Async: add sh_ptr<ContinuationChainLink> to Callback<>

This change enables us to finally implement the tracing of
continuations backward from the point of acquisition for deadlock
debugging.

commonLibs/livoxProto1/core.cpp

@@ -4,6 +4,7 @@
 #include <optional>
 #include <opts.h>
 #include <asynchronousContinuation.h>
+#include <callback.h>
 #include <user/senseApiDesc.h>
 #include "protocol.h"
 #include "core.h"
@@ -84,7 +85,7 @@ public:
 	GetOrCreateDeviceReq(
 		DeviceManager& mgr,
 		std::shared_ptr<Device> device,
-		livoxProto1_getOrCreateDeviceReqCbFn cb)
+		smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> cb)
 	:	smo::NonPostedAsynchronousContinuation<
 			livoxProto1_getOrCreateDeviceReqCbFn>(std::move(cb)),
 	deviceManager(mgr), pendingDevice(device)
@@ -130,7 +131,7 @@ void DeviceManager::getOrCreateDeviceReq(
 	int handshakeTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
-	livoxProto1_getOrCreateDeviceReqCbFn callback)
+	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback)
 {
 	// Validate smoIp format using Boost.Asio IPv4 validation
 	if (!smoIp.empty() && !comms::isValidIPv4(smoIp))
@@ -154,7 +155,7 @@ void DeviceManager::getOrCreateDeviceReq(
 	if (existingDevice)
 	{
 		// Device already exists and is connected, return it
-		callback(true, existingDevice.value());
+		callback.callbackFn(true, existingDevice.value());
 		return;
 	}
 
@@ -171,9 +172,9 @@ void DeviceManager::getOrCreateDeviceReq(
 
 	// Start the connection process - only add to collection on success
 	request->pendingDevice->connectReq(
-		std::bind(
+		{request, std::bind(
 			&DeviceManager::GetOrCreateDeviceReq::getOrCreateDeviceReq1,
-			request.get(), request, std::placeholders::_1));
+			request.get(), request, std::placeholders::_1)});
 }
 
 class DeviceManager::DestroyDeviceReq
@@ -188,7 +189,7 @@ public:
 	DestroyDeviceReq(
 		DeviceManager& mgr,
 		std::shared_ptr<Device> device,
-		livoxProto1_destroyDeviceReqCbFn cb)
+		smo::Callback<livoxProto1_destroyDeviceReqCbFn> cb)
 	:	smo::NonPostedAsynchronousContinuation<
 			livoxProto1_destroyDeviceReqCbFn>(std::move(cb)),
 	deviceManager(mgr), pendingDevice(device)
@@ -218,7 +219,7 @@ public:
 
 void DeviceManager::destroyDeviceReq(
 	std::shared_ptr<Device> dev,
-	livoxProto1_destroyDeviceReqCbFn callback
+	smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback
 )
 {
 	/**		EXPLANATION:
@@ -230,7 +231,7 @@ void DeviceManager::destroyDeviceReq(
 
 	if (!device)
 	{
-		callback(false);
+		callback.callbackFn(false);
 		return;
 	}
 
@@ -238,9 +239,9 @@ void DeviceManager::destroyDeviceReq(
 		*this, device, std::move(callback));
 
 	device->disconnectReq(
-		std::bind(
+		{request, std::bind(
 			&DeviceManager::DestroyDeviceReq::destroyDeviceReq1,
-			request.get(), request, std::placeholders::_1));
+			request.get(), request, std::placeholders::_1)});
 }
 
 void main(const std::shared_ptr<smo::ComponentThread> &componentThread,

commonLibs/livoxProto1/core.h

@@ -10,6 +10,7 @@
 #include "device.h"
 #include "broadcastListener.h"
 #include "livoxProto1.h"
+#include <callback.h>
 
 namespace livoxProto1 {
 
@@ -27,11 +28,11 @@ public:
 		int handshakeTimeoutMs, int retryDelayMs,
 		const std::string& smoIp, uint8_t smoSubnetNbits,
 		uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
-		livoxProto1_getOrCreateDeviceReqCbFn callback);
+		smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);
 
 	void destroyDeviceReq(
 		std::shared_ptr<Device> device,
-		livoxProto1_destroyDeviceReqCbFn callback);
+		smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
 
 	std::optional<std::shared_ptr<Device>> getDevice(
 		const std::string &deviceIdentifier);

commonLibs/livoxProto1/device.cpp

@@ -16,6 +16,7 @@
 #include <boost/asio.hpp>
 #include <opts.h>
 #include <asynchronousContinuation.h>
+#include <callback.h>
 #include "device.h"
 #include "protocol.h"
 #include "core.h"
@@ -127,7 +128,7 @@ private:
 	std::unique_ptr<boost::asio::deadline_timer> retryTimer;
 
 public:
-	ConnectReq(Device& dev, Device::connectReqCbFn cb)
+	ConnectReq(Device& dev, smo::Callback<Device::connectReqCbFn> cb)
 	:	smo::NonPostedAsynchronousContinuation<Device::connectReqCbFn>(
 			std::move(cb)), device(dev)
 	{}
@@ -160,9 +161,9 @@ public:
 
 		// Try direct connect by device identifier
 		context->device.connectByDeviceIdentifierReq(
-			std::bind(&ConnectReq::connectReq2, context.get(), context,
+			{context, std::bind(&ConnectReq::connectReq2, context.get(), context,
 			std::placeholders::_1, std::placeholders::_2,
-			std::placeholders::_3));
+			std::placeholders::_3)});
 	}
 
 	void connectReq2(
@@ -219,9 +220,9 @@ public:
 		}
 
 		context->device.connectToKnownDeviceReq(
-			std::bind(&ConnectReq::connectReq4, context.get(), context,
+			{context, std::bind(&ConnectReq::connectReq4, context.get(), context,
 			std::placeholders::_1, std::placeholders::_2,
-			std::placeholders::_3));
+			std::placeholders::_3)});
 	}
 
 	void connectReq4(
@@ -243,7 +244,7 @@ public:
 	}
 };
 
-void Device::connectReq(Device::connectReqCbFn callback)
+void Device::connectReq(smo::Callback<Device::connectReqCbFn> callback)
 {
 	// Create the connection request object to hold state and callbacks
 	auto request = std::make_shared<ConnectReq>(*this, std::move(callback));
@@ -254,10 +255,10 @@ void Device::connectReq(Device::connectReqCbFn callback)
 	}
 
 	connectToKnownDeviceReq(
-		std::bind(
+		{request, std::bind(
 			&ConnectReq::connectReq1, request.get(), request,
 			std::placeholders::_1, std::placeholders::_2,
-			std::placeholders::_3));
+			std::placeholders::_3)});
 }
 
 class Device::ConnectToKnownDeviceReq
@@ -269,7 +270,7 @@ public:
 	std::string deviceIP;
 	std::shared_ptr<livoxProto1::comms::DiscoveredDevice> deviceInfo;
 
-	ConnectToKnownDeviceReq(Device& dev, Device::connectToKnownDeviceReqCbFn cb)
+	ConnectToKnownDeviceReq(Device& dev, smo::Callback<Device::connectToKnownDeviceReqCbFn> cb)
 	:	smo::NonPostedAsynchronousContinuation<
 			Device::connectToKnownDeviceReqCbFn>(std::move(cb)), device(dev)
 	{}
@@ -297,7 +298,7 @@ public:
  * broadcastListener.
  */
 void Device::connectToKnownDeviceReq(
-	Device::connectToKnownDeviceReqCbFn callback
+	smo::Callback<Device::connectToKnownDeviceReqCbFn> callback
 	)
 {
 	// Create the connection request object to hold state and callbacks
@@ -357,10 +358,10 @@ void Device::connectToKnownDeviceReq(
 	// Execute handshake with the known device using async method
 	request->device.executeHandshakeReq(
 		request->deviceIP,
-		std::bind(
+		{request, std::bind(
 			&ConnectToKnownDeviceReq::connectToKnownDeviceReq1,
 			request.get(), request,
-			std::placeholders::_1, std::placeholders::_2));
+			std::placeholders::_1, std::placeholders::_2)});
 }
 
 class Device::ConnectByDeviceIdentifierReq
@@ -372,7 +373,7 @@ public:
 	std::string deviceIP;
 
