diff --git a/.cargo/config.toml b/.cargo/config.toml index cca55fcdeb..f1bab0b5e1 100644 --- a/.cargo/config.toml +++ b/.cargo/config.toml @@ -1,2 +1,6 @@ [registry] global-min-publish-age = "7 days" + +# store cache of all non-nix rust builds at the root level (shared) +[build] +target-dir = "target" diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index 37ed003d76..64766e2680 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -6,7 +6,7 @@ permissions: {} jobs: lint: - timeout-minutes: 1 + timeout-minutes: 1.5 runs-on: ubuntu-latest permissions: contents: read # For checkout @@ -30,5 +30,25 @@ jobs: run: uv run ruff format - name: uv lock run: uv lock + + - name: Did native/ change? + id: shared + run: | + set -euo pipefail + base=${{ github.event.pull_request.base.sha }} + git fetch --quiet --depth 1 origin "$base" + if git diff --quiet "$base"...HEAD -- native; then + echo "changed=false" >> "$GITHUB_OUTPUT" + else + echo "changed=true" >> "$GITHUB_OUTPUT" + fi + - name: Install Nix + if: steps.shared.outputs.changed == 'true' + run: bash docker/ros/install-nix.sh + - name: Relock the modules onto this revision + if: steps.shared.outputs.changed == 'true' + run: python3 bin/relock-shared-flakes + + # Unguarded: it commits the ruff and uv fixes too, which every PR may need. - name: autofix.ci uses: autofix-ci/action@v1 diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index fc88b3763f..e079963efb 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -130,6 +130,7 @@ jobs: - name: Install Nix (with Cachix substituter) env: INPUT_EXTRA_NIX_CONFIG: | + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" @@ -155,8 +156,18 @@ jobs: authToken: ${{ secrets.CACHIX_AUTH_TOKEN }} - name: Build native modules env: - BUILD_WORKERS: "1" + BUILD_WORKERS: "4" run: python3 bin/build-native-modules + - name: Lint native modules + env: + BUILD_WORKERS: "4" + run: python3 bin/build-native-modules --lint + # Published so the `native` job substitutes them instead of compiling the + # test targets itself on every run. + - name: Test rust native modules + env: + BUILD_WORKERS: "4" + run: python3 bin/build-native-modules --tests - name: Verify Cachix holds the built paths env: CACHIX_CACHE_NAME: dimensionalos @@ -202,6 +213,7 @@ jobs: - name: Install Nix (with Cachix substituter) env: INPUT_EXTRA_NIX_CONFIG: | + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" @@ -223,7 +235,7 @@ jobs: authToken: ${{ secrets.CACHIX_AUTH_TOKEN }} - name: Build native modules env: - BUILD_WORKERS: "1" + BUILD_WORKERS: "4" run: python3 bin/build-native-modules - name: Verify Cachix holds the built paths env: @@ -293,15 +305,28 @@ jobs: deno-version: ${{ steps.deno-version.outputs.version }} cache: true + - name: Install Nix + env: + INPUT_EXTRA_NIX_CONFIG: | + http-connections = 50 + extra-substituters = https://dimensionalos.cachix.org + extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= + INPUT_SET_AS_TRUSTED_USER: "true" + run: bash docker/ros/install-nix.sh + - name: Run pre-commit - uses: pre-commit/action@v3.0.1 env: - # clippy and fmt are checked in the rust job, so we can skip them here - SKIP: cargo-fmt,cargo-clippy + SKIP: native-module-lint + uses: pre-commit/action@v3.0.1 + with: + extra_args: --all-files --verbose + rust: timeout-minutes: 30 runs-on: ubuntu-latest + env: + CARGO_INCREMENTAL: "0" permissions: contents: read # For checkout @@ -312,18 +337,18 @@ jobs: uses: dtolnay/rust-toolchain@stable with: components: rustfmt, clippy - - name: Cache cargo build - uses: Swatinem/rust-cache@v2 + - name: Restore cargo build cache + uses: actions/cache/restore@v4 with: - # Only main writes the cache, so a PR run cannot evict main's entry - # from the repo's 10GB budget. PR runs still restore from it. - save-if: ${{ github.ref == 'refs/heads/main' }} - - name: cargo fmt - run: cargo fmt --all -- --check - - name: cargo clippy - run: cargo clippy --workspace --all-targets --all-features --locked -- -D warnings - - name: cargo test - run: cargo test --workspace --all-features --locked + path: | + ~/.cargo/registry/index + ~/.cargo/registry/cache + ~/.cargo/git/db + target + !target/debug/incremental + key: cargo-test-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} + restore-keys: | + cargo-test-${{ runner.os }}-${{ runner.arch }}- - name: Install uv uses: astral-sh/setup-uv@v10.0.1 with: @@ -334,25 +359,62 @@ jobs: sudo apt-get update sudo apt-get install -y portaudio19-dev - name: Build and test PyO3 bindings - # PyO3 extension modules (cdylib + `extension-module`) are the one case - # that still needs a plain build: pytest imports the compiled .so. + # The one rust artefact nix does not build: pytest imports the compiled + # .so, which has to match uv's interpreter rather than nixpkgs'. run: | uv sync --group tests --frozen source .venv/bin/activate - maturin develop -m dimos/mapping/ray_tracing/rust/py/Cargo.toml - maturin develop -m dimos/navigation/nav_3d/mls_planner/rust/py/Cargo.toml - python -c "import dimos_voxel_ray_tracing, dimos_mls_planner" - python -m pytest -c /dev/null --rootdir . --noconftest --import-mode=importlib -p no:cacheprovider -v \ - dimos/mapping/ray_tracing/test_voxel_map.py \ - dimos/mapping/ray_tracing/test_transformer.py \ - dimos/navigation/nav_3d/mls_planner/test_mls_planner.py \ - dimos/navigation/nav_3d/mls_planner/test_transformer.py + python bin/pyo3-extensions --build + python bin/pyo3-extensions --test - name: Bake e2e tests run: uv run pytest -m bake_e2e dimos/cli/bake/test_bake_e2e.py --no-cov - - name: Native module e2e tests + + - name: Save cargo build cache + if: github.ref == 'refs/heads/main' + uses: actions/cache/save@v4 + with: + path: | + ~/.cargo/registry/index + ~/.cargo/registry/cache + ~/.cargo/git/db + target + !target/debug/incremental + key: cargo-test-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} + + flake-locks-current: + timeout-minutes: 30 + runs-on: ubuntu-latest + permissions: + contents: read # For checkout + + steps: + - name: Checkout + uses: actions/checkout@v7 + - name: Install Nix + env: + INPUT_EXTRA_NIX_CONFIG: | + http-connections = 50 + extra-substituters = https://dimensionalos.cachix.org + extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= + INPUT_SET_AS_TRUSTED_USER: "true" + run: bash docker/ros/install-nix.sh + - name: Every flake.lock is current run: | - cargo build --release --locked -p dimos-livox -p dimos-virtual-mid360 - uv run pytest -m native_e2e dimos/hardware/sensors/lidar/livox/test_e2e.py --no-cov + set -u + git ls-files '*flake.nix' | sed 's|/flake.nix$||;s|^flake.nix$|.|' | sort -u > /tmp/flakes + : > /tmp/stale + while read -r dir; do + echo "::group::$dir" + nix flake lock --no-update-lock-file "path:$dir" || echo "$dir" >> /tmp/stale + echo "::endgroup::" + done < /tmp/flakes + if [ -s /tmp/stale ]; then + while read -r dir; do + echo "::error::flake.lock is stale or incomplete in $dir -- run 'nix flake lock' there and commit it" + done < /tmp/stale + exit 1 + fi + echo "$(wc -l < /tmp/flakes) flake locks are current" native: name: Native builds (C++ and Rust) @@ -374,7 +436,8 @@ jobs: sudo apt-get update # lcm.pc carries `Requires: glib-2.0`, so pkg-config cannot resolve # lcm at all without glib's own .pc file - sudo apt-get install -y liblcm-dev libglib2.0-dev nlohmann-json3-dev + sudo apt-get install -y liblcm-dev libglib2.0-dev nlohmann-json3-dev \ + portaudio19-dev base=https://github.com/eclipse-zenoh curl -fsSL -o /tmp/zenoh-c.zip \ "$base/zenoh-c/releases/download/$ZENOH_VERSION/zenoh-c-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip" @@ -397,16 +460,14 @@ jobs: - name: Test run: ctest --test-dir build/native-cpp --output-on-failure - - name: Find C++ native modules + - name: List C++ native modules id: find-modules run: | - modules=$(find . -name flake.nix \ - -not -path './.git/*' \ - -not -path '*/build/*' \ - -not -path '*/result/*' \ - -printf '%h\n' \ + modules=$(git ls-files '*/flake.nix' \ + | sed 's|/flake.nix$||' \ + | grep -v '^native/' \ | while read -r dir; do - [ -f "$dir/CMakeLists.txt" ] && echo "${dir#./}" + [ -f "$dir/CMakeLists.txt" ] && echo "$dir" done \ | sort) if [ -z "$modules" ]; then @@ -427,25 +488,18 @@ jobs: # and this stays safe on fork PRs. env: INPUT_EXTRA_NIX_CONFIG: | + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" run: bash docker/ros/install-nix.sh - - name: Build Rust memory recorder Nix package - run: | - cd dimos/experimental/memory/rust - nix build .#dimos-memory-recorder --no-write-lock-file --print-build-logs - test -x result/bin/dimos-memory-recorder # PCL, GTSAM and the SLAM cores come from each module's flake, not apt. - - name: Build C++ native modules + - name: Build native modules + run: python3 bin/build-native-modules + - name: Test rust native modules env: - MODULES: ${{ steps.find-modules.outputs.modules }} - run: | - for module in $MODULES; do - echo "::group::$module" - (cd "$module" && nix build --no-write-lock-file --print-build-logs) - echo "::endgroup::" - done + BUILD_WORKERS: "4" + run: python3 bin/build-native-modules --tests - name: Test C++ native modules env: MODULES: ${{ steps.find-modules.outputs.modules }} @@ -457,6 +511,15 @@ jobs: echo "::endgroup::" fi done + - name: Install uv + uses: astral-sh/setup-uv@v10.0.1 + with: + enable-cache: true + prune-cache: true + - name: Native module e2e tests + run: | + uv sync --group tests --frozen + uv run pytest -m native_e2e dimos/hardware/sensors/lidar/livox/test_e2e.py --no-cov md-babel: timeout-minutes: 15 @@ -702,6 +765,7 @@ jobs: if: steps.native-marker.outputs.cache-hit == 'true' env: INPUT_EXTRA_NIX_CONFIG: | + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" @@ -946,7 +1010,7 @@ jobs: uses: dtolnay/rust-toolchain@stable - name: Build rust native modules if: contains(matrix.markers, 'self_hosted') - run: cargo build --release --locked -p dimos-livox -p dimos-virtual-mid360 + run: python3 bin/build-native-modules - name: Run tests run: uv run pytest --cov=dimos/ --junitxml=junit.xml -m '(${{ matrix.markers }}) and not mujoco' - name: Re-run the failing tests with maximum verbosity @@ -1176,6 +1240,7 @@ jobs: - lint - rust - native + - flake-locks-current - md-babel - web - tests diff --git a/.gitignore b/.gitignore index fbe1880699..6f1cbd2bfd 100644 --- a/.gitignore +++ b/.gitignore @@ -39,6 +39,8 @@ build/ result result-* +crate-hashes.json + # Editor and OS files .vscode/ .DS_Store diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index fc598f1e3e..c498724bfc 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -42,12 +42,12 @@ repos: - id: trailing-whitespace language: python types: [text] - exclude: \.patch$ # patch files contain intentional trailing whitespace + exclude: &verbatim-files (\.patch$) - id: end-of-file-fixer - exclude: \.patch$ # keep patch files byte-identical to upstream diffs + exclude: *verbatim-files - id: mixed-line-ending args: [--fix=lf] - exclude: \.patch$ # keep patch files byte-identical to upstream diffs + exclude: *verbatim-files - id: check-json exclude: ^misc/DimSim/public/sims/ # LFS-tracked - id: check-toml @@ -95,6 +95,13 @@ repos: entry: bin/hooks/lfs_check language: script + - id: module-dir-guard + name: No untracked files in a native-module dir + always_run: true + pass_filenames: false + entry: bin/module-dir-guard + language: script + - id: largefiles-check name: Large files check always_run: true @@ -136,39 +143,17 @@ repos: - id: cargo-fmt name: cargo fmt - entry: | - bash -c ' - set -euo pipefail - git ls-files "*Cargo.toml" | while read -r m; do - cargo locate-project --manifest-path "$m" --workspace --message-format plain - done | sort -u | while read -r root; do - cargo fmt --manifest-path "$root" --all - done - ' + entry: bin/hooks/rust-module-foreach --shell native/rust fmt --all language: system types: [rust] pass_filenames: false - # Off: minutes per rust commit, and it breaks on toolchain skew (E0514); CI clippies the root workspace. - # - id: cargo-clippy - # name: cargo clippy - # entry: | - # bash -c ' - # set -euo pipefail - # git ls-files "*Cargo.toml" | while read -r m; do - # cargo locate-project --manifest-path "$m" --workspace --message-format plain - # done | sort -u | while read -r root; do - # # A crate with its own flake carries system deps the root shell lacks. - # if [ -f "$(dirname "$root")/flake.nix" ]; then - # nix develop "$(dirname "$root")" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings - # else - # cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings - # fi - # done - # ' - # language: system - # types: [rust] - # pass_filenames: false + - id: native-module-lint + name: lint (nix) + entry: bin/hooks/native-module-lint + language: system + types: [rust] + pass_filenames: false - id: deno-fmt name: deno fmt (web/) diff --git a/Cargo.toml b/Cargo.toml deleted file mode 100644 index 4849496b52..0000000000 --- a/Cargo.toml +++ /dev/null @@ -1,25 +0,0 @@ -[workspace] -resolver = "2" -members = [ - "dimos/experimental/memory/rust", - "native/rust/dimos-module", - "native/rust/dimos-module-macros", - "dimos/mapping/ray_tracing/rust", - "dimos/mapping/ray_tracing/rust/py", - "dimos/navigation/nav_3d/mls_planner/rust", - "dimos/navigation/nav_3d/mls_planner/rust/py", - "dimos/hardware/sensors/lidar/livox/rust", - "dimos/hardware/sensors/lidar/pointlio/rust", - "dimos/hardware/sensors/lidar/virtual_mid360", - "examples/native-modules/rust", -] - -[profile.release] -lto = "thin" -codegen-units = 1 - -[profile.dev] -debug = 0 - -[profile.test] -debug = 0 diff --git a/bin/build-native-modules b/bin/build-native-modules index 45c1146a27..4118cc2971 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -25,6 +25,20 @@ Modes: while the push daemon drains. cachix-action reports push failures without failing the build, so CI must run this before trusting a build enough to save the publish marker. + --lint Build every flake's `checks..lint` instead of the + module packages. For a rust crate that is the same crate graph + compiled with clippy-driver, so the dependency derivations are + the ones the package build already published and only + first-party crates are compiled; the attribute is named for + what it does, not for the tool, so a C++ flake can offer one + too. Flakes declaring no such check skip. + --tests Build every flake's `checks..tests`: the same crate + graph with the test targets compiled and run inside the + derivation. Flakes declaring no such check skip. Both check + modes discover flakes with `git ls-files`, not module classes, + so the shared crates under native/rust are covered too, and a + flake that does not build on this system simply declares no + check for it. --record-links Print `result-symlink store-path` per built module. The publish job stores this in the marker cache entry so consumers can materialise binaries without evaluating anything. @@ -35,24 +49,27 @@ Modes: and skips building at test time. Why git object hashes are sound gate keys: a nix sandbox only sees store paths, -and for these flakes every store path copied out of the repo is some tracked -subtree — the build dir itself, a relative path literal (`../../common`), or a -`path:` flake input. `git rev-parse HEAD:` (or `HEAD^{tree}` for the -repository root) hashes exactly that (tracked -content + modes), so `result` symlinks and other untracked junk can never -perturb the key, which is what broke the old hashFiles() marker (#2733). -`git+file:` self-inputs are pinned to a rev + narHash in the module's -flake.lock — itself part of the hashed tree — so they are deliberately not -traversed. Hashes come from HEAD: uncommitted edits are invisible until -committed. Bump MARKER_SALT to invalidate every published marker when build -semantics change outside the hashed inputs (e.g. docker/ros/install-nix.sh). +and every native module is a self-contained flake built with +`nix build path:.#` from its own directory. The only content it can +reach is that directory, plus remote inputs pinned to a rev + narHash in its own +flake.lock — which is itself inside the hashed directory, so pinned inputs are +deliberately not traversed. `git rev-parse HEAD:` hashes exactly the tracked +content + modes of that directory, so `result` symlinks, `target/` and other +untracked junk can never perturb the key, which is what broke the old hashFiles() +marker (#2733). `_collect_input_paths` enforces the "reaches nothing outside +itself" invariant rather than assuming it. Hashes come from HEAD: uncommitted +edits are invisible until committed. Bump MARKER_SALT to invalidate every +published marker when build semantics change outside the hashed inputs (e.g. +docker/ros/install-nix.sh). """ import argparse import ast from concurrent.futures import ProcessPoolExecutor, as_completed from dataclasses import dataclass +from functools import lru_cache import hashlib +import json import os from pathlib import Path, PurePosixPath import re @@ -65,6 +82,24 @@ import urllib.request MARKER_SALT = 1 REPO_ROOT = Path(__file__).resolve().parent.parent + + +@lru_cache(maxsize=1) +def current_system() -> str: + """nix's name for this machine, e.g. aarch64-darwin. + + Asked lazily, never at import: `--inputs-hash` runs on a runner that has no nix + yet -- that is the whole point of the gate -- and must stay a git-only operation. + """ + proc = subprocess.run( + ["nix", "eval", "--raw", "--impure", "--expr", "builtins.currentSystem"], + capture_output=True, + text=True, + check=False, + ) + return proc.stdout.strip() + + PACKAGE_DIR = REPO_ROOT / "dimos" IGNORED_DIRS = {"result", "build", "target", "__pycache__", ".git", "node_modules"} # Captured at import time; forked workers inherit it @@ -133,7 +168,7 @@ def _literal_default(classdef: ast.ClassDef, field: str, source: str) -> str | N # runner could only ever build its own variant anyway). They sit deliberately # outside this repo's build/publish gate; each machine builds the variant it needs. # Every other non-literal build_command still fails loudly. -EXTERNALLY_PROVISIONED = frozenset({"dimos.mapping.dim_slam.dim_slam.DimSlamConfig"}) +EXTERNALLY_PROVISIONED: frozenset[str] = frozenset() def is_nix_build(command: str | None) -> bool: @@ -335,7 +370,15 @@ def _flake_refs(flake: Path) -> tuple[set[str], set[str]]: def _collect_input_paths(module: DiscoveredModule) -> set[str]: - """Repo paths whose content can reach this module's derivation.""" + """Repo paths whose content can reach this module's derivation. + + Every native module is now a self-contained flake built with + `nix build path:.#` from its own directory, and the only thing it may + reach outside that directory is a remote input pinned in its own `flake.lock`. + So the module directory *is* the input set, and the walk below exists only to + enforce that: any path literal or `path:` input escaping the directory would + make content outside it reach the derivation without the hash noticing. + """ paths = {module.build_dir} if not _is_local_flake(module): return paths @@ -344,20 +387,14 @@ def _collect_input_paths(module: DiscoveredModule) -> set[str]: raise SystemExit( f"{module.source}: {module.qualname} builds a local flake but {root} is missing" ) - queue, seen = [root], set() - while queue: - flake = queue.pop() - if flake in seen: - continue - seen.add(flake) - literals, path_inputs = _flake_refs(flake) - paths |= literals - for rel in path_inputs: - paths.add(rel) - sub = REPO_ROOT / rel / "flake.nix" - if not sub.is_file(): - raise SystemExit(f"path: input {rel!r} of {flake} has no flake.nix") - queue.append(sub) # a path: input is a flake — its refs count too + literals, path_inputs = _flake_refs(root) + for rel in literals | path_inputs: + if rel != module.build_dir and not rel.startswith(module.build_dir + "/"): + raise SystemExit( + f"{module.build_dir}/flake.nix: {rel!r} is outside the module directory." + " A module may only reach its own directory and its pinned remote" + " inputs; copy what it needs in, or take it as a flake input." + ) return paths @@ -426,6 +463,9 @@ def _result_links(modules: tuple[DiscoveredModule, ...]) -> list[tuple[str, str] for module in modules: links = sorted((REPO_ROOT / module.build_dir).glob("result*")) if not links: + systems = _declared_systems(module) + if systems is not None and current_system() not in systems: + continue raise SystemExit(f"{module.build_dir}: no result symlink — run the build first") for link in links: entries.append((link.relative_to(REPO_ROOT).as_posix(), os.readlink(str(link)))) @@ -477,10 +517,98 @@ def verify_published(modules: tuple[DiscoveredModule, ...]) -> None: raise SystemExit(f"paths never appeared in the {cache} Cachix cache:\n{listing}") +def _declared_systems(module: DiscoveredModule) -> frozenset[str] | None: + """The systems a module's flake declares packages for, or None if it cannot say. + + A module may legitimately not exist on this machine -- realsense links + librealsense, which nixpkgs will not evaluate off Linux, so its flake lists only + the Linux systems. Asking the flake is narrower than catching the build error: + a package missing from a system the flake *does* declare is a typo, and must + still fail loudly. + """ + ref = _flake_ref_of(module).split("#", 1)[0] or "." + proc = subprocess.run( + ["nix", "eval", "--json", f"{ref}#packages", "--apply", "builtins.attrNames"], + cwd=str(REPO_ROOT / module.build_dir), + capture_output=True, + text=True, + check=False, + ) + if proc.returncode != 0: + return None + try: + return frozenset(json.loads(proc.stdout)) + except json.JSONDecodeError: + return None + + +def flake_dirs() -> list[str]: + """Every tracked directory holding a `flake.nix`, repo-relative, sorted. + + Checks are discovered from the flakes themselves rather than from the module + classes: the shared crates under `native/rust` are no module and would + otherwise go unlinted and untested. + """ + tracked = subprocess.run( + ["git", "ls-files", "*flake.nix"], + cwd=str(REPO_ROOT), + capture_output=True, + text=True, + check=True, + ).stdout.split() + return sorted(str(PurePosixPath(path).parent) for path in tracked if "/" in path) + + +def _checks_of(build_dir: str) -> frozenset[str]: + """The names under `checks.` this flake declares, empty if it has none.""" + proc = subprocess.run( + [ + "nix", + "eval", + "--json", + f"path:.#checks.{current_system()}", + "--apply", + "builtins.attrNames", + ], + cwd=str(REPO_ROOT / build_dir), + capture_output=True, + text=True, + check=False, + ) + if proc.returncode != 0: + return frozenset() + try: + return frozenset(json.loads(proc.stdout)) + except json.JSONDecodeError: + return frozenset() + + +def check_one(build_dir: str, check: str) -> tuple[str, bool, str]: + """Build one flake's `checks..`, skipping flakes that lack it.""" + if check not in _checks_of(build_dir): + return build_dir, False, f"SKIP: {build_dir} declares no {check} check" + attr = f"path:.#checks.{current_system()}.{check}" + _log(f"START: {check} {build_dir}: {attr}") + proc = subprocess.run( + ["nix", "build", "-L", attr, "--no-link"], + cwd=str(REPO_ROOT / build_dir), + capture_output=True, + text=True, + check=False, + ) + body = (proc.stdout or "") + (proc.stderr or "") + if proc.returncode != 0: + raise RuntimeError(f"{check} {build_dir} exited {proc.returncode}\n{body}") + return build_dir, False, f"DONE: {check} {build_dir}" + + def build_one(module: DiscoveredModule, dry_run: bool) -> tuple[str, bool, str]: name = module.qualname.rsplit(".", 1)[-1] command = module.build_command + (" --dry-run" if dry_run else "") build_dir = REPO_ROOT / module.build_dir + systems = _declared_systems(module) + if systems is not None and current_system() not in systems: + return name, False, f"SKIP: {name} declares no packages for {current_system()}" _log(f"START: {name} in {build_dir}: {command}") proc = subprocess.run( command, @@ -510,6 +638,16 @@ def main() -> None: action="store_true", help="check the built out paths are downloadable from the Cachix cache", ) + mode.add_argument( + "--lint", + action="store_true", + help="build every flake's checks..lint instead of the module packages", + ) + mode.add_argument( + "--tests", + action="store_true", + help="build every flake's checks..tests, which compiles and runs its tests", + ) mode.add_argument( "--record-links", action="store_true", @@ -545,10 +683,19 @@ def main() -> None: failed = 0 pending: list[str] = [] workers = int(os.environ.get("BUILD_WORKERS") or os.cpu_count() or 2) - verb = "Checking" if args.dry_run else "Building" - _log(f"{verb} {len(modules)} module(s) with up to {workers} workers") + check = "lint" if args.lint else "tests" if args.tests else None + targets: list[str] = flake_dirs() if check else [m.qualname for m in modules] + verb = check.capitalize() if check else "Checking" if args.dry_run else "Building" + _log(f"{verb}: {len(targets)} target(s) with up to {workers} workers") with ProcessPoolExecutor(max_workers=workers) as executor: - futures = {executor.submit(build_one, module, args.dry_run): module for module in modules} + futures = ( + {executor.submit(check_one, build_dir, check): build_dir for build_dir in targets} + if check + else { + executor.submit(build_one, module, args.dry_run): module.qualname + for module in modules + } + ) for future in as_completed(futures): try: name, needs_build, status = future.result() @@ -556,7 +703,7 @@ def main() -> None: if needs_build: pending.append(name) except Exception as error: - _log(f"FAIL: {futures[future].qualname}: {error}") + _log(f"FAIL: {futures[future]}: {error}") failed += 1 if failed: sys.exit(f"{failed} {'check' if args.dry_run else 'build'}(s) failed") diff --git a/bin/hooks/native-module-lint b/bin/hooks/native-module-lint new file mode 100755 index 0000000000..bc8031f461 --- /dev/null +++ b/bin/hooks/native-module-lint @@ -0,0 +1,28 @@ +#!/usr/bin/env bash +set -euo pipefail + +top=$(git rev-parse --show-toplevel) +system=$(nix eval --raw --impure --expr builtins.currentSystem) + +# Not `... | while read`: a subshell would turn the failure below into a silent pass. +flakes=$(git ls-files '*/flake.nix') + +failed=0 +while read -r flake; do + dir=$(dirname "$flake") + if ! nix eval --quiet "path:$top/$dir#packages.$system.lint.drvPath" >/dev/null 2>&1; then + continue # no lint check for this system, or none at all + fi + started=$(date +%s) + if nix build -L "path:$top/$dir#lint" --no-link; then + printf ' lint %s: %ss\n' "$dir" "$(( $(date +%s) - started ))" >&2 + else + printf ' lint %s: FAILED\n' "$dir" >&2 + failed=$((failed + 1)) + fi +done <<< "$flakes" + +if [ "$failed" -ne 0 ]; then + echo "$failed module(s) failed the lint check" >&2 + exit 1 +fi diff --git a/bin/hooks/rust-module-foreach b/bin/hooks/rust-module-foreach new file mode 100755 index 0000000000..3536692ff9 --- /dev/null +++ b/bin/hooks/rust-module-foreach @@ -0,0 +1,45 @@ +#!/usr/bin/env bash +set -euo pipefail + +top=$(git rev-parse --show-toplevel) +system=$(nix eval --raw --impure --expr builtins.currentSystem) + +shared_shell="" +if [ "${1:-}" = "--shell" ]; then + shared_shell=$2 + shift 2 +fi +subcommand=$1 +shift + +roots=$(git ls-files "*Cargo.toml" | while read -r manifest; do + cargo locate-project --manifest-path "$manifest" --workspace --message-format plain +done | sort -u) + +while read -r root; do + dir=$(dirname "$root") + while [ "$dir" != "$top" ] && [ ! -f "$dir/flake.nix" ]; do dir=$(dirname "$dir"); done + if [ "$dir" = "$top" ]; then + echo "no module flake above $root -- refusing to fall back to the repo-root" >&2 + echo "flake, which would copy the whole tree (git-lfs blobs included)." >&2 + exit 1 + fi + + if [ -n "$shared_shell" ]; then + shell_dir=$shared_shell + else + shell_dir=$dir + if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then + echo "skipping ${root#"$top"/}: $dir declares no devShell for $system" >&2 + continue + fi + fi + + started=$(date +%s) + nix develop "path:$shell_dir" -c true + entered=$(date +%s) + nix develop "path:$shell_dir" -c cargo "$subcommand" --manifest-path "$root" "$@" + finished=$(date +%s) + printf ' cargo %s %s: devShell %ss, cargo %ss\n' \ + "$subcommand" "${dir#"$top"/}" "$((entered - started))" "$((finished - entered))" >&2 +done <<< "$roots" diff --git a/bin/module-dir-guard b/bin/module-dir-guard new file mode 100755 index 0000000000..c81070f9b8 --- /dev/null +++ b/bin/module-dir-guard @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 +"""Fail if a native-module directory holds anything but tracked source. + +Every native module is built with `nix build path:.#` from its own +directory, and a `path:` flake ref copies that directory wholesale -- tracked, +untracked and gitignored alike. Whatever reaches the copy is part of the +derivation hash, so one stray file means the module no longer matches what CI +published and the whole module recompiles instead of being substituted from +Cachix. A `.DS_Store` from opening the folder in Finder is enough. + +Rather than filter the copy down to an allow list -- which would silently drop a +new source file a module forgot to declare -- the convention is that a module +directory contains only its tracked source. This guard enforces that convention +at commit time, where the offending file can still be removed. + +Exempt are exactly the names nix's own source filter already discards, so the +guard flags a file if and only if that file would change a derivation hash. +""" + +from __future__ import annotations + +import argparse +from pathlib import Path +import subprocess +import sys + +EXEMPT_NAMES = {"target", "build", "__pycache__"} +EXEMPT_PREFIXES = ("result",) # `nix build` writes result, result-1, result-2, ... +EXEMPT_SUFFIXES = ("~", ".o", ".so") + + +def git(*args: str, cwd: Path) -> str: + return subprocess.run( + ["git", *args], cwd=cwd, check=True, capture_output=True, text=True + ).stdout + + +def repo_root() -> Path: + return Path(git("rev-parse", "--show-toplevel", cwd=Path.cwd()).strip()) + + +def module_dirs(root: Path) -> list[str]: + """Every directory that is a native module: a flake next to a build manifest.""" + dirs = [] + for line in git("ls-files", "*/flake.nix", cwd=root).splitlines(): + d = str(Path(line).parent) + if (root / d / "Cargo.toml").exists() or (root / d / "CMakeLists.txt").exists(): + dirs.append(d) + return sorted(dirs) + + +def is_exempt(relative_to_module: str) -> bool: + for part in Path(relative_to_module).parts: + if part in EXEMPT_NAMES: + return True + if part.startswith(EXEMPT_PREFIXES): + return True + if part.endswith(EXEMPT_SUFFIXES): + return True + if part.startswith(".sw") and len(part) == 4: # vim swap files + return True + return False + + +def offenders(root: Path, module: str) -> list[str]: + out = git("status", "--porcelain", "--ignored=matching", "-z", "--", module, cwd=root) + found = [] + for entry in out.split("\0"): + if not entry or entry[:2] not in ("??", "!!"): + continue + path = entry[3:] + if not is_exempt(str(Path(path).relative_to(module))): + found.append(path) + return found + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("files", nargs="*", help="ignored; pre-commit passes the staged files") + parser.parse_args() + + root = repo_root() + bad = {m: found for m in module_dirs(root) if (found := offenders(root, m))} + if not bad: + return 0 + + print( + "Untracked or ignored files inside a native-module directory.\n" + "`nix build path:.#…` copies the whole directory, so each of these is part\n" + "of the module's derivation hash and costs a Cachix hit on every build:\n", + file=sys.stderr, + ) + for module, found in bad.items(): + print(f" {module}", file=sys.stderr) + for path in found: + print(f" {path}", file=sys.stderr) + print( + "\nDelete them, or commit them if they are source. Build output belongs in\n" + "the repo-root `target/` (see .cargo/config.toml), not next to the crate.", + file=sys.stderr, + ) + return 1 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/bin/pyo3-extensions b/bin/pyo3-extensions new file mode 100755 index 0000000000..b59353f026 --- /dev/null +++ b/bin/pyo3-extensions @@ -0,0 +1,123 @@ +#!/usr/bin/env python3 +"""Find, build and test the PyO3 extension modules in this repository. + +A PyO3 extension is the one rust artefact nix does not produce for us: pytest +imports the compiled `.so`, and it must match the interpreter uv resolved, not +nixpkgs'. So maturin builds these into the active virtualenv. + +Discovery is by content, never by path. An extension is any tracked +`pyproject.toml` whose build backend is maturin; its `[tool.maturin] module-name` +is the name python imports. The tests that need one are the test files naming +that module, found by grep -- adding a binding or a test for one needs no edit +here or in CI. + + --list print ` ` per extension + --build maturin develop each one into the active virtualenv, then import it + --test run the test files that import any of them +""" + +import argparse +from pathlib import Path +import re +import subprocess +import sys + +import tomllib + +REPO_ROOT = Path(__file__).resolve().parent.parent + + +def _tracked(pattern: str) -> list[str]: + return subprocess.run( + ["git", "ls-files", pattern], + cwd=str(REPO_ROOT), + capture_output=True, + text=True, + check=True, + ).stdout.split() + + +def extensions() -> list[tuple[Path, str]]: + """(Cargo manifest, python module name) for every maturin-built crate.""" + found = [] + for path in _tracked("*pyproject.toml"): + try: + config = tomllib.loads((REPO_ROOT / path).read_text()) + except tomllib.TOMLDecodeError: + continue + if config.get("build-system", {}).get("build-backend") != "maturin": + continue + directory = (REPO_ROOT / path).parent + module = config.get("tool", {}).get("maturin", {}).get("module-name") + if not module: + sys.exit(f"{path}: a maturin build needs [tool.maturin] module-name") + found.append((directory / "Cargo.toml", module)) + return sorted(found) + + +def tests_importing(modules: list[str]) -> list[str]: + naming = re.compile(r"\b(" + "|".join(re.escape(m) for m in modules) + r")\b") + return sorted( + path + for path in _tracked("dimos") + if Path(path).name.startswith("test_") + and path.endswith(".py") + and naming.search((REPO_ROOT / path).read_text()) + ) + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__) + mode = parser.add_mutually_exclusive_group(required=True) + mode.add_argument("--list", action="store_true") + mode.add_argument("--build", action="store_true") + mode.add_argument("--test", action="store_true") + args = parser.parse_args() + + found = extensions() + if not found: + sys.exit("no maturin-built crates found; discovery is broken") + + if args.list: + for manifest, module in found: + print(f"{manifest.relative_to(REPO_ROOT)} {module}") + return + + if args.build: + for manifest, _ in found: + subprocess.run( + ["maturin", "develop", "-m", str(manifest)], cwd=str(REPO_ROOT), check=True + ) + names = [module for _, module in found] + subprocess.run( + [sys.executable, "-c", "import " + ", ".join(names)], cwd=str(REPO_ROOT), check=True + ) + return + + files = tests_importing([module for _, module in found]) + if not files: + sys.exit("no test files import the extensions; discovery is broken") + # A bare pytest: the repo's addopts assume a conftest and a coverage run. + subprocess.run( + [ + sys.executable, + "-m", + "pytest", + "-c", + "/dev/null", + "--rootdir", + ".", + "--noconftest", + "--import-mode=importlib", + "-p", + "no:cacheprovider", + "-v", + *files, + ], + cwd=str(REPO_ROOT), + check=True, + ) + + +if __name__ == "__main__": + main() diff --git a/bin/relock-shared-flakes b/bin/relock-shared-flakes new file mode 100755 index 0000000000..b789c8d554 --- /dev/null +++ b/bin/relock-shared-flakes @@ -0,0 +1,143 @@ +#!