6

app/main/main.c

@@ -6,14 +6,19 @@ int main(){
        return -1;
     }
 
+   if (wiringPiSetup() == -1) {
+        my_zlog_fatal("WiringPi setup failed!");
+        return -2;
+    }
+
     if(device_id_file_init()!=0){
        my_zlog_error("设备id读取失败");
-       return -2;
+       return -3;
     }
 
     if(device_mqtt_topic_init()!=0){
     my_zlog_error("mqtt的topic读取失败");
-       return -2;
+       return -4;
     }
     int thread_rc=thread_start_init( thread_exit_time,thread_mqtt_beat,thread_open_browser,thread_mqtt_reconnect,thread_time_calculation,thread_play_mp3);
     

app/main/main.h

@@ -13,6 +13,10 @@ int device_id_file_init();
 /*初始化log日志*/
 int mylog_init();
 
+/*wiringPi初始化函数*/
+int  wiringPiSetup(); 
+
+
 /*mqtt的topic初始化*/
 int device_mqtt_topic_init();
 

app/main/pthread_open.c

@@ -4,6 +4,7 @@
 #include "mylog.h"
 #include "mqtt_init.h"
 #include "mqtt_infor_handle.h"
+#include "browser_open.h"
 #include "mqtt_verify.h"
 
 pthread_t g_thread[6];  // 全局线程句柄数组（或传参）
@@ -39,14 +40,14 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
 
 //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;
-    //     } 
-    // }
+    while(1){    
+        delay_ms(100);
+        g_devcontrol_exit_count++;
+        if(g_devcontrol_exit_count>=5) {
+        device_warn_exit();
+        g_devcontrol_exit_count=6;
+        } 
+    }
     return NULL; 
 }
 
@@ -69,13 +70,13 @@ void *thread_mqtt_beat(void *arg) {
 }
 
 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);
-    // }
+    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; 
 }

drivers/gpio/device_init.c

+#include "device_init.h"
+#include "gpio_init.h"
\ No newline at end of file

drivers/gpio/device_init.h

+#ifndef DEVICE_INIT_H__
+#define DEVICE_INIT_H__
+
+
+#endif
\ No newline at end of file

drivers/gpio/gpio_init.c

@@ -110,6 +110,6 @@ void pwm_init_speed() {
     
 }
 
-// void Device_exit_end(){//main最后结束需要调用的函数
-//     if(AppExit_pin_pwm == 202) tank_shot_back_stop_task_end();
-// }
\ No newline at end of file
+void device_exit_end(){//main最后结束需要调用的函数
+    if(AppExit_pin_pwm == 202) tank_shot_back_stop_task_end();
+}
\ No newline at end of file

drivers/gpio/gpio_init.h

@@ -2,10 +2,10 @@
 此文件为通用文件，一般用于50hz的驱动等和引脚高低，适合车和船使用，
 如果有其他需求，此文件就不需要使用
 */
-#ifndef GPIO_COMMON_H__
-#define GPIO_COMMON_H__
+#ifndef GPIO_INIT_H__
+#define GPIO_INIT_H__
 
-extern int device_delay_count;//延时计算函数，使用前必须置0
+//extern int device_delay_count;//延时计算函数，使用前必须置0
 
 // 定义 PWM 引脚的 WiringPi 编号
 #define PWM_PIN_SPEED 21
@@ -23,6 +23,6 @@ void pin_value(int pin,int value);
 void pwm_init_speed(); 
 void pwm_value(int pin,int value); //软件陪我们控制调速
 
-void Device_exit_end();//main最后结束需要调用的函数
+void device_exit_end();//main最后结束需要调用的函数
 