 	ConnectByDeviceIdentifierReq(
-		Device& dev, Device::connectByDeviceIdentifierReqCbFn cb)
+		Device& dev, smo::Callback<Device::connectByDeviceIdentifierReqCbFn> cb)
 	:	smo::NonPostedAsynchronousContinuation<
 			Device::connectByDeviceIdentifierReqCbFn>(
 				std::move(cb)), device(dev)
@@ -398,7 +399,7 @@ public:
 };
 
 void Device::connectByDeviceIdentifierReq(
-	Device::connectByDeviceIdentifierReqCbFn callback
+	smo::Callback<Device::connectByDeviceIdentifierReqCbFn> callback
 	)
 {
 	/**		EXPLANATION:
@@ -415,7 +416,7 @@ void Device::connectByDeviceIdentifierReq(
 	// Check if smoIp is provided - required for heuristic construction
 	if (smoIp.empty())
 	{
-		callback(false, "", -1);
+		callback.callbackFn(false, "", -1);
 		return;
 	}
 
@@ -440,10 +441,10 @@ void Device::connectByDeviceIdentifierReq(
 	// Execute handshake using async method
 	request->device.executeHandshakeReq(
 		request->deviceIP,
-		std::bind(
+		{request, std::bind(
 			&ConnectByDeviceIdentifierReq::connectByDeviceIdentifierReq1,
 			request.get(), request,
-			std::placeholders::_1, std::placeholders::_2));
+			std::placeholders::_1, std::placeholders::_2)});
 }
 
 class Device::ExecuteHandshakeReq
@@ -452,7 +453,8 @@ class Device::ExecuteHandshakeReq
 {
 public:
 	friend void Device::executeHandshakeReq(
-		const std::string& deviceIP, Device::executeHandshakeReqCbFn callback);
+		const std::string& deviceIP,
+		smo::Callback<Device::executeHandshakeReqCbFn> callback);
 
 		enum class SocketState
 	{
@@ -484,7 +486,7 @@ public:
 public:
 	ExecuteHandshakeReq(
 		Device& dev, const std::string& deviceIP,
-		Device::executeHandshakeReqCbFn cb)
+		smo::Callback<Device::executeHandshakeReqCbFn> cb)
 	:	smo::NonPostedAsynchronousContinuation<Device::executeHandshakeReqCbFn>(
 			std::move(cb)),
 	device(dev), deviceIP(deviceIP),
@@ -650,7 +652,8 @@ private:
 		 */
 		handshakeFdDesc.async_wait(
 			boost::asio::posix::stream_descriptor::wait_read,
-			std::bind(&ExecuteHandshakeReq::executeHandshakeReq1_2, this,
+			std::bind(
+				&ExecuteHandshakeReq::executeHandshakeReq1_2, this,
 				request,
 				std::placeholders::_1));
 	}
@@ -830,7 +833,8 @@ private:
 };
 
 void Device::executeHandshakeReq(
-	const std::string& deviceIP, Device::executeHandshakeReqCbFn callback
+	const std::string& deviceIP,
+	smo::Callback<Device::executeHandshakeReqCbFn> callback
 	)
 {
 	// Create the handshake request object to hold state and callbacks
@@ -866,7 +870,7 @@ void Device::executeHandshakeReq(
 	}
 }
 
-void Device::disconnectReq(Device::disconnectReqCbFn callback)
+void Device::disconnectReq(smo::Callback<Device::disconnectReqCbFn> callback)
 {
 	// Stop heartbeat first
 	heartbeatActive.store(false);
@@ -875,7 +879,7 @@ void Device::disconnectReq(Device::disconnectReqCbFn callback)
 	{
 		std::cout << __func__ << ": No heartbeat socket available, skipping "
 			"disconnect message" << std::endl;
-		callback(true);
+		callback.callbackFn(true);
 		return;
 	}
 
@@ -911,7 +915,7 @@ void Device::disconnectReq(Device::disconnectReqCbFn callback)
 	// Close the heartbeat socket
 	close(heartbeatFd);
 	heartbeatFd = -1;
-	callback(true);
+	callback.callbackFn(true);
 }
 
 std::string Device::generateClientDeviceIpFromSerialNumber(

commonLibs/livoxProto1/device.h

@@ -13,6 +13,7 @@
 #include <unistd.h>
 #include <boost/asio.hpp>
 #include "protocol.h"
+#include <callback.h>
 
 // Forward declaration
 namespace smo {
@@ -111,13 +112,15 @@ public:
 	typedef std::function<void(bool success)> disconnectReqCbFn;
 
 	// Async connection methods
-	void connectReq(connectReqCbFn callback);
+	void connectReq(smo::Callback<connectReqCbFn> callback);
-	void connectToKnownDeviceReq(connectToKnownDeviceReqCbFn callback);
+	void connectToKnownDeviceReq(
+		smo::Callback<connectToKnownDeviceReqCbFn> callback);
 	void connectByDeviceIdentifierReq(
-		connectByDeviceIdentifierReqCbFn callback);
+		smo::Callback<connectByDeviceIdentifierReqCbFn> callback);
 	void executeHandshakeReq(
-		const std::string& deviceIP, executeHandshakeReqCbFn callback);
+		const std::string& deviceIP,
-	void disconnectReq(disconnectReqCbFn callback);
+		smo::Callback<executeHandshakeReqCbFn> callback);
+	void disconnectReq(smo::Callback<disconnectReqCbFn> callback);
 
 	// Heartbeat state
 	std::unique_ptr<boost::asio::deadline_timer> heartbeatTimer;

commonLibs/livoxProto1/livoxProto1.cpp

@@ -1,4 +1,5 @@
 #include <stdexcept>
+#include <callback.h>
 #include "livoxProto1.h"
 #include "device.h"
 #include "core.h"
@@ -12,7 +13,7 @@ void livoxProto1_getOrCreateDeviceReq(
 	int handshakeTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
-	livoxProto1_getOrCreateDeviceReqCbFn callback
+	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback
 )
 {
 	// Get the global DeviceManager instance
@@ -35,7 +36,7 @@ void livoxProto1_getOrCreateDeviceReq(
 
 void livoxProto1_destroyDeviceReq(
 	std::shared_ptr<livoxProto1::Device> device,
-	livoxProto1_destroyDeviceReqCbFn callback
+	smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback
 )
 {
 	auto& protoState = livoxProto1::getProtoState();

commonLibs/livoxProto1/livoxProto1.h

@@ -5,6 +5,7 @@
 #include <string>
 #include <cstdint>
 #include <functional>
+#include <callback.h>
 
 // Forward declarations
 namespace smo {
@@ -59,12 +60,12 @@ typedef void livoxProto1_getOrCreateDeviceReqFn(
 	int handshakeTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort,  uint16_t cmdPort, uint16_t imuPort,
-	livoxProto1_getOrCreateDeviceReqCbFn callback);
+	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);
 
 typedef std::function<void(bool success)> livoxProto1_destroyDeviceReqCbFn;
 typedef void livoxProto1_destroyDeviceReqFn(
 	std::shared_ptr<livoxProto1::Device> device,
-	livoxProto1_destroyDeviceReqCbFn callback);
+	smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
 
 
 livoxProto1_mainFn livoxProto1_main;

include/asynchronousContinuation.h

@@ -6,6 +6,8 @@
 #include <exception>
 #include <componentThread.h>
 #include <lockSet.h>
+#include <callback.h>
+#include <asynchronousContinuationChainLink.h>
 
 
 namespace smo {
@@ -21,10 +23,11 @@ namespace smo {
  */
 template <class OriginalCbFnT>
 class AsynchronousContinuation
+:	public AsynchronousContinuationChainLink
 {
 public:
-	explicit AsynchronousContinuation(OriginalCbFnT originalCbFn)
+	explicit AsynchronousContinuation(Callback<OriginalCbFnT> originalCb)
-	: originalCbFn(std::move(originalCbFn))
+	: originalCallback(std::move(originalCb))
 	{}
 
 	/**		EXPLANATION:
@@ -65,7 +68,7 @@ public:
 	}
 
 public:
-	OriginalCbFnT originalCbFn;
+	Callback<OriginalCbFnT> originalCallback;
 	std::exception_ptr exception;
 };
 
