【类 型】：refactor

【主题】：代码融合，田工代码分离到commser类;更换Ticker同名库，调用代码也更换
【描	述】：
	[原因]：
	[过程]：更改订阅命令单主题 cmd/macadd
	[影响]：
【结	束】

# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动

lib/Ticker/examples/Arguments/Arguments.ino

@@ -0,0 +1,51 @@
+/*
+ * This example demonstrates used of Ticker with arguments.
+ * You can call the same callback function with different argument on different times.
+ * Based on the argument the callback can perform different tasks.
+ */
+
+#include <Arduino.h>
+#include <Ticker.h>
+
+// Arguments for the function must remain valid (not run out of scope) otherwise the function would read garbage data.
+int LED_PIN_1 = 4;
+#ifdef LED_BUILTIN
+  int LED_PIN_2 = LED_BUILTIN;
+#else
+  int LED_PIN_2 = 8;
+#endif
+
+Ticker tickerSetHigh;
+Ticker tickerSetLow;
+
+// Argument to callback must always be passed a reference
+void swapState(int *pin) {
+  static int led_1_state = 1;
+  static int led_2_state = 1;
+  if(*pin == LED_PIN_1){
+    Serial.printf("[%lu ms] set pin %d to state: %d\n", millis(), *pin, led_1_state);
+    digitalWrite(*pin, led_1_state);
+    led_1_state = led_1_state ? 0 : 1; // reverse for next pass
+  }else if(*pin == LED_PIN_2){
+    Serial.printf("[%lu ms] set pin %d to state: %d\n", millis(), *pin, led_2_state);
+    digitalWrite(*pin, led_2_state);
+    led_2_state = led_2_state ? 0 : 1; // reverse for next pass
+  }
+}
+
+void setup() {
+  Serial.begin(115200);
+  pinMode(LED_PIN_1, OUTPUT);
+  pinMode(LED_PIN_2, OUTPUT);
+  //digitalWrite(1, LOW);
+  
+  // Blink LED every 500 ms on LED_PIN_1
+  tickerSetLow.attach_ms(500, swapState, &LED_PIN_1);
+  
+  // Blink LED every 1000 ms on LED_PIN_2
+  tickerSetHigh.attach_ms(1000, swapState, &LED_PIN_2);
+}
+
+void loop() {
+
+}

lib/Ticker/examples/Blinker/Blinker.ino

@@ -0,0 +1,42 @@
+#include <Arduino.h>
+#include <Ticker.h>
+
+// attach a LED to pPIO 21
+#define LED_PIN 21
+
+Ticker blinker;
+Ticker toggler;
+Ticker changer;
+float blinkerPace = 0.1;  //seconds
+const float togglePeriod = 5; //seconds
+
+void change() {
+  blinkerPace = 0.5;
+}
+
+void blink() {
+  digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+}
+
+void toggle() {
+  static bool isBlinking = false;
+  if (isBlinking) {
+    blinker.detach();
+    isBlinking = false;
+  }
+  else {
+    blinker.attach(blinkerPace, blink);
+    isBlinking = true;
+  }
+  digitalWrite(LED_PIN, LOW);  //make sure LED on on after toggling (pin LOW = led ON)
+}
+
+void setup() {
+  pinMode(LED_PIN, OUTPUT);
+  toggler.attach(togglePeriod, toggle);
+  changer.once(30, change);
+}
+
+void loop() {
+  
+}

lib/Ticker/src/Ticker.cpp

@@ -0,0 +1,63 @@
+/* 
+  Ticker.cpp - esp32 library that calls functions periodically
+
+  Copyright (c) 2017 Bert Melis. All rights reserved.
+  
+  Based on the original work of:
+  Copyright (c) 2014 Ivan Grokhotkov. All rights reserved.
+  The original version is part of the esp8266 core for Arduino environment.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include "Ticker.h"
+
+Ticker::Ticker() :
+  _timer(nullptr) {}
+
+Ticker::~Ticker() {
+  detach();
+}
+
+void Ticker::_attach_ms(uint32_t milliseconds, bool repeat, callback_with_arg_t callback, uint32_t arg) {
+  esp_timer_create_args_t _timerConfig;
+  _timerConfig.arg = reinterpret_cast<void*>(arg);
+  _timerConfig.callback = callback;
+  _timerConfig.dispatch_method = ESP_TIMER_TASK;
+  _timerConfig.name = "Ticker";
+  if (_timer) {
+    esp_timer_stop(_timer);
+    esp_timer_delete(_timer);
+  }
+  esp_timer_create(&_timerConfig, &_timer);
+  if (repeat) {
+    esp_timer_start_periodic(_timer, milliseconds * 1000ULL);
+  } else {
+    esp_timer_start_once(_timer, milliseconds * 1000ULL);
+  }
+}
+
+void Ticker::detach() {
+  if (_timer) {
+    esp_timer_stop(_timer);
+    esp_timer_delete(_timer);
+    _timer = nullptr;
+  }
+}
+
+bool Ticker::active() {
+  if (!_timer) return false;
+  return esp_timer_is_active(_timer);
+}

