修改了喇叭和麦并优化了

drivers/sensors/audioplay.c

@@ -458,16 +458,100 @@ static int pulse_module_exists(const char *module_name, const char *device)
     return 0;
 }
 
+static int pulse_endpoint_score(const char *name, int is_sink)
+{
+    if (!name)
+        return 0;
+    if (strstr(name, is_sink ? "yundea-output" : "yundea-input") != NULL)
+        return 4;
+    if (strstr(name, is_sink ? "alsa_output.usb-" : "alsa_input.usb-") != NULL)
+        return 3;
+    if (strstr(name, is_sink ? "alsa_output.hw_2_0" : "alsa_input.hw_2_0") != NULL)
+        return 2;
+    return 0;
+}
+
+static int pulse_find_existing_endpoint(int is_sink, char *name_out, size_t name_size)
+{
+    FILE *fp;
+    char line[512];
+    int best_score = 0;
+
+    if (!name_out || name_size == 0)
+        return 0;
+    name_out[0] = '\0';
+
+    fp = popen(is_sink ? "pactl list short sinks 2>/dev/null"
+                       : "pactl list short sources 2>/dev/null", "r");
+    if (!fp)
+        return 0;
+
+    while (fgets(line, sizeof(line), fp) != NULL) {
+        char *saveptr = NULL;
+        char *field;
+        char *endpoint_name;
+        int score;
+
+        field = strtok_r(line, "\t", &saveptr); /* index */
+        if (!field)
+            continue;
+        endpoint_name = strtok_r(NULL, "\t", &saveptr);
+        if (!endpoint_name)
+            continue;
+
+        score = pulse_endpoint_score(endpoint_name, is_sink);
+        if (score <= best_score)
+            continue;
+        strncpy(name_out, endpoint_name, name_size - 1);
+        name_out[name_size - 1] = '\0';
+        best_score = score;
+    }
+
+    pclose(fp);
+    return best_score > 0;
+}
+
+/* 返回 1=找到并设为默认，0=没有找到，-1=找到但设置失败。 */
+static int pulse_activate_existing_endpoint(int is_sink, const char *label)
+{
+    char endpoint_name[256];
+    char cmd[384];
+    int exit_code;
+
+    if (!pulse_find_existing_endpoint(is_sink, endpoint_name, sizeof(endpoint_name)))
+        return 0;
+
+    snprintf(cmd, sizeof(cmd), "pactl set-default-%s %s >/dev/null 2>&1",
+             is_sink ? "sink" : "source", endpoint_name);
+    exit_code = pulse_pactl_exit_code(system(cmd));
+    if (exit_code != 0) {
+        my_zlog_warn("%s 已存在但设为默认失败 exit=%d: %s",
+                     label, exit_code, endpoint_name);
+        return -1;
+    }
+
+    my_zlog_info("%s 已存在并设为默认，复用 PulseAudio 端点: %s",
+                 label, endpoint_name);
+    return 1;
+}
+
 static int pulse_load_alsa_module(const char *module_name, const char *label)
 {
     char cmd[256];
     char output[512];
     char line[256];
+    int is_sink = strcmp(module_name, "module-alsa-sink") == 0;
+    int endpoint_result;
+
+    /* module-udev-detect 通常已经注册 USB 声卡，优先复用，避免重复抢 hw:2,0。 */
+    endpoint_result = pulse_activate_existing_endpoint(is_sink, label);
+    if (endpoint_result != 0)
+        return endpoint_result > 0 ? 0 : -1;
 
     if (pulse_module_exists(module_name, AUDIO_USB_ALSA_DEVICE)) {
-        my_zlog_info("%s 已注册，跳过 (%s device=%s)",
+        my_zlog_warn("%s 模块已注册但未找到对应 PulseAudio 端点 (%s device=%s)",
                      label, module_name, AUDIO_USB_ALSA_DEVICE);
-        return 0;
+        return -1;
     }
 
     snprintf(cmd, sizeof(cmd), "pactl load-module %s device=%s 2>&1",
@@ -494,20 +578,29 @@ static int pulse_load_alsa_module(const char *module_name, const char *label)
     int exit_code = pulse_pactl_exit_code(status);
 
     if (exit_code == 0) {
-        my_zlog_info("%s 注册成功 (%s device=%s)%s%s",
+        delay_ms(100);
+        endpoint_result = pulse_activate_existing_endpoint(is_sink, label);
+        if (endpoint_result > 0)
+            return 0;
+        my_zlog_warn("%s 模块加载成功但没有可用端点 (%s device=%s)%s%s",
                      label, module_name, AUDIO_USB_ALSA_DEVICE,
                      output[0] ? ", pactl: " : "", output[0] ? output : "");
-        return 0;
+        return -1;
     }
 
     if (pulse_output_means_already_loaded(output) ||
         pulse_module_exists(module_name, AUDIO_USB_ALSA_DEVICE)) {
-        my_zlog_info("%s 已注册，跳过 (%s device=%s)%s%s",
-                     label, module_name, AUDIO_USB_ALSA_DEVICE,
-                     output[0] ? ": " : "", output[0] ? output : "");
+        delay_ms(100);
+        endpoint_result = pulse_activate_existing_endpoint(is_sink, label);
+        if (endpoint_result > 0)
             return 0;
     }
 
