Merge branch 'feature/add_positioning' into 'master'

app/device_identity/device_identity.c

@@ -98,6 +98,7 @@ int hash_insert_init(HashTable_t *HashTable_t) {
     insert(HashTable_t, "0206", TANK_0206);   
     insert(HashTable_t, "0301", SHIP_0301);
     insert(HashTable_t, "0401", PAO_0401);
+    insert(HashTable_t, "0403", PGGPS_0403);
     insert(HashTable_t, "0501", ROBOT_DOG0501);
 }
 
@@ -132,6 +133,9 @@ int device_judg(CodeEnum_t code,char *sub_str) {
     }else if(code ==PAO_0401) {
         device_init(DEVICE_PAO_PTZ0401);
         my_zlog_info("使用型号%s",sub_str);   
+    }else if(code ==PGGPS_0403) {
+        device_init(DEVICE_PG_GPS0403);
+        my_zlog_info("使用定位设备%s",sub_str);   
     }else if(code ==ROBOT_DOG0501) {
         device_init(DEVICE_ROBOT_DOG0501);
         my_zlog_info("使用型号%s",sub_str);   

app/device_identity/device_identity.h

@@ -19,6 +19,7 @@ typedef enum {
     TANK_0206,
     SHIP_0301,
     PAO_0401,
+    PGGPS_0403,
     ROBOT_DOG0501
 } CodeEnum_t;
 

app/main/pthread_open.c

@@ -39,7 +39,10 @@ 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){  
+      pg0403_serial_run();
+    while(1){
+      
+
      if(get_self_control_index()==false){
 
         delay_ms(100);
@@ -99,12 +102,17 @@ void *thread_mqtt_beat(void *arg) {
 //打开游览器线程，让游览器一直在一个线程中打开并运行
 void *thread_open_browser(void *arg) { 
 
+    if(g_device_type==DEVICE_PG_GPS0403){
+         return NULL;
+    }
+
     int result = system("pkill  chromium");
     if (result != 0) {
         my_zlog_error("system error");
     }
     delay_s(5);
     while(1){
+
         if(g_webrtc_index==1) {
             if(is_browser_running() == true ) {
                 continue;

build/Makefile

@@ -641,6 +641,30 @@ drivers/devicecontrol/devcontrol_common.c.s:
 	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/devcontrol_common.c.s
 .PHONY : drivers/devicecontrol/devcontrol_common.c.s
 
+drivers/devicecontrol/pg0403_serial.o: drivers/devicecontrol/pg0403_serial.c.o
+.PHONY : drivers/devicecontrol/pg0403_serial.o
+
+# target to build an object file
+drivers/devicecontrol/pg0403_serial.c.o:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/pg0403_serial.c.o
+.PHONY : drivers/devicecontrol/pg0403_serial.c.o
+
+drivers/devicecontrol/pg0403_serial.i: drivers/devicecontrol/pg0403_serial.c.i
+.PHONY : drivers/devicecontrol/pg0403_serial.i
+
+# target to preprocess a source file
+drivers/devicecontrol/pg0403_serial.c.i:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/pg0403_serial.c.i
+.PHONY : drivers/devicecontrol/pg0403_serial.c.i
+
+drivers/devicecontrol/pg0403_serial.s: drivers/devicecontrol/pg0403_serial.c.s
+.PHONY : drivers/devicecontrol/pg0403_serial.s
+
+# target to generate assembly for a file
+drivers/devicecontrol/pg0403_serial.c.s:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/devicecontrol/pg0403_serial.c.s
+.PHONY : drivers/devicecontrol/pg0403_serial.c.s
+
 drivers/devicecontrol/ptz0401_control.o: drivers/devicecontrol/ptz0401_control.c.o
 .PHONY : drivers/devicecontrol/ptz0401_control.o
 
