加入了WiFi保存和删除保存wifi，优化了水坦克

app/device_change/device_wifi_change.c

-#include "audioplay.h"
-#include "device_identity.h"
+#include "device_identity.h"g_current_ssid
 #include "mqtt_init.h"
 #include "common.h"
 #include "delay.h"
 #include "device_wifi_change.h"
 
-char current_ssid[SSID_MAX_LEN] = {0};//用于存现在已连接WiFi
+char g_current_ssid[SSID_MAX_LEN] = {0};//用于存现在已连接WiFi
 char wifi_Last_ssid[SSID_MAX_LEN]= {0} ;
 char wifi_Last_password[SSID_MAX_LEN]= {0} ;
 
@@ -23,8 +22,8 @@ void get_current_wifi() {
         char *active = strtok(line, ":");
         char *ssid = strtok(NULL, "\n");
         if (active && ssid && strcmp(active, "yes") == 0 && strlen(ssid) > 0) {
-            strncpy(current_ssid, ssid, SSID_MAX_LEN - 1);
-            current_ssid[SSID_MAX_LEN - 1] = '\0';
+            strncpy(g_current_ssid, ssid, SSID_MAX_LEN - 1);
+            g_current_ssid[SSID_MAX_LEN - 1] = '\0';
             break;
         }
     }
@@ -90,7 +89,7 @@ void scan_wifi_json() {
     cJSON *root = cJSON_CreateObject();
     cJSON *body = cJSON_CreateObject();
     cJSON *head = cJSON_CreateObject();
-    cJSON_AddStringToObject(body, "current_connected", current_ssid[0] ? current_ssid : "");
+    cJSON_AddStringToObject(body, "current_connected", g_current_ssid[0] ? g_current_ssid : "");
 
     cJSON *array = cJSON_CreateArray();
     for (int i = 0; i < wifi_count; i++) {
@@ -173,14 +172,14 @@ int connect_wifi_with_fallback(const char* ssid, const char* password, const cha
 //改变WiFi连接
 int change_wifi_connect(const char *wifi_ssid,const char *wifi_password) {
     get_current_wifi();
-    int ret = connect_wifi_with_fallback(wifi_ssid, wifi_password, current_ssid);
+    int ret = connect_wifi_with_fallback(wifi_ssid, wifi_password, g_current_ssid);
     my_zlog_notice("返回代码：%d", ret);
     return ret;
 }
 
 // 连续尝试 2 次 ping，任意一次成功即认为联网成功
 int can_access_internet() { 
-    for (int i = 0; i < 4; ++i) {
+    for (int i = 0; i < 10; ++i) {
         int ret = system("ping -c 1 -W 1 baidu.com > /dev/null 2>&1");
         if (ret == 0) {
             return 0; // 有一次成功就返回 true
@@ -353,9 +352,9 @@ int compare_ssid_with_file() {
 
 
     my_zlog_debug("File SSID: %s", file_ssid);
-    my_zlog_debug("Current SSID: %s", current_ssid);
+    my_zlog_debug("Current SSID: %s", g_current_ssid);
 
-    if (strcmp(file_ssid, current_ssid) == 0) {
+    if (strcmp(file_ssid, g_current_ssid) == 0) {
         my_zlog_debug("wifi没有发生改变或其他问题");
         return 0;
     } else {
@@ -374,7 +373,7 @@ void wifichange_sendmqtt(int wifi_status) { //改WiFi发送
     cJSON *head = cJSON_CreateObject();
 
     cJSON_AddNumberToObject(body, "wifi_status", wifi_status);//为0成功
-    cJSON_AddStringToObject(body, "wifi_ssid", current_ssid);//为0成功
+    cJSON_AddStringToObject(body, "wifi_ssid", g_current_ssid);//为0成功
 
     cJSON_AddNumberToObject(head, "message_type",3004);
 
