加入设备改变和下载第1板

93dc5c46 · 957dd · 3d16e5ec · 93dc5c46 · 93dc5c46 · 93dc5c46
Commit 93dc5c46 authored May 08, 2025 by 957dd
32 changed files
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
 cmake_minimum_required(VERSION 3.10)
 project(DeviceControlSystem 
-    VERSION 1.0.8
+    VERSION 1.1.0
    LANGUAGES C
 )

--- a/build/CMakeCache.txt
+++ b/build/CMakeCache.txt
@@ -122,16 +122,16 @@ CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
 CMAKE_PROJECT_NAME:STATIC=DeviceControlSystem
 //Value Computed by CMake
-CMAKE_PROJECT_VERSION:STATIC=1.0.8
+CMAKE_PROJECT_VERSION:STATIC=1.1.0
 //Value Computed by CMake
 CMAKE_PROJECT_VERSION_MAJOR:STATIC=1
 //Value Computed by CMake
-CMAKE_PROJECT_VERSION_MINOR:STATIC=0
+CMAKE_PROJECT_VERSION_MINOR:STATIC=1
 //Value Computed by CMake
-CMAKE_PROJECT_VERSION_PATCH:STATIC=8
+CMAKE_PROJECT_VERSION_PATCH:STATIC=0
 //Value Computed by CMake
 CMAKE_PROJECT_VERSION_TWEAK:STATIC=

--- a/build/CMakeFiles/Makefile2
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-	$(CMAKE_COMMAND) -E cmake_progress_start /home/orangepi/car/master/build/CMakeFiles 48
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+ /usr/include/aarch64-linux-gnu/bits/types/sigset_t.h \
+ /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
+ /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h \
+ /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \
+ /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \
+ /usr/include/aarch64-linux-gnu/bits/atomic_wide_counter.h \
+ /usr/include/aarch64-linux-gnu/bits/struct_mutex.h \
+ /usr/include/aarch64-linux-gnu/bits/struct_rwlock.h \
+ /usr/include/alloca.h /usr/include/aarch64-linux-gnu/bits/stdlib-float.h \
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h /usr/include/stdint.h \
+ /usr/include/aarch64-linux-gnu/bits/wchar.h \
+ /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h /usr/include/string.h \
+ /usr/include/aarch64-linux-gnu/bits/types/locale_t.h \
+ /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
+ /usr/include/strings.h /usr/include/fcntl.h \
+ /usr/include/aarch64-linux-gnu/bits/fcntl.h \
+ /usr/include/aarch64-linux-gnu/bits/fcntl-linux.h \
+ /usr/include/aarch64-linux-gnu/bits/stat.h \
+ /usr/include/aarch64-linux-gnu/bits/struct_stat.h /usr/include/unistd.h \
+ /usr/include/aarch64-linux-gnu/bits/posix_opt.h \
+ /usr/include/aarch64-linux-gnu/bits/environments.h \
+ /usr/include/aarch64-linux-gnu/bits/confname.h \
+ /usr/include/aarch64-linux-gnu/bits/getopt_posix.h \
+ /usr/include/aarch64-linux-gnu/bits/getopt_core.h \
+ /usr/include/aarch64-linux-gnu/bits/unistd_ext.h /usr/include/termios.h \
+ /usr/include/aarch64-linux-gnu/bits/termios.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-struct.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_cc.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_iflag.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_oflag.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-baud.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_cflag.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-c_lflag.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-tcflow.h \
+ /usr/include/aarch64-linux-gnu/bits/termios-misc.h \
+ /usr/include/aarch64-linux-gnu/sys/ttydefaults.h /usr/include/time.h \
+ /usr/include/aarch64-linux-gnu/bits/time.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
