优化代码结构

protocols/jsonrpc-c.c

@@ -7,16 +7,16 @@
  * 		Only for HTTP
  */
 
+#include <netdb.h>
 #include <stdio.h>
+#include <errno.h>
 #include <stdlib.h>
 #include <unistd.h>
-#include <errno.h>
 #include <string.h>
+#include <arpa/inet.h>
 #include <sys/types.h>
 #include <sys/socket.h>
 #include <netinet/in.h>
-#include <netdb.h>
-#include <arpa/inet.h>
 
 #include "picohttpparser.h"
 #include "jsonrpc-c.h"

user/config/config.c

@@ -27,25 +27,13 @@ static void rov_info_write_initial_value(struct rov_info* info)
 {
     memset(info, 0, sizeof(rov_info_t));//变量初始化
 
-    propeller_params_init_freq(&info->propeller.pwm_freq_calibration);
-    propeller_params_init(&info->propeller.front_right);
-    propeller_params_init(&info->propeller.front_left);
-    propeller_params_init(&info->propeller.center_right);
-    propeller_params_init(&info->propeller.center_left);
-    propeller_params_init(&info->propeller.back_right);
-    propeller_params_init(&info->propeller.back_left);
-
-    rocket_ratio_params_init(&info->rocket.ratio_x);
-    rocket_ratio_params_init(&info->rocket.ratio_y);
-    rocket_ratio_params_init(&info->rocket.ratio_z);
-    rocket_ratio_params_init(&info->rocket.ratio_yaw);
-
-    pid_ctl_params_init(&info->pidScale.yaw);
-    pid_ctl_params_init(&info->pidScale.depth);
-
-    dev_ctl_params_init(&info->devCtl.light);
-    dev_ctl_params_init(&info->devCtl.yuntai);
-    dev_ctl_params_init(&info->devCtl.arm);
+    propeller_params_all_init(&info->propeller);
+
+    rocket_ratio_params_all_init(&info->rocket);
+
+    pid_ctl_params_all_init(&info->pidScale);
+
+    dev_ctl_params_all_init(&info->devCtl);
 }
 
 /**
@@ -56,6 +44,11 @@ static void rov_info_write_initial_value(struct rov_info* info)
 int rov_config_write_json_to_file(cJSON *params)
 {
     char *temp = cJSON_Print(params);
+    if (temp == NULL)
+    {
+        log_e("cjson print error, invaild cjson data");
+        return -1;
+    }
     FILE *fp = fopen(CONFIG_FILE_PATH, "w");
     if (fp == NULL)
     {
@@ -98,7 +91,7 @@ int rov_config_write_to_file(struct rov_info* info)
 }
 
 /**
- * @brief 读取配置文件
+ * @brief 读取配置文件（记得用完要 delete）
  * @return 由读取到的配置文件创建的 cjson 结构体
  */
 cJSON *rov_config_read_from_file_return_cjson()

user/config/parameters/dev_ctl.c

@@ -52,6 +52,13 @@ void dev_ctl_params_init(struct pwmDev_parameters *params)
     params->speed = 50;
 }
 
+void dev_ctl_params_all_init(dev_ctl_t *params)
+{
+    dev_ctl_params_init(&params->light);
+    dev_ctl_params_init(&params->yuntai);
+    dev_ctl_params_init(&params->arm);
+}
+
 /**
  * @brief pwm设备参数添加(Creat Json and Add param)
  * @param info rov_info结构体参数

user/config/parameters/dev_ctl.h

@@ -12,6 +12,7 @@ cJSON* dev_ctl_params_add_to_root(struct pwmDev_parameters *params);
 void dev_ctl_params_read_from_root(struct pwmDev_parameters *params, cJSON *node);
 void dev_ctl_params_init(struct pwmDev_parameters *params);
 
+void dev_ctl_params_all_init(dev_ctl_t *params);
 cJSON* dev_ctl_params_write(struct rov_info* info);
 void dev_ctl_params_read(struct rov_info* info, cJSON *node);
 

user/config/parameters/pid_ctl.c

@@ -46,6 +46,12 @@ void pid_ctl_params_init(struct pid_scale_parameters *params)
     params->Kd = 0;
 }
 