@@ -84,8 +87,9 @@ class NonPostedAsynchronousContinuation
 :	public AsynchronousContinuation<OriginalCbFnT>
 {
 public:
-	explicit NonPostedAsynchronousContinuation(OriginalCbFnT originalCbFn)
+	explicit NonPostedAsynchronousContinuation(
-	:	AsynchronousContinuation<OriginalCbFnT>(originalCbFn)
+		Callback<OriginalCbFnT> originalCb)
+	:	AsynchronousContinuation<OriginalCbFnT>(originalCb)
 	{}
 
 	/**
@@ -100,10 +104,11 @@ public:
 	template<typename... Args>
 	void callOriginalCb(Args&&... args)
 	{
-		if (AsynchronousContinuation<OriginalCbFnT>::originalCbFn)
+		if (AsynchronousContinuation<OriginalCbFnT>::originalCallback
+			.callbackFn)
 		{
-			AsynchronousContinuation<OriginalCbFnT>::originalCbFn(
+			AsynchronousContinuation<OriginalCbFnT>::originalCallback
-				std::forward<Args>(args)...);
+				.callbackFn(std::forward<Args>(args)...);
 		}
 	}
 };
@@ -115,7 +120,7 @@ class PostedAsynchronousContinuation
 public:
 	PostedAsynchronousContinuation(
 		const std::shared_ptr<ComponentThread> &caller,
-		OriginalCbFnT originalCbFn)
+		Callback<OriginalCbFnT> originalCbFn)
 	:	AsynchronousContinuation<OriginalCbFnT>(originalCbFn),
 	caller(caller)
 	{}
@@ -123,11 +128,13 @@ public:
 	template<typename... Args>
 	void callOriginalCb(Args&&... args)
 	{
-		if (AsynchronousContinuation<OriginalCbFnT>::originalCbFn)
+		if (AsynchronousContinuation<OriginalCbFnT>::originalCallback
+			.callbackFn)
 		{
 			caller->getIoService().post(
 				std::bind(
-					AsynchronousContinuation<OriginalCbFnT>::originalCbFn,
+					AsynchronousContinuation<OriginalCbFnT>::originalCallback
+						.callbackFn,
 					std::forward<Args>(args)...));
 		}
 	}

include/asynchronousContinuationChainLink.h

@@ -0,0 +1,25 @@
+#ifndef ASYNCHRONOUS_CONTINUATION_CHAIN_LINK_H
+#define ASYNCHRONOUS_CONTINUATION_CHAIN_LINK_H
+
+#include <memory>
+
+namespace smo {
+
+/**
+ * @brief Base class for all asynchronous continuation chain links
+ *
+ * This non-template base class provides type erasure for the continuation
+ * chain, allowing RTTI and dynamic casting when walking the chain.
+ *
+ * The chain walking logic can use dynamic_cast to determine the most
+ * derived type and perform appropriate operations.
+ */
+class AsynchronousContinuationChainLink
+{
+public:
+    virtual ~AsynchronousContinuationChainLink() = default;
+};
+
+} // namespace smo
+
+#endif // ASYNCHRONOUS_CONTINUATION_CHAIN_LINK_H

include/callback.h

@@ -7,7 +7,7 @@
 namespace smo {
 
 // Forward declaration
-class AsyncContinuation;
+class AsynchronousContinuationChainLink;
 
 /**
  * @brief Callback class that wraps a function and its caller continuation
@@ -15,23 +15,16 @@ class AsyncContinuation;
  * This class provides a way to pass both a callback function and the
  * caller's continuation in a single object, enabling deadlock detection
  * by walking the chain of continuations.
+ *
+ * Usage: Callback<CbFnT>{context, std::bind(...)}
  */
 template<typename CbFnT>
 class Callback
 {
 public:
-	/**
+	// Aggregate initialization allows: Callback<CbFnT>{context, std::bind(...)}
-	 * @brief Constructor
+	std::shared_ptr<AsynchronousContinuationChainLink> callerContinuation;
-	 * @param caller The caller's continuation
+	CbFnT callbackFn;
-	 * @param cb The callback function to invoke
-	 */
-	Callback(std::shared_ptr<AsyncContinuation> caller, std::function<CbFnT> cb)
-	: callerContinuation(std::move(caller)), callback(std::move(cb))
-	{}
-
-public:
-	std::shared_ptr<AsyncContinuation> callerContinuation;
-	std::function<CbFnT> callback;
 };
 
 } // namespace smo

include/serializedAsynchronousContinuation.h

@@ -11,6 +11,7 @@
 #include <lockSet.h>
 #include <asynchronousContinuation.h>
 #include <lockerAndInvokerBase.h>
+#include <callback.h>
 
 namespace smo {
 
@@ -21,7 +22,7 @@ class SerializedAsynchronousContinuation
 public:
 	SerializedAsynchronousContinuation(
 		const std::shared_ptr<ComponentThread> &caller,
-		OriginalCbFnT originalCbFn,
+		Callback<OriginalCbFnT> originalCbFn,
 		std::vector<std::reference_wrapper<SpinLock>> requiredLocks = {})
 	:	PostedAsynchronousContinuation<OriginalCbFnT>(caller, originalCbFn),
 		requiredLocks(*this, std::move(requiredLocks))

include/user/senseApiDesc.h

@@ -8,6 +8,7 @@
 #include <preprocessor.h>
 #include <componentThread.h>
 #include <user/deviceAttachmentSpec.h>
+#include <callback.h>
 
 namespace smo {
 namespace sense_api {
@@ -44,10 +45,10 @@ typedef int (sal_mlo_finalizeIndFn)(void);
 typedef void (sal_mlo_attachDeviceReqFn)(
     const std::shared_ptr<device::DeviceAttachmentSpec>& desc,
     const std::shared_ptr<ComponentThread>& componentThread,
-    sal_mlo_attachDeviceReqCbFn cb);
+    Callback<sal_mlo_attachDeviceReqCbFn> cb);
 typedef void (sal_mlo_detachDeviceReqFn)(
     const std::shared_ptr<device::DeviceAttachmentSpec>& desc,
-    sal_mlo_detachDeviceReqCbFn cb);
+    Callback<sal_mlo_detachDeviceReqCbFn> cb);
 
 /**
  * @brief Hooks provided by Salmanoff to senseApi libraries.

senseApis/livoxGen1/livoxGen1.cpp

@@ -9,8 +9,10 @@
 #include <opts.h>
 #include <user/senseApiDesc.h>
 #include <user/deviceAttachmentSpec.h>
+#include <callback.h>
 #include <livoxProto1/livoxProto1.h>
 #include <livoxProto1/device.h>
+#include <asynchronousContinuation.h>
 
 
 namespace smo {
@@ -50,6 +52,105 @@ static LivoxProto1DllState livoxProto1;
 // Attached Livox devices
 static std::vector<std::shared_ptr<livoxProto1::Device>> g_attachedDevices;
 
