Libspinscale: begin splitting it off

CMakeLists.txt

@@ -92,6 +92,7 @@ configure_file(
 # Include directories
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/libspinscale/include
     ${CMAKE_CURRENT_SOURCE_DIR}/smocore/include
     ${CMAKE_CURRENT_BINARY_DIR}/include
 )
@@ -177,6 +178,7 @@ if(ENABLE_TESTS)
     add_subdirectory(third_party)
 endif()
 add_subdirectory(compile)
+add_subdirectory(libspinscale)
 # Add core components
 add_subdirectory(smocore)
 add_subdirectory(commonLibs)

commonLibs/attachmentSupport/stimulusProducer.cpp

@@ -8,7 +8,7 @@
 #include <boost/system/error_code.hpp>
 #include <opts.h>
 #include <componentThread.h>
-#include <spinLock.h>
+#include <spinscale/spinLock.h>
 #include <user/stimulusProducer.h>
 #include <user/stimulusBuffer.h>
 

commonLibs/livoxProto1/broadcastListener.h

@@ -8,7 +8,7 @@
 #include <atomic>
 #include <boost/asio/ip/udp.hpp>
 #include <user/senseApiDesc.h>
-#include <spinLock.h>
+#include <spinscale/spinLock.h>
 #include "device.h"
 
 namespace livoxProto1 {

commonLibs/livoxProto1/core.cpp

@@ -3,8 +3,8 @@
 #include <functional>
 #include <optional>
 #include <opts.h>
-#include <asynchronousContinuation.h>
-#include <callback.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/callback.h>
 #include <user/senseApiDesc.h>
 #include "protocol.h"
 #include "core.h"

commonLibs/livoxProto1/core.h

@@ -11,7 +11,7 @@
 #include "broadcastListener.h"
 #include "udpCommandDemuxer.h"
 #include "livoxProto1.h"
-#include <callback.h>
+#include <spinscale/callback.h>
 
 namespace livoxProto1 {
 

commonLibs/livoxProto1/device.cpp

@@ -17,8 +17,8 @@
 #include <boost/asio/deadline_timer.hpp>
 #include <boost/asio/posix/stream_descriptor.hpp>
 #include <opts.h>
-#include <asynchronousContinuation.h>
-#include <callback.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/callback.h>
 #include "device.h"
 #include "protocol.h"
 #include "core.h"

commonLibs/livoxProto1/device.h

@@ -18,8 +18,8 @@
 #include <boost/asio/deadline_timer.hpp>
 #include <boost/asio/posix/stream_descriptor.hpp>
 #include "protocol.h"
-#include <callback.h>
-#include <spinLock.h>
+#include <spinscale/callback.h>
+#include <spinscale/spinLock.h>
 
 // Custom hash function for std::pair<uint8_t, uint8_t>
 namespace std {

commonLibs/livoxProto1/livoxProto1.cpp

@@ -1,6 +1,6 @@
 #include <boostAsioLinkageFix.h>
 #include <stdexcept>
-#include <callback.h>
+#include <spinscale/callback.h>
 #include <boost/asio/posix/stream_descriptor.hpp>
 #include "livoxProto1.h"
 #include "device.h"

commonLibs/livoxProto1/livoxProto1.h

@@ -6,7 +6,7 @@
 #include <string>
 #include <cstdint>
 #include <functional>
-#include <callback.h>
+#include <spinscale/callback.h>
 #include <boost/asio/posix/stream_descriptor.hpp>
 
 // Forward declarations

commonLibs/livoxProto1/udpCommandDemuxer.h

@@ -6,7 +6,7 @@
 #include <memory>
 #include <boost/asio/posix/stream_descriptor.hpp>
 #include <componentThread.h>
-#include <spinLock.h>
+#include <spinscale/spinLock.h>
 
 namespace livoxProto1 {
 

include/user/senseApiDesc.h

@@ -9,7 +9,7 @@
 #include <vector>
 #include <preprocessor.h>
 #include <user/deviceAttachmentSpec.h>
-#include <callback.h>
+#include <spinscale/callback.h>
 #define CL_TARGET_OPENCL_VERSION 120
 #include <CL/cl.h>
 

include/user/stimulusProducer.h

@@ -13,7 +13,7 @@
 #include <config.h>
 #include <boost/asio/io_service.hpp>
 #include <boost/asio/deadline_timer.hpp>
-#include <spinLock.h>
+#include <spinscale/spinLock.h>
 #include "deviceAttachmentSpec.h"
 
 namespace smo {

libspinscale/CMakeLists.txt

@@ -0,0 +1,45 @@
+add_library(spinscale SHARED
+	src/qutex.cpp
+	src/lockerAndInvokerBase.cpp
+	src/componentThread.cpp
+	src/component.cpp
+)
+
+# Conditionally add qutexAcquisitionHistoryTracker.cpp only when debug locks
+# are enabled, since the tracker is only referenced under CONFIG_ENABLE_DEBUG_LOCKS.
+if(ENABLE_DEBUG_LOCKS)
+	target_sources(spinscale PRIVATE src/qutexAcquisitionHistoryTracker.cpp)
+endif()
+
+# Ensure Boost uses dynamic linking (project-wide setting should handle this,
+# but being explicit here for clarity)
+target_compile_definitions(spinscale PRIVATE BOOST_ALL_DYN_LINK)
+target_compile_features(spinscale PUBLIC cxx_std_20)
+
+target_include_directories(spinscale PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}/include
+	${PROJECT_SOURCE_DIR}/include
+	${PROJECT_SOURCE_DIR}/smocore/include
+	${PROJECT_BINARY_DIR}/include
+	${Boost_INCLUDE_DIRS}
+)
+
+# Link against required dependencies for shared library
+# Boost::system is PUBLIC because componentThread.h exposes Boost.Asio types
+find_package(Threads REQUIRED)
+target_link_libraries(spinscale PUBLIC
+	Threads::Threads
+	Boost::system
+	Boost::log
+)
+
+# Verify Boost dynamic dependencies after build (only if script exists)
+if(EXISTS ${CMAKE_SOURCE_DIR}/cmake/VerifyBoostDynamic.cmake)
+	add_custom_command(TARGET spinscale POST_BUILD
+		COMMAND ${CMAKE_COMMAND} -DVERIFY_FILE="$<TARGET_FILE:spinscale>"
+			-P ${CMAKE_SOURCE_DIR}/cmake/VerifyBoostDynamic.cmake
+		COMMENT "Verifying Boost dynamic dependencies for spinscale"
+	)
+else()
+	message(WARNING "VerifyBoostDynamic.cmake not found - cannot verify Boost dependencies for spinscale")
+endif()

libspinscale/include/spinscale/asynchronousContinuation.h

@@ -5,9 +5,9 @@
 #include <memory>
 #include <exception>
 #include <componentThread.h>
-#include <callback.h>
-#include <callableTracer.h>
-#include <asynchronousContinuationChainLink.h>
+#include <spinscale/callback.h>
+#include <spinscale/callableTracer.h>
+#include <spinscale/asynchronousContinuationChainLink.h>
 
 
 namespace smo {

libspinscale/include/spinscale/callableTracer.h

@@ -1,12 +1,17 @@
-#ifndef CALLABLE_TRACER_H
-#define CALLABLE_TRACER_H
+#ifndef SPINSCALE_CALLABLE_TRACER_H
+#define SPINSCALE_CALLABLE_TRACER_H
 
 #include <config.h>
 #include <string>
 #include <functional>
 #include <iostream>
 #include <cstdint>
-#include <opts.h>
+#include <spinscale/componentThread.h>
+
+// Forward declaration - OptionParser is defined in smocore/include/opts.h
+// If you need tracing, include opts.h before including this header
+// The code will check for OPTS_H define to see if opts.h has been included
+class OptionParser;
 
 namespace smo {
 
@@ -45,6 +50,10 @@ public:
 
 	void operator()()
 	{
+		// OptionParser::getOptions() requires opts.h to be included
+		// Only check traceCallables if opts.h has been included (OPTS_H is defined)
+		#ifdef CONFIG_DEBUG_TRACE_CALLABLES
+		#ifdef OPTS_H
 		if (OptionParser::getOptions().traceCallables)
 		{
 			std::cout << "" << __func__ << ": On thread "
@@ -56,6 +65,8 @@ public:
 				<< ", return addr 1: " << returnAddr1
 				<< std::endl;
 		}
+		#endif
+		#endif
 		callable();
 	}
 
