修改了一些授权判断逻辑，授权查找未修改

chen

2025-07-01 56336ce608d00c214057e430517762deff487122

 keil/uwb_app.c

@@ -49,6 +49,7 @@
void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
static uint32_t tagid_list[TAG_NUM_IN_SYS];
uint32_t fliter_tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
static uint8_t send_buffer[100];
@@ -449,7 +450,7 @@
        ts2 >>= 8;
    }
}

uint8_t tt5=0;
//void TagListUpdate(void)
//{
//    uint8_t i,j=0;
@@ -464,7 +465,46 @@
//    anchordata_num=j;
//}
uint8_t find_flag;
uint16_t bind_distance,button_determinate_distance,change_by_frequency_distance;
uint8_t tag_near_frequency;
extern uint32_t tag_id_authorization_list_num;
void sort_tag_lists(void)
{
   if (taglist_num <= 1) {
        return; // 无需排序
    }
// 使用冒泡排序（稳定排序，实现简单）
    for (size_t i = 0; i < taglist_num - 1; i++) {
        for (size_t j = 0; j < taglist_num - i - 1; j++) {
            if (tagdist_list[j] > tagdist_list[j + 1]) {
                // 交换距离值
                uint16_t temp_dist = tagdist_list[j];
                tagdist_list[j] = tagdist_list[j + 1];
                tagdist_list[j + 1] = temp_dist;

                // 同步交换标签ID
                uint32_t temp_id = tagid_list[j];
                tagid_list[j] = tagid_list[j + 1];
                tagid_list[j + 1] = temp_id;
            }
        }
    }
}
uint8_t tag_authorized_List[TAG_NUM_IN_SYS];
void change_button_state(void)
{
   if(tag_authorized_List[0]==1&&taglist_num>=1)//只有在有效判定范围内有授权的标签才会开启，否则都是关闭
   {
      if(tagdist_list[0]<button_determinate_distance)
      {
         gpio_pin_set(BUTTON_PIN);
      }else{
         gpio_pin_clr(BUTTON_PIN);
      }
   }else{
         gpio_pin_clr(BUTTON_PIN);
      }
}
void TagListUpdate(void)
{
uint16_t i,j=0,k=0;
@@ -479,11 +519,14 @@
        }
      }
       taglist_num=j;
      sort_tag_lists();//增加距离小的排到前面逻辑
      if(find_flag)
      {
         //if(tt5)
      find_in_tag_id_authorization_list(tag_id_authorization_list_num);
      find_flag=0;
      }
      change_button_state();
}

uint8_t position;
@@ -515,6 +558,13 @@
    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
      if(tagdist_list[ancrec_nearbasepos]<=change_by_frequency_distance&&tag_authorized_List[ancrec_nearbasepos]==1)//授权才改变频率否则不改变
      {
         send_buffer[RESP_MSG_TAG_FREQUENCY]=tag_near_frequency;//新加入改变标签测距hz
      }
      else{
            send_buffer[RESP_MSG_TAG_FREQUENCY]=1;//新加入改变标签测距hz
      }
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
@@ -653,7 +703,7 @@
//   }
    UWBIdleTask();
}
uint8_t tag_authorized_List[TAG_NUM_IN_SYS];

extern uint8_t bind_flag;
void bubble_sort(uint32_t *arr, uint32_t n)
{
@@ -680,40 +730,91 @@
        if (!swapped) break;
    }
}
uint16_t tag_authorization_list_num_temp;
void fliter_tag_id_authorization_list(uint16_t*tag_authorization_list_real_num)
{	
   uint32_t filtered_count = 0;
    
    // 遍历所有标签，将距离小于阈值的ID存入结果数组
    for (uint32_t i = 0; i < taglist_num; i++) {
        if (tagdist_list[i] < bind_distance&&tagid_list[i]!=0) {
            fliter_tagid_list[filtered_count] = tagid_list[i];
            filtered_count++;
        }
//fliter_tagid_list
      }
      *tag_authorization_list_real_num=filtered_count;
}
void copy_taglist_to_flash(void)
{
memcpy(&tag_id_authorization_list,&tagid_list,taglist_num*4);
//进行排序后存入,为二分法做基础
bubble_sort(&tag_id_authorization_list,taglist_num);
save_taglist_map_to_flash();
fliter_tag_id_authorization_list(&tag_authorization_list_num_temp);//过滤调id为0的标签和不满足绑定距离的标签
memset(tag_id_authorization_list,0,sizeof(tag_id_authorization_list));//清空上一次数组防止重叠
memcpy(&tag_id_authorization_list,&fliter_tagid_list,tag_authorization_list_num_temp*4);//复制满足条件数组
bubble_sort(&tag_id_authorization_list,tag_authorization_list_num_temp);//进行排序后存入,为二分法做基础
save_taglist_map_to_flash();//存入flash
}

void find_in_tag_id_authorization_list(uint32_t authorization_list_num)
{
 for (uint32_t i = 0; i < taglist_num; i++) {
        uint32_t target = tagid_list[i];
        uint32_t left = 0;
        uint32_t right = authorization_list_num - 1;  // 授权列表的最大索引
        uint8_t found = 0;
        
