重构基本完成，但是一些地方还需优化

app/device_identity/device_identity.c

@@ -107,22 +107,16 @@ int device_judg(CodeEnum_t code,char *sub_str) {
         device_init(DEVICE_CAR0102);
         my_zlog_info("使用型号%s",sub_str);
     }else if(code == CAR_0103) {
-        //car_Init_0103();
+        device_init(DEVICE_CAR0103);
         my_zlog_info("使用型号%s",sub_str);
     }else if(code == CAR_0104) {
-        //car_Init_0104();
-        my_zlog_info("使用型号%s",sub_str);
-    }else if(code == TANK_0201) {
-        //tank_Init_0201();
+        device_init(DEVICE_CAR0104);
         my_zlog_info("使用型号%s",sub_str);
     }else if(code == TANK_0202) {
-        //tank_Init_0202();
-        my_zlog_info("使用型号%s",sub_str);
-    }else if(code == SHIP_0301) {
-        //ship_Init_0301();
+        device_init(DEVICE_TANK0202);
         my_zlog_info("使用型号%s",sub_str);
     }else if(code ==PAO_0401) {
-        //ptr_Init_0401();
+        device_init(DEVICE_PAO_PTZ0401);
         my_zlog_info("使用型号%s",sub_str);   
     }else {
         my_zlog_error("没有找到设备号,尝试启用备用mqtt,topic进行改名");

app/main/main.c

@@ -34,7 +34,15 @@ int main(){
       my_zlog_warn("此版本电压没有使用INA226");
    }
 
+   if(audio_init()!=0){
+      my_zlog_warn("audio初始化有问题");
+   }
+    
    int thread_rc=thread_start_init( thread_exit_time,thread_mqtt_beat,thread_open_browser,thread_mqtt_reconnect,thread_time_calculation,thread_play_mp3);
+   if(thread_rc != 0){
+      my_zlog_warn("多线程初始化失败");
+      return -7;
+   } 
 
     thread_end_close();
     device_end_close(g_device_type);

app/main/main.h

@@ -20,6 +20,9 @@ int mylog_init();
 /*wiringPi初始化函数*/
 int  wiringPiSetup(); 
 
+/*音频初始化函数*/
+int audio_init();
+
 int softiic_init();
 
 /*mqtt的topic初始化*/

drivers/devicecontrol/devcontrol_common.c

 #include "devcontrol_common.h"
+#include "gpio_init.h"
 
 const device_didrive device_didrive_control_config_t[]={
         {
@@ -32,28 +33,40 @@ const device_didrive device_didrive_control_config_t[]={
 const device_abnormal_close_t devcontrol_config_t[]= {
         {
         .device_id = DEVICE_CAR0101,
-        .device_abnormal_stop = car0101_middle_pwm
+        .device_abnormal_stop = car0101_middle_pwm,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
     },
         {
         .device_id = DEVICE_CAR0102,
-        .device_abnormal_stop = car0102_speed_stop
+        .device_abnormal_stop = car0102_speed_stop,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
     },
         {
         .device_id = DEVICE_CAR0103,
-        .device_abnormal_stop = car0103_middle
+        .device_abnormal_stop = car0103_middle,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
     },
         {
         .device_id = DEVICE_CAR0104,
-        .device_abnormal_stop = car0104_stop
+        .device_abnormal_stop = car0104_stop,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
     },
         {
         .device_id = DEVICE_TANK0202,
         .device_abnormal_stop = tank0202_middle,
-        .device_close = tank0202_thread_close
+        .device_close = tank0202_thread_close,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
     },
         {
         .device_id = DEVICE_PAO_PTZ0401,
-        .device_abnormal_stop = PTZ_pwm_init
+        .device_abnormal_stop = PTZ_pwm_init,
+        .gpio_pin_pulled=pin_all_default,
+        .gpio_pwm_pulled=pwm_all_default
     },
     // 结束标记
     { .device_id = -1 }
@@ -75,7 +88,9 @@ void device_stop(int device_id) {
         return;
     }
     
-    config->device_abnormal_stop();          // 速度控制初始化
+    config->device_abnormal_stop(); 
+    config->gpio_pin_pulled();
+    config->gpio_pwm_pulled();         
 
 }
 
@@ -95,7 +110,7 @@ void device_end_close(int device_id) {
         return;
     }
     
-    config->device_close();          // 速度控制初始化
+    config->device_close();      
 
