增加了船的逻辑

lib/gpio_pwm.h

@@ -14,7 +14,7 @@ void pin_all_default();//拉低车的控制引脚
 void pin_value(int pin,int value);//控制引脚高低
 
 void pin_ship_init();
-void ship_speed_change(unsigned char *buf);
+void ship_speed_change(void *buf);
 void ship_stop_pwm();//船pwm停止函数
 void pin_all_ship_default();//拉低船引脚
 

lib/main.h

@@ -16,6 +16,10 @@
 #include "delay.h"
 #include "opensh.h"
 #include "INA226.h"
+#include "pthrpoll.h"
+
+
+
 
 #define filename "/home/orangepi/car/master/Deviceld.txt"
 pthread_t thread[4];
@@ -34,11 +38,12 @@ int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh
     if(pthread_create(&thread[2],NULL,opensh,NULL)!=0){
         perror("Failed to create thread 2");
         return 2;
-    }if(pthread_create(&thread[3],NULL,Mqtt_onnect,NULL)!=0) {
+    }
+    if(pthread_create(&thread[3],NULL,Mqtt_onnect,NULL)!=0) {
         perror("Failed to create thread 3");
         return 3;
     }
-        return 0;
+        return 10086;
 }
 
 
@@ -46,8 +51,7 @@ void *AppExit(void *arg){ //出现意外自动停止
     while(1){    
         Delay_Ms(0,100);
         gPwmCount++;
-        if(gPwmCount>=5)
-        {
+        if(gPwmCount>=5) {
             if(AppExit_pin_pwm==1) {//车异常问题处理
                 midde_pwm();
                 pin_all_default();

lib/mqtt.h

@@ -15,11 +15,14 @@
 #include "opensh.h"
 #include "gpio_pwm.h"
 #include "INA226.h"
+#include "pthrpoll.h"
 
 extern char* TOPIC ;//="app2dev/controlcar0004"
 extern char* TOPIC2 ;//="dev2app/controlcar0004"
 extern char* TOPIC3;//= "controlcar0004"
 
+extern ThreadPool *pool;
+
 #define BROKER_ADDRESS "119.45.167.177"
 #define BROKER_PORT 1883
 

lib/pthrpoll.h

-#ifndef PTHRPOLL_H
-#define PTHRPOLL_H
+#ifndef THREAD_POOL_H
+#define THREAD_POOL_H
 
-#include <stdio.h>
-#include <stdlib.h>
 #include <pthread.h>
-#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
 #include <errno.h>
-
-
+#include <unistd.h>
 // 任务结构体
 typedef struct Task {
     void (*function)(void *);
@@ -27,12 +25,24 @@ typedef struct {
 // 线程池结构体
 typedef struct {
     pthread_t *threads;
+    pthread_t reaper_thread;  // 新增：回收线程
     int thread_count;
+    int min_threads;         // 新增：最小线程数
+    int max_threads;         // 新增：最大线程数
+    int active_threads;      // 新增：活跃线程数
     TaskQueue task_queue;
     int shutdown;
     pthread_mutex_t mutex;
+    pthread_cond_t reaper_cond;  // 新增：回收线程条件变量
 } ThreadPool;
 
+// 初始化线程池
+ThreadPool *thread_pool_init(int min_threads, int max_threads);
+
+// 向线程池添加任务
+int thread_pool_add_task(ThreadPool *pool, void (*function)(void *), void *argument);
 
+// 销毁线程池
+void thread_pool_destroy(ThreadPool *pool);
 
-#endif
\ No newline at end of file
+#endif // THREAD_POOL_H
\ No newline at end of file

src/mqtt.c

@@ -13,6 +13,8 @@ uint8_t AppExit_pin_pwm=0;//判断坦克或者车的退出
 
 int rc=0;//判断mqtt是否成功创建
 
+ThreadPool *pool;//线程池线程函数
+
 unsigned char modeTemp=0;
 unsigned char typeTemp=0;
 unsigned char pinTemp=0;
@@ -95,7 +97,13 @@ void message_3(cJSON *body,cJSON *pwm_ctrl){//message_type为3，控制pwm
         printf("modeTemp:%d\n",gvalt[1]);
         printf("valTemp:%d\n",gvalt[2]);
         if(AppExit_pin_pwm==1)speed_change(gvalt);
-        if(AppExit_pin_pwm==3)ship_speed_change(gvalt);
+        if(AppExit_pin_pwm==3) {
+        if (thread_pool_add_task(pool, ship_speed_change, gvalt) != 0) {
+            printf("Failed to add task\n");
+        }
+            
+
+        }
 }
 
 void message_4(cJSON *body, cJSON *pin_setctrl){//message 为4时候

src/pthrpoll.c

 #include "pthrpoll.h"
 
