Merge branch 'feature/add_water_tank' into 'master'

app/device_identity/device_identity.c

@@ -95,7 +95,8 @@ int hash_insert_init(HashTable_t *HashTable_t) {
     insert(HashTable_t, "0104", CAR_0104);
     insert(HashTable_t, "0201", TANK_0201);
     insert(HashTable_t, "0202", TANK_0202);
-    insert(HashTable_t, "0203", TANK_0203);   
+    insert(HashTable_t, "0203", TANK_0203);
+    insert(HashTable_t, "0206", TANK_0206);   
     insert(HashTable_t, "0301", SHIP_0301);
     insert(HashTable_t, "0401", PAO_0401);
 }
@@ -103,22 +104,25 @@ int hash_insert_init(HashTable_t *HashTable_t) {
 int device_judg(CodeEnum_t code,char *sub_str) {
     if (code == CAR_0101) {
        device_init(DEVICE_CAR0101);
-        my_zlog_info("使用型号%s",sub_str);
+        my_zlog_info("使用大车，型号%s",sub_str);
     }else if(code == CAR_0102) {
         device_init(DEVICE_CAR0102);
-        my_zlog_info("使用型号%s",sub_str);
+        my_zlog_info("使用小车，型号%s",sub_str);
     }else if(code == CAR_0103) {
         device_init(DEVICE_CAR0103);
-        my_zlog_info("使用型号%s",sub_str);
+        my_zlog_info("使用挖掘机，型号%s",sub_str);
     }else if(code == CAR_0104) {
         device_init(DEVICE_CAR0104);
-        my_zlog_info("使用型号%s",sub_str);
+        my_zlog_info("使用推土机，使用型号%s",sub_str);
     }else if(code == TANK_0202) {
         device_init(DEVICE_TANK0202);
         my_zlog_info("使用型号%s",sub_str);
     }else if(code == TANK_0203) {
         device_init(DEVICE_TANK0203);
-        my_zlog_info("使用型号%s",sub_str);
+        my_zlog_info("使用M1A2坦克，型号%s",sub_str);
+    }else if(code == TANK_0206) {
+        device_init(DEVICE_TANK0206);
+        my_zlog_info("使用水坦克，型号%s",sub_str);
     }else if(code ==PAO_0401) {
         device_init(DEVICE_PAO_PTZ0401);
         my_zlog_info("使用型号%s",sub_str);   

app/device_identity/device_identity.h

@@ -15,6 +15,7 @@ typedef enum {
     TANK_0201,
     TANK_0202,
     TANK_0203,
+    TANK_0206,
     SHIP_0301,
     PAO_0401
 } CodeEnum_t;

app/main/pthread_open.c

@@ -82,10 +82,17 @@ void *thread_mqtt_beat(void *arg) {
 }
 
 void *thread_open_browser(void *arg) { 
+    system("pkill  chromium");
+    delay_s(3);
     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 
+            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);
     }

build/Makefile

@@ -702,6 +702,30 @@ drivers/devicecontrol/tank0203_control.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0203_control.c.s
 .PHONY : drivers/devicecontrol/tank0203_control.c.s
 
+drivers/devicecontrol/tank0206_control.o: drivers/devicecontrol/tank0206_control.c.o
+.PHONY : drivers/devicecontrol/tank0206_control.o
+
+# target to build an object file
+drivers/devicecontrol/tank0206_control.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0206_control.c.o
+.PHONY : drivers/devicecontrol/tank0206_control.c.o
+
+drivers/devicecontrol/tank0206_control.i: drivers/devicecontrol/tank0206_control.c.i
+.PHONY : drivers/devicecontrol/tank0206_control.i
+
+# target to preprocess a source file
+drivers/devicecontrol/tank0206_control.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0206_control.c.i
+.PHONY : drivers/devicecontrol/tank0206_control.c.i
+
+drivers/devicecontrol/tank0206_control.s: drivers/devicecontrol/tank0206_control.c.s
+.PHONY : drivers/devicecontrol/tank0206_control.s
+
+# target to generate assembly for a file
+drivers/devicecontrol/tank0206_control.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/tank0206_control.c.s
+.PHONY : drivers/devicecontrol/tank0206_control.c.s
+
 drivers/devicecontrol/tank_common.o: drivers/devicecontrol/tank_common.c.o
 .PHONY : drivers/devicecontrol/tank_common.o
 
