base

.gitignore

+main
+log/*

ip.c

+#include "ip.h"
+
+
+    struct ifaddrs *ifap, *ifa;
+    struct sockaddr_in *sa;
+    char ip_address[INET_ADDRSTRLEN];
+
+int ipaddr() {
+  
+    
+
+    if (getifaddrs(&ifap) == -1) {
+        perror("getifaddrs() error");
+        return -1;
+    }
+
+    for (ifa = ifap; ifa != NULL; ifa = ifa->ifa_next) {
+        if (ifa->ifa_addr != NULL && ifa->ifa_addr->sa_family == AF_INET) {
+            sa = (struct sockaddr_in *) ifa->ifa_addr;
+            inet_ntop(AF_INET, &sa->sin_addr, ip_address, sizeof(ip_address));
+            //printf("%s: %s ", ifa->ifa_name, ip_address);
+        }
+    }
+    
+    printf("ip:%s\n",ip_address);
+
+    freeifaddrs(ifap);
+}
+
+

ip.h

+#ifndef __IP_H__
+#define __IP_H__
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <ifaddrs.h>
+
+
+
+int ipaddr();
+
+extern  char ip_address[INET_ADDRSTRLEN];
+
+#endif
+

main.c

+#include"mqttjson.h"
+#include "ip.h"
+
+int keepRunning = 1;
+const int gmiddlepwm=0;
+
+
+// 睡眠毫秒
+void sleepms(){
+    struct timespec ts;
+    ts.tv_sec = 0; // 秒
+    ts.tv_nsec = 1000000; // 纳秒，0.5秒等于500,000,000纳秒
+    nanosleep(&ts, NULL);
+   
+}
+
+void sleepmsv2(int val){
+    struct timespec ts;
+    ts.tv_sec = 0; // 秒
+    ts.tv_nsec = val*1000000; // 纳秒，0.5秒等于500,000,000纳秒
+    nanosleep(&ts, NULL);
+   
+}
+
+void *left_function(void *arg)
+{ 
+    printf("Thread speed is runing\n");
+    while(keepRunning){
+        sleepmsv2(1);
+        gLeftPwmCount++;
+        //printf("gLeftPwmCount:%d\n",gLeftPwmCount);
+        
+        if (gLeftPwmCount>200){
+            //printf("mid:%d \n",gmiddlepwm);
+            pwmWrite(gLeftPwmPin,gmiddlepwm);  //中间
+            // digitalWrite(Pin_left1,LOW);
+            // digitalWrite(Pin_left2,LOW);
+            gLeftPwmCount = 201;
+        } else{
+            int pwm1 = gLeftPwm*9;
+              //gLeftPwm(0-100)
+            pwmWrite(gLeftPwmPin,pwm1);  //0-150-300
+            //printf("gLeftPwm:%d,pwm:%d\n",gLeftPwm,pwm1);
+        }
+    }   
+    return NULL; 
+}
+
+void *right_function(void *arg)
+{ 
+     while(keepRunning){
+        sleepmsv2(1);
+        gRightPwmCount++;
+        if (gRightPwmCount>200){
+            pwmWrite(gRightPwmPin,gmiddlepwm);  //中间
+            gRightPwmCount=2001;
+        } else{ 
+            int pwm2 = gRightPwm*9;  //gLeftPwm(0-100)          
+            pwmWrite(gRightPwmPin,pwm2);  //0-150-300
+        }
+    }   
+    return NULL; 
+}
+
+
+
+
+int main(int argc, char *argv[]) {
+    struct mosquitto *mosq;
+    int rc,ret;
+    gStart=time(NULL);
+    // 初始化 mosquitto 库
+    mosquitto_lib_init();
+
+   
+    // 创建 mosquitto 客户端
+    mosq = mosquitto_new(CLIENT_ID, true, NULL);
+    if (!mosq) {
+        fprintf(stderr, "Failed to create mosquitto client\n");
+        return EXIT_FAILURE;
+    }
+
+    // 设置连接和消息回调
+    mosquitto_connect_callback_set(mosq, on_connect);
+    mosquitto_message_callback_set(mosq, on_message);
+
+    // 设置用户名和密码
+    mosquitto_username_pw_set(mosq, USERNAME, PASSWORD);
+
+    // 连接到 MQTT 代理
+    rc = mosquitto_connect(mosq, BROKER_ADDRESS, BROKER_PORT, 60);
+    if (rc != MOSQ_ERR_SUCCESS) {
+        fprintf(stderr, "Failed to connect to broker: %s\n", mosquitto_strerror(rc));
+        mosquitto_destroy(mosq);
+        return EXIT_FAILURE;
+    }
+
+    ipaddr();
+    //printf("%s\n",ip_address);
+   mosquitto_publish(mosq, NULL, "controlship/01", strlen(ip_address), ip_address, 0, false);//将ip发送给mqtt
+
+    if (wiringPiSetup()== -1) {
+        printf("pin set fail\n");
+        return 1;
+    }
+    
+    setinit();
+    
+
+    pinMode(gLeftPwmPin,PWM_OUTPUT);
+    pwmSetClock(gLeftPwmPin,328);//=19200*1000/(hz*2000)
+    pwmSetRange(gLeftPwmPin,1000);
+
+    pinMode(gRightPwmPin,PWM_OUTPUT);
+    pwmSetClock(gRightPwmPin,328);//=19200*1000/(hz*2000)
+    pwmSetRange(gRightPwmPin,1000);
+
+    pthread_t thread[2];
+
+    if(pthread_create(&thread[0],NULL,left_function,NULL)!=0)
+    {
+        perror("Failed to create thread 1");
+        return 1;
+    }
+
+    if(pthread_create(&thread[1],NULL,right_function,NULL)!=0)
+    {
+        perror("Failed to create thread 1");
+        return 1;
+    }
+
+    // 开始循环，处理网络流量
+    mosquitto_loop_forever(mosq, -1, 1); // -1 表示无限等待，1 表示处理消息的最大数量
+
+    // 清理
+    mosquitto_destroy(mosq);
+    mosquitto_lib_cleanup(); 
+    // 等待线程1结束
+    pthread_join(thread[0], NULL);
+
+    // 等待线程2结束
+    pthread_join(thread[1], NULL);
+
+        return EXIT_SUCCESS;
+}
\ No newline at end of file

