Merge branch 'feature/add_control_push' into 'master'

app/device_change/device_wifi_manager.c

@@ -7,7 +7,8 @@
 #define MAX_WIFI_ENTRIES 50
 #define SSID_MAX_LENGTH 64
 
-void device_wifi_public_sendmqtt(int wifi_status) { //成功发送3010
+/*成功发送3010，保存wifi和删除WiFi都会发送，wifi_status未0为成功*/
+void device_wifi_public_sendmqtt(int wifi_status) { 
 
     get_current_wifi();
     cJSON *root = cJSON_CreateObject();
@@ -28,6 +29,8 @@ void device_wifi_public_sendmqtt(int wifi_status) { //成功发送3010
     cJSON_Delete(root);  // 释放 cJSON 对象
 }
 
+
+/*接收到删除的mqtt消息*/
 void device_wifi_rec_delete(cJSON *body){
     cJSON *wifi_ssid = cJSON_GetObjectItem(body, "wifi_ssid");
     cJSON *wifi_password = cJSON_GetObjectItem(body, "wifi_password");
@@ -44,6 +47,7 @@ void device_wifi_rec_delete(cJSON *body){
     }
 }
 
+/*进行保存wifi*/
 int orange_pi_save_wifi(const char* ssid, const char* password) {
     // 参数检查
     if (!ssid || !password || strlen(ssid) == 0 || strlen(password) == 0) {
@@ -75,6 +79,7 @@ int orange_pi_save_wifi(const char* ssid, const char* password) {
 }
 
 
+/*保存WiFi接口，接收到mqtt消息进行保存*/
 void device_wifi_rec_sava(cJSON *body){
     cJSON *wifi_ssid = cJSON_GetObjectItem(body, "wifi_ssid");
     cJSON *wifi_password = cJSON_GetObjectItem(body, "wifi_password");
@@ -131,10 +136,10 @@ int get_saved_wifi_list(char ssid_list[][SSID_MAX_LENGTH], int max_count) {
     return count;
 }
 
+
 /**
  * @brief 打印所有已保存的WiFi配置
  */
-
 void device_send_saved_wifi(){
     get_current_wifi();
 

app/device_change/device_wifi_manager.h

@@ -3,10 +3,13 @@
 
 #include "common.h"
 
+//发送已经保存的WiFi给上层
 void device_send_saved_wifi();
 
+//删除wifi
 void device_wifi_rec_delete(cJSON *body);
 
+//接收到保存wifi消息
 void device_wifi_rec_sava(cJSON *body);
 
 #endif
\ No newline at end of file

app/device_identity/device_fileopen.h

@@ -8,7 +8,5 @@ int device_id_file_init();
 /*打开版本文件，版本文件是go语言进行创建，只需要读取就行了*/
 char *program_version() ;
 
-//extern char *g_device_id ;
-
 char *device_id_function();
 #endif
\ No newline at end of file

app/main/pthread_open.c

@@ -51,12 +51,11 @@ void *thread_exit_time(void *arg) {
         delay_ms(100);
 
         pthread_mutex_lock(&g_exit_count_mutex);
+
         g_devcontrol_exit_count++;
-        
         if(g_devcontrol_exit_count>=5) {
         device_stop(g_device_type);
         g_devcontrol_exit_count=6;
-        
         } 
 
         pthread_mutex_unlock(&g_exit_count_mutex);
@@ -64,6 +63,7 @@ void *thread_exit_time(void *arg) {
     return NULL; 
 }
 
+/*心跳线程处理函数，心跳发送前会像上层请求是否需要验证*/
 void *thread_mqtt_beat(void *arg) { 
     my_zlog_info("thread_mqtt_beat start");
     g_webrtc_index=1;
@@ -95,6 +95,7 @@ void *thread_mqtt_beat(void *arg) {
     return NULL;
 }
 
+//打开游览器线程，让游览器一直在一个线程中打开并运行
 void *thread_open_browser(void *arg) { 
 
     //如果为相关的不需要心跳或者游览器设备，提早结束线程
@@ -138,7 +139,7 @@ void *thread_mqtt_reconnect(void *arg) {
             }
         }
 
-        g_mqtt_grc = mqtt_create(mosq);
+        g_mqtt_grc = mqtt_create(mosq);//创建mqtt
         if (g_mqtt_grc != 0) {
             my_zlog_warn("mqtt fail ...");
             mqtt_clean(mosq);
@@ -161,21 +162,19 @@ void *thread_mqtt_reconnect(void *arg) {
 //专门用于计时的线程
 void *thread_time_calculation(void *arg) {
      while (1) {
-         delay_ms(5);
-        g_device_delay_count++;//设备计时，坦克打击倒退逻辑
+        delay_ms(5);
+        g_device_delay_back_count ++;//设备计时，坦克打击倒退逻辑
 
         pthread_mutex_lock(&g_verify_mutex);
         g_verify_count++;//验证计时,每15s一次
         pthread_mutex_unlock(&g_verify_mutex);
 
