Wire comparator CLI, marionette threading model, and final load order.

Initialize SmoThreadingModelDesc from marionette before body startup, load
comparator libs before stimbuff via -c/--comparator-lib, and drop the hardcoded
libcomparatorCore.so load path.

Co-authored-by: Cursor <cursoragent@cursor.com>

smocore/body/body.cpp

@@ -27,23 +27,21 @@ BodyViralPostingInvoker<void> Body::initializeCReq()
 	}
 
 	/**	EXPLANATION:
-	 * The ComponentThread instance we pass in here is the one that will be
+	 * Comparator libs are loaded before stim buff API libs so comparator
-	 * used by Senseapi libs to perform device-independent background
+	 * types are registered before stimbuff libs can resolve them via
-	 * operations.
+	 * SmoCallbacks during getStimBuffApiDesc.
-	 * For example, liblivoxProto1's BroadcastListener will use this thread
-	 * to listen for UDP broadcast dgrams from Livox devices.
 	 *
-	 * We used to use Marionette, but there's a strong argument for using
+	 * SmoThreadingModelDesc is initialized in Mind::initializeCReq before
-	 * Body instead since it's meant to handle device-management operations.
+	 * body::initializeCReq is entered.
 	 */
 	// Upcast to Mind to access Mind-specific members
 	Mind &mind = static_cast<Mind&>(parent);
 
 	comparator_lib::ComparatorApiManager::getInstance()
-		.loadComparatorLib("libcomparatorCore.so");
+		.loadAllComparatorApiLibsFromOptions();
 
 	stim_buff::StimBuffApiManager::getInstance()
-		.loadAllStimBuffApiLibsFromOptions(mind.body.thread);
+		.loadAllStimBuffApiLibsFromOptions();
 
 	/**	EXPLANATION:
 	 * Consider body::initializeCReq to have been called if even one of its

smocore/comparatorLibs/comparatorApiManager.cpp

@@ -3,6 +3,7 @@
 #include <stdexcept>
 #include <comparatorLibs/comparatorApiManager.h>
 #include <loadableLib/loadableLibraryManager.h>
+#include <opts.h>
 #include <user/comparatorApiDesc.h>
 #include <user/smoHooks.h>
 
@@ -118,6 +119,14 @@ void ComparatorApiManager::unloadAllComparatorLibs(void)
 	}
 }
 
+void ComparatorApiManager::loadAllComparatorApiLibsFromOptions(void)
+{
+	const auto& options = OptionParser::getOptions();
+	for (const auto& libPath : options.comparatorLibs) {
+		loadComparatorLib(libPath);
+	}
+}
+
 std::optional<std::shared_ptr<ComparatorLib>>
 ComparatorApiManager::getComparatorLib(const std::string& libraryPath)
 {

smocore/include/comparatorLibs/comparatorApiManager.h

@@ -39,6 +39,8 @@ public:
 
 	void unloadAllComparatorLibs(void);
 
+	void loadAllComparatorApiLibsFromOptions(void);
+
 	std::optional<std::shared_ptr<ComparatorLib>> getComparatorLib(
 		const std::string& libraryPath);
 

smocore/include/marionette/marionette.h

@@ -11,6 +11,7 @@
 #include <spinscale/component.h>
 #include <spinscale/co/nonViralTaskNursery.h>
 #include <marionette/marionetteThread.h>
+#include <user/smoHooks.h>
 
 namespace sscl {
 
@@ -66,6 +67,12 @@ private:
 
 extern std::shared_ptr<sscl::PuppeteerThread> thread;
 extern MarionetteComponent mrntt;
+extern stim_buff::SmoThreadingModelDesc smoThreadingModelDesc;
+
+void initializeSmoThreadingModelDesc(
+	const std::shared_ptr<sscl::ComponentThread>& componentThread);
+
+const stim_buff::SmoThreadingModelDesc& getSmoThreadingModelDesc();
 
 void marionetteInitializeReqCb(bool success);
 void marionetteFinalizeReqCb(bool success);

smocore/include/opts.h

@@ -41,6 +41,7 @@ public:
     std::string argv0;
     std::vector<std::string> senseApiLibPath;
     std::vector<std::string> senseApiLibs;
+    std::vector<std::string> comparatorLibs;
     std::string dapSpecs;
     std::vector<std::string> dapSpecFiles;
     bool verbose, printUsage, traceCallables;

smocore/include/stimBuffApis/stimBuffApiManager.h

@@ -35,9 +35,7 @@ public:
 	void finalize(void)
 	{};
 