@@ -1780,6 +1804,9 @@ help:
 	@echo "... drivers/devicecontrol/tank0203_control.o"
 	@echo "... drivers/devicecontrol/tank0203_control.i"
 	@echo "... drivers/devicecontrol/tank0203_control.s"
+	@echo "... drivers/devicecontrol/tank0206_control.o"
+	@echo "... drivers/devicecontrol/tank0206_control.i"
+	@echo "... drivers/devicecontrol/tank0206_control.s"
 	@echo "... drivers/devicecontrol/tank_common.o"
 	@echo "... drivers/devicecontrol/tank_common.i"
 	@echo "... drivers/devicecontrol/tank_common.s"

build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

@@ -3,8 +3,8 @@ CMAKE_PROGRESS_2 =
 CMAKE_PROGRESS_3 = 
 CMAKE_PROGRESS_4 = 81
 CMAKE_PROGRESS_5 = 
-CMAKE_PROGRESS_6 = 
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+CMAKE_PROGRESS_7 = 
 CMAKE_PROGRESS_8 = 
 CMAKE_PROGRESS_9 = 83
 CMAKE_PROGRESS_10 = 

build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/mosquitto_passwd.dir/progress.make

 CMAKE_PROGRESS_1 = 
 CMAKE_PROGRESS_2 = 90
 CMAKE_PROGRESS_3 = 
-CMAKE_PROGRESS_4 = 
-CMAKE_PROGRESS_5 = 91
+CMAKE_PROGRESS_4 = 91
+CMAKE_PROGRESS_5 = 
 CMAKE_PROGRESS_6 = 
 CMAKE_PROGRESS_7 = 92
 

build/third_party/mosquitto/lib/CMakeFiles/libmosquitto.dir/progress.make

@@ -20,8 +20,8 @@ CMAKE_PROGRESS_19 =
 CMAKE_PROGRESS_20 = 
 CMAKE_PROGRESS_21 = 8
 CMAKE_PROGRESS_22 = 
-CMAKE_PROGRESS_23 = 9
-CMAKE_PROGRESS_24 = 
+CMAKE_PROGRESS_23 = 
+CMAKE_PROGRESS_24 = 9
 CMAKE_PROGRESS_25 = 
 CMAKE_PROGRESS_26 = 10
 CMAKE_PROGRESS_27 = 

build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

 CMAKE_PROGRESS_1 = 
 CMAKE_PROGRESS_2 = 17
 CMAKE_PROGRESS_3 = 
-CMAKE_PROGRESS_4 = 18
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+CMAKE_PROGRESS_4 = 
+CMAKE_PROGRESS_5 = 18
 CMAKE_PROGRESS_6 = 
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@@ -12,8 +12,8 @@ CMAKE_PROGRESS_11 =
 CMAKE_PROGRESS_12 = 
 CMAKE_PROGRESS_13 = 21
 CMAKE_PROGRESS_14 = 
-CMAKE_PROGRESS_15 = 22
-CMAKE_PROGRESS_16 = 
+CMAKE_PROGRESS_15 = 
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 CMAKE_PROGRESS_17 = 
 CMAKE_PROGRESS_18 = 23
 CMAKE_PROGRESS_19 = 
@@ -26,8 +26,8 @@ CMAKE_PROGRESS_25 =
 CMAKE_PROGRESS_26 = 
 CMAKE_PROGRESS_27 = 26
 CMAKE_PROGRESS_28 = 
-CMAKE_PROGRESS_29 = 27
-CMAKE_PROGRESS_30 = 
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 CMAKE_PROGRESS_31 = 
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 CMAKE_PROGRESS_33 = 
@@ -37,8 +37,8 @@ CMAKE_PROGRESS_36 =
 CMAKE_PROGRESS_37 = 
 CMAKE_PROGRESS_38 = 30
 CMAKE_PROGRESS_39 = 
-CMAKE_PROGRESS_40 = 31
-CMAKE_PROGRESS_41 = 
+CMAKE_PROGRESS_40 = 
+CMAKE_PROGRESS_41 = 31
 CMAKE_PROGRESS_42 = 
 CMAKE_PROGRESS_43 = 32
 CMAKE_PROGRESS_44 = 

