From 524112242889c7fa336271fae3682ecd81149eeb Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Sat, 29 Aug 2026 22:59:14 -0700 Subject: [PATCH 01/97] native_module: put ~/.cargo/bin on the auto-build PATH when cargo is missing Non-interactive shells (ssh commands, systemd units) don't source the rustup PATH entry, so `cargo build --release` build_commands died with exit 127 on robots even though cargo was installed. --- dimos/core/native_module.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/dimos/core/native_module.py b/dimos/core/native_module.py index 84fea6b685..aac46ddd62 100644 --- a/dimos/core/native_module.py +++ b/dimos/core/native_module.py @@ -47,6 +47,7 @@ class MyCppModule(NativeModule): import json import os from pathlib import Path +import shutil import signal import subprocess import sys @@ -480,11 +481,17 @@ def _maybe_build(self) -> None: build_command=self.config.build_command, ) build_start = time.perf_counter() + env = {**os.environ, **self.config.extra_env} + # Non-interactive shells (ssh commands, systemd) miss the rustup PATH entry, so + # cargo build commands die with exit 127 there. + cargo_dir = Path.home() / ".cargo" / "bin" + if shutil.which("cargo") is None and (cargo_dir / "cargo").exists(): + env["PATH"] = f"{cargo_dir}{os.pathsep}{env.get('PATH', '')}" proc = subprocess.Popen( self.config.build_command, shell=True, cwd=self.config.cwd, - env={**os.environ, **self.config.extra_env}, + env=env, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, ) From 112c9d567465477cb469c6d4d5973e42d768d666 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Sat, 29 Aug 2026 23:06:02 -0700 Subject: [PATCH 02/97] Revert "native_module: put ~/.cargo/bin on the auto-build PATH when cargo is missing" This reverts commit 524112242889c7fa336271fae3682ecd81149eeb. --- dimos/core/native_module.py | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/dimos/core/native_module.py b/dimos/core/native_module.py index aac46ddd62..84fea6b685 100644 --- a/dimos/core/native_module.py +++ b/dimos/core/native_module.py @@ -47,7 +47,6 @@ class MyCppModule(NativeModule): import json import os from pathlib import Path -import shutil import signal import subprocess import sys @@ -481,17 +480,11 @@ def _maybe_build(self) -> None: build_command=self.config.build_command, ) build_start = time.perf_counter() - env = {**os.environ, **self.config.extra_env} - # Non-interactive shells (ssh commands, systemd) miss the rustup PATH entry, so - # cargo build commands die with exit 127 there. - cargo_dir = Path.home() / ".cargo" / "bin" - if shutil.which("cargo") is None and (cargo_dir / "cargo").exists(): - env["PATH"] = f"{cargo_dir}{os.pathsep}{env.get('PATH', '')}" proc = subprocess.Popen( self.config.build_command, shell=True, cwd=self.config.cwd, - env=env, + env={**os.environ, **self.config.extra_env}, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, ) From 0d216be1b862a5a3caaa3b446f8a74adfa3ab431 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Sat, 29 Aug 2026 23:07:46 -0700 Subject: [PATCH 03/97] native modules: build the rust workspace crates through the repo flake rustup's PATH entry is absent in non-interactive shells (ssh commands, systemd units), so the plain `cargo build --release` build_commands died with exit 127 on robots. Run them through `nix develop` instead, like the realsense module already does, and put cargo/rustc in the flake so the shell is self-contained. --- dimos/mapping/ray_tracing/module.py | 7 ++++++- dimos/navigation/nav_3d/mls_planner/mls_planner_native.py | 7 ++++++- flake.nix | 4 ++++ 3 files changed, 16 insertions(+), 2 deletions(-) diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index 6c750c0221..0922cc75e0 100644 --- a/dimos/mapping/ray_tracing/module.py +++ b/dimos/mapping/ray_tracing/module.py @@ -35,7 +35,12 @@ class RayTracingVoxelMapConfig(NativeModuleConfig): 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" / "voxel_ray_tracing") - build_command: str | None = "cargo build --release" + # The repo flake supplies cargo: rustup's PATH entry is absent in + # non-interactive shells (ssh commands, systemd units). resolve() because nix's + # path fetcher refuses symlinked components (macOS /tmp). + build_command: str | None = ( + f"nix develop path:{DIMOS_PROJECT_ROOT.resolve()} -c cargo build --release" + ) stdin_config: bool = True voxel_size: float = 0.1 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..46ebf28fec 100644 --- a/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py +++ b/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py @@ -31,7 +31,12 @@ class MLSPlannerNativeConfig(NativeModuleConfig): 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" / "mls_planner") - build_command: str | None = "cargo build --release" + # The repo flake supplies cargo: rustup's PATH entry is absent in + # non-interactive shells (ssh commands, systemd units). resolve() because nix's + # path fetcher refuses symlinked components (macOS /tmp). + build_command: str | None = ( + f"nix develop path:{DIMOS_PROJECT_ROOT.resolve()} -c cargo build --release" + ) stdin_config: bool = True world_frame: str = "odom" diff --git a/flake.nix b/flake.nix index ec859546b4..8b56c1971d 100644 --- a/flake.nix +++ b/flake.nix @@ -80,6 +80,10 @@ { vals.pkg=pkgs.uv; flags={}; } { vals.pkg=pkgs.pre-commit; flags={}; } + ### Rust (native module auto-builds run `nix develop path: -c cargo`) + { 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={}; } From 6ab3467e5d5f53bc04a45dbf49b0d26810291bf1 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Sun, 30 Aug 2026 23:01:22 -0700 Subject: [PATCH 04/97] native modules: keep build_command a literal for the publish gate main's native-module publish gate AST-scans each module's config and refuses an f-string default, so the DIMOS_PROJECT_ROOT interpolation has to go. A cwd-relative nix path keeps the symlink behavior the resolve() was there for. --- dimos/mapping/ray_tracing/module.py | 11 +++++------ .../nav_3d/mls_planner/mls_planner_native.py | 11 +++++------ 2 files changed, 10 insertions(+), 12 deletions(-) diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index 0922cc75e0..e21150959c 100644 --- a/dimos/mapping/ray_tracing/module.py +++ b/dimos/mapping/ray_tracing/module.py @@ -35,12 +35,11 @@ class RayTracingVoxelMapConfig(NativeModuleConfig): 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" / "voxel_ray_tracing") - # The repo flake supplies cargo: rustup's PATH entry is absent in - # non-interactive shells (ssh commands, systemd units). resolve() because nix's - # path fetcher refuses symlinked components (macOS /tmp). - build_command: str | None = ( - f"nix develop path:{DIMOS_PROJECT_ROOT.resolve()} -c cargo build --release" - ) + # The repo flake supplies cargo: rustup's PATH entry is absent in non-interactive + # shells (ssh commands, systemd units). Relative to cwd rather than + # DIMOS_PROJECT_ROOT so it stays a literal the CI inputs hash can read, and because + # nix resolves it against the real cwd, sidestepping symlinked components (macOS /tmp). + build_command: str | None = "nix develop path:../../../.. -c cargo build --release" stdin_config: bool = True voxel_size: float = 0.1 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 46ebf28fec..42702be558 100644 --- a/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py +++ b/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py @@ -31,12 +31,11 @@ class MLSPlannerNativeConfig(NativeModuleConfig): 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" / "mls_planner") - # The repo flake supplies cargo: rustup's PATH entry is absent in - # non-interactive shells (ssh commands, systemd units). resolve() because nix's - # path fetcher refuses symlinked components (macOS /tmp). - build_command: str | None = ( - f"nix develop path:{DIMOS_PROJECT_ROOT.resolve()} -c cargo build --release" - ) + # The repo flake supplies cargo: rustup's PATH entry is absent in non-interactive + # shells (ssh commands, systemd units). Relative to cwd rather than + # DIMOS_PROJECT_ROOT so it stays a literal the CI inputs hash can read, and because + # nix resolves it against the real cwd, sidestepping symlinked components (macOS /tmp). + build_command: str | None = "nix develop path:../../../../.. -c cargo build --release" stdin_config: bool = True world_frame: str = "odom" From 7a4f67109586f714e1dfe730ca3faf9910988027 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Sun, 30 Aug 2026 23:05:32 -0700 Subject: [PATCH 05/97] native modules: drop the build_command comments --- dimos/mapping/ray_tracing/module.py | 4 ---- dimos/navigation/nav_3d/mls_planner/mls_planner_native.py | 4 ---- 2 files changed, 8 deletions(-) diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index e21150959c..5057f5e115 100644 --- a/dimos/mapping/ray_tracing/module.py +++ b/dimos/mapping/ray_tracing/module.py @@ -35,10 +35,6 @@ class RayTracingVoxelMapConfig(NativeModuleConfig): 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" / "voxel_ray_tracing") - # The repo flake supplies cargo: rustup's PATH entry is absent in non-interactive - # shells (ssh commands, systemd units). Relative to cwd rather than - # DIMOS_PROJECT_ROOT so it stays a literal the CI inputs hash can read, and because - # nix resolves it against the real cwd, sidestepping symlinked components (macOS /tmp). build_command: str | None = "nix develop path:../../../.. -c cargo build --release" stdin_config: bool = True 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 42702be558..dd6923e79f 100644 --- a/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py +++ b/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py @@ -31,10 +31,6 @@ class MLSPlannerNativeConfig(NativeModuleConfig): 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" / "mls_planner") - # The repo flake supplies cargo: rustup's PATH entry is absent in non-interactive - # shells (ssh commands, systemd units). Relative to cwd rather than - # DIMOS_PROJECT_ROOT so it stays a literal the CI inputs hash can read, and because - # nix resolves it against the real cwd, sidestepping symlinked components (macOS /tmp). build_command: str | None = "nix develop path:../../../../.. -c cargo build --release" stdin_config: bool = True From e4eb3f8f50161ffcb18df11c748cb92055bfcc92 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 15:40:57 -0700 Subject: [PATCH 06/97] Point rust nix shells at a tiny toolchain flake A flake ref copies its whole source tree into the nix store, and a fresh copy each time that tree changes. Aimed at the repo root that is the build dirs, .venv and .git, or the tracked LFS blobs -- tens of gigabytes per build. nix/rust/ is two files, so the snapshot is stable and free. Also run cargo fmt and cargo clippy inside that shell, and stop the clippy hook from re-entering the repo-root flake: the root has its own flake.nix, so the per-crate branch was matching it and shelling into the whole tree. --- .pre-commit-config.yaml | 14 ++++++---- dimos/mapping/ray_tracing/module.py | 2 +- .../nav_3d/mls_planner/mls_planner_native.py | 2 +- nix/rust/flake.lock | 27 +++++++++++++++++++ nix/rust/flake.nix | 25 +++++++++++++++++ 5 files changed, 63 insertions(+), 7 deletions(-) create mode 100644 nix/rust/flake.lock create mode 100644 nix/rust/flake.nix diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index de6ab3e28f..ffcc77fa8b 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -137,7 +137,7 @@ repos: - id: cargo-fmt name: cargo fmt entry: | - bash -c ' + nix develop path:nix/rust -c bash -c ' set -euo pipefail git ls-files "*Cargo.toml" | while read -r m; do cargo locate-project --manifest-path "$m" --workspace --message-format plain @@ -152,14 +152,18 @@ repos: - id: cargo-clippy name: cargo clippy entry: | - bash -c ' + nix develop path:nix/rust -c bash -c ' set -euo pipefail git ls-files "*Cargo.toml" | while read -r m; do cargo locate-project --manifest-path "$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 "path:$(dirname "$root")" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings + dir=$(dirname "$root") + # A module crate with its own flake carries system deps the toolchain + # shell lacks. The repo-root flake is skipped on purpose: a flake ref + # copies its whole source tree into the store, and that tree is the + # entire repository. + if [ "$dir" != "$(git rev-parse --show-toplevel)" ] && [ -f "$dir/flake.nix" ]; then + nix develop "path:$dir" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings else cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings fi diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index 5057f5e115..3d299762af 100644 --- a/dimos/mapping/ray_tracing/module.py +++ b/dimos/mapping/ray_tracing/module.py @@ -35,7 +35,7 @@ class RayTracingVoxelMapConfig(NativeModuleConfig): 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" / "voxel_ray_tracing") - build_command: str | None = "nix develop path:../../../.. -c cargo build --release" + build_command: str | None = "nix develop path:../../../../nix/rust -c cargo build --release" stdin_config: bool = True voxel_size: float = 0.1 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 dd6923e79f..dac511f206 100644 --- a/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py +++ b/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py @@ -31,7 +31,7 @@ class MLSPlannerNativeConfig(NativeModuleConfig): 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" / "mls_planner") - build_command: str | None = "nix develop path:../../../../.. -c cargo build --release" + build_command: str | None = "nix develop path:../../../../../nix/rust -c cargo build --release" stdin_config: bool = True world_frame: str = "odom" diff --git a/nix/rust/flake.lock b/nix/rust/flake.lock new file mode 100644 index 0000000000..94e0bfb08c --- /dev/null +++ b/nix/rust/flake.lock @@ -0,0 +1,27 @@ +{ + "nodes": { + "nixpkgs": { + "locked": { + "lastModified": 1778869304, + "narHash": "sha256-30sZNZoA1cqF5JNO9fVX+wgiQYjB7HJqqJ4ztCDeBZE=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "d233902339c02a9c334e7e593de68855ad26c4cb", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "root": { + "inputs": { + "nixpkgs": "nixpkgs" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/nix/rust/flake.nix b/nix/rust/flake.nix new file mode 100644 index 0000000000..d23ab6c2b2 --- /dev/null +++ b/nix/rust/flake.nix @@ -0,0 +1,25 @@ +{ + description = "Rust toolchain for the dimos cargo workspace"; + + # Deliberately a tiny flake of its own rather than the repo-root one: a flake + # ref copies its entire source tree into the nix store, and a fresh copy every + # time that tree changes. Pointed at the repo root that means the build dirs, + # .venv and .git (`path:` refs copy everything) or the tracked data/.lfs blobs + # (git refs copy tracked files) -- tens of gigabytes per build. This directory + # is two files, so the snapshot is stable and free. + 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 { + # Locked to the same nixpkgs rev as the repo-root flake, so this is the + # same toolchain the dev shell hands out rather than a second download. + devShells = forAll (pkgs: { + default = pkgs.mkShell { + packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt pkgs.pkg-config ]; + }; + }); + }; +} From 12c5ae271e28e5026f0f56a53ed3d2c1cf76d113 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 16:53:47 -0700 Subject: [PATCH 07/97] Build the rust native modules with a nix derivation `nix develop ... -c cargo build` left the result in a per-machine target dir and needed a working cargo cache. A `nix build` of the whole cargo workspace is one hermetic derivation that Cachix can substitute, and its src is assembled from path literals so a doc or python edit neither rebuilds it nor invalidates the publish marker. Also give the clippy/fmt shell librealsense on Linux, so the realsense crate can join the workspace without breaking macOS. --- bin/build-native-modules | 6 ++- dimos/mapping/ray_tracing/module.py | 10 ++--- .../nav_3d/mls_planner/mls_planner_native.py | 10 ++--- flake.nix | 45 +++++++++++++++++++ nix/rust/flake.nix | 10 +++-- 5 files changed, 67 insertions(+), 14 deletions(-) diff --git a/bin/build-native-modules b/bin/build-native-modules index cbfc6a5cb2..1069826244 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -320,7 +320,11 @@ 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.""" - paths = {module.build_dir} + # Hashing the build dir of a repo-root flake would hash the whole tree, so + # every commit would invalidate the marker and re-run the publish job. Such + # a flake reaches repo content only through the path literals collected + # below, so the flake itself is the only extra input. + paths = {"flake.nix", "flake.lock"} if module.build_dir == "." else {module.build_dir} if not _is_local_flake(module): return paths root = REPO_ROOT / module.build_dir / "flake.nix" diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index 3d299762af..98fff2da21 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 dimos.core.native_module import NativeModule, NativeModuleConfig from dimos.core.stream import In, Out from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped @@ -32,10 +31,11 @@ class RayTracingVoxelMapConfig(NativeModuleConfig): - 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" / "voxel_ray_tracing") - build_command: str | None = "nix develop path:../../../../nix/rust -c cargo build --release" + # The crate is a workspace member, so it is built from the repo root along + # with every other rust native module. + cwd: str | None = "../../.." + executable: str = "result/bin/voxel_ray_tracing" + build_command: str | None = "nix build -L .#rust_native_modules" stdin_config: bool = True voxel_size: float = 0.1 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 dac511f206..f6ad3494bc 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 @@ -28,10 +27,11 @@ class MLSPlannerNativeConfig(NativeModuleConfig): - 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" / "mls_planner") - build_command: str | None = "nix develop path:../../../../../nix/rust -c cargo build --release" + # The crate is a workspace member, so it is built from the repo root along + # with every other rust native module. + cwd: str | None = "../../../.." + executable: str = "result/bin/mls_planner" + build_command: str | None = "nix build -L .#rust_native_modules" stdin_config: bool = True world_frame: str = "odom" diff --git a/flake.nix b/flake.nix index 8b56c1971d..6c219baced 100644 --- a/flake.nix +++ b/flake.nix @@ -310,6 +310,49 @@ }).default; }; + # ------------------------------------------------------------ + # 3b. Native modules built from the cargo workspace + # ------------------------------------------------------------ + # One derivation for every rust native module, because they are one + # cargo workspace: splitting them per module would vendor the deps and + # rebuild the shared crates once each. + # + # `src` is filtered down to the crates rather than being `./.`, so a + # doc or python edit leaves the derivation unchanged and the Cachix + # closure is substituted instead of rebuilt. It also keeps the build + # independent of whether a given clone has pulled the git-lfs datasets. + rustNativeModules = pkgs.rustPlatform.buildRustPackage { + pname = "dimos-rust-native-modules"; + version = "0.1.0"; + # Assembled from path literals rather than filtered out of `./.`, so + # the only repo content reaching the derivation is the workspace + # itself. `bin/build-native-modules --inputs-hash` reads these same + # literals to key the Cachix publish marker, so a doc or python edit + # neither rebuilds this nor re-runs the publish job. + src = pkgs.runCommand "dimos-rust-workspace" { } '' + mkdir -p $out/native $out/dimos/mapping/ray_tracing \ + $out/dimos/navigation/nav_3d/mls_planner \ + $out/dimos/hardware/sensors/lidar $out/examples/native-modules + cp ${./Cargo.toml} $out/Cargo.toml + cp ${./Cargo.lock} $out/Cargo.lock + cp -r ${./native/rust} $out/native/rust + cp -r ${./dimos/mapping/ray_tracing/rust} $out/dimos/mapping/ray_tracing/rust + cp -r ${./dimos/navigation/nav_3d/mls_planner/rust} $out/dimos/navigation/nav_3d/mls_planner/rust + cp -r ${./dimos/hardware/sensors/lidar/virtual_mid360} $out/dimos/hardware/sensors/lidar/virtual_mid360 + cp -r ${./examples/native-modules/rust} $out/examples/native-modules/rust + chmod -R u+w $out + ''; + # Vendored by cargo rather than by `cargoLock.lockFile`: nix's own + # fetcher sends a `curl/*` user agent, which crates.io answers with a + # 403, so every crate not already in cache.nixos.org fails to fetch. + # Cargo sends its own user agent and is served normally. + cargoHash = "sha256-YZHhJ1O++lYGGBfrvSCGolfglFF8Zxsly44+1+N/Hb0="; + # The `py` members are pyo3 cdylibs for the python side, not module + # executables, so only the binary crates are built here. + cargoBuildFlags = [ "-p" "dimos-voxel-ray-tracing" "-p" "dimos-mls-planner" ]; + doCheck = false; + }; + # ------------------------------------------------------------ # 4. Closure copied into the OCI image rootfs # ------------------------------------------------------------ @@ -323,6 +366,8 @@ ## Local dev shell devShells = devShells; + packages.rust_native_modules = rustNativeModules; + ## Layered docker image with DockerTools packages.devcontainer = pkgs.dockerTools.buildLayeredImage { name = "dimensional/dimos-dev"; diff --git a/nix/rust/flake.nix b/nix/rust/flake.nix index d23ab6c2b2..aa84fcbe36 100644 --- a/nix/rust/flake.nix +++ b/nix/rust/flake.nix @@ -14,11 +14,15 @@ systems = [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ]; forAll = f: nixpkgs.lib.genAttrs systems (system: f nixpkgs.legacyPackages.${system}); in { - # Locked to the same nixpkgs rev as the repo-root flake, so this is the - # same toolchain the dev shell hands out rather than a second download. + # The toolchain the clippy and fmt hooks run in. Locked to the same nixpkgs + # rev as the repo-root flake, so this is not a second toolchain download. devShells = forAll (pkgs: { default = pkgs.mkShell { - packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt pkgs.pkg-config ]; + packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ] + # librealsense pulls v4l-utils, which nixpkgs will not evaluate off + # Linux. The realsense crate simply has no macOS build; the rest of + # the workspace still lints there. + ++ nixpkgs.lib.optionals pkgs.stdenv.isLinux [ pkgs.librealsense pkgs.pkg-config ]; }; }); }; From 6d274a2e548287822f95c2c4e56ae27922c8d839 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 17:06:25 -0700 Subject: [PATCH 08/97] Update the workspace cargoHash for main's Cargo.lock bump CI builds the PR merge commit, so the dependabot cargo bump on main (de2b0fc39) changed the lock the vendor derivation sees. Take the value that commit's lock actually vendors to. --- flake.nix | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/flake.nix b/flake.nix index 6c219baced..be0d508e9f 100644 --- a/flake.nix +++ b/flake.nix @@ -346,7 +346,8 @@ # fetcher sends a `curl/*` user agent, which crates.io answers with a # 403, so every crate not already in cache.nixos.org fails to fetch. # Cargo sends its own user agent and is served normally. - cargoHash = "sha256-YZHhJ1O++lYGGBfrvSCGolfglFF8Zxsly44+1+N/Hb0="; + # Rotates whenever Cargo.lock does. + cargoHash = "sha256-PRncaRtNrPM55JS7QPvwvRUm2bkcMwZOdeZGjVsWwpM="; # The `py` members are pyo3 cdylibs for the python side, not module # executables, so only the binary crates are built here. cargoBuildFlags = [ "-p" "dimos-voxel-ray-tracing" "-p" "dimos-mls-planner" ]; From 8a9dc1afbdaae68a68536021b0aaf274c90baec0 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 17:37:04 -0700 Subject: [PATCH 09/97] Let each native module declare its own build inputs The root flake hardcoded every crate directory in the workspace, so adding a module meant editing a file far from it. Each module now owns a deps.nix naming the trees it contributes, the cargo packages that are module executables, and any system libraries it links; the flake only composes them. The inputs-hash scanner follows imported .nix files for the same reason it follows path: inputs -- otherwise a crate reachable only through a deps.nix would not key the Cachix publish marker. --- bin/build-native-modules | 7 ++ .../sensors/lidar/virtual_mid360/deps.nix | 5 ++ dimos/mapping/ray_tracing/deps.nix | 6 ++ dimos/navigation/nav_3d/mls_planner/deps.nix | 4 + examples/native-modules/deps.nix | 4 + flake.nix | 74 +++++++++++-------- native/rust/deps.nix | 4 + 7 files changed, 74 insertions(+), 30 deletions(-) create mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/deps.nix create mode 100644 dimos/mapping/ray_tracing/deps.nix create mode 100644 dimos/navigation/nav_3d/mls_planner/deps.nix create mode 100644 examples/native-modules/deps.nix create mode 100644 native/rust/deps.nix diff --git a/bin/build-native-modules b/bin/build-native-modules index 1069826244..c9226b51bf 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -340,6 +340,13 @@ def _collect_input_paths(module: DiscoveredModule) -> set[str]: seen.add(flake) literals, path_inputs = _flake_refs(flake) paths |= literals + for rel in literals: + # A literal naming a .nix file is imported, and whatever paths it + # names in turn reach the derivation too. Missing those would key + # the marker on the importing file alone, so an edit to a crate + # listed only there would be served from the cache as published. + if rel.endswith(".nix"): + queue.append(REPO_ROOT / rel) for rel in path_inputs: paths.add(rel) sub = REPO_ROOT / rel / "flake.nix" diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/deps.nix b/dimos/hardware/sensors/lidar/virtual_mid360/deps.nix new file mode 100644 index 0000000000..13eb5a9128 --- /dev/null +++ b/dimos/hardware/sensors/lidar/virtual_mid360/deps.nix @@ -0,0 +1,5 @@ +# A workspace member, so cargo needs it present, but it builds through its own +# flake rather than the shared derivation. +_: { + sources."dimos/hardware/sensors/lidar/virtual_mid360" = ./.; +} diff --git a/dimos/mapping/ray_tracing/deps.nix b/dimos/mapping/ray_tracing/deps.nix new file mode 100644 index 0000000000..bc3da201b5 --- /dev/null +++ b/dimos/mapping/ray_tracing/deps.nix @@ -0,0 +1,6 @@ +_: { + sources."dimos/mapping/ray_tracing/rust" = ./rust; + # The `py` member is a pyo3 cdylib for the python side, not a module + # executable, so it is not listed here. + binaries = [ "dimos-voxel-ray-tracing" ]; +} diff --git a/dimos/navigation/nav_3d/mls_planner/deps.nix b/dimos/navigation/nav_3d/mls_planner/deps.nix new file mode 100644 index 0000000000..62b7113f38 --- /dev/null +++ b/dimos/navigation/nav_3d/mls_planner/deps.nix @@ -0,0 +1,4 @@ +_: { + sources."dimos/navigation/nav_3d/mls_planner/rust" = ./rust; + binaries = [ "dimos-mls-planner" ]; +} diff --git a/examples/native-modules/deps.nix b/examples/native-modules/deps.nix new file mode 100644 index 0000000000..d5453528ff --- /dev/null +++ b/examples/native-modules/deps.nix @@ -0,0 +1,4 @@ +# A workspace member cargo needs present. The examples are not shipped. +_: { + sources."examples/native-modules/rust" = ./rust; +} diff --git a/flake.nix b/flake.nix index be0d508e9f..5a8bdc73e5 100644 --- a/flake.nix +++ b/flake.nix @@ -317,40 +317,54 @@ # cargo workspace: splitting them per module would vendor the deps and # rebuild the shared crates once each. # - # `src` is filtered down to the crates rather than being `./.`, so a - # doc or python edit leaves the derivation unchanged and the Cachix - # closure is substituted instead of rebuilt. It also keeps the build - # independent of whether a given clone has pulled the git-lfs datasets. + # Each module owns a `deps.nix` naming the crate directories it + # contributes to the workspace, the cargo packages that are module + # executables, and any system libraries it links. This file only + # composes them, so adding a module is a new deps.nix plus a line here. + moduleDeps = map (file: import file pkgs) [ + ./native/rust/deps.nix + ./dimos/mapping/ray_tracing/deps.nix + ./dimos/navigation/nav_3d/mls_planner/deps.nix + ./dimos/hardware/sensors/lidar/virtual_mid360/deps.nix + ./examples/native-modules/deps.nix + ]; + depsField = field: builtins.concatLists (map (dep: dep.${field} or [ ]) moduleDeps); + rustNativeModules = pkgs.rustPlatform.buildRustPackage { pname = "dimos-rust-native-modules"; version = "0.1.0"; - # Assembled from path literals rather than filtered out of `./.`, so - # the only repo content reaching the derivation is the workspace - # itself. `bin/build-native-modules --inputs-hash` reads these same - # literals to key the Cachix publish marker, so a doc or python edit - # neither rebuilds this nor re-runs the publish job. - src = pkgs.runCommand "dimos-rust-workspace" { } '' - mkdir -p $out/native $out/dimos/mapping/ray_tracing \ - $out/dimos/navigation/nav_3d/mls_planner \ - $out/dimos/hardware/sensors/lidar $out/examples/native-modules - cp ${./Cargo.toml} $out/Cargo.toml - cp ${./Cargo.lock} $out/Cargo.lock - cp -r ${./native/rust} $out/native/rust - cp -r ${./dimos/mapping/ray_tracing/rust} $out/dimos/mapping/ray_tracing/rust - cp -r ${./dimos/navigation/nav_3d/mls_planner/rust} $out/dimos/navigation/nav_3d/mls_planner/rust - cp -r ${./dimos/hardware/sensors/lidar/virtual_mid360} $out/dimos/hardware/sensors/lidar/virtual_mid360 - cp -r ${./examples/native-modules/rust} $out/examples/native-modules/rust - chmod -R u+w $out - ''; - # Vendored by cargo rather than by `cargoLock.lockFile`: nix's own - # fetcher sends a `curl/*` user agent, which crates.io answers with a - # 403, so every crate not already in cache.nixos.org fails to fetch. - # Cargo sends its own user agent and is served normally. - # Rotates whenever Cargo.lock does. + # Assembled from the declared crate directories rather than filtered + # out of `./.`, so the only repo content reaching the derivation is + # the workspace itself: a doc or python edit leaves this unchanged + # and Cachix substitutes it. It also makes the build independent of + # whether a clone has pulled the git-lfs datasets. + # `bin/build-native-modules --inputs-hash` follows the same imports + # to key the Cachix publish marker. + src = pkgs.runCommand "dimos-rust-workspace" { } ( + '' + mkdir -p $out + cp ${./Cargo.toml} $out/Cargo.toml + cp ${./Cargo.lock} $out/Cargo.lock + '' + + pkgs.lib.concatMapStrings + (dep: pkgs.lib.concatStrings (pkgs.lib.mapAttrsToList (dest: tree: '' + mkdir -p $out/${builtins.dirOf dest} + cp -r ${tree} $out/${dest} + '') (dep.sources or { }))) + moduleDeps + + "chmod -R u+w $out\n" + ); + buildInputs = depsField "buildInputs"; + nativeBuildInputs = depsField "nativeBuildInputs"; + # Vendored by cargo rather than by `cargoLock.lockFile`, which would + # need no hash at all: nixpkgs downloads crates from crates.io's API, + # which 403s its `curl/*` user agent. Its CDN serves them fine, but + # the `extraRegistries` override for that also emits a second + # `[source]` block for crates-io, and cargo refuses the duplicate. + # So this hash has to be re-pasted whenever Cargo.lock moves; the CI + # failure prints the new value. cargoHash = "sha256-PRncaRtNrPM55JS7QPvwvRUm2bkcMwZOdeZGjVsWwpM="; - # The `py` members are pyo3 cdylibs for the python side, not module - # executables, so only the binary crates are built here. - cargoBuildFlags = [ "-p" "dimos-voxel-ray-tracing" "-p" "dimos-mls-planner" ]; + cargoBuildFlags = builtins.concatMap (name: [ "-p" name ]) (depsField "binaries"); doCheck = false; }; diff --git a/native/rust/deps.nix b/native/rust/deps.nix new file mode 100644 index 0000000000..bb9747db14 --- /dev/null +++ b/native/rust/deps.nix @@ -0,0 +1,4 @@ +# The crates every native module links against. Contributes no binaries. +_: { + sources."native/rust" = ./.; +} From d08156fefc68b0a803b8163caf8e1f58fc29520c Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 18:14:20 -0700 Subject: [PATCH 10/97] Find the native module deps.nix files instead of listing them Adding a rust native module no longer means editing the repo-root flake, which was the last place the module list was duplicated. The search rule is deliberately the dumbest one available -- every file named deps.nix, anywhere in the tree -- because the Cachix publish gate in bin/build-native-modules has to arrive at the same set without evaluating nix, and it does that with a glob. Anything cleverer would be two implementations that drift. Searching makes the flake name ./. , which the publish gate would otherwise hash as the whole repository, rekeying the marker on every commit. readDir reads directory names rather than file contents, so the deps.nix files and the crates they name are the only content that actually reaches the derivation, and both are already collected. The exemption is therefore limited to that one expression: any other ./. in the root flake is now a hard error. --- bin/build-native-modules | 36 +++++++++++++++++++++++++++++++++++- flake.nix | 31 ++++++++++++++++++++++--------- 2 files changed, 57 insertions(+), 10 deletions(-) diff --git a/bin/build-native-modules b/bin/build-native-modules index c9226b51bf..0c587d759a 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -277,6 +277,10 @@ def _resolve_ref(flake: Path, token: str) -> str: return PurePosixPath(rel).as_posix() +# The repo-root flake's only legitimate use of `./.` — the deps.nix search. +_DOT_LITERAL = re.compile(r"(? set[str]: paths = {"flake.nix", "flake.lock"} if module.build_dir == "." else {module.build_dir} if not _is_local_flake(module): return paths + # The repo-root flake discovers its build inputs by searching the tree for + # files named `deps.nix`, so there is no path literal to scan for. Mirror + # that search here -- same rule, stated the same way -- and let the queue + # below follow each one to the crate directories it names. Getting this set + # wrong is silent: a crate reachable only through a missed deps.nix would be + # served from the cache as already published. + discovered = ( + [ + found + for found in REPO_ROOT.rglob("deps.nix") + if not any(part.startswith(".") for part in found.relative_to(REPO_ROOT).parts) + ] + if module.build_dir == "." + else [] + ) + paths |= {found.relative_to(REPO_ROOT).as_posix() for found in discovered} root = REPO_ROOT / module.build_dir / "flake.nix" if not root.is_file(): raise SystemExit( f"{module.source}: {module.qualname} builds a local flake but {root} is missing" ) - queue, seen = [root], set() + queue, seen = [root, *discovered], set() while queue: flake = queue.pop() if flake in seen: @@ -353,6 +373,20 @@ def _collect_input_paths(module: DiscoveredModule) -> set[str]: 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 + if module.build_dir == "." and "." in paths: + # `findDepsFiles ./.` names the whole repo, but readDir reads directory + # *names*, not file contents: the only content that reaches the + # derivation is the deps.nix files it finds and the crates those name, + # and both are already in `paths`. Hashing "." instead would rekey the + # marker on every commit in the repo. Narrow on purpose — a plain `./.` + # anywhere else in this flake would reach everything for real. + text = _strip_nix_comments(root.read_text()) + if len(_DOT_LITERAL.findall(text)) != len(_ROOT_SEARCH.findall(text)): + raise SystemExit( + "flake.nix: `./.` outside the deps.nix search reaches the whole repository;" + " the inputs hash cannot follow that — name a specific path instead" + ) + paths.discard(".") return paths diff --git a/flake.nix b/flake.nix index 5a8bdc73e5..9ed4d3a056 100644 --- a/flake.nix +++ b/flake.nix @@ -319,15 +319,28 @@ # # Each module owns a `deps.nix` naming the crate directories it # contributes to the workspace, the cargo packages that are module - # executables, and any system libraries it links. This file only - # composes them, so adding a module is a new deps.nix plus a line here. - moduleDeps = map (file: import file pkgs) [ - ./native/rust/deps.nix - ./dimos/mapping/ray_tracing/deps.nix - ./dimos/navigation/nav_3d/mls_planner/deps.nix - ./dimos/hardware/sensors/lidar/virtual_mid360/deps.nix - ./examples/native-modules/deps.nix - ]; + # executables, and any system libraries it links. Adding a module is + # just a new deps.nix; nothing here has to change. + # + # The rule is deliberately the dumbest one possible -- every file named + # `deps.nix`, anywhere in the tree -- because + # `bin/build-native-modules --inputs-hash` has to find exactly the same + # set to key the Cachix publish marker, and it does that with a glob + # rather than by evaluating nix. Any cleverer rule here (pruning, + # restricted roots) would have to be mirrored there, and the two would + # drift. Keep them the same sentence. + findDepsFiles = dir: + let entries = builtins.readDir dir; in + builtins.concatMap + (name: + if entries.${name} == "directory" then + findDepsFiles (dir + "/${name}") + else if name == "deps.nix" then + [ (dir + "/${name}") ] + else + [ ]) + (builtins.attrNames entries); + moduleDeps = map (file: import file pkgs) (findDepsFiles ./.); depsField = field: builtins.concatLists (map (dep: dep.${field} or [ ]) moduleDeps); rustNativeModules = pkgs.rustPlatform.buildRustPackage { From d06824e53644e566e62b618c58fbee65cb0b1ffa Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 18:52:35 -0700 Subject: [PATCH 11/97] Vendor the rust workspace from Cargo.lock instead of an aggregate hash cargoHash is one fixed-output hash over every vendored crate, so any Cargo.lock change invalidates it -- including a dependabot bump landing on main, which CI surfaces through the merge commit and so fails pull requests that never touched rust. Recovering means a human reading a hash out of a vendor-staging log and pasting it back. cargoLock uses the per-crate checksums already in the lock, so there is no aggregate hash to maintain. Git dependencies still need an entry because the lock records no checksum for them, but that hash is keyed to a pinned rev rather than to the lock as a whole. An earlier revision of this branch claimed nixpkgs could not fetch crates this way because crates.io rejects the curl user agent. That was measured with a manual curl against a different URL and never tested against the actual build, which fetches without trouble. --- flake.nix | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/flake.nix b/flake.nix index 9ed4d3a056..131ea650e6 100644 --- a/flake.nix +++ b/flake.nix @@ -369,14 +369,17 @@ ); buildInputs = depsField "buildInputs"; nativeBuildInputs = depsField "nativeBuildInputs"; - # Vendored by cargo rather than by `cargoLock.lockFile`, which would - # need no hash at all: nixpkgs downloads crates from crates.io's API, - # which 403s its `curl/*` user agent. Its CDN serves them fine, but - # the `extraRegistries` override for that also emits a second - # `[source]` block for crates-io, and cargo refuses the duplicate. - # So this hash has to be re-pasted whenever Cargo.lock moves; the CI - # failure prints the new value. - cargoHash = "sha256-PRncaRtNrPM55JS7QPvwvRUm2bkcMwZOdeZGjVsWwpM="; + # Vendored from the lock file's own per-crate checksums, so there is + # no aggregate `cargoHash` to re-paste whenever Cargo.lock moves. Git + # dependencies are the exception -- the lock records no checksum for + # them -- but the hash below is keyed to a pinned rev, so it changes + # only when that rev does, never on a dependabot bump. + cargoLock = { + lockFile = ./Cargo.lock; + outputHashes = { + "dimos-lcm-0.1.0" = "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8="; + }; + }; cargoBuildFlags = builtins.concatMap (name: [ "-p" name ]) (depsField "binaries"); doCheck = false; }; From 7d19b37b337bf9770ca2fae6b8faefc1c5ee79ee Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 21:34:59 -0700 Subject: [PATCH 12/97] Revert "Vendor the rust workspace from Cargo.lock instead of an aggregate hash" This reverts commit d06824e53644e566e62b618c58fbee65cb0b1ffa. --- flake.nix | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/flake.nix b/flake.nix index 131ea650e6..9ed4d3a056 100644 --- a/flake.nix +++ b/flake.nix @@ -369,17 +369,14 @@ ); buildInputs = depsField "buildInputs"; nativeBuildInputs = depsField "nativeBuildInputs"; - # Vendored from the lock file's own per-crate checksums, so there is - # no aggregate `cargoHash` to re-paste whenever Cargo.lock moves. Git - # dependencies are the exception -- the lock records no checksum for - # them -- but the hash below is keyed to a pinned rev, so it changes - # only when that rev does, never on a dependabot bump. - cargoLock = { - lockFile = ./Cargo.lock; - outputHashes = { - "dimos-lcm-0.1.0" = "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8="; - }; - }; + # Vendored by cargo rather than by `cargoLock.lockFile`, which would + # need no hash at all: nixpkgs downloads crates from crates.io's API, + # which 403s its `curl/*` user agent. Its CDN serves them fine, but + # the `extraRegistries` override for that also emits a second + # `[source]` block for crates-io, and cargo refuses the duplicate. + # So this hash has to be re-pasted whenever Cargo.lock moves; the CI + # failure prints the new value. + cargoHash = "sha256-PRncaRtNrPM55JS7QPvwvRUm2bkcMwZOdeZGjVsWwpM="; cargoBuildFlags = builtins.concatMap (name: [ "-p" name ]) (depsField "binaries"); doCheck = false; }; From 5def8fdc84beeff7e3e45f5287df076109b09a21 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 21:35:31 -0700 Subject: [PATCH 13/97] Record why cargoLock.lockFile cannot replace the aggregate hash The 403 does not reproduce locally -- the crate tarballs are fixed-output, so they substitute from cache.nixos.org and the fetch never runs. Only CI, on a cache miss, actually hits crates.io. Note that, and the reason the CDN cannot be substituted in, so the next attempt does not have to rediscover it from a red build. --- flake.nix | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/flake.nix b/flake.nix index 9ed4d3a056..445e32dcc1 100644 --- a/flake.nix +++ b/flake.nix @@ -370,10 +370,14 @@ buildInputs = depsField "buildInputs"; nativeBuildInputs = depsField "nativeBuildInputs"; # Vendored by cargo rather than by `cargoLock.lockFile`, which would - # need no hash at all: nixpkgs downloads crates from crates.io's API, - # which 403s its `curl/*` user agent. Its CDN serves them fine, but - # the `extraRegistries` override for that also emits a second - # `[source]` block for crates-io, and cargo refuses the duplicate. + # need no hash at all: nixpkgs fetches each crate with curl from + # `crates.io/api/v1/.../download`, and that endpoint 403s curl's user + # agent. Cargo itself is allowed, which is why vendoring works here. + # `static.crates.io` also serves them fine, but nothing in + # `importCargoLock` can point at it -- `registries` supplies only a + # base, always suffixed `///download`, and the CDN's + # path is `//-.crate`. Note the 403 is invisible + # locally, where the crates substitute from cache.nixos.org instead. # So this hash has to be re-pasted whenever Cargo.lock moves; the CI # failure prints the new value. cargoHash = "sha256-PRncaRtNrPM55JS7QPvwvRUm2bkcMwZOdeZGjVsWwpM="; From 701453c3dabb796c40d9867e243c613a71e0e22d Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 21:57:32 -0700 Subject: [PATCH 14/97] Re-paste cargoHash for the Cargo.lock main brought in #3741 changed Cargo.lock on main. CI builds the merge commit, so the vendor hash went stale on a branch that never touched rust -- the failure mode the comment above the hash describes. --- flake.nix | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flake.nix b/flake.nix index 445e32dcc1..a78f864211 100644 --- a/flake.nix +++ b/flake.nix @@ -380,7 +380,7 @@ # locally, where the crates substitute from cache.nixos.org instead. # So this hash has to be re-pasted whenever Cargo.lock moves; the CI # failure prints the new value. - cargoHash = "sha256-PRncaRtNrPM55JS7QPvwvRUm2bkcMwZOdeZGjVsWwpM="; + cargoHash = "sha256-Tm1TeMi8A0ESvARlLglV/ycax2GFqvh54zjEPkOTXm8="; cargoBuildFlags = builtins.concatMap (name: [ "-p" name ]) (depsField "binaries"); doCheck = false; }; From 8b4e3faac0e9bfe03f132f89e2b9ee10f5b91ab9 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 22:20:20 -0700 Subject: [PATCH 15/97] Build native modules with crate2nix instead of one cargoHash Cargo.nix gives every crate its own derivation, so editing one module does not rebuild the others and each crate caches on its own. Measured: a cold ray_tracing build is 11m43s, and mls_planner right after is 21.8s. It also removes the aggregate cargoHash, which had to be re-pasted by hand whenever Cargo.lock moved -- including from main, which breaks branches that never touched rust, because CI builds the merge commit. The replacement failure mode is a stale generated file, which the new cargo-nix-current job prints as a diff instead of a number to re-paste. Regenerate with bin/regen-cargo-nix. The generated pair is excluded from the byte-rewriting pre-commit hooks so it stays reproducible, and Cargo.nix is exempted from the large-files check -- LFS would be wrong for a file CI has to diff as text. --- .github/workflows/ci.yml | 28 + .pre-commit-config.yaml | 12 +- Cargo.nix | 16240 ++++++++++++++++ bin/regen-cargo-nix | 7 + crate-config.nix | 10 + crate-hashes.json | 4 + .../sensors/lidar/virtual_mid360/deps.nix | 5 - dimos/mapping/ray_tracing/deps.nix | 4 +- dimos/mapping/ray_tracing/module.py | 12 +- dimos/navigation/nav_3d/mls_planner/deps.nix | 4 +- .../nav_3d/mls_planner/mls_planner_native.py | 11 +- examples/native-modules/deps.nix | 4 - flake.nix | 105 +- native/rust/deps.nix | 4 - pyproject.toml | 3 + 15 files changed, 16370 insertions(+), 83 deletions(-) create mode 100644 Cargo.nix create mode 100755 bin/regen-cargo-nix create mode 100644 crate-config.nix create mode 100644 crate-hashes.json delete mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/deps.nix delete mode 100644 examples/native-modules/deps.nix delete mode 100644 native/rust/deps.nix diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 3b3d77ab09..febddc7e8a 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -248,6 +248,33 @@ jobs: - name: Bake e2e tests run: uv run pytest -m bake_e2e dimos/cli/bake/test_bake_e2e.py --no-cov + cargo-nix-current: + # Cargo.nix is generated from Cargo.lock and gives every crate its own + # derivation, which is what lets one module rebuild without the others. + # It is the successor to an aggregate `cargoHash`, and the reason it is an + # improvement is this job: a stale generated file is a diff CI can print, + # where a stale hash was a number a human had to re-paste from a failed + # build. Note this fires on lock changes from main too, because CI builds + # the merge commit. + timeout-minutes: 30 + runs-on: ubuntu-latest + permissions: + contents: read # For checkout + + steps: + - name: Checkout + uses: actions/checkout@v7 + - name: Install Nix + run: bash docker/ros/install-nix.sh + - name: Regenerate Cargo.nix + run: bin/regen-cargo-nix + - name: Fail if the committed Cargo.nix is stale + run: | + if ! git diff --exit-code -- Cargo.nix crate-hashes.json; then + echo "::error::Cargo.nix is out of date — run bin/regen-cargo-nix and commit the result" + exit 1 + fi + cpp: timeout-minutes: 30 runs-on: ubuntu-latest @@ -949,6 +976,7 @@ jobs: needs: - lint - rust + - cargo-nix-current - cpp - md-babel - web diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index ffcc77fa8b..c088dda822 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -39,15 +39,21 @@ repos: rev: v4.6.0 hooks: - id: check-case-conflict + # These three rewrite bytes, so they are kept off files that must stay + # byte-identical to something outside this repo: patches (upstream + # diffs), and Cargo.nix / crate-hashes.json, which bin/regen-cargo-nix + # reproduces verbatim and the cargo-nix-current CI job diffs. Reformatting + # the generated pair here would fail that job on every run, because CI + # does not run these hooks. - id: trailing-whitespace language: python types: [text] - exclude: \.patch$ # patch files contain intentional trailing whitespace + exclude: &verbatim-files (\.patch$|^Cargo\.nix$|^crate-hashes\.json$) - id: end-of-file-fixer - exclude: \.patch$ # 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 diff --git a/Cargo.nix b/Cargo.nix new file mode 100644 index 0000000000..354ecfd847 --- /dev/null +++ b/Cargo.nix @@ -0,0 +1,16240 @@ + +# This file was @generated by crate2nix 0.15.0 with the command: +# "generate" +# See https://github.com/kolloch/crate2nix for more info. + +{ nixpkgs ? +, pkgs ? import nixpkgs { config = {}; } +, fetchurl ? pkgs.fetchurl +, lib ? pkgs.lib +, stdenv ? pkgs.stdenv +, buildRustCrateForPkgs ? pkgs: pkgs.buildRustCrate + # This is used as the `crateOverrides` argument for `buildRustCrate`. +, defaultCrateOverrides ? pkgs.defaultCrateOverrides + # The features to enable for the root_crate or the workspace_members. +, rootFeatures ? [ "default" ] + # If true, throw errors instead of issueing deprecation warnings. +, strictDeprecation ? false + # Elements to add to the `-C target-feature=` argument passed to `rustc` + # (separated by `,`, prefixed with `+`). + # Used for conditional compilation based on CPU feature detection. +, targetFeatures ? [] + # Additional target attributes for conditional dependencies. + # Use this for custom cfg flags that are passed via rustcflags but need to + # be known at Nix evaluation time for dependency resolution. + # Example: { tracing_unstable = true; } for crates using cfg(tracing_unstable). +, extraTargetFlags ? {} + # Whether to perform release builds: longer compile times, faster binaries. +, release ? true + # Additional crate2nix configuration if it exists. +, crateConfig + ? if builtins.pathExists ./crate-config.nix + then pkgs.callPackage ./crate-config.nix {} + else {} +}: + +rec { + # + # "public" attributes that we attempt to keep stable with new versions of crate2nix. + # + + + # Refer your crate build derivation by name here. + # You can override the features with + # workspaceMembers."