Make [at|de]tachAllSenseDevices[FromSpecs] and initializeSalmanoff async

This is the culmination of a lot of changes over the last week. We're
making SMO basically fully async in many areas, and then preparing to
implement the spinqueueing mechanism for locking.

smocore/marionette/marionette.cpp

@@ -5,6 +5,7 @@
 #include <opts.h>
 #include <typeinfo>
 #include <boost/asio/signal_set.hpp>
+#include <asynchronousBridge.h>
 #include <mind.h>
 #include <componentThread.h>
 #include <marionette/marionette.h>
@@ -46,7 +47,7 @@ void ComponentThread::marionetteMain(ComponentThread& self)
     self.initializeTls();
     mrntt::exitCode = EXIT_SUCCESS;
 	static boost::asio::signal_set signals(self.getIoService(), SIGINT);
-	bool callFinalizeReq = false;
+	bool callFinalizeReq = false, callShutdownSalmanoff = false;
 
 	try {
 		// Register SIGINT (Ctrl+C) and SIGSEGV handlers
@@ -88,9 +89,15 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 		self.getIoService().post([]()
 		{
 			// Initialize Salmanoff first
-			initializeSalmanoff(mrntt::mrntt);
-			// Then initialize the global Mind object
-			globalMind->initialize();
+			initializeSalmanoff([](bool success)
+			{
+				if (success) {
+					// Then initialize the global Mind object
+					globalMind->initialize();
+				} else {
+					std::cerr << "Failed to initialize Salmanoff" << std::endl;
+				}
+			});
 		});
 
         std::cout << __func__ << ": Entering event loop" << "\n";
@@ -154,20 +161,38 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 		}
 
 		*out << outUsageMsg << e.what() << std::endl;
-		callFinalizeReq = true;
+		callShutdownSalmanoff = callFinalizeReq = true;
 	}
 	catch (const std::exception& e)
 	{
 		std::cerr << __func__ << ": Exception occurred: " << e.what()
 			<< std::endl;
 		mrntt::exitCode = EXIT_FAILURE;
-		callFinalizeReq = true;
+		callShutdownSalmanoff = callFinalizeReq = true;
 	}
 	catch (...)
 	{
 		std::cerr << __func__ << ": Unknown exception occurred" << std::endl;
 		mrntt::exitCode = EXIT_FAILURE;
-		callFinalizeReq = true;
+		callShutdownSalmanoff = callFinalizeReq = true;
+	}
+
+	if (callShutdownSalmanoff)
+	{
+		shutdownSalmanoff(
+			[](bool success)
+			{
+				if (success) {
+					std::cout << "Salmanoff shutdown completed successfully"
+						<< std::endl;
+				} else {
+					std::cerr << "Salmanoff shutdown failed" << std::endl;
+				}
+				mrntt::mrntt->getIoService().stop();
+			}
+		);
+		self.getIoService().reset();
+		self.getIoService().run();
 	}
 
 	if (callFinalizeReq)
@@ -178,8 +203,6 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 		self.getIoService().reset();
 		self.getIoService().run();
 	}
-
-	shutdownSalmanoff();
 }
 
 } // namespace smo