优化代码，初优化

app/device_change/device_id_change.c

@@ -3,7 +3,6 @@
 
 #include "common.h"
 #include "device_id_change.h"
-#include "delay.h"
 
 #define BUFFER_SIZE 1024
 

app/device_change/device_wifi_change.c

 #include "device_identity.h"
-#include "mqtt_init.h"
-#include "common.h"
-#include "delay.h"
 #include "device_wifi_change.h"
-#include "http_config_mqtt.h"
+#include "modules_common.h"
 
 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} ;

app/device_change/device_wifi_change.h

 #ifndef DEVICE_WIFI_CHANGE_H__
 #define DEVICE_WIFI_CHANGE_H__
 
-#include "cjson/cJSON.h"
+#include "common.h"
 
 #define SSID_MAX_LEN 128
 #define PASS_MAX_LEN 128

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"
-#include "http_config_mqtt.h"
+#include "modules_common.h"
 
 #define MAX_WIFI_ENTRIES 50
 #define SSID_MAX_LENGTH 64

app/device_identity/device_fileopen.c

 #include "device_fileopen.h"
 #include "device_id_change.h"
 #include "common.h"
-#include "delay.h"
 
 #define FILENAME "/home/orangepi/car/master/Deviceld.txt"  
 

app/device_identity/device_identity.c

-#include "common.h"
-#include "devcontrol_common.h"
 #include "device_identity.h"
 #include "device_fileopen.h"
-#include "device_init.h"
-#include "delay.h"
+#include "common.h"
+#include "drivers_common.h"
 
 char g_app2dev_topic[23];
 char g_dev2app_topic[23];
 char g_pure_topic[15];
 char g_ser2dev_topic[23];
 
-bool g_device_name_exists=0;//查找设备号状态机，如果id是不属于任何类型
+static bool g_device_name_exists_s=0;//查找设备号状态机，如果id是不属于任何类型
 
 /*提早声明*/
 int device_mqtt_topic_init();
@@ -139,7 +137,7 @@ int device_judg(CodeEnum_t code,char *sub_str) {
         my_zlog_info("使用型号%s",sub_str);   
     }else {
         my_zlog_error("没有找到设备号,尝试启用备用mqtt,topic进行改名");
-        g_device_name_exists=1;
+        g_device_name_exists_s=1;
         
     }
     return 0;
@@ -172,7 +170,7 @@ int device_mqtt_topic_init() {
     free(sub_str);
           
     delay_s(10);
-    if(g_device_name_exists == 0) {
+    if(g_device_name_exists_s == 0) {
         sprintf(g_app2dev_topic,"app2dev/%s",readbuf);
         sprintf(g_dev2app_topic,"dev2app/%s",readbuf);
         sprintf(g_pure_topic,"%s",readbuf);

app/main/main.h

@@ -2,15 +2,10 @@
 #define MAIN_H__
 
 #include "common.h"
-#include "device_fileopen.h"
-#include "device_identity.h"
+#include "app_device_common.h"
+#include "drivers_common.h"
+#include "modules_common.h"
 #include "pthread_open.h"
-#include "http_request.h"
-#include "softiic.h"
-#include "INA226.h"
-#include "devcontrol_common.h"
-#include "gpio_init.h"
-#include "http_config_mqtt.h"
 
 /*设备id读取初始化*/
 int device_id_file_init();

app/main/pthread_open.c

 #include "common.h"
-#include "delay.h"
+#include "app_device_common.h"
+#include "drivers_common.h"
+#include "modules_common.h"
 #include "pthread_open.h"
-#include "mqtt_init.h"
-#include "mqtt_infor_handle.h"
-#include "browser_open.h"
-#include "mqtt_verify.h"
-#include "device_wifi_change.h"
-#include "devcontrol_common.h"
-#include "browser_open.h"
-#include "device_init.h"
-#include "audioplay.h"
-#include "gpio_init.h"
 
