实现了设备自控，将释放内存放到了根其他线程函数结束一起

app/device_identity/device_fileopen.c

@@ -20,21 +20,21 @@ char *device_inspect() {
              if(read_device_back_fail_middle!=NULL) {//回退文件
              return read_device_back_fail_middle;
             }
-            my_zlog_debug("文件 %s 打开失败，等待中...", FILENAME);
+           my_zlog_info("文件 %s 打开失败，等待中...", FILENAME);
         } 
         else {
             // 尝试读取文件内容
             if (fgets(s_buffer_device, sizeof(s_buffer_device), file) != NULL) {
                 // 如果文件内容不为空
                 fclose(file);
-                my_zlog_debug("读取到文件内容: %s", s_buffer_device);
+               my_zlog_info("读取到文件内容: %s", s_buffer_device);
                 return  s_buffer_device;
             } else {
                  if(read_device_back_fail_middle!=NULL) {
                      fclose(file);
                      return read_device_back_fail();
                  }
-                my_zlog_debug("文件为空，等待中...");
+               my_zlog_info("文件为空，等待中...");
             }
             fclose(file);
         }
@@ -57,16 +57,16 @@ char *program_version() {
     static char s_buffer_version[30];// 用于存储版本号内容
     file = fopen(FILE_VERSION, "r"); // 以只读模式打开文件
     if (file == NULL) {
-            my_zlog_debug("版本文件无");
+           my_zlog_info("版本文件无");
         }  else {
             // 尝试读取文件内容
             if (fgets(s_buffer_version, sizeof(s_buffer_version), file) != NULL) {
                 // 如果文件内容不为空
                 fclose(file);
-                my_zlog_debug("读取到文件内容: %s", s_buffer_version);
+               my_zlog_info("读取到文件内容: %s", s_buffer_version);
                 return s_buffer_version;
             } else {
-                my_zlog_debug("文件为空，等待中...");
+               my_zlog_info("文件为空，等待中...");
             }
             fclose(file);
         }

app/main/main.c

@@ -54,10 +54,11 @@ int main(){
       return -7;
    } 
 
-    thread_end_close();
-    device_end_close(g_device_type);
-    my_log_close();//关闭日志
-    my_zlog_info("程序关闭成功");
+   thread_end_close();
+   device_end_close(g_device_type);
+   self_control_thread_close();//销毁自控的线程
+   my_log_close();//关闭日志
+   my_zlog_info("程序关闭成功");
     return 0;
 
 }
\ No newline at end of file

app/main/main.h

@@ -46,6 +46,8 @@ void thread_end_close() ;
 /*相关设备线程等关闭函数*/
 void device_end_close(int device_id);
 
+void self_control_thread_close();//销毁自控的线程
+
 /*关闭log日志记录*/
 void my_log_close();
 

app/main/pthread_open.c

@@ -41,6 +41,7 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
 void *thread_exit_time(void *arg) { 
     while(1){  
      if(get_self_control_index()==false){
+
         delay_ms(100);
         pthread_mutex_lock(&g_exit_count_mutex);
         g_devcontrol_exit_count++;
@@ -52,6 +53,7 @@ void *thread_exit_time(void *arg) {
      }else if(get_self_control_index()==true){
         delay_ms(20);
         set_self_control_time_countfuntion();
+
      }  
         
     }
@@ -82,7 +84,12 @@ void *thread_mqtt_beat(void *arg) {
 
         g_heartbeat_count++;
         if(g_mqtt_grc == 0){
-            mqtt_beat_wirte();//心跳，3s一个   
+            mqtt_beat_wirte();//心跳，3s一个 
+
+            if(get_device_self_control_configuration_initialization()==0){
+                my_zlog_warn("自控配置初始化成功");
+            }  
+
         }   
     }
     return NULL;
@@ -91,12 +98,6 @@ void *thread_mqtt_beat(void *arg) {
 //打开游览器线程，让游览器一直在一个线程中打开并运行
 void *thread_open_browser(void *arg) { 
 
