可以发送mqtt开启关闭tailscale vpn, unix_server，go程序更新和根据后台配置开启go视频或浏览器

CMakeLists.txt

@@ -51,6 +51,9 @@ include_directories(
     modules/mqtt
     modules/http
     modules/browser
+    modules/ipc
+    modules/go_deploy
+    modules/tailscale_deploy
     third_party/zlog/src
     third_party/mosquitto/include
     third_party/mosquitto/lib
@@ -70,6 +73,9 @@ file(GLOB_RECURSE SOURCES
     modules/mqtt/*.c
     modules/http/*.c
     modules/browser/*.c
+    modules/ipc/*.c
+    modules/go_deploy/*.c
+    modules/tailscale_deploy/*.c
     app/device_identity/*.c
     app/device_change/*.c
     app/main/*.c

app/main/main.c

 #include "main.h"
 
-int main(){
-   if(mylog_init()!=0){
-       my_zlog_error("日志初始化失败，错误代码：%d",mylog_init());
-       return -1;
+int main()
+{
+   if (mylog_init() != 0)
+   {
+      my_zlog_error("日志初始化失败，错误代码：%d", mylog_init());
+      return -1;
    }
 
-   if(wiringPiSetup() == -1) {
-        my_zlog_fatal("WiringPi setup failed!");
-        return -2;
+   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 -3;
-    }
-    if(device_mqtt_topic_init()!=0){
+   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("设备id判断失败");
-       return -4;
-    }
+      return -4;
+   }
 
-   if(request_date() !=0){
-    my_zlog_error("请求数据失败");
-       return -5;
-    }
+   if (request_date() != 0)
+   {
+      my_zlog_error("请求数据失败");
+      return -5;
+   }
 
-   if(http_mqtt_video_init() !=0){
+   if (http_mqtt_video_init() != 0)
+   {
       my_zlog_error("请求mqtt服务器和video数据失败");
       return -6;
    }
 
-   if(audio_config_init()!=0){
+   // 检查并更新 Go 程序
+   if (go_deploy_check_and_update() != 0)
+   {
+      my_zlog_warn("Go 程序检查/部署失败");
+   }
+
+   // 启动 Unix Socket 服务，用于 C 和 Go 程序通信
+   if (ipc_start_unix_server(NULL) != 0)
+   {
+      my_zlog_warn("IPC Unix Socket Server 启动失败");
+      return -8;
+   }
+
+   if (audio_config_init() != 0)
+   {
       my_zlog_warn("音频配置初始化失败");
    }
 
-   if(hardware_iic_init()!=0){
+   if (hardware_iic_init() != 0)
+   {
       my_zlog_error("硬件iic初始化失败");
       return -7;
    }
 
-   if(device_shot_cooling_init()!=0){
+   if (device_shot_cooling_init() != 0)
+   {
       my_zlog_warn("该设备没有冷却");
    }
-   
-   if (audio_init()==0){
+
+   if (audio_init() == 0)
+   {
       my_zlog_info("音频命令执行初始化成功");
    }
 
-   int thread_rc=thread_start_init( thread_exit_time,thread_mqtt_beat,
-         thread_open_browser,thread_mqtt_reconnect,thread_time_calculation,thread_play_mp3);
-   if(thread_rc != 0){
+   int thread_rc = thread_start_init(thread_exit_time, thread_mqtt_beat,
+                                     thread_open_browser, thread_mqtt_reconnect, thread_time_calculation, thread_play_mp3);
+   if (thread_rc != 0)
+   {
       my_zlog_warn("多线程初始化失败");
       return -7;
-   } 
+   }
 
    thread_end_close();
    device_end_close(g_device_type);
-   self_control_thread_close();//销毁自控的线程
-   my_log_close();//关闭日志
+   self_control_thread_close(); // 销毁自控的线程
+   my_log_close();              // 关闭日志
    hardware_iic_close();
    my_zlog_info("程序关闭成功");
    return 0;
-
 }
\ No newline at end of file

app/main/pthread_open.c

@@ -3,32 +3,35 @@
 #include "drivers_common.h"
 #include "modules_common.h"
 #include "pthread_open.h"
+#include "go_deploy.h"
 
 #define PTHREAD_MAX 6
 
-pthread_t g_thread[PTHREAD_MAX];  // 全局线程句柄数组（或传参）
+pthread_t g_thread[PTHREAD_MAX]; // 全局线程句柄数组（或传参）
 
-int g_webrtc_index=0;//判断游览器是否打开
+int g_webrtc_index = 0; // 判断游览器是否打开
 
-int g_mqtt_grc=0;//mqtt连接状态机
+int g_mqtt_grc = 0; // mqtt连接状态机
 
-void* g_args[PTHREAD_MAX] = { NULL};
+void *g_args[PTHREAD_MAX] = {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_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
-    };
+        thread_play_mp3};
 
-    for (int i = 0; i < PTHREAD_MAX; i++) {
-        if (pthread_create(&g_thread[i], NULL, thread_funcs[i], g_args[i]) != 0) {
+    for (int i = 0; i < PTHREAD_MAX; 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;
         }
@@ -36,113 +39,201 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
     return 0;
 }
 
-
-//出现意外自动停止
-void *thread_exit_time(void *arg) { 
-      pg0403_serial_run();
-    while(1){
-      
-
-     if(get_self_control_index()==false){
-
-        delay_ms(100);
-        pthread_mutex_lock(&g_exit_count_mutex);
-        g_devcontrol_exit_count++;
-        if(g_devcontrol_exit_count>=5) {
-        device_stop(g_device_type);
-        g_devcontrol_exit_count=6;
-        } 
-        pthread_mutex_unlock(&g_exit_count_mutex);
-     }else if(get_self_control_index()==true){
-        delay_ms(20);
-        set_self_control_time_countfuntion();
-
-     }  
-        
+// 出现意外自动停止
+void *thread_exit_time(void *arg)
+{
+    pg0403_serial_run();
+    while (1)
+    {
+
+        if (get_self_control_index() == false)
+        {
+
+            delay_ms(100);
+            pthread_mutex_lock(&g_exit_count_mutex);
+            g_devcontrol_exit_count++;
+            if (g_devcontrol_exit_count >= 5)
+            {
+                device_stop(g_device_type);
+                g_devcontrol_exit_count = 6;
+            }
+            pthread_mutex_unlock(&g_exit_count_mutex);
+        }
+        else if (get_self_control_index() == true)
+        {
+            delay_ms(20);
+            set_self_control_time_countfuntion();
+        }
     }
-    return NULL; 
+    return NULL;
 }
 
