apt code

gps.c

+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <termios.h>
+#include <time.h>
 #include "gps.h"
 #include "delay.h"
 

gps.h

 #ifndef __GPS_H__
 #define __GPS_H__
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <string.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <termios.h>
-#include <time.h>
+
 
 extern char glat[20],  glon[20];
 

ip.c

+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <ifaddrs.h>
 #include "ip.h"
 
 
-    struct ifaddrs *ifap, *ifa;
-    struct sockaddr_in *sa;
-    char ip_address[INET_ADDRSTRLEN];
+struct ifaddrs *ifap, *ifa;
+struct sockaddr_in *sa;
+char ip_address[INET_ADDRSTRLEN];
 
 int ipaddr() {
-  
-    
-
     if (getifaddrs(&ifap) == -1) {
         perror("getifaddrs() error");
         return -1;

ip.h

 #ifndef __IP_H__
 #define __IP_H__
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <ifaddrs.h>
-
-
+extern  char ip_address[];//INET_ADDRSTRLEN
 
 int ipaddr();
 
-extern  char ip_address[INET_ADDRSTRLEN];
+
 
 #endif
 

main.c

+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <fcntl.h>
+#include <pthread.h>
+#include <unistd.h>
+#include <termios.h>
+#include <mosquitto.h>
+#include <cjson/cJSON.h>
+#include <time.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <ifaddrs.h>
+#include "gps.h"
 #include "main.h"
 #include "ip.h"
 #include "mqtt.h"
 #include "serial.h"
 #include "delay.h"
 #include "opensh.h"
-//#include "mac.h"
 
 
 void *serial_usart1(void *arg)
@@ -25,16 +40,11 @@ void *AppExit(void *arg)//2s程序，出现意外2s自动停止
         unsigned char bufpwm2[3]={gtypeTemp,2,0};
         unsigned char bufpwm3[3]={gtypeTemp,3,0};
         unsigned char bufpwm4[3]={gtypeTemp,4,0};
-        //unsigned char bufpwm5[3]={gtypeTemp,5,15};
         Delay_Ms(0,100);
         gPwmCount++;
-        //printf( "%d\n",gtypeTemp);
         if(gPwmCount>20)
         {
-            //printf( "%d\n",gtypeTemp);
         gPwmCount=21;
-        
-        //serial_Write(bufpwm5);
         serial_Write(bufpwm1);
         serial_Write(bufpwm2);
         serial_Write(bufpwm3);
@@ -55,6 +65,7 @@ void *Mqttbeat(void *arg)
     refresh_cam();
     Delay_Ms(20,0);
     refresh_cam();
+    Delay_Ms(10,0);
     while(1)
     {
         ipaddr();//获取ip
@@ -89,7 +100,7 @@ void *Mqtt_onnect(void *arg)
     Delay_Ms(5,0);
     mqtt_init();//mqtt初始化
     mqtt_create(mosq);//创建mqtt客户端
-    //mqtt_wirte();//mqtt心跳首次发送
+    mqtt_wirte();//mqtt心跳首次发送
     while(1)
     {
     mqtt_create(mosq);     
@@ -107,7 +118,7 @@ int main(int argc, char *argv[]) {
         TOPIC=argv[1];
         TOPIC2=argv[2];
         TOPIC3=argv[3];
-        printf("%s,%s,%s\n",TOPIC,TOPIC2,TOPIC3);
+        printf("1:%s,2:%s,3:%s\n",TOPIC,TOPIC2,TOPIC3);
     }
     
     system("pkill firefox");
@@ -119,17 +130,10 @@ int main(int argc, char *argv[]) {
    
     serial_Init();//串口初始化
 
-   // get_mac_address("eth0");//获取mac地址
 
-   ipaddr();//获取ip
-    //mosquitto_publish(mosq, NULL, "macmqtt", strlen(TOPIC), TOPIC, 0, false);
-    //Delay_Ms(10,0);
-    
-    //Delay_Ms(10,0);
-    thread_start(serial_usart1,AppExit,Mqttbeat,serial_usart2,opensh,Mqtt_onnect);
-    //mqtt_cycle(mosq);
-   
+    ipaddr();//获取ip
 