+// Continuation classes for async operations
+class AttachDeviceReq
+:	public smo::NonPostedAsynchronousContinuation<sal_mlo_attachDeviceReqCbFn>
+{
+public:
+	AttachDeviceReq(
+		const std::shared_ptr<smo::device::DeviceAttachmentSpec>& spec,
+		smo::Callback<sal_mlo_attachDeviceReqCbFn> cb)
+	:	smo::NonPostedAsynchronousContinuation<sal_mlo_attachDeviceReqCbFn>(
+			std::move(cb)),
+	spec(spec)
+	{}
+
+public:
+	const std::shared_ptr<smo::device::DeviceAttachmentSpec> spec;
+
+public:
+	void attachDeviceReq1(
+		std::shared_ptr<AttachDeviceReq> context,
+		bool success, std::shared_ptr<livoxProto1::Device> dev)
+	{
+		if (!dev)
+		{
+			std::cerr << __func__ << ": Failed to create Livox device: "
+				<< context->spec->deviceSelector << std::endl;
+			context->callOriginalCb(false, context->spec);
+			return;
+		}
+
+		g_attachedDevices.push_back(dev);
+		if (1 || OptionParser::getOptions().verbose)
+		{
+			std::cout << __func__ << ": Successfully attached Livox "
+				"device: " << context->spec->deviceSelector << " (ID: "
+				<< context->spec->deviceIdentifier << ")\n";
+		}
+
+		context->callOriginalCb(success, context->spec);
+	}
+};
+
+class DetachDeviceReq
+:	public smo::NonPostedAsynchronousContinuation<sal_mlo_detachDeviceReqCbFn>
+{
+public:
+	DetachDeviceReq(
+		const std::shared_ptr<smo::device::DeviceAttachmentSpec>& spec,
+		smo::Callback<sal_mlo_detachDeviceReqCbFn> cb)
+	:	smo::NonPostedAsynchronousContinuation<sal_mlo_detachDeviceReqCbFn>(
+		std::move(cb)),
+	spec(spec)
+	{}
+
+public:
+	const std::shared_ptr<smo::device::DeviceAttachmentSpec> spec;
+
+public:
+	void detachDeviceReq1(
+		std::shared_ptr<DetachDeviceReq> context,
+		bool success)
+	{
+		if (!success)
+		{
+			std::cerr << __func__ << ": Failed to destroy Livox device: "
+				<< context->spec->deviceIdentifier << "\n";
+			context->callOriginalCb(false, context->spec);
+			return;
+		}
+
+		// Find the device in g_attachedDevices and remove it.
+		auto eraseIt = std::find_if(
+			g_attachedDevices.begin(), g_attachedDevices.end(),
+			[context](const std::shared_ptr<livoxProto1::Device>& dev)
+			{
+				const std::string& devId = dev->discoveredDevice.deviceIdentifier;
+				std::string devIdPrefix = devId.substr(
+					0, std::min<size_t>(14, devId.size()));
+				return devIdPrefix == context->spec->deviceSelector.substr(
+					0, std::min<size_t>(14, context->spec->deviceSelector.size()));
+			}
+		);
+
+		if (eraseIt == g_attachedDevices.end())
+		{
+			std::cerr << __func__ << ": Race condition: device not found "
+				"in g_attachedDevices for detachment: "
+				<< context->spec->deviceIdentifier << "\n";
+			context->callOriginalCb(false, context->spec);
+			return;
+		}
+
+		g_attachedDevices.erase(eraseIt);
+		std::cout << __func__ << ": Successfully detached Livox device: "
+			<< context->spec->deviceIdentifier << "\n";
+
+		context->callOriginalCb(success, context->spec);
+	}
+};
+
 // Callback function declarations
 extern "C" sal_mlo_initializeIndFn livoxGen1_initializeInd;
 extern "C" sal_mlo_finalizeIndFn livoxGen1_finalizeInd;
@@ -152,7 +253,7 @@ extern "C" int livoxGen1_finalizeInd(void)
 extern "C" void livoxGen1_attachDeviceReq(
 	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc,
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	smo::sense_api::sal_mlo_attachDeviceReqCbFn cb
+	Callback<smo::sense_api::sal_mlo_attachDeviceReqCbFn> cb
 	)
 {
 	if (!livoxProto1.livoxProto1_getOrCreateDeviceReq)
@@ -170,7 +271,10 @@ extern "C" void livoxGen1_attachDeviceReq(
 	for (const auto& dev : g_attachedDevices)
 	{
 		if (dev->discoveredDevice.deviceIdentifier == desc->deviceIdentifier)
-			{ return; }
+		{
+			cb.callbackFn(true, desc);
+			return;
+		}
 	}
 
 	// Parse integer parameters from provider params with defaults
@@ -245,39 +349,23 @@ extern "C" void livoxGen1_attachDeviceReq(
 		}
 	}
 
+	auto request = std::make_shared<AttachDeviceReq>(desc, cb);
+
 	(*livoxProto1.livoxProto1_getOrCreateDeviceReq)(
 		desc->deviceSelector,  // deviceIdentifier (broadcast code)
 		componentThread,
 		handshakeTimeoutMs, retryDelayMs,
 		smoIp, smoSubnetNbits,
 		dataPort, cmdPort, imuPort,
-		[desc, cb](
+		{request, std::bind(
-			bool success, std::shared_ptr<livoxProto1::Device> dev) -> void
+			&AttachDeviceReq::attachDeviceReq1,
-		{
+			request.get(), request,
-			if (!dev)
+			std::placeholders::_1, std::placeholders::_2)});
-			{
-				std::cerr << __func__ << ": Failed to create Livox device: "
-					<< desc->deviceSelector << std::endl;
-				cb(false, desc);
-				return;
-			}
-
-			g_attachedDevices.push_back(dev);
-			if (1 || OptionParser::getOptions().verbose)
-			{
-				std::cout << __func__ << ": Successfully attached Livox "
-					"device: " << desc->deviceSelector << " (ID: "
-					<< desc->deviceIdentifier << ")\n";
-			}
-
-			cb(success, desc);
-		}
-	);
 }
 
 extern "C" void livoxGen1_detachDeviceReq(
 	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc,
-	smo::sense_api::sal_mlo_detachDeviceReqCbFn cb
+	Callback<smo::sense_api::sal_mlo_detachDeviceReqCbFn> cb
 	)
 {
 	/**		FIXME:
@@ -307,51 +395,18 @@ extern "C" void livoxGen1_detachDeviceReq(
 		std::cerr << std::string(__func__)
 		          << ": Device not found for detachment: "
 		          << desc->deviceIdentifier << std::endl;
-		cb(false, desc);
+		cb.callbackFn(false, desc);
 		return;
 	}
 
+	auto request = std::make_shared<DetachDeviceReq>(desc, cb);
+
 	(*livoxProto1.livoxProto1_destroyDeviceReq)(
 		*it,
-		[cb, desc](bool success)
+		{request, std::bind(
-		{
+			&DetachDeviceReq::detachDeviceReq1,
-			if (!success)
+			request.get(), request,
-			{
+			std::placeholders::_1)});
-				std::cerr << __func__ << ": Failed to destroy Livox device: "
-					<< desc->deviceIdentifier << "\n";
-				cb(false, desc);
-				return;
-			}
-
-			// Find the device in g_attachedDevices and remove it.
-			auto eraseIt = std::find_if(
-				g_attachedDevices.begin(), g_attachedDevices.end(),
-				[desc](const std::shared_ptr<livoxProto1::Device>& dev)
-				{
-					const std::string& devId = dev->discoveredDevice.deviceIdentifier;
-					std::string devIdPrefix = devId.substr(
-						0, std::min<size_t>(14, devId.size()));
-					return devIdPrefix == desc->deviceSelector.substr(
-						0, std::min<size_t>(14, desc->deviceSelector.size()));
-				}
-			);
-
-			if (eraseIt == g_attachedDevices.end())
-			{
-				std::cerr << __func__ << ": Race condition: device not found "
-					"in g_attachedDevices for detachment: "
-					<< desc->deviceIdentifier << "\n";
-				cb(false, desc);
-				return;
-			}
-
-			g_attachedDevices.erase(eraseIt);
-			std::cout << __func__ << ": Successfully detached Livox device: "
-				<< desc->deviceIdentifier << "\n";
-
-			cb(success, desc);
-		}
-	);
 }
 
 // Exported function

senseApis/xcbWindow/xcbWindow.cpp

@@ -8,6 +8,7 @@
 #include <xcb/xcb.h>
 #include <user/senseApiDesc.h>
 #include <user/deviceAttachmentSpec.h>
+#include <callback.h>
 #include <xcbXorg/xcbXorg.h>
 #include "xcbWindow.h"
 
@@ -276,7 +277,7 @@ static int xcbWindow_finalizeInd(void)
 static void xcbWindow_attachDeviceReq(
     const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc,
     const std::shared_ptr<smo::ComponentThread>& componentThread,
-	smo::sense_api::sal_mlo_attachDeviceReqCbFn cb
+	smo::Callback<smo::sense_api::sal_mlo_attachDeviceReqCbFn> cb
     )
 {
 	// Not used yet, but may be used later.
@@ -289,12 +290,12 @@ static void xcbWindow_attachDeviceReq(
         << g_attachedWindows.back()->stringify()
         << "\n";
 
-    cb(true, desc);
+    cb.callbackFn(true, desc);
 }
 
 static void xcbWindow_detachDeviceReq(
     const std::shared_ptr<smo::device::DeviceAttachmentSpec>& spec,
-	smo::sense_api::sal_mlo_detachDeviceReqCbFn cb
+	smo::Callback<smo::sense_api::sal_mlo_detachDeviceReqCbFn> cb
     )
 {
     auto it = std::find_if(g_attachedWindows.begin(), g_attachedWindows.end(),
@@ -308,7 +309,7 @@ static void xcbWindow_detachDeviceReq(
 		std::cerr << __func__ << ": Device not found for detachment:\n"
 			<< spec->stringify() << "\n";
 