 #endif

drivers/sensors/INA226.c

+#include <math.h>
+#include <stdbool.h>
+#include "common.h"
+#include "INA226.h"
+#include "softiic.h"
+
+float currentLSB;
+
+// 配置 INA226
+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);
+    i2c_write_byte(INA226_REG_CONFIG);
+    i2c_write_byte(config >> 8);
+    i2c_write_byte(config & 0xFF);
+    i2c_stop();
+    return true;
+}
+
+// 校准 INA226
+bool INA226_calibrate(float rShuntValue, float iMaxExpected) {
+    currentLSB = iMaxExpected / 32767.0; // 电流 LSB
+    uint16_t calibrationValue = (uint16_t)(0.00512 / (currentLSB * rShuntValue));
+
+    i2c_start();
+    i2c_write_byte(INA226_ADDRESS << 1);
+    i2c_write_byte(INA226_REG_CALIBRATION);
+    i2c_write_byte(calibrationValue >> 8);
+    i2c_write_byte(calibrationValue & 0xFF);
+    i2c_stop();
+    return true;
+}
+
+// 读取总线电压
+float INA226_readBusVoltage() {
+    i2c_start();
+    i2c_write_byte(INA226_ADDRESS << 1);
+    i2c_write_byte(INA226_REG_BUSVOLTAGE);
+    i2c_start();
+    i2c_write_byte((INA226_ADDRESS << 1) | 1);
+    uint8_t high = i2c_read_byte(true);
+    uint8_t low = i2c_read_byte(false);
+    i2c_stop();
+    int16_t value = (high << 8) | low;
+    return value * 0.00125f; // 每 LSB = 1.25mV
+}
+
+// 读取电流
+float INA226_readCurrent() {
+    i2c_start();
+    i2c_write_byte(INA226_ADDRESS << 1);
+    i2c_write_byte(INA226_REG_CURRENT);
+    i2c_start();
+    i2c_write_byte((INA226_ADDRESS << 1) | 1);
+    uint8_t high = i2c_read_byte(true);
+    uint8_t low = i2c_read_byte(false);
+    i2c_stop();
+    int16_t value = (high << 8) | low;
+    return -value * currentLSB;
+}

drivers/sensors/INA226.h

+#ifndef INA226_H
+#define INA226_H
+
+#define INA226_ADDRESS              (0x40) // INA226 的 I2C 地址
+
+#define INA226_REG_CONFIG           (0x00)
+#define INA226_REG_SHUNTVOLTAGE     (0x01)
+#define INA226_REG_BUSVOLTAGE       (0x02)
+#define INA226_REG_POWER            (0x03)
+#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);
+
+// 读取总线电压
+float INA226_readBusVoltage();
+
+// 读取电流
+float INA226_readCurrent();
+
+#endif // INA226_H
\ No newline at end of file

drivers/sensors/ads1115.c

+#include "ads1115.h"
+#include "common.h"
+
+#define ADS1115_ADDR 0x48
+
+// I2C写寄存器
+static void ads1115_write_register(uint8_t reg, uint16_t val) {
+    i2c_start();
+    i2c_write_byte((ADS1115_ADDR << 1) | 0);
+    i2c_write_byte(reg);
+    i2c_write_byte((val >> 8) & 0xFF);
+    i2c_write_byte(val & 0xFF);
+    i2c_stop();
+}
+
+// 读取转换寄存器
+static uint16_t ads1115_read_conversion() {
+    uint16_t result = 0;
+    i2c_start();
+    i2c_write_byte((ADS1115_ADDR << 1) | 0);
+    i2c_write_byte(0x00);
+    i2c_start();
+    i2c_write_byte((ADS1115_ADDR << 1) | 1);
+    uint8_t msb = i2c_read_byte(1);
+    uint8_t lsb = i2c_read_byte(0);
+    i2c_stop();
+    result = (msb << 8) | lsb;
+    return result;
+}
+
+// 读取某个单端通道电压，channel = 0~3
+float ads1115_read_channel(int channel) {
+    if (channel < 0 || channel > 3)
+        return -1.0f;
+
+    uint16_t config = 0x8000; // OS=1，启动转换
+    config |= ((4 + channel) << 12); // 单端MUX
+    config |= (0x00 << 9);   // PGA ±6.144V
+    config |= (1 << 8);      // 单次模式
+    config |= (0x04 << 5);   // 128SPS
+    config |= 0x03;          // 禁用比较器
+
+    ads1115_write_register(0x01, config);
+    delay(10); // 等待转换
+
+    int16_t val = (int16_t)ads1115_read_conversion();
+    float voltage = val * 6.144f / 32768.0f;
+    return voltage;
+ 
+}