+ /usr/include/pthread.h /usr/include/sched.h \
+ /usr/include/aarch64-linux-gnu/bits/sched.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_sched_param.h \
+ /usr/include/aarch64-linux-gnu/bits/cpu-set.h \
+ /usr/include/aarch64-linux-gnu/bits/setjmp.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct___jmp_buf_tag.h \
+ /usr/include/aarch64-linux-gnu/bits/pthread_stack_min-dynamic.h \
+ /usr/include/aarch64-linux-gnu/bits/pthread_stack_min.h \
+ /usr/include/errno.h /usr/include/aarch64-linux-gnu/bits/errno.h \
+ /usr/include/linux/errno.h /usr/include/aarch64-linux-gnu/asm/errno.h \
+ /usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
+ /usr/include/wiringPi.h /usr/include/softPwm.h \
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
+ /usr/include/aarch64-linux-gnu/curl/curl.h \
+ /usr/include/aarch64-linux-gnu/curl/curlver.h \
+ /usr/include/aarch64-linux-gnu/curl/system.h \
+ /usr/include/aarch64-linux-gnu/sys/socket.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_iovec.h \
+ /usr/include/aarch64-linux-gnu/bits/socket.h \
+ /usr/include/aarch64-linux-gnu/bits/socket_type.h \
+ /usr/include/aarch64-linux-gnu/bits/sockaddr.h \
+ /usr/include/aarch64-linux-gnu/asm/socket.h \
+ /usr/include/asm-generic/socket.h /usr/include/linux/posix_types.h \
+ /usr/include/linux/stddef.h \
+ /usr/include/aarch64-linux-gnu/asm/posix_types.h \
+ /usr/include/asm-generic/posix_types.h \
+ /usr/include/aarch64-linux-gnu/asm/bitsperlong.h \
+ /usr/include/asm-generic/bitsperlong.h \
+ /usr/include/aarch64-linux-gnu/asm/sockios.h \
+ /usr/include/asm-generic/sockios.h \
+ /usr/include/aarch64-linux-gnu/bits/types/struct_osockaddr.h \
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/limits.h \
+ /usr/lib/gcc/aarch64-linux-gnu/11/include/syslimits.h \
+ /usr/include/limits.h /usr/include/aarch64-linux-gnu/bits/posix1_lim.h \
+ /usr/include/aarch64-linux-gnu/bits/local_lim.h \
+ /usr/include/linux/limits.h \
+ /usr/include/aarch64-linux-gnu/bits/posix2_lim.h \
+ /usr/include/aarch64-linux-gnu/sys/time.h \
+ /usr/include/aarch64-linux-gnu/curl/easy.h \
+ /usr/include/aarch64-linux-gnu/curl/multi.h \
+ /usr/include/aarch64-linux-gnu/curl/curl.h \
+ /usr/include/aarch64-linux-gnu/curl/urlapi.h \
+ /usr/include/aarch64-linux-gnu/curl/options.h \
+ /usr/include/aarch64-linux-gnu/curl/typecheck-gcc.h \
+ /usr/include/aarch64-linux-gnu/sys/stat.h \
+ /home/orangepi/car/master/system/gpio/gpio_common.h \
+ /home/orangepi/car/master/include/log.h \
+ /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/device_judg/device/device_change.h
--- a/build/CMakeFiles/main.dir/device_judg/judg/judg.c.o
+++ b/build/CMakeFiles/main.dir/device_judg/judg/judg.c.o
--- a/build/CMakeFiles/main.dir/link.txt
+++ b/build/CMakeFiles/main.dir/link.txt
-/usr/bin/cc CMakeFiles/main.dir/device_judg/device/car.c.o CMakeFiles/main.dir/device_judg/device/pao.c.o CMakeFiles/main.dir/device_judg/device/ship.c.o CMakeFiles/main.dir/device_judg/device/tank.c.o CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o CMakeFiles/main.dir/device_judg/judg/judg.c.o CMakeFiles/main.dir/src/delay.c.o CMakeFiles/main.dir/src/download.c.o CMakeFiles/main.dir/src/fileopen.c.o CMakeFiles/main.dir/src/ip.c.o CMakeFiles/main.dir/src/log.c.o CMakeFiles/main.dir/src/mqtt.c.o CMakeFiles/main.dir/src/opensh.c.o