smo::Mind instance now global; track & manage JOLT state in Mind

We moved the instance of smo::Mind to global scope. I suppose we'll
only support one instance of Mind per SMO process at least for now.

We now track the state of Mind threads' JOLT-waiting. This allows us
to centralize the Mind thread shutdown logic. Mind::finalizeReq()
now takes care of all Mind thread shutdown state logic by tracking
whether Mind threads need to be JOLTed first before being told to
exit.

smocore/componentThread.cpp

@@ -1,9 +1,10 @@
+#include <unistd.h>
 #include <iostream>
-#include <componentThread.h>
-#include <boost/asio.hpp>
 #include <pthread.h>
 #include <sched.h>
-#include <unistd.h>
+#include <boost/asio.hpp>
+#include <mind.h>
+#include <componentThread.h>
 
 namespace smo {
 
@@ -377,7 +378,7 @@ void ComponentThread::exceptionInd(ComponentThread& thread)
 		std::cerr << "Mrntt: Exception occurred: in thread "
 			<< thread.name << ". Killing Salmanoff." << "\n";
 
-		ComponentThread::exitAllMindThreadsReq(
+		smo::mind.finalizeReq(
 		[]()
 		{
 			mrntt::mrntt->keepLooping = false;

smocore/include/mind.h

@@ -3,6 +3,7 @@
 
 #include <config.h>
 #include <thread>
+#include <functional>
 
 #include <director/director.h>
 #include <simulator/simulator.h>
@@ -12,9 +13,11 @@ namespace smo {
 class Mind
 {
 public:
+	Mind(void) : threadsHaveBeenJolted(false) {}
+
 	void initialize(void);
 	void execute(void);
-	void finalize(void);
+	void finalizeReq(std::function<void()> callback);
 
 public:
 	std::thread directorThread;
@@ -23,8 +26,13 @@ public:
 
 	director::Director director;
 	simulator::Simulator canvas;
+
+private:
+	bool	threadsHaveBeenJolted;
 };
 
+extern Mind mind;
+
 } // namespace smo
 
 #endif

smocore/marionette/marionette.cpp

@@ -57,29 +57,15 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 			/* We could make RAII guard classes to always shutdown the mind
 			 * threads properly in these pre-event loop situations.
 			 */
-			self.getIoService().post([&options]()
+			mind.finalizeReq([]{
-			{
+				mrntt::mrntt->getIoService().stop();
-				ComponentThread::joltAllMindThreadsReq(
-				[&options]()
-				{
-					ComponentThread::exitAllMindThreadsReq(
-						[&options]()
-						{
-							std::cout << __func__ << ": " << options.getUsage()
-								<< '\n';
-							mrntt::mrntt->getIoService().stop();
-						}
-					);
-				});
 			});
 			self.getIoService().reset();
 			self.getIoService().run();
 			return;
 		}
 
-		smo::Mind mind;
+		self.getIoService().post([]()
-
-		self.getIoService().post([&mind]()
 		{
 			try {
 				initializeSalmanoff();
@@ -128,7 +114,7 @@ void ComponentThread::marionetteMain(ComponentThread& self)
         }
 
         std::cout << __func__ << ": Exited event loop" << "\n";
-		mind.finalize();
+		mind.finalizeReq(nullptr);
 		shutdownSalmanoff();
 	}
 	catch (const std::exception& e)

smocore/mind.cpp

@@ -4,6 +4,8 @@
 
 namespace smo {
 
+Mind mind;
+
 void Mind::initialize()
 {
     /* Distribute threads across available CPUs */
@@ -20,8 +22,9 @@ void Mind::initialize()
 
     /* Jolt the threads, then start them */
     ComponentThread::joltAllMindThreadsReq(
-        []()
+        [this]()
         {
+            this->threadsHaveBeenJolted = true;
             std::cout << "Mrntt: All mind threads JOLTed." << "\n";
             ComponentThread::startAllMindThreadsReq(
                 []()
@@ -33,8 +36,38 @@ void Mind::initialize()
     );
 }
 
-void Mind::finalize(void)
+void Mind::finalizeReq(std::function<void()> callback)
 {
+    /* If the threads haven't been jolted, we need to do that first, because
+     * otherwise they'll just enter their main loops and wait for control
+     * messages from mrntt after processing the exit request.
+     */
+    if (!threadsHaveBeenJolted)
+    {
+        ComponentThread::joltAllMindThreadsReq(
+            [this, callback]()
+            {
+                this->threadsHaveBeenJolted = true;
+                ComponentThread::exitAllMindThreadsReq(
+                    [callback]()
+                    {
+                        std::cout << "Mrntt: All mind threads exited." << "\n";
+                        if (callback) { callback(); }
+                    }
+                );
+            }
+        );
+    }
+    else
+    {
+        ComponentThread::exitAllMindThreadsReq(
+            [callback]()
+            {
+                std::cout << "Mrntt: All mind threads exited." << "\n";
+                if (callback) { callback(); }
+            }
+        );
+    }
 }
 
 } // namespace smo