+
 // 初始化任务队列
-int task_queue_init(TaskQueue *queue) {
+static int task_queue_init(TaskQueue *queue) {
     queue->head = NULL;
     queue->tail = NULL;
     queue->size = 0;
@@ -16,7 +17,7 @@ int task_queue_init(TaskQueue *queue) {
 }
 
 // 向任务队列中添加任务
-int task_queue_add(TaskQueue *queue, void (*function)(void *), void *argument) {
+static int task_queue_add(TaskQueue *queue, void (*function)(void *), void *argument) {
     Task *task = (Task *)malloc(sizeof(Task));
     if (task == NULL) {
         return -1;
@@ -42,7 +43,7 @@ int task_queue_add(TaskQueue *queue, void (*function)(void *), void *argument) {
 }
 
 // 从任务队列中取出任务
-Task *task_queue_remove(TaskQueue *queue, ThreadPool *pool) {
+static Task *task_queue_remove(TaskQueue *queue, ThreadPool *pool) {
     pthread_mutex_lock(&queue->mutex);
     
     while (queue->size == 0 && !pool->shutdown) {
@@ -67,9 +68,13 @@ Task *task_queue_remove(TaskQueue *queue, ThreadPool *pool) {
 }
 
 // 工作线程函数
-void *worker_thread(void *arg) {
+static void *worker_thread(void *arg) {
     ThreadPool *pool = (ThreadPool *)arg;
     
+    pthread_mutex_lock(&pool->mutex);
+    pool->active_threads++;
+    pthread_mutex_unlock(&pool->mutex);
+    
     while (1) {
         Task *task = task_queue_remove(&pool->task_queue, pool);
         if (task == NULL) {
@@ -79,14 +84,54 @@ void *worker_thread(void *arg) {
         task->function(task->argument);
         free(task->argument);  // 释放任务参数
         free(task);            // 释放任务本身
+        
+        // 通知回收线程可能有空闲线程
+        pthread_cond_signal(&pool->reaper_cond);
+    }
+    
+    pthread_mutex_lock(&pool->mutex);
+    pool->active_threads--;
+    pthread_mutex_unlock(&pool->mutex);
+    
+    return NULL;
+}
+
+// 回收线程函数
+static void *reaper_thread(void *arg) {
+    ThreadPool *pool = (ThreadPool *)arg;
+    
+    while (!pool->shutdown) {
+        pthread_mutex_lock(&pool->mutex);
+        
+        // 检查是否需要回收线程
+        while (pool->active_threads <= pool->min_threads || 
+               (pool->task_queue.size > 0 && pool->active_threads <= pool->task_queue.size)) {
+            pthread_cond_wait(&pool->reaper_cond, &pool->mutex);
+            if (pool->shutdown) {
+                pthread_mutex_unlock(&pool->mutex);
+                return NULL;
+            }
+        }
+        
+        // 计算可以回收的线程数量
+        int excess_threads = pool->active_threads - pool->min_threads;
+        if (excess_threads > 0 && pool->active_threads > pool->min_threads) {
+            // 通过添加空任务来让工作线程退出
+            for (int i = 0; i < excess_threads; i++) {
+                task_queue_add(&pool->task_queue, NULL, NULL);
+            }
+        }
+        
+        pthread_mutex_unlock(&pool->mutex);
+        sleep(1);  // 避免过于频繁检查
     }
     
     return NULL;
 }
 
 // 初始化线程池
-ThreadPool *thread_pool_init(int thread_count) {
-    if (thread_count <= 0) {
+ThreadPool *thread_pool_init(int min_threads, int max_threads) {
+    if (min_threads <= 0 || max_threads <= 0 || min_threads > max_threads) {
         errno = EINVAL;
         return NULL;
     }
@@ -96,7 +141,7 @@ ThreadPool *thread_pool_init(int thread_count) {
         return NULL;
     }
 
-    pool->threads = (pthread_t *)malloc(thread_count * sizeof(pthread_t));
+    pool->threads = (pthread_t *)malloc(max_threads * sizeof(pthread_t));
     if (pool->threads == NULL) {
         free(pool);
         return NULL;
@@ -108,9 +153,14 @@ ThreadPool *thread_pool_init(int thread_count) {
         return NULL;
     }
 
