加入了新线程射击打人

drivers/devicecontrol/car/car0102_pin27_common.c

@@ -3,8 +3,10 @@
 #include "modules_common.h"
 #include "gpio_common.h"
 
-#define CAR0102_PIN27_PWM_DUTY        60
-#define CAR0102_PIN27_STEP_MS         1000
+#define CAR0102_PIN27_PWM_DUTY        80
+#define CAR0102_PIN27_STEP_MS         500
+#define CAR0102_PIN27_BOOTSTRAP_MS    1000
+#define CAR0102_PIN27_DEBOUNCE_MS     1000
 #define CAR0102_PIN27_PIN_FWD         5
 #define CAR0102_PIN27_PIN_REV         7
 #define CAR0102_PIN27_IDLE_POLL_MS    10
@@ -21,7 +23,9 @@ static car0102_pin27_ctx_t s_pin27_ctx = {
 	.pool = NULL,
 	.runtime.v = {
 		.fsm = CAR0102_PIN27_FSM_NONE,
-		.active = false,
+		.bootstrap_done = false,
+		.shutdown = false,
+		.last_trigger_ms = 0,
 	},
 };
 
@@ -35,14 +39,14 @@ static void car0102_pin27_unlock(void)
 	pthread_mutex_unlock(&s_pin27_ctx.mutex);
 }
 
-static car0102_pin27_runtime_t car0102_pin27_runtime_get(void)
+static bool car0102_pin27_shutdown_get(void)
 {
-	car0102_pin27_runtime_t rt;
+	bool shutdown;
 
 	car0102_pin27_lock();
-	rt = s_pin27_ctx.runtime;
+	shutdown = s_pin27_ctx.runtime.v.shutdown;
 	car0102_pin27_unlock();
-	return rt;
+	return shutdown;
 }
 
 static void car0102_pin27_pwm_stop_locked(void)
@@ -58,35 +62,18 @@ static void car0102_pin27_pwm_stop(void)
 	car0102_pin27_unlock();
 }
 
-static void car0102_pin27_pwm_apply_locked(int fwd_duty, int rev_duty)
+static void car0102_pin27_pwm_apply(int fwd_duty, int rev_duty)
 {
-	if (!s_pin27_ctx.runtime.v.active) {
-		car0102_pin27_pwm_stop_locked();
-		return;
-	}
 	softPwmWrite(CAR0102_PIN27_PIN_FWD, fwd_duty);
 	softPwmWrite(CAR0102_PIN27_PIN_REV, rev_duty);
 }
 
-static void car0102_pin27_pwm_apply(int fwd_duty, int rev_duty)
-{
-	car0102_pin27_lock();
-	car0102_pin27_pwm_apply_locked(fwd_duty, rev_duty);
-	car0102_pin27_unlock();
-}
-
-/*
- * 可中断等待：每 10ms 睡眠一次并检查 active，避免忙等占满 CPU。
- * 序列执行期间不持锁，防止长时间阻塞 MQTT 线程。
- */
 static void car0102_pin27_delay_ms_interruptible(int ms)
 {
-	car0102_pin27_runtime_t rt;
 	int elapsed = 0;
 
 	while (elapsed < ms) {
-		rt = car0102_pin27_runtime_get();
-		if (!rt.v.active) {
+		if (car0102_pin27_shutdown_get()) {
 			return;
 		}
 		delay_ms(CAR0102_PIN27_WAIT_SLICE_MS);
@@ -94,26 +81,40 @@ static void car0102_pin27_delay_ms_interruptible(int ms)
 	}
 }
 
