mqtt_infor_handle.h"
+#include "mqtt_init.h"
+#include "ip_reader.h"
+#include "mqtt_verify.h"
+#include "device_fileopen.h"
+#include "device_identity.h"
+#include "temperature.h"
+#include "common.h"
+#include "mylog.h"
+
+int g_heartbeat_count=0;
+
+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() {
+    float voltage = 0;//INA226_readBusVoltage();
+    float current = 0;//INA226_readCurrent();
+    //my_zlog_debug("%.2f\n", voltage);
+    // if(voltage<=0.5){
+    //     voltage=ads1115_read_channel(0)*5/2;
+    //     current=ads1115_read_channel(1)*5/2;
+    //     //my_zlog_debug("%.2f\n", voltage);
+    //     current=(current-voltage)*100;
+    // }
+    char voltage_str[20];  // 足够存储转换后的字符串的缓冲区
+    sprintf(voltage_str, "%.2f", voltage); 
+    char current_str[20];  // 足够存储转换后的字符串的缓冲区
+    sprintf(current_str, "%.2f", current); 
+   
+    //alarm_control(voltage);//判断电压警报,在不动时候才判断
+    
+    /*读取程序版本号*/
+    char *version_num = program_version();
+
+    if(heat_tem() !=0 ) {//获取CPU温度
+        my_zlog_debug("获取cpu温度失败");
+    }
+    ipaddr_obtain();//获取ip
+    int message=1;
+
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
+
+    cJSON_AddStringToObject(body, "ip", g_ip_address);//发送设备ip
+    cJSON_AddStringToObject(body, "ID", mqtt_topic_pure_number());//发送设备号
+    cJSON_AddStringToObject(body, "V", voltage_str);//心跳发送电压
+    cJSON_AddStringToObject(body, "I", current_str);//心跳发送电流
+    cJSON_AddStringToObject(body,"Tem",g_temperature);//发送温度
+    cJSON_AddStringToObject(body, "version", version_num);//版本号
+
+    cJSON_AddNumberToObject(head, "message_type",message);
+
+    cJSON_AddItemToObject(root, "body", body);
+    cJSON_AddItemToObject(root, "head",head);
+
+    char *payload = cJSON_PrintUnformatted(root);
+    
+    my_zlog_debug("%s",payload);
+    mosquitto_publish(mosq, NULL, mqtt_topic_dev2app_number(), strlen(payload), payload, 0, false); 
+    mosquitto_publish(mosq, NULL, mqtt_topic_pure_number(), strlen(payload), payload, 0, false); 
+    
+    cJSON_Delete(root);  // 释放 cJSON 对象
+}
+
+//mqtt设备行走驱动函数
+void device_driver(){
+    // if(AppExit_pin_pwm == 101) speed_change(valt) ;
+    // if(AppExit_pin_pwm == 102) car0102_speed_change(valt) ;
+    // if(AppExit_pin_pwm == 103 ) car0103_change(valt) ;
+    // if(AppExit_pin_pwm == 104 ) car0104_change(valt) ;
+    // if(AppExit_pin_pwm == 202) tank0202_change(valt);
+    // if(AppExit_pin_pwm == 301) ship_speed_change(valt) ;
+    // if(AppExit_pin_pwm == 401) PTZ_pwm_change(valt);
+}
+
+//角度发送
+void angle_mqtt_send() { 
+    // float angle_shot=ads1115_read_channel(2);
+    // if(angle_shot>0){  
+    //  angle_shot=angle_shot*360/5;
+    //  //my_zlog_debug("%.2f",angle_shot);
+    //  topic_middle_value();
+    // cJSON *root = cJSON_CreateObject();
+    // char TOPIC_send_angle[26];
+    // double rounded_angle = round(angle_shot * 100) / 100;
+    // sprintf(TOPIC_send_angle,"dev_rtinfo/%s",TOPIC3);
+    // cJSON_AddStringToObject(root, "type","tank_angle");
+    // cJSON_AddNumberToObject(root, "angle",rounded_angle);
+    // char *payload = cJSON_PrintUnformatted(root);
+    // my_zlog_debug("%s",payload);
+    // mosquitto_publish(mosq, NULL, TOPIC_send_angle, strlen(payload), payload, 0, false); 
+    // cJSON_Delete(root);  // 释放 cJSON 对象
+    // }
+   
+}
+
+//心跳格式，每5s一次心跳
+void mqtt_wirte(){
+