CMakeFiles/main.dir/src/pthrpoll.c.o CMakeFiles/main.dir/src/request.c.o CMakeFiles/main.dir/src/thread_main.c.o CMakeFiles/main.dir/system/gpio/gpio_common.c.o CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o CMakeFiles/main.dir/system/sensor/INA226.c.o CMakeFiles/main.dir/system/sensor/heat.c.o CMakeFiles/main.dir/system/sensor/infrared_gun.c.o CMakeFiles/main.dir/system/sensor/warm.c.o CMakeFiles/main.dir/usr/main.c.o CMakeFiles/main.dir/zlog/src/buf.c.o CMakeFiles/main.dir/zlog/src/category.c.o CMakeFiles/main.dir/zlog/src/category_table.c.o CMakeFiles/main.dir/zlog/src/conf.c.o CMakeFiles/main.dir/zlog/src/event.c.o CMakeFiles/main.dir/zlog/src/format.c.o CMakeFiles/main.dir/zlog/src/level.c.o CMakeFiles/main.dir/zlog/src/level_list.c.o CMakeFiles/main.dir/zlog/src/lockfile.c.o CMakeFiles/main.dir/zlog/src/mdc.c.o CMakeFiles/main.dir/zlog/src/record.c.o CMakeFiles/main.dir/zlog/src/record_table.c.o CMakeFiles/main.dir/zlog/src/rotater.c.o CMakeFiles/main.dir/zlog/src/rule.c.o CMakeFiles/main.dir/zlog/src/spec.c.o CMakeFiles/main.dir/zlog/src/thread.c.o CMakeFiles/main.dir/zlog/src/zc_arraylist.c.o CMakeFiles/main.dir/zlog/src/zc_hashtable.c.o CMakeFiles/main.dir/zlog/src/zc_profile.c.o CMakeFiles/main.dir/zlog/src/zc_util.c.o CMakeFiles/main.dir/zlog/src/zlog.c.o -o main  -lwiringPi -lmosquitto -lcjson -lcurl -lm 
+/usr/bin/cc CMakeFiles/main.dir/device_judg/device/car.c.o CMakeFiles/main.dir/device_judg/device/device_change.c.o CMakeFiles/main.dir/device_judg/device/pao.c.o CMakeFiles/main.dir/device_judg/device/ship.c.o CMakeFiles/main.dir/device_judg/device/tank.c.o CMakeFiles/main.dir/device_judg/device_exit/device_exit.c.o CMakeFiles/main.dir/device_judg/judg/judg.c.o CMakeFiles/main.dir/src/delay.c.o CMakeFiles/main.dir/src/download.c.o CMakeFiles/main.dir/src/fileopen.c.o CMakeFiles/main.dir/src/ip.c.o CMakeFiles/main.dir/src/log.c.o CMakeFiles/main.dir/src/mqtt.c.o CMakeFiles/main.dir/src/opensh.c.o CMakeFiles/main.dir/src/pthrpoll.c.o CMakeFiles/main.dir/src/request.c.o CMakeFiles/main.dir/src/thread_main.c.o CMakeFiles/main.dir/system/gpio/gpio_common.c.o CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o CMakeFiles/main.dir/system/gpio/gpio_pwm_carship.c.o CMakeFiles/main.dir/system/gpio/gpio_pwm_ptz.c.o CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o CMakeFiles/main.dir/system/sensor/INA226.c.o CMakeFiles/main.dir/system/sensor/heat.c.o CMakeFiles/main.dir/system/sensor/infrared_gun.c.o CMakeFiles/main.dir/system/sensor/warm.c.o CMakeFiles/main.dir/usr/main.c.o CMakeFiles/main.dir/zlog/src/buf.c.o CMakeFiles/main.dir/zlog/src/category.c.o CMakeFiles/main.dir/zlog/src/category_table.c.o CMakeFiles/main.dir/zlog/src/conf.c.o CMakeFiles/main.dir/zlog/src/event.c.o CMakeFiles/main.dir/zlog/src/format.c.o CMakeFiles/main.dir/zlog/src/level.c.o CMakeFiles/main.dir/zlog/src/level_list.c.o CMakeFiles/main.dir/zlog/src/lockfile.c.o CMakeFiles/main.dir/zlog/src/mdc.c.o CMakeFiles/main.dir/zlog/src/record.c.o CMakeFiles/main.dir/zlog/src/record_table.c.o CMakeFiles/main.dir/zlog/src/rotater.c.o CMakeFiles/main.dir/zlog/src/rule.c.o CMakeFiles/main.dir/zlog/src/spec.c.o CMakeFiles/main.dir/zlog/src/thread.c.o CMakeFiles/main.dir/zlog/src/zc_arraylist.c.o CMakeFiles/main.dir/zlog/src/zc_hashtable.c.o CMakeFiles/main.dir/zlog/src/zc_profile.c.o CMakeFiles/main.dir/zlog/src/zc_util.c.o CMakeFiles/main.dir/zlog/src/zlog.c.o -o main  -lwiringPi -lmosquitto -lcjson -lcurl -lm 
