From 0fadd0ac313e4fdf695c37aa8ac94a0b5f7e6bde Mon Sep 17 00:00:00 2001 From: wjw Date: Thu, 10 Jul 2025 10:01:23 +0800 Subject: [PATCH] create repository --- custom/GPS/inc/gps_config.h | 5 +- custom/GPS/src/gps_config.c | 23 ++- custom/attr_broadcast/inc/attr_broadcast.h | 17 +++ custom/attr_broadcast/src/attr_broadcast.c | 158 +++++++++++++++------ custom/control_out/inc/control_out.h | 7 +- custom/control_out/src/control_out.c | 20 ++- custom/custom.mk | 1 + custom/custom_main/src/custom_main.c | 4 + custom/jt808/inc/jt808_config.h | 2 +- custom/jt808/inc/jt808_set_TermParam.h | 2 + custom/jt808/src/jt808_electronic_fence.c | 18 +++ custom/jt808/src/jt808_set_TermParam.c | 102 ++++++++----- custom/local_tts/inc/local_tts.h | 3 + custom/local_tts/src/local_tts.c | 4 + custom/radar/src/radar.c | 7 +- custom/tcp_client/src/tcp_client.c | 78 +++++----- 16 files changed, 317 insertions(+), 134 deletions(-) diff --git a/custom/GPS/inc/gps_config.h b/custom/GPS/inc/gps_config.h index 3fa8563..7729660 100644 --- a/custom/GPS/inc/gps_config.h +++ b/custom/GPS/inc/gps_config.h @@ -6,7 +6,10 @@ typedef struct{ uint16_t flow_num; // 流水号 nmeaINFO info; // GPS信息 - nmeaPOS dpos; // 经纬度 + //nmeaPOS dpos; // 经纬度 + osMutexId_t mutex; // 互斥锁 + double longitude; // 经度 + double latitude; // 纬度 } gps_data_t; extern gps_data_t gps_data; diff --git a/custom/GPS/src/gps_config.c b/custom/GPS/src/gps_config.c index b970d12..6f6f7e6 100644 --- a/custom/GPS/src/gps_config.c +++ b/custom/GPS/src/gps_config.c @@ -14,7 +14,7 @@ #include "gps_config.h" #include "local_tts.h" -#if 0 +#if 1 #include "app_uart.h" #define DEBUG(fmt, args...) app_printf("[GPS]" fmt, ##args) #else @@ -68,6 +68,15 @@ void error(const char *str, int str_size){ gps_data_t gps_data; static nmeaPARSER parser; + +//将度分格式转为十进制度 +double dm_to_dd(double dm) { + int deg = (int)(dm / 100); + double min = dm - deg * 100; + return deg + min/60; +} + + /* 串口接收处理任务，平时使用信号量挂起，当收到接收事件后，释放信号量以触发读取任务 */ static void gps_TaskHandle(void *param){ int temp_len = 0; @@ -90,11 +99,15 @@ static void gps_TaskHandle(void *param){ temp_len = cm_uart_read(GPS_URAT, (void*)&gps_rev_data[gps_rev_len], GPS_BUF_LEN - gps_rev_len, 1000); gps_rev_len += temp_len; if(gps_rev_len > 370){ + osMutexAcquire(gps_data.mutex, osWaitForever); nmea_parse(&parser, gps_rev_data, gps_rev_len, &gps_data.info); - nmea_info2pos(&gps_data.info, &gps_data.dpos); + gps_data.longitude=dm_to_dd(gps_data.info.lon); + gps_data.latitude=dm_to_dd(gps_data.info.lat); + osMutexRelease(gps_data.mutex); + //nmea_info2pos(&gps_data.info, &gps_data.dpos); gps_data.flow_num++; - DEBUG("%03d,Lat:%.02f,Lon:%.02f,Sig:%d,Fix:%d,RL=%d\n", - it++, gps_data.info.lat, gps_data.info.lon, gps_data.info.sig, gps_data.info.fix, gps_rev_len + DEBUG("%03d,Lat:%.09f,Lon:%.09f,Sig:%d,Fix:%d,RL=%d\n\n", + it++, gps_data.latitude, gps_data.longitude, gps_data.info.sig, gps_data.info.fix, gps_rev_len ); if((gps_data.info.fix == 1)||(gps_data.info.sig == 0)){ // 不可用 @@ -187,6 +200,8 @@ void gps_config_init(void){ gps_task_attr.stack_size = 4096 * 4; gps_task_attr.priority= osPriorityNormal; + gps_data.mutex = osMutexNew(NULL); // 创建互斥锁 + GPS_ThreadId= osThreadNew(gps_TaskHandle, 0, &gps_task_attr); if(gps_uart_sem == NULL) { diff --git a/custom/attr_broadcast/inc/attr_broadcast.h b/custom/attr_broadcast/inc/attr_broadcast.h index c48e992..54aac1e 100644 --- a/custom/attr_broadcast/inc/attr_broadcast.h +++ b/custom/attr_broadcast/inc/attr_broadcast.h @@ -4,6 +4,9 @@ #include "nmea/nmea.h" +#define DEBUG(fmt, arg...) + + // 景点信息 typedef struct { double longitude; // 经度 @@ -13,6 +16,20 @@ typedef struct { } Attraction; +//位置信息 +typedef struct { + double longitude; + double latitude; +} Location; + + +extern const char *park_desc[]; + + +//多文字tts，景区播报专用 +void safe_tts_play(const char* segments[], int count); + + // 初始化景点播报系统 void attr_broadcast_init(void); diff --git a/custom/attr_broadcast/src/attr_broadcast.c b/custom/attr_broadcast/src/attr_broadcast.c index e494e31..278cdfa 100644 --- a/custom/attr_broadcast/src/attr_broadcast.c +++ b/custom/attr_broadcast/src/attr_broadcast.c @@ -3,7 +3,6 @@ #include "stdio.h" #include "stdlib.h" #include "stdarg.h" -#include "stdbool.h" #include "math.h" #include "cm_os.h" #include "cm_mem.h" @@ -17,9 +16,9 @@ #include "gps_config.h" #include "local_tts.h" -#if 0 +#if 1 #include "app_uart.h" -#define DEBUG(fmt, args...) app_printf("[GPS]" fmt, ##args) +#define