+     if( g_heartbeat_count >= 30) {
+        heartbeat_send();
+        g_heartbeat_count=0;
+     }
+    // if( AppExit_pin_pwm == 202) angle_mqtt_send();  
+
+}
+
+//message_type为3，控制pwm  
+void message_3(cJSON *body){
+    cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
+    cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
+    if(pwm_ctrl==NULL||pin_setctrl==NULL){ 
+        return ;
+    }
+    cJSON *mode = cJSON_GetObjectItem(pwm_ctrl, "mode");   //mode=1 速度，mode=2 转向(unsigned char)
+    cJSON *type = cJSON_GetObjectItem(pwm_ctrl, "type");
+    cJSON *val =   cJSON_GetObjectItem(pwm_ctrl, "val");  //val为pwm的值 0~100(unsigned char)(unsigned char)
+
+    unsigned char modeTemp= mode->valueint;
+    unsigned char typeTemp=type->valueint;
+    unsigned char valTemp= val->valueint;
+
+    g_valt[0]=typeTemp;
+    g_valt[1]=modeTemp;
+    g_valt[2]=valTemp;
+    gPwmCount = 0;
+
+    my_zlog_debug("typeTemp:%d",g_valt[0]);
+    my_zlog_debug("modeTemp:%d",g_valt[1]);
+    my_zlog_debug("valTemp:%d",g_valt[2]);
+
+    device_driver();
+        
+}
+
+void message_4(cJSON *body){//message 为4时候
+
+    cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
+    cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
+    if(pwm_ctrl==NULL||pin_setctrl==NULL){ 
+        return ;
+    }
+    cJSON *pin = cJSON_GetObjectItem(pin_setctrl, "pin");
+    cJSON *val = cJSON_GetObjectItem(pin_setctrl, "val");  //val为pwm的值 0~100(unsigned char)(unsigned char)
+    
+    unsigned char pinTemp =pin->valueint;
+    unsigned char valTemp = val->valueint;
+
+    if(valTemp>=1){
+        valTemp=1;
+    }
+
+    gPwmCount=0;
+    g_valt[0]=0;
+    g_valt[1]=pinTemp;
+    g_valt[2]=valTemp;
+
+    my_zlog_debug("pinTemp:%d",g_valt[1]);
+    my_zlog_debug("valTemp:%d",g_valt[2]);
+
+    //pin_value(g_valt[1],g_valt[2]);
+    //pwm_value(g_valt[1],g_valt[2]);
+    //if(AppExit_pin_pwm == 202 ) tank_shot_back_stop(g_valt[1],g_valt[2]);
+}
+
+//当接收到2时候验证
+void message_2_judyverify(cJSON *body){
+    receive_jwt(body);
+   if(g_verify_index == 0) {
+    //refresh_cam();   
+   } else {
+    my_zlog_warn("验证不通过");
+   }
+}
+
+//当接收到3时候验证
+void message_3_judyverify(cJSON *body){
+    receive_jwt(body);
+   if(g_verify_index == 0) {
+    message_3(body);
+   } else {
+    my_zlog_warn("验证不通过");
+   }
+}
+
+//当接收到4时候验证
+void message_4_judyverify(cJSON *body){
+    receive_jwt(body);
+   if(g_verify_index == 0) {
+    message_4(body);
+   } else {
+    my_zlog_warn("验证不通过");
+   }
+}
+
+
+//接收到设备改名函数
+int device_mqttchange_name(cJSON *device_id){
+    // cJSON *id = cJSON_GetObjectItem(device_id, "id");// 提取ID   
+    // cJSON *date = cJSON_GetObjectItem(device_id, "date");// 提取日期
+    // char *device_change_id=id->valuestring;
+    // char *device_change_date=date->valuestring;
+    // device_changename_back(device_change_date,device_change_id);
+    // // 输出提取的数据
+    // my_zlog_debug("设备ID: %s", device_change_id);
+    // my_zlog_debug("日期: %s", device_change_date);
+
+    return 0;
+}
+
+int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
+    
+    cJSON *head = cJSON_GetObjectItem(json, "head");
+    cJSON *message_type = cJSON_GetObjectItem(head, "message_type");
+
+    if (cJSON_IsObject(head)&&cJSON_IsNumber(message_type)) {;
+            
+        cJSON *body = cJSON_GetObjectItem(json, "body");//提取 body数据段
+        if (!cJSON_IsObject(body)) {
