add firefox refresh

c063a013 · 957dd · 07e6627a · 07e6627a · c063a013 · c063a013
Commit c063a013 authored Dec 20, 2024 by 957dd
11 changed files
--- a/cam.sh
+++ b/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
--- a/camopen.sh
+++ b/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
--- a/log/log.txt
+++ b/log/log.txt
-Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.89759) [GFX1-]: glxtest: libEGL missing methods for GL test
- [88210] Sandbox: Couldn't query capabilities of video device /dev/video-enc0
-[88210] Sandbox: Couldn't query capabilities of video device /dev/video-dec0
-Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.89759) |[1][GFX1-]: RenderCompositorSWGL failed mapping default framebuffer, no dt (t=74.9596) [GFX1-]: RenderCompositorSWGL failed mapping default framebuffer, no dt
-ip:10.5.130.216
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.89628) [GFX1-]: glxtest: libEGL missing methods for GL test
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+ip:192.168.1.71
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
 serial_usart 1 start
 Mqttbeat start
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
 serial_usart 2 start
 Connected to broker
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-正在处理过期消息{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+正在处理过期消息{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
 open cam
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":"10.5.130.216","ID":"controcar0005","N":"","E":""},"head":{"message_type":1}}
-{"body":{"ip":Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.89526) [GFX1-]: glxtest: libEGL missing methods for GL test
+close cam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 1
+message_type: 1
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:37
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:18
+message_type: 3
+gtypeTemp:1
+gmodeTemp:2
+gvalTemp:0
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:37
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:18
+message_type: 3
+gtypeTemp:1
+gmodeTemp:2
+gvalTemp:0
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:37
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:41
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:45
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:48
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:24
+message_type: 3
+gtypeTemp:1
+gmodeTemp:2
+gvalTemp:0
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:37
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:41
+message_type: 3
+gtypeTemp:1
+gmodeTemp:1
+gvalTemp:20
+message_type: 3
+gtypeTemp:1
+gmodeTemp:2
+gvalTemp:0
+{"body":{"ip":"192.1Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.94314) [GFX1-]: glxtest: libEGL missing methods for GL test
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Error: Can't open display: (null)
+Failed creating new xdo instance
+没有找到任何 Firefox 窗口。
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.84303) [GFX1-]: glxtest: libEGL missing methods for GL test
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+usage: sudo -h | -K | -k | -V
+usage: sudo -v [-AknS] [-g group] [-h host] [-p prompt] [-u user]
+usage: sudo -l [-AknS] [-g group] [-h host] [-p prompt] [-U user] [-u user]
+            [command]
+usage: sudo [-AbEHknPS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] [VAR=value] [-i|-s] [<command>]
+usage: sudo -e [-AknS] [-r role] [-t type] [-C num] [-g group] [-h host] [-p
+            prompt] [-T timeout] [-u user] file ...
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Error: Can't open display: (null)
+Failed creating new xdo instance
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.80649) [GFX1-]: glxtest: libEGL missing methods for GL test
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=2.0372) [GFX1-]: glxtest: libEGL missing methods for GL test
+Error: no DISPLAY environment variable specified
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.92921) [GFX1-]: glxtest: libEGL missing methods for GL test
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.95328) [GFX1-]: glxtest: libEGL missing methods for GL test
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.95328) |[1][GFX1-]: RenderCompositorSWGL failed mapping default framebuffer, no dt (t=96.0825) [GFX1-]: RenderCompositorSWGL failed mapping default framebuffer, no dt

 ###!!! [Parent][DispatchAsyncMessage] Error: PBackgroundIDBFactory::Msg_PBackgroundIDBFactoryRequestConstructor Value error: message was deserialized, but contained an illegal value

+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.99895) [GFX1-]: glxtest: libEGL missing methods for GL test
+ip:192.168.1.71
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+serial_usart 1 start
+Mqttbeat start
+serial_usart 2 start
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+Connected to broker
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+正在处理过期消息{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+open cam
+close cam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 1
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 1
+message_type: 1
+message_type: 1
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","IDCrash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=2.01205) [GFX1-]: glxtest: libEGL missing methods for GL test
+X Error of failed request:  BadWindow (invalid Window parameter)
+  Major opcode of failed request:  15 (X_QueryTree)
+  Resource id in failed request:  0x3000046
+  Serial number of failed request:  361
+  Current serial number in output stream:  361
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=3.41713) [GFX1-]: glxtest: libEGL missing methods for GL test
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=2.01287) [GFX1-]: glxtest: libEGL missing methods for GL test
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=2.01287) |[1][GFX1-]: RenderCompositorSWGL failed mapping default framebuffer, no dt (t=37.0305) [GFX1-]: RenderCompositorSWGL failed mapping default framebuffer, no dt
+
+###!!! [Parent][DispatchAsyncMessage] Error: PBackgroundIDBFactory::Msg_PBackgroundIDBFactoryRequestConstructor Value error: message was deserialized, but contained an illegal value
+
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=7.27211) [GFX1-]: glxtest: libEGL missing methods for GL test
+Crash Annotation GraphicsCriticalError: |[0][GFX1-]: glxtest: libEGL missing methods for GL test (t=1.92503) [GFX1-]: glxtest: libEGL missing methods for GL test
+ip:192.168.1.71
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+serial_usart 1 start
+Mqttbeat start
+serial_usart 2 start
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+Connected to broker
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+正在处理过期消息{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+open cam
+close cam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 2
+recam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 2
+recam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 2
+recam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 2
+recam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 2
+recam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 2
+recam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 2
+recam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 2
+recam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+message_type: 2
+recam
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"controcar0004","N":"","E":""},"head":{"message_type":1}}
+{"body":{"ip":"192.168.1.71","ID":"con
\ No newline at end of file
--- a/main
+++ b/main
--- a/main.c
+++ b/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);

--- a/mqtt.c
+++ b/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;

--- a/mqtt.h
+++ b/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


--- a/opensh.c
+++ b/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");
+}
--- a/opensh.h
+++ b/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
--- a/recam.sh
+++ b/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
--- a/serial.c
+++ b/serial.c
@@ -75,7 +75,7 @@ void serial_Receive_2()

 void serial_Receive_1() 
 {
-    unsigned char buffer[3];
+    unsigned char buffer[256];

    while(1) 
    {