DEBUG(fmt, args...) app_printf("[Broadcast]" fmt, ##args) #else #include "app_uart.h" #define DEBUG(fmt, ...) @@ -30,17 +29,8 @@ #define DISTANCE_CHANGE_THRESHOLD 10.0 // 距离变化阈值(米) #define TTS_PRIORITY 5 // TTS播报优先级 -static osMutexId_t attractions_mutex = NULL; -static AttractionNode* attractions_head = NULL; -static BroadcastState broadcast_state = {0}; -static osThreadId_t guide_task_id = NULL; -static int tts_speed = 5; -static int tts_volume = 10; - - static nmeaPARSER parser; -typedef enum { false, true } bool; // 手动定义布尔类型 // 全局景点链表 typedef struct AttractionNode { @@ -50,16 +40,55 @@ typedef struct AttractionNode { // 播报状态 typedef struct { - AttractionNode* last_broadcast; // 上次播报的景点 - double last_distance; // 上次播报时的距离 - uint8_t is_playing; // TTS是否正在播放 + AttractionNode* last_broadcast; + double last_distance; + uint8_t is_playing; + double distance_threshold; } BroadcastState; -//位置信息 -typedef struct { - double longitude; - double latitude; -} Location; + +typedef int BOOL; +#define true 1 +#define false 0 + +const char *park_desc[] = { + "尊敬的游客欢迎来到顾村公园游玩", + "顾村公园，位于上海市宝山区顾村镇沪太路4788号", + "东起沪太路，西至陈广路,北邻镜泊湖路，南靠外环", + "高速公路,占帝总面积430公顷,其中一期占帝180", + "公顷,二期占帝244.7公顷,顾村公园一期于2007年8月", + "动工建设,二期于2012年10月22日动工建设.公园", + "建设理念为“亲民人文,以生态休闲娱乐为主题.", + "集生态防护、景观观赏、休闲健身、文化娱乐旅游", + "度假等功能于一体,与传统的城市公园形成功能互补", + "并以中心河为界分两期实施。顾村公园为国家4A级", + "景区,上海市科普教育基地、上海市志愿者服务基地等。" +}; + + +static osMutexId_t attractions_mutex = NULL; +static AttractionNode* attractions_head = NULL; +static BroadcastState broadcast_state = {0}; +static int tts_speed = 5; +static int tts_volume = 10; +static osThreadId_t Attr_Broadcast_ThreadId = NULL; //串口数据接收、解析任务Handle + + + + +//多文字tts，景区播报专用 +void safe_tts_play(const char* segments[], int count) { + for(int i = 0; i < count; i++) { + local_tts_text_play(segments[i], 0, 0); + + // 等待当前播放完成 + while(local_tts_get_play_state() != 0) { + osDelay(100); // 每100ms检查一次 + } + osDelay(200); // 额外缓冲 + } +} + //计算到景点的距离 @@ -83,14 +112,14 @@ Location location_service_get_current(void) { Location current = {0}; // 加锁保护全局数据 - if (osMutexAcquire(gps_mutex, 100) == osOK) { + osMutexAcquire(gps_data.mutex, osWaitForever); // 检查数据是否有效 if (gps_data.info.sig > 0 && gps_data.info.fix > 0) { - current.longitude = gps_data.dpos.lon; - current.latitude = gps_data.dpos.lat; + current.longitude = gps_data.longitude; + current.latitude = gps_data.latitude; } - osMutexRelease(gps_mutex); - } + osMutexRelease(gps_data.mutex); + return current; } @@ -130,18 +159,6 @@ void attr_broadcast_set_distance_threshold(double threshold) { } } -//设置tts参数 -void attr_broadcast_set_tts_params(int speed, int volume) { - tts_speed = speed; - tts_volume = volume; - - if (guide_task_id != NULL) { - // 如果任务已启动，更新TTS参数 - local_tts_set(tts_speed, tts_volume, CM_LOCAL_TTS_DIGIT_AUTO); - } -} - - // 根据当前位置查找最近的景区节点 static AttractionNode* find_nearest_attraction(Location current_pos) { @@ -184,27 +201,47 @@ static void play_attraction_info(AttractionNode* attraction, double distance) { attraction->attraction.name, attraction->attraction.description, distance); - + + + broadcast_state.is_playing = 1; // 调用TTS接口播放文本 local_tts_text_play(buffer, 0, 1); + //等待 + while(local_tts_get_play_state() != 0) { + osDelay(100); + } // 更新播报状态 broadcast_state.last_broadcast = attraction; broadcast_state.last_distance = distance; - broadcast_state.is_playing = 1; } static void attr_broadcast_task(void* arg) { (void)arg; // 避免未使用参数警告 + BOOL should_play; //是否播放最后判断量 + BOOL introduc=true; //是否播报景区介绍 + + + DEBUG("task begin\r\n"); + + if(0) + { + safe_tts_play(park_desc,11); + introduc=false; + + } while (1) { // 获取当前位置 Location current_pos = location_service_get_current(); // 查找最近景点 AttractionNode* nearest = find_nearest_attraction(current_pos); - + + + + DEBUG("location ok\r\n"); if (nearest != NULL) { // 计算距离 double distance = location_service_calculate_distance( @@ -212,43 +249,72 @@ static void attr_broadcast_task(void* arg) { current_pos ); + DEBUG("calculate ok\r\n"); + // 检查是否在有效范围内 if (distance <= broadcast_state.distance_threshold) { // 检查是否需要播报 - bool should_play = false; + should_play = false; + DEBUG("check ok:%d\r\n",should_play); if (broadcast_state.last_broadcast == NULL) { should_play = true; // 首次播报 + DEBUG("check ok:%d\r\n",should_play); } else if (broadcast_state.last_broadcast != nearest) { should_play = true; // 新景点 + } - else if (fabs(distance - broadcast_state.last_distance) > 10.0) { - should_play = true; // 同一景点但距离变化大 + else if (fabs(distance - broadcast_state.last_distance) > 50.0) { + should_play = true; // 同一景点但距离变化大 是否需要播报可以商榷 } - + DEBUG("stat ok:%d\r\n",should_play); // 触发播报 if (should_play && !broadcast_state.is_playing) { + DEBUG("ready to play\r\n"); play_attraction_info(nearest, distance); + broadcast_state.is_playing=0; + DEBUG("play ok\r\n"); } } + DEBUG("dist:%0.3f,threshold:%0.3f\r\n",distance,broadcast_state.distance_threshold); + + } // 5秒检测一次 - osDelay(5000); + osDelay(5000/5); } } + + void attr_broadcast_init(void) { // 初始化互斥锁 if (attractions_mutex == NULL) { attractions_mutex = osMutexNew(NULL); } + //增加初始景点 + attr_broadcast_add_attraction(121.364371, 31.343164, "2号门便民处", "测试景点，看起来应该非常的方便游客"); + attr_broadcast_add_attraction(121.364270, 31.343103, "2号门归还点", "您好二号门停放点到了，您可以把我归还至这里，并在手机小程序中结束订单，如果"); + attr_broadcast_add_attraction(121.364350, 31.342175, "彩虹桥", "测试景点，看起来有很多很多彩虹"); + attr_broadcast_add_attraction(121.36799,31.34449, "恐龙乐园正门", "您好自然谷恐龙园到了，这是一个人工搭建的，模拟三叠纪，侏罗纪，白垩纪等时代的恐龙生活场景的乐园，在这里您可以穿梭于恐龙像群，欣赏超前的7D电影，在自然中感受野趣，在怪石和岩洞中穿行，充分体验远古时代洪荒洞窟的神奇刺激和绝妙采用，这里的各类恐龙有着高仿真，活动自如的特性，虫现远古时代恐龙生活打斗等场景，让恐龙如同真的复活，园内霸王龙，三角龙，阿马加龙，剑龙，恐爪龙等几十条恐龙与您零距离接触，带您进入远古霸主的惊险旅程"); + attr_broadcast_add_attraction(121.362142,31.340588, "想家桥", "测试景点，看起来非常的让人想要回家"); + attr_broadcast_add_attraction(121.362796,31.339624, "3号游船码头", "游客三号游船码头到了，顾村公园浏中湖景区有约10公顷的湖面和沿岸森林湿地"); + attr_broadcast_add_attraction(121.36613,31.33925, "樱花广场", "亲爱的游客现在您看到的是顾村公园樱花广场，一寸春心十年相守，为纪念上海樱花节十周"); + attr_broadcast_add_attraction(121.366656983, 31.344300423, "集装箱房间", "测试景点，看起来应该非常的方便测试"); + + // 初始化状态 memset(&broadcast_state, 0, sizeof(broadcast_state)); broadcast_state.distance_threshold = 50.0; // 默认阈值50米 - + osThreadAttr_t attr_broadcast_task_attr = {0}; + attr_broadcast_task_attr.name = "attr_broadcast_task"; + attr_broadcast_task_attr.stack_size = 4096 * 5; + attr_broadcast_task_attr.priority= osPriorityNormal; + + Attr_Broadcast_ThreadId= osThreadNew(attr_broadcast_task, 0, &attr_broadcast_task_attr); } \ No newline at end of file diff --git a/custom/control_out/inc/control_out.h b/custom/control_out/inc/control_out.h index 0b34f3c..7b44a9d 100644 --- a/custom/control_out/inc/control_out.h +++ b/custom/control_out/inc/control_out.h @@ -32,9 +32,9 @@ #define BAT_LEVEL_50PERCENT_VOLT BAT_VOLT(115) // 50% #define BAT_LEVEL_60PERCENT_VOLT BAT_VOLT(117) // 60% #define BAT_LEVEL_70PERCENT_VOLT BAT_VOLT(119) // 70% -#define BAT_LEVEL_80PERCENT_VOLT BAT_VOLT(121) // 80% -#define BAT_LEVEL_90PERCENT_VOLT BAT_VOLT(123) // 90% -#define BAT_LEVEL_100PERCENT_VOLT BAT_VOLT(144) //100% +#define BAT_LEVEL_80PERCENT_VOLT BAT_VOLT(123) // 80% +#define BAT_LEVEL_90PERCENT_VOLT BAT_VOLT(127) // 90% +#define BAT_LEVEL_100PERCENT_VOLT BAT_VOLT(134) //100% // 充电状态 @@ -54,6 +54,7 @@ typedef struct BAT_Message{ uint8_t Bat_Percent; // 42=42% uint8_t Bat_Low_Volt_count; // 低压计数 uint16_t Bat_Voltage; // 480=48.0V + uint16_t Rsp_BigBat_Voltage; uint16_t Runing_Time; // 系统运行时间 uint16_t Deep_ACC_Time; // 深踩油门时间 } BAT_Message_t; diff --git a/custom/control_out/src/control_out.c b/custom/control_out/src/control_out.c index 5cfeb9b..daa5c56 100644 --- a/custom/control_out/src/control_out.c +++ b/custom/control_out/src/control_out.c @@ -67,7 +67,7 @@ int32_t get_voltage(adc_chx_t chx){ return 0; } // cm_gpio_set_level(CM_GPIO_NUM_20, 1); //恢复默认状态 - DEBUG("CH%d voltage:%d\n",chx ,voltage); + // DEBUG("CH%d voltage:%d\n",chx ,voltage); return voltage; } @@ -77,10 +77,11 @@ uint32_t ACC_Dmax =(((ACC_OUT_Voltage_MAX*ACC_OUT_RES_DOWN)/(ACC_OUT_RES_UP+ACC_ // 获取输入油门百分比（unit:%)(踏板信号) uint16_t get_in_acc_percent(void){ uint16_t acc_voltage =get_voltage(ADC_acc); - DEBUG("acc_voltage:%d\n",acc_voltage); - if((acc_voltage < 900) || (acc_voltage > 4100)){ + // DEBUG("acc_voltage:%d\n",acc_voltage); + if(acc_voltage < 900){ return 0; - }else if(acc_voltage > 3800){ + }else + if(acc_voltage > 3800){ return 100; }else{ return ((acc_voltage-900)/29); @@ -160,6 +161,9 @@ float temp_bat_voltage=0; void control_out_task(void *argument){ cm_gpio_level_e level = 0; + BAT_Message.Bat_Voltage = get_voltage(ADC_power) / 100; + BAT_Message.Rsp_BigBat_Voltage =Swap16(BAT_Message.Bat_Voltage); + BAT_Message.Bat_Percent = pmu_voltage_to_percent(BAT_Message.Bat_Voltage); while(1){ uint16_t in_acc_percent= get_in_acc_percent(); @@ -174,6 +178,7 @@ void control_out_task(void *argument){ Voltage_update_count++; if(Voltage_update_count >= (1000/_out_UPDETE_TIME)){ // 1s BAT_Message.Bat_Voltage = temp_bat_voltage / Voltage_update_count; + BAT_Message.Rsp_BigBat_Voltage =Swap16(BAT_Message.Bat_Voltage); Voltage_update_count=0; temp_bat_voltage = 0; } @@ -298,14 +303,15 @@ void control_out_task(void *argument){ acc_percent = (in_acc_percent * SYS_CONF_MANAGER_ACC) / 100.0; } set_out_acc_percent(acc_percent); - DEBUG("in_acc_percent:%d ,acc_percent:%d \r\n",in_acc_percent, acc_percent); - DEBUG("SYS_CONF_SPEED_CUT_ACC:%d,SYS_CONF_TOURIST_ACC:%d,SYS_CONF_MANAGER_ACC:%d\r\n",SYS_CONF_SPEED_CUT_ACC,SYS_CONF_TOURIST_ACC,SYS_CONF_MANAGER_ACC); + // DEBUG("in_acc_percent:%d ,acc_percent:%d \r\n",in_acc_percent, acc_percent); + // DEBUG("SYS_CONF_SPEED_CUT_ACC:%d,SYS_CONF_TOURIST_ACC:%d,SYS_CONF_MANAGER_ACC:%d\r\n",SYS_CONF_SPEED_CUT_ACC,SYS_CONF_TOURIST_ACC,SYS_CONF_MANAGER_ACC); + // DEBUG("IO_RX_back:%d,IO_TX_brake:%d,PLT_MODE:%d\r\n",sys_sta.IO_RX_back,sys_sta.IO_TX_brake,sys_sta.PLT_MODE); }else{ cm_gpio_set_level(OUT_Door_lock, 0); // 关闭电门锁 set_out_acc_percent(0); } - osDelay(_out_UPDETE_TIME/5); + // osDelay(_out_UPDETE_TIME/5); } } diff --git a/custom/custom.mk b/custom/custom.mk index 8bc38d0..ae3b548 100644 --- a/custom/custom.mk +++ b/custom/custom.mk @@ -11,4 +11,5 @@ include $(CUSTOM_DIR)/tcp_client/tcp_client.mk include $(CUSTOM_DIR)/control_out/control_out.mk include $(CUSTOM_DIR)/local_tts/local_tts.mk include $(CUSTOM_DIR)/radar/radar.mk +include $(CUSTOM_DIR)/attr_broadcast/attr_broadcast.mk endif \ No newline at end of file diff --git a/custom/custom_main/src/custom_main.c b/custom/custom_main/src/custom_main.c index ff6890a..104d3b2 100644 --- a/custom/custom_main/src/custom_main.c +++ b/custom/custom_main/src/custom_main.c @@ -23,6 +23,8 @@ #include "tcp_client.h" #include "control_out.h" #include "radar.h" +#include "attr_broadcast.h" + #include "local_tts.h" @@ -312,7 +314,9 @@ void my_appimg_enter(char *param){ jt808_init(); tcp_client_init(); gps_config_init(); + attr_broadcast_init(); radar_init();// 雷达测离初始化 + while(1){ osDelay(1000/5); } diff --git a/custom/jt808/inc/jt808_config.h b/custom/jt808/inc/jt808_config.h index f3f2eb8..ab1a578 100644 --- a/custom/jt808/inc/jt808_config.h +++ b/custom/jt808/inc/jt808_config.h @@ -6,7 +6,7 @@ #include #include "jt808_util.h" -#define JT808_DEBUG_ENABLE 1 +#define JT808_DEBUG_ENABLE 0 #if JT808_DEBUG_ENABLE #include "app_uart.h" diff --git a/custom/jt808/inc/jt808_set_TermParam.h b/custom/jt808/inc/jt808_set_TermParam.h index 9eb76e8..6188be5 100644 --- a/custom/jt808/inc/jt808_set_TermParam.h +++ b/custom/jt808/inc/jt808_set_TermParam.h @@ -98,6 +98,8 @@ extern osThreadFunc_t Autoreport_param_ThreadId; extern uint8_t Rsp_locked_condition; // 锁车状态, BYTE +extern osMutexId_t Polygon_fence_mutex; // 多边形围栏互斥锁 + // 控制车辆状态 void jt808_Set_CarStatus(uint8_t status); diff --git a/custom/jt808/src/jt808_electronic_fence.c b/custom/jt808/src/jt808_electronic_fence.c index 7929b14..e345709 100644 --- a/custom/jt808/src/jt808_electronic_fence.c +++ b/custom/jt808/src/jt808_electronic_fence.c @@ -65,6 +65,7 @@ int jt808_add_tail_fence_Polygon_area(uint32_t area_id ,uint16_t Area_att, uint1 if(area_id == 0 || big_Area_Points == NULL || Area_Points_Num == 0){ return -1; } + osMutexAcquire(Polygon_fence_mutex, osWaitForever); // TODO: 增加附加信息 fence_Polygon_area_t *p_head =jt808_term_param_item.fence_polygon_area; fence_Polygon_area_t *p_prev =NULL; @@ -91,6 +92,7 @@ int jt808_add_tail_fence_Polygon_area(uint32_t area_id ,uint16_t Area_att, uint1 p_head = (fence_Polygon_area_t *)jt808_malloc(sizeof(fence_Polygon_area_t)); if(p_head == NULL){ JT808_DEBUG("[%s,%d] malloc failed \r\n", __FUNCTION__,__LINE__); + osMutexRelease(Polygon_fence_mutex); return -3; } if(jt808_term_param_item.fence_polygon_area == NULL){ @@ -109,18 +111,21 @@ int jt808_add_tail_fence_Polygon_area(uint32_t area_id ,uint16_t Area_att, uint1 p_head->Area_Points = (AreaPoint_t *)jt808_malloc(sizeof(AreaPoint_t)*Area_Points_Num);// 区域内点的坐标集合 if(p_head->Area_Points == NULL){ JT808_DEBUG("[%s,%d] malloc failed \r\n", __FUNCTION__,__LINE__); + osMutexRelease(Polygon_fence_mutex); return -3; } for(int i = 0; i < Area_Points_Num; i++){ p_head->Area_Points[i].lat = Swap32(big_Area_Points[i].lat); p_head->Area_Points[i].lng = Swap32(big_Area_Points[i].lng); } + osMutexRelease(Polygon_fence_mutex); jt808_save_Fence_area(); return 