加入了wifi修改

app/device_change/device_wifi_change.c

-#include "device_wifi_change.h"
+#include "audioplay.h"
 #include "device_identity.h"
 #include "mqtt_init.h"
 #include "common.h"
 #include "delay.h"
+#include "device_wifi_change.h"
 
 char current_ssid[SSID_MAX_LEN] = {0};//用于存现在已连接WiFi
 char wifi_Last_ssid[SSID_MAX_LEN]= {0} ;
@@ -443,7 +444,7 @@ int wifi_change_sendmqtt_init(){
             }else {
                 if(change_wifi_connect(default_SSID,default_password)==0)delete_wifi_conf();
                 my_zlog_debug("WiFi无网切回");
-                delay_s(10); ;
+                delay_s(10);
             }
 
         }

app/device_identity/device_fileopen.c

@@ -45,7 +45,6 @@ char *device_inspect() {
 /*设备读取文件初始化*/
 int device_id_file_init() {
     g_device_id=device_inspect();
-    my_zlog_debug("读取到文件内容222: %s", g_device_id);
     return 0;
 }
 char *device_id_function(){

app/device_identity/device_identity.c

@@ -159,7 +159,7 @@ int device_mqtt_topic_init() {
 
     free(sub_str);
           
-    delay_s(20);
+    delay_s(10);
     if(g_device_name_exists == 0) {
         sprintf(g_app2dev_topic,"app2dev/%s",readbuf);
         sprintf(g_dev2app_topic,"dev2app/%s",readbuf);

app/main/main.c

@@ -6,20 +6,38 @@ int main(){
        return -1;
    }
 
-   if (wiringPiSetup() == -1) {
+   if(wiringPiSetup() == -1) {
         my_zlog_fatal("WiringPi setup failed!");
         return -2;
    }
 
+   if(wifi_change_sendmqtt_init()!=0){
+      my_zlog_error("WIFI是否更改检查相关，不会到这一步，有问题会直接重启，可能会导致重启，不会因此造成程序停止");
+   }
+
     if(device_id_file_init()!=0){
        my_zlog_error("设备id读取失败");
        return -3;
     }
-
     if(device_mqtt_topic_init()!=0){
-    my_zlog_error("mqtt的topic读取失败");
+      my_zlog_error("设备id判断失败");
        return -4;
     }
+
+   if(request_date() !=0){
+    my_zlog_error("请求数据失败");
+       return -5;
+    }
+
+   if(softiic_init()!=0){
+      my_zlog_error("软件iic初始化失败");
+       return -6;
+    }
+
+   if(ina225_init()!=0){
+      my_zlog_warn("此版本电压没有使用INA226");
+   }
+    
    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();

app/main/main.h

@@ -5,6 +5,10 @@
 #include "device_fileopen.h"
 #include "device_identity.h"
 #include "pthread_open.h"
+#include "http_request.h"
+#include "device_wifi_change.h"
+#include "softiic.h"
+#include "INA226.h"
 
 /*设备id读取初始化*/
 int device_id_file_init();
@@ -15,18 +19,28 @@ int mylog_init();
 /*wiringPi初始化函数*/
 int  wiringPiSetup(); 
 
+int softiic_init();
 
 /*mqtt的topic初始化*/
 int device_mqtt_topic_init();
 
+int ina225_init();
+
+/*wifi改变初始化，放在main开头,必须要等mqtt直播就绪才行*/
+int wifi_change_sendmqtt_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);
 
+/*像服务器请求*/
+int request_date();
+
 /*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

@@ -5,8 +5,10 @@
 #include "mqtt_infor_handle.h"
 #include "browser_open.h"
 #include "mqtt_verify.h"
-#include "device_wifi_change.h"
+//#include "device_wifi_change.h"
 #include "browser_open.h"
+#include "device_init.h"
+#include "audioplay.h"
 
 
 pthread_t g_thread[6];  // 全局线程句柄数组（或传参）
@@ -55,10 +57,8 @@ void *thread_exit_time(void *arg) {
 
 void *thread_mqtt_beat(void *arg) { 
     my_zlog_info("thread_mqtt_beat start");
-    wifi_change_sendmqtt_init();
     delay_s(5);
     g_webrtc_index=1;
-    int device_type=0;
     while(1) {
         if( device_type == 202) delay_ms(45);
         if( device_type != 202)delay_ms(100);
@@ -134,7 +134,7 @@ void *thread_time_calculation(void *arg) {
 