+            return 1;
+        }
+
+        gmessage_type=message_type->valueint;
+        my_zlog_debug("message_type: %d",message_type->valueint);
+        switch(gmessage_type){
+            case 2:
+                //message_2_judyverify(body); 
+                my_zlog_debug("进入刷新");
+                break;
+            case 3:
+                message_3_judyverify(body);
+                my_zlog_debug("进入pwm控制");
+                break;
+            case 4:
+                message_4_judyverify(body);
+                my_zlog_debug("进入引脚控制");
+                break;
+            case 2001: 
+                //audioplay_mqtt_receive(body);
+                my_zlog_debug("进入音频播放");
+                break;
+            case 2002:
+                //device_mqttchange_name(body);
+                my_zlog_debug("进入修改设备号");
+                break;
+            case 2003:
+                //scan_wifi_json();
+                my_zlog_debug("进入查询WiFi");
+                break;
+            case 2004:
+                //wifi_change_recmqtt(body);
+                my_zlog_debug("进入修改WiFi");
+                break;
+            case 2006:
+                message2006_verify(body);
+                my_zlog_debug("进入消息为2006验证");
+                break;
+            case 2011:
+                system("sudo reboot");//重启香橙派
+                my_zlog_debug("重启成功");
+                break;
+            case 2012:
+                //refresh_cam();    
+                my_zlog_debug("刷新成功");
+                break;
+            default:
+                break;
+        }
+    }else return 3;     
+ 
+    return 0;
+}

modules/mqtt/mqtt_infor_handle.h

+#ifndef MQTT_INFOR_HANDLE_H__
+#define MQTT_INFOR_HANDLE_H__
+
+#include <cjson/cJSON.h>
+
+extern int g_heartbeat_count;
+
+void mqtt_wirte();
+
+int device_message_receive(cJSON *json);
+#endif
\ No newline at end of file

modules/mqtt/mqtt_init.c

+#include "common.h"
+#include "mqtt_verify.h"
+#include "mqtt_init.h"
+#include "device_identity.h"
+#include "mqtt_infor_handle.h"
+#include "mylog.h"
+
+struct mosquitto *mosq;
+
+int gPwmCount = 0;  // 计数
+int gmessage_type=10086;
+
+uint16_t AppExit_pin_pwm=0;//判断坦克或者车的退出
+
+//mqtt初始化
+int mqtt_init() {
+
+    mosquitto_lib_init();
+    // 这里创建mosq可以保留，也可以删除这一行，让创建放到 Mqtt_onnect 里
+    mosq = mosquitto_new(NULL, true, NULL);
+    if (!mosq) {
+        my_zlog_fatal("Failed to create Mosquitto client");
+        return -1;
+    }
+    mosquitto_int_option(mosq, MOSQ_OPT_PROTOCOL_VERSION, MQTT_PROTOCOL_V5);
+    return 0;
+}
+
+//回调函数
+void on_connect(struct mosquitto *mosq, void *obj, int rc) {
+    if (rc == 0) {
+        my_zlog_debug("Connected to broker");
+        mosquitto_subscribe(mosq, NULL, mqtt_topic_app2dev_number(), 0);
+        mosquitto_subscribe(mosq, NULL, mqtt_topic_ser2dev_number(), 0);
+    } else {
+        fprintf(stderr, "Connection failed with code %d\n", rc);
+        my_zlog_fatal("Connection failed");
+    }
+}
+
+
+//消息回环函数  
+void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {
+
+    // 确保消息有效
+    if (message->payload && message->payloadlen) { // 将消息内容转换为字符串
+        char *payload_str = (char *)malloc(message->payloadlen + 1);
+        if (!payload_str) {
+            return;
+        } 
+
+        memcpy(payload_str, message->payload, message->payloadlen);
