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Merged
DematteisGiacomo merged 1 commit into from
Apr 29, 2025
Merged

app: refactor and align code #232

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184 changes: 82 additions & 102 deletions app/src/modules/cloud/cloud.c
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Original file line number Diff line number Diff line change
Expand Up @@ -99,31 +99,9 @@ ZBUS_CHAN_DEFINE(PRIV_CLOUD_CHAN,
static void backoff_timer_work_fn(struct k_work *work);
static K_WORK_DELAYABLE_DEFINE(backoff_timer_work, backoff_timer_work_fn);

/* Forward declarations of state handlers */
static void state_running_entry(void *o);
static void state_running_run(void *o);

static void state_disconnected_entry(void *o);
static void state_disconnected_run(void *o);

static void state_connecting_entry(void *o);

static void state_connecting_attempt_entry(void *o);

static void state_connecting_backoff_entry(void *o);
static void state_connecting_backoff_run(void *o);
static void state_connecting_backoff_exit(void *o);

static void state_connected_entry(void *o);
static void state_connected_exit(void *o);

static void state_connected_ready_entry(void *o);
static void state_connected_ready_run(void *o);
/* State machine */

static void state_connected_paused_entry(void *o);
static void state_connected_paused_run(void *o);

/* Defining the hierarchical cloud module states: */
/* Cloud module states */
enum cloud_module_state {
/* The cloud module has started and is running */
STATE_RUNNING,
Expand All @@ -146,7 +124,47 @@ enum cloud_module_state {
STATE_CONNECTED_PAUSED,
};

/* Construct state table */
/* State object.
* Used to transfer context data between state changes.
*/
struct cloud_state_object {
/* This must be first */
struct smf_ctx ctx;

/* Last channel type that a message was received on */
const struct zbus_channel *chan;

/* Last received message */
uint8_t msg_buf[MAX_MSG_SIZE];

/* Network status */
enum network_msg_type nw_status;

/* Connection attempt counter. Reset when entering STATE_CONNECTING */
uint32_t connection_attempts;

/* Connection backoff time */
uint32_t backoff_time;
};

/* Forward declarations of state handlers */
static void state_running_entry(void *obj);
static void state_running_run(void *obj);
static void state_disconnected_entry(void *obj);
static void state_disconnected_run(void *obj);
static void state_connecting_entry(void *obj);
static void state_connecting_attempt_entry(void *obj);
static void state_connecting_backoff_entry(void *obj);
static void state_connecting_backoff_run(void *obj);
static void state_connecting_backoff_exit(void *obj);
static void state_connected_entry(void *obj);
static void state_connected_exit(void *obj);
static void state_connected_ready_entry(void *obj);
static void state_connected_ready_run(void *obj);
static void state_connected_paused_entry(void *obj);
static void state_connected_paused_run(void *obj);

/* State machine definition */
static const struct smf_state states[] = {
[STATE_RUNNING] =
SMF_CREATE_STATE(state_running_entry, state_running_run, NULL,
Expand Down Expand Up @@ -190,39 +208,15 @@ static const struct smf_state states[] = {
NULL),
};

/* Cloud module state object.
* Used to transfer data between state changes.
*/
struct cloud_state {
/* This must be first */
struct smf_ctx ctx;

/* Last channel type that a message was received on */
const struct zbus_channel *chan;

/* Last received message */
uint8_t msg_buf[MAX_MSG_SIZE];

/* Network status */
enum network_msg_type nw_status;

/* Connection attempt counter. Reset when entering STATE_CONNECTING */
uint32_t connection_attempts;

/* Connection backoff time */
uint32_t backoff_time;
};

/* Static helper function */
static void task_wdt_callback(int channel_id, void *user_data)
static void cloud_wdt_callback(int channel_id, void *user_data)
{
LOG_ERR("Watchdog expired, Channel: %d, Thread: %s",
channel_id, k_thread_name_get((k_tid_t)user_data));

SEND_FATAL_ERROR_WATCHDOG_TIMEOUT();
}

static void connect_to_cloud(const struct cloud_state *state_object)
static void connect_to_cloud(const struct cloud_state_object *state_object)
{
int err;
char buf[NRF_CLOUD_CLIENT_ID_MAX_LEN];
Expand Down Expand Up @@ -286,15 +280,13 @@ static void backoff_timer_work_fn(struct k_work *work)
}
}

