加入了坦克发射会后退一瞬间

.gitignore

 log
 deviceback
 loghttp
-Deviceld.txt
+Deviceld.txt
\ No newline at end of file
+build/CMakeFiles
+build/cmake_install.cmake
+build/CMakeCache.txt
+build/CTestTestfile.cmake
\ No newline at end of file

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(DeviceControlSystem 
-    VERSION 1.1.1
+    VERSION 1.1.2
     LANGUAGES C
 )
 

build/CMakeCache.txt

@@ -122,7 +122,7 @@ CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
 CMAKE_PROJECT_NAME:STATIC=DeviceControlSystem
 
 //Value Computed by CMake
-CMAKE_PROJECT_VERSION:STATIC=1.1.1
+CMAKE_PROJECT_VERSION:STATIC=1.1.2
 
 //Value Computed by CMake
 CMAKE_PROJECT_VERSION_MAJOR:STATIC=1
@@ -131,7 +131,7 @@ CMAKE_PROJECT_VERSION_MAJOR:STATIC=1
 CMAKE_PROJECT_VERSION_MINOR:STATIC=1
 
 //Value Computed by CMake
-CMAKE_PROJECT_VERSION_PATCH:STATIC=1
+CMAKE_PROJECT_VERSION_PATCH:STATIC=2
 
 //Value Computed by CMake
 CMAKE_PROJECT_VERSION_TWEAK:STATIC=

build/CMakeFiles/main.dir/compiler_depend.internal

@@ -3009,6 +3009,9 @@ CMakeFiles/main.dir/system/gpio/gpio_common.c.o
  /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/softiic.h
  /home/orangepi/car/master/system/gpio/gpio_common.h
+ /home/orangepi/car/master/include/mqtt.h
+ /usr/include/mosquitto.h
+ /usr/include/cjson/cJSON.h
  /home/orangepi/car/master/include/request.h
  /home/orangepi/car/master/include/common.h
 
@@ -3622,6 +3625,8 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o
  /home/orangepi/car/master/include/log.h
  /home/orangepi/car/master/include/delay.h
  /home/orangepi/car/master/include/softiic.h
+ /home/orangepi/car/master/include/pthrpoll.h
+ /home/orangepi/car/master/include/common.h
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h
 
 CMakeFiles/main.dir/system/sensor/INA226.c.o

build/CMakeFiles/main.dir/compiler_depend.make

@@ -2990,6 +2990,9 @@ CMakeFiles/main.dir/system/gpio/gpio_common.c.o: ../system/gpio/gpio_common.c \
   ../include/delay.h \
   ../include/softiic.h \
   ../system/gpio/gpio_common.h \
+  ../include/mqtt.h \
+  /usr/include/mosquitto.h \
+  /usr/include/cjson/cJSON.h \
   ../include/request.h \
   ../include/common.h
 
@@ -3599,6 +3602,8 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o: ../system/gpio/gpio_pwm_t
   ../include/log.h \
   ../include/delay.h \
   ../include/softiic.h \
+  ../include/pthrpoll.h \
+  ../include/common.h \
   ../system/gpio/gpio_pwm_tank0202.h
 
 CMakeFiles/main.dir/system/sensor/INA226.c.o: ../system/sensor/INA226.c \

build/CMakeFiles/main.dir/system/gpio/gpio_common.c.o.d

@@ -131,5 +131,7 @@ CMakeFiles/main.dir/system/gpio/gpio_common.c.o: \
  /home/orangepi/car/master/include/delay.h \
  /home/orangepi/car/master/include/softiic.h \
  /home/orangepi/car/master/system/gpio/gpio_common.h \
- /home/orangepi/car/master/include/request.h \
- /home/orangepi/car/master/include/common.h
+ /home/orangepi/car/master/include/mqtt.h /usr/include/mosquitto.h \
+ /usr/include/cjson/cJSON.h /home/orangepi/car/master/include/request.h \
+ /home/orangepi/car/master/include/common.h \
+ /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h

build/CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o.d

@@ -130,4 +130,6 @@ CMakeFiles/main.dir/system/gpio/gpio_pwm_tank0202.c.o: \
  /home/orangepi/car/master/include/log.h \
  /home/orangepi/car/master/include/delay.h \
  /home/orangepi/car/master/include/softiic.h \
+ /home/orangepi/car/master/include/pthrpoll.h \
+ /home/orangepi/car/master/include/common.h \
  /home/orangepi/car/master/system/gpio/gpio_pwm_tank0202.h

