Merge branch 'feature/self_control' into 'master'

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
 project(car 
-    VERSION 1.2.17
+    VERSION 1.2.19
     LANGUAGES C
 )
 
@@ -44,6 +44,7 @@ include_directories(
     drivers/network
     drivers/sensors
     drivers/devicecontrol
+    drivers/selfcontrol
     modules/logger
     modules/delay
     modules/thread_pool
@@ -60,7 +61,8 @@ file(GLOB_RECURSE SOURCES
     drivers/gpio/*.c
     drivers/network/*.c
     drivers/sensors/*.c
-    drivers/devicecontrol/*c
+    drivers/devicecontrol/*.c
+    drivers/selfcontrol/*.c
     modules/logger/*.c
     modules/delay/*.c
     modules/thread_pool/*.c

app/main/pthread_open.c

@@ -39,18 +39,21 @@ int thread_start_init(ThreadFunc thread_exit_time, ThreadFunc thread_mqtt_beat,
 
 //出现意外自动停止
 void *thread_exit_time(void *arg) { 
-    while(1){    
+    while(1){  
+     if(get_self_control_index()==false){
         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);
+     }else if(get_self_control_index()==true){
+        delay_ms(20);
+        set_self_control_time_countfuntion();
+     }  
+        
     }
     return NULL; 
 }

build/Makefile

@@ -942,6 +942,30 @@ drivers/network/ip_reader.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/network/ip_reader.c.s
 .PHONY : drivers/network/ip_reader.c.s
 
+drivers/selfcontrol/self_devicecontrol.o: drivers/selfcontrol/self_devicecontrol.c.o
+.PHONY : drivers/selfcontrol/self_devicecontrol.o
+
+# target to build an object file
+drivers/selfcontrol/self_devicecontrol.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/selfcontrol/self_devicecontrol.c.o
+.PHONY : drivers/selfcontrol/self_devicecontrol.c.o
+
+drivers/selfcontrol/self_devicecontrol.i: drivers/selfcontrol/self_devicecontrol.c.i
+.PHONY : drivers/selfcontrol/self_devicecontrol.i
+
+# target to preprocess a source file
+drivers/selfcontrol/self_devicecontrol.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/selfcontrol/self_devicecontrol.c.i
+.PHONY : drivers/selfcontrol/self_devicecontrol.c.i
+
+drivers/selfcontrol/self_devicecontrol.s: drivers/selfcontrol/self_devicecontrol.c.s
+.PHONY : drivers/selfcontrol/self_devicecontrol.s
+
+# target to generate assembly for a file
+drivers/selfcontrol/self_devicecontrol.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/selfcontrol/self_devicecontrol.c.s
+.PHONY : drivers/selfcontrol/self_devicecontrol.c.s
+
 drivers/sensors/INA226.o: drivers/sensors/INA226.c.o
 .PHONY : drivers/sensors/INA226.o
 
@@ -1978,6 +2002,9 @@ help:
 	@echo "... drivers/network/ip_reader.o"
 	@echo "... drivers/network/ip_reader.i"
 	@echo "... drivers/network/ip_reader.s"
+	@echo "... drivers/selfcontrol/self_devicecontrol.o"
+	@echo "... drivers/selfcontrol/self_devicecontrol.i"
+	@echo "... drivers/selfcontrol/self_devicecontrol.s"
 	@echo "... drivers/sensors/INA226.o"
 	@echo "... drivers/sensors/INA226.i"
 	@echo "... drivers/sensors/INA226.s"

build/include/version.h

 #define PROJECT_VERSION_MAJOR 1
 #define PROJECT_VERSION_MINOR 2
-#define PROJECT_VERSION_PATCH 17
+#define PROJECT_VERSION_PATCH 19
 #define GIT_HASH ""
 #define BUILD_TIMESTAMP ""
 #define BUILD_USER ""

build/third_party/mosquitto/CMakeFiles/progress.marks

-78
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build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make

 CMAKE_PROGRESS_1 = 
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+CMAKE_PROGRESS_2 = 81
+CMAKE_PROGRESS_3 = 
 CMAKE_PROGRESS_4 = 
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto.dir/progress.make