+        payload_str[message->payloadlen] = '\0';
+
+        // 解析 JSON
+        cJSON *json = cJSON_Parse(payload_str);
+        if(json != NULL){
+            if(device_message_receive(json)==0) my_zlog_debug("进入设备接收mqtt");
+        }                     
+        
+        // 释放 payload 字符串
+        free(payload_str); 
+        cJSON_Delete(json); 
+    }
+}
+
+// 返回连接结果，0成功，非0失败
+int mqtt_create(struct mosquitto *mosq) { 
+    mosquitto_reconnect_delay_set(mosq, 2, 10, true);
+    mosquitto_connect_callback_set(mosq, on_connect);
+    mosquitto_message_callback_set(mosq, on_message);
+    mosquitto_username_pw_set(mosq, USERNAME, PASSWORD);
+
+    int rc = mosquitto_connect(mosq, BROKER_ADDRESS, BROKER_PORT, 60);
+    if (rc != MOSQ_ERR_SUCCESS) {
+        my_zlog_warn("Failed to connect to broker: %s", mosquitto_strerror(rc));
+        // 不销毁 mosq，等待调用者处理重连
+        return rc;
+    }
+    return 0; // 成功
+}   
+
+//阻塞型
+int mqtt_cycle(struct mosquitto *mosq) {
+    // 这个函数会阻塞直到连接断开或错误返回
+    int rc = mosquitto_loop_forever(mosq, -1, 1);
+    if (rc != MOSQ_ERR_SUCCESS) {
+        my_zlog_warn("mqtt loop error: %s", mosquitto_strerror(rc));
+        return rc;
+    }
+}
+
+// int mqtt_cycle(struct mosquitto *mosq) {//非阻塞型
+//     int rc;
+//     while (1) {
+//         rc = mosquitto_loop(mosq, 100, 1);  // 每秒检查一次
+//         if (rc != MOSQ_ERR_SUCCESS) {
+//             my_zlog_warn("mosquitto loop error: %s,(code: %d)", mosquitto_strerror(rc),rc);
+//             return -1;  // 跳出循环，重新连接
+//         }
+//         Delay_Ms(0, 3);  // 防止空转
+//     }
+// }
+
+//mqtt清理
+void mqtt_clean(struct mosquitto *mosq){
+      // 清理
+    mosquitto_destroy(mosq);
+    mosquitto_lib_cleanup();
+    my_zlog_notice("清理成功");
+}
\ No newline at end of file

modules/mqtt/mqtt_init.h

+#ifndef MQTT_INIT_H__
+#define MQTT_INIT_H__
+#include <time.h>
+#include <mosquitto.h>
+#include <cjson/cJSON.h>
+
+extern int heartbeat_count;//心跳计时
+
+//extern ThreadPool *pool;
+#define BROKER_ADDRESS "119.45.167.177"
+#define BROKER_PORT 1883
+#define USERNAME "admin"    // 替换为你的用户名
+#define PASSWORD "admin"       // 替换为你的密码
+extern struct mosquitto *mosq;//创建客服端
+extern int gPwmCount;  // 计数
+extern int gmessage_type;//message消息值
+
+int mqtt_init();//mqtt初始化
+int mqtt_create(struct mosquitto *mosq);//创建mqtt客服端
+void on_connect(struct mosquitto *mosq, void *obj, int rc);//回调函数
+void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message);//消息回调函数
+int mqtt_cycle(struct mosquitto *mosq);//循环
+void mqtt_clean(struct mosquitto *mosq);//清理
+
+#endif
\ No newline at end of file

modules/mqtt/mqtt_verify.c

+#include <time.h>
+#include <cjson/cJSON.h>
+#include "mqtt_verify.h"
+#include "common.h"
+#include <openssl/evp.h>
+#include <openssl/aes.h> 
+#include <openssl/rand.h>
+#include <openssl/bio.h>
+#include <openssl/buffer.h>
+#include <openssl/err.h>
+#include "device_identity.h"
+#include "mqtt_init.h"
+#include "mylog.h"
+
+bool g_service_verify=TRUE;//验证判断
+
+int g_verify_count =12000;//判断是否有一分钟
+
+char g_only_id_middle[11];
+
+char g_secret_key[1024];//存储上一次的topic
+
+bool g_secret_key_index = TRUE;//用于判断是否对比topic
+
+int g_verify_index =0;//判断是否验证成功
+pthread_mutex_t g_verify_mutex = PTHREAD_MUTEX_INITIALIZER;//线程锁
+
+char *generate_random_id() {
+
+    char *id_buffer=malloc(11);
+    // 1. 定义字符池：包含所有小写字母、大写字母和数字
