3

drivers/gpio/gpio_init.c

+#include "common.h"
+#include "gpio_init.h"
+#include "mqtt.h"
+#include "request.h"
+
+
+#define MIN_DUTY 0  // 最小占空比
+#define MAX_DUTY 100 // 最大占空比
+
+// int device_delay_count =0;//设备计算函数
+
+int g_gpioPwm[30];//软件控制
+int g_gpiowpi[40]; //能使用高低引脚和其他引脚
+
+int g_gpiocount=0;
+int g_gpio_softpwmcount=0;
+
+void init_gpioWPi(int *values_pin) {
+    while (values_pin[g_gpiocount] != -1) {
+        g_gpiocount++;
+    }
+    for (int i = 0; i < g_gpiocount; i++) {
+        g_gpiowpi[i] = values_pin[i];
+    }     
+    // 设置所有GPIO为输出模式
+    for(int i = 0; i < g_gpiocount; i++) {
+        pinMode(g_gpiowpi[i], OUTPUT);
+        digitalWrite(g_gpiowpi[i], LOW);  // 初始化所有引脚为低电平
+    } 
+}
+
+void init_gpioPwm(int *values_pwm) {
+    while (values_pwm[g_gpio_softpwmcount] != -1) {
+        g_gpio_softpwmcount++;
+    }
+    for (int i = 0; i < g_gpio_softpwmcount ; i++) {
+        g_gpioPwm[i] = values_pwm[i];
+    } 
+    for(int i = 0; i < g_gpio_softpwmcount; i++) {
+        softPwmCreate(g_gpioPwm[i], MIN_DUTY, MAX_DUTY);
+    } 
+}
+
+void pin_all_default() {//全部至低电平,车和坦克共用
+	for (int i=0;i<g_gpiocount;i++) {
+        if(g_gpiowpi[i]==16 || g_gpiowpi[i]==20 || g_gpiowpi[i]==22) continue;
+		digitalWrite(g_gpiowpi[i], LOW);
+	}
+}
+
+void pwm_all_default() {//全部至低电平,车和坦克共用
+	for (int i=0;i<g_gpio_softpwmcount;i++) {
+		softPwmWrite(g_gpioPwm[i], 0);
+	}
+}
+
+void 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 ;
+        }
+    }
+    int shot_speed = (int)(shot_speed_value*100);
+    if(value==1) {
+		
+		if(pin == 27){
+        softPwmWrite(pin, shot_speed);
+        my_zlog_debug("pin:%d,%d",pin,shot_speed);
+        } else {
+            if(AppExit_pin_pwm == 202)softPwmWrite(pin, 30);
+            if(AppExit_pin_pwm != 202 )softPwmWrite(pin, shot_speed);
+        }
+        
+
+	}else if(value==0) {
+		softPwmWrite(pin, 0);
+		my_zlog_debug("pin:%d,0",pin);
+	}
+}
+
+
+void 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);
+		my_zlog_debug("pin:%d,%d",pin,HIGH);
+	}else if(value==0) {
+		digitalWrite(pin, LOW);
+		my_zlog_debug("pin:%d,%d",pin,LOW);
+	}
+	
+}
+
+void pwm_init_speed() {
+    int pwm_clock = 24000000 / (50 * 1000);// 定义 PWM 频率为 50Hz
+    pinMode(PWM_PIN_SPEED,PWM_OUTPUT);
+    pinMode(PWM_PIN_CHANGE,PWM_OUTPUT);
+    pwmSetClock(PWM_PIN_SPEED,pwm_clock);//=19200*1000/(hz*2000)
+    pwmSetRange(PWM_PIN_SPEED,1000);//占空比范围
+    pwmSetClock(PWM_PIN_CHANGE,pwm_clock);//=19200*1000/(hz*2000)
+    pwmSetRange(PWM_PIN_CHANGE,1000);//占空比范围
+    
+}
+
+// void Device_exit_end(){//main最后结束需要调用的函数
+//     if(AppExit_pin_pwm == 202) tank_shot_back_stop_task_end();
+// }
\ No newline at end of file

drivers/gpio/gpio_init.h

+/*
+此文件为通用文件，一般用于50hz的驱动等和引脚高低，适合车和船使用，
+如果有其他需求，此文件就不需要使用
+*/
+#ifndef GPIO_COMMON_H__
+#define GPIO_COMMON_H__
+
+extern int device_delay_count;//延时计算函数，使用前必须置0
+
+// 定义 PWM 引脚的 WiringPi 编号
+#define PWM_PIN_SPEED 21
+#define PWM_PIN_CHANGE 2
+
+void init_gpioWPi(int *values_pin);//gpio引脚初始化
+void init_gpioPwm(int *values_pwm);
+
+void pin_value(int pin,int value);//控制引脚高低
+
+// 定义 PWM 引脚的 WiringPi 编号
+void pin_all_default();//拉低车的控制引脚
+void pwm_all_default();//软件pwm置0引脚
+void pin_value(int pin,int value);
+void pwm_init_speed(); 
+void pwm_value(int pin,int value); //软件陪我们控制调速
+
+void Device_exit_end();//main最后结束需要调用的函数
+
+#endif