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 CMAKE_PROGRESS_34 = 
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

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build/third_party/mosquitto/plugins/dynamic-security/CMakeFiles/mosquitto_dynamic_security.dir/progress.make

@@ -3,8 +3,8 @@ CMAKE_PROGRESS_2 =
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build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/progress.make

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 CMAKE_PROGRESS_16 = 
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 CMAKE_PROGRESS_34 = 
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 CMAKE_PROGRESS_36 = 
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+CMAKE_PROGRESS_75 = 
 

build/third_party/mosquitto/src/CMakeFiles/progress.marks

-27
+26

drivers/devicecontrol/car0104_control.c

@@ -81,14 +81,14 @@ void  car0104_change(unsigned char *buf) {
     unsigned char val = buf[2];
 	
     if(mode == 1 ) {
-        car0104_flont(val);
+        car0104_flont(val+10);
     }else if(mode == 2 ) {
-        car0104_back(val);
+        car0104_back(val+10);
     }else if(mode == 3) {
-		if(val !=0) car0104_lift(85);
+		if(val !=0) car0104_lift(100);
 		else car0104_lift(0);
     }else if(mode == 4) {
-		if(val !=0) car0104_right(85);  
+		if(val !=0) car0104_right(100);  
 		else  car0104_lift(0);
     }
     

drivers/devicecontrol/devcontrol_common.h

@@ -29,6 +29,15 @@
 #define DEVICE_PAO_PTZ0401 401 //云台
 #define DEVICE_ROBOT_DOG0501 501 //机械狗
 
+/*
+*以下为大类
+*/
+#define LAND_CAR 1
+#define MARINE_TANK 2
+#define WATER_TANK 3
+#define WATER_SHIP 4
+ 
+
 typedef struct {
     int device_id;              // 设备ID (101, 102等)
     void (*device_abnormal_stop)(void);    // 车停止

drivers/devicecontrol/tank0202_control.c

@@ -10,7 +10,7 @@ void tank0202_middle() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void mode_lift_flont(unsigned char gval) {
+void mode_right(unsigned char gval) {
 		int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -26,7 +26,7 @@ void mode_lift_flont(unsigned char gval) {
 	}
 }
 
-void mode_lift_back(unsigned char gval) {
+void mode_lift(unsigned char gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -41,7 +41,7 @@ void mode_lift_back(unsigned char gval) {
 	}     
 }
 
-void mode_right_flont(unsigned char gval) {
+void mode_flont(unsigned char gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -56,7 +56,7 @@ void mode_right_flont(unsigned char gval) {
 	}
 }
 
-void mode_right_back(unsigned char gval) {
+void mode_back(unsigned char gval) {
 		int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -128,33 +128,33 @@ void  tank0202_change(unsigned char *buf) {
 	}
 
 	if(tank0202_front_t ==0&&tank0202_steering_t==0){
-		mode_lift_flont(0);
-        mode_right_flont(0);
+		mode_right(0);
+        mode_flont(0);
 	}else if(tank0202_front_t ==1&&tank0202_steering_t==0){
-			mode_right_flont(tank0202_front_val+10);
-			mode_lift_flont(0);
+			mode_flont(tank0202_front_val+10);
+			mode_right(0);
 	}else if(tank0202_front_t ==2&&tank0202_steering_t==0){
-			mode_right_back(tank0202_front_val+10);
-			mode_lift_back(0);
+			mode_back(tank0202_front_val+10);
+			mode_lift(0);
 	}else if(tank0202_front_t ==0&&tank0202_steering_t==1){
-			mode_lift_back(tank0202_steering_val + tank0202_count+20);
-			mode_right_back(0);
+			mode_lift(tank0202_steering_val + tank0202_count+20);
+			mode_back(0);
 	}else if(tank0202_front_t ==0&&tank0202_steering_t==2){
-			mode_lift_flont(tank0202_steering_val + tank0202_count+20);
-			mode_right_back(0);
+			mode_right(tank0202_steering_val + tank0202_count+20);
+			mode_back(0);
 	}
 	else if(tank0202_front_t ==1&&tank0202_steering_t==1){
-		mode_lift_back(tank0202_steering_val + 10);
-        mode_right_flont(tank0202_steering_val + 20);
+		mode_lift(tank0202_steering_val + 10);
+        mode_flont(tank0202_steering_val + 20);
 	}else if(tank0202_front_t ==1&&tank0202_steering_t==2){
-		mode_lift_flont(tank0202_steering_val +10);
-        mode_right_flont(tank0202_steering_val + 20);
+		mode_right(tank0202_steering_val +10);
+        mode_flont(tank0202_steering_val + 20);
 	}else if(tank0202_front_t ==2&&tank0202_steering_t==1){
-		mode_lift_back(tank0202_steering_val + 10);
-        mode_right_back(tank0202_steering_val + 20);
+		mode_lift(tank0202_steering_val + 10);
+        mode_back(tank0202_steering_val + 20);
 	}else if(tank0202_front_t ==2&&tank0202_steering_t==2){
-		mode_lift_flont(tank0202_steering_val + 10);
-        mode_right_back(tank0202_steering_val + 20);
+		mode_right(tank0202_steering_val + 10);
+        mode_back(tank0202_steering_val + 20);
 	}
 	