@@ -135,4 +146,4 @@ private:
 #define STC(arg) arg
 #endif
 
-#endif // CALLABLE_TRACER_H
+#endif // SPINSCALE_CALLABLE_TRACER_H

libspinscale/include/spinscale/callback.h

@@ -1,5 +1,5 @@
-#ifndef CALLBACK_H
-#define CALLBACK_H
+#ifndef SPINSCALE_CALLBACK_H
+#define SPINSCALE_CALLBACK_H
 
 #include <memory>
 
@@ -28,4 +28,4 @@ public:
 
 } // namespace smo
 
-#endif // CALLBACK_H
+#endif // SPINSCALE_CALLBACK_H

libspinscale/include/spinscale/component.h

@@ -4,7 +4,7 @@
 #include <config.h>
 #include <memory>
 #include <functional>
-#include <callback.h>
+#include <spinscale/callback.h>
 
 namespace smo {
 

libspinscale/include/spinscale/componentThread.h

@@ -0,0 +1,170 @@
+#ifndef COMPONENT_THREAD_H
+#define COMPONENT_THREAD_H
+
+#include <boostAsioLinkageFix.h>
+#include <atomic>
+#include <thread>
+#include <unordered_map>
+#include <boost/asio/io_service.hpp>
+#include <stdexcept>
+#include <queue>
+#include <functional>
+#include <pthread.h>
+#include <sched.h>
+#include <unistd.h>
+#include <memory>
+#include <spinscale/callback.h>
+#include <cstdint>
+#include <string>
+
+namespace smo {
+
+class MarionetteThread;
+class PuppetThread;
+
+// ThreadId is a generic type - application-specific enums should be defined elsewhere
+typedef uint8_t ThreadId;
+
+class ComponentThread
+{
+protected:
+	ComponentThread(ThreadId _id)
+    :   id(_id), name(getThreadName(_id)),
+        work(io_service)
+	{}
+
+public:
+	virtual ~ComponentThread() = default;
+
+	// getThreadName implementation is provided by application code
+	static std::string getThreadName(ThreadId id);
+
+	void cleanup(void);
+
+	boost::asio::io_service& getIoService(void) { return io_service; }
+
+	static const std::shared_ptr<ComponentThread> getSelf(void);
+	static bool tlsInitialized(void);
+	static std::shared_ptr<MarionetteThread> getMrntt();
+
+	typedef void (mainFn)(ComponentThread &self);
+
+	// CPU management methods
+	static int getAvailableCpuCount();
+
+	typedef std::function<void()> mindShutdownIndOpCbFn;
+	// Intentionally doesn't take a callback.
+	void exceptionInd(const std::shared_ptr<ComponentThread> &faultyThread);
+	// Intentionally doesn't take a callback.
+	void userShutdownInd();
+
+public:
+	ThreadId id;
+	std::string name;
+	boost::asio::io_service io_service;
+	boost::asio::io_service::work work;
+	std::atomic<bool> keepLooping;
+};
+
+class MarionetteThread
+:	public std::enable_shared_from_this<MarionetteThread>,
+	public ComponentThread
+{
+public:
+	MarionetteThread(ThreadId id = 0)
+	:	ComponentThread(id),
+	thread(main, std::ref(*this))
+	{
+	}
+
+	static void main(MarionetteThread& self);
+	void initializeTls(void);
+
+public:
+	std::thread thread;
+};
+
+class PuppetThread
+:	public std::enable_shared_from_this<PuppetThread>,
+	public ComponentThread
+{
+public:
+	enum class ThreadOp
+	{
+		START,
+		PAUSE,
+		RESUME,
+		EXIT,
+		JOLT,
+		N_ITEMS
+	};
+
+	PuppetThread(ThreadId _id)
+	:   ComponentThread(_id),
+	pinnedCpuId(-1),
+	pause_work(pause_io_service),
+	thread(main, std::ref(*this))
+	{
+	}
+
+	virtual ~PuppetThread() = default;
+
+	static void main(PuppetThread& self);
+	void initializeTls(void);
+
+	// Thread management methods
+	typedef std::function<void()> threadLifetimeMgmtOpCbFn;
+	void startThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
+	void exitThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
+	void pauseThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
+	void resumeThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
+
+	/**
+	 * JOLTs this thread to begin processing after global initialization.
+	 *
+	 * JOLTing is the mechanism that allows threads to enter their main
+	 * event loops and set up TLS vars after all global constructors have
+	 * completed. This prevents race conditions during system startup.
+	 *
+	 * @param selfPtr Shared pointer to this thread (required because TLS
+	 *                isn't set up yet, so shared_from_this() can't be used)
+	 * @param callback Callback to invoke when JOLT completes
+	 */
+	void joltThreadReq(
+		const std::shared_ptr<PuppetThread>& selfPtr,
+		Callback<threadLifetimeMgmtOpCbFn> callback);
+
+	// CPU management methods
+	void pinToCpu(int cpuId);
+
+protected:
+	/**
+	 * Handle exception - called from main() when an exception occurs.
+	 * Derived classes can override to provide application-specific handling.
+	 */
+	virtual void handleException() {}
+
+public:
+	int pinnedCpuId;
+	boost::asio::io_service pause_io_service;
+	boost::asio::io_service::work pause_work;
+	std::thread thread;
+
+public:
+	class ThreadLifetimeMgmtOp;
+};
+
+namespace mrntt {
+extern std::shared_ptr<MarionetteThread> thread;
+} // namespace mrntt
+
+} // namespace smo
+
+// Forward declaration for spinscale namespace functions and variables
+// Must be after smo namespace so ThreadId is defined
+namespace spinscale {
+	extern smo::ThreadId marionetteThreadId;
+	void setMarionetteThreadId(smo::ThreadId id);
+}
+
+#endif // COMPONENT_THREAD_H

libspinscale/include/spinscale/lockSet.h

@@ -6,8 +6,8 @@
 #include <utility>
 #include <memory>
 #include <optional>
-#include <qutex.h>
-#include <lockerAndInvokerBase.h>
+#include <spinscale/qutex.h>
+#include <spinscale/lockerAndInvokerBase.h>
 
 namespace smo {
 

libspinscale/include/spinscale/qutex.h

@@ -5,8 +5,8 @@
 #include <list>
 #include <memory>
 #include <string>
-#include <spinLock.h>
-#include <lockerAndInvokerBase.h>
+#include <spinscale/spinLock.h>
+#include <spinscale/lockerAndInvokerBase.h>
 
 namespace smo {
 

libspinscale/include/spinscale/serializedAsynchronousContinuation.h

@@ -8,11 +8,11 @@
 #include <iostream>
 #include <optional>
 #include <componentThread.h>
-#include <lockSet.h>
-#include <asynchronousContinuation.h>
-#include <lockerAndInvokerBase.h>
-#include <callback.h>
-#include <qutexAcquisitionHistoryTracker.h>
+#include <spinscale/lockSet.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/lockerAndInvokerBase.h>
+#include <spinscale/callback.h>
+#include <spinscale/qutexAcquisitionHistoryTracker.h>
 
 namespace smo {
 

libspinscale/src/component.cpp

@@ -1,4 +1,4 @@
-#include <component.h>
+#include <spinscale/component.h>
 #include <marionette/marionette.h>
 
