加入了拉取mqtt服务器，还需等后端完成后再修改

app/device_identity/device_fileopen.c

@@ -7,7 +7,7 @@
 
 #define FILE_VERSION "/home/orangepi/car/master/version.conf"
 
-char *g_device_id = NULL;
+char *g_device_id = NULL;//设备的类型的id
 
 /*读出文件函数，读取设备号函数，获得设备号id*/
 char *device_inspect() {

app/main/main.c

@@ -25,9 +25,14 @@ int main(){
        return -5;
     }
 
+   if(http_mqtt_video_init() !=0){
+      my_zlog_error("请求mqtt服务器和video数据失败");
+      return -6;
+   }
+
    if(softiic_init()!=0){
       my_zlog_error("软件iic初始化失败");
-       return -6;
+       return -7;
     }
 
    if(ina225_init()!=0){

app/main/main.h

@@ -10,6 +10,7 @@
 #include "INA226.h"
 #include "devcontrol_common.h"
 #include "gpio_init.h"
+#include "http_config_mqtt.h"
 
 /*设备id读取初始化*/
 int device_id_file_init();
@@ -41,6 +42,9 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
 /*像服务器请求*/
 int request_date();
 
+/*mqtt服务器和视频流地址初始化*/
+int http_mqtt_video_init();
+
 /*线程关闭函数*/
 void thread_end_close() ;
 

app/main/pthread_open.c

@@ -18,7 +18,7 @@ pthread_t g_thread[PTHREAD_MAX];  // 全局线程句柄数组（或传参）
 
 int g_webrtc_index=0;//判断游览器是否打开
 
-int g_mqtt_grc=0;
+int g_mqtt_grc=0;//mqtt连接状态机
 
 void* g_args[PTHREAD_MAX] = { NULL};
 
@@ -83,8 +83,6 @@ void *thread_mqtt_beat(void *arg) {
     }
 
     while(1) {
-        // if( g_device_type >= 200 && g_device_type<=205) delay_ms(45);
-        // if( g_device_type != 202)delay_ms(100);
         delay_ms(100);
 
         g_heartbeat_count++;

build/Makefile

@@ -1158,6 +1158,30 @@ modules/delay/delay.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/delay.c.s
 .PHONY : modules/delay/delay.c.s
 
+modules/http/http_config_mqtt.o: modules/http/http_config_mqtt.c.o
+.PHONY : modules/http/http_config_mqtt.o
+
+# target to build an object file
+modules/http/http_config_mqtt.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/http_config_mqtt.c.o
+.PHONY : modules/http/http_config_mqtt.c.o
+
+modules/http/http_config_mqtt.i: modules/http/http_config_mqtt.c.i
+.PHONY : modules/http/http_config_mqtt.i
+
+# target to preprocess a source file
+modules/http/http_config_mqtt.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/http_config_mqtt.c.i
+.PHONY : modules/http/http_config_mqtt.c.i
+
+modules/http/http_config_mqtt.s: modules/http/http_config_mqtt.c.s
+.PHONY : modules/http/http_config_mqtt.s
+
+# target to generate assembly for a file
+modules/http/http_config_mqtt.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/http_config_mqtt.c.s
+.PHONY : modules/http/http_config_mqtt.c.s
+
 modules/http/http_consolepush.o: modules/http/http_consolepush.c.o
 .PHONY : modules/http/http_consolepush.o
 
@@ -1981,6 +2005,9 @@ help:
 	@echo "... modules/delay/delay.o"
 	@echo "... modules/delay/delay.i"
 	@echo "... modules/delay/delay.s"
+	@echo "... modules/http/http_config_mqtt.o"
+	@echo "... modules/http/http_config_mqtt.i"
+	@echo "... modules/http/http_config_mqtt.s"
 	@echo "... modules/http/http_consolepush.o"
 	@echo "... modules/http/http_consolepush.i"
 	@echo "... modules/http/http_consolepush.s"

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 2
-#define PROJECT_VERSION_PATCH 12
+#define PROJECT_VERSION_PATCH 13
 #define GIT_HASH ""
 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