 //专门处理MP3播放
 void *thread_play_mp3(void* arg) {
-    //audioplay_cycle();
+    audioplay_cycle();
     return NULL;
 }
 

build/Makefile

@@ -822,29 +822,29 @@ 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
 
-drivers/sensors/warm.o: drivers/sensors/warm.c.o
-.PHONY : drivers/sensors/warm.o
+drivers/sensors/warn.o: drivers/sensors/warn.c.o
+.PHONY : drivers/sensors/warn.o
 
 # target to build an object file
-drivers/sensors/warm.c.o:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/warm.c.o
-.PHONY : drivers/sensors/warm.c.o
+drivers/sensors/warn.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/warn.c.o
+.PHONY : drivers/sensors/warn.c.o
 
-drivers/sensors/warm.i: drivers/sensors/warm.c.i
-.PHONY : drivers/sensors/warm.i
+drivers/sensors/warn.i: drivers/sensors/warn.c.i
+.PHONY : drivers/sensors/warn.i
 
 # target to preprocess a source file
-drivers/sensors/warm.c.i:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/warm.c.i
-.PHONY : drivers/sensors/warm.c.i
+drivers/sensors/warn.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/warn.c.i
+.PHONY : drivers/sensors/warn.c.i
 
-drivers/sensors/warm.s: drivers/sensors/warm.c.s
-.PHONY : drivers/sensors/warm.s
+drivers/sensors/warn.s: drivers/sensors/warn.c.s
+.PHONY : drivers/sensors/warn.s
 
 # target to generate assembly for a file
-drivers/sensors/warm.c.s:
-	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/warm.c.s
-.PHONY : drivers/sensors/warm.c.s
+drivers/sensors/warn.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/warn.c.s
+.PHONY : drivers/sensors/warn.c.s
 
 modules/browser/browser_open.o: modules/browser/browser_open.c.o
 .PHONY : modules/browser/browser_open.o
@@ -1651,9 +1651,9 @@ help:
 	@echo "... drivers/sensors/temperature.o"
 	@echo "... drivers/sensors/temperature.i"
 	@echo "... drivers/sensors/temperature.s"
-	@echo "... drivers/sensors/warm.o"
-	@echo "... drivers/sensors/warm.i"
-	@echo "... drivers/sensors/warm.s"
+	@echo "... drivers/sensors/warn.o"
+	@echo "... drivers/sensors/warn.i"
+	@echo "... drivers/sensors/warn.s"
 	@echo "... modules/browser/browser_open.o"
 	@echo "... modules/browser/browser_open.i"
 	@echo "... modules/browser/browser_open.s"

drivers/gpio/device_init.c

@@ -5,13 +5,15 @@
 
 int abnormal_pin_pwm_stop=0;
 
+int device_type =0;
+
 const deviceconfig_t device_configs[] = {
     // car0101配置
     {
         .device_id = 101,
         .device_name = "car0101",
-        .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
-        .gpio_pwms = {-1},
+        .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,  -1},
+        .gpio_pwms = {27,-1},
         .device_pwm_init =  physics_pwm_init,
         .device_control_stop = car0101_middle_pwm,
         .emergency_code = 101
@@ -66,7 +68,7 @@ const deviceconfig_t device_configs[] = {
     { .device_id = -1 }
 };
 
-bool get_array_length(int* arr) {
+bool get_array_length(const int* arr) {
     if(arr[0] != -1) {  // 遇到-1停止计数
         return TRUE;
     }
@@ -94,9 +96,8 @@ void device_init(int device_id) {
      if(get_array_length(config->gpio_pins)==TRUE)init_gpiopwm(config->gpio_pwms);  // GPIOsoft_pwm初始化
     config->device_pwm_init();               // PWM初始化
     config->device_control_stop();          // 速度控制初始化
+    device_type =config->emergency_code;
 
