Mind: Implement initialize/finalizeBodyReq()

We've done a lot of general work on the init sequencing.

smocore/componentThread.cpp

@@ -361,6 +361,7 @@ public:
 		[[maybe_unused]] std::shared_ptr<MindShutdownIndOp> context
 	)
 	{
+		std::cout << "Mrntt: About to exit marionette loop." << "\n";
 		/**		FIXME:
 		 * When we eventually support multiple minds, we should remove this
 		 * since it causes marionette to exit, even if there are other minds

smocore/deviceManager/deviceManager.cpp

@@ -37,6 +37,14 @@ struct DeviceAttachmentContinuation {
 			> cb)
 	: spec(s), callback(cb)
 	{}
+
+	void callOriginalCallback(
+		bool success,
+		std::shared_ptr<Device> device,
+		std::shared_ptr<DeviceAttachmentSpec> deviceSpec)
+	{
+		callback(success, device, deviceSpec);
+	}
 };
 
 const std::string DeviceManager::stringifyDeviceSpecs(void)
@@ -71,7 +79,7 @@ void DeviceManager::newDeviceAttachmentSpecInd(
 	{
 		if (!(*existingSpec == *spec)) { continue; }
 		// Already exists, callback with error
-		callback(false, nullptr, nullptr);
+		continuation->callOriginalCallback(false, nullptr, nullptr);
 		return;
 	}
 
@@ -104,10 +112,10 @@ void DeviceManager::newDeviceAttachmentSpecInd(
 		deviceAttachmentSpecs.push_back(spec);
 
 		// Callback with success
-		callback(true, device, spec);
+		continuation->callOriginalCallback(true, device, spec);
 	} catch (const std::exception& e) {
 		// Attach failed, callback with error
-		callback(false, nullptr, nullptr);
+		continuation->callOriginalCallback(false, nullptr, nullptr);
 	}
 }
 #endif

smocore/include/deviceManager/deviceManager.h

@@ -23,6 +23,11 @@ public:
         return instance;
     }
 
+	void initialize(void)
+	{};
+	void finalize(void)
+	{};
+
     std::string readDapSpecFile(const std::string& filename);
     void collateAllDapSpecs(void);
     void parseAllDapSpecs(void);

smocore/include/mind.h

@@ -23,6 +23,8 @@ public:
 	typedef std::function<void(bool)> mindLifetimeMgmtOpCbFn;
 	void initializeReq(mindLifetimeMgmtOpCbFn callback);
 	void finalizeReq(mindLifetimeMgmtOpCbFn callback);
+	void initializeBodyReq(mindLifetimeMgmtOpCbFn callback);
+	void finalizeBodyReq(mindLifetimeMgmtOpCbFn callback);
 
 	// ComponentThread access methods
 	std::shared_ptr<ComponentThread> getComponentThread(
@@ -77,6 +79,8 @@ private:
 
 	class MindLifetimeMgmtOp;
 	class MindThreadLifetimeMgmtOp;
+	class InitializeBodyReq;
+	class FinalizeBodyReq;
 };
 
 // Global Mind instance will be defined in marionette.cpp

smocore/include/salmanoff.h

@@ -7,10 +7,8 @@
 
 namespace smo {
 
-typedef std::function<void(bool)> initializeSalmanoffCbFn;
-typedef initializeSalmanoffCbFn shutdownSalmanoffCbFn;
-void initializeSalmanoff(initializeSalmanoffCbFn callback);
-void shutdownSalmanoff(shutdownSalmanoffCbFn callback);
+void initializeSalmanoff(void);
+void shutdownSalmanoff(void);
 