 #define PTHREAD_MAX 6
 

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 2
-#define PROJECT_VERSION_PATCH 14
+#define PROJECT_VERSION_PATCH 15
 #define GIT_HASH ""
 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

drivers/devicecontrol/car0101_control.c

 #include "common.h"
 #include "car0101_control.h"
-#include "gpio_init.h"
+#include "modules_common.h"
+#include "gpio_common.h"
 
 /*将角度转化为对应的舵机pwm值*/
 void car_calculate_L_R(int angle) {

drivers/devicecontrol/car0102_control.c

 #include "car0102_control.h"
 #include "common.h"
-#include "gpio_init.h"
-#include "device_init.h"
-#include "gpio_control.h"
+#include "modules_common.h"
+#include "gpio_common.h"
 
 //将角度转化为对应的舵机pwm值
 void car0102_calculate_L_R(int angle) {

drivers/devicecontrol/car0103_control.c

 #include "car0103_control.h"
-#include "gpio_init.h"
+#include "modules_common.h"
 #include "common.h"
+#include "gpio_common.h"
 
 void car0103_middle() {
     pwmWrite(PWM_PIN_SPEED,75);

drivers/devicecontrol/car0104_control.c

 #include "car0104_control.h"
-#include "gpio_init.h"
+#include "modules_common.h"
 #include "common.h"
-
+#include "gpio_common.h"
 
 void car0104_stop() {
     pwmWrite(PWM_PIN_SPEED,75);

drivers/devicecontrol/devcontrol_common.c

 #include "devcontrol_common.h"
-#include "gpio_init.h"
+#include "modules_common.h"
+#include "gpio_common.h"
 
 const device_didrive device_didrive_control_config_t[]={
         {

drivers/devicecontrol/ptz0401_control.c

 #include "common.h"
-#include "gpio_init.h"
+#include "modules_common.h"
 #include "ptz0401_control.h"
+#include "gpio_common.h"
 
 #define PWM_PIN_up 21
 #define PWM_PIN_down 2

drivers/devicecontrol/ship0301_control.c

 #include "common.h"
-#include "gpio_init.h"
+#include "modules_common.h"
 #include "ship0301_control.h"
+#include "gpio_common.h"
 
 void ship0301_stop() {
     pwmWrite(PWM_PIN_SPEED,75);

drivers/devicecontrol/tank0202_control.c

 #include "common.h"
-#include "gpio_init.h"
+#include "modules_common.h"
 #include "tank0202_control.h"
+#include "gpio_common.h"
 
 int g_modecount_tank0202=0;
 

drivers/devicecontrol/tank0203_control.c

 #include "common.h"
-#include "gpio_init.h"
-#include "pthrpoll.h"
+#include "modules_common.h"
 #include "tank0203_control.h"
+#include "gpio_common.h"
 
 #define PWM_MIN     55     // 最小PWM值
 #define PWM_MAX     95     // 最大PWM值

drivers/devicecontrol/tank0203_control.h

 #ifndef TANK0203_CONTROL_H__
 #define TANK0203_CONTROL_H__
 
-
-
 void tank0203_middle();
 
 void  tank0203_change(unsigned char *buf);

drivers/devicecontrol/tank0204_control.c

 #include "common.h"
-#include "gpio_init.h"
-#include "pthrpoll.h"
+#include "modules_common.h"
 #include "tank0204_control.h"
-
+#include "gpio_common.h"
 
 void tank0204_stop() {
     pwmWrite(PWM_PIN_SPEED,75);

drivers/devicecontrol/tank0204_control.h

 #ifndef TANK0204_CONTROL_H__
 #define TANK0204_CONTROL_H__
 
-
-
 void tank0204_stop();
 
 void  tank0204_change(unsigned char *buf);

drivers/devicecontrol/tank0206_control.c

 #include "common.h"
-#include "gpio_init.h"
-#include "pthrpoll.h"
+#include "modules_common.h"
 #include "tank0206_control.h"
+#include "gpio_common.h"
 