/usr/bin/env python3 +"""Relock every module onto the current revision of the shared flakes. + +The shared flakes live in this repository, so a change to `native/rust` or +`native/cpp` lands while every module's lock still pins the revision before it, +and the modules keep building against the older shared flake. + +This cannot be fixed at commit time. A lock records a narHash of the *fetched* +tree, so nix has to fetch the revision to write the lock -- and an unpushed +commit is not there to fetch. The fix therefore belongs after the push, which is +where autofix.ci runs. + +`nix flake lock` is not enough: it only checks that a lock is complete and never +re-resolves a pin that is already there. Only `nix flake update ` moves it. + +What counts as stale is the pinned *content*, not the revision. A pin may name an +older commit quite legitimately -- what matters is that the shared tree at that +commit is the tree in this one. Updating on revision alone rewrites all fourteen +locks on every push that touches anything at all, which is pure noise. + +Stdlib only, so it runs on a bare `python3` like the other bin/ scripts. +""" + +from __future__ import annotations + +from concurrent.futures import ThreadPoolExecutor +import json +import os +from pathlib import Path +import subprocess +import sys + +REPO_ROOT = Path( + subprocess.run( + ["git", "rev-parse", "--show-toplevel"], capture_output=True, text=True, check=True + ).stdout.strip() +) + + +def _rev_parse(rev: str, subdir: str) -> str | None: + proc = subprocess.run( + ["git", "rev-parse", f"{rev}:{subdir}"], + cwd=REPO_ROOT, + capture_output=True, + text=True, + check=False, + ) + return proc.stdout.strip() if proc.returncode == 0 else None + + +def tree_at(rev: str, subdir: str) -> str | None: + """The git tree hash of `subdir` at `rev`, fetching the revision if it is absent. + + CI checks out shallow, so a pinned revision is usually not present. Fetching just + that one commit costs under a second and keeps the checkout at 6 MB; asking for + the full history instead costs 344 MB. It matters that this is not silent: with + no fetch, an absent revision reads as "nothing to compare", every lock is skipped, + and the run reports all-clear while leaving them stale. + """ + tree = _rev_parse(rev, subdir) + if tree is not None: + return tree + subprocess.run( + ["git", "fetch", "--quiet", "--depth", "1", "origin", rev], + cwd=REPO_ROOT, + capture_output=True, + text=True, + check=False, + ) + return _rev_parse(rev, subdir) + + +def stale_inputs(lock: Path) -> list[str]: + """In-repo inputs whose pinned tree is not the tree in this commit.""" + nodes = json.loads(lock.read_text()).get("nodes", {}) + root = nodes.get("root", {}).get("inputs", {}) + names = [] + for name, node_name in root.items(): + if not isinstance(node_name, str): + continue # a `follows` path, not a direct pin + locked = nodes.get(node_name, {}).get("locked", {}) + if not ( + locked.get("owner") == "dimensionalOS" + and locked.get("repo") == "dimos" + and "dir" in locked + ): + continue + subdir = locked["dir"] + pinned = tree_at(locked["rev"], subdir) + if pinned is None: + continue # shallow clone: the revision is not here to compare + if pinned != tree_at("HEAD", subdir): + names.append(name) + return names + + +def relock(lock: Path) -> tuple[Path, bool, list[str]]: + """Update one lock's stale in-repo inputs. Returns (lock, changed, failures).""" + names = stale_inputs(lock) + if not names: + return lock, False, [] + before = lock.read_text() + failures = [] + for name in names: + proc = subprocess.run( + ["nix", "flake", "update", name], + cwd=lock.parent, + capture_output=True, + text=True, + check=False, + ) + if proc.returncode != 0: + failures.append(f"{lock.parent.relative_to(REPO_ROOT)}: {name}\n{proc.stderr}") + if stale_inputs(lock): + failures.append( + f"{lock.relative_to(REPO_ROOT)}: still stale -- the revision holding this" + " commit's shared tree is not on the remote. Push first; a lock records a" + " narHash of the fetched tree and cannot name a commit nobody can fetch." + ) + return lock, lock.read_text() != before, failures + + +def main() -> int: + locks = [l for l in sorted(REPO_ROOT.rglob("flake.lock")) if ".git" not in l.parts] + workers = int(os.environ.get("RELOCK_WORKERS") or min(8, len(locks) or 1)) + touched, failed = [], [] + with ThreadPoolExecutor(max_workers=workers) as pool: + for lock, changed, failures in pool.map(relock, locks): + if changed: + touched.append(lock.relative_to(REPO_ROOT).as_posix()) + failed.extend(failures) + + for path in sorted(touched): + print(f"relocked {path}") + for message in failed: + print(f"FAIL {message}", file=sys.stderr) + if not touched and not failed: + print("every module already pins the shared flakes as they are in this commit") + return 1 if failed else 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/dimos/cli/bake/codegen.py b/dimos/cli/bake/codegen.py index 75702782dc..4ff2a03ffb 100644 --- a/dimos/cli/bake/codegen.py +++ b/dimos/cli/bake/codegen.py @@ -44,7 +44,7 @@ [dependencies] {dependencies} -# Must match the workspace root's profiles or the shared target dir refingerprints. +# Must match every module workspace's profiles or the shared target dir refingerprints. [profile.release] lto = "thin" codegen-units = 1 @@ -83,13 +83,18 @@ """ +DIMOS_MODULE_DEP = ( + 'dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" }' +) + + def crate_dir(host: str, root: Path | None = None) -> Path: """Where the generated crate for `host` lives.""" return (root or DIMOS_PROJECT_ROOT) / "build" / "dimos-bake" / host def _dependencies(modules: Sequence[RegisteredModule], root: Path) -> str: - lines = [f'dimos-module = {{ path = "{root / "native" / "rust" / "dimos-module"}" }}'] + lines = [DIMOS_MODULE_DEP] # Keyed by crate: one crate can register several module ids, and a repeated # crate name is a duplicate key cargo refuses to parse. for crate_name, crate_path in dict.fromkeys((m.crate_name, m.crate_dir) for m in modules): @@ -149,10 +154,6 @@ def generate_crate( src.mkdir(parents=True, exist_ok=True) (directory / "Cargo.toml").write_text(render_cargo_toml(host, modules, root)) - # Check for workspace lock so we resolve to same dependencies - root_lock = root / "Cargo.lock" - if root_lock.exists(): - (directory / "Cargo.lock").write_text(root_lock.read_text()) (src / "main.rs").write_text(render_main_rs(host, modules, graph)) (src / "default_topics.json").write_text(json.dumps(graph.topics(), indent=2) + "\n") (src / "default_qos.json").write_text(json.dumps(graph.qos(), indent=2) + "\n") diff --git a/dimos/cli/bake/test_codegen.py b/dimos/cli/bake/test_codegen.py index ff7ed602df..acb78bd15e 100644 --- a/dimos/cli/bake/test_codegen.py +++ b/dimos/cli/bake/test_codegen.py @@ -43,7 +43,9 @@ def test_cargo_toml_pins_absolute_paths_for_module_crates() -> None: toml = render_cargo_toml("go2-nav", [MAPPER, PLANNER], Path("/repo")) parsed = tomllib.loads(toml) assert '[[bin]]\nname = "go2-nav"' in toml - assert 'dimos-module = { path = "/repo/native/rust/dimos-module" }' in toml + assert ( + 'dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" }' in toml + ) assert 'crate-mapper = { path = "/crates/mapper" }' in toml assert toml.startswith("# GENERATED BY dimos bake") assert "[workspace]" in toml @@ -51,12 +53,39 @@ def test_cargo_toml_pins_absolute_paths_for_module_crates() -> None: assert "strip" not in parsed["profile"]["release"] -def test_the_generated_crate_reuses_the_workspace_profiles() -> None: - root = tomllib.loads((DIMOS_PROJECT_ROOT / "Cargo.toml").read_text()) +def test_the_generated_crate_reuses_the_module_profiles() -> None: + """The generated host must carry the same profiles as every module workspace. + + They all write into one shared target dir (.cargo/config.toml), and cargo + refingerprints everything when a profile differs -- so a host built beside the + modules would rebuild their whole graph. This used to compare against the + repo-root workspace; there is no root workspace now, so it compares against + every module root, which also catches those drifting apart from each other. + """ generated = tomllib.loads(render_cargo_toml("go2-nav", [MAPPER, PLANNER], Path("/repo"))) release = {k: v for k, v in generated["profile"]["release"].items() if k != "package"} - assert release == root["profile"]["release"] - assert generated["profile"]["dev"] == root["profile"]["dev"] + + deliberate_deviations = {"dimos/mapping/dim_slam/rust/Cargo.toml"} + + roots = [ + path + for path in DIMOS_PROJECT_ROOT.rglob("Cargo.toml") + if ".git" not in path.parts + and "target" not in path.parts + and "[workspace]" in path.read_text() + and "[profile.release]" in path.read_text() + ] + assert roots, "no module workspace roots found" + checked = 0 + for path in roots: + where = path.relative_to(DIMOS_PROJECT_ROOT).as_posix() + if where in deliberate_deviations: + continue + module_toml = tomllib.loads(path.read_text()) + assert release == module_toml["profile"]["release"], where + assert generated["profile"]["dev"] == module_toml["profile"]["dev"], where + checked += 1 + assert checked, "every workspace root was excused; the check proved nothing" def test_main_rs_lists_entries_with_their_thread_counts() -> None: @@ -98,10 +127,17 @@ def test_generate_crate_writes_the_blobs_the_host_includes(tmp_path: Path) -> No assert (crate / "Cargo.toml").exists() -def test_generate_crate_seeds_the_workspace_lock(tmp_path: Path) -> None: +def test_generate_crate_does_not_seed_a_lockfile(tmp_path: Path) -> None: + """A generated host resolves its own dependency graph. + + It used to inherit the repo-root Cargo.lock. That workspace is gone, and a host + aggregates crates from several modules with separate locks, so there is no single + lock to inherit -- seeding one would pin the host to whichever module's resolution + happened to be copied. + """ (tmp_path / "Cargo.lock").write_text('version = 4\n\n[[package]]\nname = "serde"\n') crate = generate_crate("go2-nav", [MAPPER, PLANNER], GRAPH, tmp_path) - assert (crate / "Cargo.lock").read_text() == (tmp_path / "Cargo.lock").read_text() + assert not (crate / "Cargo.lock").exists() def test_generate_crate_is_idempotent(tmp_path: Path) -> None: diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index 5914df1e8a..a7df2fb157 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -32,6 +32,7 @@ import os from pathlib import Path import re +import subprocess from types import ModuleType from typing import NamedTuple @@ -207,9 +208,7 @@ def test_ast_extraction_matches_runtime() -> None: def test_no_module_hashes_the_repo_root() -> None: """A collected input of "." puts the whole-repo tree SHA in the marker key, - so it changes on every commit and the marker never matches. A - fileset.toSource `root` anchor (usually the repo root) must be skipped, not - hashed — regression guard for the rust_recorder fileset flake.""" + so it changes on every commit and the marker never matches.""" for module in _SCRIPT.discover(): assert "." not in _SCRIPT._collect_input_paths(module), ( f"{module.qualname}: input set includes the repo root — a fileset root anchor " @@ -217,27 +216,185 @@ def test_no_module_hashes_the_repo_root() -> None: ) -def test_recorder_fileset_covers_every_workspace_member() -> None: - """Cargo resolves the workspace from the root manifest, so the recorder's - fileset src must carry every [workspace] member — as static path literals, - because the publish gate can only hash literals. Deriving the list from - Cargo.toml at eval time (fromTOML) is invisible to the flake parser, which - then hashes the fileset root instead: the repo-root tree SHA busts the - publish marker on every commit.""" - flake = DIMOS_PROJECT_ROOT / "dimos" / "experimental" / "memory" / "rust" / "flake.nix" - block = re.search(r"members\s*=\s*\[([^]]*)\]", (DIMOS_PROJECT_ROOT / "Cargo.toml").read_text()) - assert block is not None, "no [workspace] members array in Cargo.toml" - members = re.findall(r'"([^"]+)"', block.group(1)) - assert members, "no [workspace] members parsed from Cargo.toml" - literals, _path_inputs = _SCRIPT._flake_refs(flake) - for member in members: - assert any(member == lit or member.startswith(lit + "/") for lit in literals), ( - f"workspace member {member!r} has no covering path literal in {flake} — " - "list it in the fileset.unions so the publish gate hashes it" +def test_every_module_flake_is_self_contained() -> None: + """A module flake may reach its own directory and nothing else. + + This is what makes the publish gate's key correct: `--inputs-hash` hashes each + module's directory tree and nothing more, so a path literal or `path:` input + pointing outside it would let content change without changing the key, and the + module would be served from Cachix as already published. Anything shared has to + arrive as a remote input pinned in the module's own flake.lock, or be copied in. + """ + modules = _SCRIPT.discover() + assert modules + for module in modules: + inputs = _SCRIPT._collect_input_paths(module) + assert inputs == {module.build_dir}, ( + f"{module.qualname}: hashed inputs {sorted(inputs)} are not just " + f"{module.build_dir!r} — the flake reaches outside its own directory" ) -@pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs git HEAD for object hashes") +def test_no_module_reaches_the_repository_root() -> None: + """No `nix build` may resolve to the repo root. + + A ref that walks up to `.git` copies the entire working tree into the store, + including every smudged git-lfs blob under `data/` — 16 GB per build, and a + source hash that differs between machines depending on what they have pulled. + """ + for module in _SCRIPT.discover(): + assert module.build_dir != ".", f"{module.qualname}: builds from the repository root" + ref = _SCRIPT._flake_ref_of(module) + assert ref == "path:." or ref.startswith(("path:.#", "github:")), ( + f"{module.qualname}: flake ref {ref!r} is not the `path:.#` convention" + ) + + +_SHARED_FLAKES = ("native/rust/flake.nix", "native/cpp/flake.nix") +_DEFAULT_BRANCH = "main" + +_IN_REPO_INPUT = re.compile(r'url = "github:dimensionalOS/dimos\?(?P[^"]*)"') + + +def _module_flakes() -> list[Path]: + return sorted( + flake for flake in DIMOS_PROJECT_ROOT.rglob("flake.nix") if ".git" not in flake.parts + ) + + +def _in_repo_input_refs() -> dict[str, list[str | None]]: + """flake path -> the `ref=` of each in-repo input it declares (None when absent).""" + refs: dict[str, list[str | None]] = {} + for flake in _module_flakes(): + found: list[str | None] = [] + for match in _IN_REPO_INPUT.finditer(flake.read_text()): + ref = re.search(r"(?:^|&)ref=([^&]*)", match.group("query")) + found.append(ref.group(1) if ref else None) + if found: + refs[flake.relative_to(DIMOS_PROJECT_ROOT).as_posix()] = found + return refs + + +def _current_branch_names() -> set[str]: + """Every name this checkout answers to. + + A pull request is checked out detached, where `--abbrev-ref HEAD` is the literal + string "HEAD" and names nothing; the branch is then only in the environment the + runner sets. Both are consulted so the same test means the same thing on a + developer's machine and on a runner. + """ + done = subprocess.run( + ("git", "-C", str(DIMOS_PROJECT_ROOT), "rev-parse", "--abbrev-ref", "HEAD"), + capture_output=True, + text=True, + ) + names = {done.stdout.strip()} - {"HEAD", ""} + names |= { + os.environ[key] for key in ("GITHUB_HEAD_REF", "GITHUB_REF_NAME") if os.environ.get(key) + } + return names + + +def _default_branch_has_shared_flakes() -> bool: + """True once the shared flakes exist on the default branch we can see locally.""" + for ref in ("origin/HEAD", f"origin/{_DEFAULT_BRANCH}", _DEFAULT_BRANCH): + for flake in _SHARED_FLAKES: + done = subprocess.run( + ("git", "-C", str(DIMOS_PROJECT_ROOT), "cat-file", "-e", f"{ref}:{flake}"), + capture_output=True, + ) + if done.returncode == 0: + return True + return False + + +@pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to read refs") +def _locked_in_repo_inputs() -> dict[str, list[tuple[str, str]]]: + """flake.lock path -> the (rev, dir) of each in-repo input it pins.""" + locked: dict[str, list[tuple[str, str]]] = {} + for lock in DIMOS_PROJECT_ROOT.rglob("flake.lock"): + if ".git" in lock.parts: + continue + nodes = json.loads(lock.read_text()).get("nodes", {}) + pins = [ + (node["locked"]["rev"], node["locked"]["dir"]) + for node in nodes.values() + if node.get("locked", {}).get("repo") == "dimos" + and node["locked"].get("owner") == "dimensionalOS" + and "dir" in node["locked"] + ] + if pins: + locked[lock.relative_to(DIMOS_PROJECT_ROOT).as_posix()] = pins + return locked + + +def _tree_at(rev: str, path: str) -> str | None: + """The git tree hash of `path` at `rev`, or None if the revision cannot be had.""" + + def read() -> str | None: + done = subprocess.run( + ("git", "-C", str(DIMOS_PROJECT_ROOT), "rev-parse", f"{rev}:{path}"), + capture_output=True, + text=True, + ) + return done.stdout.strip() if done.returncode == 0 else None + + if (tree := read()) is not None: + return tree + subprocess.run( + ("git", "-C", str(DIMOS_PROJECT_ROOT), "fetch", "--depth=1", "origin", rev), + capture_output=True, + timeout=120, + ) + return read() + + +@pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to read refs") +def _resolve(nodes: dict, node: str, name: str) -> str | None: + """The node `name` refers to from `node`, resolving a `follows` path from root.""" + edge = nodes.get(node, {}).get("inputs", {}).get(name) + if edge is None: + return None + if isinstance(edge, str): + return edge + current = "root" + for step in edge: + following = _resolve(nodes, current, step) + if following is None: + return None + current = following + return current + + +def _build_nixpkgs_revs(lock: Path) -> set[str]: + """Every nixpkgs revision a flake actually builds against. + + Reached by walking only the edges that carry a build: a flake's own `nixpkgs`, + and the in-repo shared flakes, whose nixpkgs is the one their `buildNativeModule` + and C++ SDK use. Everything else in the graph is somebody's tooling -- crate2nix + pulls in cachix, which pins a nixpkgs of its own that no derivation here is built + from. Counting those would report a divergence that does not exist. + """ + nodes = json.loads(lock.read_text()).get("nodes", {}) + revs: set[str] = set() + seen: set[str] = set() + frontier = ["root"] + while frontier: + node = frontier.pop() + if node in seen: + continue + seen.add(node) + locked = nodes.get(node, {}).get("locked", {}) + if locked.get("repo") == "nixpkgs" and locked.get("owner") in ("NixOS", "nixos"): + revs.add(locked["rev"]) + continue + for name in _BUILD_EDGES: + if (target := _resolve(nodes, node, name)) is not None: + frontier.append(target) + return revs + + +@pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to find the locks") def test_manifest_is_deterministic() -> None: modules = _SCRIPT.discover() manifest = _SCRIPT.build_manifest(modules) @@ -329,3 +486,132 @@ def test_flake_refs_resolve_and_are_covered() -> None: f"{flake}: reference {token!r} resolves to {target!r}, outside the hashed " "input set — teach bin/build-native-modules._FLAKE_REF the new form" ) + + +def test_module_locks_pin_the_shared_flakes_as_they_are_now() -> None: + """A module's lock must name a revision whose shared tree is the one in this commit. + + `nix flake lock` does not notice that the shared flake moved -- it only checks + that the lock is complete -- so a change to native/rust can land while every + module still builds against the revision before it, and nothing says so. The + revision itself is free to be older than HEAD; what must match is the content it + pins. + + Shallow clones cannot answer the question at all, so this skips rather than + guesses when the pinned revision is not in the checkout. + """ + stale: dict[str, list[str]] = {} + checked = 0 + for lock, pins in _locked_in_repo_inputs().items(): + for rev, subdir in pins: + pinned = _tree_at(rev, subdir) + if pinned is None: + continue # shallow clone: the revision is not here to compare + checked += 1 + here = _tree_at("HEAD", subdir) + if pinned != here: + stale.setdefault(lock, []).append(f"{subdir} @ {rev[:10]}") + if not checked: + pytest.skip("no pinned revision is present in this checkout to compare against") + assert not stale, ( + "these locks pin a revision whose shared tree is not the one in this commit, " + f"so the modules build against the older shared flake: {stale} -- run " + "`nix flake update ` in each and commit the lock" + ) + + +_BUILD_EDGES = ("nixpkgs", "dimos-native-rust", "dimos-native-cpp") + + +def _root_nixpkgs(lock: Path) -> str | None: + """The nixpkgs revision a lock's root actually builds against, following follows.""" + data = json.loads(lock.read_text()) + nodes, root = data["nodes"], data.get("root", "root") + name = nodes[root].get("inputs", {}).get("nixpkgs") + seen: set[str] = set() + while isinstance(name, str) and name not in seen: + seen.add(name) + node = nodes.get(name, {}) + if "locked" in node: + return node["locked"].get("rev") + name = node.get("inputs", {}).get("nixpkgs") + return None + + +def test_every_module_flake_builds_against_one_nixpkgs() -> None: + """Every module flake pins the same nixpkgs. + + Each flake is standalone and names `nixos-unstable` itself, so nothing makes them + agree -- they pin whenever they happen to be locked and drift apart silently. The + cost is not subtle: a different nixpkgs is a different rustc, so two modules on + two revisions share no dependency derivations at all, and CI rebuilds from scratch + what it should have substituted. + + The repo-root flake is excluded on purpose: it builds no module, it is the + devcontainer, and bumping it is an everyone-lives-here change. + """ + by_rev: dict[str, list[str]] = {} + for lock in sorted(DIMOS_PROJECT_ROOT.rglob("flake.lock")): + if ".git" in lock.parts or lock.parent == DIMOS_PROJECT_ROOT: + continue + rev = _root_nixpkgs(lock) + if rev: + by_rev.setdefault(rev, []).append( + lock.parent.relative_to(DIMOS_PROJECT_ROOT).as_posix() + ) + if not by_rev: + pytest.skip("no flake.lock pins a nixpkgs to compare") + assert len(by_rev) == 1, ( + "module flakes disagree on nixpkgs, so they share no build: " + + "; ".join(f"{rev[:10]} -> {mods}" for rev, mods in by_rev.items()) + + " -- run `nix flake update nixpkgs` in each and commit the locks" + ) + + +def _rust_flake_dirs() -> list[Path]: + """Flake directories with a cargo manifest, plus the shared crates' own flake. + + `native/rust` has no manifest of its own -- the two crates sit one level down -- + so it is named rather than matched. + """ + directories = {DIMOS_PROJECT_ROOT / "native" / "rust"} + for flake in DIMOS_PROJECT_ROOT.rglob("flake.nix"): + skipped = {".git", "target", "result", "build"} + if not skipped.isdisjoint(flake.parts): + continue + if (flake.parent / "Cargo.toml").exists(): + directories.add(flake.parent) + return sorted(directories) + + +def test_every_rust_flake_offers_a_tests_check() -> None: + """Rust tests are derivations, so a flake without the check is silently untested. + + CI runs `bin/build-native-modules --tests`, which skips a flake declaring no + `checks..tests` rather than failing -- that is what lets the C++ flakes + through. A rust crate that loses the attribute would be skipped just as quietly. + """ + missing = [ + directory.relative_to(DIMOS_PROJECT_ROOT).as_posix() + for directory in _rust_flake_dirs() + if "checks.tests" not in re.sub(r"\s+", "", (directory / "flake.nix").read_text()) + ] + assert not missing, f"rust flakes with no tests check, so nothing runs their tests: {missing}" + + +def test_ci_never_names_a_module_directory() -> None: + """The workflow must discover modules, not list them. + + Every hardcoded module path in ci.yml has been a maintenance bug waiting to + happen: the list goes stale when a module is added, renamed or moved, and CI + keeps passing while silently testing less. Discovery belongs in `bin/`, where + it can be run and tested locally. + """ + workflow = (DIMOS_PROJECT_ROOT / ".github" / "workflows" / "ci.yml").read_text() + module_dirs = [ + directory.relative_to(DIMOS_PROJECT_ROOT).as_posix() for directory in _rust_flake_dirs() + ] + named = sorted(directory for directory in module_dirs if directory in workflow) + assert not named, ( + f"ci.yml names module directories: {named} -- discover them in a bin/ script instead" + ) diff --git a/Cargo.lock b/dimos/experimental/memory/rust/Cargo.lock similarity index 89% rename from Cargo.lock rename to dimos/experimental/memory/rust/Cargo.lock index 5aebcae77f..f2a0a76426 100644 --- a/Cargo.lock +++ b/dimos/experimental/memory/rust/Cargo.lock @@ -96,12 +96,6 @@ version = "2.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc" -[[package]] -name = "arrayvec" -version = "0.7.8" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d3fb67a6e08acf24fdeccbac2cb6ac4305825bd1f117462e0e6f2f193345ad56" - [[package]] name = "asn1-rs" version = "0.7.2" @@ -111,9 +105,9 @@ dependencies = [ "asn1-rs-derive", "asn1-rs-impl", "displaydoc", - "nom 7.1.3", + "nom", "num-traits", - "rusticata-macros 4.1.0", + "rusticata-macros", "thiserror 2.0.20", "time", ] @@ -127,7 +121,7 @@ dependencies = [ "proc-macro2", "quote", "syn 2.0.119", - "synstructure", + "synstructure 0.13.2", ] [[package]] @@ -149,7 +143,7 @@ checksum = "82f6aeea286b8eb4dd3431a1be1b59d290ace00f5bfd8e2a159bc2a05e2c1667" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -217,9 +211,9 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a" [[package]] name = "bitflags" -version = "2.13.1" +version = "2.13.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b588b76d00fde79687d7646a9b5bdf3cc0f655e0bbd080335a95d7e96f3587da" +checksum = "3ded4057c258ba199e2d26386d3af3780957ecaee6c4ef4041c6b4b8b97c0b06" dependencies = [ "serde_core", ] @@ -277,9 +271,9 @@ checksum = "fc652a48c352aef3ea3aed32080501cf3ef6ed5da78602a020c991775b0aff04" [[package]] name = "cc" -version = "1.4.4" +version = "1.4.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0ad534f4357a5264cce5019c989cf66a4f0dc4e0d1b1d15f8aacec0ff7360273" +checksum = "a3eb0f42d6c360dc3f8a821f6bf2fdea7f72bfd36b3076eb0e6d1e9e0752fff4" dependencies = [ "find-msvc-tools", "jobserver", @@ -338,12 +332,6 @@ dependencies = [ "inout", ] -[[package]] -name = "circular" -version = "0.3.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b0fc239e0f6cb375d2402d48afb92f76f5404fd1df208a41930ec81eda078bea" - [[package]] name = "cmake" version = "0.1.58" @@ -418,35 +406,20 @@ dependencies = [ "libc", ] -[[package]] -name = "crc" -version = "3.4.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5eb8a2a1cd12ab0d987a5d5e825195d372001a4094a0376319d5a0ad71c1ba0d" -dependencies = [ - "crc-catalog", -] - -[[package]] -name = "crc-catalog" -version = "2.5.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "217698eaf96b4a3f0bc4f3662aaa55bdf913cd54d7204591faa790070c6d0853" - [[package]] name = "crc32fast" -version = "1.5.1" +version = "1.5.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8498c871161e1742aaa9d52551b2d6ebdd4c3d45a3be423e3728f33b955be550" +checksum = "01a7799fd6b852db0e61728dde9a204c423b44d689dbd432522543614b490e78" dependencies = [ "cfg-if", ] [[package]] name = "crossbeam" -version = "0.8.4" +version = "0.8.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1137cd7e7fc0fb5d3c5a8678be38ec56e819125d8d7907411fe24ccb943faca8" +checksum = "e71406cd8807725f7ac2f999a4cdd32e98f829fdf65f528343cebf945e41df1e" dependencies = [ "crossbeam-channel", "crossbeam-deque", @@ -457,18 +430,18 @@ dependencies = [ [[package]] name = "crossbeam-channel" -version = "0.5.16" +version = "0.5.17" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d85363c37faeca707aef026efa9f3b34d077bce547e48f770770625c6013679e" +checksum = "98b0cc327b5bc766e7fda9c9260cc0fa81b43a8e240440422dff70788e3f9ef1" dependencies = [ "crossbeam-utils", ] [[package]] name = "crossbeam-deque" -version = "0.8.7" +version = "0.8.8" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5181e0de7b61eb03a81e347d6dd8797bae9da5146707b51077e2d71a54ec0ceb" +checksum = "622f3fc73690be383c7214310406f28a90e6edeadc3cea882f9d71e495b9711a" dependencies = [ "crossbeam-epoch", "crossbeam-utils", @@ -476,27 +449,27 @@ dependencies = [ [[package]] name = "crossbeam-epoch" -version = "0.9.20" +version = "0.9.21" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "2d6914041f254d6e9176c01941b21115dcfb7089e55135a35411081bd106ef3f" +checksum = "dc74980687109a3b14c72fd458107bf0baa1da1a1a805e178d15501ba9b86d9d" dependencies = [ "crossbeam-utils", ] [[package]] name = "crossbeam-queue" -version = "0.3.13" +version = "0.3.14" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "803d13fb3b09d88be9f4dbc29062c66b19bf7170867ceb746d2a8689bf6c7a26" +checksum = "03e8bd762f7479489c70ed6c768ddca99d7296857de437a68dcb2a94365b3fae" dependencies = [ "crossbeam-utils", ] [[package]] name = "crossbeam-utils" -version = "0.8.22" +version = "0.8.23" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "61803da095bee82a81bb1a452ecc25d3b2f1416d1897eb86430c6159ef717c17" +checksum = "a31eee39dddec8330830986fcd7625edb5a24ec90ea038215273bbc3adb08ac6" [[package]] name = "crypto-common" @@ -528,6 +501,16 @@ dependencies = [ "darling_macro 0.23.0", ] +[[package]] +name = "darling" +version = "0.24.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ed17f5901b6630b993ca003def43f2f8ef4014fc13b047b57aad617ff32bc2ec" +dependencies = [ + "darling_core 0.24.1", + "darling_macro 0.24.1", +] + [[package]] name = "darling_core" version = "0.21.3" @@ -554,6 +537,19 @@ dependencies = [ "syn 2.0.119", ] +[[package]] +name = "darling_core" +version = "0.24.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6837e2cf7485aaae18f86181d2f0e9a7ed297a025e220aeabf63fdebd3a2ddff" +dependencies = [ + "ident_case", + "proc-macro2", + "quote", + "strsim", + "syn 3.0.5", +] + [[package]] name = "darling_macro" version = "0.21.3" @@ -576,6 +572,17 @@ dependencies = [ "syn 2.0.119", ] +[[package]] +name = "darling_macro" +version = "0.24.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2ac7135c3ef02b2f7833bbeb1be5ba7f966dcde8a87c6b87f65a778d71a02785" +dependencies = [ + "darling_core 0.24.1", + "quote", + "syn 3.0.5", +] + [[package]] name = "data-encoding" version = "2.11.1" @@ -621,10 +628,10 @@ checksum = "07da5016415d5a3c4dd39b11ed26f915f52fc4e0dc197d87908bc916e51bc1a6" dependencies = [ "asn1-rs", "displaydoc", - "nom 7.1.3", + "nom", "num-bigint", "num-traits", - "rusticata-macros 4.1.0", + "rusticata-macros", ] [[package]] @@ -657,24 +664,6 @@ dependencies = [ "tokio", ] -[[package]] -name = "dimos-livox" -version = "0.1.0" -dependencies = [ - "crc", - "dimos-module", - "etherparse", - "lcm-msgs", - "pcap-parser", - "serde", - "serde_json", - "socket2 0.6.5", - "tempfile", - "tokio", - "tracing", - "validator", -] - [[package]] name = "dimos-memory-recorder" version = "0.1.0" @@ -697,35 +686,10 @@ dependencies = [ "validator", ] -[[package]] -name = "dimos-mls-planner" -version = "0.1.0" -dependencies = [ - "ahash", - "dimos-module", - "lcm-msgs", - "rayon", - "serde", - "tokio", - "tracing", - "tracing-subscriber", - "validator", -] - -[[package]] -name = "dimos-mls-planner-py" -version = "0.1.0" -dependencies = [ - "dimos-mls-planner", - "numpy", - "pyo3", - "tracing-subscriber", - "validator", -] - [[package]] name = "dimos-module" version = "0.1.0" +source = "git+https://github.com/dimensionalOS/dimos?branch=main#e9428ddb3b1cdfc808964148e21137364ae90f2b" dependencies = [ "dimos-lcm", "dimos-module-macros", @@ -737,7 +701,6 @@ dependencies = [ "tokio", "tracing", "tracing-subscriber", - "tracing-test", "url", "validator", "zenoh", @@ -746,77 +709,12 @@ dependencies = [ [[package]] name = "dimos-module-macros" version = "0.1.0" +source = "git+https://github.com/dimensionalOS/dimos?branch=main#e9428ddb3b1cdfc808964148e21137364ae90f2b" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", - "toml 1.1.4+spec-1.1.0", -] - -[[package]] -name = "dimos-native-module-examples" -version = "0.1.0" -dependencies = [ - "dimos-module", - "lcm-msgs", - "serde", - "tokio", - "tracing", - "validator", -] - -[[package]] -name = "dimos-pointlio" -version = "0.1.0" -dependencies = [ - "dimos-livox", - "dimos-module", - "lcm-msgs", - "pointlio-core", - "serde", - "serde_json", - "tokio", - "tracing", - "validator", -] - -[[package]] -name = "dimos-virtual-mid360" -version = "0.1.0" -dependencies = [ - "dimos-livox", - "dimos-module", - "serde", - "socket2 0.6.5", - "tokio", - "tracing", - "validator", -] - -[[package]] -name = "dimos-voxel-ray-tracing" -version = "0.1.0" -dependencies = [ - "ahash", - "arrayvec", - "dimos-module", - "lcm-msgs", - "nalgebra", - "rayon", - "serde", - "tokio", - "tracing", - "validator", -] - -[[package]] -name = "dimos-voxel-ray-tracing-py" -version = "0.1.0" -dependencies = [ - "dimos-voxel-ray-tracing", - "numpy", - "pyo3", - "validator", + "syn 3.0.5", + "toml 1.1.6+spec-1.1.0", ] [[package]] @@ -848,7 +746,7 @@ checksum = "c6232dd377dcc64799954cbd3a9bb882e9cdc1308ccd87b1c098f1fb2eaf82a8" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -906,15 +804,6 @@ dependencies = [ "windows-sys 0.61.2", ] -[[package]] -name = "etherparse" -version = "0.21.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "17304d06addb3283cdc4bd528e42dd95e73c8ee2d6492ffce415e93660885449" -dependencies = [ - "arrayvec", -] - [[package]] name = "event-listener" version = "5.4.2" @@ -957,9 +846,9 @@ checksum = "da7c62ceae207dd37ea5b845da6a0696c799f85e97da1ab5b7910be3c1c80223" [[package]] name = "find-msvc-tools" -version = "0.1.11" +version = "0.1.12" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d45db016d36b838f563236e9193d0ee6ce38f3f68b6c94e914b4929c96bbb890" +checksum = "3e0f1c7c3a72c66fd80abe965175f7523475c0489a87d3ff9d6e8c87d87a9d2d" [[package]] name = "fixedbitset" @@ -1073,7 +962,7 @@ checksum = "9fb9654ba8355388abeb8dcb4fc62f511300867002afc858860463bdd9fe0c44" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -1200,9 +1089,9 @@ checksum = "f70749695b063ecbf6b62949ccccde2e733ec3ecbbd71d467dca4e5c6c97cca0" [[package]] name = "glam" -version = "0.33.6" +version = "0.33.7" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "21fef0953c54fd3de2f44b743fbf77e044c81a25faee03636dfccc0d35135e23" +checksum = "e762b9b188634fc508d4ec54b62ea3d352c43fd431d18d05d46f559f217f4725" [[package]] name = "hashbrown" @@ -1251,19 +1140,13 @@ dependencies = [ [[package]] name = "hashlink" -version = "0.12.1" +version = "0.12.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "32069d97bb81e38fa67eab65e3393bf804bb85969f2bc06bf13f64aef5aba248" +checksum = "a596f1b20ed2cc5ecac41a164aaebc7258057060f06c0cf7a2ba3991ee7990fb" dependencies = [ "hashbrown 0.17.1", ] -[[package]] -name = "heck" -version = "0.5.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea" - [[package]] name = "hermit-abi" version = "0.5.3" @@ -1447,9 +1330,9 @@ dependencies = [ [[package]] name = "indexmap" -version = "2.14.1" +version = "2.14.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "07aa2048142242915a31d35844fb311e0e53fcca590c3a0a40dcf1b841fa09eb" +checksum = "cc4e190f5d26ca7051642629da2c52fc03bde85a03197c99408dcd291734c855" dependencies = [ "equivalent", "hashbrown 0.17.1", @@ -1457,15 +1340,6 @@ dependencies = [ "serde_core", ] -[[package]] -name = "indoc" -version = "2.0.7" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "79cf5c93f93228cf8efb3ba362535fb11199ac548a09ce117c9b1adc3030d706" -dependencies = [ - "rustversion", -] - [[package]] name = "inout" version = "0.1.4" @@ -1501,9 +1375,9 @@ checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682" [[package]] name = "jiff" -version = "0.2.35" +version = "0.2.37" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "668b7183bd07af9a4885f5c35b0cc5c83c4607a913c16b7e17291832910d2dcc" +checksum = "0ab1baf72f08796de0260609515130699b890ac25f30e610ad894bc5856cafdb" dependencies = [ "defmt", "jiff-core", @@ -1518,18 +1392,19 @@ dependencies = [ [[package]] name = "jiff-core" -version = "0.1.0" +version = "0.1.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7feca88439efe53da3754500c1851dedf3cb36c524dd5cf8225cc0794de95d09" +checksum = "5e52fe76043ccecc9005d2305ebaadf7d7fc0cc89ca6baa10a94d6bc68c7128c" dependencies = [ "defmt", + "log", ] [[package]] name = "jiff-static" -version = "0.2.35" +version = "0.2.37" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3a69dcb3a21cfb32ce1cd056169337ca284af0766dd766e7878819b251a49204" +checksum = "378268a1116ad67ae6228701118ac9f491d78fda38a40a1f1a9e1348de6f7212" dependencies = [ "jiff-core", "proc-macro2", @@ -1613,9 +1488,9 @@ dependencies = [ [[package]] name = "js-sys" -version = "0.3.104" +version = "0.3.105" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0e0c1080212aad755ea003d18543e8768dd432c48819efd73a7bf1e39b7a5a3a" +checksum = "ce57d20d1ea864ce2ac172ab472d409214f4fd359f0b2a2775abdf522e2af99e" dependencies = [ "cfg-if", "futures-util", @@ -1704,9 +1579,9 @@ checksum = "b6d2cec3eae94f9f509c767b45932f1ada8350c4bdb85af2fcab4a3c14807981" [[package]] name = "libredox" -version = "0.1.21" +version = "0.1.24" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d7955dfc218a8afb29dfeffd540e3a6e96baeb94fe7138228dd7cc6937fbbf96" +checksum = "6480ccc157a1389bb2e4891b24751b0f798ba640d22386f23143fbcc89da195a" dependencies = [ "libc", ] @@ -1759,9 +1634,9 @@ checksum = "f9f8bd3e56ce4dfc153cf470fffbfa98c7620958b312ca5c3a4b8d5181fd13c6" [[package]] name = "lru-slab" -version = "0.1.2" +version = "0.1.