 /*心跳线程处理函数，心跳发送前会像上层请求是否需要验证*/
-void *thread_mqtt_beat(void *arg) { 
+void *thread_mqtt_beat(void *arg)
+{
     my_zlog_info("thread_mqtt_beat start");
-    g_webrtc_index=1;
+    g_webrtc_index = 1;
     delay_s(3);
     /*在这步进行检测，等mqtt连接成功后检查*/
     //     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(verify_open_index_init() !=0){
+    if (verify_open_index_init() != 0)
+    {
         my_zlog_info("mqtt send verify is NULL");
     }
 
-    //如果为相关的不需要心跳或者游览器设备，提早结束线程
-    if(g_device_type==DEVICE_ROBOT_DOG0501){
-         my_zlog_info("device am robot and no c/c++");
+    // 如果为相关的不需要心跳或者游览器设备，提早结束线程
+    if (g_device_type == DEVICE_ROBOT_DOG0501)
+    {
+        my_zlog_info("device am robot and no c/c++");
         return NULL;
     }
 
-    while(1) {
+    while (1)
+    {
         delay_ms(100);
 
         g_heartbeat_count++;
-        set_tank_angle_count();//角度发布计时,1开始计时，0清0
-        if(g_mqtt_grc == 0){
-            mqtt_beat_wirte();//心跳等发布函数，更具不同时间发布
+        set_tank_angle_count(); // 角度发布计时,1开始计时，0清0
+        if (g_mqtt_grc == 0)
+        {
+            mqtt_beat_wirte(); // 心跳等发布函数，更具不同时间发布
 
-            if(get_device_self_control_configuration_initialization()==0){
+            if (get_device_self_control_configuration_initialization() == 0)
+            {
                 my_zlog_warn("自控配置初始化成功");
-            }  
-
-        }   
+            }
+        }
     }
     return NULL;
 }
 
-//打开游览器线程，让游览器一直在一个线程中打开并运行
-void *thread_open_browser(void *arg) { 
+// 打开go_video或者浏览器
+void *thread_open_browser(void *arg)
+{
 
-    if(g_device_type==DEVICE_PG_GPS0403){
-         return NULL;
+    if (g_device_type == DEVICE_PG_GPS0403)
+    {
+        return NULL;
+    }
+    delay_s(5);
+    // 检查 go_video 可执行文件是否存在
+    my_zlog_info("开始检测go_video可执行文件是否存在");
+    if (strcmp(g_webrtc_mode, "go") == 0 && access("/home/orangepi/go_video/go_video", F_OK) == 0)
+    {
+        my_zlog_info("检测到 go_video 可执行文件");
+
+        // 检查 go_video 进程是否已经在运行
+        FILE *fp = popen("pidof go_video", "r");
+        if (fp != NULL)
+        {
+            char buf[64] = {0};
+            if (fgets(buf, sizeof(buf), fp) != NULL)
+            {
+                // 检查是否真的有数字 PID
+                int pid = atoi(buf);
+                if (pid > 0)
+                {
+                    // 进程已经在运行，先终止
+                    char kill_cmd[64];
+                    snprintf(kill_cmd, sizeof(kill_cmd), "kill %d", pid);
+                    my_zlog_info("检测到 go_video 进程 %d 已在运行，尝试终止", pid);
+                    if (system(kill_cmd) != 0)
+                    {
+                        my_zlog_warn("无法终止 go_video 进程 %d", pid);
+                        pclose(fp);
+                        return NULL;
+                    }
+                    my_zlog_info("已终止 go_video 进程 %d", pid);
+                }
+            }
+            pclose(fp);
+        }
+
+        // 进程未运行，启动它
+        my_zlog_info("启动 go_video 程序并跳过浏览器");
+        system("sudo -u orangepi nohup /home/orangepi/go_video/go_video > /dev/null 2>&1 &");
+        return NULL;
     }
 
     int result = system("pkill  chromium");
-    if (result != 0) {
+    if (result != 0)
+    {
         my_zlog_error("system error");
     }
     delay_s(5);
-    while(1){
+    while (1)
+    {
 
-        if(g_webrtc_index==1) {
-            if(is_browser_running() == true ) {
+        if (g_webrtc_index == 1)
+        {
+            if (is_browser_running() == true)
+            {
                 continue;
-            }else{
+            }
+            else
+            {
                 my_zlog_info("open cam");
-                opencamsh();//10s后打开游览器并且进入网址 
+                opencamsh(); // 10s后打开游览器并且进入网址
             }
-            
         }
         delay_ms(200);
     }
-    
-    return NULL; 
+
+    return NULL;
 }
 
-//mqtt异常处理，断开自动重连，简单粗暴
-void *thread_mqtt_reconnect(void *arg) {
- 
-    while(1){
-        static int reconnect_count=0;
+// 打开游览器线程，让游览器一直在一个线程中打开并运行
+//  void *thread_open_browser(void *arg) {
+
+//     if(g_device_type==DEVICE_PG_GPS0403){
+//          return NULL;
+//     }
+
+//     int result = system("pkill  chromium");
+//     if (result != 0) {
+//         my_zlog_error("system error");
+//     }
+//     delay_s(5);
+//     while(1){
+
+//         if(g_webrtc_index==1) {
+//             if(is_browser_running() == true ) {
+//                 continue;
+//             }else{
+//                 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)
+{
+
+    while (1)
+    {
+        static int reconnect_count = 0;
         static int remqtt_index;
-        remqtt_index=mqtt_init();
-        if(remqtt_index == 0){
-            my_zlog_warn("mqtt success",remqtt_index);
+        remqtt_index = mqtt_init();
+        if (remqtt_index == 0)
+        {
+            my_zlog_warn("mqtt success", remqtt_index);
             break;
-        }else {
-            my_zlog_warn("wait... mqtt reconect,error:%d",remqtt_index);
+        }
+        else
+        {
+            my_zlog_warn("wait... mqtt reconect,error:%d", remqtt_index);
             delay_ms(300);
             reconnect_count++;
-            if(reconnect_count>MAX_RECONNECT_ATTEMPTS){
+            if (reconnect_count > MAX_RECONNECT_ATTEMPTS)
+            {
                 send_fail_mqtt_conect();
                 break;
             }
@@ -151,45 +242,52 @@ void *thread_mqtt_reconnect(void *arg) {
     }
 
     mqtt_cycle();
- 
+
     mqtt_clean();
     return NULL;
 }
 
-//专门用于计时的线程
-void *thread_time_calculation(void *arg) {
-     while (1) {
+// 专门用于计时的线程
+void *thread_time_calculation(void *arg)
+{
+    while (1)
+    {
+
+        device_fast_read(); // 用于快速判断设备的及时检查和停止
 