@@ -406,25 +405,25 @@ int wifi_change_sendmqtt_init(){
     if(wififile_fd==-1){
         if(can_access_internet()!=0){
             get_current_wifi();
-            if(strcmp(default_SSID,current_ssid)==0){
+            if(strcmp(default_SSID,g_current_ssid)==0){
                 my_zlog_debug("没有更改WiFi");
                 return 0;
             }
             check_or_create_wifi_conf();
             write_wifi_conf();
             change_wifi_connect(default_SSID,default_password);
-            delete_wifi_by_ssid(current_ssid);
+            delete_wifi_by_ssid(g_current_ssid);
         }
-        if(strcmp(default_SSID,current_ssid)==0)  wifichange_sendmqtt(0); 
+        if(strcmp(default_SSID,g_current_ssid)==0)  wifichange_sendmqtt(0); 
 
     }else if(wififile_fd==1){
         get_current_wifi();
-        if(strcmp(default_SSID,current_ssid)==0){
+        if(strcmp(default_SSID,g_current_ssid)==0){
             extract_wifi_file();
             if(change_wifi_connect(wifi_Last_ssid,wifi_Last_password)==0){
                 delay_s(15); 
                 if(can_access_internet()==0){
-                delete_wifi_by_ssid(current_ssid);
+                delete_wifi_by_ssid(g_current_ssid);
                 delete_wifi_conf();
                 my_zlog_debug("成功回朔到上次WiFi");
                 }else {
@@ -477,21 +476,21 @@ void wifi_change_recmqtt(cJSON *body){
         int ret = change_wifi_connect(ssid,password);
         delay_s(15);  
         if(strcmp(default_SSID,ssid)==0){
-            delete_wifi_by_ssid(current_ssid);
-            my_zlog_debug("ssid:%S",current_ssid);
+            delete_wifi_by_ssid(g_current_ssid);
+            my_zlog_debug("ssid:%S",g_current_ssid);
             delete_wifi_conf();
             system("sudo reboot");//重启香橙派
             my_zlog_debug("重启成功");
         } 
         if(ret == 0){
             if(can_access_internet()==0){
-                delete_wifi_by_ssid(current_ssid);
-                my_zlog_debug("ssid:%S",current_ssid);
+                delete_wifi_by_ssid(g_current_ssid);
+                my_zlog_debug("ssid:%S",g_current_ssid);
                 system("sudo reboot");//重启香橙派
                 my_zlog_debug("重启成功");
             }else {
                 delete_wifi_conf();
-                if(change_wifi_connect(default_SSID,default_password)==0) delete_wifi_by_ssid(current_ssid);
+                if(change_wifi_connect(default_SSID,default_password)==0) delete_wifi_by_ssid(g_current_ssid);
                  my_zlog_debug("无网切回默认WiFi");
                  delay_s(15); 
                 wifichange_sendmqtt(8);

app/device_change/device_wifi_change.h

@@ -19,8 +19,16 @@ typedef struct {
     int signal;
 } wifi_info_t;
 
+
+extern char g_current_ssid[SSID_MAX_LEN];
+
 void scan_wifi_json();//显示以连接WiFi名称和周围已有的WiFi和过滤信号强度低于50的WiFi
 int wifi_change_sendmqtt_init();//wifi改变初始化，放在main开头,必须要等mqtt直播就绪才行
 void wifi_change_recmqtt(cJSON *body);//接收到修改WiFi指令
 
+void get_current_wifi();//获取已经连接WiFi
+
+//删除对应wifi
+int delete_wifi_by_ssid(const char* ssid);
+
 #endif
\ No newline at end of file

