Feat/binary resultframe decoder#7
Merged
Merged
Conversation
MIME's runner now offers an opt-in binary wire format on ZMQ 5556
(v0.2 fit-up §8). MICROROBOTICA negotiates the format via a stream_info
handshake on connect and decodes whichever the runner declares.
- binary_frame_decoder: parse the stream_info schema and decode
[8B float64 sim_time][N x float32] frames into core::ResultFrame,
the same struct the JSON path produces. Supports compression "none"
and "zstd" (when built with libzstd); errors clearly on "zstd+xor".
- MimePhysicsProcess: stream_info handshake on launch(), lazy schema
re-query (the runner builds its encoder on the first frame), and a
per-message JSON/binary discriminator in the worker loop. The
one-time {"type":"params"} notice is recognised in both modes.
- JSON remains the fallback when stream_info is unavailable.
- Optional zstd autodetection in CMake; zstd added to vcpkg.json.
- test_binary_decoder: decoder round-trip, error cases, and an
end-to-end ZMQ test with a faithful runner mock.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
…tation Wires the binary ResultFrame path through to the UI so it can be tested and benchmarked against a live MIME runner. Phase 1 — selectable format: - RunConfigPanel gains a "Stream format" combo (Auto / JSON / Binary). - ExperimentRunner::start() forwards the choice to the spawned runner as the MIME_STREAM_FORMAT environment variable. - MainWindow passes the panel's choice through on launch. Phase 2 — benchmark instrumentation: - core::StreamStats: format, bytes/frame, decode latency, wire fps, drop/error counts. New virtual PhysicsProcess::streamStats(). - MimePhysicsProcess instruments the SUB worker — times every decode, counts bytes and frames, tracks an EWMA frame rate. decodeJsonMessage() replaces handleJsonMessage(), returning an optional so JSON and binary decode are timed symmetrically. - TimelinePanel shows a live readout (format, B/frame, decode us, drops). - SimulationController::stop() logs a one-line benchmark summary and appends a row to microbotica_stream_benchmark.csv for JSON-vs-binary comparison across runs. - test_binary_decoder: the end-to-end test now also asserts streamStats. All 98 tests pass; both targets build clean under -Wall -Wextra -Werror. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
…ames Adds tests that de-risk a live runner connection: - JSON-stream end-to-end: handshake declares json, the worker decodes JSON ResultFrames and skips the params notice, streamStats reports format=json. Exercises the fallback path with the refactored worker. - 0x7B collision: a binary frame whose float64 sim_time begins with 0x7B (the JSON discriminator byte) — ~1/256 of real frames. Covered both as a decoder unit test and end-to-end, asserting such frames fall through to the binary decoder rather than counting as errors. - Corrupt frame: a wrong-sized message is rejected, increments decodeErrors, and does not stall the stream. - Schema field out of range is rejected; the round-trip test now uses a distinct-valued quaternion so a wrong w/x/y/z order would fail. 103 tests pass (16 in the binary suite). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Convert LocalViewport from QOpenGLWidget to a native QOpenGLWindow embedded via createWindowContainer; the composited-present path failed in the Docker'd-X environment, leaving the viewport drawing only during camera motion. Restore MSAA for translucency and add bounds-based near/far clip planes. Record the geometry-budget guard idea in RUNTIME_VALIDATION_DEFERRED.md. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
…ment
Three closely-related UX fixes around opening and launching an experiment.
1) Non-blocking MIME runner wait.
onSimulationStart used to call waitUntilReady (a 30s blocking sleep loop)
on the UI thread, freezing the whole app while the runner JIT-compiled.
The wait is now driven by a QTimer that polls a new ExperimentRunner::
probeReady — a single non-blocking TCP probe — every 150 ms, so the
viewport stays interactive throughout. waitUntilReady now delegates to
the same probe primitive and is kept for tests.
2) Viewport notice overlay (noice.nvim-style).
New microbotica::viewport::NoticeOverlay — a top-level frameless,
transparent-input tool window that tracks the viewport's geometry via
an event filter. Renders stacked rounded cards (severity glyph + accent
stroke, dim body) in the top-right corner; inputs pass straight through.
Required as a separate window because LocalViewport is a native
QOpenGLWindow which hides any sibling Qt widgets behind it.
Notices are keyed by id (add/replace/remove), and Settings → General
gains an "enabled" checkbox + opacity slider stored under notices/* in
QSettings. MainWindow shows the "Starting MIME runner" notice during
the async wait and removes it on success/failure.
3) Open Experiment plumbing.
- RunConfigPanel's folder edit was never updated when an experiment
was opened from the File menu (the existing QSignalBlocker'd emit
suppressed even the slot it was trying to invoke). New
RunConfigPanel::setExperimentDir() sets the text without emitting
experimentDirChanged, and initExperiment now calls it on every
entry point.
- Switching experiments left the previous USD scene on screen because
initExperiment skipped loadScene when one was already loaded. It now
closes the previous scene first so the new world.usda is applied.
All 103 tests pass.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Implemented binary encoder + handshake with MIME to decide between json or binary communication. Also improved some minor UI aspects, like adding a notice widget for the 3d viewport.