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car-controlserver
Commit dced7c62 authored by 957dd's avatar 957dd
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优化了播报与游览器之间的竞争问题

parent 055aa314
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build/main
View file @ dced7c62
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drivers/gpio/device_init.c
View file @ dced7c62
...@@ -236,9 +236,9 @@ static const deviceconfig_t s_device_configs[] = { ...@@ -236,9 +236,9 @@ static const deviceconfig_t s_device_configs[] = {
bool get_array_length(const int* arr) { bool get_array_length(const int* arr) {
if(arr[0] != -1) { // 遇到-1停止计数 if(arr[0] != -1) { // 遇到-1停止计数
return TRUE; return true;
} }
return FALSE; return false;
} }
void device_init(int device_id) { void device_init(int device_id) {
...@@ -258,9 +258,9 @@ void device_init(int device_id) { ...@@ -258,9 +258,9 @@ void device_init(int device_id) {
} }
// 执行初始化流程 // 执行初始化流程
if(get_array_length(config->gpio_pins)==TRUE)init_gpiowpi(config->gpio_pins); // GPIO初始化 if(get_array_length(config->gpio_pins))init_gpiowpi(config->gpio_pins); // GPIO初始化
if(get_array_length(config->gpio_pwms)==TRUE)init_gpiopwm(config->gpio_pwms); // GPIOsoft_pwm初始化 if(get_array_length(config->gpio_pwms))init_gpiopwm(config->gpio_pwms); // GPIOsoft_pwm初始化
if(get_array_length(config->gpio_inputs)==TRUE) init_gpio_input(config->gpio_inputs); if(get_array_length(config->gpio_inputs)) init_gpio_input(config->gpio_inputs);
g_device_type =config->emergency_code; g_device_type =config->emergency_code;
config->device_pwm_init(); // PWM初始化 config->device_pwm_init(); // PWM初始化
config->device_control_stop(); // 速度控制初始化 config->device_control_stop(); // 速度控制初始化
......
drivers/gpio/device_init.c.bak-boolcase-20260716-063617 0 → 100644
View file @ dced7c62
#include "device_init.h"
#include "devcontrol_common.h"
#include "common.h"
#include "gpio_init.h"
#include "car0107_idle.h"
int g_device_delay_back_count =0;//设备计时，比如坦克打击倒退逻辑
int g_device_type =0; //设备详细类型，让其他地方判断，比如tank0202、car0101
static const deviceconfig_t s_device_configs[] = {
// car0101配置
{
.device_id = DEVICE_CAR0101,
.device_name = "car0101",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0101_middle_pwm,
.emergency_code = 101
},
// car0102配置
{
.device_id = DEVICE_CAR0102,
.device_name = "car0102",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
.gpio_pwms = {5, 7, -1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0102_speed_stop,
.emergency_code = 102
},
// car0103配置（根据您的需求补充）
{
.device_id = DEVICE_CAR0103,
.device_name = "car0103",
.gpio_pins = {5, 6, 7, 9 , 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pwms = {-1},
.gpio_inputs={11,12,14,17,18,20,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0103_middle,/* 补充速度控制函数 */
.emergency_code = 103
},
// car0104配置（根据您的需求补充）
{
.device_id = DEVICE_CAR0104,
.device_name = "car0104",
.gpio_pins = {5, 6, 7, 9,10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
.gpio_pwms = {-1},
.gpio_inputs={11,12,14,20,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0104_stop,/* 补充速度控制函数 */
.emergency_code = 104
},
// car0105配置（根据您的需求补充）
{
.device_id = DEVICE_CAR0105,
.device_name = "car0105",
.gpio_pins = {5, 6, 7, 9,10, 16, 20, 22, 23, 24, 25, 26, -1},/* 补充GPIO引脚 */
.gpio_pwms = {27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0101_middle_pwm,/* 补充速度控制函数 */
.emergency_code = 105
},
// car0106 F1赛车（双电机大板）: 软PWM 5/7/24/26 对应前后左右
{
.device_id = DEVICE_CAR0106,
.device_name = "car0106",
.gpio_pins = {-1},
.gpio_pwms = {5, 7, 24, 26, -1},
.gpio_inputs={-1},
.device_pwm_init = car0106_pwm_init_empty,
.device_control_stop = car0106_stop,
.emergency_code = 106
},
// car0107 大众POLO R（与0101相同硬件，前后方向相反）
{
.device_id = DEVICE_CAR0107,
.device_name = "car0107",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0107_middle_pwm,
.emergency_code = 107
},
// tank0202配置（根据您的需求补充）
{
.device_id = DEVICE_TANK0202,
.device_name = "tank0202",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={12,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0202_middle,/* 补充速度控制函数 */
.emergency_code = 202
},
{
.device_id = DEVICE_TANK0203,
.device_name = "tank0203",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.gpio_inputs={12,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0203_middle,/* 补充速度控制函数 */
.emergency_code = 203
},
{
.device_id = DEVICE_TANK0204,
.device_name = "tank0204",
.gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24, 26, 27,-1},
.gpio_inputs={12,-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0204_stop,/* 补充速度控制函数 */
.emergency_code = 204
},
{
.device_id = DEVICE_TANK0206,
.device_name = "tank0206",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0206_middle,/* 补充速度控制函数 */
.emergency_code = 206
},
{
.device_id = DEVICE_TANK0207,
.device_name = "tank0207",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = tank0207_middle,/* 补充速度控制函数 */
.emergency_code = 207
},
{
.device_id = DEVICE_SHIP0301,
.device_name = "ship0301",
.gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = ship0301_stop,/* 补充速度控制函数 */
.emergency_code = 301
},
{
.device_id = DEVICE_SHIP0302,
.device_name = "ship0302",
.gpio_pins = {6, 16, 20, 22, 23,-1},
.gpio_pwms = {5 , 7 ,24,26, 27,-1},
.gpio_inputs={-1},
.device_pwm_init = device_ship0302_init,
.device_control_stop = ship0302_stop,
.emergency_code = 302
},
{
.device_id = DEVICE_PAO_PTZ0401,
.device_name = "ptz0401",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},/* 补充GPIO引脚 */
.gpio_pwms = { -1},
.gpio_inputs={-1},
.device_pwm_init = ptz_driver_pwm_hz,
.device_control_stop = ptz_driver_init,
.emergency_code = 401
},
{
.device_id = DEVICE_PAO_PTZ0404,
.device_name = "ptz0404",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},/* 补充GPIO引脚 */
.gpio_pwms = { -1},
.gpio_inputs={-1},
.device_pwm_init = ptz_driver_pwm_hz,
.device_control_stop = ptz_driver_init,
.emergency_code = 404
},
{
.device_id = DEVICE_PAO_PTZ0405,
.device_name = "ptz0405",
.gpio_pins = {5, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = ptz_driver_pwm_hz,
.device_control_stop = ptz_driver_init,
.emergency_code = 405
},
{
.device_id = DEVICE_PAO_PTZ0406,
.device_name = "ptz0406",
.gpio_pins = {5, 7, 10, 16, 20, 22, 23, 24, 25, 26,27,-1},
.gpio_pwms = {-1},
.gpio_inputs={-1},
.device_pwm_init = ptz_driver_pwm_hz,
.device_control_stop = ptz_driver_init,
.emergency_code = 406
},
{
.device_id = DEVICE_PG_GPS0403,
.device_name = "gps0403",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},/* 补充GPIO引脚 */
.gpio_pwms = { 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0101_middle_pwm,/* 补充速度控制函数 */
.emergency_code = 403
},
{
.device_id = DEVICE_ROBOT_DOG0501,
.device_name = "dog0501",
.gpio_pins = {6, 10, 16, 20, 22, 23, 25,-1},/* 补充GPIO引脚 */
.gpio_pwms = { 5, 7,24, 26,27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = car0101_middle_pwm,/* 补充速度控制函数 */
.emergency_code = 501
},
{
.device_id = DEVICE_ROBOT_ARM0502,
.device_name = "arm0502",
.gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,-1},
.gpio_pwms = { 27,-1},
.gpio_inputs={-1},
.device_pwm_init = physics_pwm_init,
.device_control_stop = arm0502_control_stop_init,
.emergency_code = 502
},
// 结束标记
{ .device_id = -1 }
};
bool get_array_length(const int* arr) {
if(arr[0] != -1) { // 遇到-1停止计数
return TRUE;
}