-    // 设置异常停止代码
-    abnormal_pin_pwm_stop = config->emergency_code;
     
     printf("%s initialized successfully!\n", config->device_name);
 }
\ No newline at end of file

drivers/gpio/device_init.h

 #ifndef DEVICE_INIT_H__
 #define DEVICE_INIT_H__
 
-extern int abnormal_pin_pwm_stop;
+extern int device_type;
 
 typedef struct {
     int device_id;              // 设备ID (101, 102等)

drivers/gpio/gpio_init.c

 #include "common.h"
 #include "gpio_init.h"
 #include "http_request.h"
+#include "device_init.h"
+#include "devcontrol_common.h"
 
 #define MIN_DUTY 0  // 最小占空比
 #define MAX_DUTY 100 // 最大占空比
@@ -13,7 +15,7 @@ int g_gpiowpi[40]; //能使用高低引脚和其他引脚
 int g_gpiocount=0;
 int g_gpio_softpwmcount=0;
 
-void init_gpiowpi(int *values_pin) {
+void init_gpiowpi(const int *values_pin) {
     while (values_pin[g_gpiocount] != -1) {
         g_gpiocount++;
     }
@@ -27,7 +29,7 @@ void init_gpiowpi(int *values_pin) {
     } 
 }
 
-void init_gpiopwm(int *values_pwm) {
+void init_gpiopwm(const int *values_pwm) {
     while (values_pwm[g_gpio_softpwmcount] != -1) {
         g_gpio_softpwmcount++;
     }
@@ -68,8 +70,8 @@ void pwm_value(int pin,int value) {	//软件陪我们控制调速
         softPwmWrite(pin, shot_speed);
         my_zlog_debug("pin:%d,%d",pin,shot_speed);
         } else {
-            //if(AppExit_pin_pwm == 202)softPwmWrite(pin, 30);
-            //if(AppExit_pin_pwm != 202 )softPwmWrite(pin, shot_speed);
+            if(device_type == DEVICE_TANK0202)softPwmWrite(pin, 30);
+            if(device_type  != DEVICE_TANK0202 )softPwmWrite(pin, shot_speed);
         }
         
 

drivers/gpio/gpio_init.h

@@ -11,8 +11,8 @@
 #define PWM_PIN_SPEED 21
 #define PWM_PIN_CHANGE 2
 
-void init_gpiowpi(int *values_pin);//gpio引脚初始化
-void init_gpiopwm(int *values_pwm);
+void init_gpiowpi(const int *values_pin);//gpio引脚初始化
+void init_gpiopwm(const int *values_pwm);
 
 void pin_value(int pin,int value);//控制引脚高低
 

drivers/gpio/softiic.c

@@ -11,12 +11,12 @@ void i2c_delay() {
 }
 
 // 初始化 I2C 引脚
-bool SOFTiic_init() {
+int softiic_init() {
     pinMode(sda_pin, OUTPUT);
     pinMode(scl_pin, OUTPUT);
     digitalWrite(sda_pin, HIGH);
     digitalWrite(scl_pin, HIGH);
-    return true;
+    return 0;
 }
 
 // I2C 起始信号

drivers/gpio/softiic.h

@@ -4,7 +4,7 @@
 extern int sda_pin;  // GPIO0
 extern int scl_pin;   // GPIO1
 
-bool  SOFTiic_init();
+int softiic_init();
 
 // I2C 起始信号
 void i2c_start();

drivers/sensors/INA226.c

@@ -4,8 +4,9 @@
 
 float currentLSB;
 
+
 // 配置 INA226
-bool INA226_configure() {
+bool ina226_configure() {
     uint16_t config = 0x4127; // 默认配置：16次平均，1.1ms 转换时间，连续模式
     i2c_start();
     i2c_write_byte(INA226_ADDRESS << 1);
@@ -17,7 +18,7 @@ bool INA226_configure() {
 }
 
 // 校准 INA226
-bool INA226_calibrate(float rShuntValue, float iMaxExpected) {
+bool ina226_calibrate(float rShuntValue, float iMaxExpected) {
     currentLSB = iMaxExpected / 32767.0; // 电流 LSB
     uint16_t calibrationValue = (uint16_t)(0.00512 / (currentLSB * rShuntValue));
 
@@ -31,7 +32,7 @@ bool INA226_calibrate(float rShuntValue, float iMaxExpected) {
 }
 