+void pid_ctl_params_all_init(pid_scale_t *params)
+{
+    pid_ctl_params_init(&params->yaw);
+    pid_ctl_params_init(&params->depth);
+}
+
 /**
  * @brief pid控制参数添加（Creat Json and Add param)
  * @param info rov_info结构体参数

user/config/parameters/pid_ctl.h

@@ -12,6 +12,7 @@ cJSON* pid_ctl_params_add_to_root(struct pid_scale_parameters *params);
 void pid_ctl_params_read_from_root(struct pid_scale_parameters *params, cJSON *node);
 void pid_ctl_params_init(struct pid_scale_parameters *params);
 
+void pid_ctl_params_all_init(pid_scale_t *params);
 cJSON* pid_ctl_params_write(struct rov_info* info);
 void pid_ctl_params_read(struct rov_info* info, cJSON *node);
 

user/config/parameters/propeller.c

@@ -74,6 +74,17 @@ void propeller_params_init(struct propeller_parameters *params)
     params->power_negative = 0.2;
 }
 
+void propeller_params_all_init(propeller_t *params)
+{
+    propeller_params_init_freq(&params->pwm_freq_calibration);
+    propeller_params_init(&params->front_right);
+    propeller_params_init(&params->front_left);
+    propeller_params_init(&params->center_right);
+    propeller_params_init(&params->center_left);
+    propeller_params_init(&params->back_right);
+    propeller_params_init(&params->back_left);
+}
+
 /**
  * @brief 推进器参数添加（Creat Json and Add params）
  * @param info rov_info结构体参数

user/config/parameters/propeller.h

@@ -14,6 +14,7 @@ void propeller_params_read_from_root(struct propeller_parameters *params, cJSON
 void propeller_params_init_freq(double *params);
 void propeller_params_init(struct propeller_parameters *params);
 
+void propeller_params_all_init(propeller_t *params);
 cJSON* propeller_params_write(struct rov_info* info);
 void propeller_params_read(struct rov_info* info, cJSON *node);
 

user/config/parameters/rocket_ratio.c

@@ -96,6 +96,14 @@ void rocket_ratio_params_init(struct r2p_ratio *params)
     _rocket_dir_params_init(&params->back_left);
 }
 
+void rocket_ratio_params_all_init(rocket_t *params)
+{
+    rocket_ratio_params_init(&params->ratio_x);
+    rocket_ratio_params_init(&params->ratio_y);
+    rocket_ratio_params_init(&params->ratio_z);
+    rocket_ratio_params_init(&params->ratio_yaw);
+}
+
 /**
  * @brief 各轴参数写入（Creat Json and Add params）
  * @param info rov_info结构体参数

user/config/parameters/rocket_ratio.h

@@ -12,6 +12,7 @@ cJSON* rocket_ratio_params_add_to_root(struct r2p_ratio *params);
 void rocket_ratio_params_read_from_root(struct r2p_ratio *params, cJSON *node);
 void rocket_ratio_params_init(struct r2p_ratio *params);
 
+void rocket_ratio_params_all_init(rocket_t *params);
 cJSON* rocket_ratio_params_write(struct rov_info* info);
 void rocket_ratio_params_read(struct rov_info* info, cJSON *node);
 

user/device/device.c

@@ -29,7 +29,7 @@ static void write_to_propeller(propeller_t *param)
         pwm_controller_write(param->propeller.channel, 0.0f, 7.5 + constrain(2.5 * param->propeller.power_cur, -2.5, 2.5));\
         param->propeller.power_last = param->propeller.power_cur;\
         param->propeller.power_cur = 0;
-        
+
         CALL_FOR_ALL_PROPELLER(PWM_COTROLLER_WRITE)
     #undef PWM_COTROLLER_WRITE
 }
@@ -38,6 +38,11 @@ void *propeller_thread(void *arg)
 {
     rov_info_t *info = (rov_info_t *)arg;
 