+    const char charset[] = "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789";
+    const int charset_size = sizeof(charset) - 1; // 减去末尾的 '\0'
+
+    // 2. 循环生成每个字符
+    for (int i = 0; i < 10; ++i) {
+        // 从字符池中随机选择一个字符
+        int key = rand() % charset_size;
+        id_buffer[i] = charset[key];
+    }
+
+    // 3. 在字符串末尾添加空字符终止符
+    id_buffer[10] = '\0';
+    return id_buffer;
+}
+
+//发送用户获取jwt给服务端验证
+int send_jwtser(const char *token){
+
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
+
+    char *only_Id =generate_random_id();
+
+    my_zlog_debug("%s",only_Id);
+
+    strcpy(g_only_id_middle,only_Id);
+
+    cJSON_AddStringToObject(body, "data", token);//为0成功
+
+     cJSON_AddStringToObject(body, "only_id", only_Id);
+
+    cJSON_AddNumberToObject(head, "message_type",3006);
+
+    cJSON_AddItemToObject(root, "body", body);
+    cJSON_AddItemToObject(root, "head",head);
+
+    char *payload = cJSON_PrintUnformatted(root);
+    my_zlog_debug("%s",payload);
+    mosquitto_publish(mosq, NULL, mqtt_topic_pure_number(), strlen(payload), payload, 0, false); 
+    
+    free(only_Id);
+    cJSON_Delete(root);  // 释放 cJSON 对象
+}
+
+//jwt验证函数
+int receive_jwt(cJSON *body) {
+
+    char *token=NULL;
+    char *token_time=NULL;
+    
+    cJSON *json_token = cJSON_GetObjectItem(body, "token");
+    cJSON *json_token_time = cJSON_GetObjectItem(body, "token_time");
+    if(json_token == NULL || json_token_time==NULL) {
+        my_zlog_debug("验证为空");
+        g_verify_index=1;
+        return 1;
+    }
+
+    token=json_token->valuestring;
+    token_time=json_token_time->valuestring;
+
+    if(g_secret_key_index == FALSE) {
+        if(strcmp(token,g_secret_key)!=0){
+            send_jwtser(token);
+            g_secret_key_index = TRUE;
+            pthread_mutex_lock(&g_verify_mutex);
+            g_verify_count=0;
+            pthread_mutex_unlock(&g_verify_mutex);
+            my_zlog_notice("topic不同，验证完成");
+        }
+    }else {
+        my_zlog_notice("topic相同");
+        strcpy(g_secret_key,token);
+        g_secret_key_index = FALSE;
+    }
+
+
+    unsigned long long token_time_s = strtoull(token_time, NULL, 10);
+    
+    // 转换为秒级时间戳
+    time_t token_time_sec = (time_t)(token_time_s );//后端给的时间戳
+
+    time_t current_verify_time=time(NULL);//当前时间戳
+
+    my_zlog_debug("目前时间戳:%1d",(long)current_verify_time); 
+    my_zlog_debug("token时间戳:%1d",(long)token_time_sec); 
+
+    if(token_time_sec>current_verify_time){
+        if(g_service_verify == TRUE) g_verify_index=0;//验证默认为正确
+        my_zlog_debug("g_verify_index= %d ",g_verify_index);
+        if(g_verify_count>12000){
+            send_jwtser(token);
+            my_zlog_debug("在有效期内");  
+            pthread_mutex_lock(&g_verify_mutex);
+            g_verify_count=0;
+            my_zlog_info("count: %s", g_verify_count);
+            pthread_mutex_unlock(&g_verify_mutex);
+            my_zlog_debug("g_verify_count=%d",g_verify_count);
+            } 
+    }else {
+        my_zlog_debug("不在有效期内");  
+        g_verify_index=1;
+        my_zlog_debug("g_verify_index= %d ",g_verify_index);
+    }
+
+    my_zlog_info("token: %s", token);
+    my_zlog_info("token_time: %s", token_time);
+    return 0;
+
+}
+
+//当接收到2006判断是否验证成功
+int message2006_verify(cJSON *body){
+    char *status=NULL;
+    char *onlyid=NULL;
+
+    cJSON *json_status = cJSON_GetObjectItem(body, "status");