return FALSE;
}
void device_init(int device_id) {
const deviceconfig_t *config = NULL;
// 查找设备配置
for(int i = 0; s_device_configs[i].device_id != -1; i++) {
if(s_device_configs[i].device_id == device_id) {
config = &s_device_configs[i];
break;
}
}
if(!config) {
my_zlog_error("Error: Device ID %d not found!", device_id);
return;
}
// 执行初始化流程
if(get_array_length(config->gpio_pins)==TRUE)init_gpiowpi(config->gpio_pins); // GPIO初始化
if(get_array_length(config->gpio_pwms)==TRUE)init_gpiopwm(config->gpio_pwms); // GPIOsoft_pwm初始化
if(get_array_length(config->gpio_inputs)==TRUE) init_gpio_input(config->gpio_inputs);
g_device_type =config->emergency_code;
config->device_pwm_init(); // PWM初始化
config->device_control_stop(); // 速度控制初始化
if (device_id == DEVICE_CAR0102) {
car0102_pin27_startup(device_id);
}
if (device_id == DEVICE_CAR0107) {
car0107_idle_startup(device_id);
}
my_zlog_debug("%s initialized successfully!", config->device_name);
}
\ No newline at end of file
drivers/sensors/audioplay.c
View file @ dced7c62
...@@ -14,7 +14,7 @@ ...@@ -14,7 +14,7 @@
#define AUDIO_USB_ALSA_DEVICE "hw:2,0" #define AUDIO_USB_ALSA_DEVICE "hw:2,0"
#define AUDIO_LOCAL_ALSA_DEVICE "plughw:2,0" #define AUDIO_LOCAL_ALSA_DEVICE "plughw:2,0"
#define AUDIO_LOCAL_PLAY_TIMEOUT_SEC 8 #define AUDIO_ANNOUNCEMENT_TIMEOUT_SEC 20
static int s_audio_status=7; static int s_audio_status=7;
static char s_urlbuf[512]; static char s_urlbuf[512];
...@@ -189,36 +189,104 @@ static void shell_single_quote(char *out, size_t size, const char *in) { ...@@ -189,36 +189,104 @@ static void shell_single_quote(char *out, size_t size, const char *in) {
out[pos] = '\0'; out[pos] = '\0';
} }
static int play_local_audio_file(const char *filepath) { static int pulse_suspend_default_output(int suspend) {
const char *command = suspend
? "pactl suspend-sink @DEFAULT_SINK@ 1 >/dev/null 2>&1"
: "pactl suspend-sink @DEFAULT_SINK@ 0 >/dev/null 2>&1";
int exit_code = audio_system_exit_code(system(command));
if (exit_code != 0) {
my_zlog_warn("%s浏览器音频输出失败 exit=%d",
suspend ? "暂停" : "恢复", exit_code);
}
return exit_code;
}
int audioplay_file_with_browser_preempt(const char *filepath, double volume) {
char quoted_path[1024]; char quoted_path[1024];
char command[2048]; char command[2048];
int ret; int ret;
int exit_code; int exit_code;
int pulse_suspended;
if (filepath == NULL || filepath[0] == '\0') {
return -1;
}
shell_single_quote(quoted_path, sizeof(quoted_path), filepath); shell_single_quote(quoted_path, sizeof(quoted_path), filepath);
volume = audioplay_volume_clamp(volume);
/* 排队等待USB声卡: 如果audio_sink正在播放手机音频, 等它释放 */ /* 先和项目内 DataChannel/本地音频排队，再让浏览器临时释放 USB 声卡。 */
audio_sink_lock_alsa(); audio_sink_lock_alsa();
pulse_suspended = (pulse_suspend_default_output(1) == 0);
if (pulse_suspended) {
snprintf(command, sizeof(command),
/* timeout 使用 KILL，保证卡死的播放进程到 20 秒时立即释放 ALSA。 */
"timeout -s KILL %ds gst-launch-1.0 -q filesrc location=%s ! mpegaudioparse ! mpg123audiodec ! audioconvert ! volume volume=%.3f ! audioresample ! audio/x-raw,channels=2 ! alsasink device=%s sync=true >/dev/null 2>&1",
AUDIO_ANNOUNCEMENT_TIMEOUT_SEC, quoted_path, volume,
AUDIO_LOCAL_ALSA_DEVICE);
} else {
/* PulseAudio 无法暂停时走其默认输出，避免直接打开同一声卡导致 device busy。 */
snprintf(command, sizeof(command), snprintf(command, sizeof(command),
/* sync=true 防止 EOS 提前关 ALSA 丢尾部(只播前半段); channels=2 上混规避 USB 声卡单声道 ring_buffer CRITICAL */ "timeout -s KILL %ds ffplay -nodisp -autoexit -loglevel warning -af \"volume=%.3f\" %s >/dev/null 2>&1",
"timeout %ds gst-launch-1.0 -q filesrc location=%s ! mpegaudioparse ! mpg123audiodec ! audioconvert ! audioresample ! audio/x-raw,channels=2 ! alsasink device=%s sync=true >/dev/null 2>&1", AUDIO_ANNOUNCEMENT_TIMEOUT_SEC, volume, quoted_path);
AUDIO_LOCAL_PLAY_TIMEOUT_SEC, quoted_path, AUDIO_LOCAL_ALSA_DEVICE); }
ret = system(command); ret = system(command);
exit_code = audio_system_exit_code(ret); exit_code = audio_system_exit_code(ret);
if (exit_code != 0) { /* 无论正常结束、播放失败还是 timeout，退出前都恢复浏览器音频。 */
my_zlog_warn("本地音频 GStreamer 播放失败 exit=%d，尝试 ffplay: %s", if (pulse_suspended) {
exit_code, filepath); pulse_suspend_default_output(0);
}
audio_sink_unlock_alsa();
if (exit_code == 137) {
my_zlog_warn("播报超过 %d 秒，已强制停止并释放声卡: %s",
AUDIO_ANNOUNCEMENT_TIMEOUT_SEC, filepath);
}
return exit_code;
}
int audioplay_url_with_browser_preempt(const char *url, double volume) {
char quoted_url[1024];
char command[2048];
int exit_code;
int pulse_suspended;
if (url == NULL || url[0] == '\0') {
return -1;
}
shell_single_quote(quoted_url, sizeof(quoted_url), url);
volume = audioplay_volume_clamp(volume);
audio_sink_lock_alsa();
pulse_suspended = (pulse_suspend_default_output(1) == 0);
if (pulse_suspended) {
snprintf(command, sizeof(command), snprintf(command, sizeof(command),
"timeout %ds ffplay -nodisp -autoexit -loglevel warning %s", "timeout -s KILL %ds ffmpeg -nostdin -hide_banner -loglevel warning -i %s -af \"volume=%.3f\" -f alsa %s >/dev/null 2>&1",
AUDIO_LOCAL_PLAY_TIMEOUT_SEC, quoted_path); AUDIO_ANNOUNCEMENT_TIMEOUT_SEC, quoted_url, volume,
ret = system(command); AUDIO_LOCAL_ALSA_DEVICE);
exit_code = audio_system_exit_code(ret); } else {
snprintf(command, sizeof(command),
"timeout -s KILL %ds ffplay -nodisp -autoexit -loglevel warning -af \"volume=%.3f\" %s >/dev/null 2>&1",
AUDIO_ANNOUNCEMENT_TIMEOUT_SEC, volume, quoted_url);
} }
exit_code = audio_system_exit_code(system(command));
if (pulse_suspended) {
pulse_suspend_default_output(0);
}
audio_sink_unlock_alsa(); audio_sink_unlock_alsa();
if (exit_code == 137) {
my_zlog_warn("网络播报超过 %d 秒，已强制停止并释放声卡: %s",
AUDIO_ANNOUNCEMENT_TIMEOUT_SEC, url);
}
return exit_code; return exit_code;
} }
...@@ -291,26 +359,21 @@ void audioplay_send_mqtt() { ...@@ -291,26 +359,21 @@ void audioplay_send_mqtt() {
//音频播放 //音频播放
void audioplay_cycle(){ void audioplay_cycle(){
char command[2048];
int ret; int ret;
while(1){ while(1){
if(s_audio_status==0){ if(s_audio_status==0){
char *urlmoddle=s_urlbuf; char *urlmoddle=s_urlbuf;
s_audio_volume = audioplay_volume_clamp(s_audio_volume); s_audio_volume = audioplay_volume_clamp(s_audio_volume);
snprintf(command, sizeof(command),
"sudo ffplay -nodisp -autoexit -loglevel quiet -af \"volume=%.3f\" \"%s\"",
s_audio_volume,urlmoddle);
my_zlog_debug("播放地址: %s", s_urlbuf); my_zlog_debug("播放地址: %s", s_urlbuf);
my_zlog_debug("执行播放命令: %s", command); ret = audioplay_url_with_browser_preempt(urlmoddle, s_audio_volume);
ret = system(command);
if (ret != 0) { if (ret != 0) {
my_zlog_error("播放失败"); my_zlog_error("播放失败");
s_audio_status=2; s_audio_status=2;
} }
if (WIFEXITED(ret) && WEXITSTATUS(ret) == 0) { if (ret == 0) {
my_zlog_debug("播放已成功完成 : %s ", s_urlbuf); my_zlog_debug("播放已成功完成 : %s ", s_urlbuf);
s_audio_status=1; s_audio_status=1;
} else { } else {
...@@ -334,7 +397,7 @@ void audioplay_cycle(){ ...@@ -334,7 +397,7 @@ void audioplay_cycle(){
if (local_play_pending) { if (local_play_pending) {
int exit_code; int exit_code;
my_zlog_info("播放本地音频: %s", local_filepath); my_zlog_info("播放本地音频: %s", local_filepath);
exit_code = play_local_audio_file(local_filepath); exit_code = audioplay_file_with_browser_preempt(local_filepath, 1.0);
if (exit_code == 0) { if (exit_code == 0) {
my_zlog_debug("本地音频播放完成: %s", local_filepath); my_zlog_debug("本地音频播放完成: %s", local_filepath);
} else { } else {
......
