hayodea
0ec227cf9e
We now run body.finalizeReq even if body.init wasn't called. We'll do a finer-grained check on each aspect of Body that needs to be finalized now. This check was too large-grained.
93 lines
2.9 KiB
C++
93 lines
2.9 KiB
C++
#ifndef _MIND_H
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#define _MIND_H
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#include <config.h>
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#include <thread>
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#include <functional>
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#include <memory>
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#include <unordered_map>
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#include <string>
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#include <component.h>
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#include <componentThread.h>
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#include <director/director.h>
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#include <simulator/simulator.h>
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#include <body/body.h>
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namespace smo {
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class Mind : public std::enable_shared_from_this<Mind>
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{
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public:
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Mind(void);
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~Mind(void) = default;
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typedef std::function<void(bool)> mindLifetimeMgmtOpCbFn;
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void initializeReq(mindLifetimeMgmtOpCbFn callback);
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void finalizeReq(mindLifetimeMgmtOpCbFn callback);
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// ComponentThread access methods
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std::shared_ptr<MindThread> getComponentThread(
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ComponentThread::ThreadId id) const;
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std::shared_ptr<MindThread> getComponentThread(
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const std::string& name) const;
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// Get all this Mind's component threads.
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std::vector<std::shared_ptr<MindThread>> getMindThreads() const;
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// Thread management methods (moved from ComponentThread)
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typedef std::function<void()> mindThreadLifetimeMgmtOpCbFn;
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void joltAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
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void startAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
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void pauseAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
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void resumeAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
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void exitAllMindThreadsReq(mindThreadLifetimeMgmtOpCbFn callback);
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// CPU distribution method
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void distributeAndPinThreadsAcrossCpus();
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private:
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// Collection of ComponentThread instances (excluding marionette)
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std::vector<std::shared_ptr<MindThread>> componentThreads;
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public:
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director::Director director;
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simulator::Simulator canvas;
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MindComponent subconscious;
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body::Body body;
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MindComponent world;
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private:
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friend class body::Body;
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/**
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* Indicates whether all mind threads have been JOLTed at least once.
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*
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* JOLTing serves two critical purposes:
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*
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* 1. **Global Constructor Sequencing**: Since pthreads begin executing while
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* global constructors are still being executed, globally defined pthreads
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* cannot depend on global objects having been constructed. JOLTing is done
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* by the CRT's main thread within main(), which provides a sequencing
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* guarantee that global constructors have been called.
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*
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* 2. **shared_from_this Safety**: shared_from_this() requires a prior
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* shared_ptr handle to be established. The global list of
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* shared_ptr<ComponentThread> guarantees that at least one shared_ptr to
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* each ComponentThread has been initialized before JOLTing occurs.
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*
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* This flag ensures that JOLTing happens exactly once and provides
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* a synchronization point for the entire system initialization.
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*/
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bool threadsHaveBeenJolted = false;
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private:
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class MindLifetimeMgmtOp;
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class MindThreadLifetimeMgmtOp;
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};
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// Global Mind instance will be defined in marionette.cpp
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extern std::shared_ptr<Mind> globalMind;
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} // namespace smo
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#endif
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