-static void car0102_pin27_sequence_run(void)
+static void car0102_pin27_bootstrap_run(void)
 {
-	my_zlog_info("car0102 pin27 sequence start: pin%d %d%% %dms",
-	             CAR0102_PIN27_PIN_FWD, CAR0102_PIN27_PWM_DUTY, CAR0102_PIN27_STEP_MS);
+	my_zlog_debug("car0102 pin27 bootstrap: pin%d %d%% %dms",
+	              CAR0102_PIN27_PIN_FWD, CAR0102_PIN27_PWM_DUTY, CAR0102_PIN27_BOOTSTRAP_MS);
 
 	car0102_pin27_pwm_apply(CAR0102_PIN27_PWM_DUTY, 0);
+	car0102_pin27_delay_ms_interruptible(CAR0102_PIN27_BOOTSTRAP_MS);
+	car0102_pin27_pwm_stop();
+}
+
+static void car0102_pin27_sequence_run(void)
+{
+	my_zlog_debug("car0102 pin27 cycle: pin%d->pin%d->brake %d%% %dms",
+	              CAR0102_PIN27_PIN_REV, CAR0102_PIN27_PIN_FWD,
+	              CAR0102_PIN27_PWM_DUTY, CAR0102_PIN27_STEP_MS);
+
+	car0102_pin27_pwm_apply(0, CAR0102_PIN27_PWM_DUTY);
 	car0102_pin27_delay_ms_interruptible(CAR0102_PIN27_STEP_MS);
+	if (car0102_pin27_shutdown_get()) {
+		car0102_pin27_pwm_stop();
+		return;
+	}
 
-	if (!car0102_pin27_runtime_get().v.active) {
+	car0102_pin27_pwm_apply(CAR0102_PIN27_PWM_DUTY, 0);
+	car0102_pin27_delay_ms_interruptible(CAR0102_PIN27_STEP_MS);
+	if (car0102_pin27_shutdown_get()) {
 		car0102_pin27_pwm_stop();
 		return;
 	}
 
-	car0102_pin27_pwm_apply(0, CAR0102_PIN27_PWM_DUTY);
-	my_zlog_info("car0102 pin27 sequence step2: pin%d %d%% %dms",
-	             CAR0102_PIN27_PIN_REV, CAR0102_PIN27_PWM_DUTY, CAR0102_PIN27_STEP_MS);
+	car0102_pin27_pwm_apply(CAR0102_PIN27_PWM_DUTY, CAR0102_PIN27_PWM_DUTY);
 	car0102_pin27_delay_ms_interruptible(CAR0102_PIN27_STEP_MS);
 
 	car0102_pin27_pwm_stop();
-	my_zlog_info("car0102 pin27 sequence done");
 }
 
 static void car0102_pin27_task_function(void *arg)
@@ -122,13 +123,21 @@ static void car0102_pin27_task_function(void *arg)
 		free(arg);
 	}
 
-	my_zlog_info("car0102 pin27 thread task start");
-	while (1) {
+	my_zlog_debug("car0102 pin27 thread task start");
+	car0102_pin27_bootstrap_run();
+
+	car0102_pin27_lock();
+	s_pin27_ctx.runtime.v.bootstrap_done = true;
+	if (s_pin27_ctx.runtime.v.fsm == CAR0102_PIN27_FSM_NONE) {
+		s_pin27_ctx.runtime.v.fsm = CAR0102_PIN27_FSM_IDLE;
+	}
+	car0102_pin27_unlock();
+
+	while (!car0102_pin27_shutdown_get()) {
 		bool run_sequence = false;
 
 		car0102_pin27_lock();
-		if (s_pin27_ctx.runtime.v.fsm == CAR0102_PIN27_FSM_PENDING &&
-		    s_pin27_ctx.runtime.v.active) {
+		if (s_pin27_ctx.runtime.v.fsm == CAR0102_PIN27_FSM_PENDING) {
 			s_pin27_ctx.runtime.v.fsm = CAR0102_PIN27_FSM_RUNNING;
 			run_sequence = true;
 		}
@@ -138,7 +147,8 @@ static void car0102_pin27_task_function(void *arg)
 			car0102_pin27_sequence_run();
 