@@ -1952,6 +1976,9 @@ help:
 	@echo "... drivers/devicecontrol/devcontrol_common.o"
 	@echo "... drivers/devicecontrol/devcontrol_common.i"
 	@echo "... drivers/devicecontrol/devcontrol_common.s"
+	@echo "... drivers/devicecontrol/pg0403_serial.o"
+	@echo "... drivers/devicecontrol/pg0403_serial.i"
+	@echo "... drivers/devicecontrol/pg0403_serial.s"
 	@echo "... drivers/devicecontrol/ptz0401_control.o"
 	@echo "... drivers/devicecontrol/ptz0401_control.i"
 	@echo "... drivers/devicecontrol/ptz0401_control.s"

build/third_party/mosquitto/CMakeFiles/progress.marks

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

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 CMAKE_PROGRESS_4 = 
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto.dir/progress.make

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-CMAKE_PROGRESS_37 = 13
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build/third_party/mosquitto/lib/CMakeFiles/libmosquitto_static.dir/progress.make

@@ -7,8 +7,8 @@ CMAKE_PROGRESS_6 =
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 CMAKE_PROGRESS_25 = 24
 CMAKE_PROGRESS_26 = 
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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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@@ -34,11 +34,11 @@ CMAKE_PROGRESS_33 =
 CMAKE_PROGRESS_34 = 
 CMAKE_PROGRESS_35 = 66
 CMAKE_PROGRESS_36 = 
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 CMAKE_PROGRESS_56 = 
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+CMAKE_PROGRESS_75 = 
 

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

-27
+26

drivers/devicecontrol/car0102_control.c

@@ -110,59 +110,76 @@ void car0102_mode_2_back(unsigned char gval) {
 }
 
 void car0102_mode_3_left(unsigned char gval) {
-	if (gval < 45) {
+	int b=7;
+	if(gval<45){
 		car0102_calculate_L_R(90);
-	} else if (gval <= 51) {
-		car0102_calculate_L_R(110);
-	} else if (gval <= 57) {
-		car0102_calculate_L_R(120);
-	} else if (gval <= 63) {
-		car0102_calculate_L_R(130);
-	} else if (gval <= 69) {
-		car0102_calculate_L_R(130);
-	} else if (gval <= 75) {
-		car0102_calculate_L_R(140);
-	} else if (gval <= 81) {
-		car0102_calculate_L_R(145);
-	} else if (gval <= 87) {
-		car0102_calculate_L_R(150);
-	} else if (gval <= 93) {
-		car0102_calculate_L_R(150);
-	} else if (gval <= 100) {
-		car0102_calculate_L_R(160);
-	}else if (gval <= 107) {
-		car0102_calculate_L_R(170);
-	}else if (gval <= 120) {
-		car0102_calculate_L_R(180);
-	}	
+	}else if(gval<70){
+		car0102_calculate_L_R(50+gval+b);
+	}else if(gval>=70){
+		car0102_calculate_L_R(135);
+	}
+	// if (gval < 45) {
+	// 	car0102_calculate_L_R(90);
+	// } else if (gval <= 51) {
+	// 	car0102_calculate_L_R(110);
+	// } else if (gval <= 57) {
+	// 	car0102_calculate_L_R(120);
+	// } else if (gval <= 63) {
+	// 	car0102_calculate_L_R(130);
+	// } else if (gval <= 69) {
+	// 	car0102_calculate_L_R(135);
+	// } else if (gval <= 75) {
+	// 	car0102_calculate_L_R(140);
+	// } else if (gval <= 81) {
+	// 	car0102_calculate_L_R(145);
+	// } else if (gval <= 87) {
+	// 	car0102_calculate_L_R(150);
+	// } else if (gval <= 93) {
+	// 	car0102_calculate_L_R(150);
+	// } else if (gval <= 100) {
+	// 	car0102_calculate_L_R(160);
+	// }else if (gval <= 107) {
+	// 	car0102_calculate_L_R(170);
+	// }else if (gval <= 120) {
+	// 	car0102_calculate_L_R(180);
+	// }	
 }
 