lib/Ticker/src/Ticker.h

@@ -0,0 +1,107 @@
+/* 
+  Ticker.h - esp32 library that calls functions periodically
+
+  Copyright (c) 2017 Bert Melis. All rights reserved.
+  
+  Based on the original work of:
+  Copyright (c) 2014 Ivan Grokhotkov. All rights reserved.
+  The original version is part of the esp8266 core for Arduino environment.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef TICKER_H
+#define TICKER_H
+
+extern "C" {
+  #include "esp_timer.h"
+}
+
+class Ticker
+{
+public:
+  Ticker();
+  ~Ticker();
+  typedef void (*callback_t)(void);
+  typedef void (*callback_with_arg_t)(void*);
+
+  void attach(float seconds, callback_t callback)
+  {
+    _attach_ms(seconds * 1000, true, reinterpret_cast<callback_with_arg_t>(callback), 0);
+  }
+
+  void attach_ms(uint32_t milliseconds, callback_t callback)
+  {
+    _attach_ms(milliseconds, true, reinterpret_cast<callback_with_arg_t>(callback), 0);
+  }
+
+  template<typename TArg>
+  void attach(float seconds, void (*callback)(TArg), TArg arg)
+  {
+    static_assert(sizeof(TArg) <= sizeof(uint32_t), "attach() callback argument size must be <= 4 bytes");
+    // C-cast serves two purposes:
+    // static_cast for smaller integer types,
+    // reinterpret_cast + const_cast for pointer types
+    uint32_t arg32 = (uint32_t)arg;
+    _attach_ms(seconds * 1000, true, reinterpret_cast<callback_with_arg_t>(callback), arg32);
+  }
+
+  template<typename TArg>
+  void attach_ms(uint32_t milliseconds, void (*callback)(TArg), TArg arg)
+  {
+    static_assert(sizeof(TArg) <= sizeof(uint32_t), "attach_ms() callback argument size must be <= 4 bytes");
+    uint32_t arg32 = (uint32_t)arg;
+    _attach_ms(milliseconds, true, reinterpret_cast<callback_with_arg_t>(callback), arg32);
+  }
+
+  void once(float seconds, callback_t callback)
+  {
+    _attach_ms(seconds * 1000, false, reinterpret_cast<callback_with_arg_t>(callback), 0);
+  }
+
+  void once_ms(uint32_t milliseconds, callback_t callback)
+  {
+    _attach_ms(milliseconds, false, reinterpret_cast<callback_with_arg_t>(callback), 0);	
+  }
+
+  template<typename TArg>
+  void once(float seconds, void (*callback)(TArg), TArg arg)
+  {
+    static_assert(sizeof(TArg) <= sizeof(uint32_t), "attach() callback argument size must be <= 4 bytes");
+    uint32_t arg32 = (uint32_t)(arg);
+    _attach_ms(seconds * 1000, false, reinterpret_cast<callback_with_arg_t>(callback), arg32);
+  }
+
+  template<typename TArg>
+  void once_ms(uint32_t milliseconds, void (*callback)(TArg), TArg arg)
+  {
+    static_assert(sizeof(TArg) <= sizeof(uint32_t), "attach_ms() callback argument size must be <= 4 bytes");
+    uint32_t arg32 = (uint32_t)(arg);
+    _attach_ms(milliseconds, false, reinterpret_cast<callback_with_arg_t>(callback), arg32);
+  }
+
+  void detach();
+  bool active();
+
+protected:	
+  void _attach_ms(uint32_t milliseconds, bool repeat, callback_with_arg_t callback, uint32_t arg);
+
+
+protected:
+  esp_timer_handle_t _timer;
+};
+
+
+#endif  // TICKER_H

platformio.ini

@@ -18,7 +18,6 @@ upload-port = COM[14]
 lib_deps = 
 	bogde/HX711@^0.7.5
 	mathertel/OneButton@^2.0.3
-	sstaub/Ticker@^4.4.0
 	robtillaart/CRC@^0.3.3
 	sandeepmistry/CAN@^0.3.1
 	fastled/FastLED@^3.5.0