drivers/sensors/audioplay.c.bak-audio-preempt-20260717 0 → 100644
View file @ dced7c62
#include "common.h"
#include "audioplay.h"
#include "audio_sink.h" /* USB声卡排队锁 */
#include "device_identity.h"
#include "mqtt_init.h"
#include "http_config_mqtt.h"
#include "audiotts_play.h"
#include "wifi_autoconfig.h"
#include <stdio.h>
#include <pthread.h>
#include <strings.h>
#include <unistd.h>
#include <sys/wait.h>
#define AUDIO_USB_ALSA_DEVICE "hw:2,0"
#define AUDIO_LOCAL_ALSA_DEVICE "plughw:2,0"
#define AUDIO_LOCAL_PLAY_TIMEOUT_SEC 8
static int s_audio_status=7;
static char s_urlbuf[512];
static char s_keybuf[256];
static double s_audio_volume=0.8;
#define AUDIO_DRIVING_LEVEL_MAX 30
static int s_local_play_pending = 0;
static char s_local_filepath[512];
static pthread_mutex_t s_local_play_mutex = PTHREAD_MUTEX_INITIALIZER;
static int local_is_cn_lang(const char *lang) {
return lang != NULL && (strcmp(lang, AUDIO_LANG_ZH) == 0 || strcmp(lang, "cn") == 0);
}
static int local_is_en_lang(const char *lang) {
return lang != NULL &&
(strcmp(lang, AUDIO_LANG_EN) == 0 || strcmp(lang, "en") == 0 || strcmp(lang, "EN") == 0);
}
static void local_resolve_lang(const char *language_override, char *out, size_t size) {
if (language_override == NULL || language_override[0] == '\0' ||
strcasecmp(language_override, "default") == 0) {
snprintf(out, size, "%s", audio_get_language());
return;
}
if (local_is_cn_lang(language_override)) {
snprintf(out, size, "%s", AUDIO_LANG_ZH);
return;
}
if (local_is_en_lang(language_override)) {
snprintf(out, size, "%s", AUDIO_LANG_EN);
return;
}
snprintf(out, size, "%s", audio_get_language());
my_zlog_warn("2017 未知 language: %s，使用当前语言: %s", language_override, out);
}
static int local_resolve_filepath(const char *filename, const char *language_override,
char *out, size_t size) {
char lang[8];
int use_default_lang = (language_override == NULL || language_override[0] == '\0' ||
strcasecmp(language_override, "default") == 0);
local_resolve_lang(language_override, lang, sizeof(lang));
if (local_is_cn_lang(lang)) {
snprintf(out, size, "%s/%s", AUDIO_LOCAL_BASE, filename);
return access(out, F_OK) == 0;
}
snprintf(out, size, "%s/%s/%s", AUDIO_LOCAL_BASE, lang, filename);
if (access(out, F_OK) == 0) {
return 1;
}
if (use_default_lang) {
snprintf(out, size, "%s/%s", AUDIO_LOCAL_BASE, filename);
return access(out, F_OK) == 0;
}
return 0;
}
static void local_queue_play(const char *filename, const char *language) {
char resolved[512];
if (!local_resolve_filepath(filename, language, resolved, sizeof(resolved))) {
my_zlog_warn("2017 本地音频不存在: %s", filename);
return;
}
pthread_mutex_lock(&s_local_play_mutex);
snprintf(s_local_filepath, sizeof(s_local_filepath), "%s", resolved);
s_local_play_pending = 1;
pthread_mutex_unlock(&s_local_play_mutex);
my_zlog_info("2017 已排队本地音频: %s", resolved);
}
void audioplay_local_mqtt_receive(cJSON *body) {
if (!cJSON_IsObject(body)) {
my_zlog_warn("2017 body 无效");
return;
}
cJSON *status = cJSON_GetObjectItemCaseSensitive(body, "status");
cJSON *level_item = cJSON_GetObjectItemCaseSensitive(body, "level");
cJSON *language = cJSON_GetObjectItemCaseSensitive(body, "language");
if (!cJSON_IsString(status) || status->valuestring == NULL) {
my_zlog_warn("2017 缺少 status");
return;
}
const char *lang = "default";
if (cJSON_IsString(language) && language->valuestring != NULL) {
lang = language->valuestring;
}
if (strcmp(status->valuestring, "speed") == 0) {
local_queue_play("Speedupforoneminute.mp3", lang);
return;
}
if (strcmp(status->valuestring, "drivinglevel") == 0) {
int level = 0;
if (cJSON_IsString(level_item) && level_item->valuestring != NULL) {
level = atoi(level_item->valuestring);
} else if (cJSON_IsNumber(level_item)) {
level = level_item->valueint;
} else {
my_zlog_warn("2017 drivinglevel 缺少 level");
return;
}
if (level < 1 || level > AUDIO_DRIVING_LEVEL_MAX) {
my_zlog_warn("2017 drivinglevel level 无效: %d (1-%d)",
level, AUDIO_DRIVING_LEVEL_MAX);
return;
}
char filename[48];
snprintf(filename, sizeof(filename), "DrivingLevel%d.mp3", level);
local_queue_play(filename, lang);
return;
}
my_zlog_warn("2017 未知 status: %s", status->valuestring);
}
static double audioplay_volume_clamp(double v) {
if (v < 0.0) {
return 0.0;
}
if (v > 2.0) {
return 2.0;
}
return v;
}
int audio_wheat_init();
static int audio_system_exit_code(int status) {
if (status == -1) {
return -1;
}
if (WIFEXITED(status)) {
return WEXITSTATUS(status);
}
if (WIFSIGNALED(status)) {
return 128 + WTERMSIG(status);
}
return -1;
}
static void shell_single_quote(char *out, size_t size, const char *in) {
size_t pos = 0;
if (!out || size == 0) {
return;
}
out[pos++] = '\'';
if (in) {
for (const char *p = in; *p && pos + 5 < size; p++) {
if (*p == '\'') {
const char *esc = "'\\''";
for (const char *e = esc; *e && pos + 1 < size; e++) {
out[pos++] = *e;
}
} else {
out[pos++] = *p;
}
}
}
if (pos + 1 < size) {
out[pos++] = '\'';
}
out[pos] = '\0';
}
static int play_local_audio_file(const char *filepath) {
char quoted_path[1024];
char command[2048];
int ret;
int exit_code;
shell_single_quote(quoted_path, sizeof(quoted_path), filepath);
/* 排队等待USB声卡: 如果audio_sink正在播放手机音频, 等它释放 */
audio_sink_lock_alsa();
snprintf(command, sizeof(command),
/* sync=true 防止 EOS 提前关 ALSA 丢尾部(只播前半段); channels=2 上混规避 USB 声卡单声道 ring_buffer CRITICAL */
"timeout %ds gst-launch-1.0 -q filesrc location=%s ! mpegaudioparse ! mpg123audiodec ! audioconvert ! audioresample ! audio/x-raw,channels=2 ! alsasink device=%s sync=true >/dev/null 2>&1",
AUDIO_LOCAL_PLAY_TIMEOUT_SEC, quoted_path, AUDIO_LOCAL_ALSA_DEVICE);
ret = system(command);
exit_code = audio_system_exit_code(ret);
if (exit_code != 0) {
my_zlog_warn("本地音频 GStreamer 播放失败 exit=%d，尝试 ffplay: %s",
exit_code, filepath);
snprintf(command, sizeof(command),
"timeout %ds ffplay -nodisp -autoexit -loglevel warning %s",
AUDIO_LOCAL_PLAY_TIMEOUT_SEC, quoted_path);
ret = system(command);
exit_code = audio_system_exit_code(ret);
}
audio_sink_unlock_alsa();
return exit_code;
}
//接收音频播放
void audioplay_mqtt_receive(cJSON *json) {
// 解析"audioLink"字段（修正了原始JSON中的拼写错误）
cJSON *audio_link = cJSON_GetObjectItemCaseSensitive(json, "audioLink");
if (cJSON_IsString(audio_link) && (audio_link->valuestring != NULL)) {
my_zlog_debug("音频链接: %s", audio_link->valuestring);
char *url=audio_link->valuestring;
snprintf(s_urlbuf, sizeof(s_urlbuf), "%s", url);
} else {
my_zlog_warn("错误：无法解析音频链接字段");
}
// 解析"key"字段
cJSON *key_char = cJSON_GetObjectItemCaseSensitive(json, "key");
if (cJSON_IsString(key_char) && (key_char->valuestring != NULL)) {
my_zlog_debug("音频链接KEY: %s", key_char->valuestring);
char *key=key_char->valuestring;
snprintf(s_keybuf, sizeof(s_keybuf), "%s", key);
} else {
my_zlog_warn("错误：无法解析音频链接");
s_audio_status=5;
}
// 解析"status"字段
cJSON *s_audio_status_val = cJSON_GetObjectItemCaseSensitive(json, "status");
if (cJSON_IsNumber(s_audio_status_val)) {
my_zlog_debug("标志: %d", s_audio_status_val->valueint);
s_audio_status=s_audio_status_val->valueint;
} else {
my_zlog_warn("错误：无法解析标志字段");
}
// 解析"volume"字段
cJSON *volume = cJSON_GetObjectItemCaseSensitive(json, "volume");
if (cJSON_IsNumber(volume)) {
my_zlog_debug("声量大小: %.3f", volume->valuedouble);
s_audio_volume = audioplay_volume_clamp(volume->valuedouble);
} else {
my_zlog_warn("错误：无法解析声量字段");
}
}
//发送音频播放是否完毕
void audioplay_send_mqtt() {
cJSON *root = cJSON_CreateObject();
cJSON *body = cJSON_CreateObject();
cJSON *head = cJSON_CreateObject();
// 添加各个字段到 JSON 对象
cJSON_AddStringToObject(body, "type", "audio");
cJSON_AddStringToObject(body, "audioLink", s_urlbuf);
cJSON_AddStringToObject(body, "key", s_keybuf);
cJSON_AddNumberToObject(body, "status", s_audio_status);
cJSON_AddNumberToObject(body, "volume", s_audio_volume);
cJSON_AddNumberToObject(head, "message_type",3001);