+    cJSON *json_onlyid = cJSON_GetObjectItem(body, "only_id");
+    
+
+    if(json_status == NULL || json_onlyid==NULL) {
+        my_zlog_debug("验证为空");
+        g_service_verify = FALSE;
+        g_verify_index=1;
+        my_zlog_debug("g_verify_index= %d ",g_verify_index);
+        return 1;
+    }
+    status = json_status->valuestring;
+    onlyid = json_onlyid->valuestring;
+
+    my_zlog_debug("data: %s", status);
+    my_zlog_debug("onlyid: %s", onlyid);
+    if(strcmp(onlyid,g_only_id_middle) == 0 && strcmp(status, "1") == 0){
+        my_zlog_debug("获得验证正确");
+        g_service_verify = TRUE;
+    }else {
+        my_zlog_debug("获得验证c错误，禁止使用");
+        g_verify_index=1;
+        my_zlog_debug("g_verify_index= %d ",g_verify_index);
+        g_service_verify = FALSE;
+        return 2;
+    }
+
+    return 0;
+
+ }

modules/mqtt/mqtt_verify.h

+#ifndef MQTT_VERIFY_H__
+#define MQTT_VERIFY_H__
+
+#include <cjson/cJSON.h>
+
+#define AES_BLOCK_SIZE 16
+
+extern int g_verify_count;//验证计时
+extern int g_verify_index;//判断是否验证成功
+
+int receive_jwt(cJSON *body);//jwt验证
+
+int message2006_verify(cJSON *body);
+#endif
\ No newline at end of file

modules/thread_pool/pthrpoll.c

+#include "pthrpoll.h"
+
+// 初始化任务队列
+static int task_queue_init(TaskQueue *queue) {
+    queue->head = NULL;
+    queue->tail = NULL;
+    queue->size = 0;
+    if (pthread_mutex_init(&queue->mutex, NULL) != 0) {
+        return -1;
+    }
+    if (pthread_cond_init(&queue->cond, NULL) != 0) {
+        pthread_mutex_destroy(&queue->mutex);
+        return -1;
+    }
+    return 0;
+}
+
+// 向任务队列中添加任务
+static int task_queue_add(TaskQueue *queue, void (*function)(void *), void *argument) {
+    Task *task = (Task *)malloc(sizeof(Task));
+    if (task == NULL) {
+        return -1;
+    }
+    
+    task->function = function;
+    task->argument = argument;
+    task->next = NULL;
+
+    pthread_mutex_lock(&queue->mutex);
+    
+    if (queue->tail == NULL) {
+        queue->head = queue->tail = task;
+    } else {
+        queue->tail->next = task;
+        queue->tail = task;
+    }
+    queue->size++;
+    
+    pthread_cond_signal(&queue->cond);
+    pthread_mutex_unlock(&queue->mutex);
+    return 0;
+}
+
+// 从任务队列中取出任务
+static Task *task_queue_remove(TaskQueue *queue, ThreadPool_t *pool) {
+    pthread_mutex_lock(&queue->mutex);
+    
+    while (queue->size == 0 && !pool->shutdown) {
+        pthread_cond_wait(&queue->cond, &queue->mutex);
+    }
+
+    if (pool->shutdown && queue->size == 0) {
+        pthread_mutex_unlock(&queue->mutex);
+        return NULL;
+    }
+
+    Task *task = queue->head;
+    queue->head = queue->head->next;
+    
+    if (queue->head == NULL) {
+        queue->tail = NULL;
+    }
+    queue->size--;
+    
+    pthread_mutex_unlock(&queue->mutex);
+    return task;
+}
+
+// 工作线程函数
+static void *worker_thread(void *arg) {
+    ThreadPool_t *pool = (ThreadPool_t *)arg;
+    
+    pthread_mutex_lock(&pool->mutex);
+    pool->active_threads++;
+    pthread_mutex_unlock(&pool->mutex);
+    
+    while (1) {
+        Task *task = task_queue_remove(&pool->task_queue, pool);
+        if (task == NULL) {
+            break;  // 收到关闭信号且队列为空
+        }
+        
+        task->function(task->argument);
+        free(task->argument);  // 释放任务参数
+        free(task);            // 释放任务本身
+        
