Merge branch 'feature/device_change' into 'master'

build/CMakeFiles/main.dir/compiler_depend.internal

@@ -1108,6 +1108,7 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o
  /home/orangepi/car/master/device_judg/device/pao.h
  /home/orangepi/car/master/include/fileopen.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
+ /home/orangepi/car/master/device_judg/device/device_change.h
 
 CMakeFiles/main.dir/src/delay.c.o
  /home/orangepi/car/master/src/delay.c
@@ -1566,6 +1567,7 @@ CMakeFiles/main.dir/src/fileopen.c.o
  /home/orangepi/car/master/include/log.h
  /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/delay.h
+ /home/orangepi/car/master/device_judg/device/device_change.h
 
 CMakeFiles/main.dir/src/ip.c.o
  /home/orangepi/car/master/src/ip.c

build/CMakeFiles/main.dir/compiler_depend.make

@@ -1100,7 +1100,8 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o: ../device_judg/judg/judg.c \
   ../device_judg/device/ship.h \
   ../device_judg/device/pao.h \
   ../include/fileopen.h \
-  ../system/gpio/gpio_pwm_tank0202.h
+  ../system/gpio/gpio_pwm_tank0202.h \
+  ../device_judg/device/device_change.h
 
 CMakeFiles/main.dir/src/delay.c.o: ../src/delay.c \
   /usr/include/stdc-predef.h \
@@ -1555,7 +1556,8 @@ CMakeFiles/main.dir/src/fileopen.c.o: ../src/fileopen.c \
   ../system/gpio/gpio_common.h \
   ../include/log.h \
   ../include/delay.h \
-  ../include/delay.h
+  ../include/delay.h \
+  ../device_judg/device/device_change.h
 
 CMakeFiles/main.dir/src/ip.c.o: ../src/ip.c \
   /usr/include/stdc-predef.h \

build/CMakeFiles/main.dir/device_judg/judg/judg.c.o.d

@@ -141,4 +141,5 @@ CMakeFiles/main.dir/device_judg/judg/judg.c.o: \
  /home/orangepi/car/master/device_judg/device/ship.h \
  /home/orangepi/car/master/device_judg/device/pao.h \
  /home/orangepi/car/master/include/fileopen.h \
- /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
+ /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h \
+ /home/orangepi/car/master/device_judg/device/device_change.h

build/CMakeFiles/main.dir/src/fileopen.c.o.d

@@ -129,4 +129,5 @@ CMakeFiles/main.dir/src/fileopen.c.o: \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
- /home/orangepi/car/master/include/delay.h
+ /home/orangepi/car/master/include/delay.h \
+ /home/orangepi/car/master/device_judg/device/device_change.h

build/include/version.h

@@ -2,5 +2,5 @@
 #define PROJECT_VERSION_MINOR 1
 #define PROJECT_VERSION_PATCH 0
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-05-10T10:40:46"
+#define BUILD_TIMESTAMP "2025-05-12T08:19:12"
 #define BUILD_USER "orangepi"

device_judg/device/device_change.c

@@ -6,6 +6,8 @@
 
 #define BUFFER_SIZE 1024
 
+char buffer_device_change_fail[40]; // 用于回退存储文件内容
+
 // 判断文件是否存在
 int file_exists(const char *path) {
     return access(path, F_OK) == 0;
@@ -137,7 +139,7 @@ time_t extract_timestamp(const char *filename) {
     return 0;
 }
 
-// 查找目录中最新的设备备份文件
+// 查找目录中最 
 char *find_latest_file(const char *dir_path) {
     DIR *dir = opendir(dir_path);
     if (!dir) {
@@ -230,5 +232,27 @@ char *device_changename_back_fail(void) {
     my_zlog_debug("回退路径为: %s", full_path);
 
     free(latest_file);
-    return full_path;
+
+   return full_path;
+}
+
+//读取失败备份内容
+char *read_device_back_fail() {
+    FILE *file;
+    char *device_back_fail =device_changename_back_fail();
+    if(device_back_fail !=NULL) { //如果在备份文件中找到
+        file = fopen(device_back_fail, "r"); // 以只读模式打开文件
+        if (fgets(buffer_device_change_fail, sizeof(buffer_device_change_fail), file) != NULL) {
+        // 如果文件内容不为空
+        fclose(file);
+        my_zlog_debug("读取到备份文件内容: %s", buffer_device_change_fail);
+        free(device_back_fail);
+        return  buffer_device_change_fail;
+        } else {
+            my_zlog_debug("读取备份文件失败");
+        }
+        fclose(file); 
+        return NULL;
+    }
+    return NULL;
 }

device_judg/device/device_change.h

@@ -7,4 +7,5 @@
 int device_changename_back(const char *device_date, const char *device_id);//设备号备份和写人新设备号
 int file_exists(const char *path);//文件已经存在
 int create_directory_if_not_exists(const char *path);//创建目录
+char *read_device_back_fail();//下载失败回退版本
 #endif
\ No newline at end of file

device_judg/judg/judg.c

@@ -11,12 +11,14 @@
 #include "pao.h"
 #include "fileopen.h"
 #include "gpio_pwm_tank0202.h"
-
+#include "device_change.h"
 
 char TOPIC_middle[23];
 char TOPIC2_middle[23];
 char TOPIC3_middle[15];
 