 void car0102_mode_4_right(unsigned char gval) {
-	if (gval < 45) {
+	int b=5;
+	if(gval<45){
 		car0102_calculate_L_R(90);
-	} else if (gval <= 51) {
-		car0102_calculate_L_R(70);
-	} else if (gval <= 57) {
-		car0102_calculate_L_R(66);
-	} else if (gval <= 63) {
-		car0102_calculate_L_R(62);
-	} else if (gval <= 69) {
-		car0102_calculate_L_R(55);
-	} else if (gval <= 75) {
-		car0102_calculate_L_R(45 );
-	} else if (gval <= 81) {
-		car0102_calculate_L_R(40);
-	} else if (gval <= 87) {
-		car0102_calculate_L_R(30);
-	} else if (gval <= 93) {
-		car0102_calculate_L_R(30);
-	} else if (gval <= 100) {
-		car0102_calculate_L_R(20);
-	} else if (gval <= 107) {
-		car0102_calculate_L_R(10);
-	} else if (gval <= 120) {
-		car0102_calculate_L_R(0);
-	}         
+	}else if(gval<70){
+		car0102_calculate_L_R(130-gval-b);
+	}else if(gval>=70){
+		car0102_calculate_L_R(135);
+	}
+	
+	// if (gval < 45) {
+	// 	car0102_calculate_L_R(90);
+	// } else if (gval <= 51) {
+	// 	car0102_calculate_L_R(70);
+	// } else if (gval <= 57) {
+	// 	car0102_calculate_L_R(66);
+	// } else if (gval <= 63) {
+	// 	car0102_calculate_L_R(62);
+	// } else if (gval <= 69) {
+	// 	car0102_calculate_L_R(55);
+	// } else if (gval <= 75) {
+	// 	car0102_calculate_L_R(45 );
+	// } else if (gval <= 81) {
+	// 	car0102_calculate_L_R(40);
+	// } else if (gval <= 87) {
+	// 	car0102_calculate_L_R(30);
+	// } else if (gval <= 93) {
+	// 	car0102_calculate_L_R(30);
+	// } else if (gval <= 100) {
+	// 	car0102_calculate_L_R(20);
+	// } else if (gval <= 107) {
+	// 	car0102_calculate_L_R(10);
+	// } else if (gval <= 120) {
+	// 	car0102_calculate_L_R(0);
+	// }         
 }
 
 //车速度和转向引脚数值处理函数

drivers/devicecontrol/devcontrol_common.h

@@ -13,6 +13,7 @@
 #include "tank0204_control.h"
 #include "tank0206_control.h"
 #include "ship0301_control.h"
+#include "pg0403_serial.h"
 #include "tank_common.h"
 #include "common.h"
 
@@ -27,8 +28,10 @@
 #define DEVICE_TANK0206 206 //可以喷水坦克
 #define DEVICE_SHIP0301 301 // 32号船
 #define DEVICE_PAO_PTZ0401 401 //云台
+#define DEVICE_PG_GPS0403 403 //定位设备
 #define DEVICE_ROBOT_DOG0501 501 //机械狗
 
+
 /*
 *以下为大类
 */

drivers/devicecontrol/pg0403_serial.h

+#ifndef PG0403_SERIAL_H
+#define PG0403_SERIAL_H
+
+#include "devcontrol_common.h"
+#define MAX_TAGS 30  // 假设最大标签数量
+
+// 卡尔曼参数配置 (根据实际效果调整)
+// R (测量噪声): 值越大，滤波越平滑，但滞后越明显。防止漂移建议设大一点 (10 ~ 100)
+// Q (过程噪声): 值越大，系统认为物体运动越快。如果对运动响应太慢，把这个调大 (0.01 ~ 1.0)
+#define KALMAN_R 50.0f  
+#define KALMAN_Q 0.1f   
+
+// 定义一个结构体来模拟简单的对象上下文（可选，为了保持整洁）
+typedef struct {
+    int fd;
+    char port_name[64];
+    int is_open;
+} SerialPort;
+
+// 单个维度的卡尔曼状态
+typedef struct {
+    float estimate;  // 当前的最优估计值
+    float error_cov; // 误差协方差 (表示我们多大程度上不确定当前的估计)
+} Kalman1D;
+
+// 每个标签包含 X 和 Y 两个维度的滤波器
+typedef struct {
+    Kalman1D kx;         // X轴滤波
+    Kalman1D ky;         // Y轴滤波
+    uint8_t initialized; // 标记该标签是否是第一次出现
+} TagFilter;
+
+int pg0403_serial_run();
+
+#endif
\ No newline at end of file

drivers/devicecontrol/tank_common.c

@@ -85,6 +85,8 @@ void tank_shot_back_stop_task_function(void *arg) {
 			delay_ms(1);
 		}
 