 // 读取总线电压
-float INA226_readBusVoltage() {
+float ina226_readbusvoltage(){
     i2c_start();
     i2c_write_byte(INA226_ADDRESS << 1);
     i2c_write_byte(INA226_REG_BUSVOLTAGE);
@@ -45,7 +46,7 @@ float INA226_readBusVoltage() {
 }
 
 // 读取电流
-float INA226_readCurrent() {
+float ina226_readcurrent() {
     i2c_start();
     i2c_write_byte(INA226_ADDRESS << 1);
     i2c_write_byte(INA226_REG_CURRENT);
@@ -57,3 +58,20 @@ float INA226_readCurrent() {
     int16_t value = (high << 8) | low;
     return -value * currentLSB;
 }
+
+int ina225_init(){
+   // 配置 INA226
+    if(!ina226_configure()) {
+        my_zlog_warn("INA226初始化失败");
+        return -1;
+    }
+    // 校准 INA226
+    float rshuntvalue = 0.01; // 分流电阻值（单位：欧姆）
+    float imaxexpected= 5; // 最大预期电流（单位：安培）
+    if(!ina226_calibrate(rshuntvalue, imaxexpected)){
+        my_zlog_warn("INA226校准失败");
+        return -2;
+    }
+    return 0;
+
+}

drivers/sensors/INA226.h

@@ -10,16 +10,13 @@
 #define INA226_REG_CURRENT          (0x04)
 #define INA226_REG_CALIBRATION      (0x05)
 
-// 配置 INA226
-bool INA226_configure();
-
-// 校准 INA226
-bool INA226_calibrate( float rShuntValue, float iMaxExpected);
+/*初始化ina226，包括配置 INA226和校准 INA226*/
+int ina225_init();
 
 // 读取总线电压
-float INA226_readBusVoltage();
+float ina226_readbusvoltage();
 
 // 读取电流
-float INA226_readCurrent();
+float ina226_readcurrent();
 
 #endif // INA226_H
\ No newline at end of file

drivers/sensors/audioplay.c

+#include "common.h"
+#include "audioplay.h"
+#include "device_identity.h"
+#include "mqtt_init.h"
+
+int audio_status=7;
+char urlbuf[512];
+char keybuf[256];
+double audio_volume=0.8;
+
+//接收音频播放
+void audioplay_mqtt_receive(cJSON *json) {
+    // 解析"audioLink"字段（修正了原始JSON中的拼写错误）
+    cJSON *audio_link = cJSON_GetObjectItemCaseSensitive(json, "audioLink");
+    if (cJSON_IsString(audio_link) && (audio_link->valuestring != NULL)) {
+        my_zlog_debug("音频链接: %s", audio_link->valuestring);
+        char *url=audio_link->valuestring;
+        snprintf(urlbuf, sizeof(urlbuf), "%s", url);
+    } else {
+        my_zlog_warn("错误：无法解析音频链接字段");
+    }
+
+    // 解析"key"字段
+    cJSON *key_char = cJSON_GetObjectItemCaseSensitive(json, "key");
+    if (cJSON_IsString(key_char) && (key_char->valuestring != NULL)) {
+        my_zlog_debug("音频链接: %s", key_char->valuestring);
+        char *key=key_char->valuestring;
+        snprintf(keybuf, sizeof(keybuf), "%s", key);
+    } else {
+        my_zlog_warn("错误：无法解析音频链接");
+        audio_status=5;
+    }
+
+    // 解析"status"字段
+    cJSON *audio_status_val = cJSON_GetObjectItemCaseSensitive(json, "status");
+    if (cJSON_IsNumber(audio_status_val)) {
+        my_zlog_debug("标志: %d", audio_status_val->valueint);
+        audio_status=audio_status_val->valueint;
+    } else {
+        my_zlog_warn("错误：无法解析标志字段");
+    }
+
+    // 解析"volume"字段
+    cJSON *volume = cJSON_GetObjectItemCaseSensitive(json, "volume");
+    if (cJSON_IsNumber(volume)) {
+        my_zlog_debug("声量大小: %1f", volume->valuedouble);
+        audio_volume=volume->valuedouble + 0.0;
+    } else {
+        my_zlog_warn("错误：无法解析声量字段");
+    }
+}  
+
+//发送音频播放是否完毕
+void  audioplay_send_mqtt() {
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
+        // 添加各个字段到 JSON 对象
+    cJSON_AddStringToObject(body, "type", "audio");
+    cJSON_AddStringToObject(body, "audioLink", urlbuf);
+    cJSON_AddStringToObject(body, "key", keybuf);
+    cJSON_AddNumberToObject(body, "status", audio_status);
+    cJSON_AddNumberToObject(body, "volume", audio_volume);
+
+    cJSON_AddNumberToObject(head, "message_type",3001);
+
+    cJSON_AddItemToObject(root, "body", body);
+    cJSON_AddItemToObject(root, "head",head);
+    // 将 JSON 对象转换为字符串
+    char* json_string = cJSON_PrintUnformatted(root);
+    my_zlog_debug("%s",json_string);
+    mosquitto_publish(mosq, NULL, mqtt_topic_pure_number(), strlen(json_string), json_string, 0, false); 
+    // 释放 JSON 对象内存
+    cJSON_Delete(root);
+}
+
+//音频播放
+void audioplay_cycle(){
+    char command[512];
+    int ret;
+    while(1){
+        if(audio_status==0){
+            char *urlmoddle=urlbuf;
+            snprintf(command, sizeof(command),
+            "sudo ffplay -nodisp -autoexit -loglevel quiet -af \"volume=%1f\" \"%s\"",
+            audio_volume,urlmoddle);
+
+            my_zlog_debug("播放地址: %s\n", urlbuf);
+            ret = system(command);
+            if (ret == -1) {
+                my_zlog_error("播放失败");
+                audio_status=2;
+            }
+
+            if (WIFEXITED(ret) && WEXITSTATUS(ret) == 0) {
+                my_zlog_debug("播放已成功完成 : %s ", urlbuf);  
+                audio_status=1;   
+            } else {
+                my_zlog_warn("播放失败或中断: %s ", urlbuf);
+                audio_status=2;
+            }
+        audioplay_send_mqtt();
+        }
+    
+    }
+}
\ No newline at end of file

