修改wifi和mqtt连接，不阻塞主流程，mqtt连接会阻塞，放到另外一个核心

src/FoodDeliveryBase.cpp

@@ -15,6 +15,7 @@ FoodCube::FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int
   voiceSerial = userVoiceSerial;      //声音模块用的串口
   udpServerIP = userUdpServerIP;      //云台相机ip
   udpServerPort = userUdpServerPort;  //云台相机端口
+  wificonnected=false;
 
   //初始化飞控通讯串口 波特率
   switch (mavlinkSerial) {  //初始化指定 串口号
@@ -113,6 +114,7 @@ void FoodCube::connectWifi() {
   WiFi.begin(ssid, password);
   //连接wifi
   logln("Connecting Wifi...");
+  /*
   while (WiFi.status() != WL_CONNECTED) {
     log(".");
     delay(150);
@@ -131,15 +133,39 @@ void FoodCube::connectWifi() {
   logln(macAdd);
   playText("[v1]网络连接成功");
   delay(500);
+  */
 }
 
+bool FoodCube::checkWiFiStatus()
+{
+  if(!wificonnected&&(WiFi.status() == WL_CONNECTED))
+  {
+    wificonnected=true;
+    //获取局域网ip
+    logln("");
+    logln("WiFi connected");
+    log("IP address: ");
+    logln(WiFi.localIP());
+    localIp = WiFi.localIP();
+    //设置开发板为无线终端 获取物理mac地址
+    WiFi.mode(WIFI_STA);
+    macAdd = WiFi.macAddress();
+    macAdd.replace(":", "");  //板子的物理地址 并且去除冒号
+    log("macAdd: ");
+    logln(macAdd);
+    playText("[v1]网络连接成功");
+  }
+  return wificonnected;
+}
 /**
 * @description: 连接mqtt
 * @param {String[]} topicSub 主题数组
 * @param {int} topicSubCount 数组总数
 */
 void FoodCube::connectMqtt(String topicSub[], int topicSubCount) {
+  if (mqttClient->connected()) return;
   /*尝试连接mqtt*/
+  log("connect_mqtt");
   if (mqttClient->connect(macAdd.c_str(), mqttName, mqttPassword)) {
     logln("MQTT Server Connected.");
     log("Server Address: ");
@@ -156,7 +182,7 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount) {
     //失败返回状态码
     log("MQTT Server Connect Failed. Client State:");
     logln(mqttClient->state());
-    delay(3000);
+    //delay(3000);
   }
 }
 

src/FoodDeliveryBase.h

@@ -68,6 +68,7 @@ public:
   void mav_channels_override(uint16_t chan[]);
   /*云台相机控制*/
   void udpSendToCamera(uint8_t* p_command, uint32_t len);
+  bool checkWiFiStatus();
 
 private:
   char* ssid;             //wifi帐号
@@ -83,7 +84,7 @@ private:
   WiFiClient wifiClient;  //网络客户端
   IPAddress localIp;      //板子的IP地址
   String macAdd;          //板子的物理地址(已去掉冒号分隔符)
-
+  bool wificonnected;     //网络是否连接 
    /*云台相机控制*/
   WiFiUDP udp;            //udp信息操作对象
   char* udpServerIP;      //云台相机ip地址

src/main.cpp

@@ -187,10 +187,10 @@ void setup()
   /////////////////////////////////MQTT_语音_MAVLINK 部分
   /*初始化*/
   Serial1.begin(115200, SERIAL_8N1, SERIAL_REPORT_RX, SERIAL_REPORT_TX);  //声音模块引串口脚映射
-  fc.playText("[v1]正在连接网络");
+  fc.playText("[v1]开始启动");
   fc.connectWifi();                                  //连接wifi
  // fc.playText("正在连接服务器");
-  fc.connectMqtt(topicSub, topicSubCount);           //连接mqtt
+ // fc.connectMqtt(topicSub, topicSubCount);           //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)
 
@@ -396,8 +396,6 @@ 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(topicSub, topicSubCount);
   /////////////////////////////////MQTT_语音_MAVLINK 部分结束
   delay(1);
 
@@ -424,7 +422,9 @@ void Task1(void *pvParameters)
     
     /*保持mqtt心跳*/
    // fc.mqttLoop(topicSub, topicSubCount);
-
+    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);
   }
 }