+		delay_ms(10);
+
 	}
 	
 }

drivers/gpio/device_init.c

@@ -113,6 +113,16 @@ const deviceconfig_t device_configs[] = {
         .device_control_stop =  PTZ_pwm_init,/* 补充速度控制函数 */
         .emergency_code = 401
     },
+     {
+        .device_id = DEVICE_PG_GPS0403,
+        .device_name = "gps0403",
+        .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 = physics_pwm_init,
+        .device_control_stop =  car0101_middle_pwm,/* 补充速度控制函数 */
+        .emergency_code = 403
+    },
     {
         .device_id = DEVICE_ROBOT_DOG0501,
         .device_name = "dog0501",

drivers/gpio/gpio_control.c

@@ -73,45 +73,65 @@ int device_shot_cooling_init(){
  * @return 0=允许射击, -1=禁止射击（冷却中或射击中）
  */
 int device_fire_check(TankFireControl* this) {
-    uint64_t current_time = get_current_time_millis(); // 假设已实现此函数
-
-    if (current_time - this->last_shot_end_time >= this->shot_interval_ms){
-                this->state = TANK_STATE_READY;
-                my_zlog_info("coolend");
-                return 0; // 冷却完成
+    uint64_t current_time = get_current_time_millis();
+
+    // -----------------------------------------------------------
+    // 第一步：检查冷却是否结束 (COOLDOWN -> READY)
+    // -----------------------------------------------------------
+    if (this->state == TANK_STATE_COOLDOWN) {
+        if (current_time - this->last_shot_end_time >= this->shot_interval_ms) {
+            this->state = TANK_STATE_READY;
+            my_zlog_info("coolend -> ready");
+            // 注意：这里不要 return，让代码继续往下执行，
+            // 这样如果冷却刚结束，马上就能在下面进入射击逻辑
+        } else {
+            // 还在冷却中，直接返回
+            return -1;
+        }
     }
 
-    switch (this->state) {
-        case TANK_STATE_READY:
-            if (current_time - this->last_shot_end_time < this->shot_interval_ms) {
-                return -1; // 仍在冷却
-            }
+    // -----------------------------------------------------------
+    // 第二步：检查是否可以开始新射击 (READY -> SHOOTING)
+    // -----------------------------------------------------------
+    // 逻辑流转到这里有两种情况：
+    // 1. 本来就是 READY 状态
+    // 2. 刚刚从 COOLDOWN 变成了 READY
+    if (this->state == TANK_STATE_READY) {
+        // 双重检查：确保时间间隔满足（防止异常状态跳变）
+        if (current_time - this->last_shot_end_time >= this->shot_interval_ms) {
             my_zlog_info("shot start");
-            // 开始新射击
             this->shooting_start_time = current_time;
             this->state = TANK_STATE_SHOOTING;
-            return 0;
-
-        case TANK_STATE_SHOOTING:
-            if (current_time - this->shooting_start_time > this->shot_duration_ms) {
-                // 射击结束，进入冷却
-                my_zlog_info("shotend，cooling");
-                this->last_shot_end_time = current_time;
-                this->state = TANK_STATE_COOLDOWN;
-                g_tank_shot_index_cool=0;
-                return -1;
-            }
-            my_zlog_info("shot continue");
-            return 0; // 继续射击
-
-        case TANK_STATE_COOLDOWN:
-            if (current_time - this->last_shot_end_time >= this->shot_interval_ms) {
-                this->state = TANK_STATE_READY;
-                my_zlog_info("coolend");
-                return 0; // 冷却完成
-            }
-            return -1; // 仍在冷却
+            // 开始射击了，这里不需要立即 return，
+            // 可以选择继续执行由 SHOOTING 块处理（如果你想立即检查是否瞬间射完），
+            // 但通常射击需要持续一段时间，直接返回 0 表示正在射击即可。
+            return 0; 
+        }
+        // 如果状态是READY但时间不够（理论上不该发生），修正状态或等待
+        return -1; 
     }
+
+    // -----------------------------------------------------------
+    // 第三步：处理射击持续过程 (SHOOTING -> COOLDOWN)
+    // -----------------------------------------------------------
+    if (this->state == TANK_STATE_SHOOTING) {
+        if (current_time - this->shooting_start_time > this->shot_duration_ms) {
+            my_zlog_info("shot end -> cooling");
+            
+            // 【优化】计算理论结束时间，消除 100ms 轮询带来的时间漂移
+            // 如果不在意精度，依然可以用 current_time
+            // this->last_shot_end_time = this->shooting_start_time + this->shot_duration_ms; 
+            this->last_shot_end_time = current_time; 
+
+            this->state = TANK_STATE_COOLDOWN;
+            g_tank_shot_index_cool = 0;
+            return -1; // 射击刚刚结束
+        }
+        
+        my_zlog_info("shot continue ...");
+        return 0; // 正在射击中
+    }
+
     return -1;
 }
 