drivers/sensors/ads1115.h

+#ifndef ADS1115_H
+#define ADS1115_H
+
+#include <stdint.h>
+#include <stdbool.h>
+// 初始化GPIO引脚（SDA、SCL），必须先调用
+bool ads1115_init();
+
+// 读取指定通道AIN0~AIN3的电压值（单位伏特）
+// 输入参数 channel: 0~3
+// 返回实际电压值，负数代表错误
+float ads1115_read_channel(int channel);
+
+#endif
\ No newline at end of file

drivers/sensors/heat.c

+#include "common.h"
+#include "heat.h"
+
+#define MAX_LINE_LENGTH 20
+
+char temperature[20];
+float temp_str;
+//温度获取
+int heat_tem() {
+    FILE *file;
+    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(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/heat.h

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

drivers/sensors/infrared_gun.c

+#include "common.h"
+#include "infrared_gun.h"
+// 初始化
+int infrared_Init() {
+    pinMode(IR_PIN, OUTPUT);
+    pinMode(IR_PIN_rec, INPUT);
+    return 0;
+}
+
+// 字符串补零并转为uint32数组
+void pad_and_convert(const char* hex_str, uint32_t* data_out, int* count) {
+    char padded[17] = {0};
+    int len = strlen(hex_str);
+    int pad_len = 16 - len;
+    
+    for (int i = 0; i < pad_len; i++) {
+        padded[i] = '0';
+    }
+    strcpy(padded + pad_len, hex_str);
+
+    *count = 0;
+    for (int i = 0; i < 16; i += 8) {
+        char temp[9] = {0};
+        strncpy(temp, padded + i, 8);
+        sscanf(temp, "%x", &data_out[*count]);
+        (*count)++;
+    }
+}
+
+// 发送32位数据（NEC协议）
+void sendNEC(uint32_t data) {
+    // 起始码
+    digitalWrite(IR_PIN, HIGH);
+    Delay_us(START_PULSE_HIGH);
+    digitalWrite(IR_PIN, LOW);
+    Delay_us(START_PULSE_LOW);
+
+    // 发送32位数据
+    for (int i = 31; i >= 0; i--) {
+        if ((data >> i) & 1) {
+            digitalWrite(IR_PIN, HIGH);
+            Delay_us(ONE_PULSE_HIGH);
+            digitalWrite(IR_PIN, LOW);
+            Delay_us(ONE_PULSE_LOW);
+        } else {
+            digitalWrite(IR_PIN, HIGH);
+            Delay_us(ZERO_PULSE_HIGH);
+            digitalWrite(IR_PIN, LOW);
+            Delay_us(ZERO_PULSE_LOW);
+        }
+    }
+
+    // 停止码
+    digitalWrite(IR_PIN_rec, LOW);
+    Delay_us(STOP_PULSE);
+}
+
+// 发送完整字符串数据（如“00020200000000”）
+void sendHexString(const char* hex_str) {
+    uint32_t data_arr[2];
+    int count = 0;
+    pad_and_convert(hex_str, data_arr, &count);
+    for (int i = 0; i < count; i++) {
+        sendNEC(data_arr[i]);
+              // 适当延时两次发送间隔
+    }
+}
+
+// 接收多段NEC数据（128位 = 4次）
+void receiveNEC_Multi(int num_blocks) {
+    uint32_t data_arr[4] = {0};
+
+    for (int j = 0; j < num_blocks; j++) {
+        uint32_t data = 0;
+
+        // 等待高电平（起始码）
+        while (digitalRead(IR_PIN_rec) == LOW);
+        Delay_us(START_PULSE_MIN);
+
+        for (int i = 31; i >= 0; i--) {
+            while (digitalRead(IR_PIN_rec) == LOW);
+           Delay_us(ZERO_PULSE_MIN);
+
+            if (digitalRead(IR_PIN_rec) == HIGH) {
+                Delay_us(ONE_PULSE_MIN);
+                data |= (1 << i);
+            } else {
+                Delay_us(ZERO_PULSE_MIN);
+            }
+        }
+        data_arr[j] = data;
+    }
+
+    // 输出结果
+    printf("Received HEX: ");
+    for (int i = 0; i < num_blocks; i++) {
+        printf("%08X", data_arr[i]);
+    }
+    printf("\n");
+}
\ No newline at end of file