 namespace smo {

libspinscale/src/componentThread.cpp

@@ -0,0 +1,318 @@
+#include <boostAsioLinkageFix.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include <pthread.h>
+#include <sched.h>
+#include <boost/asio/io_service.hpp>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/callback.h>
+#include <spinscale/callableTracer.h>
+#include <componentThread.h>
+#include <marionette/marionette.h>
+
+namespace spinscale {
+
+// Global variable to store the marionette thread ID
+// Default value is 0, but should be set by application code via setMarionetteThreadId()
+smo::ThreadId marionetteThreadId = 0;
+
+void setMarionetteThreadId(smo::ThreadId id)
+{
+	marionetteThreadId = id;
+}
+
+} // namespace spinscale
+
+namespace smo {
+
+thread_local std::shared_ptr<ComponentThread> thisComponentThread;
+
+// Implementation of static method
+std::shared_ptr<MarionetteThread> ComponentThread::getMrntt()
+{
+	return mrntt::thread;
+}
+
+void MarionetteThread::initializeTls(void)
+{
+	thisComponentThread = shared_from_this();
+}
+
+void PuppetThread::initializeTls(void)
+{
+	thisComponentThread = shared_from_this();
+}
+
+bool ComponentThread::tlsInitialized(void)
+{
+	return thisComponentThread != nullptr;
+}
+
+const std::shared_ptr<ComponentThread> ComponentThread::getSelf(void)
+{
+	if (!thisComponentThread)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": TLS not initialized");
+	}
+
+	return thisComponentThread;
+}
+
+class PuppetThread::ThreadLifetimeMgmtOp
+:	public PostedAsynchronousContinuation<threadLifetimeMgmtOpCbFn>
+{
+public:
+	ThreadLifetimeMgmtOp(
+		const std::shared_ptr<ComponentThread> &caller,
+		const std::shared_ptr<PuppetThread> &target,
+		Callback<threadLifetimeMgmtOpCbFn> callback)
+	:	PostedAsynchronousContinuation<threadLifetimeMgmtOpCbFn>(
+			caller, callback),
+	target(target)
+	{}
+
+public:
+	const std::shared_ptr<PuppetThread> target;
+
+public:
+	void joltThreadReq1_posted(
+		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
+		)
+	{
+		std::cout << __func__ << ": Thread '" << target->name << "': handling "
+			"JOLT request."
+			<< "\n";
+
+		target->io_service.stop();
+		callOriginalCb();
+	}
+
+	void startThreadReq1_posted(
+		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
+		)
+	{
+		std::cout << __func__ << ": Thread '" << target->name << "': handling "
+			"startThread."
+			<< "\n";
+
+		// Execute private setup sequence here
+		// This is where each thread would implement its specific initialization
+
+		callOriginalCb();
+	}
+
+	void exitThreadReq1_mainQueue_posted(
+		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
+		)
+	{
+		std::cout << __func__ << ": Thread '" << target->name << "': handling "
+			"exitThread (main queue)." << "\n";
+
+		target->cleanup();
+		target->io_service.stop();
+		callOriginalCb();
+	}
+
+	void exitThreadReq1_pauseQueue_posted(
+		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
+		)
+	{
+		std::cout << __func__ << ": Thread '" << target->name << "': handling "
+			"exitThread (pause queue)."<< "\n";
+
+		target->cleanup();
+		target->pause_io_service.stop();
+		target->io_service.stop();
+		callOriginalCb();
+	}
+
+	void pauseThreadReq1_posted(
+		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
+		)
+	{
+		std::cout << __func__ << ": Thread '" << target->name << "': handling "
+			"pauseThread." << "\n";
+
+		/* We have to invoke the callback here before moving on because 
+		 * our next operation is going to block the thread, so it won't
+		 * have a chance to invoke the callback until it's unblocked.
+		 */
+		callOriginalCb();
+		target->pause_io_service.reset();
+		target->pause_io_service.run();
+	}
+
+	void resumeThreadReq1_posted(
+		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
+		)
+	{
+		std::cout << __func__ << ": Thread '" << target->name << "': handling "
+			"resumeThread." << "\n";
+
+		target->pause_io_service.stop();
+		callOriginalCb();
+	}
+};
+
+void ComponentThread::cleanup(void)
+{
+	this->keepLooping = false;
+}
+
+void PuppetThread::joltThreadReq(
+	const std::shared_ptr<PuppetThread>& selfPtr,
+	Callback<threadLifetimeMgmtOpCbFn> callback)
+{
+	/**	EXPLANATION:
+	 * We can't use shared_from_this() here because JOLTing occurs prior to
+	 * TLS being set up.
+	 *
+	 * We also can't use getSelf() as yet for the same reason: getSelf()
+	 * requires TLS to be set up.
+	 *
+	 * To obtain a sh_ptr to the caller, we just supply the mrntt thread since
+	 * JOLT is always invoked by the mrntt thread. The JOLT sequence that the
+	 * CRT main() function invokes on the mrntt thread is special since it
+	 * supplies cmdline args and envp.
+	 *
+	 * To obtain a sh_ptr to the target thread, we use the selfPtr parameter
+	 * passed in by the caller.
+	 */
+	if (id == spinscale::marionetteThreadId)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": invoked on mrntt thread");
+	}
+
+	std::shared_ptr<MarionetteThread> mrntt = mrntt::thread;
+
+	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
+		mrntt, selfPtr, callback);
+
+	this->getIoService().post(
+		STC(std::bind(
+			&ThreadLifetimeMgmtOp::joltThreadReq1_posted,
+			request.get(), request)));
+}
+
+// Thread management method implementations
+void PuppetThread::startThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
+{
+	std::shared_ptr<ComponentThread> caller = getSelf();
+	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
+		caller, std::static_pointer_cast<PuppetThread>(shared_from_this()),
+		callback);
+
+	this->getIoService().post(
+		STC(std::bind(
+			&ThreadLifetimeMgmtOp::startThreadReq1_posted,
+			request.get(), request)));
+}
+
+void PuppetThread::exitThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
+{
+	std::shared_ptr<ComponentThread> caller = getSelf();
+	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
+		caller, std::static_pointer_cast<PuppetThread>(shared_from_this()),
+		callback);
+
+	this->getIoService().post(
+		STC(std::bind(
+			&ThreadLifetimeMgmtOp::exitThreadReq1_mainQueue_posted,
+			request.get(), request)));
+
+	pause_io_service.post(
+		STC(std::bind(
+			&ThreadLifetimeMgmtOp::exitThreadReq1_pauseQueue_posted,
+			request.get(), request)));
+}
+
+void PuppetThread::pauseThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
+{
+	if (id == spinscale::marionetteThreadId)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": invoked on mrntt thread");
+	}
+
+	std::shared_ptr<ComponentThread> caller = getSelf();
+	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
+		caller, std::static_pointer_cast<PuppetThread>(shared_from_this()),
+		callback);
+
+	this->getIoService().post(
+		STC(std::bind(
+			&ThreadLifetimeMgmtOp::pauseThreadReq1_posted,
+			request.get(), request)));
+}
+
+void PuppetThread::resumeThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
+{
+	if (id == spinscale::marionetteThreadId)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": invoked on mrntt thread");
+	}
+
+	// Post to the pause_io_service to unblock the paused thread
+	std::shared_ptr<ComponentThread> caller = getSelf();
+	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
+		caller, std::static_pointer_cast<PuppetThread>(shared_from_this()),
+		callback);
+
+	pause_io_service.post(
+		STC(std::bind(
+			&ThreadLifetimeMgmtOp::resumeThreadReq1_posted,
+			request.get(), request)));
+}
+
+// CPU management method implementations
+int ComponentThread::getAvailableCpuCount()
+{
+	int cpuCount = sysconf(_SC_NPROCESSORS_ONLN);
+	if (cpuCount <= 0)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": Failed to determine CPU count");
+	}
+
+	// Check if std::thread::hardware_concurrency() matches sysconf result
+	unsigned int hwConcurrency = std::thread::hardware_concurrency();
+	if (hwConcurrency != static_cast<unsigned int>(cpuCount))
+	{
+		std::cerr << "Warning: CPU count mismatch - "
+			"std::thread::hardware_concurrency() = "
+			<< hwConcurrency << ", sysconf(_SC_NPROCESSORS_ONLN) = "
+			<< cpuCount << "\n";
+	}
+
+	return cpuCount;
+}
+
+void PuppetThread::pinToCpu(int cpuId)
+{
+	if (cpuId < 0)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": Invalid CPU ID: " + std::to_string(cpuId));
+	}
+
+	cpu_set_t cpuset;
+	CPU_ZERO(&cpuset);
+	CPU_SET(cpuId, &cpuset);
+
+	int result = pthread_setaffinity_np(
+		thread.native_handle(), sizeof(cpu_set_t), &cpuset);
+	if (result != 0)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": Failed to pin thread to CPU " + std::to_string(cpuId)
+			+ ": " + std::strerror(result));
+	}
+
+	pinnedCpuId = cpuId;
+}
+
+} // namespace smo

