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Add/implement energy metrics#75

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SaltyJoss merged 14 commits intoDevfrom
add/implement_energy_metrics
Feb 23, 2026
Merged

Add/implement energy metrics#75
SaltyJoss merged 14 commits intoDevfrom
add/implement_energy_metrics

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@SaltyJoss SaltyJoss commented Feb 22, 2026

This pull request introduces batch mode support to the simulation engine, enabling command-line execution of multiple simulation runs with configurable parameters. The changes add new batch-related entry points, argument parsing, and integrate batch functionality into the build system. Additionally, the build configuration is updated to include new headers and source files, and some unused scene-related files are removed.

Batch mode functionality:

  • Added new batch entry point (BatchMain.cpp) and supporting headers (BatchEntry.h, BatchArgs.h) to enable running simulations in batch mode via command-line arguments. ([[1]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-2a016f49e99426052a1f0c9a1ae48081be701c3b8767dd10f8be669431be476eR1-R19), [[2]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-4c538a6d8d5ec795af8306b70d3069005463b0a2b2dbd488ca809a17d00ba94bR1-R3), [[3]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-058af05fc29e9955a6897926d40c0f4a17344c0247ccb04eb1ec34d580bef942R1-R132))
  • Modified Main.cpp to parse batch-specific arguments, validate them, and delegate execution to the batch entry point when the --batch flag is present. ([Sim_Engine/Engine/src/Main.cppR2-R166](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-02056878299abb44028bd3b057128c802d19bb9238ecdf55f1c3da933c0a4250R2-R166))

Build system updates:

  • Updated Engine.vcxproj and Engine.vcxproj.filters to include new batch source and header files, and set up appropriate include directories for batch mode dependencies (including Eigen). ([[1]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-62beac1f3052cae8cf7e65e6c31278785269ca76154a39b50c4a157929d66503L60-R60), [[2]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-62beac1f3052cae8cf7e65e6c31278785269ca76154a39b50c4a157929d66503L90-R90), [[3]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-62beac1f3052cae8cf7e65e6c31278785269ca76154a39b50c4a157929d66503R114), [[4]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-62beac1f3052cae8cf7e65e6c31278785269ca76154a39b50c4a157929d66503R142-R145), [[5]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-c8c42c5ee651e9760de79e8a8b570d11c05a619f44194d20533497f23ad93477R10-R12), [[6]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-c8c42c5ee651e9760de79e8a8b570d11c05a619f44194d20533497f23ad93477R21-R23), [[7]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-c8c42c5ee651e9760de79e8a8b570d11c05a619f44194d20533497f23ad93477R93-R100))

Cleanup and refactoring:

  • Removed unused scene-related files (MeshLoader.h, VertexHolder.h, MeshLoader.cpp) from the build configuration and filters, and moved relevant headers to assets and platform directories. ([[1]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-749d9a81240905e28ef4b6934f1d6f00e807035614bc0b2c1d683cb400865c79R182-R183), [[2]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-749d9a81240905e28ef4b6934f1d6f00e807035614bc0b2c1d683cb400865c79R215-R226), [[3]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-749d9a81240905e28ef4b6934f1d6f00e807035614bc0b2c1d683cb400865c79L245-L251), [[4]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-749d9a81240905e28ef4b6934f1d6f00e807035614bc0b2c1d683cb400865c79L387), [[5]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-8b55ccce9346a3dcd5555c53c11f7707c81b7f56e3630dd79b2266bafbc7b4a9L234-L236), [[6]](https://github.com/SaltyJoss/RoboticArm_MathModelling/pull/75/files#diff-8b55ccce9346a3dcd5555c53c11f7707c81b7f56e3630dd79b2266bafbc7b4a9L303-L305))

Disclaimer:
In the interst of time, I generated this summary with GitHub Copilot, then checked it!

@SaltyJoss
update: going to add a basic double-buffer design to help testing runs
60c7afc
@SaltyJoss
WIP: adding double-buffered joint metric logging to RobotSystem
2b0b7cc 
NOTES:
- The idea is to introduce a thread-safe, double-buffered internal logging system for joint metrics, I am so fed up of the current logger.
- Added JointLogEntry struct, push_entry, and validate methods to MetricLogger.
- Implemented claimExportLogBuffer, useInternalLogBuffer, and reserveInternalLogBuffers to manage buffer swapping and allocation. (assisted by forums and AI to correct minor mistakes)
- Updated simulation loop to use internal buffers by default, with support for external buffers if needed.
@SaltyJoss
WIP: added simulation run modes and refactor log buffer handling
3230a4c 
NOTES:
- IntroduceD Interactive/Synchronous run modes to SimulationCore WITH dynamical sizing log and reference buffers based on mode to prevent OOM (new acronym learnt) errors.
- Moved joint log buffer management into the robot system, with export and clearing handled via new interfaces.
- Refactored exportLogsToHDF5 for validation, timing, and robust logging.
- Added buffer size validation to exportRefsToHDF5.

TODO:
- Now implementing batch parallelisation
    * I WANT TO VERY CLEAR -> this does not affect my current dissertation, but I really cannot be bothered waiting for all my tests to finish because my thread util is 100%.
@SaltyJoss
feat: added Headless core API, batch runner, and asset refactor
c303050 
NOTES:
- Major refactor to decouple simulation core from GUI by introducing ISimulationCore, a headless API for scripting and batch operation.
    * This has taken ~7hours, learnt a lot though!!
- Added StudyRunner for parallel/batch simulation runs and BatchMain for CLI batch mode.
- Interpreter contexts now use ISimulationCore*, enabling headless scripting!
- Moveded MeshLoader and VertexHolder to Assets namespace -> updated all mesh/vertex code accordingly.
- Addeded integration method enum header.