-	StimBuffApiLib& loadStimBuffApiLib(
+	StimBuffApiLib& loadStimBuffApiLib(const std::string& libraryPath);
-		const std::string& libraryPath,
-		const std::shared_ptr<sscl::ComponentThread>& componentThread);
 
 	std::optional<std::shared_ptr<StimBuffApiLib>> findStimBuffApiLibByLibraryPath(
 		const std::string& libraryPath);
@@ -46,8 +44,7 @@ public:
 	StimBuffApiLib &getStimBuffApiLibByApiName(const std::string& apiName);
 	void unloadStimBuffApiLib(const std::string& libraryPath);
 
-	void loadAllStimBuffApiLibsFromOptions(
+	void loadAllStimBuffApiLibsFromOptions(void);
-		const std::shared_ptr<sscl::ComponentThread>& componentThread);
 	void unloadAllStimBuffApiLibs(void);
 
 	body::BodyViralPostingInvoker<void> initializeStimBuffApiLibCReq(

smocore/marionette/main.cpp

@@ -1,3 +1,4 @@
+#include <stdexcept>
 #include <config.h>
 #include <iostream>
 #include <opts.h>
@@ -22,6 +23,36 @@ std::shared_ptr<sscl::PuppeteerThread> thread = std::make_shared<
 
 MarionetteComponent mrntt(thread);
 
+stim_buff::SmoThreadingModelDesc smoThreadingModelDesc = {
+	.componentThread = nullptr
+};
+
+void initializeSmoThreadingModelDesc(
+	const std::shared_ptr<sscl::ComponentThread>& componentThread)
+{
+	if (!componentThread)
+	{
+		throw std::runtime_error(
+			std::string(__func__) + ": componentThread must be non-null");
+	}
+
+	if (smoThreadingModelDesc.componentThread
+		&& smoThreadingModelDesc.componentThread != componentThread)
+	{
+		throw std::runtime_error(
+			std::string(__func__)
+			+ ": SmoThreadingModelDesc already initialized with a different "
+			"ComponentThread");
+	}
+
+	smoThreadingModelDesc.componentThread = componentThread;
+}
+
+const stim_buff::SmoThreadingModelDesc& getSmoThreadingModelDesc()
+{
+	return smoThreadingModelDesc;
+}
+
 void marionetteInitializeReqCb(bool success)
 {
 	if (success)

smocore/mind.cpp

@@ -125,6 +125,8 @@ mrntt::MrnttViralNonPostingInvokerT<void> Mind::initializeCReq()
 	co_await startAllPuppetThreadsCReq();
 	std::cout << "Mrntt: All mind threads started." << "\n";
 
+	mrntt::initializeSmoThreadingModelDesc(body.thread);
+
 	co_await body.initializeCReq();
 	std::cout << "Mrntt: Body component initialized." << "\n";
 

smocore/opts.cpp

@@ -43,6 +43,9 @@ struct option OptionParser::longOptions[] = {
     {"api-lib-path", required_argument, 0, 'p'},
     {"apipath", required_argument, 0, 'p'},
     {"libpath", required_argument, 0, 'p'},
+    {"comparator-lib", required_argument, 0, 'c'},
+    {"comp-lib", required_argument, 0, 'c'},
+    {"complib", required_argument, 0, 'c'},
     {"verbose", no_argument, 0, 'v'},
     {"trace-callables", no_argument, 0, 't'},
     {"call-trace", no_argument, 0, 't'},
@@ -62,7 +65,7 @@ void OptionParser::parseArguments(int argc, char *argv[], char **envp)
     optind = 1; // Reset optind to 1 before parsing
     opterr = 0;
     while ((opt = getopt_long(
-        argc, argv, "s:d:a:p:vht?", longOptions, &optionIndex)) != -1)
+        argc, argv, "s:d:a:p:c:vht?", longOptions, &optionIndex)) != -1)
     {
         switch (opt)
         {
@@ -92,6 +95,9 @@ void OptionParser::parseArguments(int argc, char *argv[], char **envp)
             senseApiLibPath.push_back(optarg);
             break;
         }
+        case 'c':
+            comparatorLibs.push_back(optarg);
+            break;
         case 'v':
             verbose = true;
             break;
@@ -115,6 +121,7 @@ std::string OptionParser::getUsage() const
     return "Usage: " + argv0 + " [-s|--dapspec|--spec <device_spec>] "
            "[-d|--dapfile <DAP_spec_file>] "
            "[-a|--api-lib|--apilib|--api|--lib <filename>] "
+           "[-c|--comparator-lib|--comp-lib|--complib <filename>] "
            "[-p|--api-lib-path|--apipath|--libpath <directory>] "
            "[-v|--verbose] "
            "[-t|--trace-callables|--call-trace|--calltrace] "
@@ -154,5 +161,11 @@ std::string OptionParser::stringifyOptions(void) const
     }
     oss << std::endl;
 