mqttjson.c

+#include"mqttjson.h"
+
+time_t gStart;
+
+
+int gLeftPwmPin = 21;
+int gLeftPwm = 0;
+int gLeftPwmCount = 0;  // 计数
+
+int gRightPwmPin = 2;
+int gRightPwm = 0;
+int gRightPwmCount = 0;  // 计数
+
+
+void on_connect(struct mosquitto *mosq, void *obj, int rc) 
+{
+    if (rc == 0) 
+    {
+     printf("Connected to broker\n");
+     mosquitto_subscribe(mosq, NULL, TOPIC, 0);
+     time_t start=time(NULL);
+    } 
+    else 
+    {
+    fprintf(stderr, "Connection failed with code %d\n", rc);
+    }
+}
+
+void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message) {
+    
+    time_t end = time(NULL);
+    if(gStart+5>end)
+    {
+        printf("正在处理过期消息");
+        return;
+        
+    }
+    // 确保消息有效
+    if (message->payload && message->payloadlen) {
+        // 将消息内容转换为字符串
+        char *payload_str = (char *)malloc(message->payloadlen + 1);
+        if (payload_str) {
+            memcpy(payload_str, message->payload, message->payloadlen);
+            payload_str[message->payloadlen] = '\0';
+
+            // 解析 JSON
+            cJSON *json = cJSON_Parse(payload_str);
+            if (json == NULL) {
+                fprintf(stderr, "Error before: [%s]\n", cJSON_GetErrorPtr());
+            } else {
+                // 提取 head 对象
+                cJSON *head = cJSON_GetObjectItem(json, "head");
+                if (!cJSON_IsObject(head)) {
+                    return;
+                }
+                // 提取 message_type
+                cJSON *message_type = cJSON_GetObjectItem(head, "message_type");
+                if (!cJSON_IsNumber(message_type)) {
+                    return;
+                }
+                cJSON *body = cJSON_GetObjectItem(json, "body");
+                if (!cJSON_IsObject(body)) {
+                    return;
+                }
+                printf("message_type: %d\n", message_type->valueint);
+                if (message_type->valueint==3){  //pwm控制
+                    // 提取 pin_ctrl_req 对象
+                    cJSON *pwm_ctrl_req = cJSON_GetObjectItem(body, "pwm_ctrl_req");
+                    if (!cJSON_IsObject(pwm_ctrl_req)) {
+                        return;
+                    }
+                    // 提取 data 数组
+                    cJSON *data = cJSON_GetObjectItem(pwm_ctrl_req, "data");
+                    if (!cJSON_IsArray(data)) {
+                        return;
+                    }
+                    
+                    // 遍历数组
+                    for (int i = 0; i < cJSON_GetArraySize(data); ++i) {
+                        // 提取数组中的每个对象
+                        cJSON *item = cJSON_GetArrayItem(data, i);
+                        if (!cJSON_IsObject(item)) {
+                            continue;
+                        }
+                        cJSON *mode = cJSON_GetObjectItem(item, "mode");   //mode=1 左前，mode=2 右前，3 左后，4 右后
+                        //cJSON *pin = cJSON_GetObjectItem(item, "pin");
+                        cJSON *val = cJSON_GetObjectItem(item, "val");  //val为pwm的值 0~100
+                        int modeTemp = mode->valueint;
+                        int valTemp = val->valueint;
+                        printf("mode:%d,val:%d\n",modeTemp,valTemp);
+                        if (modeTemp==1){
+                            leftFront();
+                            gLeftPwmCount = 0;
+                            gLeftPwm = valTemp;
+                            printf("gLeftPwmPin pin:%d ,gLeftPwm:%d\n",gLeftPwmPin,gLeftPwm);
+                        }else if(modeTemp==2){
+                            rightFront();
+                            gRightPwmCount = 0; 
+                            gRightPwm = valTemp;
+                            printf("gRightPwmPin pin:%d ,gRightPwm:%d\n",gRightPwmPin,gRightPwm);
+                        }else if(modeTemp==3){
+                            leftBack();
+                            gLeftPwmCount = 0;
+                            gLeftPwm = valTemp;
+                            printf("gLeftPwmPin pin:%d ,gLeftPwm:%d\n",gLeftPwmPin,gLeftPwm);
+                        }else if(modeTemp==4){
+                             rightBack();
+                            gRightPwmCount = 0; 
+                            gRightPwm = valTemp;
+                            printf("gRightPwmPin pin:%d ,gRightPwm:%d\n",gRightPwmPin,gRightPwm);
+                        }
+                        
+                    }
+                }
+                else if (message_type->valueint==4){
+                    // 提取 pin_ctrl_req 对象
+                    cJSON *pin_ctrl_req = cJSON_GetObjectItem(body, "pin_ctrl_req");
+                    if (!cJSON_IsObject(pin_ctrl_req)) {
+                        return;
+                    }
+                    // 提取 data 数组
+                    cJSON *data = cJSON_GetObjectItem(pin_ctrl_req, "data");
+                    if (!cJSON_IsArray(data)) {
+                        return;
+                    }
+                    // 遍历数组
+                    for (int i = 0; i < cJSON_GetArraySize(data); ++i) {
+                        // 提取数组中的每个对象
+                        cJSON *item = cJSON_GetArrayItem(data, i);
+                        if (!cJSON_IsObject(item)) {
+                            continue;
+                        }
+                        // 提取 pin
+                        cJSON *pin = cJSON_GetObjectItem(item, "pin");
+                        cJSON *val = cJSON_GetObjectItem(item, "val");
+                        int pinTemp = pin->valueint;
+                        int valTemp = val->valueint;
+                        //printf("12");
+                        // 在这里控制IO口
+                        pinvalue(pinTemp,valTemp);
+                    }
+                }
+            }
+
+            // 释放 payload 字符串
+            free(payload_str);
+        }
+    }
+}
+    