drivers/sensors/infrared_gun.h

+#ifndef INFRARED_GUN_H
+#define INFRARED_GUN_H
+
+#define IR_PIN_rec 6  // 使用WiringPi,红外接收
+#define IR_PIN 25 // 使用WiringPi,红外发射
+
+// NEC协议的基础参数,红外发射
+#define START_PULSE_HIGH 9000  // 起始码高电平持续时间（9ms）
+#define START_PULSE_LOW 4500   // 起始码低电平持续时间（4.5ms）
+#define ONE_PULSE_HIGH 560     // 逻辑1的高电平时间（0.56ms）
+#define ONE_PULSE_LOW 1690     // 逻辑1的低电平时间（1.69ms）
+#define ZERO_PULSE_HIGH 560    // 逻辑0的高电平时间（0.56ms）
+#define ZERO_PULSE_LOW 560     // 逻辑0的低电平时间（0.56ms）
+#define STOP_PULSE 500000      // 停止码的低电平时间（500ms）
+
+// NEC协议的基础参数,红外接收
+#define START_PULSE_MIN 8500  // 起始码高电平时间最小值（8.5ms）
+#define START_PULSE_MAX 9500  // 起始码高电平时间最大值（9.5ms）
+#define ONE_PULSE_MIN 1500    // 逻辑1的高电平时间最小值（1.5ms）
+#define ONE_PULSE_MAX 1700    // 逻辑1的高电平时间最大值（1.7ms）
+#define ZERO_PULSE_MIN 500    // 逻辑0的高电平时间最小值（0.5ms）
+#define ZERO_PULSE_MAX 700    // 逻辑0的高电平时间最大值（0.7ms）
+
+int infrared_Init();
+
+void sendNEC(uint32_t data);
+
+void receiveNEC();
+#endif
\ No newline at end of file

drivers/sensors/warm.c

+#include "common.h"
+#include "warm.h"
+#include "http_request.h"
+#include "mylog.h"
+
+//最高警报，最低电压报警
+int alarm_highest(int index) {
+    if(index == 1) {
+        pin_value(20,1);//紫灯
+        if(g_enable_buzzer_value) {
+            pin_value(22,1);//蜂鸣器
+        }
+    }else if(index == 0) {
+        pin_value(20,0);//紫灯
+        pin_value(22,0);//蜂鸣器
+    }
+
+    return index ;
+}
+
+//比较小警报
+int alarm_low(int index) {
+    if(index == 1) {
+        pin_value(16,1);//黄灯
+    } else if(index == 0) {
+        pin_value(16,0);//黄灯
+    } 
+
+    return index ;
+}
+
+int alarm_control_open(float voltage) {//关闭警报
+
+    if( voltage >= g_warn_voltage_value ) {
+        alarm_highest(0);
+        alarm_low(0);
+    }else if(voltage >= g_err_voltage_value&&voltage <= g_warn_voltage_value) {
+        alarm_low(1);
+        alarm_highest(0);
+        my_zlog_warn("电压警告");
+    }else if(voltage < g_err_voltage_value) {
+        alarm_highest(1);
+        alarm_low(1);
+        my_zlog_warn("换电警告");
+    }   
+    
+    return 0; 
+}
+
+int alarm_control_close(float voltage) {//关闭警报
+
+    my_zlog_debug("未开启警报，读取电压：%.2f",voltage);
+
+    return 0; 
+}
+
+int alarm_control(float voltage) {
+    #if WARM_MODE == 1
+        my_zlog_info("Mode 1: 执行代码A");
+        return alarm_control_open(voltage);
+    #elif WARM_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);
+        return -1;
+    #endif
+}
\ No newline at end of file