--- a/build/CMakeFiles/main.dir/progress.make
+++ b/build/CMakeFiles/main.dir/progress.make
@@ -46,4 +46,5 @@ CMAKE_PROGRESS_45 = 45
 CMAKE_PROGRESS_46 = 46
 CMAKE_PROGRESS_47 = 47
 CMAKE_PROGRESS_48 = 48
+CMAKE_PROGRESS_49 = 49
--- a/build/CMakeFiles/main.dir/src/download.c.o
+++ b/build/CMakeFiles/main.dir/src/download.c.o
--- a/build/CMakeFiles/main.dir/src/mqtt.c.o
+++ b/build/CMakeFiles/main.dir/src/mqtt.c.o
--- a/build/CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o
+++ b/build/CMakeFiles/main.dir/system/gpio/gpio_pwm_car0102.c.o
--- a/build/CMakeFiles/progress.marks
+++ b/build/CMakeFiles/progress.marks
-48
+49
--- a/build/Makefile
+++ b/build/Makefile
@@ -208,6 +208,30 @@ device_judg/device/car.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device/car.c.s
 .PHONY : device_judg/device/car.c.s
+device_judg/device/device_change.o: device_judg/device/device_change.c.o
+.PHONY : device_judg/device/device_change.o
+# target to build an object file
+device_judg/device/device_change.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device/device_change.c.o
+.PHONY : device_judg/device/device_change.c.o
+device_judg/device/device_change.i: device_judg/device/device_change.c.i
+.PHONY : device_judg/device/device_change.i
+# target to preprocess a source file
+device_judg/device/device_change.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device/device_change.c.i
+.PHONY : device_judg/device/device_change.c.i
+device_judg/device/device_change.s: device_judg/device/device_change.c.s
+.PHONY : device_judg/device/device_change.s
+# target to generate assembly for a file
+device_judg/device/device_change.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/device_judg/device/device_change.c.s
+.PHONY : device_judg/device/device_change.c.s
 device_judg/device/pao.o: device_judg/device/pao.c.o
 .PHONY : device_judg/device/pao.o
@@ -1329,6 +1353,9 @@ help:
 	@echo "... device_judg/device/car.o"
 	@echo "... device_judg/device/car.i"
 	@echo "... device_judg/device/car.s"
+	@echo "... device_judg/device/device_change.o"
+	@echo "... device_judg/device/device_change.i"
+	@echo "... device_judg/device/device_change.s"
 	@echo "... device_judg/device/pao.o"
 	@echo "... device_judg/device/pao.i"
 	@echo "... device_judg/device/pao.s"

--- a/build/include/version.h
+++ b/build/include/version.h
 #define PROJECT_VERSION_MAJOR 1
-#define PROJECT_VERSION_MINOR 0
+#define PROJECT_VERSION_MINOR 1
-#define PROJECT_VERSION_PATCH 8
+#define PROJECT_VERSION_PATCH 0
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-04-29T02:35:27"
+#define BUILD_TIMESTAMP "2025-05-08T09:17:04"
 #define BUILD_USER "orangepi"
--- a/build/main
+++ b/build/main
--- a/device_judg/device/device_change.c
+++ b/device_judg/device/device_change.c
+#include "common.h"
+#include "device_change.h"
+#include "download.h"
+#define BUFFER_SIZE 1024
+// 检查并创建日志目录
+static int create_devicename_directory_if_not_exists(const char *path) {
+    char dir_path[256] = {0};
+    const char *p = path;
+    char *q = dir_path;
+    // 提取目录部分
+    while (*p != '\0') {
+        *q = *p;
+        if (*p == '/' && *(p+1) != '\0') {
+            // 检查并创建每一级目录
+            if (access(dir_path, F_OK) != 0) {
+                if (mkdir(dir_path, 0755) != 0) {
