加入了开炮后再退后

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(car 
-    VERSION 1.2.11
+    VERSION 1.2.12
     LANGUAGES C
 )
 

drivers/devicecontrol/tank_common.c

@@ -9,8 +9,8 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val);
 
 const tank_common_back *g_tank_common_config_t = NULL;
 
-long long shot_device_time_start =0 ;
-long long shot_device_time_end = 0;
+int g_tank_shot_index=0;//状态机，用于状态机,坦克接收射击倒退状态机全局变量
+int g_tank_shot_index_cool=1;//状态机，用于冷却状态机,坦克接收射击倒退状态机全局变量
 
 /*击打后退速度设置，混空模式下为单路，单独模式下为双路控制，后续需要优化*/
 void tank_shot_back(unsigned char gval) {
@@ -46,24 +46,24 @@ void tank_shot_back(unsigned char gval) {
 const tank_common_back tank_common_config_t[]={
     {
         .device_id = DEVICE_TANK0202,
-        .back_time=25,//后退多少ms
-        .back_interval_back=300, //间隔多少ms才能再次使用
-        .shot_back_speed=80,
+        .back_time=30,//后退多少ms
+        .back_interval_back=1000, //间隔多少次才能再次使用，一次等于5ms
+        .shot_back_speed=90,
         .shot_back=tank_shot_back_stop
         
     },
     {
         .device_id = DEVICE_TANK0203,
-        .back_time=25,//后退多少ms
-        .back_interval_back=300, //间隔多少ms才能再次使用
-        .shot_back_speed=80,
+        .back_time=30,//后退多少ms
+        .back_interval_back=1000, //间隔多少次才能再次使用，一次等于5ms
+        .shot_back_speed=90,
         .shot_back=tank_shot_back_stop
     },
 	{
         .device_id = DEVICE_TANK0204,
-        .back_time=25,//后退多少ms
-        .back_interval_back=300, //间隔多少ms才能再次使用
-        .shot_back_speed=80,
+        .back_time=30,//后退多少ms
+        .back_interval_back=1000, //间隔多少次才能再次使用，一次等于5ms
+        .shot_back_speed=90,
         .shot_back=tank_shot_back_stop
     },
 
@@ -93,17 +93,19 @@ void tank_shot_back_stop_task_function(void *arg) {
 		// 	}
 		// }else tank_shot_back(0);
 
-		//下面一部分为射击后按时间后退
-		long long interval=shot_device_time_start-shot_device_time_end;
-		if(g_device_delay_back_count  > g_tank_common_config_t->back_time&&g_device_delay_back_count  < (g_tank_common_config_t->back_time+30)) 
-                tank_shot_back(0);
-
-		if(interval > g_tank_common_config_t->back_interval_back){
-			if(g_device_delay_back_count  <= g_tank_common_config_t->back_time) {
-				tank_shot_back(g_tank_common_config_t->shot_back_speed);
-				my_zlog_debug("操作耗时: %lld 毫秒", interval);
-			}
+		if(g_device_delay_back_count  <= g_tank_common_config_t->back_time) {
+			tank_shot_back(g_tank_common_config_t->shot_back_speed);
+			my_zlog_debug("击打成功");	
+		}
+		else if(g_device_delay_back_count  > g_tank_common_config_t->back_time&&g_device_delay_back_count  < (g_tank_common_config_t->back_time+30)){
+			tank_shot_back(0);
 		}
+		else if(g_device_delay_back_count>g_tank_common_config_t->back_interval_back){
+			g_tank_shot_index = 1;
+		}else{
+			delay_ms(1);
+		}
+
 
 	}
 	
@@ -122,8 +124,7 @@ void tank_shot_pthrpoll_task_init(){
 
 /*坦克后退射击*/
 int tank_shot_back_stop(unsigned char pin,unsigned char val){
-	static int shot_count=0;
-	shot_device_time_start=get_current_time_millis();
+
 	if(pin !=27){
 		my_zlog_debug("非27引脚");
 		return 1;
@@ -131,20 +132,19 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val){
 	
 	if(val == 0) {
 		tank_shot_back(0);
-		shot_count=2;
 	}
 	if(val != 0) {
-		if(shot_count == 0){
+		if(g_tank_shot_index == 0){
 			tank_shot_pthrpoll_task_init();
-			shot_count=1;
+			g_tank_shot_index=1;
 		}
-		shot_count=1;
-		if(shot_count == 1){
+		if(g_tank_shot_index == 1 && g_tank_shot_index_cool==0){
 			g_device_delay_back_count =0;
+			g_tank_shot_index = 2;
+			g_tank_shot_index_cool=1;
 		}
 	}
-
-	shot_device_time_end=get_current_time_millis();
+	
 }
 
 /*销毁坦克使用的线程池，让其正常销毁，只有在tank相关设备号下才有用，最后销毁都会到device——common.h中*/

drivers/devicecontrol/tank_common.h

@@ -17,4 +17,6 @@ void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val);
 /*关闭线程*/
 void tank_thread_close();
 
+extern int g_tank_shot_index_cool;
+
 #endif
\ No newline at end of file

drivers/gpio/gpio_control.c

@@ -34,14 +34,14 @@ 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;
-}
+// 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
@@ -72,15 +72,13 @@ int device_shot_cooling_init(){
     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
+    uint64_t current_time = get_current_time_millis(); // 假设已实现此函数
 
     switch (this->state) {
         case TANK_STATE_READY:
@@ -99,6 +97,7 @@ int device_fire_check(TankFireControl* this) {
                 my_zlog_info("shotend，cooling");
                 this->last_shot_end_time = current_time;
                 this->state = TANK_STATE_COOLDOWN;
+                g_tank_shot_index_cool=0;
                 return -1;
             }
             my_zlog_info("shot continue");

drivers/gpio/gpio_control.h

@@ -31,5 +31,7 @@ void device_gpio_control(int device_id,int pin,int val);
 int device_shot_cooling_init();
 
 extern ThreadPool_t *g_pool_device_gpio_control_t;
+
+extern int g_tank_shot_index;
  
 #endif
\ No newline at end of file