+    thread_start(serial_usart1,AppExit,Mqttbeat,serial_usart2,opensh,Mqtt_onnect);
     
     thread_end();
 

main.h

 #ifndef __MAIN_H__
 #define __MAIN_H__
 
-#include "ip.h"
-#include "mqtt.h"
-#include "serial.h"
-#include "delay.h"
-
 pthread_t thread[5];
 
 
-
-
 int thread_start(void *serial_usart1(void *arg),void *AppExit(void *arg),
 void *Mqttbeat(void *arg),void *serial_usart2(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg))
 {
     
-
     if(pthread_create(&thread[0],NULL,serial_usart1,NULL)!=0)
     {
         perror("Failed to create thread 1");
@@ -52,15 +44,14 @@ void *Mqttbeat(void *arg),void *serial_usart2(void *arg),void *opensh(void *arg)
     }
 }
 
+// 等待线程结束
 void thread_end()
 {
-     // 等待线程1结束
+
     pthread_join(thread[0], NULL);
 
-    // 等待线程2结束
     pthread_join(thread[1], NULL);
 
-     // 等待线程1结束
     pthread_join(thread[2], NULL);
 
     pthread_join(thread[3], NULL);

mqtt.c

+#include <mosquitto.h>
+#include <cjson/cJSON.h>
+#include <string.h>
+#include<time.h>
+#include <pthread.h>
+#include "ip.h"
+#include "serial.h"
 #include "mqtt.h"
 #include "gps.h"
 #include "opensh.h"
 
-char* TOPIC =NULL;//="app2dev/controlcar0004"
-char*  TOPIC2 =NULL ;//="dev2app/controlcar0004"
-char*  TOPIC3 =NULL;//= "controlcar0004"
-
-time_t gStart;
-
 
 int gPwmCount = 0;  // 计数
 int gmessage_type=10086;
 int rc=0;
-struct mosquitto *mosq;
-
 
 unsigned char gmodeTemp=0;
 unsigned char gtypeTemp=0;
@@ -21,6 +20,12 @@ unsigned char gpinTemp=0;
 unsigned char gvalTemp=0;
 unsigned char gvalt[4];
 
+struct mosquitto *mosq;
+time_t gStart;
+char*  TOPIC=NULL;
+char*  TOPIC2=NULL;
+char*  TOPIC3= NULL;
+
 int mqtt_init()
 {
  // 初始化 mosquitto 库
@@ -49,25 +54,11 @@ void on_connect(struct mosquitto *mosq, void *obj, int rc) //回调函数
     }
 }
 
-
-//int init_mqtt(struct mosquitto *mosq)
-/*
-void mqtt_MAC_wirte()
-{
-    cJSON *root = cJSON_CreateObject();
-    cJSON *body = cJSON_CreateObject();
-    cJSON_AddStringToObject(body, "TOPIC", TOPIC);
-    cJSON_AddStringToObject(body, "device", "controlcar0001");
-    cJSON_AddStringToObject(body, "http", "https://jywy.yd-ss.com?dev=controlcar0001");//gsite
-    cJSON_AddItemToObject(root, "body", body);
-    char *payload = cJSON_PrintUnformatted(root);
-    mosquitto_publish(mosq, NULL, "macmqtt", strlen(payload), payload, 0, false);
-}*/
-
 void mqtt_wirte()
 {
     
     int message=1;
+   
     cJSON *root = cJSON_CreateObject();
     cJSON *body = cJSON_CreateObject();
     cJSON *head = cJSON_CreateObject();
@@ -149,9 +140,7 @@ void message_0()//message_type为0时候要改变的值
 