 } // namespace smo
 

smocore/include/senseApis/senseApiManager.h

@@ -24,9 +24,14 @@ public:
         return instance;
     }
 
+	void initialize(void)
+	{};
+	void finalize(void)
+	{};
+
     SenseApiLib& loadSenseApiLib(
 		const std::string& libraryPath,
-		std::shared_ptr<ComponentThread>& componentThread);
+		const std::shared_ptr<ComponentThread>& componentThread);
 
     std::optional<std::shared_ptr<SenseApiLib>> getSenseApiLib(
         const std::string& libraryPath);
@@ -38,7 +43,7 @@ public:
     void finalizeSenseApiLib(SenseApiLib& lib);
 
     void loadAllSenseApiLibsFromOptions(
-		std::shared_ptr<ComponentThread>& componentThread);
+		const std::shared_ptr<ComponentThread>& componentThread);
 
     void unloadAllSenseApiLibs(void);
     void initializeAllSenseApiLibs(void);

smocore/marionette/marionette.cpp

@@ -47,7 +47,7 @@ void ComponentThread::marionetteMain(ComponentThread& self)
     self.initializeTls();
     mrntt::exitCode = EXIT_SUCCESS;
 	static boost::asio::signal_set signals(self.getIoService(), SIGINT);
-	bool callFinalizeReq = false, callShutdownSalmanoffReq = false;
+	bool callFinalizeReq = false, callShutdownSalmanoff = false;
 
 	try {
 		// Register SIGINT (Ctrl+C) and SIGSEGV handlers
@@ -88,6 +88,9 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 			throw JustPrintUsageNoError(options);
 		}
 
+		initializeSalmanoff();
+		callShutdownSalmanoff = true;
+
 		self.getIoService().post([]()
 		{
 			/**		EXPLANATION:
@@ -111,20 +114,15 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 			globalMind->initializeReq(
 			[](bool success)
 			{
-					if (success) {
-						initializeSalmanoff([](bool success) {
-							if (!success) {
-								std::cerr << "Failed to initialize "
-									"Salmanoff" << '\n';
-							}
-						});
-					}
-					else {
+				if (!success)
+				{
 					std::cerr << "Failed to initialize Mind object "
 						"(threads)" << '\n';
 				}
-				}
-			);
+
+				std::cout << "Mrntt: Mind object (threads) initialized."
+					<< '\n';
+			});
 		});
 
         std::cout << __func__ << ": Entering event loop" << "\n";
@@ -188,43 +186,26 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 		}
 
 		*out << outUsageMsg << e.what() << std::endl;
-		callShutdownSalmanoffReq = callFinalizeReq = true;
+		callFinalizeReq = true;
 	}
 	catch (const std::exception& e)
 	{
 		std::cerr << __func__ << ": Exception occurred: " << e.what()
 			<< std::endl;
 		mrntt::exitCode = EXIT_FAILURE;
-		callShutdownSalmanoffReq = callFinalizeReq = true;
+		callShutdownSalmanoff = callFinalizeReq = true;
 	}
 	catch (...)
 	{
 		std::cerr << __func__ << ": Unknown exception occurred" << std::endl;
 		mrntt::exitCode = EXIT_FAILURE;
-		callShutdownSalmanoffReq = callFinalizeReq = true;
-	}
-
-	if (callShutdownSalmanoffReq)
-	{
-		shutdownSalmanoff(
-			[](bool success)
-			{
-				if (success) {
-					std::cout << "Salmanoff shutdown completed successfully"
-						<< std::endl;
-				} else {
-					std::cerr << "Salmanoff shutdown failed" << std::endl;
-				}
-				mrntt::mrntt->getIoService().stop();
-			}
-		);
-		self.getIoService().reset();
-		self.getIoService().run();
+		callShutdownSalmanoff = callFinalizeReq = true;
 	}
 
 	if (callFinalizeReq)
 	{
-		globalMind->finalizeReq([](bool success) {
+		globalMind->finalizeReq([](bool success)
+		{
 			if (!success) {
 				std::cerr << "Failed to finalize Mind object (threads)" << '\n';
 			}
@@ -233,6 +214,11 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 		self.getIoService().reset();
 		self.getIoService().run();
 	}
+
+	if (callShutdownSalmanoff) {
+		shutdownSalmanoff();
+	}
+
 }
 