-        if(g_verify_count >= 20000) {
-
+        if(g_verify_count >= 20000) {//防止溢出
             pthread_mutex_lock(&g_verify_mutex);
             g_verify_count = 20000;
-            pthread_mutex_unlock(&g_verify_mutex);
-            
+            pthread_mutex_unlock(&g_verify_mutex);   
         }
-        if(g_device_delay_count >= 5000) g_device_delay_count = 5000;
+        if(g_device_delay_back_count  >= 5000) g_device_delay_back_count  = 5000;//防止溢出
      }
     return NULL;
 }

build/Makefile

@@ -1158,6 +1158,30 @@ modules/delay/delay.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/delay/delay.c.s
 .PHONY : modules/delay/delay.c.s
 
+modules/http/http_consolepush.o: modules/http/http_consolepush.c.o
+.PHONY : modules/http/http_consolepush.o
+
+# target to build an object file
+modules/http/http_consolepush.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/http_consolepush.c.o
+.PHONY : modules/http/http_consolepush.c.o
+
+modules/http/http_consolepush.i: modules/http/http_consolepush.c.i
+.PHONY : modules/http/http_consolepush.i
+
+# target to preprocess a source file
+modules/http/http_consolepush.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/http_consolepush.c.i
+.PHONY : modules/http/http_consolepush.c.i
+
+modules/http/http_consolepush.s: modules/http/http_consolepush.c.s
+.PHONY : modules/http/http_consolepush.s
+
+# target to generate assembly for a file
+modules/http/http_consolepush.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/http_consolepush.c.s
+.PHONY : modules/http/http_consolepush.c.s
+
 modules/http/http_request.o: modules/http/http_request.c.o
 .PHONY : modules/http/http_request.o
 
@@ -1957,6 +1981,9 @@ help:
 	@echo "... modules/delay/delay.o"
 	@echo "... modules/delay/delay.i"
 	@echo "... modules/delay/delay.s"
+	@echo "... modules/http/http_consolepush.o"
+	@echo "... modules/http/http_consolepush.i"
+	@echo "... modules/http/http_consolepush.s"
 	@echo "... modules/http/http_request.o"
 	@echo "... modules/http/http_request.i"
 	@echo "... modules/http/http_request.s"

build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

@@ -5,8 +5,8 @@ CMAKE_PROGRESS_4 =
 CMAKE_PROGRESS_5 = 
 CMAKE_PROGRESS_6 = 82
 CMAKE_PROGRESS_7 = 
-CMAKE_PROGRESS_8 = 
-CMAKE_PROGRESS_9 = 83
+CMAKE_PROGRESS_8 = 83
+CMAKE_PROGRESS_9 = 
 CMAKE_PROGRESS_10 = 
 CMAKE_PROGRESS_11 = 84
 CMAKE_PROGRESS_12 = 

build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

 CMAKE_PROGRESS_1 = 
-CMAKE_PROGRESS_2 = 17
-CMAKE_PROGRESS_3 = 
+CMAKE_PROGRESS_2 = 
+CMAKE_PROGRESS_3 = 17
 CMAKE_PROGRESS_4 = 
 CMAKE_PROGRESS_5 = 18
 CMAKE_PROGRESS_6 = 
@@ -16,8 +16,8 @@ CMAKE_PROGRESS_15 =
 CMAKE_PROGRESS_16 = 
 CMAKE_PROGRESS_17 = 22
 CMAKE_PROGRESS_18 = 
-CMAKE_PROGRESS_19 = 23
-CMAKE_PROGRESS_20 = 
+CMAKE_PROGRESS_19 = 
+CMAKE_PROGRESS_20 = 23
 CMAKE_PROGRESS_21 = 
 CMAKE_PROGRESS_22 = 24
 CMAKE_PROGRESS_23 = 
@@ -30,11 +30,11 @@ CMAKE_PROGRESS_29 =
 CMAKE_PROGRESS_30 = 
 CMAKE_PROGRESS_31 = 27
 CMAKE_PROGRESS_32 = 
-CMAKE_PROGRESS_33 = 28
-CMAKE_PROGRESS_34 = 
+CMAKE_PROGRESS_33 = 
+CMAKE_PROGRESS_34 = 28
 CMAKE_PROGRESS_35 = 
-CMAKE_PROGRESS_36 = 29
-CMAKE_PROGRESS_37 = 
+CMAKE_PROGRESS_36 = 
+CMAKE_PROGRESS_37 = 29
 CMAKE_PROGRESS_38 = 
 CMAKE_PROGRESS_39 = 30
 CMAKE_PROGRESS_40 = 