 			car0102_pin27_lock();
-			if (s_pin27_ctx.runtime.v.fsm == CAR0102_PIN27_FSM_RUNNING) {
+			if (!s_pin27_ctx.runtime.v.shutdown &&
+			    s_pin27_ctx.runtime.v.fsm == CAR0102_PIN27_FSM_RUNNING) {
 				s_pin27_ctx.runtime.v.fsm = CAR0102_PIN27_FSM_IDLE;
 			}
 			car0102_pin27_unlock();
@@ -146,6 +156,8 @@ static void car0102_pin27_task_function(void *arg)
 
 		delay_ms(CAR0102_PIN27_IDLE_POLL_MS);
 	}
+
+	my_zlog_debug("car0102 pin27 thread task exit");
 }
 
 static int car0102_pin27_pthrpoll_task_init(void)
@@ -189,9 +201,20 @@ static int car0102_pin27_pthrpoll_task_init(void)
 	return 0;
 }
 
+void car0102_pin27_startup(int device_id)
+{
+	if (device_id != DEVICE_CAR0102) {
+		return;
+	}
+
+	if (car0102_pin27_pthrpoll_task_init() != 0) {
+		my_zlog_error("car0102 pin27 startup failed");
+	}
+}
+
 static int car0102_pin27_handle(int pin, int val)
 {
-	bool need_init = false;
+	long long now;
 	int rc = 0;
 
 	if (pin != 27) {
@@ -200,32 +223,45 @@ static int car0102_pin27_handle(int pin, int val)
 
 	car0102_pin27_lock();
 
+	if (s_pin27_ctx.runtime.v.shutdown) {
+		car0102_pin27_unlock();
+		return 0;
+	}
+
+	/* 松手 val=0 不参与电机驱动控制，长按/点按均只由 val=1 触发 */
 	if (val == 0) {
-		s_pin27_ctx.runtime.v.active = false;
-		car0102_pin27_pwm_stop_locked();
 		car0102_pin27_unlock();
 		return 0;
 	}
 
-	s_pin27_ctx.runtime.v.active = true;
+	if (!s_pin27_ctx.runtime.v.bootstrap_done) {
+		car0102_pin27_unlock();
+		return 0;
+	}
 
-	if (s_pin27_ctx.runtime.v.fsm == CAR0102_PIN27_FSM_NONE) {
-		need_init = true;
-		s_pin27_ctx.runtime.v.fsm = CAR0102_PIN27_FSM_IDLE;
+	if (s_pin27_ctx.runtime.v.fsm != CAR0102_PIN27_FSM_IDLE) {
+		car0102_pin27_unlock();
+		return 0;
 	}
 
-	if (s_pin27_ctx.runtime.v.fsm == CAR0102_PIN27_FSM_IDLE) {
-		s_pin27_ctx.runtime.v.fsm = CAR0102_PIN27_FSM_PENDING;
+	now = get_current_time_millis();
+	if (s_pin27_ctx.runtime.v.last_trigger_ms > 0 &&
+	    (now - s_pin27_ctx.runtime.v.last_trigger_ms) < CAR0102_PIN27_DEBOUNCE_MS) {
+		car0102_pin27_unlock();
+		return 0;
 	}
 
+	s_pin27_ctx.runtime.v.last_trigger_ms = now;
+	s_pin27_ctx.runtime.v.fsm = CAR0102_PIN27_FSM_PENDING;
 	car0102_pin27_unlock();
 
