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Libspinscale: begin splitting it off

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This commit is contained in:
Hayodea Hekol
2025-12-26 01:18:39 -04:00
parent d5c2b61d4c
commit 45959f9d1c
67 changed files with 776 additions and 615 deletions
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smocore/include/body/body.h
+2 -2
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@@ -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/component.h
-39
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@@ -1,39 +0,0 @@
#ifndef COMPONENT_H
#define COMPONENT_H
#include <config.h>
#include <memory>
#include <functional>
#include <callback.h>
namespace smo {
class Mind;
class ComponentThread;
class Component
{
public:
Component(const std::shared_ptr<ComponentThread> &thread);
~Component() = default;
public:
std::shared_ptr<ComponentThread> thread;
public:
};
class MindComponent
: public Component
{
public:
MindComponent(Mind &parent, const std::shared_ptr<ComponentThread> &thread);
~MindComponent() = default;
public:
Mind &parent;
};
} // namespace smo
#endif // COMPONENT_H
smocore/include/componentThread.h
+16 -169
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@@ -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
+1 -1
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@@ -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
+3 -3
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@@ -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
+1 -1
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@@ -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
+1 -1
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@@ -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
+1 -1
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@@ -4,7 +4,7 @@
#include <cstdint>
#include <atomic>
#include <memory>
#include <component.h>
#include <spinscale/component.h>
namespace smo {
smocore/include/mind.h
+4 -4
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@@ -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
+32
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@@ -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
+1 -1
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@@ -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
+1 -1
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@@ -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
+3 -3
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@@ -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 {