优化了播报与游览器之间的竞争问题

drivers/gpio/device_init.c

@@ -236,9 +236,9 @@ static const deviceconfig_t s_device_configs[] = {
 
 bool get_array_length(const int* arr) {
     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) {
@@ -258,9 +258,9 @@ void device_init(int device_id) {
     }
     
     // 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);
+    if(get_array_length(config->gpio_pins))init_gpiowpi(config->gpio_pins);  // GPIO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)) 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

drivers/gpio/device_init.c.bak-boolcase-20260716-063617

+#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

@@ -14,7 +14,7 @@
 
 #define AUDIO_USB_ALSA_DEVICE "hw: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 char s_urlbuf[512];
@@ -189,36 +189,104 @@ static void shell_single_quote(char *out, size_t size, const char *in) {
     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 command[2048];
     int ret;
     int exit_code;
+    int pulse_suspended;
+
+    if (filepath == NULL || filepath[0] == '\0') {
+        return -1;
+    }
 
     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();
+    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),
-             /* 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);
+                 "timeout -s KILL %ds ffplay -nodisp -autoexit -loglevel warning -af \"volume=%.3f\" %s >/dev/null 2>&1",
+                 AUDIO_ANNOUNCEMENT_TIMEOUT_SEC, volume, quoted_path);
+    }
 
     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);
+    /* 无论正常结束、播放失败还是 timeout，退出前都恢复浏览器音频。 */
+    if (pulse_suspended) {
+        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),
-                 "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);
+                 "timeout -s KILL %ds ffmpeg -nostdin -hide_banner -loglevel warning -i %s -af \"volume=%.3f\" -f alsa %s >/dev/null 2>&1",
+                 AUDIO_ANNOUNCEMENT_TIMEOUT_SEC, quoted_url, volume,
+                 AUDIO_LOCAL_ALSA_DEVICE);
+    } 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();
+
+    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;
 }
 
@@ -291,26 +359,21 @@ void  audioplay_send_mqtt() {
 
 //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);
+            ret = audioplay_url_with_browser_preempt(urlmoddle, s_audio_volume);
             if (ret != 0) {
                 my_zlog_error("播放失败");
                 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);  
                 s_audio_status=1;   
             } else {
@@ -334,7 +397,7 @@ void audioplay_cycle(){
         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);
+            exit_code = audioplay_file_with_browser_preempt(local_filepath, 1.0);
             if (exit_code == 0) {
                 my_zlog_debug("本地音频播放完成: %s", local_filepath);
             } else {

drivers/sensors/audioplay.h

@@ -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_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_speaker_init();
 

drivers/sensors/audioplay.h.bak-audio-preempt-20260717

+#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

@@ -471,46 +471,15 @@ void video_tts_play() {
             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;
+        /* 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。 */
+        int exit_code = audioplay_file_with_browser_preempt(TTS_ADUINO_PTAH, s_volume);
+        if (exit_code == 0) {
+            my_zlog_info("TTS 播报完成, volume: %.1f", s_volume);
+        } else {
+            my_zlog_warn("TTS 播报失败或超时 exit=%d, volume: %.1f", exit_code, s_volume);
         }
-        else {
-            my_zlog_error("fork()失败");
         s_audio_tts_index = 0;
     }
-    }
 }
 
 

modules/http/http_config_mqtt.h

@@ -3,7 +3,7 @@
 
 #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="
 
 typedef struct{

modules/mqtt/mqtt_infor_handle.c

@@ -213,7 +213,7 @@ static void refresh_cam_browser_only(const char *reason)
 