-        device_fast_read();//用于快速判断设备的及时检查和停止
-        
         delay_ms(5);
 
-        g_device_delay_back_count ++;//设备计时，坦克打击倒退逻辑
+        g_device_delay_back_count++; // 设备计时，坦克打击倒退逻辑
 
         pthread_mutex_lock(&g_verify_mutex);
-        g_verify_count++;//jwt验证计时,每15s一次
+        g_verify_count++; // jwt验证计时,每15s一次
         pthread_mutex_unlock(&g_verify_mutex);
 
-        if(g_verify_count >= 20000) {//防止溢出
+        if (g_verify_count >= 20000)
+        { // 防止溢出
             pthread_mutex_lock(&g_verify_mutex);
             g_verify_count = 20000;
-            pthread_mutex_unlock(&g_verify_mutex);   
+            pthread_mutex_unlock(&g_verify_mutex);
         }
-        if(g_device_delay_back_count  >= 5000) g_device_delay_back_count  = 5000;//防止溢出
-     }
+        if (g_device_delay_back_count >= 5000)
+            g_device_delay_back_count = 5000; // 防止溢出
+    }
     return NULL;
 }
 
-//专门处理MP3播放
-void *thread_play_mp3(void* arg) {
+// 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 < PTHREAD_MAX; i++) {
-        if (g_thread[i]) pthread_join(g_thread[i], NULL);
+void thread_end_close()
+{
+    for (int i = 0; i < PTHREAD_MAX; i++)
+    {
+        if (g_thread[i])
+            pthread_join(g_thread[i], NULL);
     }
 }
-

include/modules_common.h

@@ -7,5 +7,8 @@
 #include "mylog.h"
 #include "mqtt_common.h"
 #include "pthrpoll.h"
+#include "unix_socket_server.h"
+#include "go_deploy.h"
+#include "tailscale_deploy.h"
 