-		cb(false, spec);
+		cb.callbackFn(false, spec);
 		return;
     }
 
@@ -316,7 +317,7 @@ static void xcbWindow_detachDeviceReq(
     std::cout << __func__ << ": Detached X11 window device:\n"
         << spec->stringify() << "\n";
 
-	cb(true, spec);
+	cb.callbackFn(true, spec);
 }
 
 // SenseApi descriptor

smocore/body/body.cpp

@@ -2,6 +2,7 @@
 #include <opts.h>
 #include <asynchronousContinuation.h>
 #include <asynchronousLoop.h>
+#include <callback.h>
 #include <body/body.h>
 #include <componentThread.h>
 #include <mind.h>
@@ -21,7 +22,7 @@ class Body::InitializeReq
 public:
 	InitializeReq(
 		Mind &parent, const std::shared_ptr<ComponentThread> &caller,
-		bodyLifetimeMgmtOpCbFn callback)
+		Callback<bodyLifetimeMgmtOpCbFn> callback)
 	:	PostedAsynchronousContinuation<bodyLifetimeMgmtOpCbFn>(caller, callback),
 	parent(parent)
 	{}
@@ -78,10 +79,10 @@ public:
 		}
 		sense_api::SenseApiManager::getInstance()
 			.attachAllSenseDevicesFromSpecsReq(
-				std::bind(
+				{context, std::bind(
 					&InitializeReq::initializeReq2,
 					context.get(), context,
-					std::placeholders::_1));
+					std::placeholders::_1)});
 	}
 
 	void initializeReq2(
@@ -117,10 +118,10 @@ public:
 
 		std::cout << "Mrntt: About to detach all sense devices." << "\n";
 		sense_api::SenseApiManager::getInstance().detachAllSenseDevicesReq(
-			std::bind(
+			{context, std::bind(
 				&FinalizeReq::finalizeReq2,
 				context.get(), context,
-				std::placeholders::_1));
+				std::placeholders::_1)});
 	}
 
 	void finalizeReq2(
@@ -141,7 +142,7 @@ public:
 	}
 };
 
-void Body::initializeReq(bodyLifetimeMgmtOpCbFn callback)
+void Body::initializeReq(Callback<bodyLifetimeMgmtOpCbFn> callback)
 {
 	auto mrntt = ComponentThread::getSelf();
 
@@ -160,7 +161,7 @@ void Body::initializeReq(bodyLifetimeMgmtOpCbFn callback)
 			request.get(), request));
 }
 
-void Body::finalizeReq(bodyLifetimeMgmtOpCbFn callback)
+void Body::finalizeReq(Callback<bodyLifetimeMgmtOpCbFn> callback)
 {
 	auto mrntt = ComponentThread::getSelf();
 
@@ -168,7 +169,7 @@ void Body::finalizeReq(bodyLifetimeMgmtOpCbFn callback)
 	{
 		std::cerr << __func__ << ": Must be invoked by Mrntt thread"
 		          << std::endl;
-		callback(false);
+		callback.callbackFn(false);
 		return;
 	}
 
@@ -176,7 +177,7 @@ void Body::finalizeReq(bodyLifetimeMgmtOpCbFn callback)
 	{
 		std::cout << "Mrntt: Body component not initialized. "
 			<< "Skipping finalization." << "\n";
-		callback(true);
+		callback.callbackFn(true);
 		return;
 	}
 

smocore/componentThread.cpp

@@ -5,6 +5,7 @@
 #include <boost/asio.hpp>
 #include <opts.h>
 #include <asynchronousContinuation.h>
+#include <callback.h>
 #include <mind.h>
 #include <mindManager/mindManager.h>
 #include <componentThread.h>
@@ -96,8 +97,8 @@ void MindThread::main(MindThread& self)
 		if (sendExceptionInd)
 		{
 			mrntt::mrntt.finalizeReq(
-				std::bind(
+				{nullptr, std::bind(
-					&mrntt::marionetteFinalizeReqCb, std::placeholders::_1));
+				&mrntt::marionetteFinalizeReqCb, std::placeholders::_1)});
 		}
 	}
 
@@ -111,7 +112,7 @@ public:
 	ThreadLifetimeMgmtOp(
 		const std::shared_ptr<ComponentThread> &caller,
 		const std::shared_ptr<MindThread> &target,
-		threadLifetimeMgmtOpCbFn callback)
+		Callback<threadLifetimeMgmtOpCbFn> callback)
 	:	PostedAsynchronousContinuation<threadLifetimeMgmtOpCbFn>(
 			caller, callback),
 	target(target)
@@ -205,7 +206,7 @@ void ComponentThread::cleanup(void)
 	this->keepLooping = false;
 }
 
-void MindThread::joltThreadReq(threadLifetimeMgmtOpCbFn callback)
+void MindThread::joltThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 {
 	/**	EXPLANATION:
 	 * We can't use shared_from_this() here because JOLTing occurs prior to
@@ -241,7 +242,7 @@ void MindThread::joltThreadReq(threadLifetimeMgmtOpCbFn callback)
 }
 
 // Thread management method implementations
-void MindThread::startThreadReq(threadLifetimeMgmtOpCbFn callback)
+void MindThread::startThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 {
 	std::shared_ptr<ComponentThread> caller = getSelf();
 	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
@@ -253,7 +254,7 @@ void MindThread::startThreadReq(threadLifetimeMgmtOpCbFn callback)
 			request.get(), request));
 }
 
-void MindThread::exitThreadReq(threadLifetimeMgmtOpCbFn callback)
+void MindThread::exitThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 {
 	std::shared_ptr<ComponentThread> caller = getSelf();
 	auto request = std::make_shared<ThreadLifetimeMgmtOp>(
@@ -270,7 +271,7 @@ void MindThread::exitThreadReq(threadLifetimeMgmtOpCbFn callback)
 			request.get(), request));
 }
 
-void MindThread::pauseThreadReq(threadLifetimeMgmtOpCbFn callback)
+void MindThread::pauseThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 {
 	if (id == ComponentThread::MRNTT)
 	{
@@ -288,7 +289,7 @@ void MindThread::pauseThreadReq(threadLifetimeMgmtOpCbFn callback)
 			request.get(), request));
 }
 
-void MindThread::resumeThreadReq(threadLifetimeMgmtOpCbFn callback)
+void MindThread::resumeThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 {
 	if (id == ComponentThread::MRNTT)
 	{

smocore/deviceManager/deviceManager.cpp

@@ -7,6 +7,7 @@
 #include <memory>
 #include <opts.h>
 #include <asynchronousContinuation.h>
+#include <callback.h>
 #include <deviceManager/deviceManager.h>
 #include <senseApis/senseApiManager.h>
 #include <marionette/marionette.h>
@@ -45,7 +46,7 @@ public:
 	NewDeviceAttachmentSpecInd(
 		std::shared_ptr<DeviceAttachmentSpec> s,
 		const std::shared_ptr<ComponentThread> &caller,
-		newDeviceAttachmentSpecIndCbFn cb)
+		Callback<newDeviceAttachmentSpecIndCbFn> cb)
 	:	PostedAsynchronousContinuation<newDeviceAttachmentSpecIndCbFn>(
 			caller, cb),
 	spec(s)
@@ -61,10 +62,10 @@ public:
 	{
 		sense_api::SenseApiManager::getInstance().attachSenseDeviceReq(
 			spec,
-			std::bind(
+			{context, std::bind(
 				&NewDeviceAttachmentSpecInd::newDeviceAttachmentSpecInd2,
 				context.get(), context,
-				std::placeholders::_1, std::placeholders::_2));
+				std::placeholders::_1, std::placeholders::_2)});
 	}
 
 	void newDeviceAttachmentSpecInd2(
@@ -125,14 +126,14 @@ public:
 
 void DeviceManager::newDeviceAttachmentSpecInd(
 	std::shared_ptr<DeviceAttachmentSpec> spec,
-	newDeviceAttachmentSpecIndCbFn callback)
+	Callback<newDeviceAttachmentSpecIndCbFn> callback)
 {
 	// Check if a DeviceAttachmentSpec already matches
 	for (const auto& existingSpec : deviceAttachmentSpecs)
 	{
 		if (!(*existingSpec == *spec)) { continue; }
 		// Already exists, callback with error
-		callback(false, nullptr, spec);
+		callback.callbackFn(false, nullptr, spec);
 		return;
 	}
 