${crateName}".build.override { features = [ "default" "feature1" ... ]; }. + workspaceMembers = { + "dimos-mls-planner" = rec { + packageId = "dimos-mls-planner"; + build = internal.buildRustCrateWithFeatures { + packageId = "dimos-mls-planner"; + }; + + # Debug support which might change between releases. + # File a bug if you depend on any for non-debug work! + debug = internal.debugCrate { inherit packageId; }; + }; + "dimos-mls-planner-py" = rec { + packageId = "dimos-mls-planner-py"; + build = internal.buildRustCrateWithFeatures { + packageId = "dimos-mls-planner-py"; + }; + + # Debug support which might change between releases. + # File a bug if you depend on any for non-debug work! + debug = internal.debugCrate { inherit packageId; }; + }; + "dimos-module" = rec { + packageId = "dimos-module"; + build = internal.buildRustCrateWithFeatures { + packageId = "dimos-module"; + }; + + # Debug support which might change between releases. + # File a bug if you depend on any for non-debug work! + debug = internal.debugCrate { inherit packageId; }; + }; + "dimos-module-macros" = rec { + packageId = "dimos-module-macros"; + build = internal.buildRustCrateWithFeatures { + packageId = "dimos-module-macros"; + }; + + # Debug support which might change between releases. + # File a bug if you depend on any for non-debug work! + debug = internal.debugCrate { inherit packageId; }; + }; + "dimos-native-module-examples" = rec { + packageId = "dimos-native-module-examples"; + build = internal.buildRustCrateWithFeatures { + packageId = "dimos-native-module-examples"; + }; + + # Debug support which might change between releases. + # File a bug if you depend on any for non-debug work! + debug = internal.debugCrate { inherit packageId; }; + }; + "dimos-voxel-ray-tracing" = rec { + packageId = "dimos-voxel-ray-tracing"; + build = internal.buildRustCrateWithFeatures { + packageId = "dimos-voxel-ray-tracing"; + }; + + # Debug support which might change between releases. + # File a bug if you depend on any for non-debug work! + debug = internal.debugCrate { inherit packageId; }; + }; + "dimos-voxel-ray-tracing-py" = rec { + packageId = "dimos-voxel-ray-tracing-py"; + build = internal.buildRustCrateWithFeatures { + packageId = "dimos-voxel-ray-tracing-py"; + }; + + # Debug support which might change between releases. + # File a bug if you depend on any for non-debug work! + debug = internal.debugCrate { inherit packageId; }; + }; + "virtual-mid360" = rec { + packageId = "virtual-mid360"; + build = internal.buildRustCrateWithFeatures { + packageId = "virtual-mid360"; + }; + + # Debug support which might change between releases. + # File a bug if you depend on any for non-debug work! + debug = internal.debugCrate { inherit packageId; }; + }; + }; + + + + # A derivation that joins the outputs of all workspace members together. + allWorkspaceMembers = pkgs.symlinkJoin { + name = "all-workspace-members"; + paths = + let members = builtins.attrValues workspaceMembers; + in builtins.map (m: m.build) members; + }; + + # + # "internal" ("private") attributes that may change in every new version of crate2nix. + # + + internal = rec { + # Build and dependency information for crates. + # Many of the fields are passed one-to-one to buildRustCrate. + # + # Noteworthy: + # * `dependencies`/`buildDependencies`: similar to the corresponding fields for buildRustCrate. + # but with additional information which is used during dependency/feature resolution. + # * `resolvedDependencies`: the selected default features reported by cargo - only included for debugging. + # * `devDependencies` as of now not used by `buildRustCrate` but used to + # inject test dependencies into the build + + crates = { + "adler2" = rec { + crateName = "adler2"; + version = "2.0.1"; + edition = "2021"; + sha256 = "1ymy18s9hs7ya1pjc9864l30wk8p2qfqdi7mhhcc5nfakxbij09j"; + authors = [ + "Jonas Schievink " + "oyvindln " + ]; + features = { + "core" = [ "dep:core" ]; + "default" = [ "std" ]; + "rustc-dep-of-std" = [ "core" ]; + }; + }; + "advisory-lock" = rec { + crateName = "advisory-lock"; + version = "0.3.0"; + edition = "2018"; + sha256 = "14wg5p8kvb6iw7pa832v1kd6acw4py66ym697ynzjc7r91yyxjm6"; + libName = "advisory_lock"; + authors = [ + "topecongiro" + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (builtins.elem "unix" target."family"); + } + { + name = "winapi"; + packageId = "winapi"; + target = { target, features }: (target."windows" or false); + features = [ "errhandlingapi" "fileapi" "minwinbase" "winerror" ]; + } + ]; + + }; + "aes" = rec { + crateName = "aes"; + version = "0.8.4"; + edition = "2021"; + sha256 = "1853796anlwp4kqim0s6wm1srl4ib621nm0cl2h3c8klsjkgfsdi"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "cipher"; + packageId = "cipher"; + } + { + name = "cpufeatures"; + packageId = "cpufeatures 0.2.17"; + target = { target, features }: (("aarch64" == target."arch" or null) || ("x86_64" == target."arch" or null) || ("x86" == target."arch" or null)); + } + ]; + devDependencies = [ + { + name = "cipher"; + packageId = "cipher"; + features = [ "dev" ]; + } + ]; + features = { + "zeroize" = [ "dep:zeroize" ]; + }; + }; + "ahash" = rec { + crateName = "ahash"; + version = "0.8.12"; + edition = "2018"; + sha256 = "0xbsp9rlm5ki017c0w6ay8kjwinwm8knjncci95mii30rmwz25as"; + authors = [ + "Tom Kaitchuck " + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "getrandom"; + packageId = "getrandom 0.3.4"; + optional = true; + } + { + name = "once_cell"; + packageId = "once_cell"; + usesDefaultFeatures = false; + target = { target, features }: (!(("arm" == target."arch" or null) && ("none" == target."os" or null))); + features = [ "alloc" ]; + } + { + name = "zerocopy"; + packageId = "zerocopy"; + usesDefaultFeatures = false; + features = [ "simd" ]; + } + ]; + buildDependencies = [ + { + name = "version_check"; + packageId = "version_check"; + } + ]; + features = { + "atomic-polyfill" = [ "dep:portable-atomic" "once_cell/critical-section" ]; + "compile-time-rng" = [ "const-random" ]; + "const-random" = [ "dep:const-random" ]; + "default" = [ "std" "runtime-rng" ]; + "getrandom" = [ "dep:getrandom" ]; + "runtime-rng" = [ "getrandom" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "default" "getrandom" "runtime-rng" "std" ]; + }; + "aho-corasick" = rec { + crateName = "aho-corasick"; + version = "1.1.5"; + edition = "2021"; + sha256 = "1fhjkp2nbs7gg4y1b68hpc8028rpax8aiscfh9b60q78m4pn90n9"; + libName = "aho_corasick"; + authors = [ + "Andrew Gallant " + ]; + dependencies = [ + { + name = "memchr"; + packageId = "memchr"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" "perf-literal" ]; + "logging" = [ "dep:log" ]; + "perf-literal" = [ "dep:memchr" ]; + "std" = [ "memchr?/std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "allocator-api2" = rec { + crateName = "allocator-api2"; + version = "0.2.21"; + edition = "2018"; + sha256 = "08zrzs022xwndihvzdn78yqarv2b9696y67i6h78nla3ww87jgb8"; + libName = "allocator_api2"; + authors = [ + "Zakarum " + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" ]; + }; + "android_system_properties" = rec { + crateName = "android_system_properties"; + version = "0.1.6"; + edition = "2018"; + sha256 = "1g3z4ga15a9022vbgi31qqyb7pgk23saq7xfarn6yslpr54ic8mf"; + authors = [ + "Nicolas Silva " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + } + ]; + + }; + "anyhow" = rec { + crateName = "anyhow"; + version = "1.0.104"; + edition = "2021"; + sha256 = "0w34jjcm02p5g9kvsjr1dvpw0zs2fi7igi6nr414fkm5gz85w2ik"; + authors = [ + "David Tolnay " + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "approx" = rec { + crateName = "approx"; + version = "0.5.1"; + edition = "2015"; + sha256 = "1ilpv3dgd58rasslss0labarq7jawxmivk17wsh8wmkdm3q15cfa"; + authors = [ + "Brendan Zabarauskas " + ]; + dependencies = [ + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "num-complex" = [ "dep:num-complex" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "arc-swap" = rec { + crateName = "arc-swap"; + version = "1.9.2"; + edition = "2018"; + sha256 = "02w1n3kiz02ml6is3biqia4bgxcf7dml2m9mrd2v3w5f9nzc0jf0"; + libName = "arc_swap"; + authors = [ + "Michal 'vorner' Vaner " + ]; + dependencies = [ + { + name = "rustversion"; + packageId = "rustversion"; + } + ]; + features = { + "serde" = [ "dep:serde" ]; + }; + }; + "array-init" = rec { + crateName = "array-init"; + version = "2.1.0"; + edition = "2018"; + sha256 = "1z0bh6grrkxlbknq3xyipp42rasngi806y92fiddyb2n99lvfqix"; + libName = "array_init"; + authors = [ + "Manish Goregaokar " + "Michal 'vorner' Vaner " + ]; + + }; + "arrayvec" = rec { + crateName = "arrayvec"; + version = "0.7.8"; + edition = "2018"; + sha256 = "0mmd8lrijbvg1qp4c5zis5dq41a3mjv2rb6bxkyj9kwaw2k6gyyk"; + authors = [ + "bluss" + ]; + features = { + "borsh" = [ "dep:borsh" ]; + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + "zeroize" = [ "dep:zeroize" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "asn1-rs" = rec { + crateName = "asn1-rs"; + version = "0.7.2"; + edition = "2018"; + sha256 = "1n6raa3ak53nhjk98m76vqf0lzwr6nw22p48ivgsbp2gmi83mx5p"; + libName = "asn1_rs"; + authors = [ + "Pierre Chifflier " + ]; + dependencies = [ + { + name = "asn1-rs-derive"; + packageId = "asn1-rs-derive"; + } + { + name = "asn1-rs-impl"; + packageId = "asn1-rs-impl"; + } + { + name = "displaydoc"; + packageId = "displaydoc"; + } + { + name = "nom"; + packageId = "nom"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "num-traits"; + packageId = "num-traits"; + } + { + name = "rusticata-macros"; + packageId = "rusticata-macros"; + } + { + name = "thiserror"; + packageId = "thiserror"; + } + { + name = "time"; + packageId = "time"; + optional = true; + features = [ "macros" "parsing" "formatting" ]; + } + ]; + features = { + "bigint" = [ "num-bigint" ]; + "bits" = [ "bitvec" ]; + "bitvec" = [ "dep:bitvec" ]; + "colored" = [ "dep:colored" ]; + "cookie-factory" = [ "dep:cookie-factory" ]; + "datetime" = [ "time" ]; + "debug" = [ "std" "colored" ]; + "default" = [ "std" ]; + "num-bigint" = [ "dep:num-bigint" ]; + "serialize" = [ "cookie-factory" ]; + "time" = [ "dep:time" ]; + "trace" = [ "debug" ]; + }; + resolvedDefaultFeatures = [ "datetime" "default" "std" "time" ]; + }; + "asn1-rs-derive" = rec { + crateName = "asn1-rs-derive"; + version = "0.6.0"; + edition = "2018"; + sha256 = "0b7fpyjs2kyb2i922br5mbg8rml46rihr8qmcpdyj2a93sdy829i"; + procMacro = true; + libName = "asn1_rs_derive"; + authors = [ + "Pierre Chifflier " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + { + name = "synstructure"; + packageId = "synstructure"; + } + ]; + + }; + "asn1-rs-impl" = rec { + crateName = "asn1-rs-impl"; + version = "0.2.0"; + edition = "2018"; + sha256 = "1xv56m0wrwix4av3w86sih1nsa5g1dgfz135lz1qdznn5h60a63v"; + procMacro = true; + libName = "asn1_rs_impl"; + authors = [ + "Pierre Chifflier " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + } + ]; + + }; + "async-trait" = rec { + crateName = "async-trait"; + version = "0.1.92"; + edition = "2021"; + sha256 = "0rqn5iga1hlv2lm8xzav1zhar46jb4dvx89i6kfv93kb53maxxl2"; + procMacro = true; + libName = "async_trait"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + usesDefaultFeatures = false; + features = [ "clone-impls" "full" "parsing" "printing" "proc-macro" "visit-mut" ]; + } + ]; + + }; + "autocfg" = rec { + crateName = "autocfg"; + version = "1.5.1"; + edition = "2015"; + sha256 = "0lqasy5i30flcgih1b50kvsk6z32g09r1q4ql7q81pj6228jy0zj"; + authors = [ + "Josh Stone " + ]; + + }; + "base64" = rec { + crateName = "base64"; + version = "0.22.1"; + edition = "2018"; + sha256 = "1imqzgh7bxcikp5vx3shqvw9j09g9ly0xr0jma0q66i52r7jbcvj"; + authors = [ + "Marshall Pierce " + ]; + features = { + "default" = [ "std" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" ]; + }; + "bit-vec" = rec { + crateName = "bit-vec"; + version = "0.9.1"; + edition = "2021"; + sha256 = "0l9zc1dkjmqykbfx1j14rnfy9rl1pjj5hwjs8j311zn1lby9h5xp"; + libName = "bit_vec"; + authors = [ + "Alexis Beingessner " + ]; + dependencies = [ + { + name = "serde"; + packageId = "serde"; + optional = true; + usesDefaultFeatures = false; + features = [ "derive" "alloc" ]; + } + ]; + features = { + "borsh" = [ "dep:borsh" ]; + "borsh_std" = [ "borsh/std" ]; + "default" = [ "std" ]; + "miniserde" = [ "dep:miniserde" ]; + "nanoserde" = [ "dep:nanoserde" ]; + "serde" = [ "dep:serde" ]; + "serde_std" = [ "std" "serde/std" ]; + "std" = [ "serde?/std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "bitflags 1.3.2" = rec { + crateName = "bitflags"; + version = "1.3.2"; + edition = "2018"; + sha256 = "12ki6w8gn1ldq7yz9y680llwk5gmrhrzszaa17g1sbrw2r2qvwxy"; + authors = [ + "The Rust Project Developers" + ]; + features = { + "compiler_builtins" = [ "dep:compiler_builtins" ]; + "core" = [ "dep:core" ]; + "rustc-dep-of-std" = [ "core" "compiler_builtins" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "bitflags 2.13.1" = rec { + crateName = "bitflags"; + version = "2.13.1"; + edition = "2021"; + sha256 = "1nl76mpykmwmb8rq1l5vw1azdh1wvxdrnsk4sy3rdrzx01nvg25m"; + authors = [ + "The Rust Project Developers" + ]; + dependencies = [ + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "arbitrary" = [ "dep:arbitrary" ]; + "bytemuck" = [ "dep:bytemuck" ]; + "serde" = [ "serde_core" ]; + "serde_core" = [ "dep:serde_core" ]; + }; + resolvedDefaultFeatures = [ "serde" "serde_core" ]; + }; + "block-buffer" = rec { + crateName = "block-buffer"; + version = "0.10.4"; + edition = "2018"; + sha256 = "0w9sa2ypmrsqqvc20nhwr75wbb5cjr4kkyhpjm1z1lv2kdicfy1h"; + libName = "block_buffer"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "generic-array"; + packageId = "generic-array"; + } + ]; + + }; + "bs58" = rec { + crateName = "bs58"; + version = "0.5.1"; + edition = "2021"; + sha256 = "1x3v51n5n2s3l0rgrsn142akdf331n2qsa75pscw71fi848vm25z"; + dependencies = [ + { + name = "tinyvec"; + packageId = "tinyvec"; + optional = true; + usesDefaultFeatures = false; + features = [ "grab_spare_slice" ]; + } + ]; + devDependencies = [ + { + name = "tinyvec"; + packageId = "tinyvec"; + features = [ "rustc_1_55" ]; + } + ]; + features = { + "alloc" = [ "tinyvec?/alloc" ]; + "cb58" = [ "sha2" ]; + "check" = [ "sha2" ]; + "default" = [ "std" ]; + "sha2" = [ "dep:sha2" ]; + "smallvec" = [ "dep:smallvec" ]; + "std" = [ "alloc" "tinyvec?/std" ]; + "tinyvec" = [ "dep:tinyvec" ]; + }; + resolvedDefaultFeatures = [ "alloc" "std" ]; + }; + "buddy_system_allocator" = rec { + crateName = "buddy_system_allocator"; + version = "0.10.0"; + edition = "2021"; + sha256 = "1nc3xb8wbwnzffi3376lir9vmyvcq9p6b6nal1ngrz4z6hi3z4d7"; + authors = [ + "Jiajie Chen " + "Vinay Chandra Dommeti " + "Andrew Walbran " + ]; + dependencies = [ + { + name = "spin"; + packageId = "spin 0.9.9"; + optional = true; + } + ]; + features = { + "default" = [ "alloc" "use_spin" ]; + "spin" = [ "dep:spin" ]; + "use_spin" = [ "spin" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "spin" "use_spin" ]; + }; + "bumpalo" = rec { + crateName = "bumpalo"; + version = "3.20.3"; + edition = "2021"; + sha256 = "0jc6va3nwcqikm7chnpdv1s87my3gs2j7g1sc7g3k91brg3arxbj"; + authors = [ + "Nick Fitzgerald " + ]; + features = { + "allocator-api2" = [ "dep:allocator-api2" ]; + "bench_allocator_api" = [ "allocator_api" "blink-alloc/nightly" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "bytemuck" = rec { + crateName = "bytemuck"; + version = "1.25.2"; + edition = "2018"; + sha256 = "15rp2m7j7kq22s76cbjwmrkd5r8lvacnm0mnrj013cnzka22x0wm"; + authors = [ + "Lokathor " + ]; + features = { + "bytemuck_derive" = [ "dep:bytemuck_derive" ]; + "derive" = [ "bytemuck_derive" ]; + "extern_crate_std" = [ "extern_crate_alloc" ]; + "latest_stable_rust" = [ "aarch64_simd" "avx512_simd" "align_offset" "alloc_uninit" "const_zeroed" "derive" "impl_core_error" "min_const_generics" "must_cast" "must_cast_extra" "pod_saturating" "track_caller" "transparentwrapper_extra" "wasm_simd" "zeroable_atomics" "zeroable_maybe_uninit" "zeroable_unwind_fn" ]; + "must_cast_extra" = [ "must_cast" ]; + "nightly_portable_simd" = [ "rustversion" ]; + "rustversion" = [ "dep:rustversion" ]; + }; + }; + "byteorder" = rec { + crateName = "byteorder"; + version = "1.5.0"; + edition = "2021"; + sha256 = "0jzncxyf404mwqdbspihyzpkndfgda450l0893pz5xj685cg5l0z"; + authors = [ + "Andrew Gallant " + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "bytes" = rec { + crateName = "bytes"; + version = "1.12.1"; + edition = "2021"; + sha256 = "017z19dpg4f942h051m7bpnzcgng042hhcpd7bmg7bjjqd42lrgw"; + authors = [ + "Carl Lerche " + "Sean McArthur " + ]; + features = { + "default" = [ "std" ]; + "extra-platforms" = [ "dep:extra-platforms" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "cc" = rec { + crateName = "cc"; + version = "1.4.4"; + edition = "2021"; + sha256 = "0wq26vvhzv5ci9gx3cfiw320skvaysf9i701wp668lks6ps39m8a"; + dependencies = [ + { + name = "find-msvc-tools"; + packageId = "find-msvc-tools"; + } + { + name = "shlex"; + packageId = "shlex"; + } + ]; + features = { + "parallel" = [ "dep:jobserver" "dep:libc" ]; + }; + }; + "cfg-if" = rec { + crateName = "cfg-if"; + version = "1.0.4"; + edition = "2018"; + sha256 = "008q28ajc546z5p2hcwdnckmg0hia7rnx52fni04bwqkzyrghc4k"; + libName = "cfg_if"; + authors = [ + "Alex Crichton " + ]; + features = { + "core" = [ "dep:core" ]; + "rustc-dep-of-std" = [ "core" ]; + }; + }; + "cfg_aliases 0.1.1" = rec { + crateName = "cfg_aliases"; + version = "0.1.1"; + edition = "2018"; + sha256 = "17p821nc6jm830vzl2lmwz60g3a30hcm33nk6l257i1rjdqw85px"; + authors = [ + "Zicklag " + ]; + + }; + "cfg_aliases 0.2.2" = rec { + crateName = "cfg_aliases"; + version = "0.2.2"; + edition = "2018"; + sha256 = "09rm3dv28gbsal7w6q76lg2nfyn8wp789ska9b8vr1w750xfhygh"; + authors = [ + "Zicklag " + ]; + + }; + "chacha20" = rec { + crateName = "chacha20"; + version = "0.10.1"; + edition = "2024"; + sha256 = "108aajbvs3rwl4d0pdvq3p8ydy4pwh0rxy2z265ynwkflrmla96m"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "cpufeatures"; + packageId = "cpufeatures 0.3.0"; + target = { target, features }: (("x86_64" == target."arch" or null) || ("x86" == target."arch" or null)); + } + { + name = "rand_core"; + packageId = "rand_core 0.10.1"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "cipher" = [ "dep:cipher" ]; + "default" = [ "cipher" ]; + "legacy" = [ "cipher" ]; + "rng" = [ "dep:rand_core" ]; + "xchacha" = [ "cipher" ]; + "zeroize" = [ "dep:zeroize" ]; + }; + resolvedDefaultFeatures = [ "rng" ]; + }; + "chrono" = rec { + crateName = "chrono"; + version = "0.4.45"; + edition = "2021"; + sha256 = "09rkcgk6is2sdhqs9142zv8xqnj8ryx8m9hknllqwyv9wxi9x9qs"; + dependencies = [ + { + name = "iana-time-zone"; + packageId = "iana-time-zone"; + optional = true; + target = { target, features }: (target."unix" or false); + features = [ "fallback" ]; + } + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + } + { + name = "serde"; + packageId = "serde"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "windows-link"; + packageId = "windows-link"; + optional = true; + target = { target, features }: (target."windows" or false); + } + ]; + features = { + "arbitrary" = [ "dep:arbitrary" ]; + "clock" = [ "winapi" "iana-time-zone" "now" ]; + "default" = [ "clock" "std" "oldtime" "wasmbind" ]; + "defmt" = [ "dep:defmt" "pure-rust-locales?/defmt" ]; + "iana-time-zone" = [ "dep:iana-time-zone" ]; + "js-sys" = [ "dep:js-sys" ]; + "now" = [ "std" ]; + "pure-rust-locales" = [ "dep:pure-rust-locales" ]; + "rkyv" = [ "dep:rkyv" "rkyv/size_32" ]; + "rkyv-16" = [ "dep:rkyv" "rkyv?/size_16" ]; + "rkyv-32" = [ "dep:rkyv" "rkyv?/size_32" ]; + "rkyv-64" = [ "dep:rkyv" "rkyv?/size_64" ]; + "rkyv-validation" = [ "rkyv?/validation" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "alloc" ]; + "unstable-locales" = [ "pure-rust-locales" ]; + "wasm-bindgen" = [ "dep:wasm-bindgen" ]; + "wasmbind" = [ "wasm-bindgen" "js-sys" ]; + "winapi" = [ "windows-link" ]; + "windows-link" = [ "dep:windows-link" ]; + }; + resolvedDefaultFeatures = [ "alloc" "clock" "iana-time-zone" "now" "serde" "std" "winapi" "windows-link" ]; + }; + "cipher" = rec { + crateName = "cipher"; + version = "0.4.4"; + edition = "2021"; + sha256 = "1b9x9agg67xq5nq879z66ni4l08m6m3hqcshk37d4is4ysd3ngvp"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "crypto-common"; + packageId = "crypto-common"; + } + { + name = "inout"; + packageId = "inout"; + } + ]; + features = { + "blobby" = [ "dep:blobby" ]; + "block-padding" = [ "inout/block-padding" ]; + "dev" = [ "blobby" ]; + "rand_core" = [ "crypto-common/rand_core" ]; + "std" = [ "alloc" "crypto-common/std" "inout/std" ]; + "zeroize" = [ "dep:zeroize" ]; + }; + }; + "combine" = rec { + crateName = "combine"; + version = "4.6.7"; + edition = "2018"; + sha256 = "1z8rh8wp59gf8k23ar010phgs0wgf5i8cx4fg01gwcnzfn5k0nms"; + authors = [ + "Markus Westerlind " + ]; + dependencies = [ + { + name = "bytes"; + packageId = "bytes"; + optional = true; + } + { + name = "memchr"; + packageId = "memchr"; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "bytes"; + packageId = "bytes"; + } + ]; + features = { + "bytes" = [ "dep:bytes" ]; + "bytes_05" = [ "dep:bytes_05" ]; + "default" = [ "std" ]; + "futures-03" = [ "pin-project" "std" "futures-core-03" "futures-io-03" "pin-project-lite" ]; + "futures-core-03" = [ "dep:futures-core-03" ]; + "futures-io-03" = [ "dep:futures-io-03" ]; + "pin-project" = [ "pin-project-lite" ]; + "pin-project-lite" = [ "dep:pin-project-lite" ]; + "regex" = [ "dep:regex" ]; + "std" = [ "memchr/std" "bytes" "alloc" ]; + "tokio" = [ "tokio-dep" "tokio-util/io" "futures-core-03" "pin-project-lite" ]; + "tokio-02" = [ "pin-project" "std" "tokio-02-dep" "futures-core-03" "pin-project-lite" "bytes_05" ]; + "tokio-02-dep" = [ "dep:tokio-02-dep" ]; + "tokio-03" = [ "pin-project" "std" "tokio-03-dep" "futures-core-03" "pin-project-lite" ]; + "tokio-03-dep" = [ "dep:tokio-03-dep" ]; + "tokio-dep" = [ "dep:tokio-dep" ]; + "tokio-util" = [ "dep:tokio-util" ]; + }; + resolvedDefaultFeatures = [ "alloc" "bytes" "default" "std" ]; + }; + "const_format" = rec { + crateName = "const_format"; + version = "0.2.36"; + edition = "2021"; + sha256 = "07ncczs8yndga2f8p4386c827l4fxwzl0pbwp7ijnhcsmlbsd0a4"; + authors = [ + "rodrimati1992 " + ]; + dependencies = [ + { + name = "const_format_proc_macros"; + packageId = "const_format_proc_macros"; + } + { + name = "konst"; + packageId = "konst"; + usesDefaultFeatures = false; + features = [ "rust_1_64" ]; + } + ]; + features = { + "__debug" = [ "const_format_proc_macros/debug" ]; + "__inline_const_pat_tests" = [ "__test" "fmt" ]; + "__only_new_tests" = [ "__test" ]; + "all" = [ "fmt" "derive" "rust_1_64" "assert" ]; + "assert" = [ "assertc" ]; + "assertc" = [ "fmt" "assertcp" ]; + "assertcp" = [ "rust_1_51" ]; + "const_generics" = [ "rust_1_51" ]; + "constant_time_as_str" = [ "fmt" ]; + "derive" = [ "fmt" "const_format_proc_macros/derive" ]; + "fmt" = [ "rust_1_83" ]; + "more_str_macros" = [ "rust_1_64" ]; + "nightly_const_generics" = [ "const_generics" ]; + "rust_1_64" = [ "rust_1_51" ]; + "rust_1_83" = [ "rust_1_64" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "const_format_proc_macros" = rec { + crateName = "const_format_proc_macros"; + version = "0.2.34"; + edition = "2021"; + sha256 = "0i3pxxcl4xvwq4mlfg3csb4j0n6v0mhj07p6yk0vlvdirznc4mqx"; + procMacro = true; + authors = [ + "rodrimati1992 " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "unicode-xid"; + packageId = "unicode-xid"; + } + ]; + features = { + "all" = [ "derive" ]; + "debug" = [ "syn/extra-traits" ]; + "derive" = [ "syn" "syn/derive" "syn/printing" ]; + "syn" = [ "dep:syn" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "core-foundation" = rec { + crateName = "core-foundation"; + version = "0.10.1"; + edition = "2021"; + sha256 = "1xjns6dqf36rni2x9f47b65grxwdm20kwdg9lhmzdrrkwadcv9mj"; + libName = "core_foundation"; + authors = [ + "The Servo Project Developers" + ]; + dependencies = [ + { + name = "core-foundation-sys"; + packageId = "core-foundation-sys"; + usesDefaultFeatures = false; + } + { + name = "libc"; + packageId = "libc"; + } + ]; + features = { + "default" = [ "link" ]; + "link" = [ "core-foundation-sys/link" ]; + "mac_os_10_7_support" = [ "core-foundation-sys/mac_os_10_7_support" ]; + "mac_os_10_8_features" = [ "core-foundation-sys/mac_os_10_8_features" ]; + "with-uuid" = [ "dep:uuid" ]; + }; + resolvedDefaultFeatures = [ "default" "link" ]; + }; + "core-foundation-sys" = rec { + crateName = "core-foundation-sys"; + version = "0.8.7"; + edition = "2018"; + sha256 = "12w8j73lazxmr1z0h98hf3z623kl8ms7g07jch7n4p8f9nwlhdkp"; + libName = "core_foundation_sys"; + authors = [ + "The Servo Project Developers" + ]; + features = { + "default" = [ "link" ]; + }; + resolvedDefaultFeatures = [ "default" "link" ]; + }; + "cpufeatures 0.2.17" = rec { + crateName = "cpufeatures"; + version = "0.2.17"; + edition = "2018"; + sha256 = "10023dnnaghhdl70xcds12fsx2b966sxbxjq5sxs49mvxqw5ivar"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (target.name == "aarch64-linux-android"); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("aarch64" == target."arch" or null) && ("linux" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("aarch64" == target."arch" or null) && ("apple" == target."vendor" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("loongarch64" == target."arch" or null) && ("linux" == target."os" or null)); + } + ]; + + }; + "cpufeatures 0.3.0" = rec { + crateName = "cpufeatures"; + version = "0.3.0"; + edition = "2024"; + sha256 = "00fjhygsqmh4kbxxlb99mcsbspxcai6hjydv4c46pwb67wwl2alb"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("aarch64" == target."arch" or null) && ("android" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("aarch64" == target."arch" or null) && ("linux" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("aarch64" == target."arch" or null) && ("apple" == target."vendor" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("loongarch64" == target."arch" or null) && ("linux" == target."os" or null)); + } + ]; + + }; + "crc32fast" = rec { + crateName = "crc32fast"; + version = "1.5.1"; + edition = "2021"; + sha256 = "0l75bfakpwr86wz45gm38lylrpgbssr529fmm6m445qy2rqwi644"; + authors = [ + "Sam Rijs " + "Alex Crichton " + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "crossbeam" = rec { + crateName = "crossbeam"; + version = "0.8.4"; + edition = "2021"; + sha256 = "1a5c7yacnk723x0hfycdbl91ks2nxhwbwy46b8y5vyy0gxzcsdqi"; + dependencies = [ + { + name = "crossbeam-channel"; + packageId = "crossbeam-channel"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "crossbeam-deque"; + packageId = "crossbeam-deque"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "crossbeam-epoch"; + packageId = "crossbeam-epoch"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "crossbeam-queue"; + packageId = "crossbeam-queue"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "crossbeam-utils"; + packageId = "crossbeam-utils"; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "crossbeam-epoch/alloc" "crossbeam-queue/alloc" ]; + "crossbeam-channel" = [ "dep:crossbeam-channel" ]; + "crossbeam-deque" = [ "dep:crossbeam-deque" ]; + "crossbeam-epoch" = [ "dep:crossbeam-epoch" ]; + "crossbeam-queue" = [ "dep:crossbeam-queue" ]; + "default" = [ "std" ]; + "nightly" = [ "crossbeam-epoch/nightly" "crossbeam-utils/nightly" "crossbeam-queue/nightly" ]; + "std" = [ "alloc" "crossbeam-channel/std" "crossbeam-deque/std" "crossbeam-epoch/std" "crossbeam-queue/std" "crossbeam-utils/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "crossbeam-channel" "crossbeam-deque" "crossbeam-epoch" "crossbeam-queue" "default" "std" ]; + }; + "crossbeam-channel" = rec { + crateName = "crossbeam-channel"; + version = "0.5.16"; + edition = "2021"; + sha256 = "17k72dh5qqkh0xvqzr27wny7gl1l7fgzlvh2xxx71jmfgz1n6lyq"; + libName = "crossbeam_channel"; + dependencies = [ + { + name = "crossbeam-utils"; + packageId = "crossbeam-utils"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "crossbeam-utils/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "crossbeam-deque" = rec { + crateName = "crossbeam-deque"; + version = "0.8.7"; + edition = "2021"; + sha256 = "1sqcxia1mmz2fw8ba1v72jjrvbkvg7c6sz9l3sl07sv1gggf10ai"; + libName = "crossbeam_deque"; + dependencies = [ + { + name = "crossbeam-epoch"; + packageId = "crossbeam-epoch"; + usesDefaultFeatures = false; + } + { + name = "crossbeam-utils"; + packageId = "crossbeam-utils"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "crossbeam-epoch/std" "crossbeam-utils/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "crossbeam-epoch" = rec { + crateName = "crossbeam-epoch"; + version = "0.9.20"; + edition = "2021"; + sha256 = "0gzg0v8in20iajikalg5i5qgpp0m26r426f0fs8nwk953w218s9d"; + libName = "crossbeam_epoch"; + dependencies = [ + { + name = "crossbeam-utils"; + packageId = "crossbeam-utils"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "loom" = [ "loom-crate" "crossbeam-utils/loom" ]; + "loom-crate" = [ "dep:loom-crate" ]; + "nightly" = [ "crossbeam-utils/nightly" ]; + "std" = [ "alloc" "crossbeam-utils/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "std" ]; + }; + "crossbeam-queue" = rec { + crateName = "crossbeam-queue"; + version = "0.3.13"; + edition = "2021"; + sha256 = "09ksdjzqk1iadmsfnz46f1qvy6bbqri91hnvyklqpn097gxi6gc0"; + libName = "crossbeam_queue"; + dependencies = [ + { + name = "crossbeam-utils"; + packageId = "crossbeam-utils"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "nightly" = [ "crossbeam-utils/nightly" ]; + "std" = [ "alloc" "crossbeam-utils/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" ]; + }; + "crossbeam-utils" = rec { + crateName = "crossbeam-utils"; + version = "0.8.22"; + edition = "2021"; + sha256 = "05vwf7pmjq8c8f3fp5qqdm0z3cnk4p62wi8spf0jms5yjnh3v031"; + libName = "crossbeam_utils"; + features = { + "default" = [ "std" ]; + "loom" = [ "dep:loom" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "crypto-common" = rec { + crateName = "crypto-common"; + version = "0.1.7"; + edition = "2018"; + sha256 = "02nn2rhfy7kvdkdjl457q2z0mklcvj9h662xrq6dzhfialh2kj3q"; + libName = "crypto_common"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "generic-array"; + packageId = "generic-array"; + features = [ "more_lengths" ]; + } + { + name = "typenum"; + packageId = "typenum"; + } + ]; + features = { + "getrandom" = [ "rand_core/getrandom" ]; + "rand_core" = [ "dep:rand_core" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "darling" = rec { + crateName = "darling"; + version = "0.23.0"; + edition = "2021"; + sha256 = "179fj6p6ajw4dnkrik51wjhifxwy02x5zhligyymcb905zd17bi5"; + authors = [ + "Ted Driggs " + ]; + dependencies = [ + { + name = "darling_core"; + packageId = "darling_core"; + } + { + name = "darling_macro"; + packageId = "darling_macro"; + } + ]; + features = { + "default" = [ "suggestions" ]; + "diagnostics" = [ "darling_core/diagnostics" ]; + "serde" = [ "darling_core/serde" ]; + "suggestions" = [ "darling_core/suggestions" ]; + }; + resolvedDefaultFeatures = [ "default" "suggestions" ]; + }; + "darling_core" = rec { + crateName = "darling_core"; + version = "0.23.0"; + edition = "2021"; + sha256 = "1c033vrks38vpw8kwgd5w088dsr511kfz55n9db56prkgh7sarcq"; + authors = [ + "Ted Driggs " + ]; + dependencies = [ + { + name = "ident_case"; + packageId = "ident_case"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "strsim"; + packageId = "strsim"; + optional = true; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" "extra-traits" ]; + } + ]; + features = { + "serde" = [ "dep:serde" ]; + "strsim" = [ "dep:strsim" ]; + "suggestions" = [ "strsim" ]; + }; + resolvedDefaultFeatures = [ "strsim" "suggestions" ]; + }; + "darling_macro" = rec { + crateName = "darling_macro"; + version = "0.23.0"; + edition = "2021"; + sha256 = "13fvzji9xyp304mgq720z5l0xgm54qj68jibwscagkynggn88fdc"; + procMacro = true; + authors = [ + "Ted Driggs " + ]; + dependencies = [ + { + name = "darling_core"; + packageId = "darling_core"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + } + ]; + + }; + "data-encoding" = rec { + crateName = "data-encoding"; + version = "2.11.1"; + edition = "2018"; + sha256 = "01hzn6jwv19320gvk85vvvay5ljhx12srvicz292fvpl3mas90s5"; + libName = "data_encoding"; + features = { + "default" = [ "std" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" ]; + }; + "defmt" = rec { + crateName = "defmt"; + version = "1.1.1"; + edition = "2021"; + links = "defmt"; + sha256 = "1lc8xlfj700xqjmvp7n9hhc1czgpaqkq960iqw6d5fwk9zz3p5g2"; + authors = [ + "The Knurling-rs developers" + ]; + dependencies = [ + { + name = "bitflags"; + packageId = "bitflags 1.3.2"; + } + { + name = "defmt-macros"; + packageId = "defmt-macros"; + } + ]; + features = { + "unstable-test" = [ "defmt-macros/unstable-test" ]; + }; + resolvedDefaultFeatures = [ "alloc" ]; + }; + "defmt-macros" = rec { + crateName = "defmt-macros"; + version = "1.1.1"; + edition = "2021"; + sha256 = "1s2zkcbaj1l306ph1n1gsfm6vzc2sah4acl1qc6pw4x2ghpcgnds"; + procMacro = true; + libName = "defmt_macros"; + authors = [ + "The Knurling-rs developers" + ]; + dependencies = [ + { + name = "defmt-parser"; + packageId = "defmt-parser"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" "extra-traits" ]; + } + ]; + features = { + }; + }; + "defmt-parser" = rec { + crateName = "defmt-parser"; + version = "1.0.0"; + edition = "2021"; + sha256 = "0gpfky9sssil5qfaix5wxcwiqk7snszhl5gq3vcwkrxjncs07mhh"; + libName = "defmt_parser"; + authors = [ + "The Knurling-rs developers" + ]; + dependencies = [ + { + name = "thiserror"; + packageId = "thiserror"; + } + ]; + features = { + }; + }; + "der-parser" = rec { + crateName = "der-parser"; + version = "10.0.0"; + edition = "2018"; + sha256 = "19n13gjidjcbj23ps6fww322zx8mz4kfs4cvsd6kqnjx84b51nh7"; + libName = "der_parser"; + authors = [ + "Pierre Chifflier " + ]; + dependencies = [ + { + name = "asn1-rs"; + packageId = "asn1-rs"; + } + { + name = "displaydoc"; + packageId = "displaydoc"; + usesDefaultFeatures = false; + } + { + name = "nom"; + packageId = "nom"; + } + { + name = "num-bigint"; + packageId = "num-bigint"; + optional = true; + } + { + name = "num-traits"; + packageId = "num-traits"; + } + { + name = "rusticata-macros"; + packageId = "rusticata-macros"; + } + ]; + features = { + "as_bitvec" = [ "bitvec" ]; + "bigint" = [ "num-bigint" ]; + "bitvec" = [ "dep:bitvec" ]; + "cookie-factory" = [ "dep:cookie-factory" ]; + "default" = [ "std" ]; + "num-bigint" = [ "dep:num-bigint" ]; + "serialize" = [ "std" "cookie-factory" ]; + }; + resolvedDefaultFeatures = [ "bigint" "default" "num-bigint" "std" ]; + }; + "deranged" = rec { + crateName = "deranged"; + version = "0.5.8"; + edition = "2021"; + sha256 = "0711df3w16vx80k55ivkwzwswziinj4dz05xci3rvmn15g615n3w"; + authors = [ + "Jacob Pratt " + ]; + dependencies = [ + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "macros" = [ "dep:deranged-macros" ]; + "num" = [ "dep:num-traits" ]; + "powerfmt" = [ "dep:powerfmt" ]; + "quickcheck" = [ "dep:quickcheck" "alloc" ]; + "rand" = [ "rand08" "rand09" "rand010" ]; + "rand010" = [ "dep:rand010" ]; + "rand08" = [ "dep:rand08" ]; + "rand09" = [ "dep:rand09" ]; + "serde" = [ "dep:serde_core" ]; + }; + resolvedDefaultFeatures = [ "default" "serde" ]; + }; + "digest" = rec { + crateName = "digest"; + version = "0.10.7"; + edition = "2018"; + sha256 = "14p2n6ih29x81akj097lvz7wi9b6b9hvls0lwrv7b6xwyy0s5ncy"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "block-buffer"; + packageId = "block-buffer"; + optional = true; + } + { + name = "crypto-common"; + packageId = "crypto-common"; + } + { + name = "subtle"; + packageId = "subtle"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "blobby" = [ "dep:blobby" ]; + "block-buffer" = [ "dep:block-buffer" ]; + "const-oid" = [ "dep:const-oid" ]; + "core-api" = [ "block-buffer" ]; + "default" = [ "core-api" ]; + "dev" = [ "blobby" ]; + "mac" = [ "subtle" ]; + "oid" = [ "const-oid" ]; + "rand_core" = [ "crypto-common/rand_core" ]; + "std" = [ "alloc" "crypto-common/std" ]; + "subtle" = [ "dep:subtle" ]; + }; + resolvedDefaultFeatures = [ "alloc" "block-buffer" "core-api" "default" "mac" "std" "subtle" ]; + }; + "dimos-lcm" = rec { + crateName = "dimos-lcm"; + version = "0.1.0"; + edition = "2021"; + workspace_member = null; + src = pkgs.fetchgit { + url = "https://github.com/dimensionalOS/dimos-lcm.git"; + rev = "04d78e8622500244123ba9cefa4c51b4cb454549"; + sha256 = "0zzaszjhsxkx6shc7jzy3y58hr989f29m74p57x86dgsr7h32s8q"; + }; + libName = "dimos_lcm"; + dependencies = [ + { + name = "byteorder"; + packageId = "byteorder"; + } + { + name = "socket2"; + packageId = "socket2 0.5.10"; + features = [ "all" ]; + } + { + name = "tokio"; + packageId = "tokio"; + features = [ "net" "rt-multi-thread" "macros" "time" ]; + } + ]; + + }; + "dimos-mls-planner" = rec { + crateName = "dimos-mls-planner"; + version = "0.1.0"; + edition = "2021"; + crateBin = [ + { + name = "mls_planner"; + path = "src/main.rs"; + requiredFeatures = [ ]; + } + ]; + src = lib.cleanSourceWith { filter = sourceFilter; src = ./dimos/navigation/nav_3d/mls_planner/rust; }; + libName = "dimos_mls_planner"; + dependencies = [ + { + name = "ahash"; + packageId = "ahash"; + } + { + name = "dimos-module"; + packageId = "dimos-module"; + } + { + name = "lcm-msgs"; + packageId = "lcm-msgs"; + } + { + name = "rayon"; + packageId = "rayon"; + } + { + name = "serde"; + packageId = "serde"; + features = [ "derive" ]; + } + { + name = "tokio"; + packageId = "tokio"; + features = [ "rt-multi-thread" "macros" "signal" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "tracing-subscriber"; + packageId = "tracing-subscriber"; + features = [ "env-filter" ]; + } + { + name = "validator"; + packageId = "validator"; + features = [ "derive" ]; + } + ]; + + }; + "dimos-mls-planner-py" = rec { + crateName = "dimos-mls-planner-py"; + version = "0.1.0"; + edition = "2021"; + src = lib.cleanSourceWith { filter = sourceFilter; src = ./dimos/navigation/nav_3d/mls_planner/rust/py; }; + libName = "dimos_mls_planner_py";type = [ "cdylib" ]; + dependencies = [ + { + name = "dimos-mls-planner"; + packageId = "dimos-mls-planner"; + } + { + name = "numpy"; + packageId = "numpy"; + } + { + name = "pyo3"; + packageId = "pyo3"; + features = [ "extension-module" "abi3-py310" ]; + } + { + name = "tracing-subscriber"; + packageId = "tracing-subscriber"; + features = [ "env-filter" ]; + } + { + name = "validator"; + packageId = "validator"; + features = [ "derive" ]; + } + ]; + + }; + "dimos-module" = rec { + crateName = "dimos-module"; + version = "0.1.0"; + edition = "2021"; + src = lib.cleanSourceWith { filter = sourceFilter; src = ./native/rust/dimos-module; }; + libName = "dimos_module"; + dependencies = [ + { + name = "dimos-lcm"; + packageId = "dimos-lcm"; + } + { + name = "dimos-module-macros"; + packageId = "dimos-module-macros"; + } + { + name = "lcm-msgs"; + packageId = "lcm-msgs"; + } + { + name = "nalgebra"; + packageId = "nalgebra"; + } + { + name = "rayon"; + packageId = "rayon"; + } + { + name = "serde"; + packageId = "serde"; + features = [ "derive" ]; + } + { + name = "serde_json"; + packageId = "serde_json"; + features = [ "preserve_order" ]; + } + { + name = "tokio"; + packageId = "tokio"; + features = [ "rt-multi-thread" "macros" "sync" "time" "signal" "io-std" "io-util" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "tracing-subscriber"; + packageId = "tracing-subscriber"; + features = [ "json" "env-filter" ]; + } + { + name = "url"; + packageId = "url"; + } + { + name = "validator"; + packageId = "validator"; + features = [ "derive" ]; + } + { + name = "zenoh"; + packageId = "zenoh"; + usesDefaultFeatures = false; + features = [ "transport_tcp" "transport_udp" "unstable" "shared-memory" ]; + } + ]; + devDependencies = [ + { + name = "tracing-test"; + packageId = "tracing-test"; + } + ]; + + }; + "dimos-module-macros" = rec { + crateName = "dimos-module-macros"; + version = "0.1.0"; + edition = "2021"; + src = lib.cleanSourceWith { filter = sourceFilter; src = ./native/rust/dimos-module-macros; }; + procMacro = true; + libName = "dimos_module_macros"; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + features = [ "full" ]; + } + { + name = "toml"; + packageId = "toml 1.1.4+spec-1.1.0"; + } + ]; + + }; + "dimos-native-module-examples" = rec { + crateName = "dimos-native-module-examples"; + version = "0.1.0"; + edition = "2021"; + crateBin = [ + { + name = "ping"; + path = "src/ping.rs"; + requiredFeatures = [ ]; + } + { + name = "pong"; + path = "src/pong.rs"; + requiredFeatures = [ ]; + } + { + name = "tf_broadcaster"; + path = "src/tf_broadcaster.rs"; + requiredFeatures = [ ]; + } + { + name = "tf_listener"; + path = "src/tf_listener.rs"; + requiredFeatures = [ ]; + } + ]; + src = lib.cleanSourceWith { filter = sourceFilter; src = ./examples/native-modules/rust; }; + dependencies = [ + { + name = "dimos-module"; + packageId = "dimos-module"; + } + { + name = "lcm-msgs"; + packageId = "lcm-msgs"; + } + { + name = "serde"; + packageId = "serde"; + features = [ "derive" ]; + } + { + name = "tokio"; + packageId = "tokio"; + features = [ "rt-multi-thread" "macros" "time" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "validator"; + packageId = "validator"; + features = [ "derive" ]; + } + ]; + + }; + "dimos-voxel-ray-tracing" = rec { + crateName = "dimos-voxel-ray-tracing"; + version = "0.1.0"; + edition = "2021"; + crateBin = [ + { + name = "voxel_ray_tracing"; + path = "src/main.rs"; + requiredFeatures = [ ]; + } + ]; + src = lib.cleanSourceWith { filter = sourceFilter; src = ./dimos/mapping/ray_tracing/rust; }; + libName = "dimos_voxel_ray_tracing"; + dependencies = [ + { + name = "ahash"; + packageId = "ahash"; + } + { + name = "arrayvec"; + packageId = "arrayvec"; + } + { + name = "dimos-module"; + packageId = "dimos-module"; + } + { + name = "lcm-msgs"; + packageId = "lcm-msgs"; + } + { + name = "nalgebra"; + packageId = "nalgebra"; + } + { + name = "rayon"; + packageId = "rayon"; + } + { + name = "serde"; + packageId = "serde"; + features = [ "derive" ]; + } + { + name = "tokio"; + packageId = "tokio"; + features = [ "rt-multi-thread" "macros" "signal" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "validator"; + packageId = "validator"; + features = [ "derive" ]; + } + ]; + + }; + "dimos-voxel-ray-tracing-py" = rec { + crateName = "dimos-voxel-ray-tracing-py"; + version = "0.1.0"; + edition = "2021"; + src = lib.cleanSourceWith { filter = sourceFilter; src = ./dimos/mapping/ray_tracing/rust/py; }; + libName = "dimos_voxel_ray_tracing_py";type = [ "cdylib" ]; + dependencies = [ + { + name = "dimos-voxel-ray-tracing"; + packageId = "dimos-voxel-ray-tracing"; + } + { + name = "numpy"; + packageId = "numpy"; + } + { + name = "pyo3"; + packageId = "pyo3"; + features = [ "extension-module" "abi3-py310" ]; + } + { + name = "validator"; + packageId = "validator"; + features = [ "derive" ]; + } + ]; + + }; + "dirs" = rec { + crateName = "dirs"; + version = "6.0.0"; + edition = "2015"; + sha256 = "0knfikii29761g22pwfrb8d0nqpbgw77sni9h2224haisyaams63"; + authors = [ + "Simon Ochsenreither " + ]; + dependencies = [ + { + name = "dirs-sys"; + packageId = "dirs-sys"; + } + ]; + + }; + "dirs-sys" = rec { + crateName = "dirs-sys"; + version = "0.5.0"; + edition = "2015"; + sha256 = "1aqzpgq6ampza6v012gm2dppx9k35cdycbj54808ksbys9k366p0"; + libName = "dirs_sys"; + authors = [ + "Simon Ochsenreither " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (target."unix" or false); + } + { + name = "option-ext"; + packageId = "option-ext"; + } + { + name = "redox_users"; + packageId = "redox_users"; + usesDefaultFeatures = false; + target = { target, features }: ("redox" == target."os" or null); + } + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + target = { target, features }: (target."windows" or false); + features = [ "Win32_UI_Shell" "Win32_Foundation" "Win32_Globalization" "Win32_System_Com" ]; + } + ]; + + }; + "displaydoc" = rec { + crateName = "displaydoc"; + version = "0.2.7"; + edition = "2021"; + sha256 = "1a42mwpgpwcqq2qqgkcc630wvsc2p2dkmgacjnclginwfz9js8y6"; + procMacro = true; + authors = [ + "Jane Lusby " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + } + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "dtoa" = rec { + crateName = "dtoa"; + version = "1.0.11"; + edition = "2021"; + sha256 = "1405jvczpxf1zd3nsvw02r50hr2k6argq6jkgdf04prd9s1g8g2c"; + authors = [ + "David Tolnay " + ]; + features = { + "no-panic" = [ "dep:no-panic" ]; + }; + }; + "dyn-clone" = rec { + crateName = "dyn-clone"; + version = "1.0.20"; + edition = "2018"; + sha256 = "0m956cxcg8v2n8kmz6xs5zl13k2fak3zkapzfzzp7pxih6hix26h"; + libName = "dyn_clone"; + authors = [ + "David Tolnay " + ]; + + }; + "either" = rec { + crateName = "either"; + version = "1.18.0"; + edition = "2021"; + sha256 = "0d7dx31sf8rakcgp63070ngb2vkjynrni866pnx879pawndgnai5"; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + "use_std" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" "use_std" ]; + }; + "equivalent" = rec { + crateName = "equivalent"; + version = "1.0.2"; + edition = "2015"; + sha256 = "03swzqznragy8n0x31lqc78g2af054jwivp7lkrbrc0khz74lyl7"; + + }; + "errno" = rec { + crateName = "errno"; + version = "0.3.14"; + edition = "2018"; + sha256 = "1szgccmh8vgryqyadg8xd58mnwwicf39zmin3bsn63df2wbbgjir"; + authors = [ + "Chris Wong " + "Dan Gohman " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("hermit" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("wasi" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (target."unix" or false); + } + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + target = { target, features }: (target."windows" or false); + features = [ "Win32_Foundation" "Win32_System_Diagnostics_Debug" ]; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "libc/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "event-listener" = rec { + crateName = "event-listener"; + version = "5.4.2"; + edition = "2021"; + sha256 = "1lk9sv7r07l58jk263s18896l55mx9jv0g1rm4hj2mpi3paas8ss"; + libName = "event_listener"; + authors = [ + "Stjepan Glavina " + "John Nunley " + ]; + dependencies = [ + { + name = "parking"; + packageId = "parking"; + optional = true; + target = { target, features }: (!