+    for (int i = 0; i < 16; i++)
+    {
+        pwm_controller_write(i, 0, 0);
+    }
+
     for (;;)
     {
         pthread_mutex_lock(&info->thread.mutex.write_propeller);
@@ -47,16 +52,16 @@ void *propeller_thread(void *arg)
     return NULL;
 }
 
-void *device_thread(void *arg)
-{
-    rov_info_t *info = (rov_info_t *)arg;
+// void *device_thread(void *arg)
+// {
+//     rov_info_t *info = (rov_info_t *)arg;
 
-    for (;;)
-    {
-    }
+//     for (;;)
+//     {
+//     }
 
-    return NULL;
-}
+//     return NULL;
+// }
 
 int rov_device_run(struct rov_info* info)
 {
@@ -78,12 +83,12 @@ int rov_device_run(struct rov_info* info)
     }
     pthread_detach(info->thread.tid.propeller);
 
-    log_i("starting thread");
-    if (pthread_create(&info->thread.tid.device, NULL, device_thread, info) != 0)
-    {
-        log_e("thread start failed");
-    }
-    pthread_detach(info->thread.tid.device);
+    // log_i("starting thread");
+    // if (pthread_create(&info->thread.tid.device, NULL, device_thread, info) != 0)
+    // {
+    //     log_e("thread start failed");
+    // }
+    // pthread_detach(info->thread.tid.device);
 
     return 0;
 }

user/server/handler/control.c

@@ -17,6 +17,8 @@ static double cjson_value_analysis_double(cJSON *params,const char *str)
 
 static cJSON *move_analysis(cJSON* params, struct rov_info* info, move_mode_t mode)
 {
+    if (params == NULL)
+        return cJSON_CreateNull();
     info->rocket.x = cjson_value_analysis_double(params, "x");
     info->rocket.y = cjson_value_analysis_double(params, "y");
     info->rocket.z = cjson_value_analysis_double(params, "z");
@@ -27,11 +29,9 @@ static cJSON *move_analysis(cJSON* params, struct rov_info* info, move_mode_t mo
             break;
         case abs_ctl:
             info->rocket.yaw = 0;
-//            Total_Controller.Yaw_Angle_Control.Expect = -cjson_value_analysis_double(params, "rot");
             break;
         case rel_clt:
             info->rocket.yaw = 0;
-//            expect_rotate_auv = -cjson_value_analysis_double(params, "rot");
             break;
     }
 
@@ -53,18 +53,24 @@ cJSON *move_syn_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 
 cJSON *catcher_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
+    if (params == NULL)
+        return cJSON_CreateNull();
     ((dev_ctl_t *)ctx->data)->catcher_clt = params->child->valuedouble > 0 ? pwm_pMove : (params->child->valuedouble < 0 ? pwm_nMove : pwm_noAct);
     return cJSON_CreateNull();
 }
 
 cJSON *light_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
+    if (params == NULL)
+        return cJSON_CreateNull();
     ((dev_ctl_t *)ctx->data)->light_clt = params->child->valuedouble > 0 ? pwm_pMove : (params->child->valuedouble < 0 ? pwm_nMove : pwm_noAct);
     return cJSON_CreateNull();
 }
 
 cJSON *depth_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
+    if (params == NULL)
+        return cJSON_CreateNull();
     ((debug_info_t *)ctx->data)->auv_expect_depth = (float)params->child->valuedouble;
     return cJSON_CreateNull();
 }
@@ -81,12 +87,16 @@ cJSON *move_relative_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 
 cJSON *direction_lock_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
+    if (params == NULL)
+        return cJSON_CreateNull();
     ((dev_ctl_t *)ctx->data)->dir_lock = params->child->valueint;
     return cJSON_CreateNull();
 }
 
 cJSON *depth_lock_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
+    if (params == NULL)
+        return cJSON_CreateNull();
     ((dev_ctl_t *)ctx->data)->depth_lock = params->child->valueint;
     return cJSON_CreateNull();
 }