-    pool->thread_count = thread_count;
+    pool->min_threads = min_threads;
+    pool->max_threads = max_threads;
+    pool->thread_count = min_threads;
+    pool->active_threads = 0;
     pool->shutdown = 0;
-    if (pthread_mutex_init(&pool->mutex, NULL) != 0) {
+    
+    if (pthread_mutex_init(&pool->mutex, NULL) != 0 ||
+        pthread_cond_init(&pool->reaper_cond, NULL) != 0) {
         pthread_mutex_destroy(&pool->task_queue.mutex);
         pthread_cond_destroy(&pool->task_queue.cond);
         free(pool->threads);
@@ -118,7 +168,8 @@ ThreadPool *thread_pool_init(int thread_count) {
         return NULL;
     }
 
-    for (int i = 0; i < thread_count; i++) {
+    // 创建工作线程
+    for (int i = 0; i < min_threads; i++) {
         if (pthread_create(&pool->threads[i], NULL, worker_thread, pool) != 0) {
             // 创建线程失败，关闭已创建的线程
             pool->shutdown = 1;
@@ -129,6 +180,7 @@ ThreadPool *thread_pool_init(int thread_count) {
             }
             
             pthread_mutex_destroy(&pool->mutex);
+            pthread_cond_destroy(&pool->reaper_cond);
             pthread_mutex_destroy(&pool->task_queue.mutex);
             pthread_cond_destroy(&pool->task_queue.cond);
             free(pool->threads);
@@ -137,6 +189,24 @@ ThreadPool *thread_pool_init(int thread_count) {
         }
     }
     
+    // 创建回收线程
+    if (pthread_create(&pool->reaper_thread, NULL, reaper_thread, pool) != 0) {
+        pool->shutdown = 1;
+        pthread_cond_broadcast(&pool->task_queue.cond);
+        
+        for (int i = 0; i < min_threads; i++) {
+            pthread_join(pool->threads[i], NULL);
+        }
+        
+        pthread_mutex_destroy(&pool->mutex);
+        pthread_cond_destroy(&pool->reaper_cond);
+        pthread_mutex_destroy(&pool->task_queue.mutex);
+        pthread_cond_destroy(&pool->task_queue.cond);
+        free(pool->threads);
+        free(pool);
+        return NULL;
+    }
+    
     return pool;
 }
 
@@ -151,6 +221,14 @@ int thread_pool_add_task(ThreadPool *pool, void (*function)(void *), void *argum
         pthread_mutex_unlock(&pool->mutex);
         return -1;
     }
+    
+    // 如果任务队列过长且可以创建更多线程，则创建新线程
+    if (pool->task_queue.size > pool->active_threads && 
+        pool->thread_count < pool->max_threads) {
+        if (pthread_create(&pool->threads[pool->thread_count], NULL, worker_thread, pool) == 0) {
+            pool->thread_count++;
+        }
+    }
     pthread_mutex_unlock(&pool->mutex);
 
     // 复制参数，确保生命周期
@@ -173,19 +251,21 @@ void thread_pool_destroy(ThreadPool *pool) {
     pool->shutdown = 1;
     pthread_mutex_unlock(&pool->mutex);
 
-    // 唤醒所有等待的线程
+    // 唤醒所有线程
     pthread_cond_broadcast(&pool->task_queue.cond);
+    pthread_cond_signal(&pool->reaper_cond);
 
     // 等待所有线程退出
     for (int i = 0; i < pool->thread_count; i++) {
         pthread_join(pool->threads[i], NULL);
     }
+    pthread_join(pool->reaper_thread, NULL);
 
     // 清理剩余任务
     Task *task = pool->task_queue.head;
     while (task != NULL) {
         Task *next = task->next;
-        free(task->argument);
+        if (task->argument) free(task->argument);
         free(task);
         task = next;
     }
@@ -195,8 +275,6 @@ void thread_pool_destroy(ThreadPool *pool) {
     pthread_mutex_destroy(&pool->task_queue.mutex);
     pthread_cond_destroy(&pool->task_queue.cond);
     pthread_mutex_destroy(&pool->mutex);
+    pthread_cond_destroy(&pool->reaper_cond);
     free(pool);
 }
\ No newline at end of file
-
-
-

usr/main.c

@@ -24,6 +24,7 @@ int Device_File_Init() {
     }else if(strcmp(sub_str,"03")==0){//船的编码
         pwm_speed();
         pin_ship_init(); //pwm初始化，车为停止
+        pool = thread_pool_init(1, 1);
         AppExit_pin_pwm=3;//车的异常停止值
         free(sub_str);
     }