(builtins.elem "wasm" target."family")); + } + { + name = "pin-project-lite"; + packageId = "pin-project-lite"; + } + ]; + features = { + "critical-section" = [ "dep:critical-section" ]; + "default" = [ "std" ]; + "loom" = [ "parking?/loom" "dep:loom" ]; + "parking" = [ "dep:parking" ]; + "portable-atomic" = [ "portable-atomic-util" "portable_atomic_crate" ]; + "portable-atomic-util" = [ "dep:portable-atomic-util" ]; + "portable_atomic_crate" = [ "dep:portable_atomic_crate" ]; + "std" = [ "parking" ]; + }; + resolvedDefaultFeatures = [ "default" "parking" "std" ]; + }; + "fastbloom" = rec { + crateName = "fastbloom"; + version = "0.17.0"; + edition = "2021"; + sha256 = "1n30a0lcs5v6wi7jgkvapx77r1bki5pq62mvai89cb9vd0q5x5zg"; + authors = [ + "tomtomwombat" + ]; + dependencies = [ + { + name = "foldhash"; + packageId = "foldhash 0.2.0"; + usesDefaultFeatures = false; + } + { + name = "libm"; + packageId = "libm"; + } + { + name = "portable-atomic"; + packageId = "portable-atomic"; + usesDefaultFeatures = false; + features = [ "fallback" ]; + } + { + name = "siphasher"; + packageId = "siphasher"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" "rand" ]; + "loom" = [ "dep:loom" ]; + "rand" = [ "std" "dep:rand" ]; + "serde" = [ "dep:serde" "siphasher/serde_std" "portable-atomic/serde" ]; + "std" = [ "portable-atomic/std" ]; + }; + }; + "fastrand" = rec { + crateName = "fastrand"; + version = "2.5.0"; + edition = "2018"; + sha256 = "08q2r30y62winysimnlpbvw9kiwn0rmdlidqlmzd6z90mv764z6s"; + authors = [ + "Stjepan Glavina " + ]; + features = { + "default" = [ "std" ]; + "getrandom" = [ "dep:getrandom" ]; + "js" = [ "std" "getrandom" ]; + "std" = [ "alloc" ]; + }; + }; + "find-msvc-tools" = rec { + crateName = "find-msvc-tools"; + version = "0.1.11"; + edition = "2021"; + sha256 = "145qpfb9r4ml2klr8v4byvrkikp61qyiks9n69b8z0vbscbb0pfl"; + libName = "find_msvc_tools"; + + }; + "fixedbitset" = rec { + crateName = "fixedbitset"; + version = "0.5.7"; + edition = "2021"; + sha256 = "16fd3v9d2cms2vddf9xhlm56sz4j0zgrk3d2h6v1l7hx760lwrqx"; + authors = [ + "bluss" + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + }; + }; + "flate2" = rec { + crateName = "flate2"; + version = "1.1.9"; + edition = "2018"; + sha256 = "0g2pb7cxnzcbzrj8bw4v6gpqqp21aycmf6d84rzb6j748qkvlgw4"; + authors = [ + "Alex Crichton " + "Josh Triplett " + ]; + dependencies = [ + { + name = "crc32fast"; + packageId = "crc32fast"; + optional = true; + } + { + name = "miniz_oxide"; + packageId = "miniz_oxide"; + optional = true; + usesDefaultFeatures = false; + features = [ "with-alloc" "simd" ]; + } + { + name = "miniz_oxide"; + packageId = "miniz_oxide"; + usesDefaultFeatures = false; + target = { target, features }: (("wasm32" == target."arch" or null) && (!("emscripten" == target."os" or null))); + features = [ "with-alloc" "simd" ]; + } + ]; + features = { + "any_c_zlib" = [ "any_zlib" ]; + "any_zlib" = [ "any_impl" ]; + "cloudflare-zlib-sys" = [ "dep:cloudflare-zlib-sys" ]; + "cloudflare_zlib" = [ "any_c_zlib" "cloudflare-zlib-sys" "dep:crc32fast" ]; + "default" = [ "rust_backend" ]; + "document-features" = [ "dep:document-features" ]; + "libz-ng-sys" = [ "dep:libz-ng-sys" ]; + "libz-sys" = [ "dep:libz-sys" ]; + "miniz-sys" = [ "rust_backend" ]; + "miniz_oxide" = [ "any_impl" "dep:miniz_oxide" "dep:crc32fast" ]; + "rust_backend" = [ "miniz_oxide" "any_impl" ]; + "zlib" = [ "any_c_zlib" "libz-sys" "dep:crc32fast" ]; + "zlib-default" = [ "any_c_zlib" "libz-sys/default" "dep:crc32fast" ]; + "zlib-ng" = [ "any_c_zlib" "libz-ng-sys" "dep:crc32fast" ]; + "zlib-ng-compat" = [ "zlib" "libz-sys/zlib-ng" "dep:crc32fast" ]; + "zlib-rs" = [ "any_zlib" "dep:zlib-rs" ]; + }; + resolvedDefaultFeatures = [ "any_impl" "default" "miniz_oxide" "rust_backend" ]; + }; + "flume" = rec { + crateName = "flume"; + version = "0.11.1"; + edition = "2018"; + sha256 = "15ch0slxa8sqsi6c73a0ky6vdnh48q8cxjf7rksa3243m394s3ns"; + authors = [ + "Joshua Barretto " + ]; + dependencies = [ + { + name = "futures-core"; + packageId = "futures-core"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "futures-sink"; + packageId = "futures-sink"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "nanorand"; + packageId = "nanorand"; + optional = true; + features = [ "getrandom" ]; + } + { + name = "spin"; + packageId = "spin 0.9.9"; + rename = "spin1"; + features = [ "mutex" ]; + } + ]; + features = { + "async" = [ "futures-sink" "futures-core" ]; + "default" = [ "async" "select" "eventual-fairness" ]; + "eventual-fairness" = [ "select" "nanorand" ]; + "futures-core" = [ "dep:futures-core" ]; + "futures-sink" = [ "dep:futures-sink" ]; + "nanorand" = [ "dep:nanorand" ]; + }; + resolvedDefaultFeatures = [ "async" "default" "eventual-fairness" "futures-core" "futures-sink" "nanorand" "select" ]; + }; + "foldhash 0.1.5" = rec { + crateName = "foldhash"; + version = "0.1.5"; + edition = "2021"; + sha256 = "1wisr1xlc2bj7hk4rgkcjkz3j2x4dhd1h9lwk7mj8p71qpdgbi6r"; + authors = [ + "Orson Peters " + ]; + features = { + "default" = [ "std" ]; + }; + }; + "foldhash 0.2.0" = rec { + crateName = "foldhash"; + version = "0.2.0"; + edition = "2021"; + sha256 = "1nvgylb099s11xpfm1kn2wcsql080nqmnhj1l25bp3r2b35j9kkp"; + authors = [ + "Orson Peters " + ]; + features = { + "default" = [ "std" ]; + }; + }; + "form_urlencoded" = rec { + crateName = "form_urlencoded"; + version = "1.2.2"; + edition = "2018"; + sha256 = "1kqzb2qn608rxl3dws04zahcklpplkd5r1vpabwga5l50d2v4k6b"; + authors = [ + "The rust-url developers" + ]; + dependencies = [ + { + name = "percent-encoding"; + packageId = "percent-encoding"; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "percent-encoding/alloc" ]; + "default" = [ "std" ]; + "std" = [ "alloc" "percent-encoding/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "std" ]; + }; + "futures" = rec { + crateName = "futures"; + version = "0.3.34"; + edition = "2018"; + sha256 = "18yhwmbdalhz2z9i1vm10hy2v0cfm82dkgcb6vr2msxazfix4ccs"; + dependencies = [ + { + name = "futures-channel"; + packageId = "futures-channel"; + usesDefaultFeatures = false; + features = [ "sink" ]; + } + { + name = "futures-core"; + packageId = "futures-core"; + usesDefaultFeatures = false; + } + { + name = "futures-executor"; + packageId = "futures-executor"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "futures-io"; + packageId = "futures-io"; + usesDefaultFeatures = false; + } + { + name = "futures-sink"; + packageId = "futures-sink"; + usesDefaultFeatures = false; + } + { + name = "futures-task"; + packageId = "futures-task"; + usesDefaultFeatures = false; + } + { + name = "futures-util"; + packageId = "futures-util"; + usesDefaultFeatures = false; + features = [ "sink" ]; + } + ]; + features = { + "alloc" = [ "futures-core/alloc" "futures-task/alloc" "futures-sink/alloc" "futures-channel/alloc" "futures-util/alloc" ]; + "async-await" = [ "futures-util/async-await" "futures-util/async-await-macro" ]; + "bilock" = [ "futures-util/bilock" ]; + "compat" = [ "std" "futures-util/compat" ]; + "default" = [ "std" "async-await" "executor" ]; + "executor" = [ "std" "futures-executor/std" ]; + "futures-executor" = [ "dep:futures-executor" ]; + "io-compat" = [ "compat" "futures-util/io-compat" ]; + "spin" = [ "futures-util/spin" ]; + "std" = [ "alloc" "futures-core/std" "futures-task/std" "futures-io/std" "futures-sink/std" "futures-util/std" "futures-util/io" "futures-util/channel" ]; + "thread-pool" = [ "executor" "futures-executor/thread-pool" ]; + "unstable" = [ "futures-core/unstable" "futures-task/unstable" "futures-channel/unstable" "futures-io/unstable" "futures-util/unstable" ]; + "write-all-vectored" = [ "futures-util/write-all-vectored" ]; + }; + resolvedDefaultFeatures = [ "alloc" "async-await" "default" "executor" "futures-executor" "std" ]; + }; + "futures-channel" = rec { + crateName = "futures-channel"; + version = "0.3.34"; + edition = "2018"; + sha256 = "1i4kwcanpaphn1ax62ci3nx176kglxqx0gnhzqpqdr1rkpbf7ydi"; + libName = "futures_channel"; + dependencies = [ + { + name = "futures-core"; + packageId = "futures-core"; + usesDefaultFeatures = false; + } + { + name = "futures-sink"; + packageId = "futures-sink"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "futures-core/alloc" ]; + "default" = [ "std" ]; + "futures-sink" = [ "dep:futures-sink" ]; + "sink" = [ "futures-sink" ]; + "std" = [ "alloc" "futures-core/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "futures-sink" "sink" "std" ]; + }; + "futures-core" = rec { + crateName = "futures-core"; + version = "0.3.34"; + edition = "2018"; + sha256 = "0pjgv4fx0np6hrs5sz5a2phabwv0z70yr51v03injbi44bjrkmlj"; + libName = "futures_core"; + features = { + "default" = [ "std" ]; + "portable-atomic" = [ "dep:portable-atomic" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" ]; + }; + "futures-executor" = rec { + crateName = "futures-executor"; + version = "0.3.34"; + edition = "2018"; + sha256 = "0cjl3y7jgg60wwb96ikxj23r6q91ylvx8v675yychv1w3b7lf6q3"; + libName = "futures_executor"; + dependencies = [ + { + name = "futures-core"; + packageId = "futures-core"; + usesDefaultFeatures = false; + } + { + name = "futures-task"; + packageId = "futures-task"; + usesDefaultFeatures = false; + } + { + name = "futures-util"; + packageId = "futures-util"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "futures-core/std" "futures-task/std" "futures-util/std" ]; + "thread-pool" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "futures-io" = rec { + crateName = "futures-io"; + version = "0.3.34"; + edition = "2018"; + sha256 = "1v9z6wj92ra18kpv0xig21hgpzrvcwmcr8fszyzh64yyay0zmh2k"; + libName = "futures_io"; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "futures-macro" = rec { + crateName = "futures-macro"; + version = "0.3.34"; + edition = "2018"; + sha256 = "0i0czvcvsqq4hrccibq2f23004si5z34zjwdxfmqhlrmm15nbfcz"; + procMacro = true; + libName = "futures_macro"; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + features = [ "full" ]; + } + ]; + + }; + "futures-sink" = rec { + crateName = "futures-sink"; + version = "0.3.34"; + edition = "2018"; + sha256 = "07cfvrgc3vxk6sw5g8a8dnrm1mzg6d5mwy08ywa1sgyhyxml4i0r"; + libName = "futures_sink"; + features = { + "default" = [ "std" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" ]; + }; + "futures-task" = rec { + crateName = "futures-task"; + version = "0.3.34"; + edition = "2018"; + sha256 = "1zfilqs8nwlfqz4prk7ihvpp5avvzins87ibzlxzq5fhs7ipshfd"; + libName = "futures_task"; + features = { + "default" = [ "std" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "std" ]; + }; + "futures-util" = rec { + crateName = "futures-util"; + version = "0.3.34"; + edition = "2018"; + sha256 = "1g3r9ghzq7c2fh34lis43i72xavk9p84npgfwgb5vfpqcwjajl0d"; + libName = "futures_util"; + dependencies = [ + { + name = "futures-channel"; + packageId = "futures-channel"; + optional = true; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "futures-core"; + packageId = "futures-core"; + usesDefaultFeatures = false; + } + { + name = "futures-io"; + packageId = "futures-io"; + optional = true; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "futures-macro"; + packageId = "futures-macro"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "futures-sink"; + packageId = "futures-sink"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "futures-task"; + packageId = "futures-task"; + usesDefaultFeatures = false; + } + { + name = "memchr"; + packageId = "memchr"; + optional = true; + } + { + name = "pin-project-lite"; + packageId = "pin-project-lite"; + } + { + name = "slab"; + packageId = "slab"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "futures-core/alloc" "futures-task/alloc" "slab" ]; + "async-await-macro" = [ "async-await" "futures-macro" ]; + "channel" = [ "std" "futures-channel" ]; + "compat" = [ "std" "futures_01" "libc" ]; + "default" = [ "std" "async-await" "async-await-macro" ]; + "futures-channel" = [ "dep:futures-channel" ]; + "futures-io" = [ "dep:futures-io" ]; + "futures-macro" = [ "dep:futures-macro" ]; + "futures-sink" = [ "dep:futures-sink" ]; + "futures_01" = [ "dep:futures_01" ]; + "io" = [ "std" "futures-io" "memchr" ]; + "io-compat" = [ "io" "compat" "tokio-io" "libc" ]; + "libc" = [ "dep:libc" ]; + "memchr" = [ "dep:memchr" ]; + "portable-atomic" = [ "futures-core/portable-atomic" "portable_atomic_crate" ]; + "portable-atomic-alloc" = [ "portable-atomic-util/alloc" "portable-atomic" ]; + "portable-atomic-util" = [ "dep:portable-atomic-util" ]; + "portable_atomic_crate" = [ "dep:portable_atomic_crate" ]; + "sink" = [ "futures-sink" ]; + "slab" = [ "dep:slab" ]; + "spin" = [ "dep:spin" ]; + "std" = [ "alloc" "futures-core/std" "futures-task/std" "slab/std" ]; + "tokio-io" = [ "dep:tokio-io" ]; + "unstable" = [ "futures-core/unstable" "futures-task/unstable" ]; + "write-all-vectored" = [ "io" ]; + }; + resolvedDefaultFeatures = [ "alloc" "async-await" "async-await-macro" "channel" "default" "futures-channel" "futures-io" "futures-macro" "futures-sink" "io" "memchr" "sink" "slab" "std" ]; + }; + "generic-array" = rec { + crateName = "generic-array"; + version = "0.14.7"; + edition = "2015"; + sha256 = "16lyyrzrljfq424c3n8kfwkqihlimmsg5nhshbbp48np3yjrqr45"; + libName = "generic_array"; + authors = [ + "Bartłomiej Kamiński " + "Aaron Trent " + ]; + dependencies = [ + { + name = "typenum"; + packageId = "typenum"; + } + ]; + buildDependencies = [ + { + name = "version_check"; + packageId = "version_check"; + } + ]; + features = { + "serde" = [ "dep:serde" ]; + "zeroize" = [ "dep:zeroize" ]; + }; + resolvedDefaultFeatures = [ "more_lengths" ]; + }; + "getrandom 0.2.17" = rec { + crateName = "getrandom"; + version = "0.2.17"; + edition = "2018"; + sha256 = "1l2ac6jfj9xhpjjgmcx6s1x89bbnw9x6j9258yy6xjkzpq0bqapz"; + authors = [ + "The Rand Project Developers" + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "js-sys"; + packageId = "js-sys"; + optional = true; + target = { target, features }: ((("wasm32" == target."arch" or null) || ("wasm64" == target."arch" or null)) && ("unknown" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (target."unix" or false); + } + { + name = "wasi"; + packageId = "wasi"; + usesDefaultFeatures = false; + target = { target, features }: ("wasi" == target."os" or null); + } + { + name = "wasm-bindgen"; + packageId = "wasm-bindgen"; + optional = true; + usesDefaultFeatures = false; + target = { target, features }: ((("wasm32" == target."arch" or null) || ("wasm64" == target."arch" or null)) && ("unknown" == target."os" or null)); + } + ]; + features = { + "compiler_builtins" = [ "dep:compiler_builtins" ]; + "core" = [ "dep:core" ]; + "js" = [ "wasm-bindgen" "js-sys" ]; + "js-sys" = [ "dep:js-sys" ]; + "rustc-dep-of-std" = [ "compiler_builtins" "core" "libc/rustc-dep-of-std" "wasi/rustc-dep-of-std" ]; + "wasm-bindgen" = [ "dep:wasm-bindgen" ]; + }; + resolvedDefaultFeatures = [ "js" "js-sys" "rdrand" "std" "wasm-bindgen" ]; + }; + "getrandom 0.3.4" = rec { + crateName = "getrandom"; + version = "0.3.4"; + edition = "2021"; + sha256 = "1zbpvpicry9lrbjmkd4msgj3ihff1q92i334chk7pzf46xffz7c9"; + authors = [ + "The Rand Project Developers" + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ((("linux" == target."os" or null) || ("android" == target."os" or null)) && (!((("linux" == target."os" or null) && ("" == target."env" or null)) || ("custom" == target."getrandom_backend" or null) || ("linux_raw" == target."getrandom_backend" or null) || ("rdrand" == target."getrandom_backend" or null) || ("rndr" == target."getrandom_backend" or null)))); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("dragonfly" == target."os" or null) || ("freebsd" == target."os" or null) || ("hurd" == target."os" or null) || ("illumos" == target."os" or null) || ("cygwin" == target."os" or null) || (("horizon" == target."os" or null) && ("arm" == target."arch" or null))); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("haiku" == target."os" or null) || ("redox" == target."os" or null) || ("nto" == target."os" or null) || ("aix" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("ios" == target."os" or null) || ("visionos" == target."os" or null) || ("watchos" == target."os" or null) || ("tvos" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("macos" == target."os" or null) || ("openbsd" == target."os" or null) || ("vita" == target."os" or null) || ("emscripten" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("netbsd" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("solaris" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("vxworks" == target."os" or null); + } + { + name = "r-efi"; + packageId = "r-efi 5.3.0"; + usesDefaultFeatures = false; + target = { target, features }: (("uefi" == target."os" or null) && ("efi_rng" == target."getrandom_backend" or null)); + } + { + name = "wasip2"; + packageId = "wasip2"; + usesDefaultFeatures = false; + target = { target, features }: (("wasm32" == target."arch" or null) && ("wasi" == target."os" or null) && ("p2" == target."env" or null)); + } + ]; + features = { + "wasm_js" = [ "dep:wasm-bindgen" "dep:js-sys" ]; + }; + }; + "getrandom 0.4.3" = rec { + crateName = "getrandom"; + version = "0.4.3"; + edition = "2024"; + sha256 = "16b0202fkdwz3p2cyll82dv24ljbn0wiyy829v4lwbkbflyqh3ih"; + authors = [ + "The Rand Project Developers" + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "js-sys"; + packageId = "js-sys"; + optional = true; + usesDefaultFeatures = false; + target = { target, features }: ((builtins.elem "wasm" target."family") && (("unknown" == target."os" or null) || ("none" == target."os" or null)) && (builtins.elem "atomics" targetFeatures)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ((("linux" == target."os" or null) || ("android" == target."os" or null)) && (!((("linux" == target."os" or null) && ("" == target."env" or null)) || ("custom" == target."getrandom_backend" or null) || ("linux_raw" == target."getrandom_backend" or null) || ("rdrand" == target."getrandom_backend" or null) || ("rndr" == target."getrandom_backend" or null)))); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("dragonfly" == target."os" or null) || ("freebsd" == target."os" or null) || ("hurd" == target."os" or null) || ("illumos" == target."os" or null) || ("cygwin" == target."os" or null) || (("horizon" == target."os" or null) && ("arm" == target."arch" or null))); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("haiku" == target."os" or null) || ("redox" == target."os" or null) || ("nto" == target."os" or null) || ("aix" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("ios" == target."os" or null) || ("visionos" == target."os" or null) || ("watchos" == target."os" or null) || ("tvos" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (("macos" == target."os" or null) || ("openbsd" == target."os" or null) || ("vita" == target."os" or null) || ("emscripten" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("netbsd" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("solaris" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("vxworks" == target."os" or null); + } + { + name = "r-efi"; + packageId = "r-efi 6.0.0"; + usesDefaultFeatures = false; + target = { target, features }: (("uefi" == target."os" or null) && ("efi_rng" == target."getrandom_backend" or null)); + } + { + name = "rand_core"; + packageId = "rand_core 0.10.1"; + optional = true; + } + { + name = "wasm-bindgen"; + packageId = "wasm-bindgen"; + optional = true; + usesDefaultFeatures = false; + target = { target, features }: ((builtins.elem "wasm" target."family") && (("unknown" == target."os" or null) || ("none" == target."os" or null))); + } + ]; + features = { + "sys_rng" = [ "dep:rand_core" ]; + "wasm_js" = [ "dep:wasm-bindgen" "dep:js-sys" ]; + }; + resolvedDefaultFeatures = [ "std" "sys_rng" "wasm_js" ]; + }; + "git-version" = rec { + crateName = "git-version"; + version = "0.3.9"; + edition = "2021"; + sha256 = "06ddi3px6l2ip0srn8512bsh8wrx4rzi65piya0vrz5h7nm6im8s"; + libName = "git_version"; + authors = [ + "Mara Bos " + "Maarten de Vries " + "David Roundy " + ]; + dependencies = [ + { + name = "git-version-macro"; + packageId = "git-version-macro"; + } + ]; + + }; + "git-version-macro" = rec { + crateName = "git-version-macro"; + version = "0.3.9"; + edition = "2021"; + sha256 = "1h1s08fgh9bkwnc2hmjxcldv69hlxpq7a09cqdxsd5hb235hq0ak"; + procMacro = true; + libName = "git_version_macro"; + authors = [ + "David Roundy " + "Maarten de Vries " + "Mara Bos " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + } + ]; + features = { + }; + }; + "glam 0.30.10" = rec { + crateName = "glam"; + version = "0.30.10"; + edition = "2021"; + sha256 = "1a9as4c2sm3z9sczl2m6gn8fsfmg4iw8rrpinv8i58iphhz47z0r"; + authors = [ + "Cameron Hart " + ]; + features = { + "approx" = [ "dep:approx" ]; + "arbitrary" = [ "dep:arbitrary" ]; + "bytecheck" = [ "rkyv/bytecheck" ]; + "bytemuck" = [ "dep:bytemuck" ]; + "core-simd" = [ "bytemuck?/nightly_portable_simd" ]; + "default" = [ "std" ]; + "encase" = [ "dep:encase" ]; + "libm" = [ "dep:libm" ]; + "mint" = [ "dep:mint" ]; + "nostd-libm" = [ "dep:libm" ]; + "rand" = [ "dep:rand" ]; + "rkyv" = [ "dep:rkyv" ]; + "serde" = [ "dep:serde_core" ]; + "speedy" = [ "dep:speedy" ]; + "zerocopy" = [ "dep:zerocopy" "dep:zerocopy-derive" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "glam 0.31.1" = rec { + crateName = "glam"; + version = "0.31.1"; + edition = "2021"; + sha256 = "1rsv5f5fb70bfm6ji37pv66g7gf9f4bb8yqf9skib38bm4p6nvsm"; + authors = [ + "Cameron Hart " + ]; + features = { + "approx" = [ "dep:approx" ]; + "arbitrary" = [ "dep:arbitrary" ]; + "bytecheck" = [ "rkyv/bytecheck" ]; + "bytemuck" = [ "dep:bytemuck" ]; + "core-simd" = [ "bytemuck?/nightly_portable_simd" ]; + "default" = [ "std" ]; + "encase" = [ "dep:encase" ]; + "libm" = [ "dep:libm" ]; + "mint" = [ "dep:mint" ]; + "nostd-libm" = [ "dep:libm" ]; + "rand" = [ "dep:rand" ]; + "rkyv" = [ "dep:rkyv" ]; + "serde" = [ "dep:serde_core" ]; + "speedy" = [ "dep:speedy" ]; + "zerocopy" = [ "dep:zerocopy" "dep:zerocopy-derive" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "glam 0.32.1" = rec { + crateName = "glam"; + version = "0.32.1"; + edition = "2021"; + sha256 = "186cjxn5qknagm31vmxvxk1kwwrfvv6cqj99nvvcngh6bdllj1zp"; + authors = [ + "Cameron Hart " + ]; + features = { + "approx" = [ "dep:approx" ]; + "arbitrary" = [ "dep:arbitrary" ]; + "bytecheck" = [ "rkyv/bytecheck" ]; + "bytemuck" = [ "dep:bytemuck" ]; + "core-simd" = [ "bytemuck?/nightly_portable_simd" ]; + "default" = [ "std" ]; + "encase" = [ "dep:encase" ]; + "libm" = [ "dep:libm" ]; + "mint" = [ "dep:mint" ]; + "nostd-libm" = [ "dep:libm" ]; + "rand" = [ "dep:rand" ]; + "rkyv" = [ "dep:rkyv" ]; + "serde" = [ "dep:serde_core" ]; + "speedy" = [ "dep:speedy" ]; + "zerocopy" = [ "dep:zerocopy" "dep:zerocopy-derive" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "glam 0.33.5" = rec { + crateName = "glam"; + version = "0.33.5"; + edition = "2021"; + sha256 = "09kbxdwcpnh2pbwwwa38qmhlhhj23haqbfn0z8rzzflr03vxl9n4"; + features = { + "all-types" = [ "float-types" "integer-types" "size-types" ]; + "approx" = [ "dep:approx" ]; + "arbitrary" = [ "dep:arbitrary" ]; + "bytecheck" = [ "rkyv/bytecheck" ]; + "bytemuck" = [ "dep:bytemuck" ]; + "core-simd" = [ "bytemuck?/nightly_portable_simd" ]; + "default" = [ "std" "all-types" ]; + "encase" = [ "dep:encase" ]; + "float-types" = [ "f64" ]; + "integer-types" = [ "i8" "u8" "i16" "u16" "i32" "u32" "i64" "u64" ]; + "libm" = [ "dep:libm" ]; + "mint" = [ "dep:mint" ]; + "nostd-libm" = [ "dep:libm" ]; + "rand" = [ "dep:rand" ]; + "rkyv" = [ "dep:rkyv" ]; + "serde" = [ "dep:serde_core" ]; + "size-types" = [ "isize" "usize" ]; + "speedy" = [ "dep:speedy" ]; + "zerocopy" = [ "dep:zerocopy" "dep:zerocopy-derive" ]; + }; + resolvedDefaultFeatures = [ "f64" "i32" "std" "u32" ]; + }; + "hashbrown 0.12.3" = rec { + crateName = "hashbrown"; + version = "0.12.3"; + edition = "2021"; + sha256 = "1268ka4750pyg2pbgsr43f0289l5zah4arir2k4igx5a8c6fg7la"; + authors = [ + "Amanieu d'Antras " + ]; + features = { + "ahash" = [ "dep:ahash" ]; + "ahash-compile-time-rng" = [ "ahash/compile-time-rng" ]; + "alloc" = [ "dep:alloc" ]; + "bumpalo" = [ "dep:bumpalo" ]; + "compiler_builtins" = [ "dep:compiler_builtins" ]; + "core" = [ "dep:core" ]; + "default" = [ "ahash" "inline-more" ]; + "rayon" = [ "dep:rayon" ]; + "rustc-dep-of-std" = [ "nightly" "core" "compiler_builtins" "alloc" "rustc-internal-api" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "raw" ]; + }; + "hashbrown 0.14.5" = rec { + crateName = "hashbrown"; + version = "0.14.5"; + edition = "2021"; + sha256 = "1wa1vy1xs3mp11bn3z9dv0jricgr6a2j0zkf1g19yz3vw4il89z5"; + authors = [ + "Amanieu d'Antras " + ]; + dependencies = [ + { + name = "ahash"; + packageId = "ahash"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "allocator-api2"; + packageId = "allocator-api2"; + optional = true; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + ]; + features = { + "ahash" = [ "dep:ahash" ]; + "alloc" = [ "dep:alloc" ]; + "allocator-api2" = [ "dep:allocator-api2" ]; + "compiler_builtins" = [ "dep:compiler_builtins" ]; + "core" = [ "dep:core" ]; + "default" = [ "ahash" "inline-more" "allocator-api2" ]; + "equivalent" = [ "dep:equivalent" ]; + "nightly" = [ "allocator-api2?/nightly" "bumpalo/allocator_api" ]; + "rayon" = [ "dep:rayon" ]; + "rkyv" = [ "dep:rkyv" ]; + "rustc-dep-of-std" = [ "nightly" "core" "compiler_builtins" "alloc" "rustc-internal-api" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "ahash" "allocator-api2" "default" "inline-more" "raw" ]; + }; + "hashbrown 0.15.5" = rec { + crateName = "hashbrown"; + version = "0.15.5"; + edition = "2021"; + sha256 = "189qaczmjxnikm9db748xyhiw04kpmhm9xj9k9hg0sgx7pjwyacj"; + authors = [ + "Amanieu d'Antras " + ]; + dependencies = [ + { + name = "foldhash"; + packageId = "foldhash 0.1.5"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "dep:alloc" ]; + "allocator-api2" = [ "dep:allocator-api2" ]; + "core" = [ "dep:core" ]; + "default" = [ "default-hasher" "inline-more" "allocator-api2" "equivalent" "raw-entry" ]; + "default-hasher" = [ "dep:foldhash" ]; + "equivalent" = [ "dep:equivalent" ]; + "nightly" = [ "bumpalo/allocator_api" ]; + "rayon" = [ "dep:rayon" ]; + "rustc-dep-of-std" = [ "nightly" "core" "alloc" "rustc-internal-api" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "default-hasher" "inline-more" ]; + }; + "hashbrown 0.16.1" = rec { + crateName = "hashbrown"; + version = "0.16.1"; + edition = "2021"; + sha256 = "004i3njw38ji3bzdp9z178ba9x3k0c1pgy8x69pj7yfppv4iq7c4"; + authors = [ + "Amanieu d'Antras " + ]; + dependencies = [ + { + name = "allocator-api2"; + packageId = "allocator-api2"; + optional = true; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "equivalent"; + packageId = "equivalent"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "foldhash"; + packageId = "foldhash 0.2.0"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "dep:alloc" ]; + "allocator-api2" = [ "dep:allocator-api2" ]; + "core" = [ "dep:core" ]; + "default" = [ "default-hasher" "inline-more" "allocator-api2" "equivalent" "raw-entry" ]; + "default-hasher" = [ "dep:foldhash" ]; + "equivalent" = [ "dep:equivalent" ]; + "nightly" = [ "foldhash?/nightly" "bumpalo/allocator_api" ]; + "rayon" = [ "dep:rayon" ]; + "rustc-dep-of-std" = [ "nightly" "core" "alloc" "rustc-internal-api" ]; + "serde" = [ "dep:serde_core" "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "allocator-api2" "default" "default-hasher" "equivalent" "inline-more" "raw-entry" ]; + }; + "hashbrown 0.17.1" = rec { + crateName = "hashbrown"; + version = "0.17.1"; + edition = "2024"; + sha256 = "0jmqz7i4yl6cm7rbn0i2ffkfrmwi6xkmzkaldr2v8bcsx2v0jngd"; + features = { + "alloc" = [ "dep:alloc" ]; + "allocator-api2" = [ "dep:allocator-api2" ]; + "core" = [ "dep:core" ]; + "default" = [ "default-hasher" "inline-more" "allocator-api2" "equivalent" "raw-entry" ]; + "default-hasher" = [ "dep:foldhash" ]; + "equivalent" = [ "dep:equivalent" ]; + "nightly" = [ "foldhash?/nightly" "bumpalo/allocator_api" ]; + "rayon" = [ "dep:rayon" ]; + "rustc-dep-of-std" = [ "nightly" "core" "alloc" "rustc-internal-api" ]; + "serde" = [ "dep:serde_core" "dep:serde" ]; + }; + }; + "heck" = rec { + crateName = "heck"; + version = "0.5.0"; + edition = "2021"; + sha256 = "1sjmpsdl8czyh9ywl3qcsfsq9a307dg4ni2vnlwgnzzqhc4y0113"; + + }; + "hermit-abi" = rec { + crateName = "hermit-abi"; + version = "0.5.2"; + edition = "2021"; + sha256 = "1744vaqkczpwncfy960j2hxrbjl1q01csm84jpd9dajbdr2yy3zw"; + libName = "hermit_abi"; + authors = [ + "Stefan Lankes" + ]; + features = { + "alloc" = [ "dep:alloc" ]; + "core" = [ "dep:core" ]; + "rustc-dep-of-std" = [ "core" "alloc" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "hex" = rec { + crateName = "hex"; + version = "0.4.3"; + edition = "2018"; + sha256 = "0w1a4davm1lgzpamwnba907aysmlrnygbqmfis2mqjx5m552a93z"; + authors = [ + "KokaKiwi " + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" ]; + }; + "hmac" = rec { + crateName = "hmac"; + version = "0.12.1"; + edition = "2018"; + sha256 = "0pmbr069sfg76z7wsssfk5ddcqd9ncp79fyz6zcm6yn115yc6jbc"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "digest"; + packageId = "digest"; + features = [ "mac" ]; + } + ]; + devDependencies = [ + { + name = "digest"; + packageId = "digest"; + features = [ "dev" ]; + } + ]; + features = { + "std" = [ "digest/std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "home" = rec { + crateName = "home"; + version = "0.5.12"; + edition = "2024"; + sha256 = "13bjyzgx6q9srnfvl43dvmhn93qc8mh5w7cylk2g13sj3i3pyqnc"; + authors = [ + "Brian Anderson " + ]; + dependencies = [ + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + target = { target, features }: (target."windows" or false); + features = [ "Win32_Foundation" "Win32_UI_Shell" "Win32_System_Com" ]; + } + ]; + + }; + "humantime" = rec { + crateName = "humantime"; + version = "2.4.0"; + edition = "2021"; + sha256 = "059w9i1g0gmfg30axhqh10fvqpym4frsz9iggqlm673h0xkx5k8m"; + features = { + }; + }; + "iana-time-zone" = rec { + crateName = "iana-time-zone"; + version = "0.1.65"; + edition = "2021"; + sha256 = "0w64khw5p8s4nzwcf36bwnsmqzf61vpwk9ca1920x82bk6nwj6z3"; + libName = "iana_time_zone"; + authors = [ + "Andrew Straw " + "René Kijewski " + "Ryan Lopopolo " + ]; + dependencies = [ + { + name = "android_system_properties"; + packageId = "android_system_properties"; + target = { target, features }: ("android" == target."os" or null); + } + { + name = "core-foundation-sys"; + packageId = "core-foundation-sys"; + target = { target, features }: ("apple" == target."vendor" or null); + } + { + name = "iana-time-zone-haiku"; + packageId = "iana-time-zone-haiku"; + target = { target, features }: ("haiku" == target."os" or null); + } + { + name = "js-sys"; + packageId = "js-sys"; + target = { target, features }: (("wasm32" == target."arch" or null) && ("unknown" == target."os" or null)); + } + { + name = "log"; + packageId = "log"; + target = { target, features }: (("wasm32" == target."arch" or null) && ("unknown" == target."os" or null)); + } + { + name = "wasm-bindgen"; + packageId = "wasm-bindgen"; + target = { target, features }: (("wasm32" == target."arch" or null) && ("unknown" == target."os" or null)); + } + { + name = "windows-core"; + packageId = "windows-core"; + target = { target, features }: ("windows" == target."os" or null); + } + ]; + features = { + }; + resolvedDefaultFeatures = [ "fallback" ]; + }; + "iana-time-zone-haiku" = rec { + crateName = "iana-time-zone-haiku"; + version = "0.1.2"; + edition = "2018"; + sha256 = "17r6jmj31chn7xs9698r122mapq85mfnv98bb4pg6spm0si2f67k"; + libName = "iana_time_zone_haiku"; + authors = [ + "René Kijewski " + ]; + buildDependencies = [ + { + name = "cc"; + packageId = "cc"; + } + ]; + + }; + "icu_collections" = rec { + crateName = "icu_collections"; + version = "2.3.0"; + edition = "2024"; + sha256 = "04x59h6vdq0cnpippim1nr471ivlsnnn470sj1d5v864h48d4s7s"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "displaydoc"; + packageId = "displaydoc"; + usesDefaultFeatures = false; + } + { + name = "potential_utf"; + packageId = "potential_utf"; + usesDefaultFeatures = false; + features = [ "zerovec" ]; + } + { + name = "utf8_iter"; + packageId = "utf8_iter"; + usesDefaultFeatures = false; + } + { + name = "yoke"; + packageId = "yoke"; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + { + name = "zerofrom"; + packageId = "zerofrom"; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + { + name = "zerovec"; + packageId = "zerovec"; + usesDefaultFeatures = false; + features = [ "derive" "yoke" ]; + } + ]; + features = { + "alloc" = [ "serde?/alloc" "zerovec/alloc" ]; + "databake" = [ "dep:databake" "zerovec/databake" ]; + "serde" = [ "dep:serde" "zerovec/serde" "potential_utf/serde" "alloc" ]; + }; + }; + "icu_locale_core" = rec { + crateName = "icu_locale_core"; + version = "2.3.0"; + edition = "2024"; + sha256 = "1sqdj16wwl7h9y6r7j394av4kpdb7zryz9h169ffwbm9imc2hvnm"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "displaydoc"; + packageId = "displaydoc"; + usesDefaultFeatures = false; + } + { + name = "litemap"; + packageId = "litemap"; + usesDefaultFeatures = false; + } + { + name = "tinystr"; + packageId = "tinystr"; + usesDefaultFeatures = false; + } + { + name = "writeable"; + packageId = "writeable"; + usesDefaultFeatures = false; + } + { + name = "zerovec"; + packageId = "zerovec"; + optional = true; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "litemap"; + packageId = "litemap"; + usesDefaultFeatures = false; + features = [ "testing" ]; + } + ]; + features = { + "alloc" = [ "litemap/alloc" "tinystr/alloc" "writeable/alloc" "serde?/alloc" ]; + "databake" = [ "dep:databake" "alloc" ]; + "serde" = [ "dep:serde" "tinystr/serde" ]; + "zerovec" = [ "dep:zerovec" "tinystr/zerovec" ]; + }; + resolvedDefaultFeatures = [ "zerovec" ]; + }; + "icu_normalizer" = rec { + crateName = "icu_normalizer"; + version = "2.3.0"; + edition = "2024"; + sha256 = "0vv43ixk2wmbxrx7kl33cwkhx1wdyb1q3pa18qkyshan4dgwzy8j"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "icu_collections"; + packageId = "icu_collections"; + usesDefaultFeatures = false; + } + { + name = "icu_normalizer_data"; + packageId = "icu_normalizer_data"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "icu_properties"; + packageId = "icu_properties"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "icu_provider"; + packageId = "icu_provider"; + usesDefaultFeatures = false; + } + { + name = "smallvec"; + packageId = "smallvec"; + usesDefaultFeatures = false; + } + { + name = "zerovec"; + packageId = "zerovec"; + usesDefaultFeatures = false; + } + ]; + features = { + "compiled_data" = [ "dep:icu_normalizer_data" "icu_properties?/compiled_data" "icu_provider/baked" ]; + "datagen" = [ "serde" "dep:databake" "icu_properties" "icu_collections/databake" "zerovec/databake" "icu_properties?/datagen" "icu_provider/export" ]; + "default" = [ "compiled_data" "utf8_iter" "utf16_iter" ]; + "harfbuzz_traits" = [ "dep:harfbuzz-traits" ]; + "icu_properties" = [ "dep:icu_properties" ]; + "serde" = [ "dep:serde" "icu_collections/serde" "zerovec/serde" "icu_properties?/serde" "icu_provider/serde" ]; + "utf16_iter" = [ "dep:utf16_iter" "dep:write16" ]; + "utf8_iter" = [ "dep:utf8_iter" ]; + }; + resolvedDefaultFeatures = [ "compiled_data" ]; + }; + "icu_normalizer_data" = rec { + crateName = "icu_normalizer_data"; + version = "2.3.0"; + edition = "2024"; + sha256 = "1811h0ppb7lwq1q2492p5x6lcmlwmhbmkf69fhyvzcz0scgdlqqm"; + authors = [ + "The ICU4X Project Developers" + ]; + + }; + "icu_properties" = rec { + crateName = "icu_properties"; + version = "2.3.0"; + edition = "2024"; + sha256 = "0j51hi8qgf0l6a7qzvnwsc61598w2fpnsklicld6ci9immva4z3y"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "displaydoc"; + packageId = "displaydoc"; + usesDefaultFeatures = false; + } + { + name = "icu_collections"; + packageId = "icu_collections"; + usesDefaultFeatures = false; + } + { + name = "icu_locale_core"; + packageId = "icu_locale_core"; + usesDefaultFeatures = false; + features = [ "zerovec" ]; + } + { + name = "icu_properties_data"; + packageId = "icu_properties_data"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "icu_provider"; + packageId = "icu_provider"; + usesDefaultFeatures = false; + } + { + name = "zerotrie"; + packageId = "zerotrie"; + usesDefaultFeatures = false; + features = [ "yoke" "zerofrom" ]; + } + { + name = "zerovec"; + packageId = "zerovec"; + usesDefaultFeatures = false; + features = [ "derive" "yoke" ]; + } + ]; + features = { + "alloc" = [ "zerovec/alloc" "icu_collections/alloc" "serde?/alloc" ]; + "compiled_data" = [ "dep:icu_properties_data" "icu_provider/baked" ]; + "datagen" = [ "serde" "dep:databake" "zerovec/databake" "icu_collections/databake" "icu_locale_core/databake" "zerotrie/databake" "icu_provider/export" ]; + "default" = [ "compiled_data" ]; + "harfbuzz_traits" = [ "dep:harfbuzz-traits" ]; + "log" = [ "dep:log" ]; + "serde" = [ "dep:serde" "icu_locale_core/serde" "zerovec/serde" "icu_collections/serde" "icu_provider/serde" "zerotrie/serde" ]; + "unicode_bidi" = [ "dep:unicode-bidi" ]; + }; + resolvedDefaultFeatures = [ "compiled_data" ]; + }; + "icu_properties_data" = rec { + crateName = "icu_properties_data"; + version = "2.3.0"; + edition = "2024"; + sha256 = "1akw1gp5rcaiz377xzsnkx8f92qax4kh3lfn9y4rcjj6q4wg1475"; + authors = [ + "The ICU4X Project Developers" + ]; + + }; + "icu_provider" = rec { + crateName = "icu_provider"; + version = "2.3.1"; + edition = "2024"; + sha256 = "0wrydhwprwgyka3r3sw6276syjnlw6fpqr2zsm2srvxv7afvnyyj"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "displaydoc"; + packageId = "displaydoc"; + usesDefaultFeatures = false; + } + { + name = "icu_locale_core"; + packageId = "icu_locale_core"; + usesDefaultFeatures = false; + } + { + name = "writeable"; + packageId = "writeable"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "yoke"; + packageId = "yoke"; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + { + name = "zerofrom"; + packageId = "zerofrom"; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + { + name = "zerotrie"; + packageId = "zerotrie"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "zerovec"; + packageId = "zerovec"; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + ]; + features = { + "alloc" = [ "icu_locale_core/alloc" "serde?/alloc" "yoke/alloc" "zerofrom/alloc" "zerovec/alloc" "zerotrie?/alloc" "dep:stable_deref_trait" "dep:writeable" ]; + "baked" = [ "dep:zerotrie" "dep:writeable" ]; + "deserialize_bincode_1" = [ "serde" "dep:bincode" "std" ]; + "deserialize_json" = [ "serde" "dep:serde_json" ]; + "deserialize_postcard_1" = [ "serde" "dep:postcard" ]; + "export" = [ "serde" "dep:erased-serde" "dep:databake" "std" "sync" "dep:postcard" "zerovec/databake" ]; + "logging" = [ "dep:log" ]; + "serde" = [ "dep:serde" "yoke/serde" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "baked" ]; + }; + "ident_case" = rec { + crateName = "ident_case"; + version = "1.0.1"; + edition = "2015"; + sha256 = "0fac21q6pwns8gh1hz3nbq15j8fi441ncl6w4vlnd1cmc55kiq5r"; + authors = [ + "Ted Driggs " + ]; + + }; + "idna" = rec { + crateName = "idna"; + version = "1.1.0"; + edition = "2018"; + sha256 = "1pp4n7hppm480zcx411dsv9wfibai00wbpgnjj4qj0xa7kr7a21v"; + authors = [ + "The rust-url developers" + ]; + dependencies = [ + { + name = "idna_adapter"; + packageId = "idna_adapter"; + } + { + name = "smallvec"; + packageId = "smallvec"; + features = [ "const_generics" ]; + } + { + name = "utf8_iter"; + packageId = "utf8_iter"; + } + ]; + features = { + "compiled_data" = [ "idna_adapter/compiled_data" ]; + "default" = [ "std" "compiled_data" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "compiled_data" "default" "std" ]; + }; + "idna_adapter" = rec { + crateName = "idna_adapter"; + version = "1.2.2"; + edition = "2024"; + sha256 = "0557p76l8hj35r9zn1yv7c6x1c0qbrsffmg80n0yy8361ly3fs6b"; + authors = [ + "The rust-url developers" + ]; + dependencies = [ + { + name = "icu_normalizer"; + packageId = "icu_normalizer"; + usesDefaultFeatures = false; + } + { + name = "icu_properties"; + packageId = "icu_properties"; + usesDefaultFeatures = false; + } + ]; + features = { + "compiled_data" = [ "icu_normalizer/compiled_data" "icu_properties/compiled_data" ]; + }; + resolvedDefaultFeatures = [ "compiled_data" ]; + }; + "indexmap 1.9.3" = rec { + crateName = "indexmap"; + version = "1.9.3"; + edition = "2021"; + sha256 = "16dxmy7yvk51wvnih3a3im6fp5lmx0wx76i03n06wyak6cwhw1xx"; + dependencies = [ + { + name = "hashbrown"; + packageId = "hashbrown 0.12.3"; + usesDefaultFeatures = false; + features = [ "raw" ]; + } + { + name = "serde"; + packageId = "serde"; + optional = true; + usesDefaultFeatures = false; + } + ]; + buildDependencies = [ + { + name = "autocfg"; + packageId = "autocfg"; + } + ]; + features = { + "arbitrary" = [ "dep:arbitrary" ]; + "quickcheck" = [ "dep:quickcheck" ]; + "rayon" = [ "dep:rayon" ]; + "rustc-rayon" = [ "dep:rustc-rayon" ]; + "serde" = [ "dep:serde" ]; + "serde-1" = [ "serde" ]; + }; + resolvedDefaultFeatures = [ "serde" "serde-1" "std" ]; + }; + "indexmap 2.14.0" = rec { + crateName = "indexmap"; + version = "2.14.0"; + edition = "2024"; + sha256 = "1na9z6f0d5pkjr1lgsni470v98gv2r7c41j8w48skr089x2yjrnl"; + dependencies = [ + { + name = "equivalent"; + packageId = "equivalent"; + usesDefaultFeatures = false; + } + { + name = "hashbrown"; + packageId = "hashbrown 0.17.1"; + usesDefaultFeatures = false; + } + { + name = "serde"; + packageId = "serde"; + optional = true; + usesDefaultFeatures = false; + target = { target, features }: false; + } + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + ]; + features = { + "arbitrary" = [ "dep:arbitrary" ]; + "borsh" = [ "dep:borsh" ]; + "default" = [ "std" ]; + "quickcheck" = [ "dep:quickcheck" ]; + "rayon" = [ "dep:rayon" ]; + "serde" = [ "dep:serde_core" "dep:serde" ]; + "sval" = [ "dep:sval" ]; + }; + resolvedDefaultFeatures = [ "default" "serde" "std" ]; + }; + "indoc" = rec { + crateName = "indoc"; + version = "2.0.7"; + edition = "2021"; + sha256 = "01np60qdq6lvgh8ww2caajn9j4dibx9n58rvzf7cya1jz69mrkvr"; + procMacro = true; + authors = [ + "David Tolnay " + ]; + buildDependencies = [ + { + name = "rustversion"; + packageId = "rustversion"; + } + ]; + devDependencies = [ + { + name = "rustversion"; + packageId = "rustversion"; + } + ]; + + }; + "inout" = rec { + crateName = "inout"; + version = "0.1.4"; + edition = "2021"; + sha256 = "008xfl1jn9rxsq19phnhbimccf4p64880jmnpg59wqi07kk117w7"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "generic-array"; + packageId = "generic-array"; + } + ]; + features = { + "block-padding" = [ "dep:block-padding" ]; + "std" = [ "block-padding/std" ]; + }; + }; + "ipnetwork" = rec { + crateName = "ipnetwork"; + version = "0.20.0"; + edition = "2021"; + sha256 = "03hhmxyimz0800z44wl3z1ak8iw91xcnk7sgx5p5jinmx50naimz"; + authors = [ + "Abhishek Chanda " + "Linus Färnstrand " + ]; + dependencies = [ + { + name = "serde"; + packageId = "serde"; + optional = true; + } + ]; + features = { + "default" = [ "serde" ]; + "schemars" = [ "dep:schemars" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "default" "serde" ]; + }; + "itertools" = rec { + crateName = "itertools"; + version = "0.14.0"; + edition = "2018"; + sha256 = "118j6l1vs2mx65dqhwyssbrxpawa90886m3mzafdvyip41w2q69b"; + authors = [ + "bluss" + ]; + dependencies = [ + { + name = "either"; + packageId = "either"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "use_std" ]; + "use_std" = [ "use_alloc" "either/use_std" ]; + }; + resolvedDefaultFeatures = [ "default" "use_alloc" "use_std" ]; + }; + "itoa" = rec { + crateName = "itoa"; + version = "1.0.18"; + edition = "2021"; + sha256 = "10jnd1vpfkb8kj38rlkn2a6k02afvj3qmw054dfpzagrpl6achlg"; + authors = [ + "David Tolnay " + ]; + features = { + "no-panic" = [ "dep:no-panic" ]; + }; + }; + "jiff" = rec { + crateName = "jiff"; + version = "0.2.35"; + edition = "2021"; + sha256 = "1k1d1n8k46192xz6ph8km43lcg68ql65phzmhm49mbq7pn1p32v6"; + authors = [ + "Andrew Gallant " + ]; + dependencies = [ + { + name = "defmt"; + packageId = "defmt"; + optional = true; + } + { + name = "jiff-core"; + packageId = "jiff-core"; + rename = "jcore"; + usesDefaultFeatures = false; + } + { + name = "jiff-static"; + packageId = "jiff-static"; + optional = true; + } + { + name = "jiff-static"; + packageId = "jiff-static"; + target = { target, features }: false; + } + { + name = "jiff-tzdb-platform"; + packageId = "jiff-tzdb-platform"; + optional = true; + target = { target, features }: ((target."windows" or false) || (builtins.elem "wasm" target."family")); + } + { + name = "log"; + packageId = "log"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "portable-atomic"; + packageId = "portable-atomic"; + usesDefaultFeatures = false; + target = { target, features }: (!