smocore/include/body/body.h

@@ -3,6 +3,7 @@
 
 #include <component.h>
 #include <functional>
+#include <callback.h>
 
 namespace smo {
 
@@ -19,8 +20,8 @@ public:
 	~Body() = default;
 
 	typedef std::function<void(bool)> bodyLifetimeMgmtOpCbFn;
-	void initializeReq(bodyLifetimeMgmtOpCbFn callback);
+	void initializeReq(Callback<bodyLifetimeMgmtOpCbFn> callback);
-	void finalizeReq(bodyLifetimeMgmtOpCbFn callback);
+	void finalizeReq(Callback<bodyLifetimeMgmtOpCbFn> callback);
 
 private:
 	class InitializeReq;

smocore/include/component.h

@@ -4,6 +4,7 @@
 #include <config.h>
 #include <memory>
 #include <functional>
+#include <callback.h>
 
 namespace smo {
 
@@ -44,8 +45,8 @@ public:
 
 public:
 	typedef std::function<void(bool)> mrnttLifetimeMgmtOpCbFn;
-	void initializeReq(mrnttLifetimeMgmtOpCbFn callback);
+	void initializeReq(Callback<mrnttLifetimeMgmtOpCbFn> callback);
-	void finalizeReq(mrnttLifetimeMgmtOpCbFn callback);
+	void finalizeReq(Callback<mrnttLifetimeMgmtOpCbFn> callback);
 
 private:
 	class MrnttLifetimeMgmtOp;

smocore/include/componentThread.h

@@ -12,6 +12,7 @@
 #include <sched.h>
 #include <unistd.h>
 #include <memory>
+#include <callback.h>
 
 namespace smo {
 
@@ -137,10 +138,10 @@ public:
 
 	// Thread management methods
 	typedef std::function<void()> threadLifetimeMgmtOpCbFn;
-	void startThreadReq(threadLifetimeMgmtOpCbFn callback);
+	void startThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
-	void exitThreadReq(threadLifetimeMgmtOpCbFn callback);
+	void exitThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
-	void pauseThreadReq(threadLifetimeMgmtOpCbFn callback);
+	void pauseThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
-	void resumeThreadReq(threadLifetimeMgmtOpCbFn callback);
+	void resumeThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
 
 	/**
 	 * JOLTs this thread to begin processing after global initialization.
@@ -149,7 +150,7 @@ public:
 	 * event loops and set up TLS vars after all global constructors have
 	 * completed. This prevents race conditions during system startup.
 	 */
-	void joltThreadReq(threadLifetimeMgmtOpCbFn callback);
+	void joltThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback);
 
 	// CPU management methods
 	void pinToCpu(int cpuId);

smocore/include/deviceManager/deviceManager.h

@@ -10,6 +10,7 @@
 #include <functional>
 #include <user/deviceAttachmentSpec.h>
 #include <deviceManager/device.h>
+#include <callback.h>
 
 namespace smo {
 namespace device {
@@ -41,7 +42,7 @@ public:
 		newDeviceAttachmentSpecIndCbFn;
 	void newDeviceAttachmentSpecInd(
         std::shared_ptr<DeviceAttachmentSpec> spec,
-        newDeviceAttachmentSpecIndCbFn callback);
+        Callback<newDeviceAttachmentSpecIndCbFn> callback);
 
 private:
     DeviceManager() = default;

smocore/include/mind.h

@@ -7,6 +7,7 @@
 #include <memory>
 #include <unordered_map>
 #include <string>
+#include <callback.h>
 
 #include <component.h>
 #include <componentThread.h>
@@ -23,8 +24,8 @@ public:
 	~Mind(void) = default;
 
 	typedef std::function<void(bool)> mindLifetimeMgmtOpCbFn;
-	void initializeReq(mindLifetimeMgmtOpCbFn callback);
+	void initializeReq(Callback<mindLifetimeMgmtOpCbFn> callback);
-	void finalizeReq(mindLifetimeMgmtOpCbFn callback);
+	void finalizeReq(Callback<mindLifetimeMgmtOpCbFn> callback);
 
 	// ComponentThread access methods
 	std::shared_ptr<MindThread> getComponentThread(
@@ -36,11 +37,14 @@ public:
 
 	// Thread management methods (moved from ComponentThread)
 	typedef std::function<void()> mindThreadLifetimeMgmtOpCbFn;
-	void joltAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
+	void joltAllMindThreadsReq(Callback<mindThreadLifetimeMgmtOpCbFn> callback);
-	void startAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
+	void startAllMindThreadsReq(
-	void pauseAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
+		Callback<mindThreadLifetimeMgmtOpCbFn> callback);
-	void resumeAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
+	void pauseAllMindThreadsReq(
-	void exitAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
+		Callback<mindThreadLifetimeMgmtOpCbFn> callback);
+	void resumeAllMindThreadsReq(
+		Callback<mindThreadLifetimeMgmtOpCbFn> callback);
+	void exitAllMindThreadsReq(Callback<mindThreadLifetimeMgmtOpCbFn> callback);
 
 	// CPU distribution method
 	void distributeAndPinThreadsAcrossCpus();

smocore/include/senseApis/senseApiManager.h

@@ -11,6 +11,7 @@
 #include <asynchronousLoop.h>
 #include <senseApis/senseApiLib.h>
 #include <user/deviceAttachmentSpec.h>
+#include <callback.h>
 
 namespace smo {
 namespace sense_api {
@@ -54,10 +55,10 @@ public:
 
 	void attachSenseDeviceReq(
         const std::shared_ptr<device::DeviceAttachmentSpec>& spec,
-        attachSenseDeviceReqCbFn cb);
+        Callback<attachSenseDeviceReqCbFn> cb);
     void detachSenseDeviceReq(
         const std::shared_ptr<device::DeviceAttachmentSpec>& spec,
-        detachSenseDeviceReqCbFn cb);
+        Callback<detachSenseDeviceReqCbFn> cb);
 
 	typedef std::function<void(AsynchronousLoop &results)>
 		attachAllSenseDevicesFromSpecsReqCbFn;
@@ -65,9 +66,9 @@ public:
 		detachAllSenseDevicesReqCbFn;
 
 	void attachAllSenseDevicesFromSpecsReq(
-		attachAllSenseDevicesFromSpecsReqCbFn cb);
+		Callback<attachAllSenseDevicesFromSpecsReqCbFn> cb);
 	void detachAllSenseDevicesReq(
-		detachAllSenseDevicesReqCbFn cb);
+		Callback<detachAllSenseDevicesReqCbFn> cb);
 
     std::string stringifyLibs() const;
 

smocore/marionette/lifetime.cpp

@@ -1,6 +1,7 @@
 #include <iostream>
 #include <asynchronousContinuation.h>
 #include <asynchronousLoop.h>
+#include <callback.h>
 #include <component.h>
 #include <componentThread.h>
 #include <mindManager/mindManager.h>
@@ -15,7 +16,7 @@ class MarionetteComponent::MrnttLifetimeMgmtOp
 public:
 	MrnttLifetimeMgmtOp(
 		MarionetteComponent &parent, const std::shared_ptr<ComponentThread> &caller,
-		mrnttLifetimeMgmtOpCbFn callback)
+		Callback<mrnttLifetimeMgmtOpCbFn> callback)
 	:	PostedAsynchronousContinuation<mrnttLifetimeMgmtOpCbFn>(
 			caller, callback),
 	parent(parent)
@@ -37,10 +38,9 @@ public:
 		}
 
 		smo::mind::globalMind = std::make_shared<Mind>();
-		smo::mind::globalMind->initializeReq(
+		smo::mind::globalMind->initializeReq({context, std::bind(
-			std::bind(
+			&MrnttLifetimeMgmtOp::initializeReq2,
-				&MrnttLifetimeMgmtOp::initializeReq2,
+			this, context, std::placeholders::_1)});
-				this, context, std::placeholders::_1));
 	}
 
 	void initializeReq2(
@@ -70,10 +70,9 @@ public:
 				+ ": Must be executed on Marionette thread");
 		}
 
-		smo::mind::globalMind->finalizeReq(
+		smo::mind::globalMind->finalizeReq({context, std::bind(
-			std::bind(
+			&MrnttLifetimeMgmtOp::finalizeReq2,
-				&MrnttLifetimeMgmtOp::finalizeReq2,
+			this, context, std::placeholders::_1)});
-				this, context, std::placeholders::_1));
 	}
 
 	void finalizeReq2(
@@ -93,7 +92,8 @@ public:
 	}
 };
 
