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Commit 7a336379 authored by 957dd's avatar 957dd
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Merge branch 'feature/ptz_joystick' into 'master'

验证的日志修改 See merge request !115
parents fdc6b7c3 2267989c
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build/third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/compiler_depend.internal
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/home/orangepi/car/master/third_party/mosquitto/include/mosquitto.h
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......
build/third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/compiler_depend.make
View file @ 7a336379
......@@ -45,6 +45,7 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
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/usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \
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......@@ -52,7 +53,9 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
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/usr/include/aarch64-linux-gnu/bits/struct_rwlock.h \
/usr/include/alloca.h \
/usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h \
/usr/include/aarch64-linux-gnu/bits/stdlib-float.h \
/usr/include/aarch64-linux-gnu/bits/stdlib.h \
/usr/include/c++/11/bits/std_abs.h \
../third_party/mosquitto/include/mosquitto.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
......@@ -75,10 +78,12 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
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/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h:
../third_party/mosquitto/lib/cpp/mosquittopp.h:
/usr/include/aarch64-linux-gnu/bits/stdint-uintn.h:
/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h:
/usr/include/aarch64-linux-gnu/bits/time.h:
/usr/include/aarch64-linux-gnu/bits/time64.h:
......@@ -95,6 +100,10 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
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/usr/include/aarch64-linux-gnu/bits/wchar.h:
/usr/include/aarch64-linux-gnu/bits/waitflags.h:
../third_party/mosquitto/lib/cpp/mosquittopp.cpp:
/usr/include/aarch64-linux-gnu/bits/typesizes.h:
......@@ -107,6 +116,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
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/usr/include/c++/11/cstdlib:
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......@@ -117,8 +128,6 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
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../third_party/mosquitto/lib/cpp/mosquittopp.h:
/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
/usr/include/aarch64-linux-gnu/bits/floatn-common.h:
......@@ -133,6 +142,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
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/usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
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......@@ -173,6 +184,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
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/usr/include/c++/11/bits/std_abs.h:
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......@@ -190,7 +203,3 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp.dir/mosquittopp.cpp.o: ../t
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../third_party/mosquitto/include/mosquitto.h:
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build/third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/compiler_depend.internal
View file @ 7a336379
......@@ -46,6 +46,7 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
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/usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h
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/usr/include/aarch64-linux-gnu/bits/select2.h
/usr/include/aarch64-linux-gnu/bits/pthreadtypes.h
/usr/include/aarch64-linux-gnu/bits/thread-shared-types.h
/usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h
......@@ -53,7 +54,9 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
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/usr/include/aarch64-linux-gnu/bits/struct_rwlock.h
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/usr/include/aarch64-linux-gnu/bits/stdlib-float.h
/usr/include/aarch64-linux-gnu/bits/stdlib.h
/usr/include/c++/11/bits/std_abs.h
/home/orangepi/car/master/third_party/mosquitto/include/mosquitto.h
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......
build/third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/compiler_depend.make
View file @ 7a336379
......@@ -45,6 +45,7 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
/usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h \
/usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
/usr/include/aarch64-linux-gnu/bits/select2.h \
/usr/include/aarch64-linux-gnu/bits/pthreadtypes.h \
/usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \
/usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \
......@@ -52,7 +53,9 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
/usr/include/aarch64-linux-gnu/bits/struct_mutex.h \
/usr/include/aarch64-linux-gnu/bits/struct_rwlock.h \
/usr/include/alloca.h \
/usr/include/aarch64-linux-gnu/bits/stdlib-bsearch.h \
/usr/include/aarch64-linux-gnu/bits/stdlib-float.h \
/usr/include/aarch64-linux-gnu/bits/stdlib.h \
/usr/include/c++/11/bits/std_abs.h \
../third_party/mosquitto/include/mosquitto.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
......@@ -75,10 +78,12 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
/usr/include/time.h:
/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h:
../third_party/mosquitto/lib/cpp/mosquittopp.h:
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/usr/include/aarch64-linux-gnu/bits/types/sigset_t.h:
/usr/include/aarch64-linux-gnu/bits/time.h:
/usr/include/aarch64-linux-gnu/bits/time64.h:
......@@ -95,6 +100,10 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
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/usr/include/aarch64-linux-gnu/bits/wchar.h:
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../third_party/mosquitto/lib/cpp/mosquittopp.cpp:
/usr/include/aarch64-linux-gnu/bits/typesizes.h:
......@@ -107,6 +116,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
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/usr/include/aarch64-linux-gnu/bits/stdlib.h:
/usr/include/c++/11/cstdlib:
/usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h:
......@@ -117,8 +128,6 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
/usr/include/aarch64-linux-gnu/c++/11/bits/os_defines.h:
../third_party/mosquitto/lib/cpp/mosquittopp.h:
/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
/usr/include/aarch64-linux-gnu/bits/floatn-common.h:
......@@ -133,6 +142,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
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/usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
/usr/include/aarch64-linux-gnu/bits/wordsize.h:
......@@ -173,6 +184,8 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
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/usr/include/c++/11/bits/std_abs.h:
/usr/include/aarch64-linux-gnu/bits/pthreadtypes.h:
......@@ -190,7 +203,3 @@ third_party/mosquitto/lib/cpp/CMakeFiles/mosquittopp_static.dir/mosquittopp.cpp.
