加入了自控模式

drivers/gpio/gpio_control.c

@@ -13,6 +13,7 @@ const gpiocontrol_t *gpio_control_config_t = NULL ;//gpio结构体标识
 ThreadPool_t *g_pool_device_gpio_control_t;//gpio限位线程池标识，只在特地设备中打开
 
 void public_pin_value(int pin,int value);
+void car0102_pin_value(int pin,int value);
 void car0103_pin_value(int pin,int value);
 void car0104_pin_value(int pin,int value);
 
@@ -160,7 +161,7 @@ const gpiocontrol_t gpio_configs[] = {
     {
         .device_id = DEVICE_CAR0102,
         .category_id=LAND_CAR,
-        .device_pin_value =public_pin_value,
+        .device_pin_value =car0102_pin_value,
         .device_pwm_value =public_pwm_value
     },
     {
@@ -272,6 +273,45 @@ void public_pin_value(int pin,int value) {	//引脚控制
 	
 }
 
+/*
+* @brief 小车pin控制
+*/
+void car0102_pin_value(int pin,int value) {	//引脚控制
+	for(int i = 0 ; i <= g_gpiocount ; i++) {
+        if(pin == g_gpiowpi[i]) {
+            break;
+        }if(i == g_gpiocount) {
+            return ;
+        }   
+    }
+    if(value==1) {
+		digitalWrite(pin, HIGH);
+        if(pin==26){
+            static int i=0;
+            i++;
+            if(i>10) {
+                my_zlog_info("pin:%d,%d",pin,HIGH);
+                i=0;
+            }
+            return;
+        }
+		my_zlog_info("pin:%d,%d",pin,HIGH);
+	}else if(value==0) {
+		digitalWrite(pin, LOW);
+        if(pin==26){
+            static int i=0;
+            i++;
+            if(i>10) {
+                my_zlog_info("pin:%d,%d",pin,HIGH);
+                i=0;
+            }
+            return;
+        }
+		my_zlog_info("pin:%d,%d",pin,LOW);
+	}
+	
+}
+
 /*挖机pin控制*/
 void car0103_pin_value(int pin,int value){
     if(pin == 26 && value==1) {

drivers/selfcontrol/self_devicecontrol.c

@@ -68,14 +68,17 @@ void self_device_control_task(){
 
     int time_now = g_self_control_time_count*20;
 
-    if(i>=g_self_device_control_date->id_run_count){
+    if(i>g_self_device_control_date->id_run_count){
             
-            if(g_self_control_interval<time_now){
+            if(g_self_control_interval>time_now){
                
                 return;
             }
+            g_self_control_time_count=0;//将计时重置
             i=0;
     }
+    time_now = g_self_control_time_count*20;
+
     if(time_now > g_self_device_control_date->run_cool[i]&&
         time_now <= (g_self_device_control_date->run_cool[i]+g_self_device_control_date->timed_run[i]))
     {
@@ -86,11 +89,12 @@ 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]);
-            my_zlog_debug("date:%d",g_automatic_date_t[g_self_device_control_date->id_run[i]].action_count);
-            my_zlog_debug("mode:%d",g_automatic_date_t[g_self_device_control_date->id_run[i]].mode[j]);
-            my_zlog_debug("val:%d",g_automatic_date_t[g_self_device_control_date->id_run[i]].val[j]);
+
+            my_zlog_debug("m:%d,v:%d",valt[1],valt[2]);
+             
         }
 
+
     }else if(time_now >
             (g_self_device_control_date->run_cool[i]+g_self_device_control_date->timed_run[i]))
     {
@@ -100,8 +104,9 @@ void self_device_control_task(){
         pthread_mutex_lock(&g_self_control_time_count_mutex);
         g_self_control_time_count=0;//将计时重置
         pthread_mutex_unlock(&g_self_control_time_count_mutex); 
-        i=i+1;
+        ++i;
     }
+
   
 }
 
@@ -267,7 +272,7 @@ void receive_self_contorl_mqtt(cJSON *body){
         for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX; i++) {
             cJSON *item = cJSON_GetArrayItem(id_run, i);
             g_self_device_control_date->id_run[i] = item->valueint;
-            g_self_device_control_date->id_run_count++;
+            g_self_device_control_date->id_run_count=i;
         }
     }
 
@@ -311,35 +316,48 @@ void receive_self_contorl_date_mqtt(cJSON *body){
         return;
     }
 
+    static int s_action_id = 0;
+
     cJSON *switch_status = cJSON_GetObjectItem(body, "switch_status");
+    if(switch_status==NULL) return;
     static int s_switch_status = 0;
     s_switch_status=switch_status->valueint;
 
-    cJSON *action_id = cJSON_GetObjectItem(body, "action_id");
-    static int s_action_id = 0;
-    s_action_id=action_id->valueint;
 
     if(s_switch_status == 1){
-            // 2️ id_run 数组
-        cJSON *action_combination = cJSON_GetObjectItem(body, "action_combination");
-        if (cJSON_IsArray(action_combination)) {
-            int size = cJSON_GetArraySize(action_combination);
-            for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX; i++) {
-                cJSON *item = cJSON_GetArrayItem(action_combination, i);
-
-                g_automatic_date_t[s_action_id].mode[i]=item->valueint;
-                
-            }
-        }
+        cJSON *config= cJSON_GetObjectItem(body, "config");
+        if(config==NULL)  return;
+        if (cJSON_IsArray(config)) {
+            int config_size = cJSON_GetArraySize(config);
+            for (int i = 0; i < config_size && i < DEVICE_WALK_SIGN_MAX; i++) {
+
+                cJSON *config_item = cJSON_GetArrayItem(config, i);
+                cJSON *action_id = cJSON_GetObjectItemCaseSensitive(config_item, "action_id");
+
+                s_action_id=action_id->valueint;
+
+
+                cJSON *action_array = cJSON_GetObjectItemCaseSensitive(config_item, "action");
+                if(cJSON_IsArray(action_array)){
+                    int action_size = cJSON_GetArraySize(action_array);
+
+                    for (int j = 0; j < action_size && j < DEVICE_WALK_SIGN_MAX; j++) {
+
+                        cJSON *item = cJSON_GetArrayItem(action_array, j);
+
+                        // 获取 combination 和 speed
+                        cJSON *combination = cJSON_GetObjectItemCaseSensitive(item, "combination");
+                        cJSON *speed = cJSON_GetObjectItemCaseSensitive(item, "speed");
+                        g_automatic_date_t[s_action_id].mode[j]=combination->valueint;
+                        g_automatic_date_t[s_action_id].val[j]=speed->valueint;
 
-        cJSON *action_speed = cJSON_GetObjectItem(body, "action_speed");
-        if (cJSON_IsArray(action_speed)) {
-            int size = cJSON_GetArraySize(action_speed);
-            for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX; i++) {
-                cJSON *item = cJSON_GetArrayItem(action_speed, i);
+                        g_automatic_date_t[s_action_id].action_count++;
 
-                g_automatic_date_t[s_action_id].val[i]=item->valueint;
-                g_automatic_date_t[s_action_id].action_count++;
+                        my_zlog_debug("combination:%d",g_automatic_date_t[s_action_id].mode[j]);
+                        my_zlog_debug("speed:%d",g_automatic_date_t[s_action_id].val[j]);
+                  
+                    }
+                }     
                 
             }
         }