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加入了轮盘控制

parent 066e9458
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build/main
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build/third_party/mosquitto/client/CMakeFiles/mosquitto_pub.dir/compiler_depend.internal
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drivers/devicecontrol/ptz_driver.c
View file @ e2b7b5b6
#include "common.h"
#include "modules_common.h"
#include "ptz_driver.h"
#include "gpio_common.h"
#include "ptz_common.h"
#include "devcontrol_common.h"
#include <math.h>
#include <stdlib.h>
#include <errno.h>
#define CONTROL_PERIOD 0.02f
#define STOP_DEADZONE 0.2f
#define STEP_ANGLE 10.0f
/* 轮盘输入死区：避免 0 附近噪声；每轴独立，全 0 时保持当前角度不回中位 */
#define JOY_INPUT_DEADZONE 0.05f
static const ptz_config_t s_ptz_configs[] = {
{
.device_id = DEVICE_PAO_PTZ0401,
.pan_max_speed = 120.0f, .pan_accel = 300.0f,
.tilt_max_speed = 150.0f, .tilt_accel = 700.0f,
.joy_pan_max_speed = 120.0f, .joy_pan_accel = 300.0f,
.joy_tilt_max_speed = 150.0f, .joy_tilt_accel = 700.0f,
.pan_initial = 135.0f, .pan_min = 75.0f, .pan_max = 195.0f,
.tilt_max_speed= 150.0f, .tilt_accel= 700.0f,
.tilt_initial = 90.0f, .tilt_min = 0.0f, .tilt_max = 130.0f
.tilt_initial = 90.0f, .tilt_min = 0.0f, .tilt_max = 130.0f,
},
{
.device_id = DEVICE_PAO_PTZ0404,
.pan_max_speed = 80.0f, .pan_accel = 180.0f,
.tilt_max_speed = 50.0f, .tilt_accel = 80.0f,
.joy_pan_max_speed = 160.0f, .joy_pan_accel = 180.0f,
.joy_tilt_max_speed = 120.0f, .joy_tilt_accel = 80.0f,
.pan_initial = 135.0f, .pan_min = 90.0f, .pan_max = 180.0f,
.tilt_max_speed= 50.0f, .tilt_accel= 80.0f,
.tilt_initial = 70.0f, .tilt_min = 35.0f, .tilt_max = 90.0f
.tilt_initial = 70.0f, .tilt_min = 35.0f, .tilt_max = 90.0f,
},
{
.device_id = DEVICE_PAO_PTZ0405,
.pan_max_speed = 80.0f, .pan_accel = 180.0f,
.pan_max_speed = 150.0f, .pan_accel = 180.0f,
.tilt_max_speed = 100.0f, .tilt_accel = 80.0f,
.joy_pan_max_speed = 160.0f, .joy_pan_accel = 180.0f,
.joy_tilt_max_speed = 120.0f, .joy_tilt_accel = 80.0f,
.pan_initial = 135.0f, .pan_min = 90.0f, .pan_max = 180.0f,
.tilt_max_speed= 50.0f, .tilt_accel= 80.0f,
.tilt_initial = 70.0f, .tilt_min = 10.0f, .tilt_max = 110.0f
.tilt_initial = 70.0f, .tilt_min = 10.0f, .tilt_max = 110.0f,
},
{ .device_id = -1 }
};
......@@ -38,6 +47,43 @@ static const ptz_config_t s_ptz_configs[] = {
static const ptz_config_t *s_cfg = NULL;
static ServoAxis s_pan;
static ServoAxis s_tilt;
static float s_joy_x = 0.0f;
static float s_joy_y = 0.0f;
static float s_joy_r = 0.0f;
static bool s_joy_active = false;
static float ptz_clampf(float value, float min_v, float max_v)
{
if (value < min_v) return min_v;
if (value > max_v) return max_v;
return value;
}
static bool ptz_parse_float_item(cJSON *obj, const char *key, float *out)
{
cJSON *item = cJSON_GetObjectItem(obj, key);
if (item == NULL || out == NULL) {
return false;
}
if (cJSON_IsNumber(item)) {
*out = (float)item->valuedouble;
return true;
}
if (cJSON_IsString(item) && item->valuestring != NULL) {