src/FoodDeliveryBase.cpp

@@ -178,10 +178,9 @@ bool FoodCube::checkWiFiStatus()
 }
 /**
  * @description: 连接mqtt
- * @param {String[]} topicSub 主题数组
+ * @param {String} topicSub 主题
- * @param {int} topicSubCount 数组总数
  */
-void FoodCube::connectMqtt(String topicSub[], int topicSubCount)
+void FoodCube::connectMqtt(String topicSub)
 {
   if (mqttClient->connected())
     return;
@@ -198,7 +197,7 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount)
       logln(macAdd);
       /*连接成功 订阅主题*/
       // 订阅主题 PS:连接上mqtt服务器 订阅主题 收到信息触发回调函数 receiveCallback
-      subscribeTopic("cmd", 1);
+      subscribeTopic(topicSub, 1);
       delay(500);
       playText("服务器已连接");
     }
@@ -216,18 +215,17 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount)
 
 /**
  * @description: 写在loop函数里 检测mqtt连接情况 并保持心跳
- * @param {String[]} topicSub 主题数组
+ * @param {String} topicSub 主题
- * @param {int} topicSubCount 数组总数
  */
-void FoodCube::mqttLoop(String topicSub[], int topicSubCount)
+void FoodCube::mqttLoop(String topicSub)
 {
   if (mqttClient->connected())
   {                     // 检测 如果开发板成功连接服务器
     mqttClient->loop(); // 保持心跳
   }
   else
-  {                                       // 如果开发板未能成功连接服务器
+  {                        // 如果开发板未能成功连接服务器
-    connectMqtt(topicSub, topicSubCount); // 则尝试连接服务器
+    connectMqtt(topicSub); // 则尝试连接服务器
   }
 }
 

src/FoodDeliveryBase.h

@@ -10,7 +10,7 @@
 /*json库*/
 #include "ArduinoJson.h"
 /*异步库*/
-#include "Ticker.h"
+#include "Ticker.h" //调用Ticker.h库
 /*udp发送*/
 #include "WiFiUdp.h"
 
@@ -49,8 +49,8 @@ public:
   void connectWifi();
   /*mqtt*/
   PubSubClient *mqttClient; // 指向 mqtt服务器连接 对象
-  void connectMqtt(String topicSub[], int topicSubCount);
+  void connectMqtt(String topicSub);
-  void mqttLoop(String topicSub[], int topicSubCount);
+  void mqttLoop(String topicSub);
   void subscribeTopic(String topicString, int Qos);
   void pubMQTTmsg(String topicString, String messageString);
   /*串口输出*/

src/commser.cpp

@@ -41,9 +41,9 @@ String topicHandle[] = {"crosFrequency"};
 boolean isPush = false; // 记得删除 板子按钮状态 ps:D3引脚下拉微动开关
 
 /*异步线程对象*/
-Ticker pubTicker(pubThread, 1000);   // 定时发布主题 线程
+Ticker pubTicker;   // 定时发布主题 线程
-Ticker mavTicker(mavThread, 30000);  // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
+Ticker mavTicker;   // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
-Ticker flashTicker(flashThread, 50); // 单片机主动 按钮主动发布主题 线程
+Ticker flashTicker; // 单片机主动 按钮主动发布主题 线程
 
 // Ticker chanTicker;   //定时向飞控 发送油门指定
 

src/commser.h

@@ -2,18 +2,21 @@
 #define COMMSER_H
 
 #include "Arduino.h"
-#include <Ticker.h> //调用Ticker.h库
+#include "Ticker.h" //调用Ticker.h库
 #include "FoodDeliveryBase.h"
 #include "config.h"
 
-void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length);
+extern void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length);
-void mavThread();
+extern void mavThread();
-void pubThread();
+extern void pubThread();
-void flashThread();
+extern void flashThread();
-void writeRoute(String topicStr);
+extern void writeRoute(String topicStr);
-void mavlink_receiveCallback(uint8_t c);
+extern void mavlink_receiveCallback(uint8_t c);
 extern String topicPub[];
 extern int topicPubCount;
+extern String topicPubMsg[];
+extern String topicHandle[];
+extern String oldMsg[];
 extern FoodCube fc;		   // 创建项目对象
 extern Ticker pubTicker;   // 定时发布主题 线程
 extern Ticker mavTicker;   // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后

src/main.cpp

@@ -35,7 +35,7 @@ CRGB leds[NUM_LEDS];
 Motocontrol motocontrol;
 void led_show(uint8_t cr, uint8_t cg, uint8_t cb);
 void sendinfo();
-Ticker tksendinfo(sendinfo, 1000); // 发送状态
+Ticker tksendinfo; // 发送状态
 