+        // 通知回收线程可能有空闲线程
+        pthread_cond_signal(&pool->reaper_cond);
+    }
+    
+    pthread_mutex_lock(&pool->mutex);
+    pool->active_threads--;
+    pthread_mutex_unlock(&pool->mutex);
+    
+    return NULL;
+}
+
+// 回收线程函数
+static void *reaper_thread(void *arg) {
+    ThreadPool_t *pool = (ThreadPool_t *)arg;
+    
+    while (!pool->shutdown) {
+        pthread_mutex_lock(&pool->mutex);
+        
+        // 检查是否需要回收线程
+        while (pool->active_threads <= pool->min_threads || 
+               (pool->task_queue.size > 0 && pool->active_threads <= pool->task_queue.size)) {
+            pthread_cond_wait(&pool->reaper_cond, &pool->mutex);
+            if (pool->shutdown) {
+                pthread_mutex_unlock(&pool->mutex);
+                return NULL;
+            }
+        }
+        
+        // 计算可以回收的线程数量
+        int excess_threads = pool->active_threads - pool->min_threads;
+        if (excess_threads > 0 && pool->active_threads > pool->min_threads) {
+            // 通过添加空任务来让工作线程退出
+            for (int i = 0; i < excess_threads; i++) {
+                task_queue_add(&pool->task_queue, NULL, NULL);
+            }
+        }
+        
+        pthread_mutex_unlock(&pool->mutex);
+        sleep(1);  // 避免过于频繁检查
+    }
+    
+    return NULL;
+}
+
+// 初始化线程池
+ThreadPool_t *thread_pool_init(int min_threads, int max_threads) {
+    if (min_threads <= 0 || max_threads <= 0 || min_threads > max_threads) {
+        errno = EINVAL;
+        return NULL;
+    }
+
+    ThreadPool_t *pool = (ThreadPool_t *)malloc(sizeof(ThreadPool_t));
+    if (pool == NULL) {
+        return NULL;
+    }
+
+    pool->threads = (pthread_t *)malloc(max_threads * sizeof(pthread_t));
+    if (pool->threads == NULL) {
+        free(pool);
+        return NULL;
+    }
+
+    if (task_queue_init(&pool->task_queue) != 0) {
+        free(pool->threads);
+        free(pool);
+        return NULL;
+    }
+
+    pool->min_threads = min_threads;
+    pool->max_threads = max_threads;
+    pool->thread_count = min_threads;
+    pool->active_threads = 0;
+    pool->shutdown = 0;
+    
+    if (pthread_mutex_init(&pool->mutex, NULL) != 0 ||
+        pthread_cond_init(&pool->reaper_cond, NULL) != 0) {
+        pthread_mutex_destroy(&pool->task_queue.mutex);
+        pthread_cond_destroy(&pool->task_queue.cond);
+        free(pool->threads);
+        free(pool);
+        return NULL;
+    }
+
+    // 创建工作线程
+    for (int i = 0; i < min_threads; i++) {
+        if (pthread_create(&pool->threads[i], NULL, worker_thread, pool) != 0) {
+            // 创建线程失败，关闭已创建的线程
+            pool->shutdown = 1;
+            pthread_cond_broadcast(&pool->task_queue.cond);
+            
+            for (int j = 0; j < i; j++) {
+                pthread_join(pool->threads[j], NULL);
+            }
+            
+            pthread_mutex_destroy(&pool->mutex);
+            pthread_cond_destroy(&pool->reaper_cond);
+            pthread_mutex_destroy(&pool->task_queue.mutex);
+            pthread_cond_destroy(&pool->task_queue.cond);
+            free(pool->threads);
+            free(pool);
+            return NULL;
+        }
+    }
+    
+    // 创建回收线程
+    if (pthread_create(&pool->reaper_thread, NULL, reaper_thread, pool) != 0) {
+        pool->shutdown = 1;
+        pthread_cond_broadcast(&pool->task_queue.cond);
+        
+        for (int i = 0; i < min_threads; i++) {