-    //如果为相关的不需要心跳或者游览器设备，提早结束线程
-    if(g_device_type==DEVICE_ROBOT_DOG0501){
-        my_zlog_info("device am robot and no c/c++");
-        return NULL;
-    }
-
     system("pkill  chromium");
     delay_s(5);
     while(1){

drivers/selfcontrol/self_devicecontrol.c

@@ -24,11 +24,11 @@ static device_automatic_date_t g_automatic_date_t[DEVICE_WALK_SIGN_MAX]={0};
 */
 void free_device_tasks_memory() { 
     if(g_self_device_control_date!=NULL){
-         pthread_mutex_lock(&g_self_device_control_date_mutex);
-         free(g_self_device_control_date);
-         g_self_device_control_date=NULL;
-         my_zlog_info("free g_self_device_control_date");
-         pthread_mutex_unlock(&g_self_device_control_date_mutex);
+        pthread_mutex_lock(&g_self_device_control_date_mutex);
+        free(g_self_device_control_date);
+        g_self_device_control_date=NULL;
+        my_zlog_info("free g_self_device_control_date");
+        pthread_mutex_unlock(&g_self_device_control_date_mutex);
     } else return;  
    
 }
@@ -40,12 +40,12 @@ void malloc_device_tasks_memory() {
     pthread_mutex_lock(&g_self_device_control_date_mutex);
     if(g_self_device_control_date==NULL){
         g_self_device_control_date=(devicecontroltask_t*)malloc(sizeof(devicecontroltask_t));
+        memset(g_self_device_control_date, 0, sizeof(devicecontroltask_t)); // 清零内存 
         my_zlog_info("malloc g_self_device_control_date");
     }
    pthread_mutex_unlock(&g_self_device_control_date_mutex);
 }
 
-
 /*
 * @brief 自控线程中的计时函数接口,每20ms加一次
 * @param[in] self_control_time_count，计时次数
@@ -68,13 +68,16 @@ void self_device_control_task(){
 
     int time_now = g_self_control_time_count*20;
 
+
     if(i>g_self_device_control_date->id_run_count){
             
             if(g_self_control_interval>time_now){
-               
                 return;
             }
+
+            pthread_mutex_lock(&g_self_control_time_count_mutex);
             g_self_control_time_count=0;//将计时重置
+            pthread_mutex_unlock(&g_self_control_time_count_mutex);
             i=0;
     }
     time_now = g_self_control_time_count*20;
@@ -90,8 +93,6 @@ void self_device_control_task(){
             if(valt[2]>2) device_walk_control(g_device_type,valt);
             else if(valt[2]<=2) device_gpio_control(g_device_type,valt[1],valt[2]);
 
-            my_zlog_debug("m:%d,v:%d",valt[1],valt[2]);
-             
         }
 
 
@@ -106,7 +107,6 @@ void self_device_control_task(){
         pthread_mutex_unlock(&g_self_control_time_count_mutex); 
         ++i;
     }
-
   
 }
 
@@ -164,6 +164,7 @@ bool get_self_control_index(){
 void self_control_thread_close(){
     if(get_self_control_index()==true){
         my_zlog_info("Destroy the thread of the automatic control device");
+        free_device_tasks_memory();
 	    thread_pool_destroy(g_self_devicecontrol_task_t);
     }
     my_zlog_info("The thread of the automatic control device is not opened");
@@ -241,31 +242,44 @@ void receive_self_contorl_mqtt(cJSON *body){
     }
 
     cJSON *switch_status = cJSON_GetObjectItem(body, "switch_status");
+
+    if (switch_status == NULL || !cJSON_IsNumber(switch_status)) {
+    my_zlog_error("Invalid switch_status!");
+    return;
+    }
+
     static int s_switch_status = 0;
     static bool s_thread_index=0;
     s_switch_status=switch_status->valueint;
+
     if(s_switch_status == DEVICE_SELF_CONTROL_OPEN){
        if(s_thread_index==0) {
         self_device_pthrpoll_task_init();
-        send_self_contorl_date_mqtt();//找后端要动作组合
+        malloc_device_tasks_memory();//分配内存
        }
+
+       pthread_mutex_lock(&g_self_control_time_count_mutex);
        g_self_control_time_count=0;
+       pthread_mutex_unlock(&g_self_control_time_count_mutex);
+
        g_self_device_control_switch_index =true;
        s_thread_index=1;
+       my_zlog_info("open device auto");
     }else if(s_switch_status == DEVICE_SELF_CONTROL_CLOSE) {
        g_self_device_control_switch_index =false;
-       free_device_tasks_memory();
-       send_self_contorl_mqtt();
+       my_zlog_info("close device auto");
        return ;
     }
 
     cJSON *interval=cJSON_GetObjectItem(body, "interval");
     g_self_control_interval=interval->valueint;
 
