加入了结构体

drivers/devicecontrol/car0103_control.c

@@ -169,7 +169,7 @@ void mode_car0103_right_back(unsigned char gval) {
 	}    
 }
 
-int  car0103_change(unsigned char *buf) {
+void   car0103_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
     if(mode == 1 ) {

drivers/devicecontrol/car0103_control.h

@@ -3,6 +3,6 @@
 
 void car0103_middle();
 
-int  car0103_change(unsigned char *buf);
+void   car0103_change(unsigned char *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/car0104_control.c

@@ -168,7 +168,7 @@ void car0104_lift(unsigned char gval) {
 	}    
 }
 
-int  car0104_change(unsigned char *buf) {
+void  car0104_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
 	

drivers/devicecontrol/car0104_control.h

@@ -3,6 +3,6 @@
 
 void car0104_stop();
 
-int  car0104_change(unsigned char *buf);
+void   car0104_change(unsigned char *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/devcontrol_common.c

 #include "devcontrol_common.h"
 
+const device_didrive device_didrive_control_config_t[]={
+        {
+        .device_id = DEVICE_CAR0101,
+        .device_didrive_control = car0101_control_change
+    },
+        {
+        .device_id = DEVICE_CAR0102,
+        .device_didrive_control = car0102_speed_change
+    },
+        {
+        .device_id = DEVICE_CAR0103,
+        .device_didrive_control = car0103_change
+    },
+        {
+        .device_id = DEVICE_CAR0104,
+        .device_didrive_control =  car0104_change
+    },
+        {
+        .device_id = DEVICE_TANK0202,
+        .device_didrive_control = tank0202_change
+    },
+        {
+        .device_id = DEVICE_PAO_PTZ0401,
+        .device_didrive_control = PTZ_pwm_change
+    },
+    // 结束标记
+    { .device_id = -1 }
+};
+
 const device_abnormal_close_t devcontrol_config_t[]= {
         {
         .device_id = DEVICE_CAR0101,
@@ -20,7 +49,7 @@ const device_abnormal_close_t devcontrol_config_t[]= {
         {
         .device_id = DEVICE_TANK0202,
         .device_abnormal_stop = tank0202_middle,
-        .device_close=tank0202_thread_close
+        .device_close = tank0202_thread_close
     },
         {
         .device_id = DEVICE_PAO_PTZ0401,
@@ -42,14 +71,12 @@ void device_stop(int device_id) {
     }
     
     if(!config) {
-        my_zlog_error("Error: Device ID %d not found!\n", device_id);
+        my_zlog_error("Error: Device stop ID %d not found!\n", device_id);
         return;
     }
     
     config->device_abnormal_stop();          // 速度控制初始化
 
-    
-    my_zlog_debug("device stop successfully!,:%d",device_id);
 }
 
 void device_end_close(int device_id) {
@@ -64,7 +91,7 @@ void device_end_close(int device_id) {
     }
     
     if(!config) {
-        my_zlog_error("device close and end successfully!,:%d",device_id);
+        my_zlog_error("Error: Device close  ID %d not found!\n", device_id);
         return;
     }
     
@@ -72,3 +99,23 @@ void device_end_close(int device_id) {
 
 }
 
+
+void device_walk_control(int device_id,unsigned char *valt) {
+    const device_didrive *config = NULL;
+    
+    // 查找设备配置
+    for(int i = 0; device_didrive_control_config_t[i].device_id != -1; i++) {
+        if(device_didrive_control_config_t[i].device_id == device_id) {
+            config = &device_didrive_control_config_t[i];
+            break;
+        }
+    }
+    
+    if(!config) {
+        my_zlog_error("Error: Device close  ID %d not found!\n", device_id);
+        return;
+    }
+    
+    config->device_didrive_control(valt);          // 速度控制初始化
+
+}

drivers/devicecontrol/tank02002_control.c

@@ -170,7 +170,7 @@ void mode_right_back(unsigned char gval) {
 	}    
 }
 
-int  tank0202_change(unsigned char *buf) {
+void   tank0202_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
 	

drivers/devicecontrol/tank02002_control.h

@@ -7,7 +7,7 @@ void tank0202_middle();
 
 void tank_shot_back_stop_task_end();
 
-int  tank0202_change(unsigned char *buf);
+void  tank0202_change(unsigned char *buf);
 
 int tank_shot_back_stop(int pin,int val);
 

include/devcontrol_common.h

@@ -16,6 +16,11 @@ typedef struct {
     void (*device_close)(void);// 速度控制函数指针
 } device_abnormal_close_t;
 
+typedef struct {
+    int device_id;              // 设备ID (101, 102等)
+    void (*device_didrive_control)(unsigned char *valt);    // PWM初始化函数指针
+} device_didrive;
+
 #define DEVICE_CAR0101 101
 #define DEVICE_CAR0102 102
 #define DEVICE_CAR0103 103
@@ -28,4 +33,6 @@ void device_stop(int device_id);
 
 void device_end_close(int device_id);
 
+void device_walk_control(int device_id,unsigned char *valt);
+
 #endif 
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

@@ -80,16 +80,6 @@ void heartbeat_send() {
     cJSON_Delete(root);  // 释放 cJSON 对象
 }
 
-//mqtt设备行走驱动函数
-void device_driver(){
-    if( g_device_type == DEVICE_CAR0101) car0101_control_change(g_valt) ;
-    if(g_device_type == DEVICE_CAR0102) car0102_speed_change(g_valt) ;
-    if(g_device_type == DEVICE_CAR0103 ) car0103_change(g_valt) ;
-    if(g_device_type == DEVICE_CAR0104 ) car0104_change(g_valt) ;
-    if(g_device_type == DEVICE_TANK0202)  tank0202_change(g_valt);
-    if(g_device_type == DEVICE_PAO_PTZ0401) PTZ_pwm_change(g_valt);
-}
-
 //角度发送
 void angle_mqtt_send() { 
     float angle_shot=ads1115_read_channel(2);
@@ -144,7 +134,7 @@ void message_3(cJSON *body){
     my_zlog_debug("modeTemp:%d",g_valt[1]);
     my_zlog_debug("valTemp:%d",g_valt[2]);
 
-    device_driver();
+    device_walk_control(g_device_type,g_valt);
         
 }
 
@@ -175,7 +165,7 @@ void message_4(cJSON *body){//message 为4时候
 
     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]);
+    if(g_device_type == DEVICE_TANK0202 ) tank_shot_back_stop(g_valt[1],g_valt[2]);
 }
 
 //当接收到2时候验证