     

drivers/devicecontrol/tank0204_control.c

@@ -8,7 +8,7 @@ void tank0204_stop() {
     pwmWrite(PWM_PIN_CHANGE,75);
 }
 
-void tank0204_mode_lift_flont(unsigned char gval) {
+void tank0204_mode_lift(unsigned char gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -24,7 +24,7 @@ void tank0204_mode_lift_flont(unsigned char gval) {
 	}
 }
 
-void tank0204_mode_lift_back(unsigned char gval) {
+void tank0204_mode_right(unsigned char gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_SPEED, 75);
@@ -39,7 +39,7 @@ void tank0204_mode_lift_back(unsigned char gval) {
 	}  
 }
 
-void tank0204_mode_right_back(unsigned char gval) {
+void tank0204_mode_flont(unsigned char gval) {
 	int b=0;
    if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -54,7 +54,7 @@ void tank0204_mode_right_back(unsigned char gval) {
 	}
 }
 
-void tank0204_mode_right_flont(unsigned char gval) {
+void tank0204_mode_back(unsigned char gval) {
 	int b=0;
 	if (gval < 50) {
 		pwmWrite(PWM_PIN_CHANGE, 75);
@@ -125,33 +125,33 @@ void  tank0204_change(unsigned char *buf) {
 	}
 
 	if(tank0204_front_t ==0&&tank0204_steering_t==0){
-		tank0204_mode_lift_flont(0);
-        tank0204_mode_right_flont(0);
+		tank0204_mode_right(0);
+        tank0204_mode_flont(0);
 	}else if(tank0204_front_t ==1&&tank0204_steering_t==0){
-			tank0204_mode_right_flont(tank0204_front_val+10);
-			tank0204_mode_lift_flont(0);
+			tank0204_mode_flont(tank0204_front_val+10);
+			tank0204_mode_right(0);
 	}else if(tank0204_front_t ==2&&tank0204_steering_t==0){
-			tank0204_mode_right_back(tank0204_front_val+10);
-			tank0204_mode_lift_back(0);
+			tank0204_mode_back(tank0204_front_val+10);
+			tank0204_mode_lift(0);
 	}else if(tank0204_front_t ==0&&tank0204_steering_t==1){
-			tank0204_mode_lift_back(tank0204_steering_val + tank0204_count+20);
-			tank0204_mode_right_back(0);
+			tank0204_mode_lift(tank0204_steering_val + tank0204_count);
+			tank0204_mode_back(0);
 	}else if(tank0204_front_t ==0&&tank0204_steering_t==2){
-			tank0204_mode_lift_flont(tank0204_steering_val + tank0204_count+20);
-			tank0204_mode_right_back(0);
+			tank0204_mode_right(tank0204_steering_val + tank0204_count);
+			tank0204_mode_back(0);
 	}
 	else if(tank0204_front_t ==1&&tank0204_steering_t==1){
-		tank0204_mode_lift_back(tank0204_steering_val + 10);
-        tank0204_mode_right_flont(tank0204_steering_val + 20);
+		tank0204_mode_lift(tank0204_steering_val+ tank0204_count+100);
+        tank0204_mode_flont(tank0204_steering_val + 20);
 	}else if(tank0204_front_t ==1&&tank0204_steering_t==2){
-		tank0204_mode_lift_flont(tank0204_steering_val +10);
-        tank0204_mode_right_flont(tank0204_steering_val + 20);
+		tank0204_mode_right(tank0204_steering_val+ tank0204_count+100);
+        tank0204_mode_flont(tank0204_steering_val + 20);
 	}else if(tank0204_front_t ==2&&tank0204_steering_t==1){
-		tank0204_mode_lift_back(tank0204_steering_val + 10);
-        tank0204_mode_right_back(tank0204_steering_val + 20);
+		tank0204_mode_lift(tank0204_steering_val+ tank0204_count+100);
+        tank0204_mode_back(tank0204_steering_val + 20);
 	}else if(tank0204_front_t ==2&&tank0204_steering_t==2){
-		tank0204_mode_lift_flont(tank0204_steering_val + 10);
-        tank0204_mode_right_back(tank0204_steering_val + 20);
+		tank0204_mode_right(tank0204_steering_val+ tank0204_count+100);
+        tank0204_mode_back(tank0204_steering_val + 20);
 	}
     