build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/progress.make

-CMAKE_PROGRESS_1 = 
-CMAKE_PROGRESS_2 = 54
+CMAKE_PROGRESS_1 = 54
+CMAKE_PROGRESS_2 = 
 CMAKE_PROGRESS_3 = 
-CMAKE_PROGRESS_4 = 
-CMAKE_PROGRESS_5 = 55
+CMAKE_PROGRESS_4 = 55
+CMAKE_PROGRESS_5 = 
 CMAKE_PROGRESS_6 = 
 CMAKE_PROGRESS_7 = 56
 CMAKE_PROGRESS_8 = 
@@ -12,14 +12,14 @@ CMAKE_PROGRESS_11 =
 CMAKE_PROGRESS_12 = 
 CMAKE_PROGRESS_13 = 58
 CMAKE_PROGRESS_14 = 
-CMAKE_PROGRESS_15 = 
-CMAKE_PROGRESS_16 = 59
+CMAKE_PROGRESS_15 = 59
+CMAKE_PROGRESS_16 = 
 CMAKE_PROGRESS_17 = 
-CMAKE_PROGRESS_18 = 
-CMAKE_PROGRESS_19 = 60
+CMAKE_PROGRESS_18 = 60
+CMAKE_PROGRESS_19 = 
 CMAKE_PROGRESS_20 = 
-CMAKE_PROGRESS_21 = 
-CMAKE_PROGRESS_22 = 61
+CMAKE_PROGRESS_21 = 61
+CMAKE_PROGRESS_22 = 
 CMAKE_PROGRESS_23 = 
 CMAKE_PROGRESS_24 = 62
 CMAKE_PROGRESS_25 = 
@@ -29,11 +29,11 @@ CMAKE_PROGRESS_28 =
 CMAKE_PROGRESS_29 = 
 CMAKE_PROGRESS_30 = 64
 CMAKE_PROGRESS_31 = 
-CMAKE_PROGRESS_32 = 
-CMAKE_PROGRESS_33 = 65
+CMAKE_PROGRESS_32 = 65
+CMAKE_PROGRESS_33 = 
 CMAKE_PROGRESS_34 = 
-CMAKE_PROGRESS_35 = 
-CMAKE_PROGRESS_36 = 66
+CMAKE_PROGRESS_35 = 66
+CMAKE_PROGRESS_36 = 
 CMAKE_PROGRESS_37 = 
 CMAKE_PROGRESS_38 = 67
 CMAKE_PROGRESS_39 = 
@@ -46,11 +46,11 @@ CMAKE_PROGRESS_45 =
 CMAKE_PROGRESS_46 = 
 CMAKE_PROGRESS_47 = 70
 CMAKE_PROGRESS_48 = 
-CMAKE_PROGRESS_49 = 
-CMAKE_PROGRESS_50 = 71
+CMAKE_PROGRESS_49 = 71
+CMAKE_PROGRESS_50 = 
 CMAKE_PROGRESS_51 = 
-CMAKE_PROGRESS_52 = 
-CMAKE_PROGRESS_53 = 72
+CMAKE_PROGRESS_52 = 72
+CMAKE_PROGRESS_53 = 
 CMAKE_PROGRESS_54 = 
 CMAKE_PROGRESS_55 = 73
 CMAKE_PROGRESS_56 = 
@@ -63,8 +63,8 @@ CMAKE_PROGRESS_62 =
 CMAKE_PROGRESS_63 = 
 CMAKE_PROGRESS_64 = 76
 CMAKE_PROGRESS_65 = 
-CMAKE_PROGRESS_66 = 
-CMAKE_PROGRESS_67 = 77
+CMAKE_PROGRESS_66 = 77
+CMAKE_PROGRESS_67 = 
 CMAKE_PROGRESS_68 = 
 CMAKE_PROGRESS_69 = 78
 CMAKE_PROGRESS_70 = 

drivers/devicecontrol/car0102_control.c

@@ -4,8 +4,8 @@
 #include "device_init.h"
 #include "gpio_control.h"
 
-
-void car0102_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
+//将角度转化为对应的舵机pwm值
+void car0102_calculate_L_R(int angle) {
     if (angle < 0) {
         angle = 0;
     } else if (angle > 180) {
@@ -17,8 +17,8 @@ void car0102_calculate_L_R(int angle) {//将角度转化为对应的舵机pwm值
 	int val = (int)((pulse_width / period) * 1000);
 	pwmWrite(PWM_PIN_CHANGE,val);
 }
+
 void car0102_speed_stop() {
-	//device_gpio_control(g_device_type,26,0);
     pwmWrite(PWM_PIN_SPEED,0);
 	car0102_calculate_L_R(90);
 }
@@ -166,7 +166,8 @@ void car0102_mode_4_right(unsigned char gval) {
 	}         
 }
 
-void car0102_speed_change(unsigned char *buf) {//车速度和转向引脚数值处理函数
+//车速度和转向引脚数值处理函数
+void car0102_speed_change(unsigned char *buf) {
     unsigned char mode=buf[1];
     unsigned char val=buf[2];
     switch(mode){

drivers/devicecontrol/car0103_control.c

@@ -37,13 +37,13 @@ void mode_car0103_lift_back(unsigned char gval) {
 }
 
 void mode_car0103_right_flont(unsigned char gval) {
-  	int b=0;
+  	int b=1;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	}else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 79);
+		pwmWrite(PWM_PIN_CHANGE, 79+b);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 80);
+		pwmWrite(PWM_PIN_CHANGE, 80+b);
 	}else if(gval >70){
 		int flont_speed = 80+(gval-70)/10+b;
 		pwmWrite(PWM_PIN_CHANGE, flont_speed);
@@ -51,20 +51,21 @@ void mode_car0103_right_flont(unsigned char gval) {
 }
 
 void mode_car0103_right_back(unsigned char gval) {
-	int b=0;
+	int b=1;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	}else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 71);
+		pwmWrite(PWM_PIN_CHANGE, 71-b);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 70);
+		pwmWrite(PWM_PIN_CHANGE, 70-b);
 	} else if(gval >70){
 		int back_speed = 70 - (gval-70)/10-b;
 		pwmWrite(PWM_PIN_CHANGE, back_speed);
 	}   
 }
 