+                    fprintf(stderr, "Failed to create directory: %s\n", dir_path);
+                    my_zlog_error("创建目录失败");
+                    return -1;
+                }
+            }
+        }
+        p++;
+        q++;
+    }
+    return 0;
+}
+// 复制文件函数
+int copy_file(const char *source, const char *destination) {
+    FILE *src_file = fopen(source, "rb");
+    if (src_file == NULL) {
+        my_zlog_warn("无法打开源文件");
+        return -1;
+    }
+    FILE *dst_file = fopen(destination, "wb");
+    if (dst_file == NULL) {
+        my_zlog_warn("无法打开目标文件");
+        fclose(src_file);
+        return -1;
+    }
+    char buffer[BUFFER_SIZE];
+    size_t bytes_read;
+    while ((bytes_read = fread(buffer, 1, BUFFER_SIZE, src_file)) > 0) {
+        if (fwrite(buffer, 1, bytes_read, dst_file) != bytes_read) {
+            my_zlog_warn("写入目标文件时出错");
+            fclose(src_file);
+            fclose(dst_file);
+            return -1;
+        }
+    }
+    fclose(src_file);
+    fclose(dst_file);
+    return 0;
+}
+// 改名并移动文件函数
+int rename_and_move_file(const char *source_file, const char *new_name, const char *destination_dir) {
+    char destination_file[BUFFER_SIZE];
+    // 构建目标文件的完整路径
+    snprintf(destination_file, sizeof(destination_file), "%s/%s", destination_dir, new_name);
+    // 尝试使用 rename 函数移动文件
+    if (rename(source_file, destination_file) == 0) {
+        my_zlog_debug("文件已成功改名并移动到 %s\n", destination_file);
+        return 0;
+    }
+    // 如果 rename 失败，可能是跨文件系统，尝试复制文件
+    if (errno == EXDEV) {
+        if (copy_file(source_file, destination_file) == 0) {
+            // 复制成功后删除原文件
+            if (remove(source_file) == 0) {
+                my_zlog_debug("文件已成功改名并移动到 %s\n", destination_file);
+                return 0;
+            } else {
+                my_zlog_warn("删除原文件时出错");
+                return -1;
+            }
+        } else {
+            my_zlog_warn("复制文件时出错");
+            return -1;
+        }
+    }
+    my_zlog_warn("移动文件时出错");
+    return -1;
+}
+int device_changename_back() {
+    if(file_exists(DEVICE_NAME_FILE) == 0) {//先检测文件是否存在
+        if(create_devicename_directory_if_not_exists(DEVICE_NAME_DIR) != 0) {
+            my_zlog_error("创建文件目录失败");
+            return -1;
+        }
+    char *DEVICE_NAME_NEW = NULL;
+    rename_and_move_file(DEVICE_NAME_FILE,DEVICE_NAME_NEW,DEVICE_NAME_DIR);
+    }
+}
\ No newline at end of file
--- a/device_judg/device/device_change.h
+++ b/device_judg/device/device_change.h
+#ifndef DEEVICE_CHANGE_H__
+#define DEEVICE_CHANGE_H__
+#define DEVICE_NAME_FILE "/home/orangepi/car/master/Deviceld.txt"
+#define DEVICE_NAME_DIR "/home/orangepi/car/master/deviceback/"
+#endif
\ No newline at end of file
--- a/device_judg/judg/judg.c
+++ b/device_judg/judg/judg.c
@@ -17,12 +17,22 @@ char TOPIC_middle[23];
 char TOPIC2_middle[23];
 char TOPIC3_middle[15];
-void topic_middle_value() {
+char TOPIC_BACK_middle[23];
+char TOPIC2_BACK_middle[23];
+char TOPIC3_BACK_middle[15];
+void topic_middle_value() {//指针中转函数，在使用指针前调用
    TOPIC=TOPIC_middle;
    TOPIC2=TOPIC2_middle;
    TOPIC3=TOPIC3_middle;
 }
+void topic_back_middle_value() {//指针中转函数，在使用指针前调用
+    TOPIC_BACK=TOPIC_BACK_middle;
+    TOPIC2_BACK=TOPIC2_BACK_middle;
+    TOPIC3_BACK=TOPIC3_BACK_middle;
+}
 // 哈希函数：简单的字符串哈希
 unsigned int hash(const char *str, int tableSize) {
    unsigned int hash = 0;
