feature://加入了jwt验证，已测试一部分，后端还在测试，测试通过后直接打标签

build/include/version.h

@@ -2,5 +2,5 @@
 #define PROJECT_VERSION_MINOR 1
 #define PROJECT_VERSION_PATCH 8
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-06-24T10:17:31"
+#define BUILD_TIMESTAMP "2025-06-26T03:49:36"
 #define BUILD_USER "orangepi"

include/mqtt_verify.h

@@ -6,10 +6,14 @@
 extern int gverify_count;//验证计时
 extern int gverify_index;//判断是否验证成功
 
+int receive_jwt(cJSON *body);//jwt验证
+
 //接收安卓发送的mqtt
-int receive_verify(cJSON *body);
+//int receive_verify(cJSON *body);//为aes验证，暂时不用，注释
 
 //加密并发送mqtt
-int mqtt_encryption();
+//int mqtt_encryption();//为aes验证，暂时不用，注释
+
 
+int message2006_verify(cJSON *body);
 #endif
\ No newline at end of file

src/audioplay.c

@@ -8,6 +8,7 @@ char urlbuf[512];
 char keybuf[256];
 double audio_volume=0.8;
 
+//接收音频播放
 void audioplay_mqtt_receive(cJSON *json) {
     // 解析"audioLink"字段（修正了原始JSON中的拼写错误）
     cJSON *audio_link = cJSON_GetObjectItemCaseSensitive(json, "audioLink");
@@ -49,7 +50,8 @@ void audioplay_mqtt_receive(cJSON *json) {
     }
 }  
 
-void  audioplay_send_mqtt() {//发送音频播放是否完毕
+//发送音频播放是否完毕
+void  audioplay_send_mqtt() {
     cJSON *root = cJSON_CreateObject();
     cJSON *body = cJSON_CreateObject();
     cJSON *head = cJSON_CreateObject();
@@ -73,6 +75,7 @@ void  audioplay_send_mqtt() {//发送音频播放是否完毕
     cJSON_Delete(root);
 }
 
+//音频播放
 void audioplay_cycle(){
     char command[512];
     int ret;

src/mqtt.c

@@ -52,6 +52,7 @@ char  *glon=NULL;//加入gps后删除，心跳预留，不更改
 
 time_t gStart;//时间戳
 
+//mqtt初始化
 int mqtt_init() {
     mosquitto_lib_init();
     // 这里创建mosq可以保留，也可以删除这一行，让创建放到 Mqtt_onnect 里
@@ -64,7 +65,8 @@ int mqtt_init() {
     return 0;
 }
 
-void on_connect(struct mosquitto *mosq, void *obj, int rc) {//回调函数
+//回调函数
+void on_connect(struct mosquitto *mosq, void *obj, int rc) {
     if (rc == 0) {
         my_zlog_debug("Connected to broker");
         topic_middle_value();
@@ -76,7 +78,8 @@ void on_connect(struct mosquitto *mosq, void *obj, int rc) {//回调函数
     }
 }
 
-void heartbeat_send() {//心跳发送格式*5/2
+//心跳发送格式*5/2
+void heartbeat_send() {
     float voltage = INA226_readBusVoltage();
     float current = INA226_readCurrent();
     //my_zlog_debug("%.2f\n", voltage);
@@ -130,7 +133,8 @@ void heartbeat_send() {//心跳发送格式*5/2
     cJSON_Delete(root);  // 释放 cJSON 对象
 }
 
-void angle_mqtt_send() {  //角度发送
+//角度发送
+void angle_mqtt_send() { 
     float angle_shot=ads1115_read_channel(2);
     if(angle_shot>0){  
      angle_shot=angle_shot*360/5;
@@ -151,14 +155,16 @@ void angle_mqtt_send() {  //角度发送
    
 }
 
-void mqtt_wirte(){//心跳格式，每5s一次心跳
+//心跳格式，每5s一次心跳
+void mqtt_wirte(){
 
     if( heartbeat_count >= 30) heartbeat_send();
     if( AppExit_pin_pwm == 202) angle_mqtt_send();  
 
 }
 
-void message_3(cJSON *body){//message_type为3，控制pwm  
+//message_type为3，控制pwm  
+void message_3(cJSON *body){
     cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
     cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
     if(pwm_ctrl==NULL||pin_setctrl==NULL){ 
@@ -220,7 +226,39 @@ void message_4(cJSON *body){//message 为4时候
     if(AppExit_pin_pwm == 202 ) tank_shot_back_stop(gvalt[1],gvalt[2]);
 }
 
-int download_message(cJSON *body){//接收的下载的mqtt消息
+//当接收到2时候验证
+void message_2_judyverify(cJSON *body){
+    receive_jwt(body);
+   if(gverify_index == 0) {
+    refresh_cam();   
+   } else {
+    my_zlog_warn("验证不通过");
+   }
+}
+
+//当接收到3时候验证
+void message_3_judyverify(cJSON *body){
+    receive_jwt(body);
+   if(gverify_index == 0) {
+    message_3(body);
+   } else {
+    my_zlog_warn("验证不通过");
+   }
+}
+
+//当接收到4时候验证
+void message_4_judyverify(cJSON *body){
+    receive_jwt(body);
+   if(gverify_index == 0) {
+    message_4(body);
+   } else {
+    my_zlog_warn("验证不通过");
+   }
+}
+
+
+//接收的下载的mqtt消息
+int download_message(cJSON *body){
     if (cJSON_IsObject(body)) {
         // 获取 doby 对象
             // 获取 site 中的 name 和 url
@@ -246,6 +284,7 @@ int download_message(cJSON *body){//接收的下载的mqtt消息
     return 0;
 }
 
