Mind: Use state variables to manage shutdown

We now allow the shutdown*Req() methods of Mind:: to return early
if their aspect of the object in question hasn't actually been
initialized.

smocore/include/mind.h

@@ -73,7 +73,8 @@ private:
 	 * This flag ensures that JOLTing happens exactly once and provides
 	 * a synchronization point for the entire system initialization.
 	 */
-	bool threadsHaveBeenJolted = false;
+	bool threadsHaveBeenJolted = false,
+		bodyComponentInitialized = false;
 	// Collection of ComponentThread instances (excluding marionette)
 	std::vector<std::shared_ptr<ComponentThread>> componentThreads;
 

smocore/marionette/marionette.cpp

@@ -218,7 +218,6 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 	if (callShutdownSalmanoff) {
 		shutdownSalmanoff();
 	}
-
 }
 
 } // namespace smo

smocore/mind.cpp

@@ -125,21 +125,11 @@ public:
 		* otherwise they'll just enter their main loops and wait for control
 		* messages from mrntt after processing the exit request.
 		*/
-		if (!parent.threadsHaveBeenJolted)
-		{
 		parent.joltAllMindThreadsReq(
 			std::bind(
 				&MindLifetimeMgmtOp::finalizeReq2,
 				context.get(), context));
 	}
-		else
-		{
-			parent.exitAllMindThreadsReq(
-				std::bind(
-					&MindLifetimeMgmtOp::finalizeReq3,
-					context.get(), context));
-		}
-	}
 
 	void finalizeReq2(
 		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
@@ -269,6 +259,7 @@ public:
 		smo::AsynchronousLoop &results
 		)
 	{
+		parent.bodyComponentInitialized = true;
 		std::cout << "Mrntt: attached "
 			<< results.nSucceeded << " of " << results.nTotal
 			<< " sense devices." << "\n";
@@ -347,6 +338,14 @@ void Mind::finalizeBodyReq(mindLifetimeMgmtOpCbFn callback)
 			+ ": Must be invoked by Mrntt thread");
 	}
 
+	if (!bodyComponentInitialized)
+	{
+		std::cout << "Mrntt: Body component not initialized. "
+			<< "Skipping finalization." << "\n";
+		callback(true);
+		return;
+	}
+
 	auto request = std::make_shared<FinalizeBodyReq>(
 		*this, mrntt, callback);
 
@@ -445,6 +444,14 @@ public:
 
 void Mind::joltAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
 {
+	if (threadsHaveBeenJolted)
+	{
+		std::cout << "Mrntt: All mind threads already JOLTed. "
+			<< "Skipping JOLT request." << "\n";
+		callback();
+		return;
+	}
+
     // Create a counter to track when all threads have been jolted
     auto request = std::make_shared<MindThreadLifetimeMgmtOp>(
 		*this, componentThreads.size(), callback);