@@ -2,8 +2,8 @@ CMAKE_PROGRESS_1 =
 CMAKE_PROGRESS_2 = 
 CMAKE_PROGRESS_3 = 81
 CMAKE_PROGRESS_4 = 
-CMAKE_PROGRESS_5 = 
-CMAKE_PROGRESS_6 = 82
+CMAKE_PROGRESS_5 = 82
+CMAKE_PROGRESS_6 = 
 CMAKE_PROGRESS_7 = 
 CMAKE_PROGRESS_8 = 83
 CMAKE_PROGRESS_9 = 

build/third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/progress.make

 CMAKE_PROGRESS_1 = 93
 CMAKE_PROGRESS_2 = 
-CMAKE_PROGRESS_3 = 
-CMAKE_PROGRESS_4 = 94
+CMAKE_PROGRESS_3 = 94
+CMAKE_PROGRESS_4 = 
 CMAKE_PROGRESS_5 = 
 

build/third_party/mosquitto/lib/CMakeFiles/libmosquitto.dir/progress.make

@@ -12,8 +12,8 @@ CMAKE_PROGRESS_11 =
 CMAKE_PROGRESS_12 = 
 CMAKE_PROGRESS_13 = 5
 CMAKE_PROGRESS_14 = 
-CMAKE_PROGRESS_15 = 6
-CMAKE_PROGRESS_16 = 
+CMAKE_PROGRESS_15 = 
+CMAKE_PROGRESS_16 = 6
 CMAKE_PROGRESS_17 = 
 CMAKE_PROGRESS_18 = 7
 CMAKE_PROGRESS_19 = 
@@ -29,8 +29,8 @@ CMAKE_PROGRESS_28 =
 CMAKE_PROGRESS_29 = 
 CMAKE_PROGRESS_30 = 11
 CMAKE_PROGRESS_31 = 
-CMAKE_PROGRESS_32 = 12
-CMAKE_PROGRESS_33 = 
+CMAKE_PROGRESS_32 = 
+CMAKE_PROGRESS_33 = 12
 CMAKE_PROGRESS_34 = 
 CMAKE_PROGRESS_35 = 13
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

@@ -2,8 +2,8 @@ CMAKE_PROGRESS_1 =
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 CMAKE_PROGRESS_4 = 
-CMAKE_PROGRESS_5 = 18
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@@ -19,8 +19,8 @@ CMAKE_PROGRESS_18 =
 CMAKE_PROGRESS_19 = 
 CMAKE_PROGRESS_20 = 23
 CMAKE_PROGRESS_21 = 
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 CMAKE_PROGRESS_37 = 29
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 CMAKE_PROGRESS_44 = 
 

build/third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_security.dir/progress.make

@@ -6,8 +6,8 @@ CMAKE_PROGRESS_5 =
 CMAKE_PROGRESS_6 = 
 CMAKE_PROGRESS_7 = 87
 CMAKE_PROGRESS_8 = 
-CMAKE_PROGRESS_9 = 
-CMAKE_PROGRESS_10 = 88
+CMAKE_PROGRESS_9 = 88
+CMAKE_PROGRESS_10 = 
 CMAKE_PROGRESS_11 = 
 CMAKE_PROGRESS_12 = 89
 

build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/progress.make

@@ -6,11 +6,11 @@ CMAKE_PROGRESS_5 =
 CMAKE_PROGRESS_6 = 
 CMAKE_PROGRESS_7 = 56
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-CMAKE_PROGRESS_9 = 
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+CMAKE_PROGRESS_10 = 
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+CMAKE_PROGRESS_12 = 58
+CMAKE_PROGRESS_13 = 
 CMAKE_PROGRESS_14 = 
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 CMAKE_PROGRESS_16 = 
@@ -23,11 +23,11 @@ CMAKE_PROGRESS_22 =
 CMAKE_PROGRESS_23 = 
 CMAKE_PROGRESS_24 = 62
 CMAKE_PROGRESS_25 = 
-CMAKE_PROGRESS_26 = 
-CMAKE_PROGRESS_27 = 63
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+CMAKE_PROGRESS_29 = 64
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@@ -40,11 +40,11 @@ CMAKE_PROGRESS_39 =
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 CMAKE_PROGRESS_42 = 
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 CMAKE_PROGRESS_45 = 
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+CMAKE_PROGRESS_46 = 70
+CMAKE_PROGRESS_47 = 
 CMAKE_PROGRESS_48 = 
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@@ -57,11 +57,11 @@ CMAKE_PROGRESS_56 =
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 CMAKE_PROGRESS_58 = 74
 CMAKE_PROGRESS_59 = 
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+CMAKE_PROGRESS_61 = 
 CMAKE_PROGRESS_62 = 
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+CMAKE_PROGRESS_63 = 76
+CMAKE_PROGRESS_64 = 
 CMAKE_PROGRESS_65 = 
 CMAKE_PROGRESS_66 = 77
 CMAKE_PROGRESS_67 = 