 void tank0206_middle() {
     pwmWrite(PWM_PIN_SPEED,75);

drivers/devicecontrol/tank0206_control.h

 #ifndef TANK0206_CONTROL_H__
 #define TANK0206_CONTROL_H__
 
-
-
 void tank0206_middle();
 
 void  tank0206_change(unsigned char *buf);

drivers/devicecontrol/tank_common.c

 #include "tank_common.h"
 #include "devcontrol_common.h"
-#include "gpio_init.h"
-#include "pthrpoll.h"
-#include "tank_angle.h"
-#include "gpio_control.h"
+#include "modules_common.h"
+#include "gpio_common.h"
 
 int tank_shot_back_stop(unsigned char pin,unsigned char val);
 

drivers/gpio/gpio_common.h

+#ifndef GPIO_COMMON_H
+#define GPIO_COMMON_H
+#include "device_init.h"
+#include "gpio_init.h"
+#include "gpio_control.h"
+#include "softiic.h"
+
+
+#endif
\ No newline at end of file

drivers/gpio/gpio_control.c

@@ -5,7 +5,6 @@
 #include "gpio_init.h"
 #include "devcontrol_common.h"
 #include "http_request.h"
-#include "delay.h"
 
 #define GPIO_ID_THREAD_COUNT 3
 

drivers/gpio/softiic.c

-#include <math.h>
 #include "common.h"
 #include "softiic.h"
 

drivers/network/ip_reader.c

-#include <sys/socket.h>
-#include <netinet/in.h> 
-#include <ifaddrs.h>
 #include "common.h"
 #include "ip_reader.h"
-#include  "mylog.h"
 
 struct ifaddrs *ifap, *ifa;
 struct sockaddr_in *sa;

drivers/sensors/sensors_common.h

+#ifndef SERSORS_COMMON_H
+#define SERSORS_COMMON_H
+
+#include "ads1115.h"
+#include "audioplay.h"
+#include "INA226.h"
+#include "infrared_gun.h"
+#include "tank_angle.h"
+#include "temperature.h"
+#include "warn.h"
+
+#endif
\ No newline at end of file

drivers/sensors/warn.c

 #include "common.h"
 #include "warn.h"
 #include "http_request.h"
-#include "mylog.h"
 #include "gpio_control.h"
 #include "device_init.h"
 #include "devcontrol_common.h"

fcsgdevintroduce.md

@@ -25,6 +25,7 @@
 - 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。
+- 0202 豹2 ，0203 M1A2 ，0204 99A主站坦克
 - 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

include/app_device_common.h

+#ifndef APP_DEVICE_COMMON_H
+#define APP_DEVICE_COMMON_H
+
+#include "device_id_change.h"
+#include "device_wifi_change.h"
+#include "device_wifi_manager.h"
+#include "device_fileopen.h"
+#include "device_identity.h"
+
+#endif
\ No newline at end of file

include/common.h

@@ -8,6 +8,8 @@
 #include <stdbool.h>
 #include <string.h>
 #include <errno.h>
+#include <stddef.h>
+#include <errno.h>
 
 // ========== 硬件相关 ==========
 #include <wiringPi.h>      // GPIO控制
@@ -18,32 +20,31 @@
 #include <unistd.h>        // POSIX接口
 #include <sys/stat.h>      // 文件状态
 #include <dirent.h>        // 目录操作
+#include <sys/types.h>
+#include <sys/select.h>
+#include <pty.h> // for openpty
 
 // ========== 网络通信 ==========
 #include <curl/curl.h>     // HTTP客户端
+#include <sys/socket.h>
+#include <netinet/in.h> 
+#include <arpa/inet.h>
+#include <ifaddrs.h>
 
 // ========== 高级功能 ==========
 #include <termios.h>    // 串口通信
 #include <pthread.h>    // 多线程
 #include <math.h>       // 数学函数
 #include <time.h>       // 时间处理
-#include <stddef.h>
-
 #include <uuid/uuid.h>
+#include <signal.h>
 