 // 收
 void upbtn_click();
@@ -130,7 +130,6 @@ void setup()
   if (!motocontrol.init(&myservo))                            // 初始化电机控制
     ESP_LOGE(MOUDLENAME, "motocontrol init fault");
 
-  tksendinfo.start();
   initstatus = IS_WaitStart;
   _tm_waitinit = millis();
   _needweightalign = (wei_offset == 0);
@@ -142,15 +141,16 @@ void setup()
   Serial1.begin(115200, SERIAL_8N1, SERIAL_REPORT_RX, SERIAL_REPORT_TX); // 声音模块引串口脚映射
   fc.playText("开始启动");
   fc.connectWifi(); // 连接wifi
-  fc.playText("正在连接服务器");
+  // fc.playText("正在连接服务器");
-  fc.connectMqtt(topicPub, topicPubCount);          // 连接mqtt
+  // fc.connectMqtt("cmd");                            // 连接mqtt
   fc.mqttClient->setCallback(mqtt_receiveCallback); // 设置订阅成功 回调
   fc.mav_request_data();                            // 指定飞控串口返回的数据类别(飞控启动之后发送才有意义)
 
   /*异步线程*/
-  pubTicker.start();   // 定时 发布主题
+  tksendinfo.attach(1, sendinfo);  // 发送状态
-  mavTicker.start();   // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
+  pubTicker.attach(1, pubThread);  // 定时 发布主题
-  flashTicker.start(); // 监听 按flash键时 主动发布对频主题
+  mavTicker.attach(10, mavThread); // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
+  // flashTicker.start(); // 监听 按flash键时 主动发布对频主题
   /////////////////////////////////MQTT_语音_MAVLINK 部分结束
 
   // if (motocontrol.getstatus()==MS_Stop)
@@ -212,8 +212,8 @@ void showinfo()
   // if (pullweight > 10)
   // printf("PullWeight:%d\n", pullweight); //发送重量到mqtt
 
-  // topicPubMsg[14]=motocontrol.gethooktatus_str() ;
+  topicPubMsg[14] = motocontrol.gethooktatus_str();
-  // topicPubMsg[13]=pullweight;
+  topicPubMsg[13] = pullweight;
 
   // control_status_t cs=motocontrol.getcontrolstatus() ;
 
@@ -400,10 +400,6 @@ void set_locked(bool locked)
 // 在核心1上执行，重要的延迟低的
 void loop()
 {
-  tksendinfo.update(); // 定时发送信息任务
-  // pubTicker.update();          //定时 发布主题
-  // mavTicker.update();         //定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后
-
   // sercomm.getcommand();   // 得到控制命令
   button_checktop.tick(); // 按钮
   button_down.tick();     // 按钮
@@ -441,8 +437,6 @@ void loop()
   /////////////////////////////////MQTT_语音_MAVLINK 部分
   /*从飞控拿数据*/
   fc.comm_receive(mavlink_receiveCallback);
-  /*保持mqtt心跳*/
-  fc.mqttLoop(topicPub, topicPubCount);
   /////////////////////////////////MQTT_语音_MAVLINK 部分结束
   delay(1);
 }
@@ -466,13 +460,9 @@ void Task1(void *pvParameters)
     // 显示重量
     // printf("pullweight: %d \n", pullweight);
 
-    /*保持mqtt心跳*/
+    if (fc.checkWiFiStatus())
-    // fc.mqttLoop(topicSub, topicSubCount);
+      /*保持mqtt心跳,如果Mqtt没有连接会自动连接*/
-
+      fc.mqttLoop("cmd");
-    /// px1
-    // if (fc.checkWiFiStatus())
-    /*保持mqtt心跳,如果Mqtt没有连接会自动连接*/
-    //   fc.mqttLoop(topicSub, topicSubCount);
     vTaskDelay(10);
   }
 }
@@ -712,8 +702,7 @@ void btn_presssatonce()
   ESP_LOGD(MOUDLENAME, "UP_presssatonce");
   led_show(255, 255, 255); // 高亮一下
   fc.playText("发送对频信息");
-  /// px1
+  fc.pubMQTTmsg(topicHandle[0], fc.getMacAdd());
-  // fc.pubMQTTmsg(topicHandle[0], fc.getMacAdd());
 }
 // 收线按钮-长按
 void upbtn_pressstart()