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "112b39cec0b298b6c1999fee3e31427f74f676e4cb9879ed1a121b43661a4154" +checksum = "4050469837a6ff301cd14c1f8f24f88549e6d548f24f64e2148eb0f72cebc51f" [[package]] name = "lz4_flex" @@ -1825,15 +1700,6 @@ version = "2.8.3" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "cf8baf1c55e62ffcace7a9f06f4bd9cd3f0c4beb022d3b367256b91b87513d98" -[[package]] -name = "memoffset" -version = "0.9.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "488016bfae457b036d996092f6cb448677611ce4449e970ceaf42695203f218a" -dependencies = [ - "autocfg", -] - [[package]] name = "minimal-lexical" version = "0.2.1" @@ -1852,9 +1718,9 @@ dependencies = [ [[package]] name = "mio" -version = "1.2.2" +version = "1.2.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "30d65c71f1ce40ab09135ce117d742b9f8a19ff91a41a8b57ed50bc2de59c427" +checksum = "4b18443e9c262bfe8fa82f51666e2642c53393f7e5c27b3e1aeab922cff5b9d8" dependencies = [ "libc", "wasi", @@ -1871,7 +1737,7 @@ dependencies = [ "glam 0.30.10", "glam 0.31.1", "glam 0.32.1", - "glam 0.33.6", + "glam 0.33.7", "matrixmultiply", "nalgebra-macros", "num-complex", @@ -1901,28 +1767,13 @@ dependencies = [ "getrandom 0.2.17", ] -[[package]] -name = "ndarray" -version = "0.16.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "882ed72dce9365842bf196bdeedf5055305f11fc8c03dee7bb0194a6cad34841" -dependencies = [ - "matrixmultiply", - "num-complex", - "num-integer", - "num-traits", - "portable-atomic", - "portable-atomic-util", - "rawpointer", -] - [[package]] name = "nix" version = "0.29.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46" dependencies = [ - "bitflags 2.13.1", + "bitflags 2.13.2", "cfg-if", "cfg_aliases 0.2.2", "libc", @@ -1944,15 +1795,6 @@ dependencies = [ "minimal-lexical", ] -[[package]] -name = "nom" -version = "8.0.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "df9761775871bdef83bee530e60050f7e54b1105350d6884eb0fb4f46c2f9405" -dependencies = [ - "memchr", -] - [[package]] name = "nonempty-collections" version = "0.3.1" @@ -2035,22 +1877,6 @@ dependencies = [ "libc", ] -[[package]] -name = "numpy" -version = "0.25.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "29f1dee9aa8d3f6f8e8b9af3803006101bb3653866ef056d530d53ae68587191" -dependencies = [ - "libc", - "ndarray", - "num-complex", - "num-integer", - "num-traits", - "pyo3", - "pyo3-build-config", - "rustc-hash", -] - [[package]] name = "oid-registry" version = "0.8.1" @@ -2125,17 +1951,6 @@ version = "1.0.15" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a" -[[package]] -name = "pcap-parser" -version = "0.17.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1099a3a64b376c536394622c9e5ea8ecfac3e3e44f88857b1e7da114135d3df4" -dependencies = [ - "circular", - "nom 8.0.0", - "rusticata-macros 5.0.0", -] - [[package]] name = "pem" version = "4.0.0" @@ -2154,9 +1969,9 @@ checksum = "9b4f627cb1b25917193a259e49bdad08f671f8d9708acfd5fe0a8c1455d87220" [[package]] name = "pest" -version = "2.9.0" +version = "2.9.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5a07a60cc7a4d00c91f95c685609d1d2f79050e6804b70ebedd7650f0b839bcf" +checksum = "6d45aeb61b4bf818e12d4205f2466f8c4748f85f4fce0146d1c03d69d753f0ad" dependencies = [ "memchr", "ucd-trie", @@ -2164,9 +1979,9 @@ dependencies = [ [[package]] name = "pest_derive" -version = "2.9.0" +version = "2.9.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b3a83744a5c8455b8b3e0dc5031362780a347c878bdd11584d1a8984228cc88d" +checksum = "89cc5a242e25ed4e7704d0be240f2cfbe20a8c27e7e252d94835be93d92dc39f" dependencies = [ "pest", "pest_generator", @@ -2174,9 +1989,9 @@ dependencies = [ [[package]] name = "pest_generator" -version = "2.9.0" +version = "2.9.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e0cd3451aa3de60d4b9a1e736885e4dea6b31617598026f12256ad566d63304a" +checksum = "7abf21475cc3820fe4b2ca2dc2142902f67a02189f3b5b3a229f4febc01a43e5" dependencies = [ "pest", "pest_meta", @@ -2187,9 +2002,9 @@ dependencies = [ [[package]] name = "pest_meta" -version = "2.9.0" +version = "2.9.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e04d3a0849e241d7dfce834c83b1c5edc8622009e8dd51a12ba1927c32f05496" +checksum = "adba4db388f687393c18c51348d44a41d870ca9df71a2c98172ea3035dc6936e" dependencies = [ "pest", ] @@ -2202,7 +2017,7 @@ checksum = "8701b58ea97060d5e5b155d383a69952a60943f0e6dfe30b04c287beb0b27455" dependencies = [ "fixedbitset", "hashbrown 0.15.5", - "indexmap 2.14.1", + "indexmap 2.14.2", "serde", ] @@ -2293,15 +2108,6 @@ dependencies = [ "winapi", ] -[[package]] -name = "pointlio-core" -version = "0.1.0" -source = "git+https://github.com/dimensionalOS/dimos-module-pointlio.git?rev=3c1dcf8b9dfe6402aaf141e116f4caef6c5c8088#3c1dcf8b9dfe6402aaf141e116f4caef6c5c8088" -dependencies = [ - "nalgebra", - "serde", -] - [[package]] name = "portable-atomic" version = "1.15.0" @@ -2310,9 +2116,9 @@ checksum = "05c8b63e8d9609db387f0324918f81d68fe27748f084ef092fb35954d0539a85" [[package]] name = "portable-atomic-util" -version = "0.2.7" +version = "0.2.8" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c2a106d1259c23fac8e543272398ae0e3c0b8d33c88ed73d0cc71b0f1d902618" +checksum = "10ab3eb7f3becc3a1cbc4f2c6f20267996cfc1a6467a873763411b136a122715" dependencies = [ "portable-atomic", ] @@ -2369,7 +2175,7 @@ dependencies = [ "proc-macro-error-attr3", "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -2395,82 +2201,20 @@ dependencies = [ [[package]] name = "prometheus-client-derive-encode" -version = "0.5.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "9adf1691c04c0a5ff46ff8f262b58beb07b0dbb61f96f9f54f6cbd82106ed87f" -dependencies = [ - "proc-macro2", - "quote", - "syn 2.0.119", -] - -[[package]] -name = "pyo3" -version = "0.25.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8970a78afe0628a3e3430376fc5fd76b6b45c4d43360ffd6cdd40bdde72b682a" -dependencies = [ - "indoc", - "libc", - "memoffset", - "once_cell", - "portable-atomic", - "pyo3-build-config", - "pyo3-ffi", - "pyo3-macros", - "unindent", -] - -[[package]] -name = "pyo3-build-config" -version = "0.25.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "458eb0c55e7ece017adeba38f2248ff3ac615e53660d7c71a238d7d2a01c7598" -dependencies = [ - "once_cell", - "target-lexicon", -] - -[[package]] -name = "pyo3-ffi" -version = "0.25.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = 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"0c1a41e437b6bbd489372cd4971de128e85c855f56c57f283d20ff016cf7c0a8" +checksum = "4051e23e9185c255a7e33ef59cdbca87a22d359052eecd22fc6b901fb37d9d11" dependencies = [ "bytes", "cfg_aliases 0.2.2", @@ -2488,9 +2232,9 @@ dependencies = [ [[package]] name = "quinn-proto" -version = "0.11.17" +version = "0.11.18" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "04759210543be93709136e28212294a659ef5001836ff4eab4d663e4529bba83" +checksum = "a9746dbde176634f4f2f1faf2404e30a31b2bc1e9cafb5329c95d8177a18c9fc" dependencies = [ "bytes", "fastbloom", @@ -2647,7 +2391,7 @@ version = "0.5.18" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d" dependencies = [ - "bitflags 2.13.1", + "bitflags 2.13.2", ] [[package]] @@ -2678,7 +2422,7 @@ checksum = "92ecd8964f8453721699a1ed72037b0db49ce2f5a5138486ee89bed6f67cdf3a" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -2749,7 +2493,7 @@ version = "0.12.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "81116b9531d61eabc41aeb228e4b6b2435bcca3233b98cf3b3077d4e6e9debb3" dependencies = [ - "bitflags 2.13.1", + "bitflags 2.13.2", "once_cell", "serde", "serde_derive", @@ -2773,7 +2517,7 @@ version = "0.40.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "23f2a97da3e3873c73cb2a2e71b35c40ff95e0b1eefa8d72d8499a6928c3b5b3" dependencies = [ - "bitflags 2.13.1", + "bitflags 2.13.2", "fallible-iterator", "fallible-streaming-iterator", "hashlink", @@ -2803,16 +2547,7 @@ version = "4.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "faf0c4a6ece9950b9abdb62b1cfcf2a68b3b67a10ba445b3bb85be2a293d0632" dependencies = [ - "nom 7.1.3", -] - -[[package]] -name = "rusticata-macros" -version = "5.0.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = 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source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ee78f1fbe43ac4a0e47aadb3dbd357b69eb0d3793e948624cd03dd2750ab1c0a" +checksum = "935177bb8c0cd8ca1a4e6d1a2ac8988bea69cab4f9d3a31311e012ad27868ea4" dependencies = [ - "base64 0.22.1", + "base64 0.23.1", "bs58", "chrono", "hex", "indexmap 1.9.3", - "indexmap 2.14.1", + "indexmap 2.14.2", "jiff", "schemars 0.9.0", "schemars 1.2.2", @@ -3121,14 +2856,14 @@ dependencies = [ [[package]] name = "serde_with_macros" -version = "3.22.0" +version = "3.23.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8705578779c2b6bd90d84d66eb2e206b708b1a4d7b9f17641b293545bf1c7e46" +checksum = "1d607aa01a3cb0ad757d6fd216136910db3c97b102fe686585689615a02dbcdc" dependencies = [ - "darling 0.23.0", + "darling 0.24.1", "proc-macro2", "quote", - "syn 2.0.119", + "syn 3.0.5", ] [[package]] @@ -3137,7 +2872,7 @@ version = "0.9.34+deprecated" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "6a8b1a1a2ebf674015cc02edccce75287f1a0130d394307b36743c2f5d504b47" dependencies = [ - "indexmap 2.14.1", + "indexmap 2.14.2", "itoa", "ryu", "serde", @@ -3242,9 +2977,9 @@ checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5" [[package]] name = "smallvec" -version = "1.15.2" +version = "1.16.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8ed6a63f02c8539c91a8685a86f4099661ba3da017932f6ebbea6de3f0fa7c90" +checksum = "ba467056f1b547ed52077911161fc86985becbc60e8e1857c8a144dab0def891" [[package]] name = "socket2" @@ -3403,9 +3138,9 @@ dependencies = [ [[package]] name = "syn" -version = "3.0.4" +version = "3.0.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e6275cddf4610d1775e6d1fe9469b2e77d0f39fd98fb7450901b821e0c53649f" +checksum = "12df2e0110f65b775f769bb17ef989067a1d931b2eb822bd4346631eeada89f9" dependencies = [ "proc-macro2", "quote", @@ -3424,16 +3159,21 @@ dependencies = [ ] [[package]] -name = "talc" -version = "4.4.3" +name = "synstructure" +version = "0.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a3ae828aa394de34c7de08f522d1b86bd1c182c668d27da69caadda00590f26d" +checksum = "901704edd0dfe137f1987838ee4f259e4e063c31371bdb423f7ae38ec6f77f02" +dependencies = [ + "proc-macro2", + "quote", + "syn 3.0.5", +] [[package]] -name = "target-lexicon" -version = "0.13.5" +name = "talc" +version = "4.4.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "adb6935a6f5c20170eeceb1a3835a49e12e19d792f6dd344ccc76a985ca5a6ca" +checksum = "a3ae828aa394de34c7de08f522d1b86bd1c182c668d27da69caadda00590f26d" [[package]] name = "tempfile" @@ -3485,7 +3225,7 @@ checksum = "bc04cd3e1236dd4a98afca4569f2deb3f120e5422a4023be2cb683f8486292af" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -3494,7 +3234,7 @@ version = "1.2.0" source = 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[[package]] @@ -3624,7 +3355,7 @@ version = "0.9.12+spec-1.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "cf92845e79fc2e2def6a5d828f0801e29a2f8acc037becc5ab08595c7d5e9863" dependencies = [ - "indexmap 2.14.1", + "indexmap 2.14.2", "serde_core", "serde_spanned", "toml_datetime 0.7.5+spec-1.1.0", @@ -3635,11 +3366,11 @@ dependencies = [ [[package]] name = "toml" -version = "1.1.4+spec-1.1.0" +version = "1.1.6+spec-1.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3aace63f4bbcdfc2c965b059de67119c89c4017a70d633be6c104910f67056f5" +checksum = "920602543f0911ab71da12c50d59701da54c196d1a2bf5cb4b75667f137a406a" dependencies = [ - "indexmap 2.14.1", + "indexmap 2.14.2", "serde_core", "serde_spanned", "toml_datetime 1.1.1+spec-1.1.0", @@ -3668,11 +3399,11 @@ dependencies = [ [[package]] name = "toml_edit" -version = "0.25.13+spec-1.1.0" +version = "0.25.15+spec-1.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6975367e4d2ef766d86af01ffad14b622fecc8d4357a998fbc4deb6e9bacaf9b" +checksum = "1340ea94a5856333492c9064b02c778b191dd2c853778d9609debdcdfea3a614" dependencies = [ - "indexmap 2.14.1", + "indexmap 2.14.2", "toml_datetime 1.1.1+spec-1.1.0", "toml_parser", "winnow 1.0.4", @@ -3768,27 +3499,6 @@ dependencies = [ "tracing-serde", ] -[[package]] -name = "tracing-test" -version = "0.2.6" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "19a4c448db514d4f24c5ddb9f73f2ee71bfb24c526cf0c570ba142d1119e0051" -dependencies = [ - "tracing-core", - "tracing-subscriber", - "tracing-test-macro", -] - -[[package]] -name = "tracing-test-macro" -version = "0.2.6" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ad06847b7afb65c7866a36664b75c40b895e318cea4f71299f013fb22965329d" -dependencies = [ - "quote", - "syn 2.0.119", -] - [[package]] name = "turbojpeg" version = "1.5.1" @@ -3872,12 +3582,6 @@ version = "0.2.6" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853" -[[package]] -name = "unindent" -version = "0.2.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7264e107f553ccae879d21fbea1d6724ac785e8c3bfc762137959b5802826ef3" - [[package]] name = "unsafe-libyaml" version = "0.2.11" @@ -4022,9 +3726,9 @@ dependencies = [ [[package]] name = "wasm-bindgen" -version = "0.2.127" +version = "0.2.128" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1b70935747edd64d89de3efa29d73789b806c15798f8e7dca4d8ac356b50ce70" +checksum = "aecb87a33d3b0c5e3b7aa46336eaf486cffafbd281b195e4c8b80d50df2351bf" dependencies = [ "cfg-if", "once_cell", @@ -4035,9 +3739,9 @@ dependencies = [ [[package]] name = "wasm-bindgen-macro" -version = "0.2.127" +version = "0.2.128" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "77775f8f3f7217702089053b94958f8f54061a3f663417df76e19cbdcca29bc1" +checksum = "a690d511e3c1a8b3a55e33511e3c2c00c78415cd23650f32b808627f5696b9ed" dependencies = [ "quote", "wasm-bindgen-macro-support", @@ -4045,22 +3749,22 @@ dependencies = [ [[package]] name = "wasm-bindgen-macro-support" -version = "0.2.127" +version = "0.2.128" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e11d33f857dc2fb11b8bc75aee111aa9cbeb12cd9f25efd3d4c2a3dd4e235284" +checksum = "411e4887f0071ef2d2164a9d5fdf2d20efbef78fccd3a78b0c10a1dc5295e48a" dependencies = [ "bumpalo", "proc-macro2", "quote", - "syn 2.0.119", + "syn 3.0.5", "wasm-bindgen-shared", ] [[package]] name = "wasm-bindgen-shared" -version = "0.2.127" +version = "0.2.128" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7ef64dbcc55df09c7e5a46182d181c2cfa3e925f3da937ea764728b4bbb9dcbf" +checksum = "81941cd78d0c92026c33e5e01312845a4cb1e9af3407f9134b100dd03144103e" dependencies = [ "unicode-ident", ] @@ -4095,9 +3799,9 @@ dependencies = [ [[package]] name = "wide" -version = "1.7.0" +version = "1.7.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8cf05ca94c9fba0c51316899caa1d1e74a064fc310a5efa7375e614343d415be" +checksum = "d920ac99c3c8edce110cb8d07dbb324d6d026011dce85b1e9355b70f0adacc4f" dependencies = [ "bytemuck", "safe_arch", @@ -4364,10 +4068,10 @@ dependencies = [ "data-encoding", "der-parser", "lazy_static", - "nom 7.1.3", + "nom", "oid-registry", "ring", - "rusticata-macros 4.1.0", + "rusticata-macros", "thiserror 2.0.20", "time", ] @@ -4395,14 +4099,14 @@ dependencies = [ [[package]] name = "yoke-derive" -version = "0.8.2" +version = "0.8.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "de844c262c8848816172cef550288e7dc6c7b7814b4ee56b3e1553f275f1858e" +checksum = "33811428bee40dbceb6d545e95754741d17a6aef9a4849f0fd62e2ba4f412a78" dependencies = [ "proc-macro2", "quote", - "syn 2.0.119", - "synstructure", + "syn 3.0.5", + "synstructure 0.14.0", ] [[package]] @@ -4876,18 +4580,18 @@ dependencies = [ [[package]] name = "zerocopy" -version = "0.8.56" +version = "0.8.57" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "556764e583adb45a9f8d413c2a147fa7e8d821e48e12b14fd560b607998b75eb" +checksum = "d35102a9f36d089ccae9e4c6802bc118be4487b80aaffc0ab4e0cf5ce92d2873" dependencies = [ "zerocopy-derive", ] [[package]] name = "zerocopy-derive" -version = "0.8.56" +version = "0.8.57" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f2ab42fc20575779bd240faa45f94a74256f755c0fa9e89f0ede20d91d0cdfc1" +checksum = "146c01f5ab44258da43cf276c74a2763db2ff3969c9c652c3f2de07041d0b2bc" dependencies = [ "proc-macro2", "quote", @@ -4905,14 +4609,14 @@ dependencies = [ [[package]] name = "zerofrom-derive" -version = "0.1.7" +version = "0.1.8" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "11532158c46691caf0f2593ea8358fed6bbf68a0315e80aae9bd41fbade684a1" +checksum = "f75b4683f6c7f45248d4d64056a24298c6281e0993356d7d1b4a1a962ef10d4a" dependencies = [ "proc-macro2", "quote", - "syn 2.0.119", - "synstructure", + "syn 3.0.5", + "synstructure 0.14.0", ] [[package]] @@ -4951,14 +4655,14 @@ checksum = "34df6fc39dbd26ddc9c10e6a2984476e13acce22e64e4487636ef494369225da" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] name = "zlib-rs" -version = "0.6.7" +version = "0.6.8" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "34b31d188d9d685a4f9c7b46d6e36631b07058d2cfe190267adce54dc230bf12" +checksum = "b268e58e7c693d7c271f93ffc4ba3b380412554231c85bf61ca7af91042a4112" [[package]] name = "zmij" @@ -4977,18 +4681,18 @@ dependencies = [ [[package]] name = "zstd-safe" -version = "7.2.4" +version = "7.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8f49c4d5f0abb602a93fb8736af2a4f4dd9512e36f7f570d66e65ff867ed3b9d" +checksum = "64d80649ab6db9d9f6f9c80a40becd948eda4714a0a5ac8c4d157a32231c7882" dependencies = [ "zstd-sys", ] [[package]] name = "zstd-sys" -version = "2.0.16+zstd.1.5.7" +version = "2.1.0+zstd.1.5.7" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "91e19ebc2adc8f83e43039e79776e3fda8ca919132d68a1fed6a5faca2683748" +checksum = "0ef0a8027ec3ee71300ab3bcbcd0393f434aa72b91ca6d635a39941deae8eea0" dependencies = [ "cc", "pkg-config", diff --git a/dimos/experimental/memory/rust/Cargo.toml b/dimos/experimental/memory/rust/Cargo.toml index c0655dc8a4..dee1a87a3e 100644 --- a/dimos/experimental/memory/rust/Cargo.toml +++ b/dimos/experimental/memory/rust/Cargo.toml @@ -9,7 +9,7 @@ license = "Apache-2.0" anyhow = "1" crossbeam-channel = "0.5" crossbeam-utils = "0.8" -dimos-module = { path = "../../../../native/rust/dimos-module" } +dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" } lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" } lz4_flex = "0.14.0" mcap = { version = "0.25.0", default-features = false, features = ["zstd"] } @@ -24,3 +24,15 @@ validator = { version = "0.21", features = ["derive"] } [dev-dependencies] tempfile = "3" + +[workspace] + +[profile.release] +lto = "thin" +codegen-units = 1 + +[profile.dev] +debug = 0 + +[profile.test] +debug = 0 diff --git a/dimos/experimental/memory/rust/flake.lock b/dimos/experimental/memory/rust/flake.lock index e0c5f2bf9d..12d4afa66f 100644 --- a/dimos/experimental/memory/rust/flake.lock +++ b/dimos/experimental/memory/rust/flake.lock @@ -1,5 +1,113 @@ { "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "crate2nix" + ], + "flake-compat": [ + "crate2nix" + ], + "git-hooks": "git-hooks", + "nixpkgs": "nixpkgs" + }, + "locked": { + "lastModified": 1767714506, + "narHash": "sha256-WaTs0t1CxhgxbIuvQ97OFhDTVUGd1HA+KzLZUZBhe0s=", + "owner": "cachix", + "repo": "cachix", + "rev": "894c649f0daaa38bbcfb21de64be47dfa7cd0ec9", + "type": "github" + }, + "original": { + "owner": "cachix", + "ref": "latest", + "repo": "cachix", + "type": "github" + } + }, + "crate2nix": { + "inputs": { + "cachix": "cachix", + "devshell": "devshell", + "flake-compat": "flake-compat", + "flake-parts": "flake-parts", + "nix-test-runner": "nix-test-runner", + "nixpkgs": [ + "nixpkgs" + ], + "pre-commit-hooks": "pre-commit-hooks" + }, + "locked": { + "lastModified": 1782759041, + "narHash": "sha256-2577vxyoBa8+ZRiXr3CuPtOuEtPRYsFPSZuEc/KI/80=", + "owner": "nix-community", + "repo": "crate2nix", + "rev": "5e1ecfd2d15b34ec90c2e51fdffbe8116595a767", + "type": "github" + }, + "original": { + "owner": "nix-community", + "repo": "crate2nix", + "type": "github" + } + }, + "devshell": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768818222, + "narHash": "sha256-460jc0+CZfyaO8+w8JNtlClB2n4ui1RbHfPTLkpwhU8=", + "owner": "numtide", + "repo": "devshell", + "rev": "255a2b1725a20d060f566e4755dbf571bbbb5f76", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "devshell", + "type": "github" + } + }, + "flake-compat": { + "locked": { + "lastModified": 1733328505, + "narHash": "sha256-NeCCThCEP3eCl2l/+27kNNK7QrwZB1IJCrXfrbv5oqU=", + "rev": "ff81ac966bb2cae68946d5ed5fc4994f96d0ffec", + "revCount": 69, + "type": "tarball", + "url": "https://api.flakehub.com/f/pinned/edolstra/flake-compat/1.1.0/01948eb7-9cba-704f-bbf3-3fa956735b52/source.tar.gz" + }, + "original": { + "type": "tarball", + "url": "https://flakehub.com/f/edolstra/flake-compat/1.tar.gz" + } + }, + "flake-parts": { + "inputs": { + "nixpkgs-lib": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768135262, + "narHash": "sha256-PVvu7OqHBGWN16zSi6tEmPwwHQ4rLPU9Plvs8/1TUBY=", + "owner": "hercules-ci", + "repo": "flake-parts", + "rev": "80daad04eddbbf5a4d883996a73f3f542fa437ac", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "flake-parts", + "type": "github" + } + }, "flake-utils": { "inputs": { "systems": "systems" @@ -18,13 +126,117 @@ "type": "github" } }, + "git-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "crate2nix", + "cachix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1765404074, + "narHash": "sha256-+ZDU2d+vzWkEJiqprvV5PR26DVFN2vgddwG5SnPZcUM=", + "owner": "cachix", + "repo": "git-hooks.nix", + "rev": "2d6f58930fbcd82f6f9fd59fb6d13e37684ca529", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "git-hooks.nix", + "type": "github" + } + }, + "gitignore": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "cachix", + "git-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "gitignore_2": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "pre-commit-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, + "nix-test-runner": { + "flake": false, + "locked": { + "lastModified": 1588761593, + "narHash": "sha256-FKJykltAN/g3eIceJl4SfDnnyuH2jHImhMrXS2KvGIs=", + "owner": "stoeffel", + "repo": "nix-test-runner", + "rev": "c45d45b11ecef3eb9d834c3b6304c05c49b06ca2", + "type": "github" + }, + "original": { + "owner": "stoeffel", + "repo": "nix-test-runner", + "type": "github" + } + }, "nixpkgs": { "locked": { - "lastModified": 1787736819, - "narHash": "sha256-cV5xEJJK3BvhU8rEd4mC9UsmDi5qscv/kzGPhBRC5WA=", + "lastModified": 1765186076, + "narHash": "sha256-hM20uyap1a0M9d344I692r+ik4gTMyj60cQWO+hAYP8=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "9fbb54b33e91ee4ca368e35a78e0613c720600b3", + "rev": "addf7cf5f383a3101ecfba091b98d0a1263dc9b8", "type": "github" }, "original": { @@ -34,10 +246,54 @@ "type": "github" } }, + "nixpkgs_2": { + "locked": { + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1769069492, + "narHash": "sha256-Efs3VUPelRduf3PpfPP2ovEB4CXT7vHf8W+xc49RL/U=", + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "type": "github" + } + }, "root": { "inputs": { + "crate2nix": "crate2nix", "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs" + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs_2" } }, "systems": { diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 17ddabe72c..6b5c6aef18 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -1,85 +1,77 @@ { - description = "DimOS Rust native modules"; + description = "Memory recorder native module for dimos"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; }; - outputs = { - self, - nixpkgs, - flake-utils, - }: - flake-utils.lib.eachSystem [ - "x86_64-linux" - "aarch64-linux" - "aarch64-darwin" - ] (system: let - pkgs = nixpkgs.legacyPackages.${system}; - nativeDeps = [pkgs.cmake pkgs.nasm pkgs.pkg-config]; - systemDeps = - [pkgs.sqlite pkgs.sqlite.dev] - ++ pkgs.lib.optionals pkgs.stdenv.hostPlatform.isDarwin [pkgs.libiconv]; - dimos-memory-recorder = pkgs.rustPlatform.buildRustPackage { - pname = "dimos-memory-recorder"; - version = "0.1.0"; - src = pkgs.lib.fileset.toSource { - root = ../../../..; - fileset = pkgs.lib.fileset.unions [ - ../../../../Cargo.lock - ../../../../Cargo.toml - ../../../../dimos/experimental/memory/rust - ../../../../native/rust/dimos-module - ../../../../native/rust/dimos-module-macros - ../../../../dimos/mapping/ray_tracing/rust - ../../../../dimos/mapping/ray_tracing/rust/py - ../../../../dimos/navigation/nav_3d/mls_planner/rust - ../../../../dimos/navigation/nav_3d/mls_planner/rust/py - ../../../../dimos/hardware/sensors/lidar/livox/rust - ../../../../dimos/hardware/sensors/lidar/pointlio/rust - ../../../../dimos/hardware/sensors/lidar/virtual_mid360 - ../../../../examples/native-modules/rust - ]; - }; + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-memory-recorder"; + + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; - cargoLock = { - lockFile = ../../../../Cargo.lock; - outputHashes = { - "dimos-lcm-0.1.0" = "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8="; - "pointlio-core-0.1.0" = "sha256-iC7nDbEipfi3cViK7fqKiy2hT9ENGi4Ge7L6Wt1W01Q="; + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + sysOverrides = { + libsqlite3-sys = _: { + buildInputs = [ pkgs.sqlite ]; + nativeBuildInputs = [ pkgs.pkg-config ]; + LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; + }; + turbojpeg-sys = _: { + nativeBuildInputs = [ pkgs.cmake pkgs.nasm ]; + dontUseCmakeConfigure = true; }; }; - cargoBuildFlags = ["-p" "dimos-memory-recorder"]; - cargoTestFlags = ["-p" "dimos-memory-recorder"]; - strictDeps = true; + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = mode: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: + let build = cratePkgs.buildRustCrate.override { + defaultCrateOverrides = cratePkgs.defaultCrateOverrides // sysOverrides; + }; + in crate: build (crate // pkgs.lib.optionalAttrs + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; + })); + }; + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; - nativeBuildInputs = nativeDeps; - buildInputs = systemDeps; + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.default = buildOf (callWith null); + packages.${name} = self.packages.${system}.default; + packages.lint = (buildOf (callWith "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.lint = self.packages.${system}.lint; - env.LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; - meta = { - description = "Experimental native Memory2 SQLite and MCAP recorder"; - mainProgram = "dimos-memory-recorder"; - platforms = pkgs.lib.platforms.unix; + devShells.default = pkgs.mkShell { + packages = rustTools + ++ [ pkgs.cmake pkgs.nasm pkgs.pkg-config pkgs.sqlite pkgs.sqlite.dev ] + ++ pkgs.lib.optionals pkgs.stdenv.hostPlatform.isDarwin [ pkgs.libiconv ]; + LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; }; - }; - in { - packages = { - default = dimos-memory-recorder; - inherit dimos-memory-recorder; - }; - - # Just the system deps and a toolchain. Deliberately not the package's - # build environment: that vendors the whole workspace lock, which would - # make `nix develop` (and so the cargo clippy hook) fail on any git - # dependency added anywhere in the workspace. - devShells.default = pkgs.mkShell { - nativeBuildInputs = nativeDeps ++ [pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt]; - buildInputs = systemDeps; - LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; - }; - }); + }); } diff --git a/dimos/experimental/memory/rust_recorder.py b/dimos/experimental/memory/rust_recorder.py index 667945cce6..ab1245868c 100644 --- a/dimos/experimental/memory/rust_recorder.py +++ b/dimos/experimental/memory/rust_recorder.py @@ -94,7 +94,7 @@ class RustRecorderConfig(NativeModuleConfig): """ executable: str = "result/bin/dimos-memory-recorder" - build_command: str = "nix build -L .#dimos-memory-recorder" + build_command: str = "nix build -L path:." cwd: str = "rust" stdin_config: bool = True diff --git a/dimos/experimental/memory/test_rust_recorder.py b/dimos/experimental/memory/test_rust_recorder.py index c8a8e40997..eb0b7aef60 100644 --- a/dimos/experimental/memory/test_rust_recorder.py +++ b/dimos/experimental/memory/test_rust_recorder.py @@ -187,7 +187,7 @@ def test_native_recorder_is_built_and_run_from_the_nix_package() -> None: config = RustRecorderConfig() assert config.cwd == "rust" - assert config.build_command == "nix build -L .#dimos-memory-recorder" + assert config.build_command == "nix build -L path:." assert config.executable == "result/bin/dimos-memory-recorder" diff --git a/dimos/hardware/sensors/camera/realsense/camera.py b/dimos/hardware/sensors/camera/realsense/camera.py index 279a64f016..92359d0361 100644 --- a/dimos/hardware/sensors/camera/realsense/camera.py +++ b/dimos/hardware/sensors/camera/realsense/camera.py @@ -35,9 +35,9 @@ class RealSenseCameraConfig(NativeModuleConfig, DepthCameraConfig): cwd: str | None = "rust" - executable: str = "target/release/realsense_native" + executable: str = "result/bin/realsense_native" # Own flake: librealsense2 isn't in the root shell. - build_command: str | None = "nix develop path:. -c cargo build --release" + build_command: str | None = "nix build -L path:." stdin_config: bool = True # The frame stem and its namespace cross to rust like any other field. base_fields: frozenset[str] = frozenset({"frame_id", "frame_id_prefix"}) diff --git a/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock b/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock index ad82645d0d..67c09cbf52 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock +++ b/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock @@ -552,6 +552,7 @@ dependencies = [ [[package]] name = "dimos-module" version = "0.1.0" +source = "git+https://github.com/dimensionalOS/dimos?branch=main#e9428ddb3b1cdfc808964148e21137364ae90f2b" dependencies = [ "dimos-lcm", "dimos-module-macros", @@ -571,6 +572,7 @@ dependencies = [ [[package]] name = "dimos-module-macros" version = "0.1.0" +source = "git+https://github.com/dimensionalOS/dimos?branch=main#e9428ddb3b1cdfc808964148e21137364ae90f2b" dependencies = [ "proc-macro2", "quote", diff --git a/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml index db7e2d03df..60caf0ac91 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml +++ b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml @@ -35,7 +35,7 @@ infrared_left_camera_info = "sensor_msgs.CameraInfo" infrared_right_camera_info = "sensor_msgs.CameraInfo" [dependencies] -dimos-module = { path = "../../../../../../native/rust/dimos-module" } +dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" } lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" } realsense-rust = "1.3" realsense-sys = "2.56" diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.lock b/dimos/hardware/sensors/camera/realsense/rust/flake.lock index c50829616b..12d4afa66f 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.lock +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.lock @@ -1,12 +1,242 @@ { "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "crate2nix" + ], + "flake-compat": [ + "crate2nix" + ], + "git-hooks": "git-hooks", + "nixpkgs": "nixpkgs" + }, + "locked": { + "lastModified": 1767714506, + "narHash": "sha256-WaTs0t1CxhgxbIuvQ97OFhDTVUGd1HA+KzLZUZBhe0s=", + "owner": "cachix", + "repo": "cachix", + "rev": "894c649f0daaa38bbcfb21de64be47dfa7cd0ec9", + "type": "github" + }, + "original": { + "owner": "cachix", + "ref": "latest", + "repo": "cachix", + "type": "github" + } + }, + "crate2nix": { + "inputs": { + "cachix": "cachix", + "devshell": "devshell", + "flake-compat": "flake-compat", + "flake-parts": "flake-parts", + "nix-test-runner": "nix-test-runner", + "nixpkgs": [ + "nixpkgs" + ], + "pre-commit-hooks": "pre-commit-hooks" + }, + "locked": { + "lastModified": 1782759041, + "narHash": "sha256-2577vxyoBa8+ZRiXr3CuPtOuEtPRYsFPSZuEc/KI/80=", + "owner": "nix-community", + "repo": "crate2nix", + "rev": "5e1ecfd2d15b34ec90c2e51fdffbe8116595a767", + "type": "github" + }, + "original": { + "owner": "nix-community", + "repo": "crate2nix", + "type": "github" + } + }, + "devshell": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768818222, + "narHash": "sha256-460jc0+CZfyaO8+w8JNtlClB2n4ui1RbHfPTLkpwhU8=", + "owner": "numtide", + "repo": "devshell", + "rev": "255a2b1725a20d060f566e4755dbf571bbbb5f76", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "devshell", + "type": "github" + } + }, + "flake-compat": { + "locked": { + "lastModified": 1733328505, + "narHash": "sha256-NeCCThCEP3eCl2l/+27kNNK7QrwZB1IJCrXfrbv5oqU=", + "rev": "ff81ac966bb2cae68946d5ed5fc4994f96d0ffec", + "revCount": 69, + "type": "tarball", + "url": "https://api.flakehub.com/f/pinned/edolstra/flake-compat/1.1.0/01948eb7-9cba-704f-bbf3-3fa956735b52/source.tar.gz" + }, + "original": { + "type": "tarball", + "url": "https://flakehub.com/f/edolstra/flake-compat/1.tar.gz" + } + }, + "flake-parts": { + "inputs": { + "nixpkgs-lib": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768135262, + "narHash": "sha256-PVvu7OqHBGWN16zSi6tEmPwwHQ4rLPU9Plvs8/1TUBY=", + "owner": "hercules-ci", + "repo": "flake-parts", + "rev": "80daad04eddbbf5a4d883996a73f3f542fa437ac", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "flake-parts", + "type": "github" + } + }, + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1731533236, + "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "git-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "crate2nix", + "cachix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1765404074, + "narHash": "sha256-+ZDU2d+vzWkEJiqprvV5PR26DVFN2vgddwG5SnPZcUM=", + "owner": "cachix", + "repo": "git-hooks.nix", + "rev": "2d6f58930fbcd82f6f9fd59fb6d13e37684ca529", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "git-hooks.nix", + "type": "github" + } + }, + "gitignore": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "cachix", + "git-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "gitignore_2": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "pre-commit-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, + "nix-test-runner": { + "flake": false, + "locked": { + "lastModified": 1588761593, + "narHash": "sha256-FKJykltAN/g3eIceJl4SfDnnyuH2jHImhMrXS2KvGIs=", + "owner": "stoeffel", + "repo": "nix-test-runner", + "rev": "c45d45b11ecef3eb9d834c3b6304c05c49b06ca2", + "type": "github" + }, + "original": { + "owner": "stoeffel", + "repo": "nix-test-runner", + "type": "github" + } + }, "nixpkgs": { "locked": { - "lastModified": 1787736819, - "narHash": "sha256-cV5xEJJK3BvhU8rEd4mC9UsmDi5qscv/kzGPhBRC5WA=", + "lastModified": 1765186076, + "narHash": "sha256-hM20uyap1a0M9d344I692r+ik4gTMyj60cQWO+hAYP8=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "9fbb54b33e91ee4ca368e35a78e0613c720600b3", + "rev": "addf7cf5f383a3101ecfba091b98d0a1263dc9b8", "type": "github" }, "original": { @@ -16,9 +246,69 @@ "type": "github" } }, + "nixpkgs_2": { + "locked": { + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1769069492, + "narHash": "sha256-Efs3VUPelRduf3PpfPP2ovEB4CXT7vHf8W+xc49RL/U=", + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "type": "github" + } + }, "root": { "inputs": { - "nixpkgs": "nixpkgs" + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs_2" + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" } } }, diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 3fa255d604..ce6611ebbe 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -1,17 +1,70 @@ { - description = "librealsense for the dimos RealSense native module"; - - inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; - - outputs = { self, nixpkgs }: - let - systems = [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ]; - forAll = f: nixpkgs.lib.genAttrs systems (system: f nixpkgs.legacyPackages.