drivers/sensors/warm.h

+#ifndef WARM_H__
+#define WARM_H__
+
+/*当mode为1时候打开警报，为2时候关闭警告*/
+#define WARM_MODE 1
+
+int alarm_control(float voltage);
+
+#endif
\ No newline at end of file

modules/browser/browser_open.c

+#include "common.h"
+#include "browser_open.h"
+#include "device_fileopen.h"
+
+char gwebcam[254];//存放启动火狐网站命令
+
+int opencamsh_china(){
+    const char* url = "https://jywy.yd-ss.com?dev=";
+    char urls[50];
+
+    topic_middle_value();
+
+    sprintf(urls,"%s%s",url,mqtt_topic_pure_number());
+
+    //setenv("DISPLAY", ":0", 1);//设置环境变量https://jywy.yd-ss.com?dev=controcar0004 --new-window sudo 
+    sprintf(gwebcam,"su - orangepi -c \"chromium-browser --use-fake-ui-for-media-stream %s\"",urls);
+    system(gwebcam);
+    my_zlog_debug("%s",gwebcam);
+    my_zlog_debug("open cam");
+    return 0;
+    
+}
+
+int opencamsh_abroad(){
+    const char* url = "https://video.luckycar.top/?dev=";
+    char urls[50];
+
+    topic_middle_value();
+
+    sprintf(urls,"%s%s",url,mqtt_topic_pure_number());
+
+    //setenv("DISPLAY", ":0", 1);//设置环境变量https://jywy.yd-ss.com?dev=controcar0004 --new-window sudo 
+    sprintf(gwebcam,"su - orangepi -c \"chromium-browser --use-fake-ui-for-media-stream %s\"",urls);
+    system(gwebcam);
+    my_zlog_debug("%s",gwebcam);
+    my_zlog_debug("open cam");
+    return 0;
+    
+}
+
+int  opencamsh() {
+    #if BROWSER_MODE == 1
+        // 当MODE为1时的代码
+        my_zlog_info("Mode 1: 执行代码A");
+        return opencamsh_china();
+    #elif BROWSER_MODE == 2
+        // 当MODE为2时的代码
+        my_zlog_info("Mode 2: 执行代码B");
+        return opencamsh_abroad();
+    #else
+        my_zlog_error("未知的 WARM_MODE: %d", BROWSER_MODE);
+        return -1;
+    #endif
+}
+
+
+void refresh_cam() {//刷新页面
+
+    setenv("XAUTHORITY", "/home/orangepi/.Xauthority", 1);//加入授权
+
+    const char *search_command = "xdotool search --class \"chromium-browser\"";//获取窗口id
+
+    FILE *fp = popen(search_command, "r");
+
+    if (!fp) {
+        perror("Failed to execute search command");
+        return;
+    }
+
+    char window_id[32];
+
+    while (fgets(window_id, sizeof(window_id), fp) != NULL) {
+        window_id[strcspn(window_id, "\n")] = '\0';
+        
+        char activate_command[128];
+
+        snprintf(activate_command, sizeof(activate_command), "xdotool windowactivate --sync %s key Ctrl+r", window_id);
+        
+        pid_t pid = fork();
+
+        if (pid == 0) {
+            // 子进程执行命令
+            execl("/bin/sh", "sh", "-c", activate_command, (char *)NULL);
+            perror("Failed to execute command");
+            exit(EXIT_FAILURE);
+        } else if (pid > 0) {
+            // 父进程不等待子进程结束，继续执行
+            printf("Executing in child process: %s\n", activate_command);
+        } else {
+            perror("Failed to fork");
+        }
+    }
+
+    pclose(fp);
+    //printf("recam\n");
+    my_zlog_debug("刷新成功");
+}
+