cJSON_AddItemToObject(root, "body", body);
cJSON_AddItemToObject(root, "head",head);
// 将 JSON 对象转换为字符串
char* json_string = cJSON_PrintUnformatted(root);
my_zlog_debug("%s",json_string);
mqtt_publish_to_all(mqtt_topic_pure_number(), json_string, 0);
free(json_string);
cJSON_Delete(root);
}
//音频播放
void audioplay_cycle(){
char command[2048];
int ret;
while(1){
if(s_audio_status==0){
char *urlmoddle=s_urlbuf;
s_audio_volume = audioplay_volume_clamp(s_audio_volume);
snprintf(command, sizeof(command),
"sudo ffplay -nodisp -autoexit -loglevel quiet -af \"volume=%.3f\" \"%s\"",
s_audio_volume,urlmoddle);
my_zlog_debug("播放地址: %s", s_urlbuf);
my_zlog_debug("执行播放命令: %s", command);
ret = system(command);
if (ret != 0) {
my_zlog_error("播放失败");
s_audio_status=2;
}
if (WIFEXITED(ret) && WEXITSTATUS(ret) == 0) {
my_zlog_debug("播放已成功完成 : %s ", s_urlbuf);
s_audio_status=1;
} else {
my_zlog_warn("播放失败或中断: %s ", s_urlbuf);
s_audio_status=2;
}
audioplay_send_mqtt();
}
char local_filepath[sizeof(s_local_filepath)];
int local_play_pending = 0;
pthread_mutex_lock(&s_local_play_mutex);
if (s_local_play_pending) {
s_local_play_pending = 0;
snprintf(local_filepath, sizeof(local_filepath), "%s", s_local_filepath);
local_play_pending = 1;
}
pthread_mutex_unlock(&s_local_play_mutex);
if (local_play_pending) {
int exit_code;
my_zlog_info("播放本地音频: %s", local_filepath);
exit_code = play_local_audio_file(local_filepath);
if (exit_code == 0) {
my_zlog_debug("本地音频播放完成: %s", local_filepath);
} else {
my_zlog_warn("本地音频播放失败 exit=%d: %s", exit_code, local_filepath);
}
}
video_tts_play();
delay_ms(100);
}
}
static void trim_line(char *s)
{
if (!s)
return;
s[strcspn(s, "\r\n")] = '\0';
}
static int pulse_pactl_exit_code(int status)
{
if (status == -1)
return -1;
if (WIFEXITED(status))
return WEXITSTATUS(status);
return -1;
}
static int pulse_output_means_already_loaded(const char *output)
{
if (!output || !output[0])
return 0;
return strstr(output, "already loaded") != NULL ||
strstr(output, "Already loaded") != NULL ||
strstr(output, "Module exists") != NULL;
}
static int pulse_module_exists(const char *module_name, const char *device)
{
FILE *fp = popen("pactl list modules short 2>/dev/null", "r");
char line[512];
char needle[96];
if (!fp)
return 0;
snprintf(needle, sizeof(needle), "device=%s", device);
while (fgets(line, sizeof(line), fp) != NULL) {
if (strstr(line, module_name) != NULL && strstr(line, needle) != NULL) {
pclose(fp);
return 1;
}
}
pclose(fp);
return 0;
}
static int pulse_load_alsa_module(const char *module_name, const char *label)
{
char cmd[256];
char output[512];
char line[256];
if (pulse_module_exists(module_name, AUDIO_USB_ALSA_DEVICE)) {
my_zlog_info("%s 已注册，跳过 (%s device=%s)",
label, module_name, AUDIO_USB_ALSA_DEVICE);
return 0;
}
snprintf(cmd, sizeof(cmd), "pactl load-module %s device=%s 2>&1",
module_name, AUDIO_USB_ALSA_DEVICE);
FILE *fp = popen(cmd, "r");
if (!fp) {
my_zlog_warn("%s 注册失败: 无法执行 pactl (%s)", label, strerror(errno));
return -1;
}
output[0] = '\0';
while (fgets(line, sizeof(line), fp) != NULL) {
trim_line(line);
if (!line[0])
continue;
if (output[0]) {
strncat(output, "; ", sizeof(output) - strlen(output) - 1);
}
strncat(output, line, sizeof(output) - strlen(output) - 1);
}
int status = pclose(fp);
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",
label, module_name, AUDIO_USB_ALSA_DEVICE,
output[0] ? ", pactl: " : "", output[0] ? output : "");
return 0;
}
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 : "");
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",
output[0] ? output : "");
return -1;
}
int audio_wheat_init(){
return pulse_load_alsa_module("module-alsa-sink", "喇叭");
}
int audio_speaker_init() {
return pulse_load_alsa_module("module-alsa-source", "麦");
}
int audio_init(){
delay_s(1);
audio_wheat_init();
delay_s(1);
audio_speaker_init();
return 0;
}
#define CONFIG_FILE "/usr/share/pulseaudio/alsa-mixer/profile-sets/default.conf"
static const char *s_yundea_block =
"# 为 Yundea 1076 USB 二合一设备添加配置\n"
"[Mapping yundea-input]\n"
"device-strings = hw:%f,0\n"
"direction = input\n"
"priority = 100\n"
"channel-map = mono\n"
"\n"
"[Mapping yundea-output]\n"
"device-strings = hw:%f,0\n"
"direction = output\n"
"priority = 100\n"
"channel-map = left,right\n"
"\n"
"[Profile yundea-duplex]\n"
"input-mappings = yundea-input\n"
"output-mappings = yundea-output\n"
"priority = 200\n";
/*
*功能：加入usb声卡配置
*
*/
int audio_config_init() {
delay_s(12);
FILE *fp = fopen(CONFIG_FILE, "r");
if (!fp) {
perror("无法打开配置文件进行读取");
return 1;
}
// 获取文件大小
fseek(fp, 0, SEEK_END);
long size = ftell(fp);
fseek(fp, 0, SEEK_SET);
char *buffer = malloc(size + 1);
if (!buffer) {
my_zlog_error("内存分配失败");
fclose(fp);
return 1;
}
size_t result =fread(buffer, 1, size, fp);
if (result != size) {
my_zlog_warn("Error: Failed to read audio data");
}
buffer[size] = '\0';
fclose(fp);
// 检查是否包含完整配置块
if (strstr(buffer, s_yundea_block) != NULL) {
my_zlog_debug("配置文件中已包含指定配置，跳过添加。");
free(buffer);
return 0;
}
free(buffer);
my_zlog_info("未找到指定配置，正在追加到文件末尾...");
// 打开文件追加配置
fp = fopen(CONFIG_FILE, "a");
if (!fp) {
my_zlog_error("无法打开配置文件进行写入");
return 1;
}
fprintf(fp, "\n%s", s_yundea_block);
fclose(fp);
my_zlog_info("配置已成功追加。");
return 0;
}
drivers/sensors/audioplay.h
View file @ dced7c62
...@@ -6,6 +6,13 @@ void audioplay_mqtt_receive(cJSON *body); //接收音频mqtt播放函数 ...@@ -6,6 +6,13 @@ void audioplay_mqtt_receive(cJSON *body); //接收音频mqtt播放函数
void audioplay_local_mqtt_receive(cJSON *body); // 2017 有人驾驶本地音频 void audioplay_local_mqtt_receive(cJSON *body); // 2017 有人驾驶本地音频
void audioplay_cycle();//音频播放线程中函数 void audioplay_cycle();//音频播放线程中函数
/*
* 播放播报文件：与项目内其它 ALSA 播放串行，并在播放期间暂停浏览器使用的
* PulseAudio 默认输出。播放完成或超过 20 秒后会恢复浏览器音频。
*/
int audioplay_file_with_browser_preempt(const char *filepath, double volume);
int audioplay_url_with_browser_preempt(const char *url, double volume);
int audio_wheat_init(); int audio_wheat_init();
int audio_speaker_init(); int audio_speaker_init();
......
drivers/sensors/audioplay.h.bak-audio-preempt-20260717 0 → 100644
View file @ dced7c62
#ifndef AUDIOPLAY_H__
#define AUDIOPLAY_H__
#include <cjson/cJSON.h>
void audioplay_mqtt_receive(cJSON *body); //接收音频mqtt播放函数
void audioplay_local_mqtt_receive(cJSON *body); // 2017 有人驾驶本地音频
void audioplay_cycle();//音频播放线程中函数
int audio_wheat_init();
int audio_speaker_init();
int audio_init();
int audio_config_init();//加入配置
#endif
\ No newline at end of file
drivers/sensors/audiotts_play.c
View file @ dced7c62
...@@ -471,46 +471,15 @@ void video_tts_play() { ...@@ -471,46 +471,15 @@ void video_tts_play() {
return; return;
} }
pid_t pid = fork(); /* audioplay_cycle 本身运行在音频线程，这里同步等待可确保声卡一定被恢复。 */
if (pid == 0) { int exit_code = audioplay_file_with_browser_preempt(TTS_ADUINO_PTAH, s_volume);
// 子进程：创建新的会话组，脱离父进程组 if (exit_code == 0) {
setsid(); // 关键！创建新的会话组 my_zlog_info("TTS 播报完成, volume: %.1f", s_volume);
} else {
char command[256]; my_zlog_warn("TTS 播报失败或超时 exit=%d, volume: %.1f", exit_code, s_volume);
snprintf(command, sizeof(command),
"ffmpeg -i " TTS_ADUINO_PTAH " -af \"volume=%.1f\" -f alsa default 2>/dev/null",
s_volume);
// 重定向标准输入输出，避免占用终端
if (freopen("/dev/null", "r", stdin) == NULL) {
my_zlog_error("重定向stdin失败: %s", strerror(errno));
// 可以选择退出或继续
}
if (freopen("/dev/null", "w", stdout) == NULL) {
my_zlog_error("重定向stdout失败: %s", strerror(errno));
}
if (freopen("/dev/null", "w", stderr) == NULL) {
my_zlog_error("重定向stderr失败: %s", strerror(errno));
}
int res = system(command);
_exit(res); // 使用_exit避免清理父进程资源
}
else if (pid > 0) {
// 父进程：非阻塞等待，避免僵尸进程
int status;
waitpid(pid, &status, WNOHANG); // 不阻塞的等待
my_zlog_debug("启动独立播放进程 PID: %d", pid);
s_audio_tts_index = 0;
} }
else {
my_zlog_error("fork()失败");
s_audio_tts_index = 0; s_audio_tts_index = 0;
} }
}
} }
......