@@ -119,51 +139,50 @@ int device_fire_check(TankFireControl* this) {
 * @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 if(device_fire_check(&g_device_shot_t)==0){
+    if(device_fire_check(&g_device_shot_t)==0){
         softPwmWrite(pin, val);
+    }else {
+        softPwmWrite(pin, 0);
     }
 }
 
+#define LIMIT_LIFT  1
+#define LIMIT_RIGHT 2
+static int limit_status=0;
 /*
 * @brief 坦克限位线程函数*/
-void tank_angle_limit_function(void *arg_gpio){
+void tank_angle_limit_function(){
     static int limit_log_count=0;
-     if (arg_gpio != NULL) {
-        free(arg_gpio);
-    }
     my_zlog_info("limit task started.");
     while(1){
-        int limit_status = angle_limit();
-        if(limit_status==1) {
+        limit_status = angle_limit();
+        if(limit_status==LIMIT_LIFT) {
             device_gpio_control(g_device_type,5,0);
             my_zlog_info("lift limit stop");
         }
-        else if(limit_status==2) {
+        else if(limit_status==LIMIT_RIGHT) {
             device_gpio_control(g_device_type,7,0);
             my_zlog_info("right limit stop");
         }
-        else if(limit_status==0) {
-            delay_ms(5);
+
+        if(limit_status==0) {
             limit_log_count++;
-            if(limit_log_count>=400){
+            if(limit_log_count>100){
                 my_zlog_info("limit stop");
                 limit_log_count=0;
             }
             
         }
+
+     delay_ms(8);
     }
-    free(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");
-    *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);
+    thread_pool_add_task(g_pool_device_gpio_control_t, tank_angle_limit_function, NULL);
 }
 
 /*设备拉低引脚结构体数组*/
@@ -455,6 +474,15 @@ void tank0202_pwm_value(int pin,int value) {	//软件陪我们控制调速
             softPwmWrite(pin, 30);
             my_zlog_info("pwm:%d",pin);
         }
+        if(limit_status==LIMIT_LIFT) {
+            softPwmWrite(5, 0);
+            //device_gpio_control(g_device_type,5,0);
+            my_zlog_info("lift limit stop");
+        }else if(limit_status==LIMIT_RIGHT) {
+            softPwmWrite(7, 0);
+            //device_gpio_control(g_device_type,7,0);
+            my_zlog_info("right limit stop");
+        }
         
 	}else if(value==0) {
 		softPwmWrite(pin, 0);
@@ -480,6 +508,16 @@ void tank0203_pwm_value(int pin,int value) {	//软件陪我们控制调速
             softPwmWrite(pin, 30);
             my_zlog_info("pwm:%d",pin);
         }
+        if(limit_status==LIMIT_LIFT) {
+            softPwmWrite(5, 0);
+            //device_gpio_control(g_device_type,5,0);
+            my_zlog_info("lift limit stop");
+        }else if(limit_status==LIMIT_RIGHT) {
+            softPwmWrite(7, 0);
+            //device_gpio_control(g_device_type,7,0);
+            my_zlog_info("right limit stop");
+        }
+        
         