 } // namespace smo

smocore/marionette/salmanoff.cpp

@@ -7,100 +7,22 @@
 
 namespace smo {
 
-class InitializeSalmanoffReq
-:	public AsynchronousContinuation<initializeSalmanoffCbFn>
-{
-public:
-	InitializeSalmanoffReq(initializeSalmanoffCbFn cb)
-	:	AsynchronousContinuation(std::move(cb))
-	{}
-
-	// Callback methods for the initialization sequence
-	void initializeSalmanoffReq1(
-		std::shared_ptr<InitializeSalmanoffReq> context,
-		smo::AsynchronousLoop &results
-		)
-	{
-		std::cout << __func__ << ": Done. " << results.nSucceeded
-			<< " succeeded, " << results.nFailed << " failed." << std::endl;
-		context->originalCbFn(true);
-	}
-};
-
-void initializeSalmanoff(
-	initializeSalmanoffCbFn callback)
+void initializeSalmanoff(void)
 {
 	std::cout << __func__ << ": Entered." << std::endl;
 
-	std::shared_ptr<ComponentThread> mrntt = ComponentThread::getMrntt();
-	auto request = std::make_shared<InitializeSalmanoffReq>(
-		std::move(callback));
-
+	sense_api::SenseApiManager::getInstance().initialize();
+	device::DeviceManager::getInstance().initialize();
 	device::DeviceManager::getInstance().collateAllDapSpecs();
 	device::DeviceManager::getInstance().parseAllDapSpecs();
 	std::cout << device::DeviceManager::stringifyDeviceSpecs() << std::endl;
-
-	/**	EXPLANATION:
-	 * The ComponentThread instance we pass in here is the one that will be used
-	 * by Senseapi libs to perform device-independent background operations.
-	 * For example, liblivoxProto1's BroadcastListener will use this thread to
-	 * listen for UDP broadcast dgrams from Livox devices.
-	 *
-	 * Right now we use Marionette, but there's a strong argument for using
-	 * Body instead since it's meant to handle device-management operations.
-	 */
-	sense_api::SenseApiManager::getInstance().loadAllSenseApiLibsFromOptions(
-		mrntt);
-
-	std::cout << sense_api::SenseApiManager::getInstance().stringifyLibs()
-		<< std::endl;
-
-	if (OptionParser::getOptions().verbose) {
-		std::cout << __func__ << ": About to initializeAllSenseApiLibs" << '\n';
-	}
-	sense_api::SenseApiManager::getInstance().initializeAllSenseApiLibs();
-
-	if (OptionParser::getOptions().verbose) {
-		std::cout << __func__ << ": About to attachAllSenseDevicesFromSpecs" << '\n';
-	}
-	sense_api::SenseApiManager::getInstance().attachAllSenseDevicesFromSpecsReq(
-		std::bind(
-			&InitializeSalmanoffReq::initializeSalmanoffReq1,
-			request.get(), request,
-			std::placeholders::_1));
 }
 
-class ShutdownSalmanoffReq
-:	public InitializeSalmanoffReq
-{
-public:
-	using InitializeSalmanoffReq::InitializeSalmanoffReq;
-
-	// Callback methods for the shutdown sequence
-	void shutdownSalmanoffReq1(
-		std::shared_ptr<ShutdownSalmanoffReq> context,
-		smo::AsynchronousLoop &results
-		)
-	{
-		sense_api::SenseApiManager::getInstance().finalizeAllSenseApiLibs();
-		std::cout << __func__ << ": Done. " << results.nSucceeded
-			<< " succeeded, " << results.nFailed << " failed." << std::endl;
-		context->originalCbFn(true);
-	}
-};
-
-void shutdownSalmanoff(shutdownSalmanoffCbFn callback)
+void shutdownSalmanoff(void)
 {
 	std::cout << __func__ << ": Entered." << std::endl;
-
-	// Create the shutdown request object to hold state and callbacks
-	auto request = std::make_shared<ShutdownSalmanoffReq>(std::move(callback));
-
-	sense_api::SenseApiManager::getInstance().detachAllSenseDevicesReq(
-		std::bind(
-			&ShutdownSalmanoffReq::shutdownSalmanoffReq1,
-			request.get(), request,
-			std::placeholders::_1));
+	device::DeviceManager::getInstance().finalize();
+	sense_api::SenseApiManager::getInstance().finalize();
 }
 