("ptr" == target."has_atomic" or null)); + } + { + name = "portable-atomic-util"; + packageId = "portable-atomic-util"; + usesDefaultFeatures = false; + target = { target, features }: (!("ptr" == target."has_atomic" or null)); + } + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "windows-link"; + packageId = "windows-link"; + optional = true; + target = { target, features }: (target."windows" or false); + } + ]; + devDependencies = [ + { + name = "log"; + packageId = "log"; + } + ]; + features = { + "alloc" = [ "jcore/alloc" "serde_core?/alloc" "portable-atomic-util/alloc" "defmt?/alloc" ]; + "default" = [ "std" "tz-system" "tz-fat" "tzdb-bundle-platform" "tzdb-zoneinfo" "tzdb-concatenated" "perf-inline" ]; + "defmt" = [ "dep:defmt" "jcore/defmt" ]; + "js" = [ "dep:wasm-bindgen" "dep:js-sys" ]; + "logging" = [ "dep:log" "jcore/logging" ]; + "serde" = [ "dep:serde_core" ]; + "static" = [ "static-tz" "jiff-static?/tzdb" ]; + "static-tz" = [ "dep:jiff-static" ]; + "std" = [ "alloc" "jcore/std" "log?/std" "serde_core?/std" ]; + "tz-fat" = [ "jcore/tz-fat" "jiff-static?/tz-fat" ]; + "tz-system" = [ "std" "dep:windows-link" ]; + "tzdb-bundle-always" = [ "dep:jiff-tzdb" "alloc" ]; + "tzdb-bundle-platform" = [ "dep:jiff-tzdb-platform" "alloc" ]; + "tzdb-concatenated" = [ "std" ]; + "tzdb-zoneinfo" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "std" "tz-system" "tzdb-bundle-platform" "tzdb-concatenated" "tzdb-zoneinfo" ]; + }; + "jiff-core" = rec { + crateName = "jiff-core"; + version = "0.1.0"; + edition = "2021"; + sha256 = "02axx56pkh2w4bw5rp94qlvcpwzd3n2w2025fnikvrgg762aiv3z"; + libName = "jiff_core"; + authors = [ + "Andrew Gallant " + ]; + dependencies = [ + { + name = "defmt"; + packageId = "defmt"; + optional = true; + } + ]; + features = { + "alloc" = [ "defmt?/alloc" ]; + "default" = [ "std" "tz-fat" ]; + "defmt" = [ "dep:defmt" ]; + "logging" = [ "dep:log" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" "tz-fat" ]; + }; + "jiff-static" = rec { + crateName = "jiff-static"; + version = "0.2.35"; + edition = "2021"; + sha256 = "014jli8v46c8hzkndmvdfvq4la6a6y9icmnh3k735yqwlarxqs9s"; + procMacro = true; + libName = "jiff_static"; + authors = [ + "Andrew Gallant " + ]; + dependencies = [ + { + name = "jiff-core"; + packageId = "jiff-core"; + rename = "jcore"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + } + ]; + features = { + "tzdb" = [ "dep:jiff-tzdb" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "jiff-tzdb" = rec { + crateName = "jiff-tzdb"; + version = "0.1.8"; + edition = "2021"; + sha256 = "07hl9sgzfb9as1x0n5bjk1qxishzcriapy9xa481y8xd6acx6aql"; + libName = "jiff_tzdb"; + libPath = "lib.rs"; + authors = [ + "Andrew Gallant " + ]; + + }; + "jiff-tzdb-platform" = rec { + crateName = "jiff-tzdb-platform"; + version = "0.1.3"; + edition = "2021"; + sha256 = "1s1ja692wyhbv7f60mc0x90h7kn1pv65xkqi2y4imarbmilmlnl7"; + libName = "jiff_tzdb_platform"; + libPath = "lib.rs"; + authors = [ + "Andrew Gallant " + ]; + dependencies = [ + { + name = "jiff-tzdb"; + packageId = "jiff-tzdb"; + } + ]; + + }; + "jni" = rec { + crateName = "jni"; + version = "0.22.4"; + edition = "2024"; + sha256 = "161lza8gz071h22pgyqyx4n91ixd691z2dbb1pq2g97k5i49mzay"; + authors = [ + "jni team" + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "combine"; + packageId = "combine"; + } + { + name = "jni-macros"; + packageId = "jni-macros"; + } + { + name = "jni-sys"; + packageId = "jni-sys"; + } + { + name = "log"; + packageId = "log"; + } + { + name = "simd_cesu8"; + packageId = "simd_cesu8"; + } + { + name = "thiserror"; + packageId = "thiserror"; + } + { + name = "windows-link"; + packageId = "windows-link"; + target = { target, features }: (target."windows" or false); + } + ]; + buildDependencies = [ + { + name = "walkdir"; + packageId = "walkdir"; + } + ]; + features = { + "invocation" = [ "dep:java-locator" "dep:libloading" ]; + }; + }; + "jni-macros" = rec { + crateName = "jni-macros"; + version = "0.22.4"; + edition = "2024"; + sha256 = "18v02mcn5c7mb2yw6r930xg6ynsn7hwkxv8z2kdhn3qprjn0j0d0"; + procMacro = true; + libName = "jni_macros"; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "simd_cesu8"; + packageId = "simd_cesu8"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + ]; + buildDependencies = [ + { + name = "rustc_version"; + packageId = "rustc_version"; + } + ]; + + }; + "jni-sys" = rec { + crateName = "jni-sys"; + version = "0.4.1"; + edition = "2021"; + sha256 = "1wlahx6f2zhczdjqyn8mk7kshb8x5vsd927sn3lvw41rrf47ldy6"; + libName = "jni_sys"; + authors = [ + "Steven Fackler " + "Robert Bragg " + ]; + dependencies = [ + { + name = "jni-sys-macros"; + packageId = "jni-sys-macros"; + } + ]; + + }; + "jni-sys-macros" = rec { + crateName = "jni-sys-macros"; + version = "0.4.1"; + edition = "2021"; + sha256 = "0r32gbabrak15a7p487765b5wc0jcna2yv88mk6m1zjqyi1bkh1q"; + procMacro = true; + libName = "jni_sys_macros"; + authors = [ + "Robert Bragg " + ]; + dependencies = [ + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + ]; + + }; + "js-sys" = rec { + crateName = "js-sys"; + version = "0.3.104"; + edition = "2021"; + sha256 = "0fjsgady7wbv7bbyy6c8qhrd93bnx11qbl83l1g7bb9a4601030f"; + libName = "js_sys"; + authors = [ + "The wasm-bindgen Developers" + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "futures-util"; + packageId = "futures-util"; + optional = true; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "wasm-bindgen"; + packageId = "wasm-bindgen"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" "unsafe-eval" ]; + "futures-core-03-stream" = [ "dep:futures-util" "dep:futures-core" ]; + "std" = [ "wasm-bindgen/std" "dep:futures-util" ]; + }; + resolvedDefaultFeatures = [ "default" "std" "unsafe-eval" ]; + }; + "json5" = rec { + crateName = "json5"; + version = "0.4.1"; + edition = "2018"; + sha256 = "1h9hni897zmn3vcixfbwwkj2gkz27h7z9dah8bk1qv37mwhxpc4n"; + authors = [ + "Callum Oakley " + ]; + dependencies = [ + { + name = "pest"; + packageId = "pest"; + } + { + name = "pest_derive"; + packageId = "pest_derive"; + } + { + name = "serde"; + packageId = "serde"; + } + ]; + + }; + "keccak" = rec { + crateName = "keccak"; + version = "0.1.6"; + edition = "2018"; + sha256 = "0lynp77kk3xw5kbdnmpc4wzx3qqn9cyfvg5prfb3sfnfik4ww9nb"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "cpufeatures"; + packageId = "cpufeatures 0.2.17"; + target = { target, features }: ("aarch64" == target."arch" or null); + } + ]; + features = { + }; + }; + "keyed-set" = rec { + crateName = "keyed-set"; + version = "1.1.0"; + edition = "2021"; + sha256 = "1brby8r9f9m1a54fn07m0dszz6q3sy2fj7g97jwppmzcnsk5bll9"; + libName = "keyed_set"; + authors = [ + "Pierre Avital " + ]; + dependencies = [ + { + name = "hashbrown"; + packageId = "hashbrown 0.14.5"; + features = [ "raw" ]; + } + ]; + + }; + "konst" = rec { + crateName = "konst"; + version = "0.2.20"; + edition = "2018"; + sha256 = "1yyf1fhk28wbf1lqrga9as4cpfmpbry9a5vvdqyxgz14g3nk708j"; + authors = [ + "rodrimati1992 " + ]; + dependencies = [ + { + name = "konst_macro_rules"; + packageId = "konst_macro_rules"; + } + ]; + features = { + "__ui" = [ "__test" "trybuild" "rust_latest_stable" ]; + "const_generics" = [ "rust_1_51" ]; + "constant_time_slice" = [ "rust_latest_stable" ]; + "default" = [ "cmp" "parsing" ]; + "deref_raw_in_fn" = [ "rust_1_56" ]; + "konst_proc_macros" = [ "dep:konst_proc_macros" ]; + "mut_refs" = [ "rust_latest_stable" "konst_macro_rules/mut_refs" ]; + "nightly_mut_refs" = [ "mut_refs" "konst_macro_rules/nightly_mut_refs" ]; + "parsing" = [ "parsing_no_proc" "konst_proc_macros" ]; + "rust_1_51" = [ "konst_macro_rules/rust_1_51" ]; + "rust_1_55" = [ "rust_1_51" "konst_macro_rules/rust_1_55" ]; + "rust_1_56" = [ "rust_1_55" "konst_macro_rules/rust_1_56" ]; + "rust_1_57" = [ "rust_1_56" "konst_macro_rules/rust_1_57" ]; + "rust_1_61" = [ "rust_1_57" "konst_macro_rules/rust_1_61" ]; + "rust_1_64" = [ "rust_1_61" ]; + "rust_latest_stable" = [ "rust_1_64" ]; + "trybuild" = [ "dep:trybuild" ]; + }; + resolvedDefaultFeatures = [ "rust_1_51" "rust_1_55" "rust_1_56" "rust_1_57" "rust_1_61" "rust_1_64" ]; + }; + "konst_macro_rules" = rec { + crateName = "konst_macro_rules"; + version = "0.2.19"; + edition = "2018"; + sha256 = "0dswja0dqcww4x3fwjnirc0azv2n6cazn8yv0kddksd8awzkz4x4"; + authors = [ + "rodrimati1992 " + ]; + features = { + }; + resolvedDefaultFeatures = [ "rust_1_51" "rust_1_55" "rust_1_56" "rust_1_57" "rust_1_61" ]; + }; + "lazy_static" = rec { + crateName = "lazy_static"; + version = "1.5.0"; + edition = "2015"; + sha256 = "1zk6dqqni0193xg6iijh7i3i44sryglwgvx20spdvwk3r6sbrlmv"; + authors = [ + "Marvin Löbel " + ]; + features = { + "spin" = [ "dep:spin" ]; + "spin_no_std" = [ "spin" ]; + }; + }; + "lcm-msgs" = rec { + crateName = "lcm-msgs"; + version = "0.1.0"; + edition = "2021"; + workspace_member = null; + src = pkgs.fetchgit { + url = "https://github.com/dimensionalOS/dimos-lcm.git"; + rev = "04d78e8622500244123ba9cefa4c51b4cb454549"; + sha256 = "0zzaszjhsxkx6shc7jzy3y58hr989f29m74p57x86dgsr7h32s8q"; + }; + libName = "lcm_msgs"; + dependencies = [ + { + name = "byteorder"; + packageId = "byteorder"; + } + ]; + + }; + "libc" = rec { + crateName = "libc"; + version = "0.2.189"; + edition = "2021"; + sha256 = "1whjfs375vlng2q6yrbzs73cvp5lm3w1n2gfqajb2vgf7zg3xbry"; + features = { + "default" = [ "std" ]; + "rustc-dep-of-std" = [ "align" "rustc-std-workspace-core" ]; + "rustc-std-workspace-core" = [ "dep:rustc-std-workspace-core" ]; + "use_std" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "default" "extra_traits" "std" ]; + }; + "libloading" = rec { + crateName = "libloading"; + version = "0.8.9"; + edition = "2015"; + sha256 = "0mfwxwjwi2cf0plxcd685yxzavlslz7xirss3b9cbrzyk4hv1i6p"; + authors = [ + "Simonas Kazlauskas " + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + target = { target, features }: (target."unix" or false); + } + { + name = "windows-link"; + packageId = "windows-link"; + target = { target, features }: (target."windows" or false); + } + ]; + + }; + "libm" = rec { + crateName = "libm"; + version = "0.2.16"; + edition = "2021"; + sha256 = "10brh0a3qjmbzkr5mf5xqi887nhs5y9layvnki89ykz9xb1wxlmn"; + authors = [ + "Alex Crichton " + "Amanieu d'Antras " + "Jorge Aparicio " + "Trevor Gross " + ]; + features = { + "default" = [ "arch" ]; + "unstable" = [ "unstable-intrinsics" "unstable-float" ]; + }; + resolvedDefaultFeatures = [ "arch" "default" ]; + }; + "libredox" = rec { + crateName = "libredox"; + version = "0.1.20"; + edition = "2021"; + sha256 = "02h77867iakw9798c6zl238rwzrs3rr9ny5ng7b31yd94l4s1l18"; + authors = [ + "4lDO2 <4lDO2@protonmail.com>" + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + optional = true; + } + ]; + features = { + "base" = [ "libc" ]; + "bitflags" = [ "dep:bitflags" ]; + "call" = [ "base" ]; + "default" = [ "base" "call" "std" "redox_syscall" "protocol" ]; + "ioslice" = [ "dep:ioslice" ]; + "libc" = [ "dep:libc" ]; + "mkns" = [ "ioslice" ]; + "plain" = [ "dep:plain" ]; + "protocol" = [ "plain" "bitflags" "redox_syscall" ]; + "redox_syscall" = [ "dep:redox_syscall" ]; + "std" = [ "base" ]; + }; + resolvedDefaultFeatures = [ "base" "call" "libc" "std" ]; + }; + "litemap" = rec { + crateName = "litemap"; + version = "0.8.3"; + edition = "2021"; + sha256 = "1bpgpj87560hmckh3875fbahpmfxbk4g8pzns84h3ykf3nfx3na7"; + authors = [ + "The ICU4X Project Developers" + ]; + features = { + "databake" = [ "dep:databake" ]; + "default" = [ "alloc" ]; + "serde" = [ "dep:serde_core" "alloc" ]; + "testing" = [ "alloc" ]; + "yoke" = [ "dep:yoke" ]; + }; + }; + "lock_api" = rec { + crateName = "lock_api"; + version = "0.4.14"; + edition = "2021"; + sha256 = "0rg9mhx7vdpajfxvdjmgmlyrn20ligzqvn8ifmaz7dc79gkrjhr2"; + authors = [ + "Amanieu d'Antras " + ]; + dependencies = [ + { + name = "scopeguard"; + packageId = "scopeguard"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "atomic_usize" ]; + "owning_ref" = [ "dep:owning_ref" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "atomic_usize" "default" ]; + }; + "lockfree" = rec { + crateName = "lockfree"; + version = "0.5.1"; + edition = "2015"; + sha256 = "08yx0aq2qg37s60ki680w57ywlh97mw0y12sijwpqg0imnsr9vkl"; + authors = [ + "Bruno Corrêa Zimmermann " + ]; + dependencies = [ + { + name = "owned-alloc"; + packageId = "owned-alloc"; + } + ]; + + }; + "log" = rec { + crateName = "log"; + version = "0.4.34"; + edition = "2021"; + sha256 = "1ihkzn0m33ab79fcl4mkb04n5iwqzbxzyw7l7hazqkffaqzbvy7r"; + authors = [ + "The Rust Project Developers" + ]; + features = { + "kv_serde" = [ "kv_std" "value-bag/serde" "serde" ]; + "kv_std" = [ "std" "kv" "value-bag/error" ]; + "kv_sval" = [ "kv" "value-bag/sval" "sval" "sval_ref" ]; + "kv_unstable" = [ "kv" "value-bag" ]; + "kv_unstable_serde" = [ "kv_serde" "kv_unstable_std" ]; + "kv_unstable_std" = [ "kv_std" "kv_unstable" ]; + "kv_unstable_sval" = [ "kv_sval" "kv_unstable" ]; + "serde" = [ "serde_core" ]; + "serde_core" = [ "dep:serde_core" ]; + "std" = [ "alloc" ]; + "sval" = [ "dep:sval" ]; + "sval_ref" = [ "dep:sval_ref" ]; + "value-bag" = [ "dep:value-bag" ]; + }; + resolvedDefaultFeatures = [ "alloc" "std" ]; + }; + "lru-slab" = rec { + crateName = "lru-slab"; + version = "0.1.2"; + edition = "2021"; + sha256 = "0m2139k466qj3bnpk66bwivgcx3z88qkxvlzk70vd65jq373jaqi"; + libName = "lru_slab"; + authors = [ + "Benjamin Saunders " + ]; + + }; + "lz4_flex" = rec { + crateName = "lz4_flex"; + version = "0.10.0"; + edition = "2018"; + sha256 = "10sgbj93sagbl0ngzqvnlkldzbfz5vnzr7fry8sgssy299cp534b"; + authors = [ + "Pascal Seitz " + "Arthur Silva " + "ticki " + ]; + dependencies = [ + { + name = "twox-hash"; + packageId = "twox-hash"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" "safe-encode" "safe-decode" "frame" ]; + "frame" = [ "std" "dep:twox-hash" ]; + }; + resolvedDefaultFeatures = [ "default" "frame" "safe-decode" "safe-encode" "std" ]; + }; + "matchers" = rec { + crateName = "matchers"; + version = "0.2.0"; + edition = "2018"; + sha256 = "1sasssspdj2vwcwmbq3ra18d3qniapkimfcbr47zmx6750m5llni"; + authors = [ + "Eliza Weisman " + ]; + dependencies = [ + { + name = "regex-automata"; + packageId = "regex-automata"; + usesDefaultFeatures = false; + features = [ "syntax" "dfa-build" "dfa-search" ]; + } + ]; + features = { + "unicode" = [ "regex-automata/unicode" ]; + }; + }; + "matrixmultiply" = rec { + crateName = "matrixmultiply"; + version = "0.3.11"; + edition = "2018"; + sha256 = "1izd5yczz4kmlvk99zyasfcvhbkby8fsa5rl0kkqdw2kflipqq1z"; + authors = [ + "bluss" + "R. Janis Goldschmidt" + ]; + dependencies = [ + { + name = "rawpointer"; + packageId = "rawpointer"; + } + ]; + buildDependencies = [ + { + name = "autocfg"; + packageId = "autocfg"; + } + ]; + features = { + "default" = [ "std" "avx512" ]; + "num_cpus" = [ "dep:num_cpus" ]; + "once_cell" = [ "dep:once_cell" ]; + "thread-tree" = [ "dep:thread-tree" ]; + "threading" = [ "thread-tree" "std" "once_cell" "num_cpus" ]; + }; + resolvedDefaultFeatures = [ "avx512" "cgemm" "default" "std" ]; + }; + "memchr" = rec { + crateName = "memchr"; + version = "2.8.3"; + edition = "2021"; + sha256 = "161xa63ipfanf8v3nb82xd5hqgydv55nzw59wyngqbz6alfaz2yg"; + authors = [ + "Andrew Gallant " + "bluss" + ]; + features = { + "core" = [ "dep:core" ]; + "default" = [ "std" ]; + "logging" = [ "dep:log" ]; + "rustc-dep-of-std" = [ "core" ]; + "std" = [ "alloc" ]; + "use_std" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" ]; + }; + "memoffset" = rec { + crateName = "memoffset"; + version = "0.9.1"; + edition = "2015"; + sha256 = "12i17wh9a9plx869g7j4whf62xw68k5zd4k0k5nh6ys5mszid028"; + authors = [ + "Gilad Naaman " + ]; + buildDependencies = [ + { + name = "autocfg"; + packageId = "autocfg"; + } + ]; + features = { + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "minimal-lexical" = rec { + crateName = "minimal-lexical"; + version = "0.2.1"; + edition = "2018"; + sha256 = "16ppc5g84aijpri4jzv14rvcnslvlpphbszc7zzp6vfkddf4qdb8"; + libName = "minimal_lexical"; + authors = [ + "Alex Huszagh " + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "miniz_oxide" = rec { + crateName = "miniz_oxide"; + version = "0.8.9"; + edition = "2021"; + sha256 = "05k3pdg8bjjzayq3rf0qhpirq9k37pxnasfn4arbs17phqn6m9qz"; + authors = [ + "Frommi " + "oyvindln " + "Rich Geldreich richgel99@gmail.com" + ]; + dependencies = [ + { + name = "adler2"; + packageId = "adler2"; + usesDefaultFeatures = false; + } + { + name = "simd-adler32"; + packageId = "simd-adler32"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "dep:alloc" ]; + "core" = [ "dep:core" ]; + "default" = [ "with-alloc" ]; + "rustc-dep-of-std" = [ "core" "alloc" "adler2/rustc-dep-of-std" ]; + "serde" = [ "dep:serde" ]; + "simd" = [ "simd-adler32" ]; + "simd-adler32" = [ "dep:simd-adler32" ]; + }; + resolvedDefaultFeatures = [ "simd" "simd-adler32" "with-alloc" ]; + }; + "mio" = rec { + crateName = "mio"; + version = "1.2.2"; + edition = "2021"; + sha256 = "09y4b7gc42ymgssshh8sz6gs3y5r8bbigqaw2c4snh6fy5qmrmih"; + authors = [ + "Carl Lerche " + "Thomas de Zeeuw " + "Tokio Contributors " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + target = { target, features }: ((target."unix" or false) || ("hermit" == target."os" or null) || ("wasi" == target."os" or null)); + } + { + name = "wasi"; + packageId = "wasi"; + target = { target, features }: ("wasi" == target."os" or null); + } + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + target = { target, features }: (target."windows" or false); + features = [ "Wdk_Foundation" "Wdk_Storage_FileSystem" "Wdk_System_IO" "Win32_Foundation" "Win32_Networking_WinSock" "Win32_Storage_FileSystem" "Win32_Security" "Win32_System_IO" "Win32_System_WindowsProgramming" ]; + } + ]; + features = { + "default" = [ "log" ]; + "log" = [ "dep:log" ]; + "os-ext" = [ "os-poll" "windows-sys/Win32_System_Pipes" "windows-sys/Win32_Security" ]; + }; + resolvedDefaultFeatures = [ "net" "os-ext" "os-poll" ]; + }; + "nalgebra" = rec { + crateName = "nalgebra"; + version = "0.35.0"; + edition = "2024"; + sha256 = "0ij3kbcp1qv7iikazqcbb8p8vb8m228jczz48vzwdc0pq9h3mi5d"; + authors = [ + "Sébastien Crozet " + ]; + dependencies = [ + { + name = "approx"; + packageId = "approx"; + usesDefaultFeatures = false; + } + { + name = "glam"; + packageId = "glam 0.30.10"; + rename = "glam030"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "glam"; + packageId = "glam 0.31.1"; + rename = "glam031"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "glam"; + packageId = "glam 0.32.1"; + rename = "glam032"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "glam"; + packageId = "glam 0.33.5"; + rename = "glam033"; + optional = true; + usesDefaultFeatures = false; + features = [ "f64" "i32" "u32" ]; + } + { + name = "matrixmultiply"; + packageId = "matrixmultiply"; + optional = true; + } + { + name = "nalgebra-macros"; + packageId = "nalgebra-macros"; + optional = true; + } + { + name = "num-complex"; + packageId = "num-complex"; + usesDefaultFeatures = false; + } + { + name = "num-rational"; + packageId = "num-rational"; + usesDefaultFeatures = false; + } + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + } + { + name = "simba"; + packageId = "simba"; + usesDefaultFeatures = false; + } + { + name = "typenum"; + packageId = "typenum"; + } + ]; + features = { + "alga" = [ "dep:alga" ]; + "arbitrary" = [ "quickcheck" ]; + "bytemuck" = [ "dep:bytemuck" ]; + "compare" = [ "matrixcompare-core" ]; + "convert-bytemuck" = [ "bytemuck" "num-complex/bytemuck" ]; + "convert-glam030" = [ "glam030" ]; + "convert-glam031" = [ "glam031" ]; + "convert-glam032" = [ "glam032" ]; + "convert-glam033" = [ "glam033" ]; + "convert-mint" = [ "mint" ]; + "debug" = [ "approx/num-complex" "rand" ]; + "default" = [ "std" "macros" ]; + "defmt" = [ "dep:defmt" ]; + "encase" = [ "dep:encase" ]; + "glam030" = [ "dep:glam030" ]; + "glam031" = [ "dep:glam031" ]; + "glam032" = [ "dep:glam032" ]; + "glam033" = [ "dep:glam033" ]; + "io" = [ "pest" "pest_derive" ]; + "libm" = [ "simba/libm" "glam030?/libm" "glam031?/libm" "glam032?/libm" "glam033?/libm" ]; + "libm-force" = [ "simba/libm_force" ]; + "macros" = [ "nalgebra-macros" ]; + "matrixcompare-core" = [ "dep:matrixcompare-core" ]; + "matrixmultiply" = [ "dep:matrixmultiply" ]; + "mint" = [ "dep:mint" ]; + "nalgebra-macros" = [ "dep:nalgebra-macros" ]; + "pest" = [ "dep:pest" ]; + "pest_derive" = [ "dep:pest_derive" ]; + "proptest" = [ "dep:proptest" ]; + "proptest-support" = [ "proptest" ]; + "quickcheck" = [ "dep:quickcheck" ]; + "rand" = [ "rand-no-std" "rand-package/std" "rand-package/std_rng" "rand-package/thread_rng" "rand_distr" ]; + "rand-no-std" = [ "rand-package" ]; + "rand-package" = [ "dep:rand-package" ]; + "rand_distr" = [ "dep:rand_distr" ]; + "rayon" = [ "dep:rayon" ]; + "rkyv" = [ "dep:rkyv" ]; + "rkyv-safe-deser" = [ "rkyv-serialize" "rkyv/validation" ]; + "rkyv-serialize" = [ "rkyv-serialize-no-std" "rkyv/std" "rkyv/validation" ]; + "rkyv-serialize-no-std" = [ "rkyv/size_32" ]; + "serde" = [ "dep:serde" ]; + "serde-serialize" = [ "serde-serialize-no-std" "serde/std" ]; + "serde-serialize-no-std" = [ "serde" "num-complex/serde" ]; + "std" = [ "matrixmultiply" "num-traits/std" "num-complex/std" "num-rational/std" "approx/std" "simba/std" "glam030?/std" "glam031?/std" "glam032?/std" "glam033?/std" ]; + }; + resolvedDefaultFeatures = [ "default" "macros" "matrixmultiply" "nalgebra-macros" "std" ]; + }; + "nalgebra-macros" = rec { + crateName = "nalgebra-macros"; + version = "0.3.0"; + edition = "2024"; + sha256 = "12a8xgamrayyin4a77dan0bcx0nlb1v8hl7cricx1kvqlrw72glp"; + procMacro = true; + libName = "nalgebra_macros"; + authors = [ + "Andreas Longva" + "Sébastien Crozet " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + ]; + + }; + "nanorand" = rec { + crateName = "nanorand"; + version = "0.7.0"; + edition = "2021"; + sha256 = "1hr60b8zlfy7mxjcwx2wfmhpkx7vfr3v9x12shmv1c10b0y32lba"; + authors = [ + "Lucy " + ]; + dependencies = [ + { + name = "getrandom"; + packageId = "getrandom 0.2.17"; + optional = true; + features = [ "rdrand" "js" ]; + } + ]; + features = { + "default" = [ "std" "tls" "wyrand" "pcg64" "chacha" ]; + "getrandom" = [ "dep:getrandom" ]; + "rdseed" = [ "std" ]; + "std" = [ "alloc" ]; + "tls" = [ "std" "wyrand" ]; + "zeroize" = [ "dep:zeroize" ]; + }; + resolvedDefaultFeatures = [ "alloc" "chacha" "default" "getrandom" "pcg64" "std" "tls" "wyrand" ]; + }; + "ndarray" = rec { + crateName = "ndarray"; + version = "0.16.1"; + edition = "2018"; + sha256 = "0ha8sg5ad501pgkxw0wczh8myc2ma3gyxgcny4mq8rckrqnxfbl8"; + authors = [ + "Ulrik Sverdrup \"bluss\"" + "Jim Turner" + ]; + dependencies = [ + { + name = "matrixmultiply"; + packageId = "matrixmultiply"; + usesDefaultFeatures = false; + features = [ "cgemm" ]; + } + { + name = "num-complex"; + packageId = "num-complex"; + usesDefaultFeatures = false; + } + { + name = "num-integer"; + packageId = "num-integer"; + usesDefaultFeatures = false; + } + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + } + { + name = "portable-atomic"; + packageId = "portable-atomic"; + target = { target, features }: (!("ptr" == target."has_atomic" or null)); + } + { + name = "portable-atomic-util"; + packageId = "portable-atomic-util"; + target = { target, features }: (!("ptr" == target."has_atomic" or null)); + features = [ "alloc" ]; + } + { + name = "rawpointer"; + packageId = "rawpointer"; + } + ]; + features = { + "approx" = [ "dep:approx" ]; + "blas" = [ "dep:cblas-sys" "dep:libc" ]; + "default" = [ "std" ]; + "docs" = [ "approx" "serde" "rayon" ]; + "matrixmultiply-threading" = [ "matrixmultiply/threading" ]; + "portable-atomic-critical-section" = [ "portable-atomic/critical-section" ]; + "rayon" = [ "dep:rayon" "std" ]; + "serde" = [ "dep:serde" ]; + "serde-1" = [ "dep:serde" ]; + "std" = [ "num-traits/std" "matrixmultiply/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "nix" = rec { + crateName = "nix"; + version = "0.29.0"; + edition = "2021"; + sha256 = "0ikvn7s9r2lrfdm3mx1h7nbfjvcc6s9vxdzw7j5xfkd2qdnp9qki"; + authors = [ + "The nix-rust Project Developers" + ]; + dependencies = [ + { + name = "bitflags"; + packageId = "bitflags 2.13.1"; + } + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "libc"; + packageId = "libc"; + features = [ "extra_traits" ]; + } + ]; + buildDependencies = [ + { + name = "cfg_aliases"; + packageId = "cfg_aliases 0.2.2"; + } + ]; + features = { + "aio" = [ "pin-utils" ]; + "dir" = [ "fs" ]; + "memoffset" = [ "dep:memoffset" ]; + "mount" = [ "uio" ]; + "mqueue" = [ "fs" ]; + "net" = [ "socket" ]; + "pin-utils" = [ "dep:pin-utils" ]; + "ptrace" = [ "process" ]; + "sched" = [ "process" ]; + "signal" = [ "process" ]; + "socket" = [ "memoffset" ]; + "ucontext" = [ "signal" ]; + "user" = [ "feature" ]; + "zerocopy" = [ "fs" "uio" ]; + }; + resolvedDefaultFeatures = [ "default" "fs" "mman" ]; + }; + "no-std-net" = rec { + crateName = "no-std-net"; + version = "0.6.0"; + edition = "2018"; + sha256 = "0ravflgyh0q2142gjdz9iav5yqci3ga7gbnk4mmfcnqkrq54lya3"; + libName = "no_std_net"; + authors = [ + "M@ Dunlap " + ]; + features = { + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "nom" = rec { + crateName = "nom"; + version = "7.1.3"; + edition = "2018"; + sha256 = "0jha9901wxam390jcf5pfa0qqfrgh8li787jx2ip0yk5b8y9hwyj"; + authors = [ + "contact@geoffroycouprie.com" + ]; + dependencies = [ + { + name = "memchr"; + packageId = "memchr"; + usesDefaultFeatures = false; + } + { + name = "minimal-lexical"; + packageId = "minimal-lexical"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "alloc" "memchr/std" "minimal-lexical/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" ]; + }; + "nonempty-collections" = rec { + crateName = "nonempty-collections"; + version = "0.3.1"; + edition = "2021"; + sha256 = "17cbpp5qnm2qcwxvmbi57hdiqvf9blfnw3vqwmkglm4xrzld05p2"; + libName = "nonempty_collections"; + authors = [ + "Colin Woodbury " + ]; + dependencies = [ + { + name = "serde"; + packageId = "serde"; + optional = true; + features = [ "serde_derive" ]; + } + ]; + features = { + "either" = [ "dep:either" ]; + "indexmap" = [ "dep:indexmap" ]; + "itertools" = [ "dep:itertools" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "serde" ]; + }; + "nu-ansi-term" = rec { + crateName = "nu-ansi-term"; + version = "0.50.3"; + edition = "2021"; + sha256 = "1ra088d885lbd21q1bxgpqdlk1zlndblmarn948jz2a40xsbjmvr"; + libName = "nu_ansi_term"; + authors = [ + "ogham@bsago.me" + "Ryan Scheel (Havvy) " + "Josh Triplett " + "The Nushell Project Developers" + ]; + dependencies = [ + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + rename = "windows"; + target = { target, features }: (target."windows" or false); + features = [ "Win32_Foundation" "Win32_System_Console" "Win32_Storage_FileSystem" "Win32_Security" ]; + } + ]; + features = { + "default" = [ "std" ]; + "derive_serde_style" = [ "serde" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "num-bigint" = rec { + crateName = "num-bigint"; + version = "0.4.8"; + edition = "2021"; + sha256 = "0ry3xjal8f5xhdinani268ci13h14mf7j4w0y1gflfzhw3knk7n8"; + libName = "num_bigint"; + authors = [ + "The Rust Project Developers" + ]; + dependencies = [ + { + name = "num-integer"; + packageId = "num-integer"; + usesDefaultFeatures = false; + features = [ "i128" ]; + } + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + features = [ "i128" ]; + } + ]; + features = { + "arbitrary" = [ "dep:arbitrary" ]; + "default" = [ "std" ]; + "quickcheck" = [ "dep:quickcheck" ]; + "rand" = [ "dep:rand" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "num-integer/std" "num-traits/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "num-complex" = rec { + crateName = "num-complex"; + version = "0.4.6"; + edition = "2021"; + sha256 = "15cla16mnw12xzf5g041nxbjjm9m85hdgadd5dl5d0b30w9qmy3k"; + libName = "num_complex"; + authors = [ + "The Rust Project Developers" + ]; + dependencies = [ + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + features = [ "i128" ]; + } + ]; + features = { + "bytecheck" = [ "dep:bytecheck" ]; + "bytemuck" = [ "dep:bytemuck" ]; + "default" = [ "std" ]; + "libm" = [ "num-traits/libm" ]; + "rand" = [ "dep:rand" ]; + "rkyv" = [ "dep:rkyv" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "num-traits/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "num-conv" = rec { + crateName = "num-conv"; + version = "0.2.2"; + edition = "2021"; + sha256 = "0hg4f9bwmy7cwpxdkm165dmkfc8jhkkayci234jsmi5ssb33j5sj"; + libName = "num_conv"; + authors = [ + "Jacob Pratt " + ]; + + }; + "num-integer" = rec { + crateName = "num-integer"; + version = "0.1.47"; + edition = "2018"; + sha256 = "02z1p3azy6p10n99skrab4a6hhfd4amf2i9gm8sxqd1p9dfxkqkw"; + libName = "num_integer"; + authors = [ + "The Rust Project Developers" + ]; + dependencies = [ + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + features = [ "i128" ]; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "num-traits/std" ]; + }; + resolvedDefaultFeatures = [ "default" "i128" "std" ]; + }; + "num-rational" = rec { + crateName = "num-rational"; + version = "0.4.2"; + edition = "2021"; + sha256 = "093qndy02817vpgcqjnj139im3jl7vkq4h68kykdqqh577d18ggq"; + libName = "num_rational"; + authors = [ + "The Rust Project Developers" + ]; + dependencies = [ + { + name = "num-bigint"; + packageId = "num-bigint"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "num-integer"; + packageId = "num-integer"; + usesDefaultFeatures = false; + features = [ "i128" ]; + } + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + features = [ "i128" ]; + } + ]; + features = { + "default" = [ "num-bigint" "std" ]; + "num-bigint" = [ "dep:num-bigint" ]; + "num-bigint-std" = [ "num-bigint/std" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "num-bigint?/std" "num-integer/std" "num-traits/std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "num-traits" = rec { + crateName = "num-traits"; + version = "0.2.19"; + edition = "2021"; + sha256 = "0h984rhdkkqd4ny9cif7y2azl3xdfb7768hb9irhpsch4q3gq787"; + libName = "num_traits"; + authors = [ + "The Rust Project Developers" + ]; + buildDependencies = [ + { + name = "autocfg"; + packageId = "autocfg"; + } + ]; + features = { + "default" = [ "std" ]; + "libm" = [ "dep:libm" ]; + }; + resolvedDefaultFeatures = [ "default" "i128" "std" ]; + }; + "num_cpus" = rec { + crateName = "num_cpus"; + version = "1.17.0"; + edition = "2015"; + sha256 = "0fxjazlng4z8cgbmsvbzv411wrg7x3hyxdq8nxixgzjswyylppwi"; + authors = [ + "Sean McArthur " + ]; + dependencies = [ + { + name = "hermit-abi"; + packageId = "hermit-abi"; + target = { target, features }: ("hermit" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (!(target."windows" or false)); + } + ]; + + }; + "numpy" = rec { + crateName = "numpy"; + version = "0.25.0"; + edition = "2021"; + sha256 = "14bib1lawlqdadnhbvv671jv66qh0qq81wwsif76ygwdmblxxw99"; + authors = [ + "The rust-numpy Project Developers" + "PyO3 Project and Contributors " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + } + { + name = "ndarray"; + packageId = "ndarray"; + } + { + name = "num-complex"; + packageId = "num-complex"; + } + { + name = "num-integer"; + packageId = "num-integer"; + } + { + name = "num-traits"; + packageId = "num-traits"; + } + { + name = "pyo3"; + packageId = "pyo3"; + usesDefaultFeatures = false; + features = [ "macros" ]; + } + { + name = "rustc-hash"; + packageId = "rustc-hash"; + } + ]; + buildDependencies = [ + { + name = "pyo3-build-config"; + packageId = "pyo3-build-config"; + features = [ "resolve-config" ]; + } + ]; + devDependencies = [ + { + name = "pyo3"; + packageId = "pyo3"; + usesDefaultFeatures = false; + features = [ "auto-initialize" ]; + } + ]; + features = { + "half" = [ "dep:half" ]; + "nalgebra" = [ "dep:nalgebra" ]; + }; + }; + "oid-registry" = rec { + crateName = "oid-registry"; + version = "0.8.1"; + edition = "2018"; + sha256 = "1dxm6qkkkk4dq3ln1v83d80k8bvicm6mspsxrj3n06yy7pzhrx0j"; + libName = "oid_registry"; + authors = [ + "Pierre Chifflier " + ]; + dependencies = [ + { + name = "asn1-rs"; + packageId = "asn1-rs"; + } + ]; + features = { + "crypto" = [ "kdf" "pkcs1" "pkcs7" "pkcs9" "pkcs12" "nist_algs" "x962" ]; + "default" = [ "registry" ]; + }; + resolvedDefaultFeatures = [ "crypto" "default" "kdf" "nist_algs" "pkcs1" "pkcs12" "pkcs7" "pkcs9" "registry" "x509" "x962" ]; + }; + "once_cell" = rec { + crateName = "once_cell"; + version = "1.21.4"; + edition = "2021"; + sha256 = "0l1v676wf71kjg2khch4dphwh1jp3291ffiymr2mvy1kxd5kwz4z"; + authors = [ + "Aleksey Kladov " + ]; + features = { + "alloc" = [ "race" ]; + "atomic-polyfill" = [ "critical-section" ]; + "critical-section" = [ "dep:critical-section" "portable-atomic" ]; + "default" = [ "std" ]; + "parking_lot" = [ "dep:parking_lot_core" ]; + "portable-atomic" = [ "dep:portable-atomic" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "race" "std" ]; + }; + "openssl-probe" = rec { + crateName = "openssl-probe"; + version = "0.2.1"; + edition = "2021"; + sha256 = "1gpwpb7smfhkscwvbri8xzbab39wcnby1jgz1s49vf1aqgsdx1vw"; + libName = "openssl_probe"; + authors = [ + "Alex Crichton " + ]; + + }; + "option-ext" = rec { + crateName = "option-ext"; + version = "0.2.0"; + edition = "2015"; + sha256 = "0zbf7cx8ib99frnlanpyikm1bx8qn8x602sw1n7bg6p9x94lyx04"; + libName = "option_ext"; + authors = [ + "Simon Ochsenreither " + ]; + + }; + "owned-alloc" = rec { + crateName = "owned-alloc"; + version = "0.2.0"; + edition = "2015"; + sha256 = "1mh54983yz8chn6lc4rgvhazys73dc129y654a9gy4ls3x0ypz1h"; + libName = "owned_alloc"; + authors = [ + "Bruno Zimmermann " + ]; + + }; + "parking" = rec { + crateName = "parking"; + version = "2.2.1"; + edition = "2018"; + sha256 = "1fnfgmzkfpjd69v4j9x737b1k8pnn054bvzcn5dm3pkgq595d3gk"; + authors = [ + "Stjepan Glavina " + "The Rust Project Developers" + ]; + features = { + "loom" = [ "dep:loom" ]; + }; + }; + "parking_lot" = rec { + crateName = "parking_lot"; + version = "0.12.5"; + edition = "2021"; + sha256 = "06jsqh9aqmc94j2rlm8gpccilqm6bskbd67zf6ypfc0f4m9p91ck"; + authors = [ + "Amanieu d'Antras " + ]; + dependencies = [ + { + name = "lock_api"; + packageId = "lock_api"; + } + { + name = "parking_lot_core"; + packageId = "parking_lot_core"; + } + ]; + features = { + "arc_lock" = [ "lock_api/arc_lock" ]; + "deadlock_detection" = [ "parking_lot_core/deadlock_detection" ]; + "nightly" = [ "parking_lot_core/nightly" "lock_api/nightly" ]; + "owning_ref" = [ "lock_api/owning_ref" ]; + "serde" = [ "lock_api/serde" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "parking_lot_core" = rec { + crateName = "parking_lot_core"; + version = "0.9.12"; + edition = "2021"; + sha256 = "1hb4rggy70fwa1w9nb0svbyflzdc69h047482v2z3sx2hmcnh896"; + authors = [ + "Amanieu d'Antras " + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (target."unix" or false); + } + { + name = "redox_syscall"; + packageId = "redox_syscall"; + target = { target, features }: ("redox" == target."os" or null); + } + { + name = "smallvec"; + packageId = "smallvec"; + } + { + name = "windows-link"; + packageId = "windows-link"; + target = { target, features }: (target."windows" or false); + } + ]; + features = { + "backtrace" = [ "dep:backtrace" ]; + "deadlock_detection" = [ "petgraph" "backtrace" ]; + "petgraph" = [ "dep:petgraph" ]; + }; + }; + "paste" = rec { + crateName = "paste"; + version = "1.0.15"; + edition = "2018"; + sha256 = "02pxffpdqkapy292harq6asfjvadgp1s005fip9ljfsn9fvxgh2p"; + procMacro = true; + authors = [ + "David Tolnay " + ]; + + }; + "pem" = rec { + crateName = "pem"; + version = "3.0.6"; + edition = "2021"; + sha256 = "1glia9vv51wx79cysqxgdha6g1bwbbr20bfhijlk2nxw4qycac0x"; + authors = [ + "Jonathan Creekmore " + ]; + dependencies = [ + { + name = "base64"; + packageId = "base64"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde_core" ]; + "std" = [ "base64/std" "serde_core?/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "percent-encoding" = rec { + crateName = "percent-encoding"; + version = "2.3.2"; + edition = "2018"; + sha256 = "083jv1ai930azvawz2khv7w73xh8mnylk7i578cifndjn5y64kwv"; + libName = "percent_encoding"; + authors = [ + "The rust-url developers" + ]; + features = { + "default" = [ "std" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "std" ]; + }; + "pest" = rec { + crateName = "pest"; + version = "2.9.0"; + edition = "2021"; + sha256 = "1kwvhc5hyrfpxpmp0jw0wr891xyjs44mcs2wz68hrl54qw6ac1ss"; + authors = [ + "Dragoș Tiselice " + ]; + dependencies = [ + { + name = "memchr"; + packageId = "memchr"; + optional = true; + } + { + name = "ucd-trie"; + packageId = "ucd-trie"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" "memchr" ]; + "memchr" = [ "dep:memchr" ]; + "miette-error" = [ "std" "pretty-print" "dep:miette" ]; + "pretty-print" = [ "dep:serde" "dep:serde_json" ]; + "std" = [ "ucd-trie/std" ]; + }; + resolvedDefaultFeatures = [ "default" "memchr" "std" ]; + }; + "pest_derive" = rec { + crateName = "pest_derive"; + version = "2.9.0"; + edition = "2021"; + sha256 = "13f8ihi8928s9mc13pcbhxy382kqc89h7i8d7s5mnif8lm23ga5k"; + procMacro = true; + authors = [ + "Dragoș Tiselice " + ]; + dependencies = [ + { + name = "pest"; + packageId = "pest"; + usesDefaultFeatures = false; + } + { + name = "pest_generator"; + packageId = "pest_generator"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "grammar-extras" = [ "pest_generator/grammar-extras" ]; + "std" = [ "pest/std" "pest_generator/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "pest_generator" = rec { + crateName = "pest_generator"; + version = "2.9.0"; + edition = "2021"; + sha256 = "0jihcdnmdban4bqjd02r2wbb79nywj2nhwqyk95hvrixm98k9kg0"; + authors = [ + "Dragoș Tiselice " + ]; + dependencies = [ + { + name = "pest"; + packageId = "pest"; + usesDefaultFeatures = false; + } + { + name = "pest_meta"; + packageId = "pest_meta"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + } + ]; + features = { + "default" = [ "std" ]; + "grammar-extras" = [ "pest_meta/grammar-extras" ]; + "std" = [ "pest/std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "pest_meta" = rec { + crateName = "pest_meta"; + version = "2.9.0"; + edition = "2021"; + sha256 = "15jly0r7r4m15fhm3pg814h65j7dqnqq6k43rvgxfhg29443lkg0"; + authors = [ + "Dragoș Tiselice " + ]; + dependencies = [ + { + name = "pest"; + packageId = "pest"; + } + ]; + features = { + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "petgraph" = rec { + crateName = "petgraph"; + version = "0.8.3"; + edition = "2021"; + sha256 = "0mblnaqbx1y20h5y7pz6y11hk9jjk6k87lsmn7jxaq3hm67ba0c7"; + authors = [ + "bluss" + "mitchmindtree" + ]; + dependencies = [ + { + name = "fixedbitset"; + packageId = "fixedbitset"; + usesDefaultFeatures = false; + } + { + name = "hashbrown"; + packageId = "hashbrown 0.15.5"; + usesDefaultFeatures = false; + features = [ "default-hasher" "inline-more" ]; + } + { + name = "indexmap"; + packageId = "indexmap 2.14.0"; + usesDefaultFeatures = false; + } + { + name = "serde"; + packageId = "serde"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "all" = [ "unstable" "quickcheck" "matrix_graph" "stable_graph" "graphmap" "rayon" "dot_parser" ]; + "default" = [ "std" "graphmap" "stable_graph" "matrix_graph" ]; + "dot_parser" = [ "std" "dep:dot-parser" "dep:dot-parser-macros" ]; + "quickcheck" = [ "std" "dep:quickcheck" "graphmap" "stable_graph" ]; + "rayon" = [ "std" "dep:rayon" "indexmap/rayon" "hashbrown/rayon" ]; + "serde" = [ "dep:serde" ]; + "serde-1" = [ "serde" "serde_derive" ]; + "serde_derive" = [ "dep:serde_derive" ]; + "stable_graph" = [ "serde?/alloc" ]; + "std" = [ "indexmap/std" ]; + "unstable" = [ "generate" ]; + }; + resolvedDefaultFeatures = [ "default" "graphmap" "matrix_graph" "stable_graph" "std" ]; + }; + "phf" = rec { + crateName = "phf"; + version = "0.13.1"; + edition = "2021"; + sha256 = "1pzswx5gdglgjgp4azyzwyr4gh031r0kcnpqq6jblga72z3jsmn1"; + authors = [ + "Steven Fackler " + ]; + dependencies = [ + { + name = "phf_macros"; + packageId = "phf_macros"; + optional = true; + } + { + name = "phf_shared"; + packageId = "phf_shared"; + usesDefaultFeatures = false; + } + { + name = "serde"; + packageId = "serde"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "macros" = [ "phf_macros" ]; + "phf_macros" = [ "dep:phf_macros" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "phf_shared/std" "serde?/std" ]; + "uncased" = [ "phf_macros?/uncased" "phf_shared/uncased" ]; + "unicase" = [ "phf_macros?/unicase" "phf_shared/unicase" ]; + }; + resolvedDefaultFeatures = [ "default" "macros" "phf_macros" "std" ]; + }; + "phf_generator" = rec { + crateName = "phf_generator"; + version = "0.13.1"; + edition = "2021"; + crateBin = []; + sha256 = "0dwpp11l41dy9mag4phkyyvhpf66lwbp79q3ik44wmhyfqxcwnhk"; + authors = [ + "Steven Fackler " + ]; + dependencies = [ + { + name = "fastrand"; + packageId = "fastrand"; + usesDefaultFeatures = false; + } + { + name = "phf_shared"; + packageId = "phf_shared"; + usesDefaultFeatures = false; + } + ]; + + }; + "phf_macros" = rec { + crateName = "phf_macros"; + version = "0.13.1"; + edition = "2021"; + sha256 = "1vv9h8pr7xh18sigpvq1hxc8q9nmjmv6gdpqsp65krxiahmh6bw1"; + procMacro = true; + authors = [ + "Steven Fackler " + ]; + dependencies = [ + { + name = "phf_generator"; + packageId = "phf_generator"; + } + { + name = "phf_shared"; + packageId = "phf_shared"; + usesDefaultFeatures = false; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + ]; + features = { + "uncased" = [ "uncased_" "phf_shared/uncased" ]; + "uncased_" = [ "dep:uncased_" ]; + "unicase" = [ "unicase_" "phf_shared/unicase" ]; + "unicase_" = [ "dep:unicase_" ]; + }; + }; + "phf_shared" = rec { + crateName = "phf_shared"; + version = "0.13.1"; + edition = "2021"; + sha256 = "0rpjchnswm0x5l4mz9xqfpw0j4w68sjvyqrdrv13h7lqqmmyyzz5"; + authors = [ + "Steven Fackler " + ]; + dependencies = [ + { + name = "siphasher"; + packageId = "siphasher"; + } + ]; + features = { + "default" = [ "std" ]; + "uncased" = [ "dep:uncased" ]; + "unicase" = [ "dep:unicase" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "pin-project-lite" = rec { + crateName = "pin-project-lite"; + version = "0.2.17"; + edition = "2018"; + sha256 = "1kfmwvs271si96zay4mm8887v5khw0c27jc9srw1a75ykvgj54x8"; + libName = "pin_project_lite"; + + }; + "pnet_base" = rec { + crateName = "pnet_base"; + version = "0.35.0"; + edition = "2021"; + sha256 = "1xxj1ym32zqmy7m7ciiisv513rk9qis3p6x4mgrnmwbx0va91hgz"; + authors = [ + "Robert Clipsham " + "Linus Färnstrand " + ]; + dependencies = [ + { + name = "no-std-net"; + packageId = "no-std-net"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "no-std-net/std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "pnet_datalink" = rec { + crateName = "pnet_datalink"; + version = "0.35.0"; + edition = "2021"; + sha256 = "1dx7a9j2n7r463w8dv0wn1vasqnkhrajs79f6cm10qz11gn717p7"; + authors = [ + "Robert Clipsham " + "Linus Färnstrand " + ]; + dependencies = [ + { + name = "ipnetwork"; + packageId = "ipnetwork"; + } + { + name = "libc"; + packageId = "libc"; + } + { + name = "pnet_base"; + packageId = "pnet_base"; + usesDefaultFeatures = false; + } + { + name = "pnet_sys"; + packageId = "pnet_sys"; + } + { + name = "winapi"; + packageId = "winapi"; + target = { target, features }: (target."windows" or false); + } + ]; + features = { + "default" = [ "std" ]; + "netmap_sys" = [ "dep:netmap_sys" ]; + "pcap" = [ "dep:pcap" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "pnet_base/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "pnet_sys" = rec { + crateName = "pnet_sys"; + version = "0.35.0"; + edition = "2021"; + sha256 = "0jqgl34w5jckvby74nh89hjc94m8m6pz7hjh21s0hsyvsk9l6ikx"; + authors = [ + "Robert Clipsham " + "Linus Färnstrand " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + } + { + name = "winapi"; + packageId = "winapi"; + target = { target, features }: (target."windows" or false); + features = [ "winsock2" "ws2ipdef" ]; + } + ]; + + }; + "portable-atomic" = rec { + crateName = "portable-atomic"; + version = "1.15.0"; + edition = "2018"; + sha256 = "11csag858ndk5w4yz17h91vy53ynh67r2903gwwdn2cnilzbdj05"; + libName = "portable_atomic"; + features = { + "critical-section" = [ "dep:critical-section" ]; + "default" = [ "fallback" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "default" "fallback" "require-cas" ]; + }; + "portable-atomic-util" = rec { + crateName = "portable-atomic-util"; + version = "0.2.7"; + edition = "2018"; + sha256 = "0616j0fhy6y71hyxg3n86f6hng0fmsc269s3wp4gl8ww4p8hd8f2"; + libName = "portable_atomic_util"; + dependencies = [ + { + name = "portable-atomic"; + packageId = "portable-atomic"; + usesDefaultFeatures = false; + features = [ "require-cas" ]; + } + ]; + features = { + "serde" = [ "dep:serde" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" ]; + }; + "potential_utf" = rec { + crateName = "potential_utf"; + version = "0.1.6"; + edition = "2021"; + sha256 = "0qbndl2fpphq7mph41m11vaixs05xrh1s451wxlgap4fdnybjgnq"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "zerovec"; + packageId = "zerovec"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "serde_core?