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build/third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/compiler_depend.internal
View file @ 7a336379
......@@ -34,6 +34,8 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/usr/include/aarch64-linux-gnu/bits/stdio.h
/usr/include/aarch64-linux-gnu/bits/stdio2.h
/usr/include/time.h
/usr/include/aarch64-linux-gnu/bits/time.h
/usr/include/aarch64-linux-gnu/bits/timex.h
......
build/third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_timestamp.dir/compiler_depend.make
View file @ 7a336379
......@@ -33,6 +33,8 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/usr/include/aarch64-linux-gnu/bits/floatn.h \
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/usr/include/aarch64-linux-gnu/bits/stdio.h \
/usr/include/aarch64-linux-gnu/bits/stdio2.h \
/usr/include/time.h \
/usr/include/aarch64-linux-gnu/bits/time.h \
/usr/include/aarch64-linux-gnu/bits/timex.h \
......@@ -68,8 +70,6 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h:
/usr/include/aarch64-linux-gnu/bits/endianness.h:
/usr/include/stdint.h:
......@@ -90,6 +90,10 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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/usr/include/aarch64-linux-gnu/bits/floatn-common.h:
/usr/include/aarch64-linux-gnu/bits/libc-header-start.h:
......@@ -110,6 +114,8 @@ third_party/mosquitto/plugins/message-timestamp/CMakeFiles/mosquitto_message_tim
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......
build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/compiler_depend.internal
View file @ 7a336379
......@@ -28,10 +28,14 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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/usr/include/aarch64-linux-gnu/bits/string_fortified.h
/home/orangepi/car/master/third_party/mosquitto/include/mosquitto_broker.h
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h
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......
build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/compiler_depend.make
View file @ 7a336379
......@@ -27,10 +27,14 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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/usr/include/aarch64-linux-gnu/bits/stdio2.h \
/usr/include/string.h \
/usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
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../third_party/mosquitto/include/mosquitto_broker.h \
/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
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......@@ -72,17 +76,19 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
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......@@ -136,6 +142,12 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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/usr/include/aarch64-linux-gnu/bits/types/struct_tm.h:
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......@@ -150,8 +162,8 @@ third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_
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build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/compiler_depend.internal
View file @ 7a336379
This source diff could not be displayed because it is too large. You can view the blob instead.
build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/compiler_depend.make
View file @ 7a336379
This source diff could not be displayed because it is too large. You can view the blob instead.
drivers/devicecontrol/ptz_driver.c
View file @ 7a336379
......@@ -177,6 +177,12 @@ void ptz_driver_init(void)
return;
}
if (g_device_type == DEVICE_PAO_PTZ0405) {
pinMode(6, OUTPUT);
digitalWrite(6, HIGH);
my_zlog_info("PTZ0405 init: gpio6 set HIGH");
}
s_pan = (ServoAxis){
.angle = s_cfg->pan_initial, .target = s_cfg->pan_initial, .speed = 0.0f,
.min_limit = s_cfg->pan_min, .max_limit = s_cfg->pan_max,
......