build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/progress.make

@@ -3,11 +3,11 @@ CMAKE_PROGRESS_2 =
 CMAKE_PROGRESS_3 = 
 CMAKE_PROGRESS_4 = 54
 CMAKE_PROGRESS_5 = 
-CMAKE_PROGRESS_6 = 
-CMAKE_PROGRESS_7 = 55
+CMAKE_PROGRESS_6 = 55
+CMAKE_PROGRESS_7 = 
 CMAKE_PROGRESS_8 = 
-CMAKE_PROGRESS_9 = 
-CMAKE_PROGRESS_10 = 56
+CMAKE_PROGRESS_9 = 56
+CMAKE_PROGRESS_10 = 
 CMAKE_PROGRESS_11 = 
 CMAKE_PROGRESS_12 = 57
 CMAKE_PROGRESS_13 = 
@@ -17,8 +17,8 @@ CMAKE_PROGRESS_16 =
 CMAKE_PROGRESS_17 = 
 CMAKE_PROGRESS_18 = 59
 CMAKE_PROGRESS_19 = 
-CMAKE_PROGRESS_20 = 
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+CMAKE_PROGRESS_21 = 
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 CMAKE_PROGRESS_24 = 
@@ -28,11 +28,11 @@ CMAKE_PROGRESS_27 =
 CMAKE_PROGRESS_28 = 
 CMAKE_PROGRESS_29 = 63
 CMAKE_PROGRESS_30 = 
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-CMAKE_PROGRESS_32 = 64
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+CMAKE_PROGRESS_32 = 
 CMAKE_PROGRESS_33 = 
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+CMAKE_PROGRESS_34 = 65
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@@ -42,8 +42,8 @@ CMAKE_PROGRESS_41 =
 CMAKE_PROGRESS_42 = 
 CMAKE_PROGRESS_43 = 68
 CMAKE_PROGRESS_44 = 
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 CMAKE_PROGRESS_53 = 
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 CMAKE_PROGRESS_55 = 
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 CMAKE_PROGRESS_58 = 
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@@ -67,8 +67,8 @@ CMAKE_PROGRESS_66 =
 CMAKE_PROGRESS_67 = 
 CMAKE_PROGRESS_68 = 77
 CMAKE_PROGRESS_69 = 
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 CMAKE_PROGRESS_72 = 
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 CMAKE_PROGRESS_74 = 

drivers/devicecontrol/car0104_control.c

@@ -173,13 +173,13 @@ void  car0104_change(unsigned char *buf) {
     unsigned char val = buf[2];
 	
     if(mode == 1 ) {
-        car0104_flont(val);
+        car0104_flont(val+25);
     }else if(mode == 2 ) {
-        car0104_back(val);
+        car0104_back(val+25);
     }else if(mode == 3) {
-		car0104_lift(val+20);
+		car0104_lift(90);
     }else if(mode == 4) {
-		car0104_right(val+20);   
+		car0104_right(90);   
     }
     
 }

drivers/devicecontrol/devcontrol_common.c

@@ -27,6 +27,10 @@ const device_didrive device_didrive_control_config_t[]={
         .device_id = DEVICE_TANK0203,
         .device_didrive_control = tank0203_change
     },
+     {
+        .device_id = DEVICE_TANK0206,
+        .device_didrive_control = tank0206_change
+    },
         {
         .device_id = DEVICE_PAO_PTZ0401,
         .device_didrive_control = PTZ_pwm_change
@@ -81,6 +85,14 @@ const device_abnormal_close_t devcontrol_config_t[]= {
     },
 