 #endif
\ No newline at end of file

modules/go_deploy/go_deploy.c

+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <curl/curl.h>
+#include <cJSON.h>
+#include <openssl/evp.h>
+
+#include "go_deploy.h"
+#include "common.h"           // 包含日志 my_zlog 等
+#include "device_fileopen.h"  // 包含设备文件读取函数
+
+#define GO_VIDEO_FILENAME "go_video"
+#define HASH_TYPE_SHA256 1
+
+char g_webrtc_mode[32] = "web";
+
+// 内存结构体，用于 curl 回调
+struct MemoryStruct {
+    char *memory;
+    size_t size;
+};
+
+// CURL 写回调(内存)
+static size_t WriteMemoryCallback(void *contents, size_t size, size_t nmemb, void *userp) {
+    size_t realsize = size * nmemb;
+    struct MemoryStruct *mem = (struct MemoryStruct *)userp;
+
+    char *ptr = realloc(mem->memory, mem->size + realsize + 1);
+    if (!ptr) {
+        my_zlog_error("not enough memory (realloc returned NULL)");
+        return 0;
+    }
+
+    mem->memory = ptr;
+    memcpy(&(mem->memory[mem->size]), contents, realsize);
+    mem->size += realsize;
+    mem->memory[mem->size] = 0;
+
+    return realsize;
+}
+
+// CURL 写回调(文件)
+static size_t WriteFileCallback(void *ptr, size_t size, size_t nmemb, FILE *stream) {
+    size_t written = fwrite(ptr, size, nmemb, stream);
+    return written;
+}
+
+// 计算文件的 MD5 (128位)
+static int calculate_file_hash(const char *path, char *output_hash) {
+    FILE *file = fopen(path, "rb");
+    if (!file) return -1;
+
+    EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
+    const EVP_MD *md = EVP_md5(); // 使用 MD5 (128位)
+    unsigned char hash[EVP_MAX_MD_SIZE];
+    unsigned int md_len;
+    char buffer[4096];
+    size_t bytes;
+
+    if (!mdctx) {
+        fclose(file);
+        return -1;
+    }
+
+    EVP_DigestInit_ex(mdctx, md, NULL);
+    while ((bytes = fread(buffer, 1, sizeof(buffer), file)) != 0) {
+        EVP_DigestUpdate(mdctx, buffer, bytes);
+    }
+    EVP_DigestFinal_ex(mdctx, hash, &md_len);
+    EVP_MD_CTX_free(mdctx);
+    fclose(file);
+
+    // 转为 hex 字符串
+    for (unsigned int i = 0; i < md_len; i++) {
+        sprintf(&output_hash[i * 2], "%02x", hash[i]);
+    }
+    output_hash[md_len * 2] = '\0';
+    return 0;
+}
+
+// 下载文件
+static int download_file(const char *url, const char *filepath) {
+    CURL *curl;
+    FILE *fp;
+    CURLcode res;
+
+    curl = curl_easy_init();
+    if (!curl) return -1;
+
+    fp = fopen(filepath, "wb");
+    if (!fp) {
+        my_zlog_error("Failed to open file for writing: %s", filepath);
+        curl_easy_cleanup(curl);
+        return -1;
+    }
+
+    curl_easy_setopt(curl, CURLOPT_URL, url);
+    curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, WriteFileCallback);
+    curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp);
+    curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L); 
+    curl_easy_setopt(curl, CURLOPT_SSL_VERIFYPEER, 0L); // 忽略 SSL 验证(视情况而定)
+    curl_easy_setopt(curl, CURLOPT_SSL_VERIFYHOST, 0L);
+
+    res = curl_easy_perform(curl);
+    
+    fclose(fp);
+    curl_easy_cleanup(curl);
+
+    if (res != CURLE_OK) {
+        my_zlog_error("Download failed: %s", curl_easy_strerror(res));
+        remove(filepath); // 下载失败删除残缺文件
+        return -1;
+    }
+
+    return 0;
+}
+
+// 检查是否有 pip3，没有则安装
+static int check_and_install_pip3(void) {
+    if (system("which pip3 > /dev/null 2>&1") != 0) {
+        my_zlog_info("pip3 not found. Installing python3-pip...");
+        int install_ret = system("sudo apt-get update && sudo apt-get install -y python3-pip");
+        if (install_ret != 0) {
+            my_zlog_error("Failed to install python3-pip, return code: %d", install_ret);
+            return -1;
+        } else {
+            my_zlog_info("python3-pip installation completed successfully.");
+        }
+    }
+    return 0;
+}
+
+int go_deploy_check_and_update(void) {
+    CURL *curl;
+    CURLcode res;
+    struct MemoryStruct chunk;
+    chunk.memory = malloc(1);
+    chunk.size = 0;
+
+    int ret = -1;
+    char *home_dir = "/home/orangepi";
+
+    char target_dir[256];
+    snprintf(target_dir, sizeof(target_dir), "%s/go_video", home_dir);
+    my_zlog_info("target_dir: %s", target_dir);
+    
+    // 确保目录存在
+    struct stat st = {0};
+    if (stat(target_dir, &st) == -1) {
+        if (mkdir(target_dir, 0777) != 0) {
+            my_zlog_error("Failed to create directory: %s", target_dir);
+        } else {
+            my_zlog_info("Created directory: %s", target_dir);
+        }
+    }
+    // 确保目录权限正确
+    chmod(target_dir, 0777);
+
+    char target_file_path[512];
+    snprintf(target_file_path, sizeof(target_file_path), "%s/%s", target_dir, GO_VIDEO_FILENAME);
+    my_zlog_info("target_file_path: %s", target_file_path);
+
+    // 1. 请求 Config
+    curl_global_init(CURL_GLOBAL_ALL);
+    curl = curl_easy_init();
+    if (!curl) {
+        my_zlog_error("Failed to init curl");
+        free(chunk.memory);
+        return -1;
+    }
+
+    char url[512];
+    const char* device_no = device_id_function(); 
+    if (device_no == NULL || strlen(device_no) == 0) {
+        my_zlog_error("deviceNo is empty");
+        goto cleanup;
+    }
+    snprintf(url, sizeof(url), "https://fcrs-api.yd-ss.com/device/getConfig?deviceNo=%s", device_no);
+    //snprintf(url, sizeof(url), "http://192.168.0.100:8111/device/getConfig?deviceNo=%s", device_no);
+    my_zlog_info("Requesting URL: %s", url);
+
+    curl_easy_setopt(curl, CURLOPT_URL, url);
+    curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, WriteMemoryCallback);
+    curl_easy_setopt(curl, CURLOPT_WRITEDATA, (void *)&chunk);
+    curl_easy_setopt(curl, CURLOPT_USERAGENT, "libcurl-agent/1.0");
+    curl_easy_setopt(curl, CURLOPT_SSL_VERIFYPEER, 0L); 
+    curl_easy_setopt(curl, CURLOPT_SSL_VERIFYHOST, 0L);
+
+    res = curl_easy_perform(curl);
+    my_zlog_info("curl_easy_perform result: %d", res);
+
+    if (res != CURLE_OK) {
+        my_zlog_error("curl_easy_perform() failed: %s", curl_easy_strerror(res));
+        goto cleanup;
+    }
+
+    // 2. 解析 JSON
+    cJSON *root = cJSON_Parse(chunk.memory);
+    if (!root) {
+        my_zlog_error("JSON Parse Error");
+        goto cleanup;
+    }
+
+    cJSON *data = cJSON_GetObjectItem(root, "data");
+    char *data_str = cJSON_Print(data);
+    if (data_str) {
+        my_zlog_info("Got config data: %s", data_str);
+        free(data_str);
+    }
+    if (!data) {
+        cJSON_Delete(root);
+        goto cleanup;
+    }
+
+    cJSON *moreInfo = cJSON_GetObjectItem(data, "moreInfo");
+    if (!moreInfo) {
+        my_zlog_warn("moreInfo is null");
+        cJSON_Delete(root);
+        goto cleanup;
+    }
+
+    cJSON *webrtcMode = cJSON_GetObjectItem(moreInfo, "webrtcMode");
+    if (!webrtcMode || !cJSON_IsString(webrtcMode)) {
+        cJSON_Delete(root);
+        goto cleanup;
+    }
+
+    // 更新全局模式变量
+    strncpy(g_webrtc_mode, webrtcMode->valuestring, sizeof(g_webrtc_mode) - 1);
+    g_webrtc_mode[sizeof(g_webrtc_mode) - 1] = '\0';
+
+    // 3. 检查 webrtcMode
+    if (strcmp(webrtcMode->valuestring, "go") == 0) {
+        // 检查 pip3 是否安装
+        check_and_install_pip3();
+        cJSON *goUrl = cJSON_GetObjectItem(moreInfo, "goUrl");
+        cJSON *goHash = cJSON_GetObjectItem(moreInfo, "goHash");
+
+        if (!goUrl || !cJSON_IsString(goUrl)) {
+             my_zlog_error("goUrl is missing");
+             cJSON_Delete(root);
+             goto cleanup;
+        }
+
+        int need_download = 0;
+        
+        // 4. 检查文件是否存在
+        if (access(target_file_path, F_OK) != 0) {
+            my_zlog_info("go_video file not found, downloading...");
+            need_download = 1;
+        } else {
+            // 5. 检查 Hash
+            if (goHash && cJSON_IsString(goHash)) {
+                char local_hash[65] = {0};
+                if (calculate_file_hash(target_file_path, local_hash) == 0) {
+                    // 若服务器 hash 也是小写, 直接对比; 否则建议 strcasecmp
+                    if (strcasecmp(local_hash, goHash->valuestring) != 0) {
+                        my_zlog_info("Hash mismatch. Local: %s, Cloud: %s. Re-downloading...", local_hash, goHash->valuestring);
+                        need_download = 1;
+                    } else {
+                        my_zlog_info("File hash verified. No update needed.");
+                    }
+                } else {
+                    my_zlog_error("Failed to calculate local hash");
+                    need_download = 1; 
+                }
+            } else {
+                 my_zlog_warn("goHash is missing, skipping hash check");
+                 // 可选择: 强制下载 或 不下载
+                 // 这里通常如果不给 hash，如果文件存在假设是好的，或者强制覆盖?
+                 // 但需求是 "不一样就下载"，没说没 hash 怎么办。假设存在就不下?
+                 // 还是安全起见没 hash 就不校验了
+            }
+        }
+
+        if (need_download) {
+            my_zlog_info("Downloading from: %s", goUrl->valuestring);
+            if (download_file(goUrl->valuestring, target_file_path) == 0) {
+                 my_zlog_info("Download success.");
+                 // 下载后重新给权限
+                 chmod(target_file_path, 0777);
+            } else {
+                 my_zlog_error("Download failed.");
+            }
+        } else {
+             // 即使没下载，确认文件存在后也确保权限正确
+             if (access(target_file_path, F_OK) == 0) {
+                 chmod(target_file_path, 0777); 
+             }
+
+    // ---------------------------------------------------------
+    // 处理 video_proxy.7z
+    // ---------------------------------------------------------
+    cJSON *pythonUrl = cJSON_GetObjectItem(moreInfo, "pythonUrl");
+    if (pythonUrl && cJSON_IsString(pythonUrl) && strlen(pythonUrl->valuestring) > 0) {
+        char target_7z_path[512];
+        snprintf(target_7z_path, sizeof(target_7z_path), "%s/video_proxy.7z", target_dir);
+        
+        int need_download_7z = 0;
+
+        // 检查文件是否存在
+        if (access(target_7z_path, F_OK) != 0) {
+            my_zlog_info("video_proxy.7z not found, need download.");
+            need_download_7z = 1;
+        } else {
+            // 检查 Hash (使用 pythonHash)
+            cJSON *pythonHash = cJSON_GetObjectItem(moreInfo, "pythonHash");
+            if (pythonHash && cJSON_IsString(pythonHash)) {
+                char local_hash[65] = {0};
+                if (calculate_file_hash(target_7z_path, local_hash) == 0) {
+                     if (strcasecmp(local_hash, pythonHash->valuestring) != 0) {
+                        my_zlog_info("7z Hash mismatch. Local: %s, Cloud: %s. Re-downloading...", local_hash, goHash->valuestring);
+                        need_download_7z = 1;
+                    } else {
+                        my_zlog_info("7z Hash verified.");
+                    }
+                } else {
+                    my_zlog_error("Failed to calculate 7z local hash");
+                    need_download_7z = 1;
+                }
+            } else {
+                 my_zlog_warn("goHash missing for 7z check");
+            }
+        }
+
+        if (need_download_7z) {
+            my_zlog_info("Downloading 7z from: %s", pythonUrl->valuestring);
+            if (download_file(pythonUrl->valuestring, target_7z_path) == 0) {
+                my_zlog_info("Download 7z success. Preparing to extract...");
+
+                // 检查 7z 是否安装
+                if (system("which 7z > /dev/null 2>&1") != 0) {
+                    my_zlog_info("7z not found. Installing p7zip-full...");
+                    // 尝试安装 p7zip-full (Ubuntu)
+                    int install_ret = system("sudo apt-get update && sudo apt-get install -y p7zip-full");
+                    if (install_ret != 0) {
+                        my_zlog_error("Failed to install p7zip-full, return code: %d", install_ret);
+                    } else {
+                        my_zlog_info("p7zip-full installation completed successfully.");
+                    }
+                }
+
+
+
+                // 解压
+                char cmd[1024];
+                // 使用密码 fcrs2025606 解压, -y 自动覆盖, -o 指定输出目录
+                snprintf(cmd, sizeof(cmd), "7z x \"%s\" -o\"%s\" -pfcrs2025606 -y", target_7z_path, target_dir);
+                my_zlog_info("Executing: %s", cmd);
+
+                int extract_ret = system(cmd);
+                if (extract_ret == 0) {
+                     my_zlog_info("Extraction success.");
+                } else {
+                     my_zlog_error("Extraction failed with code: %d", extract_ret);
+                }
+            } else {
+                 my_zlog_error("Download 7z failed.");
+            }
+        }
+    }
+        }
+    }
+
+    cJSON_Delete(root);
+    ret = 0;
+
+cleanup:
+    curl_easy_cleanup(curl);
+    free(chunk.memory);
+    curl_global_cleanup();
+
+    return ret;
+}