${system}); - in { - # Also works when NativeModule builds from a regular Python environment. - # Use the Nix compiler/linker so libc matches the camera libraries. - devShells = forAll (pkgs: { - default = pkgs.mkShell { packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.librealsense pkgs.pkg-config ]; }; + description = "RealSense camera native module for dimos"; + + inputs = { + nix-filter.url = "github:numtide/nix-filter"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; + }; + + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-realsense"; + + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; + + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + needsLibrealsense = _: { + buildInputs = [ pkgs.librealsense ]; + nativeBuildInputs = [ pkgs.pkg-config ]; + }; + sysOverrides = { + realsense-sys = needsLibrealsense; + dimos-realsense = needsLibrealsense; + }; + + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = mode: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: + let build = cratePkgs.buildRustCrate.override { + defaultCrateOverrides = cratePkgs.defaultCrateOverrides // sysOverrides; + }; + in crate: build (crate // pkgs.lib.optionalAttrs + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; + })); + }; + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + in { + packages.default = buildOf (callWith null); + packages.${name} = self.packages.${system}.default; + packages.lint = (buildOf (callWith "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.lint = self.packages.${system}.lint; + + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + + devShells.default = pkgs.mkShell { + packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt + pkgs.librealsense pkgs.pkg-config ]; + }; }); - }; } diff --git a/dimos/hardware/sensors/lidar/common/estimator_pose.hpp b/dimos/hardware/sensors/lidar/common/estimator_pose.hpp deleted file mode 100644 index 6ccc934717..0000000000 --- a/dimos/hardware/sensors/lidar/common/estimator_pose.hpp +++ /dev/null @@ -1,25 +0,0 @@ -// Copyright 2026 Dimensional Inc. -// SPDX-License-Identifier: Apache-2.0 - -#pragma once - -#include -#include - -namespace dimos { - -inline constexpr double kQuatNormTolerance = 1e-3; - -// True once the estimator has produced a real pose. The SLAM cores hand their -// pose out through a result that starts as uninitialized memory, whose -// quaternion part is almost never unit length. -inline bool has_estimate(const std::vector& pose) { - if (pose.size() != 7) { - return false; - } - const double qn = pose[3] * pose[3] + pose[4] * pose[4] + pose[5] * pose[5] + - pose[6] * pose[6]; - return std::abs(qn - 1.0) < kQuatNormTolerance; -} - -} // namespace dimos diff --git a/dimos/hardware/sensors/lidar/common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/common/livox_sdk_config.hpp deleted file mode 100644 index b0fe7dad1b..0000000000 --- a/dimos/hardware/sensors/lidar/common/livox_sdk_config.hpp +++ /dev/null @@ -1,175 +0,0 @@ -// Copyright 2026 Dimensional Inc. -// SPDX-License-Identifier: Apache-2.0 -// -// Shared Livox SDK2 configuration utilities for dimos native modules. -// Used by the fastlio2 and pointlio C++ modules. - -#pragma once - -#include -#include - -#include -#include - -#include -#include -#include -#include -#include - -namespace livox_common { - -// Gravity constant for converting accelerometer data from g to m/s^2 -inline constexpr double GRAVITY_MS2 = 9.80665; - -// Livox data_type values (not provided as named constants in SDK2 header) -inline constexpr uint8_t DATA_TYPE_IMU = 0x00; -inline constexpr uint8_t DATA_TYPE_CARTESIAN_HIGH = 0x01; -inline constexpr uint8_t DATA_TYPE_CARTESIAN_LOW = 0x02; - -// Width of the sn and lidar_ip fields in LivoxLidarInfo. Not null-terminated, -// so a buffer reading one needs room for a terminator. -inline constexpr std::size_t kInfoFieldLen = 16; - -// SDK network port configuration for Livox Mid-360 -struct SdkPorts { - int cmd_data = 56100; - int push_msg = 56200; - int point_data = 56300; - int imu_data = 56400; - int log_data = 56500; - int host_cmd_data = 56101; - int host_push_msg = 56201; - int host_point_data = 56301; - int host_imu_data = 56401; - int host_log_data = 56501; -}; - -// Write Livox SDK JSON config to an in-memory (or ephemeral) file. -// Returns {fd, path} — caller must close(fd) after LivoxLidarSdkInit reads it. -// -// Linux: memfd_create gives us a pure anonymous in-memory file, reached via -// /proc/self/fd/. -// macOS: no memfd_create and no procfs. We fall back to mkstemp() in /tmp -// and immediately unlink() the directory entry, so the inode lives -// only as long as the fd is open. The SDK reaches it via /dev/fd/ -// (Darwin's equivalent of /proc/self/fd). -inline std::pair write_sdk_config(const std::string& host_ip, - const std::string& lidar_ip, - const SdkPorts& ports) { -#ifdef __linux__ - int fd = memfd_create("livox_sdk_config", 0); - if (fd < 0) { - perror("memfd_create"); - return {-1, ""}; - } -#elif defined(__APPLE__) && defined(__MACH__) - // mkstemp replaces the 6 X's in place — e.g. livox_sdk_config.aB3xY9. - // Honor $TMPDIR when set (sandboxed macOS apps and CI runners point - // it at a per-process scratch dir); fall back to /tmp. - const char* tmpdir = std::getenv("TMPDIR"); - if (tmpdir == nullptr || tmpdir[0] == '\0') { - tmpdir = "/tmp"; - } - char tmpl[256]; - snprintf(tmpl, sizeof(tmpl), "%s/livox_sdk_config.XXXXXX", tmpdir); - int fd = mkstemp(tmpl); - if (fd < 0) { - perror("mkstemp"); - return {-1, ""}; - } - // Drop the directory entry — the inode stays alive via the fd. - unlink(tmpl); -#else -#error "livox_sdk_config: unsupported platform (need Linux memfd_create or Apple mkstemp)" -#endif - - FILE* fp = fdopen(fd, "w"); - if (!fp) { - perror("fdopen"); - close(fd); - return {-1, ""}; - } - - // On macOS the synthetic lidar/host IPs are lo0 aliases, and a multicast send - // source-bound to an alias fails ("No route to host"), so the virtual_mid360 - // replayer unicasts point/IMU to host_ip. An empty multicast_ip makes the SDK - // bind its data socket to host_ip (not the multicast group) so it receives - // those unicasts. Real hardware on Linux keeps the Livox default multicast. -#if defined(__APPLE__) && defined(__MACH__) - const char* multicast_ip = ""; -#else - const char* multicast_ip = "224.1.1.5"; -#endif - - fprintf(fp, - "{\n" - " \"MID360\": {\n" - " \"lidar_net_info\": {\n" - " \"cmd_data_port\": %d,\n" - " \"push_msg_port\": %d,\n" - " \"point_data_port\": %d,\n" - " \"imu_data_port\": %d,\n" - " \"log_data_port\": %d\n" - " },\n" - " \"host_net_info\": [\n" - " {\n" - " \"host_ip\": \"%s\",\n" - " \"multicast_ip\": \"%s\",\n" - " \"cmd_data_port\": %d,\n" - " \"push_msg_port\": %d,\n" - " \"point_data_port\": %d,\n" - " \"imu_data_port\": %d,\n" - " \"log_data_port\": %d\n" - " }\n" - " ]\n" - " }\n" - "}\n", - ports.cmd_data, ports.push_msg, ports.point_data, - ports.imu_data, ports.log_data, - host_ip.c_str(), multicast_ip, - ports.host_cmd_data, ports.host_push_msg, ports.host_point_data, - ports.host_imu_data, ports.host_log_data); - fflush(fp); // flush but don't fclose — that would close fd - - char path[64]; -#ifdef __linux__ - snprintf(path, sizeof(path), "/proc/self/fd/%d", fd); -#elif defined(__APPLE__) && defined(__MACH__) - // Darwin's /dev/fd/ may share the underlying open file description, - // so rewind before the SDK reads from the path. - lseek(fd, 0, SEEK_SET); - snprintf(path, sizeof(path), "/dev/fd/%d", fd); -#else - #error "Unsupported platform: expected Linux or macOS" -#endif - return {fd, path}; -} - -// Initialize Livox SDK from in-memory config. -// Returns true on success. Handles fd lifecycle internally. -inline bool init_livox_sdk(const std::string& host_ip, - const std::string& lidar_ip, - const SdkPorts& ports, - bool debug = false) { - if (!debug) { - DisableLivoxSdkConsoleLogger(); - } - - auto [fd, path] = write_sdk_config(host_ip, lidar_ip, ports); - if (fd < 0) { - fprintf(stderr, "Error: failed to write SDK config\n"); - return false; - } - - bool ok = LivoxLidarSdkInit(path.c_str(), host_ip.c_str()); - close(fd); - - if (!ok) { - fprintf(stderr, "Error: LivoxLidarSdkInit failed\n"); - } - return ok; -} - -} // namespace livox_common diff --git a/dimos/hardware/sensors/lidar/common/point_cloud_utils.hpp b/dimos/hardware/sensors/lidar/common/point_cloud_utils.hpp deleted file mode 100644 index 1a9d43d213..0000000000 --- a/dimos/hardware/sensors/lidar/common/point_cloud_utils.hpp +++ /dev/null @@ -1,78 +0,0 @@ -// Copyright 2026 Dimensional Inc. -// SPDX-License-Identifier: Apache-2.0 -// -// Shared helpers for livox-based lidar drivers. - -#pragma once - -#include -#include -#include - -#include "sensor_msgs/PointCloud2.hpp" -#include "sensor_msgs/PointField.hpp" -#include "std_msgs/Header.hpp" -#include "std_msgs/Time.hpp" - -namespace dimos { - -inline std_msgs::Time time_from_seconds(double t) { - std_msgs::Time ts; - ts.sec = static_cast(t); - ts.nsec = static_cast((t - ts.sec) * 1e9); - return ts; -} - -// Stamped Header with a process-wide auto-incrementing sequence number. -inline std_msgs::Header make_header(const std::string& frame_id, double ts) { - static std::atomic seq{0}; - std_msgs::Header h; - h.seq = seq.fetch_add(1, std::memory_order_relaxed); - h.stamp = time_from_seconds(ts); - h.frame_id = frame_id; - return h; -} - -// x, y, z, intensity, each a float32. -inline constexpr int32_t kXyziFieldCount = 4; -inline constexpr int32_t kXyziPointStep = kXyziFieldCount * sizeof(float); - -// Empty XYZI PointCloud2 sized for num_points. The caller fills each point -// through xyzi_point() below. -inline sensor_msgs::PointCloud2 make_xyzi_cloud(const std::string& frame_id, double ts, - int num_points) { - sensor_msgs::PointCloud2 pc; - pc.header = make_header(frame_id, ts); - pc.height = 1; - pc.width = num_points; - pc.is_bigendian = 0; - pc.is_dense = 1; - - pc.fields_length = kXyziFieldCount; - pc.fields.resize(kXyziFieldCount); - auto make_field = [](const std::string& name, int32_t index) { - sensor_msgs::PointField f; - f.name = name; - f.offset = index * static_cast(sizeof(float)); - f.datatype = sensor_msgs::PointField::FLOAT32; - f.count = 1; - return f; - }; - pc.fields[0] = make_field("x", 0); - pc.fields[1] = make_field("y", 1); - pc.fields[2] = make_field("z", 2); - pc.fields[3] = make_field("intensity", 3); - - pc.point_step = kXyziPointStep; - pc.row_step = pc.point_step * num_points; - pc.data_length = pc.row_step; - pc.data.resize(pc.data_length); - return pc; -} - -// The x/y/z/intensity slot of point i in a cloud from make_xyzi_cloud. -inline float* xyzi_point(sensor_msgs::PointCloud2& pc, int i) { - return reinterpret_cast(pc.data.data() + i * kXyziPointStep); -} - -} // namespace dimos diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index 7adfee5400..15d8b001e0 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -17,6 +17,29 @@ "type": "github" } }, + "dimos-native-cpp": { + "inputs": { + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs" + }, + "locked": { + "dir": "native/cpp", + "lastModified": 1789613901, + "narHash": "sha256-rQc0kVxt2Z+0miKIpwQbmaXzYZaJ+3l9wpz2uX67fRM=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "aa2825761ff1540099879777fa6c270b275b82a8", + "type": "github" + }, + "original": { + "dir": "native/cpp", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "type": "github" + } + }, "fast-lio": { "flake": false, "locked": { @@ -93,32 +116,62 @@ "type": "github" } }, - "livox-sdk": { + "livox-sdk2": { "inputs": { - "flake-utils": [ - "flake-utils" - ], - "nixpkgs": [ - "nixpkgs" - ] + "flake-utils": "flake-utils_2", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "lastModified": 1789610908, + "narHash": "sha256-KhsxhhM8lsGRwGR9KYChcTP7IDkomkXO8NyMnWYkj2U=", + "owner": "jeff-hykin", + "repo": "livox-sdk2", + "rev": "efc2c87e78a0819c044b6a31a9d81428d522c1f6", + "type": "github" }, + "original": { + "owner": "jeff-hykin", + "repo": "livox-sdk2", + "type": "github" + } + }, + "nix-filter": { "locked": { - "path": "../../livox/cpp", - "type": "path" + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" }, "original": { - "path": "../../livox/cpp", - "type": "path" + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, + "nix-filter_2": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" }, - "parent": [] + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } }, "nixpkgs": { "locked": { - "lastModified": 1770841267, - "narHash": "sha256-9xejG0KoqsoKEGp2kVbXRlEYtFFcDTHjidiuX8hGO44=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ec7c70d12ce2fc37cb92aff673dcdca89d187bae", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { @@ -130,17 +183,17 @@ }, "nixpkgs_2": { "locked": { - "lastModified": 1789012029, - "narHash": "sha256-1CBkBf+Nhggykzlx0jvXrj5rk20btl+tK8Fa8Ml/BL4=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { "owner": "NixOS", + "ref": "nixos-unstable", "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", "type": "github" } }, @@ -164,11 +217,19 @@ "root": { "inputs": { "dimos-lcm": "dimos-lcm", + "dimos-native-cpp": "dimos-native-cpp", "fast-lio": "fast-lio", - "flake-utils": "flake-utils", + "flake-utils": [ + "dimos-native-cpp", + "flake-utils" + ], "lcm-extended": "lcm-extended", - "livox-sdk": "livox-sdk", - "nixpkgs": "nixpkgs", + "livox-sdk2": "livox-sdk2", + "nix-filter": "nix-filter_2", + "nixpkgs": [ + "dimos-native-cpp", + "nixpkgs" + ], "pfr": "pfr", "zenoh": "zenoh" } @@ -205,8 +266,12 @@ }, "zenoh": { "inputs": { - "flake-utils": "flake-utils_2", - "nixpkgs": "nixpkgs_2" + "flake-utils": [ + "flake-utils" + ], + "nixpkgs": [ + "nixpkgs" + ] }, "locked": { "lastModified": 1789053405, diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index 4ae6a9d079..7761e5488b 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -2,12 +2,14 @@ description = "FAST-LIO2 + Livox Mid-360 native module"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; + livox-sdk2.url = "github:jeff-hykin/livox-sdk2"; zenoh.url = "github:jeff-hykin/zenoh_flake"; - nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; - flake-utils.url = "github:numtide/flake-utils"; - livox-sdk.url = "path:../../livox/cpp"; - livox-sdk.inputs.nixpkgs.follows = "nixpkgs"; - livox-sdk.inputs.flake-utils.follows = "flake-utils"; + zenoh.inputs.nixpkgs.follows = "nixpkgs"; + zenoh.inputs.flake-utils.follows = "flake-utils"; + nixpkgs.follows = "dimos-native-cpp/nixpkgs"; + flake-utils.follows = "dimos-native-cpp/flake-utils"; + dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-lcm = { url = "github:dimensionalOS/dimos-lcm/main"; flake = false; @@ -30,7 +32,7 @@ }; }; - outputs = { self, nixpkgs, zenoh, flake-utils, livox-sdk, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: + outputs = { self, nix-filter, livox-sdk2, nixpkgs, zenoh, flake-utils, dimos-native-cpp, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: flake-utils.lib.eachDefaultSystem (system: let # Overlay fixes for darwin-broken nixpkgs recipes in our transitive @@ -68,22 +70,21 @@ inherit system; overlays = [ darwinDepFixes ]; }; - livox-sdk2 = livox-sdk.packages.${system}.livox-sdk2; lcm = lcm-extended.packages.${system}.lcm; zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; - livox-common = ../../common; + livox-common = livox-sdk2.packages.${system}.livox-common; fastlio2_native = pkgs.stdenv.mkDerivation { pname = "fastlio2_native"; version = "0.2.0"; - src = ./.; + src = nix-filter.lib { root = ./.; exclude = [ "build" "target" "result" "__pycache__" ]; }; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ - livox-sdk2 + livox-sdk2.packages.${system}.default lcm pkgs.glib pkgs.eigen @@ -101,9 +102,7 @@ "-DFETCHCONTENT_SOURCE_DIR_PFR=${pfr}" "-DFASTLIO_DIR=${fast-lio}" "-DLIVOX_COMMON_DIR=${livox-common}" - # The header-only SDK lives outside this dir. A git-tree flake can - # reach it as a path literal within the repo tree. - "-DDIMOS_NATIVE_CPP_DIR=${../../../../../../native/cpp}" + "-DDIMOS_NATIVE_CPP_DIR=${dimos-native-cpp.packages.${system}.default}" ]; }; in { diff --git a/dimos/hardware/sensors/lidar/fastlio2/module.py b/dimos/hardware/sensors/lidar/fastlio2/module.py index c179a982ac..456b42cb83 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/module.py +++ b/dimos/hardware/sensors/lidar/fastlio2/module.py @@ -59,7 +59,7 @@ class FastLio2Config(NativeModuleConfig): cwd: str | None = "cpp" executable: str = "result/bin/fastlio2_native" - build_command: str | None = "nix build -L .#fastlio2_native" + build_command: str | None = "nix build -L path:." stdin_config: bool = True base_fields: frozenset[str] = frozenset({"frame_id"}) # Livox SDK hardware config. lidar_ip required; host_ip optional (auto-derived diff --git a/dimos/hardware/sensors/lidar/livox/cpp/flake.nix b/dimos/hardware/sensors/lidar/livox/cpp/flake.nix deleted file mode 100644 index 8aa216f151..0000000000 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.nix +++ /dev/null @@ -1,55 +0,0 @@ -{ - description = "Livox SDK2 packaging, consumed by the C++ LIO module flakes"; - - inputs = { - nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; - flake-utils.url = "github:numtide/flake-utils"; - }; - - outputs = { self, nixpkgs, flake-utils, ... }: - flake-utils.lib.eachDefaultSystem (system: - let - pkgs = import nixpkgs { inherit system; }; - - livox-sdk2 = pkgs.stdenv.mkDerivation rec { - pname = "livox-sdk2"; - version = "1.2.5"; - - src = pkgs.fetchFromGitHub { - owner = "Livox-SDK"; - repo = "Livox-SDK2"; - rev = "v${version}"; - hash = "sha256-NGscO/vLiQ17yQJtdPyFzhhMGE89AJ9kTL5cSun/bpU="; - }; - - # macOS socket fixes (SO_RCVBUF too large, broadcast bind fails). - patches = [ ./livox-sdk2-darwin.patch ]; - - nativeBuildInputs = [ pkgs.cmake ]; - - cmakeFlags = [ - "-DBUILD_SHARED_LIBS=ON" - "-DCMAKE_POLICY_VERSION_MINIMUM=3.5" - ]; - - preConfigure = '' - substituteInPlace CMakeLists.txt \ - --replace-fail "add_subdirectory(samples)" "" - sed -i '1i #include ' sdk_core/comm/define.h - sed -i '1i #include ' sdk_core/logger_handler/file_manager.h - # Livox-SDK2 bundles an old rapidjson whose RAPIDJSON_DIAG_OFF(foo-bar) - # macros stringify with spaces under newer clang, producing invalid - # warning-group names. It also has an unused FastCRC field. Both - # explode under -Werror, and passing -DCMAKE_CXX_FLAGS=-Wno-error is - # overridden by add_compile_options(-Werror) deeper in the sdk_core - # CMakeLists. Strip -Werror in-place instead. - find . -name CMakeLists.txt -exec sed -i 's/-Werror//g' {} + - ''; - }; - in { - packages = { - default = livox-sdk2; - inherit livox-sdk2; - }; - }); -} diff --git a/dimos/hardware/sensors/lidar/livox/cpp/livox-sdk2-darwin.patch b/dimos/hardware/sensors/lidar/livox/cpp/livox-sdk2-darwin.patch deleted file mode 100644 index 2e0495d4d6..0000000000 --- a/dimos/hardware/sensors/lidar/livox/cpp/livox-sdk2-darwin.patch +++ /dev/null @@ -1,47 +0,0 @@ ---- a/sdk_core/base/network/unix/network_util.cpp 2026-04-30 14:46:48 -+++ b/sdk_core/base/network/unix/network_util.cpp 2026-04-30 14:46:48 -@@ -67,16 +67,16 @@ - } - status = setsockopt(sock, SOL_SOCKET, SO_RCVBUF, - (char *)&recv_buff_size, sizeof(recv_buff_size)); -- if (status != 0) { -- close(sock); -- return -1; -- } -+ /* macOS limits SO_RCVBUF to kern.ipc.maxsockbuf (~32MB); the SDK requests -+ 200MB and setsockopt returns -1. A smaller kernel buffer is fine for -+ the control socket -- ignore the failure rather than aborting init. */ -+ (void)status; - - memset(&servaddr, 0, sizeof(servaddr)); - - // Filling server information - servaddr.sin_family = AF_INET; // IPv4 -- if (netif.empty()) { -+ if (netif.empty() || netif == "255.255.255.255") { - servaddr.sin_addr.s_addr = INADDR_ANY; - } else { - if(!multicast_ip.empty()){ ---- a/sdk_core/device_manager.cpp -+++ b/sdk_core/device_manager.cpp -@@ -259,7 +259,10 @@ - } - - bool DeviceManager::CreateDetectionChannel() { --#ifdef WIN32 -+#if defined(WIN32) || defined(__APPLE__) -+ // macOS: no working broadcast on loopback; the fake-lidar consumer reaches us -+ // by unicast to the host detection socket. Skipping this INADDR_ANY socket -+ // also frees :56000 so the in-process replayer can bind lidar_ip:56000. - #else - detection_broadcast_socket_ = util::CreateSocket(kDetectionPort, true, true, true, "255.255.255.255", ""); - if (detection_broadcast_socket_ < 0) { -@@ -324,7 +327,7 @@ - } - } - --#ifdef WIN32 -+#if defined(WIN32) || defined(__APPLE__) - #else - if (dev_type == kLivoxLidarTypeMid360) { - socket_t broadcast_socket = util::CreateSocket(host_net_info.push_msg_port, true, true, true, "255.255.255.255", ""); diff --git a/dimos/hardware/sensors/lidar/livox/module.py b/dimos/hardware/sensors/lidar/livox/module.py index 1cd44231f5..3895401901 100644 --- a/dimos/hardware/sensors/lidar/livox/module.py +++ b/dimos/hardware/sensors/lidar/livox/module.py @@ -33,7 +33,6 @@ from pydantic import Field, field_validator -from dimos.constants import DIMOS_PROJECT_ROOT from dimos.core.core import rpc from dimos.core.native_module import NativeModule, NativeModuleConfig from 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+[[package]] +name = "zerotrie" +version = "0.2.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4ea269c3bd32f0a32c321907a2ae912ba6f4649bb0fc764a15627e99a7095a3f" +dependencies = [ + "displaydoc", + "yoke", + "zerofrom", +] + +[[package]] +name = "zerovec" +version = "0.11.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bb0464e17806c1d976d5cba29399c7f08e516e279e2ba493f63123b5fca67dd8" +dependencies = [ + "yoke", + "zerofrom", + "zerovec-derive", +] + +[[package]] +name = "zerovec-derive" +version = "0.11.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "34df6fc39dbd26ddc9c10e6a2984476e13acce22e64e4487636ef494369225da" +dependencies = [ + "proc-macro2", + "quote", + "syn 3.0.5", +] + +[[package]] +name = "zlib-rs" +version = "0.6.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b268e58e7c693d7c271f93ffc4ba3b380412554231c85bf61ca7af91042a4112" + +[[package]] +name = "zmij" +version = "1.0.23" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "29666d0abbfad1e3dc4dcf6144730dd3a3ab225bbbdac83319345b1b44ccfc1b" diff --git a/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml b/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml index 5a373b33d9..4cba4077f6 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml +++ b/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml @@ -22,7 +22,7 @@ imu = "sensor_msgs.Imu" [dependencies] crc = "3" -dimos-module = { path = "../../../../../../native/rust/dimos-module" } +dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" } etherparse = "0.21.0" lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" } pcap-parser = "0.17.0" @@ -35,3 +35,15 @@ validator = { version = "0.21", features = ["derive"] } [dev-dependencies] tempfile = "3" + +[workspace] + +[profile.release] +lto = "thin" +codegen-units = 1 + +[profile.dev] +debug = 0 + +[profile.test] +debug = 0 diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.lock b/dimos/hardware/sensors/lidar/livox/rust/flake.lock new file mode 100644 index 0000000000..12d4afa66f --- /dev/null +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.lock @@ -0,0 +1,317 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "crate2nix" + ], + "flake-compat": [ + "crate2nix" + ], + "git-hooks": "git-hooks", + "nixpkgs": "nixpkgs" + }, + "locked": { + "lastModified": 1767714506, + "narHash": "sha256-WaTs0t1CxhgxbIuvQ97OFhDTVUGd1HA+KzLZUZBhe0s=", + "owner": "cachix", + "repo": "cachix", + "rev": "894c649f0daaa38bbcfb21de64be47dfa7cd0ec9", + "type": "github" + }, + "original": { + "owner": "cachix", + "ref": "latest", + "repo": "cachix", + "type": "github" + } + }, + "crate2nix": { + "inputs": { + "cachix": "cachix", + "devshell": "devshell", + "flake-compat": "flake-compat", + "flake-parts": "flake-parts", + "nix-test-runner": "nix-test-runner", + "nixpkgs": [ + "nixpkgs" + ], + "pre-commit-hooks": "pre-commit-hooks" + }, + "locked": { + "lastModified": 1782759041, + "narHash": "sha256-2577vxyoBa8+ZRiXr3CuPtOuEtPRYsFPSZuEc/KI/80=", + "owner": "nix-community", + "repo": "crate2nix", + "rev": "5e1ecfd2d15b34ec90c2e51fdffbe8116595a767", + "type": "github" + }, + "original": { + "owner": "nix-community", + "repo": "crate2nix", + "type": "github" + } + }, + "devshell": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768818222, + "narHash": "sha256-460jc0+CZfyaO8+w8JNtlClB2n4ui1RbHfPTLkpwhU8=", + "owner": "numtide", + "repo": "devshell", + "rev": "255a2b1725a20d060f566e4755dbf571bbbb5f76", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "devshell", + "type": "github" + } + }, + "flake-compat": { + "locked": { + "lastModified": 1733328505, + "narHash": "sha256-NeCCThCEP3eCl2l/+27kNNK7QrwZB1IJCrXfrbv5oqU=", + "rev": "ff81ac966bb2cae68946d5ed5fc4994f96d0ffec", + "revCount": 69, + "type": "tarball", + "url": "https://api.flakehub.com/f/pinned/edolstra/flake-compat/1.1.0/01948eb7-9cba-704f-bbf3-3fa956735b52/source.tar.gz" + }, + "original": { + "type": "tarball", + "url": "https://flakehub.com/f/edolstra/flake-compat/1.tar.gz" + } + }, + "flake-parts": { + "inputs": { + "nixpkgs-lib": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768135262, + "narHash": "sha256-PVvu7OqHBGWN16zSi6tEmPwwHQ4rLPU9Plvs8/1TUBY=", + "owner": "hercules-ci", + "repo": "flake-parts", + "rev": "80daad04eddbbf5a4d883996a73f3f542fa437ac", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "flake-parts", + "type": "github" + } + }, + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1731533236, + "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "git-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "crate2nix", + "cachix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1765404074, + "narHash": "sha256-+ZDU2d+vzWkEJiqprvV5PR26DVFN2vgddwG5SnPZcUM=", + "owner": "cachix", + "repo": "git-hooks.nix", + "rev": "2d6f58930fbcd82f6f9fd59fb6d13e37684ca529", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "git-hooks.nix", + "type": "github" + } + }, + "gitignore": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "cachix", + "git-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "gitignore_2": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "pre-commit-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, + "nix-test-runner": { + "flake": false, + "locked": { + "lastModified": 1588761593, + "narHash": "sha256-FKJykltAN/g3eIceJl4SfDnnyuH2jHImhMrXS2KvGIs=", + "owner": "stoeffel", + "repo": "nix-test-runner", + "rev": "c45d45b11ecef3eb9d834c3b6304c05c49b06ca2", + "type": "github" + }, + "original": { + "owner": "stoeffel", + "repo": "nix-test-runner", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1765186076, + "narHash": "sha256-hM20uyap1a0M9d344I692r+ik4gTMyj60cQWO+hAYP8=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "addf7cf5f383a3101ecfba091b98d0a1263dc9b8", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "nixpkgs_2": { + "locked": { + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1769069492, + "narHash": "sha256-Efs3VUPelRduf3PpfPP2ovEB4CXT7vHf8W+xc49RL/U=", + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "type": "github" + } + }, + "root": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs_2" + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix new file mode 100644 index 0000000000..61e691cff4 --- /dev/null +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -0,0 +1,59 @@ +{ + description = "Livox Mid-360 native module for dimos"; + + inputs = { + nix-filter.url = "github:numtide/nix-filter"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; + }; + + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-livox"; + + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; + + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = mode: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; + })); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.default = buildOf (callWith null); + packages.${name} = self.packages.${system}.default; + + packages.lint = (buildOf (callWith "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.lint = self.packages.${system}.lint; + + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + + devShells.default = pkgs.mkShell { packages = rustTools; }; + }); +} diff --git a/dimos/hardware/sensors/lidar/livox/rust/src/live.rs b/dimos/hardware/sensors/lidar/livox/rust/src/live.rs index abd020bf1e..a3365b2685 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/src/live.rs +++ b/dimos/hardware/sensors/lidar/livox/rust/src/live.rs @@ -541,60 +541,6 @@ mod tests { ); } - #[test] - fn packets_from_unexpected_senders_are_ignored() { - let ports = test_ports(3); - let stop = Arc::new(AtomicBool::new(false)); - // A dropped loopback datagram fails the test instead of hanging it. - let watchdog = stop.clone(); - std::thread::spawn(move || { - std::thread::sleep(Duration::from_secs(10)); - watchdog.store(true, Ordering::Relaxed); - }); - let mut source = LiveSource::start( - LiveConfig { - host_ip: Ipv4Addr::LOCALHOST, - lidar_ip: Ipv4Addr::LOCALHOST, - multicast_ip: None, - enable_imu: false, - ports, - }, - stop, - ) - .unwrap(); - - let packet = |ts_ns: u64| { - let payload = build_points_high(&[crate::wire::PointHigh { - x_mm: 1, - y_mm: 0, - z_mm: 0, - reflectivity: 255, - tag: 0, - }]); - DataPacket { - time_interval: 0, - dot_num: 1, - data_type: DataType::CartesianHigh, - timestamp_ns: ts_ns, - payload: &payload, - } - .build() - }; - let target = SocketAddrV4::new(Ipv4Addr::LOCALHOST, ports.host_point_data); - let forged = UdpSocket::bind(SocketAddrV4::new(Ipv4Addr::new(127, 0, 0, 2), 0)).unwrap(); - forged.send_to(&packet(7), target).unwrap(); - std::thread::sleep(Duration::from_millis(100)); - let genuine = UdpSocket::bind(SocketAddrV4::new(Ipv4Addr::LOCALHOST, 0)).unwrap(); - genuine.send_to(&packet(42), target).unwrap(); - - // The channel is FIFO: had the forged packet been accepted, it would - // arrive first. - let mut buf = [0u8; 4096]; - let len = source.recv(&mut buf).expect("genuine packet delivered"); - let delivered = DataPacket::parse(&buf[..len]).unwrap(); - assert_eq!(delivered.timestamp_ns, 42); - } - #[test] fn recv_ends_on_stop() { let ports = test_ports(1); diff --git a/dimos/hardware/sensors/lidar/livox/test_e2e.py b/dimos/hardware/sensors/lidar/livox/test_e2e.py index 13a7596a37..c8f77e38d0 100644 --- a/dimos/hardware/sensors/lidar/livox/test_e2e.py +++ b/dimos/hardware/sensors/lidar/livox/test_e2e.py @@ -46,7 +46,11 @@ from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 from dimos.utils.data import get_data -_RELEASE = DIMOS_PROJECT_ROOT / "target" / "release" +_LIDAR = DIMOS_PROJECT_ROOT / "dimos" / "hardware" / "sensors" / "lidar" +_MODULE_OF = { + "mid360_native": (_LIDAR / "livox" / "rust", "dimos-livox"), + "virtual_mid360": (_LIDAR / "virtual_mid360", "dimos-virtual-mid360"), +} GRAVITY_MS2 = 9.80665 @@ -121,11 +125,10 @@ def synth_pcap(tmp_path_factory: pytest.TempPathFactory) -> Path: def _require_binary(name: str) -> Path: - binary = _RELEASE / name + module_dir, package = _MODULE_OF[name] + binary = module_dir / "result" / "bin" / name if not binary.exists(): - pytest.fail( - f"{binary} missing; run: cargo build --release -p dimos-livox -p dimos-virtual-mid360" - ) + pytest.fail(f"{binary} missing; run: (cd {module_dir}) && nix build -L path:.#{package}") return binary diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index 73bd9ebd6a..2ebc33a892 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -17,6 +17,29 @@ "type": "github" } }, + "dimos-native-cpp": { + "inputs": { + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs" + }, + "locked": { + "dir": "native/cpp", + "lastModified": 1789614598, + "narHash": "sha256-cLjnjDYCy/NHMN+o3pyQsAsJ5whB7kHNjv/yIRctdiY=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "3dc82f7f46abb7c7e9019fdf004e8ba88f146d4f", + "type": "github" + }, + "original": { + "dir": "native/cpp", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "type": "github" + } + }, "fast-lio": { "flake": false, "locked": { @@ -93,32 +116,62 @@ "type": "github" } }, - "livox-sdk": { + "livox-sdk2": { "inputs": { - "flake-utils": [ - "flake-utils" - ], - "nixpkgs": [ - "nixpkgs" - ] + "flake-utils": "flake-utils_2", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "lastModified": 1789610908, + "narHash": "sha256-KhsxhhM8lsGRwGR9KYChcTP7IDkomkXO8NyMnWYkj2U=", + "owner": "jeff-hykin", + "repo": "livox-sdk2", + "rev": "efc2c87e78a0819c044b6a31a9d81428d522c1f6", + "type": "github" }, + "original": { + "owner": "jeff-hykin", + "repo": "livox-sdk2", + "type": "github" + } + }, + "nix-filter": { "locked": { - "path": "../../livox/cpp", - "type": "path" + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" }, "original": { - "path": "../../livox/cpp", - "type": "path" + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, + "nix-filter_2": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" }, - "parent": [] + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } }, "nixpkgs": { "locked": { - "lastModified": 1770841267, - "narHash": "sha256-9xejG0KoqsoKEGp2kVbXRlEYtFFcDTHjidiuX8hGO44=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": 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"livox-sdk", - "nixpkgs": "nixpkgs", + "livox-sdk2": "livox-sdk2", + "nix-filter": "nix-filter_2", + "nixpkgs": [ + "dimos-native-cpp", + "nixpkgs" + ], "pfr": "pfr", "zenoh": "zenoh" } @@ -205,8 +266,12 @@ }, "zenoh": { "inputs": { - "flake-utils": "flake-utils_2", - "nixpkgs": "nixpkgs_2" + "flake-utils": [ + "flake-utils" + ], + "nixpkgs": [ + "nixpkgs" + ] }, "locked": { "lastModified": 1789053405, diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index e107748315..afe711e9eb 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -2,12 +2,14 @@ description = "Point-LIO + Livox Mid-360 native module"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; + livox-sdk2.url = "github:jeff-hykin/livox-sdk2"; zenoh.url = "github:jeff-hykin/zenoh_flake"; - nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; - flake-utils.url = "github:numtide/flake-utils"; - livox-sdk.url = "path:../../livox/cpp"; - livox-sdk.inputs.nixpkgs.follows = "nixpkgs"; - livox-sdk.inputs.flake-utils.follows = "flake-utils"; + zenoh.inputs.nixpkgs.follows = "nixpkgs"; + zenoh.inputs.flake-utils.follows = "flake-utils"; + nixpkgs.follows = "dimos-native-cpp/nixpkgs"; + flake-utils.follows = "dimos-native-cpp/flake-utils"; + dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-lcm = { url = "github:dimensionalOS/dimos-lcm/main"; flake = false; @@ -29,7 +31,7 @@ }; }; - outputs = { self, nixpkgs, zenoh, flake-utils, livox-sdk, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: + outputs = { self, nix-filter, livox-sdk2, nixpkgs, zenoh, flake-utils, dimos-native-cpp, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: flake-utils.lib.eachDefaultSystem (system: let # Overlay fixes for darwin-broken nixpkgs recipes in our transitive @@ -67,12 +69,11 @@ inherit system; overlays = [ darwinDepFixes ]; }; - livox-sdk2 = livox-sdk.packages.${system}.livox-sdk2; lcm = lcm-extended.packages.${system}.lcm; zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; - livox-common = ../../common; + livox-common = livox-sdk2.packages.${system}.livox-common; # Patch the Point-LIO fork in place: resize (not reserve) the per-point # vectors in run_once, whose reserve+operator[] is out-of-bounds UB that @@ -88,11 +89,11 @@ pname = "pointlio_native"; version = "0.2.0"; - src = ./.; + src = nix-filter.lib { root = ./.; exclude = [ "build" "target" "result" "__pycache__" ]; }; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ - livox-sdk2 + livox-sdk2.packages.${system}.default lcm pkgs.glib pkgs.eigen @@ -111,9 +112,7 @@ "-DFETCHCONTENT_SOURCE_DIR_PFR=${pfr}" "-DFASTLIO_DIR=${fast-lio-patched}" "-DLIVOX_COMMON_DIR=${livox-common}" - # The header-only SDK lives outside this dir. A git-tree flake can - # reach it as a path literal within the repo tree. - "-DDIMOS_NATIVE_CPP_DIR=${../../../../../../native/cpp}" + "-DDIMOS_NATIVE_CPP_DIR=${dimos-native-cpp.packages.${system}.default}" ]; }; in { diff --git a/dimos/hardware/sensors/lidar/pointlio/module.py b/dimos/hardware/sensors/lidar/pointlio/module.py index 0db4fc6b58..c207317259 100644 --- a/dimos/hardware/sensors/lidar/pointlio/module.py +++ b/dimos/hardware/sensors/lidar/pointlio/module.py @@ -38,7 +38,6 @@ from pydantic import BaseModel, Field from reactivex.disposable import Disposable -from dimos.constants import DIMOS_PROJECT_ROOT from dimos.core.core import rpc from dimos.core.native_module import NativeModule, NativeModuleConfig from dimos.core.stream import In, Out @@ -146,7 +145,7 @@ class PointLioConfig(NativeModuleConfig, PointLioTuning): base_fields: frozenset[str] = frozenset({"frame_id"}) cwd: str | None = "cpp" executable: str = "result/bin/pointlio_native" - build_command: str | None = "nix build -L .