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car @ 767c727b

-Subproject commit 767c727b77cddda97e3b37169546ed9ca5f86f8b

ip.c

+#include "ip.h"
+
+
+    struct ifaddrs *ifap, *ifa;
+    struct sockaddr_in *sa;
+    char ip_address[INET_ADDRSTRLEN];
+
+int ipaddr() {
+  
+    
+
+    if (getifaddrs(&ifap) == -1) {
+        perror("getifaddrs() error");
+        return -1;
+    }
+
+    for (ifa = ifap; ifa != NULL; ifa = ifa->ifa_next) {
+        if (ifa->ifa_addr != NULL && ifa->ifa_addr->sa_family == AF_INET) {
+            sa = (struct sockaddr_in *) ifa->ifa_addr;
+            inet_ntop(AF_INET, &sa->sin_addr, ip_address, sizeof(ip_address));
+            //printf("%s: %s ", ifa->ifa_name, ip_address);
+        }
+    }
+    
+    printf("ip:%s\n",ip_address);
+
+    freeifaddrs(ifap);
+}
+
+

ip.h

+#ifndef __IP_H__
+#define __IP_H__
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <ifaddrs.h>
+
+
+
+int ipaddr();
+
+extern  char ip_address[INET_ADDRSTRLEN];
+
+#endif
+

main.c

+#include "ip.h"
+#include "mqtt.h"
+#include "serial.h"
+
+struct mosquitto *mosq;
+
+void Delay_Ms()
+{
+    struct timespec ts;
+    ts.tv_sec = 0; // 秒
+    ts.tv_nsec = 100000000; // 1毫秒 = 1000000纳秒
+    nanosleep(&ts,NULL);
+}
+
+
+void *serial_usart1(void *arg)
+{ 
+
+    serial_Receive();
+    
+    return NULL; 
+}
+
+void *AppExit(void *arg)
+{ 
+    unsigned char bufpwm1[3]={0x01,0x01,0x00};
+    unsigned char bufpwm2[3]={0x01,0x02,0x00};
+    unsigned char bufpwm3[3]={0x01,0x03,0x00};
+    while(1)
+    {
+        Delay_Ms();
+        gPwmCount++;
+        if(gPwmCount>20)
+        {
+        gPwmCount=21;
+        serial_Write(bufpwm1);
+        serial_Write(bufpwm2);
+        serial_Write(bufpwm3);
+       
+        } 
+    }
+    
+    return NULL; 
+}
+
+
+
+int main(int argc, char *argv[]) {
+    //struct mosquitto *mosq;
+    int rc=0;
+
+    serial_Init();
+
+    gStart=time(NULL);
+    // 初始化 mosquitto 库
+    mosquitto_lib_init();
+
+   
+    // 创建 mosquitto 客户端
+    mosq = mosquitto_new(CLIENT_ID, true, NULL);
+    if (!mosq) {
+        fprintf(stderr, "Failed to create mosquitto client\n");
+        return EXIT_FAILURE;
+    }
+
+    // 设置连接和消息回调
+    mosquitto_connect_callback_set(mosq, on_connect);
+    mosquitto_message_callback_set(mosq, on_message);
+
+    // 设置用户名和密码
+    mosquitto_username_pw_set(mosq, USERNAME, PASSWORD);
+
+    // 连接到 MQTT 代理
+    rc = mosquitto_connect(mosq, BROKER_ADDRESS, BROKER_PORT, 60);
+    if (rc != MOSQ_ERR_SUCCESS) {
+        fprintf(stderr, "Failed to connect to broker: %s\n", mosquitto_strerror(rc));
+        mosquitto_destroy(mosq);
+        return EXIT_FAILURE;
+    }
+   
+    ipaddr();
+    mosquitto_publish(mosq, NULL, TOPIC, strlen(ip_address), ip_address, 0, false);//将ip发送给mqtt
+ 
+
+    pthread_t thread[2];
+
+    if(pthread_create(&thread[0],NULL,serial_usart1,NULL)!=0)
+    {
+        perror("Failed to create thread 1");
+        return 1;
+    }
+
+    if(pthread_create(&thread[1],NULL,AppExit,NULL)!=0)
+    {
+        perror("Failed to create thread 2");
+        return 1;
+    }
+   
+  // 开始循环，处理网络流量
+    //mosquitto_loop_start(mosq);//后台处理
+    mosquitto_loop_forever(mosq, -1, 1000); // -1 表示无限等待，1 表示处理消息的最大数量
+
+    // 清理
+    mosquitto_destroy(mosq);
+    mosquitto_lib_cleanup(); 
+    // 等待线程1结束
+    pthread_join(thread[0], NULL);
+
+    // 等待线程2结束
+    pthread_join(thread[1], NULL);
+
+    return EXIT_SUCCESS;
+}
\ No newline at end of file