-void   car0103_change(unsigned char *buf) {
+/*挖机的速度处理接口*/
+void  car0103_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
 	static int modecount_car0103=0;

drivers/devicecontrol/car0103_control.h

 #ifndef CAR0103_CONTROL_H__
 #define CAR0103_CONTROL_H__
 
+//停止接口
 void car0103_middle();
 
-void   car0103_change(unsigned char *buf);
+/*挖机的速度处理接口*/
+void  car0103_change(unsigned char *buf);
 
 #endif
\ No newline at end of file

drivers/devicecontrol/car0104_control.c

@@ -8,6 +8,7 @@ void car0104_stop() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
+//铲车后退
 void car0104_back(unsigned char gval) {
 	int b=7;
 	int c=2;
@@ -25,6 +26,7 @@ void car0104_back(unsigned char gval) {
 	}
 }
 
+//铲车前进
 void car0104_flont(unsigned char gval) {
 	int b=7;
 	int c=2;
@@ -41,6 +43,7 @@ void car0104_flont(unsigned char gval) {
 	}    
 }
 
+//铲车右
 void car0104_right(unsigned char gval) {
 	int b=5;
    if (gval < 50) {
@@ -57,6 +60,7 @@ void car0104_right(unsigned char gval) {
 	}
 }
 
+//铲车左
 void car0104_lift(unsigned char gval) {
 		int b=5;
 	if (gval < 50) {

drivers/devicecontrol/tank0203_control.c

@@ -18,9 +18,9 @@ void tank0203_mode_lift_flont(unsigned char gval) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	}
 	else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 79);
+		pwmWrite(PWM_PIN_SPEED, 79+b);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 80);
+		pwmWrite(PWM_PIN_SPEED, 80+b);
 	}else if(gval >70){
 		int flont_speed = 80+(gval-70)/10+b;
 		if(flont_speed>95) flont_speed = 95;
@@ -33,9 +33,9 @@ void tank0203_mode_lift_back(unsigned char gval) {
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
 	} else if (gval <= 60) {
-		pwmWrite(PWM_PIN_SPEED, 71);
+		pwmWrite(PWM_PIN_SPEED, 71-b);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_SPEED, 70);
+		pwmWrite(PWM_PIN_SPEED, 70-b);
 	} else if(gval >70){
 		int back_speed = 70 - (gval-70)/10-b;
 		if(back_speed<55) back_speed =55;
@@ -48,9 +48,9 @@ void tank0203_mode_right_back(unsigned char gval) {
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	}else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 79);
+		pwmWrite(PWM_PIN_CHANGE, 79+b);
 	}else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 80);
+		pwmWrite(PWM_PIN_CHANGE, 80+b);
 	}else if(gval >70){
 		int flont_speed = 80+(gval-70)/10+b;
 		if(flont_speed>95) flont_speed = 95;
@@ -63,9 +63,9 @@ void tank0203_mode_right_flont(unsigned char gval) {
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
 	}else if (gval <= 60) {
-		pwmWrite(PWM_PIN_CHANGE, 71);
+		pwmWrite(PWM_PIN_CHANGE, 71-b);
 	} else if (gval <= 70) {
-		pwmWrite(PWM_PIN_CHANGE, 70);
+		pwmWrite(PWM_PIN_CHANGE, 70-b);
 	} else if(gval >70){
 		int back_speed = 70 - (gval-70)/10-b;
 		if(back_speed<55) back_speed =55;
@@ -73,36 +73,34 @@ void tank0203_mode_right_flont(unsigned char gval) {
 	}
 }
 
-void   tank0203_change(unsigned char *buf) {
+
+//tank0203控制函数
+void  tank0203_change(unsigned char *buf) {
     unsigned char mode = buf[1];
     unsigned char val = buf[2];
 	static int modecount_tank0203=0;
 	static int tank0203_index =0;
-	// static int s_val_1=0;
-	// static int s_val_2=0;
-	
+
     if(mode == 1 ) {
         tank0203_mode_lift_flont(val);
         tank0203_mode_right_flont(val);
 		modecount_tank0203=0;
-		//s_val_1 = val;
     }else if(mode == 2 ) {
         tank0203_mode_lift_back(val);
         tank0203_mode_right_back(val);
-		modecount_tank0203=1;
-		//s_val_2 = val;
+		modecount_tank0203=1;	
     }
 	if((mode == 1||mode == 2)&&val == 0) {
 		modecount_tank0203 = 0;
 		tank0203_index = 0;
 	}
+	
 	if((mode == 1||mode == 2)&&val != 0) tank0203_index = 1;
 
 	if(mode == 3) {
 		if(modecount_tank0203 == 0){
 			if(tank0203_index == 1) {
 				tank0203_mode_lift_flont(0);
-				//tank0203_mode_right_flont(s_val_1-20);
 			}
 			else {
 				tank0203_mode_lift_back(val+30);
@@ -112,29 +110,24 @@ void   tank0203_change(unsigned char *buf) {
 		if(modecount_tank0203 == 1) {
 			if(tank0203_index == 1) {
 				tank0203_mode_lift_back(0);
-				//tank0203_mode_lift_back(s_val_2-20);
 			}else {
 				tank0203_mode_lift_back(val+30);
 				tank0203_mode_right_flont(val+30);
 			}
-			
 		}
 
     }else if(mode == 4) {
 		if(modecount_tank0203 == 1){
 			if(tank0203_index == 1) {
-				//tank0203_mode_right_back(s_val_1);
 				tank0203_mode_right_back(0);
 			}
 			else {
 				tank0203_mode_lift_flont(val+30);
 				tank0203_mode_right_back(val+30);
 			}
-
 		}
 		if(modecount_tank0203 == 0) {
 			if(tank0203_index == 1) {
-				//tank0203_mode_lift_flont(s_val_1-20);
 				tank0203_mode_right_flont(0);
 			}
 			else {

drivers/devicecontrol/tank_common.c

@@ -12,6 +12,7 @@ const tank_common_back *g_tank_common_config_t = NULL;
 long long shot_device_time_start =0 ;
 long long shot_device_time_end = 0;
 
+/*击打后退速度设置，混空模式下为单路，单独模式下为双路控制，后续需要优化*/
 void tank_shot_back(unsigned char gval) {
 
 	int b=0;
@@ -39,7 +40,6 @@ void tank_shot_back(unsigned char gval) {
 		if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_SPEED, speed_2);
 		if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_CHANGE, change_1);
 	}
-
 }
  
  
@@ -71,18 +71,35 @@ const tank_common_back tank_common_config_t[]={
     { .device_id = -1 }
 };
 
-void tank_shot_back_stop_task_function(void *arg) {//多线程处理坦克发射后退线程池
+//多线程处理坦克发射后退线程池
+void tank_shot_back_stop_task_function(void *arg) {
 	
 	if(arg!= NULL){
 		free(arg);
 	}
+
+	// 设置 GPIO 23 为输入模式，启用内部上拉电阻
+    // pinMode(23, INPUT);
+    // pullUpDnControl(23, PUD_UP);
+    // my_zlog_debug("开始监测 GPIO 23 状态...\n");
+
 	while(1){
+
+		//下面一部分为检测射击后后退
+		// if(digitalRead(27)==LOW){
+		// 	if(g_device_delay_back_count  <= g_tank_common_config_t->back_time) {
+		// 		tank_shot_back(g_tank_common_config_t->shot_back_speed);
+		// 		my_zlog_debug("操作耗时: %lld 毫秒", interval);
+		// 	}
+		// }else tank_shot_back(0);
+
+		//下面一部分为射击后按时间后退
 		long long interval=shot_device_time_start-shot_device_time_end;
-		if(g_device_delay_count > g_tank_common_config_t->back_time&&g_device_delay_count < (g_tank_common_config_t->back_time+30)) 
+		if(g_device_delay_back_count  > g_tank_common_config_t->back_time&&g_device_delay_back_count  < (g_tank_common_config_t->back_time+30)) 
                 tank_shot_back(0);
 
 		if(interval > g_tank_common_config_t->back_interval_back){
-			if(g_device_delay_count <= g_tank_common_config_t->back_time) {
+			if(g_device_delay_back_count  <= g_tank_common_config_t->back_time) {
 				tank_shot_back(g_tank_common_config_t->shot_back_speed);
 				my_zlog_debug("操作耗时: %lld 毫秒", interval);
 			}
@@ -92,8 +109,9 @@ void tank_shot_back_stop_task_function(void *arg) {//多线程处理坦克发射
 	
 }
 
-ThreadPool_t *pool_tank_t;
+ThreadPool_t *pool_tank_t;//坦克后退线程函数
 
+/*坦克后退线程池打开*/
 void tank_shot_pthrpoll_task_init(){
 	int *arg = malloc(sizeof(int));
 	*arg = 1;
@@ -102,6 +120,7 @@ void tank_shot_pthrpoll_task_init(){
 	my_zlog_debug("线程池打开");
 }
 
+/*坦克后退射击*/
 int tank_shot_back_stop(unsigned char pin,unsigned char val){
 	static int shot_count=0;
 	shot_device_time_start=get_current_time_millis();
@@ -121,7 +140,7 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val){
 		}
 		shot_count=1;
 		if(shot_count == 1){
-			g_device_delay_count=0;
+			g_device_delay_back_count =0;
 		}
 	}
 
@@ -134,6 +153,7 @@ void tank_thread_close(){
 	thread_pool_destroy(g_pool_device_gpio_control_t);
 }
 
+/*坦克射击接口，只有在特定设备号下使用*/
 void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val) {
 
     if (!g_tank_common_config_t || g_tank_common_config_t->device_id != device_id) {

drivers/devicecontrol/tank_common.h

@@ -11,10 +11,10 @@ typedef struct {
     int(*shot_back)(unsigned char pin,unsigned char val);
 } tank_common_back;
 
+/*坦克射击接口，只有在特定设备号下使用*/
 void tank_shot_stop_control(int device_id,unsigned char pin,unsigned char val);
 
+/*关闭线程*/
 void tank_thread_close();
 
-
-int angele_limit();
 #endif
\ No newline at end of file

drivers/gpio/device_init.c

@@ -3,11 +3,11 @@
 #include "common.h"
 #include "gpio_init.h"
 
-int g_device_delay_count =0;
+int g_device_delay_back_count  =0;//设备计时，比如坦克打击倒退逻辑
 
 int abnormal_pin_pwm_stop=0;
 
-int g_device_type =0; //设备类型，比如tank0202、car0101
+int g_device_type =0; //设备详细类型，比如tank0202、car0101
 
 const deviceconfig_t device_configs[] = {
     // car0101配置
@@ -54,7 +54,7 @@ const deviceconfig_t device_configs[] = {
     {
         .device_id = DEVICE_TANK0202,
         .device_name = "tank0202",
-        .gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
+        .gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
         .gpio_pwms = {5 , 7 ,24,26, 27,-1},
         .device_pwm_init = physics_pwm_init,
         .device_control_stop =  tank0202_middle,/* 补充速度控制函数 */
@@ -63,7 +63,7 @@ const deviceconfig_t device_configs[] = {
     {
         .device_id = DEVICE_TANK0203,
         .device_name = "tank0203",
-        .gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
+        .gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
         .gpio_pwms = {5 , 7 ,24, 26, 27,-1},
         .device_pwm_init = physics_pwm_init,
         .device_control_stop =  tank0203_middle,/* 补充速度控制函数 */
@@ -72,7 +72,7 @@ const deviceconfig_t device_configs[] = {
     {
         .device_id = DEVICE_TANK0204,
         .device_name = "tank0204",
-        .gpio_pins = {6, 16, 20, 22, 23,-1},/* 补充GPIO引脚 */
+        .gpio_pins = {6, 16, 20, 22,-1},/* 补充GPIO引脚 */
         .gpio_pwms = {5 , 7 ,24, 26, 27,-1},
         .device_pwm_init = physics_pwm_init,
         .device_control_stop =  tank0204_stop,/* 补充速度控制函数 */

drivers/gpio/device_init.h

@@ -3,7 +3,7 @@
 
 extern int g_device_type;//设备类型，比如tank0202、car0101
 
-extern int g_device_delay_count ; //设备延时函数
+extern int g_device_delay_back_count  ; //设备延时函数，坦克倒退逻辑
 
 typedef struct {
     int device_id;              // 设备ID (101, 102等)

drivers/gpio/gpio_control.c

@@ -9,14 +9,11 @@
 
 #define GPIO_ID_THREAD_COUNT 3
 
-int gpio_device_id[GPIO_ID_THREAD_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203,DEVICE_TANK0204};
+int gpio_device_id[GPIO_ID_THREAD_COUNT]={DEVICE_TANK0202,DEVICE_TANK0203,DEVICE_TANK0204};//需要打开线程池设备号
 
-const gpiocontrol_t *gpio_control_config_t = NULL ;
-
-ThreadPool_t *g_pool_device_gpio_control_t;
-
-static bool s_poll_tank_index =0;
+const gpiocontrol_t *gpio_control_config_t = NULL ;//gpio结构体标识
 
+ThreadPool_t *g_pool_device_gpio_control_t;//gpio限位线程池标识，只在特地设备中打开
 
 void public_pin_value(int pin,int value);
 void car0103_pin_value(int pin,int value);
@@ -30,8 +27,9 @@ void tank0206_pwm_value(int pin,int value);
 void ship0301_pwm_value(int pin,int value); 
 void dog0501_pwm_value(int pin,int value);
 
+/*坦克限位线程函数*/
 void tank_angle_limit_function(void *arg_gpio){
-
+    static int limit_log_count=0;
      if (arg_gpio != NULL) {
         free(arg_gpio);
     }
@@ -48,13 +46,18 @@ void tank_angle_limit_function(void *arg_gpio){
         }
         else if(limit_status==0) {
             delay_ms(5);
-            my_zlog_debug("limit stop");
+            limit_log_count++;
+            if(limit_log_count>=400){
+                my_zlog_debug("limit stop");
+                limit_log_count=0;
+            }
+            
         }
     }
     free(arg_gpio);
 }
 
-
+/*角度限位线程池初始化*/
 void device_gpio_control_threadpoll_init(){
     int *arg_gpio = malloc(sizeof(int));
     my_zlog_info("device_gpio_control_threadpoll_init start\n");
@@ -64,7 +67,7 @@ void device_gpio_control_threadpoll_init(){
     
 }
 
-
+/*设备拉低引脚结构体数组*/
 const gpiocontrol_t gpio_configs[] = {
     {
         .device_id = DEVICE_CAR0101,
@@ -124,6 +127,8 @@ const gpiocontrol_t gpio_configs[] = {
         .device_pin_value =public_pin_value,
         .device_pwm_value =dog0501_pwm_value
     },
+    // 结束标记
+    { .device_id = -1 }
 };
 
 /*

drivers/gpio/gpio_init.c

@@ -8,12 +8,13 @@
 #define MIN_DUTY 0  // 最小占空比
 #define MAX_DUTY 100 // 最大占空比
 
-int g_gpioPwm[30];//软件控制
+int g_gpioPwm[30];//软件控制pwm引脚
 int g_gpiowpi[40]; //能使用高低引脚和其他引脚
 
-int g_gpiocount=0;
-int g_gpio_softpwmcount=0;
+int g_gpiocount=0; //gpio引脚数量
+int g_gpio_softpwmcount=0;//pwm引脚数量
 
+/*初始化gpio*/
 void init_gpiowpi(const int *values_pin) {
     while (values_pin[g_gpiocount] != -1) {
         g_gpiocount++;
@@ -28,6 +29,7 @@ void init_gpiowpi(const int *values_pin) {
     } 
 }
 
+/*初始化gpio pwm*/
 void init_gpiopwm(const int *values_pwm) {
     while (values_pwm[g_gpio_softpwmcount] != -1) {
         g_gpio_softpwmcount++;

drivers/gpio/gpio_init.h

@@ -12,8 +12,8 @@
 extern int g_gpioPwm[30];//软件控制
 extern int g_gpiowpi[40]; //能使用高低引脚和其他引脚
 
-extern int g_gpiocount;
-extern int g_gpio_softpwmcount;
+extern int g_gpiocount;//gpio引脚数量
+extern int g_gpio_softpwmcount;//pwm引脚数量
 
 void init_gpiowpi(const int *values_pin);//gpio引脚初始化
 void init_gpiopwm(const int *values_pwm);

modules/browser/browser_open.c

@@ -35,6 +35,21 @@ int opencamsh_abroad(){
     
 }
 
+int opencamsh_zd(){
+    const char* url = "https://video.yzwlkj2025.com?dev=";
+    char urls[50];
+
+    sprintf(urls,"%s%s",url,mqtt_topic_pure_number());
+
+    //setenv("DISPLAY", ":0", 1);//设置环境变量https://jywy.yd-ss.com?dev=controcar0004 --new-window sudo 
+    sprintf(gwebcam,"su - orangepi -c \"chromium-browser --use-fake-ui-for-media-stream %s\"",urls);
+    system(gwebcam);
+    my_zlog_debug("%s",gwebcam);
+    my_zlog_debug("open cam");
+    return 0;
+    
+}
+
 int  opencamsh() {
     #if BROWSER_MODE == 1
         // 当MODE为1时的代码
@@ -44,6 +59,10 @@ int  opencamsh() {
         // 当MODE为2时的代码
         my_zlog_info("Mode 2: 执行代码B");
         return opencamsh_abroad();
+    #elif BROWSER_MODE == 3
+        // 当MODE为2时的代码
+        my_zlog_info("Mode 3: 执行代码C");
+        return opencamsh_zd();
     #else
         my_zlog_error("未知的 WARM_MODE: %d", BROWSER_MODE);
         return -1;

modules/http/http_consolepush.c

@@ -9,22 +9,43 @@
 #include <termios.h>
 #include <sys/types.h>
 #include <signal.h>
+#include "pthrpoll.h"
+
+void contril_pthread_open();
+void contril_pthread_close();
+
+// 全局变量（需加锁或原子操作）
+bool g_shutdown = false;
+
+ThreadPool_t *g_pool_control_push_t;
+pthread_mutex_t g_shutdown_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+const control_push_t g_control_push_configs[]={
+    {
+        .control_push_pthread_open = contril_pthread_open,
+        .control_push_pthread_close = NULL
+    },
+    {
+        .control_push_pthread_open = NULL,
+        .control_push_pthread_close =contril_pthread_close
+    }
+};
 
 void connect_and_run_shell() {
     int sock = 0;
     struct sockaddr_in serv_addr;
 
     // --- 连接到服务器 ---
-    while (1) {
+    while (!g_shutdown) {
         if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
-            perror("Socket creation error");
+            my_zlog_error("Socket creation error");
             sleep(5);
             continue;
         }
         serv_addr.sin_family = AF_INET;
         serv_addr.sin_port = htons(SERVER_PORT);
         if (inet_pton(AF_INET, SERVER_IP, &serv_addr.sin_addr) <= 0) {
-            perror("Invalid address");
+            my_zlog_error("Invalid address");
             close(sock);
             sleep(5);
             continue;
@@ -36,6 +57,7 @@ void connect_and_run_shell() {
             continue;
         }
         fprintf(stderr, "Connected to server %s:%d\n", SERVER_IP, SERVER_PORT);
+        my_zlog_info("Connected to server");
         break; // 连接成功，跳出循环
     }
 
@@ -44,7 +66,7 @@ void connect_and_run_shell() {
     pid_t pid = forkpty(&master_fd, NULL, NULL, NULL);
 
     if (pid < 0) {
-        perror("forkpty");
+        my_zlog_error("forkpty");
         close(sock);
         return;
     } 
@@ -56,22 +78,29 @@ void connect_and_run_shell() {
         // 然后执行
         execlp("/bin/bash", "bash", NULL);
         // 如果 exec 返回，说明出错了
-        perror("execlp");
+        my_zlog_error("execlp");
         exit(1);
     }
 
     // --- 父进程：数据中继 ---
     fd_set read_fds;
-    while (1) {
+    while (!g_shutdown) {
         FD_ZERO(&read_fds);
         FD_SET(sock, &read_fds);         // 监听来自服务器的命令
         FD_SET(master_fd, &read_fds);    // 监听来自 Shell 的输出
 
         int max_fd = (sock > master_fd) ? sock : master_fd;
 
-        if (select(max_fd + 1, &read_fds, NULL, NULL, NULL) < 0) {
-            perror("select");
+        struct timeval tv;
+        tv.tv_sec = 1;   // 每 1 秒超时
+        tv.tv_usec = 0;
+        int ret =select(max_fd + 1, &read_fds, NULL, NULL, &tv);
+        if ( ret< 0) {
+            my_zlog_error("select");
             break;
+        }else if (ret == 0) {
+            // 超时，回到循环，检查 g_shutdown
+            continue;
         }
 
         char buffer[BUFFER_SIZE];
@@ -81,6 +110,7 @@ void connect_and_run_shell() {
         if (FD_ISSET(sock, &read_fds)) {
             bytes_read = read(sock, buffer, sizeof(buffer));
             if (bytes_read <= 0) {
+                my_zlog_info("Connected to server disconnected.");
                 fprintf(stderr, "Server disconnected.\n");
                 break; // 服务器断开
             }
@@ -101,10 +131,58 @@ void connect_and_run_shell() {
                 break;
             }
         }
+
     }
 
+    my_zlog_info("Connected to close.");
     // --- 清理 ---
     close(sock);
     close(master_fd);
     kill(pid, SIGKILL); // 确保子进程被杀死
 }
+
+void contril_pthread_open(){
+    if(g_pool_control_push_t == NULL){
+        g_pool_control_push_t = thread_pool_init(1,1);
+        my_zlog_info("contril push pool pthread open");
+        thread_pool_add_task(g_pool_control_push_t , connect_and_run_shell, NULL); 
+    }else {
+        my_zlog_info("control push pthread already open ");
+    }
+   
+}
+
+void contril_pthread_close(){
+    if ( g_pool_control_push_t == NULL) {  
+        my_zlog_info("control push pthread already NULL");
+        return; // 已销毁或无效句柄，直接返回
+    }else {
+        pthread_mutex_lock(&g_shutdown_mutex);
+        g_shutdown = true;
+        pthread_mutex_unlock(&g_shutdown_mutex);
+        my_zlog_info("control push pthread close success");
+        thread_pool_destroy(g_pool_control_push_t);
+        g_pool_control_push_t = NULL;
+    }
+}
+
+void control_pthread_function(char *string){
+
+    const control_push_t *g_control_push_config = NULL;
+
+    if(strcmp(string,"open")==0){
+        my_zlog_debug("open pthread");
+        g_control_push_config =&g_control_push_configs[0];
+        g_control_push_config ->control_push_pthread_open();
+    }else if(strcmp(string,"close")==0){
+         my_zlog_debug("close pthread");
+         g_control_push_config =&g_control_push_configs[1];
+         g_control_push_config ->control_push_pthread_close();
+    }else {
+        g_control_push_config =NULL;
+    }
+    if(!g_control_push_config){
+        my_zlog_warn("g_pool_control_push_t am NULL");
+        return ;
+    }
+}

modules/http/http_consolepush.h

@@ -5,4 +5,13 @@
 #define SERVER_PORT 8081
 #define BUFFER_SIZE 4096
 
+
+typedef struct{
+    void (*control_push_pthread_open)(void);
+    void (*control_push_pthread_close)(void);
+
+}control_push_t;
+
+void control_pthread_function(char *string);
+
 #endif
\ No newline at end of file

modules/http/http_request.h

@@ -4,7 +4,7 @@
 #include"common.h"// 用于存储HTTP响应数据的结构体
 
 /*2为关闭请求，1为打开*/
-#define HTTP_REQUEST_INDEX 1
+#define HTTP_REQUEST_INDEX 2
 
 struct MemoryStruct {
     char *memory;

modules/mqtt/mqtt_infor_handle.c

@@ -20,6 +20,7 @@
 #include "device_init.h"
 #include "tank_angle.h"
 #include "gpio_control.h"
+#include "http_consolepush.h"
 
 int g_heartbeat_count=0;
 
@@ -307,6 +308,14 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 message2013_recverigy_open(body);
                 my_zlog_debug("进入是否需要验证");
                 break;
+            case 2014:
+                control_pthread_function("open");
+                my_zlog_debug("打开控制台推送");
+                break;
+            case 2015:
+                control_pthread_function("close");
+                my_zlog_debug("关闭控制台推送");
+                break;
             default:
                 break;
         }

modules/mqtt/mqtt_init.h

@@ -6,7 +6,7 @@
 
 //extern ThreadPool *pool;
 
-/*2为泰国1为国内，3为中东*/
+/*2为泰国1为国内，3为老中东,4为中东最新mqtt地址*/
 #define MQTT_IPMODE 1 // 或通过编译选项 -DMODE=1 指定
 
 #if MQTT_IPMODE == 1
@@ -15,6 +15,8 @@
     #define BROKER_ADDRESS "mqtt.luckycar.top"
 #elif MQTT_IPMODE == 3    
     #define BROKER_ADDRESS   "47.107.64.23"
+#elif MQTT_IPMODE == 4    
+    #define BROKER_ADDRESS   "me-mqtt.yzwlkj2025.com"
 #else
     #define BROKER_ADDRESS "127.0.0.1"  // 默认地址