/alloc" "writeable/alloc" "zerovec?/alloc" ]; + "databake" = [ "dep:databake" ]; + "default" = [ "alloc" ]; + "serde" = [ "dep:serde_core" ]; + "writeable" = [ "dep:writeable" ]; + "zerovec" = [ "dep:zerovec" ]; + }; + resolvedDefaultFeatures = [ "zerovec" ]; + }; + "powerfmt" = rec { + crateName = "powerfmt"; + version = "0.2.0"; + edition = "2021"; + sha256 = "14ckj2xdpkhv3h6l5sdmb9f1d57z8hbfpdldjc2vl5givq2y77j3"; + authors = [ + "Jacob Pratt " + ]; + features = { + "default" = [ "std" "macros" ]; + "macros" = [ "dep:powerfmt-macros" ]; + "std" = [ "alloc" ]; + }; + }; + "ppv-lite86" = rec { + crateName = "ppv-lite86"; + version = "0.2.21"; + edition = "2021"; + sha256 = "1abxx6qz5qnd43br1dd9b2savpihzjza8gb4fbzdql1gxp2f7sl5"; + libName = "ppv_lite86"; + authors = [ + "The CryptoCorrosion Contributors" + ]; + dependencies = [ + { + name = "zerocopy"; + packageId = "zerocopy"; + features = [ "simd" ]; + } + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "simd" "std" ]; + }; + "proc-macro-crate" = rec { + crateName = "proc-macro-crate"; + version = "3.5.0"; + edition = "2021"; + sha256 = "0kv1g1d1zjwxlgcaba2qlshzyy32j03xic8rskqlcr5mnblsfyz6"; + libName = "proc_macro_crate"; + authors = [ + "Bastian Köcher " + ]; + dependencies = [ + { + name = "toml_edit"; + packageId = "toml_edit"; + usesDefaultFeatures = false; + features = [ "parse" ]; + } + ]; + + }; + "proc-macro-error-attr3" = rec { + crateName = "proc-macro-error-attr3"; + version = "3.1.0"; + edition = "2021"; + sha256 = "19wv8qxf6f04xkqyh9ck6wxpmc7nn8k0c612v3da4rx90ri4w25h"; + procMacro = true; + libName = "proc_macro_error_attr3"; + authors = [ + "CreepySkeleton " + "GnomedDev " + "gamma0987 " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + ]; + + }; + "proc-macro-error3" = rec { + crateName = "proc-macro-error3"; + version = "3.1.0"; + edition = "2021"; + sha256 = "0l2sblnxj90c14hyf1xh35h3bh7apmljnyc42rqvqwr3bwi6dw0c"; + libName = "proc_macro_error3"; + authors = [ + "CreepySkeleton " + "GnomedDev " + "gamma0987 " + ]; + dependencies = [ + { + name = "proc-macro-error-attr3"; + packageId = "proc-macro-error-attr3"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + rename = "syn3"; + optional = true; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "syn"; + packageId = "syn 3.0.4"; + rename = "syn3"; + features = [ "full" ]; + } + ]; + features = { + "default" = [ "syn3-error" ]; + "syn-error" = [ "syn3-error" ]; + "syn2-error" = [ "dep:syn2" ]; + "syn3-error" = [ "dep:syn3" ]; + }; + resolvedDefaultFeatures = [ "default" "syn3-error" ]; + }; + "proc-macro2" = rec { + crateName = "proc-macro2"; + version = "1.0.107"; + edition = "2021"; + sha256 = "1nb6ly8kp65f724kj73ippc7lvydss24sm2vagk6qpklpg4pwplq"; + libName = "proc_macro2"; + authors = [ + "David Tolnay " + "Alex Crichton " + ]; + dependencies = [ + { + name = "unicode-ident"; + packageId = "unicode-ident"; + } + ]; + features = { + "default" = [ "proc-macro" ]; + }; + resolvedDefaultFeatures = [ "default" "proc-macro" ]; + }; + "prometheus-client" = rec { + crateName = "prometheus-client"; + version = "0.24.1"; + edition = "2021"; + sha256 = "1jm6syrfp8adgi5vx819ndp853h5zf3kaqpdw6gs5fb68mdxg8yc"; + libName = "prometheus_client"; + authors = [ + "Max Inden " + ]; + dependencies = [ + { + name = "dtoa"; + packageId = "dtoa"; + } + { + name = "itoa"; + packageId = "itoa"; + } + { + name = "parking_lot"; + packageId = "parking_lot"; + } + { + name = "prometheus-client-derive-encode"; + packageId = "prometheus-client-derive-encode"; + } + ]; + features = { + "protobuf" = [ "dep:prost" "dep:prost-types" "dep:prost-build" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "prometheus-client-derive-encode" = rec { + crateName = "prometheus-client-derive-encode"; + version = "0.5.0"; + edition = "2021"; + sha256 = "0zyqdq885gbc9zszk5hznvdv01zbifsn5wpqdzs5y2jcq28idpws"; + procMacro = true; + libName = "prometheus_client_derive_encode"; + authors = [ + "Max Inden " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + } + ]; + + }; + "pyo3" = rec { + crateName = "pyo3"; + version = "0.25.1"; + edition = "2021"; + sha256 = "0ak85gkxs2ylrpbgyq1ksk24asvbsxgzqxh38gis6a06zs5afw49"; + authors = [ + "PyO3 Project and Contributors " + ]; + dependencies = [ + { + name = "indoc"; + packageId = "indoc"; + optional = true; + } + { + name = "libc"; + packageId = "libc"; + } + { + name = "memoffset"; + packageId = "memoffset"; + } + { + name = "once_cell"; + packageId = "once_cell"; + } + { + name = "portable-atomic"; + packageId = "portable-atomic"; + target = { target, features }: (!("64" == target."has_atomic" or null)); + } + { + name = "pyo3-ffi"; + packageId = "pyo3-ffi"; + } + { + name = "pyo3-macros"; + packageId = "pyo3-macros"; + optional = true; + } + { + name = "unindent"; + packageId = "unindent"; + optional = true; + } + ]; + buildDependencies = [ + { + name = "pyo3-build-config"; + packageId = "pyo3-build-config"; + features = [ "resolve-config" ]; + } + ]; + features = { + "abi3" = [ "pyo3-build-config/abi3" "pyo3-ffi/abi3" ]; + "abi3-py310" = [ "abi3-py311" "pyo3-build-config/abi3-py310" "pyo3-ffi/abi3-py310" ]; + "abi3-py311" = [ "abi3-py312" "pyo3-build-config/abi3-py311" "pyo3-ffi/abi3-py311" ]; + "abi3-py312" = [ "abi3-py313" "pyo3-build-config/abi3-py312" "pyo3-ffi/abi3-py312" ]; + "abi3-py313" = [ "abi3-py314" "pyo3-build-config/abi3-py313" "pyo3-ffi/abi3-py313" ]; + "abi3-py314" = [ "abi3" "pyo3-build-config/abi3-py314" "pyo3-ffi/abi3-py314" ]; + "abi3-py37" = [ "abi3-py38" "pyo3-build-config/abi3-py37" "pyo3-ffi/abi3-py37" ]; + "abi3-py38" = [ "abi3-py39" "pyo3-build-config/abi3-py38" "pyo3-ffi/abi3-py38" ]; + "abi3-py39" = [ "abi3-py310" "pyo3-build-config/abi3-py39" "pyo3-ffi/abi3-py39" ]; + "anyhow" = [ "dep:anyhow" ]; + "arc_lock" = [ "lock_api" "lock_api/arc_lock" "parking_lot?/arc_lock" ]; + "bigdecimal" = [ "dep:bigdecimal" ]; + "chrono" = [ "dep:chrono" ]; + "chrono-local" = [ "chrono/clock" "dep:iana-time-zone" ]; + "chrono-tz" = [ "dep:chrono-tz" ]; + "default" = [ "macros" ]; + "either" = [ "dep:either" ]; + "experimental-async" = [ "macros" "pyo3-macros/experimental-async" ]; + "experimental-inspect" = [ "pyo3-macros/experimental-inspect" ]; + "extension-module" = [ "pyo3-ffi/extension-module" ]; + "eyre" = [ "dep:eyre" ]; + "full" = [ "macros" "anyhow" "arc_lock" "bigdecimal" "chrono" "chrono-local" "chrono-tz" "either" "experimental-async" "experimental-inspect" "eyre" "hashbrown" "indexmap" "lock_api" "num-bigint" "num-complex" "num-rational" "ordered-float" "parking_lot" "py-clone" "rust_decimal" "serde" "smallvec" "uuid" ]; + "generate-import-lib" = [ "pyo3-ffi/generate-import-lib" ]; + "hashbrown" = [ "dep:hashbrown" ]; + "indexmap" = [ "dep:indexmap" ]; + "indoc" = [ "dep:indoc" ]; + "inventory" = [ "dep:inventory" ]; + "jiff-02" = [ "dep:jiff-02" ]; + "lock_api" = [ "dep:lock_api" ]; + "macros" = [ "pyo3-macros" "indoc" "unindent" ]; + "multiple-pymethods" = [ "inventory" "pyo3-macros/multiple-pymethods" ]; + "num-bigint" = [ "dep:num-bigint" ]; + "num-complex" = [ "dep:num-complex" ]; + "num-rational" = [ "dep:num-rational" ]; + "ordered-float" = [ "dep:ordered-float" ]; + "parking_lot" = [ "dep:parking_lot" "lock_api" ]; + "pyo3-macros" = [ "dep:pyo3-macros" ]; + "rust_decimal" = [ "dep:rust_decimal" ]; + "serde" = [ "dep:serde" ]; + "smallvec" = [ "dep:smallvec" ]; + "time" = [ "dep:time" ]; + "unindent" = [ "dep:unindent" ]; + "uuid" = [ "dep:uuid" ]; + }; + resolvedDefaultFeatures = [ "abi3" "abi3-py310" "abi3-py311" "abi3-py312" "abi3-py313" "abi3-py314" "default" "extension-module" "indoc" "macros" "pyo3-macros" "unindent" ]; + }; + "pyo3-build-config" = rec { + crateName = "pyo3-build-config"; + version = "0.25.1"; + edition = "2021"; + sha256 = "163m3jhd5mrql9qpq3b6adg63b7kiwjg4f5svrx03kkybv2v13j5"; + libName = "pyo3_build_config"; + authors = [ + "PyO3 Project and Contributors " + ]; + dependencies = [ + { + name = "once_cell"; + packageId = "once_cell"; + } + { + name = "target-lexicon"; + packageId = "target-lexicon"; + } + ]; + buildDependencies = [ + { + name = "target-lexicon"; + packageId = "target-lexicon"; + } + ]; + features = { + "abi3-py310" = [ "abi3-py311" ]; + "abi3-py311" = [ "abi3-py312" ]; + "abi3-py312" = [ "abi3-py313" ]; + "abi3-py313" = [ "abi3-py314" ]; + "abi3-py314" = [ "abi3" ]; + "abi3-py37" = [ "abi3-py38" ]; + "abi3-py38" = [ "abi3-py39" ]; + "abi3-py39" = [ "abi3-py310" ]; + "python3-dll-a" = [ "dep:python3-dll-a" ]; + }; + resolvedDefaultFeatures = [ "abi3" "abi3-py310" "abi3-py311" "abi3-py312" "abi3-py313" "abi3-py314" "default" "extension-module" "resolve-config" ]; + }; + "pyo3-ffi" = rec { + crateName = "pyo3-ffi"; + version = "0.25.1"; + edition = "2021"; + links = "python"; + sha256 = "0p2n08qhqr5jqnjl8dh810k82nr90vr5al3wnxm2f6y6axagw53i"; + libName = "pyo3_ffi"; + authors = [ + "PyO3 Project and Contributors " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + } + ]; + buildDependencies = [ + { + name = "pyo3-build-config"; + packageId = "pyo3-build-config"; + features = [ "resolve-config" ]; + } + ]; + features = { + "abi3" = [ "pyo3-build-config/abi3" ]; + "abi3-py310" = [ "abi3-py311" "pyo3-build-config/abi3-py310" ]; + "abi3-py311" = [ "abi3-py312" "pyo3-build-config/abi3-py311" ]; + "abi3-py312" = [ "abi3-py313" "pyo3-build-config/abi3-py312" ]; + "abi3-py313" = [ "abi3-py314" "pyo3-build-config/abi3-py313" ]; + "abi3-py314" = [ "abi3" "pyo3-build-config/abi3-py314" ]; + "abi3-py37" = [ "abi3-py38" "pyo3-build-config/abi3-py37" ]; + "abi3-py38" = [ "abi3-py39" "pyo3-build-config/abi3-py38" ]; + "abi3-py39" = [ "abi3-py310" "pyo3-build-config/abi3-py39" ]; + "extension-module" = [ "pyo3-build-config/extension-module" ]; + "generate-import-lib" = [ "pyo3-build-config/python3-dll-a" ]; + }; + resolvedDefaultFeatures = [ "abi3" "abi3-py310" "abi3-py311" "abi3-py312" "abi3-py313" "abi3-py314" "default" "extension-module" ]; + }; + "pyo3-macros" = rec { + crateName = "pyo3-macros"; + version = "0.25.1"; + edition = "2021"; + sha256 = "0l3yxxmsmxcl7jf16djkg3vlhr3qhc4imlain1n4sdrbc855qwm8"; + procMacro = true; + libName = "pyo3_macros"; + authors = [ + "PyO3 Project and Contributors " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + { + name = "pyo3-macros-backend"; + packageId = "pyo3-macros-backend"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" "extra-traits" ]; + } + ]; + features = { + "experimental-async" = [ "pyo3-macros-backend/experimental-async" ]; + "experimental-inspect" = [ "pyo3-macros-backend/experimental-inspect" ]; + }; + }; + "pyo3-macros-backend" = rec { + crateName = "pyo3-macros-backend"; + version = "0.25.1"; + edition = "2021"; + sha256 = "1k1cawx33hzm6g2lydxlywy5qh6w9p2xpc057hs8a4294969h2a1"; + libName = "pyo3_macros_backend"; + authors = [ + "PyO3 Project and Contributors " + ]; + dependencies = [ + { + name = "heck"; + packageId = "heck"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + { + name = "pyo3-build-config"; + packageId = "pyo3-build-config"; + features = [ "resolve-config" ]; + } + { + name = "quote"; + packageId = "quote"; + usesDefaultFeatures = false; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + usesDefaultFeatures = false; + features = [ "derive" "parsing" "printing" "clone-impls" "full" "extra-traits" ]; + } + ]; + buildDependencies = [ + { + name = "pyo3-build-config"; + packageId = "pyo3-build-config"; + } + ]; + features = { + }; + }; + "quinn" = rec { + crateName = "quinn"; + version = "0.11.11"; + edition = "2021"; + sha256 = "1a60yxn03zr07ll7zianby2mrs18w4frgm1c6y4x9fxn6zj426hc"; + dependencies = [ + { + name = "bytes"; + packageId = "bytes"; + } + { + name = "pin-project-lite"; + packageId = "pin-project-lite"; + } + { + name = "quinn-proto"; + packageId = "quinn-proto"; + rename = "proto"; + usesDefaultFeatures = false; + } + { + name = "quinn-udp"; + packageId = "quinn-udp"; + rename = "udp"; + usesDefaultFeatures = false; + features = [ "tracing" ]; + } + { + name = "rustc-hash"; + packageId = "rustc-hash"; + } + { + name = "rustls"; + packageId = "rustls"; + optional = true; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "socket2"; + packageId = "socket2 0.6.5"; + target = { target, features }: (!((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null))); + } + { + name = "thiserror"; + packageId = "thiserror"; + } + { + name = "tokio"; + packageId = "tokio"; + features = [ "sync" ]; + } + { + name = "tracing"; + packageId = "tracing"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "web-time"; + packageId = "web-time"; + target = { target, features }: ((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null)); + } + ]; + buildDependencies = [ + { + name = "cfg_aliases"; + packageId = "cfg_aliases 0.2.2"; + } + ]; + devDependencies = [ + { + name = "tokio"; + packageId = "tokio"; + features = [ "sync" "rt" "rt-multi-thread" "time" "macros" ]; + } + ]; + features = { + "__rustls-post-quantum-test" = [ "rustls/prefer-post-quantum" "rustls-aws-lc-rs" "proto/__rustls-post-quantum-test" ]; + "async-io" = [ "dep:async-io" ]; + "async-std" = [ "dep:async-std" ]; + "aws-lc-rs" = [ "proto/aws-lc-rs" ]; + "aws-lc-rs-fips" = [ "proto/aws-lc-rs-fips" ]; + "bloom" = [ "proto/bloom" ]; + "default" = [ "log" "platform-verifier" "runtime-tokio" "rustls-ring" "bloom" ]; + "futures-io" = [ "dep:futures-io" ]; + "log" = [ "tracing/log" "proto/log" "udp/log" ]; + "platform-verifier" = [ "proto/platform-verifier" ]; + "qlog" = [ "proto/qlog" ]; + "ring" = [ "proto/ring" ]; + "runtime-async-std" = [ "async-io" "async-std" ]; + "runtime-smol" = [ "async-io" "smol" ]; + "runtime-tokio" = [ "tokio/time" "tokio/rt" "tokio/net" ]; + "rustls" = [ "rustls-ring" ]; + "rustls-aws-lc-rs" = [ "dep:rustls" "aws-lc-rs" "proto/rustls-aws-lc-rs" "proto/aws-lc-rs" ]; + "rustls-aws-lc-rs-fips" = [ "dep:rustls" "aws-lc-rs-fips" "proto/rustls-aws-lc-rs-fips" "proto/aws-lc-rs-fips" ]; + "rustls-log" = [ "rustls?/logging" ]; + "rustls-ring" = [ "dep:rustls" "ring" "proto/rustls-ring" "proto/ring" ]; + "smol" = [ "dep:smol" ]; + }; + resolvedDefaultFeatures = [ "bloom" "default" "log" "platform-verifier" "ring" "runtime-tokio" "rustls-ring" ]; + }; + "quinn-proto" = rec { + crateName = "quinn-proto"; + version = "0.11.17"; + edition = "2021"; + sha256 = "10xskd9f8qynnkmg8vw3058fynd6jhi22a3f2c4kgs9vah894x84"; + libName = "quinn_proto"; + dependencies = [ + { + name = "bytes"; + packageId = "bytes"; + } + { + name = "fastbloom"; + packageId = "fastbloom"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "getrandom"; + packageId = "getrandom 0.4.3"; + usesDefaultFeatures = false; + target = { target, features }: ((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null)); + features = [ "wasm_js" ]; + } + { + name = "lru-slab"; + packageId = "lru-slab"; + } + { + name = "rand"; + packageId = "rand 0.10.2"; + } + { + name = "rand_pcg"; + packageId = "rand_pcg"; + } + { + name = "ring"; + packageId = "ring"; + optional = true; + } + { + name = "ring"; + packageId = "ring"; + target = { target, features }: ((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null)); + features = [ "wasm32_unknown_unknown_js" ]; + } + { + name = "rustc-hash"; + packageId = "rustc-hash"; + } + { + name = "rustls"; + packageId = "rustls"; + optional = true; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "rustls-pki-types"; + packageId = "rustls-pki-types"; + target = { target, features }: ((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null)); + features = [ "web" ]; + } + { + name = "rustls-platform-verifier"; + packageId = "rustls-platform-verifier"; + optional = true; + } + { + name = "slab"; + packageId = "slab"; + } + { + name = "thiserror"; + packageId = "thiserror"; + } + { + name = "tinyvec"; + packageId = "tinyvec"; + features = [ "alloc" "alloc" ]; + } + { + name = "tracing"; + packageId = "tracing"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "web-time"; + packageId = "web-time"; + target = { target, features }: ((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null)); + } + ]; + features = { + "arbitrary" = [ "dep:arbitrary" ]; + "aws-lc-rs" = [ "dep:aws-lc-rs" "aws-lc-rs?/aws-lc-sys" "aws-lc-rs?/prebuilt-nasm" ]; + "aws-lc-rs-fips" = [ "aws-lc-rs" "aws-lc-rs?/fips" ]; + "bloom" = [ "dep:fastbloom" ]; + "default" = [ "rustls-ring" "log" "bloom" ]; + "log" = [ "tracing/log" ]; + "platform-verifier" = [ "dep:rustls-platform-verifier" ]; + "qlog" = [ "dep:qlog" ]; + "ring" = [ "dep:ring" ]; + "rustls" = [ "rustls-ring" ]; + "rustls-aws-lc-rs" = [ "dep:rustls" "rustls?/aws-lc-rs" "aws-lc-rs" ]; + "rustls-aws-lc-rs-fips" = [ "rustls-aws-lc-rs" "aws-lc-rs-fips" ]; + "rustls-log" = [ "rustls?/logging" ]; + "rustls-ring" = [ "dep:rustls" "rustls?/ring" "ring" ]; + }; + resolvedDefaultFeatures = [ "bloom" "default" "log" "platform-verifier" "ring" "rustls-ring" ]; + }; + "quinn-udp" = rec { + crateName = "quinn-udp"; + version = "0.5.15"; + edition = "2021"; + sha256 = "15063ji7443y4z8i4pdxlid2vn0kkxjc51d6c6dfiaysavwk789m"; + libName = "quinn_udp"; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + } + { + name = "once_cell"; + packageId = "once_cell"; + target = { target, features }: (target."windows" or false); + } + { + name = "socket2"; + packageId = "socket2 0.6.5"; + target = { target, features }: (!((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null))); + } + { + name = "tracing"; + packageId = "tracing"; + optional = true; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + target = { target, features }: (target."windows" or false); + features = [ "Win32_Foundation" "Win32_System_IO" "Win32_Networking_WinSock" ]; + } + ]; + buildDependencies = [ + { + name = "cfg_aliases"; + packageId = "cfg_aliases 0.2.2"; + } + ]; + features = { + "default" = [ "tracing" "log" ]; + "direct-log" = [ "dep:log" ]; + "log" = [ "tracing/log" ]; + "tracing" = [ "dep:tracing" ]; + }; + resolvedDefaultFeatures = [ "log" "tracing" ]; + }; + "quote" = rec { + crateName = "quote"; + version = "1.0.47"; + edition = "2021"; + sha256 = "00ch0yyzvv6s671ik0kcsbw8nigdaj2g3fr61kcahwx48aqlvgqz"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "proc-macro" ]; + "proc-macro" = [ "proc-macro2/proc-macro" ]; + }; + resolvedDefaultFeatures = [ "default" "proc-macro" ]; + }; + "r-efi 5.3.0" = rec { + crateName = "r-efi"; + version = "5.3.0"; + edition = "2018"; + sha256 = "03sbfm3g7myvzyylff6qaxk4z6fy76yv860yy66jiswc2m6b7kb9"; + libName = "r_efi"; + features = { + "core" = [ "dep:core" ]; + "examples" = [ "native" ]; + "rustc-dep-of-std" = [ "core" ]; + }; + }; + "r-efi 6.0.0" = rec { + crateName = "r-efi"; + version = "6.0.0"; + edition = "2018"; + sha256 = "1gyrl2k5fyzj9k7kchg2n296z5881lg7070msabid09asp3wkp7q"; + libName = "r_efi"; + features = { + "core" = [ "dep:core" ]; + "rustc-dep-of-std" = [ "core" ]; + }; + }; + "rand 0.10.2" = rec { + crateName = "rand"; + version = "0.10.2"; + edition = "2024"; + sha256 = "105yqkdzqbgggd3r1yjm9jg0zvibfdsmxylvxxkmblwc0lxgmxf7"; + authors = [ + "The Rand Project Developers" + "The Rust Project Developers" + ]; + dependencies = [ + { + name = "chacha20"; + packageId = "chacha20"; + optional = true; + usesDefaultFeatures = false; + features = [ "rng" ]; + } + { + name = "getrandom"; + packageId = "getrandom 0.4.3"; + optional = true; + } + { + name = "rand_core"; + packageId = "rand_core 0.10.1"; + usesDefaultFeatures = false; + } + ]; + features = { + "chacha" = [ "dep:chacha20" ]; + "default" = [ "std" "std_rng" "sys_rng" "thread_rng" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "alloc" "getrandom?/std" ]; + "std_rng" = [ "dep:chacha20" ]; + "sys_rng" = [ "dep:getrandom" "getrandom/sys_rng" ]; + "thread_rng" = [ "std" "std_rng" "sys_rng" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" "std_rng" "sys_rng" "thread_rng" ]; + }; + "rand 0.8.7" = rec { + crateName = "rand"; + version = "0.8.7"; + edition = "2018"; + sha256 = "06iaf16fr0z8zly7anmn8ky0p80xnx9yv0gdcm30fwn9vqmigxi2"; + authors = [ + "The Rand Project Developers" + "The Rust Project Developers" + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + optional = true; + usesDefaultFeatures = false; + target = { target, features }: (target."unix" or false); + } + { + name = "rand_chacha"; + packageId = "rand_chacha"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "rand_core"; + packageId = "rand_core 0.6.4"; + } + ]; + features = { + "alloc" = [ "rand_core/alloc" ]; + "default" = [ "std" "std_rng" ]; + "getrandom" = [ "rand_core/getrandom" ]; + "libc" = [ "dep:libc" ]; + "rand_chacha" = [ "dep:rand_chacha" ]; + "serde" = [ "dep:serde" ]; + "serde1" = [ "serde" "rand_core/serde1" ]; + "std" = [ "rand_core/std" "rand_chacha/std" "alloc" "getrandom" "libc" ]; + "std_rng" = [ "rand_chacha" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "getrandom" "libc" "rand_chacha" "std" "std_rng" ]; + }; + "rand_chacha" = rec { + crateName = "rand_chacha"; + version = "0.3.1"; + edition = "2018"; + sha256 = "123x2adin558xbhvqb8w4f6syjsdkmqff8cxwhmjacpsl1ihmhg6"; + authors = [ + "The Rand Project Developers" + "The Rust Project Developers" + "The CryptoCorrosion Contributors" + ]; + dependencies = [ + { + name = "ppv-lite86"; + packageId = "ppv-lite86"; + usesDefaultFeatures = false; + features = [ "simd" ]; + } + { + name = "rand_core"; + packageId = "rand_core 0.6.4"; + } + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + "serde1" = [ "serde" ]; + "std" = [ "ppv-lite86/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "rand_core 0.10.1" = rec { + crateName = "rand_core"; + version = "0.10.1"; + edition = "2024"; + sha256 = "0s9wiacxrr100icl7i41308gcj85nlcclrc5jx1jd6p10dhigf33"; + authors = [ + "The Rand Project Developers" + ]; + + }; + "rand_core 0.6.4" = rec { + crateName = "rand_core"; + version = "0.6.4"; + edition = "2018"; + sha256 = "0b4j2v4cb5krak1pv6kakv4sz6xcwbrmy2zckc32hsigbrwy82zc"; + authors = [ + "The Rand Project Developers" + "The Rust Project Developers" + ]; + dependencies = [ + { + name = "getrandom"; + packageId = "getrandom 0.2.17"; + optional = true; + } + ]; + features = { + "getrandom" = [ "dep:getrandom" ]; + "serde" = [ "dep:serde" ]; + "serde1" = [ "serde" ]; + "std" = [ "alloc" "getrandom" "getrandom/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "getrandom" "std" ]; + }; + "rand_pcg" = rec { + crateName = "rand_pcg"; + version = "0.10.2"; + edition = "2024"; + sha256 = "0sp817pvwb3d2nxb1ww1y0f8x3kc4w198j2iqvs742hwgq9z986a"; + authors = [ + "The Rand Project Developers" + ]; + dependencies = [ + { + name = "rand_core"; + packageId = "rand_core 0.10.1"; + } + ]; + features = { + "serde" = [ "dep:serde" ]; + }; + }; + "rawpointer" = rec { + crateName = "rawpointer"; + version = "0.2.1"; + edition = "2015"; + sha256 = "1qy1qvj17yh957vhffnq6agq0brvylw27xgks171qrah75wmg8v0"; + authors = [ + "bluss" + ]; + + }; + "rayon" = rec { + crateName = "rayon"; + version = "1.12.0"; + edition = "2021"; + sha256 = "0vcj63xgnk72c30vdrak7dhl53snnaqv9x2faf1d94hzg1kb2fgv"; + dependencies = [ + { + name = "either"; + packageId = "either"; + usesDefaultFeatures = false; + } + { + name = "rayon-core"; + packageId = "rayon-core"; + } + ]; + features = { + "web_spin_lock" = [ "dep:wasm_sync" "rayon-core/web_spin_lock" ]; + }; + }; + "rayon-core" = rec { + crateName = "rayon-core"; + version = "1.13.0"; + edition = "2021"; + links = "rayon-core"; + sha256 = "14dbr0sq83a6lf1rfjq5xdpk5r6zgzvmzs5j6110vlv2007qpq92"; + libName = "rayon_core"; + dependencies = [ + { + name = "crossbeam-deque"; + packageId = "crossbeam-deque"; + } + { + name = "crossbeam-utils"; + packageId = "crossbeam-utils"; + } + ]; + features = { + "web_spin_lock" = [ "dep:wasm_sync" ]; + }; + }; + "rcgen" = rec { + crateName = "rcgen"; + version = "0.14.9"; + edition = "2021"; + sha256 = "1d3zcv5b5vmpzazfxbq7jpzrxm19p8n8xki7gawgxrl6gn77l7h9"; + dependencies = [ + { + name = "pem"; + packageId = "pem"; + optional = true; + } + { + name = "ring"; + packageId = "ring"; + optional = true; + } + { + name = "rustls-pki-types"; + packageId = "rustls-pki-types"; + rename = "pki-types"; + } + { + name = "time"; + packageId = "time"; + usesDefaultFeatures = false; + } + { + name = "x509-parser"; + packageId = "x509-parser"; + optional = true; + } + { + name = "yasna"; + packageId = "yasna"; + features = [ "time" "std" ]; + } + ]; + features = { + "aws_lc_rs" = [ "crypto" "dep:aws-lc-rs" "aws-lc-rs/aws-lc-sys" "x509-parser?/verify-aws" ]; + "aws_lc_rs_unstable" = [ "aws_lc_rs" "aws-lc-rs/unstable" "x509-parser?/verify-aws" ]; + "default" = [ "crypto" "pem" "ring" ]; + "fips" = [ "crypto" "dep:aws-lc-rs" "aws-lc-rs/fips" ]; + "pem" = [ "dep:pem" ]; + "ring" = [ "crypto" "dep:ring" "x509-parser?/verify" ]; + "x509-parser" = [ "dep:x509-parser" ]; + "zeroize" = [ "dep:zeroize" ]; + }; + resolvedDefaultFeatures = [ "crypto" "default" "pem" "ring" ]; + }; + "redox_syscall" = rec { + crateName = "redox_syscall"; + version = "0.5.18"; + edition = "2021"; + sha256 = "0b9n38zsxylql36vybw18if68yc9jczxmbyzdwyhb9sifmag4azd"; + libName = "syscall"; + authors = [ + "Jeremy Soller " + ]; + dependencies = [ + { + name = "bitflags"; + packageId = "bitflags 2.13.1"; + } + ]; + features = { + "core" = [ "dep:core" ]; + "default" = [ "userspace" ]; + "rustc-dep-of-std" = [ "core" "bitflags/rustc-dep-of-std" ]; + }; + resolvedDefaultFeatures = [ "default" "userspace" ]; + }; + "redox_users" = rec { + crateName = "redox_users"; + version = "0.5.2"; + edition = "2021"; + sha256 = "1b17q7gf7w8b1vvl53bxna24xl983yn7bd00gfbii74bcg30irm4"; + authors = [ + "Jose Narvaez " + "Wesley Hershberger " + ]; + dependencies = [ + { + name = "getrandom"; + packageId = "getrandom 0.2.17"; + features = [ "std" ]; + } + { + name = "libredox"; + packageId = "libredox"; + usesDefaultFeatures = false; + features = [ "std" "call" ]; + } + { + name = "thiserror"; + packageId = "thiserror"; + } + ]; + features = { + "auth" = [ "rust-argon2" "zeroize" ]; + "default" = [ "auth" ]; + "rust-argon2" = [ "dep:rust-argon2" ]; + "zeroize" = [ "dep:zeroize" ]; + }; + }; + "ref-cast" = rec { + crateName = "ref-cast"; + version = "1.0.27"; + edition = "2021"; + sha256 = "1hv5sf0j7b65gz2g57c3wp0fzr5r3807dywf6fap455lwjs0yi3y"; + libName = "ref_cast"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "ref-cast-impl"; + packageId = "ref-cast-impl"; + } + ]; + + }; + "ref-cast-impl" = rec { + crateName = "ref-cast-impl"; + version = "1.0.27"; + edition = "2021"; + sha256 = "0fnzgkvddgl9xs3884x5ypi9rd0dgc1p5vd1k4b74lw49ybdiv4j"; + procMacro = true; + libName = "ref_cast_impl"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + } + ]; + + }; + "regex" = rec { + crateName = "regex"; + version = "1.13.1"; + edition = "2021"; + sha256 = "1391a0a4100ik8cp7l577p3ip3haqq03rd9c5vdr7vcfdixj687h"; + authors = [ + "The Rust Project Developers" + "Andrew Gallant " + ]; + dependencies = [ + { + name = "aho-corasick"; + packageId = "aho-corasick"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "memchr"; + packageId = "memchr"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "regex-automata"; + packageId = "regex-automata"; + usesDefaultFeatures = false; + features = [ "alloc" "syntax" "meta" "nfa-pikevm" ]; + } + { + name = "regex-syntax"; + packageId = "regex-syntax"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" "perf" "unicode" "regex-syntax/default" ]; + "logging" = [ "aho-corasick?/logging" "memchr?/logging" "regex-automata/logging" ]; + "perf" = [ "perf-cache" "perf-dfa" "perf-onepass" "perf-backtrack" "perf-inline" "perf-literal" ]; + "perf-backtrack" = [ "regex-automata/nfa-backtrack" ]; + "perf-dfa" = [ "regex-automata/hybrid" ]; + "perf-dfa-full" = [ "regex-automata/dfa-build" "regex-automata/dfa-search" ]; + "perf-inline" = [ "regex-automata/perf-inline" ]; + "perf-literal" = [ "dep:aho-corasick" "dep:memchr" "regex-automata/perf-literal" ]; + "perf-onepass" = [ "regex-automata/dfa-onepass" ]; + "std" = [ "aho-corasick?/std" "memchr?/std" "regex-automata/std" "regex-syntax/std" ]; + "unicode" = [ "unicode-age" "unicode-bool" "unicode-case" "unicode-gencat" "unicode-perl" "unicode-script" "unicode-segment" "regex-automata/unicode" "regex-syntax/unicode" ]; + "unicode-age" = [ "regex-automata/unicode-age" "regex-syntax/unicode-age" ]; + "unicode-bool" = [ "regex-automata/unicode-bool" "regex-syntax/unicode-bool" ]; + "unicode-case" = [ "regex-automata/unicode-case" "regex-syntax/unicode-case" ]; + "unicode-gencat" = [ "regex-automata/unicode-gencat" "regex-syntax/unicode-gencat" ]; + "unicode-perl" = [ "regex-automata/unicode-perl" "regex-automata/unicode-word-boundary" "regex-syntax/unicode-perl" ]; + "unicode-script" = [ "regex-automata/unicode-script" "regex-syntax/unicode-script" ]; + "unicode-segment" = [ "regex-automata/unicode-segment" "regex-syntax/unicode-segment" ]; + "unstable" = [ "pattern" ]; + "use_std" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "regex-automata" = rec { + crateName = "regex-automata"; + version = "0.4.18"; + edition = "2021"; + sha256 = "1cml0rm0ssqfkibh9nh3gy4b6hbsbicj1rihpwf2a4v4nawm71dd"; + libName = "regex_automata"; + authors = [ + "The Rust Project Developers" + "Andrew Gallant " + ]; + dependencies = [ + { + name = "aho-corasick"; + packageId = "aho-corasick"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "memchr"; + packageId = "memchr"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "regex-syntax"; + packageId = "regex-syntax"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" "syntax" "perf" "unicode" "meta" "nfa" "dfa" "hybrid" ]; + "dfa" = [ "dfa-build" "dfa-search" "dfa-onepass" ]; + "dfa-build" = [ "nfa-thompson" "dfa-search" ]; + "dfa-onepass" = [ "nfa-thompson" ]; + "hybrid" = [ "alloc" "nfa-thompson" ]; + "internal-instrument" = [ "internal-instrument-pikevm" ]; + "internal-instrument-pikevm" = [ "logging" "std" ]; + "logging" = [ "dep:log" "aho-corasick?/logging" "memchr?/logging" ]; + "meta" = [ "syntax" "nfa-pikevm" ]; + "nfa" = [ "nfa-thompson" "nfa-pikevm" "nfa-backtrack" ]; + "nfa-backtrack" = [ "nfa-thompson" ]; + "nfa-pikevm" = [ "nfa-thompson" ]; + "nfa-thompson" = [ "alloc" ]; + "perf" = [ "perf-inline" "perf-literal" ]; + "perf-literal" = [ "perf-literal-substring" "perf-literal-multisubstring" ]; + "perf-literal-multisubstring" = [ "dep:aho-corasick" ]; + "perf-literal-substring" = [ "aho-corasick?/perf-literal" "dep:memchr" ]; + "std" = [ "regex-syntax?/std" "memchr?/std" "aho-corasick?/std" "alloc" ]; + "syntax" = [ "dep:regex-syntax" "alloc" ]; + "unicode" = [ "unicode-age" "unicode-bool" "unicode-case" "unicode-gencat" "unicode-perl" "unicode-script" "unicode-segment" "unicode-word-boundary" "regex-syntax?/unicode" ]; + "unicode-age" = [ "regex-syntax?/unicode-age" ]; + "unicode-bool" = [ "regex-syntax?/unicode-bool" ]; + "unicode-case" = [ "regex-syntax?/unicode-case" ]; + "unicode-gencat" = [ "regex-syntax?/unicode-gencat" ]; + "unicode-perl" = [ "regex-syntax?/unicode-perl" ]; + "unicode-script" = [ "regex-syntax?/unicode-script" ]; + "unicode-segment" = [ "regex-syntax?/unicode-segment" ]; + }; + resolvedDefaultFeatures = [ "alloc" "dfa-build" "dfa-search" "meta" "nfa-pikevm" "nfa-thompson" "std" "syntax" ]; + }; + "regex-syntax" = rec { + crateName = "regex-syntax"; + version = "0.8.11"; + edition = "2021"; + sha256 = "1m25h5q2wp976fb9gc3dsc9l99svcvd5cri8lncb51c46ydgzxnn"; + libName = "regex_syntax"; + authors = [ + "The Rust Project Developers" + "Andrew Gallant " + ]; + features = { + "arbitrary" = [ "dep:arbitrary" ]; + "default" = [ "std" "unicode" ]; + "unicode" = [ "unicode-age" "unicode-bool" "unicode-case" "unicode-gencat" "unicode-perl" "unicode-script" "unicode-segment" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "ring" = rec { + crateName = "ring"; + version = "0.17.14"; + edition = "2021"; + links = "ring_core_0_17_14_"; + sha256 = "1dw32gv19ccq4hsx3ribhpdzri1vnrlcfqb2vj41xn4l49n9ws54"; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + usesDefaultFeatures = false; + } + { + name = "getrandom"; + packageId = "getrandom 0.2.17"; + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ((("aarch64" == target."arch" or null) && ("little" == target."endian" or null)) && ("apple" == target."vendor" or null) && (("ios" == target."os" or null) || ("macos" == target."os" or null) || ("tvos" == target."os" or null) || ("visionos" == target."os" or null) || ("watchos" == target."os" or null))); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: (((("aarch64" == target."arch" or null) && ("little" == target."endian" or null)) || (("arm" == target."arch" or null) && ("little" == target."endian" or null))) && (("android" == target."os" or null) || ("linux" == target."os" or null))); + } + { + name = "untrusted"; + packageId = "untrusted"; + } + { + name = "windows-sys"; + packageId = "windows-sys 0.52.0"; + target = { target, features }: ((("aarch64" == target."arch" or null) && ("little" == target."endian" or null)) && ("windows" == target."os" or null)); + features = [ "Win32_Foundation" "Win32_System_Threading" ]; + } + ]; + buildDependencies = [ + { + name = "cc"; + packageId = "cc"; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ((target."unix" or false) || (target."windows" or false) || ("wasi" == target."os" or null)); + } + ]; + features = { + "default" = [ "alloc" "dev_urandom_fallback" ]; + "std" = [ "alloc" ]; + "wasm32_unknown_unknown_js" = [ "getrandom/js" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "dev_urandom_fallback" "wasm32_unknown_unknown_js" ]; + }; + "ringbuffer-spsc" = rec { + crateName = "ringbuffer-spsc"; + version = "0.1.15"; + edition = "2021"; + sha256 = "0d9f962m3148h26rmdvlra4dy0q6n59nm1bzrpkk5cl1lsh7lgld"; + libName = "ringbuffer_spsc"; + authors = [ + "Luca Cominardi " + ]; + dependencies = [ + { + name = "array-init"; + packageId = "array-init"; + } + { + name = "crossbeam"; + packageId = "crossbeam"; + } + ]; + + }; + "rlimit" = rec { + crateName = "rlimit"; + version = "0.10.2"; + edition = "2021"; + sha256 = "0fkr1jyhg0ch50kryy1jxd83nfh2skk80ss7irial6nds0xvchvh"; + authors = [ + "Nugine " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + } + ]; + + }; + "ron" = rec { + crateName = "ron"; + version = "0.12.2"; + edition = "2021"; + sha256 = "1czbkmp4wz87ngrqrf9k6b5bqd94dd5qw8pb3b2an7nn66ann4c1"; + authors = [ + "Christopher Durham " + "Dzmitry Malyshau " + "Thomas Schaller " + "Juniper Tyree " + ]; + dependencies = [ + { + name = "bitflags"; + packageId = "bitflags 2.13.1"; + usesDefaultFeatures = false; + features = [ "serde" ]; + } + { + name = "once_cell"; + packageId = "once_cell"; + usesDefaultFeatures = false; + features = [ "alloc" "race" ]; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "serde_derive"; + packageId = "serde_derive"; + usesDefaultFeatures = false; + } + { + name = "typeid"; + packageId = "typeid"; + usesDefaultFeatures = false; + } + { + name = "unicode-ident"; + packageId = "unicode-ident"; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "std" "derive" ]; + } + ]; + features = { + "default" = [ "std" ]; + "indexmap" = [ "std" "dep:indexmap" ]; + "internal-span-substring-test" = [ "unicode-segmentation" ]; + "std" = [ "serde/std" ]; + "unicode-segmentation" = [ "dep:unicode-segmentation" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "rustc-hash" = rec { + crateName = "rustc-hash"; + version = "2.1.3"; + edition = "2021"; + sha256 = "0bbla578m87qmf3yr55q49l97gxn7z0ha1dwqlnvwwc58ad7y7kb"; + libName = "rustc_hash"; + authors = [ + "The Rust Project Developers" + ]; + features = { + "default" = [ "std" ]; + "rand" = [ "dep:rand" "std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "rustc_version" = rec { + crateName = "rustc_version"; + version = "0.4.1"; + edition = "2018"; + sha256 = "14lvdsmr5si5qbqzrajgb6vfn69k0sfygrvfvr2mps26xwi3mjyg"; + dependencies = [ + { + name = "semver"; + packageId = "semver"; + } + ]; + + }; + "rusticata-macros" = rec { + crateName = "rusticata-macros"; + version = "4.1.0"; + edition = "2018"; + sha256 = "0ch67lljmgl5pfrlb90bl5kkp2x6yby1qaxnpnd0p5g9xjkc9w7s"; + libName = "rusticata_macros"; + authors = [ + "Pierre Chifflier " + ]; + dependencies = [ + { + name = "nom"; + packageId = "nom"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + ]; + + }; + "rustls" = rec { + crateName = "rustls"; + version = "0.23.43"; + edition = "2021"; + sha256 = "01nsagj78r88pifaz55ln1rw31py5n00h7bnw58h3g1aw1n3i0q2"; + dependencies = [ + { + name = "log"; + packageId = "log"; + optional = true; + } + { + name = "once_cell"; + packageId = "once_cell"; + usesDefaultFeatures = false; + features = [ "alloc" "race" ]; + } + { + name = "ring"; + packageId = "ring"; + optional = true; + } + { + name = "rustls-pki-types"; + packageId = "rustls-pki-types"; + rename = "pki-types"; + features = [ "alloc" ]; + } + { + name = "rustls-webpki"; + packageId = "rustls-webpki"; + rename = "webpki"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "subtle"; + packageId = "subtle"; + usesDefaultFeatures = false; + } + { + name = "zeroize"; + packageId = "zeroize"; + } + ]; + devDependencies = [ + { + name = "log"; + packageId = "log"; + } + ]; + features = { + "aws-lc-rs" = [ "aws_lc_rs" ]; + "aws_lc_rs" = [ "dep:aws-lc-rs" "webpki/aws-lc-rs" "aws-lc-rs/aws-lc-sys" "aws-lc-rs/prebuilt-nasm" ]; + "brotli" = [ "dep:brotli" "dep:brotli-decompressor" "std" ]; + "default" = [ "aws_lc_rs" "logging" "prefer-post-quantum" "std" "tls12" ]; + "fips" = [ "aws_lc_rs" "aws-lc-rs?/fips" "webpki/aws-lc-rs-fips" ]; + "hashbrown" = [ "dep:hashbrown" ]; + "log" = [ "dep:log" ]; + "logging" = [ "log" ]; + "prefer-post-quantum" = [ "aws_lc_rs" ]; + "read_buf" = [ "rustversion" "std" ]; + "ring" = [ "dep:ring" "webpki/ring" ]; + "rustversion" = [ "dep:rustversion" ]; + "std" = [ "webpki/std" "pki-types/std" "once_cell/std" ]; + "zlib" = [ "dep:zlib-rs" ]; + }; + resolvedDefaultFeatures = [ "log" "logging" "ring" "std" "tls12" ]; + }; + "rustls-native-certs" = rec { + crateName = "rustls-native-certs"; + version = "0.8.4"; + edition = "2021"; + sha256 = "0kgazl8zc1sv63qg179bz96ilzh56lzfa5k92ji7d265f4kibdfs"; + libName = "rustls_native_certs"; + dependencies = [ + { + name = "openssl-probe"; + packageId = "openssl-probe"; + target = { target, features }: ((target."unix" or false) && (!("macos" == target."os" or null))); + } + { + name = "rustls-pki-types"; + packageId = "rustls-pki-types"; + rename = "pki-types"; + features = [ "std" ]; + } + { + name = "schannel"; + packageId = "schannel"; + target = { target, features }: (target."windows" or false); + } + { + name = "security-framework"; + packageId = "security-framework"; + target = { target, features }: ("macos" == target."os" or null); + } + ]; + + }; + "rustls-pemfile" = rec { + crateName = "rustls-pemfile"; + version = "2.2.0"; + edition = "2018"; + sha256 = "0l3f3mrfkgdjrava7ibwzgwc4h3dljw3pdkbsi9rkwz3zvji9qyw"; + libName = "rustls_pemfile"; + dependencies = [ + { + name = "rustls-pki-types"; + packageId = "rustls-pki-types"; + rename = "pki-types"; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "pki-types/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "rustls-pki-types" = rec { + crateName = "rustls-pki-types"; + version = "1.15.1"; + edition = "2021"; + sha256 = "15hakk4pcvr5278cazgw9qf2r7gdg09rg5pivbyd3dbyih12aj9g"; + libName = "rustls_pki_types"; + dependencies = [ + { + name = "web-time"; + packageId = "web-time"; + optional = true; + target = { target, features }: ((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null)); + } + { + name = "zeroize"; + packageId = "zeroize"; + optional = true; + } + ]; + features = { + "alloc" = [ "dep:zeroize" ]; + "default" = [ "alloc" ]; + "std" = [ "alloc" ]; + "web" = [ "web-time" ]; + "web-time" = [ "dep:web-time" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" "web" "web-time" ]; + }; + "rustls-platform-verifier" = rec { + crateName = "rustls-platform-verifier"; + version = "0.7.0"; + edition = "2021"; + sha256 = "181v4d0vl53vdh2wq56vghal1zyhdgqvy4xa8r45zwz4di9y5l96"; + libName = "rustls_platform_verifier"; + dependencies = [ + { + name = "core-foundation"; + packageId = "core-foundation"; + target = { target, features }: (("apple" == target."vendor" or null)); + } + { + name = "core-foundation-sys"; + packageId = "core-foundation-sys"; + target = { target, features }: (("apple" == target."vendor" or null)); + } + { + name = "jni"; + packageId = "jni"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "jni"; + packageId = "jni"; + usesDefaultFeatures = false; + target = { target, features }: ("android" == target."os" or null); + } + { + name = "log"; + packageId = "log"; + } + { + name = "once_cell"; + packageId = "once_cell"; + optional = true; + } + { + name = "once_cell"; + packageId = "once_cell"; + target = { target, features }: ("android" == target."os" or null); + } + { + name = "rustls"; + packageId = "rustls"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "rustls-native-certs"; + packageId = "rustls-native-certs"; + target = { target, features }: ((target."unix" or false) && (!("android" == target."os" or null)) && (!("apple" == target."vendor" or null)) && (!("wasm32" == target."arch" or null))); + } + { + name = "rustls-platform-verifier-android"; + packageId = "rustls-platform-verifier-android"; + target = { target, features }: ("android" == target."os" or null); + } + { + name = "rustls-webpki"; + packageId = "rustls-webpki"; + rename = "webpki"; + usesDefaultFeatures = false; + target = { target, features }: ((target."unix" or false) && (!("android" == target."os" or null)) && (!("apple" == target."vendor" or null)) && (!("wasm32" == target."arch" or null))); + } + { + name = "rustls-webpki"; + packageId = "rustls-webpki"; + rename = "webpki"; + usesDefaultFeatures = false; + target = { target, features }: ("wasm32" == target."arch" or null); + } + { + name = "rustls-webpki"; + packageId = "rustls-webpki"; + rename = "webpki"; + usesDefaultFeatures = false; + target = { target, features }: ("android" == target."os" or null); + } + { + name = "security-framework"; + packageId = "security-framework"; + target = { target, features }: (("apple" == target."vendor" or null)); + } + { + name = "security-framework-sys"; + packageId = "security-framework-sys"; + target = { target, features }: (("apple" == target."vendor" or null)); + } + { + name = "webpki-root-certs"; + packageId = "webpki-root-certs"; + target = { target, features }: ("wasm32" == target."arch" or null); + } + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + usesDefaultFeatures = false; + target = { target, features }: (target."windows" or false); + features = [ "Win32_Foundation" "Win32_Security_Cryptography" ]; + } + ]; + devDependencies = [ + { + name = "rustls"; + packageId = "rustls"; + usesDefaultFeatures = false; + features = [ "ring" ]; + } + { + name = "webpki-root-certs"; + packageId = "webpki-root-certs"; + } + ]; + features = { + "android_logger" = [ "dep:android_logger" ]; + "base64" = [ "dep:base64" ]; + "cert-logging" = [ "base64" ]; + "docsrs" = [ "jni" "once_cell" ]; + "ffi-testing" = [ "android_logger" "rustls/ring" ]; + "jni" = [ "dep:jni" ]; + "once_cell" = [ "dep:once_cell" ]; + }; + }; + "rustls-platform-verifier-android" = rec { + crateName = "rustls-platform-verifier-android"; + version = "0.1.1"; + edition = "2021"; + sha256 = "13vq6sxsgz9547xm2zbdxiw8x7ad1g8n8ax6xvxsjqszk7q6awgq"; + libName = "rustls_platform_verifier_android"; + + }; + "rustls-webpki" = rec { + crateName = "rustls-webpki"; + version = "0.103.15"; + edition = "2021"; + sha256 = "1hhanq3lz384v4nccacnjfwsyy99n3yc6m6iw8kljz8yicfwzhzk"; + libName = "webpki"; + dependencies = [ + { + name = "ring"; + packageId = "ring"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "rustls-pki-types"; + packageId = "rustls-pki-types"; + rename = "pki-types"; + usesDefaultFeatures = false; + } + { + name = "untrusted"; + packageId = "untrusted"; + } + ]; + features = { + "alloc" = [ "ring?