TODO:
- Go through and MAKE SURE it is working (it loads, but cannot verify right now, commit is to save progress)
@SaltyJoss
WIP
19439af
@SaltyJoss
WIP: parallel batch runs & async integrator comparison in GUI
0a3601f 
NOTES:
- Major refactor for thread-safe parallel simulation and integrator comparison
- Batch mode now uses hardware concurrency, times runs, and sorts results.
- StudyRunner and GUI now launch async simulation tasks, poll results, and handle exceptions robustly.
- Integrator comparison runs each method in parallel, results are sorted and displayed when ready.
- Added thread-safe result handling in SimManager and ControlPanel.
- SSAO kernel generation uses C++ RNG for reproducibility.
- Script integrator replacement uses regex for reliability.
- Improved OpenGL resource cleanup and modularity.
- UI is more responsive; background runs do not block main thread.

TODO:
- Make parallelisation Universal
@SaltyJoss
WIP: batch study and background run support in GUI
c893a88 
NOTES:
- Added StudyRunner to SimManager for batch/background studies.
- Introduced thread-safe result handling and integration method querying in ISimulationCore.
- Refactored CommandScriptEditor to use StudyRunner for background runs.
- Tweaked telemetry and comparison results collection in ControlPanel (I want to spend some time fixing the entire class honestly, but after).
- "Standardised" simulation core factory usage and cleaned up declarations (I think there is a lot of work to be done here though).

TODO:
- Get parallelisation working with runs on gui.
@SaltyJoss
refactor: refactored SimulationCore to use unique_ptr for core systems
706c4ab 
NOTES:
- Refactored SimulationCore to manage RobotSystem, PhysicsSystem, TrajectoryManager, and object container with std::unique_ptr for improved memory safety and automatic cleanup.
- Updated factory and setter/getter methods accordingly (just to allow for batch runs using these systems).
- Added ENGINE_API to paths functions for DLL compatibility.
- BatchMain.cpp now initialises paths and includes expanded batch script and debug logging.

TODO:
- Fixed HDF5 to be thread-safe, it currently is not.
- Run tests, and finish report, I HAVE LOTS OF NOTES

DISCLAIMER:
- Some changes in this commit were assisted using AI, as I am finding this interesting but also difficult, NOTES HAVE BEEN MADE SO I CAN LEARN :)
@SaltyJoss
refactor: removed singleton instance in DataManager to make logging p…
444afac 
…er Simulation Core
@SaltyJoss
fixes: improved data logging shutdown and HDF5 file handling
ce795b0 
NOTES:
- Add DataManager destructor/finalise() for explicit cleanup of HDF5 writers
- Include thread ID and ms timestamp in HDF5 filenames to avoid collisions
- Add debug helpers and print statements for shutdown tracing
- Protect HDF5 file creation with a mutex for thread safety
- In batch mode, force single worker thread for determinism
- Ensure simulation stops and data is flushed on script completion
- Minor code/comment cleanups and improved timestamp formatting
@SaltyJoss
refactor: added BatchArgs and flexible sweeps to batch mode
0598549 
NOTES:
- Introduced BatchArgs struct for batch mode argument handling.
- Refactored BatchMain.cpp/Main.cpp for improved parsing and validation.
- Batch mode now actually supports flexible sweeps of timesteps and integrators, with output tags generated from run parameters.
- HDF5 file naming updated to use run tags (HONESTLY WORTH IT).
- Project files updated to include BatchArgs.h.
- BatchEntry.h now accepts BatchArgs.
- Batch mode is now user-friendly.
@SaltyJoss
fixes: support both owning and non-owning subsystems in SimulationCore
b9e732c 
NOTES:
- Refactored SimulationCore to allow construction with either internally owned subsystems or externally provided references.
- Added separate unique_ptr and raw pointer members to enable flexible integration as a standalone core or within a larger system that manages subsystems externally.

TODO:
- Find cause of "invalid delete" error upon close, MSVC debug heap detects then invalid delte and triggers a debug break, but its midnight and im tired, and it still works soooo.
@SaltyJoss SaltyJoss self-assigned this Feb 22, 2026
@SaltyJoss SaltyJoss added documentation Improvements or additions to documentation enhancement New feature or request fixes fixing existing issues labels Feb 22, 2026
@SaltyJoss
fixes: support both owning and non-owning subsystems in SimulationCore
4afe474 
NOTES:
- Refactored SimulationCore to allow construction with either internally owned subsystems or externally provided references.
- Added separate unique_ptr and raw pointer members to enable flexible integration as a standalone core or within a larger system that manages subsystems externally.

TODO:
- Find cause of "invalid delete" error upon close, MSVC debug heap detects then invalid delte and triggers a debug break, but its midnight and im tired, and it still works soooo.

ALTERNATIVELY:
- Believe I found a fix, amending previous commit
@SaltyJoss
Merge branch 'add/implement_energy_metrics' of https://github.com/Sal…
b9586ba 
…tyJoss/RoboticArm_MathModelling into add/implement_energy_metrics
@SaltyJoss SaltyJoss merged commit dd3b25a into Dev Feb 23, 2026
2 checks passed
@SaltyJoss SaltyJoss deleted the add/implement_energy_metrics branch February 23, 2026 00:42
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