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 1
-#define PROJECT_VERSION_PATCH 1
+#define PROJECT_VERSION_PATCH 2
 #define GIT_HASH ""
-#define BUILD_TIMESTAMP "2025-05-16T06:54:04"
+#define BUILD_TIMESTAMP "2025-05-19T12:32:09"
 #define BUILD_USER "orangepi"

include/thread_main.h

 #ifndef THREAD_MAIN_H__
 #define THREAD_MAIN_H__
 
-int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg)) ;
-void *AppExit(void *arg) ;
-void *Mqttbeat(void *arg) ;
-void *opensh(void *arg) ;
-void *Mqtt_onnect(void *arg) ;
+int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg),void *delay_count(void *arg)) ;
+void *AppExit(void *arg) ;//异常停止线程
+void *Mqttbeat(void *arg) ;//心跳线程
+void *opensh(void *arg) ;//启动游览器线程
+void *Mqtt_onnect(void *arg) ;//mqtt自带重连线程
+void *delay_count(void *arg) ;//延时计算延迟
 void thread_end() ;
 
 #endif
\ No newline at end of file

src/mqtt.c

@@ -174,6 +174,7 @@ void message_4(cJSON *body, cJSON *pin_setctrl){//message 为4时候
 
     pin_value(gvalt[1],gvalt[2]);
     pwm_value(gvalt[1],gvalt[2]);
+    if(AppExit_pin_pwm == 202 ) tank_shot_back_stop(gvalt[1],gvalt[2]);
 }
 
 int device_message(cJSON *json){//接收到的控制设备的mqtt消息

src/thread_main.c

@@ -11,9 +11,10 @@
 #include "device_exit.h"
 #include "thread_main.h"
 
-pthread_t thread[4];
+pthread_t thread[5];
 //开启线程
-int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh(void *arg),void *Mqtt_onnect(void *arg)){
+int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),
+void *opensh(void *arg),void *Mqtt_onnect(void *arg),void *delay_count(void *arg)){
     if(pthread_create(&thread[0],NULL,AppExit,NULL)!=0) {
         //perror("Failed to create thread 0");
         my_zlog_error("Failed to create thread 0");
@@ -34,6 +35,11 @@ int thread_start(void *AppExit(void *arg),void *Mqttbeat(void *arg),void *opensh
         my_zlog_error("Failed to create thread 3");
         return 4;
     }
+    if(pthread_create(&thread[4],NULL,delay_count,NULL)!=0) {
+        //perror("Failed to create thread 3");
+        my_zlog_error("Failed to create thread 4");
+        return 5;
+    }
         return 0;
 }
 
@@ -87,6 +93,14 @@ void *Mqtt_onnect(void *arg) {//mqtt异常处理，断开自动重连，简单
     return NULL;
 }
 
+void *delay_count(void *arg) {//专门用于计时的线程
+    while (1) {
+        Delay_Ms(0,1);
+       device_delay_count++;
+       if(device_delay_count >= 10000) device_delay_count = 10000;
+    }
+}
+
 
 // 等待线程结束
 void thread_end() {
@@ -94,5 +108,6 @@ void thread_end() {
     pthread_join(thread[1], NULL);
     pthread_join(thread[2], NULL);
     pthread_join(thread[3], NULL);
+    pthread_join(thread[4], NULL);
 }
 

system/gpio/gpio_common.c

 #include "common.h"
 #include "gpio_common.h"
+#include "mqtt.h"
 #include "request.h"
+#include "gpio_pwm_tank0202.h"
 
 
 #define MIN_DUTY 0  // 最小占空比
 #define MAX_DUTY 100 // 最大占空比
 
+int device_delay_count =0;//设备计算函数
+
 int gpioPwm[30];//软件控制
 int gpioWPi[40]; //能使用高低引脚和其他引脚
 
@@ -97,4 +101,8 @@ void pwm_init_speed() {
     pwmSetClock(PWM_PIN_CHANGE,pwm_clock);//=19200*1000/(hz*2000)
     pwmSetRange(PWM_PIN_CHANGE,1000);//占空比范围
     
