Add Mrntt component; init globalMind in mrntt.initializeReq

This makes the initialization sequence much cleaner and conceptually
well encapsulated.

We also now dynamically allocate the Mind objects. They're allocated
dynamically by Mrntt inside of initializeReq. This means that we no
longer have to worry about jolting and cleaning up the running threads
of global mind object even when we never explicitly called
Mind.initializeReq.

Along with other conceptual improvements to our abstractions, this
patch also gets us to a real "end of program initialization" point
for the first time.

smocore/include/mind.h

@@ -8,9 +8,11 @@
 #include <unordered_map>
 #include <string>
 
+#include <component.h>
+#include <componentThread.h>
 #include <director/director.h>
 #include <simulator/simulator.h>
-#include <componentThread.h>
+#include <body/body.h>
 
 namespace smo {
 
@@ -23,8 +25,6 @@ public:
 	typedef std::function<void(bool)> mindLifetimeMgmtOpCbFn;
 	void initializeReq(mindLifetimeMgmtOpCbFn callback);
 	void finalizeReq(mindLifetimeMgmtOpCbFn callback);
-	void initializeBodyReq(mindLifetimeMgmtOpCbFn callback);
-	void finalizeBodyReq(mindLifetimeMgmtOpCbFn callback);
 
 	// ComponentThread access methods
 	std::shared_ptr<MindThread> getComponentThread(
@@ -45,15 +45,19 @@ public:
 	// CPU distribution method
 	void distributeAndPinThreadsAcrossCpus();
 
-public:
-	std::thread directorThread;
-	std::thread simulatorThread;
-	std::thread subconsciousThread;
+private:
+	// Collection of ComponentThread instances (excluding marionette)
+	std::vector<std::shared_ptr<MindThread>> componentThreads;
 
-	director::Director director;
-	simulator::Simulator canvas;
+public:
+	director::Director		director;
+	simulator::Simulator	canvas;
+	MindComponent			subconscious;
+	body::Body				body;
+	MindComponent			world;
 
 private:
+	friend class body::Body;
 	/**
 	 * Indicates whether all mind threads have been JOLTed at least once.
 	 *
@@ -75,13 +79,10 @@ private:
 	 */
 	bool threadsHaveBeenJolted = false,
 		bodyComponentInitialized = false;
-	// Collection of ComponentThread instances (excluding marionette)
-	std::vector<std::shared_ptr<MindThread>> componentThreads;
 
+private:
 	class MindLifetimeMgmtOp;
 	class MindThreadLifetimeMgmtOp;
-	class InitializeBodyReq;
-	class FinalizeBodyReq;
 };
 
 // Global Mind instance will be defined in marionette.cpp