/* Zephyr State Machine Framework handlers */
/* State handlers */

/* Handler for STATE_RUNNING */

static void state_running_entry(void *o)
static void state_running_entry(void *obj)
{
int err;

ARG_UNUSED(o);
ARG_UNUSED(obj);

LOG_DBG("%s", __func__);

Expand All @@ -307,9 +299,9 @@ static void state_running_entry(void *o)
}
}

static void state_running_run(void *o)
static void state_running_run(void *obj)
{
const struct cloud_state *state_object = (const struct cloud_state *)o;
struct cloud_state_object const *state_object = obj;

if (state_object->chan == &NETWORK_CHAN) {
struct network_msg msg = MSG_TO_NETWORK_MSG(state_object->msg_buf);
Expand All @@ -322,15 +314,14 @@ static void state_running_run(void *o)
}
}

/* Handlers for STATE_DISCONNECTED. */
static void state_disconnected_entry(void *o)
static void state_disconnected_entry(void *obj)
{
int err;
struct cloud_msg cloud_msg = {
.type = CLOUD_DISCONNECTED,
};

ARG_UNUSED(o);
ARG_UNUSED(obj);

LOG_DBG("%s", __func__);

Expand All @@ -343,9 +334,9 @@ static void state_disconnected_entry(void *o)
}
}

static void state_disconnected_run(void *o)
static void state_disconnected_run(void *obj)
{
const struct cloud_state *state_object = (const struct cloud_state *)o;
struct cloud_state_object const *state_object = obj;
struct network_msg msg = MSG_TO_NETWORK_MSG(state_object->msg_buf);

if ((state_object->chan == &NETWORK_CHAN) && (msg.type == NETWORK_CONNECTED)) {
Expand All @@ -355,23 +346,19 @@ static void state_disconnected_run(void *o)
}
}

/* Handlers for STATE_CONNECTING */

static void state_connecting_entry(void *o)
static void state_connecting_entry(void *obj)
{
/* Reset connection attempts counter */
struct cloud_state *state_object = o;
struct cloud_state_object *state_object = obj;

LOG_DBG("%s", __func__);

state_object->connection_attempts = 0;
}

/* Handler for STATE_CONNECTING_ATTEMPT */

static void state_connecting_attempt_entry(void *o)
static void state_connecting_attempt_entry(void *obj)
{
struct cloud_state *state_object = o;
struct cloud_state_object *state_object = obj;

LOG_DBG("%s", __func__);

Expand All @@ -380,12 +367,10 @@ static void state_connecting_attempt_entry(void *o)
connect_to_cloud(state_object);
}

/* Handler for STATE_CONNECTING_BACKOFF */

static void state_connecting_backoff_entry(void *o)
static void state_connecting_backoff_entry(void *obj)
{
int err;
struct cloud_state *state_object = o;
struct cloud_state_object *state_object = obj;

LOG_DBG("%s", __func__);

Expand All @@ -398,9 +383,9 @@ static void state_connecting_backoff_entry(void *o)
}
}

static void state_connecting_backoff_run(void *o)
static void state_connecting_backoff_run(void *obj)
{
const struct cloud_state *state_object = (const struct cloud_state *)o;
struct cloud_state_object const *state_object = obj;

if (state_object->chan == &PRIV_CLOUD_CHAN) {
const enum priv_cloud_msg msg = *(const enum priv_cloud_msg *)state_object->msg_buf;
Expand All @@ -413,19 +398,18 @@ static void state_connecting_backoff_run(void *o)
}
}

static void state_connecting_backoff_exit(void *o)
static void state_connecting_backoff_exit(void *obj)
{
ARG_UNUSED(o);
ARG_UNUSED(obj);

LOG_DBG("%s", __func__);

(void)k_work_cancel_delayable(&backoff_timer_work);
}

/* Handler for STATE_CONNECTED. */
static void state_connected_entry(void *o)
static void state_connected_entry(void *obj)
{
ARG_UNUSED(o);
ARG_UNUSED(obj);

LOG_DBG("%s", __func__);
LOG_INF("Connected to Cloud");
Expand All @@ -444,11 +428,11 @@ static void state_connected_entry(void *o)
#endif /* CONFIG_MEMFAULT */
}

static void state_connected_exit(void *o)
static void state_connected_exit(void *obj)
{
int err;