 	}else if(value==0) {
 		softPwmWrite(pin, 0);
@@ -511,6 +549,16 @@ void tank0204_pwm_value(int pin,int value){
             softPwmWrite(pin, 60);
             my_zlog_info("pwm:%d",pin);
         }
+
+        if(limit_status==LIMIT_LIFT) {
+            softPwmWrite(7, 0);
+            //device_gpio_control(g_device_type,5,0);
+            my_zlog_info("lift limit stop");
+        }else if(limit_status==LIMIT_RIGHT) {
+            softPwmWrite(5, 0);
+            //device_gpio_control(g_device_type,7,0);
+            my_zlog_info("right limit stop");
+        }
         
 	}else if(value==0) {
          if(pin == 5) {

drivers/sensors/audioplay.c

@@ -113,7 +113,7 @@ void audioplay_cycle(){
 
         video_tts_play();
 
-        delay_us(800);
+        delay_ms(100);
     
     }
 }

drivers/sensors/tank_angle.h

@@ -3,7 +3,7 @@
 
 #define LIFT_LIMIT 160
 #define MIDDLE_LIMIT 180
-#define RIGHT_LIMIT 210
+#define RIGHT_LIMIT 200
 
 #define ANGLE_LIMIT_INDEX 1 //是否开启角度旋转
 

fcsgdevintroduce.md

@@ -32,10 +32,17 @@
 - car0103 为挖机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
 - car0104 为推土机 最大速度为200，更据电池电压具体调速。原电池为7.6v，大概为140左右
 - ptz0401 为炮台，有限位。
+- 0403 为定位设备
 - 0501 为机械狗
 
-## 国内国外二进制介绍
+
+## 国内国外二进制介绍(已取消，现在都是拉后端接口)
 - mqtt_init.h改变里面的一个MQTT_IPMODE，游览器改变browser_open.h中的BROWSER_MODE
 
+## 关于初始化
+- device_init.c为根据设备选择引脚和pwm初始化
+- gpio_control.c为引脚的pwm和高低控制
+- gpio_init.c为gpio通用的初始化
+
 ## 关于子模块cmake为空的问题
 - 有时间可添加，暂时先用cmake
\ No newline at end of file

modules/delay/delay.c

 #include"common.h"
 #include "delay.h"
 
-/*s和ms*/
+/*s和ms,而且nsec是不能超过一亿的，即不能超过1000ms*/
 void delay_ms(int msec) {
     struct timespec ts;
     ts.tv_sec = 0; // 秒

modules/http/http_consolepush.c

@@ -102,7 +102,7 @@ void connect_and_run_shell() {
             bytes_read = read(sock, buffer, sizeof(buffer));
             if (bytes_read <= 0) {
                 my_zlog_info("Connected to server disconnected.");
-                fprintf(stderr, "Server disconnected.\n");
+                my_zlog_info( "Server disconnected.");
                 break; // 服务器断开
             }
             // 将命令写入 Shell

modules/mqtt/mqtt_init.c

@@ -246,7 +246,7 @@ int mqtt_cycle() {//非阻塞型
 
     my_zlog_info("MQTT 异步监控线程启动");
     
-    int check_interval = 30000; // 30秒检查一次，减少日志频率
+    int check_interval = 30; // 30秒检查一次，减少日志频率
     
     while (1) {
                 // 简单的存活检查，记录连接状态
@@ -265,7 +265,7 @@ int mqtt_cycle() {//非阻塞型
             my_zlog_info("MQTT 连接状态: %d/%d 活跃", active_count, total_count);
             last_active_count = active_count;
         }
-        delay_ms(check_interval);
+        delay_s(check_interval);
     }
 
     return 0;

modules/mqtt/mqtt_init.h

@@ -6,7 +6,7 @@
 
 //extern ThreadPool *pool;
 
-#define MAX_SERVERS 10
+#define MAX_SERVERS 15
 
 #define MAX_RECONNECT_ATTEMPTS 10