 }
 

drivers/gpio/device_init.c

@@ -12,8 +12,8 @@ const deviceconfig_t device_configs[] = {
     {
         .device_id = DEVICE_CAR0101,
         .device_name = "car0101",
-        .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26,  -1},
-        .gpio_pwms = {27,-1},
+        .gpio_pins = {5, 6, 7, 10, 16, 20, 22, 23, 24, 25, 26, 27, -1},
+        .gpio_pwms = {-1},
         .device_pwm_init =  physics_pwm_init,
         .device_control_stop = car0101_middle_pwm,
         .emergency_code = 101

drivers/gpio/gpio_init.c

@@ -67,10 +67,13 @@ void pwm_value(int pin,int value) {	//软件陪我们控制调速
     if(value==1) {
 		
 		if(pin == 27){
+            if(g_device_type  != DEVICE_TANK0202 ){
                 softPwmWrite(pin, shot_speed);
                 my_zlog_debug("pin:%d,%d",pin,shot_speed);
+            }
+            if(g_device_type == DEVICE_TANK0202) softPwmWrite(pin, 40);
         } else {
-            if(g_device_type == DEVICE_TANK0202)softPwmWrite(pin, 30);
+            if(g_device_type == DEVICE_TANK0202) softPwmWrite(pin, 30);
             if(g_device_type  != DEVICE_TANK0202 )softPwmWrite(pin, shot_speed);
         }
         

drivers/sensors/audioplay.c

@@ -104,3 +104,19 @@ void audioplay_cycle(){
     
     }
 }
+
+int audio_init() {
+
+    int adino_jude = system("pactl load-module module-alsa-source device=hw:2,0");
+    delay_s(3);
+    int adino_play_jude =system("pactl load-module module-alsa-sink device=hw:2,0");
+    
+    if (adino_jude  == 0 && adino_play_jude==0 ) {
+        my_zlog_debug("命令执行成功！");
+        return 0;
+    } else {
+        if(adino_jude  != 0) my_zlog_warn("麦命令执行失败，返回状态码: %d", adino_jude );
+        if(adino_play_jude!=0) my_zlog_warn("喇叭命令执行失败，返回状态码: %d", adino_play_jude );
+        return -1;
+    }
+}
\ No newline at end of file

drivers/sensors/audioplay.h

@@ -6,4 +6,6 @@
 
 void audioplay_mqtt_receive(cJSON *body); //接收音频mqtt播放函数
 void audioplay_cycle();//音频播放线程中函数
+
+int audio_init();
 #endif
\ No newline at end of file

include/devcontrol_common.h

@@ -12,8 +12,10 @@
 
 typedef struct {
     int device_id;              // 设备ID (101, 102等)
-    void (*device_abnormal_stop)(void);    // PWM初始化函数指针
-    void (*device_close)(void);// 速度控制函数指针
+    void (*device_abnormal_stop)(void);    // 车停止
+    void (*gpio_pin_pulled)(void);
+    void (*gpio_pwm_pulled)(void);
+    void (*device_close)(void);// 关闭线程池等
 } device_abnormal_close_t;
 
 typedef struct {

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 2
+#define HTTP_REQUEST_INDEX 1
 
 struct MemoryStruct {
     char *memory;

modules/mqtt/mqtt_infor_handle.c

@@ -82,6 +82,7 @@ void heartbeat_send() {
 
 //角度发送
 void angle_mqtt_send() { 
+    static int angle_i=0;
     float angle_shot=ads1115_read_channel(2);
     if(angle_shot>0){  
     angle_shot=angle_shot*360/5;
@@ -92,7 +93,11 @@ void angle_mqtt_send() {
     cJSON_AddStringToObject(root, "type","tank_angle");
     cJSON_AddNumberToObject(root, "angle",rounded_angle);
     char *payload = cJSON_PrintUnformatted(root);
+    angle_i++;
+    if(angle_i>=200){
         my_zlog_debug("%s",payload);
+        angle_i=0;
+    }
     mosquitto_publish(mosq, NULL, TOPIC_send_angle, strlen(payload), payload, 0, false); 
     cJSON_Delete(root);  // 释放 cJSON 对象
     }

modules/mqtt/mqtt_init.h

@@ -6,6 +6,7 @@
 
 //extern ThreadPool *pool;
 
+/*2为国外1为国内*/
 #define MQTT_IPMODE 1  // 或通过编译选项 -DMODE=1 指定
 
 #if MQTT_IPMODE == 1

modules/mqtt/mqtt_verify.h

@@ -3,8 +3,8 @@
 
 #include "cjson/cJSON.h"
 
-/*1为打开验证0为关闭验证*/
-#define VERIFIED_MODE 1 
+/*TRUE为打开验证，FALSE为关闭验证*/
+#define VERIFIED_MODE TRUE 
 
 #define AES_BLOCK_SIZE 16