0; } // 移除围栏区域(指定区域ID) int jt808_remove_fence_Polygon_area(uint32_t area_id){ + osMutexAcquire(Polygon_fence_mutex, osWaitForever); if(area_id == 0){ fence_Polygon_area_t *p_head =jt808_term_param_item.fence_polygon_area; fence_Polygon_area_t *p_next =NULL; @@ -133,6 +138,7 @@ int jt808_remove_fence_Polygon_area(uint32_t area_id){ p_head = p_next; } jt808_term_param_item.fence_polygon_area = NULL; + osMutexRelease(Polygon_fence_mutex); jt808_save_Fence_area(); return 0; } @@ -152,6 +158,7 @@ int jt808_remove_fence_Polygon_area(uint32_t area_id){ jt808_free(p_head->Area_Points); } jt808_free(p_head); + osMutexRelease(Polygon_fence_mutex); jt808_save_Fence_area(); return 0; // break; @@ -159,6 +166,7 @@ int jt808_remove_fence_Polygon_area(uint32_t area_id){ p_prev = p_head; p_head = p_head->next; } + osMutexRelease(Polygon_fence_mutex); return -1; } @@ -168,6 +176,7 @@ uint32_t Rsp_Bigban_Fence_Polygon_area_ID = 0; // 遍历围栏区域，判断指定坐标是否在围栏内 // 返回区域ID // 0 未在围栏内 // Area_att == 0x0001 景区围栏，Area_att == 0x0002 禁停区围栏 uint32_t jt808_Polygon_fence_check(uint16_t Area_att, uint32_t lat, uint32_t lng){ + osMutexAcquire(Polygon_fence_mutex, osWaitForever); fence_Polygon_area_t *p_head =jt808_term_param_item.fence_polygon_area; while(p_head != NULL){ if((p_head->Area_Points_Num == 0) || (p_head->Area_att != Area_att)){ @@ -186,11 +195,13 @@ uint32_t jt808_Polygon_fence_check(uint16_t Area_att, uint32_t lat, uint32_t lng } if(Polygon_fence_check((fence_point_t){.x = lat, .y = lng}, p_point, p_head->Area_Points_Num) == 1){ jt808_free(p_point); + osMutexRelease(Polygon_fence_mutex); return p_head->Area_ID; } jt808_free(p_point); p_head = p_head->next; } + osMutexRelease(Polygon_fence_mutex); return 0; } @@ -214,6 +225,7 @@ void jt808_delete_Fence_area(void){ // 保存围栏区域 int jt808_save_Fence_area(void){ + osMutexAcquire(Polygon_fence_mutex, osWaitForever); uint32_t Area_Buff_Size = 0; // 区域缓存大小 uint32_t Area_Buff_count = 0; // 区域缓存计数 fence_Polygon_area_t *p_head =jt808_term_param_item.fence_polygon_area; @@ -231,11 +243,13 @@ int jt808_save_Fence_area(void){ JT808_DEBUG("Save: delete success\r\n"); } } + osMutexRelease(Polygon_fence_mutex); return 0; } char *p_data = (char *)jt808_malloc(Area_Buff_Size); if(p_data == NULL){ JT808_DEBUG("[%s,%d] malloc failed \r\n", __FUNCTION__,__LINE__); + osMutexRelease(Polygon_fence_mutex); return -1; } p_head =jt808_term_param_item.fence_polygon_area; @@ -249,6 +263,7 @@ int jt808_save_Fence_area(void){ Area_Buff_count += 8 + 8*p_head->Area_Points_Num; p_head = p_next; } + osMutexRelease(Polygon_fence_mutex); int32_t fd = cm_fs_open(AREA_ID_LIST_FILE, CM_FS_WB); if(fd < 0){ JT808_DEBUG("open %s failed\r\n", AREA_ID_LIST_FILE); @@ -262,6 +277,7 @@ int jt808_save_Fence_area(void){ } JT808_DEBUG_DATA("\r\n"); jt808_free(p_data); + jt808_load_Fence_area(); return 0; } @@ -329,6 +345,7 @@ int jt808_load_Fence_area(void){ p_tail->next = NULL; } } + osMutexAcquire(Polygon_fence_mutex, osWaitForever); fence_Polygon_area_t *p_remove_head =jt808_term_param_item.fence_polygon_area; fence_Polygon_area_t *p_remove_next =NULL; while(p_remove_head != NULL){ @@ -343,6 +360,7 @@ int jt808_load_Fence_area(void){ jt808_free(p_data); JT808_DEBUG("load fence area success\r\n"); + osMutexRelease(Polygon_fence_mutex); return 0; ERR_Loal: diff --git a/custom/jt808/src/jt808_set_TermParam.c b/custom/jt808/src/jt808_set_TermParam.c index bf95cb1..ccdbf1d 100644 --- a/custom/jt808/src/jt808_set_TermParam.c +++ b/custom/jt808/src/jt808_set_TermParam.c @@ -4,6 +4,7 @@ #include "jt808_msg_parse.h" #include "jt808_pkg_transmit.h" #include "cm_sys.h" +#include "cm_os.h" #include "cm_fs.h" #include "cm_sim.h" #include "cm_pm.h" @@ -13,6 +14,9 @@ #include "control_out.h" Term_Param_item_t jt808_term_param_item; // 终端参数项 +osMutexId_t term_param_mutex = NULL; // 终端参数项互斥锁 +osMutexId_t Polygon_fence_mutex = NULL; // 多边形围栏互斥锁 + // 控制车辆状态 void jt808_Set_CarStatus(uint8_t status){ @@ -300,7 +304,7 @@ void jt808_LocReport_add_tail_addi_info(uint8_t msg_id){ case BAT_VoltageID:{ // 电池电压, 0.1V WORD p_head->msg_len = 2; - p_head->msg = (void *)(&BAT_Message.Bat_Voltage); + p_head->msg = (void *)(&BAT_Message.Rsp_BigBat_Voltage); break; } case BAT_PercentageID:{ @@ -362,12 +366,17 @@ uint16_t delay_off_count = 0; // 延时关闭计数 uint8_t Rsp_locked_condition = 0; // 锁车状态, BYTE +gps_data_t gps_data_msg; // GPS数据; + // 更新自动上报参数 void jt808_LocReport_param_update(void){ + + osMutexAcquire(term_param_mutex, osWaitForever); + nmeaTIME beiJingTime; // 北京时间 // TODO: 自动上报参数 // 1. 