        // 二分查找循环
        while (left <= right) {
            uint32_t mid = left + ((right - left) >> 1);  // 防止整数溢出
            uint32_t mid_val = tag_id_authorization_list[mid];
// for (uint32_t i = 0; i < taglist_num; i++) {
//        uint32_t target = tagid_list[i];
//        uint32_t left = 0;
//        uint32_t right = authorization_list_num - 1;  // 授权列表的最大索引
//        uint8_t found = 0;
//        
//        // 二分查找循环
//        while (left <= right) {
//            uint32_t mid = left + ((right - left) >> 1);  // 防止整数溢出
//            uint32_t mid_val = tag_id_authorization_list[mid];
//            
//            if (mid_val == target) {
//                found = 1;
//                break;  // 找到目标值，立即退出循环
//            } else if (mid_val < target) {
//                left = mid + 1;
//            } else {
//                right = mid - 1;
//            }
//                   LOG_INFO(TRACE_MODULE_APP, "DEBUG: i=%u, left=%d, right=%d, found=%u\n", i, left, right, found);
//        }
////        
////        // 存储查找结果
////        tag_authorized_List[i] = found;
//    }
{
    // 如果授权列表为空，直接全部标记为0
    if (authorization_list_num == 0) {
        for (int i = 0; i < taglist_num; i++) {
            tag_authorized_List[i] = 0;
        }
        return;
    }

    // 遍历需要查找的每个ID
    for (int i = 0; i < taglist_num; i++) {
        int key = tagid_list[i];
        int low = 0;
        int high = authorization_list_num - 1;
        int found = 0; // 标记是否找到

        // 在授权列表中执行二分查找
        while (low <= high) {
            int mid = low + (high - low) / 2; // 防止整数溢出
            
            if (mid_val == target) {
                found = 1;
                break;  // 找到目标值，立即退出循环
            } else if (mid_val < target) {
                left = mid + 1;
            if (tag_id_authorization_list[mid] == key) {
                found = 1; // 找到匹配项
                break;
            } else if (tag_id_authorization_list[mid] < key) {
                low = mid + 1; // 在右半部分继续查找
            } else {
                right = mid - 1;
                high = mid - 1; // 在左半部分继续查找
            }
        }
        
        // 存储查找结果
        tag_authorized_List[i] = found;

        // 根据查找结果设置输出列表
        tag_authorized_List[i] = found ? 1 : 0;
    }
}
}

int Anchor_App(void)
@@ -721,7 +822,8 @@
            uint8_t i;
            uint16_t tempid;
         if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
        {    flag_recsuccess = 1;
        {    
                  flag_recsuccess = 1;
                  wltag_state=RANGE;//成功后从search切换为range
                  memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
                 //temp_count2=phy_timer_count_get();
@@ -757,6 +859,7 @@
//                seize_anchor=1;   //抢占anchor
//                Anchor_RecNearPoll(i);
//            }

                        taglist_pos=CmpTagInList(tag_id_recv);
                if(taglist_num>=ANC_MAX_NUM)
                              return 0;
@@ -765,9 +868,19 @@
                              memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                              if(tempid==dev_id)
                              {
												
                                    Anchor_RecNearPoll(i);
                                    tagdist_list[taglist_pos]=rec_ancdistlist[i];
                                    anchordata_bat[taglist_pos] = battary;//保存该基站电量
//                              if(tag_authorized_List[taglist_pos]==1)
//                              {
//                                 if(tagdist_list[taglist_pos]<button_determinate_distance)
//                                 {
//                                    gpio_pin_set(BUTTON_PIN);
//                                 }else{
//                                    gpio_pin_clr(BUTTON_PIN);
//                                 }
//                              }
                                    if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
                                    {   //tempid==dev_id 说明基站下发测距报文有这个标签的信息
                                          taglist_num++;          //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
@@ -777,9 +890,10 @@
                                    break;
                              }
                        }
							
                         if((i==rec_nearbase_num&&taglist_pos==taglist_num)||(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
                {
                       Anchor_RecNearPoll(rec_nearbase_num);
                {    
                           Anchor_RecNearPoll(rec_nearbase_num);
                }
            }