#pointlio_native" + build_command: str | None = "nix build -L path:." # lidar_ip required; host_ip optional (auto-derived from lidar_ip's subnet). # Both fall back to DIMOS_POINTLIO_LIDAR_IP / DIMOS_POINTLIO_HOST_IP. host_ip: str | None = Field(default_factory=lambda: os.environ.get("DIMOS_POINTLIO_HOST_IP")) @@ -221,8 +220,8 @@ class PointLioRustConfig(NativeModuleConfig, PointLioTuning): base_fields: frozenset[str] = frozenset({"frame_id", "frame_id_prefix"}) cwd: str | None = "rust" # The crate is a workspace member, so cargo builds into the repo-root target dir. - executable: str = str(DIMOS_PROJECT_ROOT / "target" / "release" / "pointlio_native") - build_command: str | None = "cargo build --release" + executable: str = "result/bin/pointlio_native" + build_command: str | None = "nix build -L path:." class PointLioRust(NativeModule, perception.Lidar, perception.Odometry): diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock 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See src/lib.rs. +crc = "3" +etherparse = "0.21.0" +pcap-parser = "0.17.0" pointlio-core = { git = "https://github.com/dimensionalOS/dimos-module-pointlio.git", rev = "3c1dcf8b9dfe6402aaf141e116f4caef6c5c8088" } -dimos-module = { path = "../../../../../../native/rust/dimos-module" } +dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" } lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" } serde = { version = "1", features = ["derive"] } serde_json = "1" tokio = { version = "1", features = ["rt-multi-thread", "macros"] } tracing = "0.1" validator = { version = "0.21", features = ["derive"] } + +[dev-dependencies] +tempfile = "3" + +[workspace] + +[profile.release] +lto = "thin" +codegen-units = 1 + +[profile.dev] +debug = 0 + +[profile.test] +debug = 0 diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock new file mode 100644 index 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], + "gitignore": "gitignore", + "nixpkgs": [ + "crate2nix", + "cachix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1765404074, + "narHash": "sha256-+ZDU2d+vzWkEJiqprvV5PR26DVFN2vgddwG5SnPZcUM=", + "owner": "cachix", + "repo": "git-hooks.nix", + "rev": "2d6f58930fbcd82f6f9fd59fb6d13e37684ca529", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "git-hooks.nix", + "type": "github" + } + }, + "gitignore": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "cachix", + "git-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "gitignore_2": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "pre-commit-hooks", + "nixpkgs" + ] + }, + "locked": { + 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"nix-test-runner", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1765186076, + "narHash": "sha256-hM20uyap1a0M9d344I692r+ik4gTMyj60cQWO+hAYP8=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "addf7cf5f383a3101ecfba091b98d0a1263dc9b8", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "nixpkgs_2": { + "locked": { + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1769069492, + "narHash": "sha256-Efs3VUPelRduf3PpfPP2ovEB4CXT7vHf8W+xc49RL/U=", + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "type": "github" + } + }, + "root": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs_2" + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix new file mode 100644 index 0000000000..45238a590d --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -0,0 +1,59 @@ +{ + description = "Point-LIO native module for dimos"; + + inputs = { + nix-filter.url = "github:numtide/nix-filter"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; + }; + + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-pointlio"; + + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; + + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = mode: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; + })); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.default = buildOf (callWith null); + packages.${name} = self.packages.${system}.default; + + packages.lint = (buildOf (callWith "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.lint = self.packages.${system}.lint; + + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + + devShells.default = pkgs.mkShell { packages = rustTools; }; + }); +} diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/src/bin/replay.rs b/dimos/hardware/sensors/lidar/pointlio/rust/src/bin/replay.rs index 2f8fcb753b..fcfe300876 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/src/bin/replay.rs +++ b/dimos/hardware/sensors/lidar/pointlio/rust/src/bin/replay.rs @@ -23,9 +23,9 @@ use std::io::{self, BufWriter, Write}; use std::sync::atomic::AtomicBool; use std::sync::Arc; -use dimos_livox::pcap::PcapSource; -use dimos_livox::pipeline::{imu_records, FrameAssembler, PacketSource, RawPoint, GRAVITY_MS2}; -use dimos_livox::wire::{DataPacket, DataType, LIDAR_IMU_PORT, LIDAR_POINT_PORT}; +use dimos_pointlio::pcap::PcapSource; +use dimos_pointlio::pipeline::{imu_records, FrameAssembler, PacketSource, RawPoint, GRAVITY_MS2}; +use dimos_pointlio::wire::{DataPacket, DataType, LIDAR_IMU_PORT, LIDAR_POINT_PORT}; use pointlio_core::{Config, LivoxPoint, PointLio}; fn flag<'a>(args: &'a [String], name: &str) -> Option<&'a str> { diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs b/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs index 5d0750bd80..93477e5017 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs +++ b/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs @@ -14,3 +14,10 @@ // dimos glue around pointlio-core. pub mod module; + +#[allow(dead_code)] +pub mod pcap; +#[allow(dead_code)] +pub mod pipeline; +#[allow(dead_code)] +pub mod wire; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/src/pcap.rs b/dimos/hardware/sensors/lidar/pointlio/rust/src/pcap.rs new file mode 100644 index 0000000000..6d30ab685c --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/rust/src/pcap.rs @@ -0,0 +1,418 @@ +// Copyright 2026 Dimensional Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +//! Pcap replay: parse recorded Mid-360 UDP captures and feed them to the +//! pipeline as a `PacketSource`. +//! +//! Sensor timestamps are replayed unmodified, so downstream output is +//! deterministic and identical at any replay rate. + +use crate::pipeline::PacketSource; +use etherparse::{SlicedPacket, TransportSlice}; +use pcap_parser::traits::PcapReaderIterator; +use pcap_parser::{LegacyPcapReader, Linktype, PcapBlockOwned, PcapError}; +use std::fs::File; +use std::io::{self, Read, Seek, SeekFrom}; +use std::sync::atomic::{AtomicBool, Ordering}; +use std::sync::Arc; +use std::time::{Duration, Instant}; + +/// Comfortably above any Ethernet frame a capture can hold. +const BUFFER_CAPACITY: usize = 65536; + +/// One data-plane UDP payload from a capture. +#[derive(Debug, Clone, PartialEq)] +pub struct PcapPacket { + /// Capture timestamp in seconds. + pub ts: f64, + pub src_port: u16, + pub payload: Vec, +} + +/// Decoding state that survives across blocks. +#[derive(Default)] +struct ReaderState { + nanos: bool, + failure: Option, + stalled_at: usize, +} + +impl ReaderState { + fn handle(&mut self, block: PcapBlockOwned<'_>) -> Option { + match block { + PcapBlockOwned::LegacyHeader(header) => { + if header.network != Linktype::ETHERNET { + self.failure = Some(format!( + "unsupported pcap link-type {}, need 1 (Ethernet); \ + capture with tcpdump -i , not -i any", + header.network.0 + )); + } + self.nanos = header.is_nanosecond_precision(); + None + } + PcapBlockOwned::Legacy(record) => { + let frac = if self.nanos { 1e-9 } else { 1e-6 }; + decode_udp( + record.ts_sec as f64 + record.ts_usec as f64 * frac, + record.data, + ) + } + PcapBlockOwned::NG(_) => None, + } + } +} + +fn decode_udp(ts: f64, frame: &[u8]) -> Option { + let sliced = SlicedPacket::from_ethernet(frame).ok()?; + match sliced.transport { + Some(TransportSlice::Udp(udp)) => Some(PcapPacket { + ts, + src_port: udp.source_port(), + payload: udp.payload().to_vec(), + }), + _ => None, + } +} + +/// Streams UDP packets out of a classic pcap capture. +pub struct PcapReader { + reader: LegacyPcapReader, + state: ReaderState, +} + +impl PcapReader { + /// Open a capture for streaming, rejecting non-pcap files up front. + pub fn open(path: &str) -> io::Result { + PcapReader::new(File::open(path)?).map_err(|err| invalid(&format!("{err} at {path}"))) + } + + fn new(mut file: File) -> io::Result { + let mut magic = [0u8; 4]; + let peeked = file.read(&mut magic)?; + file.seek(SeekFrom::Start(0))?; + if peeked == 4 && magic == [0x0A, 0x0D, 0x0D, 0x0A] { + return Err(invalid( + "pcapng capture, need classic pcap; convert with editcap -F pcap", + )); + } + let reader = LegacyPcapReader::new(BUFFER_CAPACITY, file) + .map_err(|_| invalid("not a pcap capture"))?; + Ok(PcapReader { + reader, + state: ReaderState::default(), + }) + } + + /// Why the stream ended, if it died rather than reaching EOF. + pub fn failure(&self) -> Option<&str> { + self.state.failure.as_deref() + } + + /// Next UDP packet. A truncated record ends the stream like a clean EOF. + /// Anything else that ends it early is recorded in `state.failure`. + pub fn next_packet(&mut self) -> Option { + loop { + match self.reader.next() { + Ok((offset, block)) => { + let packet = self.state.handle(block); + self.reader.consume(offset); + if let Some(packet) = packet { + return Some(packet); + } + if self.state.failure.is_some() { + return None; + } + } + // A truncated final record reads as UnexpectedEof. + Err(PcapError::Eof) | Err(PcapError::UnexpectedEof) => return None, + Err(PcapError::Incomplete(_)) => { + if self.reader.consumed() == self.state.stalled_at { + self.state.failure = Some("capture record larger than buffer".to_string()); + return None; + } + self.state.stalled_at = self.reader.consumed(); + if self.reader.refill().is_err() { + self.state.failure = Some("read failed mid-capture".to_string()); + return None; + } + } + Err(err) => { + self.state.failure = Some(format!("bad capture record: {err:?}")); + return None; + } + } + } + } +} + +fn invalid(message: &str) -> io::Error { + io::Error::new(io::ErrorKind::InvalidData, message) +} + +/// Replays a capture's point/IMU packets through the `PacketSource` seam. +/// +/// Streams record by record, so memory stays flat regardless of capture size. +pub struct PcapSource { + reader: PcapReader, + point_port: u16, + imu_port: u16, + /// Replay speed relative to capture time. `None` runs flat-out. + rate: Option, + started: Option<(Instant, f64)>, + stop: Arc, +} + +impl PcapSource { + /// Errors on a capture the replay could never use: bad header, wrong + /// link-type, or no packets on the configured data ports. `stop` ends + /// `recv`, interrupting any pacing sleep in progress. + pub fn from_file( + path: &str, + point_port: u16, + imu_port: u16, + rate: Option, + stop: Arc, + ) -> io::Result { + let mut scan = PcapReader::open(path)?; + loop { + match scan.next_packet() { + Some(packet) if packet.src_port == point_port || packet.src_port == imu_port => { + break; + } + Some(_) => continue, + None => { + return Err(match scan.state.failure { + Some(failure) => invalid(&format!("{failure} at {path}")), + None => invalid(&format!( + "no Livox data packets on ports {point_port}/{imu_port} in {path}" + )), + }); + } + } + } + Ok(PcapSource { + reader: PcapReader::open(path)?, + point_port, + imu_port, + rate, + started: None, + stop, + }) + } + + /// Sleeps in bounded slices so a stop request never waits out a long + /// capture gap. + fn pace(&mut self, capture_ts: f64) { + let Some(rate) = self.rate else { + return; + }; + let (wall_start, capture_start) = *self.started.get_or_insert((Instant::now(), capture_ts)); + let target = (capture_ts - capture_start) / rate; + loop { + if self.stop.load(Ordering::Relaxed) { + return; + } + let remaining = target - wall_start.elapsed().as_secs_f64(); + if remaining <= 0.0 { + return; + } + std::thread::sleep(Duration::from_secs_f64(remaining.min(0.1))); + } + } +} + +impl PacketSource for PcapSource { + fn recv(&mut self, buf: &mut [u8]) -> Option { + loop { + if self.stop.load(Ordering::Relaxed) { + return None; + } + let packet = self.reader.next_packet()?; + if packet.src_port != self.point_port && packet.src_port != self.imu_port { + continue; + } + self.pace(packet.ts); + let len = packet.payload.len().min(buf.len()); + buf[..len].copy_from_slice(&packet.payload[..len]); + return Some(len); + } + } + + fn failure(&self) -> Option { + self.reader.state.failure.clone() + } +} + +#[cfg(test)] +mod tests { + use super::*; + use crate::wire::{self, build_points_high, DataPacket, DataType, PointHigh}; + use std::io::Write; + + const LINKTYPE_ETHERNET: u32 = 1; + + fn eth_frame(src_port: u16, payload: &[u8]) -> Vec { + let udp_len = 8 + payload.len(); + let mut frame = Vec::new(); + frame.extend_from_slice(&[0u8; 12]); // eth dst+src + frame.extend_from_slice(&[0x08, 0x00]); // ipv4 + let mut ip = [0u8; 20]; + ip[0] = 0x45; // version 4, ihl 5 + ip[2..4].copy_from_slice(&((20 + udp_len) as u16).to_be_bytes()); + ip[8] = 64; // ttl + ip[9] = 17; // udp + frame.extend_from_slice(&ip); + frame.extend_from_slice(&src_port.to_be_bytes()); + frame.extend_from_slice(&wire::HOST_POINT_PORT.to_be_bytes()); + frame.extend_from_slice(&(udp_len as u16).to_be_bytes()); + frame.extend_from_slice(&[0, 0]); // checksum + frame.extend_from_slice(payload); + frame + } + + fn pcap_record(ts: f64, frame: &[u8]) -> Vec { + let mut out = Vec::new(); + out.extend_from_slice(&(ts as u32).to_le_bytes()); + out.extend_from_slice(&((ts.fract() * 1e6) as u32).to_le_bytes()); + out.extend_from_slice(&(frame.len() as u32).to_le_bytes()); // captured + out.extend_from_slice(&(frame.len() as u32).to_le_bytes()); // original + out.extend_from_slice(frame); + out + } + + /// Wrap UDP payloads into a classic little-endian pcap byte stream. + fn synth_pcap(packets: &[(f64, u16, Vec)]) -> Vec { + let mut out = Vec::new(); + out.extend_from_slice(&[0xd4, 0xc3, 0xb2, 0xa1]); // magic + out.extend_from_slice(&[0x02, 0x00, 0x04, 0x00]); // version 2.4 + out.extend_from_slice(&[0u8; 12]); // thiszone, sigfigs, snaplen(0) + out.extend_from_slice(&LINKTYPE_ETHERNET.to_le_bytes()); + + for (ts, src_port, payload) in packets { + out.extend_from_slice(&pcap_record(*ts, ð_frame(*src_port, payload))); + } + out + } + + fn point_packet(ts_ns: u64, x_mm: i32) -> Vec { + let payload = build_points_high(&[PointHigh { + x_mm, + y_mm: 0, + z_mm: 0, + reflectivity: 255, + tag: 0, + }]); + DataPacket { + time_interval: 0, + dot_num: 1, + data_type: DataType::CartesianHigh, + timestamp_ns: ts_ns, + payload: &payload, + } + .build() + } + + fn write_temp_pcap(bytes: &[u8]) -> tempfile::NamedTempFile { + let mut file = tempfile::NamedTempFile::new().unwrap(); + file.write_all(bytes).unwrap(); + file + } + + fn path_of(file: &tempfile::NamedTempFile) -> &str { + file.path().to_str().unwrap() + } + + #[test] + fn parses_and_filters_data_ports() { + let pcap = synth_pcap(&[ + (1.0, wire::LIDAR_POINT_PORT, point_packet(1_000, 100)), + (1.1, wire::LIDAR_PUSH_MSG_PORT, vec![9, 9, 9]), // status, filtered + (1.2, wire::LIDAR_POINT_PORT, point_packet(2_000, 200)), + ]); + let file = write_temp_pcap(&pcap); + let mut reader = PcapReader::open(path_of(&file)).unwrap(); + let mut parsed = Vec::new(); + while let Some(packet) = reader.next_packet() { + parsed.push(packet); + } + assert_eq!(reader.failure(), None); + assert_eq!(parsed.len(), 3); + assert_eq!(parsed[1].src_port, wire::LIDAR_PUSH_MSG_PORT); + + let mut source = PcapSource::from_file( + path_of(&file), + wire::LIDAR_POINT_PORT, + wire::LIDAR_IMU_PORT, + None, + Arc::new(AtomicBool::new(false)), + ) + .unwrap(); + let mut buf = [0u8; 4096]; + let mut seen = Vec::new(); + while let Some(len) = source.recv(&mut buf) { + seen.push(DataPacket::parse(&buf[..len]).unwrap().timestamp_ns); + } + assert_eq!(seen, vec![1_000, 2_000]); + assert_eq!(source.failure(), None); + } + + #[test] + fn rejects_unusable_captures() { + let assert_err = |bytes: &[u8], needle: &str| { + let file = write_temp_pcap(bytes); + let err = PcapSource::from_file( + path_of(&file), + wire::LIDAR_POINT_PORT, + wire::LIDAR_IMU_PORT, + None, + Arc::new(AtomicBool::new(false)), + ) + .err() + .unwrap(); + assert!(err.to_string().contains(needle), "{err}"); + }; + + assert_err(b"not a pcap at all", "not a pcap"); + assert_err(&[0x0A, 0x0D, 0x0D, 0x0A], "editcap"); + let mut sll = synth_pcap(&[(1.0, wire::LIDAR_POINT_PORT, point_packet(1_000, 100))]); + sll[20..24].copy_from_slice(&113u32.to_le_bytes()); // LINUX_SLL + assert_err(&sll, "link-type 113"); + let no_data = synth_pcap(&[(1.0, wire::LIDAR_PUSH_MSG_PORT, vec![9, 9, 9])]); + assert_err(&no_data, "no Livox data packets"); + } + + #[test] + fn pace_respects_rate() { + let pcap = synth_pcap(&[ + (1.00, wire::LIDAR_POINT_PORT, point_packet(1_000, 100)), + (1.05, wire::LIDAR_POINT_PORT, point_packet(2_000, 200)), + ]); + let file = write_temp_pcap(&pcap); + let mut buf = [0u8; 4096]; + + // 50 ms of capture at half speed takes at least 100 ms of wall time. + let mut paced = PcapSource::from_file( + path_of(&file), + wire::LIDAR_POINT_PORT, + wire::LIDAR_IMU_PORT, + Some(0.5), + Arc::new(AtomicBool::new(false)), + ) + .unwrap(); + let start = Instant::now(); + while paced.recv(&mut buf).is_some() {} + assert!(start.elapsed() >= Duration::from_millis(90)); + } +} diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs b/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs new file mode 100644 index 0000000000..087b5650e9 --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs @@ -0,0 +1,385 @@ +// Copyright 2026 Dimensional Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +//! Pure packet-to-frame pipeline, shared by the live and replay paths. +//! +//! Sources produce raw data-plane packets. The assembler cuts them into frames +//! on packet time, never wall clock, so replay is deterministic at any speed. + +use crate::wire::{DataPacket, DataType}; + +/// Accel conversion from g on the wire to m/s^2 on the output. +pub const GRAVITY_MS2: f64 = 9.80665; + +/// Produces raw data-plane packets (point and IMU ports only). +pub trait PacketSource { + /// Receive the next packet into `buf`, returning its length. + /// `None` means end of stream or shutdown. + fn recv(&mut self, buf: &mut [u8]) -> Option; + + /// Why the stream ended, if it died rather than completing or stopping. + fn failure(&self) -> Option { + None + } +} + +/// One assembled lidar point in the sensor frame. +#[derive(Debug, Clone, Copy, PartialEq)] +pub struct RawPoint { + pub xyz_m: [f32; 3], + /// Reflectivity scaled to [0, 1]. + pub intensity: f32, + /// Nanoseconds since the frame start, saturated at u32::MAX. + pub offset_ns: u32, + pub tag: u8, +} + +/// One assembled frame. `start_ns` is the timestamp of the frame's first +/// packet and the timebase every `offset_ns` is relative to. +#[derive(Debug, Clone, PartialEq)] +pub struct Frame { + pub start_ns: u64, + pub points: Vec, +} + +/// One IMU sample with units converted for publishing. +#[derive(Debug, Clone, Copy, PartialEq)] +pub struct ImuRecord { + pub ts_ns: u64, + pub gyro_rads: [f64; 3], + pub acc_ms2: [f64; 3], +} + +/// Convert an IMU packet's samples to publishable records. +pub fn imu_records<'a>(packet: &'a DataPacket<'a>) -> impl Iterator + 'a { + let ts_ns = packet.timestamp_ns; + packet.imu_samples().map(move |sample| ImuRecord { + ts_ns, + gyro_rads: sample.gyro.map(f64::from), + acc_ms2: sample.acc_g.map(|a| f64::from(a) * GRAVITY_MS2), + }) +} + +/// Limit number of points, in case time stamps get stalled for example +/// This is like 10 seconds of points from the mid360 +const MAX_FRAME_POINTS: usize = 2_000_000; + +/// Accumulates point packets into frames cut on packet time. +pub struct FrameAssembler { + frame_interval_ns: u64, + frame_start_ns: Option, + points: Vec, +} + +impl FrameAssembler { + pub fn new(frequency_hz: f64) -> Self { + assert!(frequency_hz > 0.0, "frame frequency must be positive"); + FrameAssembler { + frame_interval_ns: (1e9 / frequency_hz) as u64, + frame_start_ns: None, + points: Vec::new(), + } + } + + /// Feed one point packet. Returns the completed frame when this packet's + /// timestamp crosses the frame boundary. The packet's own points open the + /// next frame. + pub fn push(&mut self, packet: &DataPacket<'_>) -> Option { + if !matches!( + packet.data_type, + DataType::CartesianHigh | DataType::CartesianLow + ) { + return None; + } + + let ts_ns = packet.timestamp_ns; + let completed = match self.frame_start_ns { + Some(start) if ts_ns.saturating_sub(start) >= self.frame_interval_ns => { + let frame = self.take_frame(start); + self.frame_start_ns = Some(ts_ns); + frame + } + // A full interval backwards is a clock discontinuity, not + // reordering. Re-anchor or no frame would ever cut again. + Some(start) if start.saturating_sub(ts_ns) >= self.frame_interval_ns => { + tracing::warn!( + anchor_ns = start, + packet_ns = ts_ns, + "device clock jumped backwards, re-anchoring frame" + ); + let frame = self.take_frame(start); + self.frame_start_ns = Some(ts_ns); + frame + } + Some(_) => None, + None => { + self.frame_start_ns = Some(ts_ns); + None + } + }; + + let frame_start = self.frame_start_ns.expect("set above"); + // Offset 0 = "at the frame stamp": clamp rather than wrap when a UDP + // packet arrives out of order with a stamp older than the frame start. + self.append_points(packet, ts_ns.saturating_sub(frame_start)); + + if completed.is_none() && self.points.len() >= MAX_FRAME_POINTS { + tracing::warn!( + points = self.points.len(), + "frame point cap hit without a time boundary, forcing cut" + ); + self.frame_start_ns = Some(ts_ns); + return self.take_frame(frame_start); + } + completed + } + + /// Convert one packet's points to meters and frame-relative offsets. + fn append_points(&mut self, packet: &DataPacket<'_>, packet_offset_ns: u64) { + let point_interval_ns = packet.point_interval_ns(); + let offset = |i: usize| { + let ns = packet_offset_ns + i as u64 * point_interval_ns; + ns.min(u64::from(u32::MAX)) as u32 + }; + match packet.data_type { + DataType::CartesianHigh => { + for (i, p) in packet.points_high().enumerate() { + self.points.push(RawPoint { + xyz_m: [ + p.x_mm as f32 / 1000.0, + p.y_mm as f32 / 1000.0, + p.z_mm as f32 / 1000.0, + ], + intensity: f32::from(p.reflectivity) / 255.0, + offset_ns: offset(i), + tag: p.tag, + }); + } + } + DataType::CartesianLow => { + for (i, p) in packet.points_low().enumerate() { + self.points.push(RawPoint { + xyz_m: [ + f32::from(p.x_cm) / 100.0, + f32::from(p.y_cm) / 100.0, + f32::from(p.z_cm) / 100.0, + ], + intensity: f32::from(p.reflectivity) / 255.0, + offset_ns: offset(i), + tag: p.tag, + }); + } + } + DataType::Imu => unreachable!("filtered above"), + } + } + + /// Emit whatever is accumulated, e.g. at end of stream. + pub fn flush(&mut self) -> Option { + let start = self.frame_start_ns.take()?; + self.take_frame(start) + } + + fn take_frame(&mut self, start_ns: u64) -> Option { + if self.points.is_empty() { + return None; + } + Some(Frame { + start_ns, + points: std::mem::take(&mut self.points), + }) + } +} + +#[cfg(test)] +mod tests { + use super::*; + use crate::wire::{build_imu_samples, build_points_high, ImuSample, PointHigh}; + + fn point_packet(ts_ns: u64, time_interval: u16, points: &[PointHigh]) -> Vec { + let payload = build_points_high(points); + DataPacket { + time_interval, + dot_num: points.len() as u16, + data_type: DataType::CartesianHigh, + timestamp_ns: ts_ns, + payload: &payload, + } + .build() + } + + fn simple_point(x_mm: i32) -> PointHigh { + PointHigh { + x_mm, + y_mm: 0, + z_mm: 0, + reflectivity: 255, + tag: 0, + } + } + + #[test] + fn frames_cut_on_packet_time() { + let mut assembler = FrameAssembler::new(10.0); // 100 ms frames + let base = 1_000_000_000u64; + + // Two packets inside the frame, third crosses the boundary. + let packets = [ + point_packet(base, 1000, &[simple_point(1000), simple_point(2000)]), + point_packet(base + 50_000_000, 1000, &[simple_point(3000)]), + point_packet(base + 100_000_000, 1000, &[simple_point(4000)]), + ]; + let mut frames = Vec::new(); + for bytes in &packets { + let packet = DataPacket::parse(bytes).unwrap(); + if let Some(frame) = assembler.push(&packet) { + frames.push(frame); + } + } + + assert_eq!(frames.len(), 1); + let frame = &frames[0]; + assert_eq!(frame.start_ns, base); + assert_eq!(frame.points.len(), 3); + assert_eq!(frame.points[0].xyz_m, [1.0, 0.0, 0.0]); + assert_eq!(frame.points[0].offset_ns, 0); + // 100 us first-to-last span over 2 points -> 100 us point spacing. + assert_eq!(frame.points[1].offset_ns, 100_000); + // Second packet: 50 ms after the frame start. + assert_eq!(frame.points[2].offset_ns, 50_000_000); + + // The boundary packet opened the next frame. + let tail = assembler.flush().unwrap(); + assert_eq!(tail.start_ns, base + 100_000_000); + assert_eq!(tail.points.len(), 1); + assert_eq!(tail.points[0].offset_ns, 0); + assert!(assembler.flush().is_none()); + } + + #[test] + fn out_of_order_packet_clamps_to_frame_start() { + let mut assembler = FrameAssembler::new(10.0); + let base = 5_000_000_000u64; + let first = point_packet(base, 0, &[simple_point(1000)]); + let stale = point_packet(base - 10_000, 0, &[simple_point(2000)]); + assembler.push(&DataPacket::parse(&first).unwrap()); + assert!(assembler + .push(&DataPacket::parse(&stale).unwrap()) + .is_none()); + let frame = assembler.flush().unwrap(); + assert_eq!(frame.points.len(), 2); + assert_eq!(frame.points[1].offset_ns, 0); + } + + #[test] + fn backwards_clock_jump_reanchors_instead_of_stalling() { + let mut assembler = FrameAssembler::new(10.0); // 100 ms frames + let start = 1_700_000_000_000_000_000u64; + for i in 0..3 { + let bytes = point_packet(start + i * 50_000_000, 0, &[simple_point(1)]); + assembler.push(&DataPacket::parse(&bytes).unwrap()); + } + // A capture seam jumps the stamp far backwards. + let mut frames = Vec::new(); + for i in 0..21 { + let bytes = point_packet(i * 50_000_000, 0, &[simple_point(2)]); + if let Some(frame) = assembler.push(&DataPacket::parse(&bytes).unwrap()) { + frames.push(frame); + } + } + + // The jump packet flushes the stale frame and re-anchors. + assert_eq!(frames.len(), 11); + assert_eq!(frames[0].start_ns, start + 100_000_000); + assert_eq!(frames[0].points.len(), 1); + assert_eq!(frames[1].start_ns, 0); + assert_eq!(frames[1].points[0].offset_ns, 0); + assert!(frames[1..].iter().all(|f| f.points.len() == 2)); + assert_eq!(assembler.flush().unwrap().points.len(), 1); + } + + #[test] + fn frozen_timestamp_cuts_at_point_cap() { + let mut assembler = FrameAssembler::new(10.0); + let points: Vec = (0..1000).map(|_| simple_point(1)).collect(); + let bytes = point_packet(7, 0, &points); + let packet = DataPacket::parse(&bytes).unwrap(); + + let mut cuts = 0; + for _ in 0..2 * MAX_FRAME_POINTS / points.len() { + if let Some(frame) = assembler.push(&packet) { + assert_eq!(frame.start_ns, 7); + assert_eq!(frame.points.len(), MAX_FRAME_POINTS); + cuts += 1; + } + } + assert_eq!(cuts, 2); + } + + #[test] + fn offsets_saturate_instead_of_wrapping() { + let mut assembler = FrameAssembler::new(0.1); // 10 s frames + let base = 0u64; + let first = point_packet(base, 0, &[simple_point(1)]); + // ~5 s into the frame, beyond the ~4.29 s u32 range. + let late = point_packet(base + 5_000_000_000, 0, &[simple_point(2)]); + assembler.push(&DataPacket::parse(&first).unwrap()); + assembler.push(&DataPacket::parse(&late).unwrap()); + let frame = assembler.flush().unwrap(); + assert_eq!(frame.points[1].offset_ns, u32::MAX); + } + + #[test] + fn imu_units_convert_to_ms2() { + let payload = build_imu_samples(&[ImuSample { + gyro: [0.1, -0.2, 0.3], + acc_g: [0.0, 0.0, 1.0], + }]); + let bytes = DataPacket { + time_interval: 0, + dot_num: 1, + data_type: DataType::Imu, + timestamp_ns: 42, + payload: &payload, + } + .build(); + let packet = DataPacket::parse(&bytes).unwrap(); + let records: Vec = imu_records(&packet).collect(); + assert_eq!(records.len(), 1); + assert_eq!(records[0].ts_ns, 42); + assert!((records[0].acc_ms2[2] - GRAVITY_MS2).abs() < 1e-9); + assert!((records[0].gyro_rads[0] - 0.1).abs() < 1e-7); + } + + #[test] + fn imu_packets_do_not_disturb_frames() { + let mut assembler = FrameAssembler::new(10.0); + let imu_payload = build_imu_samples(&[ImuSample { + gyro: [0.0; 3], + acc_g: [0.0, 0.0, 1.0], + }]); + let imu_bytes = DataPacket { + time_interval: 0, + dot_num: 1, + data_type: DataType::Imu, + timestamp_ns: 7, + payload: &imu_payload, + } + .build(); + assert!(assembler + .push(&DataPacket::parse(&imu_bytes).unwrap()) + .is_none()); + assert!(assembler.flush().is_none()); + } +} diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/src/wire.rs b/dimos/hardware/sensors/lidar/pointlio/rust/src/wire.rs new file mode 100644 index 0000000000..56b7badd83 --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/rust/src/wire.rs @@ -0,0 +1,743 @@ +// Copyright 2026 Dimensional Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +//! Livox SDK2 wire protocol for the Mid-360. +//! +//! Layouts follow `livox_lidar_def.h` (SDK2 1.2.5). All structs on the wire are +//! packed little-endian. Both directions are implemented so the host driver and +//! the virtual device share one definition of every frame. + +use std::fmt; +use std::net::Ipv4Addr; + +// ---- UDP ports (lidar side sends from, host side listens on) ---- +pub const DISCOVERY_PORT: u16 = 56000; +pub const LIDAR_CMD_PORT: u16 = 56100; +pub const LIDAR_PUSH_MSG_PORT: u16 = 56200; +pub const LIDAR_POINT_PORT: u16 = 56300; +pub const LIDAR_IMU_PORT: u16 = 56400; +pub const HOST_PUSH_MSG_PORT: u16 = 56201; +pub const HOST_POINT_PORT: u16 = 56301; +pub const HOST_IMU_PORT: u16 = 56401; + +// ---- control plane (LivoxLidarCmdPacket) ---- +pub(crate) const SOF: u8 = 0xAA; +/// Bytes before `data[]`: sof, version, length, seq, cmd_id, cmd_type, +/// sender_type, rsvd[6], crc16, crc32. +pub(crate) const CONTROL_HEADER_LEN: usize = 24; +/// The crc16 covers header bytes [0..CONTROL_CRC16_SPAN). +pub(crate) const CONTROL_CRC16_SPAN: usize = 18; + +pub const CMD_TYPE_REQUEST: u8 = 0; +pub const CMD_TYPE_ACK: u8 = 1; +pub const SENDER_HOST: u8 = 0; +pub const SENDER_LIDAR: u8 = 1; + +/// Command IDs (SDK2 `general_command_handler`). +pub mod cmd_id { + /// Device discovery / search. + pub const SEARCH: u16 = 0x0000; + /// Parameter set (work mode, host net info, IMU enable, ...). + pub const PARAM_SET: u16 = 0x0100; + /// Parameter query (`GetInternalInfo`, `QueryFwType`). + pub const GET_INTERNAL_INFO: u16 = 0x0101; +} + +/// Parameter keys (SDK2 `ParamKeyName`). +pub mod param_key { + pub const PCL_DATA_TYPE: u16 = 0x0000; + pub const STATE_INFO_HOST_IP_CFG: u16 = 0x0005; + pub const POINT_DATA_HOST_IP_CFG: u16 = 0x0006; + pub const IMU_HOST_IP_CFG: u16 = 0x0007; + pub const WORK_MODE: u16 = 0x001A; + pub const IMU_DATA_EN: u16 = 0x001C; + pub const FW_TYPE: u16 = 0x8010; +} + +/// `LivoxLidarWorkMode::kLivoxLidarNormal`. +pub const WORK_MODE_NORMAL: u8 = 0x01; +/// `pcl_data_type` value selecting 32-bit cartesian points. +pub const PCL_DATA_TYPE_CARTESIAN_HIGH: u8 = 0x01; +/// `LivoxLidarDeviceType::kLivoxLidarTypeMid360`. +pub const DEVICE_TYPE_MID360: u8 = 9; +/// Firmware type reported by app firmware (vs loader/upgrade mode). +pub const FW_TYPE_APP: u8 = 1; + +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub enum WireError { + TooShort, + BadSof, + BadLength, + BadCrc16, + BadCrc32, + BadDataType(u8), + BadPayload, +} + +impl fmt::Display for WireError { + fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result { + match self { + WireError::TooShort => write!(f, "frame too short"), + WireError::BadSof => write!(f, "bad start-of-frame byte"), + WireError::BadLength => write!(f, "length field disagrees with frame size"), + WireError::BadCrc16 => write!(f, "header crc16 mismatch"), + WireError::BadCrc32 => write!(f, "data crc32 mismatch"), + WireError::BadDataType(t) => write!(f, "unknown data_type {t}"), + WireError::BadPayload => write!(f, "payload layout invalid"), + } + } +} + +impl std::error::Error for WireError {} + +// ---- CRCs (CRC-16/IBM-3740 aka CCITT-FALSE over the header, CRC-32/ISO-HDLC over data) ---- +const CRC16: crc::Crc = crc::Crc::::new(&crc::CRC_16_IBM_3740); +const CRC32: crc::Crc = crc::Crc::::new(&crc::CRC_32_ISO_HDLC); + +pub(crate) fn crc16(data: &[u8]) -> u16 { + CRC16.checksum(data) +} + +pub(crate) fn crc32(data: &[u8]) -> u32 { + CRC32.checksum(data) +} + +/// One control-plane frame, borrowed from the receive buffer. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct ControlFrame<'a> { + pub seq: u32, + pub cmd_id: u16, + pub cmd_type: u8, + pub sender_type: u8, + pub data: &'a [u8], +} + +impl<'a> ControlFrame<'a> { + /// Parse and verify a control frame (SOF, length, both CRCs). + pub fn parse(frame: &'a [u8]) -> Result { + if frame.len() < CONTROL_HEADER_LEN { + return Err(WireError::TooShort); + } + if frame[0] != SOF { + return Err(WireError::BadSof); + } + let length = u16::from_le_bytes([frame[2], frame[3]]) as usize; + if length != frame.len() { + return Err(WireError::BadLength); + } + let crc16_stated = u16::from_le_bytes([frame[18], frame[19]]); + if crc16(&frame[..CONTROL_CRC16_SPAN]) != crc16_stated { + return Err(WireError::BadCrc16); + } + let data = &frame[CONTROL_HEADER_LEN..]; + let crc32_stated = u32::from_le_bytes([frame[20], frame[21], frame[22], frame[23]]); + if crc32(data) != crc32_stated { + return Err(WireError::BadCrc32); + } + Ok(ControlFrame { + seq: u32::from_le_bytes([frame[4], frame[5], frame[6], frame[7]]), + cmd_id: u16::from_le_bytes([frame[8], frame[9]]), + cmd_type: frame[10], + sender_type: frame[11], + data, + }) + } + + pub fn build(&self) -> Vec { + build_control( + self.seq, + self.cmd_id, + self.cmd_type, + self.sender_type, + self.data, + ) + } +} + +/// Serialize a control frame with both CRCs filled in. +pub fn build_control(seq: u32, cmd_id: u16, cmd_type: u8, sender_type: u8, data: &[u8]) -> Vec { + let length = CONTROL_HEADER_LEN + data.len(); + let mut frame = vec![0u8; length]; + frame[0] = SOF; + frame[1] = 0; // protocol version + frame[2..4].copy_from_slice(&(length as u16).to_le_bytes()); + frame[4..8].copy_from_slice(&seq.to_le_bytes()); + frame[8..10].copy_from_slice(&cmd_id.to_le_bytes()); + frame[10] = cmd_type; + frame[11] = sender_type; + let header_crc = crc16(&frame[..CONTROL_CRC16_SPAN]); + frame[18..20].copy_from_slice(&header_crc.to_le_bytes()); + frame[20..24].copy_from_slice(&crc32(data).to_le_bytes()); + frame[CONTROL_HEADER_LEN..].copy_from_slice(data); + frame +} + +// ---- control payloads ---- + +/// Search (0x0000) ACK body: `DetectionData`. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct DetectionAck { + pub ret_code: u8, + pub dev_type: u8, + /// Treated as a C string by the SDK. Must be NUL-terminated within 16 bytes. + pub sn: [u8; 16], + pub lidar_ip: Ipv4Addr, + pub cmd_port: u16, +} + +impl DetectionAck { + pub(crate) const LEN: usize = 24; + + pub fn build(&self) -> Vec { + let mut payload = Vec::with_capacity(Self::LEN); + payload.push(self.ret_code); + payload.push(self.dev_type); + payload.extend_from_slice(&self.sn); + payload.extend_from_slice(&self.lidar_ip.octets()); + payload.extend_from_slice(&self.cmd_port.to_le_bytes()); + payload + } + + pub fn parse(data: &[u8]) -> Result { + if data.len() < Self::LEN { + return Err(WireError::BadPayload); + } + let mut sn = [0u8; 16]; + sn.copy_from_slice(&data[2..18]); + Ok(DetectionAck { + ret_code: data[0], + dev_type: data[1], + sn, + lidar_ip: Ipv4Addr::new(data[18], data[19], data[20], data[21]), + cmd_port: u16::from_le_bytes([data[22], data[23]]), + }) + } +} + +/// Generic param-set (0x0100) ACK body: `LivoxLidarAsyncControlResponse`. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct AsyncControlAck { + pub ret_code: u8, + pub error_key: u16, +} + +impl AsyncControlAck { + pub(crate) const LEN: usize = 3; + + pub fn build(&self) -> Vec { + let mut payload = vec![self.ret_code]; + payload.extend_from_slice(&self.error_key.to_le_bytes()); + payload + } + + pub fn parse(data: &[u8]) -> Result { + if data.len() < Self::LEN { + return Err(WireError::BadPayload); + } + Ok(AsyncControlAck { + ret_code: data[0], + error_key: u16::from_le_bytes([data[1], data[2]]), + }) + } +} + +/// One `LivoxLidarKeyValueParam`: key, value length, value bytes. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct KeyValue<'a> { + pub key: u16, + pub value: &'a [u8], +} + +/// Serialize key-value params back to back (key u16, len u16, value). +pub(crate) fn build_kv_list(params: &[KeyValue<'_>]) -> Vec { + let mut out = Vec::new(); + for param in params { + out.extend_from_slice(¶m.key.to_le_bytes()); + out.extend_from_slice(&(param.value.len() as u16).to_le_bytes()); + out.extend_from_slice(param.value); + } + out +} + +/// Parse a back-to-back key-value list, e.g. an internal-info response body. +pub(crate) fn parse_kv_list(mut data: &[u8]) -> Result>, WireError> { + let mut out = Vec::new(); + while !data.is_empty() { + if data.len() < 4 { + return Err(WireError::BadPayload); + } + let key = u16::from_le_bytes([data[0], data[1]]); + let len = u16::from_le_bytes([data[2], data[3]]) as usize; + if data.len() < 4 + len { + return Err(WireError::BadPayload); + } + out.push(KeyValue { + key, + value: &data[4..4 + len], + }); + data = &data[4 + len..]; + } + Ok(out) +} + +/// Param-set (0x0100) request body: key_num u16, rsvd u16, key-value list +/// (SDK2 `BuildRequest` / `CommandImpl`). +pub fn build_param_set_body(params: &[KeyValue<'_>]) -> Vec { + let mut body = Vec::with_capacity(4); + body.extend_from_slice(&(params.len() as u16).to_le_bytes()); + body.extend_from_slice(&0u16.to_le_bytes()); + body.extend_from_slice(&build_kv_list(params)); + body +} + +/// Parse a param-set (0x0100) request body. +pub fn parse_param_set_body(data: &[u8]) -> Result>, WireError> { + if data.len() < 4 { + return Err(WireError::BadPayload); + } + let key_num = u16::from_le_bytes([data[0], data[1]]) as usize; + let params = parse_kv_list(&data[4..])?; + if params.len() != key_num { + return Err(WireError::BadPayload); + } + Ok(params) +} + +/// Value for the host IP config keys (0x0005-0x0007): `HostIpInfoValue`, +/// ip[4] then host port and lidar port. +pub fn host_ip_config_value(ip: Ipv4Addr, host_port: u16, lidar_port: u16) -> [u8; 8] { + let mut value = [0u8; 8]; + value[..4].copy_from_slice(&ip.octets()); + value[4..6].copy_from_slice(&host_port.to_le_bytes()); + value[6..8].copy_from_slice(&lidar_port.to_le_bytes()); + value +} + +/// GetInternalInfo (0x0101) ACK body: `LivoxLidarDiagInternalInfoResponse` +/// (ret_code u8, param_num u16, key-value list). +#[derive(Debug, Clone, PartialEq, Eq)] +pub struct InternalInfoAck<'a> { + pub ret_code: u8, + pub params: Vec>, +} + +impl<'a> InternalInfoAck<'a> { + pub fn build(&self) -> Vec { + let mut payload = vec![self.ret_code]; + payload.extend_from_slice(&(self.params.len() as u16).to_le_bytes()); + payload.extend_from_slice(&build_kv_list(&self.params)); + payload + } + + pub fn parse(data: &'a [u8]) -> Result { + if data.len() < 3 { + return Err(WireError::BadPayload); + } + let param_num = u16::from_le_bytes([data[1], data[2]]) as usize; + let params = parse_kv_list(&data[3..])?; + if params.len() != param_num { + return Err(WireError::BadPayload); + } + Ok(InternalInfoAck { + ret_code: data[0], + params, + }) + } +} + +// ---- data plane (LivoxLidarEthernetPacket) ---- + +/// Header bytes before `data[]`: version, length, time_interval, dot_num, +/// udp_cnt, frame_cnt, data_type, time_type, rsvd[12], crc32, timestamp[8]. +pub(crate) const DATA_HEADER_LEN: usize = 36; +/// Byte offset of the u64 nanosecond timestamp within the packet. +pub(crate) const DATA_TIMESTAMP_OFFSET: usize = 28; + +#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)] +pub enum DataType { + Imu, + CartesianHigh, + CartesianLow, +} + +impl TryFrom for DataType { + type Error = WireError; + + fn try_from(value: u8) -> Result { + match value { + 0x00 => Ok(DataType::Imu), + 0x01 => Ok(DataType::CartesianHigh), + 0x02 => Ok(DataType::CartesianLow), + other => Err(WireError::BadDataType(other)), + } + } +} + +/// High-precision cartesian point, 14 bytes on the wire. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct PointHigh { + pub x_mm: i32, + pub y_mm: i32, + pub z_mm: i32, + pub reflectivity: u8, + pub tag: u8, +} + +pub(crate) const POINT_HIGH_LEN: usize = 14; + +/// Low-precision cartesian point, 8 bytes on the wire. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct PointLow { + pub x_cm: i16, + pub y_cm: i16, + pub z_cm: i16, + pub reflectivity: u8, + pub tag: u8, +} + +pub(crate) const POINT_LOW_LEN: usize = 8; + +/// One IMU sample: gyro in rad/s, accel in g. 24 bytes on the wire. +#[derive(Debug, Clone, Copy, PartialEq)] +pub struct ImuSample { + pub gyro: [f32; 3], + pub acc_g: [f32; 3], +} + +pub(crate) const IMU_SAMPLE_LEN: usize = 24; + +/// One data-plane packet, borrowed from the receive buffer. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct DataPacket<'a> { + /// Time between points within the packet, in 0.1 microsecond units. + pub time_interval: u16, + pub dot_num: u16, + pub data_type: DataType, + pub timestamp_ns: u64, + pub payload: &'a [u8], +} + +impl<'a> DataPacket<'a> { + /// Parse a data packet. The crc32 field (over timestamp + data) is not + /// verified: Mid-360 firmware leaves it zero on every point packet and + /// only fills it on IMU packets, and the SDK skips it too. + pub fn parse(packet: &'a [u8]) -> Result { + if packet.len() < DATA_HEADER_LEN { + return Err(WireError::TooShort); + } + let length = u16::from_le_bytes([packet[1], packet[2]]) as usize; + if length != packet.len() { + return Err(WireError::BadLength); + } + let dot_num = u16::from_le_bytes([packet[5], packet[6]]); + let data_type = DataType::try_from(packet[10])?; + let payload = &packet[DATA_HEADER_LEN..]; + let expected = dot_num as usize + * match data_type { + DataType::Imu => IMU_SAMPLE_LEN, + DataType::CartesianHigh => POINT_HIGH_LEN, + DataType::CartesianLow => POINT_LOW_LEN, + }; + if payload.len() < expected { + return Err(WireError::BadLength); + } + Ok(DataPacket { + time_interval: u16::from_le_bytes([packet[3], packet[4]]), + dot_num, + data_type, + timestamp_ns: read_timestamp_ns(packet).unwrap_or(0), + payload, + }) + } + + /// Nanoseconds between consecutive points in this packet. + pub fn point_interval_ns(&self) -> u64 { + if self.dot_num <= 1 { + return 0; + } + u64::from(self.time_interval) * 100 / u64::from(self.dot_num - 1) + } + + pub fn points_high(&self) -> impl Iterator + 'a { + let count = if self.data_type == DataType::CartesianHigh { + self.dot_num as usize + } else { + 0 + }; + let payload = self.payload; + (0..count).map(move |i| { + let p = &payload[i * POINT_HIGH_LEN..]; + PointHigh { + x_mm: i32::from_le_bytes([p[0], p[1], p[2], p[3]]), + y_mm: i32::from_le_bytes([p[4], p[5], p[6], p[7]]), + z_mm: i32::from_le_bytes([p[8], p[9], p[10], p[11]]), + reflectivity: p[12], + tag: p[13], + } + }) + } + + pub fn points_low(&self) -> impl Iterator + 'a { + let count = if self.data_type == DataType::CartesianLow { + self.dot_num as usize + } else { + 0 + }; + let payload = self.payload; + (0..count).map(move |i| { + let p = &payload[i * POINT_LOW_LEN..]; + PointLow { + x_cm: i16::from_le_bytes([p[0], p[1]]), + y_cm: i16::from_le_bytes([p[2], p[3]]), + z_cm: i16::from_le_bytes([p[4], p[5]]), + reflectivity: p[6], + tag: p[7], + } + }) + } + + pub fn imu_samples(&self) -> impl Iterator + 'a { + let count = if self.data_type == DataType::Imu { + self.dot_num as usize + } else { + 0 + }; + let payload = self.payload; + (0..count).map(move |i| { + let p = &payload[i * IMU_SAMPLE_LEN..]; + let f = |o: usize| f32::from_le_bytes([p[o], p[o + 1], p[o + 2], p[o + 3]]); + ImuSample { + gyro: [f(0), f(4), f(8)], + acc_g: [f(12), f(16), f(20)], + } + }) + } + + pub fn build(&self) -> Vec { + let length = DATA_HEADER_LEN + self.payload.len(); + let mut packet = vec![0u8; length]; + packet[0] = 0; // packet version + packet[1..3].copy_from_slice(&(length as u16).to_le_bytes()); + packet[3..5].copy_from_slice(&self.time_interval.to_le_bytes()); + packet[5..7].copy_from_slice(&self.dot_num.to_le_bytes()); + // udp_cnt(7..9), frame_cnt(9) and time_type(11) stay zero. + packet[10] = match self.data_type { + DataType::Imu => 0x00, + DataType::CartesianHigh => 0x01, + DataType::CartesianLow => 0x02, + }; + packet[DATA_TIMESTAMP_OFFSET..DATA_TIMESTAMP_OFFSET + 8] + .copy_from_slice(&self.timestamp_ns.to_le_bytes()); + packet[DATA_HEADER_LEN..].copy_from_slice(self.payload); + let checked = crc32(&packet[DATA_TIMESTAMP_OFFSET..]); + packet[24..28].copy_from_slice(&checked.to_le_bytes()); + packet + } +} + +/// Read the u64 timestamp from a raw data-plane packet. +pub fn read_timestamp_ns(packet: &[u8]) -> Option { + let bytes = packet.get(DATA_TIMESTAMP_OFFSET..DATA_TIMESTAMP_OFFSET + 8)?; + Some(u64::from_le_bytes(bytes.try_into().unwrap())) +} + +/// Shift the u64 timestamp of a raw data-plane packet in place. +pub fn shift_timestamp_ns(packet: &mut [u8], shift: u64) { + if let Some(orig) = read_timestamp_ns(packet) { + packet[DATA_TIMESTAMP_OFFSET..DATA_TIMESTAMP_OFFSET + 8] + .copy_from_slice(&orig.wrapping_add(shift).to_le_bytes()); + } +} + +/// Serialize high-precision points into a data payload for `DataPacket::build`. +pub fn build_points_high(points: &[PointHigh]) -> Vec { + let mut out = Vec::with_capacity(points.len() * POINT_HIGH_LEN); + for p in points { + out.extend_from_slice(&p.x_mm.to_le_bytes()); + out.extend_from_slice(&p.y_mm.to_le_bytes()); + out.extend_from_slice(&p.z_mm.to_le_bytes()); + out.push(p.reflectivity); + out.push(p.tag); + } + out +} + +/// Serialize IMU samples into a data payload for `DataPacket::build`. +pub fn build_imu_samples(samples: &[ImuSample]) -> Vec { + let mut out = Vec::with_capacity(samples.len() * IMU_SAMPLE_LEN); + for s in samples { + for v in s.gyro.iter().chain(s.acc_g.iter()) { + out.extend_from_slice(&v.to_le_bytes()); + } + } + out +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn data_packets_round_trip() { + let points = [ + PointHigh { + x_mm: 1500, + y_mm: -2500, + z_mm: 300, + reflectivity: 200, + tag: 0x10, + }, + PointHigh { + x_mm: -1, + y_mm: 2, + z_mm: 3, + reflectivity: 0, + tag: 0, + }, + ]; + let payload = build_points_high(&points); + let packet = DataPacket { + time_interval: 1000, + dot_num: 2, + data_type: DataType::CartesianHigh, + timestamp_ns: 1_700_000_000_123_456_789, + payload: &payload, + }; + let mut bytes = packet.build(); + // The crc32 spans timestamp + data, as hardware IMU packets carry it. + let stated = u32::from_le_bytes(bytes[24..28].try_into().unwrap()); + assert_eq!(stated, crc32(&bytes[DATA_TIMESTAMP_OFFSET..])); + let parsed = DataPacket::parse(&bytes).unwrap(); + assert_eq!(parsed.timestamp_ns, packet.timestamp_ns); + assert_eq!(parsed.points_high().collect::>(), points); + assert_eq!(parsed.imu_samples().count(), 0); + // 100 us from first point to last, 2 points -> one 100 us gap. + assert_eq!(parsed.point_interval_ns(), 100_000); + + // The declared length must match the datagram exactly. + let mut trailing = bytes.clone(); + trailing.push(0); + assert_eq!(DataPacket::parse(&trailing), Err(WireError::BadLength)); + + // The virtual device rewrites timestamps in place during replay. + shift_timestamp_ns(&mut bytes, 50); + assert_eq!(read_timestamp_ns(&bytes), Some(packet.timestamp_ns + 50)); + assert!(DataPacket::parse(&bytes).is_ok()); + + let samples = [ImuSample { + gyro: [0.01, -0.02, 0.03], + acc_g: [0.0, 0.0, 1.0], + }]; + let imu_payload = build_imu_samples(&samples); + let imu_bytes = DataPacket { + time_interval: 0, + dot_num: 1, + data_type: DataType::Imu, + timestamp_ns: 99, + payload: &imu_payload, + } + .build(); + let imu_parsed = DataPacket::parse(&imu_bytes).unwrap(); + assert_eq!(imu_parsed.imu_samples().collect::>(), samples); + + // dot_num claiming more points than the payload holds is rejected. + let short = DataPacket { + time_interval: 0, + dot_num: 2, + data_type: DataType::CartesianHigh, + timestamp_ns: 0, + payload: &build_points_high(&points[..1]), + }; + assert_eq!(DataPacket::parse(&short.build()), Err(WireError::BadLength)); + } + + #[test] + fn control_frames_round_trip() { + // Catalog check values pin the CRC-16/IBM-3740 and CRC-32/ISO-HDLC params. + assert_eq!(crc16(b"123456789"), 0x29B1); + assert_eq!(crc32(b"123456789"), 0xCBF43926); + + let data = [1u8, 2, 3, 4, 5]; + let frame = build_control(42, cmd_id::PARAM_SET, CMD_TYPE_REQUEST, SENDER_HOST, &data); + let parsed = ControlFrame::parse(&frame).unwrap(); + assert_eq!(parsed.seq, 42); + assert_eq!(parsed.cmd_id, cmd_id::PARAM_SET); + assert_eq!(parsed.cmd_type, CMD_TYPE_REQUEST); + assert_eq!(parsed.sender_type, SENDER_HOST); + assert_eq!(parsed.data, &data); + assert_eq!(parsed.build(), frame); + + // Corruption in any span is caught, never mis-parsed. + assert_eq!(ControlFrame::parse(&frame[..10]), Err(WireError::TooShort)); + let mut bad_sof = frame.clone(); + bad_sof[0] = 0xAB; + assert_eq!(ControlFrame::parse(&bad_sof), Err(WireError::BadSof)); + let mut bad_header = frame.clone(); + bad_header[4] ^= 0xFF; // seq is inside the crc16 span + assert_eq!(ControlFrame::parse(&bad_header), Err(WireError::BadCrc16)); + let mut bad_data = frame.clone(); + *bad_data.last_mut().unwrap() ^= 0xFF; + assert_eq!(ControlFrame::parse(&bad_data), Err(WireError::BadCrc32)); + let mut bad_length = frame; + bad_length.push(0); + assert_eq!(ControlFrame::parse(&bad_length), Err(WireError::BadLength)); + + let value = host_ip_config_value(Ipv4Addr::new(192, 168, 1, 5), HOST_POINT_PORT, 56300); + let params = [ + KeyValue { + key: param_key::POINT_DATA_HOST_IP_CFG, + value: &value, + }, + KeyValue { + key: param_key::WORK_MODE, + value: &[WORK_MODE_NORMAL], + }, + ]; + let body = build_param_set_body(¶ms); + assert_eq!(parse_param_set_body(&body).unwrap(), params); + assert_eq!( + parse_param_set_body(&body[..body.len() - 1]), + Err(WireError::BadPayload) + ); + + let mut sn = [0u8; 16]; + sn[..10].copy_from_slice(b"FAKEMID360"); + let detection = DetectionAck { + ret_code: 0, + dev_type: DEVICE_TYPE_MID360, + sn, + lidar_ip: Ipv4Addr::new(192, 168, 1, 171), + cmd_port: LIDAR_CMD_PORT, + }; + assert_eq!(DetectionAck::parse(&detection.build()).unwrap(), detection); + + let async_ack = AsyncControlAck { + ret_code: 0, + error_key: 0x001A, + }; + assert_eq!( + AsyncControlAck::parse(&async_ack.build()).unwrap(), + async_ack + ); + + let info = InternalInfoAck { + ret_code: 0, + params: vec![KeyValue { + key: param_key::FW_TYPE, + value: &[FW_TYPE_APP], + }], + }; + assert_eq!(InternalInfoAck::parse(&info.build()).unwrap(), info); + } +} diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock new file mode 100644 index 0000000000..189acf96a7 --- /dev/null +++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock @@ -0,0 +1,4446 @@ +# This file is automatically @generated by Cargo. +# It is not intended for manual editing. +version = 4 + +[[package]] +name = "adler2" +version = 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See src/main.rs. +crc = "3" +etherparse = "0.21.0" +pcap-parser = "0.17.0" +dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" } tokio = { version = "1", features = ["rt-multi-thread", "macros", "time", "net", "sync"] } serde = { version = "1", features = ["derive"] } socket2 = "0.6" tracing = "0.1" validator = { version = "0.21", features = ["derive"] } + +[dev-dependencies] +tempfile = "3" + +[workspace] + +[profile.release] +lto = "thin" +codegen-units = 1 + +[profile.dev] +debug = 0 + +[profile.test] +debug = 0 diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock new file mode 100644 index 0000000000..12d4afa66f --- /dev/null +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock @@ -0,0 +1,317 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "crate2nix" + ], + "flake-compat": [ + "crate2nix" + ], + "git-hooks": "git-hooks", + "nixpkgs": "nixpkgs" + }, + "locked": { + "lastModified": 1767714506, + "narHash": "sha256-WaTs0t1CxhgxbIuvQ97OFhDTVUGd1HA+KzLZUZBhe0s=", + "owner": "cachix", + "repo": "cachix", + "rev": "894c649f0daaa38bbcfb21de64be47dfa7cd0ec9", + "type": "github" + }, + "original": { + "owner": "cachix", + "ref": "latest", + "repo": "cachix", + "type": "github" + } + }, + "crate2nix": { + "inputs": { + "cachix": "cachix", + "devshell": "devshell", + "flake-compat": "flake-compat", + "flake-parts": "flake-parts", + "nix-test-runner": "nix-test-runner", + "nixpkgs": [ + "nixpkgs" + ], + "pre-commit-hooks": "pre-commit-hooks" + }, + "locked": { + "lastModified": 1782759041, + "narHash": "sha256-2577vxyoBa8+ZRiXr3CuPtOuEtPRYsFPSZuEc/KI/80=", + "owner": "nix-community", + "repo": "crate2nix", + "rev": "5e1ecfd2d15b34ec90c2e51fdffbe8116595a767", + "type": "github" + }, + "original": { + "owner": "nix-community", + "repo": "crate2nix", + "type": "github" + } + }, + "devshell": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768818222, + "narHash": "sha256-460jc0+CZfyaO8+w8JNtlClB2n4ui1RbHfPTLkpwhU8=", + "owner": "numtide", + "repo": "devshell", + "rev": "255a2b1725a20d060f566e4755dbf571bbbb5f76", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "devshell", + "type": "github" + } + }, + "flake-compat": { + "locked": { + "lastModified": 1733328505, + "narHash": "sha256-NeCCThCEP3eCl2l/+27kNNK7QrwZB1IJCrXfrbv5oqU=", + "rev": "ff81ac966bb2cae68946d5ed5fc4994f96d0ffec", + "revCount": 69, + "type": "tarball", + "url": "https://api.flakehub.com/f/pinned/edolstra/flake-compat/1.1.0/01948eb7-9cba-704f-bbf3-3fa956735b52/source.tar.gz" + }, + "original": { + "type": "tarball", + "url": "https://flakehub.com/f/edolstra/flake-compat/1.tar.gz" + } + }, + "flake-parts": { + "inputs": { + "nixpkgs-lib": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768135262, + "narHash": "sha256-PVvu7OqHBGWN16zSi6tEmPwwHQ4rLPU9Plvs8/1TUBY=", + "owner": "hercules-ci", + "repo": "flake-parts", + "rev": "80daad04eddbbf5a4d883996a73f3f542fa437ac", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "flake-parts", + "type": "github" + } + }, + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1731533236, + "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "git-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "crate2nix", + "cachix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1765404074, + "narHash": "sha256-+ZDU2d+vzWkEJiqprvV5PR26DVFN2vgddwG5SnPZcUM=", + "owner": "cachix", + "repo": "git-hooks.nix", + "rev": "2d6f58930fbcd82f6f9fd59fb6d13e37684ca529", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "git-hooks.nix", + "type": "github" + } + }, + "gitignore": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "cachix", + "git-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "gitignore_2": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "pre-commit-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, + "nix-test-runner": { + "flake": false, + "locked": { + "lastModified": 1588761593, + "narHash": "sha256-FKJykltAN/g3eIceJl4SfDnnyuH2jHImhMrXS2KvGIs=", + "owner": "stoeffel", + "repo": "nix-test-runner", + "rev": "c45d45b11ecef3eb9d834c3b6304c05c49b06ca2", + "type": "github" + }, + "original": { + "owner": "stoeffel", + "repo": "nix-test-runner", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1765186076, + "narHash": "sha256-hM20uyap1a0M9d344I692r+ik4gTMyj60cQWO+hAYP8=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "addf7cf5f383a3101ecfba091b98d0a1263dc9b8", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "nixpkgs_2": { + "locked": { + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1769069492, + "narHash": "sha256-Efs3VUPelRduf3PpfPP2ovEB4CXT7vHf8W+xc49RL/U=", + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "type": "github" + } + }, + "root": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs_2" + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix new file mode 100644 index 0000000000..e67f3fd020 --- /dev/null +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -0,0 +1,59 @@ +{ + description = "Virtual Mid-360 native module for dimos"; + + inputs = { + nix-filter.url = "github:numtide/nix-filter"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; + }; + + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-virtual-mid360"; + + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; + + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = mode: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; + })); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.default = buildOf (callWith null); + packages.${name} = self.packages.${system}.default; + + packages.lint = (buildOf (callWith "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.lint = self.packages.${system}.lint; + + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + + devShells.default = pkgs.mkShell { packages = rustTools; }; + }); +} diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/module.py b/dimos/hardware/sensors/lidar/virtual_mid360/module.py index 51370e7a00..49278b43d4 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/module.py +++ b/dimos/hardware/sensors/lidar/virtual_mid360/module.py @@ -36,7 +36,6 @@ from pydantic import Field -from dimos.constants import DIMOS_PROJECT_ROOT from dimos.core.core import rpc from dimos.core.native_module import NativeModule, NativeModuleConfig from dimos.utils.logging_config import setup_logger @@ -56,9 +55,8 @@ class VirtualMid360Config(NativeModuleConfig): cwd: str | None = "." - # The crate is a workspace member, so cargo builds into the repo-root target dir. - executable: str = str(DIMOS_PROJECT_ROOT / "target" / "release" / "virtual_mid360") - build_command: str | None = "cargo build --release" + executable: str = "result/bin/virtual_mid360" + build_command: str | None = "nix build -L path:." # The rust binary reads its config as a JSON object on stdin (required). stdin_config: bool = True # Keep the Python-only NIC knobs out of the CLI args mirrored to the binary. diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs index a5a26cdc38..08312d9066 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs +++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs @@ -18,10 +18,15 @@ // binds lidar_ip and sends UDP, so it works wherever the host_ip/lidar_ip are // reachable — IPs aliased on an interface (host ns, incl. macOS lo0) or a netns. -use dimos_livox::pcap::PcapReader; -use dimos_livox::wire::{ - self, AsyncControlAck, ControlFrame, DetectionAck, InternalInfoAck, KeyValue, -}; +#[allow(dead_code)] +pub mod pcap; +#[allow(dead_code)] +pub mod pipeline; +#[allow(dead_code)] +pub mod wire; + +use crate::pcap::PcapReader; +use crate::wire::{AsyncControlAck, ControlFrame, DetectionAck, InternalInfoAck, KeyValue}; use dimos_module::{native_config, run_with_transport, Module}; use socket2::{Domain, Protocol, Socket, Type}; use std::net::{Ipv4Addr, SocketAddrV4, UdpSocket}; diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/src/pcap.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/pcap.rs new file mode 100644 index 0000000000..6d30ab685c --- /dev/null +++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/pcap.rs @@ -0,0 +1,418 @@ +// Copyright 2026 Dimensional Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +//! Pcap replay: parse recorded Mid-360 UDP captures and feed them to the +//! pipeline as a `PacketSource`. +//! +//! Sensor timestamps are replayed unmodified, so downstream output is +//! deterministic and identical at any replay rate. + +use crate::pipeline::PacketSource; +use etherparse::{SlicedPacket, TransportSlice}; +use pcap_parser::traits::PcapReaderIterator; +use pcap_parser::{LegacyPcapReader, Linktype, PcapBlockOwned, PcapError}; +use std::fs::File; +use std::io::{self, Read, Seek, SeekFrom}; +use std::sync::atomic::{AtomicBool, Ordering}; +use std::sync::Arc; +use std::time::{Duration, Instant}; + +/// Comfortably above any Ethernet frame a capture can hold. +const BUFFER_CAPACITY: usize = 65536; + +/// One data-plane UDP payload from a capture. +#[derive(Debug, Clone, PartialEq)] +pub struct PcapPacket { + /// Capture timestamp in seconds. + pub ts: f64, + pub src_port: u16, + pub payload: Vec, +} + +/// Decoding state that survives across blocks. +#[derive(Default)] +struct ReaderState { + nanos: bool, + failure: Option, + stalled_at: usize, +} + +impl ReaderState { + fn handle(&mut self, block: PcapBlockOwned<'_>) -> Option { + match block { + PcapBlockOwned::LegacyHeader(header) => { + if header.network != Linktype::ETHERNET { + self.failure = Some(format!( + "unsupported pcap link-type {}, need 1 (Ethernet); \ + capture with tcpdump -i , not -i any", + header.network.0 + )); + } + self.nanos = header.is_nanosecond_precision(); + None + } + PcapBlockOwned::Legacy(record) => { + let frac = if self.nanos { 1e-9 } else { 1e-6 }; + decode_udp( + record.ts_sec as f64 + record.ts_usec as f64 * frac, + record.data, + ) + } + PcapBlockOwned::NG(_) => None, + } + } +} + +fn decode_udp(ts: f64, frame: &[u8]) -> Option { + let sliced = SlicedPacket::from_ethernet(frame).ok()?; + match sliced.transport { + Some(TransportSlice::Udp(udp)) => Some(PcapPacket { + ts, + src_port: udp.source_port(), + payload: udp.payload().to_vec(), + }), + _ => None, + } +} + +/// Streams UDP packets out of a classic pcap capture. +pub struct PcapReader { + reader: LegacyPcapReader, + state: ReaderState, +} + +impl PcapReader { + /// Open a capture for streaming, rejecting non-pcap files up front. + pub fn open(path: &str) -> io::Result { + PcapReader::new(File::open(path)?).map_err(|err| invalid(&format!("{err} at {path}"))) + } + + fn new(mut file: File) -> io::Result { + let mut magic = [0u8; 4]; + let peeked = file.read(&mut magic)?; + file.seek(SeekFrom::Start(0))?; + if peeked == 4 && magic == [0x0A, 0x0D, 0x0D, 0x0A] { + return Err(invalid( + "pcapng capture, need classic pcap; convert with editcap -F pcap", + )); + } + let reader = LegacyPcapReader::new(BUFFER_CAPACITY, file) + .map_err(|_| invalid("not a pcap capture"))?; + Ok(PcapReader { + reader, + state: ReaderState::default(), + }) + } + + /// Why the stream ended, if it died rather than reaching EOF. + pub fn failure(&self) -> Option<&str> { + self.state.failure.as_deref() + } + + /// Next UDP packet. A truncated record ends the stream like a clean EOF. + /// Anything else that ends it early is recorded in `state.failure`. + pub fn next_packet(&mut self) -> Option { + loop { + match self.reader.next() { + Ok((offset, block)) => { + let packet = self.state.handle(block); + self.reader.consume(offset); + if let Some(packet) = packet { + return Some(packet); + } + if self.state.failure.is_some() { + return None; + } + } + // A truncated final record reads as UnexpectedEof. + Err(PcapError::Eof) | Err(PcapError::UnexpectedEof) => return None, + Err(PcapError::Incomplete(_)) => { + if self.reader.consumed() == self.state.stalled_at { + self.state.failure = Some("capture record larger than buffer".to_string()); + return None; + } + self.state.stalled_at = self.reader.consumed(); + if self.reader.refill().is_err() { + self.state.failure = Some("read failed mid-capture".to_string()); + return None; + } + } + Err(err) => { + self.state.failure = Some(format!("bad capture record: {err:?}")); + return None; + } + } + } + } +} + +fn invalid(message: &str) -> io::Error { + io::Error::new(io::ErrorKind::InvalidData, message) +} + +/// Replays a capture's point/IMU packets through the `PacketSource` seam. +/// +/// Streams record by record, so memory stays flat regardless of capture size. +pub struct PcapSource { + reader: PcapReader, + point_port: u16, + imu_port: u16, + /// Replay speed relative to capture time. `None` runs flat-out. + rate: Option, + started: Option<(Instant, f64)>, + stop: Arc, +} + +impl PcapSource { + /// Errors on a capture the replay could never use: bad header, wrong + /// link-type, or no packets on the configured data ports. `stop` ends + /// `recv`, interrupting any pacing sleep in progress. + pub fn from_file( + path: &str, + point_port: u16, + imu_port: u16, + rate: Option, + stop: Arc, + ) -> io::Result { + let mut scan = PcapReader::open(path)?; + loop { + match scan.next_packet() { + Some(packet) if packet.src_port == point_port || packet.src_port == imu_port => { + break; + } + Some(_) => continue, + None => { + return Err(match scan.state.failure { + Some(failure) => invalid(&format!("{failure} at {path}")), + None => invalid(&format!( + "no Livox data packets on ports {point_port}/{imu_port} in {path}" + )), + }); + } + } + } + Ok(PcapSource { + reader: PcapReader::open(path)?, + point_port, + imu_port, + rate, + started: None, + stop, + }) + } + + /// Sleeps in bounded slices so a stop request never waits out a long + /// capture gap. + fn pace(&mut self, capture_ts: f64) { + let Some(rate) = self.rate else { + return; + }; + let (wall_start, capture_start) = *self.started.get_or_insert((Instant::now(), capture_ts)); + let target = (capture_ts - capture_start) / rate; + loop { + if self.stop.load(Ordering::Relaxed) { + return; + } + let remaining = target - wall_start.elapsed().as_secs_f64(); + if remaining <= 0.0 { + return; + } + std::thread::sleep(Duration::from_secs_f64(remaining.min(0.1))); + } + } +} + +impl PacketSource for PcapSource { + fn recv(&mut self, buf: &mut [u8]) -> Option { + loop { + if self.stop.load(Ordering::Relaxed) { + return None; + } + let packet = self.reader.next_packet()?; + if packet.src_port != self.point_port && packet.src_port != self.imu_port { + continue; + } + self.pace(packet.ts); + let len = packet.payload.len().min(buf.len()); + buf[..len].copy_from_slice(&packet.payload[..len]); + return Some(len); + } + } + + fn failure(&self) -> Option { + self.reader.state.failure.clone() + } +} + +#[cfg(test)] +mod tests { + use super::*; + use crate::wire::{self, build_points_high, DataPacket, DataType, PointHigh}; + use std::io::Write; + + const LINKTYPE_ETHERNET: u32 = 1; + + fn eth_frame(src_port: u16, payload: &[u8]) -> Vec { + let udp_len = 8 + payload.len(); + let mut frame = Vec::new(); + frame.extend_from_slice(&[0u8; 12]); // eth dst+src + frame.extend_from_slice(&[0x08, 0x00]); // ipv4 + let mut ip = [0u8; 20]; + ip[0] = 0x45; // version 4, ihl 5 + ip[2..4].copy_from_slice(&((20 + udp_len) as u16).to_be_bytes()); + ip[8] = 64; // ttl + ip[9] = 17; // udp + frame.extend_from_slice(&ip); + frame.extend_from_slice(&src_port.to_be_bytes()); + frame.extend_from_slice(&wire::HOST_POINT_PORT.to_be_bytes()); + frame.extend_from_slice(&(udp_len as u16).to_be_bytes()); + frame.extend_from_slice(&[0, 0]); // checksum + frame.extend_from_slice(payload); + frame + } + + fn pcap_record(ts: f64, frame: &[u8]) -> Vec { + let mut out = Vec::new(); + out.extend_from_slice(&(ts as u32).to_le_bytes()); + out.extend_from_slice(&((ts.fract() * 1e6) as u32).to_le_bytes()); + out.extend_from_slice(&(frame.len() as u32).to_le_bytes()); // captured + out.extend_from_slice(&(frame.len() as u32).to_le_bytes()); // original + out.extend_from_slice(frame); + out + } + + /// Wrap UDP payloads into a classic little-endian pcap byte stream. + fn synth_pcap(packets: &[(f64, u16, Vec)]) -> Vec { + let mut out = Vec::new(); + out.extend_from_slice(&[0xd4, 0xc3, 0xb2, 0xa1]); // magic + out.extend_from_slice(&[0x02, 0x00, 0x04, 0x00]); // version 2.4 + out.extend_from_slice(&[0u8; 12]); // thiszone, sigfigs, snaplen(0) + out.extend_from_slice(&LINKTYPE_ETHERNET.to_le_bytes()); + + for (ts, src_port, payload) in packets { + out.extend_from_slice(&pcap_record(*ts, ð_frame(*src_port, payload))); + } + out + } + + fn point_packet(ts_ns: u64, x_mm: i32) -> Vec { + let payload = build_points_high(&[PointHigh { + x_mm, + y_mm: 0, + z_mm: 0, + reflectivity: 255, + tag: 0, + }]); + DataPacket { + time_interval: 0, + dot_num: 1, + data_type: DataType::CartesianHigh, + timestamp_ns: ts_ns, + payload: &payload, + } + .build() + } + + fn write_temp_pcap(bytes: &[u8]) -> tempfile::NamedTempFile { + let mut file = tempfile::NamedTempFile::new().unwrap(); + file.write_all(bytes).unwrap(); + file + } + + fn path_of(file: &tempfile::NamedTempFile) -> &str { + file.path().to_str().unwrap() + } + + #[test] + fn parses_and_filters_data_ports() { + let pcap = synth_pcap(&[ + (1.0, wire::LIDAR_POINT_PORT, point_packet(1_000, 100)), + (1.1, wire::LIDAR_PUSH_MSG_PORT, vec![9, 9, 9]), // status, filtered + (1.2, wire::LIDAR_POINT_PORT, point_packet(2_000, 200)), + ]); + let file = write_temp_pcap(&pcap); + let mut reader = PcapReader::open(path_of(&file)).unwrap(); + let mut parsed = Vec::new(); + while let Some(packet) = reader.next_packet() { + parsed.push(packet); + } + assert_eq!(reader.failure(), None); + assert_eq!(parsed.len(), 3); + assert_eq!(parsed[1].src_port, wire::LIDAR_PUSH_MSG_PORT); + + let mut source = PcapSource::from_file( + path_of(&file), + wire::LIDAR_POINT_PORT, + wire::LIDAR_IMU_PORT, + None, + Arc::new(AtomicBool::new(false)), + ) + .unwrap(); + let mut buf = [0u8; 4096]; + let mut seen = Vec::new(); + while let Some(len) = source.recv(&mut buf) { + seen.push(DataPacket::parse(&buf[..len]).unwrap().timestamp_ns); + } + assert_eq!(seen, vec![1_000, 2_000]); + assert_eq!(source.failure(), None); + } + + #[test] + fn rejects_unusable_captures() { + let assert_err = |bytes: &[u8], needle: &str| { + let file = write_temp_pcap(bytes); + let err = PcapSource::from_file( + path_of(&file), + wire::LIDAR_POINT_PORT, + wire::LIDAR_IMU_PORT, + None, + Arc::new(AtomicBool::new(false)), + ) + .err() + .unwrap(); + assert!(err.to_string().contains(needle), "{err}"); + }; + + assert_err(b"not a pcap at all", "not a pcap"); + assert_err(&[0x0A, 0x0D, 0x0D, 0x0A], "editcap"); + let mut sll = synth_pcap(&[(1.0, wire::LIDAR_POINT_PORT, point_packet(1_000, 100))]); + sll[20..24].copy_from_slice(&113u32.to_le_bytes()); // LINUX_SLL + assert_err(&sll, "link-type 113"); + let no_data = synth_pcap(&[(1.0, wire::LIDAR_PUSH_MSG_PORT, vec![9, 9, 9])]); + assert_err(&no_data, "no Livox data packets"); + } + + #[test] + fn pace_respects_rate() { + let pcap = synth_pcap(&[ + (1.00, wire::LIDAR_POINT_PORT, point_packet(1_000, 100)), + (1.05, wire::LIDAR_POINT_PORT, point_packet(2_000, 200)), + ]); + let file = write_temp_pcap(&pcap); + let mut buf = [0u8; 4096]; + + // 50 ms of capture at half speed takes at least 100 ms of wall time. + let mut paced = PcapSource::from_file( + path_of(&file), + wire::LIDAR_POINT_PORT, + wire::LIDAR_IMU_PORT, + Some(0.5), + Arc::new(AtomicBool::new(false)), + ) + .unwrap(); + let start = Instant::now(); + while paced.recv(&mut buf).is_some() {} + assert!(start.elapsed() >= Duration::from_millis(90)); + } +} diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs new file mode 100644 index 0000000000..087b5650e9 --- /dev/null +++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs @@ -0,0 +1,385 @@ +// Copyright 2026 Dimensional Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +//! Pure packet-to-frame pipeline, shared by the live and replay paths. +//! +//! Sources produce raw data-plane packets. The assembler cuts them into frames +//! on packet time, never wall clock, so replay is deterministic at any speed. + +use crate::wire::{DataPacket, DataType}; + +/// Accel conversion from g on the wire to m/s^2 on the output. +pub const GRAVITY_MS2: f64 = 9.80665; + +/// Produces raw data-plane packets (point and IMU ports only). +pub trait PacketSource { + /// Receive the next packet into `buf`, returning its length. + /// `None` means end of stream or shutdown. + fn recv(&mut self, buf: &mut [u8]) -> Option; + + /// Why the stream ended, if it died rather than completing or stopping. + fn failure(&self) -> Option { + None + } +} + +/// One assembled lidar point in the sensor frame. +#[derive(Debug, Clone, Copy, PartialEq)] +pub struct RawPoint { + pub xyz_m: [f32; 3], + /// Reflectivity scaled to [0, 1]. + pub intensity: f32, + /// Nanoseconds since the frame start, saturated at u32::MAX. + pub offset_ns: u32, + pub tag: u8, +} + +/// One assembled frame. `start_ns` is the timestamp of the frame's first +/// packet and the timebase every `offset_ns` is relative to. +#[derive(Debug, Clone, PartialEq)] +pub struct Frame { + pub start_ns: u64, + pub points: Vec, +} + +/// One IMU sample with units converted for publishing. +#[derive(Debug, Clone, Copy, PartialEq)] +pub struct ImuRecord { + pub ts_ns: u64, + pub gyro_rads: [f64; 3], + pub acc_ms2: [f64; 3], +} + +/// Convert an IMU packet's samples to publishable records. +pub fn imu_records<'a>(packet: &'a DataPacket<'a>) -> impl Iterator + 'a { + let ts_ns = packet.timestamp_ns; + packet.imu_samples().map(move |sample| ImuRecord { + ts_ns, + gyro_rads: sample.gyro.map(f64::from), + acc_ms2: sample.acc_g.map(|a| f64::from(a) * GRAVITY_MS2), + }) +} + +/// Limit number of points, in case time stamps get stalled for example +/// This is like 10 seconds of points from the mid360 +const MAX_FRAME_POINTS: usize = 2_000_000; + +/// Accumulates point packets into frames cut on packet time. +pub struct FrameAssembler { + frame_interval_ns: u64, + frame_start_ns: Option, + points: Vec, +} + +impl FrameAssembler { + pub fn new(frequency_hz: f64) -> Self { + assert!