app/device_change/device_wifi_manager.c

+#include "device_identity.h"
+#include "mqtt_init.h"
+#include "delay.h"
+#include "device_wifi_change.h"
+#include "device_wifi_manager.h"
+
+#define MAX_WIFI_ENTRIES 50
+#define SSID_MAX_LENGTH 64
+
+void device_wifi_public_sendmqtt(int wifi_status) { //成功发送3010
+
+    get_current_wifi();
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
+
+    cJSON_AddNumberToObject(body, "wifi_status", wifi_status);//为0成功
+
+    cJSON_AddNumberToObject(head, "message_type",3010);
+
+    cJSON_AddItemToObject(root, "body", body);
+    cJSON_AddItemToObject(root, "head",head);
+
+    char *payload = cJSON_PrintUnformatted(root);
+    my_zlog_debug("%s",payload);
+    mosquitto_publish(mosq, NULL, mqtt_topic_pure_number(), strlen(payload), payload, 0, false); 
+    
+    cJSON_Delete(root);  // 释放 cJSON 对象
+}
+
+void device_wifi_rec_delete(cJSON *body){
+    cJSON *wifi_ssid = cJSON_GetObjectItem(body, "wifi_ssid");
+    cJSON *wifi_password = cJSON_GetObjectItem(body, "wifi_password");
+    cJSON *wifi_status = cJSON_GetObjectItem(body, "wifi_status");
+    if(cJSON_IsString(wifi_ssid)  && cJSON_IsString(wifi_password)){
+        char *ssid = wifi_ssid->valuestring,*password=wifi_password->valuestring;
+        int wifi_statustemp = wifi_status->valueint;
+        if(delete_wifi_by_ssid(ssid)==0){
+            my_zlog_info("删除成功");
+            device_wifi_public_sendmqtt(1);
+        }else {
+            my_zlog_info("删除失败");
+        }
+    }
+}
+
+
+
+int orange_pi_save_wifi(const char* ssid, const char* password) {
+    // 参数检查
+    if (!ssid || !password || strlen(ssid) == 0 || strlen(password) == 0) {
+        fprintf(stderr, "[ERROR] SSID或密码为空\n");
+        return -1;
+    }
+
+    // 安全检查（防止命令注入）
+    if (strpbrk(ssid, "\"`$|") || strpbrk(password, "\"`$|")) {
+        fprintf(stderr, "[ERROR] 检测到非法字符\n");
+        return -1;
+    }
+
+    // 写入NetworkManager标准配置文件
+    char cmd[256];
+    snprintf(cmd, sizeof(cmd),
+        "nmcli connection add type wifi con-name \"%s\" ifname wlan0 ssid \"%s\" -- \n"
+        "nmcli connection modify \"%s\" wifi-sec.key-mgmt wpa-psk wifi-sec.psk \"%s\" \n"
+        "chmod 600 /etc/NetworkManager/system-connections/%s.nmconnection",
+        ssid, ssid, ssid, password, ssid);
+
+    if (system(cmd) != 0) {
+        my_zlog_error("[ERROR] 保存配置失败");
+        return -1;
+    }
+
+    my_zlog_info("[SUCCESS] 已保存WiFi配置: %s", ssid);
+    return 0;
+}
+
+
+void device_wifi_rec_sava(cJSON *body){
+    cJSON *wifi_ssid = cJSON_GetObjectItem(body, "wifi_ssid");
+    cJSON *wifi_password = cJSON_GetObjectItem(body, "wifi_password");
+    cJSON *wifi_status = cJSON_GetObjectItem(body, "wifi_status");
+    if(cJSON_IsString(wifi_ssid)  && cJSON_IsString(wifi_password)){