modules/go_deploy/go_deploy.h

+#ifndef GO_DEPLOY_H
+#define GO_DEPLOY_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * 检查并更新/部署 Go 程序
+ * 返回值: 0 成功, -1 失败
+ */
+int go_deploy_check_and_update(void);
+
+extern char g_webrtc_mode[32];
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // GO_DEPLOY_H

modules/ipc/unix_socket_server.c

+#include "unix_socket_server.h"
+#include "mqtt_infor_handle.h"
+#include "mylog.h"
+
+#include <pthread.h>
+#include <sys/socket.h>
+#include <sys/stat.h>
+#include <sys/un.h>
+#include <unistd.h>
+
+#define IPC_SOCKET_PATH "/tmp/device_msg.sock"
+#define IPC_BUFFER_SIZE 4096
+
+static int g_ipc_server_fd = -1;
+static pthread_t g_ipc_thread;
+static int g_ipc_running = 0;
+
+static void *ipc_server_thread(void *arg);
+
+int ipc_start_unix_server(const char *socket_path) {
+    if (g_ipc_running) {
+        return 0;
+    }
+
+    const char *path = socket_path ? socket_path : IPC_SOCKET_PATH;
+
+    g_ipc_server_fd = socket(AF_UNIX, SOCK_STREAM, 0);
+    if (g_ipc_server_fd < 0) {
+        my_zlog_error("unix socket 创建失败");
+        return -1;
+    }
+
+    struct sockaddr_un addr;
+    memset(&addr, 0, sizeof(addr));
+    addr.sun_family = AF_UNIX;
+    strncpy(addr.sun_path, path, sizeof(addr.sun_path) - 1);
+
+    unlink(path);
+    if (bind(g_ipc_server_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+        my_zlog_error("unix socket 绑定失败");
+        close(g_ipc_server_fd);
+        g_ipc_server_fd = -1;
+        return -1;
+    }
+
+    // 设置 socket 文件权限为 0777，允许所有用户读写
+    if (chmod(path, 0777) < 0) {
+        my_zlog_warn("设置 socket 文件权限失败");
+    }
+
+    if (listen(g_ipc_server_fd, 5) < 0) {
+        my_zlog_error("unix socket 监听失败");
+        close(g_ipc_server_fd);
+        g_ipc_server_fd = -1;
+        return -1;
+    }
+
+    g_ipc_running = 1;
+    if (pthread_create(&g_ipc_thread, NULL, ipc_server_thread, (void *)path) != 0) {
+        my_zlog_error("unix socket 线程创建失败");
+        close(g_ipc_server_fd);
+        g_ipc_server_fd = -1;
+        g_ipc_running = 0;
+        return -1;
+    }
+
+    my_zlog_info("IPC Unix socket 服务已启动: %s", path);
+    return 0;
+}
+
+void ipc_stop_unix_server(void) {
+    if (!g_ipc_running) return;
+
+    g_ipc_running = 0;
+    shutdown(g_ipc_server_fd, SHUT_RDWR);
+    close(g_ipc_server_fd);
+    g_ipc_server_fd = -1;
+    pthread_join(g_ipc_thread, NULL);
+}
+
+static void *ipc_server_thread(void *arg) {
+    char buffer[IPC_BUFFER_SIZE];
+
+    while (g_ipc_running) {
+        int client_fd = accept(g_ipc_server_fd, NULL, NULL);
+        if (client_fd < 0) {
+            if (g_ipc_running) {
+                my_zlog_warn("IPC accept 失败");
+            }
+            continue;
+        }
+
+        ssize_t len = read(client_fd, buffer, sizeof(buffer) - 1);
+        if (len > 0) {
+            buffer[len] = '\0';
+            cJSON *root = cJSON_Parse(buffer);
+            if (root) {
+                device_message_receive(root);
+                cJSON_Delete(root);
+            } else {
+                my_zlog_warn("IPC 收到无效 JSON");
+            }
+        }
+
+        close(client_fd);
+    }
+
+    return NULL;
+}
\ No newline at end of file