drivers/sensors/audiotts_play.c.bak-audio-preempt-20260717 0 → 100644
View file @ dced7c62
#include "audiotts_play.h"
#include "audioplay.h"
#include "device_identity.h"
#include "mqtt_init.h"
#include "http_config_mqtt.h"
#include <openssl/bio.h>
#include <openssl/evp.h>
#include <openssl/buffer.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/wait.h>
#include <errno.h>
#define TTS_ADUINO_PTAH PROJECT_ROOT_DIR "/audio.mp3"
// 全局变量：存储 HTTP 响应数据
static char *s_http_response = NULL;
static size_t s_http_response_len = 0;
static bool s_audio_tts_index=0;
static double s_volume=1.0;
// HTTP 响应回调函数：接收服务器返回的 JSON 数据
static size_t http_write_callback(void *ptr, size_t size, size_t nmemb, void *userdata) {
size_t total = size * nmemb;
// 扩容并拷贝响应数据
char *temp = realloc(s_http_response, s_http_response_len + total + 1);
if (!temp) {
my_zlog_error("Realloc response buffer failed");
return 0;
}
s_http_response = temp;
memcpy(s_http_response + s_http_response_len, ptr, total);
s_http_response_len += total;
s_http_response[s_http_response_len] = '\0'; // 末尾加结束符
return total;
}
// 生成 UUID（去除连字符，保证 reqid 唯一性）
static void generate_uuid(char *buf, size_t len) {
if (len < 33) return; // UUID 去除连字符后 32 位
uuid_t uuid;
uuid_generate_random(uuid);
uuid_unparse(uuid, buf);
// 移除连字符
char *p = strchr(buf, '-');
while (p) {
memmove(p, p + 1, strlen(p));
p = strchr(buf, '-');
}
}
// Base64 解码（将响应中的音频数据解码为二进制）
static unsigned char *base64_decode(const char *input, size_t *output_len) {
BIO *bio, *b64;
size_t len = strlen(input);
unsigned char *buffer = (unsigned char *)malloc(len * 3 / 4 + 1024); // 预留足够空间
if (!buffer) return NULL;
// 初始化 OpenSSL Base64 解码
OpenSSL_add_all_algorithms(); // 初始化 OpenSSL 算法（避免解码失败）
b64 = BIO_new(BIO_f_base64());
bio = BIO_new_mem_buf(input, len);
bio = BIO_push(b64, bio);
// 禁用换行符处理（关键：避免 Base64 字符串含换行导致解码失败）
BIO_set_flags(bio, BIO_FLAGS_BASE64_NO_NL);
*output_len = BIO_read(bio, buffer, len * 3 / 4 + 1024);
// 清理资源
BIO_free_all(bio);
// 调整缓冲区大小为实际解码长度
buffer = realloc(buffer, *output_len);
return buffer;
}
/**
* 保存音频数据到文件（目录已存在）
* @param data 音频数据指针
* @param len 音频数据长度
* @param filepath 完整文件路径
* @return 0成功，1失败
*/
static int save_audio_file(const void *data, size_t len, const char *filepath) {
if (!data || len == 0 || !filepath) {
my_zlog_error("Invalid parameters for save_audio_file\n");
return 1;
}
FILE *fp = fopen(filepath, "wb");
if (!fp) {
my_zlog_error( "Open file %s failed: %s\n", filepath, strerror(errno));
return 1;
}
size_t written = fwrite(data, 1, len, fp);
fclose(fp);
if (written != len) {
my_zlog_error("Write file %s incomplete: %zu/%zu bytes", filepath, written, len);
remove(filepath); // 删除不完整的文件
return 1;
}
my_zlog_debug("Success! Audio saved to: %s (%zu bytes)", filepath, written);
return 0;
}
/*
*功能：获得随机字符串，不使用uuid
*/
static char* generate_random_string() {
// 设置随机种子（建议在main函数中调用一次即可）
static int seeded = 0;
if (!seeded) {
srand((unsigned int)time(NULL));
seeded = 1;
}
// 动态分配内存（10个字符 + 终止符）
char* str = (char*)malloc(11 * sizeof(char));
if (!str) return NULL;
// 生成数字字符（ASCII 48-57）
for (int i = 0; i < 10; i++) {
str[i] = '0' + (rand() % 10);
}
str[10] = '\0'; // 添加终止符
return str;
}
char *get_audio_text_tts(char *date ,bool flag){
static char text[256] = {0};
if(flag==1){
return text;
}else {
size_t date_len = strlen(date);
if (date) {
strcpy(text, date);
text[date_len] = '\0'; // 确保以null结尾
} else {
text[0] = '\0'; // 如果date为NULL，清空文本
}
}
}
/**
* 保存音频数据到文件（目录已存在）
* @param text 传入需要转化的文字指针
* @return 0成功，1失败
*/
int audio_tts(const char *text) {
// 1. 配置参数（替换为你的真实信息，已验证有效）
const char *appid = "5745089507"; // 你的火山引擎 AppID
const char *access_token = "0BeoBb_DOjrxfM4aTsJfUFVVS0k5V9mt"; // 你的访问令牌
const char *voice_type = "zh_female_linjianvhai_moon_bigtts"; // 非流式音色
const char *cluster = "volcano_tts"; // 固定值（必选）
char *uid = generate_random_string(); // 任意非空字符串
const char *encoding = "mp3"; // 输出格式（mp3/wav/pcm/ogg_opus）
const char *endpoint = "https://openspeech.bytedance.com/api/v1/tts"; // HTTP 接口地址
// 2. 生成唯一 reqid（每次调用必须不同）
char reqid[33] = {0};
generate_uuid(reqid, sizeof(reqid));
my_zlog_debug("Generated ReqID: %s", reqid);
// 3. 构建请求 JSON（严格遵循接口参数格式）
cJSON *root = cJSON_CreateObject();
if (!root) {
my_zlog_error("Create JSON root failed");
free(uid);
return 1;
}
// app 节点（必选）
cJSON *app = cJSON_CreateObject();
cJSON_AddStringToObject(app, "appid", appid);
cJSON_AddStringToObject(app, "token", access_token);
cJSON_AddStringToObject(app, "cluster", cluster);
cJSON_AddItemToObject(root, "app", app);
// user 节点（必选）
cJSON *user = cJSON_CreateObject();
cJSON_AddStringToObject(user, "uid", uid);
cJSON_AddItemToObject(root, "user", user);
// audio 节点（必选）
cJSON *audio = cJSON_CreateObject();
cJSON_AddStringToObject(audio, "voice_type", voice_type);
cJSON_AddStringToObject(audio, "encoding", encoding);
cJSON_AddNumberToObject(audio, "speed_ratio", 1.0); // 语速（0.1~2.0）
cJSON_AddNumberToObject(audio, "rate", 16000); // 采样率（默认24000）
cJSON_AddNumberToObject(audio, "loudness_ratio", 1.0); // 音量（0.5~2.0）
cJSON_AddBoolToObject(audio, "enable_emotion", true); // 开启情感
cJSON_AddStringToObject(audio, "emotion", "gentle"); // 情感类型（gentle=温柔）
cJSON_AddNumberToObject(audio, "emotion_scale", 4.0); // 情感强度（1~5，默认4）
cJSON_AddItemToObject(root, "audio", audio);
// request 节点（必选）
cJSON *request = cJSON_CreateObject();
cJSON_AddStringToObject(request, "reqid", reqid);
cJSON_AddStringToObject(request, "text", text);
cJSON_AddStringToObject(request, "operation", "query"); // HTTP 非流式固定为 query
cJSON_AddStringToObject(request, "extra_param", "{\"disable_markdown_filter\":true}"); // 附加参数
cJSON_AddItemToObject(root, "request", request);
// 生成 JSON 字符串（无格式，减少传输体积）
char *payload = cJSON_PrintUnformatted(root);
cJSON_Delete(root);
if (!payload) {
my_zlog_error("Generate JSON payload failed");
free(uid);
return 1;
}
my_zlog_debug("Request Payload: %s", payload);
// 4. 初始化 curl 并配置 HTTP 请求
curl_global_init(CURL_GLOBAL_DEFAULT);
CURL *curl = curl_easy_init();
if (!curl) {
my_zlog_error("Initialize curl failed");
free(payload);
free(uid);
return 1;
}
// 设置请求头（关键：Authorization 分号分隔，Content-Type 为 JSON）
struct curl_slist *headers = NULL;
char auth_header[256] = {0};
snprintf(auth_header, sizeof(auth_header), "Authorization: Bearer;%s", access_token);
headers = curl_slist_append(headers, auth_header);
headers = curl_slist_append(headers, "Content-Type: application/json");
headers = curl_slist_append(headers, "Accept: application/json");
if (s_http_response == NULL) {
s_http_response_len = 0;
}else {
return 1;
}
// curl 核心配置
curl_easy_setopt(curl, CURLOPT_URL, endpoint);
curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
curl_easy_setopt(curl, CURLOPT_POST, 1L); // POST 方法
curl_easy_setopt(curl, CURLOPT_POSTFIELDS, payload); // 请求体
curl_easy_setopt(curl, CURLOPT_POSTFIELDSIZE, strlen(payload));
curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, http_write_callback); // 接收响应回调
curl_easy_setopt(curl, CURLOPT_SSL_VERIFYPEER, 0L); // 开发环境禁用 SSL 证书校验（生产环境建议启用）
curl_easy_setopt(curl, CURLOPT_SSL_VERIFYHOST, 0L);
curl_easy_setopt(curl, CURLOPT_TIMEOUT, 15L); // 超时时间 15 秒（避免网络慢导致超时）
curl_easy_setopt(curl, CURLOPT_CONNECTTIMEOUT, 10L); // 连接超时 10 秒
// 5. 执行 HTTP 请求
my_zlog_debug("Sending request to %s...", endpoint);
CURLcode res = curl_easy_perform(curl);
if (res != CURLE_OK) {
my_zlog_error("curl_easy_perform failed: %s", curl_easy_strerror(res));
free(uid);
free(payload);
curl_slist_free_all(headers);
curl_easy_cleanup(curl);
curl_global_cleanup();
return 1;
}
// 6. 解析 HTTP 响应（JSON 格式）
my_zlog_debug("Response Length: %zu bytes", s_http_response_len);
if (s_http_response_len == 0) {
my_zlog_error("Empty response from server");
free(uid);
free(payload);
curl_slist_free_all(headers);
curl_easy_cleanup(curl);
curl_global_cleanup();
return 1;
}
// 解析 JSON 响应
cJSON *response_json = cJSON_Parse(s_http_response);
if (!response_json) {
