salmanoff/smocore/include/componentThread.h

#ifndef COMPONENT_THREAD_H
#define COMPONENT_THREAD_H

#include <atomic>
#include <thread>
#include <unordered_map>
#include <boost/asio.hpp>
#include <stdexcept>
#include <queue>
#include <functional>
#include <pthread.h>
#include <sched.h>
#include <unistd.h>

namespace smo {

class ComponentThread
:   public std::enable_shared_from_this<ComponentThread>
{
public:
	enum ThreadId
	{
		MRNTT = 0,
		DIRECTOR,
		SIMULATOR,
		SUBCONSCIOUS,
		BODY,
		WORLD,
		N_ITEMS
	};

	ComponentThread(ThreadId id)
    :   id(id), name(getThreadName(id)),
        work(io_service), pause_work(pause_io_service),
        pinnedCpuId(-1),
        thread(
			((id == MRNTT) ? marionetteMain : main),
			std::ref(*this))
	{}

	void cleanup(void);

	boost::asio::io_service& getIoService(void) { return io_service; }

	void initializeTls(void);
	static const std::shared_ptr<ComponentThread> getSelf(void);

	static std::shared_ptr<ComponentThread> getComponentThread(
        ThreadId id = N_ITEMS)
    {
		if (id < 0 || id > N_ITEMS)
        {
			throw std::runtime_error(std::string(__func__)
                + ": Invalid thread ID");
		}
		return componentThreads[id];
	}

    // Overload: search by name
    static std::shared_ptr<ComponentThread> getComponentThread(
		const std::string& name)
    {
        for (auto& thread : componentThreads) {
            if (thread->name == name) { return thread; }
        }
        throw std::runtime_error(std::string(__func__)
            + ": Thread name not found in componentThreads map");
    }

	static boost::asio::io_service& getEventLoop(
        ThreadId id = MRNTT)
    {
		return getComponentThread(id)->getIoService();
	}


	typedef void (mainFn)(ComponentThread &self);
	static mainFn main, marionetteMain;

	// Thread management methods
	void startThreadReq(std::function<void()> callback = nullptr);
	void exitThreadReq(std::function<void()> callback = nullptr);
	void pauseThreadReq(std::function<void()> callback = nullptr);
	void resumeThreadReq(std::function<void()> callback = nullptr);
	void joltThreadReq(std::function<void()> callback = nullptr);

	// Convenience wrappers
	static void startAllMindThreadsReq(std::function<void()> callback = nullptr);
	static void pauseAllMindThreadsReq(std::function<void()> callback = nullptr);
	static void resumeAllMindThreadsReq(std::function<void()> callback = nullptr);
	static void exitAllMindThreadsReq(std::function<void()> callback = nullptr);
	static void joltAllMindThreadsReq(std::function<void()> callback = nullptr);

	// CPU management methods
	static int getAvailableCpuCount();
	void pinToCpu(int cpuId);
	static void distributeAndPinThreadsAcrossCpus();

	enum class ThreadOp
	{
		START,
		PAUSE,
		RESUME,
		EXIT,
		JOLT,
		N_ITEMS
	};
	static void execOpOnAllMindThreadsReq(
		ThreadOp op, std::function<void()> callback = nullptr);

	// Intentionally doesn't take a callback.
	void exceptionInd(ComponentThread& thread);

public:
	ThreadId id;
	std::string name;
	boost::asio::io_service io_service;
	boost::asio::io_service::work work;
	boost::asio::io_service pause_io_service;
	boost::asio::io_service::work pause_work;
	std::atomic<bool> keepLooping;
	int pinnedCpuId;
    // Indicates whether all mind threads have been JOLTed at least once
    static std::atomic<bool> threadsHaveBeenJolted;

    /* Always ensure that this is last so that the thread is spawned after
     * everything else is constructed.
     */
	std::thread thread;
	static std::array<std::shared_ptr<ComponentThread>, ComponentThread::N_ITEMS>
		componentThreads;

	static const std::string threadNames[ComponentThread::N_ITEMS];
	static const std::string getThreadName(ThreadId id)
	{
		if (id < 0 || id >= ComponentThread::N_ITEMS)
		{
			throw std::runtime_error(std::string(__func__)
				+ ": Invalid thread ID");
		}
		return threadNames[id];
	}
};

namespace mrntt {
extern std::shared_ptr<ComponentThread> mrntt;
}
namespace director {
extern std::shared_ptr<ComponentThread> director;
}
namespace simulator {
extern std::shared_ptr<ComponentThread> canvas;
}
namespace subconscious {
extern std::shared_ptr<ComponentThread> subconscious;
}
namespace body {
extern std::shared_ptr<ComponentThread> body;
}
namespace world {
extern std::shared_ptr<ComponentThread> world;
}

} // namespace smo

#endif // COMPONENT_THREAD_H