     {
+        .device_id = DEVICE_TANK0206,
+        .device_abnormal_stop = tank0206_middle,
+        .device_close = tank_thread_close,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
+    },
+
+    {
         .device_id = DEVICE_PAO_PTZ0401,
         .device_abnormal_stop = PTZ_pwm_init,
         .gpio_pin_pulled=pin_all_default,
@@ -102,7 +114,7 @@ void device_stop(int device_id) {
     }
     
     if(!config) {
-        my_zlog_error("Error: Device stop ID %d not found!\n", device_id);
+        my_zlog_error("Error: Device stop ID %d not found!", device_id);
         return;
     }
     
@@ -124,7 +136,7 @@ void device_end_close(int device_id) {
     }
     
     if(!config) {
-        my_zlog_error("Error: Device close  ID %d not found!\n", device_id);
+        my_zlog_error("Error: Device close  ID %d not found!", device_id);
         return;
     }
     
@@ -145,7 +157,7 @@ void device_walk_control(int device_id,unsigned char *valt) {
     }
     
     if(!config) {
-        my_zlog_error("Error: Device close  ID %d not found!\n", device_id);
+        my_zlog_error("Error: Device close  ID %d not found!", device_id);
         return;
     }
     

drivers/devicecontrol/tank0202_control.h

@@ -7,6 +7,4 @@ void tank0202_middle();
 
 void  tank0202_change(unsigned char *buf);
 
-/*销毁坦克使用的线程池，让其正常销毁，只有在tank0202设备号下才有用*/
-void tank0202_thread_close();
 #endif
\ No newline at end of file

drivers/devicecontrol/tank0203_control.h

@@ -7,6 +7,4 @@ void tank0203_middle();
 
 void  tank0203_change(unsigned char *buf);
 
-/*销毁坦克使用的线程池，让其正常销毁，只有在tank0202设备号下才有用*/
-void tank0203_thread_close();
 #endif
\ No newline at end of file