modules/http/http_request.c

+#include<curl/curl.h>
+#include <cjson/cJSON.h>
+#include "http_request.h"
+
+const char *post = "http://47.119.190.60/api/v1/device/config";
+
+int errCodeValue;
+char *errMsgptr = NULL;
+
+bool enable_buzzer_value=0;
+char *force_versionptr = NULL;
+double warn_voltage_value;
+double err_voltage_value;
+double shot_speed_value=0.7;
+
+// 回调函数，用于处理接收到的数据
+static size_t WriteMemoryCallback(void *contents, size_t size, size_t nmemb, void *userp) {
+    size_t realsize = size * nmemb;
+    struct MemoryStruct *mem = (struct MemoryStruct *)userp;
+
+    char *ptr = realloc(mem->memory, mem->size + realsize + 1);
+    if (!ptr) {
+        printf("not enough memory (realloc returned NULL)\n");
+        return 0;
+    }
+
+    mem->memory = ptr;
+    memcpy(&(mem->memory[mem->size]), contents, realsize);
+    mem->size += realsize;
+    mem->memory[mem->size] = 0;
+
+    return realsize;
+}
+
+//分析接口拉的json分析
+int analysis_request_json(char *payload_str) {
+    cJSON *json = cJSON_Parse(payload_str);
+    if (json == NULL) {
+        fprintf(stderr, "Error before: [%s]\n", cJSON_GetErrorPtr());
+        return 1;
+    }
+
+    // 提取 data 对象
+    cJSON *data = cJSON_GetObjectItem(json, "data");
+    if(data==NULL) {
+        my_zlog_warn("date数据段为空");
+        return 2;
+    }
+    // 提取 errCode
+    cJSON *errCode = cJSON_GetObjectItem(json, "errCode");
+    if(errCode==NULL) {
+        my_zlog_warn("errCode数据段为空");
+        return 3;
+    }
+    // 提取 errMsg
+    cJSON *errMsg = cJSON_GetObjectItem(json, "errMsg");
+    if(errMsg==NULL) {
+        my_zlog_warn("errMsg数据段为空");
+    }
+    // 提取 data 内部的键值对
+    cJSON *enable_buzzer = cJSON_GetObjectItem(data, "enable_buzzer");
+    cJSON *force_version = cJSON_GetObjectItem(data, "force_version");
+    cJSON *warn_voltage = cJSON_GetObjectItem(data, "warn_voltage");
+    cJSON *err_voltage = cJSON_GetObjectItem(data, "err_voltage");
+    cJSON *shot_speed= cJSON_GetObjectItem(data, "shot_speed");
+    if(cJSON_IsNumber(errCode)) {
+        errCodeValue = errCode->valueint;
+        if(errCodeValue != 0){
+            cJSON_Delete(json);
+            return 6;
+        }
+    }
+    if(cJSON_IsString(errMsg)) {
+        errMsgptr = errMsg->valuestring;
+    }
+    if(cJSON_IsBool(enable_buzzer)) {
+        enable_buzzer_value = cJSON_IsTrue(enable_buzzer);
+        my_zlog_debug("enable_buzzer: %s", enable_buzzer_value ? "true" : "false");
+    }
+    if(cJSON_IsString(force_version)) {
+        force_versionptr = force_version->valuestring;
+        my_zlog_debug("force_versionptr: %s",force_versionptr);
+    }
+    if(cJSON_IsNumber(warn_voltage)) {
+        warn_voltage_value = warn_voltage->valuedouble;
+        my_zlog_debug("warn_voltage_value: %.2f",warn_voltage_value);
+    }
+    if(cJSON_IsNumber(err_voltage)) {
+        err_voltage_value = err_voltage->valuedouble;
+        my_zlog_debug("err_voltage_value: %.2f",err_voltage_value);
+    }
+    if(cJSON_IsNumber(shot_speed)) {
+        if(0 <= shot_speed_value&&shot_speed_value<=1) {
+            shot_speed_value = shot_speed->valuedouble;
+        }
+        my_zlog_debug("shot_speed_value: %.2f",shot_speed_value);
+    }
+
+    cJSON_Delete(json);
+    return 0;
+}
+
+//像接口发送设备id
+char *wirte_json() {
+    cJSON *body = cJSON_CreateObject();
+
+    topic_middle_value();
+
+    cJSON_AddStringToObject(body, "device_id", TOPIC3); // 发送设备id
+
+    char *payload = cJSON_PrintUnformatted(body);
+    my_zlog_debug("%s", payload);
+    cJSON_Delete(body);  // 释放 cJSON 对象
+    return payload;
+}
+
+int request_date() {//请求数据
+    CURL *curl;
+    CURLcode res;
+
+    // 初始化libcurl
+    curl_global_init(CURL_GLOBAL_DEFAULT);
+    curl = curl_easy_init();
+
+    if (!curl) {
+        return 1;
+    }
+
+    struct MemoryStruct chunk;
+    chunk.memory = malloc(1);  // 初始化为空字符串
+    chunk.size = 0;
+
+    // 设置请求URL
+    curl_easy_setopt(curl, CURLOPT_URL, post);
+
+    // 设置POST请求
+    curl_easy_setopt(curl, CURLOPT_POST, 1L);
+
+    char *post_data = wirte_json();
+    curl_easy_setopt(curl, CURLOPT_POSTFIELDS, post_data);
+
+    // 设置HTTP头
+    struct curl_slist *headers = NULL;
+    headers = curl_slist_append(headers, "Content-Type: application/json");
+    curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
+
+    // 设置接收数据的回调函数
+    curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, WriteMemoryCallback);
+    curl_easy_setopt(curl, CURLOPT_WRITEDATA, (void *)&chunk);
+
+    // 执行请求
+    res = curl_easy_perform(curl);
+
+    // 检查错误
+    if (res != CURLE_OK) {
+        fprintf(stderr, "curl_easy_perform() failed: %s\n", curl_easy_strerror(res));
+    } else {
+        // 打印响应数据
+        my_zlog_debug("%s", chunk.memory);
+        analysis_request_json(chunk.memory);  
+    }
+
+    // 清理
+    free(post_data);
+    free(chunk.memory);
+    curl_slist_free_all(headers);
+    curl_easy_cleanup(curl);
+
+    curl_global_cleanup();
+    return 0;
+}
\ No newline at end of file