libspinscale/src/lockerAndInvokerBase.cpp

@@ -0,0 +1,5 @@
+#include <spinscale/lockerAndInvokerBase.h>
+
+namespace smo {
+
+} // namespace smo

libspinscale/src/qutex.cpp

@@ -1,5 +1,5 @@
-#include <qutex.h>
-#include <lockerAndInvokerBase.h>
+#include <spinscale/qutex.h>
+#include <spinscale/lockerAndInvokerBase.h>
 
 namespace smo {
 

libspinscale/src/qutexAcquisitionHistoryTracker.cpp

@@ -1,7 +1,7 @@
-#include "qutexAcquisitionHistoryTracker.h"
-#include "serializedAsynchronousContinuation.h"
-#include "qutex.h"
-#include "dependencyGraph.h"
+#include <spinscale/qutexAcquisitionHistoryTracker.h>
+#include <spinscale/serializedAsynchronousContinuation.h>
+#include <spinscale/qutex.h>
+#include <spinscale/dependencyGraph.h>
 #include <memory>
 #include <forward_list>
 #include <functional>

main.cpp

@@ -2,10 +2,12 @@
 #include <pthread.h>
 #include <componentThread.h>
 #include <marionette/marionette.h>
-
+#include <spinscale/componentThread.h>
 
 int main(int argc, char *argv[], char *envp[])
 {
+	// Set the marionette thread ID before using any ComponentThread functionality
+	spinscale::setMarionetteThreadId(smo::SmoThreadId::MRNTT);
 	pthread_setname_np(pthread_self(), "smo:CRT:main");
 	/* We don't do anything inside of main()
 	 * Main merely waits for the marionette thread to exit.

smocore/CMakeLists.txt

@@ -5,11 +5,9 @@ include(${CMAKE_SOURCE_DIR}/cmake/flexYacc.cmake)
 add_library(smocore STATIC
     # Core files
     mind.cpp
-    opts.cpp
+    mindThread.cpp
     componentThread.cpp
-    component.cpp
-    qutex.cpp
-    lockerAndInvokerBase.cpp
+    opts.cpp
 
     # Body
     body/body.cpp
@@ -41,11 +39,6 @@ add_library(smocore STATIC
     mindManager/mindManager.cpp
 )
 
-# Conditionally add qutexAcquisitionHistoryTracker.cpp only when debug locks are enabled
-if(ENABLE_DEBUG_LOCKS)
-    target_sources(smocore PRIVATE qutexAcquisitionHistoryTracker.cpp)
-endif()
-
 target_include_directories(smocore PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/include
     ${CMAKE_CURRENT_BINARY_DIR}
@@ -53,6 +46,11 @@ target_include_directories(smocore PUBLIC
 	${OPENCL_INCLUDE_DIRS}
 )
 
+# smocore public headers expose Qutex and friends
+target_link_libraries(smocore PUBLIC
+	spinscale
+)
+
 # Link against pthread for CPU affinity functions
 find_package(Threads REQUIRED)
 target_link_libraries(smocore PRIVATE

smocore/body/body.cpp

@@ -1,9 +1,9 @@
 #include <iostream>
 #include <opts.h>
-#include <asynchronousContinuation.h>
-#include <asynchronousLoop.h>
-#include <callback.h>
-#include <callableTracer.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/asynchronousLoop.h>
+#include <spinscale/callback.h>
+#include <spinscale/callableTracer.h>
 #include <body/body.h>
 #include <componentThread.h>
 #include <mind.h>
@@ -38,7 +38,7 @@ public:
 		)
 	{
 		auto self = ComponentThread::getSelf();
-		if (self->id != ComponentThread::BODY)
+		if (self->id != SmoThreadId::BODY)
 		{
 			throw std::runtime_error(std::string(__func__)
 				+ ": Must be executed on Body thread");
@@ -113,7 +113,7 @@ public:
 		)
 	{
 		auto self = ComponentThread::getSelf();
-		if (self->id != ComponentThread::BODY)
+		if (self->id != SmoThreadId::BODY)
 		{
 			throw std::runtime_error(std::string(__func__)
 				+ ": Must be executed on Body thread");
@@ -149,7 +149,7 @@ void Body::initializeReq(Callback<bodyLifetimeMgmtOpCbFn> callback)
 {
 	auto mrntt = ComponentThread::getSelf();
 
-	if (mrntt->id != ComponentThread::MRNTT)
+	if (mrntt->id != SmoThreadId::MRNTT)
 	{
 		throw std::runtime_error(std::string(__func__)
 			+ ": Must be invoked by Mrntt thread");
@@ -168,7 +168,7 @@ void Body::finalizeReq(Callback<bodyLifetimeMgmtOpCbFn> callback)
 {
 	auto mrntt = ComponentThread::getSelf();
 
-	if (mrntt->id != ComponentThread::MRNTT)
+	if (mrntt->id != SmoThreadId::MRNTT)
 	{
 		std::cerr << __func__ << ": Must be invoked by Mrntt thread"
 		          << std::endl;

smocore/componentThread.cpp

@@ -1,66 +1,40 @@
-#include <boostAsioLinkageFix.h>
-#include <unistd.h>
-#include <iostream>
+#include <stdexcept>
 #include <string>
+#include <iostream>
 #include <pthread.h>
-#include <sched.h>
-#include <boost/asio/io_service.hpp>
-#include <opts.h>
-#include <asynchronousContinuation.h>
-#include <callback.h>
-#include <callableTracer.h>
-#include <mind.h>
-#include <mindManager/mindManager.h>
 #include <componentThread.h>
-#include <marionette/marionette.h>
 
 namespace smo {
 
-thread_local std::shared_ptr<ComponentThread> thisComponentThread;
-
-// Implementation of static method
-std::shared_ptr<MarionetteThread> ComponentThread::getMrntt()
+std::string ComponentThread::getThreadName(ThreadId id)
 {
-	return mrntt::thread;
-}
-
-void MarionetteThread::initializeTls(void)
-{
-	thisComponentThread = shared_from_this();
-}
-
-void MindThread::initializeTls(void)
-{
-	thisComponentThread = shared_from_this();
-}
-
-bool ComponentThread::tlsInitialized(void)
-{
-	return thisComponentThread != nullptr;
-}
-
-const std::shared_ptr<ComponentThread> ComponentThread::getSelf(void)
-{
-	if (!thisComponentThread)
+	// Cast ThreadId to SmoThreadId for validation and lookup
+	SmoThreadId smoId = static_cast<SmoThreadId>(id);
+	if (static_cast<int>(smoId) >= static_cast<int>(SmoThreadId::N_ITEMS))
 	{
 		throw std::runtime_error(std::string(__func__)
-			+ ": TLS not initialized");
+			+ ": Invalid thread ID");
 	}
 
-	return thisComponentThread;
+	// Use function-local static to ensure proper initialization order
+	static const std::string threadNames[static_cast<int>(SmoThreadId::N_ITEMS)]
+	= {
+		"mrntt",
+		"director",
+		"simulator",
+		"subconscious",
+		"body",
+		"world"
+	};
+
+	return threadNames[static_cast<int>(smoId)];
 }
 
-void MindThread::main(MindThread& self)
+void PuppetThread::main(PuppetThread& self)
 {
 	std::string threadName = "smo:" + self.name;
 	pthread_setname_np(pthread_self(), threadName.c_str());
 