 }

drivers/devicecontrol/tank_common.c

@@ -14,30 +14,11 @@ int g_tank_shot_index_cool=1;//状态机，用于冷却状态机,坦克接收射
 void tank_shot_back(unsigned char gval) {
 
 	int b=0;
-   if (gval < 50) {
-		pwmWrite(PWM_PIN_CHANGE, 75);
-		pwmWrite(PWM_PIN_SPEED, 75);
-	}else if (gval <= 60) {
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0202) pwmWrite(PWM_PIN_CHANGE, 71);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203)	pwmWrite(PWM_PIN_CHANGE, 79);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, 71);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0204)	pwmWrite(PWM_PIN_CHANGE, 79);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_SPEED, 71);
-	}else if (gval <= 70) {
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0202) pwmWrite(PWM_PIN_CHANGE, 70);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203)pwmWrite(PWM_PIN_CHANGE, 80);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, 70);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0204)pwmWrite(PWM_PIN_CHANGE, 80);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0204) pwmWrite(PWM_PIN_SPEED, 70);
-	}else if(gval >70){
-		int change_1 = 80+(gval-70)/10+b;
-		int speed_2= 70 - (gval-70)/10-b;
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0202) pwmWrite(PWM_PIN_CHANGE, speed_2);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_SPEED, speed_2);
-		if(g_tank_common_config_t->device_id ==DEVICE_TANK0203) pwmWrite(PWM_PIN_CHANGE, change_1);
-		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);
-	}
+	unsigned char valt[3]={0};
+	valt[1]=2;
+	if(gval==0) valt[2]=0;
+	else valt[2]=gval;
+	device_walk_control(g_device_type,valt);
 }
  
  
@@ -104,7 +85,6 @@ void tank_shot_back_stop_task_function(void *arg) {
 			delay_ms(1);
 		}
 
-
 	}
 	
 }
@@ -145,7 +125,9 @@ int tank_shot_back_stop(unsigned char pin,unsigned char val){
 	
 }
 
-/*销毁坦克使用的线程池，让其正常销毁，只有在tank相关设备号下才有用，最后销毁都会到device——common.h中*/
+/*
+* @brief 销毁坦克使用的线程池，让其正常销毁，只有在tank相关设备号下才有用，最后销毁都会到device——common.h中
+*/
 void tank_thread_close(){
 	thread_pool_destroy(pool_tank_t);
 	thread_pool_destroy(g_pool_device_gpio_control_t);

drivers/gpio/gpio_control.c

 #include "common.h"
+#include "app_device_common.h"
+#include "drivers_common.h"
+#include "modules_common.h"
 #include "gpio_control.h"
-#include "tank_angle.h"
-#include "device_init.h"
-#include "gpio_init.h"
-#include "devcontrol_common.h"
-#include "http_request.h"
 