+        char *ssid = wifi_ssid->valuestring,*password=wifi_password->valuestring;
+        int wifi_statustemp = wifi_status->valueint;
+        my_zlog_debug("接收到保存WiFi名称和密码");
+        orange_pi_save_wifi(ssid,password);
+        device_wifi_public_sendmqtt(0);
+    }
+}
+
+
+
+/**
+ * @brief 获取系统保存的所有WiFi配置名称
+ * @param ssid_list 用于存储SSID的数组
+ * @param max_count 数组最大容量
+ * @return 实际获取到的SSID数量，-1表示失败
+ */
+int get_saved_wifi_list(char ssid_list[][SSID_MAX_LENGTH], int max_count) {
+    const char *nm_conn_dir = "/etc/NetworkManager/system-connections/";
+    DIR *dir;
+    struct dirent *entry;
+    int count = 0;
+
+    // 打开NetworkManager配置目录
+    if ((dir = opendir(nm_conn_dir)) == NULL) {
+        my_zlog_error("无法打开NetworkManager配置目录");
+        return -1;
+    }
+
+    // 遍历目录中的文件
+    while ((entry = readdir(dir)) != NULL && count < max_count) {
+        // 跳过.和..以及非普通文件
+        if (entry->d_type != DT_REG) continue;
+
+        // 检查文件扩展名（可选）
+        char *dot = strrchr(entry->d_name, '.');
+        if (dot && strcmp(dot, ".nmconnection") == 0) {
+            // 去除.nmconnection后缀
+            strncpy(ssid_list[count], entry->d_name, dot - entry->d_name);
+            ssid_list[count][dot - entry->d_name] = '\0';
+        } else {
+            // 直接使用文件名作为SSID
+            strncpy(ssid_list[count], entry->d_name, SSID_MAX_LENGTH - 1);
+            ssid_list[count][SSID_MAX_LENGTH - 1] = '\0';
+        }
+        count++;
+    }
+
+    closedir(dir);
+    return count;
+}
+
+/**
+ * @brief 打印所有已保存的WiFi配置
+ */
+
+void device_send_saved_wifi(){
+    get_current_wifi();
+
+    char list_wifi[MAX_WIFI_ENTRIES][SSID_MAX_LENGTH];
+    int count = get_saved_wifi_list(list_wifi, MAX_WIFI_ENTRIES);
+
+    if (count <= 0) {
+        my_zlog_debug("未找到保存的WiFi配置");
+        return;
+    }
+
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
+    cJSON_AddStringToObject(body, "current_connected", g_current_ssid[0] ? g_current_ssid : "");
+    cJSON *array = cJSON_CreateArray();
+     for (int i = 0; i < count; i++) {
+        cJSON *item = cJSON_CreateObject();
+        my_zlog_debug("%d. %s\n", i+1, list_wifi[i]);
+        cJSON_AddStringToObject(item, "ssid", list_wifi[i]);
+        cJSON_AddItemToArray(array, item);
+    }
+    cJSON_AddItemToObject(body, "available_wifi", array);
+    cJSON_AddNumberToObject(head, "message_type", 3012);
+    cJSON_AddItemToObject(root, "body", body);
+    cJSON_AddItemToObject(root, "head",head);
+
+    char *json_str = cJSON_Print(root);
+    if (json_str) {
+        my_zlog_debug("%s", json_str);
+        mosquitto_publish(mosq, NULL, mqtt_topic_pure_number(), strlen(json_str), json_str, 0, false); 
+        free(json_str);
+    }
+    cJSON_Delete(root);
+}
\ No newline at end of file