modules/ipc/unix_socket_server.h

+#ifndef IPC_UNIX_SOCKET_SERVER_H
+#define IPC_UNIX_SOCKET_SERVER_H
+
+int ipc_start_unix_server(const char *socket_path);
+void ipc_stop_unix_server(void);
+
+#endif
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

@@ -5,240 +5,274 @@
 #include "drivers_common.h"
 #include "modules_common.h"
 
-int g_heartbeat_count=0;//心跳计数
+int g_heartbeat_count = 0; // 心跳计数
 
 /*
-*
-*/
-pthread_mutex_t g_exit_count_mutex = PTHREAD_MUTEX_INITIALIZER;//互斥锁 
-int g_devcontrol_exit_count=0;
+ *
+ */
+pthread_mutex_t g_exit_count_mutex = PTHREAD_MUTEX_INITIALIZER; // 互斥锁
+int g_devcontrol_exit_count = 0;
 
-int g_message_type=0;//接收的mqtt的g_message_type
+int g_message_type = 0; // 接收的mqtt的g_message_type
 
-static unsigned char g_valt[4];//存放mqtt接收的tpye，mode等
+static 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() {
+// 心跳发送格式*5/2
+void heartbeat_send()
+{
 
     static double voltage;
     static double current;
-    voltage=ads1115_read_channel(0)*5/2;
-    current=ads1115_read_channel(1)*5/2;
-    current=(current-voltage)*10;
+    voltage = ads1115_read_channel(0) * 5 / 2;
+    current = ads1115_read_channel(1) * 5 / 2;
+    current = (current - voltage) * 10;
     my_zlog_debug("v:%.2f", voltage);
     my_zlog_debug("i:%.2f", current);
-    
-    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); 
-   
-    if(g_devcontrol_exit_count>5) alarm_control(voltage);//判断电压警报,在不动时候才判断
-    
+
+    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);
+
+    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();
 
-    if(heat_tem() !=0 ) {//获取CPU温度
+    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;
+    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_app2dev_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_AddStringToObject(body, "ip", g_ip_address);                // 发送设备ip
+    cJSON_AddStringToObject(body, "ID", mqtt_topic_app2dev_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_AddNumberToObject(head, "message_type", message);
 
     cJSON_AddItemToObject(root, "body", body);
-    cJSON_AddItemToObject(root, "head",head);
+    cJSON_AddItemToObject(root, "head", head);
 
     char *payload = cJSON_PrintUnformatted(root);
-    
-    my_zlog_debug("%s",payload);
-    for(int i=0;i<g_mqtt_cam_config_t->mqtt_count;i++){
-        mosquitto_publish(g_clients_t[i].mosq, NULL, mqtt_topic_dev2app_number(), strlen(payload), payload, 0, false); 
-        mosquitto_publish(g_clients_t[i].mosq, NULL, mqtt_topic_pure_number(), strlen(payload), payload, 0, false); 
+
+    my_zlog_debug("%s", payload);
+    for (int i = 0; i < g_mqtt_cam_config_t->mqtt_count; i++)
+    {
+        mosquitto_publish(g_clients_t[i].mosq, NULL, mqtt_topic_dev2app_number(), strlen(payload), payload, 0, false);
+        mosquitto_publish(g_clients_t[i].mosq, NULL, mqtt_topic_pure_number(), strlen(payload), payload, 0, false);
     }
-    
-    cJSON_Delete(root);  // 释放 cJSON 对象
+
+    cJSON_Delete(root); // 释放 cJSON 对象
 }
 
-//角度发送
-void angle_mqtt_send() { 
-    static int angle_i=0;
+// 角度发送
+void angle_mqtt_send()
+{
+    static int angle_i = 0;
     cJSON *root = cJSON_CreateObject();
     char TOPIC_send_angle[26];
-    static double prev_angle=0;
+    static double prev_angle = 0;
     static double rounded_angle;
-    rounded_angle =low_pass_filter_360(prev_angle,tank_angle(),0.7);
-    sprintf(TOPIC_send_angle,"dev_rtinfo/%s",mqtt_topic_pure_number());
-    cJSON_AddStringToObject(root, "type","tank_angle");
-    if(rounded_angle>160&&rounded_angle<180){
-        rounded_angle=160;
-    }else if(rounded_angle<200&&rounded_angle>180){
-        rounded_angle=200;
+    rounded_angle = low_pass_filter_360(prev_angle, tank_angle(), 0.7);
+    sprintf(TOPIC_send_angle, "dev_rtinfo/%s", mqtt_topic_pure_number());
+    cJSON_AddStringToObject(root, "type", "tank_angle");
+    if (rounded_angle > 160 && rounded_angle < 180)
+    {
+        rounded_angle = 160;
     }
-    cJSON_AddNumberToObject(root, "angle",rounded_angle);
+    else if (rounded_angle < 200 && rounded_angle > 180)
+    {
+        rounded_angle = 200;
+    }
+    cJSON_AddNumberToObject(root, "angle", rounded_angle);
     char *payload = cJSON_PrintUnformatted(root);
     angle_i++;
-    if(angle_i>=10){
-        my_zlog_debug("%s",payload);
-        prev_angle=tank_angle();
-        angle_i=0;
+    if (angle_i >= 10)
+    {
+        my_zlog_debug("%s", payload);
+        prev_angle = tank_angle();
+        angle_i = 0;
     }
-    if(fabs(rounded_angle) < 1e-8){
+    if (fabs(rounded_angle) < 1e-8)
+    {
         cJSON_Delete(root);
         return;
     }
-    for(int i=0;i<g_mqtt_cam_config_t->mqtt_count;i++){
-        mosquitto_publish(g_clients_t[i].mosq, NULL, TOPIC_send_angle, strlen(payload), payload, 0, false); 
+    for (int i = 0; i < g_mqtt_cam_config_t->mqtt_count; i++)
+    {
+        mosquitto_publish(g_clients_t[i].mosq, NULL, TOPIC_send_angle, strlen(payload), payload, 0, false);
     }
-    
-    cJSON_Delete(root);  // 释放 cJSON 对象  
+
+    cJSON_Delete(root); // 释放 cJSON 对象
 }
 
