feat: unify RobotStudio package, diagnostics visuals, and perf fixes (#198)

Co-authored-by: Kinin-Code-Offical <yamacgursel@gmail.com>

Author: Kinin-Code-Offical

CoreSim/src/RobotTwin.CoreSim/Host/RealtimeHardening.cs

@@ -66,7 +66,23 @@ private static void TrySetAffinity(long affinityMask)
             try
             {
                 using var process = Process.GetCurrentProcess();
-                process.ProcessorAffinity = (IntPtr)affinityMask;
+                IntPtr affinityMask1 = (IntPtr)affinityMask;
+
+#if NET5_0_OR_GREATER
+                if (OperatingSystem.IsWindows())
+                {
+                    typeof(Process).GetProperty("ProcessorAffinity")?.SetValue(process, affinityMask1);
+                }
+                else if (OperatingSystem.IsLinux())
+                {
+                    typeof(Process).GetProperty("ProcessorAffinity")?.SetValue(process, affinityMask1);
+                }
+#else
+                if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows) || RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
+                {
+                    typeof(Process).GetProperty("ProcessorAffinity")?.SetValue(process, affinityMask1);
+                }
+#endif
             }
             catch
             {
@@ -82,17 +98,21 @@ private sealed class RealtimeHardeningScope : IDisposable
             public void TryBeginTimerResolution(uint periodMs)
             {
                 if (_timerActive) return;
+#pragma warning disable CA1416 // Guarded by OS checks; best-effort hardening only.
                 if (timeBeginPeriod(periodMs) == 0)
                 {
                     _timerActive = true;
                     _timerPeriod = periodMs;
                 }
+#pragma warning restore CA1416
             }
 
             public void Dispose()
             {
                 if (!_timerActive) return;
+#pragma warning disable CA1416 // Guarded by OS checks; best-effort hardening only.
                 timeEndPeriod(_timerPeriod);
+#pragma warning restore CA1416
                 _timerActive = false;
             }
         }

CoreSim/src/RobotTwin.CoreSim/Serialization/SimulationSerializer.cs

@@ -0,0 +1,42 @@
+using System.Collections.Generic;
+
+namespace RobotTwin.CoreSim.Specs
+{
+    public class AssemblySpec
+    {
+        public List<AssemblyPartSpec> Parts { get; set; } = new List<AssemblyPartSpec>();
+        public List<AssemblyWireSpec> Wires { get; set; } = new List<AssemblyWireSpec>();
+    }
+
+    public class AssemblyPartSpec
+    {
+        public string InstanceId { get; set; } = string.Empty;
+        public string ComponentType { get; set; } = string.Empty;
+        public string CatalogId { get; set; } = string.Empty;
+        public Vec3 Position { get; set; } = new Vec3();
+        public Vec3 Rotation { get; set; } = new Vec3();
+        public Vec3 Scale { get; set; } = new Vec3 { X = 1, Y = 1, Z = 1 };
+        public bool Pinned { get; set; }
+        public double DensityKgPerM3 { get; set; } = 1200.0;
+        public double MassKg { get; set; }
+        public double Friction { get; set; } = 0.6;
+    }
+
+    public class AssemblyWireSpec
+    {
+        public string Id { get; set; } = string.Empty;
+        public string From { get; set; } = string.Empty;
+        public string To { get; set; } = string.Empty;
+        public double LengthMeters { get; set; }
+        public double YoungModulus { get; set; } = 2.0e9;
+        public double MaxStress { get; set; } = 2.0e8;
+        public double Damping { get; set; } = 0.2;
+    }
+
+    public struct Vec3
+    {
+        public double X { get; set; }
+        public double Y { get; set; }
+        public double Z { get; set; }
+    }
+}

CoreSim/src/RobotTwin.CoreSim/Specs/AssemblySpec.cs

@@ -0,0 +1,13 @@
+namespace RobotTwin.CoreSim.Specs
+{
+    public class EnvironmentSpec
+    {
+        public string Name { get; set; } = "DefaultEnvironment";
+        public double TemperatureC { get; set; } = 22.0;
+        public double VibrationAmplitude { get; set; } = 0.0;
+        public double VibrationFrequencyHz { get; set; } = 0.0;
+        public double Gravity { get; set; } = 9.81;
+        public double AirDensity { get; set; } = 1.225;
+        public double SurfaceFriction { get; set; } = 0.6;
+    }
+}

CoreSim/src/RobotTwin.CoreSim/Specs/EnvironmentSpec.cs

@@ -17,6 +17,18 @@ public class ProjectManifest
         public required RobotSpec Robot { get; set; }
         public required WorldSpec World { get; set; }
 
+        /// <summary>
+        /// Optional assembly layout for RobotStudio / Full Mode preparation.
+        /// Stored as assembly.json in binary packages.
+        /// </summary>
+        public AssemblySpec? Assembly { get; set; }
+
+        /// <summary>
+        /// Optional environment factors (temperature, vibration, etc.).
+        /// Stored as environment.json in binary packages.
+        /// </summary>
+        public EnvironmentSpec? Environment { get; set; }
+
         public Dictionary<string, object> Metadata { get; set; } = new Dictionary<string, object>();
     }
 }