app/device_change/device_wifi_manager.h

+#ifndef DEVICE_WIFI_MANAGER_H__
+#define DEVICE_WIFI_MANAGER_H__
+
+#include "common.h"
+
+void device_send_saved_wifi();
+
+void device_wifi_rec_delete(cJSON *body);
+
+void device_wifi_rec_sava(cJSON *body);
+
+#endif
\ No newline at end of file

app/main/main.c

@@ -11,11 +11,7 @@ int main(){
         return -2;
    }
 
-   if(audio_init()!=0){
-      my_zlog_warn("audio初始化有问题");
-   }
-
-    if(device_id_file_init()!=0){
+   if(device_id_file_init()!=0){
        my_zlog_error("设备id读取失败");
        return -3;
     }
@@ -38,6 +34,11 @@ int main(){
       my_zlog_warn("此版本电压没有使用INA226");
    }
 
+   
+   if (audio_init()==0){
+      my_zlog_warn("音频初始化成功");
+   }
+
    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){

app/main/pthread_open.c

@@ -66,12 +66,12 @@ void *thread_exit_time(void *arg) {
 
 void *thread_mqtt_beat(void *arg) { 
     my_zlog_info("thread_mqtt_beat start");
-    delay_s(5);
     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(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");
+    //    }
     while(1) {
         if( g_device_type == 202) delay_ms(45);
         if( g_device_type != 202)delay_ms(100);
@@ -86,7 +86,7 @@ void *thread_mqtt_beat(void *arg) {
 
 void *thread_open_browser(void *arg) { 
     system("pkill  chromium");
-    delay_s(3);
+    delay_s(5);
     while(1){
         if(g_webrtc_index==1) {
             if(is_browser_running() == true ) {

build/Makefile

@@ -414,6 +414,30 @@ app/device_change/device_wifi_change.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/app/device_change/device_wifi_change.c.s
 .PHONY : app/device_change/device_wifi_change.c.s
 
+app/device_change/device_wifi_manager.o: app/device_change/device_wifi_manager.c.o
+.PHONY : app/device_change/device_wifi_manager.o
+
+# target to build an object file
+app/device_change/device_wifi_manager.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/app/device_change/device_wifi_manager.c.o
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+
+app/device_change/device_wifi_manager.i: app/device_change/device_wifi_manager.c.i
+.PHONY : app/device_change/device_wifi_manager.i
+
+# target to preprocess a source file
+app/device_change/device_wifi_manager.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/app/device_change/device_wifi_manager.c.i
+.PHONY : app/device_change/device_wifi_manager.c.i
+
+app/device_change/device_wifi_manager.s: app/device_change/device_wifi_manager.c.s
+.PHONY : app/device_change/device_wifi_manager.s
+
+# target to generate assembly for a file
+app/device_change/device_wifi_manager.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/app/device_change/device_wifi_manager.c.s
+.PHONY : app/device_change/device_wifi_manager.c.s
+
 app/device_identity/device_fileopen.o: app/device_identity/device_fileopen.c.o
 .PHONY : app/device_identity/device_fileopen.o
 
@@ -1840,6 +1864,9 @@ help:
 	@echo "... app/device_change/device_wifi_change.o"
 	@echo "... app/device_change/device_wifi_change.i"
 	@echo "... app/device_change/device_wifi_change.s"
+	@echo "... app/device_change/device_wifi_manager.o"
+	@echo "... app/device_change/device_wifi_manager.i"
+	@echo "... app/device_change/device_wifi_manager.s"
 	@echo "... app/device_identity/device_fileopen.o"
 	@echo "... app/device_identity/device_fileopen.i"
 	@echo "... app/device_identity/device_fileopen.s"