 } // namespace smo

smocore/mind.cpp

@@ -4,6 +4,7 @@
 #include <asynchronousLoop.h>
 #include <mind.h>
 #include <componentThread.h>
+#include <senseApis/senseApiManager.h>
 
 namespace smo {
 
@@ -65,10 +66,10 @@ public:
 		parent(parent)
 	{}
 
-	void callOriginalCbFn(void)
+	void callOriginalCbFn(bool success)
 	{
 		if (originalCbFn) {
-			originalCbFn(true);
+			originalCbFn(success);
 		}
 	}
 
@@ -93,27 +94,71 @@ public:
 		)
 	{
 		std::cout << "Mrntt: All mind threads started." << "\n";
-		callOriginalCbFn();
+
+		parent.initializeBodyReq(
+			std::bind(
+				&MindLifetimeMgmtOp::initializeReq3,
+				context.get(), context, std::placeholders::_1));
+	}
+
+	void initializeReq3(
+		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context,
+		bool success
+		)
+	{
+		std::cout << "Mrntt: Body component initialized." << "\n";
+		callOriginalCbFn(success);
 	}
 
 	void finalizeReq1(
-		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
+		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context,
+		bool success
 		)
 	{
-		std::cout << "Mrntt: All mind threads JOLTed." << "\n";
+		if (!success) {
+			std::cerr << "Mrntt: Body component failed to finalize." << "\n";
+		} else {
+			std::cout << "Mrntt: Body component finalized." << "\n";
+		}
 
-		parent.exitAllMindThreadsReq(
+		/* 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.
+		*/
+		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
 		)
+	{
+		std::cout << "Mrntt: All mind threads JOLTed for finalization." << "\n";
+
+		parent.exitAllMindThreadsReq(
+			std::bind(
+				&MindLifetimeMgmtOp::finalizeReq3,
+				context.get(), context));
+	}
+
+	void finalizeReq3(
+		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
+		)
 	{
 		std::cout << "Mrntt: All mind threads exited." << "\n";
-		callOriginalCbFn();
+		callOriginalCbFn(true);
 	}
 };
 
@@ -146,24 +191,169 @@ void Mind::finalizeReq(mindLifetimeMgmtOpCbFn callback)
 	auto request = std::make_shared<MindLifetimeMgmtOp>(
 		*this, callback);
 