my_zlog_error("Parse response JSON failed: %s", cJSON_GetErrorPtr());
free(uid);
free(payload);
free(s_http_response);
curl_slist_free_all(headers);
curl_easy_cleanup(curl);
curl_global_cleanup();
return 1;
}
// // 打印完整响应（便于调试，可根据需要注释）
// char *response_str = cJSON_Print(response_json);
// printf("Full Response JSON (abbreviated):\n%s\n", response_str);
// free(response_str);
// 提取响应状态（火山引擎该接口成功码：3000 + message=Success）
cJSON *code = cJSON_GetObjectItem(response_json, "code");
cJSON *message = cJSON_GetObjectItem(response_json, "message");
if (!code || code->valueint != 3000 || !message || strcmp(message->valuestring, "Success") != 0) {
my_zlog_error("Request failed! Code: %d, Message: %s",
code ? code->valueint : -1,
message ? message->valuestring : "No message");
cJSON_Delete(response_json);
free(uid);
free(payload);
free(s_http_response);
curl_slist_free_all(headers);
curl_easy_cleanup(curl);
curl_global_cleanup();
return 1;
}
my_zlog_debug("Request succeeded! Code: %d, Message: %s", code->valueint, message->valuestring);
// 关键：直接提取 data 字段的 Base64 音频字符串（接口实际返回格式）
cJSON *audio_base64 = cJSON_GetObjectItem(response_json, "data");
if (!audio_base64 || !audio_base64->valuestring || strlen(audio_base64->valuestring) == 0) {
my_zlog_error("Response missing audio data (data field is empty)");
cJSON_Delete(response_json);
free(uid);
free(payload);
free(s_http_response);
curl_slist_free_all(headers);
curl_easy_cleanup(curl);
curl_global_cleanup();
return 1;
}
my_zlog_debug("Audio Base64 Length: %zu bytes", strlen(audio_base64->valuestring));
// 7. Base64 解码音频数据
size_t audio_len = 0;
unsigned char *audio_data = base64_decode(audio_base64->valuestring, &audio_len);
if (!audio_data || audio_len == 0) {
my_zlog_error("Base64 decode audio failed");
cJSON_Delete(response_json);
free(uid);
free(payload);
free(s_http_response);
curl_slist_free_all(headers);
curl_easy_cleanup(curl);
curl_global_cleanup();
return 1;
}
my_zlog_debug("Decoded Audio Length: %zu bytes", audio_len);
if(save_audio_file(audio_data, audio_len, TTS_ADUINO_PTAH) != 0) {//保存文件
my_zlog_error("save_audio_file fail");
}
// 9. 清理资源（避免内存泄漏）
cJSON_Delete(response_json);
free(uid);
free(audio_data);
free(payload);
free(s_http_response);
curl_slist_free_all(headers);
curl_easy_cleanup(curl);
curl_global_cleanup();
// 初始化响应缓冲
s_http_response = NULL;
s_http_response_len = 0;
return 0;
}
/*
*功能: 设置播放标识
*/
void set_audio_tts_index(bool index){
s_audio_tts_index=index;
}
/*
*功能: 发送mqtt
*/
int mqtt_audio_tts_send(int status){
// 创建根对象
cJSON* root = cJSON_CreateObject();
if (root == NULL) {
return 1;
}
// 创建body对象
cJSON* body = cJSON_CreateObject();
if (body == NULL) {
cJSON_Delete(root);
return 1;
}
cJSON *head = cJSON_CreateObject();
if (head == NULL) {
cJSON_Delete(root);
return 1;
}
// 将body添加到root
cJSON_AddItemToObject(root, "body", body);
// 添加type和status字段到body
cJSON_AddStringToObject(body, "type", "tts_audio");
cJSON_AddNumberToObject(body, "status", status);
cJSON_AddNumberToObject(head, "message_type",3020);
cJSON_AddItemToObject(root, "body", body);
cJSON_AddItemToObject(root, "head",head);
// 生成JSON字符串
char* json_str = cJSON_PrintUnformatted(root);
my_zlog_debug("%s",json_str);
mqtt_publish_to_all(mqtt_topic_pure_number(), json_str, 0);
free(json_str);
cJSON_Delete(root);
return 0;
}
int mqtt_audio_tts(cJSON *body){
// 解析type字段
cJSON* type = cJSON_GetObjectItem(body, "type");
if(type == NULL || strcmp(type->valuestring, "tts_audio") != 0){
my_zlog_error("type is tts_audio error");
return 1;
}
// 解析date字段
cJSON* date = cJSON_GetObjectItem(body, "date");
if(date!=NULL){
get_audio_text_tts(date->valuestring,0);
my_zlog_debug("text:%s",date->valuestring);
}else {
return 1;
}
// 解析status字段
cJSON* status = cJSON_GetObjectItem(body, "status");
if(mqtt_audio_tts_send(status->valueint)==0){
set_audio_tts_index(status->valueint);
}else{
set_audio_tts_index(0);
my_zlog_error("statis error");
return 1;
}
cJSON* volume = cJSON_GetObjectItem(body, "volume");
s_volume = volume->valuedouble;
return 0;
}
/*
*功能，tts播放
*/
void video_tts_play() {
if(s_audio_tts_index == 1) {
if(audio_tts(get_audio_text_tts(NULL, 1))!=0){
my_zlog_error("audio_tts fail");
s_audio_tts_index = 0;
return;
}
pid_t pid = fork();
if (pid == 0) {
// 子进程：创建新的会话组，脱离父进程组
setsid(); // 关键！创建新的会话组
char command[256];
snprintf(command, sizeof(command),
"ffmpeg -i " TTS_ADUINO_PTAH " -af \"volume=%.1f\" -f alsa default 2>/dev/null",
s_volume);
// 重定向标准输入输出，避免占用终端
if (freopen("/dev/null", "r", stdin) == NULL) {
my_zlog_error("重定向stdin失败: %s", strerror(errno));
// 可以选择退出或继续
}
if (freopen("/dev/null", "w", stdout) == NULL) {
my_zlog_error("重定向stdout失败: %s", strerror(errno));
}
if (freopen("/dev/null", "w", stderr) == NULL) {
my_zlog_error("重定向stderr失败: %s", strerror(errno));
}
int res = system(command);
_exit(res); // 使用_exit避免清理父进程资源
}
else if (pid > 0) {
// 父进程：非阻塞等待，避免僵尸进程
int status;
waitpid(pid, &status, WNOHANG); // 不阻塞的等待
my_zlog_debug("启动独立播放进程 PID: %d", pid);
s_audio_tts_index = 0;
}
else {
my_zlog_error("fork()失败");
s_audio_tts_index = 0;
}
}
}
// void video_tts_play(){
// if(s_audio_tts_index == 1) {
// audio_tts(get_audio_text_tts(NULL,1));
// char command[256];
// snprintf(command, sizeof(command),
// "ffmpeg -i " TTS_ADUINO_PTAH " -af \"volume=%.1f\" -f alsa default",
// s_volume);
// int res = system(command);
// if(res == 0)
// my_zlog_info("play success, volume: %.1f", s_volume);
// else
// my_zlog_error("system play fail, volume: %.1f", s_volume);
// s_audio_tts_index == 0;
// }
// }
\ No newline at end of file
modules/http/http_config_mqtt.h
View file @ dced7c62
...@@ -3,7 +3,7 @@ ...@@ -3,7 +3,7 @@
#include "common.h" #include "common.h"
#define DEFAULT_MQTT_BROKER_ADDRESS "119.45.167.177" #define DEFAULT_MQTT_BROKER_ADDRESS "mqtt177.controlmelive.com"
#define DEVICE_DEFAULT_VIDEO "https://jywy.yd-ss.com?dev=" #define DEVICE_DEFAULT_VIDEO "https://jywy.yd-ss.com?dev="
typedef struct{ typedef struct{
......
modules/mqtt/mqtt_infor_handle.c
View file @ dced7c62
...@@ -213,7 +213,7 @@ static void refresh_cam_browser_only(const char *reason) ...@@ -213,7 +213,7 @@ static void refresh_cam_browser_only(const char *reason)
void message_2_judyverify(cJSON *body) void message_2_judyverify(cJSON *body)
{ {
if (VERIFIED_MODE == FALSE) if (VERIFIED_MODE == false)
{ {
refresh_cam_browser_only("MQTT type2 verify off"); refresh_cam_browser_only("MQTT type2 verify off");
my_zlog_warn("不使用验证"); my_zlog_warn("不使用验证");
...@@ -234,7 +234,7 @@ void message_2_judyverify(cJSON *body) ...@@ -234,7 +234,7 @@ void message_2_judyverify(cJSON *body)
// 当接收到3时候验证 // 当接收到3时候验证
void message_3_judyverify(cJSON *body) void message_3_judyverify(cJSON *body)
{ {
if (VERIFIED_MODE == FALSE) if (VERIFIED_MODE == false)
{ {
message_3(body); message_3(body);
my_zlog_warn("不使用验证"); my_zlog_warn("不使用验证");
...@@ -255,7 +255,7 @@ void message_3_judyverify(cJSON *body) ...@@ -255,7 +255,7 @@ void message_3_judyverify(cJSON *body)
// 当接收到4时候验证 // 当接收到4时候验证
void message_4_judyverify(cJSON *body) void message_4_judyverify(cJSON *body)
{ {
if (VERIFIED_MODE == FALSE) if (VERIFIED_MODE == false)
{ {
message_4(body); message_4(body);
my_zlog_warn("不使用验证"); my_zlog_warn("不使用验证");
...@@ -276,7 +276,7 @@ void message_4_judyverify(cJSON *body) ...@@ -276,7 +276,7 @@ void message_4_judyverify(cJSON *body)
void message_6_steering_judyverify(cJSON *body) void message_6_steering_judyverify(cJSON *body)
{ {
if (VERIFIED_MODE == FALSE) if (VERIFIED_MODE == false)
{ {
steering_mqtt_recv(body); steering_mqtt_recv(body);
my_zlog_warn("不使用验证"); my_zlog_warn("不使用验证");
...@@ -303,7 +303,7 @@ void message_7_joystick_judyverify(cJSON *body) ...@@ -303,7 +303,7 @@ void message_7_joystick_judyverify(cJSON *body)
return; return;
} }
if (VERIFIED_MODE == FALSE) if (VERIFIED_MODE == false)
{ {
ptz_driver_set_joystick_json(joystick_ctrl); ptz_driver_set_joystick_json(joystick_ctrl);
my_zlog_warn("不使用验证"); my_zlog_warn("不使用验证");
......