-//心跳格式，每5s一次心跳
-void mqtt_beat_wirte(){
+// 心跳格式，每5s一次心跳
+void mqtt_beat_wirte()
+{
 
-    if( g_heartbeat_count >= 30) {
+    if (g_heartbeat_count >= 30)
+    {
         heartbeat_send();
-        g_heartbeat_count=0;
+        g_heartbeat_count = 0;
     }
 
-    if(get_tank_angle_count()>2){
-        switch (g_device_type) {
-            case DEVICE_TANK0202:
-            case DEVICE_TANK0203:
-            case DEVICE_TANK0204:
-                angle_mqtt_send();
-                break;
-            default:
-                break;
+    if (get_tank_angle_count() > 2)
+    {
+        switch (g_device_type)
+        {
+        case DEVICE_TANK0202:
+        case DEVICE_TANK0203:
+        case DEVICE_TANK0204:
+            angle_mqtt_send();
+            break;
+        default:
+            break;
         }
         set_tank_angle_count_clear();
-    } 
+    }
 }
 
-//message_type为3，控制pwm  
-void message_3(cJSON *body){
+// 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 ;
+    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 *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)
+    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;
+    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;
+    g_valt[0] = typeTemp;
+    g_valt[1] = modeTemp;
+    g_valt[2] = valTemp;
 
-    my_zlog_debug("typeTemp:%d",g_valt[0]);
-    my_zlog_debug("modeTemp:%d",g_valt[1]);
-    my_zlog_debug("valTemp:%d",g_valt[2]);
+    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_walk_control(g_device_type,g_valt);
-        
+    device_walk_control(g_device_type, g_valt);
 }
 
-void message_4(cJSON *body){//message 为4时候
+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 ;
+    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;
+    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;
+    if (valTemp >= 1)
+    {
+        valTemp = 1;
     }
 
-    g_valt[0]=0;
-    g_valt[1]=pinTemp;
-    g_valt[2]=valTemp;
+    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]);
 
-    my_zlog_debug("pinTemp:%d",g_valt[1]);
-    my_zlog_debug("valTemp:%d",g_valt[2]);
+    device_gpio_control(g_device_type, g_valt[1], g_valt[2]);
 
-    device_gpio_control(g_device_type,g_valt[1],g_valt[2]);
-    
-    tank_shot_stop_control(g_device_type,g_valt[1],g_valt[2]);
+    tank_shot_stop_control(g_device_type, g_valt[1], g_valt[2]);
 }
 
-//当接收到2时候验证
-void message_2_judyverify(cJSON *body){
-    if(VERIFIED_MODE == FALSE) {
+// 当接收到2时候验证
+void message_2_judyverify(cJSON *body)
+{
+    if (VERIFIED_MODE == FALSE)
+    {
         refresh_cam();
         my_zlog_warn("不使用验证");
-        return ;
+        return;
     }
 
     receive_jwt(body);
-   if(g_verify_index == 0) {
-    refresh_cam();   
-   } else {
-    my_zlog_warn("验证不通过");
-   }
+    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){
-    if(VERIFIED_MODE == FALSE) {
+// 当接收到3时候验证
+void message_3_judyverify(cJSON *body)
+{
+    if (VERIFIED_MODE == FALSE)
+    {
         message_3(body);
         my_zlog_warn("不使用验证");
-        return ;
+        return;
     }
-    
+
     receive_jwt(body);
-   if(g_verify_index == 0) {
-    message_3(body);
-   } else {
-    my_zlog_warn("验证不通过");
-   }
+    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){
-    if(VERIFIED_MODE == FALSE) {
+// 当接收到4时候验证
+void message_4_judyverify(cJSON *body)
+{
+    if (VERIFIED_MODE == FALSE)
+    {
         message_4(body);
         my_zlog_warn("不使用验证");
-        return ;
+        return;
     }
-   
-   receive_jwt(body);
-   if(g_verify_index == 0) {
-    message_4(body);
-   } else {
-    my_zlog_warn("验证不通过");
-   }
-}
 
+    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);
+// 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);
@@ -246,15 +280,19 @@ int device_mqttchange_name(cJSON *device_id){
     return 0;
 }
 
-int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
-    
+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)) {
+    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;
         }
 
@@ -262,94 +300,101 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
         g_devcontrol_exit_count = 0;
         pthread_mutex_unlock(&g_exit_count_mutex);
 