-	if (OptionParser::getOptions().verbose)
-	{
-		std::cout << self.name << ":" << __func__ << ": Waiting for JOLT"
-			<<"\n";
-	}
-
 	self.getIoService().run();
 	self.initializeTls();
 
@@ -106,265 +80,11 @@ void MindThread::main(MindThread& self)
 
 		if (sendExceptionInd)
 		{
-			mrntt::mrntt.exceptionInd();
+			self.handleException();
 		}
 	}
 
 	std::cout << self.name << ":" << __func__ << ": Exited event loop" << "\n";
 }
 
-class MindThread::ThreadLifetimeMgmtOp
-:	public PostedAsynchronousContinuation<threadLifetimeMgmtOpCbFn>
-{
-public:
-	ThreadLifetimeMgmtOp(
-		const std::shared_ptr<ComponentThread> &caller,
-		const std::shared_ptr<MindThread> &target,
-		Callback<threadLifetimeMgmtOpCbFn> callback)
-	:	PostedAsynchronousContinuation<threadLifetimeMgmtOpCbFn>(
-			caller, callback),
-	target(target)
-	{}
-
-public:
-	const std::shared_ptr<MindThread> target;
-
-public:
-	void joltThreadReq1_posted(
-		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
-		)
-	{
-		std::cout << __func__ << ": Thread '" << target->name << "': handling "
-			"JOLT request."
-			<< "\n";
-
-		target->io_service.stop();
-		callOriginalCb();
-	}
-
-	void startThreadReq1_posted(
-		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
-		)
-	{
-		std::cout << __func__ << ": Thread '" << target->name << "': handling "
-			"startThread."
-			<< "\n";
-
-		// Execute private setup sequence here
-		// This is where each thread would implement its specific initialization
-
-		callOriginalCb();
-	}
-
-	void exitThreadReq1_mainQueue_posted(
-		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
-		)
-	{
-		std::cout << __func__ << ": Thread '" << target->name << "': handling "
-			"exitThread (main queue)." << "\n";
-
-		target->cleanup();
-		target->io_service.stop();
-		callOriginalCb();
-	}
-
-	void exitThreadReq1_pauseQueue_posted(
-		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
-		)
-	{
-		std::cout << __func__ << ": Thread '" << target->name << "': handling "
-			"exitThread (pause queue)."<< "\n";
-
-		target->cleanup();
-		target->pause_io_service.stop();
-		target->io_service.stop();
-		callOriginalCb();
-	}
-
-	void pauseThreadReq1_posted(
-		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
-		)
-	{
-		std::cout << __func__ << ": Thread '" << target->name << "': handling "
-			"pauseThread." << "\n";
-
-		/* We have to invoke the callback here before moving on because 
-		 * our next operation is going to block the thread, so it won't
-		 * have a chance to invoke the callback until it's unblocked.
-		 */
-		callOriginalCb();
-		target->pause_io_service.reset();
-		target->pause_io_service.run();
-	}
-
-	void resumeThreadReq1_posted(
-		[[maybe_unused]] std::shared_ptr<ThreadLifetimeMgmtOp> context
-		)
-	{
-		std::cout << __func__ << ": Thread '" << target->name << "': handling "
-			"resumeThread." << "\n";
-
-		target->pause_io_service.stop();
-		callOriginalCb();
-	}
-};
-
-void ComponentThread::cleanup(void)
-{
-	this->keepLooping = false;
-}
-
-void MindThread::joltThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
-{
-	/**	EXPLANATION:
-	 * We can't use shared_from_this() here because JOLTing occurs prior to
-	 * TLS being set up.
-	 *
-	 * We also can't use getSelf() as yet for the same reason: getSelf()
-	 * requires TLS to be set up.
-	 *
-	 * To obtain a sh_ptr to the caller, we just supply the mrntt thread since
-	 * JOLT is always invoked by the mrntt thread. The JOLT sequence that the
-	 * CRT main() function invokes on the mrntt thread is special since it
-	 * supplies cmdline args and envp.
-	 *
-	 * To obtain a sh_ptr to the target thread, we explicitly look it up in the
-	 * Mind object's collection of component threads.
-	 */
-	if (id == ComponentThread::MRNTT)
-	{
-		throw std::runtime_error(std::string(__func__)
-			+ ": invoked on mrntt thread");
-	}
-
-	std::shared_ptr<MarionetteThread> mrntt = mrntt::thread;
-	std::shared_ptr<MindThread> target = getParent().getComponentThread(id);
-
-	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
-		mrntt, target, callback);
-
-	this->getIoService().post(
-		STC(std::bind(
-			&ThreadLifetimeMgmtOp::joltThreadReq1_posted,
-			request.get(), request)));
-}
-
-// Thread management method implementations
-void MindThread::startThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
-{
-	std::shared_ptr<ComponentThread> caller = getSelf();
-	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
-		caller, shared_from_this(), callback);
-
-	this->getIoService().post(
-		STC(std::bind(
-			&ThreadLifetimeMgmtOp::startThreadReq1_posted,
-			request.get(), request)));
-}
-
-void MindThread::exitThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
-{
-	std::shared_ptr<ComponentThread> caller = getSelf();
-	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
-		caller, shared_from_this(), callback);
-
-	this->getIoService().post(
-		STC(std::bind(
-			&ThreadLifetimeMgmtOp::exitThreadReq1_mainQueue_posted,
-			request.get(), request)));
-
-	pause_io_service.post(
-		STC(std::bind(
-			&ThreadLifetimeMgmtOp::exitThreadReq1_pauseQueue_posted,
-			request.get(), request)));
-}
-
-void MindThread::pauseThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
-{
-	if (id == ComponentThread::MRNTT)
-	{
-		throw std::runtime_error(std::string(__func__)
-			+ ": invoked on mrntt thread");
-	}
-
-	std::shared_ptr<ComponentThread> caller = getSelf();
-	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
-		caller, shared_from_this(), callback);
-
-	this->getIoService().post(
-		STC(std::bind(
-			&ThreadLifetimeMgmtOp::pauseThreadReq1_posted,
-			request.get(), request)));
-}
-
-void MindThread::resumeThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
-{
-	if (id == ComponentThread::MRNTT)
-	{
-		throw std::runtime_error(std::string(__func__)
-			+ ": invoked on mrntt thread");
-	}
-
-	// Post to the pause_io_service to unblock the paused thread
-	std::shared_ptr<ComponentThread> caller = getSelf();
-	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
-		caller, shared_from_this(), callback);
-
-	pause_io_service.post(
-		STC(std::bind(
-			&ThreadLifetimeMgmtOp::resumeThreadReq1_posted,
-			request.get(), request)));
-}
-
-// CPU management method implementations
-int ComponentThread::getAvailableCpuCount()
-{
-	int cpuCount = sysconf(_SC_NPROCESSORS_ONLN);
-	if (cpuCount <= 0)
-	{
-		throw std::runtime_error(std::string(__func__)
-			+ ": Failed to determine CPU count");
-	}
-
-	// Check if std::thread::hardware_concurrency() matches sysconf result
-	unsigned int hwConcurrency = std::thread::hardware_concurrency();
-	if (hwConcurrency != static_cast<unsigned int>(cpuCount))
-	{
-		std::cerr << "Warning: CPU count mismatch - "
-			"std::thread::hardware_concurrency() = "
-			<< hwConcurrency << ", sysconf(_SC_NPROCESSORS_ONLN) = "
-			<< cpuCount << "\n";
-	}
-
-	return cpuCount;
-}
-
-void MindThread::pinToCpu(int cpuId)
-{
-	if (cpuId < 0)
-	{
-		throw std::runtime_error(std::string(__func__)
-			+ ": Invalid CPU ID: " + std::to_string(cpuId));
-	}
-
-	cpu_set_t cpuset;
-	CPU_ZERO(&cpuset);
-	CPU_SET(cpuId, &cpuset);
-
-	int result = pthread_setaffinity_np(
-		thread.native_handle(), sizeof(cpu_set_t), &cpuset);
-	if (result != 0)
-	{
-		throw std::runtime_error(std::string(__func__)
-			+ ": Failed to pin thread to CPU " + std::to_string(cpuId)
-			+ ": " + std::strerror(result));
-	}
-
-	pinnedCpuId = cpuId;
-	if (OptionParser::getOptions().verbose)
-	{
-		std::cout << name << ": Pinned to CPU " << cpuId << "\n";
-	}
-}
-
 } // namespace smo