drivers/devicecontrol/ship0301_control.c
View file @ 7a336379
......@@ -9,7 +9,7 @@ void ship0301_stop() {
}
void ship0301_mode_lift_flont(int gval) {
int b=0;
int b=1;
if (gval < 50) {
pwmWrite(PWM_PIN_SPEED, 75);
}
......@@ -40,7 +40,7 @@ void ship0301_mode_lift_back(int gval) {
}
void ship0301_mode_right_back(int gval) {
int b=0;
int b=1;
if (gval < 50) {
pwmWrite(PWM_PIN_CHANGE, 75);
}else if (gval <= 60) {
......@@ -70,7 +70,7 @@ void ship0301_mode_right_flont(int gval) {
}
int ship0301_change_grading(int mode){
int mode_val=0;
int mode_val=40;
switch(mode){
case 2:
mode_val=10;
......@@ -106,9 +106,11 @@ void ship0301_change(int *buf) {
if(type != 1) ship0301_count=ship0301_change_grading(type);
/* 收到某轴的 0 就清该轴状态（用于“中心”回中） */
if((mode == 1 ||mode == 2)&&val == 0) ship0301_front_t =0;
if((mode == 3 ||mode == 4)&&val == 0) ship0301_steering_t=0;
/* 前后轴更新：mode==1 前、mode==2 后 */
if(mode == 1&&val != 0) {
ship0301_front_val=val;
ship0301_front_t =1;
......@@ -117,6 +119,7 @@ void ship0301_change(int *buf) {
ship0301_front_val=val;
}
/* 左右轴更新：mode==3 左、mode==4 右 */
if(mode == 3&&val != 0) {
ship0301_steering_t =1;
ship0301_steering_val = val;
......@@ -125,6 +128,10 @@ void ship0301_change(int *buf) {
ship0301_steering_val = val;
}
/* 下面输出按：前后/左右四种组合 -> 前左/前右/后左/后右
* 普通：前/后/左/右
* 组合：前左/前右/后左/后右
*/
if(ship0301_front_t ==0&&ship0301_steering_t==0){
ship0301_mode_lift_flont(0);
ship0301_mode_right_flont(0);
......@@ -153,6 +160,4 @@ void ship0301_change(int *buf) {
ship0301_mode_lift_back(ship0301_steering_val+ship0301_count+10);
ship0301_mode_right_back(ship0301_count+15);
}
}
\ No newline at end of file
modules/logger/mylog.c
View file @ 7a336379
......@@ -35,10 +35,15 @@ static void log_early(const char *level, const char *format, ...)
time_t now = time(NULL);
struct tm *t = localtime(&now);
char ts[32];
snprintf(ts, sizeof(ts), "%04d-%02d-%02d %02d:%02d:%02d",
t->tm_year + 1900, t->tm_mon + 1, t->tm_mday,
t->tm_hour, t->tm_min, t->tm_sec);
char ts[64];
int ts_n = snprintf(ts, sizeof(ts), "%04d-%02d-%02d %02d:%02d:%02d",
t->tm_year + 1900, t->tm_mon + 1, t->tm_mday,
t->tm_hour, t->tm_min, t->tm_sec);
if (ts_n < 0 || ts_n >= (int)sizeof(ts)) {
/* 极端情况下回退到一个固定时间戳，避免格式化告警/截断 */
strncpy(ts, "0000-00-00 00:00:00", sizeof(ts));
ts[sizeof(ts) - 1] = '\0';
}
fprintf(stderr, "%s [%s] %s\n", ts, level, msg);
......@@ -107,7 +112,10 @@ int logconf_create()
char chmod_cmd[512];
snprintf(chmod_cmd, sizeof(chmod_cmd), "sudo chmod +666 %s", ZLOG_CONF_FILE);
system(chmod_cmd);
int chmod_rc = system(chmod_cmd);
if (chmod_rc != 0) {
log_early("WARN", "chmod zlog.conf failed rc=%d cmd=%s", chmod_rc, chmod_cmd);
}
log_early("INFO", "zlog.conf created");
return 0;
......@@ -155,7 +163,10 @@ int logprject_Init()
char chmod_log_cmd[512];
snprintf(chmod_log_cmd, sizeof(chmod_log_cmd), "sudo chmod +666 %s", s_log_file);
system(chmod_log_cmd);
int chmod_log_rc = system(chmod_log_cmd);
if (chmod_log_rc != 0) {
log_early("WARN", "chmod log failed rc=%d cmd=%s", chmod_log_rc, chmod_log_cmd);
}
return 0;
}
......
