salmanoff/smocore/mind.cpp

#include <iostream>
#include <opts.h>
#include <asynchronousContinuation.h>
#include <asynchronousLoop.h>
#include <callback.h>
#include <mind.h>
#include <componentThread.h>
#include <director/director.h>
#include <simulator/simulator.h>
#include <senseApis/senseApiManager.h>
#include <marionette/marionette.h>

namespace smo {

Mind::Mind(void)
	: componentThreads{
		std::make_shared<MindThread>(ComponentThread::DIRECTOR, *this),
		std::make_shared<MindThread>(ComponentThread::SIMULATOR, *this),
		std::make_shared<MindThread>(ComponentThread::SUBCONSCIOUS, *this),
		std::make_shared<MindThread>(ComponentThread::BODY, *this)
#ifndef CONFIG_WORLD_USE_BODY_THREAD
		, std::make_shared<MindThread>(ComponentThread::WORLD, *this)
#endif
	},
	director(*this, componentThreads[0]),
	canvas(*this, componentThreads[1]),
	subconscious(*this, componentThreads[2]),
	body(*this, componentThreads[3]),
	world(*this,
#ifndef CONFIG_WORLD_USE_BODY_THREAD
		componentThreads[4]
#else
		componentThreads[3]
#endif
	)
{
}

std::shared_ptr<MindThread>
Mind::getComponentThread(ComponentThread::ThreadId id) const
{
	if (id == ComponentThread::MRNTT)
	{
		throw std::runtime_error(
			std::string(__func__) +
			": MRNTT is not a MindThread and cannot be returned by "
			"getComponentThread");
	}

    // Search through the vector for the thread with matching id
    for (auto& thread : componentThreads) {
        if (thread->id == id) { return thread; }
    }

    // Throw exception if no thread found
    throw std::runtime_error(std::string(__func__) +
        ": No MindThread found with ID "
		+ std::to_string(static_cast<int>(id)));
}

std::shared_ptr<MindThread>
Mind::getComponentThread(const std::string& name) const
{
	if (name == "mrntt")
	{
		throw std::runtime_error(
			std::string(__func__) +
			": MRNTT is not a MindThread and cannot be returned by "
			"getComponentThread");
	}

    for (auto& thread : componentThreads) {
        if (thread->name == name) { return thread; }
    }

    // Throw exception if no thread found
    throw std::runtime_error(std::string(__func__) +
        ": No MindThread found with name '" + name + "'");
}

std::vector<std::shared_ptr<MindThread>>
Mind::getMindThreads() const
{
    return componentThreads;
}

class Mind::MindLifetimeMgmtOp
:	public PostedAsynchronousContinuation<mindLifetimeMgmtOpCbFn>
{
public:
	MindLifetimeMgmtOp(
		Mind &parent, const std::shared_ptr<ComponentThread> &caller,
		Callback<mindLifetimeMgmtOpCbFn> callback)
	:	PostedAsynchronousContinuation<mindLifetimeMgmtOpCbFn>(
			caller, callback),
		parent(parent)
	{}

public:
	Mind &parent;

public:
	void initializeReq1_posted(
		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
		)
	{
		/* Jolt the threads, then start them */
		parent.joltAllMindThreadsReq(
			{context, std::bind(
				&MindLifetimeMgmtOp::initializeReq2,
				context.get(), context)});
	}

	void initializeReq2(
		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
		)
	{
		std::cout << "Mrntt: All mind threads JOLTed." << "\n";

		parent.startAllMindThreadsReq(
			{context, std::bind(
				&MindLifetimeMgmtOp::initializeReq3,
				context.get(), context)});
	}

	void initializeReq3(
		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
		)
	{
		std::cout << "Mrntt: All mind threads started." << "\n";

		parent.body.initializeReq(
			{context, std::bind(
				&MindLifetimeMgmtOp::initializeReq4,
				context.get(), context, std::placeholders::_1)});
	}

	void initializeReq4(
		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context,
		bool success
		)
	{
		std::cout << "Mrntt: Body component initialized." << "\n";
		callOriginalCb(success);
	}

	void finalizeReq1_posted(
		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
		)
	{
		parent.body.finalizeReq(
			{context, std::bind(
				&MindLifetimeMgmtOp::finalizeReq2,
				context.get(), context, std::placeholders::_1)});
	}

	void finalizeReq2(
		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context,
		bool success
		)
	{
		if (!success) {
			std::cerr << "Mrntt: Body component failed to finalize." << "\n";
		} else {
			std::cout << "Mrntt: Body component finalized." << "\n";
		}