 void message_2_judyverify(cJSON *body)
 {
-    if (VERIFIED_MODE == FALSE)
+    if (VERIFIED_MODE == false)
     {
         refresh_cam_browser_only("MQTT type2 verify off");
         my_zlog_warn("不使用验证");
@@ -234,7 +234,7 @@ void message_2_judyverify(cJSON *body)
 // 当接收到3时候验证
 void message_3_judyverify(cJSON *body)
 {
-    if (VERIFIED_MODE == FALSE)
+    if (VERIFIED_MODE == false)
     {
         message_3(body);
         my_zlog_warn("不使用验证");
@@ -255,7 +255,7 @@ void message_3_judyverify(cJSON *body)
 // 当接收到4时候验证
 void message_4_judyverify(cJSON *body)
 {
-    if (VERIFIED_MODE == FALSE)
+    if (VERIFIED_MODE == false)
     {
         message_4(body);     
         my_zlog_warn("不使用验证");
@@ -276,7 +276,7 @@ void message_4_judyverify(cJSON *body)
 
 void message_6_steering_judyverify(cJSON *body)
 {
-    if (VERIFIED_MODE == FALSE)
+    if (VERIFIED_MODE == false)
     {
         steering_mqtt_recv(body);
         my_zlog_warn("不使用验证");
@@ -303,7 +303,7 @@ void message_7_joystick_judyverify(cJSON *body)
         return;
     }
 
-    if (VERIFIED_MODE == FALSE)
+    if (VERIFIED_MODE == false)
     {
         ptz_driver_set_joystick_json(joystick_ctrl);
         my_zlog_warn("不使用验证");

modules/mqtt/mqtt_verify.c

@@ -9,9 +9,9 @@
 #include "webrtcpush_run.h"
 
 /*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
 
@@ -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 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 */
 static char s_pending_verify_token[1024];
@@ -172,7 +172,7 @@ int receive_jwt(cJSON *body) {
     my_zlog_debug("token时间戳:%1d",(long)token_time_sec); 
 
     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);
         if(g_verify_count>12000){
             send_jwtser(token);
@@ -205,7 +205,7 @@ int message2006_verify(cJSON *body){
 
     if(json_status == NULL || json_onlyid==NULL) {
         my_zlog_warn("验证为空");
-        s_service_verify = FALSE;
+        s_service_verify = false;
         g_verify_index=1;
         my_zlog_debug("g_verify_index= %d ",g_verify_index);
         return 1;
@@ -219,10 +219,10 @@ int message2006_verify(cJSON *body){
         gboolean driver_changed = (s_secret_key[0] != '\0' &&
                                    strcmp(s_secret_key, s_pending_verify_token) != 0);
         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 */
         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_after_time = 0;
         if (driver_changed)
@@ -238,13 +238,13 @@ int message2006_verify(cJSON *body){
             } 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);
                 g_verify_index = 1;
-                s_service_verify = FALSE;
+                s_service_verify = false;
                 return 2;
             }
         } else {
             my_zlog_warn("获得验证错误，禁止使用, onlyid=%s status=%s", onlyid, status);
             g_verify_index = 1;
-            s_service_verify = FALSE;
+            s_service_verify = false;
             return 2;
         }
     }
@@ -297,14 +297,14 @@ int message2013_recverigy_open(cJSON *body_raw)
     s_verify_open_query_gave_up = false;
 
     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");
         cJSON_Delete(body);
         return 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");
         cJSON_Delete(body);
         return 0;

modules/webrtcpush/rtc_client.c

@@ -21,6 +21,7 @@
 typedef struct {
   gchar *candidate;
   gchar *mid;
+  gchar *ufrag;
 } PendingRemoteIce;
 
 typedef struct {
@@ -277,6 +278,7 @@ static void free_pending_remote_ice(gpointer data)
     return;
   g_free(ice->candidate);
   g_free(ice->mid);
+  g_free(ice->ufrag);
   g_free(ice);
 }
 
