Mind:init/finiReq: now posted to mrntt; callbacks std:bind

We now have mind::initialize/finalizeReq post their requests
to Mrntt instead of executing on the caller's thread context.

We also fixed the way that we invoke callbacks by properly wrapping
it in a std::bind.

smocore/mind.cpp

@@ -7,6 +7,7 @@
 #include <director/director.h>
 #include <simulator/simulator.h>
 #include <senseApis/senseApiManager.h>
+#include <marionette/marionette.h>
 
 namespace smo {
 
@@ -83,19 +84,21 @@ Mind::getMindThreads() const
 }
 
 class Mind::MindLifetimeMgmtOp
-:	public AsynchronousContinuation<mindLifetimeMgmtOpCbFn>
+:	public TargetedAsynchronousContinuation<mindLifetimeMgmtOpCbFn>
 {
 public:
 	MindLifetimeMgmtOp(
-		Mind &parent, mindLifetimeMgmtOpCbFn callback)
+		Mind &parent, const std::shared_ptr<ComponentThread> &caller,
-	:	AsynchronousContinuation<mindLifetimeMgmtOpCbFn>(callback),
+		mindLifetimeMgmtOpCbFn callback)
+	:	TargetedAsynchronousContinuation<mindLifetimeMgmtOpCbFn>(
+			caller, callback),
 		parent(parent)
 	{}
 
 	void callOriginalCbFn(bool success)
 	{
 		if (originalCbFn) {
-			originalCbFn(success);
+			caller->getIoService().post(std::bind(originalCbFn, success));
 		}
 	}
 
@@ -103,13 +106,12 @@ public:
 	Mind &parent;
 
 public:
-	void initializeReq1(
+	void initializeReq1_posted(
 		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
 		)
 	{
-		std::cout << "Mrntt: All mind threads JOLTed." << "\n";
+		/* Jolt the threads, then start them */
-
+		parent.joltAllMindThreadsReq(
-		parent.startAllMindThreadsReq(
 			std::bind(
 				&MindLifetimeMgmtOp::initializeReq2,
 				context.get(), context));
@@ -118,16 +120,28 @@ public:
 	void initializeReq2(
 		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
 		)
+	{
+		std::cout << "Mrntt: All mind threads JOLTed." << "\n";
+
+		parent.startAllMindThreadsReq(
+			std::bind(
+				&MindLifetimeMgmtOp::initializeReq3,
+				context.get(), context));
+	}
+
+	void initializeReq3(
+		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
+		)
 	{
 		std::cout << "Mrntt: All mind threads started." << "\n";
 
 		parent.body.initializeReq(
 			std::bind(
-				&MindLifetimeMgmtOp::initializeReq3,
+				&MindLifetimeMgmtOp::initializeReq4,
 				context.get(), context, std::placeholders::_1));
 	}
 
-	void initializeReq3(
+	void initializeReq4(
 		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context,
 		bool success
 		)
@@ -136,7 +150,17 @@ public:
 		callOriginalCbFn(success);
 	}
 
-	void finalizeReq1(
+	void finalizeReq1_posted(
+		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
+		)
+	{
+		parent.body.finalizeReq(
+			std::bind(
+				&MindLifetimeMgmtOp::finalizeReq2,
+				context.get(), context, std::placeholders::_1));
+	}
+
+	void finalizeReq2(
 		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context,
 		bool success
 		)
@@ -153,11 +177,11 @@ public:
 		*/
 		parent.joltAllMindThreadsReq(
 			std::bind(
-				&MindLifetimeMgmtOp::finalizeReq2,
+				&MindLifetimeMgmtOp::finalizeReq3,
 				context.get(), context));
 	}
 
-	void finalizeReq2(
+	void finalizeReq3(
 		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
 		)
 	{
@@ -165,11 +189,11 @@ public:
 
 		parent.exitAllMindThreadsReq(
 			std::bind(
-				&MindLifetimeMgmtOp::finalizeReq3,
+				&MindLifetimeMgmtOp::finalizeReq4,
 				context.get(), context));
 	}
 
-	void finalizeReq3(
+	void finalizeReq4(
 		[[maybe_unused]] std::shared_ptr<MindLifetimeMgmtOp> context
 		)
 	{
@@ -192,25 +216,26 @@ void Mind::initializeReq(mindLifetimeMgmtOpCbFn callback)
             "Error: " << e.what() << "\n";
     }
 
+	const auto& caller = ComponentThread::getSelf();
 	auto request = std::make_shared<MindLifetimeMgmtOp>(
-		*this, callback);
+		*this, caller, callback);
 
-    /* Jolt the threads, then start them */
+	mrntt::mrntt.thread->getIoService().post(
-    joltAllMindThreadsReq(
 		std::bind(
-			&MindLifetimeMgmtOp::initializeReq1,
+			&MindLifetimeMgmtOp::initializeReq1_posted,
 			request.get(), request));
 }
 
 void Mind::finalizeReq(mindLifetimeMgmtOpCbFn callback)
 {
+	const auto& caller = ComponentThread::getSelf();
 	auto request = std::make_shared<MindLifetimeMgmtOp>(
-		*this, callback);
+		*this, caller, callback);
 
-	body.finalizeReq(
+	mrntt::mrntt.thread->getIoService().post(
 		std::bind(
-			&MindLifetimeMgmtOp::finalizeReq1,
+			&MindLifetimeMgmtOp::finalizeReq1_posted,
-			request.get(), request, std::placeholders::_1));
+			request.get(), request));
 }
 
 void Mind::distributeAndPinThreadsAcrossCpus()