 #define GPIO_ID_THREAD_COUNT 3
 
@@ -19,6 +17,7 @@ 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);
@@ -26,34 +25,20 @@ void tank0206_pwm_value(int pin,int value);
 void ship0301_pwm_value(int pin,int value); 
 void dog0501_pwm_value(int pin,int value);
 
-uint64_t g_tank_shot_interval_ms=5000; //冷却时间
- 
-uint64_t g_tank_shot_ms=1000; //射击时间
-
 TankFireControl g_device_shot_t;   // 真正的结构体变量
 
-/*获取时间戳函数*/
-// uint64_t get_shot_timestamp_ms() {
-//     struct timeval tv;
-//     if (gettimeofday(&tv, NULL) == -1) {
-//         my_zlog_error("gettimeofday failed");
-//         return 0;
-//     }
-//     return (uint64_t)tv.tv_sec * 1000 + tv.tv_usec / 1000;
-// }
-
 /**
  * @brief 初始化坦克射击控制器
  * @param this 控制器指针
- * @param interval_ms 冷却时间（毫秒）
- * @param duration_ms 射击持续时间（毫秒）
+ * @param shot_interval_ms 冷却时间（毫秒）
+ * @param shot_duration_ms 射击持续时间（毫秒）
  */
-void device_shot_fire_init(TankFireControl* this, uint32_t interval_ms, uint32_t duration_ms) {
+void device_shot_fire_init(TankFireControl* this) {
     this->last_shot_end_time = 0;
     this->shooting_start_time = 0;
     this->state = TANK_STATE_READY;
-    this->shot_interval_ms = interval_ms;
-    this->shot_duration_ms = duration_ms;
+    this->shot_interval_ms = 5000;
+    this->shot_duration_ms = 1000;
 }
 
 /*
@@ -61,14 +46,14 @@ void device_shot_fire_init(TankFireControl* this, uint32_t interval_ms, uint32_t
 **对需要射击冷却的进行初始化
 */
 int device_shot_cooling_init(){
-    if(g_device_type ==DEVICE_TANK0202||g_device_type ==DEVICE_TANK0203){
-        my_zlog_info("using %d shot init",g_device_type);
-        device_shot_fire_init(&g_device_shot_t,g_tank_shot_interval_ms,g_tank_shot_ms);
-    }else {
-        return -1;
+    for(int i=0;i<GPIO_ID_THREAD_COUNT;i++){
+        if(g_device_type==gpio_device_id[i]){
+            my_zlog_info("using %d shot init",g_device_type);
+            device_shot_fire_init(&g_device_shot_t);
+            return 0; 
+        }
     }
-
-    return 0; 
+    return -1;
 }
 
 /**
@@ -114,17 +99,18 @@ int device_fire_check(TankFireControl* this) {
 }
 
 /*
-*设备加上冷却射击切换
+* @brief 设备加上冷却射击切换
 */
 int device_shoting_check(int pin,int val){
     if(device_fire_check(&g_device_shot_t)!=0){
         softPwmWrite(pin, 0);
-    }else{
+    }else if(device_fire_check(&g_device_shot_t)==0){
         softPwmWrite(pin, val);
     }
 }
 