-    malloc_device_tasks_memory();//分配内存
 
     // 2️ id_run 数组
     cJSON *id_run = cJSON_GetObjectItem(body, "id_run");
+
+    pthread_mutex_lock(&g_self_device_control_date_mutex);//加锁
+
     g_self_device_control_date->id_run_count = 0;
     if (cJSON_IsArray(id_run)) {
         int size = cJSON_GetArraySize(id_run);
@@ -278,28 +292,26 @@ void receive_self_contorl_mqtt(cJSON *body){
 
      // 3 run_cool 数组
     cJSON *run_cool = cJSON_GetObjectItem(body, "run_cool");
-    //g_self_device_control_date->id_run_count = 0;
     if (cJSON_IsArray(run_cool)) {
         int size = cJSON_GetArraySize(run_cool);
         for (int i = 0; i < size&& i < DEVICE_WALK_SIGN_MAX ; i++) {
             cJSON *item = cJSON_GetArrayItem(run_cool, i);
             g_self_device_control_date->run_cool[i] = item->valueint;
-            //g_self_device_control_date->id_run_count++;
         }
     }
 
       // 4 timed_run 数组
     cJSON *timed_run = cJSON_GetObjectItem(body, "timed_run");
-    //g_self_device_control_date->id_run_count = 0;
     if (cJSON_IsArray(timed_run)) {
         int size = cJSON_GetArraySize(timed_run);
         for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX ; i++) {
             cJSON *item = cJSON_GetArrayItem(timed_run, i);
             g_self_device_control_date->timed_run[i] = item->valueint;
-            //g_self_device_control_date->id_run_count++;
         }
     }
 
+    pthread_mutex_unlock(&g_self_device_control_date_mutex);//解锁
+
     send_self_contorl_mqtt();
 
     my_zlog_info("count:%d",g_self_device_control_date->id_run_count);
@@ -353,8 +365,8 @@ void receive_self_contorl_date_mqtt(cJSON *body){
 
                         g_automatic_date_t[s_action_id].action_count++;
 
-                        my_zlog_debug("combination:%d",g_automatic_date_t[s_action_id].mode[j]);
-                        my_zlog_debug("speed:%d",g_automatic_date_t[s_action_id].val[j]);
+                       my_zlog_info("combination:%d",g_automatic_date_t[s_action_id].mode[j]);
+                       my_zlog_info("speed:%d",g_automatic_date_t[s_action_id].val[j]);
                   
                     }
                 }     
@@ -372,3 +384,16 @@ void receive_self_contorl_date_mqtt(cJSON *body){
     return;
 
 }
+
+
+/*
+* @brief 开机需要进行配置自控相关的初始化
+*/
+int get_device_self_control_configuration_initialization(){
+    static bool index=0;
+    if(index == 0){
+        send_self_contorl_date_mqtt();
+        index = 1;
+        return 0;
+    }else return -1; 
+}
\ No newline at end of file

drivers/selfcontrol/self_devicecontrol.h

@@ -30,7 +30,7 @@ typedef struct{
 
 void set_self_control_time_countfuntion();//计时
 
-void self_control_thread_close();
+void self_control_thread_close();//销毁自控的线程
 
 void receive_self_contorl_mqtt(cJSON *body);
 
@@ -39,4 +39,6 @@ void receive_self_contorl_date_mqtt(cJSON *body);//数据保存
 bool get_self_control_index();
 
 void set_self_control_index(bool index);
+
+int get_device_self_control_configuration_initialization();//开机需要进行配置自控相关的初始化
 #endif
\ No newline at end of file