位置基本信息 - GMTconvert(&gps_data.info.utc, &beiJingTime, 8, 1); + GMTconvert(&gps_data_msg.info.utc, &beiJingTime, 8, 1); if(beiJingTime.mon == 0){ beiJingTime.mon = 1; } @@ -375,11 +384,11 @@ void jt808_LocReport_param_update(void){ beiJingTime.day = 1; } // info.lat lon中的格式为[degree][min].[sec/60]，使用以下函数转换成[degree].[degree]格式 - jt808_term_param_item.big_loc_report.basic_info.latitude = Swap32(nmea_ndeg2degree(gps_data.info.lat) * 1e6); - jt808_term_param_item.big_loc_report.basic_info.longitude = Swap32(nmea_ndeg2degree(gps_data.info.lon) * 1e6); - jt808_term_param_item.big_loc_report.basic_info.altitude = Swap16(gps_data.info.elv); - jt808_term_param_item.big_loc_report.basic_info.speed = Swap16(gps_data.info.speed * 10); - jt808_term_param_item.big_loc_report.basic_info.direction = Swap16(gps_data.info.direction); + jt808_term_param_item.big_loc_report.basic_info.latitude = Swap32(nmea_ndeg2degree(gps_data_msg.info.lat) * 1e6); + jt808_term_param_item.big_loc_report.basic_info.longitude = Swap32(nmea_ndeg2degree(gps_data_msg.info.lon) * 1e6); + jt808_term_param_item.big_loc_report.basic_info.altitude = Swap16(gps_data_msg.info.elv); + jt808_term_param_item.big_loc_report.basic_info.speed = Swap16(gps_data_msg.info.speed * 10); + jt808_term_param_item.big_loc_report.basic_info.direction = Swap16(gps_data_msg.info.direction); jt808_term_param_item.big_loc_report.basic_info.BCDtime[0] =((((beiJingTime.year+1900)%2000%100/10)&0x0F)<<4) | (((beiJingTime.year+1900)%2000%10)&0x0F); jt808_term_param_item.big_loc_report.basic_info.BCDtime[1] = (((beiJingTime.mon%100/10)&0x0F)<<4) | ((beiJingTime.mon%10)&0x0F); jt808_term_param_item.big_loc_report.basic_info.BCDtime[2] = (((beiJingTime.day%100/10)&0x0F)<<4) | ((beiJingTime.day%10)&0x0F); @@ -388,7 +397,7 @@ void jt808_LocReport_param_update(void){ jt808_term_param_item.big_loc_report.basic_info.BCDtime[5] = (((beiJingTime.sec%100/10)&0x0F)<<4) | ((beiJingTime.sec%10)&0x0F); jt808_term_param_item.big_loc_report.basic_info.status.val32 = 0; // 清除状态信息 - jt808_term_param_item.big_loc_report.basic_info.status.positioning = (((gps_data.info.fix == 1)||(gps_data.info.sig == 0)) ? 0 : 1); // 0:未定位，1:已定位 + jt808_term_param_item.big_loc_report.basic_info.status.positioning = (((gps_data_msg.info.fix == 1)||(gps_data_msg.info.sig == 0)) ? 0 : 1); // 0:未定位，1:已定位 jt808_term_param_item.big_loc_report.basic_info.status.acc =((1==sys_sta.O_door_lock)||(0==sys_sta.MAG_MODE)); // 1:电门锁打开,0:电门锁关闭 jt808_term_param_item.big_loc_report.basic_info.status.MAG_MODE =sys_sta.MAG_MODE;// 1:游客模式,0:管理模式 jt808_term_param_item.big_loc_report.basic_info.status.PLT_MODE =sys_sta.PLT_MODE; // 1:游客模式,0:管理模式 @@ -406,13 +415,13 @@ void jt808_LocReport_param_update(void){ jt808_term_param_item.big_loc_report.basic_info.alarm_flag.car_move = 0; // bit_28 车辆非法位移.收到应答后清零 jt808_term_param_item.big_loc_report.basic_info.alarm_flag.val32 = Swap32(jt808_term_param_item.big_loc_report.basic_info.alarm_flag.val32); // 报警标志（转大端） - if((gps_data.info.fix == 1)||(gps_data.info.sig == 0)){ // 不可用// 未定位时发送心跳包 + if((gps_data_msg.info.fix == 1)||(gps_data_msg.info.sig == 0)){ // 不可用// 未定位时发送心跳包 Rsp_Bigscenic_Fence_Polygon_area_ID = 0; Rsp_Bigban_Fence_Polygon_area_ID = 0; }else{ // 更新当前所在位置区域ID - uint32_t lat = nmea_ndeg2degree(gps_data.info.lat) * 1e6; - uint32_t lng = nmea_ndeg2degree(gps_data.info.lon) * 1e6; + uint32_t lat = nmea_ndeg2degree(gps_data_msg.info.lat) * 1e6; + uint32_t lng = nmea_ndeg2degree(gps_data_msg.info.lon) * 1e6; // lat = 44939236; // lng = 121369446; // lat = 34939236; @@ -455,6 +464,7 @@ void jt808_LocReport_param_update(void){ delay_off_count = 0; } } + osMutexRelease(term_param_mutex); } void Autoreport_param_Task(void *arg){ @@ -510,12 +520,18 @@ void Autoreport_param_Task(void *arg){ #endif while(1){ + osMutexAcquire(gps_data.mutex, osWaitForever); + memcpy(&gps_data_msg, &gps_data, sizeof(gps_data_t)); + osMutexRelease(gps_data.mutex); + jt808_LocReport_param_update(); // 更新位置信息参数 - // jt808_term_param_item.big_loc_report.basic_info.alarm_flag.gnss_fault = 0 == gps_data.info.sig ? 1 : 0; // 0:无故障，1:有故障 + // jt808_term_param_item.big_loc_report.basic_info.alarm_flag.gnss_fault = 0 == gps_data_msg.info.sig ? 