 void message_3(cJSON *body,cJSON *pwm_ctrl)//message_type为3，控制pwm
 {
-    //pwm控制
-    // 提取 pin_ctrl_req 对象
-    //cJSON *pwm_ctrl = cJSON_GetObjectItem(body, "pwm_ctrl");
+
     if (!cJSON_IsObject(pwm_ctrl)) 
         {
             return;
@@ -180,7 +169,6 @@ void message_3(cJSON *body,cJSON *pwm_ctrl)//message_type为3，控制pwm
 
 void message_4(cJSON *body, cJSON *pin_setctrl)
 {
-    //cJSON *pin_setctrl = cJSON_GetObjectItem(body, "pin_setctrl");
     if (!cJSON_IsObject(pin_setctrl)) 
         {
             return;
@@ -217,7 +205,7 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
         {
             return;
         }
-           
+    
         memcpy(payload_str, message->payload, message->payloadlen);
         payload_str[message->payloadlen] = '\0';
 
@@ -226,6 +214,7 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
         if (json == NULL) 
         {
             fprintf(stderr, "Error before: [%s]\n", cJSON_GetErrorPtr());
+            free(payload_str);
         } 
         else 
         {
@@ -233,12 +222,14 @@ void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_messag
             cJSON *head = cJSON_GetObjectItem(json, "head");
             if (!cJSON_IsObject(head)) 
             {
+                free(payload_str);
                 return;
             }
                // 提取 message_type
             cJSON *message_type = cJSON_GetObjectItem(head, "message_type");
             if (!cJSON_IsNumber(message_type)) 
             {
+                free(payload_str);
                 return;
             }
             cJSON *body = cJSON_GetObjectItem(json, "body");
@@ -315,9 +306,7 @@ int mqtt_cycle(struct mosquitto *mosq)
     //mosquitto_message_callback_set(mosq, NULL);
     // 开始循环，处理网络流量
     //mosquitto_loop_start(mosq);//后台处理
-    //mosquitto_subscribe_with_options(mosq, NULL, TOPIC, 0, MQTT_SUB_OPT_NO_LOCAL);
     mosquitto_loop_forever(mosq, -1, 1); // -1 表示无限等待，1 表示处理消息的最大数量
-     //mosquitto_message_retry_set(mosq, 10);
 }
 
 int mqtt_clean(struct mosquitto *mosq)

mqtt.h

 #ifndef __MQTT_H__
 #define __MQTT_H__
 
-#include <mosquitto.h>
-#include <cjson/cJSON.h>
-#include<time.h>
-#include <pthread.h>
-#include "ip.h"
-#include "serial.h"
-
 #define CLIENT_ID "carorship123"
 
 #define BROKER_ADDRESS "119.45.167.177"
 #define BROKER_PORT 1883
 
 extern char* TOPIC ;//="app2dev/controlcar0004"
-extern char*  TOPIC2 ;//="dev2app/controlcar0004"
-extern char*  TOPIC3;//= "controlcar0004"
+extern char* TOPIC2 ;//="dev2app/controlcar0004"
+extern char* TOPIC3;//= "controlcar0004"
 #define USERNAME "admin"    // 替换为你的用户名
 #define PASSWORD "admin"       // 替换为你的密码
 

opensh.c

 #include <stdio.h>
 #include <stdlib.h>
-#include "opensh.h"
 #include <string.h>
+#include <mosquitto.h>
+#include <cjson/cJSON.h>
+#include<time.h>
+#include <pthread.h>
+#include "ip.h"
+#include "serial.h"
 #include "mqtt.h"
+#include "opensh.h"
+
 
 char gwebcam[100];
 

serial.c

+#include <mosquitto.h>
+#include <cjson/cJSON.h>
+#include<time.h>
+#include "ip.h"
 #include "serial.h"
 #include "mqtt.h"
 #include "delay.h"