@@ -1990,14 +1992,24 @@ static void flush_remote_ice(RtcClient *client)
   for (;;) {
     PendingRemoteIce *ice;
     int pc;
+    gboolean ufrag_match;
     g_mutex_lock(&client->lock);
     ice = g_queue_pop_head(client->pending_remote_ice);
     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);
     if (!ice)
       break;
-    if (pc >= 0)
-      rtcAddRemoteCandidate(pc, ice->candidate, ice->mid);
+    if (pc >= 0 && ufrag_match) {
+      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);
   }
 }
@@ -2095,8 +2107,12 @@ int rtc_client_start(AppState *app)
 void rtc_client_reset(AppState *app)
 {
   RtcClient *client = client_from_app(app);
-  if (client)
+  if (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)
@@ -2285,6 +2301,9 @@ void rtc_client_handle_remote_ice(AppState *app, JsonObject *candidate_obj)
   RtcClient *client = client_from_app(app);
   const gchar *candidate;
   const gchar *mid = NULL;
+  const gchar *ufrag = NULL;
+  gchar *candidate_ufrag = NULL;
+  gboolean queued = FALSE;
   int pc;
 
   if (!client || !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)
       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);
   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);
     pending->candidate = g_strdup(candidate);
     pending->mid = g_strdup(mid);
+    pending->ufrag = g_strdup(ufrag);
     g_queue_push_tail(client->pending_remote_ice, pending);
+    pc = -1;
+    queued = TRUE;
   }
   g_mutex_unlock(&client->lock);
   if (pc >= 0 && rtcAddRemoteCandidate(pc, candidate, mid) < 0)
     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)

modules/webrtcpush/webrtcpush_config.h

@@ -8,7 +8,7 @@
  *
  * 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。 */
 #define WEBRTCPUSH_H264_FPS 24
@@ -17,10 +17,10 @@
 
 /*
  * 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。
  */
-#define WEBRTCPUSH_INITIAL_BITRATE 900000U
+#define WEBRTCPUSH_INITIAL_BITRATE 1060000U
 #define WEBRTCPUSH_MIN_BITRATE 800000U
 #define WEBRTCPUSH_MAX_BITRATE 3000000U
 #define WEBRTCPUSH_REMB_UTIL_PERCENT 80U
@@ -44,6 +44,8 @@
 #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。 */
 #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。 */
 #define WEBRTCPUSH_INITIAL_PROBE_HOLD_MS 6000U
 #define WEBRTCPUSH_PACING_HEADROOM_PERCENT 135U

modules/webrtcpush/ws_signaling.c

@@ -23,11 +23,15 @@ static gchar *s_ws_url;
 static GMainContext *s_main_ctx;
 static gchar *s_debounced_offer_sdp = NULL;
 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 void ws_connect(void);
 static void reset_signaling_session(AppState *app, gboolean teardown_pipeline);
 static gboolean idle_pipeline_teardown(gpointer p);
+static gboolean delayed_peer_leave_reset(gpointer p);
 static void schedule_tx_flush(void);
 static void dispatch_json(const gchar *payload);
 
@@ -228,6 +232,12 @@ static gboolean debounced_offer_fire(gpointer user_data) {
 }
 
 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) {
     g_free(s_pending_offer_sdp);
     s_pending_offer_sdp = g_strdup(sdp);
@@ -388,8 +398,14 @@ static void dispatch_json(const gchar *payload) {
 
     if (!g_strcmp0(t, "leave")) {
       if (rtc_client_is_active(s_app)) {
-        my_zlog_info("webrtcpush: peer left, reset libdatachannel peer");
-        g_idle_add(idle_pipeline_teardown, s_app);
+        if (s_peer_leave_reset_id)
+          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);
       return;
@@ -436,6 +452,12 @@ static void dispatch_json(const gchar *payload) {
         if (json_node_get_value_type(midn) == G_TYPE_STRING)
           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);
     }
   }
@@ -506,6 +528,26 @@ static gboolean idle_pipeline_teardown(gpointer p) {
   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) {
   if (s_ws_exiting || !s_app || !s_ws_url)
     return;
@@ -610,6 +652,10 @@ void ws_signaling_stop(AppState *app) {
     g_source_remove(s_reconnect_id);
     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) {
     g_source_remove(s_ping_id);
     s_ping_id = 0;

zlog.conf

@@ -9,4 +9,4 @@ file perms = 600
 millisecond = "%d(%Y-%m-%d %H:%M:%S).%ms [%V] %m%n"
 
 [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