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modules: implement controller with SMF state machine and ZBUS comm
Add a new controller module that serves as the central coordination unit for the fire detection system. The module implements a hierarchical state machine using Zephyr's SMF framework to manage application logic and coordinate inter-module communication via ZBUS. Key features: - SMF-based state machine (Init/Idle/Active/Error/Recovery states) - Automatic sensor coordination and error recovery - Thread-safe ZBUS communication with configurable parameters - Clean separation of concerns from main.c - Clean-up and alignment of sensor module to controller module This refactoring simplifies main.c to basic initialization while establishing a scalable architecture for future module expansion. Refs: #13 Signed-off-by: Natalia Pluta <pluta.natalia.m@gmail.com>
1 parent 0b30107 commit 12fece7

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‎app/CMakeLists.txt‎

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@@ -12,6 +12,7 @@ project(app LANGUAGES C)
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target_sources(app PRIVATE
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src/main.c
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src/modules/sensor/sensor_module.c
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src/modules/controller/controller_module.c
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)
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# Add include directories for modules

‎app/Kconfig‎

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@@ -15,6 +15,9 @@ menu "Application Configuration"
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# Include sensor module configuration
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rsource "src/modules/sensor/Kconfig.sensor"
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# Include controller module configuration
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rsource "src/modules/controller/Kconfig.controller"
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endmenu
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module = APP

‎app/prj.conf‎

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@@ -22,3 +22,6 @@ CONFIG_SMF=y
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# Enable sensor module
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CONFIG_SENSOR_MODULE=y
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# Enable controller module
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CONFIG_CONTROLLER_MODULE=y

‎app/src/main.c‎

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@@ -5,28 +5,19 @@
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#include <zephyr/kernel.h>
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#include <zephyr/logging/log.h>
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#include <zephyr/zbus/zbus.h>
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#include <app/drivers/blink.h>
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#include <app_version.h>
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#include <modules/sensor/sensor_module.h>
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#include <modules/controller/controller_module.h>
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LOG_MODULE_REGISTER(main, CONFIG_APP_LOG_LEVEL);
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#define BLINK_PERIOD_MS_STEP 100U
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#define BLINK_PERIOD_MS_MAX 1000U
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#define SENSORS_WARMUP_DELAY_MS 5000U
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#define SENSOR_READ_INTERVAL_MS 1000U
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/* ZBUS observer for sensor messages */
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static void sensor_response_callback(const struct zbus_channel *chan);
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ZBUS_LISTENER_DEFINE(sensor_response_listener, sensor_response_callback);
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/* Sleep duration for main loop */
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#define MAIN_LOOP_SLEEP_SECONDS 100U
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/* Function prototypes */
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static int init_blink_led(const struct device **blink);
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static void log_sensor_data(const struct sensor_msg *msg);
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static int init_blink_led(const struct device **blink)
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{
@@ -46,69 +37,38 @@ static int init_blink_led(const struct device **blink)
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return 0;
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}
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static void log_sensor_data(const struct sensor_msg *msg)
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{
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/* Log BME280 data */
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LOG_INF("BME280: Temp: %d.%06d C, Press: %d.%06d kPa, Hum: %d.%06d %%",
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msg->temperature.val1, msg->temperature.val2, msg->pressure.val1,
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msg->pressure.val2, msg->humidity.val1, msg->humidity.val2);
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/* Log CCS811 data */
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LOG_INF("CCS811: CO2: %d ppm, VOC: %d ppb", msg->co2.val1, msg->voc.val1);
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/* Log HM3301 data */
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LOG_INF("HM3301: PM1.0: %d ug/m3, PM2.5: %d ug/m3, PM10: %d ug/m3", msg->pm1_0.val1,
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msg->pm2_5.val1, msg->pm10.val1);
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LOG_INF("Sensor data timestamp: %lld ms", msg->timestamp);
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}
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static void sensor_response_callback(const struct zbus_channel *chan)
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{
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const struct sensor_msg *msg;
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if (chan == &sensor_chan) {
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msg = &MSG_TO_SENSOR_MSG(zbus_chan_const_msg(chan));
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if (msg != NULL && msg->type == SENSOR_SAMPLE_RESPONSE) {
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LOG_DBG("Received sensor response");
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log_sensor_data(msg);
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}
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}
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}
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int main(void)
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{
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int ret;
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const struct device *blink;
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LOG_INF("Zephyr Fire Detection System %s", APP_VERSION_STRING);
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/* Wait for sensors to stabilize */
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k_sleep(K_MSEC(SENSORS_WARMUP_DELAY_MS));
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/* Initialize blink LED */
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ret = init_blink_led(&blink);
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if (ret < 0) {
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LOG_ERR("Blink LED initialization failed");
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return 0;
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}
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/* Initialize sensor module */
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ret = sensor_module_init();
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/* Initialize controller module */
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ret = controller_module_init();
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if (ret < 0) {
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LOG_ERR("Sensor module initialization failed");
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LOG_ERR("Controller module initialization failed");
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return 0;
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}
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/* Start data sampling */
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ret = controller_module_start_sampling();
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if (ret < 0) {
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LOG_ERR("Failed to start sampling");
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return 0;
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}
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LOG_INF("System initialized successfully");
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while (1) {
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/* Request sensor data */
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LOG_DBG("Requesting sensor data");
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ret = sensor_module_request_data();
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if (ret < 0) {
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LOG_ERR("Failed to request sensor data (%d)", ret);
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}
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k_sleep(K_MSEC(SENSOR_READ_INTERVAL_MS));
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k_sleep(K_SECONDS(MAIN_LOOP_SLEEP_SECONDS));
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}
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return 0;

