添加转动标志，并测试

main/ble_parse_data.c

@@ -1,4 +1,5 @@
 #include "ble_parse_data.h"
+
 #include "motor_drive.h"
 
 #define BLE_PARSE_DATA_TAG "BLE_PARSE_DATA"
@@ -172,6 +173,8 @@ void receipt_json_get_status() {
     return;
   }
 
+  parse_bluetooth_processer->motor_drive_turn_flag = true;
+
   cJSON_AddStringToObject(pRoot, "order", "receipt");  //添加一个节点
   cJSON_AddNumberToObject(pRoot, "index", parse_bluetooth_processer->index);
   cJSON_AddStringToObject(pRoot, "deviceState", parse_bluetooth_processer->deviceState);

main/ble_parse_data.h

@@ -44,6 +44,7 @@ typedef struct bluetooth_processer {
 
   bool cmd_flag;
   bool auto_report_flag;
+  bool motor_drive_turn_flag;
 
 } bluetooth_processer_t;
 

main/main.c

@@ -8,8 +8,8 @@
 #include "string.h"
 //
 #include "ble_spp_server_demo.h"
-#include "timer_u.h"
 #include "motor_drive.h"
+#include "timer_u.h"
 
 #define MAIN_TAG "MAIN"
 
@@ -44,12 +44,14 @@ bluetooth_processer_t s_bluetooth_processer = {
 
     .cmd_flag = false,
     .auto_report_flag = false,
+    .motor_drive_turn_flag = false,
 };
 
 void app_main(void) {
   constructor_bluetooth_processer(&s_bluetooth_processer);
   ble_spp_server_demo_app_main(&s_bluetooth_processer);
   timer_group_init(TIMER_GROUP_0, TIMER_0, false, timer_group0_interval_num, timer_interval_ms);
+  motor_drive_uart_init();
 
   while (true) {
     bluetooth_gatts_try_process_data();
@@ -57,6 +59,11 @@ void app_main(void) {
       receipt_json_get_status();
       s_bluetooth_processer.auto_report_flag = false;
     }
+
+    if ((motor_drive_read_encoder() == s_bluetooth_processer.position) && s_bluetooth_processer.motor_drive_turn_flag == true) {
+      ESP_LOGI("test", "info log ok\n");
+      s_bluetooth_processer.motor_drive_turn_flag = false;
+    }
   }
 
   return;

main/motor_drive.c

@@ -4,3 +4,4 @@ void motor_drive_uart_init() {}
 
 void motor_drive_turn(int direction, int speed_level, double position) {}
 
+double motor_drive_read_encoder() { return 0.0; }

main/motor_drive.h

@@ -5,4 +5,5 @@
 #include <string.h>
 
 void motor_drive_uart_init();
-void motor_drive_turn(int direction, int speed_level, double position);
+void motor_drive_turn(int direction, int speed_level, double position);
+double motor_drive_read_encoder();