-void MarionetteComponent::initializeReq(mrnttLifetimeMgmtOpCbFn callback)
+void MarionetteComponent::initializeReq(
+	Callback<mrnttLifetimeMgmtOpCbFn> callback)
 {
 	auto mrntt = ComponentThread::getSelf();
 
@@ -112,7 +112,8 @@ void MarionetteComponent::initializeReq(mrnttLifetimeMgmtOpCbFn callback)
 			request.get(), request));
 }
 
-void MarionetteComponent::finalizeReq(mrnttLifetimeMgmtOpCbFn callback)
+void MarionetteComponent::finalizeReq(
+	Callback<mrnttLifetimeMgmtOpCbFn> callback)
 {
 	auto mrntt = ComponentThread::getSelf();
 

smocore/marionette/main.cpp

@@ -56,10 +56,9 @@ void marionetteInitializeReqCb(bool success)
 	std::cerr << __func__ << ": Failed to initialize Marionette. Shutting down."
 		<< '\n';
 
-	mrntt::mrntt.finalizeReq(
+	mrntt::mrntt.finalizeReq({nullptr, std::bind(
-		std::bind(
+		&mrntt::marionetteFinalizeReqCb,
-			&mrntt::marionetteFinalizeReqCb,
+		std::placeholders::_1)});
-			std::placeholders::_1));
 }
 
 } // namespace mrntt
@@ -92,10 +91,9 @@ void MarionetteThread::main(MarionetteThread& self)
 					default:
 						break;
 				}
-				mrntt::mrntt.finalizeReq(
+				mrntt::mrntt.finalizeReq({nullptr, std::bind(
-					std::bind(
+					&mrntt::marionetteFinalizeReqCb,
-						&mrntt::marionetteFinalizeReqCb,
+					std::placeholders::_1)});
-						std::placeholders::_1));
 			}
 		);
 
@@ -137,9 +135,8 @@ void MarionetteThread::main(MarionetteThread& self)
 		callShutdownSalmanoff = true;
 
 		// Create new Mind instance just before initializeReq
-		mrntt::mrntt.initializeReq(
+		mrntt::mrntt.initializeReq({nullptr, std::bind(
-			std::bind(
+			&mrntt::marionetteInitializeReqCb, std::placeholders::_1)});
-				&mrntt::marionetteInitializeReqCb, std::placeholders::_1));
 
 		std::cout << __func__ << ": Entering event loop" << "\n";
 
@@ -183,10 +180,9 @@ void MarionetteThread::main(MarionetteThread& self)
 			if (sendExceptionInd)
 			{
 				mrntt::exitCode = EXIT_FAILURE;
-				mrntt::mrntt.finalizeReq(
+				mrntt::mrntt.finalizeReq({nullptr, std::bind(
-					std::bind(
+					&mrntt::marionetteFinalizeReqCb,
-						&mrntt::marionetteFinalizeReqCb,
+					std::placeholders::_1)});
-						std::placeholders::_1));
 			}
         }
 

smocore/mind.cpp

@@ -2,6 +2,7 @@
 #include <opts.h>
 #include <asynchronousContinuation.h>
 #include <asynchronousLoop.h>
+#include <callback.h>
 #include <mind.h>
 #include <componentThread.h>
 #include <director/director.h>
@@ -89,7 +90,7 @@ class Mind::MindLifetimeMgmtOp
 public:
 	MindLifetimeMgmtOp(
 		Mind &parent, const std::shared_ptr<ComponentThread> &caller,
-		mindLifetimeMgmtOpCbFn callback)
+		Callback<mindLifetimeMgmtOpCbFn> callback)
 	:	PostedAsynchronousContinuation<mindLifetimeMgmtOpCbFn>(
 			caller, callback),
 		parent(parent)
@@ -105,9 +106,9 @@ public:
 	{
 		/* Jolt the threads, then start them */
 		parent.joltAllMindThreadsReq(
-			std::bind(
+			{context, std::bind(
 				&MindLifetimeMgmtOp::initializeReq2,
-				context.get(), context));
+				context.get(), context)});
 	}
 
 	void initializeReq2(
@@ -117,9 +118,9 @@ public:
 		std::cout << "Mrntt: All mind threads JOLTed." << "\n";
 
 		parent.startAllMindThreadsReq(
-			std::bind(
+			{context, std::bind(
 				&MindLifetimeMgmtOp::initializeReq3,
-				context.get(), context));
+				context.get(), context)});
 	}
 
 	void initializeReq3(
@@ -129,9 +130,9 @@ public:
 		std::cout << "Mrntt: All mind threads started." << "\n";
 
 		parent.body.initializeReq(
-			std::bind(
+			{context, std::bind(
 				&MindLifetimeMgmtOp::initializeReq4,
-				context.get(), context, std::placeholders::_1));
+				context.get(), context, std::placeholders::_1)});
 	}
 
 	void initializeReq4(
@@ -148,9 +149,9 @@ public:
 		)
 	{
 		parent.body.finalizeReq(
-			std::bind(
+			{context, std::bind(
 				&MindLifetimeMgmtOp::finalizeReq2,
-				context.get(), context, std::placeholders::_1));
+				context.get(), context, std::placeholders::_1)});
 	}
 
 	void finalizeReq2(
@@ -169,9 +170,9 @@ public:
 		* messages from mrntt after processing the exit request.
 		*/
 		parent.joltAllMindThreadsReq(
-			std::bind(
+			{context, std::bind(
 				&MindLifetimeMgmtOp::finalizeReq3,
-				context.get(), context));
+				context.get(), context)});
 	}
 
 	void finalizeReq3(
@@ -181,9 +182,9 @@ public:
 		std::cout << "Mrntt: All mind threads JOLTed for finalization." << "\n";
 
 		parent.exitAllMindThreadsReq(
-			std::bind(
+			{context, std::bind(
 				&MindLifetimeMgmtOp::finalizeReq4,
-				context.get(), context));
+				context.get(), context)});
 	}
 
 	void finalizeReq4(
@@ -195,7 +196,7 @@ public:
 	}
 };
 
-void Mind::initializeReq(mindLifetimeMgmtOpCbFn callback)
+void Mind::initializeReq(Callback<mindLifetimeMgmtOpCbFn> callback)
 {
     /* Distribute threads across available CPUs */
     try
@@ -219,7 +220,7 @@ void Mind::initializeReq(mindLifetimeMgmtOpCbFn callback)
 			request.get(), request));
 }
 
-void Mind::finalizeReq(mindLifetimeMgmtOpCbFn callback)
+void Mind::finalizeReq(Callback<mindLifetimeMgmtOpCbFn> callback)
 {
 	const auto& caller = ComponentThread::getSelf();
 	auto request = std::make_shared<MindLifetimeMgmtOp>(
@@ -258,7 +259,7 @@ class Mind::MindThreadLifetimeMgmtOp
 public:
 	MindThreadLifetimeMgmtOp(
 		Mind &parent,unsigned int nThreads,
-		mindThreadLifetimeMgmtOpCbFn callback)
+		Callback<mindThreadLifetimeMgmtOpCbFn> callback)
 	:	NonPostedAsynchronousContinuation<mindThreadLifetimeMgmtOpCbFn>(callback),
 	loop(nThreads),
 	parent(parent)
@@ -311,21 +312,23 @@ public:
 	}
 };
 
-void Mind::joltAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
+void Mind::joltAllMindThreadsReq(
+	Callback<mindThreadLifetimeMgmtOpCbFn> callback
+	)
 {
 	if (threadsHaveBeenJolted)
 	{
 		std::cout << "Mrntt: All mind threads already JOLTed. "
 			<< "Skipping JOLT request." << "\n";
-		callback();
+		callback.callbackFn();
 		return;
 	}
 
 	// If no threads, set flag and call callback immediately
-	if (componentThreads.size() == 0 && callback)
+	if (componentThreads.size() == 0 && callback.callbackFn)
 	{
 		threadsHaveBeenJolted = true;
-		callback();
+		callback.callbackFn();
 		return;
 	}
 
@@ -336,19 +339,21 @@ void Mind::joltAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
     for (auto& thread : componentThreads)
 	{
         thread->joltThreadReq(
-			std::bind(
+			{request, std::bind(
 				&MindThreadLifetimeMgmtOp::joltAllMindThreadsReq1,
-				request.get(), request));
+				request.get(), request)});
     }
 }
 