smocore/deviceManager/deviceManager.cpp

@@ -6,10 +6,10 @@
 #include <sstream>
 #include <memory>
 #include <opts.h>
-#include <asynchronousContinuation.h>
-#include <serializedAsynchronousContinuation.h>
-#include <callback.h>
-#include <callableTracer.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/serializedAsynchronousContinuation.h>
+#include <spinscale/callback.h>
+#include <spinscale/callableTracer.h>
 #include <componentThread.h>
 #include <deviceManager/deviceManager.h>
 #include <deviceManager/deviceReattacher.h>
@@ -351,7 +351,7 @@ public:
 		[[maybe_unused]] std::shared_ptr<AttachStimBuffDeviceReq> context
 		)
 	{
-		if (caller->id != ComponentThread::MRNTT)
+		if (caller->id != SmoThreadId::MRNTT)
 		{
 			std::cerr << std::string(__func__)
 				<< ": executed on non-mrntt thread: "
@@ -421,7 +421,7 @@ public:
 		[[maybe_unused]] std::shared_ptr<AttachStimBuffDeviceReq> context
 		)
 	{
-		if (caller->id != ComponentThread::MRNTT)
+		if (caller->id != SmoThreadId::MRNTT)
 		{
 			std::cerr << std::string(__func__)
 				<< ": executed on non-mrntt thread: "

smocore/deviceManager/deviceReattacher.cpp

@@ -2,7 +2,7 @@
 #include <iostream>
 #include <functional>
 #include <componentThread.h>
-#include <callback.h>
+#include <spinscale/callback.h>
 #include <deviceManager/deviceReattacher.h>
 #include <deviceManager/deviceManager.h>
 

smocore/include/body/body.h

@@ -1,9 +1,9 @@
 #ifndef _BODY_COMPONENT_H
 #define _BODY_COMPONENT_H
 
-#include <component.h>
+#include <spinscale/component.h>
 #include <functional>
-#include <callback.h>
+#include <spinscale/callback.h>
 
 namespace smo {
 

smocore/include/componentThread.h

@@ -1,178 +1,25 @@
-#ifndef COMPONENT_THREAD_H
-#define COMPONENT_THREAD_H
+#ifndef SMO_COMPONENT_THREAD_H
+#define SMO_COMPONENT_THREAD_H
 
-#include <boostAsioLinkageFix.h>
-#include <atomic>
-#include <thread>
-#include <unordered_map>
-#include <boost/asio/io_service.hpp>
-#include <stdexcept>
-#include <queue>
-#include <functional>
-#include <pthread.h>
-#include <sched.h>
-#include <unistd.h>
-#include <memory>
-#include <callback.h>
+#include <string>
+// Include the spinscale componentThread.h which provides ComponentThread, PuppetThread, etc.
+#include <spinscale/componentThread.h>
 
 namespace smo {
 
-class Mind; // Forward declaration
-class MarionetteThread;
-class MindThread;
-
-class ComponentThread
+// Application-specific thread ID enum
+// Using regular enum (not enum class) to allow implicit conversion to ThreadId
+enum SmoThreadId : ThreadId
 {
-public:
-	enum ThreadId
-	{
-		MRNTT = 0,
-		DIRECTOR,
-		SIMULATOR,
-		SUBCONSCIOUS,
-		BODY,
-		WORLD,
-		N_ITEMS
-	};
-
-protected:
-	ComponentThread(ThreadId _id)
-    :   id(_id), name(getThreadName(_id)),
-        work(io_service)
-	{}
-
-public:
-	virtual ~ComponentThread() = default;
-
-	void cleanup(void);
-
-	boost::asio::io_service& getIoService(void) { return io_service; }
-
-	static const std::shared_ptr<ComponentThread> getSelf(void);
-	static bool tlsInitialized(void);
-	static std::shared_ptr<MarionetteThread> getMrntt();
-
-	typedef void (mainFn)(ComponentThread &self);
-
-	// CPU management methods
-	static int getAvailableCpuCount();
-
-	typedef std::function<void()> mindShutdownIndOpCbFn;
-	// Intentionally doesn't take a callback.
-	void exceptionInd(const std::shared_ptr<ComponentThread> &faultyThread);
-	// Intentionally doesn't take a callback.
-	void userShutdownInd();
-
-public:
-	ThreadId id;
-	std::string name;
-	boost::asio::io_service io_service;
-	boost::asio::io_service::work work;
-	std::atomic<bool> keepLooping;
-
-	static const std::string getThreadName(ThreadId id)
-	{
-		if (id < 0 || id >= ComponentThread::N_ITEMS)
-		{
-			throw std::runtime_error(std::string(__func__)
-				+ ": Invalid thread ID");
-		}
-
-		// Use function-local static to ensure proper initialization order
-		static const std::string threadNames[N_ITEMS] = {
-			"mrntt",
-			"director",
-			"simulator",
-			"subconscious",
-			"body",
-			"world"
-		};
-
-		return threadNames[id];
-	}
+	MRNTT = 0,
+	DIRECTOR,
+	SIMULATOR,
+	SUBCONSCIOUS,
+	BODY,
+	WORLD,
+	N_ITEMS
 };
 
-class MarionetteThread
-:	public std::enable_shared_from_this<MarionetteThread>,
-	public ComponentThread
-{
-public:
-	MarionetteThread()
-	:	ComponentThread(MRNTT),
-	thread(main, std::ref(*this))
-	{
-	}
-
-	static void main(MarionetteThread& self);
-	void initializeTls(void);
-
-public:
-	std::thread thread;
-};
-
-class MindThread
-:	public std::enable_shared_from_this<MindThread>, public ComponentThread
-{
-public:
-	enum class ThreadOp
-	{
-		START,
-		PAUSE,
-		RESUME,
-		EXIT,
-		JOLT,
-		N_ITEMS
-	};
-
-	MindThread(ThreadId _id, Mind& parent)
-	:   ComponentThread(_id),
-	pinnedCpuId(-1),
-	pause_work(pause_io_service),
-	parent(parent),
-	thread(main, std::ref(*this))
-	{
-	}
-
-	static void main(MindThread& self);
-	void initializeTls(void);
-
-	Mind& getParent() const { return parent; }
-
-	// Thread management methods
-	typedef std::function<void()> threadLifetimeMgmtOpCbFn;
-	void startThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
-	void exitThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
-	void pauseThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
-	void resumeThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
-
-	/**
-	 * JOLTs this thread to begin processing after global initialization.
-	 *
-	 * JOLTing is the mechanism that allows threads to enter their main
-	 * event loops and set up TLS vars after all global constructors have
-	 * completed. This prevents race conditions during system startup.
-	 */
-	void joltThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
-
-	// CPU management methods
-	void pinToCpu(int cpuId);
-
-public:
-	int pinnedCpuId;
-	boost::asio::io_service pause_io_service;
-	boost::asio::io_service::work pause_work;
-	Mind& parent;
-	std::thread thread;
-
-public:
-	class ThreadLifetimeMgmtOp;
-	class MindShutdownIndOp;
-};
-
-namespace mrntt {
-extern std::shared_ptr<MarionetteThread> thread;
-} // namespace mrntt
-
 } // namespace smo
 
