add firefox refresh

cam.sh

-#!/bin/bash
-
-
-pkill firefox
-
-# 设置 DISPLAY 环境变量（确保 Firefox 能运行图形界面）--new-window
-export DISPLAY=:0
-
-sudo  firefox  "https://8.129.3.163/index" --ignore-certificate-errors 
\ No newline at end of file

camopen.sh

+#!/bin/bash
+
+
+#sudo wmctrl -c firefox
+
+#sleep 2 pkill firefox
+
+# 设置 DISPLAY 环境变量（确保 Firefox 能运行图形界面）--new-window--ignore-certificate-errors 
+export DISPLAY=:0
+
+firefox  "https://8.129.3.163/index" &
\ No newline at end of file

main.c

@@ -5,12 +5,7 @@
 #include "delay.h"
 #include "opensh.h"
 
-void *opensh(void *arg)
-{ 
-    sleep(10);
-   opencamsh();
-   return NULL; 
-}
+
 
 void *serial_usart1(void *arg)
 { 
@@ -24,14 +19,16 @@ void *serial_usart1(void *arg)
 void *AppExit(void *arg)
 { 
 
-      
-
     while(1)
     {    
         unsigned char bufpwm1[3]={gtypeTemp,1,0};
         unsigned char bufpwm2[3]={gtypeTemp,2,0};
         unsigned char bufpwm3[3]={gtypeTemp,3,0};
-        unsigned char bufpwm4[3]={gtypeTemp,4,0};
+        unsigned char bufpwm4[3]={gtypeTemp,4,0};\
+        if(gtypeTemp==3)
+        {
+            gPwmCount=0;
+        }
         Delay_Ms(0,100);
         gPwmCount++;
         //printf( "%d\n",gtypeTemp);
@@ -57,13 +54,21 @@ void *Mqttbeat(void *arg)
     while(1)
     {
         mqtt_wirte();
-        Delay_Ms(3,200);
+        Delay_Ms(3,0);
     }
     
     
     return NULL;
 }
 
+void *opensh(void *arg)
+{ 
+    Delay_Ms(10,0);
+     printf("open cam\n");
+    opencamsh();
+   return NULL; 
+}
+
 void *serial_usart2(void *arg)
 { 
     
@@ -88,7 +93,6 @@ int main(int argc, char *argv[]) {
     ipaddr();//获取ip
     mqtt_wirte();//mqtt心跳首次发送
 
-    //opencamsh();
     
     thread_start(serial_usart1,AppExit,Mqttbeat,serial_usart2,opensh);
     mqtt_cycle(mosq);

mqtt.c

 #include "mqtt.h"
 #include "gps.h"
+#include "opensh.h"
 time_t gStart;
 
 
@@ -35,7 +36,7 @@ int mqtt_init()
 {
  // 初始化 mosquitto 库
     mosquitto_lib_init();  
-    mosq = mosquitto_new(CLIENT_ID, true, NULL);
+    mosq = mosquitto_new(NULL, true, NULL);
     if (!mosq) {
         fprintf(stderr, "Failed to create Mosquitto client\n");
         return -1;
@@ -131,6 +132,7 @@ void message_0()//message_type为0时候要改变的值
     
 }
 
+
 void message_3(cJSON *body,cJSON *pwm_ctrl)//message_type为3，控制pwm
 {
     //pwm控制
@@ -147,6 +149,10 @@ void message_3(cJSON *body,cJSON *pwm_ctrl)//message_type为3，控制pwm
         gmodeTemp= mode->valueint;
         gtypeTemp=type->valueint;
         gvalTemp= val->valueint*3/4;
+        if(gtypeTemp==3)
+        {
+            gvalTemp= val->valueint;
+        }
         gvalt[0]=gtypeTemp;
         gvalt[1]=gmodeTemp;
         gvalt[2]=gvalTemp;
@@ -243,6 +249,9 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
                 case 0:
                     message_0();
                     break;
+                case 2:
+                    refresh_cam();
+                    break;
                 case 3:
                     message_3(body,pwm_ctrl);
                     break;

mqtt.h

@@ -8,12 +8,12 @@
 #include "ip.h"
 #include "serial.h"
 
-
+#define CLIENT_ID "carorship123"
 
 #define BROKER_ADDRESS "119.45.167.177"
 #define BROKER_PORT 1883
-#define CLIENT_ID "feichirensheng/carorship"
-#define TOPIC "controlcar0001"
+
+#define TOPIC "controcar0004"
 #define USERNAME "admin"    // 替换为你的用户名
 #define PASSWORD "admin"       // 替换为你的密码
 

opensh.c

@@ -9,6 +9,13 @@ int opencamsh()
     {
         return -1;
     }
-    printf("open cam\n");
+    printf("close cam\n");
  
 }
+
+void refresh_cam()
+{
+  system(SHELLFILECLOSE);
+   
+    printf("recam\n");
+}

opensh.h

@@ -2,7 +2,10 @@
 #define __opensh_H__ 
 
 
-#define SHELLFILE "/home/kickpi/car/master/cam.sh"
+#define SHELLFILE "/home/kickpi/car/master/camopen.sh"
+#define SHELLFILECLOSE "/home/kickpi/car/master/recam.sh"
 
 int opencamsh();
+
+void refresh_cam();
 #endif
\ No newline at end of file

recam.sh

+#!/bin/bash
+
+
+irefox_windows=$(xdotool search --name "Call 1V1 — Mozilla Firefox")
+
+# 判断是否找到 Firefox 窗口
+#if [ -z "$firefox_windows" ]; then
+    #echo "没有找到任何 Firefox 窗口。" 
+    #exit 1
+#fi
+
+# 刷新所有找到的 Firefox 窗口 #echo "刷新窗口 ID: $window"
+for window in $irefox_windows; do
+   
+    xdotool windowactivate $window key Ctrl+r
+done
\ No newline at end of file

serial.c

@@ -75,7 +75,7 @@ void serial_Receive_2()
 
 void serial_Receive_1() 
 {
-    unsigned char buffer[3];
+    unsigned char buffer[256];
 
     while(1) 
     {