-/*坦克限位线程函数*/
+/*
+* @brief 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) {
@@ -157,7 +143,7 @@ void tank_angle_limit_function(void *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");
+    my_zlog_info("device_gpio_control_threadpoll_init start");
     *arg_gpio = 2;
     g_pool_device_gpio_control_t = thread_pool_init(1,1);
     thread_pool_add_task(g_pool_device_gpio_control_t, tank_angle_limit_function, arg_gpio);
@@ -167,59 +153,70 @@ void device_gpio_control_threadpoll_init(){
 const gpiocontrol_t gpio_configs[] = {
     {
         .device_id = DEVICE_CAR0101,
+        .category_id=LAND_CAR,
         .device_pin_value =public_pin_value,
         .device_pwm_value =public_pwm_value
     },
     {
         .device_id = DEVICE_CAR0102,
+        .category_id=LAND_CAR,
         .device_pin_value =public_pin_value,
         .device_pwm_value =public_pwm_value
     },
     {
         .device_id = DEVICE_CAR0103,
+        .category_id=LAND_CAR,
         .device_pin_value =car0103_pin_value,
         .device_pwm_value =public_pwm_value
     },
     {
         .device_id = DEVICE_CAR0104,
+        .category_id=LAND_CAR,
         .device_pin_value =car0104_pin_value,
         .device_pwm_value =public_pwm_value
     },
     {
         .device_id = DEVICE_TANK0202,
+        .category_id=MARINE_TANK,
         .device_pin_value =public_pin_value,
         .device_pwm_value =tank0202_pwm_value,
         .device_gpio_pthread_create=device_gpio_control_threadpoll_init
     },
     {
         .device_id = DEVICE_TANK0203,
+        .category_id=MARINE_TANK,
         .device_pin_value =public_pin_value,
         .device_pwm_value =tank0203_pwm_value,
         .device_gpio_pthread_create=device_gpio_control_threadpoll_init
     },
     {
         .device_id = DEVICE_TANK0204,
+        .category_id=MARINE_TANK,
         .device_pin_value =public_pin_value,
         .device_pwm_value =tank0204_pwm_value,
         .device_gpio_pthread_create=device_gpio_control_threadpoll_init
     },
     {
         .device_id = DEVICE_TANK0206,
+        .category_id=WATER_TANK,
         .device_pin_value =public_pin_value,
         .device_pwm_value =tank0206_pwm_value
     },
     {
         .device_id = DEVICE_SHIP0301,
+        .category_id=WATER_SHIP,
         .device_pin_value =public_pin_value,
         .device_pwm_value =ship0301_pwm_value
     },
     {
         .device_id = DEVICE_PAO_PTZ0401,
+        .category_id=0,
         .device_pin_value =public_pin_value,
         .device_pwm_value =public_pwm_value
     },
     {
         .device_id = DEVICE_ROBOT_DOG0501,
+        .category_id=0,
         .device_pin_value =public_pin_value,
         .device_pwm_value =dog0501_pwm_value
     },
@@ -401,14 +398,28 @@ void tank0204_pwm_value(int pin,int value){
 		
 		if(pin == 27){
           device_shoting_check(27,30); 
-        } else {
+        }else if(pin == 5) {
+            softPwmWrite(7, 30);
+            my_zlog_info("pwm:7,0");
+        }else if(pin == 7) {
+            softPwmWrite(5, 30);
+            my_zlog_info("pwm:5,0");
+        }else {
             softPwmWrite(pin, 30);
             my_zlog_info("pwm:%d",pin);
         }
         
 	}else if(value==0) {
-		softPwmWrite(pin, 0);
-		my_zlog_info("pwm:%d,0",pin);
+         if(pin == 5) {
+            softPwmWrite(7, 0);
+            my_zlog_info("pwm:7,0");
+        }else if(pin == 7) {
+            softPwmWrite(5, 0);
+            my_zlog_info("pwm:5,0",pin);
+        }else{
+            softPwmWrite(pin, 0);
+            my_zlog_info("pwm:%d,0",pin);
+        }
 	}
     my_zlog_info("tank0204 pwm");
 }

drivers/gpio/gpio_control.h

@@ -5,6 +5,7 @@
 
 typedef struct {
     int device_id;              // 设备ID (101, 102等)备名称
+    int category_id;
     void (*device_pwm_value)(int pin,int val);    // PWM初始化函数指针
     void (*device_pin_value)(int pin,int value);// 速度控制函数指针
     void (*device_gpio_pthread_create)(void);

