Enable saving the entire simulation state to disk and restoring it again

[kyllingstad]

This feature is desired in the OptiStress project, where we will need to simulate the same system many times in a loop with parameter variations. It will save a lot of time since we can start each simulation from a “warmed up” state.

Depends on #756 and #768.

[kyllingstad]

Suggestions for suitable storage formats are welcome. Note that according to the FMI spec, each subsimulator does its own serialisation and deserialisation, and all the co-simulator sees are binary blobs. So the format needs to support storage of arbitrary binary data.

[kyllingstad]

@davidhjp01, you asked in another issue discussion whether you should start working on this issue. But as noted in the issue description, this depends on #768, which is a work currently in progress, so there is a limit to how much can be done on this yet.

It might be good to start looking into suitable file formats for the saved state, though. We need some format which can store the contents of a cosim::serialization::node, i.e., a hierarchical data structure with both numerical, textual, and binary data types (see node_data for a list of the types).

Personally, I would prefer something which is lightweight both in terms of features, complexity, and additional dependencies, but efficiency is also a factor. I guess we can discuss where the perfect trade-off lies when we have some alternatives on the table.

Once we've decided on a storage format, it is also possible to write the functions to save/load a generic cosim::serialization::node to/from a file even if #768 is not completely done yet.

[davidhjp01]

AI generated list 😅:

1. Protocol Buffers (Protobuf)
2. MessagePack
3. HDF5 (Hierarchical Data Format)
4. CBOR (Concise Binary Object Representation)
5. Avro
6. BSON (Binary JSON)
7. FlatBuffers

Format	Efficiency	Memory Usage	Ease of Use	Library Size
Protocol Buffers (Protobuf)	Highly efficient in terms of serialization and deserialization speed	Designed to be memory-efficient, especially with arena allocation	Requires defining a schema using proto files, which can be a learning curve	Relatively lightweight, no built-in compression
MessagePack	Known for high efficiency, providing fast serialization and deserialization	Memory-efficient, reduces size of serialized data significantly compared to JSON	Easy to use and integrates well with various programming languages	Small and compact, suitable for limited resource environments
HDF5 (Hierarchical Data Format)	Highly efficient for handling large datasets, supports parallel I/O operations	Designed to manage large amounts of data efficiently, though files can be large	Steeper learning curve due to complexity, offers extensive features	Relatively large due to comprehensive feature set
CBOR (Concise Binary Object Representation)	Efficient in terms of serialization speed and compactness of data	Designed to be memory-efficient, suitable for devices with limited resources	Easy to use, does not require a schema, similar to JSON	Small and lightweight
Avro	Efficient for serialization and deserialization, especially in big data environments	Space-efficient, does not store field type information with each field	Requires defining a schema in JSON, which adds an extra step	Moderately sized, balancing features and performance
BSON (Binary JSON)	Efficient for storage and scan-speed, though less efficient than JSON in some cases	Uses more memory than JSON due to length prefixes and explicit array indices	Easy to use, especially for those familiar with JSON	Relatively small, integrates well with MongoDB
FlatBuffers	Designed for maximum memory efficiency, allows direct access to serialized data	Highly memory-efficient, requires minimal allocations	More complex to use due to schema definition and direct memory access	Small and optimized for performance

[kyllingstad]

Nice summary. Without having spent a lot of time thinking about this, I immediately lean towards the simple and efficient schema-less formats, i.e., MessagePack, CBOR, or BSON. I don't have hands-on experience with any of them, but having read a bit about them, I think CBOR looks most promising. It seems to have been designed as an improvement of MessagePack, is an IETF standard (which is good for stability and third-party support), and has multiple C++ implementations.

[kyllingstad]

I do have experience with Protocol Buffers, though, and while it is good in terms of performance and built-in versioning, I think I'd prefer to avoid the extra compilation step and use of machine-generated source code.