‎app/src/modules/controller/Kconfig.controller‎

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# SPDX-License-Identifier: Apache-2.0
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config CONTROLLER_MODULE
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bool "Controller Module"
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default y
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depends on ZBUS && SMF
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help
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Enable the controller module that coordinates all other modules
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and handles application business logic.
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if CONTROLLER_MODULE
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config CONTROLLER_MODULE_STACK_SIZE
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int "Controller thread stack size"
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default 2048
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help
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Stack size for the controller thread.
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config CONTROLLER_MODULE_THREAD_PRIORITY
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int "Controller thread priority"
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default 4
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help
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Priority for the controller thread.
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config CONTROLLER_MODULE_LOG_LEVEL
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int "Controller module log level"
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default 3
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help
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Log level for the controller module (0-4, where 0 is none and 4 is debug).
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config CONTROLLER_MODULE_SAMPLE_INTERVAL_MS
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int "Default sensor sampling interval (ms)"
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default 1000
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help
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Default interval between sensor data requests.
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config CONTROLLER_MODULE_THREAD_SLEEP_MS
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int "Controller thread sleep interval (ms)"
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default 100
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help
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Sleep interval for the controller thread main loop.
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config CONTROLLER_MODULE_ZBUS_SUBSCRIBER_QUEUE_SIZE
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int "ZBUS subscriber queue size"
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default 4
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help
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Queue size for the ZBUS controller subscriber.
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config CONTROLLER_MODULE_MAX_RETRIES
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int "Maximum error retries"
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default 3
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help
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Maximum number of consecutive errors before entering error state.
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config CONTROLLER_MODULE_RECOVERY_DELAY_MS
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int "Recovery attempt delay (ms)"
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default 2000
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help
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Delay before attempting recovery from error state.
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config CONTROLLER_MODULE_MAX_RECOVERY_ATTEMPTS
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int "Maximum recovery attempts"
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default 5
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help
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Maximum number of recovery attempts before giving up.
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config CONTROLLER_MODULE_RECOVERY_RETRY_DELAY_MS
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int "Delay between recovery retry attempts (ms)"
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default 1000
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help
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Delay between recovery retry attempts when recovery fails.
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config CONTROLLER_MODULE_AUTO_START_SAMPLING
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bool "Auto-start sensor sampling"
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default y
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help
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Automatically start sensor data sampling when controller enters idle state.
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endif # CONTROLLER_MODULE

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