drivers/sensors/audioplay.h

+#ifndef AUDIOPLAY_H
+#define AUDIOPLAY_H
+#include <cjson/cJSON.h>
+
+// extern int audio_status;
+
+void audioplay_mqtt_receive(cJSON *body); //接收音频mqtt播放函数
+void audioplay_cycle();//音频播放线程中函数
+#endif
\ No newline at end of file

drivers/sensors/warm.c → drivers/sensors/warn.c

 #include "common.h"
-#include "warm.h"
+#include "warn.h"
 #include "http_request.h"
 #include "mylog.h"
 #include "gpio_init.h"
@@ -57,14 +57,14 @@ int alarm_control_close(float voltage) {//关闭警报
 }
 
 int alarm_control(float voltage) {
-    #if WARM_MODE == 1
+    #if WARN_MODE == 1
         my_zlog_info("Mode 1: 执行代码A");
         return alarm_control_open(voltage);
-    #elif WARM_MODE == 2
+    #elif WARN_MODE == 2
         my_zlog_info("Mode 2: 执行代码B");
         return alarm_control_close(voltage);
     #else
-        my_zlog_error("未知的 WARM_MODE: %d", WARM_MODE);
+        my_zlog_error("未知的 WARN_MODE: %d", WARN_MODE);
         return -1;
     #endif
 }
\ No newline at end of file

drivers/sensors/warm.h → drivers/sensors/warn.h

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

include/devcontrol_common.h

@@ -3,7 +3,6 @@
 
 #include "car0101_control.h"
 
-
 #define DEVICE_CAR0101 101
 #define DEVICE_CAR0102 102
 #define DEVICE_CAR0103 103

modules/http/http_request.c

@@ -12,7 +12,7 @@ int g_errCodeValue;
 bool g_enable_buzzer_value=0;
 double g_warn_voltage_value=10.7;
 double g_err_voltage_value=9.7;
-double g_shot_speed_value=0.7;
+double g_shot_speed_value=0.5;
 
 // 回调函数，用于处理接收到的数据
 static size_t WriteMemoryCallback(void *contents, size_t size, size_t nmemb, void *userp) {
@@ -109,11 +109,12 @@ char *wirte_json() {
 
     char *payload = cJSON_PrintUnformatted(body);
     my_zlog_debug("%s", payload);
-    cJSON_Delete(body);  // 释放 cJSON 对象
+    
+    cJSON_Delete(body); 
     return payload;
 }
 