modules/http/http_request.h

+#ifndef HTTP_REQUEST_H
+#define HTTP_REQUEST_H
+
+#include"common.h"// 用于存储HTTP响应数据的结构体
+
+#define HTTP_REQUEST_INDEX 1
+
+struct MemoryStruct {
+    char *memory;
+    size_t size;
+};//初始化拉取接口，接收结构体
+
+extern int errCodeValue;//是否错误，一般不会发生
+extern bool enable_buzzer_value;//是否打开蜂鸣器
+extern double shot_speed_value;//射击的pwm占空比
+extern double warn_voltage_value;//警告电压
+extern double err_voltage_value;//错误电压
+int request_date();//请求数据
+
+#endif

modules/mqtt/mqtt_infor_handle.c

@@ -8,6 +8,8 @@
 #include "common.h"
 #include "mylog.h"
 
+bool g_verified_mode = TRUE;//控制是否需要验证
+
 int g_heartbeat_count=0;
 
 unsigned char g_valt[4];//存放mqtt接收的tpye，mode等
@@ -167,6 +169,12 @@ void message_4(cJSON *body){//message 为4时候
 
 //当接收到2时候验证
 void message_2_judyverify(cJSON *body){
+    if(g_verified_mode == FALSE) {
+        //refresh_cam();
+        my_zlog_warn("不使用验证");
+        return ;
+    }
+
     receive_jwt(body);
    if(g_verify_index == 0) {
     //refresh_cam();   
@@ -177,6 +185,12 @@ void message_2_judyverify(cJSON *body){
 
 //当接收到3时候验证
 void message_3_judyverify(cJSON *body){
+    if(g_verified_mode == FALSE) {
+        message_3(body);
+        my_zlog_warn("不使用验证");
+        return ;
+    }
+    
     receive_jwt(body);
    if(g_verify_index == 0) {
     message_3(body);
@@ -187,7 +201,13 @@ void message_3_judyverify(cJSON *body){
 
 //当接收到4时候验证
 void message_4_judyverify(cJSON *body){
-    receive_jwt(body);
+    if(g_verified_mode == FALSE) {
+        message_4(body);
+        my_zlog_warn("不使用验证");
+        return ;
+    }
+   
+   receive_jwt(body);
    if(g_verify_index == 0) {
     message_4(body);
    } else {