-        g_message_type=message_type->valueint;
-        my_zlog_debug("message_type: %d",message_type->valueint);
-        switch(g_message_type){
-            case 2:
-                message_2_judyverify(body); 
-                my_zlog_debug("进入刷新");
-                break;
-            case 3:
-                message_3_judyverify(body);
-                set_self_control_index(false);
-                my_zlog_debug("进入pwm控制");
-                break;
-            case 4:
-                message_4_judyverify(body);
-                set_self_control_index(false);
-                my_zlog_debug("进入引脚控制");
-                break;
-            case 5:
-                audio_wheat_init();
-                audio_speaker_init();
-                my_zlog_debug("执行麦和喇叭命令");
-                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 2007:
-                device_send_saved_wifi();
-                my_zlog_debug("查询已保存wifi和现在已连接WiFi");
-                break;
-            case 2008:
-                device_wifi_rec_sava(body);
-                my_zlog_debug("保存wifi");
-                break;
-            case 2009:
-                device_wifi_rec_delete(body);
-                my_zlog_debug("删除已保存wifi");
-                break;
-            case 2011:
-                int res=system("sudo reboot");//重启香橙派
-                if(res==0) my_zlog_debug("重启成功");
-                break;
-            case 2012:
-                refresh_cam();    
-                my_zlog_debug("刷新成功");
-                break;
-            case 2013:
-                message2013_recverigy_open(body);
-                my_zlog_debug("进入是否需要验证");
-                break;
-            case 2014:
-                control_pthread_function("open");
-                my_zlog_debug("打开控制台推送");
-                break;
-            case 2015:
-                control_pthread_function("close");
-                my_zlog_debug("关闭控制台推送");
-                break;
-            case 2025:
-                receive_self_contorl_mqtt(body);
-                my_zlog_debug("device self comtrol");
-                break;
-            case 2026:
-                receive_self_contorl_date_mqtt(body);
-                my_zlog_info("device self comtrol date save");
-            case 2027:
-                mqtt_audio_tts(body);
-                my_zlog_info("device audio_tts");
-            default:
-                break;
+        g_message_type = message_type->valueint;
+        my_zlog_debug("message_type: %d", message_type->valueint);
+        switch (g_message_type)
+        {
+        case 2:
+            message_2_judyverify(body);
+            my_zlog_debug("进入刷新");
+            break;
+        case 3:
+            message_3_judyverify(body);
+            set_self_control_index(false);
+            my_zlog_debug("进入pwm控制");
+            break;
+        case 4:
+            message_4_judyverify(body);
+            set_self_control_index(false);
+            my_zlog_debug("进入引脚控制");
+            break;
+        case 5:
+            audio_wheat_init();
+            audio_speaker_init();
+            my_zlog_debug("执行麦和喇叭命令");
+            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 2007:
+            device_send_saved_wifi();
+            my_zlog_debug("查询已保存wifi和现在已连接WiFi");
+            break;
+        case 2008:
+            device_wifi_rec_sava(body);
+            my_zlog_debug("保存wifi");
+            break;
+        case 2009:
+            device_wifi_rec_delete(body);
+            my_zlog_debug("删除已保存wifi");
+            break;
+        case 2011:
+            int res = system("sudo reboot"); // 重启香橙派
+            if (res == 0)
+                my_zlog_debug("重启成功");
+            break;
+        case 2012:
+            refresh_cam();
+            my_zlog_debug("刷新成功");
+            break;
+        case 2013:
+            message2013_recverigy_open(body);
+            my_zlog_debug("进入是否需要验证");
+            break;
+        case 2014:
+            control_pthread_function("open");
+            my_zlog_debug("打开控制台推送");
+            break;
+        case 2015:
+            control_pthread_function("close");
+            my_zlog_debug("关闭控制台推送");
+            break;
+        case 2025:
+            receive_self_contorl_mqtt(body);
+            my_zlog_debug("device self comtrol");
+            break;
+        case 2026:
+            receive_self_contorl_date_mqtt(body);
+            my_zlog_info("device self comtrol date save");
+        case 2027:
+            mqtt_audio_tts(body);
+            my_zlog_info("device audio_tts");
+        case 2028:
+            tailscale_control(body);
+            my_zlog_info("tailscale control");
+        default:
+            break;
         }
-    }else return 3;     
- 
+    }
+    else
+        return 3;
+
     return 0;
 }

modules/tailscale_deploy/tailscale_deploy.c

+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <cJSON.h>
+#include "tailscale_deploy.h"
+#include "common.h"
+
+int tailscale_control(cJSON *body) {
+    if (body == NULL) {
+        my_zlog_error("tailscale_control: body is NULL");
+        return -1;
+    }
+
+    cJSON *authkey_json = cJSON_GetObjectItem(body, "authkey");
+    if (!cJSON_IsString(authkey_json) || (authkey_json->valuestring == NULL)) {
+        my_zlog_error("tailscale_control: authkey is missing or invalid");
+        return -2;
+    }
+
+    char *authkey = authkey_json->valuestring;
+
+    if (strcmp(authkey, "stop") == 0) {
+        my_zlog_info("tailscale_control: Stopping Tailscale...");
+        // 尝试停止 tailscale并捕获输出
+        FILE *fp = popen("sudo tailscale down 2>&1", "r");
+        if (fp != NULL) {
+            char buf[256];
+            while (fgets(buf, sizeof(buf), fp) != NULL) {
+                // 去除换行符让日志更整洁
+                size_t len = strlen(buf);
+                if (len > 0 && buf[len-1] == '\n') buf[len-1] = '\0';
+                my_zlog_info("tailscale output: %s", buf);
+            }
+            int ret = pclose(fp);
+            if (WEXITSTATUS(ret) == 0) {
+                 my_zlog_info("tailscale_control: Tailscale stopped successfully");
+            } else {
+                 my_zlog_error("tailscale_control: Failed to stop Tailscale, ret=%d", WEXITSTATUS(ret));
+                 return -3;
+            }
+        } else {
+             my_zlog_error("tailscale_control: Failed to execute stop command");
+             return -3;
+        }
+
+    } else {
+        // 检查 tailscale 是否安装
+        if (system("which tailscale > /dev/null 2>&1") != 0) {
+            my_zlog_info("tailscale_control: Tailscale not found. Installing...");
+            // 安装 tailscale
+            int install_ret = system("curl -fsSL https://tailscale.com/install.sh | sh");
+            if (install_ret != 0) {
+                my_zlog_error("tailscale_control: Failed to install Tailscale, ret=%d", install_ret);
+                return -4;
+            }
+            // 用户要求不开机自启，因此先 disable
+            system("sudo systemctl disable tailscaled > /dev/null 2>&1");
+            my_zlog_info("tailscale_control: Tailscale installed successfully");
+        }
+
+        // 确保服务已启动
+        system("sudo systemctl start tailscaled > /dev/null 2>&1");
+
+        // 启动 tailscale
+        char cmd[512];
+        snprintf(cmd, sizeof(cmd), "sudo tailscale up --authkey %s --hostname orangepi-01 2>&1", authkey);
+        
+        my_zlog_info("tailscale_control: Starting Tailscale...");
+        
+        FILE *fp_up = popen(cmd, "r");
+        if (fp_up != NULL) {
+             char buf[256];
+             while (fgets(buf, sizeof(buf), fp_up) != NULL) {
+                size_t len = strlen(buf);
+                if (len > 0 && buf[len-1] == '\n') buf[len-1] = '\0';
+                my_zlog_info("tailscale up output: %s", buf);
+             }
+             int start_ret = pclose(fp_up);
+             if (WEXITSTATUS(start_ret) == 0) {
+                my_zlog_info("tailscale_control: Tailscale started successfully");
+             } else {
+                my_zlog_error("tailscale_control: Failed to start Tailscale, ret=%d", WEXITSTATUS(start_ret));
+                return -5;
+             }
+        } else {
+             my_zlog_error("tailscale_control: Failed to execute start command");
+             return -5;
+        }
+    }
+
+    return 0;
+}

modules/tailscale_deploy/tailscale_deploy.h

+#ifndef TAILSCALE_DEPLOY_H
+#define TAILSCALE_DEPLOY_H
+
+#include <cJSON.h>
+
+int tailscale_control(cJSON *body);
+
+#endif