1 : 0; // 0:无故障，1:有故障 if(0 == (count_Sec % jt808_term_param_item.set_term_param.HeartBeatInterval)){ - if((gps_data.info.fix == 1)||(gps_data.info.sig == 0)){ // 不可用// 未定位时发送心跳包 + if((gps_data_msg.info.fix == 1)||(gps_data_msg.info.sig == 0)){ // 不可用// 未定位时发送心跳包 jt808_pkg_send(ID_Term_HB,0); // 发送心跳包 // 不接收应答 + // jt808_pkg_send(ID_LocReport,0); + // jt808_pkg_send(ID_Car_CtrlResp,0); JT808_DEBUG("Bat_Percent:%d,Bat_Voltage:%d,Bat_STA:%X\r\n",BAT_Message.Bat_Percent,BAT_Message.Bat_Voltage,BAT_Message.Bat_STA); }else{ jt808_pkg_send(ID_LocReport,10000/5); // 发送位置信息上报包 @@ -547,9 +563,14 @@ void jt808_Autoreport_param_stop(void){ } } + // 初始化终端参数 void jt808_set_term_param_init(void){ int ret = 0; + + term_param_mutex = osMutexNew(NULL); // 创建互斥锁 + Polygon_fence_mutex = osMutexNew(NULL); // 创建互斥锁 + memset(&jt808_term_param_item,0,sizeof(Term_Param_item_t)); // 加载围栏区域信息 if(0 == jt808_get_areafile_state()){ @@ -626,32 +647,39 @@ void jt808_set_term_param_init(void){ }while(0); do{ // 设置终端手机号 char cm_iccid[32] = {0}; - char get_iccid_ok = 0; + uint8_t BCD_code[13]={0}; int error_count = 0; - while(error_count <= 20) { - memset(cm_iccid, 0, sizeof(cm_iccid)); - get_iccid_ok = 0; - cm_sim_get_iccid(cm_iccid); - // 统计有效字符 - for(int i = strlen(cm_iccid) - 1; i >= 8; i--) { - if(cm_iccid[i] >= '0' && cm_iccid[i] <= '9') { - get_iccid_ok++; - }else{ - break; - } - } - JT808_DEBUG("get_iccid_ok:%d\n",get_iccid_ok); - if(get_iccid_ok == 12){ // IC CID 获取成功 - JT808_DEBUG("iccid:%d,:%s\n",strlen(cm_iccid), cm_iccid); - rawStrToBcd(jt808_term_param_item.phone_BCDnum, (uint8_t *)(cm_iccid+8), 12); // 终端手机号码 - break; - }else{ - error_count++; - JT808_DEBUG("get iccid failed count:%d\n",error_count); - } - osDelay(1000 / 5); // 根据需求设置延时 - } + uint8_t operator_val=0; + while(error_count <= 20){ + memset(cm_iccid, 0, sizeof(cm_iccid)); + cm_sim_get_iccid(cm_iccid); + if((cm_iccid[0] == '8')&&(cm_iccid[1] == '9')&&(cm_iccid[2] == '8')&&(cm_iccid[3] == '6')&&(strlen(cm_iccid)>=19)){ + operator_val =(cm_iccid[4]-'0')*10 + cm_iccid[5]-'0'; + JT808_DEBUG("operator:%d,iccid:%d,:%s\n",operator_val ,strlen(cm_iccid), cm_iccid); + + uint8_t start_val=strlen(cm_iccid); + if((operator_val ==0)||(operator_val ==2)||(operator_val ==4)||(operator_val ==7)){ // 中国移动 + start_val -= 12; + }else if((operator_val ==1)||(operator_val ==6)||(operator_val ==9)){ // 中国联通 + start_val -= 12; + }else if((operator_val ==3)||(operator_val ==11)){ // 电信 + start_val -= 13; + } + for(uint8_t count =0; count < 12; count++){ + if(cm_iccid[start_val + count] >= '0' && cm_iccid[start_val + count] <= '9'){ + BCD_code[count] =cm_iccid[start_val + count]; + }else{ + BCD_code[count] ='0'; + } + } + rawStrToBcd(jt808_term_param_item.phone_BCDnum, BCD_code, 12); // 终端手机号码 + break; + } + error_count++; + JT808_DEBUG("get iccid failed, retry:%d\n", error_count); + osDelay(1000/5); // 根据需求设置延时 + } jt808_term_param_item.msg_flow_num =0; JT808_DEBUG("phone_BCDnum:"); for(int i=0;i<6;i++){ diff --git a/custom/local_tts/inc/local_tts.h b/custom/local_tts/inc/local_tts.h index 3e7c658..556aacb 100644 --- a/custom/local_tts/inc/local_tts.h +++ b/custom/local_tts/inc/local_tts.h @@ -25,4 +25,7 @@ void local_tts_set(int32_t speed, int32_t volume, cm_local_tts_digit_e mode); // len=0时自动计算长度//interruptible =1时,表示允许被打断播放 int8_t local_tts_text_play(char *text, uint8_t len, uint8_t en_interruptible); +//获取播放状态 +int local_tts_get_play_state(void); + #endif // __LOCAL_TTS_H__ \ No newline at end of file diff --git a/custom/local_tts/src/local_tts.c b/custom/local_tts/src/local_tts.c index 60e8614..81bbb1a 100644 --- a/custom/local_tts/src/local_tts.c +++ b/custom/local_tts/src/local_tts.c @@ -172,6 +172,10 @@ typedef struct { tts_play_cfg_t tts_play_cfg; +int local_tts_get_play_state(void) { + return tts_play_cfg.play_state != TTS_STATE_IDLE; +} + static void tts_play_callback(cm_local_tts_event_e event, void *param){ switch(event){ diff --git a/custom/radar/src/radar.c b/custom/radar/src/radar.c index ce0be5b..57e8e08 100644 --- a/custom/radar/src/radar.c +++ b/custom/radar/src/radar.c @@ -21,7 +21,7 @@ #include "app_uart.h" #define DEBUG(fmt, args...) app_printf("[RADAR]" fmt, ##args) #else -#define DEBUG(fmt, arg...) +#define DEBUG(fmt, ...) #endif static osThreadId_t os_RADAR_ThreadId; @@ -62,7 +62,7 @@ static void radar_AUTO_BrakeORSpeedCut(uint8_t radar_id , uint16_t Car_Distance) if((35 < Car_Distance) && Car_Distance < Brake_Distance){//小于自动刹车距离时 if(!sys_sta.A_brake){ // local_tts_set(5, 