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@@ -4,11 +4,11 @@ CMAKE_PROGRESS_3 =
 CMAKE_PROGRESS_4 = 
 CMAKE_PROGRESS_5 = 55
 CMAKE_PROGRESS_6 = 
-CMAKE_PROGRESS_7 = 
-CMAKE_PROGRESS_8 = 56
+CMAKE_PROGRESS_7 = 56
+CMAKE_PROGRESS_8 = 
 CMAKE_PROGRESS_9 = 
-CMAKE_PROGRESS_10 = 
-CMAKE_PROGRESS_11 = 57
+CMAKE_PROGRESS_10 = 57
+CMAKE_PROGRESS_11 = 
 CMAKE_PROGRESS_12 = 
 CMAKE_PROGRESS_13 = 58
 CMAKE_PROGRESS_14 = 
@@ -21,11 +21,11 @@ CMAKE_PROGRESS_20 =
 CMAKE_PROGRESS_21 = 
 CMAKE_PROGRESS_22 = 61
 CMAKE_PROGRESS_23 = 
-CMAKE_PROGRESS_24 = 
-CMAKE_PROGRESS_25 = 62
+CMAKE_PROGRESS_24 = 62
+CMAKE_PROGRESS_25 = 
 CMAKE_PROGRESS_26 = 
-CMAKE_PROGRESS_27 = 
-CMAKE_PROGRESS_28 = 63
+CMAKE_PROGRESS_27 = 63
+CMAKE_PROGRESS_28 = 
 CMAKE_PROGRESS_29 = 
 CMAKE_PROGRESS_30 = 64
 CMAKE_PROGRESS_31 = 
@@ -35,11 +35,11 @@ CMAKE_PROGRESS_34 =
 CMAKE_PROGRESS_35 = 
 CMAKE_PROGRESS_36 = 66
 CMAKE_PROGRESS_37 = 
-CMAKE_PROGRESS_38 = 
-CMAKE_PROGRESS_39 = 67
+CMAKE_PROGRESS_38 = 67
+CMAKE_PROGRESS_39 = 
 CMAKE_PROGRESS_40 = 
-CMAKE_PROGRESS_41 = 
-CMAKE_PROGRESS_42 = 68
+CMAKE_PROGRESS_41 = 68
+CMAKE_PROGRESS_42 = 
 CMAKE_PROGRESS_43 = 
 CMAKE_PROGRESS_44 = 69
 CMAKE_PROGRESS_45 = 
@@ -52,8 +52,8 @@ CMAKE_PROGRESS_51 =
 CMAKE_PROGRESS_52 = 
 CMAKE_PROGRESS_53 = 72
 CMAKE_PROGRESS_54 = 
-CMAKE_PROGRESS_55 = 
-CMAKE_PROGRESS_56 = 73
+CMAKE_PROGRESS_55 = 73
+CMAKE_PROGRESS_56 = 
 CMAKE_PROGRESS_57 = 
 CMAKE_PROGRESS_58 = 74
 CMAKE_PROGRESS_59 = 
@@ -66,8 +66,8 @@ CMAKE_PROGRESS_65 =
 CMAKE_PROGRESS_66 = 
 CMAKE_PROGRESS_67 = 77
 CMAKE_PROGRESS_68 = 
-CMAKE_PROGRESS_69 = 
-CMAKE_PROGRESS_70 = 78
+CMAKE_PROGRESS_69 = 78
+CMAKE_PROGRESS_70 = 
 CMAKE_PROGRESS_71 = 
 CMAKE_PROGRESS_72 = 79
 CMAKE_PROGRESS_73 = 

drivers/devicecontrol/tank0206_control.c

@@ -13,12 +13,12 @@ void tank0206_mode_lift_flont(unsigned char gval) {
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	}
-	else if (gval <= 55) {
+	else if (gval <= 60) {
 		pwmWrite(PWM_PIN_SPEED, 80);
 	}else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 80);
+		pwmWrite(PWM_PIN_SPEED, 79);
 	}else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 80);
+		pwmWrite(PWM_PIN_SPEED, 79);
 	}else if(gval >100){
 		int flont_speed = 80+(gval-70)/10+b;
 		if(flont_speed>95) flont_speed = 95;
@@ -33,21 +33,25 @@ void tank0206_mode_lift_back(unsigned char gval) {
 	} else if (gval <= 60) {
 		pwmWrite(PWM_PIN_SPEED, 70);
 	}else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 70);
+		pwmWrite(PWM_PIN_SPEED, 71);
 	}else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 70);
+		pwmWrite(PWM_PIN_SPEED, 71);
 	} else if(gval >100){
-		int back_speed = 70 - (gval-70)/10-b;
+		int back_speed = 71 - (gval-70)/10-b;
 		if(back_speed<55) back_speed =55;
 		pwmWrite(PWM_PIN_SPEED, back_speed);
 	}  
 }
 
 void tank0206_mode_right_flont(unsigned char gval) {
+
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
-	}else if (gval <= 60) {
+	}
+	else if (gval <= 60) {
+		pwmWrite(PWM_PIN_CHANGE, 80);
+	}else if (gval <= 90) {
 		pwmWrite(PWM_PIN_CHANGE, 79);
 	}else if (gval <= 100) {
 		pwmWrite(PWM_PIN_CHANGE, 79);
@@ -62,41 +66,71 @@ void tank0206_mode_right_back(unsigned char gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
-	}else if (gval <= 60) {
+	} else if (gval <= 60) {
 		pwmWrite(PWM_PIN_CHANGE, 70);
-	} else if (gval <= 100) {
+	}else if (gval <= 90) {
+		pwmWrite(PWM_PIN_CHANGE, 71);
+	}else if (gval <= 100) {
 		pwmWrite(PWM_PIN_CHANGE, 71);
 	} else if(gval >100){
-		int back_speed = 70 - (gval-70)/10-b;
+		int back_speed = 71 - (gval-70)/10-b;
 		if(back_speed<55) back_speed =55;
 		pwmWrite(PWM_PIN_CHANGE, back_speed);
-	}
+	}  
 }
 