+bool device_name_exists=0;
+
 // char TOPIC_BACK_middle[23];
 // char TOPIC2_BACK_middle[23];
 // char TOPIC3_BACK_middle[15];
@@ -89,7 +91,7 @@ int hash_insert_init(HashTable *hashTable) {
 
 int Device_judg(CodeEnum code,char *sub_str) {
     if (code == CAR_0101) {
-        car_Init_0101() ;
+        car_Init_0101();
         my_zlog_info("使用型号%s",sub_str);
     }else if(code == CAR_0102) {
         car_Init_0102();
@@ -107,16 +109,16 @@ int Device_judg(CodeEnum code,char *sub_str) {
         ptr_Init_0401();
         my_zlog_info("使用型号%s",sub_str);   
     }else {
-        my_zlog_error("没有找到设备号");
-        exit(0);
+        my_zlog_error("没有找到设备号,尝试启用备用mqtt,topic进行改名");
+        device_name_exists=1;
+        //exit(0);
     }
     return 0;
 }
 
 int Device_File_Init() {//设备文件读取函数
     char *readmidbuf=device_inspect(); //读取代码
-
-    if(strlen(readmidbuf) > 14 && readmidbuf[14]=='\n') readmidbuf[14]=='\0';//将\n去除
+    if(strlen(readmidbuf) > 14 && readmidbuf[14]=='\n') readmidbuf[14]='\0';//将\n去除
 
     const char *readbuf = readmidbuf;
 
@@ -138,10 +140,16 @@ int Device_File_Init() {//设备文件读取函数
     free(sub_str);
           
     Delay_Ms(20,0);
+    if(device_name_exists == 0) {
+        sprintf(TOPIC2_middle,"dev2app/%s",readbuf);
+        sprintf(TOPIC_middle,"app2dev/%s",readbuf);
+        sprintf(TOPIC3_middle,"%s",readbuf);
+    } else {
+        sprintf(TOPIC2_middle,"dev2app/%s","00000000000000");
+        sprintf(TOPIC_middle,"app2dev/%s","00000000000000");
+        sprintf(TOPIC3_middle,"%s","00000000000000");
+    }
 
-    sprintf(TOPIC2_middle,"dev2app/%s",readbuf);
-    sprintf(TOPIC_middle,"app2dev/%s",readbuf);
-    sprintf(TOPIC3_middle,"%s",readbuf);
 
     topic_middle_value();//指针传值声明
 

device_judg/judg/judg.h

@@ -3,7 +3,6 @@
 
 #define INITIAL_TABLE_SIZE 10 //定义大小
 
-
 // 定义一个枚举类型 CodeEnum，用于表示不同的代码
 // 枚举类型是一种用户自定义的数据类型，它可以让代码更具可读性和可维护性
 typedef enum {

src/fileopen.c

 #include "fileopen.h"
 #include "common.h"
 #include "delay.h"
+#include "device_change.h"
 
 char buffer_device[30]; // 用于存储文件内容
 char buffer_version[30];// 用于存储版本号内容
 
 char *device_inspect() {//读出文件函数
     FILE *file;
-    
+    char *read_device_back_fail_middle=read_device_back_fail();    
     while (1) {
         file = fopen(FILENAME, "r"); // 以只读模式打开文件
 
         if (file == NULL) {
+            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);
         } 
         else {
@@ -22,6 +26,10 @@ char *device_inspect() {//读出文件函数
                 my_zlog_debug("读取到文件内容: %s", buffer_device);
                 return  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...");
             }
             fclose(file);
@@ -34,7 +42,7 @@ char *program_version() {//打开版本文件
     FILE *file;
     file = fopen(FILE_VERSION, "r"); // 以只读模式打开文件
     if (file == NULL) {
-            my_zlog_debug("文件无");
+            my_zlog_debug("版本文件无");
         }  else {
             // 尝试读取文件内容
             if (fgets(buffer_version, sizeof(buffer_version), file) != NULL) {

