hayodea
ab930a2df3
Register comparator types via a dedicated manager and expose lookup/create hooks through SmoCallbacks so stimbuff libs can resolve comparators at load time. Co-authored-by: Cursor <cursoragent@cursor.com>
116 lines
3.3 KiB
C++
116 lines
3.3 KiB
C++
#include <iostream>
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#include <stdexcept>
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#include <opts.h>
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#include <body/body.h>
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#include <body/bodyThread.h>
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#include <componentThread.h>
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#include <deviceManager/deviceManager.h>
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#include <mind.h>
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#include <stimBuffApis/stimBuffApiManager.h>
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#include <comparatorLibs/comparatorApiManager.h>
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namespace smo {
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namespace body {
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Body::Body(Mind &parent, const std::shared_ptr<sscl::PuppetThread> &thread)
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: MindComponent(static_cast<sscl::PuppetApplication&>(parent), thread)
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{
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}
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BodyViralPostingInvoker<void> Body::initializeCReq()
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{
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auto self = sscl::ComponentThread::getSelf();
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if (self->id != SmoThreadId::BODY)
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{
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throw std::runtime_error(std::string(__func__)
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+ ": Must be executed on Body thread");
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}
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/** EXPLANATION:
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* The ComponentThread instance we pass in here is the one that will be
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* used by Senseapi libs to perform device-independent background
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* operations.
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* For example, liblivoxProto1's BroadcastListener will use this thread
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* to listen for UDP broadcast dgrams from Livox devices.
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*
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* We used to use Marionette, but there's a strong argument for using
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* Body instead since it's meant to handle device-management operations.
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*/
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// Upcast to Mind to access Mind-specific members
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Mind &mind = static_cast<Mind&>(parent);
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comparator_lib::ComparatorApiManager::getInstance()
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.loadComparatorLib("libcomparatorCore.so");
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stim_buff::StimBuffApiManager::getInstance()
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.loadAllStimBuffApiLibsFromOptions(mind.body.thread);
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/** EXPLANATION:
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* Consider body::initializeCReq to have been called if even one of its
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* operations was executed at all, whether successfully or
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* unsuccessfully.
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*/
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mind.bodyComponentInitialized = true;
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std::cout << stim_buff::StimBuffApiManager::getInstance().stringifyLibs()
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<< std::endl;
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if (OptionParser::getOptions().verbose)
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{
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std::cout << __func__ << ": About to initializeAllStimBuffApiLibs"
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<< '\n';
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}
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co_await stim_buff::StimBuffApiManager::getInstance()
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.initializeAllStimBuffApiLibsCReq();
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if (OptionParser::getOptions().verbose)
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{
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std::cout << __func__ << ": About to attachAllUnattachedDevicesFromCmdline"
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<< '\n';
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}
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co_await device::DeviceManager::getInstance()
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.attachAllUnattachedDevicesFromCmdlineCReq();
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co_return;
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}
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BodyViralPostingInvoker<void> Body::finalizeCReq()
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{
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auto self = sscl::ComponentThread::getSelf();
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if (self->id != SmoThreadId::BODY)
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{
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throw std::runtime_error(std::string(__func__)
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+ ": Must be executed on Body thread");
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}
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// Upcast to Mind to access Mind-specific members
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Mind &mind = static_cast<Mind&>(parent);
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if (!mind.bodyComponentInitialized)
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{
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std::cout << "Mrntt: Body component not initialized. "
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<< "Skipping finalization." << "\n";
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co_return;
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}
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std::cout << "Mrntt: About to detach all sense devices." << "\n";
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co_await device::DeviceManager::getInstance()
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.detachAllAttachedDeviceRolesCReq();
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std::cout << "Mrntt: About to finalize all stim buff api libs." << "\n";
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co_await stim_buff::StimBuffApiManager::getInstance()
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.finalizeAllStimBuffApiLibsCReq();
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std::cout << "Mrntt: About to unload all stim buff api libs." << "\n";
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stim_buff::StimBuffApiManager::getInstance().unloadAllStimBuffApiLibs();
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std::cout << "Mrntt: About to unload all comparator libs." << "\n";
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comparator_lib::ComparatorApiManager::getInstance()
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.unloadAllComparatorLibs();
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co_return;
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}
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} // namespace body
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} // namespace smo
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