(frequency_hz > 0.0, "frame frequency must be positive"); + FrameAssembler { + frame_interval_ns: (1e9 / frequency_hz) as u64, + frame_start_ns: None, + points: Vec::new(), + } + } + + /// Feed one point packet. Returns the completed frame when this packet's + /// timestamp crosses the frame boundary. The packet's own points open the + /// next frame. + pub fn push(&mut self, packet: &DataPacket<'_>) -> Option { + if !matches!( + packet.data_type, + DataType::CartesianHigh | DataType::CartesianLow + ) { + return None; + } + + let ts_ns = packet.timestamp_ns; + let completed = match self.frame_start_ns { + Some(start) if ts_ns.saturating_sub(start) >= self.frame_interval_ns => { + let frame = self.take_frame(start); + self.frame_start_ns = Some(ts_ns); + frame + } + // A full interval backwards is a clock discontinuity, not + // reordering. Re-anchor or no frame would ever cut again. + Some(start) if start.saturating_sub(ts_ns) >= self.frame_interval_ns => { + tracing::warn!( + anchor_ns = start, + packet_ns = ts_ns, + "device clock jumped backwards, re-anchoring frame" + ); + let frame = self.take_frame(start); + self.frame_start_ns = Some(ts_ns); + frame + } + Some(_) => None, + None => { + self.frame_start_ns = Some(ts_ns); + None + } + }; + + let frame_start = self.frame_start_ns.expect("set above"); + // Offset 0 = "at the frame stamp": clamp rather than wrap when a UDP + // packet arrives out of order with a stamp older than the frame start. + self.append_points(packet, ts_ns.saturating_sub(frame_start)); + + if completed.is_none() && self.points.len() >= MAX_FRAME_POINTS { + tracing::warn!( + points = self.points.len(), + "frame point cap hit without a time boundary, forcing cut" + ); + self.frame_start_ns = Some(ts_ns); + return self.take_frame(frame_start); + } + completed + } + + /// Convert one packet's points to meters and frame-relative offsets. + fn append_points(&mut self, packet: &DataPacket<'_>, packet_offset_ns: u64) { + let point_interval_ns = packet.point_interval_ns(); + let offset = |i: usize| { + let ns = packet_offset_ns + i as u64 * point_interval_ns; + ns.min(u64::from(u32::MAX)) as u32 + }; + match packet.data_type { + DataType::CartesianHigh => { + for (i, p) in packet.points_high().enumerate() { + self.points.push(RawPoint { + xyz_m: [ + p.x_mm as f32 / 1000.0, + p.y_mm as f32 / 1000.0, + p.z_mm as f32 / 1000.0, + ], + intensity: f32::from(p.reflectivity) / 255.0, + offset_ns: offset(i), + tag: p.tag, + }); + } + } + DataType::CartesianLow => { + for (i, p) in packet.points_low().enumerate() { + self.points.push(RawPoint { + xyz_m: [ + f32::from(p.x_cm) / 100.0, + f32::from(p.y_cm) / 100.0, + f32::from(p.z_cm) / 100.0, + ], + intensity: f32::from(p.reflectivity) / 255.0, + offset_ns: offset(i), + tag: p.tag, + }); + } + } + DataType::Imu => unreachable!("filtered above"), + } + } + + /// Emit whatever is accumulated, e.g. at end of stream. + pub fn flush(&mut self) -> Option { + let start = self.frame_start_ns.take()?; + self.take_frame(start) + } + + fn take_frame(&mut self, start_ns: u64) -> Option { + if self.points.is_empty() { + return None; + } + Some(Frame { + start_ns, + points: std::mem::take(&mut self.points), + }) + } +} + +#[cfg(test)] +mod tests { + use super::*; + use crate::wire::{build_imu_samples, build_points_high, ImuSample, PointHigh}; + + fn point_packet(ts_ns: u64, time_interval: u16, points: &[PointHigh]) -> Vec { + let payload = build_points_high(points); + DataPacket { + time_interval, + dot_num: points.len() as u16, + data_type: DataType::CartesianHigh, + timestamp_ns: ts_ns, + payload: &payload, + } + .build() + } + + fn simple_point(x_mm: i32) -> PointHigh { + PointHigh { + x_mm, + y_mm: 0, + z_mm: 0, + reflectivity: 255, + tag: 0, + } + } + + #[test] + fn frames_cut_on_packet_time() { + let mut assembler = FrameAssembler::new(10.0); // 100 ms frames + let base = 1_000_000_000u64; + + // Two packets inside the frame, third crosses the boundary. + let packets = [ + point_packet(base, 1000, &[simple_point(1000), simple_point(2000)]), + point_packet(base + 50_000_000, 1000, &[simple_point(3000)]), + point_packet(base + 100_000_000, 1000, &[simple_point(4000)]), + ]; + let mut frames = Vec::new(); + for bytes in &packets { + let packet = DataPacket::parse(bytes).unwrap(); + if let Some(frame) = assembler.push(&packet) { + frames.push(frame); + } + } + + assert_eq!(frames.len(), 1); + let frame = &frames[0]; + assert_eq!(frame.start_ns, base); + assert_eq!(frame.points.len(), 3); + assert_eq!(frame.points[0].xyz_m, [1.0, 0.0, 0.0]); + assert_eq!(frame.points[0].offset_ns, 0); + // 100 us first-to-last span over 2 points -> 100 us point spacing. + assert_eq!(frame.points[1].offset_ns, 100_000); + // Second packet: 50 ms after the frame start. + assert_eq!(frame.points[2].offset_ns, 50_000_000); + + // The boundary packet opened the next frame. + let tail = assembler.flush().unwrap(); + assert_eq!(tail.start_ns, base + 100_000_000); + assert_eq!(tail.points.len(), 1); + assert_eq!(tail.points[0].offset_ns, 0); + assert!(assembler.flush().is_none()); + } + + #[test] + fn out_of_order_packet_clamps_to_frame_start() { + let mut assembler = FrameAssembler::new(10.0); + let base = 5_000_000_000u64; + let first = point_packet(base, 0, &[simple_point(1000)]); + let stale = point_packet(base - 10_000, 0, &[simple_point(2000)]); + assembler.push(&DataPacket::parse(&first).unwrap()); + assert!(assembler + .push(&DataPacket::parse(&stale).unwrap()) + .is_none()); + let frame = assembler.flush().unwrap(); + assert_eq!(frame.points.len(), 2); + assert_eq!(frame.points[1].offset_ns, 0); + } + + #[test] + fn backwards_clock_jump_reanchors_instead_of_stalling() { + let mut assembler = FrameAssembler::new(10.0); // 100 ms frames + let start = 1_700_000_000_000_000_000u64; + for i in 0..3 { + let bytes = point_packet(start + i * 50_000_000, 0, &[simple_point(1)]); + assembler.push(&DataPacket::parse(&bytes).unwrap()); + } + // A capture seam jumps the stamp far backwards. + let mut frames = Vec::new(); + for i in 0..21 { + let bytes = point_packet(i * 50_000_000, 0, &[simple_point(2)]); + if let Some(frame) = assembler.push(&DataPacket::parse(&bytes).unwrap()) { + frames.push(frame); + } + } + + // The jump packet flushes the stale frame and re-anchors. + assert_eq!(frames.len(), 11); + assert_eq!(frames[0].start_ns, start + 100_000_000); + assert_eq!(frames[0].points.len(), 1); + assert_eq!(frames[1].start_ns, 0); + assert_eq!(frames[1].points[0].offset_ns, 0); + assert!(frames[1..].iter().all(|f| f.points.len() == 2)); + assert_eq!(assembler.flush().unwrap().points.len(), 1); + } + + #[test] + fn frozen_timestamp_cuts_at_point_cap() { + let mut assembler = FrameAssembler::new(10.0); + let points: Vec = (0..1000).map(|_| simple_point(1)).collect(); + let bytes = point_packet(7, 0, &points); + let packet = DataPacket::parse(&bytes).unwrap(); + + let mut cuts = 0; + for _ in 0..2 * MAX_FRAME_POINTS / points.len() { + if let Some(frame) = assembler.push(&packet) { + assert_eq!(frame.start_ns, 7); + assert_eq!(frame.points.len(), MAX_FRAME_POINTS); + cuts += 1; + } + } + assert_eq!(cuts, 2); + } + + #[test] + fn offsets_saturate_instead_of_wrapping() { + let mut assembler = FrameAssembler::new(0.1); // 10 s frames + let base = 0u64; + let first = point_packet(base, 0, &[simple_point(1)]); + // ~5 s into the frame, beyond the ~4.29 s u32 range. + let late = point_packet(base + 5_000_000_000, 0, &[simple_point(2)]); + assembler.push(&DataPacket::parse(&first).unwrap()); + assembler.push(&DataPacket::parse(&late).unwrap()); + let frame = assembler.flush().unwrap(); + assert_eq!(frame.points[1].offset_ns, u32::MAX); + } + + #[test] + fn imu_units_convert_to_ms2() { + let payload = build_imu_samples(&[ImuSample { + gyro: [0.1, -0.2, 0.3], + acc_g: [0.0, 0.0, 1.0], + }]); + let bytes = DataPacket { + time_interval: 0, + dot_num: 1, + data_type: DataType::Imu, + timestamp_ns: 42, + payload: &payload, + } + .build(); + let packet = DataPacket::parse(&bytes).unwrap(); + let records: Vec = imu_records(&packet).collect(); + assert_eq!(records.len(), 1); + assert_eq!(records[0].ts_ns, 42); + assert!((records[0].acc_ms2[2] - GRAVITY_MS2).abs() < 1e-9); + assert!((records[0].gyro_rads[0] - 0.1).abs() < 1e-7); + } + + #[test] + fn imu_packets_do_not_disturb_frames() { + let mut assembler = FrameAssembler::new(10.0); + let imu_payload = build_imu_samples(&[ImuSample { + gyro: [0.0; 3], + acc_g: [0.0, 0.0, 1.0], + }]); + let imu_bytes = DataPacket { + time_interval: 0, + dot_num: 1, + data_type: DataType::Imu, + timestamp_ns: 7, + payload: &imu_payload, + } + .build(); + assert!(assembler + .push(&DataPacket::parse(&imu_bytes).unwrap()) + .is_none()); + assert!(assembler.flush().is_none()); + } +} diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/src/wire.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/wire.rs new file mode 100644 index 0000000000..56b7badd83 --- /dev/null +++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/wire.rs @@ -0,0 +1,743 @@ +// Copyright 2026 Dimensional Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +//! Livox SDK2 wire protocol for the Mid-360. +//! +//! Layouts follow `livox_lidar_def.h` (SDK2 1.2.5). All structs on the wire are +//! packed little-endian. Both directions are implemented so the host driver and +//! the virtual device share one definition of every frame. + +use std::fmt; +use std::net::Ipv4Addr; + +// ---- UDP ports (lidar side sends from, host side listens on) ---- +pub const DISCOVERY_PORT: u16 = 56000; +pub const LIDAR_CMD_PORT: u16 = 56100; +pub const LIDAR_PUSH_MSG_PORT: u16 = 56200; +pub const LIDAR_POINT_PORT: u16 = 56300; +pub const LIDAR_IMU_PORT: u16 = 56400; +pub const HOST_PUSH_MSG_PORT: u16 = 56201; +pub const HOST_POINT_PORT: u16 = 56301; +pub const HOST_IMU_PORT: u16 = 56401; + +// ---- control plane (LivoxLidarCmdPacket) ---- +pub(crate) const SOF: u8 = 0xAA; +/// Bytes before `data[]`: sof, version, length, seq, cmd_id, cmd_type, +/// sender_type, rsvd[6], crc16, crc32. +pub(crate) const CONTROL_HEADER_LEN: usize = 24; +/// The crc16 covers header bytes [0..CONTROL_CRC16_SPAN). +pub(crate) const CONTROL_CRC16_SPAN: usize = 18; + +pub const CMD_TYPE_REQUEST: u8 = 0; +pub const CMD_TYPE_ACK: u8 = 1; +pub const SENDER_HOST: u8 = 0; +pub const SENDER_LIDAR: u8 = 1; + +/// Command IDs (SDK2 `general_command_handler`). +pub mod cmd_id { + /// Device discovery / search. + pub const SEARCH: u16 = 0x0000; + /// Parameter set (work mode, host net info, IMU enable, ...). + pub const PARAM_SET: u16 = 0x0100; + /// Parameter query (`GetInternalInfo`, `QueryFwType`). + pub const GET_INTERNAL_INFO: u16 = 0x0101; +} + +/// Parameter keys (SDK2 `ParamKeyName`). +pub mod param_key { + pub const PCL_DATA_TYPE: u16 = 0x0000; + pub const STATE_INFO_HOST_IP_CFG: u16 = 0x0005; + pub const POINT_DATA_HOST_IP_CFG: u16 = 0x0006; + pub const IMU_HOST_IP_CFG: u16 = 0x0007; + pub const WORK_MODE: u16 = 0x001A; + pub const IMU_DATA_EN: u16 = 0x001C; + pub const FW_TYPE: u16 = 0x8010; +} + +/// `LivoxLidarWorkMode::kLivoxLidarNormal`. +pub const WORK_MODE_NORMAL: u8 = 0x01; +/// `pcl_data_type` value selecting 32-bit cartesian points. +pub const PCL_DATA_TYPE_CARTESIAN_HIGH: u8 = 0x01; +/// `LivoxLidarDeviceType::kLivoxLidarTypeMid360`. +pub const DEVICE_TYPE_MID360: u8 = 9; +/// Firmware type reported by app firmware (vs loader/upgrade mode). +pub const FW_TYPE_APP: u8 = 1; + +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub enum WireError { + TooShort, + BadSof, + BadLength, + BadCrc16, + BadCrc32, + BadDataType(u8), + BadPayload, +} + +impl fmt::Display for WireError { + fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result { + match self { + WireError::TooShort => write!(f, "frame too short"), + WireError::BadSof => write!(f, "bad start-of-frame byte"), + WireError::BadLength => write!(f, "length field disagrees with frame size"), + WireError::BadCrc16 => write!(f, "header crc16 mismatch"), + WireError::BadCrc32 => write!(f, "data crc32 mismatch"), + WireError::BadDataType(t) => write!(f, "unknown data_type {t}"), + WireError::BadPayload => write!(f, "payload layout invalid"), + } + } +} + +impl std::error::Error for WireError {} + +// ---- CRCs (CRC-16/IBM-3740 aka CCITT-FALSE over the header, CRC-32/ISO-HDLC over data) ---- +const CRC16: crc::Crc = crc::Crc::::new(&crc::CRC_16_IBM_3740); +const CRC32: crc::Crc = crc::Crc::::new(&crc::CRC_32_ISO_HDLC); + +pub(crate) fn crc16(data: &[u8]) -> u16 { + CRC16.checksum(data) +} + +pub(crate) fn crc32(data: &[u8]) -> u32 { + CRC32.checksum(data) +} + +/// One control-plane frame, borrowed from the receive buffer. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct ControlFrame<'a> { + pub seq: u32, + pub cmd_id: u16, + pub cmd_type: u8, + pub sender_type: u8, + pub data: &'a [u8], +} + +impl<'a> ControlFrame<'a> { + /// Parse and verify a control frame (SOF, length, both CRCs). + pub fn parse(frame: &'a [u8]) -> Result { + if frame.len() < CONTROL_HEADER_LEN { + return Err(WireError::TooShort); + } + if frame[0] != SOF { + return Err(WireError::BadSof); + } + let length = u16::from_le_bytes([frame[2], frame[3]]) as usize; + if length != frame.len() { + return Err(WireError::BadLength); + } + let crc16_stated = u16::from_le_bytes([frame[18], frame[19]]); + if crc16(&frame[..CONTROL_CRC16_SPAN]) != crc16_stated { + return Err(WireError::BadCrc16); + } + let data = &frame[CONTROL_HEADER_LEN..]; + let crc32_stated = u32::from_le_bytes([frame[20], frame[21], frame[22], frame[23]]); + if crc32(data) != crc32_stated { + return Err(WireError::BadCrc32); + } + Ok(ControlFrame { + seq: u32::from_le_bytes([frame[4], frame[5], frame[6], frame[7]]), + cmd_id: u16::from_le_bytes([frame[8], frame[9]]), + cmd_type: frame[10], + sender_type: frame[11], + data, + }) + } + + pub fn build(&self) -> Vec { + build_control( + self.seq, + self.cmd_id, + self.cmd_type, + self.sender_type, + self.data, + ) + } +} + +/// Serialize a control frame with both CRCs filled in. +pub fn build_control(seq: u32, cmd_id: u16, cmd_type: u8, sender_type: u8, data: &[u8]) -> Vec { + let length = CONTROL_HEADER_LEN + data.len(); + let mut frame = vec![0u8; length]; + frame[0] = SOF; + frame[1] = 0; // protocol version + frame[2..4].copy_from_slice(&(length as u16).to_le_bytes()); + frame[4..8].copy_from_slice(&seq.to_le_bytes()); + frame[8..10].copy_from_slice(&cmd_id.to_le_bytes()); + frame[10] = cmd_type; + frame[11] = sender_type; + let header_crc = crc16(&frame[..CONTROL_CRC16_SPAN]); + frame[18..20].copy_from_slice(&header_crc.to_le_bytes()); + frame[20..24].copy_from_slice(&crc32(data).to_le_bytes()); + frame[CONTROL_HEADER_LEN..].copy_from_slice(data); + frame +} + +// ---- control payloads ---- + +/// Search (0x0000) ACK body: `DetectionData`. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct DetectionAck { + pub ret_code: u8, + pub dev_type: u8, + /// Treated as a C string by the SDK. Must be NUL-terminated within 16 bytes. + pub sn: [u8; 16], + pub lidar_ip: Ipv4Addr, + pub cmd_port: u16, +} + +impl DetectionAck { + pub(crate) const LEN: usize = 24; + + pub fn build(&self) -> Vec { + let mut payload = Vec::with_capacity(Self::LEN); + payload.push(self.ret_code); + payload.push(self.dev_type); + payload.extend_from_slice(&self.sn); + payload.extend_from_slice(&self.lidar_ip.octets()); + payload.extend_from_slice(&self.cmd_port.to_le_bytes()); + payload + } + + pub fn parse(data: &[u8]) -> Result { + if data.len() < Self::LEN { + return Err(WireError::BadPayload); + } + let mut sn = [0u8; 16]; + sn.copy_from_slice(&data[2..18]); + Ok(DetectionAck { + ret_code: data[0], + dev_type: data[1], + sn, + lidar_ip: Ipv4Addr::new(data[18], data[19], data[20], data[21]), + cmd_port: u16::from_le_bytes([data[22], data[23]]), + }) + } +} + +/// Generic param-set (0x0100) ACK body: `LivoxLidarAsyncControlResponse`. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct AsyncControlAck { + pub ret_code: u8, + pub error_key: u16, +} + +impl AsyncControlAck { + pub(crate) const LEN: usize = 3; + + pub fn build(&self) -> Vec { + let mut payload = vec![self.ret_code]; + payload.extend_from_slice(&self.error_key.to_le_bytes()); + payload + } + + pub fn parse(data: &[u8]) -> Result { + if data.len() < Self::LEN { + return Err(WireError::BadPayload); + } + Ok(AsyncControlAck { + ret_code: data[0], + error_key: u16::from_le_bytes([data[1], data[2]]), + }) + } +} + +/// One `LivoxLidarKeyValueParam`: key, value length, value bytes. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct KeyValue<'a> { + pub key: u16, + pub value: &'a [u8], +} + +/// Serialize key-value params back to back (key u16, len u16, value). +pub(crate) fn build_kv_list(params: &[KeyValue<'_>]) -> Vec { + let mut out = Vec::new(); + for param in params { + out.extend_from_slice(¶m.key.to_le_bytes()); + out.extend_from_slice(&(param.value.len() as u16).to_le_bytes()); + out.extend_from_slice(param.value); + } + out +} + +/// Parse a back-to-back key-value list, e.g. an internal-info response body. +pub(crate) fn parse_kv_list(mut data: &[u8]) -> Result>, WireError> { + let mut out = Vec::new(); + while !data.is_empty() { + if data.len() < 4 { + return Err(WireError::BadPayload); + } + let key = u16::from_le_bytes([data[0], data[1]]); + let len = u16::from_le_bytes([data[2], data[3]]) as usize; + if data.len() < 4 + len { + return Err(WireError::BadPayload); + } + out.push(KeyValue { + key, + value: &data[4..4 + len], + }); + data = &data[4 + len..]; + } + Ok(out) +} + +/// Param-set (0x0100) request body: key_num u16, rsvd u16, key-value list +/// (SDK2 `BuildRequest` / `CommandImpl`). +pub fn build_param_set_body(params: &[KeyValue<'_>]) -> Vec { + let mut body = Vec::with_capacity(4); + body.extend_from_slice(&(params.len() as u16).to_le_bytes()); + body.extend_from_slice(&0u16.to_le_bytes()); + body.extend_from_slice(&build_kv_list(params)); + body +} + +/// Parse a param-set (0x0100) request body. +pub fn parse_param_set_body(data: &[u8]) -> Result>, WireError> { + if data.len() < 4 { + return Err(WireError::BadPayload); + } + let key_num = u16::from_le_bytes([data[0], data[1]]) as usize; + let params = parse_kv_list(&data[4..])?; + if params.len() != key_num { + return Err(WireError::BadPayload); + } + Ok(params) +} + +/// Value for the host IP config keys (0x0005-0x0007): `HostIpInfoValue`, +/// ip[4] then host port and lidar port. +pub fn host_ip_config_value(ip: Ipv4Addr, host_port: u16, lidar_port: u16) -> [u8; 8] { + let mut value = [0u8; 8]; + value[..4].copy_from_slice(&ip.octets()); + value[4..6].copy_from_slice(&host_port.to_le_bytes()); + value[6..8].copy_from_slice(&lidar_port.to_le_bytes()); + value +} + +/// GetInternalInfo (0x0101) ACK body: `LivoxLidarDiagInternalInfoResponse` +/// (ret_code u8, param_num u16, key-value list). +#[derive(Debug, Clone, PartialEq, Eq)] +pub struct InternalInfoAck<'a> { + pub ret_code: u8, + pub params: Vec>, +} + +impl<'a> InternalInfoAck<'a> { + pub fn build(&self) -> Vec { + let mut payload = vec![self.ret_code]; + payload.extend_from_slice(&(self.params.len() as u16).to_le_bytes()); + payload.extend_from_slice(&build_kv_list(&self.params)); + payload + } + + pub fn parse(data: &'a [u8]) -> Result { + if data.len() < 3 { + return Err(WireError::BadPayload); + } + let param_num = u16::from_le_bytes([data[1], data[2]]) as usize; + let params = parse_kv_list(&data[3..])?; + if params.len() != param_num { + return Err(WireError::BadPayload); + } + Ok(InternalInfoAck { + ret_code: data[0], + params, + }) + } +} + +// ---- data plane (LivoxLidarEthernetPacket) ---- + +/// Header bytes before `data[]`: version, length, time_interval, dot_num, +/// udp_cnt, frame_cnt, data_type, time_type, rsvd[12], crc32, timestamp[8]. +pub(crate) const DATA_HEADER_LEN: usize = 36; +/// Byte offset of the u64 nanosecond timestamp within the packet. +pub(crate) const DATA_TIMESTAMP_OFFSET: usize = 28; + +#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)] +pub enum DataType { + Imu, + CartesianHigh, + CartesianLow, +} + +impl TryFrom for DataType { + type Error = WireError; + + fn try_from(value: u8) -> Result { + match value { + 0x00 => Ok(DataType::Imu), + 0x01 => Ok(DataType::CartesianHigh), + 0x02 => Ok(DataType::CartesianLow), + other => Err(WireError::BadDataType(other)), + } + } +} + +/// High-precision cartesian point, 14 bytes on the wire. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct PointHigh { + pub x_mm: i32, + pub y_mm: i32, + pub z_mm: i32, + pub reflectivity: u8, + pub tag: u8, +} + +pub(crate) const POINT_HIGH_LEN: usize = 14; + +/// Low-precision cartesian point, 8 bytes on the wire. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct PointLow { + pub x_cm: i16, + pub y_cm: i16, + pub z_cm: i16, + pub reflectivity: u8, + pub tag: u8, +} + +pub(crate) const POINT_LOW_LEN: usize = 8; + +/// One IMU sample: gyro in rad/s, accel in g. 24 bytes on the wire. +#[derive(Debug, Clone, Copy, PartialEq)] +pub struct ImuSample { + pub gyro: [f32; 3], + pub acc_g: [f32; 3], +} + +pub(crate) const IMU_SAMPLE_LEN: usize = 24; + +/// One data-plane packet, borrowed from the receive buffer. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct DataPacket<'a> { + /// Time between points within the packet, in 0.1 microsecond units. + pub time_interval: u16, + pub dot_num: u16, + pub data_type: DataType, + pub timestamp_ns: u64, + pub payload: &'a [u8], +} + +impl<'a> DataPacket<'a> { + /// Parse a data packet. The crc32 field (over timestamp + data) is not + /// verified: Mid-360 firmware leaves it zero on every point packet and + /// only fills it on IMU packets, and the SDK skips it too. + pub fn parse(packet: &'a [u8]) -> Result { + if packet.len() < DATA_HEADER_LEN { + return Err(WireError::TooShort); + } + let length = u16::from_le_bytes([packet[1], packet[2]]) as usize; + if length != packet.len() { + return Err(WireError::BadLength); + } + let dot_num = u16::from_le_bytes([packet[5], packet[6]]); + let data_type = DataType::try_from(packet[10])?; + let payload = &packet[DATA_HEADER_LEN..]; + let expected = dot_num as usize + * match data_type { + DataType::Imu => IMU_SAMPLE_LEN, + DataType::CartesianHigh => POINT_HIGH_LEN, + DataType::CartesianLow => POINT_LOW_LEN, + }; + if payload.len() < expected { + return Err(WireError::BadLength); + } + Ok(DataPacket { + time_interval: u16::from_le_bytes([packet[3], packet[4]]), + dot_num, + data_type, + timestamp_ns: read_timestamp_ns(packet).unwrap_or(0), + payload, + }) + } + + /// Nanoseconds between consecutive points in this packet. + pub fn point_interval_ns(&self) -> u64 { + if self.dot_num <= 1 { + return 0; + } + u64::from(self.time_interval) * 100 / u64::from(self.dot_num - 1) + } + + pub fn points_high(&self) -> impl Iterator + 'a { + let count = if self.data_type == DataType::CartesianHigh { + self.dot_num as usize + } else { + 0 + }; + let payload = self.payload; + (0..count).map(move |i| { + let p = &payload[i * POINT_HIGH_LEN..]; + PointHigh { + x_mm: i32::from_le_bytes([p[0], p[1], p[2], p[3]]), + y_mm: i32::from_le_bytes([p[4], p[5], p[6], p[7]]), + z_mm: i32::from_le_bytes([p[8], p[9], p[10], p[11]]), + reflectivity: p[12], + tag: p[13], + } + }) + } + + pub fn points_low(&self) -> impl Iterator + 'a { + let count = if self.data_type == DataType::CartesianLow { + self.dot_num as usize + } else { + 0 + }; + let payload = self.payload; + (0..count).map(move |i| { + let p = &payload[i * POINT_LOW_LEN..]; + PointLow { + x_cm: i16::from_le_bytes([p[0], p[1]]), + y_cm: i16::from_le_bytes([p[2], p[3]]), + z_cm: i16::from_le_bytes([p[4], p[5]]), + reflectivity: p[6], + tag: p[7], + } + }) + } + + pub fn imu_samples(&self) -> impl Iterator + 'a { + let count = if self.data_type == DataType::Imu { + self.dot_num as usize + } else { + 0 + }; + let payload = self.payload; + (0..count).map(move |i| { + let p = &payload[i * IMU_SAMPLE_LEN..]; + let f = |o: usize| f32::from_le_bytes([p[o], p[o + 1], p[o + 2], p[o + 3]]); + ImuSample { + gyro: [f(0), f(4), f(8)], + acc_g: [f(12), f(16), f(20)], + } + }) + } + + pub fn build(&self) -> Vec { + let length = DATA_HEADER_LEN + self.payload.len(); + let mut packet = vec![0u8; length]; + packet[0] = 0; // packet version + packet[1..3].copy_from_slice(&(length as u16).to_le_bytes()); + packet[3..5].copy_from_slice(&self.time_interval.to_le_bytes()); + packet[5..7].copy_from_slice(&self.dot_num.to_le_bytes()); + // udp_cnt(7..9), frame_cnt(9) and time_type(11) stay zero. + packet[10] = match self.data_type { + DataType::Imu => 0x00, + DataType::CartesianHigh => 0x01, + DataType::CartesianLow => 0x02, + }; + packet[DATA_TIMESTAMP_OFFSET..DATA_TIMESTAMP_OFFSET + 8] + .copy_from_slice(&self.timestamp_ns.to_le_bytes()); + packet[DATA_HEADER_LEN..].copy_from_slice(self.payload); + let checked = crc32(&packet[DATA_TIMESTAMP_OFFSET..]); + packet[24..28].copy_from_slice(&checked.to_le_bytes()); + packet + } +} + +/// Read the u64 timestamp from a raw data-plane packet. +pub fn read_timestamp_ns(packet: &[u8]) -> Option { + let bytes = packet.get(DATA_TIMESTAMP_OFFSET..DATA_TIMESTAMP_OFFSET + 8)?; + Some(u64::from_le_bytes(bytes.try_into().unwrap())) +} + +/// Shift the u64 timestamp of a raw data-plane packet in place. +pub fn shift_timestamp_ns(packet: &mut [u8], shift: u64) { + if let Some(orig) = read_timestamp_ns(packet) { + packet[DATA_TIMESTAMP_OFFSET..DATA_TIMESTAMP_OFFSET + 8] + .copy_from_slice(&orig.wrapping_add(shift).to_le_bytes()); + } +} + +/// Serialize high-precision points into a data payload for `DataPacket::build`. +pub fn build_points_high(points: &[PointHigh]) -> Vec { + let mut out = Vec::with_capacity(points.len() * POINT_HIGH_LEN); + for p in points { + out.extend_from_slice(&p.x_mm.to_le_bytes()); + out.extend_from_slice(&p.y_mm.to_le_bytes()); + out.extend_from_slice(&p.z_mm.to_le_bytes()); + out.push(p.reflectivity); + out.push(p.tag); + } + out +} + +/// Serialize IMU samples into a data payload for `DataPacket::build`. +pub fn build_imu_samples(samples: &[ImuSample]) -> Vec { + let mut out = Vec::with_capacity(samples.len() * IMU_SAMPLE_LEN); + for s in samples { + for v in s.gyro.iter().chain(s.acc_g.iter()) { + out.extend_from_slice(&v.to_le_bytes()); + } + } + out +} + +#[cfg(test)] +mod tests { + use super::*; + + #[test] + fn data_packets_round_trip() { + let points = [ + PointHigh { + x_mm: 1500, + y_mm: -2500, + z_mm: 300, + reflectivity: 200, + tag: 0x10, + }, + PointHigh { + x_mm: -1, + y_mm: 2, + z_mm: 3, + reflectivity: 0, + tag: 0, + }, + ]; + let payload = build_points_high(&points); + let packet = DataPacket { + time_interval: 1000, + dot_num: 2, + data_type: DataType::CartesianHigh, + timestamp_ns: 1_700_000_000_123_456_789, + payload: &payload, + }; + let mut bytes = packet.build(); + // The crc32 spans timestamp + data, as hardware IMU packets carry it. + let stated = u32::from_le_bytes(bytes[24..28].try_into().unwrap()); + assert_eq!(stated, crc32(&bytes[DATA_TIMESTAMP_OFFSET..])); + let parsed = DataPacket::parse(&bytes).unwrap(); + assert_eq!(parsed.timestamp_ns, packet.timestamp_ns); + assert_eq!(parsed.points_high().collect::>(), points); + assert_eq!(parsed.imu_samples().count(), 0); + // 100 us from first point to last, 2 points -> one 100 us gap. + assert_eq!(parsed.point_interval_ns(), 100_000); + + // The declared length must match the datagram exactly. + let mut trailing = bytes.clone(); + trailing.push(0); + assert_eq!(DataPacket::parse(&trailing), Err(WireError::BadLength)); + + // The virtual device rewrites timestamps in place during replay. + shift_timestamp_ns(&mut bytes, 50); + assert_eq!(read_timestamp_ns(&bytes), Some(packet.timestamp_ns + 50)); + assert!(DataPacket::parse(&bytes).is_ok()); + + let samples = [ImuSample { + gyro: [0.01, -0.02, 0.03], + acc_g: [0.0, 0.0, 1.0], + }]; + let imu_payload = build_imu_samples(&samples); + let imu_bytes = DataPacket { + time_interval: 0, + dot_num: 1, + data_type: DataType::Imu, + timestamp_ns: 99, + payload: &imu_payload, + } + .build(); + let imu_parsed = DataPacket::parse(&imu_bytes).unwrap(); + assert_eq!(imu_parsed.imu_samples().collect::>(), samples); + + // dot_num claiming more points than the payload holds is rejected. + let short = DataPacket { + time_interval: 0, + dot_num: 2, + data_type: DataType::CartesianHigh, + timestamp_ns: 0, + payload: &build_points_high(&points[..1]), + }; + assert_eq!(DataPacket::parse(&short.build()), Err(WireError::BadLength)); + } + + #[test] + fn control_frames_round_trip() { + // Catalog check values pin the CRC-16/IBM-3740 and CRC-32/ISO-HDLC params. + assert_eq!(crc16(b"123456789"), 0x29B1); + assert_eq!(crc32(b"123456789"), 0xCBF43926); + + let data = [1u8, 2, 3, 4, 5]; + let frame = build_control(42, cmd_id::PARAM_SET, CMD_TYPE_REQUEST, SENDER_HOST, &data); + let parsed = ControlFrame::parse(&frame).unwrap(); + assert_eq!(parsed.seq, 42); + assert_eq!(parsed.cmd_id, cmd_id::PARAM_SET); + assert_eq!(parsed.cmd_type, CMD_TYPE_REQUEST); + assert_eq!(parsed.sender_type, SENDER_HOST); + assert_eq!(parsed.data, &data); + assert_eq!(parsed.build(), frame); + + // Corruption in any span is caught, never mis-parsed. + assert_eq!(ControlFrame::parse(&frame[..10]), Err(WireError::TooShort)); + let mut bad_sof = frame.clone(); + bad_sof[0] = 0xAB; + assert_eq!(ControlFrame::parse(&bad_sof), Err(WireError::BadSof)); + let mut bad_header = frame.clone(); + bad_header[4] ^= 0xFF; // seq is inside the crc16 span + assert_eq!(ControlFrame::parse(&bad_header), Err(WireError::BadCrc16)); + let mut bad_data = frame.clone(); + *bad_data.last_mut().unwrap() ^= 0xFF; + assert_eq!(ControlFrame::parse(&bad_data), Err(WireError::BadCrc32)); + let mut bad_length = frame; + bad_length.push(0); + assert_eq!(ControlFrame::parse(&bad_length), Err(WireError::BadLength)); + + let value = host_ip_config_value(Ipv4Addr::new(192, 168, 1, 5), HOST_POINT_PORT, 56300); + let params = [ + KeyValue { + key: param_key::POINT_DATA_HOST_IP_CFG, + value: &value, + }, + KeyValue { + key: param_key::WORK_MODE, + value: &[WORK_MODE_NORMAL], + }, + ]; + let body = build_param_set_body(¶ms); + assert_eq!(parse_param_set_body(&body).unwrap(), params); + assert_eq!( + parse_param_set_body(&body[..body.len() - 1]), + Err(WireError::BadPayload) + ); + + let mut sn = [0u8; 16]; + sn[..10].copy_from_slice(b"FAKEMID360"); + let detection = DetectionAck { + ret_code: 0, + dev_type: DEVICE_TYPE_MID360, + sn, + lidar_ip: Ipv4Addr::new(192, 168, 1, 171), + cmd_port: LIDAR_CMD_PORT, + }; + assert_eq!(DetectionAck::parse(&detection.build()).unwrap(), detection); + + let async_ack = AsyncControlAck { + ret_code: 0, + error_key: 0x001A, + }; + assert_eq!( + AsyncControlAck::parse(&async_ack.build()).unwrap(), + async_ack + ); + + let info = InternalInfoAck { + ret_code: 0, + params: vec![KeyValue { + key: param_key::FW_TYPE, + value: &[FW_TYPE_APP], + }], + }; + assert_eq!(InternalInfoAck::parse(&info.build()).unwrap(), info); + } +} diff --git a/dimos/mapping/dim_slam/dim_slam.py b/dimos/mapping/dim_slam/dim_slam.py index f17926d7ad..bc9513fcb6 100644 --- a/dimos/mapping/dim_slam/dim_slam.py +++ b/dimos/mapping/dim_slam/dim_slam.py @@ -30,7 +30,7 @@ from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 from dimos.msgs.tf2_msgs.TFMessage import TFMessage from dimos.utils.logging_config import setup_logger -from dimos.utils.nvidia_env import driver_env, sdk_variant +from dimos.utils.nvidia_env import driver_env logger = setup_logger() @@ -122,13 +122,7 @@ class SourceConfig(BaseModel): class DimSlamConfig(NativeModuleConfig): cwd: str | None = "rust" executable: str = "result/bin/dim_slam" - # git+file, not path:. : the flake's ../../../.. input must be inside the entered tree. - # Builds see tracked files only. - build_command: str | None = Field( - default_factory=lambda: ( - f"nix build -L 'git+file:../../../..?dir=dimos/mapping/dim_slam/rust#{sdk_variant()}'" - ) - ) + build_command: str | None = "nix build -L path:." stdin_config: bool = True extra_env: dict[str, str] = Field(default_factory=driver_env) diff --git a/dimos/mapping/dim_slam/rust/Cargo.lock b/dimos/mapping/dim_slam/rust/Cargo.lock index 1610904010..60bc8b5d84 100644 --- a/dimos/mapping/dim_slam/rust/Cargo.lock +++ b/dimos/mapping/dim_slam/rust/Cargo.lock @@ -588,6 +588,7 @@ dependencies = [ [[package]] name = "dimos-module" version = "0.1.0" +source = "git+https://github.com/dimensionalOS/dimos?branch=main#e9428ddb3b1cdfc808964148e21137364ae90f2b" dependencies = [ "dimos-lcm", "dimos-module-macros", @@ -607,6 +608,7 @@ dependencies = [ [[package]] name = "dimos-module-macros" version = "0.1.0" +source = "git+https://github.com/dimensionalOS/dimos?branch=main#e9428ddb3b1cdfc808964148e21137364ae90f2b" dependencies = [ "proc-macro2", "quote", diff --git a/dimos/mapping/dim_slam/rust/Cargo.toml b/dimos/mapping/dim_slam/rust/Cargo.toml index 5af8d516d2..f2394eaa8c 100644 --- a/dimos/mapping/dim_slam/rust/Cargo.toml +++ b/dimos/mapping/dim_slam/rust/Cargo.toml @@ -15,7 +15,7 @@ dim_slam = { git = "https://github.com/dimensionalOS/dimSLAM", tag = "v0.4.1" } # Unused directly, but cargo hands DEP_CUVSLAM_LIB_DIR only to immediate dependents # and build.rs needs it for the rpath. cu_vslam_rs = "0.2.0" -dimos-module = { path = "../../../../native/rust/dimos-module" } +dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" } lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" } tokio = { version = "1", features = ["rt-multi-thread", "macros"] } tracing = "0.1" diff --git a/dimos/mapping/dim_slam/rust/flake.lock b/dimos/mapping/dim_slam/rust/flake.lock index aa91a03893..5f703f5274 100644 --- a/dimos/mapping/dim_slam/rust/flake.lock +++ b/dimos/mapping/dim_slam/rust/flake.lock @@ -62,11 +62,11 @@ ] }, "locked": { - "lastModified": 1787890856, - "narHash": "sha256-3dsQXz4xx54uKzAZfuxnZwo9R+l+VKFdjHVN1W7twGE=", + "lastModified": 1788061359, + "narHash": "sha256-nO9tQNKxCvvoeRhy5/BwB6sl9E4dUK+tXCif5uofTxQ=", "owner": "jeff-hykin", "repo": "cu_vslam_rs", - "rev": "54b8c88762ae28e3d6165962b54503b28e328e7c", + "rev": "6b0a6bd05be61eed33e3d2ee351398a7dcd3b654", "type": "github" }, "original": { @@ -96,18 +96,6 @@ "type": "github" } }, - "dimos-repo": { - "flake": false, - "locked": { - "path": "../../../..", - "type": "path" - }, - "original": { - "path": "../../../..", - "type": "path" - }, - "parent": [] - }, "flake-compat": { "locked": { "lastModified": 1733328505, @@ -234,6 +222,21 @@ "type": "github" } }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, "nix-test-runner": { "flake": false, "locked": { @@ -268,11 +271,11 @@ }, "nixpkgs_2": { "locked": { - "lastModified": 1787498568, - "narHash": "sha256-9i/VTdusq/+NM/tz+J1Re+ojkMB8MBf0QshnYfzHz30=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "56c02bc00adcf003215cc4bd996d6efaf4cff188", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { @@ -312,8 +315,8 @@ "inputs": { "crate2nix": "crate2nix", "cu-vslam-rs": "cu-vslam-rs", - "dimos-repo": "dimos-repo", "flake-utils": "flake-utils", + "nix-filter": "nix-filter", "nixpkgs": "nixpkgs_2" } }, diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index 7b44713e85..6bf1c20178 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -2,99 +2,71 @@ description = "dimSLAM native module for DimOS: the dim_slam library behind an LCM wrapper"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; cu-vslam-rs.url = "github:jeff-hykin/cu_vslam_rs"; cu-vslam-rs.inputs.nixpkgs.follows = "nixpkgs"; cu-vslam-rs.inputs.flake-utils.follows = "flake-utils"; - # Relative path: resolves against the flake, not the cwd (unlike git+file, nix#12281), and - # locks as-is. Only reachable when entered as git+file:?dir=...; the devShell never - # touches it, so `nix develop path:` works from any cwd. - dimos-repo = { url = "path:../../../.."; flake = false; }; - crate2nix.url = "github:nix-community/crate2nix"; - crate2nix.inputs.nixpkgs.follows = "nixpkgs"; }; - outputs = { self, nixpkgs, flake-utils, cu-vslam-rs, dimos-repo, crate2nix }: - # Not eachDefaultSystem: nixpkgs 26.11 dropped x86_64-darwin, and merely naming - # it is an eval error. - flake-utils.lib.eachSystem [ "aarch64-darwin" "aarch64-linux" "x86_64-linux" ] (system: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix, cu-vslam-rs }: + flake-utils.lib.eachSystem [ "aarch64-linux" "x86_64-linux" ] (system: let - isDarwin = nixpkgs.lib.hasSuffix "-darwin" system; - pkgs = import nixpkgs { - inherit system; - config = { allowUnfree = true; cudaSupport = !isDarwin; }; - }; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dim-slam-module"; - sdkPackages = nixpkgs.lib.filterAttrs (name: _: nixpkgs.lib.hasPrefix "sdk-" name) cu-vslam-rs.packages.