+}
+
+void Device_exit_end(){//main最后结束需要调用的函数
+    if(AppExit_pin_pwm == 202) tank_shot_back_stop_task_end();
 }
\ No newline at end of file

system/gpio/gpio_common.h

-/*
-此文件为通用文件，一般用于50hz的驱动等和引脚高低，适合车和船使用，
-如果有其他需求，此文件就不需要使用
-*/
-
 #ifndef GPIO_COMMON_H__
 #define GPIO_COMMON_H__
 
@@ -10,6 +5,10 @@
 #define PWM_PIN_SPEED 21
 #define PWM_PIN_CHANGE 2
 
+extern int device_delay_count;//延时计算函数，使用前必须置0
+
+void Device_exit_end();//main最后结束需要调用的函数
+
 void init_gpioWPi(int *values_pin);//gpio引脚初始化
 void init_gpioPwm(int *values_pwm);
 
@@ -22,4 +21,8 @@ void pin_value(int pin,int value);
 void pwm_init_speed(); 
 void pwm_value(int pin,int value); //软件陪我们控制调速
 
-#endif
+#endif
\ No newline at end of file
+/*
+此文件为通用文件，一般用于50hz的驱动等和引脚高低，适合车和船使用，
+如果有其他需求，此文件就不需要使用
+*/
\ No newline at end of file

system/gpio/gpio_pwm_tank0202.c

 #include "common.h"
+#include "pthrpoll.h"
 #include "gpio_pwm_tank0202.h"
 
 int modecount=0;
@@ -8,6 +9,10 @@ int tank0202_middle() {
     pwmWrite(PWM_PIN_CHANGE,75);
     return 0;
 }
+
+long long shot_device_time_start ;
+long long shot_device_time_end = 0;
+
 void mode_lift_flont(unsigned char gval) {
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -192,4 +197,57 @@ int  tank0202_change(unsigned char *buf) {
         if(modecount == 1) mode_lift_back(val+25);
     }
     
+}
+
+// 函数功能：获取当前精确到毫秒的时间戳
+// 返回值：当前时间的毫秒数
+long long get_current_time_millis() {
+    struct timeval tv;
+    // 获取当前时间，存储在tv结构体中，第二个参数一般传NULL
+    if (gettimeofday(&tv, NULL)!= 0) {
+        perror("gettimeofday error");
+        return -1;
+    }
+    // 秒数部分转换为毫秒（乘以1000），微秒数部分转换为毫秒（除以1000），然后相加
+    return (long long)tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+void tank_shot_back_stop_task_function(void *arg) {
+		if(device_delay_count>=20&&device_delay_count<=40) {
+			mode_right_back(80);
+		}
+		if(device_delay_count>40) {
+			mode_right_back(0);
+		}
+}
+
+ThreadPool *pool_tank;
+void tank_shot_back_stop_task_end(){
+	thread_pool_destroy(pool_tank);
+}
+
+int tank_shot_back_stop(int pin,int val){
+	static int shot_count=0;
+
+	shot_device_time_start=get_current_time_millis();
+	if(pin !=27){
+		my_zlog_debug("非27引脚\n");
+		return 1;
+	}
+	if(val == 0) {
+		mode_right_back(0);
+		shot_count=1;
+		//thread_pool_destroy(pool);
+	}
+	if(val != 0) {
+		if(shot_count == 0){
+			int arg =1;
+			pool_tank=thread_pool_init(1,1);
+			thread_pool_add_task(pool_tank, tank_shot_back_stop_task_function, &arg);
+			shot_count=1;
+		}if(shot_count == 1){
+			device_delay_count=0;
+		}
+	}
+	shot_device_time_end=get_current_time_millis();
 }
\ No newline at end of file

system/gpio/gpio_pwm_tank0202.h

@@ -3,5 +3,9 @@
 
 int tank0202_middle();
 
+void tank_shot_back_stop_task_end();
+
 int  tank0202_change(unsigned char *buf);
+
+int tank_shot_back_stop(int pin,int val);
 #endif
\ No newline at end of file

usr/main.c

@@ -60,7 +60,7 @@ int main(int argc, char *argv[]) {
         my_zlog_fatal("I获取失败");
         return -1;
     }
-    if(thread_start(AppExit,Mqttbeat,opensh,Mqtt_onnect) !=0 ) {//开启线程)
+    if(thread_start(AppExit,Mqttbeat,opensh,Mqtt_onnect,delay_count) !=0 ) {//开启线程)
          my_zlog_fatal("开启线程失败");
          return -1 ;
     }