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car-controlserver
Commit f71fe029 authored by 957dd's avatar 957dd
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Merge branch 'feature/self_control' into 'master'

Feature/self control See merge request !74
parents 8dbb5dd1 743a2a89
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Showing with 606 additions and 158 deletions
CMakeLists.txt
View file @ f71fe029
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
View file @ f71fe029
......@@ -40,17 +40,20 @@ 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){
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
View file @ f71fe029
......@@ -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
View file @ f71fe029
#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/main
View file @ f71fe029
No preview for this file type
build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make
View file @ f71fe029
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto.dir/progress.make
View file @ f71fe029
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build/third_party/mosquitto/src/CMakeFiles/mosquitto.dir/progress.make
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drivers/devicecontrol/car0104_control.c
View file @ f71fe029
......@@ -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
View file @ f71fe029
......@@ -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
View file @ f71fe029
......@@ -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
View file @ f71fe029
......@@ -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
View file @ f71fe029
......@@ -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
View file @ f71fe029
#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){
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,g_tank_shot_interval_ms,g_tank_shot_ms);
}else {
return -1;
}
device_shot_fire_init(&g_device_shot_t);
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
},
......@@ -401,15 +398,29 @@ 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) {
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
View file @ f71fe029
......@@ -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.c 0 → 100644
View file @ f71fe029
#include "common.h"
#include "self_devicecontrol.h"
#include "modules_common.h"
#include "app_device_common.h"
#include "drivers_common.h"
static ThreadPool_t *g_self_devicecontrol_task_t;//自控任务线程函数
static bool g_self_device_control_switch_index=false;//自控开关。是否打开或者关闭
static int g_self_control_interval=0;
static int g_self_control_time_count=0;
static pthread_mutex_t g_self_control_time_count_mutex = PTHREAD_MUTEX_INITIALIZER;
static devicecontroltask_t *g_self_device_control_date=NULL;//设备自控全局数据指针
static pthread_mutex_t g_self_device_control_date_mutex = PTHREAD_MUTEX_INITIALIZER;
static device_automatic_date_t g_automatic_date_t[DEVICE_WALK_SIGN_MAX]={0};
/*
* @brief 释放内存
*/
void free_device_tasks_memory() {
if(g_self_device_control_date!=NULL){
pthread_mutex_lock(&g_self_device_control_date_mutex);
free(g_self_device_control_date);
g_self_device_control_date=NULL;
my_zlog_info("free g_self_device_control_date");
pthread_mutex_unlock(&g_self_device_control_date_mutex);
} else return;
}
/*
* @brief 分配内存封装函数
*/
void malloc_device_tasks_memory() {
pthread_mutex_lock(&g_self_device_control_date_mutex);
if(g_self_device_control_date==NULL){
g_self_device_control_date=(devicecontroltask_t*)malloc(sizeof(devicecontroltask_t));
my_zlog_info("malloc g_self_device_control_date");
}
pthread_mutex_unlock(&g_self_device_control_date_mutex);
}
/*
* @brief 自控线程中的计时函数接口,每20ms加一次
* @param[in] self_control_time_count，计时次数
*/
void set_self_control_time_countfuntion(){
pthread_mutex_lock(&g_self_control_time_count_mutex);
g_self_control_time_count++;
if(g_self_control_time_count>30000) g_self_control_time_count=30001;
pthread_mutex_unlock(&g_self_control_time_count_mutex);
}
/*
* @brief 自控线程中的任务
*/
void self_device_control_task(){
static int i=0;
static unsigned char valt[3];
int time_now = g_self_control_time_count*20;