+    oss << "Comparator Libraries: ";
+    for (const auto& lib : comparatorLibs) {
+        oss << lib << " ";
+    }
+    oss << std::endl;
+
     return oss.str();
 }

smocore/stimBuffApis/stimBuffApiManager.cpp

@@ -10,7 +10,6 @@
 #include <componentThread.h>
 #include <opts.h>
 #include <user/smoHooks.h>
-#include <user/senseApiDesc.h>
 #include <mind.h>
 #include <deviceManager/deviceManager.h>
 #include <marionette/marionette.h>
@@ -37,11 +36,13 @@ std::shared_ptr<sscl::ComponentThread> ComponentThread_getSelf()
 	return sscl::ComponentThread::getSelf();
 }
 
+/* Local static function to wrap OptionParser::getOptions for SmoCallbacks */
 OptionParser& OptionParser_getOptions()
 {
 	return OptionParser::getOptions();
 }
 
+/* Local static functions to wrap ComputeManager methods for SmoCallbacks */
 std::shared_ptr<smo::compute::ClBuffer>
 ComputeManager_createUseHostPtrBuffer(
 	void* hostPtr, size_t size, cl_mem_flags flags)
@@ -108,11 +109,6 @@ SmoCallbacks smoCallbacks =
 	.Comparator_getNewInstance = Comparator_getNewInstanceHook
 };
 
-/* Static file-scope threading model object for senseApi libraries */
-SmoThreadingModelDesc smoThreadingModelDesc = {
-	.componentThread = nullptr
-};
-
 } // namespace
 
 const SmoCallbacks& getSmoCallbacks()
@@ -121,8 +117,7 @@ const SmoCallbacks& getSmoCallbacks()
 }
 
 StimBuffApiLib& StimBuffApiManager::loadStimBuffApiLib(
-	const std::string& libraryPath,
+	const std::string& libraryPath)
-	const std::shared_ptr<sscl::ComponentThread>& componentThread)
 {
 	loadable_lib::LoadableLibraryManager& llm =
 		loadable_lib::LoadableLibraryManager::getInstance();
@@ -142,12 +137,17 @@ StimBuffApiLib& StimBuffApiManager::loadStimBuffApiLib(
 		loadedLibrary->getDlopenHandle(),
 		SMO_GET_STIM_BUFF_API_DESC_FN_NAME_STR);
 
-	if (!smoThreadingModelDesc.componentThread) {
+	const stim_buff::SmoThreadingModelDesc& threadingModel =
-		smoThreadingModelDesc.componentThread = componentThread;
+		mrntt::getSmoThreadingModelDesc();
+	if (!threadingModel.componentThread)
+	{
+		throw std::runtime_error(
+			std::string(__func__)
+			+ ": SmoThreadingModelDesc has not been initialized");
 	}
 
 	const StimBuffApiDesc& libApiDesc = descFn(
-		smoCallbacks, smoThreadingModelDesc);
+		smoCallbacks, threadingModel);
 
 	auto lib = std::make_shared<StimBuffApiLib>(loadedLibrary, descFn);
 	lib->setStimBuffApiDesc(libApiDesc);
@@ -234,12 +234,11 @@ void StimBuffApiManager::unloadAllStimBuffApiLibs(void)
 	}
 }
 
-void StimBuffApiManager::loadAllStimBuffApiLibsFromOptions(
+void StimBuffApiManager::loadAllStimBuffApiLibsFromOptions(void)
-	const std::shared_ptr<sscl::ComponentThread>& componentThread)
 {
 	const auto& options = OptionParser::getOptions();
 	for (const auto& libPath : options.senseApiLibs) {
-		loadStimBuffApiLib(libPath, componentThread);
+		loadStimBuffApiLib(libPath);
 	}
 }