drivers/devicecontrol/tank0206_control.c

+#include "common.h"
+#include "gpio_init.h"
+#include "pthrpoll.h"
+#include "tank0206_control.h"
+
+void tank0206_middle() {
+    pwmWrite(PWM_PIN_SPEED,75);
+    pwmWrite(PWM_PIN_CHANGE,75);
+}
+
+void tank0206_mode_lift_flont(unsigned char gval) {
+   if (gval < 50) {
+		pwmWrite(PWM_PIN_SPEED, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_SPEED, 76);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_SPEED, 77);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_SPEED, 78);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 79);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_SPEED, 80);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 81);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 82);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_SPEED, 83);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_SPEED, 84);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_SPEED, 85);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_SPEED, 86);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_SPEED, 87);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_SPEED, 88);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_SPEED, 89);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_SPEED, 90);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_SPEED, 91);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_SPEED, 94);
+	} 
+}
+
+void tank0206_mode_lift_back(unsigned char gval) {
+	if (gval < 50) {
+		pwmWrite(PWM_PIN_SPEED, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_SPEED, 74);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_SPEED, 73);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_SPEED, 72);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_SPEED, 71);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_SPEED, 70);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_SPEED, 69);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_SPEED, 68);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_SPEED, 67);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_SPEED, 66);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_SPEED, 65);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_SPEED, 64);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_SPEED, 63);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_SPEED, 62);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_SPEED, 61);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_SPEED, 60);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_SPEED, 59);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_SPEED, 56);
+	}    
+}
+
+void tank0206_mode_right_flont(unsigned char gval) {
+   if (gval < 50) {
+		pwmWrite(PWM_PIN_CHANGE, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_CHANGE, 76);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_CHANGE, 77);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_CHANGE, 78);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_CHANGE, 79);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_CHANGE, 80);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_CHANGE, 81);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_CHANGE, 82);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_CHANGE, 83);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_CHANGE, 84);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_CHANGE, 85);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_CHANGE, 86);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_CHANGE, 87);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_CHANGE, 88);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_CHANGE, 89);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_CHANGE, 90);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_CHANGE, 91);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_CHANGE, 94);
+	} 
+}
+
+void tank0206_mode_right_back(unsigned char gval) {
+	if (gval < 50) {
+		pwmWrite(PWM_PIN_CHANGE, 75);
+	} else if (gval <= 55) {
+		pwmWrite(PWM_PIN_CHANGE, 74);
+	} else if (gval <= 60) {
+		pwmWrite(PWM_PIN_CHANGE, 73);
+	} else if (gval <= 65) {
+		pwmWrite(PWM_PIN_CHANGE, 72);
+	} else if (gval <= 70) {
+		pwmWrite(PWM_PIN_CHANGE, 71);
+	} else if (gval <= 75) {
+		pwmWrite(PWM_PIN_CHANGE, 70);
+	} else if (gval <= 90) {
+		pwmWrite(PWM_PIN_CHANGE, 69);
+	} else if (gval <= 100) {
+		pwmWrite(PWM_PIN_CHANGE, 68);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_CHANGE, 67);
+	} else if (gval <= 120) {
+		pwmWrite(PWM_PIN_CHANGE, 66);
+	} else if (gval <= 130) {
+		pwmWrite(PWM_PIN_CHANGE, 65);
+	} else if (gval <= 140) {
+		pwmWrite(PWM_PIN_CHANGE, 64);
+	} else if (gval <= 150) {
+		pwmWrite(PWM_PIN_CHANGE, 63);
+	} else if (gval <= 160) {
+		pwmWrite(PWM_PIN_CHANGE, 62);
+	} else if (gval <= 170) {
+		pwmWrite(PWM_PIN_CHANGE, 61);
+	} else if (gval <= 180) {
+		pwmWrite(PWM_PIN_CHANGE, 60);
+	} else if (gval <= 190) {
+		pwmWrite(PWM_PIN_CHANGE, 59);
+	} else if (gval <= 200) {
+		pwmWrite(PWM_PIN_CHANGE, 55);
+	}    
+}
+
+void   tank0206_change(unsigned char *buf) {
+    unsigned char mode = buf[1];
+    unsigned char val = buf[2];
+	static int modecount_tank0206=0;
+	
+    if(mode == 1 ) {
+        //tank0203_mode_lift_flont(val);
+        tank0206_mode_right_flont(val);
+		modecount_tank0206=0;
+    }else if(mode == 2 ) {
+        //tank0203_mode_lift_back(val);
+        tank0206_mode_right_back(val);
+		modecount_tank0206=1;
+    }
+	
+	if((mode == 1||mode ==2)&&val == 0) modecount_tank0206=0;
+
+	if(mode == 3) {
+		if(modecount_tank0206 == 0) tank0206_mode_lift_flont(val+10);
+        if(modecount_tank0206 == 1) tank0206_mode_lift_back(val+10);
+
+    }else if(mode == 4) {
+        if(modecount_tank0206 == 0) tank0206_mode_lift_back(val+10);
+        if(modecount_tank0206 == 1) tank0206_mode_lift_flont(val+10);
+    }
+    
+}
+    
+
+

drivers/devicecontrol/tank0206_control.h

+#ifndef TANK0206_CONTROL_H__
+#define TANK0206_CONTROL_H__
+
+
+
+void tank0206_middle();
+
+void  tank0206_change(unsigned char *buf);
+
+#endif
\ No newline at end of file

drivers/devicecontrol/tank_common.c

@@ -142,7 +142,7 @@ void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val) {
     }
     
     if(!g_tank_common_config_t) {
-        my_zlog_error("Error: Device stop ID %d not found!\n", device_id);
+        my_zlog_error("Error: Device stop ID %d not found!", device_id);
         return;
     }
     g_tank_common_config_t->shot_back(pin,val);

drivers/gpio/device_init.c

@@ -68,6 +68,15 @@ const deviceconfig_t device_configs[] = {
         .emergency_code = 203
     },
     {
+        .device_id = DEVICE_TANK0206,
+        .device_name = "tank0206",
+        .gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
+        .gpio_pwms = {5 , 7 ,24,26, 27,-1},
+        .device_pwm_init = physics_pwm_init,
+        .device_control_stop =  tank0206_middle,/* 补充速度控制函数 */
+        .emergency_code = 206
+    },
+    {
         .device_id = DEVICE_PAO_PTZ0401,
         .device_name = "ptz0401",
         .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */

drivers/gpio/gpio_init.c

@@ -7,8 +7,6 @@
 #define MIN_DUTY 0  // 最小占空比
 #define MAX_DUTY 100 // 最大占空比
 
-// int device_delay_count =0;//设备计算函数
-
 int g_gpioPwm[30];//软件控制
 int g_gpiowpi[40]; //能使用高低引脚和其他引脚
 