+            pthread_join(pool->threads[i], NULL);
+        }
+        
+        pthread_mutex_destroy(&pool->mutex);
+        pthread_cond_destroy(&pool->reaper_cond);
+        pthread_mutex_destroy(&pool->task_queue.mutex);
+        pthread_cond_destroy(&pool->task_queue.cond);
+        free(pool->threads);
+        free(pool);
+        return NULL;
+    }
+    
+    return pool;
+}
+
+// 向线程池添加任务
+int thread_pool_add_task(ThreadPool_t *pool, void (*function)(void *), void *argument) {
+    if (pool == NULL || function == NULL) {
+        return -1;
+    }
+
+    pthread_mutex_lock(&pool->mutex);
+    if (pool->shutdown) {
+        pthread_mutex_unlock(&pool->mutex);
+        return -1;
+    }
+    
+    // 如果任务队列过长且可以创建更多线程，则创建新线程
+    if (pool->task_queue.size > pool->active_threads && 
+        pool->thread_count < pool->max_threads) {
+        if (pthread_create(&pool->threads[pool->thread_count], NULL, worker_thread, pool) == 0) {
+            pool->thread_count++;
+        }
+    }
+    pthread_mutex_unlock(&pool->mutex);
+
+    // 复制参数，确保生命周期
+    void *arg_copy = malloc(sizeof(*argument));
+    if (arg_copy == NULL) {
+        return -1;
+    }
+    *(int *)arg_copy = *(int *)argument;
+
+    return task_queue_add(&pool->task_queue, function, arg_copy);
+}
+
+// 销毁线程池
+void thread_pool_destroy(ThreadPool_t *pool) {
+    if (pool == NULL) {
+        return;
+    }
+
+    pthread_mutex_lock(&pool->mutex);
+    pool->shutdown = 1;
+    pthread_mutex_unlock(&pool->mutex);
+
+    // 唤醒所有线程
+    pthread_cond_broadcast(&pool->task_queue.cond);
+    pthread_cond_signal(&pool->reaper_cond);
+
+    // 等待所有线程退出
+    for (int i = 0; i < pool->thread_count; i++) {
+        pthread_join(pool->threads[i], NULL);
+    }
+    pthread_join(pool->reaper_thread, NULL);
+
+    // 清理剩余任务
+    Task *task = pool->task_queue.head;
+    while (task != NULL) {
+        Task *next = task->next;
+        if (task->argument) free(task->argument);
+        free(task);
+        task = next;
+    }
+
+    // 释放资源
+    free(pool->threads);
+    pthread_mutex_destroy(&pool->task_queue.mutex);
+    pthread_cond_destroy(&pool->task_queue.cond);
+    pthread_mutex_destroy(&pool->mutex);
+    pthread_cond_destroy(&pool->reaper_cond);
+    free(pool);
+}
\ No newline at end of file

modules/thread_pool/pthrpoll.h

+#ifndef THREAD_POOL_H
+#define THREAD_POOL_H
+
+#include "common.h"
+
+// 任务结构体
+typedef struct Task {
+    void (*function)(void *);
+    void *argument;
+    struct Task *next;
+} Task;
+
+// 任务队列结构体
+typedef struct {
+    Task *head;
+    Task *tail;
+    int size;
+    pthread_mutex_t mutex;
+    pthread_cond_t cond;
+} TaskQueue;
+
+// 线程池结构体
+typedef struct {
+    pthread_t *threads;
+    pthread_t reaper_thread;  // 新增：回收线程
+    int thread_count;
+    int min_threads;         // 新增：最小线程数
+    int max_threads;         // 新增：最大线程数
+    int active_threads;      // 新增：活跃线程数
+    TaskQueue task_queue;
+    int shutdown;
+    pthread_mutex_t mutex;
+    pthread_cond_t reaper_cond;  // 新增：回收线程条件变量
+} ThreadPool_t;
+
+// 初始化线程池
+ThreadPool_t *thread_pool_init(int min_threads, int max_threads);
+
+// 向线程池添加任务
+int thread_pool_add_task(ThreadPool_t *pool, void (*function)(void *), void *argument);
+
+// 销毁线程池
+void thread_pool_destroy(ThreadPool_t *pool);
+
+#endif //THREAD_POOL_H
\ No newline at end of file