/alloc" "pki-types/alloc" ]; + "aws-lc-rs" = [ "dep:aws-lc-rs" "aws-lc-rs/aws-lc-sys" "aws-lc-rs/prebuilt-nasm" ]; + "aws-lc-rs-fips" = [ "dep:aws-lc-rs" "aws-lc-rs/fips" ]; + "aws-lc-rs-unstable" = [ "aws-lc-rs" ]; + "default" = [ "std" ]; + "ring" = [ "dep:ring" ]; + "std" = [ "alloc" "pki-types/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "ring" "std" ]; + }; + "rustversion" = rec { + crateName = "rustversion"; + version = "1.0.23"; + edition = "2018"; + sha256 = "07z2a843fs80fawwflj9jwn49k9b0bd0dhhbvy0ar69vaxd72m6g"; + procMacro = true; + build = "build/build.rs"; + authors = [ + "David Tolnay " + ]; + + }; + "ryu" = rec { + crateName = "ryu"; + version = "1.0.23"; + edition = "2021"; + sha256 = "0zs70sg00l2fb9jwrf6cbkdyscjs53anrvai2hf7npyyfi5blx4p"; + authors = [ + "David Tolnay " + ]; + features = { + "no-panic" = [ "dep:no-panic" ]; + }; + }; + "safe_arch" = rec { + crateName = "safe_arch"; + version = "1.2.0"; + edition = "2024"; + sha256 = "0przxg40043xxwgfgzx5qpx882x4q6qb07x6kjryrrkmb2hyzij2"; + authors = [ + "Lokathor " + ]; + dependencies = [ + { + name = "bytemuck"; + packageId = "bytemuck"; + optional = true; + } + ]; + features = { + "bytemuck" = [ "dep:bytemuck" ]; + }; + resolvedDefaultFeatures = [ "bytemuck" "default" ]; + }; + "same-file" = rec { + crateName = "same-file"; + version = "1.0.6"; + edition = "2018"; + sha256 = "00h5j1w87dmhnvbv9l8bic3y7xxsnjmssvifw2ayvgx9mb1ivz4k"; + libName = "same_file"; + authors = [ + "Andrew Gallant " + ]; + dependencies = [ + { + name = "winapi-util"; + packageId = "winapi-util"; + target = { target, features }: (target."windows" or false); + } + ]; + + }; + "schannel" = rec { + crateName = "schannel"; + version = "0.1.29"; + edition = "2018"; + sha256 = "0ffrzz5vf2s3gnzvphgb5gg8fqifvryl07qcf7q3x1scj3jbghci"; + authors = [ + "Steven Fackler " + "Steffen Butzer " + ]; + dependencies = [ + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + features = [ "Win32_Foundation" "Win32_Security_Cryptography" "Win32_Security_Authentication_Identity" "Win32_Security_Credentials" "Win32_System_LibraryLoader" "Win32_System_Memory" "Win32_System_SystemInformation" ]; + } + ]; + devDependencies = [ + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + features = [ "Win32_System_SystemInformation" "Win32_System_Time" ]; + } + ]; + + }; + "schemars 0.9.0" = rec { + crateName = "schemars"; + version = "0.9.0"; + edition = "2021"; + sha256 = "0pqncln5hqbzbl2r3yayyr4a82jjf93h2cfxrn0xamvx77wr3lac"; + authors = [ + "Graham Esau " + ]; + dependencies = [ + { + name = "dyn-clone"; + packageId = "dyn-clone"; + } + { + name = "ref-cast"; + packageId = "ref-cast"; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "serde_json"; + packageId = "serde_json"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + ]; + devDependencies = [ + { + name = "serde"; + packageId = "serde"; + features = [ "derive" ]; + } + ]; + features = { + "arrayvec07" = [ "dep:arrayvec07" ]; + "bigdecimal04" = [ "dep:bigdecimal04" ]; + "bytes1" = [ "dep:bytes1" ]; + "chrono04" = [ "dep:chrono04" ]; + "default" = [ "derive" "std" ]; + "derive" = [ "schemars_derive" ]; + "either1" = [ "dep:either1" ]; + "indexmap2" = [ "dep:indexmap2" ]; + "jiff02" = [ "dep:jiff02" ]; + "preserve_order" = [ "serde_json/preserve_order" ]; + "raw_value" = [ "serde_json/raw_value" ]; + "rust_decimal1" = [ "dep:rust_decimal1" ]; + "schemars_derive" = [ "dep:schemars_derive" ]; + "semver1" = [ "dep:semver1" ]; + "smallvec1" = [ "dep:smallvec1" ]; + "smol_str02" = [ "dep:smol_str02" ]; + "url2" = [ "dep:url2" ]; + "uuid1" = [ "dep:uuid1" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "schemars 1.2.2" = rec { + crateName = "schemars"; + version = "1.2.2"; + edition = "2021"; + sha256 = "0jng632s64njf9vghr3i1l4m15h4y85m5vhg7vkwdkdnjg978wk8"; + authors = [ + "Graham Esau " + ]; + dependencies = [ + { + name = "dyn-clone"; + packageId = "dyn-clone"; + } + { + name = "either"; + packageId = "either"; + rename = "either1"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "ref-cast"; + packageId = "ref-cast"; + } + { + name = "schemars_derive"; + packageId = "schemars_derive"; + optional = true; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "serde_json"; + packageId = "serde_json"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + ]; + devDependencies = [ + { + name = "either"; + packageId = "either"; + rename = "either1"; + usesDefaultFeatures = false; + features = [ "serde" ]; + } + { + name = "serde"; + packageId = "serde"; + features = [ "derive" ]; + } + ]; + features = { + "arrayvec07" = [ "dep:arrayvec07" ]; + "bigdecimal04" = [ "dep:bigdecimal04" ]; + "bytes1" = [ "dep:bytes1" ]; + "chrono04" = [ "dep:chrono04" ]; + "default" = [ "derive" "std" ]; + "derive" = [ "schemars_derive" ]; + "either1" = [ "dep:either1" ]; + "indexmap2" = [ "dep:indexmap2" ]; + "jiff02" = [ "dep:jiff02" ]; + "preserve_order" = [ "serde_json/preserve_order" ]; + "raw_value" = [ "serde_json/raw_value" ]; + "rust_decimal1" = [ "dep:rust_decimal1" ]; + "schemars_derive" = [ "dep:schemars_derive" ]; + "semver1" = [ "dep:semver1" ]; + "smallvec1" = [ "dep:smallvec1" ]; + "smol_str02" = [ "dep:smol_str02" ]; + "smol_str03" = [ "dep:smol_str03" ]; + "url2" = [ "dep:url2" ]; + "uuid1" = [ "dep:uuid1" ]; + }; + resolvedDefaultFeatures = [ "default" "derive" "either1" "schemars_derive" "std" ]; + }; + "schemars_derive" = rec { + crateName = "schemars_derive"; + version = "1.2.2"; + edition = "2021"; + sha256 = "1fp2wkdk32nv66swy7k7pz7sxygn634snlppih5jzbs6ddqng36r"; + procMacro = true; + authors = [ + "Graham Esau " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "serde_derive_internals"; + packageId = "serde_derive_internals"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + } + ]; + devDependencies = [ + { + name = "syn"; + packageId = "syn 3.0.4"; + features = [ "extra-traits" ]; + } + ]; + + }; + "scopeguard" = rec { + crateName = "scopeguard"; + version = "1.2.0"; + edition = "2015"; + sha256 = "0jcz9sd47zlsgcnm1hdw0664krxwb5gczlif4qngj2aif8vky54l"; + authors = [ + "bluss" + ]; + features = { + "default" = [ "use_std" ]; + }; + }; + "secrecy" = rec { + crateName = "secrecy"; + version = "0.8.0"; + edition = "2018"; + sha256 = "07p9h2bpkkg61f1fzzdqqbf74kwv1gg095r1cdmjzzbcl17cblcv"; + authors = [ + "Tony Arcieri " + ]; + dependencies = [ + { + name = "serde"; + packageId = "serde"; + optional = true; + } + { + name = "zeroize"; + packageId = "zeroize"; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "zeroize/alloc" ]; + "bytes" = [ "dep:bytes" ]; + "default" = [ "alloc" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "serde" ]; + }; + "security-framework" = rec { + crateName = "security-framework"; + version = "3.7.0"; + edition = "2024"; + sha256 = "07fd0j29j8yczb3hd430vwz784lx9knb5xwbvqna1nbkbivvrx5p"; + libName = "security_framework"; + authors = [ + "Steven Fackler " + "Kornel " + ]; + dependencies = [ + { + name = "bitflags"; + packageId = "bitflags 2.13.1"; + } + { + name = "core-foundation"; + packageId = "core-foundation"; + } + { + name = "core-foundation-sys"; + packageId = "core-foundation-sys"; + } + { + name = "libc"; + packageId = "libc"; + } + { + name = "security-framework-sys"; + packageId = "security-framework-sys"; + usesDefaultFeatures = false; + } + ]; + features = { + "OSX_10_15" = [ "security-framework-sys/OSX_10_15" ]; + "default" = [ "OSX_10_14" "alpn" "session-tickets" ]; + "log" = [ "dep:log" ]; + "macos-12" = [ "security-framework-sys/macos-12" ]; + "sync-keychain" = [ "OSX_10_13" ]; + }; + resolvedDefaultFeatures = [ "OSX_10_14" "alpn" "default" "session-tickets" ]; + }; + "security-framework-sys" = rec { + crateName = "security-framework-sys"; + version = "2.17.0"; + edition = "2021"; + sha256 = "1qr0w0y9iwvmv3hwg653q1igngnc5b74xcf0679cbv23z0fnkqkc"; + libName = "security_framework_sys"; + authors = [ + "Steven Fackler " + "Kornel " + ]; + dependencies = [ + { + name = "core-foundation-sys"; + packageId = "core-foundation-sys"; + } + { + name = "libc"; + packageId = "libc"; + } + ]; + features = { + "default" = [ "OSX_10_13" ]; + }; + resolvedDefaultFeatures = [ "OSX_10_13" "default" ]; + }; + "semver" = rec { + crateName = "semver"; + version = "1.0.28"; + edition = "2021"; + sha256 = "1kaimrpy876bcgi8bfj0qqfxk77zm9iz2zhn1hp9hj685z854y4a"; + authors = [ + "David Tolnay " + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "serde" = rec { + crateName = "serde"; + version = "1.0.229"; + edition = "2021"; + sha256 = "1fp04fq4a79bpm61xz1zy0pbz4kpc7d771zii1k3inmszq55jj21"; + authors = [ + "Erick Tryzelaar " + "David Tolnay " + ]; + dependencies = [ + { + name = "serde_core"; + packageId = "serde_core"; + usesDefaultFeatures = false; + features = [ "result" ]; + } + { + name = "serde_derive"; + packageId = "serde_derive"; + optional = true; + } + ]; + features = { + "alloc" = [ "serde_core/alloc" ]; + "default" = [ "std" ]; + "derive" = [ "serde_derive" ]; + "rc" = [ "serde_core/rc" ]; + "serde_derive" = [ "dep:serde_derive" ]; + "std" = [ "serde_core/std" ]; + "unstable" = [ "serde_core/unstable" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "derive" "serde_derive" "std" ]; + }; + "serde_core" = rec { + crateName = "serde_core"; + version = "1.0.229"; + edition = "2021"; + sha256 = "0j1ajiha76h3nmd976il9li6975k121xa7jb39ws8n0yqp4s5p37"; + authors = [ + "Erick Tryzelaar " + "David Tolnay " + ]; + dependencies = [ + { + name = "serde_derive"; + packageId = "serde_derive"; + target = { target, features }: false; + } + ]; + devDependencies = [ + { + name = "serde_derive"; + packageId = "serde_derive"; + } + ]; + features = { + "default" = [ "std" "result" ]; + }; + resolvedDefaultFeatures = [ "alloc" "result" "std" ]; + }; + "serde_derive" = rec { + crateName = "serde_derive"; + version = "1.0.229"; + edition = "2021"; + sha256 = "0j4k63i7h1bikxwz2c89ig0hrwbnl9mz1czn85xx99x5cc9dg9g7"; + procMacro = true; + authors = [ + "Erick Tryzelaar " + "David Tolnay " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + features = [ "proc-macro" ]; + } + { + name = "quote"; + packageId = "quote"; + usesDefaultFeatures = false; + features = [ "proc-macro" ]; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + usesDefaultFeatures = false; + features = [ "clone-impls" "derive" "parsing" "printing" "proc-macro" ]; + } + ]; + features = { + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "serde_derive_internals" = rec { + crateName = "serde_derive_internals"; + version = "0.30.0"; + edition = "2021"; + sha256 = "1gd9n45na7n79nr54ghfl79rygkbzw2ybk3wyr6nlp83rry16lpq"; + libPath = "lib.rs"; + authors = [ + "Erick Tryzelaar " + "David Tolnay " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + { + name = "quote"; + packageId = "quote"; + usesDefaultFeatures = false; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + usesDefaultFeatures = false; + features = [ "clone-impls" "derive" "parsing" "printing" ]; + } + ]; + + }; + "serde_json" = rec { + crateName = "serde_json"; + version = "1.0.151"; + edition = "2021"; + sha256 = "051zww7lvpw147vvwss1ng6w587qyrkzg75fvj08q2dfrmgbahf8"; + authors = [ + "Erick Tryzelaar " + "David Tolnay " + ]; + dependencies = [ + { + name = "indexmap"; + packageId = "indexmap 2.14.0"; + optional = true; + } + { + name = "itoa"; + packageId = "itoa"; + } + { + name = "memchr"; + packageId = "memchr"; + usesDefaultFeatures = false; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + target = { target, features }: false; + } + { + name = "serde_core"; + packageId = "serde_core"; + usesDefaultFeatures = false; + } + { + name = "zmij"; + packageId = "zmij"; + } + ]; + devDependencies = [ + { + name = "serde"; + packageId = "serde"; + features = [ "derive" ]; + } + ]; + features = { + "alloc" = [ "serde_core/alloc" ]; + "default" = [ "std" ]; + "indexmap" = [ "dep:indexmap" ]; + "preserve_order" = [ "indexmap" "std" ]; + "std" = [ "memchr/std" "serde_core/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "indexmap" "preserve_order" "std" ]; + }; + "serde_spanned" = rec { + crateName = "serde_spanned"; + version = "1.1.1"; + edition = "2024"; + sha256 = "09jzk7i6wihn3d8i3wi4j4n98ghi93c3b8m8k64nxq0ijn3vaqk6"; + dependencies = [ + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "serde_core?/alloc" ]; + "default" = [ "std" "serde" ]; + "serde" = [ "dep:serde_core" ]; + "std" = [ "alloc" "serde_core?/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "serde" "std" ]; + }; + "serde_with" = rec { + crateName = "serde_with"; + version = "3.22.0"; + edition = "2021"; + sha256 = "02hwmd82gp83rlj8d51yg79v17mnaz9xpcxdgbja1i1swkxz2y7f"; + authors = [ + "Jonas Bushart" + "Marcin Kaźmierczak" + ]; + dependencies = [ + { + name = "base64"; + packageId = "base64"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "bs58"; + packageId = "bs58"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "chrono"; + packageId = "chrono"; + rename = "chrono_0_4"; + optional = true; + usesDefaultFeatures = false; + features = [ "serde" ]; + } + { + name = "hex"; + packageId = "hex"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "indexmap"; + packageId = "indexmap 1.9.3"; + rename = "indexmap_1"; + optional = true; + usesDefaultFeatures = false; + features = [ "serde-1" ]; + } + { + name = "indexmap"; + packageId = "indexmap 2.14.0"; + rename = "indexmap_2"; + optional = true; + usesDefaultFeatures = false; + features = [ "serde" ]; + } + { + name = "jiff"; + packageId = "jiff"; + rename = "jiff_0_2"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "schemars"; + packageId = "schemars 0.9.0"; + rename = "schemars_0_9"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "schemars"; + packageId = "schemars 1.2.2"; + rename = "schemars_1"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "serde_core"; + packageId = "serde_core"; + usesDefaultFeatures = false; + features = [ "result" ]; + } + { + name = "serde_json"; + packageId = "serde_json"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "serde_with_macros"; + packageId = "serde_with_macros"; + optional = true; + } + { + name = "time"; + packageId = "time"; + rename = "time_0_3"; + optional = true; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "schemars"; + packageId = "schemars 0.9.0"; + rename = "schemars_0_9"; + } + { + name = "schemars"; + packageId = "schemars 1.2.2"; + rename = "schemars_1"; + } + { + name = "serde_json"; + packageId = "serde_json"; + features = [ "preserve_order" ]; + } + ]; + features = { + "alloc" = [ "serde_core/alloc" "base64?/alloc" "bs58?/alloc" "chrono_0_4?/alloc" "hex?/alloc" "jiff_0_2?/alloc" "serde_json?/alloc" "time_0_3?/alloc" ]; + "base58" = [ "dep:bs58" "alloc" ]; + "base64" = [ "dep:base64" "alloc" ]; + "chrono" = [ "chrono_0_4" ]; + "chrono_0_4" = [ "dep:chrono_0_4" ]; + "default" = [ "std" "macros" ]; + "guide" = [ "dep:document-features" "macros" "std" ]; + "hashbrown_0_14" = [ "dep:hashbrown_0_14" "alloc" ]; + "hashbrown_0_15" = [ "dep:hashbrown_0_15" "alloc" ]; + "hashbrown_0_16" = [ "dep:hashbrown_0_16" "alloc" ]; + "hashbrown_0_17" = [ "dep:hashbrown_0_17" "alloc" ]; + "hex" = [ "dep:hex" "alloc" ]; + "indexmap" = [ "indexmap_1" ]; + "indexmap_1" = [ "dep:indexmap_1" "alloc" ]; + "indexmap_2" = [ "dep:indexmap_2" "alloc" ]; + "jiff_0_2" = [ "dep:jiff_0_2" ]; + "json" = [ "dep:serde_json" "alloc" ]; + "macros" = [ "dep:serde_with_macros" ]; + "schemars_0_8" = [ "dep:schemars_0_8" "std" "serde_with_macros?/schemars_0_8" "dep:serde_json" ]; + "schemars_0_9" = [ "dep:schemars_0_9" "alloc" "serde_with_macros?/schemars_0_9" "dep:serde_json" ]; + "schemars_1" = [ "dep:schemars_1" "alloc" "serde_with_macros?/schemars_1" "dep:serde_json" ]; + "smallvec_1" = [ "dep:smallvec_1" ]; + "std" = [ "alloc" "bs58?/std" "serde_core/std" "chrono_0_4?/clock" "chrono_0_4?/std" "indexmap_1?/std" "indexmap_2?/std" "jiff_0_2?/std" "jiff_0_2?/tz-system" "jiff_0_2?/tzdb-bundle-platform" "jiff_0_2?/tzdb-concatenated" "jiff_0_2?/tzdb-zoneinfo" "time_0_3?/serde-well-known" "time_0_3?/std" "schemars_0_9?/std" "schemars_1?/std" ]; + "time_0_3" = [ "dep:time_0_3" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "macros" "std" ]; + }; + "serde_with_macros" = rec { + crateName = "serde_with_macros"; + version = "3.22.0"; + edition = "2021"; + sha256 = "0iky3jzlad993dj1g7vv9ld8nw3b40pfnrjdv28bvdn2g63mf1c7"; + procMacro = true; + authors = [ + "Jonas Bushart" + ]; + dependencies = [ + { + name = "darling"; + packageId = "darling"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "extra-traits" "full" "parsing" ]; + } + ]; + features = { + }; + }; + "serde_yaml" = rec { + crateName = "serde_yaml"; + version = "0.9.34+deprecated"; + edition = "2021"; + sha256 = "0isba1fjyg3l6rxk156k600ilzr8fp7crv82rhal0rxz5qd1m2va"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "indexmap"; + packageId = "indexmap 2.14.0"; + } + { + name = "itoa"; + packageId = "itoa"; + } + { + name = "ryu"; + packageId = "ryu"; + } + { + name = "serde"; + packageId = "serde"; + } + { + name = "unsafe-libyaml"; + packageId = "unsafe-libyaml"; + } + ]; + + }; + "sha2-const-stable" = rec { + crateName = "sha2-const-stable"; + version = "0.1.0"; + edition = "2018"; + sha256 = "1n9yz02vfyf6sp5hlnlzz497b2j49pvhiwpzh8xqjjh92579s5sz"; + libName = "sha2_const_stable"; + authors = [ + "Cavey Cool " + "Magnetar Fields <0xMAGNETAR@proton.me>" + ]; + + }; + "sha3" = rec { + crateName = "sha3"; + version = "0.10.9"; + edition = "2018"; + sha256 = "0x1qv415b59x9vw4afr3fh98bcca9z6pg1yg6i05lhax6hl71zbp"; + authors = [ + "RustCrypto Developers" + ]; + dependencies = [ + { + name = "digest"; + packageId = "digest"; + } + { + name = "keccak"; + packageId = "keccak"; + } + ]; + devDependencies = [ + { + name = "digest"; + packageId = "digest"; + features = [ "dev" ]; + } + ]; + features = { + "asm" = [ "keccak/asm" ]; + "default" = [ "std" ]; + "oid" = [ "digest/oid" ]; + "std" = [ "digest/std" ]; + "zeroize" = [ "dep:zeroize" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "sharded-slab" = rec { + crateName = "sharded-slab"; + version = "0.1.7"; + edition = "2018"; + sha256 = "1xipjr4nqsgw34k7a2cgj9zaasl2ds6jwn89886kww93d32a637l"; + libName = "sharded_slab"; + authors = [ + "Eliza Weisman " + ]; + dependencies = [ + { + name = "lazy_static"; + packageId = "lazy_static"; + } + ]; + features = { + "loom" = [ "dep:loom" ]; + }; + }; + "shellexpand" = rec { + crateName = "shellexpand"; + version = "3.1.2"; + edition = "2018"; + sha256 = "1n3y55yvh2s8cqmqb6bnz4wrlhchjd489fn1dpcc9rhnbsmlz0ij"; + authors = [ + "Vladimir Matveev " + "Ian Jackson " + ]; + dependencies = [ + { + name = "dirs"; + packageId = "dirs"; + optional = true; + } + ]; + features = { + "bstr" = [ "dep:bstr" ]; + "default" = [ "base-0" "tilde" ]; + "dirs" = [ "dep:dirs" ]; + "full" = [ "full-msrv-1-51" ]; + "full-msrv-1-31" = [ "base-0" "tilde" ]; + "full-msrv-1-51" = [ "full-msrv-1-31" "path" ]; + "os_str_bytes" = [ "dep:os_str_bytes" ]; + "path" = [ "bstr" "os_str_bytes" ]; + "tilde" = [ "dirs" ]; + }; + resolvedDefaultFeatures = [ "base-0" "default" "dirs" "tilde" ]; + }; + "shlex" = rec { + crateName = "shlex"; + version = "2.0.1"; + edition = "2018"; + sha256 = "1fjsll1cd7d2bcpdij9kd6w62rpbc7qqzvydvs021vsmr1cxvypq"; + authors = [ + "comex " + "Fenhl " + "Adrian Taylor " + "Alex Touchet " + "Daniel Parks " + "Garrett Berg " + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "signal-hook-registry" = rec { + crateName = "signal-hook-registry"; + version = "1.4.8"; + edition = "2015"; + sha256 = "06vc7pmnki6lmxar3z31gkyg9cw7py5x9g7px70gy2hil75nkny4"; + libName = "signal_hook_registry"; + authors = [ + "Michal 'vorner' Vaner " + "Masaki Hara " + ]; + dependencies = [ + { + name = "errno"; + packageId = "errno"; + } + { + name = "libc"; + packageId = "libc"; + } + ]; + + }; + "simba" = rec { + crateName = "simba"; + version = "0.10.2"; + edition = "2018"; + sha256 = "1rzxhzvyx06fjz5sb0ygj4n40yjkw88jzlgg6m17n77zh86j19zi"; + authors = [ + "sebcrozet " + ]; + dependencies = [ + { + name = "approx"; + packageId = "approx"; + usesDefaultFeatures = false; + } + { + name = "num-complex"; + packageId = "num-complex"; + usesDefaultFeatures = false; + } + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + } + { + name = "wide"; + packageId = "wide"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "cordic" = [ "dep:cordic" ]; + "decimal" = [ "dep:decimal" ]; + "default" = [ "std" ]; + "fixed" = [ "dep:fixed" ]; + "libm" = [ "num-traits/libm" ]; + "libm_force" = [ "dep:libm_force" ]; + "partial_fixed_point_support" = [ "fixed" "cordic" ]; + "portable_simd" = [ "std" ]; + "rand" = [ "dep:rand" ]; + "rkyv" = [ "dep:rkyv" ]; + "rkyv-serialize" = [ "rkyv" ]; + "serde" = [ "dep:serde" ]; + "serde_serialize" = [ "serde" "fixed/serde" ]; + "std" = [ "wide/std" ]; + "wide" = [ "dep:wide" ]; + }; + resolvedDefaultFeatures = [ "std" "wide" ]; + }; + "simd-adler32" = rec { + crateName = "simd-adler32"; + version = "0.3.10"; + edition = "2018"; + sha256 = "1sny4y2qa5mwyxx5x59ln2p02vsdh92004njlslnx98imjc9489s"; + libName = "simd_adler32"; + authors = [ + "Marvin Countryman " + ]; + features = { + "default" = [ "std" "const-generics" ]; + }; + }; + "simd_cesu8" = rec { + crateName = "simd_cesu8"; + version = "1.2.0"; + edition = "2021"; + sha256 = "0865mv3nmd35f1dccjcfj7dncjmmvvdij3j61z4131mz38jiw0qi"; + authors = [ + "Sean C. Roach " + ]; + dependencies = [ + { + name = "simdutf8"; + packageId = "simdutf8"; + usesDefaultFeatures = false; + } + ]; + buildDependencies = [ + { + name = "rustc_version"; + packageId = "rustc_version"; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "simdutf8/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "simdutf8" = rec { + crateName = "simdutf8"; + version = "0.1.5"; + edition = "2018"; + sha256 = "0vmpf7xaa0dnaikib5jlx6y4dxd3hxqz6l830qb079g7wcsgxag3"; + authors = [ + "Hans Kratz " + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "siphasher" = rec { + crateName = "siphasher"; + version = "1.0.3"; + edition = "2018"; + sha256 = "0jg6l9xyzca5vy4h6gf8r6p4kk84g98fk95pzig1kq6cr4z8grcf"; + authors = [ + "Frank Denis " + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + "serde_json" = [ "dep:serde_json" ]; + "serde_no_std" = [ "serde/alloc" ]; + "serde_std" = [ "std" "serde/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "slab" = rec { + crateName = "slab"; + version = "0.4.12"; + edition = "2018"; + sha256 = "1xcwik6s6zbd3lf51kkrcicdq2j4c1fw0yjdai2apy9467i0sy8c"; + authors = [ + "Carl Lerche " + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "smallvec" = rec { + crateName = "smallvec"; + version = "1.15.2"; + edition = "2018"; + sha256 = "143wzbqf6vgapdp2z4qpl0yvlqcn17s8cnk8m28rqly808zsdmlf"; + authors = [ + "The Servo Project Developers" + ]; + features = { + "arbitrary" = [ "dep:arbitrary" ]; + "bincode" = [ "dep:bincode" ]; + "const_new" = [ "const_generics" ]; + "drain_keep_rest" = [ "drain_filter" ]; + "impl_bincode" = [ "bincode" "unty" ]; + "malloc_size_of" = [ "dep:malloc_size_of" ]; + "serde" = [ "dep:serde" ]; + "unty" = [ "dep:unty" ]; + }; + resolvedDefaultFeatures = [ "const_generics" ]; + }; + "socket2 0.5.10" = rec { + crateName = "socket2"; + version = "0.5.10"; + edition = "2021"; + sha256 = "0y067ki5q946w91xlz2sb175pnfazizva6fi3kfp639mxnmpc8z2"; + authors = [ + "Alex Crichton " + "Thomas de Zeeuw " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (target."unix" or false); + } + { + name = "windows-sys"; + packageId = "windows-sys 0.52.0"; + target = { target, features }: (target."windows" or false); + features = [ "Win32_Foundation" "Win32_Networking_WinSock" "Win32_System_IO" "Win32_System_Threading" "Win32_System_WindowsProgramming" ]; + } + ]; + features = { + }; + resolvedDefaultFeatures = [ "all" ]; + }; + "socket2 0.6.5" = rec { + crateName = "socket2"; + version = "0.6.5"; + edition = "2021"; + sha256 = "1m7diygswpvlpvrxd6ap169nxgax014jr8220nqlr3bzyb3y5lf3"; + authors = [ + "Alex Crichton " + "Thomas de Zeeuw " + ]; + dependencies = [ + { + name = "libc"; + packageId = "libc"; + target = { target, features }: ((target."unix" or false) || ("wasi" == target."os" or null)); + } + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + target = { target, features }: (target."windows" or false); + features = [ "Win32_Foundation" "Win32_Networking_WinSock" "Win32_System_IO" "Win32_System_Threading" "Win32_System_WindowsProgramming" ]; + } + ]; + features = { + }; + resolvedDefaultFeatures = [ "all" ]; + }; + "spin 0.10.1" = rec { + crateName = "spin"; + version = "0.10.1"; + edition = "2015"; + sha256 = "1lvxq2sdaissp7dzij94fsbrkxl9mmh2bcw0hr1vr38kncf22fh2"; + authors = [ + "Mathijs van de Nes " + "John Ericson " + "Joshua Barretto " + ]; + features = { + "barrier" = [ "mutex" ]; + "default" = [ "lock_api" "mutex" "spin_mutex" "rwlock" "once" "lazy" "barrier" ]; + "fair_mutex" = [ "mutex" ]; + "lazy" = [ "once" ]; + "lock_api" = [ "dep:lock_api_crate" ]; + "portable-atomic" = [ "dep:portable-atomic" ]; + "portable_atomic" = [ "portable-atomic" ]; + "spin_mutex" = [ "mutex" ]; + "ticket_mutex" = [ "mutex" ]; + "use_ticket_mutex" = [ "mutex" "ticket_mutex" ]; + }; + resolvedDefaultFeatures = [ "mutex" "spin_mutex" ]; + }; + "spin 0.9.9" = rec { + crateName = "spin"; + version = "0.9.9"; + edition = "2015"; + sha256 = "03psal0vh1xdxp7agphw09p7kf50v3bj1zshijq1s5bkdd7jcqrp"; + authors = [ + "Mathijs van de Nes " + "John Ericson " + "Joshua Barretto " + ]; + dependencies = [ + { + name = "lock_api"; + packageId = "lock_api"; + rename = "lock_api_crate"; + optional = true; + } + ]; + features = { + "barrier" = [ "mutex" ]; + "default" = [ "lock_api" "mutex" "spin_mutex" "rwlock" "once" "lazy" "barrier" ]; + "fair_mutex" = [ "mutex" ]; + "lazy" = [ "once" ]; + "lock_api" = [ "lock_api_crate" ]; + "lock_api_crate" = [ "dep:lock_api_crate" ]; + "portable-atomic" = [ "dep:portable-atomic" ]; + "portable_atomic" = [ "portable-atomic" ]; + "spin_mutex" = [ "mutex" ]; + "ticket_mutex" = [ "mutex" ]; + "use_ticket_mutex" = [ "mutex" "ticket_mutex" ]; + }; + resolvedDefaultFeatures = [ "barrier" "default" "lazy" "lock_api" "lock_api_crate" "mutex" "once" "rwlock" "spin_mutex" ]; + }; + "stabby" = rec { + crateName = "stabby"; + version = "72.1.16"; + edition = "2021"; + sha256 = "1k7k683djkmin9fwfm3rwjhmlnapjgil2bgxz9vn5i1li51d4lrx"; + authors = [ + "Pierre Avital " + ]; + dependencies = [ + { + name = "rustversion"; + packageId = "rustversion"; + } + { + name = "stabby-abi"; + packageId = "stabby-abi"; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "stabby-abi"; + packageId = "stabby-abi"; + usesDefaultFeatures = false; + features = [ "test" ]; + } + ]; + features = { + "alloc-rs" = [ "stabby-abi/alloc-rs" ]; + "default" = [ "std" ]; + "experimental-ctypes" = [ "stabby-abi/experimental-ctypes" ]; + "libc" = [ "stabby-abi/libc" ]; + "libloading" = [ "dep:libloading" "std" ]; + "serde" = [ "stabby-abi/serde" ]; + "std" = [ "stabby-abi/std" "alloc-rs" ]; + }; + resolvedDefaultFeatures = [ "alloc-rs" "default" "std" ]; + }; + "stabby-abi" = rec { + crateName = "stabby-abi"; + version = "72.1.16"; + edition = "2021"; + sha256 = "147iafnh1x9qkwkij2frkskw0ybvmv94qzg4wlz20m5vh3kflxgk"; + libName = "stabby_abi"; + authors = [ + "Pierre Avital " + ]; + dependencies = [ + { + name = "rustversion"; + packageId = "rustversion"; + } + { + name = "sha2-const-stable"; + packageId = "sha2-const-stable"; + } + { + name = "stabby-macros"; + packageId = "stabby-macros"; + usesDefaultFeatures = false; + } + ]; + buildDependencies = [ + { + name = "rustc_version"; + packageId = "rustc_version"; + } + ]; + features = { + "abi_stable" = [ "dep:abi_stable" ]; + "abi_stable-channels" = [ "abi_stable" "abi_stable/channels" ]; + "default" = [ "std" ]; + "experimental-ctypes" = [ "stabby-macros/experimental-ctypes" ]; + "libc" = [ "dep:libc" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "alloc-rs" ]; + }; + resolvedDefaultFeatures = [ "alloc-rs" "std" ]; + }; + "stabby-macros" = rec { + crateName = "stabby-macros"; + version = "72.1.16"; + edition = "2021"; + sha256 = "1wgffq6c0iskanrvx2865glzaanq4g0ilagf5zizgibnlmqlcrpa"; + procMacro = true; + libName = "stabby_macros"; + authors = [ + "Pierre Avital " + ]; + dependencies = [ + { + name = "proc-macro-crate"; + packageId = "proc-macro-crate"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" "extra-traits" ]; + } + ]; + features = { + }; + }; + "stable_deref_trait" = rec { + crateName = "stable_deref_trait"; + version = "1.2.1"; + edition = "2015"; + sha256 = "15h5h73ppqyhdhx6ywxfj88azmrpml9gl6zp3pwy2malqa6vxqkc"; + authors = [ + "Robert Grosse " + ]; + features = { + "default" = [ "std" ]; + "std" = [ "alloc" ]; + }; + }; + "static_assertions" = rec { + crateName = "static_assertions"; + version = "1.1.0"; + edition = "2015"; + sha256 = "0gsl6xmw10gvn3zs1rv99laj5ig7ylffnh71f9l34js4nr4r7sx2"; + authors = [ + "Nikolai Vazquez" + ]; + features = { + }; + }; + "static_init" = rec { + crateName = "static_init"; + version = "1.0.4"; + edition = "2021"; + sha256 = "1v95xq6rh32qi3h13czxw5w637spnlkfqlp3x017bsjziksivblb"; + authors = [ + "Olivier Kannengieser " + ]; + dependencies = [ + { + name = "bitflags"; + packageId = "bitflags 1.3.2"; + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("android" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + usesDefaultFeatures = false; + target = { target, features }: ("linux" == target."os" or null); + } + { + name = "parking_lot"; + packageId = "parking_lot"; + optional = true; + } + { + name = "parking_lot"; + packageId = "parking_lot"; + target = { target, features }: (!(("linux" == target."os" or null) || ("android" == target."os" or null))); + } + { + name = "parking_lot_core"; + packageId = "parking_lot_core"; + optional = true; + } + { + name = "parking_lot_core"; + packageId = "parking_lot_core"; + target = { target, features }: (!(("linux" == target."os" or null) || ("android" == target."os" or null))); + } + { + name = "static_init_macro"; + packageId = "static_init_macro"; + } + { + name = "winapi"; + packageId = "winapi"; + target = { target, features }: ("windows" == target."os" or null); + features = [ "minwindef" "winnt" "winbase" "synchapi" ]; + } + ]; + buildDependencies = [ + { + name = "cfg_aliases"; + packageId = "cfg_aliases 0.2.2"; + } + ]; + devDependencies = [ + { + name = "libc"; + packageId = "libc"; + } + { + name = "parking_lot"; + packageId = "parking_lot"; + } + ]; + features = { + "bench_nightly" = [ "criterion/real_blackbox" ]; + "debug_order" = [ "static_init_macro/debug_order" "parking_lot" ]; + "parking_lot" = [ "dep:parking_lot" ]; + "parking_lot_core" = [ "dep:parking_lot_core" ]; + "test_pthread_support" = [ "thread_local" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "static_init_macro" = rec { + crateName = "static_init_macro"; + version = "1.0.4"; + edition = "2021"; + sha256 = "0vyxdq5lnwbag6ljdwgv7k94r50f99v46czqz39wd7kkvn6wi28k"; + procMacro = true; + authors = [ + "Olivier Kannengieser " + ]; + dependencies = [ + { + name = "memchr"; + packageId = "memchr"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 1.0.109"; + features = [ "full" ]; + } + ]; + buildDependencies = [ + { + name = "cfg_aliases"; + packageId = "cfg_aliases 0.1.1"; + } + ]; + features = { + }; + }; + "strsim" = rec { + crateName = "strsim"; + version = "0.11.1"; + edition = "2015"; + sha256 = "0kzvqlw8hxqb7y598w1s0hxlnmi84sg5vsipp3yg5na5d1rvba3x"; + authors = [ + "Danny Guo " + "maxbachmann " + ]; + + }; + "subtle" = rec { + crateName = "subtle"; + version = "2.6.1"; + edition = "2018"; + sha256 = "14ijxaymghbl1p0wql9cib5zlwiina7kall6w7g89csprkgbvhhk"; + authors = [ + "Isis Lovecruft " + "Henry de Valence " + ]; + features = { + "default" = [ "std" "i128" ]; + }; + }; + "syn 1.0.109" = rec { + crateName = "syn"; + version = "1.0.109"; + edition = "2018"; + sha256 = "0ds2if4600bd59wsv7jjgfkayfzy3hnazs394kz6zdkmna8l3dkj"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + { + name = "quote"; + packageId = "quote"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "unicode-ident"; + packageId = "unicode-ident"; + } + ]; + features = { + "default" = [ "derive" "parsing" "printing" "clone-impls" "proc-macro" ]; + "printing" = [ "quote" ]; + "proc-macro" = [ "proc-macro2/proc-macro" "quote/proc-macro" ]; + "quote" = [ "dep:quote" ]; + "test" = [ "syn-test-suite/all-features" ]; + }; + resolvedDefaultFeatures = [ "clone-impls" "default" "derive" "full" "parsing" "printing" "proc-macro" "quote" ]; + }; + "syn 2.0.119" = rec { + crateName = "syn"; + version = "2.0.119"; + edition = "2021"; + sha256 = "15vjy620l91a3q4n4f4gzhnflmdr6pnm38v2m6cpk86i8av32a47"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + { + name = "quote"; + packageId = "quote"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "unicode-ident"; + packageId = "unicode-ident"; + } + ]; + features = { + "default" = [ "derive" "parsing" "printing" "clone-impls" "proc-macro" ]; + "printing" = [ "dep:quote" ]; + "proc-macro" = [ "proc-macro2/proc-macro" "quote?/proc-macro" ]; + "test" = [ "syn-test-suite/all-features" ]; + }; + resolvedDefaultFeatures = [ "clone-impls" "default" "derive" "extra-traits" "fold" "full" "parsing" "printing" "proc-macro" "visit" "visit-mut" ]; + }; + "syn 3.0.4" = rec { + crateName = "syn"; + version = "3.0.4"; + edition = "2021"; + sha256 = "17v4ac61x0hvj1879ywqzlwhyzg7n9lr9zniwrsif3b1ykfmq9z6"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + { + name = "quote"; + packageId = "quote"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "unicode-ident"; + packageId = "unicode-ident"; + } + ]; + features = { + "default" = [ "derive" "parsing" "printing" "clone-impls" "proc-macro" ]; + "printing" = [ "dep:quote" ]; + "proc-macro" = [ "proc-macro2/proc-macro" "quote?/proc-macro" ]; + "test" = [ "syn-test-suite/all-features" ]; + }; + resolvedDefaultFeatures = [ "clone-impls" "default" "derive" "extra-traits" "full" "parsing" "printing" "proc-macro" "visit-mut" ]; + }; + "synstructure" = rec { + crateName = "synstructure"; + version = "0.13.2"; + edition = "2018"; + sha256 = "1lh9lx3r3jb18f8sbj29am5hm9jymvbwh6jb1izsnnxgvgrp12kj"; + authors = [ + "Nika Layzell " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + { + name = "quote"; + packageId = "quote"; + usesDefaultFeatures = false; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + usesDefaultFeatures = false; + features = [ "derive" "parsing" "printing" "clone-impls" "visit" "extra-traits" ]; + } + ]; + features = { + "default" = [ "proc-macro" ]; + "proc-macro" = [ "proc-macro2/proc-macro" "syn/proc-macro" "quote/proc-macro" ]; + }; + resolvedDefaultFeatures = [ "default" "proc-macro" ]; + }; + "talc" = rec { + crateName = "talc"; + version = "4.4.3"; + edition = "2021"; + sha256 = "0vgjj02s1pdakjk7vlk8qs1c3lbbp38j5x88vv3k9plllf585bm3"; + authors = [ + "Shaun Beautement " + ]; + features = { + "allocator" = [ "lock_api" ]; + "allocator-api2" = [ "dep:allocator-api2" ]; + "default" = [ "lock_api" "allocator" "nightly_api" ]; + "lock_api" = [ "dep:lock_api" ]; + }; + }; + "target-lexicon" = rec { + crateName = "target-lexicon"; + version = "0.13.5"; + edition = "2018"; + sha256 = "1jm6lmf9hsn7ri2d6v9gg6fy24lylhskh6pbxh71f82wdxd97dmd"; + libName = "target_lexicon"; + authors = [ + "Dan Gohman " + ]; + features = { + "serde" = [ "dep:serde" ]; + "serde_support" = [ "serde" "std" ]; + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "thiserror" = rec { + crateName = "thiserror"; + version = "2.0.20"; + edition = "2021"; + sha256 = "0kxs6p295jffxhzaxpxv1dwaaf5iqlm6sx8h0djp6ancbxgj71pc"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "thiserror-impl"; + packageId = "thiserror-impl"; + } + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "thiserror-impl" = rec { + crateName = "thiserror-impl"; + version = "2.0.20"; + edition = "2021"; + sha256 = "1bwjc94gi0xn5jz26h1a8bjj1wdkvvr6jifamyc4mp9n28zcs15w"; + procMacro = true; + libName = "thiserror_impl"; + authors = [ + "David Tolnay " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + } + ]; + + }; + "thread-priority" = rec { + crateName = "thread-priority"; + version = "1.2.0"; + edition = "2021"; + sha256 = "1x9byxzv6n6qplkdfkw40xi6wfwisjklx8qkajn63bix0pbpbq6g"; + libName = "thread_priority"; + authors = [ + "Victor Polevoy " + ]; + dependencies = [ + { + name = "bitflags"; + packageId = "bitflags 2.13.1"; + } + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (("linux" == target."os" or null) || ("android" == target."os" or null) || ("macos" == target."os" or null) || ("ios" == target."os" or null) || ("dragonfly" == target."os" or null) || ("freebsd" == target."os" or null) || ("openbsd" == target."os" or null) || ("netbsd" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + target = { target, features }: ("vxworks" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (target."windows" or false); + } + { + name = "log"; + packageId = "log"; + } + { + name = "rustversion"; + packageId = "rustversion"; + } + { + name = "winapi"; + packageId = "winapi"; + target = { target, features }: (target."windows" or false); + features = [ "errhandlingapi" "processthreadsapi" "winnt" "minwindef" "winbase" ]; + } + ]; + + }; + "thread_local" = rec { + crateName = "thread_local"; + version = "1.1.10"; + edition = "2021"; + sha256 = "0w20g2pfdcp8pz3gds0bzksv6mxk802szca8qlr3701jdm69rn8s"; + authors = [ + "Amanieu d'Antras " + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + ]; + features = { + }; + }; + "time" = rec { + crateName = "time"; + version = "0.3.55"; + edition = "2024"; + sha256 = "0d6iyws47z50zlksf5m3cflxvjrcgfhjglhn112gmpahxjappf6d"; + authors = [ + "Jacob Pratt " + "Time contributors" + ]; + dependencies = [ + { + name = "deranged"; + packageId = "deranged"; + } + { + name = "num-conv"; + packageId = "num-conv"; + } + { + name = "powerfmt"; + packageId = "powerfmt"; + usesDefaultFeatures = false; + } + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "time-core"; + packageId = "time-core"; + } + { + name = "time-macros"; + packageId = "time-macros"; + optional = true; + } + ]; + devDependencies = [ + { + name = "num-conv"; + packageId = "num-conv"; + } + { + name = "time-macros"; + packageId = "time-macros"; + } + ]; + features = { + "alloc" = [ "serde_core?/alloc" ]; + "default" = [ "std" ]; + "formatting" = [ "std" "time-macros?/formatting" ]; + "large-dates" = [ "time-core/large-dates" "time-macros?/large-dates" ]; + "local-offset" = [ "std" "dep:libc" "dep:num_threads" ]; + "macros" = [ "dep:time-macros" ]; + "parsing" = [ "time-macros?/parsing" ]; + "quickcheck" = [ "dep:quickcheck" "alloc" "deranged/quickcheck" ]; + "rand" = [ "rand08" "rand09" "rand010" ]; + "rand010" = [ "dep:rand010" "deranged/rand010" ]; + "rand08" = [ "dep:rand08" "deranged/rand08" ]; + "rand09" = [ "dep:rand09" "deranged/rand09" ]; + "serde" = [ "dep:serde_core" "time-macros?/serde" "deranged/serde" ]; + "serde-human-readable" = [ "serde" "formatting" "parsing" ]; + "serde-well-known" = [ "serde" "formatting" "parsing" ]; + "std" = [ "alloc" ]; + "wasm-bindgen" = [ "dep:js-sys" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "formatting" "macros" "parsing" "serde" "serde-well-known" "std" ]; + }; + "time-core" = rec { + crateName = "time-core"; + version = "0.1.9"; + edition = "2024"; + sha256 = "028ix0ax7ixp1h1k5zsqwgw85w6y1q32irslma7ci6ddd5kr074y"; + libName = "time_core"; + authors = [ + "Jacob Pratt " + "Time contributors" + ]; + features = { + }; + }; + "time-macros" = rec { + crateName = "time-macros"; + version = "0.2.32"; + edition = "2024"; + sha256 = "11gdd3b81mj8i0h114qfjjzm8j2rz2mhr9byr0ksjbldli196s3y"; + procMacro = true; + libName = "time_macros"; + authors = [ + "Jacob Pratt " + "Time contributors" + ]; + dependencies = [ + { + name = "num-conv"; + packageId = "num-conv"; + } + { + name = "time-core"; + packageId = "time-core"; + } + ]; + features = { + }; + resolvedDefaultFeatures = [ "formatting" "parsing" "serde" ]; + }; + "tinystr" = rec { + crateName = "tinystr"; + version = "0.8.4"; + edition = "2021"; + sha256 = "0hzncw8rgk4syla79qscfml46jm7ll1zdp7kdacc42cj8n8prqmi"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "displaydoc"; + packageId = "displaydoc"; + usesDefaultFeatures = false; + } + { + name = "zerovec"; + packageId = "zerovec"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "serde_core?/alloc" "zerovec?/alloc" ]; + "databake" = [ "dep:databake" ]; + "default" = [ "alloc" ]; + "serde" = [ "dep:serde_core" ]; + "zerovec" = [ "dep:zerovec" ]; + }; + resolvedDefaultFeatures = [ "zerovec" ]; + }; + "tinyvec" = rec { + crateName = "tinyvec"; + version = "1.12.0"; + edition = "2018"; + sha256 = "0zxaid976y60f4722vjhfnwcbydmzpwva7p03aqzl15gl3dblkmv"; + authors = [ + "Lokathor " + ]; + dependencies = [ + { + name = "tinyvec_macros"; + packageId = "tinyvec_macros"; + optional = true; + } + ]; + features = { + "alloc" = [ "tinyvec_macros" ]; + "arbitrary" = [ "dep:arbitrary" ]; + "bin-proto" = [ "dep:bin-proto" ]; + "borsh" = [ "dep:borsh" ]; + "defmt" = [ "dep:defmt" ]; + "generic-array" = [ "dep:generic-array" ]; + "latest_stable_rust" = [ "rustc_1_61" ]; + "real_blackbox" = [ "criterion/real_blackbox" ]; + "rustc_1_61" = [ "rustc_1_57" ]; + "schemars" = [ "dep:schemars" "alloc" ]; + "serde" = [ "dep:serde_core" ]; + "std" = [ "alloc" ]; + "tinyvec_macros" = [ "dep:tinyvec_macros" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "grab_spare_slice" "std" "tinyvec_macros" ]; + }; + "tinyvec_macros" = rec { + crateName = "tinyvec_macros"; + version = "0.1.1"; + edition = "2018"; + sha256 = "081gag86208sc3y6sdkshgw3vysm5d34p431dzw0bshz66ncng0z"; + authors = [ + "Soveu " + ]; + + }; + "token-cell" = rec { + crateName = "token-cell"; + version = "2.1.1"; + edition = "2018"; + sha256 = "1pmv66jsk0cv8y5y5zcm3wh97iqia206jcn9r0k83db9ww594j7v"; + libName = "token_cell"; + authors = [ + "Pierre Avital " + ]; + dependencies = [ + { + name = "paste"; + packageId = "paste"; + } + { + name = "portable-atomic"; + packageId = "portable-atomic"; + } + { + name = "rustversion"; + packageId = "rustversion"; + } + ]; + features = { + "default" = [ "std" ]; + }; + }; + "tokio" = rec { + crateName = "tokio"; + version = "1.53.1"; + edition = "2021"; + sha256 = "1v8b3b45pkpbibls75yniqbvx5dlks2708141ljni5mnf6lawb10"; + authors = [ + "Tokio Contributors " + ]; + dependencies = [ + { + name = "bytes"; + packageId = "bytes"; + optional = true; + } + { + name = "libc"; + packageId = "libc"; + optional = true; + target = { target, features }: ((target."tokio_unstable" or false) && ("linux" == target."os" or null)); + } + { + name = "libc"; + packageId = "libc"; + optional = true; + target = { target, features }: ("wasi" == target."os" or null); + } + { + name = "libc"; + packageId = "libc"; + optional = true; + target = { target, features }: (target."unix" or false); + } + { + name = "mio"; + packageId = "mio"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "mio"; + packageId = "mio"; + optional = true; + usesDefaultFeatures = false; + target = { target, features }: ((target."tokio_unstable" or false) && ("linux" == target."os" or null)); + features = [ "os-poll" "os-ext" ]; + } + { + name = "pin-project-lite"; + packageId = "pin-project-lite"; + } + { + name = "signal-hook-registry"; + packageId = "signal-hook-registry"; + optional = true; + target = { target, features }: (target."unix" or false); + } + { + name = "socket2"; + packageId = "socket2 0.6.5"; + optional = true; + target = { target, features }: ((!(builtins.elem "wasm" target."family")) || (("wasi" == target."os" or null) && (!("p1" == target."env" or null)))); + features = [ "all" ]; + } + { + name = "tokio-macros"; + packageId = "tokio-macros"; + optional = true; + } + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + optional = true; + target = { target, features }: (target."windows" or false); + } + ]; + devDependencies = [ + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (target."unix" or false); + } + { + name = "socket2"; + packageId = "socket2 0.6.5"; + target = { target, features }: (!(builtins.elem "wasm" target."family")); + } + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + target = { target, features }: (target."windows" or false); + features = [ "Win32_Foundation" "Win32_Security_Authorization" ]; + } + ]; + features = { + "bytes" = [ "dep:bytes" ]; + "full" = [ "fs" "io-util" "io-std" "macros" "net" "parking_lot" "process" "rt" "rt-multi-thread" "signal" "sync" "time" ]; + "io-uring" = [ "dep:io-uring" "libc" "mio/os-poll" "mio/os-ext" "dep:slab" ]; + "io-util" = [ "bytes" ]; + "libc" = [ "dep:libc" ]; + "macros" = [ "tokio-macros" ]; + "mio" = [ "dep:mio" ]; + "net" = [ "libc" "mio/os-poll" "mio/os-ext" "mio/net" "socket2" "windows-sys/Win32_Foundation" "windows-sys/Win32_Security" "windows-sys/Win32_Storage_FileSystem" "windows-sys/Win32_System_Pipes" "windows-sys/Win32_System_SystemServices" ]; + "parking_lot" = [ "dep:parking_lot" ]; + "process" = [ "bytes" "libc" "mio/os-poll" "mio/os-ext" "mio/net" "signal-hook-registry" "windows-sys/Win32_Foundation" "windows-sys/Win32_System_Threading" "windows-sys/Win32_System_WindowsProgramming" ]; + "rt-multi-thread" = [ "rt" ]; + "signal" = [ "libc" "mio/os-poll" "mio/net" "mio/os-ext" "signal-hook-registry" "windows-sys/Win32_Foundation" "windows-sys/Win32_System_Console" ]; + "signal-hook-registry" = [ "dep:signal-hook-registry" ]; + "socket2" = [ "dep:socket2" ]; + "taskdump" = [ "dep:backtrace" ]; + "test-util" = [ "rt" "sync" "time" ]; + "tokio-macros" = [ "dep:tokio-macros" ]; + "tracing" = [ "dep:tracing" ]; + "windows-sys" = [ "dep:windows-sys" ]; + }; + resolvedDefaultFeatures = [ "bytes" "default" "fs" "io-std" "io-util" "libc" "macros" "mio" "net" "rt" "rt-multi-thread" "signal" "signal-hook-registry" "socket2" "sync" "time" "tokio-macros" "windows-sys" ]; + }; + "tokio-macros" = rec { + crateName = "tokio-macros"; + version = "2.7.2"; + edition = "2021"; + sha256 = "03kvy2r5gr4zccm4vdx8vvv3q69kbjc1b006rs11aibz74m3lxvq"; + procMacro = true; + libName = "tokio_macros"; + authors = [ + "Tokio Contributors " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + features = [ "full" ]; + } + ]; + + }; + "tokio-util" = rec { + crateName = "tokio-util"; + version = "0.7.19"; + edition = "2021"; + sha256 = "0licqrhrawysjrsr0qw3cgzkkjph7090hlcqcm45aazmkg81aj29"; + libName = "tokio_util"; + authors = [ + "Tokio Contributors " + ]; + dependencies = [ + { + name = "bytes"; + packageId = "bytes"; + } + { + name = "futures-core"; + packageId = "futures-core"; + } + { + name = "futures-sink"; + packageId = "futures-sink"; + } + { + name = "futures-util"; + packageId = "futures-util"; + optional = true; + } + { + name = "pin-project-lite"; + packageId = "pin-project-lite"; + } + { + name = "tokio"; + packageId = "tokio"; + features = [ "sync" ]; + } + ]; + devDependencies = [ + { + name = "tokio"; + packageId = "tokio"; + features = [ "full" ]; + } + ]; + features = { + "__docs_rs" = [ "futures-util" ]; + "codec" = [ "libc" ]; + "compat" = [ "futures-io" ]; + "full" = [ "codec" "compat" "io-util" "time" "net" "rt" "join-map" ]; + "futures-io" = [ "dep:futures-io" ]; + "futures-util" = [ "dep:futures-util" ]; + "hashbrown" = [ "dep:hashbrown" ]; + "io-util" = [ "io" "tokio/rt" "tokio/io-util" ]; + "join-map" = [ "rt" "hashbrown" ]; + "libc" = [ "dep:libc" ]; + "net" = [ "tokio/net" ]; + "rt" = [ "tokio/rt" "tokio/sync" "futures-util" ]; + "slab" = [ "dep:slab" ]; + "time" = [ "tokio/time" "slab" ]; + "tracing" = [ "dep:tracing" ]; + }; + resolvedDefaultFeatures = [ "default" "futures-util" "rt" ]; + }; + "toml 0.9.12+spec-1.1.0" = rec { + crateName = "toml"; + version = "0.9.12+spec-1.1.0"; + edition = "2021"; + sha256 = "0qwqbrymqn88mg2yqyq3rj52z6p20448z0jxdbpjsbpwg5g894ng"; + dependencies = [ + { + name = "indexmap"; + packageId = "indexmap 2.14.0"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "serde_spanned"; + packageId = "serde_spanned"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "toml_datetime"; + packageId = "toml_datetime 0.7.5+spec-1.1.0"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "toml_parser"; + packageId = "toml_parser"; + optional = true; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "toml_writer"; + packageId = "toml_writer"; + optional = true; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "winnow"; + packageId = "winnow 0.7.15"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "debug" = [ "std" "toml_parser?/debug" "dep:anstream" "dep:anstyle" ]; + "default" = [ "std" "serde" "parse" "display" ]; + "display" = [ "dep:toml_writer" ]; + "fast_hash" = [ "preserve_order" "dep:foldhash" ]; + "parse" = [ "dep:toml_parser" "dep:winnow" ]; + "preserve_order" = [ "dep:indexmap" "std" ]; + "serde" = [ "dep:serde_core" "toml_datetime/serde" "serde_spanned/serde" ]; + "std" = [ "indexmap?/std" "serde_core?/std" "toml_parser?/std" "toml_writer?