		/* If the threads haven't been jolted, we need to do that first, because
		* otherwise they'll just enter their main loops and wait for control
		* messages from mrntt after processing the exit request.
		*/
		parent.joltAllMindThreadsReq(
			{context, std::bind(
				&MindLifetimeMgmtOp::finalizeReq3,
				context.get(), context)});
	}

	void finalizeReq3(
		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
		)
	{
		std::cout << "Mrntt: All mind threads JOLTed for finalization." << "\n";

		parent.exitAllMindThreadsReq(
			{context, std::bind(
				&MindLifetimeMgmtOp::finalizeReq4,
				context.get(), context)});
	}

	void finalizeReq4(
		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
		)
	{
		std::cout << "Mrntt: All mind threads exited." << "\n";
		callOriginalCb(true);
	}
};

void Mind::initializeReq(Callback<mindLifetimeMgmtOpCbFn> callback)
{
    /* Distribute threads across available CPUs */
    try
    {
        distributeAndPinThreadsAcrossCpus();
    }
    catch (const std::exception& e)
    {
        std::cerr << "Salmanoff couldn't distribute the mind threads across "
            "the CPUs, so performance may be suboptimal.\n"
            "Error: " << e.what() << "\n";
    }

	const auto& caller = ComponentThread::getSelf();
	auto request = std::make_shared<MindLifetimeMgmtOp>(
		*this, caller, callback);

	mrntt::mrntt.thread->getIoService().post(
		std::bind(
			&MindLifetimeMgmtOp::initializeReq1_posted,
			request.get(), request));
}

void Mind::finalizeReq(Callback<mindLifetimeMgmtOpCbFn> callback)
{
	const auto& caller = ComponentThread::getSelf();
	auto request = std::make_shared<MindLifetimeMgmtOp>(
		*this, caller, callback);

	mrntt::mrntt.thread->getIoService().post(
		std::bind(
			&MindLifetimeMgmtOp::finalizeReq1_posted,
			request.get(), request));
}

void Mind::distributeAndPinThreadsAcrossCpus()
{
    int cpuCount = ComponentThread::getAvailableCpuCount();

	if (OptionParser::getOptions().verbose) {
		std::cout << __func__ << ": Available CPUs: " << cpuCount << "\n";
	}

    // Distribute and pin threads across CPUs
    int threadIndex = 0;
    for (auto& thread : componentThreads)
    {
        int targetCpu = threadIndex % cpuCount;
        thread->pinToCpu(targetCpu);
        ++threadIndex;
    }

    std::cout << __func__ << ": Distributed " << threadIndex << " threads "
		<< "across " << cpuCount << " CPUs\n";
}

class Mind::MindThreadLifetimeMgmtOp
:	public NonPostedAsynchronousContinuation<mindThreadLifetimeMgmtOpCbFn>
{
public:
	MindThreadLifetimeMgmtOp(
		Mind &parent,unsigned int nThreads,
		Callback<mindThreadLifetimeMgmtOpCbFn> callback)
	:	NonPostedAsynchronousContinuation<mindThreadLifetimeMgmtOpCbFn>(callback),
	loop(nThreads),
	parent(parent)
	{}

public:
	AsynchronousLoop	loop;
	Mind &parent;

public:
	void joltAllMindThreadsReq1(
		[[maybe_unused]] std::shared_ptr<MindThreadLifetimeMgmtOp> context
		)
	{
		loop.incrementSuccessOrFailureDueTo(true);
		if (!loop.isComplete()) {
			return;
		}

		parent.threadsHaveBeenJolted = true;
		callOriginalCb();
	}

	void executeGenericOpOnAllMindThreadsReq1(
		[[maybe_unused]] std::shared_ptr<MindThreadLifetimeMgmtOp> context
		)
	{
		loop.incrementSuccessOrFailureDueTo(true);
		if (!loop.isComplete()) {
			return;
		}

