From db8f047322bb0259e6862062343ef71cb82732ab Mon Sep 17 00:00:00 2001
From: Hayodea Hakol <hayodea@protonmail.com>
Date: Mon, 15 Sep 2025 12:47:37 -0400
Subject: [PATCH] SApiMgr:attDevReq: use body||world thread for i/e-devs

We now pass in the correct ComponentThread based on the type of
device that's being attached.
---
 include/user/senseApiDesc.h           |  1 +
 senseApis/livoxGen1/livoxGen1.cpp     | 15 ++++++---------
 senseApis/xcbWindow/xcbWindow.cpp     |  4 ++++
 smocore/senseApis/senseApiManager.cpp | 25 ++++++++++++++++++++++++-
 4 files changed, 35 insertions(+), 10 deletions(-)

diff --git a/include/user/senseApiDesc.h b/include/user/senseApiDesc.h
index 17bf1b2..52e081c 100644
--- a/include/user/senseApiDesc.h
+++ b/include/user/senseApiDesc.h
@@ -43,6 +43,7 @@ typedef int (sal_mlo_initializeIndFn)(void);
 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);
 typedef void (sal_mlo_detachDeviceReqFn)(
     const std::shared_ptr<device::DeviceAttachmentSpec>& desc,
diff --git a/senseApis/livoxGen1/livoxGen1.cpp b/senseApis/livoxGen1/livoxGen1.cpp
index 7a566ad..47a30da 100644
--- a/senseApis/livoxGen1/livoxGen1.cpp
+++ b/senseApis/livoxGen1/livoxGen1.cpp
@@ -51,14 +51,10 @@ static LivoxProto1DllState livoxProto1;
 static std::vector<std::shared_ptr<livoxProto1::Device>> g_attachedDevices;
 
 // Callback function declarations
-extern "C" int livoxGen1_initializeInd(void);
-extern "C" int livoxGen1_finalizeInd(void);
-extern "C" void livoxGen1_attachDeviceReq(
-	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc,
-	smo::sense_api::sal_mlo_attachDeviceReqCbFn cb);
-extern "C" void livoxGen1_detachDeviceReq(
-	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc,
-	smo::sense_api::sal_mlo_detachDeviceReqCbFn cb);
+extern "C" sal_mlo_initializeIndFn livoxGen1_initializeInd;
+extern "C" sal_mlo_finalizeIndFn livoxGen1_finalizeInd;
+extern "C" sal_mlo_attachDeviceReqFn livoxGen1_attachDeviceReq;
+extern "C" sal_mlo_detachDeviceReqFn livoxGen1_detachDeviceReq;
 
 // Sense API descriptor
 static const SenseApiDesc livoxGen1ApiDesc = {
@@ -155,6 +151,7 @@ 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
 	)
 {
@@ -249,7 +246,7 @@ extern "C" void livoxGen1_attachDeviceReq(
 
 	(*livoxProto1.livoxProto1_getOrCreateDeviceReq)(
 		desc->deviceSelector,  // deviceIdentifier (broadcast code)
-		smoThreadingModelDesc.componentThread,
+		componentThread,
 		handshakeTimeoutMs, retryDelayMs,
 		smoIp, smoSubnetNbits,
 		dataPort, cmdPort, imuPort,
diff --git a/senseApis/xcbWindow/xcbWindow.cpp b/senseApis/xcbWindow/xcbWindow.cpp
index 97c8112..a6ed750 100644
--- a/senseApis/xcbWindow/xcbWindow.cpp
+++ b/senseApis/xcbWindow/xcbWindow.cpp
@@ -275,9 +275,13 @@ 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
     )
 {
+	// Not used yet, but may be used later.
+    (void)componentThread;
+
     g_attachedWindows.emplace_back(
         std::make_unique<xcb_window::AttachedWindow>(desc));
 
diff --git a/smocore/senseApis/senseApiManager.cpp b/smocore/senseApis/senseApiManager.cpp
index 0618393..e9561db 100644
--- a/smocore/senseApis/senseApiManager.cpp
+++ b/smocore/senseApis/senseApiManager.cpp
@@ -283,7 +283,30 @@ void SenseApiManager::attachSenseDeviceReq(
             std::string(__func__) + ": attachDeviceReq() is NULL for library '"
             + lib.libraryPath + "'");
     }
-    lib.senseApiDesc.sal_mgmt_libOps.attachDeviceReq(spec, cb);
+
+	/**		EXPLANATION:
+	 * We pass in either the body or world thread here, depending on whether
+	 * the device is an introspector (idev) or extrospector (edev).
+	 *
+	 * Introspectors are attached to the body thread; extrospectors are attached
+	 * to the world thread.
+	 */
+	std::shared_ptr<ComponentThread> threadForAttachment;
+	if (spec->sensorType == 'e')
+	{
+		threadForAttachment = mind::globalMind->world.thread;
+		std::cout << __func__ << ": Attaching edev " << spec->deviceIdentifier
+			<< " to world thread" << "\n";
+	}
+	else
+	{
+		threadForAttachment = mind::globalMind->body.thread;
+		std::cout << __func__ << ": Attaching non-edev "
+			<< spec->deviceIdentifier << " to body thread" << "\n";
+	}
+
+	lib.senseApiDesc.sal_mgmt_libOps.attachDeviceReq(
+		spec, threadForAttachment, cb);
 }
 
 void SenseApiManager::detachSenseDeviceReq(