char *endptr = NULL;
errno = 0;
float value = strtof(item->valuestring, &endptr);
if (endptr == item->valuestring || (endptr && *endptr != '\0') || errno == ERANGE) {
return false;
}
*out = value;
return true;
}
return false;
}
static const ptz_config_t *ptz_find_config(int device_id)
{
......@@ -154,12 +200,18 @@ void ptz_driver_stop(void)
s_pan.target = s_pan.angle;
s_pan.speed = 0.0f;
s_tilt.target = s_tilt.angle;
s_tilt.speed = 0.0f;
}
void ptz_driver_change(int *buf)
{
if (!s_cfg) return;
// 普通命令到达时，强制退出轮盘模式，恢复普通控制
s_joy_active = false;
s_pan.max_speed_cfg = s_cfg->pan_max_speed;
s_tilt.max_speed_cfg = s_cfg->tilt_max_speed;
if (buf[2] == 0) {
ptz_driver_stop();
return;
......@@ -189,10 +241,96 @@ void ptz_driver_change(int *buf)
}
}
static void ptz_driver_clear_joystick(void)
{
s_joy_x = 0.0f;
s_joy_y = 0.0f;
s_joy_r = 0.0f;
s_joy_active = false;
ptz_driver_stop();
}
void ptz_driver_set_joystick(float x, float y, float r)
{
s_joy_x = ptz_clampf(x, -1.0f, 1.0f);
s_joy_y = ptz_clampf(y, -1.0f, 1.0f);
s_joy_r = ptz_clampf(r, 0.0f, 1.0f);
s_joy_active = true;
// 约定：r=0 表示立刻停住，但仍保持轮盘模式
if (s_joy_r <= 0.0f) {
ptz_driver_stop();
}
}
void ptz_driver_set_joystick_json(cJSON *joystick_ctrl)
{
float x = 0.0f;
float y = 0.0f;
float r = 0.0f;
bool ok_x = false;
bool ok_y = false;
bool ok_r = false;
if (!cJSON_IsObject(joystick_ctrl)) {
my_zlog_warn("ptz joystick json invalid");
return;
}
ok_x = ptz_parse_float_item(joystick_ctrl, "x", &x);
ok_y = ptz_parse_float_item(joystick_ctrl, "y", &y);
ok_r = ptz_parse_float_item(joystick_ctrl, "r", &r);
if (!ok_x || !ok_y || !ok_r) {
my_zlog_warn("ptz joystick parse fail x:%d y:%d r:%d", ok_x, ok_y, ok_r);
return;
}
ptz_driver_set_joystick(x, y, r);
}
static void ptz_driver_task(void)
{
if (!s_cfg) {
return;
}
bool joy_handled = false;
if (s_joy_active) {
joy_handled = true;
/* r=0：立即保持当前位，不跟到中位 */
if (s_joy_r <= 0.0f) {
ptz_driver_stop();
} else {
/* 线性角速度：rate = -stick * max_speed * r，与旧版 target 偏移符号一致 */
float x_eff = (fabsf(s_joy_x) < JOY_INPUT_DEADZONE) ? 0.0f : s_joy_x;
float y_eff = (fabsf(s_joy_y) < JOY_INPUT_DEADZONE) ? 0.0f : s_joy_y;
s_pan.speed = 0.0f;
s_tilt.speed = 0.0f;
/* 角速度与 joy_pan_max_speed / joy_tilt_max_speed 线性相关；joy_*_accel 供表内单独配置，当前轮盘为直接跟手未做加减速 */
if (x_eff != 0.0f || y_eff != 0.0f) {
float pan_rate = -x_eff * s_cfg->joy_pan_max_speed * s_joy_r;
float tilt_rate = -y_eff * s_cfg->joy_tilt_max_speed * s_joy_r;
s_pan.angle += pan_rate * CONTROL_PERIOD;
s_tilt.angle += tilt_rate * CONTROL_PERIOD;
s_pan.angle = ptz_clampf(s_pan.angle, s_cfg->pan_min, s_cfg->pan_max);
s_tilt.angle = ptz_clampf(s_tilt.angle, s_cfg->tilt_min, s_cfg->tilt_max);
}
s_pan.target = s_pan.angle;
s_tilt.target = s_tilt.angle;
}
}
if (!joy_handled) {
s_pan.max_speed_cfg = s_cfg->pan_max_speed;
s_tilt.max_speed_cfg = s_cfg->tilt_max_speed;
ptz_servo_update(&s_pan);
ptz_servo_update(&s_tilt);
}
ptz_servo_apply(PWM_PIN_down, s_pan.angle);
ptz_servo_apply(PWM_PIN_up, s_tilt.angle);
......