if(i>=g_self_device_control_date->id_run_count){
if(g_self_control_interval<time_now){
return;
}
i=0;
}
if(time_now > g_self_device_control_date->run_cool[i]&&
time_now <= (g_self_device_control_date->run_cool[i]+g_self_device_control_date->timed_run[i]))
{
for(int j=0;j<g_automatic_date_t[g_self_device_control_date->id_run[i]].action_count;j++){
valt[1]=g_automatic_date_t[g_self_device_control_date->id_run[i]].mode[j];
valt[2]=g_automatic_date_t[g_self_device_control_date->id_run[i]].val[j];
if(valt[2]>2) device_walk_control(g_device_type,valt);
else if(valt[2]<=2) device_gpio_control(g_device_type,valt[1],valt[2]);
my_zlog_debug("date:%d",g_automatic_date_t[g_self_device_control_date->id_run[i]].action_count);
my_zlog_debug("mode:%d",g_automatic_date_t[g_self_device_control_date->id_run[i]].mode[j]);
my_zlog_debug("val:%d",g_automatic_date_t[g_self_device_control_date->id_run[i]].val[j]);
}
}else if(time_now >
(g_self_device_control_date->run_cool[i]+g_self_device_control_date->timed_run[i]))
{
device_stop(g_device_type);//停止
pthread_mutex_lock(&g_self_control_time_count_mutex);
g_self_control_time_count=0;//将计时重置
pthread_mutex_unlock(&g_self_control_time_count_mutex);
i=i+1;
}
}
/*
* @brief 自控线程
*/
void self_device_control_task_function(){
my_zlog_info("自控线程池循环开始");
static int s_status =0;
while(1){
if(g_self_device_control_switch_index==true){
self_device_control_task();
s_status=1;
}else if(g_self_device_control_switch_index==false){
if(s_status==1) {
device_stop(g_device_type);
s_status=0;
}
delay_ms(100);
}
}
my_zlog_info("自控线程池循环终止");
return ;
}
/*
* @brief 开启自控线程
*/
void self_device_pthrpoll_task_init(){
g_self_devicecontrol_task_t=thread_pool_init(1,1);
thread_pool_add_task(g_self_devicecontrol_task_t, self_device_control_task_function, NULL);
my_zlog_info("自控线程池打开");
}
/*
* @brief 自控的线程开启标识设置。
* @param[in] 当index为，true为开，false为关
*/
void set_self_control_index(bool index){
g_self_device_control_switch_index =index;
}
/*
* @brief 获取自控的线程开启标识。
*/
bool get_self_control_index(){
return g_self_device_control_switch_index;
}
/*
* @brief 销毁自控的线程
*/
void self_control_thread_close(){
if(get_self_control_index()==true){
my_zlog_info("Destroy the thread of the automatic control device");
thread_pool_destroy(g_self_devicecontrol_task_t);
}
my_zlog_info("The thread of the automatic control device is not opened");
}
/*
* @brief 返回MQTT自控打开或者关闭的函数
*/
void send_self_contorl_mqtt(){
// 创建根对象
cJSON *root = cJSON_CreateObject();
// 创建head对象
cJSON *head = cJSON_CreateObject();
cJSON_AddNumberToObject(head, "message_type", 3018);
cJSON_AddItemToObject(root, "head", head);
// 创建body对象
cJSON *body = cJSON_CreateObject();
cJSON_AddStringToObject(body, "cmd", "device_mycontrol");
cJSON_AddNumberToObject(body, "switch_reply_status", get_self_control_index());
cJSON_AddItemToObject(root, "body", body);
// 将cJSON对象转换为字符串
char *json_str = cJSON_PrintUnformatted(root);
my_zlog_info("%s",json_str);
for(int i=0;i<g_mqtt_cam_config_t->mqtt_count;i++){
mosquitto_publish(g_clients_t[i].mosq, NULL, mqtt_topic_pure_number(), strlen(json_str), json_str, 0, false);
}
cJSON_Delete(root); // 释放 cJSON 对象
}
/*
* @brief MQTT发送自控的相关的动作控制消息的函数，找后端要动作组合
*/
void send_self_contorl_date_mqtt(){
// 创建根对象
cJSON *root = cJSON_CreateObject();
// 创建head对象
cJSON *head = cJSON_CreateObject();
cJSON_AddNumberToObject(head, "message_type", 3019);
cJSON_AddItemToObject(root, "head", head);
// 创建body对象
cJSON *body = cJSON_CreateObject();
cJSON_AddStringToObject(body, "cmd", "device_control_demand_date");
cJSON_AddNumberToObject(body, "status", 1);
cJSON_AddItemToObject(root, "body", body);
// 将cJSON对象转换为字符串
char *json_str = cJSON_PrintUnformatted(root);
my_zlog_info("%s",json_str);
for(int i=0;i<g_mqtt_cam_config_t->mqtt_count;i++){
mosquitto_publish(g_clients_t[i].mosq, NULL, mqtt_topic_pure_number(), strlen(json_str), json_str, 0, false);
}
cJSON_Delete(root); // 释放 cJSON 对象
}
/*
* @brief MQTT接收自控消息的函数
*/
void receive_self_contorl_mqtt(cJSON *body){
if (!body) {
my_zlog_error("JSON error!");
return;
}
cJSON *switch_status = cJSON_GetObjectItem(body, "switch_status");