 void   tank0206_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
 	static int modecount_tank0206=0;
-	
+	static int tank0206_index =0;
     if(mode == 1 ) {
-        //tank0203_mode_lift_flont(val);
+        tank0206_mode_lift_flont(val);
 		tank0206_mode_right_flont(val);
 		modecount_tank0206=0;
     }else if(mode == 2 ) {
-        //tank0203_mode_lift_back(val);
+        tank0206_mode_lift_back(val);
         tank0206_mode_right_back(val);
 		modecount_tank0206=1;
     }
 	
-	if((mode == 1||mode ==2)&&val == 0) modecount_tank0206=0;
+	if((mode == 1||mode ==2)&&val == 0) {
+		modecount_tank0206=0;
+		tank0206_index =0;
+	}
+	if((mode == 1||mode ==2)&&val != 0) {
+		tank0206_index =1;
+	}
 
 	if(mode == 3) {
-		if(modecount_tank0206 == 0) tank0206_mode_lift_flont(val+10);
-        if(modecount_tank0206 == 1) tank0206_mode_lift_back(val+10);
-
+		if(modecount_tank0206 == 0) {
+			//tank0206_mode_lift_back(val+10);
+			if(tank0206_index ==1)tank0206_mode_right_flont(0);
+			else {
+				tank0206_mode_right_back(val+30);
+				tank0206_mode_lift_flont(val+30);
+			}
+		}
+		if(modecount_tank0206 == 1) {
+			//tank0206_mode_lift_flont(val+10);
+			if(tank0206_index ==1)tank0206_mode_lift_back(0);
+		}
+ 
     }else if(mode == 4) {
-        if(modecount_tank0206 == 0) tank0206_mode_lift_back(val+10);
-        if(modecount_tank0206 == 1) tank0206_mode_lift_flont(val+10);
+        if(modecount_tank0206 == 0) {
+			if(tank0206_index ==1)tank0206_mode_lift_flont(0);
+			else{
+				tank0206_mode_lift_back(val+30);
+				tank0206_mode_right_flont(val+30);
+			}
+			//tank0206_mode_right_back(val+10);
+		}
+		if(modecount_tank0206 == 1) {
+			tank0206_mode_right_flont(0);
+			//tank0206_mode_lift_flont(val+10);
+		}
+		
+        
     }
     
 }

drivers/sensors/audioplay.c

@@ -83,8 +83,6 @@ void audioplay_cycle(){
     while(1){
         if(audio_status==0){
 
-            audio_wheat_init();
-
             char *urlmoddle=urlbuf;
             snprintf(command, sizeof(command),
             "sudo ffplay -nodisp -autoexit -loglevel quiet -af \"volume=%1f\" \"%s\"",
@@ -135,7 +133,10 @@ int audio_speaker_init() {
 }
 
 int audio_init(){
-    // audio_wheat_init();
-    // delay_s(3);
+    delay_s(60);
+    audio_wheat_init();
+    delay_s(3);
     audio_speaker_init();
+
+    return 0;
 }
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

@@ -13,6 +13,7 @@
 #include "device_fileopen.h"
 #include "devcontrol_common.h"
 #include "device_wifi_change.h"
+#include "device_wifi_manager.h"
 #include "device_id_change.h"
 #include "audioplay.h"
 #include "gpio_init.h"
@@ -277,13 +278,25 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 my_zlog_debug("进入查询WiFi");
                 break;
             case 2004:
-                wifi_change_recmqtt(body);
-                my_zlog_debug("保存WiFi");
+                //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:
                 system("sudo reboot");//重启香橙派
                 my_zlog_debug("重启成功");