		callOriginalCb();
	}

	void exitAllMindThreadsReq1(
		[[maybe_unused]] std::shared_ptr<MindThreadLifetimeMgmtOp> context
		)
	{
		loop.incrementSuccessOrFailureDueTo(true);
		if (!loop.isComplete()) {
			return;
		}

		for (auto& thread : parent.componentThreads) {
			thread->thread.join();
		}

		callOriginalCb();
	}
};

void Mind::joltAllMindThreadsReq(
	Callback<mindThreadLifetimeMgmtOpCbFn> callback
	)
{
	if (threadsHaveBeenJolted)
	{
		std::cout << "Mrntt: All mind threads already JOLTed. "
			<< "Skipping JOLT request." << "\n";
		callback.callbackFn();
		return;
	}

	// If no threads, set flag and call callback immediately
	if (componentThreads.size() == 0 && callback.callbackFn)
	{
		threadsHaveBeenJolted = true;
		callback.callbackFn();
		return;
	}

	// Create a counter to track when all threads have been jolted
    auto request = std::make_shared<MindThreadLifetimeMgmtOp>(
		*this, componentThreads.size(), callback);

    for (auto& thread : componentThreads)
	{
        thread->joltThreadReq(
			{request, std::bind(
				&MindThreadLifetimeMgmtOp::joltAllMindThreadsReq1,
				request.get(), request)});
    }
}

// Thread management methods (moved from ComponentThread)
void Mind::startAllMindThreadsReq(
	Callback<mindThreadLifetimeMgmtOpCbFn> callback
	)
{
	// If no threads, call callback immediately
	if (componentThreads.size() == 0 && callback.callbackFn)
	{
		callback.callbackFn();
		return;
	}

	// Create a counter to track when all threads have started
    auto request = std::make_shared<MindThreadLifetimeMgmtOp>(
		*this, componentThreads.size(), callback);

    for (auto& thread : componentThreads)
	{
        thread->startThreadReq(
			{request, std::bind(
				&MindThreadLifetimeMgmtOp::executeGenericOpOnAllMindThreadsReq1,
				request.get(), request)});
    }
}

void Mind::pauseAllMindThreadsReq(
	Callback<mindThreadLifetimeMgmtOpCbFn> callback
	)
{
	// If no threads, call callback immediately
	if (componentThreads.size() == 0 && callback.callbackFn)
	{
		callback.callbackFn();
		return;
	}

    // Create a counter to track when all threads have paused
    auto request = std::make_shared<MindThreadLifetimeMgmtOp>(
		*this, componentThreads.size(), callback);

    for (auto& thread : componentThreads)
	{
        thread->pauseThreadReq(
			{request, std::bind(
				&MindThreadLifetimeMgmtOp::executeGenericOpOnAllMindThreadsReq1,
				request.get(), request)});
    }
}

void Mind::resumeAllMindThreadsReq(
	Callback<mindThreadLifetimeMgmtOpCbFn> callback
	)
{
	// If no threads, call callback immediately
	if (componentThreads.size() == 0 && callback.callbackFn)
	{
		callback.callbackFn();
		return;
	}

	// Create a counter to track when all threads have resumed
    auto request = std::make_shared<MindThreadLifetimeMgmtOp>(
		*this, componentThreads.size(), callback);

    for (auto& thread : componentThreads)
	{
        thread->resumeThreadReq(
			{request, std::bind(
				&MindThreadLifetimeMgmtOp::executeGenericOpOnAllMindThreadsReq1,
				request.get(), request)});
    }
}

void Mind::exitAllMindThreadsReq(
	Callback<mindThreadLifetimeMgmtOpCbFn> callback
	)
{
	// If no threads, call callback immediately
	if (componentThreads.size() == 0 && callback.callbackFn)
	{
		callback.callbackFn();
		return;
	}

    // Create a counter to track when all threads have exited
    auto request = std::make_shared<MindThreadLifetimeMgmtOp>(
		*this, componentThreads.size(), callback);

    for (auto& thread : componentThreads)
	{
		thread->exitThreadReq(
			{request, std::bind(
				&MindThreadLifetimeMgmtOp::executeGenericOpOnAllMindThreadsReq1,
				request.get(), request)});
    }
}

} // namespace smo