static int s_switch_status = 0;
static bool s_thread_index=0;
s_switch_status=switch_status->valueint;
if(s_switch_status == DEVICE_SELF_CONTROL_OPEN){
if(s_thread_index==0) {
self_device_pthrpoll_task_init();
send_self_contorl_date_mqtt();//找后端要动作组合
}
g_self_control_time_count=0;
g_self_device_control_switch_index =true;
s_thread_index=1;
}else if(s_switch_status == DEVICE_SELF_CONTROL_CLOSE) {
g_self_device_control_switch_index =false;
free_device_tasks_memory();
send_self_contorl_mqtt();
return ;
}
cJSON *interval=cJSON_GetObjectItem(body, "interval");
g_self_control_interval=interval->valueint;
malloc_device_tasks_memory();//分配内存
// 2️ id_run 数组
cJSON *id_run = cJSON_GetObjectItem(body, "id_run");
g_self_device_control_date->id_run_count = 0;
if (cJSON_IsArray(id_run)) {
int size = cJSON_GetArraySize(id_run);
for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX; i++) {
cJSON *item = cJSON_GetArrayItem(id_run, i);
g_self_device_control_date->id_run[i] = item->valueint;
g_self_device_control_date->id_run_count++;
}
}
// 3 run_cool 数组
cJSON *run_cool = cJSON_GetObjectItem(body, "run_cool");
//g_self_device_control_date->id_run_count = 0;
if (cJSON_IsArray(run_cool)) {
int size = cJSON_GetArraySize(run_cool);
for (int i = 0; i < size&& i < DEVICE_WALK_SIGN_MAX ; i++) {
cJSON *item = cJSON_GetArrayItem(run_cool, i);
g_self_device_control_date->run_cool[i] = item->valueint;
//g_self_device_control_date->id_run_count++;
}
}
// 4 timed_run 数组
cJSON *timed_run = cJSON_GetObjectItem(body, "timed_run");
//g_self_device_control_date->id_run_count = 0;
if (cJSON_IsArray(timed_run)) {
int size = cJSON_GetArraySize(timed_run);
for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX ; i++) {
cJSON *item = cJSON_GetArrayItem(timed_run, i);
g_self_device_control_date->timed_run[i] = item->valueint;
//g_self_device_control_date->id_run_count++;
}
}
send_self_contorl_mqtt();
my_zlog_info("count:%d",g_self_device_control_date->id_run_count);
return;
}
/*
* @brief MQTT接收自控的相关的动作控制消息的函数，接收后端相应动作组合
*/
void receive_self_contorl_date_mqtt(cJSON *body){
if (!body) {
my_zlog_error("JSON error!");
return;
}
cJSON *switch_status = cJSON_GetObjectItem(body, "switch_status");
static int s_switch_status = 0;
s_switch_status=switch_status->valueint;
cJSON *action_id = cJSON_GetObjectItem(body, "action_id");
static int s_action_id = 0;
s_action_id=action_id->valueint;
if(s_switch_status == 1){
// 2️ id_run 数组
cJSON *action_combination = cJSON_GetObjectItem(body, "action_combination");
if (cJSON_IsArray(action_combination)) {
int size = cJSON_GetArraySize(action_combination);
for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX; i++) {
cJSON *item = cJSON_GetArrayItem(action_combination, i);
g_automatic_date_t[s_action_id].mode[i]=item->valueint;
}
}
cJSON *action_speed = cJSON_GetObjectItem(body, "action_speed");
if (cJSON_IsArray(action_speed)) {
int size = cJSON_GetArraySize(action_speed);
for (int i = 0; i < size && i < DEVICE_WALK_SIGN_MAX; i++) {
cJSON *item = cJSON_GetArrayItem(action_speed, i);
g_automatic_date_t[s_action_id].val[i]=item->valueint;
g_automatic_date_t[s_action_id].action_count++;
}
}
}else if(s_switch_status == 0){
memset(g_automatic_date_t[s_action_id].mode, 0, sizeof(g_automatic_date_t[s_action_id].mode));
memset(g_automatic_date_t[s_action_id].val, 0, sizeof(g_automatic_date_t[s_action_id].val));
}
my_zlog_info("action_count:%d",g_automatic_date_t[s_action_id].action_count);
return;
}
drivers/selfcontrol/self_devicecontrol.h 0 → 100644
View file @ f71fe029
#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
View file @ f71fe029
......@@ -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
View file @ f71fe029
......@@ -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
View file @ f71fe029
......@@ -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
View file @ f71fe029
......@@ -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
View file @ f71fe029
......@@ -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 {
......
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