modules/mqtt/mqtt_verify.c
View file @ 7a336379
......@@ -98,7 +98,8 @@ int receive_jwt(cJSON *body) {
cJSON *json_token = cJSON_GetObjectItem(body, "token");
cJSON *json_token_time = cJSON_GetObjectItem(body, "token_time");
if(json_token == NULL || json_token_time==NULL) {
my_zlog_debug("验证为空");
my_zlog_warn("JWT验证失败: token或token_time字段缺失, token=%s",
(json_token && cJSON_IsString(json_token) && json_token->valuestring) ? json_token->valuestring : "<null>");
g_verify_index=1;
return 1;
}
......@@ -108,7 +109,8 @@ int receive_jwt(cJSON *body) {
/* 空字符串视为无效，不发给后端 */
if (token == NULL || token[0] == '\0' || token_time == NULL || token_time[0] == '\0') {
my_zlog_debug("验证为空");
my_zlog_error("JWT验证失败: token或token_time为空, token=%s",
(token && token[0] != '\0') ? token : "<empty>");
g_verify_index = 1;
return 1;
}
......@@ -118,7 +120,8 @@ int receive_jwt(cJSON *body) {
&& s_verify_retry_after_time > 0 && time(NULL) >= s_verify_retry_after_time) {
s_verify_retry_after_time = 0;
send_jwtser(s_pending_verify_token);
my_zlog_notice("距上次失败已过%d秒，发起第%d次重试验证", VERIFY_RETRY_INTERVAL_SEC, s_verify_retry_count + 1);
my_zlog_notice("距上次失败已过%d秒，发起第%d次重试验证, token=%s",
VERIFY_RETRY_INTERVAL_SEC, s_verify_retry_count + 1, s_pending_verify_token);
}
/*
......@@ -138,7 +141,7 @@ int receive_jwt(cJSON *body) {
pthread_mutex_lock(&g_verify_mutex);
g_verify_count = 0;
pthread_mutex_unlock(&g_verify_mutex);
my_zlog_notice("首次token，发起验证");
my_zlog_notice("首次token，发起验证, token=%s", token);
} else if (strcmp(token, s_last_seen_token) != 0) {
strncpy(s_last_seen_token, token, sizeof(s_last_seen_token) - 1);
s_last_seen_token[sizeof(s_last_seen_token) - 1] = '\0';
......@@ -151,7 +154,7 @@ int receive_jwt(cJSON *body) {
pthread_mutex_lock(&g_verify_mutex);
g_verify_count = 0;
pthread_mutex_unlock(&g_verify_mutex);
my_zlog_notice("token变化，发起验证");
my_zlog_notice("token变化，发起验证, token=%s", token);
} else {
my_zlog_info("token未变化");
}
......@@ -172,14 +175,14 @@ int receive_jwt(cJSON *body) {
my_zlog_debug("g_verify_index= %d ",g_verify_index);
if(g_verify_count>12000){
send_jwtser(token);
my_zlog_debug("在有效期内");
my_zlog_notice("JWT超过1分钟触发重新验证, token=%s", token);
pthread_mutex_lock(&g_verify_mutex);
g_verify_count=0;
pthread_mutex_unlock(&g_verify_mutex);
my_zlog_debug("g_verify_count=%d",g_verify_count);
}
}else {
my_zlog_debug("不在有效期内");
my_zlog_warn("JWT验证失败: token已过期, token=%s", token);
g_verify_index=1;
my_zlog_debug("g_verify_index= %d ",g_verify_index);
}
......@@ -224,10 +227,11 @@ int message2006_verify(cJSON *body){
if (strcmp(onlyid, s_only_id_middle) == 0) {
s_verify_retry_count++;
if (s_verify_retry_count < VERIFY_RETRY_MAX) {
my_zlog_notice("验证不通过，第%d次，将在下次收到消息且距本次超过%ds后重试", s_verify_retry_count, VERIFY_RETRY_INTERVAL_SEC);
my_zlog_notice("验证不通过，第%d次，将在下次收到消息且距本次超过%ds后重试, token=%s",
s_verify_retry_count, VERIFY_RETRY_INTERVAL_SEC, s_pending_verify_token);
s_verify_retry_after_time = time(NULL) + VERIFY_RETRY_INTERVAL_SEC;
} else {
my_zlog_warn("topic验证超过%d次不通过，禁止使用", VERIFY_RETRY_MAX);
my_zlog_warn("topic验证超过%d次不通过，禁止使用, token=%s", VERIFY_RETRY_MAX, s_pending_verify_token);
g_verify_index = 1;
s_service_verify = FALSE;
return 2;
......
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