 // Thread management methods (moved from ComponentThread)
-void Mind::startAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
+void Mind::startAllMindThreadsReq(
+	Callback<mindThreadLifetimeMgmtOpCbFn> callback
+	)
 {
 	// If no threads, call callback immediately
-	if (componentThreads.size() == 0 && callback)
+	if (componentThreads.size() == 0 && callback.callbackFn)
 	{
-		callback();
+		callback.callbackFn();
 		return;
 	}
 
@@ -359,18 +364,20 @@ void Mind::startAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
     for (auto& thread : componentThreads)
 	{
         thread->startThreadReq(
-			std::bind(
+			{request, std::bind(
 				&MindThreadLifetimeMgmtOp::executeGenericOpOnAllMindThreadsReq1,
-				request.get(), request));
+				request.get(), request)});
     }
 }
 
-void Mind::pauseAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
+void Mind::pauseAllMindThreadsReq(
+	Callback<mindThreadLifetimeMgmtOpCbFn> callback
+	)
 {
 	// If no threads, call callback immediately
-	if (componentThreads.size() == 0 && callback)
+	if (componentThreads.size() == 0 && callback.callbackFn)
 	{
-		callback();
+		callback.callbackFn();
 		return;
 	}
 
@@ -381,18 +388,20 @@ void Mind::pauseAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
     for (auto& thread : componentThreads)
 	{
         thread->pauseThreadReq(
-			std::bind(
+			{request, std::bind(
 				&MindThreadLifetimeMgmtOp::executeGenericOpOnAllMindThreadsReq1,
-				request.get(), request));
+				request.get(), request)});
     }
 }
 
-void Mind::resumeAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
+void Mind::resumeAllMindThreadsReq(
+	Callback<mindThreadLifetimeMgmtOpCbFn> callback
+	)
 {
 	// If no threads, call callback immediately
-	if (componentThreads.size() == 0 && callback)
+	if (componentThreads.size() == 0 && callback.callbackFn)
 	{
-		callback();
+		callback.callbackFn();
 		return;
 	}
 
@@ -403,18 +412,20 @@ void Mind::resumeAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
     for (auto& thread : componentThreads)
 	{
         thread->resumeThreadReq(
-			std::bind(
+			{request, std::bind(
 				&MindThreadLifetimeMgmtOp::executeGenericOpOnAllMindThreadsReq1,
-				request.get(), request));
+				request.get(), request)});
     }
 }
 
-void Mind::exitAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
+void Mind::exitAllMindThreadsReq(
+	Callback<mindThreadLifetimeMgmtOpCbFn> callback
+	)
 {
 	// If no threads, call callback immediately
-	if (componentThreads.size() == 0 && callback)
+	if (componentThreads.size() == 0 && callback.callbackFn)
 	{
-		callback();
+		callback.callbackFn();
 		return;
 	}
 
@@ -425,9 +436,9 @@ void Mind::exitAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback)
     for (auto& thread : componentThreads)
 	{
 		thread->exitThreadReq(
-			std::bind(
+			{request, std::bind(
 				&MindThreadLifetimeMgmtOp::executeGenericOpOnAllMindThreadsReq1,
-				request.get(), request));
+				request.get(), request)});
     }
 }
 

smocore/senseApis/senseApiManager.cpp

@@ -8,6 +8,7 @@
 #include <asynchronousBridge.h>
 #include <asynchronousContinuation.h>
 #include <asynchronousLoop.h>
+#include <callback.h>
 #include <user/senseApiDesc.h>
 #include <mind.h>
 #include <deviceManager/deviceManager.h>
@@ -268,7 +269,7 @@ public:
 	AttachSenseDeviceReq(
 		const std::shared_ptr<device::DeviceAttachmentSpec>& spec,
 		const std::shared_ptr<ComponentThread> &caller,
-		attachSenseDeviceReqCbFn cb)
+		Callback<attachSenseDeviceReqCbFn> cb)
 	:	PostedAsynchronousContinuation<attachSenseDeviceReqCbFn>(
 			caller, cb),
 		spec(spec)
@@ -335,10 +336,10 @@ public:
 
 		lib.senseApiDesc.sal_mgmt_libOps.attachDeviceReq(
 			spec, threadForAttachment,
-			std::bind(
+			{context, std::bind(
 				&AttachSenseDeviceReq::attachSenseDeviceReq2,
 				context.get(), context,
-				std::placeholders::_1, std::placeholders::_2));
+				std::placeholders::_1, std::placeholders::_2)});
 	 }
 
 	 void attachSenseDeviceReq2(
@@ -386,10 +387,10 @@ public:
 		}
 		lib.senseApiDesc.sal_mgmt_libOps.detachDeviceReq(
 			spec,
-			std::bind(
+			{context, std::bind(
 				&DetachSenseDeviceReq::detachSenseDeviceReq2,
 				context.get(), context,
-				std::placeholders::_1, std::placeholders::_2));
+				std::placeholders::_1, std::placeholders::_2)});
 	 }
 
 	void detachSenseDeviceReq2(
@@ -407,7 +408,7 @@ public:
 
 void SenseApiManager::attachSenseDeviceReq(
     const std::shared_ptr<device::DeviceAttachmentSpec>& spec,
-    attachSenseDeviceReqCbFn cb
+    Callback<attachSenseDeviceReqCbFn> cb
     )
 {
 	const auto& caller = ComponentThread::getSelf();
@@ -422,7 +423,7 @@ void SenseApiManager::attachSenseDeviceReq(
 
 void SenseApiManager::detachSenseDeviceReq(
     const std::shared_ptr<device::DeviceAttachmentSpec>& spec,
-    detachSenseDeviceReqCbFn cb
+    Callback<detachSenseDeviceReqCbFn> cb
     )
 {
 	const auto& caller = ComponentThread::getSelf();
@@ -443,7 +444,7 @@ public:
 	AttachAllSenseDevicesFromSpecsReq(
 		const unsigned int totalNSpecs,
 		const std::shared_ptr<ComponentThread>& caller,
-		attachAllSenseDevicesFromSpecsReqCbFn cb)
+		Callback<attachAllSenseDevicesFromSpecsReqCbFn> cb)
 	:	PostedAsynchronousContinuation<attachAllSenseDevicesFromSpecsReqCbFn>(
 			caller, cb),
 	loop(totalNSpecs)
@@ -458,10 +459,10 @@ public:
 		{
 			SenseApiManager::getInstance().attachSenseDeviceReq(
 				spec,
-				std::bind(
+				{context, std::bind(
 					&AttachAllSenseDevicesFromSpecsReq::attachAllSenseDevicesFromSpecsReq2,
 					context.get(), context,
-					std::placeholders::_1, std::placeholders::_2));
+					std::placeholders::_1, std::placeholders::_2)});
 		}
 	}
 
@@ -499,13 +500,13 @@ public:
 };
 
 void SenseApiManager::attachAllSenseDevicesFromSpecsReq(
-	attachAllSenseDevicesFromSpecsReqCbFn cb
+	Callback<attachAllSenseDevicesFromSpecsReqCbFn> cb
 	)
 {
 	if (device::DeviceManager::getInstance().deviceAttachmentSpecs.size() == 0)
 	{
 		AsynchronousLoop tmp(0);
-		cb(tmp);
+		cb.callbackFn(tmp);
 		return;
 	}
 
@@ -534,10 +535,10 @@ public:
 		{
 			SenseApiManager::getInstance().detachSenseDeviceReq(
 				spec,
-				std::bind(
+				{context, std::bind(
 					&DetachAllSenseDevicesReq::detachAllSenseDevicesReq2,
 					context.get(), context,
-					std::placeholders::_1, std::placeholders::_2));
+					std::placeholders::_1, std::placeholders::_2)});
 		}
 	}
 
@@ -571,13 +572,13 @@ public:
 };
 
 void SenseApiManager::detachAllSenseDevicesReq(
-	detachAllSenseDevicesReqCbFn cb
+	Callback<detachAllSenseDevicesReqCbFn> cb
 	)
 {
 	if (device::DeviceManager::getInstance().deviceAttachmentSpecs.size() == 0)
 	{
 		AsynchronousLoop tmp(0);
-		cb(tmp);
+		cb.callbackFn(tmp);
 		return;
 	}