ARG_UNUSED(o);
ARG_UNUSED(obj);

LOG_DBG("%s", __func__);

Expand All @@ -459,8 +443,6 @@ static void state_connected_exit(void *o)
}
}

/* Handlers for STATE_CONNECTED_READY */

static void shadow_get(bool delta_only)
{
int err;
Expand Down Expand Up @@ -531,14 +513,14 @@ static void shadow_get(bool delta_only)
}
}

static void state_connected_ready_entry(void *o)
static void state_connected_ready_entry(void *obj)
{
int err;
struct cloud_msg cloud_msg = {
.type = CLOUD_CONNECTED,
};

ARG_UNUSED(o);
ARG_UNUSED(obj);

LOG_DBG("%s", __func__);

Expand All @@ -553,10 +535,10 @@ static void state_connected_ready_entry(void *o)
shadow_get(false);
}

static void state_connected_ready_run(void *o)
static void state_connected_ready_run(void *obj)
{
int err;
const struct cloud_state *state_object = (const struct cloud_state *)o;
struct cloud_state_object const *state_object = obj;
bool confirmable = IS_ENABLED(CONFIG_APP_CLOUD_CONFIRMABLE_MESSAGES);

if (state_object->chan == &NETWORK_CHAN) {
Expand Down Expand Up @@ -701,14 +683,14 @@ static void state_connected_ready_run(void *o)

/* Handlers for STATE_CONNECTED_PAUSED */

static void state_connected_paused_entry(void *o)
static void state_connected_paused_entry(void *obj)
{
int err;
struct cloud_msg cloud_msg = {
.type = CLOUD_DISCONNECTED,
};

ARG_UNUSED(o);
ARG_UNUSED(obj);

LOG_DBG("%s", __func__);

Expand All @@ -721,9 +703,9 @@ static void state_connected_paused_entry(void *o)
}
}

static void state_connected_paused_run(void *o)
static void state_connected_paused_run(void *obj)
{
const struct cloud_state *state_object = (const struct cloud_state *)o;
struct cloud_state_object const *state_object = obj;
struct network_msg msg = MSG_TO_NETWORK_MSG(state_object->msg_buf);

if ((state_object->chan == &NETWORK_CHAN) && (msg.type == NETWORK_CONNECTED)) {
Expand All @@ -733,21 +715,19 @@ static void state_connected_paused_run(void *o)
}
}

/* End of state handlers */

static void cloud_thread(void)
static void cloud_module_thread(void)
{
int err;
int task_wdt_id;
const uint32_t wdt_timeout_ms = (CONFIG_APP_CLOUD_WATCHDOG_TIMEOUT_SECONDS * MSEC_PER_SEC);
const uint32_t execution_time_ms =
(CONFIG_APP_CLOUD_MSG_PROCESSING_TIMEOUT_SECONDS * MSEC_PER_SEC);
const k_timeout_t zbus_wait_ms = K_MSEC(wdt_timeout_ms - execution_time_ms);
struct cloud_state cloud_state = { 0 };
struct cloud_state_object cloud_state = { 0 };

LOG_DBG("cloud module task started");
LOG_DBG("Cloud module task started");

task_wdt_id = task_wdt_add(wdt_timeout_ms, task_wdt_callback, (void *)k_current_get());
task_wdt_id = task_wdt_add(wdt_timeout_ms, cloud_wdt_callback, (void *)k_current_get());
if (task_wdt_id < 0) {
LOG_ERR("Failed to add task to watchdog: %d", task_wdt_id);
SEND_FATAL_ERROR();
Expand Down Expand Up @@ -787,6 +767,6 @@ static void cloud_thread(void)
}
}

K_THREAD_DEFINE(cloud_thread_id,
K_THREAD_DEFINE(cloud_module_thread_id,
CONFIG_APP_CLOUD_THREAD_STACK_SIZE,
cloud_thread, NULL, NULL, NULL, K_LOWEST_APPLICATION_THREAD_PRIO, 0, 0);
cloud_module_thread, NULL, NULL, NULL, K_LOWEST_APPLICATION_THREAD_PRIO, 0, 0);
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