-    /* 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.
+	finalizeBodyReq(
+		std::bind(
+			&MindLifetimeMgmtOp::finalizeReq1,
+			request.get(), request, std::placeholders::_1));
+}
+
+class Mind::InitializeBodyReq
+:	public MindLifetimeMgmtOp, public ContinuationTarget
+{
+public:
+	InitializeBodyReq(
+		Mind &parent, const std::shared_ptr<ComponentThread> &caller,
+		mindLifetimeMgmtOpCbFn callback)
+	:	MindLifetimeMgmtOp(parent, callback), ContinuationTarget(caller)
+	{}
+
+	void callOriginalCbFn(bool success)
+	{
+		if (originalCbFn)
+		{
+			caller->getIoService().post(
+				std::bind(originalCbFn, success));
+		}
+	}
+
+public:
+	void initializeBodyReq1(
+		[[maybe_unused]] std::shared_ptr<InitializeBodyReq> context
+		)
+	{
+		auto self = ComponentThread::getSelf();
+		if (self->id != ComponentThread::BODY)
+		{
+			throw std::runtime_error(std::string(__func__)
+				+ ": Must be executed on Body thread");
+		}
+
+		/**	EXPLANATION:
+		 * The ComponentThread instance we pass in here is the one that will be
+		 * used by Senseapi libs to perform device-independent background
+		 * operations.
+		 * For example, liblivoxProto1's BroadcastListener will use this thread
+		 * to listen for UDP broadcast dgrams from Livox devices.
+		 *
+		 * Right now we use Marionette, but there's a strong argument for using
+		 * Body instead since it's meant to handle device-management operations.
 		 */
-    if (!threadsHaveBeenJolted)
+		sense_api::SenseApiManager::getInstance()
+			.loadAllSenseApiLibsFromOptions(caller);
+
+		std::cout << sense_api::SenseApiManager::getInstance().stringifyLibs()
+			<< std::endl;
+
+		if (OptionParser::getOptions().verbose)
 		{
-        joltAllMindThreadsReq(
+			std::cout << __func__ << ": About to initializeAllSenseApiLibs"
+				<< '\n';
+		}
+		sense_api::SenseApiManager::getInstance().initializeAllSenseApiLibs();
+
+		if (OptionParser::getOptions().verbose)
+		{
+			std::cout << __func__ << ": About to attachAllSenseDevicesFromSpecs"
+				<< '\n';
+		}
+		sense_api::SenseApiManager::getInstance()
+			.attachAllSenseDevicesFromSpecsReq(
 				std::bind(
-				&MindLifetimeMgmtOp::finalizeReq1,
+					&InitializeBodyReq::initializeBodyReq2,
+					context.get(), context,
+					std::placeholders::_1));
+	}
+
+	void initializeBodyReq2(
+		[[maybe_unused]] std::shared_ptr<InitializeBodyReq> context,
+		smo::AsynchronousLoop &results
+		)
+	{
+		std::cout << "Mrntt: attached "
+			<< results.nSucceeded << " of " << results.nTotal
+			<< " sense devices." << "\n";
+
+		callOriginalCbFn(results.nSucceeded == results.nTotal);
+	}
+};
+
+class Mind::FinalizeBodyReq
+:	public InitializeBodyReq
+{
+public:
+	using InitializeBodyReq::InitializeBodyReq;
+
+public:
+	void finalizeBodyReq1(
+		[[maybe_unused]] std::shared_ptr<FinalizeBodyReq> context
+		)
+	{
+		auto self = ComponentThread::getSelf();
+		if (self->id != ComponentThread::BODY)
+		{
+			throw std::runtime_error(std::string(__func__)
+				+ ": Must be executed on Body thread");
+		}
+
+		std::cout << "Mrntt: About to detach all sense devices." << "\n";
+		sense_api::SenseApiManager::getInstance().detachAllSenseDevicesReq(
+			std::bind(
+				&FinalizeBodyReq::finalizeBodyReq2,
+				context.get(), context,
+				std::placeholders::_1));
+	}
+
+	void finalizeBodyReq2(
+		[[maybe_unused]] std::shared_ptr<FinalizeBodyReq> context,
+		smo::AsynchronousLoop &results
+	)
+	{
+		std::cout << "Mrntt: Successfully detached "
+			<< results.nSucceeded << " of " << results.nTotal
+			<< " sense devices." << "\n";
+
+		std::cout << "Mrntt: About to unload all sense api libs." << "\n";
+		sense_api::SenseApiManager::getInstance().unloadAllSenseApiLibs();
+		callOriginalCbFn(results.nSucceeded == results.nTotal);
+	}
+};
+
+void Mind::initializeBodyReq(mindLifetimeMgmtOpCbFn callback)
+{
+	auto mrntt = ComponentThread::getSelf();
+
+	if (mrntt->id != ComponentThread::MRNTT)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": Must be invoked by Mrntt thread");
+	}
+
+	auto request = std::make_shared<InitializeBodyReq>(
+		*this, mrntt, callback);
+
+	this->getComponentThread(ComponentThread::BODY)->getIoService().post(
+		std::bind(
+			&InitializeBodyReq::initializeBodyReq1,
 			request.get(), request));
 }
-    else
+
+void Mind::finalizeBodyReq(mindLifetimeMgmtOpCbFn callback)
 {
-        exitAllMindThreadsReq(
-			std::bind(
-				&MindLifetimeMgmtOp::finalizeReq1,
-				request.get(), request));
+	auto mrntt = ComponentThread::getSelf();
+
+	if (mrntt->id != ComponentThread::MRNTT)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": Must be invoked by Mrntt thread");
 	}
+
+	auto request = std::make_shared<FinalizeBodyReq>(
+		*this, mrntt, callback);
+
+	this->getComponentThread(ComponentThread::BODY)->getIoService().post(
+		std::bind(
+			&FinalizeBodyReq::finalizeBodyReq1,
+			request.get(), request));
 }
 