@@ -104,7 +114,11 @@ int Device_judg(CodeEnum code,char *sub_str) {
 }
 int Device_File_Init() {
-    const char *readbuf=device_inspect(); 
+    char *readmidbuf=device_inspect(); //读取代码
+    if(strlen(readmidbuf) > 14 && readmidbuf[14]=='\n') readmidbuf[15]=='\0';
+    const char *readbuf = readmidbuf;
    //将第3个和第4个字符提取出来
    char *sub_str=malloc(5);
@@ -132,6 +146,5 @@ int Device_File_Init() {
    topic_middle_value();//指针传值声明
    my_zlog_info("1:%s,2:%s,3:%s",TOPIC,TOPIC2,TOPIC3);
    return 0;
 }
--- a/device_judg/judg/judg.h
+++ b/device_judg/judg/judg.h
@@ -15,12 +15,14 @@ typedef enum {
    PAO_0401
 } CodeEnum;
+//哈希健
 typedef struct HashEntry {
    const char *key;
    CodeEnum value;
    struct HashEntry *next;
 } HashEntry;
+//哈希表内存
 typedef struct {
    HashEntry **table;
    int size;
@@ -31,5 +33,7 @@ int Device_File_Init();//指针传值声明
 void topic_middle_value();//指针函数，在其他文件使用tipic时需要先声明
+void topic_back_middle_value();//指针中转函数，在使用指针前调用
 #endif
\ No newline at end of file
--- a/include/download.h
+++ b/include/download.h
@@ -2,6 +2,7 @@
 #define DOWNLOAD_H__
-int download_file(const char *url,const char *target_dir ,const char *filename) ;
+int download_file(const char *url,const char *target_dir ,const char *filename) ;//下载文件
+int file_exists(const char *path);//检查文件是否存在
+int remove_file(const char *path); // 删除文件
 #endif
\ No newline at end of file
--- a/include/mqtt.h
+++ b/include/mqtt.h
@@ -4,9 +4,14 @@
 #include <mosquitto.h>
 #include <cjson/cJSON.h>
-extern char* TOPIC ;
+extern char* TOPIC;
-extern char* TOPIC2 ;
+extern char* TOPIC2;
-extern char* TOPIC3 ;
+extern char* TOPIC3;
+extern char* TOPIC_BACK;
+extern char* TOPIC2_BACK;
+extern char* TOPIC3_BACK;
 extern uint16_t AppExit_pin_pwm;
 //extern ThreadPool *pool;
 #define BROKER_ADDRESS "119.45.167.177"

--- a/src/download.c
+++ b/src/download.c
@@ -56,6 +56,7 @@ static int create_directory_if_not_exists(const char *path) {
            if (access(dir_path, F_OK) != 0) {
                if (mkdir(dir_path, 0755) != 0) {
                    fprintf(stderr, "Failed to create directory: %s\n", dir_path);
+                    my_zlog_error("创建目录失败");
                    return -1;
                }
            }

--- a/src/mqtt.c
+++ b/src/mqtt.c
@@ -18,6 +18,10 @@ char*  TOPIC = NULL;
 char*  TOPIC2 = NULL;
 char*  TOPIC3 = NULL;
+char*  TOPIC_BACK = NULL;
+char*  TOPIC2_BACK = NULL;
+char*  TOPIC3_BACK = NULL;
 int gPwmCount = 0;  // 计数
 int gmessage_type=10086;
@@ -61,6 +65,7 @@ void on_connect(struct mosquitto *mosq, void *obj, int rc) {//回调函数
     my_zlog_debug("Connected to broker");
     topic_middle_value();
     mosquitto_subscribe(mosq, NULL, TOPIC, 0);
+     mosquitto_subscribe(mosq, NULL, TOPIC_BACK, 0);
    } else {
    fprintf(stderr, "Connection failed with code %d\n", rc);
    my_zlog_fatal("Connection failed");

--- a/system/gpio/gpio_pwm_car0102.c
+++ b/system/gpio/gpio_pwm_car0102.c
@@ -21,83 +21,87 @@ void car0102_speed_stop() {
 void car0102_mode_1_flont(unsigned char gval) {
    pin_value(26,1);
-    if (gval < 50) {
+	if(gval == 0) {
+		pin_value(26,0);
+		pwmWrite(PWM_PIN_SPEED, 0);
+	}else if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 1000);
 	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 800);
+		pwmWrite(PWM_PIN_SPEED, 1000-200);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 750);