mqtt.c

+#include "mqtt.h"
+
+time_t gStart;
+
+int gPwmCount = 0;  // 计数
+
+void on_connect(struct mosquitto *mosq, void *obj, int rc) 
+{
+    if (rc == 0) 
+    {
+     printf("Connected to broker\n");
+     mosquitto_subscribe(mosq, NULL, TOPIC, 0);
+     time_t start=time(NULL);
+    }   
+    else 
+    {
+    fprintf(stderr, "Connection failed with code %d\n", rc);
+    }
+}
+
+void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {
+    
+    time_t end = time(NULL);
+    if(gStart+5>end)
+    {
+        printf("正在处理过期消息");
+        return;
+        
+    }
+    // 确保消息有效
+    if (message->payload && message->payloadlen) 
+    {
+        // 将消息内容转换为字符串
+        char *payload_str = (char *)malloc(message->payloadlen + 1);
+        if (payload_str) 
+        {
+            memcpy(payload_str, message->payload, message->payloadlen);
+            payload_str[message->payloadlen] = '\0';
+
+            // 解析 JSON
+            cJSON *json = cJSON_Parse(payload_str);
+            if (json == NULL) 
+            {
+                fprintf(stderr, "Error before: [%s]\n", cJSON_GetErrorPtr());
+            } 
+            else 
+            {
+                // 提取 head 对象
+                cJSON *head = cJSON_GetObjectItem(json, "head");
+                if (!cJSON_IsObject(head)) 
+                {
+                    return;
+                }
+                // 提取 message_type
+                cJSON *message_type = cJSON_GetObjectItem(head, "message_type");
+                if (!cJSON_IsNumber(message_type)) 
+                {
+                    return;
+                }
+                cJSON *body = cJSON_GetObjectItem(json, "body");
+                if (!cJSON_IsObject(body)) 
+                {
+                    return;
+                }
+                printf("message_type: %d\n", message_type->valueint);
+                if (message_type->valueint==3)
+                {  //pwm控制
+                    // 提取 pin_ctrl_req 对象
+                    cJSON *pwm_ctrl_req = cJSON_GetObjectItem(body, "p_ctrl_req");
+                    if (!cJSON_IsObject(pwm_ctrl_req)) 
+                    {
+                        return;
+                    }
+                    // 提取 data 数组
+                    cJSON *data = cJSON_GetObjectItem(pwm_ctrl_req, "data");
+                    if (!cJSON_IsArray(data)) 
+                    {
+                        return;
+                    }
+                    
+                    // 遍历数组
+                    for (int i = 0; i < cJSON_GetArraySize(data); ++i) 
+                    {
+                        // 提取数组中的每个对象
+                        cJSON *item = cJSON_GetArrayItem(data, i);
+                        if (!cJSON_IsObject(item)) 
+                        {
+                            continue;
+                        }
+                        cJSON *mode = cJSON_GetObjectItem(item, "mode");   //mode=1 速度，mode=2 转向(unsigned char)
+                        cJSON *type = cJSON_GetObjectItem(item, "type");
+                        cJSON *val =   cJSON_GetObjectItem(item, "val");  //val为pwm的值 0~100(unsigned char)(unsigned char)
+                        unsigned char modeTmep= mode->valueint;
+                        unsigned char typeTemp=type->valueint;
+                        unsigned char valtemp= val->valueint;
+                        unsigned char valt[4];
+                        valt[0]=modeTmep;
+                        valt[1]=typeTemp;
+                        valt[2]=valtemp;
+
+                        gPwmCount = 0;
+                        printf("%d\n",valt[0]); 
+                        printf("%d\n",valt[1]);
+                        printf("%d\n",valt[2]);
+                        serial_Write(valt);
+                           
+                    }
+                           
+                }
+            
+            // 释放 payload 字符串
+            free(payload_str); 
+            }  
+                
+
+             
+        }   
+    }
+}
+    
\ No newline at end of file