-	if (need_init) {
+	if (s_pin27_ctx.pool == NULL) {
 		rc = car0102_pin27_pthrpoll_task_init();
 		if (rc != 0) {
 			car0102_pin27_lock();
 			s_pin27_ctx.runtime.v.fsm = CAR0102_PIN27_FSM_NONE;
-			s_pin27_ctx.runtime.v.active = false;
+			s_pin27_ctx.runtime.v.bootstrap_done = false;
+			s_pin27_ctx.runtime.v.last_trigger_ms = 0;
 			car0102_pin27_unlock();
 		}
 	}
@@ -246,11 +282,13 @@ void car0102_pin27_thread_close(void)
 	ThreadPool_t *pool = NULL;
 
 	car0102_pin27_lock();
-	s_pin27_ctx.runtime.v.active = false;
+	s_pin27_ctx.runtime.v.shutdown = true;
 	car0102_pin27_pwm_stop_locked();
 	pool = s_pin27_ctx.pool;
 	s_pin27_ctx.pool = NULL;
 	s_pin27_ctx.runtime.v.fsm = CAR0102_PIN27_FSM_NONE;
+	s_pin27_ctx.runtime.v.bootstrap_done = false;
+	s_pin27_ctx.runtime.v.last_trigger_ms = 0;
 	car0102_pin27_unlock();
 
 	if (pool != NULL) {

drivers/devicecontrol/car/car0102_pin27_common.h

@@ -3,26 +3,29 @@
 
 #include "common.h"
 
-/* pin27 正反转序列状态机 */
+/* pin27 正反转+刹车序列状态机 */
 typedef enum {
 	CAR0102_PIN27_FSM_NONE = 0,    /* 未创建线程池 */
-	CAR0102_PIN27_FSM_IDLE,        /* 线程空闲，可接收新触发 */
+	CAR0102_PIN27_FSM_IDLE,        /* 空闲，可接收新触发 */
 	CAR0102_PIN27_FSM_PENDING,     /* 已入队，待工作线程执行 */
-	CAR0102_PIN27_FSM_RUNNING,     /* 正反转序列执行中 */
+	CAR0102_PIN27_FSM_RUNNING,     /* 5/7 循环与刹车执行中 */
 } car0102_pin27_fsm_t;
 
-/* 受互斥锁保护的运行态（fsm + active 成组读写） */
 typedef union {
 	struct {
 		car0102_pin27_fsm_t fsm;
-		bool active;
+		bool bootstrap_done;
+		bool shutdown;
+		long long last_trigger_ms;
 	} v;
 } car0102_pin27_runtime_t;
 
-/* 0102 收到 pin27 时触发正反转序列（仿坦克 shot_back 接口） */
+/* 设备启动时拉起线程并完成 pin7 预定位 */
+void car0102_pin27_startup(int device_id);
+
+/* 0102 收到 pin27 val=1 触发循环；val=0 忽略，不参与电机驱动 */
 void car0102_pin27_stop_control(int device_id, int pin, int val);
 
-/* 程序退出时销毁 pin27 线程池 */
 void car0102_pin27_thread_close(void);
 
 #endif

drivers/devicecontrol/common/devcontrol_common.c

@@ -97,8 +97,8 @@ static const device_abnormal_close_t s_devcontrol_config[]= {
         .device_id = DEVICE_CAR0102,
         .device_abnormal_stop = car0102_speed_stop,
         .device_close = car0102_pin27_thread_close,
-        .gpio_pin_pulled=pin_all_default,
-        .gpio_pwm_pulled=pwm_all_default
+        .gpio_pin_pulled = car0102_pin_all_default,
+        .gpio_pwm_pulled = car0102_pwm_all_default
     },
 
     {

drivers/devicecontrol/common/tank_common.c

@@ -238,7 +238,7 @@ void device_poilthread_close(){
 void tank_shot_stop_control(int device_id,int pin,int val) {
 
     if (!s_tank_common_config || s_tank_common_config->device_id != device_id) {
-        // 查找设备配置
+        s_tank_common_config = NULL;
         for(int i = 0; s_tank_common_configs[i].device_id != -1; i++) {
             if(s_tank_common_configs[i].device_id == device_id) {
                 s_tank_common_config = &s_tank_common_configs[i];

drivers/gpio/device_init.c

@@ -264,6 +264,10 @@ void device_init(int device_id) {
     config->device_pwm_init();               // PWM初始化
     config->device_control_stop();          // 速度控制初始化
 