+		pwmWrite(PWM_PIN_SPEED, 1000-300);
 	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, 700);
+		pwmWrite(PWM_PIN_SPEED, 1000-350);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 650);
+		pwmWrite(PWM_PIN_SPEED, 1000-400);
 	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, 600);
+		pwmWrite(PWM_PIN_SPEED, 1000-450);
 	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 550);
+		pwmWrite(PWM_PIN_SPEED, 1000-500);
 	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 500);
+		pwmWrite(PWM_PIN_SPEED, 1000-550);
 	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 450);
+		pwmWrite(PWM_PIN_SPEED, 1000-600);
 	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 400);
+		pwmWrite(PWM_PIN_SPEED, 1000-650);
 	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 350);
+		pwmWrite(PWM_PIN_SPEED, 1000-100);
 	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 300);
+		pwmWrite(PWM_PIN_SPEED, 1000-750);
 	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 250);
+		pwmWrite(PWM_PIN_SPEED, 1000-800);
 	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 200);
+		pwmWrite(PWM_PIN_SPEED, 1000-850);
 	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 150);
+		pwmWrite(PWM_PIN_SPEED, 1000-900);
 	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 100);
+		pwmWrite(PWM_PIN_SPEED, 1000-950);
 	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 50);
+		pwmWrite(PWM_PIN_SPEED, 1000-950);
 	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 0);
+		pwmWrite(PWM_PIN_SPEED, 1000-1000);
 	}
 }
 void car0102_mode_2_back(unsigned char gval) {
+	int k = 5;
    pin_value(26,0);
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 0);
 	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 200);
+		pwmWrite(PWM_PIN_SPEED, 5 * k);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 300);
+		pwmWrite(PWM_PIN_SPEED, 0+10 * k);
 	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, 350);
+		pwmWrite(PWM_PIN_SPEED, 0+15 * k);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 400);
+		pwmWrite(PWM_PIN_SPEED, 0+20 * k);
 	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, 450);
+		pwmWrite(PWM_PIN_SPEED, 0+25 * k);
 	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 500);
+		pwmWrite(PWM_PIN_SPEED, 0+30 * k);
 	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 550);
+		pwmWrite(PWM_PIN_SPEED, 0+35 * k);
 	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 600);
+		pwmWrite(PWM_PIN_SPEED, 0+40 * k);
 	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 650);
+		pwmWrite(PWM_PIN_SPEED, 0+45 * k);
 	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 700);
+		pwmWrite(PWM_PIN_SPEED, 0+50 * k);
 	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 750);
+		pwmWrite(PWM_PIN_SPEED, 0+55 * k);
 	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 800);
+		pwmWrite(PWM_PIN_SPEED, 0+60 * k);
 	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 850);
+		pwmWrite(PWM_PIN_SPEED, 0+60 * k);
 	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 900);
+		pwmWrite(PWM_PIN_SPEED, 0+65 * k);
 	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 950);
+		pwmWrite(PWM_PIN_SPEED, 0+70 * k);
 	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 1000);
+		pwmWrite(PWM_PIN_SPEED, 0+75 * k);
 	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 1000);
+		pwmWrite(PWM_PIN_SPEED, 0+100 * k);
 	}
 }