modules/mqtt/mqtt_verify.c
View file @ dced7c62
...@@ -9,9 +9,9 @@ ...@@ -9,9 +9,9 @@
#include "webrtcpush_run.h" #include "webrtcpush_run.h"
/*TRUE为打开验证，FALSE为关闭验证*/ /*TRUE为打开验证，FALSE为关闭验证*/
bool VERIFIED_MODE=FALSE; bool VERIFIED_MODE=false;
static bool s_service_verify=TRUE;//验证判断 static bool s_service_verify=true;//验证判断
int g_verify_count =6000;//判断是否有一分钟 int g_verify_count =6000;//判断是否有一分钟
...@@ -19,7 +19,7 @@ static char s_only_id_middle[11]; ...@@ -19,7 +19,7 @@ static char s_only_id_middle[11];
static char s_secret_key[1024];//存储上一次的topic static char s_secret_key[1024];//存储上一次的topic
static bool s_secret_key_index = TRUE;//用于判断是否对比topic static bool s_secret_key_index = true;//用于判断是否对比topic
/* topic 不同时发后端验证，失败可重试，超过 3 次不通过则判定该 topic 不通过 */ /* topic 不同时发后端验证，失败可重试，超过 3 次不通过则判定该 topic 不通过 */
static char s_pending_verify_token[1024]; static char s_pending_verify_token[1024];
...@@ -172,7 +172,7 @@ int receive_jwt(cJSON *body) { ...@@ -172,7 +172,7 @@ int receive_jwt(cJSON *body) {
my_zlog_debug("token时间戳:%1d",(long)token_time_sec); my_zlog_debug("token时间戳:%1d",(long)token_time_sec);
if(token_time_sec>current_verify_time){ if(token_time_sec>current_verify_time){
if(s_service_verify == TRUE) g_verify_index=0;//验证默认为正确 if(s_service_verify == true) g_verify_index=0;//验证默认为正确
my_zlog_debug("g_verify_index= %d ",g_verify_index); my_zlog_debug("g_verify_index= %d ",g_verify_index);
if(g_verify_count>12000){ if(g_verify_count>12000){
send_jwtser(token); send_jwtser(token);
...@@ -205,7 +205,7 @@ int message2006_verify(cJSON *body){ ...@@ -205,7 +205,7 @@ int message2006_verify(cJSON *body){
if(json_status == NULL || json_onlyid==NULL) { if(json_status == NULL || json_onlyid==NULL) {
my_zlog_warn("验证为空"); my_zlog_warn("验证为空");
s_service_verify = FALSE; s_service_verify = false;
g_verify_index=1; g_verify_index=1;
my_zlog_debug("g_verify_index= %d ",g_verify_index); my_zlog_debug("g_verify_index= %d ",g_verify_index);
return 1; return 1;
...@@ -219,10 +219,10 @@ int message2006_verify(cJSON *body){ ...@@ -219,10 +219,10 @@ int message2006_verify(cJSON *body){
gboolean driver_changed = (s_secret_key[0] != '\0' && gboolean driver_changed = (s_secret_key[0] != '\0' &&
strcmp(s_secret_key, s_pending_verify_token) != 0); strcmp(s_secret_key, s_pending_verify_token) != 0);
my_zlog_info("获得验证正确, onlyid=%s", onlyid); my_zlog_info("获得验证正确, onlyid=%s", onlyid);
s_service_verify = TRUE; s_service_verify = true;
g_verify_index = 0; /* 后端通过后必须清除失败标志，否则正确 token 仍会提示验证不通过 */ g_verify_index = 0; /* 后端通过后必须清除失败标志，否则正确 token 仍会提示验证不通过 */
strcpy(s_secret_key, s_pending_verify_token); strcpy(s_secret_key, s_pending_verify_token);
s_secret_key_index = FALSE; s_secret_key_index = false;
s_verify_retry_count = 0; s_verify_retry_count = 0;
s_verify_retry_after_time = 0; s_verify_retry_after_time = 0;
if (driver_changed) if (driver_changed)
...@@ -238,13 +238,13 @@ int message2006_verify(cJSON *body){ ...@@ -238,13 +238,13 @@ int message2006_verify(cJSON *body){
} else { } else {
my_zlog_warn("topic验证超过%d次不通过，禁止使用, token=%s", VERIFY_RETRY_MAX, s_pending_verify_token); my_zlog_warn("topic验证超过%d次不通过，禁止使用, token=%s", VERIFY_RETRY_MAX, s_pending_verify_token);
g_verify_index = 1; g_verify_index = 1;
s_service_verify = FALSE; s_service_verify = false;
return 2; return 2;
} }
} else { } else {
my_zlog_warn("获得验证错误，禁止使用, onlyid=%s status=%s", onlyid, status); my_zlog_warn("获得验证错误，禁止使用, onlyid=%s status=%s", onlyid, status);
g_verify_index = 1; g_verify_index = 1;
s_service_verify = FALSE; s_service_verify = false;
return 2; return 2;
} }
} }
...@@ -297,14 +297,14 @@ int message2013_recverigy_open(cJSON *body_raw) ...@@ -297,14 +297,14 @@ int message2013_recverigy_open(cJSON *body_raw)
s_verify_open_query_gave_up = false; s_verify_open_query_gave_up = false;
if (verify_status->valueint == 1) { if (verify_status->valueint == 1) {
VERIFIED_MODE = TRUE; VERIFIED_MODE = true;
my_zlog_info("开启验证成功(加密校验通过), verify_status=1"); my_zlog_info("开启验证成功(加密校验通过), verify_status=1");
cJSON_Delete(body); cJSON_Delete(body);
return 0; return 0;
} }
if (verify_status->valueint == 0) { if (verify_status->valueint == 0) {
VERIFIED_MODE = FALSE; VERIFIED_MODE = false;
my_zlog_info("关闭验证成功(加密校验通过), verify_status=0"); my_zlog_info("关闭验证成功(加密校验通过), verify_status=0");
cJSON_Delete(body); cJSON_Delete(body);
return 0; return 0;
......
modules/webrtcpush/rtc_client.c
View file @ dced7c62
...@@ -21,6 +21,7 @@ ...@@ -21,6 +21,7 @@
typedef struct { typedef struct {
gchar *candidate; gchar *candidate;
gchar *mid; gchar *mid;
gchar *ufrag;
} PendingRemoteIce; } PendingRemoteIce;
typedef struct { typedef struct {
...@@ -277,6 +278,7 @@ static void free_pending_remote_ice(gpointer data) ...@@ -277,6 +278,7 @@ static void free_pending_remote_ice(gpointer data)
return; return;
g_free(ice->candidate); g_free(ice->candidate);
g_free(ice->mid); g_free(ice->mid);
g_free(ice->ufrag);
g_free(ice); g_free(ice);
} }
...@@ -1990,14 +1992,24 @@ static void flush_remote_ice(RtcClient *client) ...@@ -1990,14 +1992,24 @@ static void flush_remote_ice(RtcClient *client)
for (;;) { for (;;) {
PendingRemoteIce *ice; PendingRemoteIce *ice;
int pc; int pc;
gboolean ufrag_match;
g_mutex_lock(&client->lock); g_mutex_lock(&client->lock);
ice = g_queue_pop_head(client->pending_remote_ice); ice = g_queue_pop_head(client->pending_remote_ice);
pc = client->pc; pc = client->pc;
ufrag_match = !ice || !ice->ufrag || !client->remote_ice_ufrag ||
g_strcmp0(ice->ufrag, client->remote_ice_ufrag) == 0;
g_mutex_unlock(&client->lock); g_mutex_unlock(&client->lock);
if (!ice) if (!ice)
break; break;
if (pc >= 0) if (pc >= 0 && ufrag_match) {
rtcAddRemoteCandidate(pc, ice->candidate, ice->mid); if (rtcAddRemoteCandidate(pc, ice->candidate, ice->mid) < 0)
my_zlog_warn("libdatachannel: rejected queued remote ICE candidate ufrag=%s",
ice->ufrag ? ice->ufrag : "?");
} else if (!ufrag_match) {
my_zlog_info("libdatachannel: discard stale remote ICE candidate ufrag=%s current=%s",
ice->ufrag ? ice->ufrag : "?",
client->remote_ice_ufrag ? client->remote_ice_ufrag : "?");
}
free_pending_remote_ice(ice); free_pending_remote_ice(ice);
} }
} }
...@@ -2095,8 +2107,12 @@ int rtc_client_start(AppState *app) ...@@ -2095,8 +2107,12 @@ int rtc_client_start(AppState *app)
void rtc_client_reset(AppState *app) void rtc_client_reset(AppState *app)
{ {
RtcClient *client = client_from_app(app); RtcClient *client = client_from_app(app);
if (client) if (client) {
destroy_peer(client); destroy_peer(client);
g_mutex_lock(&client->lock);
g_queue_clear_full(client->pending_remote_ice, free_pending_remote_ice);
g_mutex_unlock(&client->lock);
}
} }
void rtc_client_stop(AppState *app) void rtc_client_stop(AppState *app)
...@@ -2285,6 +2301,9 @@ void rtc_client_handle_remote_ice(AppState *app, JsonObject *candidate_obj) ...@@ -2285,6 +2301,9 @@ void rtc_client_handle_remote_ice(AppState *app, JsonObject *candidate_obj)
RtcClient *client = client_from_app(app); RtcClient *client = client_from_app(app);
const gchar *candidate; const gchar *candidate;
const gchar *mid = NULL; const gchar *mid = NULL;
const gchar *ufrag = NULL;
gchar *candidate_ufrag = NULL;
gboolean queued = FALSE;
int pc; int pc;
if (!client || !candidate_obj || if (!client || !candidate_obj ||
...@@ -2299,18 +2318,48 @@ void rtc_client_handle_remote_ice(AppState *app, JsonObject *candidate_obj) ...@@ -2299,18 +2318,48 @@ void rtc_client_handle_remote_ice(AppState *app, JsonObject *candidate_obj)
json_node_get_value_type(node) == G_TYPE_STRING) json_node_get_value_type(node) == G_TYPE_STRING)
mid = json_object_get_string_member(candidate_obj, "sdpMid"); mid = json_object_get_string_member(candidate_obj, "sdpMid");
} }
if (json_object_has_member(candidate_obj, "usernameFragment")) {
JsonNode *node = json_object_get_member(candidate_obj, "usernameFragment");
if (JSON_NODE_HOLDS_VALUE(node) &&
json_node_get_value_type(node) == G_TYPE_STRING)
ufrag = json_object_get_string_member(candidate_obj, "usernameFragment");
} else if (json_object_has_member(candidate_obj, "ufrag")) {
JsonNode *node = json_object_get_member(candidate_obj, "ufrag");
if (JSON_NODE_HOLDS_VALUE(node) &&
json_node_get_value_type(node) == G_TYPE_STRING)
ufrag = json_object_get_string_member(candidate_obj, "ufrag");
}
if (!ufrag) {
const gchar *tag = strstr(candidate, " ufrag ");
if (tag) {
const gchar *end;
tag += strlen(" ufrag ");
end = strchr(tag, ' ');
candidate_ufrag = end ? g_strndup(tag, (gsize)(end - tag)) : g_strdup(tag);
ufrag = candidate_ufrag;
}
}
g_mutex_lock(&client->lock); g_mutex_lock(&client->lock);
pc = client->pc; pc = client->pc;
if (pc < 0) { if (pc < 0 ||
(ufrag && client->remote_ice_ufrag &&
g_strcmp0(ufrag, client->remote_ice_ufrag) != 0)) {
PendingRemoteIce *pending = g_new0(PendingRemoteIce, 1); PendingRemoteIce *pending = g_new0(PendingRemoteIce, 1);
pending->candidate = g_strdup(candidate); pending->candidate = g_strdup(candidate);
pending->mid = g_strdup(mid); pending->mid = g_strdup(mid);
pending->ufrag = g_strdup(ufrag);
g_queue_push_tail(client->pending_remote_ice, pending); g_queue_push_tail(client->pending_remote_ice, pending);
pc = -1;
queued = TRUE;
} }
g_mutex_unlock(&client->lock); g_mutex_unlock(&client->lock);
if (pc >= 0 && rtcAddRemoteCandidate(pc, candidate, mid) < 0) if (pc >= 0 && rtcAddRemoteCandidate(pc, candidate, mid) < 0)
my_zlog_warn("libdatachannel: rejected remote ICE candidate"); my_zlog_warn("libdatachannel: rejected remote ICE candidate");
else if (queued)
my_zlog_info("libdatachannel: queued remote ICE candidate for ufrag=%s",
ufrag ? ufrag : "?");
g_free(candidate_ufrag);
} }
gboolean rtc_client_is_active(AppState *app) gboolean rtc_client_is_active(AppState *app)
......