CoreSim/src/RobotTwin.CoreSim/Specs/ProjectManifest.cs

@@ -0,0 +1,14 @@
+using System.Collections.Generic;
+
+namespace RobotTwin.CoreSim.Specs
+{
+    public class RobotStudioPackage
+    {
+        public RobotSpec Robot { get; set; } = new RobotSpec { Name = "Robot" };
+        public CircuitSpec Circuit { get; set; } = new CircuitSpec();
+        public AssemblySpec Assembly { get; set; } = new AssemblySpec();
+        public EnvironmentSpec Environment { get; set; } = new EnvironmentSpec();
+        public Dictionary<string, object> Metadata { get; set; } = new Dictionary<string, object>();
+        public ProjectManifest? Project { get; set; }
+    }
+}

CoreSim/src/RobotTwin.CoreSim/Specs/RobotStudioPackage.cs

@@ -124,6 +124,93 @@ public void RtwinExtractWritesWorkspaceSnapshotFiles()
         }
     }
 
+    [Fact]
+    public void RtrobotSaveLoadExtractRoundTripPreservesAssemblyAndEnvironment()
+    {
+        var tempRoot = Path.Combine(Path.GetTempPath(), "RobotTwin.CoreSim.Tests", Guid.NewGuid().ToString("N"));
+        Directory.CreateDirectory(tempRoot);
+
+        try
+        {
+            var filePath = Path.Combine(tempRoot, "robotstudio_fixture.rtrobot");
+            var workspaceRoot = Path.Combine(tempRoot, "robotstudio_fixture");
+
+            var package = new RobotStudioPackage
+            {
+                Robot = new RobotSpec { Name = "Robot-1" },
+                Circuit = new CircuitSpec { Id = "circuit-rs-1", Mode = SimulationMode.Fast },
+                Assembly = new AssemblySpec
+                {
+                    Parts = new List<AssemblyPartSpec>
+                    {
+                        new AssemblyPartSpec
+                        {
+                            InstanceId = "part-1",
+                            ComponentType = "servo",
+                            CatalogId = "catalog/servo/sg90",
+                            Position = new Vec3 { X = 1, Y = 2, Z = 3 },
+                            Rotation = new Vec3 { X = 0, Y = 90, Z = 0 },
+                            Scale = new Vec3 { X = 1, Y = 1, Z = 1 },
+                            Pinned = true,
+                            DensityKgPerM3 = 1200,
+                            MassKg = 0.055,
+                            Friction = 0.8
+                        }
+                    },
+                    Wires = new List<AssemblyWireSpec>
+                    {
+                        new AssemblyWireSpec
+                        {
+                            Id = "wire-1",
+                            From = "part-1:signal",
+                            To = "mcu:pwm0",
+                            LengthMeters = 0.15,
+                            YoungModulus = 1e9,
+                            MaxStress = 4e7,
+                            Damping = 0.05
+                        }
+                    }
+                },
+                Environment = new EnvironmentSpec
+                {
+                    Name = "Lab",
+                    TemperatureC = 22,
+                    VibrationAmplitude = 0.01,
+                    VibrationFrequencyHz = 60,
+                    Gravity = 9.81,
+                    AirDensity = 1.225,
+                    SurfaceFriction = 0.6
+                },
+                Metadata = new Dictionary<string, object> { { "author", "fixture" } }
+            };
+
+            SimulationSerializer.SaveRobotPackage(package, filePath);
+            Assert.True(File.Exists(filePath), $"Expected .rtrobot to exist: {filePath}");
+
+            var loadedNoExtract = SimulationSerializer.LoadRobotPackage(filePath, extractWorkspace: false);
+            Assert.NotNull(loadedNoExtract);
+            Assert.NotNull(loadedNoExtract!.Assembly);
+            Assert.NotNull(loadedNoExtract.Environment);
+            Assert.Single(loadedNoExtract.Assembly.Parts);
+            Assert.Single(loadedNoExtract.Assembly.Wires);
+            Assert.Equal("Lab", loadedNoExtract.Environment.Name);
+            Assert.Equal(9.81, loadedNoExtract.Environment.Gravity, 3);
+
+            var loadedWithExtract = SimulationSerializer.LoadRobotPackage(filePath, extractWorkspace: true);
+            Assert.NotNull(loadedWithExtract);
+
+            Assert.True(File.Exists(Path.Combine(workspaceRoot, "assembly.json")));
+            Assert.True(File.Exists(Path.Combine(workspaceRoot, "environment.json")));
+            Assert.True(File.Exists(Path.Combine(workspaceRoot, "robot.json")));
+            Assert.True(File.Exists(Path.Combine(workspaceRoot, "circuit.json")));
+            Assert.True(File.Exists(Path.Combine(workspaceRoot, "metadata.json")));
+        }
+        finally
+        {
+            TryDeleteDirectory(tempRoot);
+        }
+    }
+
     private static byte[] LoadFixtureBytes(string fileName)
     {
         var fixturePath = Path.Combine(AppContext.BaseDirectory, "Fixtures", fileName);