@@ -69,6 +67,7 @@ void pwm_value(int pin,int value) {	//软件陪我们控制调速
 		if(pin == 27){
             if(g_device_type == DEVICE_TANK0202) softPwmWrite(pin, 50);
             else if(g_device_type == DEVICE_TANK0203) softPwmWrite(pin, 50);
+            else if(g_device_type == DEVICE_TANK0206) softPwmWrite(pin, 45);
             else {
                 softPwmWrite(pin, shot_speed);
                 my_zlog_debug("pin:%d,%d",pin,shot_speed);
@@ -76,6 +75,7 @@ void pwm_value(int pin,int value) {	//软件陪我们控制调速
         } else {
             if(g_device_type == DEVICE_TANK0202) softPwmWrite(pin, 35);
             if(g_device_type == DEVICE_TANK0203) softPwmWrite(pin, 35);
+            if(g_device_type == DEVICE_TANK0206) softPwmWrite(pin, 35);
             else{
                 softPwmWrite(pin, shot_speed);
             }
@@ -119,6 +119,3 @@ void physics_pwm_init() {
     
 }
 
-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

@@ -5,8 +5,6 @@
 #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
-
 // 定义 PWM 引脚的 WiringPi 编号
 #define PWM_PIN_SPEED 21
 #define PWM_PIN_CHANGE 2
@@ -23,6 +21,5 @@ void pin_value(int pin,int value);
 void physics_pwm_init(); 
 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
 
 #endif

fcsgdevintroduce.md

@@ -21,6 +21,11 @@
 
 ## 设备速冻后台设置
 - tank0202 最大为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
+- tank0203 M1A2最大为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
+- tank0204 M1A2最大为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
+- tank0205 M1A2最大为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
+- tank0202~0205为眯眼潮玩坦克。
+- tank0206 为可以发射水枪的水坦克.原电池为3.3v，大概为80左右
 - car0101 最大为150，尽量不能这么大
 - car0102 为小车 最大速度为200
 - car0103 为挖机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右

include/devcontrol_common.h

@@ -9,6 +9,7 @@
 #include "ptz0401_control.h"
 #include "tank0202_control.h"
 #include "tank0203_control.h"
+#include "tank0206_control.h"
 #include "tank_common.h"
 #include "common.h"
 
@@ -19,6 +20,7 @@
 #define DEVICE_TANK0201 201
 #define DEVICE_TANK0202 202
 #define DEVICE_TANK0203 203
+#define DEVICE_TANK0206 206
 #define DEVICE_PAO_PTZ0401 401 
 
 typedef struct {

modules/browser/browser_open.c

@@ -119,3 +119,13 @@ void refresh_cam() {//刷新页面
     my_zlog_debug("刷新成功");
 }
 
+// 检查Chromium进程是否已运行
+bool is_browser_running() {
+    FILE *fp = popen("pgrep chromium", "r");
+    if (fp == NULL) return false;
+    
+    char buf[16];
+    bool running = (fgets(buf, sizeof(buf), fp) != NULL);
+    pclose(fp);
+    return running;
+}
\ No newline at end of file

modules/browser/browser_open.h

@@ -8,4 +8,6 @@ int  opencamsh();
 
 void refresh_cam();//刷新摄像头函数
 
+bool is_browser_running();
+
 #endif
\ No newline at end of file

modules/http/http_request.c

@@ -9,7 +9,7 @@ const char *c_post = "http://47.119.190.60/api/v1/device/config";
 
 int g_errCodeValue;
 
-bool g_enable_buzzer_value=0;
+bool g_enable_buzzer_value=false;
 double g_warn_voltage_value=10.7;
 double g_err_voltage_value=9.7;
 double g_shot_speed_value=0.5;