-int request_date() {//请求数据
+int request_date_open() {//请求数据
     CURL *curl;
     CURLcode res;
 
@@ -165,6 +166,22 @@ int request_date() {//请求数据
     curl_slist_free_all(headers);
     curl_easy_cleanup(curl);
     
+    
     curl_global_cleanup();
     return 0;
 }
+
+int request_date() {
+     #if HTTP_REQUEST_INDEX == 1
+        // 当MODE为1时的代码
+        my_zlog_info("HTTP Mode 1: 执行代码A");
+        return request_date_open();
+    #elif HTTP_REQUEST_INDEX == 2
+        // 当MODE为2时的代码
+        my_zlog_info("HTTP Mode 2: 执行代码B");
+        return 0;
+    #else
+        my_zlog_error("未知的 WARM_MODE: %d", HTTP_REQUEST_INDEX);
+        return -1;
+    #endif
+}
\ No newline at end of file

modules/http/http_request.h

@@ -3,7 +3,8 @@
 
 #include"common.h"// 用于存储HTTP响应数据的结构体
 
-#define HTTP_REQUEST_INDEX 1
+/*2为关闭请求，1为打开*/
+#define HTTP_REQUEST_INDEX 2
 
 struct MemoryStruct {
     char *memory;

modules/mqtt/mqtt_infor_handle.c

@@ -9,10 +9,14 @@
 #include "common.h"
 #include "INA226.h"
 #include "ads1115.h"
-#include "warm.h"
+#include "warn.h"
 #include "device_fileopen.h"
 #include "devcontrol_common.h"
+#include "device_wifi_change.h"
+#include "audioplay.h"
 #include "gpio_init.h"
+#include "device_init.h"
+
 
 bool g_verified_mode = TRUE;//控制是否需要验证
 
@@ -26,13 +30,13 @@ 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);
+    float voltage = ina226_readbusvoltage();
+    float current = ina226_readcurrent();
+    my_zlog_debug("%.2f", 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);
+        my_zlog_debug("%.2f", voltage);
         current=(current-voltage)*100;
     }
     char voltage_str[20];  // 足够存储转换后的字符串的缓冲区
@@ -78,8 +82,7 @@ void heartbeat_send() {
 
 //mqtt设备行走驱动函数
 void device_driver(){
-    int device_type=0;
-     if( device_type == 101) car0101_control_change(g_valt) ;
+    if( device_type == DEVICE_CAR0101) car0101_control_change(g_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) ;
@@ -90,22 +93,20 @@ void device_driver(){
 
 //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
-    // }
+    float angle_shot=ads1115_read_channel(2);
+    if(angle_shot>0){  
+    angle_shot=angle_shot*360/5;
+    cJSON *root = cJSON_CreateObject();
+    char TOPIC_send_angle[26];
+    double rounded_angle = round(angle_shot * 100) / 100;
+    sprintf(TOPIC_send_angle,"dev_rtinfo/%s",mqtt_topic_pure_number());
+    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
+    }
    
 }
 
@@ -116,7 +117,7 @@ void mqtt_wirte(){
         heartbeat_send();
         g_heartbeat_count=0;
      }
-    // if( AppExit_pin_pwm == 202) angle_mqtt_send();  
+    if( device_type == 202) angle_mqtt_send();  
 
 }
 
@@ -269,7 +270,7 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 my_zlog_debug("进入引脚控制");
                 break;
             case 2001: 
-                //audioplay_mqtt_receive(body);
+                audioplay_mqtt_receive(body);
                 my_zlog_debug("进入音频播放");
                 break;
             case 2002:
@@ -277,11 +278,11 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 my_zlog_debug("进入修改设备号");
                 break;
             case 2003:
-                //scan_wifi_json();
+                scan_wifi_json();
                 my_zlog_debug("进入查询WiFi");
                 break;
             case 2004:
-                //wifi_change_recmqtt(body);
+                wifi_change_recmqtt(body);
                 my_zlog_debug("进入修改WiFi");
                 break;
             case 2006: