Merge branch 'feature/device_adjust_waji' into 'master'

app/main/pthread_open.c

@@ -150,7 +150,11 @@ void *thread_mqtt_reconnect(void *arg) {
 //专门用于计时的线程
 void *thread_time_calculation(void *arg) {
      while (1) {
+
+        device_fast_read();//用于快速判断设备的及时检查和停止
+        
         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);

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+

build/third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/compiler_depend.make

-# Empty compiler generated dependencies file for mosquitto_payload_modification.
-# This may be replaced when dependencies are built.
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22
+
+third_party/mosquitto/plugins/payload-modification/CMakeFiles/mosquitto_payload_modification.dir/mosquitto_payload_modification.c.o: ../third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c \
+  /usr/include/stdc-predef.h \
+  /usr/include/stdio.h \
+  /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \
+  /usr/include/features.h \
+  /usr/include/features-time64.h \
+  /usr/include/aarch64-linux-gnu/bits/wordsize.h \
+  /usr/include/aarch64-linux-gnu/bits/timesize.h \
+  /usr/include/aarch64-linux-gnu/sys/cdefs.h \
+  /usr/include/aarch64-linux-gnu/bits/long-double.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs.h \
+  /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h \
+  /usr/include/aarch64-linux-gnu/bits/types.h \
+  /usr/include/aarch64-linux-gnu/bits/typesizes.h \
+  /usr/include/aarch64-linux-gnu/bits/time64.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/__FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/FILE.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h \
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+  /usr/include/aarch64-linux-gnu/bits/floatn.h \
+  /usr/include/aarch64-linux-gnu/bits/floatn-common.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio.h \
+  /usr/include/aarch64-linux-gnu/bits/stdio2.h \
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+  /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \
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+  /usr/include/aarch64-linux-gnu/bits/string_fortified.h \
+  ../third_party/mosquitto/include/mosquitto_broker.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h \
+  /usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h \
+  /usr/include/stdint.h \
+  /usr/include/aarch64-linux-gnu/bits/wchar.h \
+  /usr/include/aarch64-linux-gnu/bits/stdint-intn.h \
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+  /usr/include/time.h \
+  /usr/include/aarch64-linux-gnu/bits/time.h \
+  /usr/include/aarch64-linux-gnu/bits/types/clock_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/time_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \
+  /usr/include/aarch64-linux-gnu/bits/endian.h \
+  /usr/include/aarch64-linux-gnu/bits/endianness.h \
+  /usr/include/aarch64-linux-gnu/bits/types/clockid_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/timer_t.h \
+  /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \
+  ../third_party/mosquitto/include/mosquitto_plugin.h \
+  ../third_party/mosquitto/include/mosquitto.h \
+  ../third_party/mosquitto/include/mqtt_protocol.h
+
+
+../third_party/mosquitto/include/mqtt_protocol.h:
+
+../third_party/mosquitto/include/mosquitto.h:
+
+../third_party/mosquitto/include/mosquitto_plugin.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h:
+
+/usr/include/aarch64-linux-gnu/bits/endianness.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/time_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/clock_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdint-uintn.h:
+
+/usr/include/aarch64-linux-gnu/bits/endian.h:
+
+/usr/include/stdint.h:
+
+/usr/include/time.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdint-intn.h:
+
+/usr/include/aarch64-linux-gnu/bits/string_fortified.h:
+
+/usr/include/aarch64-linux-gnu/bits/strings_fortified.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__locale_t.h:
+
+/usr/lib/gcc/aarch64-linux-gnu/11/include/stdbool.h:
+
+../third_party/mosquitto/include/mosquitto_broker.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__fpos_t.h:
+
+/usr/include/aarch64-linux-gnu/sys/cdefs.h:
+
+/usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h:
+
+/usr/include/aarch64-linux-gnu/bits/time.h:
+
+/usr/include/features.h:
+
+/usr/include/features-time64.h:
+
+/usr/include/aarch64-linux-gnu/gnu/stubs.h:
+
+/usr/include/aarch64-linux-gnu/bits/libc-header-start.h:
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+/usr/include/aarch64-linux-gnu/bits/long-double.h:
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+/usr/include/aarch64-linux-gnu/bits/floatn-common.h:
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+/usr/include/aarch64-linux-gnu/bits/types/timer_t.h:
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+/usr/lib/gcc/aarch64-linux-gnu/11/include/stddef.h:
+
+/usr/include/stdio.h:
+
+/usr/include/aarch64-linux-gnu/bits/timesize.h:
+
+/usr/include/stdc-predef.h:
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+/usr/lib/gcc/aarch64-linux-gnu/11/include/stdint.h:
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+
+/usr/include/aarch64-linux-gnu/bits/stdio_lim.h:
+
+/usr/include/aarch64-linux-gnu/bits/wordsize.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/locale_t.h:
+
+../third_party/mosquitto/plugins/payload-modification/mosquitto_payload_modification.c:
+
+/usr/include/aarch64-linux-gnu/bits/time64.h:
+
+/usr/include/string.h:
+
+/usr/lib/gcc/aarch64-linux-gnu/11/include/stdarg.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/clockid_t.h:
+
+/usr/include/strings.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdio.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/struct_tm.h:
+
+/usr/include/aarch64-linux-gnu/bits/types.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/struct_FILE.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__fpos64_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/wchar.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__FILE.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/FILE.h:
+
+/usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h:
+
+/usr/include/aarch64-linux-gnu/bits/floatn.h:
+
+/usr/include/aarch64-linux-gnu/bits/stdio2.h:

drivers/gpio/device_init.c

@@ -14,6 +14,7 @@ const deviceconfig_t device_configs[] = {
         .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
@@ -24,6 +25,7 @@ const deviceconfig_t device_configs[] = {
         .device_name = "car0102",
         .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 = car0102_speed_stop,
         .emergency_code = 102
@@ -32,8 +34,9 @@ const deviceconfig_t device_configs[] = {
     {
         .device_id = DEVICE_CAR0103,
         .device_name = "car0103",
-        .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
+        .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
@@ -42,8 +45,9 @@ const deviceconfig_t device_configs[] = {
     {
         .device_id = DEVICE_CAR0104,
         .device_name = "car0104",
-        .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27,-1},/* 补充GPIO引脚 */
+        .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
@@ -54,6 +58,7 @@ const deviceconfig_t device_configs[] = {
         .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={-1},
         .device_pwm_init = physics_pwm_init,
         .device_control_stop =  tank0202_middle,/* 补充速度控制函数 */
         .emergency_code = 202
@@ -63,6 +68,7 @@ const deviceconfig_t device_configs[] = {
         .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={-1},
         .device_pwm_init = physics_pwm_init,
         .device_control_stop =  tank0203_middle,/* 补充速度控制函数 */
         .emergency_code = 203
@@ -72,6 +78,7 @@ const deviceconfig_t device_configs[] = {
         .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={-1},
         .device_pwm_init = physics_pwm_init,
         .device_control_stop =  tank0204_stop,/* 补充速度控制函数 */
         .emergency_code = 204
@@ -81,6 +88,7 @@ const deviceconfig_t device_configs[] = {
         .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
@@ -90,6 +98,7 @@ const deviceconfig_t device_configs[] = {
         .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
@@ -99,6 +108,7 @@ const deviceconfig_t device_configs[] = {
         .device_name = "ptz0401",
         .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 = pwm_PTZ_hz,
         .device_control_stop =  PTZ_pwm_init,/* 补充速度控制函数 */
         .emergency_code = 401
@@ -108,6 +118,7 @@ const deviceconfig_t device_configs[] = {
         .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
@@ -141,7 +152,8 @@ 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_pins)==TRUE)init_gpiopwm(config->gpio_pwms);  // GPIOsoft_pwm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);
     config->device_pwm_init();               // PWM初始化
     config->device_control_stop();          // 速度控制初始化
     g_device_type =config->emergency_code;

drivers/gpio/device_init.h

@@ -8,8 +8,9 @@ extern int g_device_delay_back_count  ; //设备延时函数，坦克倒退逻
 typedef struct {
     int device_id;              // 设备ID (101, 102等)
     char device_name[20];       // 设备名称
-    int gpio_pins[20];          // GPIO引脚配置数组
+    int gpio_pins[30];          // GPIO引脚配置数组
     int gpio_pwms[20];
+    int gpio_inputs[20];
     void (*device_pwm_init)(void);    // PWM初始化函数指针
     void (*device_control_stop)(void);// 速度控制函数指针
     int emergency_code;         // 异常停止代码

drivers/gpio/gpio_control.c

@@ -18,7 +18,6 @@ void car0103_pin_value(int pin,int value);
 void car0104_pin_value(int pin,int value);
 
 void public_pwm_value(int pin ,int value);
-void car0103_pwm_value(int pin ,int value);
 void tank0202_pwm_value(int pin,int value);
 void tank0203_pwm_value(int pin,int value);
 void tank0204_pwm_value(int pin,int value);
@@ -312,8 +311,55 @@ void car0102_pin_value(int pin,int value) {	//引脚控制
 	
 }
 
+/*
+* 挖斗检测函数，此为反馈要快，所以加入到计时线程中
+*/
+void device_fast_read(){
+    if(g_device_type==DEVICE_CAR0103) {
+        if(digitalRead(18)==LOW) {
+            digitalWrite(7, LOW);
+        return ;
+        }
+    }else {
+        return ;
+    }
+}
+
+/*
+* 读取相应的引脚做出相应的反馈
+*/
+int car0103_pin_read(int pin){
+    if(digitalRead(20)==LOW&& pin==24){
+        digitalWrite(24, LOW);
+        return 1;
+    }else if(digitalRead(11)==LOW&& pin==26) {
+        digitalWrite(26, LOW);
+        digitalWrite(27, LOW);
+        return 1;
+    }
+     if(digitalRead(12)==LOW&& pin==9){
+        digitalWrite(9, LOW);
+        return 1;
+    }else if(digitalRead(14)==LOW&& pin==10) {
+        digitalWrite(10, LOW);
+        return 1;
+    }
+     if(digitalRead(17)==LOW&& pin==5){
+        digitalWrite(5, LOW);
+        return 1;
+    }else if(digitalRead(18)==LOW&& pin==7) {
+        digitalWrite(7, LOW);
+        return 1;
+    }
+    return 0;
+}
+
+
+
 /*挖机pin控制*/
 void car0103_pin_value(int pin,int value){
+    if(car0103_pin_read(pin)==1) return ;
+
     if(pin == 26 && value==1) {
         public_pin_value(27,1);
         public_pin_value(pin,value);

drivers/gpio/gpio_control.h

@@ -34,5 +34,7 @@ int device_shot_cooling_init();
 extern ThreadPool_t *g_pool_device_gpio_control_t;
 
 extern int g_tank_shot_index;
+
+void device_fast_read();//快速判断
  
 #endif
\ No newline at end of file

drivers/gpio/gpio_init.c

@@ -8,11 +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pwm引脚
-int g_gpiowpi[40]; //能使用高低引脚和其他引脚
+int g_gpioPwm[20];//软件控制pwm引脚
+int g_gpiowpi[30]; //能使用高低引脚和其他引脚
+int g_gpio_input[20]; //能读取引脚
 
 int g_gpiocount=0; //gpio引脚数量
 int g_gpio_softpwmcount=0;//pwm引脚数量
+int g_gpio_inputcount=0;
 
 /*初始化gpio*/
 void init_gpiowpi(const int *values_pin) {
@@ -42,6 +44,21 @@ void init_gpiopwm(const int *values_pwm) {
     } 
 }
 
+/*初始化gpio 输入模式*/
+void init_gpio_input(const int *values_pwm) {
+    while(values_pwm[g_gpio_inputcount] != -1){
+        g_gpio_inputcount++;
+    }
+    //g_gpio_inputcount=sizeof(values_pwm) / sizeof(values_pwm[0]);
+    for (int i = 0; i < g_gpio_inputcount ; i++) {
+        g_gpio_input[i] = values_pwm[i];
+    } 
+    for(int i = 0; i < g_gpio_inputcount; i++) {
+        pinMode(g_gpio_input[i], INPUT);
+        pullUpDnControl(g_gpio_input[i], PUD_UP);
+    } 
+}
+
 void pin_all_default() {//全部至低电平,车和坦克共用
 	for (int i=0;i<g_gpiocount;i++) {
         if(g_gpiowpi[i]==16 || g_gpiowpi[i]==20 || g_gpiowpi[i]==22) continue;

drivers/gpio/gpio_init.h

@@ -9,14 +9,17 @@
 #define PWM_PIN_SPEED 21
 #define PWM_PIN_CHANGE 2
 
-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_gpioPwm[20];//软件控制
+extern int g_gpiowpi[30]; //能使用高低引脚和其他引脚
+extern int g_gpio_input[20]; //能读取引脚
 
 extern int g_gpiocount;//gpio引脚数量
 extern int g_gpio_softpwmcount;//pwm引脚数量
+extern int g_gpio_inputcount;
 
 void init_gpiowpi(const int *values_pin);//gpio引脚初始化
 void init_gpiopwm(const int *values_pwm);
+void init_gpio_input(const int *values_pwm);//gpio读取
 
 void pin_value(int pin,int value);//控制引脚高低