drivers/selfcontrol/self_devicecontrol.h

+#ifndef SELF_DEVICECONTROL_H
+#define SELF_DEVICECONTROL_H
+
+/**
+ * @file self_devicecontrol.h
+ * @brief 设备自己控制模块头文件
+ */
+
+#define DEVICE_WALK_SIGN_MAX 100
+
+#define DEVICE_SELF_CONTROL_OPEN 1
+
+#define DEVICE_SELF_CONTROL_CLOSE 0
+
+//结构体，用来存放这些
+typedef struct {
+    int id_run[DEVICE_WALK_SIGN_MAX];
+    int id_run_count;
+    int run_cool[DEVICE_WALK_SIGN_MAX];
+    int timed_run[DEVICE_WALK_SIGN_MAX];
+} devicecontroltask_t;
+
+// 单个设备动作数据结构
+typedef struct{
+    int mode[DEVICE_WALK_SIGN_MAX];
+    int val[DEVICE_WALK_SIGN_MAX];
+    int action_count;
+}device_automatic_date_t;
+
+
+void set_self_control_time_countfuntion();//计时
+
+void self_control_thread_close();
+
+void receive_self_contorl_mqtt(cJSON *body);
+
+void receive_self_contorl_date_mqtt(cJSON *body);//数据保存
+
+bool get_self_control_index();
+
+void set_self_control_index(bool index);
+#endif
\ No newline at end of file

drivers/sensors/tank_angle.c

@@ -2,10 +2,6 @@
 #include "common.h"
 #include "ads1115.h"
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
 double tank_angle(){
     double angle=0;
     float angle_shot=ads1115_read_channel(2);

include/drivers_common.h

@@ -5,5 +5,6 @@
 #include "gpio_common.h"
 #include "ip_reader.h"
 #include "sensors_common.h"
+#include"self_devicecontrol.h"
 
 #endif
\ No newline at end of file

modules/mqtt/mqtt_infor_handle.c

@@ -5,14 +5,17 @@
 #include "drivers_common.h"
 #include "modules_common.h"
 
-int g_heartbeat_count=0;
+int g_heartbeat_count=0;//心跳计数
 
+/*
+*
+*/
 pthread_mutex_t g_exit_count_mutex = PTHREAD_MUTEX_INITIALIZER;//互斥锁 
 int g_devcontrol_exit_count=0;
 
-int g_message_type=0;
+int g_message_type=0;//接收的mqtt的g_message_type
 
-unsigned char g_valt[4];//存放mqtt接收的tpye，mode等
+static unsigned char g_valt[4];//存放mqtt接收的tpye，mode等
 
 //心跳发送格式*5/2
 void heartbeat_send() {
@@ -254,12 +257,19 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 break;
             case 3:
                 message_3_judyverify(body);
+                set_self_control_index(false);
                 my_zlog_debug("进入pwm控制");
                 break;
             case 4:
                 message_4_judyverify(body);
+                set_self_control_index(false);
                 my_zlog_debug("进入引脚控制");
                 break;
+            case 5:
+                audio_wheat_init();
+                audio_speaker_init();
+                my_zlog_debug("执行麦和喇叭命令");
+                break;
             case 2001: 
                 audioplay_mqtt_receive(body);
                 my_zlog_debug("进入音频播放");
@@ -312,6 +322,13 @@ int device_message_receive(cJSON *json){//接收到的控制设备的mqtt消息
                 control_pthread_function("close");
                 my_zlog_debug("关闭控制台推送");
                 break;
+            case 2025:
+                receive_self_contorl_mqtt(body);
+                my_zlog_debug("device self comtrol");
+                break;
+            case 2026:
+                receive_self_contorl_date_mqtt(body);
+                my_zlog_debug("device self comtrol date save");
             default:
                 break;
         }

modules/mqtt/mqtt_verify.c

@@ -180,7 +180,6 @@ int message2006_verify(cJSON *body){
     }
 
     return 0;
-
  }
 
 /*接收到是否打开验证的函数*/
@@ -200,7 +199,7 @@ int message2013_recverigy_open(cJSON *body){
         my_zlog_debug("verify open");
      }
     return 0;
- }
+}
 
 /*发送是否打开验证的mqtt给后端验证*/
 int message_sendopen_verify(){

modules/thread_pool/pthrpoll.h

@@ -2,7 +2,7 @@
 #define PTHRPOLL_H
 
 // 为了让头文件自给自足，直接包含它所需要的依赖
-#include <common.h> 
+#include "common.h"
 
 // 任务结构体
 typedef struct Task {