drivers/gpio/device_init.c

@@ -5,9 +5,7 @@
 
 int g_device_delay_back_count  =0;//设备计时，比如坦克打击倒退逻辑
 
-int abnormal_pin_pwm_stop=0;
-
-int g_device_type =0; //设备详细类型，比如tank0202、car0101
+int g_device_type =0; //设备详细类型，让其他地方判断，比如tank0202、car0101
 
 const deviceconfig_t device_configs[] = {
     // car0101配置
@@ -90,8 +88,8 @@ const deviceconfig_t device_configs[] = {
     {
         .device_id = DEVICE_SHIP0301,
         .device_name = "ship0301",
-        .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */
-        .gpio_pwms = {27,-1},
+        .gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
+        .gpio_pwms = {5 , 7 ,24,26, 27,-1},
         .device_pwm_init = physics_pwm_init,
         .device_control_stop =  ship0301_stop,/* 补充速度控制函数 */
         .emergency_code = 301

modules/browser/browser_open.c

@@ -2,6 +2,7 @@
 #include "browser_open.h"
 #include "device_fileopen.h"
 #include "device_identity.h"
+#include "http_config_mqtt.h"
 
 char gwebcam[2048];//存放启动火狐网站命令
 

modules/http/http_config_mqtt.c

+#include "device_identity.h"
+#include "http_config_mqtt.h"
+#include<curl/curl.h>
+#include "cjson/cJSON.h"
+#include "http_request.h"
+
+DEVICE_MQTTCONFIG g_mqtt_cam_config;
+DEVICE_MQTTCONFIG *g_mqtt_cam_config_t = &g_mqtt_cam_config; 
+
+int parse_device_config(const char *json_str) {
+    // 解析 JSON
+    cJSON *root = cJSON_Parse(json_str);
+    if (!root) {
+        fprintf(stderr, "JSON 解析失败: %s\n", cJSON_GetErrorPtr());
+        return -1;
+    }
+
+    // 1. 提取顶层字段
+    cJSON *message = cJSON_GetObjectItemCaseSensitive(root, "message");
+    cJSON *code = cJSON_GetObjectItemCaseSensitive(root, "code");
+    
+    if (cJSON_IsString(message) && cJSON_IsNumber(code)) {
+        my_zlog_debug("状态: %s", message->valuestring);
+        my_zlog_debug("状态码: %d", code->valueint);
+        if(code->valueint!=200){
+            my_zlog_error("code error");
+            return -1;
+        }
+    }
+
+    // 2. 提取 data 对象
+    cJSON *data = cJSON_GetObjectItemCaseSensitive(root, "data");
+    if (data) {
+        // 3. 提取 mqtt 服务器列表
+        cJSON *mqtt = cJSON_GetObjectItemCaseSensitive(data, "mqtt");
+        if (cJSON_IsArray(mqtt)) {
+            my_zlog_info("MQTT 服务器:");
+            cJSON *item;
+            int i = 0;
+            cJSON_ArrayForEach(item, mqtt) {
+                if (cJSON_IsString(item)) {
+                    my_zlog_debug("  [%d] %s", i++, item->valuestring);
+                    strncpy(g_mqtt_cam_config_t->mqtt_servers[i], item->valuestring, sizeof(g_mqtt_cam_config_t->mqtt_servers[i]) - 1);
+                    g_mqtt_cam_config_t->mqtt_servers[i][sizeof(g_mqtt_cam_config_t->mqtt_servers[i]) - 1] = '\0';     
+                }
+
+                g_mqtt_cam_config_t->mqtt_count = i;
+            }
+        }
+
+        // 4. 提取 api 和 videoUrl
+        cJSON *videoUrl = cJSON_GetObjectItemCaseSensitive(data, "videoUrl");
+        
+        if (cJSON_IsString(videoUrl)) {
+            my_zlog_debug("视频地址: %s", videoUrl->valuestring);
+           strncpy(g_mqtt_cam_config_t->videourl, videoUrl->valuestring, sizeof(g_mqtt_cam_config_t->videourl) - 1);
+            g_mqtt_cam_config_t->videourl[sizeof(g_mqtt_cam_config_t->videourl) - 1] = '\0';
+        }
+    }
+
+    // 释放内存
+    cJSON_Delete(root);
+}
+
+// 拉取并解析 JSON 数据的函数
+int deviceconfig_mqtt_video_init() {
+    CURL *curl;
+    CURLcode res;
+    struct MemoryStruct chunk = {NULL, 0};
+
+    curl_global_init(CURL_GLOBAL_DEFAULT);
+    curl = curl_easy_init();
+    if (!curl) {
+        fprintf(stderr, "Failed to initialize CURL\n");
+        my_zlog_error("Failed to initialize CURL");
+        return -1;
+    }
+
+    // 构造请求 URL
+    char url[512];
+    snprintf(url, sizeof(url), "http://192.168.0.112:8111/device/getConfig?deviceNo=%s", mqtt_topic_pure_number());
+    my_zlog_info("url:%s",url);
+
+    // 设置 CURL 选项
+    curl_easy_setopt(curl, CURLOPT_URL, url);
+    curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writememorycallback);
+    curl_easy_setopt(curl, CURLOPT_WRITEDATA, (void *)&chunk);
+    curl_easy_setopt(curl, CURLOPT_USERAGENT, "libcurl-agent/1.0");
+
+    // 执行 HTTP 请求
+    res = curl_easy_perform(curl);
+    if (res != CURLE_OK) {
+        fprintf(stderr, "curl_easy_perform() failed: %s\n", curl_easy_strerror(res));
+        my_zlog_error("curl_easy_perform() failed");
+        return -1;
+    } else {
+        // 解析返回的 JSON 数据
+        cJSON *root = cJSON_Parse(chunk.memory);
+        if (!root) {
+            fprintf(stderr, "JSON parse error: %s\n", cJSON_GetErrorPtr());
+            my_zlog_error("JSON parse error");
+        } else {
+            parse_device_config(chunk.memory);
+        }
+    }
+
+    // 清理资源
+    free(chunk.memory);
+    curl_easy_cleanup(curl);
+    curl_global_cleanup();
+
+    return 0;
+}
+
+/*mqtt服务器和视频流地址初始化*/
+int http_mqtt_video_init(){
+    for(int i =0; i<3;i++){
+        if(deviceconfig_mqtt_video_init()==0){
+            my_zlog_info("http_mqtt_video_init success");
+            return 0;
+        }else {
+            my_zlog_info("http_mqtt_video_init reconnect");
+        }
+    }
+    my_zlog_error("http_mqtt_video_init failure");
+    return -1;
+}
\ No newline at end of file