 void Mind::distributeAndPinThreadsAcrossCpus()

smocore/senseApis/senseApiManager.cpp

@@ -97,7 +97,7 @@ std::optional<std::string> SenseApiManager::searchForLibInSmoSearchPaths(
 
 SenseApiLib& SenseApiManager::loadSenseApiLib(
 	const std::string& libraryPath,
-	std::shared_ptr<ComponentThread>& componentThread
+	const std::shared_ptr<ComponentThread>& componentThread
 	)
 {
     std::optional<std::string> fullPath = searchForLibInSmoSearchPaths(
@@ -204,7 +204,7 @@ void SenseApiManager::unloadAllSenseApiLibs(void)
 }
 
 void SenseApiManager::loadAllSenseApiLibsFromOptions(
-	std::shared_ptr<ComponentThread>& componentThread
+	const std::shared_ptr<ComponentThread>& componentThread
 	)
 {
     const auto& options = OptionParser::getOptions();
@@ -351,6 +351,11 @@ public:
 		context->originalCbFn(context->loop);
 	}
 
+	void callOriginalCallback()
+	{
+		originalCbFn(loop);
+	}
+
 public:
 	AsynchronousLoop loop;
 };
@@ -365,7 +370,7 @@ void SenseApiManager::attachAllSenseDevicesFromSpecsReq(
 
 	if (request->loop.nTotalIsZero())
 	{
-		cb(request->loop);
+		request->callOriginalCallback();
 		return;
 	}
 
@@ -381,7 +386,7 @@ void SenseApiManager::attachAllSenseDevicesFromSpecsReq(
 		} catch (const std::exception& e) {
 			std::cerr << __func__ << ": Exception: " << e.what() << "\n";
 			if (request->loop.incrementSuccessOrFailureAndTestForCompletionDueTo(false))
-				{ cb(request->loop); }
+				{ request->callOriginalCallback(); }
 		}
 	}
 }
@@ -418,6 +423,11 @@ public:
 
 		context->originalCbFn(context->loop);
 	}
+
+	void callOriginalCallback()
+	{
+		originalCbFn(loop);
+	}
 };
 
 void SenseApiManager::detachAllSenseDevicesReq(
@@ -429,7 +439,7 @@ void SenseApiManager::detachAllSenseDevicesReq(
 
 	if (request->loop.nTotalIsZero())
 	{
-		cb(request->loop);
+		request->callOriginalCallback();
 		return;
 	}
 
@@ -445,7 +455,9 @@ void SenseApiManager::detachAllSenseDevicesReq(
 		} catch (const std::exception& e) {
 			std::cerr << __func__ << ": Exception: " << e.what() << "\n";
 			if (request->loop.incrementSuccessOrFailureAndTestForCompletionDueTo(false))
-				{ cb(request->loop); }
+			{
+				request->callOriginalCallback();
+			}
 		}
 	}
 }