+//接收到设备改名函数
 int device_mqttchange_name(cJSON *device_id){
     cJSON *id = cJSON_GetObjectItem(device_id, "id");// 提取ID   
     cJSON *date = cJSON_GetObjectItem(device_id, "date");// 提取日期
@@ -274,21 +313,16 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
         gmessage_type=message_type->valueint;
         my_zlog_debug("message_type: %d",message_type->valueint);
         switch(gmessage_type){
-            case 1:
-                system("sudo reboot");//重启香橙派
-                my_zlog_debug("重启成功");
-                break;
             case 2:
-                refresh_cam();
-                my_zlog_debug("刷新成功");
+                message_2_judyverify(body); 
+                my_zlog_debug("进入刷新");
                 break;
             case 3:
-                receive_verify(body);
-                if(gverify_index == 0) message_3(body);
+                message_3_judyverify(body);
                 my_zlog_debug("进入pwm控制");
                 break;
             case 4:
-                message_4(body);
+                message_4_judyverify(body);
                 my_zlog_debug("进入引脚控制");
                 break;
             case 2001: 
@@ -309,6 +343,19 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 break;
             case 2005:
                 download_message(body);
+                my_zlog_debug("进入下载");
+                break;
+            case 2006:
+                message2006_verify(body);
+                my_zlog_debug("进入消息为2006验证");
+                break;
+            case 2011:
+                system("sudo reboot");//重启香橙派
+                my_zlog_debug("重启成功");
+                break;
+            case 2012:
+                refresh_cam();    
+                my_zlog_debug("刷新成功");
                 break;
             default:
                 break;
@@ -318,7 +365,8 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
     return 0;
 }
 
-void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {//消息回环函数  
+//消息回环函数  
+void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {
     time_t end = time(NULL);
 
     if(gStart+5>end){
@@ -349,8 +397,8 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
     }
 }
 
-
-int mqtt_create(struct mosquitto *mosq) { // 返回连接结果，0成功，非0失败
+// 返回连接结果，0成功，非0失败
+int mqtt_create(struct mosquitto *mosq) { 
     mosquitto_reconnect_delay_set(mosq, 2, 10, true);
     mosquitto_connect_callback_set(mosq, on_connect);
     mosquitto_message_callback_set(mosq, on_message);
@@ -365,7 +413,8 @@ int mqtt_create(struct mosquitto *mosq) { // 返回连接结果，0成功，非0
     return 0; // 成功
 }   
 
-int mqtt_cycle(struct mosquitto *mosq) {//阻塞型
+//阻塞型
+int mqtt_cycle(struct mosquitto *mosq) {
     // 这个函数会阻塞直到连接断开或错误返回
     int rc = mosquitto_loop_forever(mosq, -1, 1);
     if (rc != MOSQ_ERR_SUCCESS) {
@@ -386,6 +435,7 @@ int mqtt_cycle(struct mosquitto *mosq) {//阻塞型
 //     }
 // }
 
+//mqtt清理
 void mqtt_clean(struct mosquitto *mosq){
       // 清理
     mosquitto_destroy(mosq);

src/thread_main.c

@@ -138,7 +138,7 @@ void *delay_count(void *arg) {
         Delay_Ms(0,5);
        device_delay_count++;//设备计时，坦克打击倒退逻辑
        gverify_count++;//验证计时,每15s一次
-       if(gverify_count >= 5000) gverify_count = 5000;
+       if(gverify_count >= 20000) gverify_count = 20000;
        if(device_delay_count >= 5000) device_delay_count = 5000;
     }
     return NULL;

system/gpio/gpio_pwm_car0102.c

@@ -70,19 +70,19 @@ void car0102_mode_2_back(unsigned char gval) {
     if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 0);
 	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
+		pwmWrite(PWM_PIN_SPEED,b + 40 * k);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
+		pwmWrite(PWM_PIN_SPEED,b + 40 * k);
 	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 40* k);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 40 * k);
 	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 40 * k);
 	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 40 * k);
 	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, b + 35 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 40 * k);
 	} else if (gval <= 110) {
 		pwmWrite(PWM_PIN_SPEED, b + 40 * k);
 	} else if (gval <= 120) {

system/sensor/heat.c

@@ -5,6 +5,7 @@
 
 char temperature[20];
 float temp_str;
+//温度获取
 int heat_tem() {
     FILE *file;
     char line[MAX_LINE_LENGTH];

system/sensor/warm.c

@@ -4,7 +4,8 @@
 #include "gpio_pwm_carship.h"
 #include "request.h"
 
-int alarm_highest(int index) {//最高警报，最低电压报警
+//最高警报，最低电压报警
+int alarm_highest(int index) {
     if(index == 1) {
         pin_value(20,1);//紫灯
         if(enable_buzzer_value) {
@@ -18,7 +19,8 @@ int alarm_highest(int index) {//最高警报，最低电压报警
     return index ;
 }
 
-int alarm_low(int index) {//比较小警报
+//比较小警报
+int alarm_low(int index) {
     if(index == 1) {
         pin_value(16,1);//黄灯
     } else if(index == 0) {