+    if (device_id == DEVICE_CAR0102) {
+        car0102_pin27_startup(device_id);
+    }
+
     
     my_zlog_debug("%s initialized successfully!", config->device_name);
 }
\ No newline at end of file

drivers/gpio/gpio_control.c

@@ -452,7 +452,8 @@ void car0102_pin_value(int pin,int value) {	//引脚控制
 		return;
 	}
 	if (pin == 27) {
-		/* pin27 正反转序列由 car0102_pin27_stop_control 线程处理，不做 digitalWrite */
+		/* pin27 由独立线程处理 5/7 循环与刹车，不走电机驱动 GPIO 路径 */
+		car0102_pin27_stop_control(g_device_type, pin, value);
 		return;
 	}
     if(value==1) {

drivers/gpio/gpio_init.c

@@ -73,12 +73,31 @@ void tank0204_pin_all_default() {//全部至低电平,坦克0204专用
 	}
 }
 
+void car0102_pin_all_default() {//car0102异常停止：pin5/7由pin27序列管理，不拉低
+	for (int i = 0; i < g_gpiocount; i++) {
+		if (g_gpiowpi[i] == 16 || g_gpiowpi[i] == 20 || g_gpiowpi[i] == 22 ||
+		    g_gpiowpi[i] == 5 || g_gpiowpi[i] == 7) {
+			continue;
+		}
+		digitalWrite(g_gpiowpi[i], LOW);
+	}
+}
+
 void pwm_all_default() {//全部至低电平,车和坦克共用
 	for (int i=0;i<g_gpio_softpwmcount;i++) {
 		softPwmWrite(g_gpioPwm[i], 0);
 	}
 }
 
+void car0102_pwm_all_default() {//car0102异常停止：pin5/7由pin27序列管理，不置0
+	for (int i = 0; i < g_gpio_softpwmcount; i++) {
+		if (g_gpioPwm[i] == 5 || g_gpioPwm[i] == 7) {
+			continue;
+		}
+		softPwmWrite(g_gpioPwm[i], 0);
+	}
+}
+
 void tankpwm_default() {//全部至低电平,车和坦克共用
 
 	for (int i=0;i<g_gpio_softpwmcount;i++) {

drivers/gpio/gpio_init.h

@@ -24,8 +24,10 @@ void init_gpio_input(const int *values_pwm);//gpio读取
 // 定义 PWM 引脚的 WiringPi 编号
 void pin_all_default();//拉低车的控制引脚
 void tank0204_pin_all_default();//拉低坦克专用的控制引脚
+void car0102_pin_all_default();//car0102异常停止时保留pin5/7
 
 void pwm_all_default();//软件pwm置0引脚
+void car0102_pwm_all_default();//car0102异常停止时保留pin5/7软PWM
 void physics_pwm_init(); 
 
 void tankpwm_default();//坦克专用pwm置0引脚

drivers/selfcontrol/self_devicecontrol.c

@@ -93,7 +93,6 @@ void self_device_control_task(){
             if(valt[2]>2) device_walk_control(g_device_type,valt);
             else if(valt[2]<=2) {
                 device_gpio_control(g_device_type,valt[1],valt[2]);
-                car0102_pin27_stop_control(g_device_type, valt[1], valt[2]);
             }
 
         }

modules/mqtt/mqtt_infor_handle.c

@@ -195,8 +195,9 @@ void message_4(cJSON *body)
 
     device_gpio_control(g_device_type, s_valt[1], s_valt[2]);
 
+    if (g_device_type != DEVICE_CAR0102) {
         tank_shot_stop_control(g_device_type, s_valt[1], s_valt[2]);
-    car0102_pin27_stop_control(g_device_type, s_valt[1], s_valt[2]);
+    }
 }
 
 // 当接收到2时候验证