mqttjson.h

+#ifndef __MQTTJSON_H__
+#define __MQTTJSON_H__
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <pthread.h>
+#include <unistd.h>
+#include <mosquitto.h>
+#include <cjson/cJSON.h>
+#include<time.h>
+#include "pin.h"
+
+extern time_t gStart;
+
+extern int gLeftPwmPin;
+extern int gLeftPwm;
+extern int gLeftPwmCount;  // 计数
+
+extern int gRightPwmPin;
+extern int gRightPwm;
+extern int gRightPwmCount;  // 计数
+
+#define BROKER_ADDRESS "119.45.167.177"
+#define BROKER_PORT 1883
+#define CLIENT_ID "device/tatalship"
+#define TOPIC "controlship/01"
+#define USERNAME "admin"    // 替换为你的用户名
+#define PASSWORD "admin"       // 替换为你的密码
+
+
+void on_connect(struct mosquitto *mosq, void *obj, int rc); 
+
+void on_message(struct mosquitto *mosq, void *obj, const struct mosquitto_message *message);
+
+#endif

pin.c

+#include "pin.h"
+
+
+int Pin_left2=24;
+int Pin_left1=26;
+int Pin_right1=5;
+int Pin_right2=7;
+
+
+void setinit()
+{
+   int pin[5]={Pin_left2,Pin_left1,Pin_right1,Pin_right2};
+    for(int i=0;i<5;i++)
+    {
+        pinMode(pin[i],OUTPUT);
+        digitalWrite(pin[i],LOW);
+    }
+    printf("INIT OK!!\n");
+   
+    
+}
+
+void rightFront()
+{
+    digitalWrite(Pin_right1,HIGH);
+    digitalWrite(Pin_right2,LOW);
+}
+void rightBack()
+{
+    digitalWrite(Pin_right1,LOW);
+    digitalWrite(Pin_right2,HIGH);
+}
+void leftBack()
+{
+    digitalWrite(Pin_left1,HIGH);
+    digitalWrite(Pin_left2,LOW);    
+}
+int leftFront()
+{
+    digitalWrite(Pin_left1,LOW);
+    digitalWrite(Pin_left2,HIGH);    
+}
+
+void pinvalue(int pin,int val)
+{
+    pinMode(pin,OUTPUT);
+    if(val==0)
+    {
+        printf("pin:%d 为低电平\n",pin);
+        digitalWrite(pin,LOW);
+    }
+    if(val==1)
+    {
+        printf("pin:%d 为高电平\n",pin);
+        digitalWrite(pin,HIGH);
+    }
+}

pin.h

+#ifndef __PIN_H__
+#define __PIN_H__
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include<softPwm.h>
+#include<wiringPi.h>
+
+extern int Pin_left2;
+extern int Pin_left1;
+extern int Pin_right1;
+extern int Pin_right2;
+
+void setinit();
+void rightFront();
+void rightBack();
+void leftBack();
+int leftFront();
+void pinvalue(int pin,int val);
+void pwmhzset();
+
+#endif
\ No newline at end of file