src/mqtt.c

@@ -61,13 +61,13 @@ int mqtt_init() {
 
 void on_connect(struct mosquitto *mosq, void *obj, int rc) {//回调函数
     if (rc == 0) {
-     my_zlog_debug("Connected to broker");
-     topic_middle_value();
-     mosquitto_subscribe(mosq, NULL, TOPIC, 0);
+        my_zlog_debug("Connected to broker");
+        topic_middle_value();
+        mosquitto_subscribe(mosq, NULL, TOPIC, 0);
      //mosquitto_subscribe(mosq, NULL, TOPIC_BACK, 0);
     } else {
-    fprintf(stderr, "Connection failed with code %d\n", rc);
-    my_zlog_fatal("Connection failed");
+        fprintf(stderr, "Connection failed with code %d\n", rc);
+        my_zlog_fatal("Connection failed");
     }
 }
 

system/gpio/gpio_pwm_car0102.c

@@ -27,25 +27,25 @@ void car0102_mode_1_flont(unsigned char gval) {
 	}else if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 1000);
 	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 1000-200);
+		pwmWrite(PWM_PIN_SPEED, 1000-350);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 1000-300);
+		pwmWrite(PWM_PIN_SPEED, 1000-400);
 	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, 1000-350);
+		pwmWrite(PWM_PIN_SPEED, 1000-450);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 1000-400);
+		pwmWrite(PWM_PIN_SPEED, 1000-500);
 	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, 1000-450);
+		pwmWrite(PWM_PIN_SPEED, 1000-550);
 	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 1000-500);
+		pwmWrite(PWM_PIN_SPEED, 1000-600);
 	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 1000-550);
-	} else if (gval <= 110) {
 		pwmWrite(PWM_PIN_SPEED, 1000-600);
+	} else if (gval <= 110) {
+		pwmWrite(PWM_PIN_SPEED, 1000-650);
 	} else if (gval <= 120) {
 		pwmWrite(PWM_PIN_SPEED, 1000-650);
 	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 1000-100);
+		pwmWrite(PWM_PIN_SPEED, 1000-700);
 	} else if (gval <= 140) {
 		pwmWrite(PWM_PIN_SPEED, 1000-750);
 	} else if (gval <= 150) {
@@ -65,43 +65,44 @@ void car0102_mode_1_flont(unsigned char gval) {
 
 void car0102_mode_2_back(unsigned char gval) {
 	int k = 5;
+	int b = 10;
     pin_value(26,0);
     if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 0);
 	} else if (gval <= 55) {
-		pwmWrite(PWM_PIN_SPEED, 5 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 0+10 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
 	} else if (gval <= 65) {
-		pwmWrite(PWM_PIN_SPEED, 0+15 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 0+20 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
 	} else if (gval <= 75) {
-		pwmWrite(PWM_PIN_SPEED, 0+25 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
 	} else if (gval <= 90) {
-		pwmWrite(PWM_PIN_SPEED, 0+30 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 30 * k);
 	} else if (gval <= 100) {
-		pwmWrite(PWM_PIN_SPEED, 0+35 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 35 * k);
 	} else if (gval <= 110) {
-		pwmWrite(PWM_PIN_SPEED, 0+40 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 40 * k);
 	} else if (gval <= 120) {
-		pwmWrite(PWM_PIN_SPEED, 0+45 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 45 * k);
 	} else if (gval <= 130) {
-		pwmWrite(PWM_PIN_SPEED, 0+50 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 50 * k);
 	} else if (gval <= 140) {
-		pwmWrite(PWM_PIN_SPEED, 0+55 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 55 * k);
 	} else if (gval <= 150) {
-		pwmWrite(PWM_PIN_SPEED, 0+60 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 60 * k);
 	} else if (gval <= 160) {
-		pwmWrite(PWM_PIN_SPEED, 0+60 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 60 * k);
 	} else if (gval <= 170) {
-		pwmWrite(PWM_PIN_SPEED, 0+65 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 65 * k);
 	} else if (gval <= 180) {
-		pwmWrite(PWM_PIN_SPEED, 0+70 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 70 * k);
 	} else if (gval <= 190) {
-		pwmWrite(PWM_PIN_SPEED, 0+75 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 75 * k);
 	} else if (gval <= 200) {
-		pwmWrite(PWM_PIN_SPEED, 0+100 * k);
+		pwmWrite(PWM_PIN_SPEED, b + 100 * k);
 	}
 }
 

system/gpio/gpio_pwm_carship.c

@@ -12,7 +12,7 @@ void car_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
 	float pulse_width=(2 / 180.0) * angle + 0.5;
 	// 周期（ms）
     float period = 1000.0 / 50;
-	int val = (int)((pulse_width / period) * 1024);
+	int val = (int)((pulse_width / period) * 1000);
 	pwmWrite(PWM_PIN_CHANGE,val);
 }