modules/webrtcpush/webrtcpush_config.h
View file @ dced7c62
...@@ -8,7 +8,7 @@ ...@@ -8,7 +8,7 @@
* *
* 原生分支：v4l2 采集 → mpph264enc（或 x264enc 回退）→ libdatachannel 发送。 * 原生分支：v4l2 采集 → mpph264enc（或 x264enc 回退）→ libdatachannel 发送。
*/ */
#define WEBRTCPUSH_USE_MPP 1 #define WEBRTCPUSH_USE_MPP 0
/* 正常固定 24fps；弱网以降码率为主，后续若启用动态帧率也不得低于 22fps。 */ /* 正常固定 24fps；弱网以降码率为主，后续若启用动态帧率也不得低于 22fps。 */
#define WEBRTCPUSH_H264_FPS 24 #define WEBRTCPUSH_H264_FPS 24
...@@ -17,10 +17,10 @@ ...@@ -17,10 +17,10 @@
/* /*
* 与 gst_webrtc_pipeline / jywy 浏览器推流对齐的码率策略。 * 与 gst_webrtc_pipeline / jywy 浏览器推流对齐的码率策略。
* 首屏先用 900kbps，不像 1.4Mbps 那样猛冲，也不要低到一进来就糊。 * 首屏先用 1.06Mbps，不像高码率那样猛冲，也不要低到一进来就糊。
* RTCP REMB 只作为码率趋势：小步慢降、慢升、带滞回，尽量接近浏览器的无感自适应。 * RTCP REMB 只作为码率趋势：小步慢降、慢升、带滞回，尽量接近浏览器的无感自适应。
*/ */
#define WEBRTCPUSH_INITIAL_BITRATE 900000U #define WEBRTCPUSH_INITIAL_BITRATE 1060000U
#define WEBRTCPUSH_MIN_BITRATE 800000U #define WEBRTCPUSH_MIN_BITRATE 800000U
#define WEBRTCPUSH_MAX_BITRATE 3000000U #define WEBRTCPUSH_MAX_BITRATE 3000000U
#define WEBRTCPUSH_REMB_UTIL_PERCENT 80U #define WEBRTCPUSH_REMB_UTIL_PERCENT 80U
...@@ -44,6 +44,8 @@ ...@@ -44,6 +44,8 @@
#define WEBRTCPUSH_REMB_SANE_PACING_MAX_MS 100U #define WEBRTCPUSH_REMB_SANE_PACING_MAX_MS 100U
/* IDR 会产生短时大包，不能在这个窗口内把瞬时 pacing 峰值误判成网络拥塞。 */ /* IDR 会产生短时大包，不能在这个窗口内把瞬时 pacing 峰值误判成网络拥塞。 */
#define WEBRTCPUSH_REMB_IDR_GRACE_MS 1000U #define WEBRTCPUSH_REMB_IDR_GRACE_MS 1000U
/* 手机切 Wi-Fi/蜂窝或换手机时，旧成员的 leave 可能晚于新 offer 到达。 */
#define WEBRTCPUSH_PEER_LEAVE_GRACE_MS 8000U
/* 达到 2.3Mbps 后继续发送一段时间，让浏览器有真实流量可重新估计带宽。 */ /* 达到 2.3Mbps 后继续发送一段时间，让浏览器有真实流量可重新估计带宽。 */
#define WEBRTCPUSH_INITIAL_PROBE_HOLD_MS 6000U #define WEBRTCPUSH_INITIAL_PROBE_HOLD_MS 6000U
#define WEBRTCPUSH_PACING_HEADROOM_PERCENT 135U #define WEBRTCPUSH_PACING_HEADROOM_PERCENT 135U
......
modules/webrtcpush/ws_signaling.c
View file @ dced7c62
...@@ -23,11 +23,15 @@ static gchar *s_ws_url; ...@@ -23,11 +23,15 @@ static gchar *s_ws_url;
static GMainContext *s_main_ctx; static GMainContext *s_main_ctx;
static gchar *s_debounced_offer_sdp = NULL; static gchar *s_debounced_offer_sdp = NULL;
static guint s_debounce_offer_id = 0; static guint s_debounce_offer_id = 0;
static guint s_peer_leave_reset_id = 0;
static guint s_offer_generation = 0;
static guint s_leave_generation = 0;
static gboolean reconnect_cb(gpointer data); static gboolean reconnect_cb(gpointer data);
static void ws_connect(void); static void ws_connect(void);
static void reset_signaling_session(AppState *app, gboolean teardown_pipeline); static void reset_signaling_session(AppState *app, gboolean teardown_pipeline);
static gboolean idle_pipeline_teardown(gpointer p); static gboolean idle_pipeline_teardown(gpointer p);
static gboolean delayed_peer_leave_reset(gpointer p);
static void schedule_tx_flush(void); static void schedule_tx_flush(void);
static void dispatch_json(const gchar *payload); static void dispatch_json(const gchar *payload);
...@@ -228,6 +232,12 @@ static gboolean debounced_offer_fire(gpointer user_data) { ...@@ -228,6 +232,12 @@ static gboolean debounced_offer_fire(gpointer user_data) {
} }
static void schedule_offer(AppState *app, const gchar *sdp) { static void schedule_offer(AppState *app, const gchar *sdp) {
s_offer_generation++;
if (s_peer_leave_reset_id) {
g_source_remove(s_peer_leave_reset_id);
s_peer_leave_reset_id = 0;
my_zlog_info("webrtcpush: new offer cancels pending stale peer-leave reset");
}
if (!app->member_id) { if (!app->member_id) {
g_free(s_pending_offer_sdp); g_free(s_pending_offer_sdp);
s_pending_offer_sdp = g_strdup(sdp); s_pending_offer_sdp = g_strdup(sdp);
...@@ -388,8 +398,14 @@ static void dispatch_json(const gchar *payload) { ...@@ -388,8 +398,14 @@ static void dispatch_json(const gchar *payload) {
if (!g_strcmp0(t, "leave")) { if (!g_strcmp0(t, "leave")) {
if (rtc_client_is_active(s_app)) { if (rtc_client_is_active(s_app)) {
my_zlog_info("webrtcpush: peer left, reset libdatachannel peer"); if (s_peer_leave_reset_id)
g_idle_add(idle_pipeline_teardown, s_app); g_source_remove(s_peer_leave_reset_id);
s_leave_generation = s_offer_generation;
s_peer_leave_reset_id = g_timeout_add(
WEBRTCPUSH_PEER_LEAVE_GRACE_MS,
delayed_peer_leave_reset, s_app);
my_zlog_info("webrtcpush: peer left, defer reset %ums for network/device switch",
WEBRTCPUSH_PEER_LEAVE_GRACE_MS);
} }
g_object_unref(parser); g_object_unref(parser);
return; return;
...@@ -436,6 +452,12 @@ static void dispatch_json(const gchar *payload) { ...@@ -436,6 +452,12 @@ static void dispatch_json(const gchar *payload) {
if (json_node_get_value_type(midn) == G_TYPE_STRING) if (json_node_get_value_type(midn) == G_TYPE_STRING)
json_object_set_string_member(co, "sdpMid", json_object_get_string_member(root, "sdpMid")); json_object_set_string_member(co, "sdpMid", json_object_get_string_member(root, "sdpMid"));
} }
if (json_object_has_member(root, "usernameFragment")) {
JsonNode *ufn = json_object_get_member(root, "usernameFragment");
if (json_node_get_value_type(ufn) == G_TYPE_STRING)
json_object_set_string_member(co, "usernameFragment",
json_object_get_string_member(root, "usernameFragment"));
}
g_idle_add(idle_ice, co); g_idle_add(idle_ice, co);
} }
} }
...@@ -506,6 +528,26 @@ static gboolean idle_pipeline_teardown(gpointer p) { ...@@ -506,6 +528,26 @@ static gboolean idle_pipeline_teardown(gpointer p) {
return G_SOURCE_REMOVE; return G_SOURCE_REMOVE;
} }
static gboolean delayed_peer_leave_reset(gpointer p) {
AppState *app = p;
guint generation = s_leave_generation;
s_peer_leave_reset_id = 0;
if (!app || generation != s_offer_generation) {
my_zlog_info("webrtcpush: stale peer-leave reset ignored (new offer generation)");
return G_SOURCE_REMOVE;
}
if (rtc_client_media_open(app)) {
my_zlog_info("webrtcpush: stale peer-leave reset ignored (new media already open)");
return G_SOURCE_REMOVE;
}
if (rtc_client_is_active(app)) {
my_zlog_info("webrtcpush: peer leave confirmed, release inactive libdatachannel peer");
rtc_client_reset(app);
}
return G_SOURCE_REMOVE;
}
static void ws_connect(void) { static void ws_connect(void) {
if (s_ws_exiting || !s_app || !s_ws_url) if (s_ws_exiting || !s_app || !s_ws_url)
return; return;
...@@ -610,6 +652,10 @@ void ws_signaling_stop(AppState *app) { ...@@ -610,6 +652,10 @@ void ws_signaling_stop(AppState *app) {
g_source_remove(s_reconnect_id); g_source_remove(s_reconnect_id);
s_reconnect_id = 0; s_reconnect_id = 0;
} }
if (s_peer_leave_reset_id) {
g_source_remove(s_peer_leave_reset_id);
s_peer_leave_reset_id = 0;
}
if (s_ping_id) { if (s_ping_id) {
g_source_remove(s_ping_id); g_source_remove(s_ping_id);
s_ping_id = 0; s_ping_id = 0;
......
zlog.conf
View file @ dced7c62
...@@ -9,4 +9,4 @@ file perms = 600 ...@@ -9,4 +9,4 @@ file perms = 600
millisecond = "%d(%Y-%m-%d %H:%M:%S).%ms [%V] %m%n" millisecond = "%d(%Y-%m-%d %H:%M:%S).%ms [%V] %m%n"
[rules] [rules]
my_log.* "/home/orangepi/car/master/log/log_2026-07-11.log"; millisecond my_log.* "/home/orangepi/car/master/log/log_2026-07-14.log"; millisecond
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