-#endif // COMPONENT_THREAD_H
+#endif // SMO_COMPONENT_THREAD_H

smocore/include/deviceManager/device.h

@@ -7,7 +7,7 @@
 #include <sstream>
 #include <user/deviceAttachmentSpec.h>
 #include <deviceManager/deviceRole.h>
-#include <qutex.h>
+#include <spinscale/qutex.h>
 
 namespace smo {
 namespace device {

smocore/include/deviceManager/deviceManager.h

@@ -10,12 +10,12 @@
 #include <functional>
 #include <user/senseApiDesc.h>
 #include <user/deviceAttachmentSpec.h>
-#include <asynchronousLoop.h>
+#include <spinscale/asynchronousLoop.h>
 #include <deviceManager/device.h>
 #include <deviceManager/deviceRole.h>
 #include <deviceManager/deviceReattacher.h>
-#include <callback.h>
-#include <qutex.h>
+#include <spinscale/callback.h>
+#include <spinscale/qutex.h>
 
 namespace smo {
 namespace device {

smocore/include/deviceManager/deviceReattacher.h

@@ -5,7 +5,7 @@
 #include <atomic>
 #include <memory>
 #include <boost/asio/deadline_timer.hpp>
-#include <spinLock.h>
+#include <spinscale/spinLock.h>
 
 namespace smo {
 

smocore/include/director/director.h

@@ -2,7 +2,7 @@
 #define DIRECTOR_H
 
 #include <config.h>
-#include <component.h>
+#include <spinscale/component.h>
 #include <goal.h>
 #include <lruLifo.h>
 

smocore/include/marionette/marionette.h

@@ -4,7 +4,7 @@
 #include <cstdint>
 #include <atomic>
 #include <memory>
-#include <component.h>
+#include <spinscale/component.h>
 
 namespace smo {
 

smocore/include/mind.h

@@ -7,10 +7,11 @@
 #include <memory>
 #include <unordered_map>
 #include <string>
-#include <callback.h>
+#include <spinscale/callback.h>
 
-#include <component.h>
+#include <spinscale/component.h>
 #include <componentThread.h>
+#include <mindThread.h>
 #include <director/director.h>
 #include <simulator/simulator.h>
 #include <body/body.h>
@@ -28,8 +29,7 @@ public:
 	void finalizeReq(Callback<mindLifetimeMgmtOpCbFn> callback);
 
 	// ComponentThread access methods
-	std::shared_ptr<MindThread> getComponentThread(
-		ComponentThread::ThreadId id) const;
+	std::shared_ptr<MindThread> getComponentThread(ThreadId id) const;
 	std::shared_ptr<MindThread> getComponentThread(
 		const std::string& name) const;
 	// Get all this Mind's component threads.

smocore/include/mindThread.h

@@ -0,0 +1,32 @@
+#ifndef MIND_THREAD_H
+#define MIND_THREAD_H
+
+#include <memory>
+#include <componentThread.h>
+
+namespace smo {
+
+class Mind; // Forward declaration
+
+class MindThread
+:	public PuppetThread
+{
+public:
+	MindThread(ThreadId _id, Mind& parent)
+	:   PuppetThread(_id),
+	parent(parent)
+	{
+	}
+
+	Mind& getParent() const { return parent; }
+
+protected:
+	void handleException() override;
+
+public:
+	Mind& parent;
+};
+
+} // namespace smo
+
+#endif // MIND_THREAD_H

smocore/include/simulator/simulator.h

@@ -2,7 +2,7 @@
 #define SIMULATOR_H
 
 #include <config.h>
-#include <component.h>
+#include <spinscale/component.h>
 #include <simulator/scene.h>
 
 namespace smo {

smocore/include/stimBuffApis/stimBuffApiLib.h

@@ -8,7 +8,7 @@
 #include <dlfcn.h>
 #include <functional>
 #include <user/senseApiDesc.h>
-#include <qutex.h>
+#include <spinscale/qutex.h>
 
 namespace smo {
 namespace stim_buff {

smocore/include/stimBuffApis/stimBuffApiManager.h

@@ -7,11 +7,11 @@
 #include <string>
 #include <optional>
 #include <functional>
-#include <asynchronousLoop.h>
+#include <spinscale/asynchronousLoop.h>
 #include <stimBuffApis/stimBuffApiLib.h>
 #include <user/deviceAttachmentSpec.h>
-#include <callback.h>
-#include <qutex.h>
+#include <spinscale/callback.h>
+#include <spinscale/qutex.h>
 
 namespace smo {
 namespace stim_buff {

smocore/lockerAndInvokerBase.cpp

@@ -1,5 +0,0 @@
-#include <lockerAndInvokerBase.h>
-
-namespace smo {
-
-} // namespace smo

smocore/marionette/lifetime.cpp

@@ -1,9 +1,9 @@
 #include <iostream>
-#include <asynchronousContinuation.h>
-#include <asynchronousLoop.h>
-#include <callback.h>
-#include <callableTracer.h>
-#include <component.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/asynchronousLoop.h>
+#include <spinscale/callback.h>
+#include <spinscale/callableTracer.h>
+#include <spinscale/component.h>
 #include <componentThread.h>
 #include <deviceManager/deviceManager.h>
 #include <mindManager/mindManager.h>
@@ -33,7 +33,7 @@ public:
 		)
 	{
 		auto self = ComponentThread::getSelf();
-		if (self->id != ComponentThread::MRNTT)
+		if (self->id != SmoThreadId::MRNTT)
 		{
 			throw std::runtime_error(std::string(__func__)
 				+ ": Must be executed on Marionette thread");
@@ -71,7 +71,7 @@ public:
 		)
 	{
 		auto self = ComponentThread::getSelf();
-		if (self->id != ComponentThread::MRNTT)
+		if (self->id != SmoThreadId::MRNTT)
 		{
 			throw std::runtime_error(std::string(__func__)
 				+ ": Must be executed on Marionette thread");
@@ -133,7 +133,7 @@ public:
 		)
 	{
 		auto self = ComponentThread::getSelf();
-		if (self->id != ComponentThread::MRNTT)
+		if (self->id != SmoThreadId::MRNTT)
 		{
 			throw std::runtime_error(std::string(__func__)
 				+ ": Must be executed on Marionette thread");
@@ -150,7 +150,7 @@ void MarionetteComponent::initializeReq(
 {
 	auto mrntt = ComponentThread::getSelf();
 
-	if (mrntt->id != ComponentThread::MRNTT)
+	if (mrntt->id != SmoThreadId::MRNTT)
 	{
 		throw std::runtime_error(std::string(__func__)
 			+ ": Must be executed on Marionette thread");
@@ -170,7 +170,7 @@ void MarionetteComponent::finalizeReq(
 {
 	auto mrntt = ComponentThread::getSelf();
 
-	if (mrntt->id != ComponentThread::MRNTT)
+	if (mrntt->id != SmoThreadId::MRNTT)
 	{
 		throw std::runtime_error(std::string(__func__)
 			+ ": Must be executed on Marionette thread");

smocore/marionette/main.cpp

@@ -7,7 +7,7 @@
 #include <opts.h>
 #include <typeinfo>
 #include <boost/asio/signal_set.hpp>
-#include <asynchronousBridge.h>
+#include <spinscale/asynchronousBridge.h>
 #include <mindManager/mindManager.h>
 #include <componentThread.h>
 #include <marionette/marionette.h>

smocore/marionette/negtrinEvent.cpp

@@ -1,5 +1,5 @@
 #include <iostream>
-#include <component.h>
+#include <spinscale/component.h>
 #include <nonNeutralQualia.h>
 #include <marionette/marionette.h>
 

smocore/mind.cpp

@@ -1,11 +1,11 @@
 #include <iostream>
 #include <opts.h>
-#include <asynchronousContinuation.h>
-#include <asynchronousLoop.h>
-#include <callback.h>
-#include <callableTracer.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/asynchronousLoop.h>
+#include <spinscale/callback.h>
+#include <spinscale/callableTracer.h>
 #include <mind.h>
-#include <componentThread.h>
+#include <mindThread.h>
 #include <director/director.h>
 #include <simulator/simulator.h>
 #include <stimBuffApis/stimBuffApiManager.h>
@@ -15,12 +15,12 @@ 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)
+		std::make_shared<MindThread>(SmoThreadId::DIRECTOR, *this),
+		std::make_shared<MindThread>(SmoThreadId::SIMULATOR, *this),
+		std::make_shared<MindThread>(SmoThreadId::SUBCONSCIOUS, *this),
+		std::make_shared<MindThread>(SmoThreadId::BODY, *this)
 #ifndef CONFIG_WORLD_USE_BODY_THREAD
-		, std::make_shared<MindThread>(ComponentThread::WORLD, *this)
+		, std::make_shared<MindThread>(SmoThreadId::WORLD, *this)
 #endif
 	},
 	director(*this, componentThreads[0]),
@@ -38,9 +38,9 @@ Mind::Mind(void)
 }
 