modules/http/http_config_mqtt.h

+#ifndef _HTTP_CONFIG_MQTT_H
+#define _HTTP_CONFIG_MQTT_H
+
+#include "common.h"
+
+typedef struct{
+    char videourl[512];
+    char mqtt_servers[10][256];
+    int mqtt_count;
+}DEVICE_MQTTCONFIG;
+
+extern DEVICE_MQTTCONFIG *g_mqtt_cam_config_t ;
+
+/*mqtt服务器和视频流地址初始化*/
+int http_mqtt_video_init();
+
+#endif
\ No newline at end of file

modules/http/http_request.c

@@ -15,7 +15,7 @@ double g_err_voltage_value=9.7;
 double g_shot_speed_value=0.5;
 
 // 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 writememorycallback(void *contents, size_t size, size_t nmemb, void *userp) {
     size_t realsize = size * nmemb;
     struct MemoryStruct *mem = (struct MemoryStruct *)userp;
 
@@ -145,7 +145,7 @@ int request_date_open() {//请求数据
     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_WRITEFUNCTION, writememorycallback);
     curl_easy_setopt(curl, CURLOPT_WRITEDATA, (void *)&chunk);
 
     // 执行请求

modules/http/http_request.h

@@ -18,4 +18,7 @@ extern double g_warn_voltage_value;//警告电压
 extern double g_err_voltage_value;//错误电压
 int request_date();//请求数据
 
+
+size_t writememorycallback(void *contents, size_t size, size_t nmemb, void *userp);
+
 #endif

modules/mqtt/mqtt_init.c

@@ -4,11 +4,12 @@
 #include "device_identity.h"
 #include "mqtt_infor_handle.h"
 #include "mylog.h"
+#include "http_config_mqtt.h"
 
 struct mosquitto *mosq;
 
-
-uint16_t AppExit_pin_pwm=0;//判断坦克或者车的退出
+//struct mosquitto *mosq1;
+//struct mosquitto *mosq2;
 
 //mqtt初始化
 int mqtt_init() {
@@ -21,6 +22,8 @@ int mqtt_init() {
         return -1;
     }
     mosquitto_int_option(mosq, MOSQ_OPT_PROTOCOL_VERSION, MQTT_PROTOCOL_V5);
+    //mosquitto_int_option(mosq1, MOSQ_OPT_PROTOCOL_VERSION, MQTT_PROTOCOL_V5);
+    //mosquitto_int_option(mosq2, MOSQ_OPT_PROTOCOL_VERSION, MQTT_PROTOCOL_V5);
     return 0;
 }