+    /* 加载失败也再检查一次：常见原因是 udev 已经占用声卡。 */
+    endpoint_result = pulse_activate_existing_endpoint(is_sink, label);
+    if (endpoint_result > 0)
+        return 0;
+
     my_zlog_warn("%s 注册失败 (%s device=%s): exit=%d%s%s",
                  label, module_name, AUDIO_USB_ALSA_DEVICE, exit_code,
                  output[0] ? ", pactl: " : ", pactl 无输出",

modules/device_debug/device_diag.c

@@ -39,7 +39,7 @@ static int diag_check_camera(char *name, size_t name_sz, char *msg, size_t msg_s
     DIR *dir;
     struct dirent *ent;
     int found = 0;
-    char path[64];
+    char path[320];  /* 容纳 /dev/ + d_name(最长255) */
 
     dir = opendir("/dev");
     if (!dir) {

modules/logger/mylog.c

@@ -6,6 +6,7 @@
 #define ZLOG_CONF_FILE PROJECT_ROOT_DIR "/zlog.conf"
 #define LOG_KEEP_DAYS  30
 #define MAX_SIZE_MB    200
+#define LOG_TIME_SYNC_WAIT_SEC 15
 
 static zlog_category_t *s_zlog_c = NULL;
 static char s_log_file[256];
@@ -16,6 +17,64 @@ int logconf_create();
 void check_and_delete_log();
 static int create_log_dir_if_not_exist(const char *path);
 
+static int network_time_is_synchronized(void)
+{
+    FILE *fp;
+    char value[32] = {0};
+
+    fp = popen("timedatectl show -p NTPSynchronized --value 2>/dev/null", "r");
+    if (!fp)
+        return 0;
+    if (fgets(value, sizeof(value), fp) == NULL)
+        value[0] = '\0';
+    pclose(fp);
+    value[strcspn(value, "\r\n")] = '\0';
+    return strcmp(value, "yes") == 0;
+}
+
+/*
+ * 日志文件名包含日期，因此必须尽量在 NTP 校时后生成。
+ * 最多等待 15 秒；无网或校时服务异常时继续启动，不能永久阻塞设备。
+ */
+static void wait_for_network_time_before_log(void)
+{
+    time_t initial_wall;
+
+    if (network_time_is_synchronized())
+        return;
+
+    fprintf(stderr, "[INFO] 日志初始化前等待网络时间同步，最多%d秒...\n",
+            LOG_TIME_SYNC_WAIT_SEC);
+
+    /* 兼容 systemd-timesyncd 与本项目镜像常用的 chrony。 */
+    (void)system("timedatectl set-ntp true >/dev/null 2>&1");
+    (void)system("chronyc -a online >/dev/null 2>&1");
+    (void)system("chronyc -a 'burst 4/4' >/dev/null 2>&1");
+
+    initial_wall = time(NULL);
+    for (int waited = 1; waited <= LOG_TIME_SYNC_WAIT_SEC; waited++) {
+        time_t now;
+        double expected_elapsed;
+
+        sleep(1);
+        if (waited == 3)
+            (void)system("chronyc -a makestep >/dev/null 2>&1");
+        if (network_time_is_synchronized()) {
+            fprintf(stderr, "[INFO] 网络时间已同步，开始创建日志文件。\n");
+            return;
+        }
+
+        now = time(NULL);
+        expected_elapsed = difftime(now, initial_wall);
+        if (expected_elapsed < waited - 5.0 || expected_elapsed > waited + 5.0) {
+            fprintf(stderr, "[INFO] 检测到系统时间已由网络校正，开始创建日志文件。\n");
+            return;
+        }
+    }
+
+    fprintf(stderr, "[WARN] 网络时间同步等待超时，将使用当前系统时间创建日志。\n");
+}
+
 static void generate_log_filename(void)
 {
     time_t now = time(NULL);
@@ -76,6 +135,7 @@ static void generate_config_content(void)
 
 int mylog_init()
 {
+    wait_for_network_time_before_log();
     generate_log_filename();
     create_log_dir_if_not_exist(s_log_file);
 

zlog.conf

@@ -9,4 +9,4 @@ file perms = 600
 millisecond = "%d(%Y-%m-%d %H:%M:%S).%ms [%V] %m%n"
 
 [rules]
-my_log.*    "/home/orangepi/car/master/log/log_2026-07-20.log"; millisecond
+my_log.*    "/home/orangepi/car/master/log/log_2026-07-28.log"; millisecond