${system}; - variants = map (nixpkgs.lib.removePrefix "sdk-") (builtins.attrNames sdkPackages); + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; - src = pkgs.runCommand "dim-slam-module-src" {} '' - mkdir -p $out/dimos/mapping/dim_slam/rust - cp -r ${./src} $out/dimos/mapping/dim_slam/rust/src - cp ${./Cargo.toml} $out/dimos/mapping/dim_slam/rust/Cargo.toml - cp ${./Cargo.lock} $out/dimos/mapping/dim_slam/rust/Cargo.lock - cp ${./build.rs} $out/dimos/mapping/dim_slam/rust/build.rs + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - mkdir -p $out/native/rust - cp -r ${dimos-repo}/native/rust/dimos-module $out/native/rust/dimos-module - cp -r ${dimos-repo}/native/rust/dimos-module-macros $out/native/rust/dimos-module-macros - ''; - - generatedCargoNix = crate2nix.tools.${system}.generatedCargoNix { - name = "dim-slam-module"; - inherit src; - cargoToml = "dimos/mapping/dim_slam/rust/Cargo.toml"; - }; + sdkPackages = nixpkgs.lib.filterAttrs + (n: _: nixpkgs.lib.hasPrefix "sdk-" n) + cu-vslam-rs.packages.${system}; + variants = map (nixpkgs.lib.removePrefix "sdk-") (builtins.attrNames sdkPackages); - packageFor = variant: let sdkPackage = sdkPackages."sdk-${variant}"; in - (import generatedCargoNix { + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = variant: mode: + let sdkPackage = sdkPackages."sdk-${variant}"; in + import generated { inherit pkgs; - buildRustCrateForPkgs = cratePkgs: cratePkgs.buildRustCrate.override { - defaultCrateOverrides = cratePkgs.defaultCrateOverrides // { - # cu_vslam_rs's build.rs compiles its shim against this SDK. - cu_vslam_rs = _: { CUVSLAM_SDK_DIR = sdkPackage; }; - # buildRustCrate names DEP_ vars after the crate, cargo after the - # `links` key, so cu_vslam_rs's lib_dir never reaches our build.rs - # and the binary comes out with no rpath for libcuvslam. - dim-slam-module = _: { DEP_CUVSLAM_LIB_DIR = "${sdkPackage}/lib"; }; - }; - }; - }).rootCrate.build; + buildRustCrateForPkgs = cratePkgs: + let build = cratePkgs.buildRustCrate.override { + defaultCrateOverrides = cratePkgs.defaultCrateOverrides // { + # cu_vslam_rs's build.rs compiles its shim against this SDK. + cu_vslam_rs = _: { CUVSLAM_SDK_DIR = sdkPackage; }; + dim-slam-module = _: { DEP_CUVSLAM_LIB_DIR = "${sdkPackage}/lib"; }; + }; + }; + in crate: build (crate // pkgs.lib.optionalAttrs + (mode != null && builtins.elem crate.crateName ours) + (pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + })); + }; + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + lintedVariant = builtins.head (builtins.sort builtins.lessThan variants); in { - packages = nixpkgs.lib.genAttrs variants packageFor; + packages = nixpkgs.lib.genAttrs variants (v: buildOf (callWith v null)) // { + default = buildOf (callWith lintedVariant null); + lint = (buildOf (callWith lintedVariant "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + tests = (buildOf (callWith lintedVariant "test")).override { runTests = true; }; + }; + checks.lint = self.packages.${system}.lint; + checks.tests = self.packages.${system}.tests; - # script needs to detect cuda/non-cuda to pick the right things to load devShells.default = pkgs.mkShellNoCC { - shellHook = '' - if [ -z "''${CUVSLAM_SDK_DIR:-}" ]; then - case "$(uname -s)-$(uname -m)" in - Darwin-arm64) cuvslam_variant=metal ;; - Linux-aarch64) - case "$(tr -d '\0' < /proc/device-tree/compatible 2>/dev/null)" in - *tegra264*) cuvslam_variant=thor ;; - *tegra234*) cuvslam_variant=orin ;; - *) cuvslam_variant=aarch64 ;; - esac ;; - *) - cuda_major=$(nvidia-smi 2>/dev/null | sed -n 's/.*CUDA Version: \([0-9]*\).*/\1/p') - cuvslam_variant="x86_64''${cuda_major:+-cuda$cuda_major}" ;; - esac - case "$cuvslam_variant" in -${nixpkgs.lib.concatMapStringsSep "\n" (variant: - " ${variant}) cuvslam_sdk_drv=${builtins.unsafeDiscardStringContext sdkPackages."sdk-${variant}".drvPath} ;;" -) variants} - *) cuvslam_sdk_drv= ;; - esac - if [ -n "$cuvslam_sdk_drv" ] \ - && CUVSLAM_SDK_DIR=$(nix build --no-link --print-out-paths "$cuvslam_sdk_drv^out"); then - export CUVSLAM_SDK_DIR - else - echo "no cuVSLAM SDK for variant '$cuvslam_variant'; building the stub" >&2 - fi - unset cuvslam_variant cuvslam_sdk_drv cuda_major - fi - ''; + packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; }; }); } diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index d18e042f84..e7cb92659e 100644 --- a/dimos/mapping/ray_tracing/module.py +++ b/dimos/mapping/ray_tracing/module.py @@ -17,7 +17,6 @@ from typing import TYPE_CHECKING -from dimos.constants import DIMOS_PROJECT_ROOT from 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{ + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix new file mode 100644 index 0000000000..ce3389bd4a --- /dev/null +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -0,0 +1,58 @@ +{ + description = "Voxel ray tracing native module for dimos"; + + inputs = { + nix-filter.url = "github:numtide/nix-filter"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; + }; + + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-voxel-ray-tracing"; + + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; + + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = mode: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; + })); + }; + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.default = buildOf (callWith null); + packages.${name} = self.packages.${system}.default; + + packages.lint = (buildOf (callWith "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.lint = self.packages.${system}.lint; + + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + + devShells.default = pkgs.mkShell { packages = rustTools; }; + }); +} diff --git a/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py b/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py index 595ece115c..dfa33d51df 100644 --- a/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py +++ b/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py @@ -16,7 +16,6 @@ from __future__ import annotations -from dimos.constants import DIMOS_PROJECT_ROOT from dimos.core.native_module import NativeModule, NativeModuleConfig from dimos.core.stream import In, Out from dimos.msgs.geometry_msgs.PointStamped import PointStamped @@ -29,9 +28,8 @@ class MLSPlannerNativeConfig(NativeModuleConfig): cwd: str | None = "rust" - # 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+ }, + "flake-compat": { + "locked": { + "lastModified": 1733328505, + "narHash": "sha256-NeCCThCEP3eCl2l/+27kNNK7QrwZB1IJCrXfrbv5oqU=", + "rev": "ff81ac966bb2cae68946d5ed5fc4994f96d0ffec", + "revCount": 69, + "type": "tarball", + "url": "https://api.flakehub.com/f/pinned/edolstra/flake-compat/1.1.0/01948eb7-9cba-704f-bbf3-3fa956735b52/source.tar.gz" + }, + "original": { + "type": "tarball", + "url": "https://flakehub.com/f/edolstra/flake-compat/1.tar.gz" + } + }, + "flake-parts": { + "inputs": { + "nixpkgs-lib": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768135262, + "narHash": "sha256-PVvu7OqHBGWN16zSi6tEmPwwHQ4rLPU9Plvs8/1TUBY=", + "owner": "hercules-ci", + "repo": "flake-parts", + "rev": "80daad04eddbbf5a4d883996a73f3f542fa437ac", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "flake-parts", + "type": "github" + } + }, + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1731533236, + "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "git-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "crate2nix", + "cachix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1765404074, + "narHash": "sha256-+ZDU2d+vzWkEJiqprvV5PR26DVFN2vgddwG5SnPZcUM=", + "owner": "cachix", + "repo": "git-hooks.nix", + "rev": "2d6f58930fbcd82f6f9fd59fb6d13e37684ca529", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "git-hooks.nix", + "type": "github" + } + }, + "gitignore": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "cachix", + "git-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "gitignore_2": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "pre-commit-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, + "nix-test-runner": { + "flake": false, + "locked": { + "lastModified": 1588761593, + "narHash": "sha256-FKJykltAN/g3eIceJl4SfDnnyuH2jHImhMrXS2KvGIs=", + "owner": "stoeffel", + "repo": "nix-test-runner", + "rev": "c45d45b11ecef3eb9d834c3b6304c05c49b06ca2", + "type": "github" + }, + "original": { + "owner": "stoeffel", + "repo": "nix-test-runner", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1765186076, + "narHash": "sha256-hM20uyap1a0M9d344I692r+ik4gTMyj60cQWO+hAYP8=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "addf7cf5f383a3101ecfba091b98d0a1263dc9b8", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "nixpkgs_2": { + "locked": { + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1769069492, + "narHash": "sha256-Efs3VUPelRduf3PpfPP2ovEB4CXT7vHf8W+xc49RL/U=", + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "type": "github" + } + }, + "root": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs_2" + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix new file mode 100644 index 0000000000..a0bf2ef7a3 --- /dev/null +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -0,0 +1,59 @@ +{ + description = "MLS planner native module for dimos"; + + inputs = { + nix-filter.url = "github:numtide/nix-filter"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; + }; + + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-mls-planner"; + + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; + + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = mode: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; + })); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.default = buildOf (callWith null); + packages.${name} = self.packages.${system}.default; + + packages.lint = (buildOf (callWith "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.lint = self.packages.${system}.lint; + + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + + devShells.default = pkgs.mkShell { packages = rustTools; }; + }); +} diff --git a/dimos/simulation/habitat/connection.py b/dimos/simulation/habitat/connection.py index 673f1ea277..344d9e4c18 100644 --- a/dimos/simulation/habitat/connection.py +++ b/dimos/simulation/habitat/connection.py @@ -36,7 +36,7 @@ class HabitatConnectionConfig(NativeModuleConfig): # target/habitat (outside the package tree); the wrapper is the build sentinel. cwd: str | None = "nix" executable: str = str(DIMOS_PROJECT_ROOT / "target" / "habitat" / "habitat-native") - build_command: str | None = "nix develop path:. -c ./install.sh" + build_command: str | None = None stdin_config: bool = True log_format: LogFormat = LogFormat.TEXT diff --git a/dimos/simulation/habitat/nix/flake.lock b/dimos/simulation/habitat/nix/flake.lock index 9889bc303b..af35d6ab0d 100644 --- a/dimos/simulation/habitat/nix/flake.lock +++ b/dimos/simulation/habitat/nix/flake.lock @@ -1,12 +1,68 @@ { "nodes": { + "dimos-native-cpp": { + "inputs": { + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs" + }, + "locked": { + "dir": "native/cpp", + "lastModified": 1789614598, + "narHash": "sha256-cLjnjDYCy/NHMN+o3pyQsAsJ5whB7kHNjv/yIRctdiY=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "3dc82f7f46abb7c7e9019fdf004e8ba88f146d4f", + "type": "github" + }, + "original": { + "dir": "native/cpp", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "type": "github" + } + }, + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1731533236, + "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, "nixpkgs": { "locked": { - "lastModified": 1788752844, - "narHash": "sha256-VaWGJ6+cIYN2erfSecbRV+4ljI185Ty2wUrXyvQbgOw=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "dc5d91f840324650bac8c379428c7037a416959a", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { @@ -18,7 +74,26 @@ }, "root": { "inputs": { - "nixpkgs": "nixpkgs" + "dimos-native-cpp": "dimos-native-cpp", + "nixpkgs": [ + "dimos-native-cpp", + "nixpkgs" + ] + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" } } }, diff --git a/dimos/simulation/habitat/nix/flake.nix b/dimos/simulation/habitat/nix/flake.nix index 89016fef74..928d6421cf 100644 --- a/dimos/simulation/habitat/nix/flake.nix +++ b/dimos/simulation/habitat/nix/flake.nix @@ -1,9 +1,10 @@ { description = "micromamba for the dimos Habitat native module"; - inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + inputs.dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; + inputs.nixpkgs.follows = "dimos-native-cpp/nixpkgs"; - outputs = { self, nixpkgs }: + outputs = { self, nixpkgs, ... }: let # linux-64 only: the aihabitat conda channel has no aarch64 habitat-sim. systems = [ "x86_64-linux" ]; diff --git a/docs/capabilities/navigation/habitat.md b/docs/capabilities/navigation/habitat.md index cd8736b998..69cd9fe38d 100644 --- a/docs/capabilities/navigation/habitat.md +++ b/docs/capabilities/navigation/habitat.md @@ -36,7 +36,20 @@ Layered so a failure can be bisected by dropping a level: habitat-sim only ships python 3.9 builds, so it cannot share the dimos interpreter. `HabitatConnection` is a [native module](/docs/usage/native_modules.md): the simulator runs as a subprocess and speaks dimos over zenoh through `dimos_lcm`, the standalone message package. Nothing on that side imports dimos, and a test enforces it. -`dimos/simulation/habitat/nix/install.sh` is the module's `build_command`. Run through the module's flake, it creates the conda env, installs the message and transport packages, downloads the example scene and writes the `habitat-native` wrapper whose existence `NativeModule` treats as the build sentinel. Everything it produces lands in `target/habitat`, beside the cargo natives' output; delete `target/habitat/env` to force a rebuild. +`dimos/simulation/habitat/nix/install.sh` provisions the module. It is **not** a +`build_command`: habitat is the one native module `NativeModule` will not build for +you, because habitat-sim is conda-only, the install pulls a multi-gigabyte HM3D scene, +and headless rendering needs the host's own EGL driver -- so the module's flake offers +a devShell and no package, and its `build_command` is `None`. Run it once by hand: + +```bash +cd dimos/simulation/habitat/nix && nix develop path:. -c ./install.sh +``` + +It creates the conda env, installs the message and transport packages, downloads the +example scene and writes the `habitat-native` wrapper whose existence `NativeModule` +treats as the build sentinel. Everything lands in `target/habitat`, beside the other +native modules' output; delete `target/habitat/env` to redo it. ## Frames diff --git a/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock index 0e91e63845..75d525d75e 100644 --- a/examples/native-modules/cpp/flake.lock +++ b/examples/native-modules/cpp/flake.lock @@ -17,27 +17,32 @@ "type": "github" } }, - "flake-utils": { + "dimos-native-cpp": { "inputs": { - "systems": "systems" + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs" }, "locked": { - "lastModified": 1731533236, - "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=", - "owner": "numtide", - "repo": "flake-utils", - "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b", + "dir": "native/cpp", + "lastModified": 1789614598, + "narHash": "sha256-cLjnjDYCy/NHMN+o3pyQsAsJ5whB7kHNjv/yIRctdiY=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "3dc82f7f46abb7c7e9019fdf004e8ba88f146d4f", "type": "github" }, "original": { - "owner": "numtide", - "repo": "flake-utils", + "dir": "native/cpp", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", "type": "github" } }, - "flake-utils_2": { + "flake-utils": { "inputs": { - "systems": "systems_2" + "systems": "systems" }, "locked": { "lastModified": 1731533236, @@ -76,35 +81,49 @@ "type": "github" } }, - "nixpkgs": { + "nix-filter": { "locked": { - "lastModified": 1783224372, - "narHash": "sha256-8i/87eeoqiGE4yOTjwSA3Eh/ziJRQEmd/unYU+K27sk=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "d407951447dcd00442e97087bf374aad70c04cea", + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", "type": "github" }, "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, + "nix-filter_2": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", "type": "github" } }, - "nixpkgs_2": { + "nixpkgs": { "locked": { - "lastModified": 1789012029, - "narHash": "sha256-1CBkBf+Nhggykzlx0jvXrj5rk20btl+tK8Fa8Ml/BL4=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { "owner": "NixOS", + "ref": "nixos-unstable", "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", "type": "github" } }, @@ -128,9 +147,17 @@ "root": { "inputs": { "dimos-lcm": "dimos-lcm", - "flake-utils": "flake-utils", + "dimos-native-cpp": "dimos-native-cpp", + "flake-utils": [ + "dimos-native-cpp", + "flake-utils" + ], "lcm-extended": "lcm-extended", - "nixpkgs": "nixpkgs", + "nix-filter": "nix-filter_2", + "nixpkgs": [ + "dimos-native-cpp", + "nixpkgs" + ], "pfr": "pfr", "zenoh": "zenoh" } @@ -150,25 +177,14 @@ "type": "github" } }, - "systems_2": { - "locked": { - "lastModified": 1681028828, - "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", - "owner": "nix-systems", - "repo": "default", - "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", - "type": "github" - }, - "original": { - "owner": "nix-systems", - "repo": "default", - "type": "github" - } - }, "zenoh": { "inputs": { - "flake-utils": "flake-utils_2", - "nixpkgs": "nixpkgs_2" + "flake-utils": [ + "flake-utils" + ], + "nixpkgs": [ + "nixpkgs" + ] }, "locked": { "lastModified": 1789053405, diff --git a/examples/native-modules/cpp/flake.nix b/examples/native-modules/cpp/flake.nix index 9fd97687e8..7c0dd8d1a9 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -2,9 +2,12 @@ description = "dimos C++ native module ping-pong example"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; zenoh.url = "github:jeff-hykin/zenoh_flake"; - nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; - flake-utils.url = "github:numtide/flake-utils"; + zenoh.inputs.nixpkgs.follows = "nixpkgs"; + zenoh.inputs.flake-utils.follows = "flake-utils"; + nixpkgs.follows = "dimos-native-cpp/nixpkgs"; + flake-utils.follows = "dimos-native-cpp/flake-utils"; lcm-extended = { url = "github:jeff-hykin/lcm_extended"; inputs.nixpkgs.follows = "nixpkgs"; @@ -20,9 +23,10 @@ url = "github:apolukhin/pfr_non_boost/2.3.2"; flake = false; }; + dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; }; - outputs = { self, nixpkgs, zenoh, flake-utils, lcm-extended, dimos-lcm, pfr, ... }: + outputs = { self, nix-filter, nixpkgs, zenoh, flake-utils, lcm-extended, dimos-lcm, pfr, dimos-native-cpp, ... }: flake-utils.lib.eachDefaultSystem (system: let pkgs = import nixpkgs { inherit system; }; @@ -30,10 +34,10 @@ zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; in { - packages.default = pkgs.stdenv.mkDerivation { + packages.dimos-native-module-examples-cpp = pkgs.stdenv.mkDerivation { pname = "dimos-native-ping-pong"; version = "0.1.0"; - src = ./.; + src = nix-filter.lib { root = ./.; exclude = [ "build" "target" "result" "__pycache__" ]; }; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ lcm pkgs.glib pkgs.nlohmann_json zenohc zenohcpp ]; @@ -44,7 +48,7 @@ "-DFETCHCONTENT_SOURCE_DIR_PFR=${pfr}" # The header-only SDK lives outside this dir. A git-tree flake can # reach it as a path literal within the repo tree. - "-DDIMOS_NATIVE_CPP_DIR=${../../../native/cpp}" + "-DDIMOS_NATIVE_CPP_DIR=${dimos-native-cpp.packages.${system}.default}" ]; }; }); diff --git a/examples/native-modules/cpp_ping_pong.py b/examples/native-modules/cpp_ping_pong.py index 1564f83b0d..7fdcfc1ab7 100644 --- a/examples/native-modules/cpp_ping_pong.py +++ b/examples/native-modules/cpp_ping_pong.py @@ -33,7 +33,7 @@ from dimos.msgs.geometry_msgs.Twist import Twist _CPP_DIR = Path(__file__).parent / "cpp" -_BUILD = "nix build .#default" +_BUILD = "nix build -L path:.#dimos-native-module-examples-cpp" class PingConfig(NativeModuleConfig): diff --git a/examples/native-modules/rust/Cargo.lock b/examples/native-modules/rust/Cargo.lock new file mode 100644 index 0000000000..4a75b2c0da --- /dev/null +++ b/examples/native-modules/rust/Cargo.lock @@ -0,0 +1,4345 @@ +# This file is automatically @generated by Cargo. +# It is not intended for manual editing. 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d2c1d48d48..9a410ec877 100644 --- a/examples/native-modules/rust/Cargo.toml +++ b/examples/native-modules/rust/Cargo.toml @@ -20,9 +20,21 @@ name = "tf_broadcaster" path = "src/tf_broadcaster.rs" [dependencies] -dimos-module = { path = "../../../native/rust/dimos-module" } +dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" } lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" } tokio = { version = "1", features = ["rt-multi-thread", "macros", "time"] } serde = { version = "1", features = ["derive"] } tracing = "0.1" validator = { version = "0.21", features = ["derive"] } + +[workspace] + +[profile.release] +lto = "thin" +codegen-units = 1 + +[profile.dev] +debug = 0 + +[profile.test] +debug = 0 diff --git a/examples/native-modules/rust/flake.lock b/examples/native-modules/rust/flake.lock new file mode 100644 index 0000000000..12d4afa66f --- /dev/null +++ b/examples/native-modules/rust/flake.lock @@ -0,0 +1,317 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "crate2nix" + ], + "flake-compat": [ + "crate2nix" + ], + "git-hooks": "git-hooks", + "nixpkgs": "nixpkgs" + }, + "locked": { + "lastModified": 1767714506, + "narHash": "sha256-WaTs0t1CxhgxbIuvQ97OFhDTVUGd1HA+KzLZUZBhe0s=", + "owner": "cachix", + "repo": "cachix", + "rev": "894c649f0daaa38bbcfb21de64be47dfa7cd0ec9", + "type": "github" + }, + "original": { + "owner": "cachix", + "ref": "latest", + "repo": "cachix", + "type": "github" + } + }, + "crate2nix": { + "inputs": { + "cachix": "cachix", + "devshell": "devshell", + "flake-compat": "flake-compat", + "flake-parts": "flake-parts", + "nix-test-runner": "nix-test-runner", + "nixpkgs": [ + "nixpkgs" + ], + "pre-commit-hooks": "pre-commit-hooks" + }, + "locked": { + "lastModified": 1782759041, + "narHash": "sha256-2577vxyoBa8+ZRiXr3CuPtOuEtPRYsFPSZuEc/KI/80=", + "owner": "nix-community", + "repo": "crate2nix", + "rev": "5e1ecfd2d15b34ec90c2e51fdffbe8116595a767", + "type": "github" + }, + "original": { + "owner": "nix-community", + "repo": "crate2nix", + "type": "github" + } + }, + "devshell": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768818222, + "narHash": "sha256-460jc0+CZfyaO8+w8JNtlClB2n4ui1RbHfPTLkpwhU8=", + "owner": "numtide", + "repo": "devshell", + "rev": "255a2b1725a20d060f566e4755dbf571bbbb5f76", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "devshell", + "type": "github" + } + }, + "flake-compat": { + "locked": { + "lastModified": 1733328505, + "narHash": "sha256-NeCCThCEP3eCl2l/+27kNNK7QrwZB1IJCrXfrbv5oqU=", + "rev": "ff81ac966bb2cae68946d5ed5fc4994f96d0ffec", + "revCount": 69, + "type": "tarball", + "url": "https://api.flakehub.com/f/pinned/edolstra/flake-compat/1.1.0/01948eb7-9cba-704f-bbf3-3fa956735b52/source.tar.gz" + }, + "original": { + "type": "tarball", + "url": "https://flakehub.com/f/edolstra/flake-compat/1.tar.gz" + } + }, + "flake-parts": { + "inputs": { + "nixpkgs-lib": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768135262, + "narHash": "sha256-PVvu7OqHBGWN16zSi6tEmPwwHQ4rLPU9Plvs8/1TUBY=", + "owner": "hercules-ci", + "repo": "flake-parts", + "rev": "80daad04eddbbf5a4d883996a73f3f542fa437ac", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "flake-parts", + "type": "github" + } + }, + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1731533236, + "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "git-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "crate2nix", + "cachix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1765404074, + "narHash": "sha256-+ZDU2d+vzWkEJiqprvV5PR26DVFN2vgddwG5SnPZcUM=", + "owner": "cachix", + "repo": "git-hooks.nix", + "rev": "2d6f58930fbcd82f6f9fd59fb6d13e37684ca529", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "git-hooks.nix", + "type": "github" + } + }, + "gitignore": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "cachix", + "git-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "gitignore_2": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "pre-commit-hooks", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1709087332, + "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=", + "owner": "hercules-ci", + "repo": "gitignore.nix", + "rev": "637db329424fd7e46cf4185293b9cc8c88c95394", + "type": "github" + }, + "original": { + "owner": "hercules-ci", + "repo": "gitignore.nix", + "type": "github" + } + }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, + "nix-test-runner": { + "flake": false, + "locked": { + "lastModified": 1588761593, + "narHash": "sha256-FKJykltAN/g3eIceJl4SfDnnyuH2jHImhMrXS2KvGIs=", + "owner": "stoeffel", + "repo": "nix-test-runner", + "rev": "c45d45b11ecef3eb9d834c3b6304c05c49b06ca2", + "type": "github" + }, + "original": { + "owner": "stoeffel", + "repo": "nix-test-runner", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1765186076, + "narHash": "sha256-hM20uyap1a0M9d344I692r+ik4gTMyj60cQWO+hAYP8=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "addf7cf5f383a3101ecfba091b98d0a1263dc9b8", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "nixpkgs_2": { + "locked": { + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1769069492, + "narHash": "sha256-Efs3VUPelRduf3PpfPP2ovEB4CXT7vHf8W+xc49RL/U=", + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23", + "type": "github" + }, + "original": { + "owner": "cachix", + "repo": "pre-commit-hooks.nix", + "type": "github" + } + }, + "root": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nix-filter": "nix-filter", + "nixpkgs": "nixpkgs_2" + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix new file mode 100644 index 0000000000..869b7f7378 --- /dev/null +++ b/examples/native-modules/rust/flake.nix @@ -0,0 +1,59 @@ +{ + description = "Example native modules for dimos"; + + inputs = { + nix-filter.url = "github:numtide/nix-filter"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; + }; + + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-native-module-examples"; + + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; + + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = mode: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; + })); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.default = buildOf (callWith null); + packages.${name} = self.packages.${system}.default; + + packages.lint = (buildOf (callWith "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.lint = self.packages.${system}.lint; + + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + + devShells.default = pkgs.mkShell { packages = rustTools; }; + }); +} diff --git a/examples/native-modules/rust_ping_pong.py b/examples/native-modules/rust_ping_pong.py index 190fad40a7..e260d4dfc2 100644 --- a/examples/native-modules/rust_ping_pong.py +++ b/examples/native-modules/rust_ping_pong.py @@ -27,7 +27,6 @@ import argparse from pathlib import Path -from dimos.constants import DIMOS_PROJECT_ROOT from dimos.core.coordination.blueprints import Blueprint, autoconnect from dimos.core.coordination.module_coordinator import ModuleCoordinator from dimos.core.native_module import NativeModule, NativeModuleConfig @@ -37,22 +36,21 @@ _RUST_DIR = Path(__file__).parent / "rust" # The crate is a workspace member, so cargo builds into the repo-root target dir. -_EXAMPLES = DIMOS_PROJECT_ROOT / "target" / "release" -_BUILD = "cargo build --release" +_BUILD = "nix build -L path:.#dimos-native-module-examples" # Where pong listens when it runs as the router. _ROUTER_ENDPOINT = "tcp/127.0.0.1:17450" class PingConfig(NativeModuleConfig): - executable: str = str(_EXAMPLES / "ping") + executable: str = "result/bin/ping" build_command: str = _BUILD cwd: str = str(_RUST_DIR) stdin_config: bool = True class PongConfig(NativeModuleConfig): - executable: str = str(_EXAMPLES / "pong") + executable: str = "result/bin/pong" build_command: str = _BUILD cwd: str = str(_RUST_DIR) stdin_config: bool = True diff --git a/examples/native-modules/rust_tf.py b/examples/native-modules/rust_tf.py index 473f39ab1c..1e1435c9b2 100644 --- a/examples/native-modules/rust_tf.py +++ b/examples/native-modules/rust_tf.py @@ -28,7 +28,6 @@ from pathlib import Path import time -from dimos.constants import DIMOS_PROJECT_ROOT from dimos.core.coordination.blueprints import autoconnect from dimos.core.coordination.module_coordinator import ModuleCoordinator from dimos.core.core import rpc @@ -41,8 +40,7 @@ _RUST_DIR = Path(__file__).parent / "rust" # The crate is a workspace member, so cargo builds into the repo-root target dir. -_EXAMPLES = DIMOS_PROJECT_ROOT / "target" / "release" -_BUILD = "cargo build --release" +_BUILD = "nix build -L path:.#dimos-native-module-examples" class TfProducer(Module): @@ -86,7 +84,7 @@ def stop(self) -> None: class TfListenerConfig(NativeModuleConfig): - executable: str = str(_EXAMPLES / "tf_listener") + executable: str = "result/bin/tf_listener" build_command: str = _BUILD cwd: str = str(_RUST_DIR) stdin_config: bool = True @@ -103,7 +101,7 @@ class TfListenerModule(NativeModule): class TfBroadcasterConfig(NativeModuleConfig): - executable: str = str(_EXAMPLES / "tf_broadcaster") + executable: str = "result/bin/tf_broadcaster" build_command: str = _BUILD cwd: str = str(_RUST_DIR) stdin_config: bool = True diff --git a/flake.nix b/flake.nix index 8d254a455b..fe5aef516f 100644 --- a/flake.nix +++ b/flake.nix @@ -85,6 +85,9 @@ { vals.pkg=pkgs.uv; flags={}; } { vals.pkg=pkgs.pre-commit; flags={}; } + { vals.pkg=pkgs.cargo; flags={}; } + { vals.pkg=pkgs.rustc; flags={}; } + ### Runtime deps { vals.pkg=pkgs.portaudio; flags={ldLibraryGroup=true; packageConfGroup=true;}; } { vals.pkg=pkgs.ffmpeg_6; flags={}; } diff --git a/dimos/hardware/sensors/lidar/livox/cpp/flake.lock b/native/cpp/flake.lock similarity index 68% rename from dimos/hardware/sensors/lidar/livox/cpp/flake.lock rename to native/cpp/flake.lock index 3009a12016..8f7a59940d 100644 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.lock +++ b/native/cpp/flake.lock @@ -18,13 +18,28 @@ "type": "github" } }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, "nixpkgs": { "locked": { - "lastModified": 1770841267, - "narHash": "sha256-9xejG0KoqsoKEGp2kVbXRlEYtFFcDTHjidiuX8hGO44=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ec7c70d12ce2fc37cb92aff673dcdca89d187bae", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { @@ -37,6 +52,7 @@ "root": { "inputs": { "flake-utils": "flake-utils", + "nix-filter": "nix-filter", "nixpkgs": "nixpkgs" } }, diff --git a/native/cpp/flake.nix b/native/cpp/flake.nix new file mode 100644 index 0000000000..b242e94a43 --- /dev/null +++ b/native/cpp/flake.nix @@ -0,0 +1,22 @@ +{ + description = "The shared dimos C++ native module SDK, as a source tree for cmake"; + + inputs = { + nix-filter.url = "github:numtide/nix-filter"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + }; + + outputs = { self, nix-filter, nixpkgs, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let pkgs = nixpkgs.legacyPackages.${system}; in { + packages.default = pkgs.runCommand "dimos-native-cpp" { } '' + cp -r ${nix-filter.lib { root = ./.; exclude = [ "build" "target" "result" "__pycache__" ]; }} $out + chmod -R u+w $out + ''; + + devShells.default = pkgs.mkShell { + packages = [ pkgs.cmake pkgs.pkg-config pkgs.nlohmann_json ]; + }; + }); +} diff --git a/native/rust/dimos-module-macros/Cargo.lock b/native/rust/dimos-module-macros/Cargo.lock new file mode 100644 index 0000000000..06b2d104f5 --- /dev/null +++ b/native/rust/dimos-module-macros/Cargo.lock @@ -0,0 +1,144 @@ +# This file is automatically @generated by Cargo. +# It is not intended for manual editing. +version = 4 + +[[package]] +name = "dimos-module-macros" +version = "0.1.0" +dependencies = [ + "proc-macro2", + "quote", + "syn", + "toml", +] + +[[package]] +name = "equivalent" +version = "1.0.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f" + +[[package]] +name = "hashbrown" +version = "0.17.1" +source = "registry+https://github.com/rust-lang/crates.io-index" 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"https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" } dimos-module-macros = { version = "=0.1.0", path = "../dimos-module-macros" } diff --git a/native/rust/flake.lock b/native/rust/flake.lock new file mode 100644 index 0000000000..12d4afa66f --- /dev/null +++ b/native/rust/flake.lock @@ -0,0 +1,317 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "crate2nix" + ], + "flake-compat": [ + "crate2nix" + ], + "git-hooks": "git-hooks", + "nixpkgs": "nixpkgs" + }, + "locked": { + "lastModified": 1767714506, + "narHash": "sha256-WaTs0t1CxhgxbIuvQ97OFhDTVUGd1HA+KzLZUZBhe0s=", + "owner": "cachix", + "repo": "cachix", + "rev": "894c649f0daaa38bbcfb21de64be47dfa7cd0ec9", + "type": "github" + }, + "original": { + "owner": "cachix", + "ref": "latest", + "repo": "cachix", + "type": "github" + } + }, + "crate2nix": { + "inputs": { + "cachix": "cachix", + "devshell": "devshell", + "flake-compat": "flake-compat", + "flake-parts": "flake-parts", + "nix-test-runner": "nix-test-runner", + "nixpkgs": [ + "nixpkgs" + ], + "pre-commit-hooks": "pre-commit-hooks" + }, + "locked": { + "lastModified": 1782759041, + "narHash": "sha256-2577vxyoBa8+ZRiXr3CuPtOuEtPRYsFPSZuEc/KI/80=", + "owner": "nix-community", + "repo": "crate2nix", + "rev": "5e1ecfd2d15b34ec90c2e51fdffbe8116595a767", + "type": "github" + }, + "original": { + "owner": "nix-community", + "repo": "crate2nix", + "type": "github" + } + }, + "devshell": { + "inputs": { + "nixpkgs": [ + "crate2nix", + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1768818222, + "narHash": "sha256-460jc0+CZfyaO8+w8JNtlClB2n4ui1RbHfPTLkpwhU8=", + "owner": "numtide", + "repo": "devshell", + "rev": "255a2b1725a20d060f566e4755dbf571bbbb5f76", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "devshell", + "type": "github" + } + }, + "flake-compat": { + "locked": { + "lastModified": 1733328505, + "narHash": "sha256-NeCCThCEP3eCl2l/+27kNNK7QrwZB1IJCrXfrbv5oqU=", + "rev": 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{ + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/native/rust/flake.nix b/native/rust/flake.nix new file mode 100644 index 0000000000..8de39eb67a --- /dev/null +++ b/native/rust/flake.nix @@ -0,0 +1,63 @@ +{ + description = "The shared dimos crates: consumed as a git dependency, built here only to lint and test them"; + + inputs = { + nix-filter.url = "github:numtide/nix-filter"; + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + crate2nix.url = "github:nix-community/crate2nix"; + crate2nix.inputs.nixpkgs.follows = "nixpkgs"; + }; + + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; + + crateOf = name: + let + generated = crate2nix.tools.${system}.generatedCargoNix { + inherit name src; + cargoToml = "${name}/Cargo.toml"; + }; + callWith = mode: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (mode != null && pkgs.lib.hasPrefix "dimos-module" crate.crateName) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; + })); + }; + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + in { + lint = (buildOf (callWith "lint")).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + tests = (buildOf (callWith "test")).override { runTests = true; }; + }; + + module = crateOf "dimos-module"; + macros = crateOf "dimos-module-macros"; + in { + packages.lint = pkgs.linkFarmFromDrvs "dimos-module-lint" [ module.lint macros.lint ]; + packages.tests = pkgs.linkFarmFromDrvs "dimos-module-tests" [ module.tests macros.tests ]; + checks.lint = self.packages.${system}.lint; + checks.tests = self.packages.${system}.tests; + + devShells.default = pkgs.mkShell { + packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + }; + }); +}