drivers/devicecontrol/ptz_driver.h
View file @ e2b7b5b6
#ifndef PTZ_DRIVER_H__
#define PTZ_DRIVER_H__
#include "common.h"
typedef struct {
int device_id;
/* 普通：速度（pan 一行、tilt 一行） */
float pan_max_speed;
float pan_accel;
float tilt_max_speed;
float tilt_accel;
/* 轮盘：速度（pan 一行、tilt 一行） */
float joy_pan_max_speed;
float joy_pan_accel;
float joy_tilt_max_speed;
float joy_tilt_accel;
/* pan / tilt：初始角与行程（各一行） */
float pan_initial;
float pan_min;
float pan_max;
float tilt_max_speed;
float tilt_accel;
float tilt_initial;
float tilt_min;
float tilt_max;
......@@ -19,6 +28,8 @@ void ptz_driver_pwm_hz(void);
void ptz_driver_init(void);
void ptz_driver_stop(void);
void ptz_driver_change(int *buf);
void ptz_driver_set_joystick(float x, float y, float r);
void ptz_driver_set_joystick_json(cJSON *joystick_ctrl);
void ptz_driver_task_function(void *arg);
#endif
modules/mqtt/mqtt_infor_handle.c
View file @ e2b7b5b6
......@@ -253,7 +253,7 @@ void message_4_judyverify(cJSON *body)
if (VERIFIED_MODE == FALSE)
{
message_4(body);
my_zlog_warn("不使用验证");
my_zlog_info("不使用验证");
return;
}
......@@ -274,7 +274,7 @@ void message_6_steering_judyverify(cJSON *body)
if (VERIFIED_MODE == FALSE)
{
steering_mqtt_recv(body);
my_zlog_warn("不使用验证");
my_zlog_info("不使用验证");
return;
}
......@@ -289,6 +289,33 @@ void message_6_steering_judyverify(cJSON *body)
}
}
void message_7_joystick_judyverify(cJSON *body)
{
cJSON *joystick_ctrl = cJSON_GetObjectItem(body, "joystick_ctrl");
if (!cJSON_IsObject(joystick_ctrl))
{
my_zlog_warn("joystick_ctrl invalid");
return;
}
if (VERIFIED_MODE == FALSE)
{
ptz_driver_set_joystick_json(joystick_ctrl);
my_zlog_info("不使用验证");
return;
}
receive_jwt(body);
if (g_verify_index == 0)
{
ptz_driver_set_joystick_json(joystick_ctrl);
}
else
{
my_zlog_warn("验证不通过");
}
}
// 接收到设备改名函数
int device_mqttchange_name(cJSON *device_id)
{
......@@ -312,7 +339,6 @@ int device_message_receive(cJSON *json)
if (cJSON_IsObject(head) && cJSON_IsNumber(message_type))
{
;
cJSON *body = cJSON_GetObjectItem(json, "body"); // 提取 body数据段
if (!cJSON_IsObject(body))
......@@ -351,6 +377,10 @@ int device_message_receive(cJSON *json)
message_6_steering_judyverify(body);
my_zlog_debug("执行方向盘命令");
break;
case 7:
message_7_joystick_judyverify(body);
my_zlog_debug("执行手机轮盘命令");
break;
case 2001:
audioplay_mqtt_receive(body);
my_zlog_debug("进入音频播放");
......
ptz_joystick_web_test.py 0 → 100644
View file @ e2b7b5b6
This diff is collapsed.
zlog.conf
View file @ e2b7b5b6
......@@ -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_2026-03-23.log"; millisecond
my_log.* "/home/orangepi/car/master/log/log_2026-03-25.log"; millisecond
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