15, CM_LOCAL_TTS_DIGIT_AUTO); - local_tts_text_play("自动刹车",0,0); + local_tts_text_play("刹车",0,0); // Time_Event_Blink(Buzzer_Event,100,100,0xffff,NULL); } sys_sta.A_brake =1;//使能自动刹车 @@ -143,6 +143,9 @@ static void RADAR_TaskHandle(void *param){ // 根据倒车状态确定雷达ID // DEBUG("SendCMD:ID=%#02x", (0 == sys_sta.IO_RX_back)?RADAR_ID_Back:RADAR_ID_Front); radar_Sendcmd((0 == sys_sta.IO_RX_back)?RADAR_ID_Back:RADAR_ID_Front, RADAR_MODE_Real); + }else{ + sys_sta.A_Speed_Cut =0; // 清空自动减速状态 + sys_sta.A_brake =0; // 清空自动刹车状态 } osDelay(140/5); // 140ms } diff --git a/custom/tcp_client/src/tcp_client.c b/custom/tcp_client/src/tcp_client.c index a2a99af..9253e27 100644 --- a/custom/tcp_client/src/tcp_client.c +++ b/custom/tcp_client/src/tcp_client.c @@ -17,7 +17,7 @@ #include "app_uart.h" #define DEBUG(fmt, args...) app_printf("[TCP]" fmt, ##args) #else -#define DEBUG(fmt, arg...) +#define DEBUG(fmt, ...) #endif static int tcp_client_sock = -1; @@ -151,46 +151,56 @@ static void net_manage_task(void *arg){ cm_cereg_state_t cereg_state = {0}; uint8_t error_time_out = 0; while(1){ + while(1){ // 等待插入SIM卡并建立网络连接 + osDelay(1000/5); + error_time_out++; + if(error_time_out > 15){ // 超时退出 + DEBUG("network connect timeout!\n"); + local_tts_text_play("网络异常,5秒后重启!",0,0); + osDelay(5000/5); + cm_pm_reboot(); + } + if(0 == cm_modem_get_cpin()){ // 插入SIM卡 + DEBUG("sim card ready!\r\n"); + }else{ + DEBUG("waiting for sim card...\r\n"); + } + if(0 ==cm_modem_get_cereg_state(&cereg_state)){ // 获取PS网络注册状态 + DEBUG("cereg_state:%d\n",cereg_state.state); // 注册状态 + if(cereg_state.state == 1){ // 已注册 + DEBUG("network ready\n"); + local_tts_text_play("网络正常!",0,0); + break; + }else{ + DEBUG("waiting for network...\n"); + // local_tts_text_play("等待网络连接!",0,0); + } + }else{ + DEBUG("cereg_get_state fail!\n\n"); + } + // if(cm_modem_get_pdp_state(1) == 1){ // 网络就绪 + // app_printf("network ready\n"); + // }else{ + // app_printf("waiting for network...\n"); + // } + } TCP_DISABLE: error_time_out = 0; do{// 连接服务器 - while(1){ // 等待插入SIM卡并建立网络连接 - osDelay(1000/5); - error_time_out++; - if(error_time_out > 15){ // 超时退出 - DEBUG("network connect timeout!\n"); - cm_pm_reboot(); - } - if(0 == cm_modem_get_cpin()){ // 插入SIM卡 - DEBUG("sim card ready!\r\n"); - }else{ - DEBUG("waiting for sim card...\r\n"); - } - if(0 ==cm_modem_get_cereg_state(&cereg_state)){ // 获取PS网络注册状态 - DEBUG("cereg_state:%d\n",cereg_state.state); // 注册状态 - if(cereg_state.state == 1){ // 已注册 - DEBUG("network ready\n"); - break; - }else{ - DEBUG("waiting for network...\n"); - } - }else{ - DEBUG("cereg_get_state fail!\n\n"); - } - // if(cm_modem_get_pdp_state(1) == 1){ // 网络就绪 - // app_printf("network ready\n"); - // }else{ - // app_printf("waiting for network...\n"); - // } + osDelay(1000/5); + error_time_out++; + if(error_time_out > 15){ // 超时退出 + DEBUG("network connect timeout!\n"); + local_tts_text_play("服务器连接失败，重连中...",0,0); } }while(0 != tcp_client_connect((char *)(PrsResult.term_param_item->set_term_param.MainServerAddr) , PrsResult.term_param_item->set_term_param.ServerPort)); // 连接到TCP服务器 DEBUG("tcp_client_connect success!\r\n"); for(uint8_t i = 0; i < 3; i++){ // 发送3次注册、鉴权、参数设置、上报参数 - ret =jt808_pkg_send(ID_Term_Reg,8000/5);//注册终端 超时：8S + ret =jt808_pkg_send(ID_Term_Reg,5000/5);//注册终端 超时：8S if(0 == ret){ // 0：成功；1：车辆已被注册；2：数据库中无该车辆；3：终端已被注册；4：数据库中无该终端 DEBUG("send ID_Term_Reg success!\n"); for(uint8_t i = 0; i < 5; i++){ - ret =jt808_pkg_send(ID_Term_Auth,10000/5);//终端鉴权 超时：10S + ret =jt808_pkg_send(ID_Term_Auth,5000/5);//终端鉴权 超时：10S if(0 == ret){ DEBUG("send ID_Term_Auth success!\n"); break; @@ -203,6 +213,8 @@ TCP_DISABLE: } break; }else{ + local_tts_text_play("设备未绑定，注册异常",0,0); + osDelay(10000/5); DEBUG("send ID_Term_Reg fail:%d!\n",ret); if(ret == -1){ // 发送失败 goto TCP_DISABLE; @@ -215,14 +227,14 @@ TCP_DISABLE: led_set_event(EVENT_NETWORK_READY); // 网络连接成功 DEBUG("NetwarK connected!\r\n"); // local_tts_set(5, 15, CM_LOCAL_TTS_DIGIT_AUTO); - local_tts_text_play("网络已连接",0,0); + local_tts_text_play("服务器已连接",0,0); // local_tts_text_play("欢迎使用莱昂特智能终端设备...。",0,0); // 0:表示自动计算字符串长度,10000表示最大等待时间 osSemaphoreAcquire(netconn_disconnect_sem, osWaitForever); // 等待断开连接信号 jt808_Autoreport_param_stop();//停止自动上报参数设置 led_set_event(EVENT_NETWORK_DISCONNECT); // 网络断开连接 DEBUG("NetwarK disconnected!\r\n"); // local_tts_set(5, 15, CM_LOCAL_TTS_DIGIT_AUTO); - local_tts_text_play("网络信号弱",0,0); + local_tts_text_play("服务器已断开",0,0); } }