 std::shared_ptr<MindThread>
-Mind::getComponentThread(ComponentThread::ThreadId id) const
+Mind::getComponentThread(ThreadId id) const
 {
-	if (id == ComponentThread::MRNTT)
+	if (id == SmoThreadId::MRNTT)
 	{
 		throw std::runtime_error(
 			std::string(__func__) +
@@ -339,7 +339,11 @@ void Mind::joltAllMindThreadsReq(
 
     for (auto& thread : componentThreads)
 	{
-        thread->joltThreadReq(
+		std::shared_ptr<PuppetThread> puppetThread =
+			std::static_pointer_cast<PuppetThread>(thread);
+
+		thread->joltThreadReq(
+			puppetThread,
 			{request, std::bind(
 				&MindThreadLifetimeMgmtOp::joltAllMindThreadsReq1,
 				request.get(), request)});

smocore/mindThread.cpp

@@ -0,0 +1,12 @@
+#include <componentThread.h>
+#include <mindThread.h>
+#include <marionette/marionette.h>
+
+namespace smo {
+
+void MindThread::handleException()
+{
+	mrntt::mrntt.exceptionInd();
+}
+
+} // namespace smo

smocore/stimBuffApis/stimBuffApiManager.cpp

@@ -5,10 +5,10 @@
 #include <stimBuffApis/stimBuffApiManager.h>
 #include <stimBuffApis/stimBuffApiLib.h>
 #include <opts.h>
-#include <asynchronousBridge.h>
-#include <asynchronousContinuation.h>
-#include <asynchronousLoop.h>
-#include <callback.h>
+#include <spinscale/asynchronousBridge.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/asynchronousLoop.h>
+#include <spinscale/callback.h>
 #include <user/senseApiDesc.h>
 #include <mind.h>
 #include <deviceManager/deviceManager.h>

stimBuffApis/livoxGen1/ioUringAssemblyEngine.cpp

@@ -17,12 +17,12 @@
 #include <boost/system/error_code.hpp>
 #include <livoxProto1/device.h>
 #include <livoxProto1/livoxProto1.h>
-#include <asynchronousContinuation.h>
-#include <asynchronousLoop.h>
-#include <asynchronousBridge.h>
-#include <callback.h>
-#include <callableTracer.h>
-#include <spinLock.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/asynchronousLoop.h>
+#include <spinscale/asynchronousBridge.h>
+#include <spinscale/callback.h>
+#include <spinscale/callableTracer.h>
+#include <spinscale/spinLock.h>
 #include "ioUringAssemblyEngine.h"
 #include "pcloudStimulusProducer.h"
 #include "livoxGen1.h"

stimBuffApis/livoxGen1/ioUringAssemblyEngine.h

@@ -16,10 +16,10 @@
 #include <boost/asio/deadline_timer.hpp>
 #include <boost/asio/posix/stream_descriptor.hpp>
 #include <livoxProto1/device.h>
-#include <asynchronousContinuation.h>
-#include <asynchronousLoop.h>
-#include <callback.h>
-#include <spinLock.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/asynchronousLoop.h>
+#include <spinscale/callback.h>
+#include <spinscale/spinLock.h>
 #include <user/frameAssemblyDesc.h>
 
 #define IOURINGASSM_ENGN_FRAME_ASSEM_TIMEOUT_MS		\

stimBuffApis/livoxGen1/livoxGen1.cpp

@@ -10,11 +10,11 @@
 #include <opts.h>
 #include <user/senseApiDesc.h>
 #include <user/deviceAttachmentSpec.h>
-#include <callback.h>
+#include <spinscale/callback.h>
 #include <livoxProto1/livoxProto1.h>
 #include <livoxProto1/device.h>
 #include <livoxProto1/protocol.h>
-#include <asynchronousContinuation.h>
+#include <spinscale/asynchronousContinuation.h>
 #include <boost/asio/deadline_timer.hpp>
 #include "pcloudStimulusProducer.h"
 #include "livoxGen1.h"

stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.cpp

@@ -9,10 +9,10 @@
 #include <algorithm>
 #include <boost/system/error_code.hpp>
 #include <boost/asio/deadline_timer.hpp>
-#include <asynchronousContinuation.h>
-#include <asynchronousBridge.h>
-#include <callback.h>
-#include <asynchronousLoop.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/asynchronousBridge.h>
+#include <spinscale/callback.h>
+#include <spinscale/asynchronousLoop.h>
 #include <componentThread.h>
 #include <user/stimulusFrame.h>
 #include <livoxProto1/device.h>

stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.h

@@ -13,9 +13,9 @@
 #include <chrono>
 #define CL_TARGET_OPENCL_VERSION 120
 #include <CL/cl.h>
-#include <asynchronousLoop.h>
-#include <callback.h>
-#include <spinLock.h>
+#include <spinscale/asynchronousLoop.h>
+#include <spinscale/callback.h>
+#include <spinscale/spinLock.h>
 #include <user/stimulusFrame.h>
 #include <user/stagingBuffer.h>
 #include <user/frameAssemblyDesc.h>

stimBuffApis/livoxGen1/pcloudStimulusProducer.cpp

@@ -6,7 +6,7 @@
 #include <cstddef>
 #include <user/spMcRingBuffer.h>
 #include <componentThread.h>
-#include <asynchronousLoop.h>
+#include <spinscale/asynchronousLoop.h>
 #include <user/stimulusFrame.h>
 #include <user/frameAssemblyDesc.h>
 #include <user/pcloudAmbienceStencil.h>
@@ -119,9 +119,9 @@ tempStimulusFrame(
 		<< device->componentThread->name << std::endl;
 
 #ifndef CONFIG_WORLD_USE_BODY_THREAD
-	if (smoHooksPtr->ComponentThread_getSelf()->id != ComponentThread::WORLD)
+	if (smoHooksPtr->ComponentThread_getSelf()->id != SmoThreadId::WORLD)
 #else
-	if (smoHooksPtr->ComponentThread_getSelf()->id != ComponentThread::BODY)
+	if (smoHooksPtr->ComponentThread_getSelf()->id != SmoThreadId::BODY)
 #endif
 	{
 		std::string errMsg = std::string(__func__) +

stimBuffApis/livoxGen1/pcloudStimulusProducer.h

@@ -6,8 +6,8 @@
 #include <user/stimulusProducer.h>
 #include <user/stimulusFrame.h>
 #include <livoxProto1/device.h>
-#include <asynchronousContinuation.h>
-#include <callback.h>
+#include <spinscale/asynchronousContinuation.h>
+#include <spinscale/callback.h>
 #include <user/stagingBuffer.h>
 #include "ioUringAssemblyEngine.h"
 #include "openClCollatingAndMeshingEngine.h"

stimBuffApis/xcbWindow/xcbWindow.cpp

@@ -8,7 +8,7 @@
 #include <xcb/xcb.h>
 #include <user/senseApiDesc.h>
 #include <user/deviceAttachmentSpec.h>
-#include <callback.h>
+#include <spinscale/callback.h>
 #include <xcbXorg/xcbXorg.h>
 #include "xcbWindow.h"
 

tests/smocore/qutex_tests.cpp

@@ -1,6 +1,6 @@
 #include <gtest/gtest.h>
-#include <qutex.h>
-#include <lockerAndInvokerBase.h>
+#include <spinscale/qutex.h>
+#include <spinscale/lockerAndInvokerBase.h>
 #include <memory>
 #include <thread>
 #include <chrono>