modules/browser/browser_open.h

+#ifndef BROWSER_OPEN_H__
+#define BROWSER_OPEN_H__ 
+
+/*打开摄像头函数,当MODE为1时候为国内网址，2时为国外网址*/
+#define BROWSER_MODE 1
+
+int  opencamsh();
+
+void refresh_cam();//刷新摄像头函数
+
+#endif
\ No newline at end of file

modules/http/http_request.c

 #include<curl/curl.h>
-#include <cjson/cJSON.h>
+#include "cjson/cJSON.h"
 #include "http_request.h"
 #include "device_identity.h"
 
@@ -8,8 +8,8 @@ const char *c_post = "http://47.119.190.60/api/v1/device/config";
 int g_errCodeValue;
 
 bool g_enable_buzzer_value=0;
-double g_warn_voltage_value;
-double g_err_voltage_value;
+double g_warn_voltage_value=10.7;
+double g_err_voltage_value=9.7;
 double g_shot_speed_value=0.7;
 
 // 回调函数，用于处理接收到的数据

modules/mqtt/mqtt_infor_handle.c

@@ -7,11 +7,16 @@
 #include "temperature.h"
 #include "common.h"
 #include "mylog.h"
+#include "device_fileopen.h"
 
 bool g_verified_mode = TRUE;//控制是否需要验证
 
 int g_heartbeat_count=0;
 
+int g_devcontrol_exit_count=0;
+
+int g_message_type=0;
+
 unsigned char g_valt[4];//存放mqtt接收的tpye，mode等
 
 //心跳发送格式*5/2
@@ -30,7 +35,7 @@ void heartbeat_send() {
     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
+    if(g_devcontrol_exit_count>5) 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();
@@ -242,9 +247,9 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
             return 1;
         }
 
-        gmessage_type=message_type->valueint;
+        g_message_type=message_type->valueint;
         my_zlog_debug("message_type: %d",message_type->valueint);
-        switch(gmessage_type){
+        switch(g_message_type){
             case 2:
                 //message_2_judyverify(body); 
                 my_zlog_debug("进入刷新");
@@ -282,7 +287,7 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 my_zlog_debug("重启成功");
                 break;
             case 2012:
-                //refresh_cam();    
+                refresh_cam();    
                 my_zlog_debug("刷新成功");
                 break;
             default:

modules/mqtt/mqtt_infor_handle.h

 #ifndef MQTT_INFOR_HANDLE_H__
 #define MQTT_INFOR_HANDLE_H__
 
-#include <cjson/cJSON.h>
+#include "cjson/cJSON.h"
 
 extern int g_heartbeat_count;
 
+extern int g_devcontrol_exit_count;
+
 void mqtt_wirte();
 
 int device_message_receive(cJSON *json);

modules/mqtt/mqtt_init.c

@@ -7,8 +7,6 @@
 
 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
 

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
+#include "mosquitto.h"
+#include "cjson/cJSON.h"
 
 //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

modules/mqtt/mqtt_verify.c

 #include <time.h>
-#include <cjson/cJSON.h>
+#include "cjson/cJSON.h"
 #include "mqtt_verify.h"
 #include "common.h"
 #include <openssl/evp.h>

modules/mqtt/mqtt_verify.h

 #ifndef MQTT_VERIFY_H__
 #define MQTT_VERIFY_H__
 
-#include <cjson/cJSON.h>
+#include "cjson/cJSON.h"
 
 #define AES_BLOCK_SIZE 16