Module design

Each module follows a similar design:

• Message channel: Each module defines its own zbus channel. With some exceptions, a single channel is used for all messages that are specific to a module.
• Message types: Each module exposes a set of input and output message types. These can be considered events in the state machine sense and might have associated data.
• State machine: Most modules implement a state machine using SMF to manage their internal state and behavior.
• Thread: Most modules have dedicated threads.
• Watchdog: A task watchdog monitors each module thread. Each thread periodically calls task_wdt_feed() to feed its watchdog. If a thread fails to feed its watchdog within its configured timeout, the system resets.
• Initialization: Modules are initialized at system startup, either through SYS_INIT() or in their dedicated thread through K_THREAD_DEFINE().