mqtt.h

+#ifndef __MQTT_H__
+#define __MQTT_H__
+
+#include <mosquitto.h>
+#include <cjson/cJSON.h>
+#include<time.h>
+#include <pthread.h>
+#include "ip.h"
+#include "serial.h"
+
+#define BROKER_ADDRESS "119.45.167.177"
+#define BROKER_PORT 1883
+#define CLIENT_ID "device1car/carer54"
+#define TOPIC "devices/controcar03"
+#define USERNAME "admin"    // 替换为你的用户名
+#define PASSWORD "admin"       // 替换为你的密码
+
+extern time_t gStart;
+
+extern int gPwmCount;  // 计数
+
+
+void on_connect(struct mosquitto *mosq, void *obj, int rc);
+void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) ;
+
+#endif
\ No newline at end of file

serial.c

+#include "serial.h"
+
+int fd;
+
+int init_serial(const char *port, int baudrate) {
+    int fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
+    if (fd == -1) {
+        perror("open serial port");
+        return -1;
+    }
+
+    struct termios options;
+    tcgetattr(fd, &options);
+
+    // 设置波特率
+    cfsetispeed(&options, B9600);
+    cfsetospeed(&options, B9600);
+
+    // 配置串口
+    options.c_cflag &= ~PARENB; // 无校验
+    options.c_cflag &= ~CSTOPB; // 1停止位
+    options.c_cflag &= ~CSIZE;  // 清除数据位设置
+    options.c_cflag |= CS8;     // 8数据位
+    options.c_cflag |= CLOCAL | CREAD; // 忽略调制解调器状态，开启接收器
+
+    options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); // 原始模式
+    options.c_iflag &= ~(IXON | IXOFF | IXANY);         // 禁用流控
+    options.c_oflag &= ~OPOST;                         // 原始输出
+
+    tcsetattr(fd, TCSANOW, &options);
+    return fd;
+}
+
+
+
+
+void serial_Receive() {
+    char buffer[254]="\0";
+    while (1) { 
+        int bytes_read = read(fd, buffer, sizeof(buffer)-1);
+        if (bytes_read > 0) {
+             //printf("Received chatdate: %s\n", buffer);
+            buffer[bytes_read] = '\0';
+            printf("Received chatdate:: %s\n", buffer);
+            //int receivedNumber = atoi(buffer);
+            //printf("Received intdate: %d\n", receivedNumber);
+        }
+    }
+    close(fd);
+    //free(buffer);
+}
+
+void serial_Write(unsigned char *buf)
+{
+    unsigned char buffers[5];
+    buffers[0]=0xAA;
+    //write(fd, buffers[0], sizeof(buffers));
+    for(int i=1;i<4;i++)
+    {
+        buffers[i]=buf[i-1];
+        //write(fd, buffers[i], sizeof(buffers));
+    }
+    buffers[4]=0xFE;
+    write(fd, buffers, sizeof(buffers));
+    
+    //printf("%d\n",buffers[0]);
+    //printf("%d\n",buffers[1]);
+    //printf("%d\n",buffers[2]);
+    //printf("%d\n",buffers[3]);
+    //printf("%d\n",buffers[4]);
+}
+
+
+
+int serial_Init()
+{
+    fd = init_serial(SERIAL_PORT, 9600);
+    if (fd == -1) return -1;
+    printf("Serial communication started...\n");
+    
+}

serial.h

+#ifndef __SERIAL_H__
+#define __SERIAL_H__
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <termios.h>
+
+#define SERIAL_PORT "/dev/ttyS3" // 根据实际设备修改
+
+int serial_Init();
+void serial_Receive();
+void serial_Write(unsigned char *buf);
+//extern int fd;
+int init_serial(const char *port, int baudrate); 
+#endif
\ No newline at end of file