+// ========== 第三方库 ==========
 #include "mosquitto.h"
 #include "cjson/cJSON.h"
 
-
+// ========== 自己封装的库 ==========
 #include "delay.h"
 #include "mylog.h"
 
-
-
-// ========== 香橙派优化宏 ==========
-// #define ORANGE_GPIO_SET(pin, val) { \
-//     pinMode(pin, OUTPUT); \
-//     digitalWrite(pin, val); \
-// }
-
 #endif // COMMON_H
\ No newline at end of file

include/drivers_common.h

+#ifndef DRIVERS_COMMON_H
+#define DRIVERS_COMMON_H
+
+#include "devcontrol_common.h"
+#include "gpio_common.h"
+#include "ip_reader.h"
+#include "sensors_common.h"
+
+#endif
\ No newline at end of file

include/modules_common.h

+#ifndef MODULES_COMMON_H
+#define MODULES_COMMON_H
+
+#include "browser_open.h"
+#include "http_common.h"
+#include "delay.h"
+#include "mylog.h"
+#include "mqtt_common.h"
+#include "pthrpoll.h"
+
+#endif
\ No newline at end of file

modules/browser/browser_open.c

-#include "common.h"
 #include "browser_open.h"
 #include "device_fileopen.h"
 #include "device_identity.h"

modules/browser/browser_open.h

 #ifndef BROWSER_OPEN_H__
 #define BROWSER_OPEN_H__ 
 
+#include "common.h"
 /*打开摄像头函数,当MODE为1时候为国内网址，2时为泰国网址,3为中东网址*/
 #define BROWSER_MODE 1
 

modules/http/http_common.h

+#ifndef HTTP_COMMON_H
+#define HTTP_COMMON_H
+
+#include "http_config_mqtt.h"
+#include "http_consolepush.h"
+#include "http_request.h"
+
+#endif
\ No newline at end of file

modules/http/http_config_mqtt.c

 #include "device_identity.h"
 #include "http_config_mqtt.h"
-#include<curl/curl.h>
-#include "cjson/cJSON.h"
+#include "common.h"
 #include "http_request.h"
 
 DEVICE_MQTTCONFIG g_mqtt_cam_config;

modules/http/http_consolepush.c

 #include "http_consolepush.h"
 #include "common.h"
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <errno.h>
-#include <sys/select.h>
-#include <pty.h> // for openpty
-#include <termios.h>
-#include <sys/types.h>
-#include <signal.h>
 #include "pthrpoll.h"
 
 void contril_pthread_open();

modules/http/http_request.c

-#include<curl/curl.h>
-#include "cjson/cJSON.h"
 #include "http_request.h"
 #include "device_identity.h"
 #include "common.h"

modules/mqtt/mqtt_common.h

+#ifndef _MQTT_COMMON_H
+#define _MQTT_COMMON_H
+
+#include "mqtt_infor_handle.h"
+#include "mqtt_verify.h"
+#include "mqtt_init.h"
+
+#endif
\ No newline at end of file

modules/mqtt/mqtt_init.c

@@ -3,7 +3,6 @@
 #include "mqtt_init.h"
 #include "device_identity.h"
 #include "mqtt_infor_handle.h"
-#include "mylog.h"
 #include "http_config_mqtt.h"
 
 mqttclient g_clients_t[MAX_SERVERS];
@@ -155,7 +154,7 @@ int mqtt_cycle() {//非阻塞型
             mosquitto_reconnect(g_clients_t[i].mosq);
           }
         }
-        
+        delay_us(50);
     }
 
     return 0;

modules/thread_pool/pthrpoll.c

 #include "pthrpoll.h"
-#include <stdlib.h>
-#include <pthread.h>
-#include <unistd.h>
-#include <errno.h>
+#include "common.h"
 
 // 初始化任务队列
 static int task_queue_init(TaskQueue *queue) {