user/server/handler/debug.c

@@ -22,19 +22,24 @@ static int cjson_value_analysis_int(cJSON *params, const char *str)
 
 cJSON *set_debug_mode_enabled_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
+    if (params == NULL)
+        return cJSON_CreateNull();
     ((dev_ctl_t *)ctx->data)->debug_mode_stat = params->child->valueint;
     return cJSON_CreateNull();
 }
 
 cJSON *set_propeller_pwm_freq_calibration_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
+    if (params == NULL)
+        return cJSON_CreateNull();
     pwm_controller_set_freq((uint16_t)params->child->valuedouble);
     return cJSON_CreateNull();
 }
 
 cJSON *set_propeller_values_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
     rov_info_t *info = (rov_info_t *)ctx->data;
+
     info->debugInfo.propeller_direct_back_left = cjson_value_analysis_int(params, "back_left");
     info->debugInfo.propeller_direct_back_right = cjson_value_analysis_int(params, "back_right");
     info->debugInfo.propeller_direct_center_left = cjson_value_analysis_int(params, "center_left");
@@ -48,19 +53,21 @@ cJSON *set_propeller_values_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 
 cJSON *set_propeller_parameters_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
-    propeller_params_read_from_root(&((propeller_t *)ctx->data)->front_right, cJSON_GetObjectItem(params, "front_right"));
-    propeller_params_read_from_root(&((propeller_t *)ctx->data)->front_left, cJSON_GetObjectItem(params, "front_left"));
-    propeller_params_read_from_root(&((propeller_t *)ctx->data)->center_right, cJSON_GetObjectItem(params, "center_right"));
-    propeller_params_read_from_root(&((propeller_t *)ctx->data)->center_left, cJSON_GetObjectItem(params, "center_left"));
-    propeller_params_read_from_root(&((propeller_t *)ctx->data)->back_right, cJSON_GetObjectItem(params, "back_right"));
-    propeller_params_read_from_root(&((propeller_t *)ctx->data)->back_left, cJSON_GetObjectItem(params, "back_left"));
+    // to do ...
+    // propeller_params_read_from_root(&((propeller_t *)ctx->data)->front_right, cJSON_GetObjectItem(params, "front_right"));
+    // propeller_params_read_from_root(&((propeller_t *)ctx->data)->front_left, cJSON_GetObjectItem(params, "front_left"));
+    // propeller_params_read_from_root(&((propeller_t *)ctx->data)->center_right, cJSON_GetObjectItem(params, "center_right"));
+    // propeller_params_read_from_root(&((propeller_t *)ctx->data)->center_left, cJSON_GetObjectItem(params, "center_left"));
+    // propeller_params_read_from_root(&((propeller_t *)ctx->data)->back_right, cJSON_GetObjectItem(params, "back_right"));
+    // propeller_params_read_from_root(&((propeller_t *)ctx->data)->back_left, cJSON_GetObjectItem(params, "back_left"));
     return cJSON_CreateNull();
 }
 
 cJSON *set_control_loop_parameters_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
-    pid_ctl_params_read_from_root(&((pid_scale_t *)ctx->data)->yaw, cJSON_GetObjectItem(params, "yaw_lock"));
-    pid_ctl_params_read_from_root(&((pid_scale_t *)ctx->data)->depth, cJSON_GetObjectItem(params, "depth_lock"));
+    // to do ...
+    // pid_ctl_params_read_from_root(&((pid_scale_t *)ctx->data)->yaw, cJSON_GetObjectItem(params, "yaw_lock"));
+    // pid_ctl_params_read_from_root(&((pid_scale_t *)ctx->data)->depth, cJSON_GetObjectItem(params, "depth_lock"));
     return cJSON_CreateNull();
 }
 

user/server/handler/info.c

@@ -52,5 +52,6 @@ cJSON *debug_info_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 
 cJSON *update_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
+    // to do ...
     return cJSON_CreateNull();
 }