/std" "toml_datetime/std" "serde_spanned/std" ]; + }; + resolvedDefaultFeatures = [ "default" "display" "parse" "serde" "std" ]; + }; + "toml 1.1.4+spec-1.1.0" = rec { + crateName = "toml"; + version = "1.1.4+spec-1.1.0"; + edition = "2024"; + sha256 = "1xanf3v10j8hdjz37mkhg80w92cw25kxwndhcp4w5pxw9czydb1s"; + dependencies = [ + { + name = "indexmap"; + packageId = "indexmap 2.14.0"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "serde_spanned"; + packageId = "serde_spanned"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "toml_datetime"; + packageId = "toml_datetime 1.1.1+spec-1.1.0"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "toml_parser"; + packageId = "toml_parser"; + optional = true; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "toml_writer"; + packageId = "toml_writer"; + optional = true; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "winnow"; + packageId = "winnow 1.0.4"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "debug" = [ "std" "toml_parser?/debug" "dep:anstream" "dep:anstyle" ]; + "default" = [ "std" "serde" "parse" "display" ]; + "display" = [ "dep:toml_writer" ]; + "fast_hash" = [ "preserve_order" "dep:foldhash" ]; + "parse" = [ "dep:toml_parser" "dep:winnow" ]; + "preserve_order" = [ "dep:indexmap" "std" ]; + "serde" = [ "dep:serde_core" "toml_datetime/serde" "serde_spanned/serde" ]; + "std" = [ "indexmap?/std" "serde_core?/std" "toml_parser?/std" "toml_writer?/std" "toml_datetime/std" "serde_spanned/std" ]; + }; + resolvedDefaultFeatures = [ "default" "display" "parse" "serde" "std" ]; + }; + "toml_datetime 0.7.5+spec-1.1.0" = rec { + crateName = "toml_datetime"; + version = "0.7.5+spec-1.1.0"; + edition = "2021"; + sha256 = "0iqkgvgsxmszpai53dbip7sf2igic39s4dby29dbqf1h9bnwzqcj"; + dependencies = [ + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "serde_core?/alloc" ]; + "default" = [ "std" ]; + "serde" = [ "dep:serde_core" ]; + "std" = [ "alloc" "serde_core?/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "serde" "std" ]; + }; + "toml_datetime 1.1.1+spec-1.1.0" = rec { + crateName = "toml_datetime"; + version = "1.1.1+spec-1.1.0"; + edition = "2024"; + sha256 = "1mws2mkkf46l7inn77azhm0vdwxngv9vsbhbl0ah33p2c9gzcr9i"; + dependencies = [ + { + name = "serde_core"; + packageId = "serde_core"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "serde_core?/alloc" ]; + "default" = [ "std" ]; + "serde" = [ "dep:serde_core" ]; + "std" = [ "alloc" "serde_core?/std" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "serde" "std" ]; + }; + "toml_edit" = rec { + crateName = "toml_edit"; + version = "0.25.13+spec-1.1.0"; + edition = "2024"; + sha256 = "16xgmjdnxssdpj7rjyimsk4fqbv29g8zl7zhdbc6dxrf9mz3cxb9"; + dependencies = [ + { + name = "indexmap"; + packageId = "indexmap 2.14.0"; + features = [ "std" ]; + } + { + name = "toml_datetime"; + packageId = "toml_datetime 1.1.1+spec-1.1.0"; + } + { + name = "toml_parser"; + packageId = "toml_parser"; + optional = true; + } + { + name = "winnow"; + packageId = "winnow 1.0.4"; + optional = true; + } + ]; + features = { + "debug" = [ "toml_parser?/debug" "dep:anstream" "dep:anstyle" "display" ]; + "default" = [ "parse" "display" ]; + "display" = [ "dep:toml_writer" ]; + "parse" = [ "dep:toml_parser" "dep:winnow" ]; + "serde" = [ "dep:serde_core" "toml_datetime/serde" "dep:serde_spanned" ]; + }; + resolvedDefaultFeatures = [ "parse" ]; + }; + "toml_parser" = rec { + crateName = "toml_parser"; + version = "1.1.3+spec-1.1.0"; + edition = "2024"; + sha256 = "0mjdvihdkmjd4ykh574xgii71hpxw7ns7h4n4bisqpxrz4faqf0x"; + dependencies = [ + { + name = "winnow"; + packageId = "winnow 1.0.4"; + usesDefaultFeatures = false; + } + ]; + features = { + "debug" = [ "std" "dep:anstream" "dep:anstyle" ]; + "default" = [ "std" ]; + "simd" = [ "winnow/simd" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" "std" ]; + }; + "toml_writer" = rec { + crateName = "toml_writer"; + version = "1.1.2+spec-1.1.0"; + edition = "2024"; + sha256 = "1lk6pqf9mac3v1x6282n6a66qx5b18c8f4a23bsd0nk658x3amkx"; + features = { + "default" = [ "std" ]; + "std" = [ "alloc" ]; + }; + resolvedDefaultFeatures = [ "alloc" "std" ]; + }; + "tracing" = rec { + crateName = "tracing"; + version = "0.1.44"; + edition = "2018"; + sha256 = "006ilqkg1lmfdh3xhg3z762izfwmxcvz0w7m4qx2qajbz9i1drv3"; + authors = [ + "Eliza Weisman " + "Tokio Contributors " + ]; + dependencies = [ + { + name = "log"; + packageId = "log"; + optional = true; + } + { + name = "pin-project-lite"; + packageId = "pin-project-lite"; + } + { + name = "tracing-attributes"; + packageId = "tracing-attributes"; + optional = true; + } + { + name = "tracing-core"; + packageId = "tracing-core"; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "log"; + packageId = "log"; + } + ]; + features = { + "attributes" = [ "tracing-attributes" ]; + "default" = [ "std" "attributes" ]; + "log" = [ "dep:log" ]; + "log-always" = [ "log" ]; + "std" = [ "tracing-core/std" ]; + "tracing-attributes" = [ "dep:tracing-attributes" ]; + "valuable" = [ "tracing-core/valuable" ]; + }; + resolvedDefaultFeatures = [ "attributes" "default" "log" "std" "tracing-attributes" ]; + }; + "tracing-attributes" = rec { + crateName = "tracing-attributes"; + version = "0.1.31"; + edition = "2018"; + sha256 = "1np8d77shfvz0n7camx2bsf1qw0zg331lra0hxb4cdwnxjjwz43l"; + procMacro = true; + libName = "tracing_attributes"; + authors = [ + "Tokio Contributors " + "Eliza Weisman " + "David Barsky " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + usesDefaultFeatures = false; + features = [ "full" "parsing" "printing" "visit-mut" "clone-impls" "extra-traits" "proc-macro" ]; + } + ]; + features = { + }; + }; + "tracing-core" = rec { + crateName = "tracing-core"; + version = "0.1.36"; + edition = "2018"; + sha256 = "16mpbz6p8vd6j7sf925k9k8wzvm9vdfsjbynbmaxxyq6v7wwm5yv"; + libName = "tracing_core"; + authors = [ + "Tokio Contributors " + ]; + dependencies = [ + { + name = "once_cell"; + packageId = "once_cell"; + optional = true; + } + { + name = "valuable"; + packageId = "valuable"; + optional = true; + usesDefaultFeatures = false; + target = { target, features }: (target."tracing_unstable" or false); + } + ]; + features = { + "default" = [ "std" "valuable?/std" ]; + "once_cell" = [ "dep:once_cell" ]; + "std" = [ "once_cell" ]; + "valuable" = [ "dep:valuable" ]; + }; + resolvedDefaultFeatures = [ "default" "once_cell" "std" ]; + }; + "tracing-log" = rec { + crateName = "tracing-log"; + version = "0.2.0"; + edition = "2018"; + sha256 = "1hs77z026k730ij1a9dhahzrl0s073gfa2hm5p0fbl0b80gmz1gf"; + libName = "tracing_log"; + authors = [ + "Tokio Contributors " + ]; + dependencies = [ + { + name = "log"; + packageId = "log"; + } + { + name = "once_cell"; + packageId = "once_cell"; + } + { + name = "tracing-core"; + packageId = "tracing-core"; + } + ]; + features = { + "ahash" = [ "dep:ahash" ]; + "default" = [ "log-tracer" "std" ]; + "interest-cache" = [ "lru" "ahash" ]; + "lru" = [ "dep:lru" ]; + "std" = [ "log/std" ]; + }; + resolvedDefaultFeatures = [ "log-tracer" "std" ]; + }; + "tracing-serde" = rec { + crateName = "tracing-serde"; + version = "0.2.0"; + edition = "2018"; + sha256 = "1wbgzi364vzfswfkvy48a3p0z5xmv98sx342r57sil70ggmiljvh"; + libName = "tracing_serde"; + authors = [ + "Tokio Contributors " + ]; + dependencies = [ + { + name = "serde"; + packageId = "serde"; + } + { + name = "tracing-core"; + packageId = "tracing-core"; + } + ]; + features = { + "valuable" = [ "valuable_crate" "valuable-serde" "tracing-core/valuable" ]; + "valuable-serde" = [ "dep:valuable-serde" ]; + "valuable_crate" = [ "dep:valuable_crate" ]; + }; + }; + "tracing-subscriber" = rec { + crateName = "tracing-subscriber"; + version = "0.3.23"; + edition = "2018"; + sha256 = "06fkr0qhggvrs861d7f74pn3i3a10h5jsp4n70jj9ys5b675fzyb"; + libName = "tracing_subscriber"; + authors = [ + "Eliza Weisman " + "David Barsky " + "Tokio Contributors " + ]; + dependencies = [ + { + name = "matchers"; + packageId = "matchers"; + optional = true; + } + { + name = "nu-ansi-term"; + packageId = "nu-ansi-term"; + optional = true; + } + { + name = "once_cell"; + packageId = "once_cell"; + optional = true; + } + { + name = "regex-automata"; + packageId = "regex-automata"; + optional = true; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "serde"; + packageId = "serde"; + optional = true; + } + { + name = "serde_json"; + packageId = "serde_json"; + optional = true; + } + { + name = "sharded-slab"; + packageId = "sharded-slab"; + optional = true; + } + { + name = "smallvec"; + packageId = "smallvec"; + optional = true; + } + { + name = "thread_local"; + packageId = "thread_local"; + optional = true; + } + { + name = "tracing"; + packageId = "tracing"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "tracing-core"; + packageId = "tracing-core"; + usesDefaultFeatures = false; + } + { + name = "tracing-log"; + packageId = "tracing-log"; + optional = true; + usesDefaultFeatures = false; + features = [ "log-tracer" "std" ]; + } + { + name = "tracing-serde"; + packageId = "tracing-serde"; + optional = true; + } + ]; + devDependencies = [ + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "tracing-log"; + packageId = "tracing-log"; + } + ]; + features = { + "ansi" = [ "fmt" "nu-ansi-term" ]; + "chrono" = [ "dep:chrono" ]; + "default" = [ "smallvec" "fmt" "ansi" "tracing-log" "std" ]; + "env-filter" = [ "matchers" "once_cell" "tracing" "std" "thread_local" "dep:regex-automata" ]; + "fmt" = [ "registry" "std" ]; + "json" = [ "tracing-serde" "serde" "serde_json" ]; + "local-time" = [ "time/local-offset" ]; + "matchers" = [ "dep:matchers" ]; + "nu-ansi-term" = [ "dep:nu-ansi-term" ]; + "once_cell" = [ "dep:once_cell" ]; + "parking_lot" = [ "dep:parking_lot" ]; + "registry" = [ "sharded-slab" "thread_local" "std" ]; + "serde" = [ "dep:serde" ]; + "serde_json" = [ "dep:serde_json" ]; + "sharded-slab" = [ "dep:sharded-slab" ]; + "smallvec" = [ "dep:smallvec" ]; + "std" = [ "alloc" "tracing-core/std" ]; + "thread_local" = [ "dep:thread_local" ]; + "time" = [ "dep:time" ]; + "tracing" = [ "dep:tracing" ]; + "tracing-log" = [ "dep:tracing-log" ]; + "tracing-serde" = [ "dep:tracing-serde" ]; + "valuable" = [ "tracing-core/valuable" "valuable_crate" "valuable-serde" "tracing-serde/valuable" ]; + "valuable-serde" = [ "dep:valuable-serde" ]; + "valuable_crate" = [ "dep:valuable_crate" ]; + }; + resolvedDefaultFeatures = [ "alloc" "ansi" "default" "env-filter" "fmt" "json" "matchers" "nu-ansi-term" "once_cell" "registry" "serde" "serde_json" "sharded-slab" "smallvec" "std" "thread_local" "tracing" "tracing-log" "tracing-serde" ]; + }; + "tracing-test" = rec { + crateName = "tracing-test"; + version = "0.2.6"; + edition = "2018"; + sha256 = "0l80kq8x2hm11dbhrkr6qljgn6z75qzzgffxqlj4ykaivd4c990r"; + libName = "tracing_test"; + authors = [ + "Danilo Bargen " + ]; + dependencies = [ + { + name = "tracing-core"; + packageId = "tracing-core"; + } + { + name = "tracing-subscriber"; + packageId = "tracing-subscriber"; + features = [ "env-filter" ]; + } + { + name = "tracing-test-macro"; + packageId = "tracing-test-macro"; + } + ]; + features = { + "no-env-filter" = [ "tracing-test-macro/no-env-filter" ]; + }; + }; + "tracing-test-macro" = rec { + crateName = "tracing-test-macro"; + version = "0.2.6"; + edition = "2018"; + sha256 = "179jcllv4gq1kwlp2kzaihqmx28bqislnrinda3cfrgvg9xq81md"; + procMacro = true; + libName = "tracing_test_macro"; + authors = [ + "Danilo Bargen " + ]; + dependencies = [ + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + ]; + features = { + }; + }; + "twox-hash" = rec { + crateName = "twox-hash"; + version = "1.6.3"; + edition = "2018"; + crateBin = []; + sha256 = "0xgn72j36a270l5ls1jk88n7bmq2dhlfkbhdh5554hbagjsydzlp"; + libName = "twox_hash"; + authors = [ + "Jake Goulding " + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + usesDefaultFeatures = false; + } + { + name = "static_assertions"; + packageId = "static_assertions"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "digest" = [ "dep:digest" ]; + "digest_0_10" = [ "dep:digest_0_10" ]; + "digest_0_9" = [ "dep:digest_0_9" ]; + "rand" = [ "dep:rand" ]; + "serde" = [ "dep:serde" ]; + "serialize" = [ "serde" ]; + "std" = [ "rand" ]; + }; + }; + "typeid" = rec { + crateName = "typeid"; + version = "1.0.3"; + edition = "2018"; + sha256 = "0727ypay2p6mlw72gz3yxkqayzdmjckw46sxqpaj08v0b0r64zdw"; + authors = [ + "David Tolnay " + ]; + + }; + "typenum" = rec { + crateName = "typenum"; + version = "1.20.1"; + edition = "2018"; + sha256 = "086s9ly0906kw5yw41249fba97w5zfxf03pyfwdkffvcprqfixdn"; + features = { + "scale-info" = [ "dep:scale-info" ]; + "scale_info" = [ "scale-info/derive" ]; + }; + }; + "ucd-trie" = rec { + crateName = "ucd-trie"; + version = "0.1.7"; + edition = "2021"; + sha256 = "0wc9p07sqwz320848i52nvyjvpsxkx3kv5bfbmm6s35809fdk5i8"; + libName = "ucd_trie"; + authors = [ + "Andrew Gallant " + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "uhlc" = rec { + crateName = "uhlc"; + version = "0.8.2"; + edition = "2018"; + sha256 = "0knjx6v9yhbh00xi5dj23x1ijh90ldm0i6z4mfvqav2f7rg68amn"; + authors = [ + "Julien Enoch " + ]; + dependencies = [ + { + name = "humantime"; + packageId = "humantime"; + optional = true; + } + { + name = "lazy_static"; + packageId = "lazy_static"; + optional = true; + } + { + name = "log"; + packageId = "log"; + optional = true; + } + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + features = [ "alloc" "getrandom" ]; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "alloc" "derive" ]; + } + { + name = "spin"; + packageId = "spin 0.10.1"; + usesDefaultFeatures = false; + features = [ "mutex" "spin_mutex" ]; + } + ]; + devDependencies = [ + { + name = "rand"; + packageId = "rand 0.8.7"; + } + ]; + features = { + "default" = [ "std" ]; + "defmt" = [ "dep:defmt" ]; + "humantime" = [ "dep:humantime" ]; + "lazy_static" = [ "dep:lazy_static" ]; + "log" = [ "dep:log" ]; + "nix" = [ "dep:nix" ]; + "std" = [ "humantime" "lazy_static" "log" "serde/std" "rand/std" ]; + }; + resolvedDefaultFeatures = [ "default" "humantime" "lazy_static" "log" "std" ]; + }; + "unicode-ident" = rec { + crateName = "unicode-ident"; + version = "1.0.24"; + edition = "2021"; + sha256 = "0xfs8y1g7syl2iykji8zk5hgfi5jw819f5zsrbaxmlzwsly33r76"; + libName = "unicode_ident"; + authors = [ + "David Tolnay " + ]; + + }; + "unicode-xid" = rec { + crateName = "unicode-xid"; + version = "0.2.6"; + edition = "2015"; + sha256 = "0lzqaky89fq0bcrh6jj6bhlz37scfd8c7dsj5dq7y32if56c1hgb"; + libName = "unicode_xid"; + authors = [ + "erick.tryzelaar " + "kwantam " + "Manish Goregaokar " + ]; + features = { + }; + resolvedDefaultFeatures = [ "default" ]; + }; + "unindent" = rec { + crateName = "unindent"; + version = "0.2.4"; + edition = "2021"; + sha256 = "1wvfh815i6wm6whpdz1viig7ib14cwfymyr1kn3sxk2kyl3y2r3j"; + authors = [ + "David Tolnay " + ]; + + }; + "unsafe-libyaml" = rec { + crateName = "unsafe-libyaml"; + version = "0.2.11"; + edition = "2021"; + crateBin = []; + sha256 = "0qdq69ffl3v5pzx9kzxbghzn0fzn266i1xn70y88maybz9csqfk7"; + libName = "unsafe_libyaml"; + authors = [ + "David Tolnay " + ]; + + }; + "untrusted" = rec { + crateName = "untrusted"; + version = "0.9.0"; + edition = "2018"; + sha256 = "1ha7ib98vkc538x0z60gfn0fc5whqdd85mb87dvisdcaifi6vjwf"; + authors = [ + "Brian Smith " + ]; + + }; + "unzip-n" = rec { + crateName = "unzip-n"; + version = "0.1.4"; + edition = "2024"; + sha256 = "1nkganqwifa1qag3qiczfcg019q91h7gpxgv1kw6dyqndisv4nrv"; + procMacro = true; + libName = "unzip_n"; + authors = [ + "mexus" + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + ]; + + }; + "url" = rec { + crateName = "url"; + version = "2.5.8"; + edition = "2018"; + sha256 = "1v8f7nx3hpr1qh76if0a04sj08k86amsq4h8cvpw6wvk76jahrzz"; + authors = [ + "The rust-url developers" + ]; + dependencies = [ + { + name = "form_urlencoded"; + packageId = "form_urlencoded"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "idna"; + packageId = "idna"; + usesDefaultFeatures = false; + features = [ "alloc" "compiled_data" ]; + } + { + name = "percent-encoding"; + packageId = "percent-encoding"; + usesDefaultFeatures = false; + features = [ "alloc" ]; + } + { + name = "serde"; + packageId = "serde"; + optional = true; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "serde"; + packageId = "serde"; + } + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde" "dep:serde_derive" ]; + "std" = [ "idna/std" "percent-encoding/std" "form_urlencoded/std" "serde?/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "utf8_iter" = rec { + crateName = "utf8_iter"; + version = "1.0.4"; + edition = "2021"; + sha256 = "1gmna9flnj8dbyd8ba17zigrp9c4c3zclngf5lnb5yvz1ri41hdn"; + authors = [ + "Henri Sivonen " + ]; + + }; + "validated_struct" = rec { + crateName = "validated_struct"; + version = "2.2.0"; + edition = "2018"; + sha256 = "03p641r35wxr0yppanaqbpbvrarbv18h0qr826g36vi8lzl976l6"; + authors = [ + "Pierre Avital " + ]; + dependencies = [ + { + name = "json5"; + packageId = "json5"; + optional = true; + } + { + name = "serde"; + packageId = "serde"; + } + { + name = "serde_json"; + packageId = "serde_json"; + optional = true; + } + { + name = "validated_struct_macros"; + packageId = "validated_struct_macros"; + features = [ "serde" ]; + } + ]; + devDependencies = [ + { + name = "serde"; + packageId = "serde"; + features = [ "derive" ]; + } + { + name = "serde_json"; + packageId = "serde_json"; + } + ]; + features = { + "json5" = [ "dep:json5" ]; + "json_get" = [ "validated_struct_macros/serde_json" "serde_json" ]; + "serde_json" = [ "dep:serde_json" ]; + }; + resolvedDefaultFeatures = [ "json5" "json_get" "serde_json" ]; + }; + "validated_struct_macros" = rec { + crateName = "validated_struct_macros"; + version = "2.2.0"; + edition = "2018"; + sha256 = "07kzi53p4ngq157yp744ah773jd5150pi76gnkp08yi2wyccwi4c"; + procMacro = true; + authors = [ + "Pierre Avital " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + { + name = "unzip-n"; + packageId = "unzip-n"; + } + ]; + features = { + }; + resolvedDefaultFeatures = [ "serde" "serde_json" ]; + }; + "validator" = rec { + crateName = "validator"; + version = "0.21.0"; + edition = "2021"; + sha256 = "109wvp90ysxbr039sr72xsyd3hn72yj7flnch1kxz0y46dk8rmn3"; + authors = [ + "Vincent Prouillet " + ]; + dependencies = [ + { + name = "idna"; + packageId = "idna"; + } + { + name = "regex"; + packageId = "regex"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "serde"; + packageId = "serde"; + } + { + name = "serde_derive"; + packageId = "serde_derive"; + } + { + name = "serde_json"; + packageId = "serde_json"; + } + { + name = "url"; + packageId = "url"; + } + { + name = "validator_derive"; + packageId = "validator_derive"; + optional = true; + } + ]; + features = { + "card" = [ "card-validate" ]; + "card-validate" = [ "dep:card-validate" ]; + "derive" = [ "validator_derive" ]; + "derive_nightly_features" = [ "derive" "validator_derive/nightly_features" ]; + "indexmap" = [ "dep:indexmap" ]; + "validator_derive" = [ "dep:validator_derive" ]; + }; + resolvedDefaultFeatures = [ "derive" "validator_derive" ]; + }; + "validator_derive" = rec { + crateName = "validator_derive"; + version = "0.20.1"; + edition = "2024"; + sha256 = "0db335i99wrir7rq0kdcp7l09lpvimjmq9nps586s78aqa0ln3i4"; + procMacro = true; + authors = [ + "Vincent Prouillet " + ]; + dependencies = [ + { + name = "darling"; + packageId = "darling"; + features = [ "suggestions" ]; + } + { + name = "proc-macro-error3"; + packageId = "proc-macro-error3"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + } + ]; + features = { + "nightly_features" = [ "proc-macro-error3/nightly" ]; + }; + }; + "valuable" = rec { + crateName = "valuable"; + version = "0.1.1"; + edition = "2021"; + sha256 = "0r9srp55v7g27s5bg7a2m095fzckrcdca5maih6dy9bay6fflwxs"; + features = { + "default" = [ "std" ]; + "derive" = [ "valuable-derive" ]; + "std" = [ "alloc" ]; + "valuable-derive" = [ "dep:valuable-derive" ]; + }; + resolvedDefaultFeatures = [ "alloc" "std" ]; + }; + "vec_map" = rec { + crateName = "vec_map"; + version = "0.8.2"; + edition = "2015"; + sha256 = "1481w9g1dw9rxp3l6snkdqihzyrd2f8vispzqmwjwsdyhw8xzggi"; + authors = [ + "Alex Crichton " + "Jorge Aparicio " + "Alexis Beingessner " + "Brian Anderson <>" + "tbu- <>" + "Manish Goregaokar <>" + "Aaron Turon " + "Adolfo Ochagavía <>" + "Niko Matsakis <>" + "Steven Fackler <>" + "Chase Southwood " + "Eduard Burtescu <>" + "Florian Wilkens <>" + "Félix Raimundo <>" + "Tibor Benke <>" + "Markus Siemens " + "Josh Branchaud " + "Huon Wilson " + "Corey Farwell " + "Aaron Liblong <>" + "Nick Cameron " + "Patrick Walton " + "Felix S Klock II <>" + "Andrew Paseltiner " + "Sean McArthur " + "Vadim Petrochenkov <>" + ]; + features = { + "eders" = [ "serde" ]; + "serde" = [ "dep:serde" ]; + }; + }; + "version_check" = rec { + crateName = "version_check"; + version = "0.9.5"; + edition = "2015"; + sha256 = "0nhhi4i5x89gm911azqbn7avs9mdacw2i3vcz3cnmz3mv4rqz4hb"; + authors = [ + "Sergio Benitez " + ]; + + }; + "virtual-mid360" = rec { + crateName = "virtual-mid360"; + version = "0.1.0"; + edition = "2021"; + crateBin = [ + { + name = "virtual_mid360"; + path = "src/main.rs"; + requiredFeatures = [ ]; + } + ]; + src = lib.cleanSourceWith { filter = sourceFilter; src = ./dimos/hardware/sensors/lidar/virtual_mid360; }; + dependencies = [ + { + name = "dimos-module"; + packageId = "dimos-module"; + } + { + name = "serde"; + packageId = "serde"; + features = [ "derive" ]; + } + { + name = "socket2"; + packageId = "socket2 0.6.5"; + } + { + name = "tokio"; + packageId = "tokio"; + features = [ "rt-multi-thread" "macros" "time" "net" "sync" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "validator"; + packageId = "validator"; + features = [ "derive" ]; + } + ]; + + }; + "walkdir" = rec { + crateName = "walkdir"; + version = "2.5.0"; + edition = "2018"; + sha256 = "0jsy7a710qv8gld5957ybrnc07gavppp963gs32xk4ag8130jy99"; + authors = [ + "Andrew Gallant " + ]; + dependencies = [ + { + name = "same-file"; + packageId = "same-file"; + } + { + name = "winapi-util"; + packageId = "winapi-util"; + target = { target, features }: (target."windows" or false); + } + ]; + + }; + "wasi" = rec { + crateName = "wasi"; + version = "0.11.1+wasi-snapshot-preview1"; + edition = "2018"; + sha256 = "0jx49r7nbkbhyfrfyhz0bm4817yrnxgd3jiwwwfv0zl439jyrwyc"; + authors = [ + "The Cranelift Project Developers" + ]; + features = { + "core" = [ "dep:core" ]; + "default" = [ "std" ]; + "rustc-dep-of-std" = [ "core" "rustc-std-workspace-alloc" ]; + "rustc-std-workspace-alloc" = [ "dep:rustc-std-workspace-alloc" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "wasip2" = rec { + crateName = "wasip2"; + version = "1.0.4+wasi-0.2.12"; + edition = "2021"; + sha256 = "11wl7lqwq4pbmlmzr6n7bwz0hzy1z6sxc4554bkmrr86w4vznzmn"; + dependencies = [ + { + name = "wit-bindgen"; + packageId = "wit-bindgen"; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "dep:alloc" ]; + "bitflags" = [ "wit-bindgen/bitflags" ]; + "core" = [ "dep:core" ]; + "default" = [ "std" "bitflags" ]; + "rustc-dep-of-std" = [ "core" "alloc" "wit-bindgen/rustc-dep-of-std" ]; + }; + }; + "wasm-bindgen" = rec { + crateName = "wasm-bindgen"; + version = "0.2.127"; + edition = "2021"; + sha256 = "0w6fa1mkbb6qlkffgy4qaz0hdf496zbjkyiyvs4lvmpd8xbr6w0v"; + libName = "wasm_bindgen"; + authors = [ + "The wasm-bindgen Developers" + ]; + dependencies = [ + { + name = "cfg-if"; + packageId = "cfg-if"; + } + { + name = "once_cell"; + packageId = "once_cell"; + usesDefaultFeatures = false; + } + { + name = "wasm-bindgen-macro"; + packageId = "wasm-bindgen-macro"; + } + { + name = "wasm-bindgen-shared"; + packageId = "wasm-bindgen-shared"; + } + ]; + buildDependencies = [ + { + name = "rustversion"; + packageId = "rustversion"; + rename = "rustversion-compat"; + } + ]; + devDependencies = [ + { + name = "once_cell"; + packageId = "once_cell"; + } + ]; + features = { + "default" = [ "std" ]; + "enable-interning" = [ "std" ]; + "serde" = [ "dep:serde" ]; + "serde-serialize" = [ "serde" "serde_json" "std" ]; + "serde_json" = [ "dep:serde_json" ]; + "strict-macro" = [ "wasm-bindgen-macro/strict-macro" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "wasm-bindgen-macro" = rec { + crateName = "wasm-bindgen-macro"; + version = "0.2.127"; + edition = "2021"; + sha256 = "1hcvlb6bv771fvgifd367wd0cm4giyar8fq5i4h705vj7y7myxvp"; + procMacro = true; + libName = "wasm_bindgen_macro"; + authors = [ + "The wasm-bindgen Developers" + ]; + dependencies = [ + { + name = "quote"; + packageId = "quote"; + } + { + name = "wasm-bindgen-macro-support"; + packageId = "wasm-bindgen-macro-support"; + } + ]; + features = { + "strict-macro" = [ "wasm-bindgen-macro-support/strict-macro" ]; + }; + }; + "wasm-bindgen-macro-support" = rec { + crateName = "wasm-bindgen-macro-support"; + version = "0.2.127"; + edition = "2021"; + sha256 = "112j4d7dv8y2sk9yy9czrl9fpjx9388ywnn7icdv2bywazw367g1"; + libName = "wasm_bindgen_macro_support"; + authors = [ + "The wasm-bindgen Developers" + ]; + dependencies = [ + { + name = "bumpalo"; + packageId = "bumpalo"; + } + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "visit" "visit-mut" "full" "extra-traits" ]; + } + { + name = "wasm-bindgen-shared"; + packageId = "wasm-bindgen-shared"; + } + ]; + features = { + "extra-traits" = [ "syn/extra-traits" ]; + }; + }; + "wasm-bindgen-shared" = rec { + crateName = "wasm-bindgen-shared"; + version = "0.2.127"; + edition = "2021"; + links = "wasm_bindgen"; + sha256 = "1gywp6xv8a27fvm3ga9xby93xyic3hc2s626b9z9rw2xqny4vxky"; + libName = "wasm_bindgen_shared"; + authors = [ + "The wasm-bindgen Developers" + ]; + dependencies = [ + { + name = "unicode-ident"; + packageId = "unicode-ident"; + } + ]; + + }; + "web-time" = rec { + crateName = "web-time"; + version = "1.1.0"; + edition = "2021"; + sha256 = "1fx05yqx83dhx628wb70fyy10yjfq1jpl20qfqhdkymi13rq0ras"; + libName = "web_time"; + dependencies = [ + { + name = "js-sys"; + packageId = "js-sys"; + target = { target, features }: ((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null)); + } + { + name = "wasm-bindgen"; + packageId = "wasm-bindgen"; + usesDefaultFeatures = false; + target = { target, features }: ((builtins.elem "wasm" target."family") && ("unknown" == target."os" or null)); + } + ]; + features = { + "serde" = [ "dep:serde" ]; + }; + }; + "webpki-root-certs" = rec { + crateName = "webpki-root-certs"; + version = "1.0.9"; + edition = "2021"; + sha256 = "16qw59hxn1lln1615kb9rjy16pfxd1x8m9f9w6vwv36c5am58rdr"; + libName = "webpki_root_certs"; + dependencies = [ + { + name = "rustls-pki-types"; + packageId = "rustls-pki-types"; + rename = "pki-types"; + usesDefaultFeatures = false; + } + ]; + + }; + "webpki-roots" = rec { + crateName = "webpki-roots"; + version = "1.0.9"; + edition = "2021"; + sha256 = "0apja04243wz3vi26pqjg4sq8cqaac66prj490sgb1crlc4rvkbx"; + libName = "webpki_roots"; + dependencies = [ + { + name = "rustls-pki-types"; + packageId = "rustls-pki-types"; + rename = "pki-types"; + usesDefaultFeatures = false; + } + ]; + + }; + "wide" = rec { + crateName = "wide"; + version = "1.6.1"; + edition = "2024"; + sha256 = "0kk3dh5cs8yh0w25c4bbxprdkcibyjqk28v8jqh9qs2qir0ayany"; + authors = [ + "Lokathor " + ]; + dependencies = [ + { + name = "bytemuck"; + packageId = "bytemuck"; + } + { + name = "safe_arch"; + packageId = "safe_arch"; + target = { target, features }: ("x86" == target."arch" or null); + features = [ "bytemuck" ]; + } + { + name = "safe_arch"; + packageId = "safe_arch"; + target = { target, features }: ("x86_64" == target."arch" or null); + features = [ "bytemuck" ]; + } + ]; + features = { + "default" = [ "std" ]; + "serde" = [ "dep:serde_core" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "win-sys" = rec { + crateName = "win-sys"; + version = "0.3.1"; + edition = "2018"; + sha256 = "1r9b8nxxl6pba24ajrklpqyfnzc8hni9pd4yn00s5ky1k2514ysv"; + libName = "win_sys"; + authors = [ + "ElasT0ny " + ]; + dependencies = [ + { + name = "windows"; + packageId = "windows"; + features = [ "Win32_System_Memory" "Win32_Storage_FileSystem" "Win32_Foundation" "Win32_Security" "Win32_System_SystemServices" ]; + } + ]; + + }; + "winapi" = rec { + crateName = "winapi"; + version = "0.3.9"; + edition = "2015"; + sha256 = "06gl025x418lchw1wxj64ycr7gha83m44cjr5sarhynd9xkrm0sw"; + authors = [ + "Peter Atashian " + ]; + dependencies = [ + { + name = "winapi-i686-pc-windows-gnu"; + packageId = "winapi-i686-pc-windows-gnu"; + target = { target, features }: (target.name == "i686-pc-windows-gnu"); + } + { + name = "winapi-x86_64-pc-windows-gnu"; + packageId = "winapi-x86_64-pc-windows-gnu"; + target = { target, features }: (target.name == "x86_64-pc-windows-gnu"); + } + ]; + features = { + "debug" = [ "impl-debug" ]; + }; + resolvedDefaultFeatures = [ "errhandlingapi" "fileapi" "iphlpapi" "memoryapi" "minwinbase" "minwindef" "processthreadsapi" "synchapi" "winbase" "winerror" "winnt" "winsock2" "ws2ipdef" ]; + }; + "winapi-i686-pc-windows-gnu" = rec { + crateName = "winapi-i686-pc-windows-gnu"; + version = "0.4.0"; + edition = "2015"; + sha256 = "1dmpa6mvcvzz16zg6d5vrfy4bxgg541wxrcip7cnshi06v38ffxc"; + libName = "winapi_i686_pc_windows_gnu"; + authors = [ + "Peter Atashian " + ]; + + }; + "winapi-util" = rec { + crateName = "winapi-util"; + version = "0.1.11"; + edition = "2021"; + sha256 = "08hdl7mkll7pz8whg869h58c1r9y7in0w0pk8fm24qc77k0b39y2"; + libName = "winapi_util"; + authors = [ + "Andrew Gallant " + ]; + dependencies = [ + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + target = { target, features }: (target."windows" or false); + features = [ "Win32_Foundation" "Win32_Storage_FileSystem" "Win32_System_Console" "Win32_System_SystemInformation" ]; + } + ]; + + }; + "winapi-x86_64-pc-windows-gnu" = rec { + crateName = "winapi-x86_64-pc-windows-gnu"; + version = "0.4.0"; + edition = "2015"; + sha256 = "0gqq64czqb64kskjryj8isp62m2sgvx25yyj3kpc2myh85w24bki"; + libName = "winapi_x86_64_pc_windows_gnu"; + authors = [ + "Peter Atashian " + ]; + + }; + "windows" = rec { + crateName = "windows"; + version = "0.34.0"; + edition = "2018"; + sha256 = "17w2wygxjzi06njamyjdws7bjdn2lkplqqgjvdpn29s241j6naa5"; + authors = [ + "Microsoft" + ]; + dependencies = [ + { + name = "windows_aarch64_msvc"; + packageId = "windows_aarch64_msvc 0.34.0"; + target = { target, features }: (target.name == "aarch64-pc-windows-msvc"); + } + { + name = "windows_aarch64_msvc"; + packageId = "windows_aarch64_msvc 0.34.0"; + target = { target, features }: (target.name == "aarch64-uwp-windows-msvc"); + } + { + name = "windows_i686_gnu"; + packageId = "windows_i686_gnu 0.34.0"; + target = { target, features }: (target.name == "i686-pc-windows-gnu"); + } + { + name = "windows_i686_gnu"; + packageId = "windows_i686_gnu 0.34.0"; + target = { target, features }: (target.name == "i686-uwp-windows-gnu"); + } + { + name = "windows_i686_msvc"; + packageId = "windows_i686_msvc 0.34.0"; + target = { target, features }: (target.name == "i686-pc-windows-msvc"); + } + { + name = "windows_i686_msvc"; + packageId = "windows_i686_msvc 0.34.0"; + target = { target, features }: (target.name == "i686-uwp-windows-msvc"); + } + { + name = "windows_x86_64_gnu"; + packageId = "windows_x86_64_gnu 0.34.0"; + target = { target, features }: (target.name == "x86_64-pc-windows-gnu"); + } + { + name = "windows_x86_64_gnu"; + packageId = "windows_x86_64_gnu 0.34.0"; + target = { target, features }: (target.name == "x86_64-uwp-windows-gnu"); + } + { + name = "windows_x86_64_msvc"; + packageId = "windows_x86_64_msvc 0.34.0"; + target = { target, features }: (target.name == "x86_64-pc-windows-msvc"); + } + { + name = "windows_x86_64_msvc"; + packageId = "windows_x86_64_msvc 0.34.0"; + target = { target, features }: (target.name == "x86_64-uwp-windows-msvc"); + } + ]; + features = { + "AI_MachineLearning" = [ "AI" ]; + "AI_MachineLearning_Preview" = [ "AI_MachineLearning" ]; + "ApplicationModel_Activation" = [ "ApplicationModel" ]; + "ApplicationModel_AppExtensions" = [ "ApplicationModel" ]; + "ApplicationModel_AppService" = [ "ApplicationModel" ]; + "ApplicationModel_Appointments" = [ "ApplicationModel" ]; + "ApplicationModel_Appointments_AppointmentsProvider" = [ "ApplicationModel_Appointments" ]; + "ApplicationModel_Appointments_DataProvider" = [ "ApplicationModel_Appointments" ]; + "ApplicationModel_Background" = [ "ApplicationModel" ]; + "ApplicationModel_Calls" = [ "ApplicationModel" ]; + "ApplicationModel_Calls_Background" = [ "ApplicationModel_Calls" ]; + "ApplicationModel_Calls_Provider" = [ "ApplicationModel_Calls" ]; + "ApplicationModel_Chat" = [ "ApplicationModel" ]; + "ApplicationModel_CommunicationBlocking" = [ "ApplicationModel" ]; + "ApplicationModel_Contacts" = [ "ApplicationModel" ]; + "ApplicationModel_Contacts_DataProvider" = [ "ApplicationModel_Contacts" ]; + "ApplicationModel_Contacts_Provider" = [ "ApplicationModel_Contacts" ]; + "ApplicationModel_ConversationalAgent" = [ "ApplicationModel" ]; + "ApplicationModel_Core" = [ "ApplicationModel" ]; + "ApplicationModel_DataTransfer" = [ "ApplicationModel" ]; + "ApplicationModel_DataTransfer_DragDrop" = [ "ApplicationModel_DataTransfer" ]; + "ApplicationModel_DataTransfer_DragDrop_Core" = [ "ApplicationModel_DataTransfer_DragDrop" ]; + "ApplicationModel_DataTransfer_ShareTarget" = [ "ApplicationModel_DataTransfer" ]; + "ApplicationModel_Email" = [ "ApplicationModel" ]; + "ApplicationModel_Email_DataProvider" = [ "ApplicationModel_Email" ]; + "ApplicationModel_ExtendedExecution" = [ "ApplicationModel" ]; + "ApplicationModel_ExtendedExecution_Foreground" = [ "ApplicationModel_ExtendedExecution" ]; + "ApplicationModel_Holographic" = [ "ApplicationModel" ]; + "ApplicationModel_LockScreen" = [ "ApplicationModel" ]; + "ApplicationModel_Payments" = [ "ApplicationModel" ]; + "ApplicationModel_Payments_Provider" = [ "ApplicationModel_Payments" ]; + "ApplicationModel_Preview" = [ "ApplicationModel" ]; + "ApplicationModel_Preview_Holographic" = [ "ApplicationModel_Preview" ]; + "ApplicationModel_Preview_InkWorkspace" = [ "ApplicationModel_Preview" ]; + "ApplicationModel_Preview_Notes" = [ "ApplicationModel_Preview" ]; + "ApplicationModel_Resources" = [ "ApplicationModel" ]; + "ApplicationModel_Resources_Core" = [ "ApplicationModel_Resources" ]; + "ApplicationModel_Resources_Management" = [ "ApplicationModel_Resources" ]; + "ApplicationModel_Search" = [ "ApplicationModel" ]; + "ApplicationModel_Search_Core" = [ "ApplicationModel_Search" ]; + "ApplicationModel_SocialInfo" = [ "ApplicationModel" ]; + "ApplicationModel_SocialInfo_Provider" = [ "ApplicationModel_SocialInfo" ]; + "ApplicationModel_Store" = [ "ApplicationModel" ]; + "ApplicationModel_Store_LicenseManagement" = [ "ApplicationModel_Store" ]; + "ApplicationModel_Store_Preview" = [ "ApplicationModel_Store" ]; + "ApplicationModel_Store_Preview_InstallControl" = [ "ApplicationModel_Store_Preview" ]; + "ApplicationModel_UserActivities" = [ "ApplicationModel" ]; + "ApplicationModel_UserActivities_Core" = [ "ApplicationModel_UserActivities" ]; + "ApplicationModel_UserDataAccounts" = [ "ApplicationModel" ]; + "ApplicationModel_UserDataAccounts_Provider" = [ "ApplicationModel_UserDataAccounts" ]; + "ApplicationModel_UserDataAccounts_SystemAccess" = [ "ApplicationModel_UserDataAccounts" ]; + "ApplicationModel_UserDataTasks" = [ "ApplicationModel" ]; + "ApplicationModel_UserDataTasks_DataProvider" = [ "ApplicationModel_UserDataTasks" ]; + "ApplicationModel_VoiceCommands" = [ "ApplicationModel" ]; + "ApplicationModel_Wallet" = [ "ApplicationModel" ]; + "ApplicationModel_Wallet_System" = [ "ApplicationModel_Wallet" ]; + "Data_Html" = [ "Data" ]; + "Data_Json" = [ "Data" ]; + "Data_Pdf" = [ "Data" ]; + "Data_Text" = [ "Data" ]; + "Data_Xml" = [ "Data" ]; + "Data_Xml_Dom" = [ "Data_Xml" ]; + "Data_Xml_Xsl" = [ "Data_Xml" ]; + "Devices_Adc" = [ "Devices" ]; + "Devices_Adc_Provider" = [ "Devices_Adc" ]; + "Devices_AllJoyn" = [ "Devices" ]; + "Devices_Background" = [ "Devices" ]; + "Devices_Bluetooth" = [ "Devices" ]; + "Devices_Bluetooth_Advertisement" = [ "Devices_Bluetooth" ]; + "Devices_Bluetooth_Background" = [ "Devices_Bluetooth" ]; + "Devices_Bluetooth_GenericAttributeProfile" = [ "Devices_Bluetooth" ]; + "Devices_Bluetooth_Rfcomm" = [ "Devices_Bluetooth" ]; + "Devices_Custom" = [ "Devices" ]; + "Devices_Display" = [ "Devices" ]; + "Devices_Display_Core" = [ "Devices_Display" ]; + "Devices_Enumeration" = [ "Devices" ]; + "Devices_Enumeration_Pnp" = [ "Devices_Enumeration" ]; + "Devices_Geolocation" = [ "Devices" ]; + "Devices_Geolocation_Geofencing" = [ "Devices_Geolocation" ]; + "Devices_Gpio" = [ "Devices" ]; + "Devices_Gpio_Provider" = [ "Devices_Gpio" ]; + "Devices_Haptics" = [ "Devices" ]; + "Devices_HumanInterfaceDevice" = [ "Devices" ]; + "Devices_I2c" = [ "Devices" ]; + "Devices_I2c_Provider" = [ "Devices_I2c" ]; + "Devices_Input" = [ "Devices" ]; + "Devices_Input_Preview" = [ "Devices_Input" ]; + "Devices_Lights" = [ "Devices" ]; + "Devices_Lights_Effects" = [ "Devices_Lights" ]; + "Devices_Midi" = [ "Devices" ]; + "Devices_Perception" = [ "Devices" ]; + "Devices_Perception_Provider" = [ "Devices_Perception" ]; + "Devices_PointOfService" = [ "Devices" ]; + "Devices_PointOfService_Provider" = [ "Devices_PointOfService" ]; + "Devices_Portable" = [ "Devices" ]; + "Devices_Power" = [ "Devices" ]; + "Devices_Printers" = [ "Devices" ]; + "Devices_Printers_Extensions" = [ "Devices_Printers" ]; + "Devices_Pwm" = [ "Devices" ]; + "Devices_Pwm_Provider" = [ "Devices_Pwm" ]; + "Devices_Radios" = [ "Devices" ]; + "Devices_Scanners" = [ "Devices" ]; + "Devices_Sensors" = [ "Devices" ]; + "Devices_Sensors_Custom" = [ "Devices_Sensors" ]; + "Devices_SerialCommunication" = [ "Devices" ]; + "Devices_SmartCards" = [ "Devices" ]; + "Devices_Sms" = [ "Devices" ]; + "Devices_Spi" = [ "Devices" ]; + "Devices_Spi_Provider" = [ "Devices_Spi" ]; + "Devices_Usb" = [ "Devices" ]; + "Devices_WiFi" = [ "Devices" ]; + "Devices_WiFiDirect" = [ "Devices" ]; + "Devices_WiFiDirect_Services" = [ "Devices_WiFiDirect" ]; + "Embedded_DeviceLockdown" = [ "Embedded" ]; + "Foundation_Collections" = [ "Foundation" ]; + "Foundation_Diagnostics" = [ "Foundation" ]; + "Foundation_Metadata" = [ "Foundation" ]; + "Foundation_Numerics" = [ "Foundation" ]; + "Gaming_Input" = [ "Gaming" ]; + "Gaming_Input_Custom" = [ "Gaming_Input" ]; + "Gaming_Input_ForceFeedback" = [ "Gaming_Input" ]; + "Gaming_Input_Preview" = [ "Gaming_Input" ]; + "Gaming_Preview" = [ "Gaming" ]; + "Gaming_Preview_GamesEnumeration" = [ "Gaming_Preview" ]; + "Gaming_UI" = [ "Gaming" ]; + "Gaming_XboxLive" = [ "Gaming" ]; + "Gaming_XboxLive_Storage" = [ "Gaming_XboxLive" ]; + "Globalization_Collation" = [ "Globalization" ]; + "Globalization_DateTimeFormatting" = [ "Globalization" ]; + "Globalization_Fonts" = [ "Globalization" ]; + "Globalization_NumberFormatting" = [ "Globalization" ]; + "Globalization_PhoneNumberFormatting" = [ "Globalization" ]; + "Graphics_Capture" = [ "Graphics" ]; + "Graphics_DirectX" = [ "Graphics" ]; + "Graphics_DirectX_Direct3D11" = [ "Graphics_DirectX" ]; + "Graphics_Display" = [ "Graphics" ]; + "Graphics_Display_Core" = [ "Graphics_Display" ]; + "Graphics_Effects" = [ "Graphics" ]; + "Graphics_Holographic" = [ "Graphics" ]; + "Graphics_Imaging" = [ "Graphics" ]; + "Graphics_Printing" = [ "Graphics" ]; + "Graphics_Printing3D" = [ "Graphics" ]; + "Graphics_Printing_OptionDetails" = [ "Graphics_Printing" ]; + "Graphics_Printing_PrintSupport" = [ "Graphics_Printing" ]; + "Graphics_Printing_PrintTicket" = [ "Graphics_Printing" ]; + "Graphics_Printing_Workflow" = [ "Graphics_Printing" ]; + "Management_Core" = [ "Management" ]; + "Management_Deployment" = [ "Management" ]; + "Management_Deployment_Preview" = [ "Management_Deployment" ]; + "Management_Policies" = [ "Management" ]; + "Management_Update" = [ "Management" ]; + "Management_Workplace" = [ "Management" ]; + "Media_AppBroadcasting" = [ "Media" ]; + "Media_AppRecording" = [ "Media" ]; + "Media_Audio" = [ "Media" ]; + "Media_Capture" = [ "Media" ]; + "Media_Capture_Core" = [ "Media_Capture" ]; + "Media_Capture_Frames" = [ "Media_Capture" ]; + "Media_Casting" = [ "Media" ]; + "Media_ClosedCaptioning" = [ "Media" ]; + "Media_ContentRestrictions" = [ "Media" ]; + "Media_Control" = [ "Media" ]; + "Media_Core" = [ "Media" ]; + "Media_Core_Preview" = [ "Media_Core" ]; + "Media_Devices" = [ "Media" ]; + "Media_Devices_Core" = [ "Media_Devices" ]; + "Media_DialProtocol" = [ "Media" ]; + "Media_Editing" = [ "Media" ]; + "Media_Effects" = [ "Media" ]; + "Media_FaceAnalysis" = [ "Media" ]; + "Media_Import" = [ "Media" ]; + "Media_MediaProperties" = [ "Media" ]; + "Media_Miracast" = [ "Media" ]; + "Media_Ocr" = [ "Media" ]; + "Media_PlayTo" = [ "Media" ]; + "Media_Playback" = [ "Media" ]; + "Media_Playlists" = [ "Media" ]; + "Media_Protection" = [ "Media" ]; + "Media_Protection_PlayReady" = [ "Media_Protection" ]; + "Media_Render" = [ "Media" ]; + "Media_SpeechRecognition" = [ "Media" ]; + "Media_SpeechSynthesis" = [ "Media" ]; + "Media_Streaming" = [ "Media" ]; + "Media_Streaming_Adaptive" = [ "Media_Streaming" ]; + "Media_Transcoding" = [ "Media" ]; + "Networking_BackgroundTransfer" = [ "Networking" ]; + "Networking_Connectivity" = [ "Networking" ]; + "Networking_NetworkOperators" = [ "Networking" ]; + "Networking_Proximity" = [ "Networking" ]; + "Networking_PushNotifications" = [ "Networking" ]; + "Networking_ServiceDiscovery" = [ "Networking" ]; + "Networking_ServiceDiscovery_Dnssd" = [ "Networking_ServiceDiscovery" ]; + "Networking_Sockets" = [ "Networking" ]; + "Networking_Vpn" = [ "Networking" ]; + "Networking_XboxLive" = [ "Networking" ]; + "Perception_Automation" = [ "Perception" ]; + "Perception_Automation_Core" = [ "Perception_Automation" ]; + "Perception_People" = [ "Perception" ]; + "Perception_Spatial" = [ "Perception" ]; + "Perception_Spatial_Preview" = [ "Perception_Spatial" ]; + "Perception_Spatial_Surfaces" = [ "Perception_Spatial" ]; + "Phone_ApplicationModel" = [ "Phone" ]; + "Phone_Devices" = [ "Phone" ]; + "Phone_Devices_Notification" = [ "Phone_Devices" ]; + "Phone_Devices_Power" = [ "Phone_Devices" ]; + "Phone_Management" = [ "Phone" ]; + "Phone_Management_Deployment" = [ "Phone_Management" ]; + "Phone_Media" = [ "Phone" ]; + "Phone_Media_Devices" = [ "Phone_Media" ]; + "Phone_Notification" = [ "Phone" ]; + "Phone_Notification_Management" = [ "Phone_Notification" ]; + "Phone_PersonalInformation" = [ "Phone" ]; + "Phone_PersonalInformation_Provisioning" = [ "Phone_PersonalInformation" ]; + "Phone_Speech" = [ "Phone" ]; + "Phone_Speech_Recognition" = [ "Phone_Speech" ]; + "Phone_StartScreen" = [ "Phone" ]; + "Phone_System" = [ "Phone" ]; + "Phone_System_Power" = [ "Phone_System" ]; + "Phone_System_Profile" = [ "Phone_System" ]; + "Phone_System_UserProfile" = [ "Phone_System" ]; + "Phone_System_UserProfile_GameServices" = [ "Phone_System_UserProfile" ]; + "Phone_System_UserProfile_GameServices_Core" = [ "Phone_System_UserProfile_GameServices" ]; + "Phone_UI" = [ "Phone" ]; + "Phone_UI_Input" = [ "Phone_UI" ]; + "Security_Authentication" = [ "Security" ]; + "Security_Authentication_Identity" = [ "Security_Authentication" ]; + "Security_Authentication_Identity_Core" = [ "Security_Authentication_Identity" ]; + "Security_Authentication_Identity_Provider" = [ "Security_Authentication_Identity" ]; + "Security_Authentication_OnlineId" = [ "Security_Authentication" ]; + "Security_Authentication_Web" = [ "Security_Authentication" ]; + "Security_Authentication_Web_Core" = [ "Security_Authentication_Web" ]; + "Security_Authentication_Web_Provider" = [ "Security_Authentication_Web" ]; + "Security_Authorization" = [ "Security" ]; + "Security_Authorization_AppCapabilityAccess" = [ "Security_Authorization" ]; + "Security_Credentials" = [ "Security" ]; + "Security_Credentials_UI" = [ "Security_Credentials" ]; + "Security_Cryptography" = [ "Security" ]; + "Security_Cryptography_Certificates" = [ "Security_Cryptography" ]; + "Security_Cryptography_Core" = [ "Security_Cryptography" ]; + "Security_Cryptography_DataProtection" = [ "Security_Cryptography" ]; + "Security_DataProtection" = [ "Security" ]; + "Security_EnterpriseData" = [ "Security" ]; + "Security_ExchangeActiveSyncProvisioning" = [ "Security" ]; + "Security_Isolation" = [ "Security" ]; + "Services_Cortana" = [ "Services" ]; + "Services_Maps" = [ "Services" ]; + "Services_Maps_Guidance" = [ "Services_Maps" ]; + "Services_Maps_LocalSearch" = [ "Services_Maps" ]; + "Services_Maps_OfflineMaps" = [ "Services_Maps" ]; + "Services_Store" = [ "Services" ]; + "Services_TargetedContent" = [ "Services" ]; + "Storage_AccessCache" = [ "Storage" ]; + "Storage_BulkAccess" = [ "Storage" ]; + "Storage_Compression" = [ "Storage" ]; + "Storage_FileProperties" = [ "Storage" ]; + "Storage_Pickers" = [ "Storage" ]; + "Storage_Pickers_Provider" = [ "Storage_Pickers" ]; + "Storage_Provider" = [ "Storage" ]; + "Storage_Search" = [ "Storage" ]; + "Storage_Streams" = [ "Storage" ]; + "System_Diagnostics" = [ "System" ]; + "System_Diagnostics_DevicePortal" = [ "System_Diagnostics" ]; + "System_Diagnostics_Telemetry" = [ "System_Diagnostics" ]; + "System_Diagnostics_TraceReporting" = [ "System_Diagnostics" ]; + "System_Display" = [ "System" ]; + "System_Implementation" = [ "System" ]; + "System_Implementation_FileExplorer" = [ "System_Implementation" ]; + "System_Inventory" = [ "System" ]; + "System_Power" = [ "System" ]; + "System_Power_Diagnostics" = [ "System_Power" ]; + "System_Preview" = [ "System" ]; + "System_Profile" = [ "System" ]; + "System_Profile_SystemManufacturers" = [ "System_Profile" ]; + "System_RemoteDesktop" = [ "System" ]; + "System_RemoteDesktop_Input" = [ "System_RemoteDesktop" ]; + "System_RemoteSystems" = [ "System" ]; + "System_Threading" = [ "System" ]; + "System_Threading_Core" = [ "System_Threading" ]; + "System_Update" = [ "System" ]; + "System_UserProfile" = [ "System" ]; + "UI_Accessibility" = [ "UI" ]; + "UI_ApplicationSettings" = [ "UI" ]; + "UI_Composition" = [ "UI" ]; + "UI_Composition_Core" = [ "UI_Composition" ]; + "UI_Composition_Desktop" = [ "UI_Composition" ]; + "UI_Composition_Diagnostics" = [ "UI_Composition" ]; + "UI_Composition_Effects" = [ "UI_Composition" ]; + "UI_Composition_Interactions" = [ "UI_Composition" ]; + "UI_Composition_Scenes" = [ "UI_Composition" ]; + "UI_Core" = [ "UI" ]; + "UI_Core_AnimationMetrics" = [ "UI_Core" ]; + "UI_Core_Preview" = [ "UI_Core" ]; + "UI_Input" = [ "UI" ]; + "UI_Input_Core" = [ "UI_Input" ]; + "UI_Input_Inking" = [ "UI_Input" ]; + "UI_Input_Inking_Analysis" = [ "UI_Input_Inking" ]; + "UI_Input_Inking_Core" = [ "UI_Input_Inking" ]; + "UI_Input_Inking_Preview" = [ "UI_Input_Inking" ]; + "UI_Input_Preview" = [ "UI_Input" ]; + "UI_Input_Preview_Injection" = [ "UI_Input_Preview" ]; + "UI_Input_Spatial" = [ "UI_Input" ]; + "UI_Notifications" = [ "UI" ]; + "UI_Notifications_Management" = [ "UI_Notifications" ]; + "UI_Popups" = [ "UI" ]; + "UI_Shell" = [ "UI" ]; + "UI_StartScreen" = [ "UI" ]; + "UI_Text" = [ "UI" ]; + "UI_Text_Core" = [ "UI_Text" ]; + "UI_UIAutomation" = [ "UI" ]; + "UI_UIAutomation_Core" = [ "UI_UIAutomation" ]; + "UI_ViewManagement" = [ "UI" ]; + "UI_ViewManagement_Core" = [ "UI_ViewManagement" ]; + "UI_WebUI" = [ "UI" ]; + "UI_WebUI_Core" = [ "UI_WebUI" ]; + "UI_WindowManagement" = [ "UI" ]; + "UI_WindowManagement_Preview" = [ "UI_WindowManagement" ]; + "UI_Xaml" = [ "UI" ]; + "UI_Xaml_Automation" = [ "UI_Xaml" ]; + "UI_Xaml_Automation_Peers" = [ "UI_Xaml_Automation" ]; + "UI_Xaml_Automation_Provider" = [ "UI_Xaml_Automation" ]; + "UI_Xaml_Automation_Text" = [ "UI_Xaml_Automation" ]; + "UI_Xaml_Controls" = [ "UI_Xaml" ]; + "UI_Xaml_Controls_Maps" = [ "UI_Xaml_Controls" ]; + "UI_Xaml_Controls_Primitives" = [ "UI_Xaml_Controls" ]; + "UI_Xaml_Core" = [ "UI_Xaml" ]; + "UI_Xaml_Core_Direct" = [ "UI_Xaml_Core" ]; + "UI_Xaml_Data" = [ "UI_Xaml" ]; + "UI_Xaml_Documents" = [ "UI_Xaml" ]; + "UI_Xaml_Hosting" = [ "UI_Xaml" ]; + "UI_Xaml_Input" = [ "UI_Xaml" ]; + "UI_Xaml_Interop" = [ "UI_Xaml" ]; + "UI_Xaml_Markup" = [ "UI_Xaml" ]; + "UI_Xaml_Media" = [ "UI_Xaml" ]; + "UI_Xaml_Media_Animation" = [ "UI_Xaml_Media" ]; + "UI_Xaml_Media_Imaging" = [ "UI_Xaml_Media" ]; + "UI_Xaml_Media_Media3D" = [ "UI_Xaml_Media" ]; + "UI_Xaml_Navigation" = [ "UI_Xaml" ]; + "UI_Xaml_Printing" = [ "UI_Xaml" ]; + "UI_Xaml_Resources" = [ "UI_Xaml" ]; + "UI_Xaml_Shapes" = [ "UI_Xaml" ]; + "Web_AtomPub" = [ "Web" ]; + "Web_Http" = [ "Web" ]; + "Web_Http_Diagnostics" = [ "Web_Http" ]; + "Web_Http_Filters" = [ "Web_Http" ]; + "Web_Http_Headers" = [ "Web_Http" ]; + "Web_Syndication" = [ "Web" ]; + "Web_UI" = [ "Web" ]; + "Web_UI_Interop" = [ "Web_UI" ]; + "Win32_AI" = [ "Win32" ]; + "Win32_AI_MachineLearning" = [ "Win32_AI" ]; + "Win32_AI_MachineLearning_DirectML" = [ "Win32_AI_MachineLearning" ]; + "Win32_AI_MachineLearning_WinML" = [ "Win32_AI_MachineLearning" ]; + "Win32_Data" = [ "Win32" ]; + "Win32_Data_HtmlHelp" = [ "Win32_Data" ]; + "Win32_Data_RightsManagement" = [ "Win32_Data" ]; + "Win32_Data_Xml" = [ "Win32_Data" ]; + "Win32_Data_Xml_MsXml" = [ "Win32_Data_Xml" ]; + "Win32_Data_Xml_XmlLite" = [ "Win32_Data_Xml" ]; + "Win32_Devices" = [ "Win32" ]; + "Win32_Devices_AllJoyn" = [ "Win32_Devices" ]; + "Win32_Devices_BiometricFramework" = [ "Win32_Devices" ]; + "Win32_Devices_Bluetooth" = [ "Win32_Devices" ]; + "Win32_Devices_Communication" = [ "Win32_Devices" ]; + "Win32_Devices_DeviceAccess" = [ "Win32_Devices" ]; + "Win32_Devices_DeviceAndDriverInstallation" = [ "Win32_Devices" ]; + "Win32_Devices_DeviceQuery" = [ "Win32_Devices" ]; + "Win32_Devices_Display" = [ "Win32_Devices" ]; + "Win32_Devices_Enumeration" = [ "Win32_Devices" ]; + "Win32_Devices_Enumeration_Pnp" = [ "Win32_Devices_Enumeration" ]; + "Win32_Devices_Fax" = [ "Win32_Devices" ]; + "Win32_Devices_FunctionDiscovery" = [ "Win32_Devices" ]; + "Win32_Devices_Geolocation" = [ "Win32_Devices" ]; + "Win32_Devices_HumanInterfaceDevice" = [ "Win32_Devices" ]; + "Win32_Devices_ImageAcquisition" = [ "Win32_Devices" ]; + "Win32_Devices_PortableDevices" = [ "Win32_Devices" ]; + "Win32_Devices_Properties" = [ "Win32_Devices" ]; + "Win32_Devices_Pwm" = [ "Win32_Devices" ]; + "Win32_Devices_Sensors" = [ "Win32_Devices" ]; + "Win32_Devices_SerialCommunication" = [ "Win32_Devices" ]; + "Win32_Devices_Tapi" = [ "Win32_Devices" ]; + "Win32_Devices_Usb" = [ "Win32_Devices" ]; + "Win32_Devices_WebServicesOnDevices" = [ "Win32_Devices" ]; + "Win32_Foundation" = [ "Win32" ]; + "Win32_Gaming" = [ "Win32" ]; + "Win32_Globalization" = [ "Win32" ]; + "Win32_Graphics" = [ "Win32" ]; + "Win32_Graphics_CompositionSwapchain" = [ "Win32_Graphics" ]; + "Win32_Graphics_DXCore" = [ "Win32_Graphics" ]; + "Win32_Graphics_Direct2D" = [ "Win32_Graphics" ]; + "Win32_Graphics_Direct2D_Common" = [ "Win32_Graphics_Direct2D" ]; + "Win32_Graphics_Direct3D" = [ "Win32_Graphics" ]; + "Win32_Graphics_Direct3D10" = [ "Win32_Graphics" ]; + "Win32_Graphics_Direct3D11" = [ "Win32_Graphics" ]; + "Win32_Graphics_Direct3D11on12" = [ "Win32_Graphics" ]; + "Win32_Graphics_Direct3D12" = [ "Win32_Graphics" ]; + "Win32_Graphics_Direct3D9" = [ "Win32_Graphics" ]; + "Win32_Graphics_Direct3D9on12" = [ "Win32_Graphics" ]; + "Win32_Graphics_Direct3D_Dxc" = [ "Win32_Graphics_Direct3D" ]; + "Win32_Graphics_Direct3D_Fxc" = [ "Win32_Graphics_Direct3D" ]; + "Win32_Graphics_DirectComposition" = [ "Win32_Graphics" ]; + "Win32_Graphics_DirectDraw" = [ "Win32_Graphics" ]; + "Win32_Graphics_DirectManipulation" = [ "Win32_Graphics" ]; + "Win32_Graphics_DirectWrite" = [ "Win32_Graphics" ]; + "Win32_Graphics_Dwm" = [ "Win32_Graphics" ]; + "Win32_Graphics_Dxgi" = [ "Win32_Graphics" ]; + "Win32_Graphics_Dxgi_Common" = [ "Win32_Graphics_Dxgi" ]; + "Win32_Graphics_Gdi" = [ "Win32_Graphics" ]; + "Win32_Graphics_Hlsl" = [ "Win32_Graphics" ]; + "Win32_Graphics_Imaging" = [ "Win32_Graphics" ]; + "Win32_Graphics_Imaging_D2D" = [ "Win32_Graphics_Imaging" ]; + "Win32_Graphics_OpenGL" = [ "Win32_Graphics" ]; + "Win32_Graphics_Printing" = [ "Win32_Graphics" ]; + "Win32_Graphics_Printing_PrintTicket" = [ "Win32_Graphics_Printing" ]; + "Win32_Management" = [ "Win32" ]; + "Win32_Management_MobileDeviceManagementRegistration" = [ "Win32_Management" ]; + "Win32_Media" = [ "Win32" ]; + "Win32_Media_Audio" = [ "Win32_Media" ]; + "Win32_Media_Audio_Apo" = [ "Win32_Media_Audio" ]; + "Win32_Media_Audio_DirectMusic" = [ "Win32_Media_Audio" ]; + "Win32_Media_Audio_DirectSound" = [ "Win32_Media_Audio" ]; + "Win32_Media_Audio_Endpoints" = [ "Win32_Media_Audio" ]; + "Win32_Media_Audio_XAudio2" = [ "Win32_Media_Audio" ]; + "Win32_Media_DeviceManager" = [ "Win32_Media" ]; + "Win32_Media_DirectShow" = [ "Win32_Media" ]; + "Win32_Media_DirectShow_Xml" = [ "Win32_Media_DirectShow" ]; + "Win32_Media_DxMediaObjects" = [ "Win32_Media" ]; + "Win32_Media_KernelStreaming" = [ "Win32_Media" ]; + "Win32_Media_LibrarySharingServices" = [ "Win32_Media" ]; + "Win32_Media_MediaFoundation" = [ "Win32_Media" ]; + "Win32_Media_MediaPlayer" = [ "Win32_Media" ]; + "Win32_Media_Multimedia" = [ "Win32_Media" ]; + "Win32_Media_PictureAcquisition" = [ "Win32_Media" ]; + "Win32_Media_Speech" = [ "Win32_Media" ]; + "Win32_Media_Streaming" = [ "Win32_Media" ]; + "Win32_Media_WindowsMediaFormat" = [ "Win32_Media" ]; + "Win32_NetworkManagement" = [ "Win32" ]; + "Win32_NetworkManagement_Dhcp" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Dns" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_InternetConnectionWizard" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_IpHelper" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_MobileBroadband" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Multicast" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Ndis" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetBios" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetManagement" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetShell" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetworkDiagnosticsFramework" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetworkPolicyServer" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_P2P" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_QoS" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Rras" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Snmp" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WNet" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WebDav" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WiFi" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsConnectNow" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsConnectionManager" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsFilteringPlatform" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsFirewall" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsNetworkVirtualization" = [ "Win32_NetworkManagement" ]; + "Win32_Networking" = [ "Win32" ]; + "Win32_Networking_ActiveDirectory" = [ "Win32_Networking" ]; + "Win32_Networking_BackgroundIntelligentTransferService" = [ "Win32_Networking" ]; + "Win32_Networking_Clustering" = [ "Win32_Networking" ]; + "Win32_Networking_HttpServer" = [ "Win32_Networking" ]; + "Win32_Networking_Ldap" = [ "Win32_Networking" ]; + "Win32_Networking_NetworkListManager" = [ "Win32_Networking" ]; + "Win32_Networking_RemoteDifferentialCompression" = [ "Win32_Networking" ]; + "Win32_Networking_WebSocket" = [ "Win32_Networking" ]; + "Win32_Networking_WinHttp" = [ "Win32_Networking" ]; + "Win32_Networking_WinInet" = [ "Win32_Networking" ]; + "Win32_Networking_WinSock" = [ "Win32_Networking" ]; + "Win32_Networking_WindowsWebServices" = [ "Win32_Networking" ]; + "Win32_Security" = [ "Win32" ]; + "Win32_Security_AppLocker" = [ "Win32_Security" ]; + "Win32_Security_Authentication" = [ "Win32_Security" ]; + "Win32_Security_Authentication_Identity" = [ "Win32_Security_Authentication" ]; + "Win32_Security_Authentication_Identity_Provider" = [ "Win32_Security_Authentication_Identity" ]; + "Win32_Security_Authorization" = [ "Win32_Security" ]; + "Win32_Security_Authorization_UI" = [ "Win32_Security_Authorization" ]; + "Win32_Security_ConfigurationSnapin" = [ "Win32_Security" ]; + "Win32_Security_Credentials" = [ "Win32_Security" ]; + "Win32_Security_Cryptography" = [ "Win32_Security" ]; + "Win32_Security_Cryptography_Catalog" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_Cryptography_Certificates" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_Cryptography_Sip" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_Cryptography_UI" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_DiagnosticDataQuery" = [ "Win32_Security" ]; + "Win32_Security_DirectoryServices" = [ "Win32_Security" ]; + "Win32_Security_EnterpriseData" = [ "Win32_Security" ]; + "Win32_Security_ExtensibleAuthenticationProtocol" = [ "Win32_Security" ]; + "Win32_Security_Isolation" = [ "Win32_Security" ]; + "Win32_Security_LicenseProtection" = [ "Win32_Security" ]; + "Win32_Security_NetworkAccessProtection" = [ "Win32_Security" ]; + "Win32_Security_Tpm" = [ "Win32_Security" ]; + "Win32_Security_WinTrust" = [ "Win32_Security" ]; + "Win32_Security_WinWlx" = [ "Win32_Security" ]; + "Win32_Storage" = [ "Win32" ]; + "Win32_Storage_Cabinets" = [ "Win32_Storage" ]; + "Win32_Storage_CloudFilters" = [ "Win32_Storage" ]; + "Win32_Storage_Compression" = [ "Win32_Storage" ]; + "Win32_Storage_DataDeduplication" = [ "Win32_Storage" ]; + "Win32_Storage_DistributedFileSystem" = [ "Win32_Storage" ]; + "Win32_Storage_EnhancedStorage" = [ "Win32_Storage" ]; + "Win32_Storage_FileHistory" = [ "Win32_Storage" ]; + "Win32_Storage_FileServerResourceManager" = [ "Win32_Storage" ]; + "Win32_Storage_FileSystem" = [ "Win32_Storage" ]; + "Win32_Storage_Imapi" = [ "Win32_Storage" ]; + "Win32_Storage_IndexServer" = [ "Win32_Storage" ]; + "Win32_Storage_InstallableFileSystems" = [ "Win32_Storage" ]; + "Win32_Storage_IscsiDisc" = [ "Win32_Storage" ]; + "Win32_Storage_Jet" = [ "Win32_Storage" ]; + "Win32_Storage_OfflineFiles" = [ "Win32_Storage" ]; + "Win32_Storage_OperationRecorder" = [ "Win32_Storage" ]; + "Win32_Storage_Packaging" = [ "Win32_Storage" ]; + "Win32_Storage_Packaging_Appx" = [ "Win32_Storage_Packaging" ]; + "Win32_Storage_Packaging_Opc" = [ "Win32_Storage_Packaging" ]; + "Win32_Storage_ProjectedFileSystem" = [ "Win32_Storage" ]; + "Win32_Storage_StructuredStorage" = [ "Win32_Storage" ]; + "Win32_Storage_Vhd" = [ "Win32_Storage" ]; + "Win32_Storage_VirtualDiskService" = [ "Win32_Storage" ]; + "Win32_Storage_Vss" = [ "Win32_Storage" ]; + "Win32_Storage_Xps" = [ "Win32_Storage" ]; + "Win32_Storage_Xps_Printing" = [ "Win32_Storage_Xps" ]; + "Win32_System" = [ "Win32" ]; + "Win32_System_AddressBook" = [ "Win32_System" ]; + "Win32_System_Antimalware" = [ "Win32_System" ]; + "Win32_System_ApplicationInstallationAndServicing" = [ "Win32_System" ]; + "Win32_System_ApplicationVerifier" = [ "Win32_System" ]; + "Win32_System_AssessmentTool" = [ "Win32_System" ]; + "Win32_System_Com" = [ "Win32_System" ]; + "Win32_System_Com_CallObj" = [ "Win32_System_Com" ]; + "Win32_System_Com_ChannelCredentials" = [ "Win32_System_Com" ]; + "Win32_System_Com_Events" = [ "Win32_System_Com" ]; + "Win32_System_Com_Marshal" = [ "Win32_System_Com" ]; + "Win32_System_Com_StructuredStorage" = [ "Win32_System_Com" ]; + "Win32_System_Com_UI" = [ "Win32_System_Com" ]; + "Win32_System_Com_Urlmon" = [ "Win32_System_Com" ]; + "Win32_System_ComponentServices" = [ "Win32_System" ]; + "Win32_System_Console" = [ "Win32_System" ]; + "Win32_System_Contacts" = [ "Win32_System" ]; + "Win32_System_CorrelationVector" = [ "Win32_System" ]; + "Win32_System_DataExchange" = [ "Win32_System" ]; + "Win32_System_DeploymentServices" = [ "Win32_System" ]; + "Win32_System_DesktopSharing" = [ "Win32_System" ]; + "Win32_System_DeveloperLicensing" = [ "Win32_System" ]; + "Win32_System_Diagnostics" = [ "Win32_System" ]; + "Win32_System_Diagnostics_Ceip" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_Debug" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_Debug_WebApp" = [ "Win32_System_Diagnostics_Debug" ]; + "Win32_System_Diagnostics_Etw" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_ProcessSnapshotting" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_ToolHelp" = [ "Win32_System_Diagnostics" ]; + "Win32_System_DistributedTransactionCoordinator" = [ "Win32_System" ]; + "Win32_System_Environment" = [ "Win32_System" ]; + "Win32_System_ErrorReporting" = [ "Win32_System" ]; + "Win32_System_EventCollector" = [ "Win32_System" ]; + "Win32_System_EventLog" = [ "Win32_System" ]; + "Win32_System_EventNotificationService" = [ "Win32_System" ]; + "Win32_System_GroupPolicy" = [ "Win32_System" ]; + "Win32_System_HostCompute" = [ "Win32_System" ]; + "Win32_System_HostComputeNetwork" = [ "Win32_System" ]; + "Win32_System_HostComputeSystem" = [ "Win32_System" ]; + "Win32_System_Hypervisor" = [ "Win32_System" ]; + "Win32_System_IO" = [ "Win32_System" ]; + "Win32_System_Iis" = [ "Win32_System" ]; + "Win32_System_Ioctl" = [ "Win32_System" ]; + "Win32_System_JobObjects" = [ "Win32_System" ]; + "Win32_System_Js" = [ "Win32_System" ]; + "Win32_System_Kernel" = [ "Win32_System" ]; + "Win32_System_LibraryLoader" = [ "Win32_System" ]; + "Win32_System_Mailslots" = [ "Win32_System" ]; + "Win32_System_Mapi" = [ "Win32_System" ]; + "Win32_System_Memory" = [ "Win32_System" ]; + "Win32_System_Memory_NonVolatile" = [ "Win32_System_Memory" ]; + "Win32_System_MessageQueuing" = [ "Win32_System" ]; + "Win32_System_MixedReality" = [ "Win32_System" ]; + "Win32_System_Mmc" = [ "Win32_System" ]; + "Win32_System_Ole" = [ "Win32_System" ]; + "Win32_System_ParentalControls" = [ "Win32_System" ]; + "Win32_System_PasswordManagement" = [ "Win32_System" ]; + "Win32_System_Performance" = [ "Win32_System" ]; + "Win32_System_Performance_HardwareCounterProfiling" = [ "Win32_System_Performance" ]; + "Win32_System_Pipes" = [ "Win32_System" ]; + "Win32_System_Power" = [ "Win32_System" ]; + "Win32_System_ProcessStatus" = [ "Win32_System" ]; + "Win32_System_RealTimeCommunications" = [ "Win32_System" ]; + "Win32_System_Recovery" = [ "Win32_System" ]; + "Win32_System_Registry" = [ "Win32_System" ]; + "Win32_System_RemoteAssistance" = [ "Win32_System" ]; + "Win32_System_RemoteDesktop" = [ "Win32_System" ]; + "Win32_System_RemoteManagement" = [ "Win32_System" ]; + "Win32_System_RestartManager" = [ "Win32_System" ]; + "Win32_System_Restore" = [ "Win32_System" ]; + "Win32_System_Rpc" = [ "Win32_System" ]; + "Win32_System_Search" = [ "Win32_System" ]; + "Win32_System_Search_Common" = [ "Win32_System_Search" ]; + "Win32_System_SecurityCenter" = [ "Win32_System" ]; + "Win32_System_ServerBackup" = [ "Win32_System" ]; + "Win32_System_Services" = [ "Win32_System" ]; + "Win32_System_SettingsManagementInfrastructure" = [ "Win32_System" ]; + "Win32_System_SetupAndMigration" = [ "Win32_System" ]; + "Win32_System_Shutdown" = [ "Win32_System" ]; + "Win32_System_SideShow" = [ "Win32_System" ]; + "Win32_System_SqlLite" = [ "Win32_System" ]; + "Win32_System_StationsAndDesktops" = [ "Win32_System" ]; + "Win32_System_SubsystemForLinux" = [ "Win32_System" ]; + "Win32_System_SystemInformation" = [ "Win32_System" ]; + "Win32_System_SystemServices" = [ "Win32_System" ]; + "Win32_System_TaskScheduler" = [ "Win32_System" ]; + "Win32_System_Threading" = [ "Win32_System" ]; + "Win32_System_Time" = [ "Win32_System" ]; + "Win32_System_TpmBaseServices" = [ "Win32_System" ]; + "Win32_System_TransactionServer" = [ "Win32_System" ]; + "Win32_System_UpdateAgent" = [ "Win32_System" ]; + "Win32_System_UpdateAssessment" = [ "Win32_System" ]; + "Win32_System_UserAccessLogging" = [ "Win32_System" ]; + "Win32_System_VirtualDosMachines" = [ "Win32_System" ]; + "Win32_System_WinRT" = [ "Win32_System" ]; + "Win32_System_WinRT_AllJoyn" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Composition" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_CoreInputView" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Direct3D11" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Display" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Graphics" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Graphics_Capture" = [ "Win32_System_WinRT_Graphics" ]; + "Win32_System_WinRT_Graphics_Direct2D" = [ "Win32_System_WinRT_Graphics" ]; + "Win32_System_WinRT_Graphics_Imaging" = [ "Win32_System_WinRT_Graphics" ]; + "Win32_System_WinRT_Holographic" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Isolation" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_ML" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Media" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Pdf" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Printing" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Shell" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Storage" = [ "Win32_System_WinRT" ]; + "Win32_System_WinRT_Xaml" = [ "Win32_System_WinRT" ]; + "Win32_System_WindowsProgramming" = [ "Win32_System" ]; + "Win32_System_WindowsSync" = [ "Win32_System" ]; + "Win32_System_Wmi" = [ "Win32_System" ]; + "Win32_UI" = [ "Win32" ]; + "Win32_UI_Accessibility" = [ "Win32_UI" ]; + "Win32_UI_Animation" = [ "Win32_UI" ]; + "Win32_UI_ColorSystem" = [ "Win32_UI" ]; + "Win32_UI_Controls" = [ "Win32_UI" ]; + "Win32_UI_Controls_Dialogs" = [ "Win32_UI_Controls" ]; + "Win32_UI_Controls_RichEdit" = [ "Win32_UI_Controls" ]; + "Win32_UI_HiDpi" = [ "Win32_UI" ]; + "Win32_UI_Input" = [ "Win32_UI" ]; + "Win32_UI_Input_Ime" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_Ink" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_KeyboardAndMouse" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_Pointer" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_Radial" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_Touch" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_XboxController" = [ "Win32_UI_Input" ]; + "Win32_UI_InteractionContext" = [ "Win32_UI" ]; + "Win32_UI_LegacyWindowsEnvironmentFeatures" = [ "Win32_UI" ]; + "Win32_UI_Magnification" = [ "Win32_UI" ]; + "Win32_UI_Notifications" = [ "Win32_UI" ]; + "Win32_UI_Ribbon" = [ "Win32_UI" ]; + "Win32_UI_Shell" = [ "Win32_UI" ]; + "Win32_UI_Shell_Common" = [ "Win32_UI_Shell" ]; + "Win32_UI_Shell_PropertiesSystem" = [ "Win32_UI_Shell" ]; + "Win32_UI_TabletPC" = [ "Win32_UI" ]; + "Win32_UI_TextServices" = [ "Win32_UI" ]; + "Win32_UI_WindowsAndMessaging" = [ "Win32_UI" ]; + "Win32_UI_Wpf" = [ "Win32_UI" ]; + "Win32_UI_Xaml" = [ "Win32_UI" ]; + "Win32_UI_Xaml_Diagnostics" = [ "Win32_UI_Xaml" ]; + "Win32_Web" = [ "Win32" ]; + "Win32_Web_MsHtml" = [ "Win32_Web" ]; + "implement" = [ "windows-implement" ]; + "interface" = [ "windows-interface" ]; + "windows-implement" = [ "dep:windows-implement" ]; + "windows-interface" = [ "dep:windows-interface" ]; + }; + resolvedDefaultFeatures = [ "Win32" "Win32_Foundation" "Win32_Security" "Win32_Storage" "Win32_Storage_FileSystem" "Win32_System" "Win32_System_Memory" "Win32_System_SystemServices" "default" ]; + }; + "windows-core" = rec { + crateName = "windows-core"; + version = "0.62.2"; + edition = "2021"; + sha256 = "1swxpv1a8qvn3bkxv8cn663238h2jccq35ff3nsj61jdsca3ms5q"; + libName = "windows_core"; + dependencies = [ + { + name = "windows-implement"; + packageId = "windows-implement"; + usesDefaultFeatures = false; + } + { + name = "windows-interface"; + packageId = "windows-interface"; + usesDefaultFeatures = false; + } + { + name = "windows-link"; + packageId = "windows-link"; + usesDefaultFeatures = false; + } + { + name = "windows-result"; + packageId = "windows-result"; + usesDefaultFeatures = false; + } + { + name = "windows-strings"; + packageId = "windows-strings"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "windows-result/std" "windows-strings/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "windows-implement" = rec { + crateName = "windows-implement"; + version = "0.60.2"; + edition = "2021"; + sha256 = "1psxhmklzcf3wjs4b8qb42qb6znvc142cb5pa74rsyxm1822wgh5"; + procMacro = true; + libName = "windows_implement"; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + { + name = "quote"; + packageId = "quote"; + usesDefaultFeatures = false; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + usesDefaultFeatures = false; + features = [ "parsing" "proc-macro" "printing" "full" "clone-impls" ]; + } + ]; + + }; + "windows-interface" = rec { + crateName = "windows-interface"; + version = "0.59.3"; + edition = "2021"; + sha256 = "0n73cwrn4247d0axrk7gjp08p34x1723483jxjxjdfkh4m56qc9z"; + procMacro = true; + libName = "windows_interface"; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + usesDefaultFeatures = false; + } + { + name = "quote"; + packageId = "quote"; + usesDefaultFeatures = false; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + usesDefaultFeatures = false; + features = [ "parsing" "proc-macro" "printing" "full" "clone-impls" ]; + } + ]; + + }; + "windows-link" = rec { + crateName = "windows-link"; + version = "0.2.1"; + edition = "2021"; + sha256 = "1rag186yfr3xx7piv5rg8b6im2dwcf8zldiflvb22xbzwli5507h"; + libName = "windows_link"; + + }; + "windows-result" = rec { + crateName = "windows-result"; + version = "0.4.1"; + edition = "2021"; + sha256 = "1d9yhmrmmfqh56zlj751s5wfm9a2aa7az9rd7nn5027nxa4zm0bp"; + libName = "windows_result"; + dependencies = [ + { + name = "windows-link"; + packageId = "windows-link"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "windows-strings" = rec { + crateName = "windows-strings"; + version = "0.5.1"; + edition = "2021"; + sha256 = "14bhng9jqv4fyl7lqjz3az7vzh8pw0w4am49fsqgcz67d67x0dvq"; + libName = "windows_strings"; + dependencies = [ + { + name = "windows-link"; + packageId = "windows-link"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + }; + resolvedDefaultFeatures = [ "std" ]; + }; + "windows-sys 0.52.0" = rec { + crateName = "windows-sys"; + version = "0.52.0"; + edition = "2021"; + sha256 = "0gd3v4ji88490zgb6b5mq5zgbvwv7zx1ibn8v3x83rwcdbryaar8"; + libName = "windows_sys"; + authors = [ + "Microsoft" + ]; + dependencies = [ + { + name = "windows-targets"; + packageId = "windows-targets"; + } + ]; + features = { + "Wdk_Foundation" = [ "Wdk" ]; + "Wdk_Graphics" = [ "Wdk" ]; + "Wdk_Graphics_Direct3D" = [ "Wdk_Graphics" ]; + "Wdk_Storage" = [ "Wdk" ]; + "Wdk_Storage_FileSystem" = [ "Wdk_Storage" ]; + "Wdk_Storage_FileSystem_Minifilters" = [ "Wdk_Storage_FileSystem" ]; + "Wdk_System" = [ "Wdk" ]; + "Wdk_System_IO" = [ "Wdk_System" ]; + "Wdk_System_OfflineRegistry" = [ "Wdk_System" ]; + "Wdk_System_Registry" = [ "Wdk_System" ]; + "Wdk_System_SystemInformation" = [ "Wdk_System" ]; + "Wdk_System_SystemServices" = [ "Wdk_System" ]; + "Wdk_System_Threading" = [ "Wdk_System" ]; + "Win32_Data" = [ "Win32" ]; + "Win32_Data_HtmlHelp" = [ "Win32_Data" ]; + "Win32_Data_RightsManagement" = [ "Win32_Data" ]; + "Win32_Devices" = [ "Win32" ]; + "Win32_Devices_AllJoyn" = [ "Win32_Devices" ]; + "Win32_Devices_BiometricFramework" = [ "Win32_Devices" ]; + "Win32_Devices_Bluetooth" = [ "Win32_Devices" ]; + "Win32_Devices_Communication" = [ "Win32_Devices" ]; + "Win32_Devices_DeviceAndDriverInstallation" = [ "Win32_Devices" ]; + "Win32_Devices_DeviceQuery" = [ "Win32_Devices" ]; + "Win32_Devices_Display" = [ "Win32_Devices" ]; + "Win32_Devices_Enumeration" = [ "Win32_Devices" ]; + "Win32_Devices_Enumeration_Pnp" = [ "Win32_Devices_Enumeration" ]; + "Win32_Devices_Fax" = [ "Win32_Devices" ]; + "Win32_Devices_HumanInterfaceDevice" = [ "Win32_Devices" ]; + "Win32_Devices_PortableDevices" = [ "Win32_Devices" ]; + "Win32_Devices_Properties" = [ "Win32_Devices" ]; + "Win32_Devices_Pwm" = [ "Win32_Devices" ]; + "Win32_Devices_Sensors" = [ "Win32_Devices" ]; + "Win32_Devices_SerialCommunication" = [ "Win32_Devices" ]; + "Win32_Devices_Tapi" = [ "Win32_Devices" ]; + "Win32_Devices_Usb" = [ "Win32_Devices" ]; + "Win32_Devices_WebServicesOnDevices" = [ "Win32_Devices" ]; + "Win32_Foundation" = [ "Win32" ]; + "Win32_Gaming" = [ "Win32" ]; + "Win32_Globalization" = [ "Win32" ]; + "Win32_Graphics" = [ "Win32" ]; + "Win32_Graphics_Dwm" = [ "Win32_Graphics" ]; + "Win32_Graphics_Gdi" = [ "Win32_Graphics" ]; + "Win32_Graphics_GdiPlus" = [ "Win32_Graphics" ]; + "Win32_Graphics_Hlsl" = [ "Win32_Graphics" ]; + "Win32_Graphics_OpenGL" = [ "Win32_Graphics" ]; + "Win32_Graphics_Printing" = [ "Win32_Graphics" ]; + "Win32_Graphics_Printing_PrintTicket" = [ "Win32_Graphics_Printing" ]; + "Win32_Management" = [ "Win32" ]; + "Win32_Management_MobileDeviceManagementRegistration" = [ "Win32_Management" ]; + "Win32_Media" = [ "Win32" ]; + "Win32_Media_Audio" = [ "Win32_Media" ]; + "Win32_Media_DxMediaObjects" = [ "Win32_Media" ]; + "Win32_Media_KernelStreaming" = [ "Win32_Media" ]; + "Win32_Media_Multimedia" = [ "Win32_Media" ]; + "Win32_Media_Streaming" = [ "Win32_Media" ]; + "Win32_Media_WindowsMediaFormat" = [ "Win32_Media" ]; + "Win32_NetworkManagement" = [ "Win32" ]; + "Win32_NetworkManagement_Dhcp" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Dns" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_InternetConnectionWizard" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_IpHelper" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Multicast" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Ndis" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetBios" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetManagement" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetShell" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetworkDiagnosticsFramework" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_P2P" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_QoS" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Rras" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Snmp" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WNet" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WebDav" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WiFi" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsConnectionManager" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsFilteringPlatform" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsFirewall" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsNetworkVirtualization" = [ "Win32_NetworkManagement" ]; + "Win32_Networking" = [ "Win32" ]; + "Win32_Networking_ActiveDirectory" = [ "Win32_Networking" ]; + "Win32_Networking_Clustering" = [ "Win32_Networking" ]; + "Win32_Networking_HttpServer" = [ "Win32_Networking" ]; + "Win32_Networking_Ldap" = [ "Win32_Networking" ]; + "Win32_Networking_WebSocket" = [ "Win32_Networking" ]; + "Win32_Networking_WinHttp" = [ "Win32_Networking" ]; + "Win32_Networking_WinInet" = [ "Win32_Networking" ]; + "Win32_Networking_WinSock" = [ "Win32_Networking" ]; + "Win32_Networking_WindowsWebServices" = [ "Win32_Networking" ]; + "Win32_Security" = [ "Win32" ]; + "Win32_Security_AppLocker" = [ "Win32_Security" ]; + "Win32_Security_Authentication" = [ "Win32_Security" ]; + "Win32_Security_Authentication_Identity" = [ "Win32_Security_Authentication" ]; + "Win32_Security_Authorization" = [ "Win32_Security" ]; + "Win32_Security_Credentials" = [ "Win32_Security" ]; + "Win32_Security_Cryptography" = [ "Win32_Security" ]; + "Win32_Security_Cryptography_Catalog" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_Cryptography_Certificates" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_Cryptography_Sip" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_Cryptography_UI" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_DiagnosticDataQuery" = [ "Win32_Security" ]; + "Win32_Security_DirectoryServices" = [ "Win32_Security" ]; + "Win32_Security_EnterpriseData" = [ "Win32_Security" ]; + "Win32_Security_ExtensibleAuthenticationProtocol" = [ "Win32_Security" ]; + "Win32_Security_Isolation" = [ "Win32_Security" ]; + "Win32_Security_LicenseProtection" = [ "Win32_Security" ]; + "Win32_Security_NetworkAccessProtection" = [ "Win32_Security" ]; + "Win32_Security_WinTrust" = [ "Win32_Security" ]; + "Win32_Security_WinWlx" = [ "Win32_Security" ]; + "Win32_Storage" = [ "Win32" ]; + "Win32_Storage_Cabinets" = [ "Win32_Storage" ]; + "Win32_Storage_CloudFilters" = [ "Win32_Storage" ]; + "Win32_Storage_Compression" = [ "Win32_Storage" ]; + "Win32_Storage_DistributedFileSystem" = [ "Win32_Storage" ]; + "Win32_Storage_FileHistory" = [ "Win32_Storage" ]; + "Win32_Storage_FileSystem" = [ "Win32_Storage" ]; + "Win32_Storage_Imapi" = [ "Win32_Storage" ]; + "Win32_Storage_IndexServer" = [ "Win32_Storage" ]; + "Win32_Storage_InstallableFileSystems" = [ "Win32_Storage" ]; + "Win32_Storage_IscsiDisc" = [ "Win32_Storage" ]; + "Win32_Storage_Jet" = [ "Win32_Storage" ]; + "Win32_Storage_Nvme" = [ "Win32_Storage" ]; + "Win32_Storage_OfflineFiles" = [ "Win32_Storage" ]; + "Win32_Storage_OperationRecorder" = [ "Win32_Storage" ]; + "Win32_Storage_Packaging" = [ "Win32_Storage" ]; + "Win32_Storage_Packaging_Appx" = [ "Win32_Storage_Packaging" ]; + "Win32_Storage_ProjectedFileSystem" = [ "Win32_Storage" ]; + "Win32_Storage_StructuredStorage" = [ "Win32_Storage" ]; + "Win32_Storage_Vhd" = [ "Win32_Storage" ]; + "Win32_Storage_Xps" = [ "Win32_Storage" ]; + "Win32_System" = [ "Win32" ]; + "Win32_System_AddressBook" = [ "Win32_System" ]; + "Win32_System_Antimalware" = [ "Win32_System" ]; + "Win32_System_ApplicationInstallationAndServicing" = [ "Win32_System" ]; + "Win32_System_ApplicationVerifier" = [ "Win32_System" ]; + "Win32_System_ClrHosting" = [ "Win32_System" ]; + "Win32_System_Com" = [ "Win32_System" ]; + "Win32_System_Com_Marshal" = [ "Win32_System_Com" ]; + "Win32_System_Com_StructuredStorage" = [ "Win32_System_Com" ]; + "Win32_System_Com_Urlmon" = [ "Win32_System_Com" ]; + "Win32_System_ComponentServices" = [ "Win32_System" ]; + "Win32_System_Console" = [ "Win32_System" ]; + "Win32_System_CorrelationVector" = [ "Win32_System" ]; + "Win32_System_DataExchange" = [ "Win32_System" ]; + "Win32_System_DeploymentServices" = [ "Win32_System" ]; + "Win32_System_DeveloperLicensing" = [ "Win32_System" ]; + "Win32_System_Diagnostics" = [ "Win32_System" ]; + "Win32_System_Diagnostics_Ceip" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_Debug" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_Debug_Extensions" = [ "Win32_System_Diagnostics_Debug" ]; + "Win32_System_Diagnostics_Etw" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_ProcessSnapshotting" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_ToolHelp" = [ "Win32_System_Diagnostics" ]; + "Win32_System_DistributedTransactionCoordinator" = [ "Win32_System" ]; + "Win32_System_Environment" = [ "Win32_System" ]; + "Win32_System_ErrorReporting" = [ "Win32_System" ]; + "Win32_System_EventCollector" = [ "Win32_System" ]; + "Win32_System_EventLog" = [ "Win32_System" ]; + "Win32_System_EventNotificationService" = [ "Win32_System" ]; + "Win32_System_GroupPolicy" = [ "Win32_System" ]; + "Win32_System_HostCompute" = [ "Win32_System" ]; + "Win32_System_HostComputeNetwork" = [ "Win32_System" ]; + "Win32_System_HostComputeSystem" = [ "Win32_System" ]; + "Win32_System_Hypervisor" = [ "Win32_System" ]; + "Win32_System_IO" = [ "Win32_System" ]; + "Win32_System_Iis" = [ "Win32_System" ]; + "Win32_System_Ioctl" = [ "Win32_System" ]; + "Win32_System_JobObjects" = [ "Win32_System" ]; + "Win32_System_Js" = [ "Win32_System" ]; + "Win32_System_Kernel" = [ "Win32_System" ]; + "Win32_System_LibraryLoader" = [ "Win32_System" ]; + "Win32_System_Mailslots" = [ "Win32_System" ]; + "Win32_System_Mapi" = [ "Win32_System" ]; + "Win32_System_Memory" = [ "Win32_System" ]; + "Win32_System_Memory_NonVolatile" = [ "Win32_System_Memory" ]; + "Win32_System_MessageQueuing" = [ "Win32_System" ]; + "Win32_System_MixedReality" = [ "Win32_System" ]; + "Win32_System_Ole" = [ "Win32_System" ]; + "Win32_System_PasswordManagement" = [ "Win32_System" ]; + "Win32_System_Performance" = [ "Win32_System" ]; + "Win32_System_Performance_HardwareCounterProfiling" = [ "Win32_System_Performance" ]; + "Win32_System_Pipes" = [ "Win32_System" ]; + "Win32_System_Power" = [ "Win32_System" ]; + "Win32_System_ProcessStatus" = [ "Win32_System" ]; + "Win32_System_Recovery" = [ "Win32_System" ]; + "Win32_System_Registry" = [ "Win32_System" ]; + "Win32_System_RemoteDesktop" = [ "Win32_System" ]; + "Win32_System_RemoteManagement" = [ "Win32_System" ]; + "Win32_System_RestartManager" = [ "Win32_System" ]; + "Win32_System_Restore" = [ "Win32_System" ]; + "Win32_System_Rpc" = [ "Win32_System" ]; + "Win32_System_Search" = [ "Win32_System" ]; + "Win32_System_Search_Common" = [ "Win32_System_Search" ]; + "Win32_System_SecurityCenter" = [ "Win32_System" ]; + "Win32_System_Services" = [ "Win32_System" ]; + "Win32_System_SetupAndMigration" = [ "Win32_System" ]; + "Win32_System_Shutdown" = [ "Win32_System" ]; + "Win32_System_StationsAndDesktops" = [ "Win32_System" ]; + "Win32_System_SubsystemForLinux" = [ "Win32_System" ]; + "Win32_System_SystemInformation" = [ "Win32_System" ]; + "Win32_System_SystemServices" = [ "Win32_System" ]; + "Win32_System_Threading" = [ "Win32_System" ]; + "Win32_System_Time" = [ "Win32_System" ]; + "Win32_System_TpmBaseServices" = [ "Win32_System" ]; + "Win32_System_UserAccessLogging" = [ "Win32_System" ]; + "Win32_System_Variant" = [ "Win32_System" ]; + "Win32_System_VirtualDosMachines" = [ "Win32_System" ]; + "Win32_System_WindowsProgramming" = [ "Win32_System" ]; + "Win32_System_Wmi" = [ "Win32_System" ]; + "Win32_UI" = [ "Win32" ]; + "Win32_UI_Accessibility" = [ "Win32_UI" ]; + "Win32_UI_ColorSystem" = [ "Win32_UI" ]; + "Win32_UI_Controls" = [ "Win32_UI" ]; + "Win32_UI_Controls_Dialogs" = [ "Win32_UI_Controls" ]; + "Win32_UI_HiDpi" = [ "Win32_UI" ]; + "Win32_UI_Input" = [ "Win32_UI" ]; + "Win32_UI_Input_Ime" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_KeyboardAndMouse" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_Pointer" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_Touch" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_XboxController" = [ "Win32_UI_Input" ]; + "Win32_UI_InteractionContext" = [ "Win32_UI" ]; + "Win32_UI_Magnification" = [ "Win32_UI" ]; + "Win32_UI_Shell" = [ "Win32_UI" ]; + "Win32_UI_Shell_PropertiesSystem" = [ "Win32_UI_Shell" ]; + "Win32_UI_TabletPC" = [ "Win32_UI" ]; + "Win32_UI_TextServices" = [ "Win32_UI" ]; + "Win32_UI_WindowsAndMessaging" = [ "Win32_UI" ]; + "Win32_Web" = [ "Win32" ]; + "Win32_Web_InternetExplorer" = [ "Win32_Web" ]; + }; + resolvedDefaultFeatures = [ "Win32" "Win32_Foundation" "Win32_Networking" "Win32_Networking_WinSock" "Win32_System" "Win32_System_IO" "Win32_System_Threading" "Win32_System_WindowsProgramming" "default" ]; + }; + "windows-sys 0.61.2" = rec { + crateName = "windows-sys"; + version = "0.61.2"; + edition = "2021"; + sha256 = "1z7k3y9b6b5h52kid57lvmvm05362zv1v8w0gc7xyv5xphlp44xf"; + libName = "windows_sys"; + dependencies = [ + { + name = "windows-link"; + packageId = "windows-link"; + usesDefaultFeatures = false; + } + ]; + features = { + "Wdk" = [ "Win32_Foundation" ]; + "Wdk_Devices" = [ "Wdk" ]; + "Wdk_Devices_Bluetooth" = [ "Wdk_Devices" ]; + "Wdk_Devices_HumanInterfaceDevice" = [ "Wdk_Devices" ]; + "Wdk_Foundation" = [ "Wdk" ]; + "Wdk_Graphics" = [ "Wdk" ]; + "Wdk_Graphics_Direct3D" = [ "Wdk_Graphics" ]; + "Wdk_NetworkManagement" = [ "Wdk" ]; + "Wdk_NetworkManagement_Ndis" = [ "Wdk_NetworkManagement" ]; + "Wdk_NetworkManagement_WindowsFilteringPlatform" = [ "Wdk_NetworkManagement" ]; + "Wdk_Storage" = [ "Wdk" ]; + "Wdk_Storage_FileSystem" = [ "Wdk_Storage" ]; + "Wdk_Storage_FileSystem_Minifilters" = [ "Wdk_Storage_FileSystem" ]; + "Wdk_System" = [ "Wdk" ]; + "Wdk_System_IO" = [ "Wdk_System" ]; + "Wdk_System_Memory" = [ "Wdk_System" ]; + "Wdk_System_OfflineRegistry" = [ "Wdk_System" ]; + "Wdk_System_Registry" = [ "Wdk_System" ]; + "Wdk_System_SystemInformation" = [ "Wdk_System" ]; + "Wdk_System_SystemServices" = [ "Wdk_System" ]; + "Wdk_System_Threading" = [ "Wdk_System" ]; + "Win32" = [ "Win32_Foundation" ]; + "Win32_Data" = [ "Win32" ]; + "Win32_Data_HtmlHelp" = [ "Win32_Data" ]; + "Win32_Data_RightsManagement" = [ "Win32_Data" ]; + "Win32_Devices" = [ "Win32" ]; + "Win32_Devices_AllJoyn" = [ "Win32_Devices" ]; + "Win32_Devices_Beep" = [ "Win32_Devices" ]; + "Win32_Devices_BiometricFramework" = [ "Win32_Devices" ]; + "Win32_Devices_Bluetooth" = [ "Win32_Devices" ]; + "Win32_Devices_Cdrom" = [ "Win32_Devices" ]; + "Win32_Devices_Communication" = [ "Win32_Devices" ]; + "Win32_Devices_DeviceAndDriverInstallation" = [ "Win32_Devices" ]; + "Win32_Devices_DeviceQuery" = [ "Win32_Devices" ]; + "Win32_Devices_Display" = [ "Win32_Devices" ]; + "Win32_Devices_Dvd" = [ "Win32_Devices" ]; + "Win32_Devices_Enumeration" = [ "Win32_Devices" ]; + "Win32_Devices_Enumeration_Pnp" = [ "Win32_Devices_Enumeration" ]; + "Win32_Devices_Fax" = [ "Win32_Devices" ]; + "Win32_Devices_HumanInterfaceDevice" = [ "Win32_Devices" ]; + "Win32_Devices_Nfc" = [ "Win32_Devices" ]; + "Win32_Devices_Nfp" = [ "Win32_Devices" ]; + "Win32_Devices_PortableDevices" = [ "Win32_Devices" ]; + "Win32_Devices_Properties" = [ "Win32_Devices" ]; + "Win32_Devices_Pwm" = [ "Win32_Devices" ]; + "Win32_Devices_Sensors" = [ "Win32_Devices" ]; + "Win32_Devices_SerialCommunication" = [ "Win32_Devices" ]; + "Win32_Devices_Tapi" = [ "Win32_Devices" ]; + "Win32_Devices_Usb" = [ "Win32_Devices" ]; + "Win32_Devices_WebServicesOnDevices" = [ "Win32_Devices" ]; + "Win32_Foundation" = [ "Win32" ]; + "Win32_Gaming" = [ "Win32" ]; + "Win32_Globalization" = [ "Win32" ]; + "Win32_Graphics" = [ "Win32" ]; + "Win32_Graphics_Dwm" = [ "Win32_Graphics" ]; + "Win32_Graphics_Gdi" = [ "Win32_Graphics" ]; + "Win32_Graphics_GdiPlus" = [ "Win32_Graphics" ]; + "Win32_Graphics_Hlsl" = [ "Win32_Graphics" ]; + "Win32_Graphics_OpenGL" = [ "Win32_Graphics" ]; + "Win32_Graphics_Printing" = [ "Win32_Graphics" ]; + "Win32_Graphics_Printing_PrintTicket" = [ "Win32_Graphics_Printing" ]; + "Win32_Management" = [ "Win32" ]; + "Win32_Management_MobileDeviceManagementRegistration" = [ "Win32_Management" ]; + "Win32_Media" = [ "Win32" ]; + "Win32_Media_Audio" = [ "Win32_Media" ]; + "Win32_Media_DxMediaObjects" = [ "Win32_Media" ]; + "Win32_Media_KernelStreaming" = [ "Win32_Media" ]; + "Win32_Media_Multimedia" = [ "Win32_Media" ]; + "Win32_Media_Streaming" = [ "Win32_Media" ]; + "Win32_Media_WindowsMediaFormat" = [ "Win32_Media" ]; + "Win32_NetworkManagement" = [ "Win32" ]; + "Win32_NetworkManagement_Dhcp" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Dns" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_InternetConnectionWizard" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_IpHelper" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Multicast" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Ndis" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetBios" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetManagement" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetShell" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_NetworkDiagnosticsFramework" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_P2P" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_QoS" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Rras" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_Snmp" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WNet" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WebDav" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WiFi" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsConnectionManager" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsFilteringPlatform" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsFirewall" = [ "Win32_NetworkManagement" ]; + "Win32_NetworkManagement_WindowsNetworkVirtualization" = [ "Win32_NetworkManagement" ]; + "Win32_Networking" = [ "Win32" ]; + "Win32_Networking_ActiveDirectory" = [ "Win32_Networking" ]; + "Win32_Networking_Clustering" = [ "Win32_Networking" ]; + "Win32_Networking_HttpServer" = [ "Win32_Networking" ]; + "Win32_Networking_Ldap" = [ "Win32_Networking" ]; + "Win32_Networking_WebSocket" = [ "Win32_Networking" ]; + "Win32_Networking_WinHttp" = [ "Win32_Networking" ]; + "Win32_Networking_WinInet" = [ "Win32_Networking" ]; + "Win32_Networking_WinSock" = [ "Win32_Networking" ]; + "Win32_Networking_WindowsWebServices" = [ "Win32_Networking" ]; + "Win32_Security" = [ "Win32" ]; + "Win32_Security_AppLocker" = [ "Win32_Security" ]; + "Win32_Security_Authentication" = [ "Win32_Security" ]; + "Win32_Security_Authentication_Identity" = [ "Win32_Security_Authentication" ]; + "Win32_Security_Authorization" = [ "Win32_Security" ]; + "Win32_Security_Credentials" = [ "Win32_Security" ]; + "Win32_Security_Cryptography" = [ "Win32_Security" ]; + "Win32_Security_Cryptography_Catalog" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_Cryptography_Certificates" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_Cryptography_Sip" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_Cryptography_UI" = [ "Win32_Security_Cryptography" ]; + "Win32_Security_DiagnosticDataQuery" = [ "Win32_Security" ]; + "Win32_Security_DirectoryServices" = [ "Win32_Security" ]; + "Win32_Security_EnterpriseData" = [ "Win32_Security" ]; + "Win32_Security_ExtensibleAuthenticationProtocol" = [ "Win32_Security" ]; + "Win32_Security_Isolation" = [ "Win32_Security" ]; + "Win32_Security_LicenseProtection" = [ "Win32_Security" ]; + "Win32_Security_NetworkAccessProtection" = [ "Win32_Security" ]; + "Win32_Security_WinTrust" = [ "Win32_Security" ]; + "Win32_Security_WinWlx" = [ "Win32_Security" ]; + "Win32_Storage" = [ "Win32" ]; + "Win32_Storage_Cabinets" = [ "Win32_Storage" ]; + "Win32_Storage_CloudFilters" = [ "Win32_Storage" ]; + "Win32_Storage_Compression" = [ "Win32_Storage" ]; + "Win32_Storage_DistributedFileSystem" = [ "Win32_Storage" ]; + "Win32_Storage_FileHistory" = [ "Win32_Storage" ]; + "Win32_Storage_FileSystem" = [ "Win32_Storage" ]; + "Win32_Storage_Imapi" = [ "Win32_Storage" ]; + "Win32_Storage_IndexServer" = [ "Win32_Storage" ]; + "Win32_Storage_InstallableFileSystems" = [ "Win32_Storage" ]; + "Win32_Storage_IscsiDisc" = [ "Win32_Storage" ]; + "Win32_Storage_Jet" = [ "Win32_Storage" ]; + "Win32_Storage_Nvme" = [ "Win32_Storage" ]; + "Win32_Storage_OfflineFiles" = [ "Win32_Storage" ]; + "Win32_Storage_OperationRecorder" = [ "Win32_Storage" ]; + "Win32_Storage_Packaging" = [ "Win32_Storage" ]; + "Win32_Storage_Packaging_Appx" = [ "Win32_Storage_Packaging" ]; + "Win32_Storage_ProjectedFileSystem" = [ "Win32_Storage" ]; + "Win32_Storage_StructuredStorage" = [ "Win32_Storage" ]; + "Win32_Storage_Vhd" = [ "Win32_Storage" ]; + "Win32_Storage_Xps" = [ "Win32_Storage" ]; + "Win32_System" = [ "Win32" ]; + "Win32_System_AddressBook" = [ "Win32_System" ]; + "Win32_System_Antimalware" = [ "Win32_System" ]; + "Win32_System_ApplicationInstallationAndServicing" = [ "Win32_System" ]; + "Win32_System_ApplicationVerifier" = [ "Win32_System" ]; + "Win32_System_ClrHosting" = [ "Win32_System" ]; + "Win32_System_Com" = [ "Win32_System" ]; + "Win32_System_Com_Marshal" = [ "Win32_System_Com" ]; + "Win32_System_Com_StructuredStorage" = [ "Win32_System_Com" ]; + "Win32_System_Com_Urlmon" = [ "Win32_System_Com" ]; + "Win32_System_ComponentServices" = [ "Win32_System" ]; + "Win32_System_Console" = [ "Win32_System" ]; + "Win32_System_CorrelationVector" = [ "Win32_System" ]; + "Win32_System_DataExchange" = [ "Win32_System" ]; + "Win32_System_DeploymentServices" = [ "Win32_System" ]; + "Win32_System_DeveloperLicensing" = [ "Win32_System" ]; + "Win32_System_Diagnostics" = [ "Win32_System" ]; + "Win32_System_Diagnostics_Ceip" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_Debug" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_Debug_Extensions" = [ "Win32_System_Diagnostics_Debug" ]; + "Win32_System_Diagnostics_Etw" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_ProcessSnapshotting" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_ToolHelp" = [ "Win32_System_Diagnostics" ]; + "Win32_System_Diagnostics_TraceLogging" = [ "Win32_System_Diagnostics" ]; + "Win32_System_DistributedTransactionCoordinator" = [ "Win32_System" ]; + "Win32_System_Environment" = [ "Win32_System" ]; + "Win32_System_ErrorReporting" = [ "Win32_System" ]; + "Win32_System_EventCollector" = [ "Win32_System" ]; + "Win32_System_EventLog" = [ "Win32_System" ]; + "Win32_System_EventNotificationService" = [ "Win32_System" ]; + "Win32_System_GroupPolicy" = [ "Win32_System" ]; + "Win32_System_HostCompute" = [ "Win32_System" ]; + "Win32_System_HostComputeNetwork" = [ "Win32_System" ]; + "Win32_System_HostComputeSystem" = [ "Win32_System" ]; + "Win32_System_Hypervisor" = [ "Win32_System" ]; + "Win32_System_IO" = [ "Win32_System" ]; + "Win32_System_Iis" = [ "Win32_System" ]; + "Win32_System_Ioctl" = [ "Win32_System" ]; + "Win32_System_JobObjects" = [ "Win32_System" ]; + "Win32_System_Js" = [ "Win32_System" ]; + "Win32_System_Kernel" = [ "Win32_System" ]; + "Win32_System_LibraryLoader" = [ "Win32_System" ]; + "Win32_System_Mailslots" = [ "Win32_System" ]; + "Win32_System_Mapi" = [ "Win32_System" ]; + "Win32_System_Memory" = [ "Win32_System" ]; + "Win32_System_Memory_NonVolatile" = [ "Win32_System_Memory" ]; + "Win32_System_MessageQueuing" = [ "Win32_System" ]; + "Win32_System_MixedReality" = [ "Win32_System" ]; + "Win32_System_Ole" = [ "Win32_System" ]; + "Win32_System_PasswordManagement" = [ "Win32_System" ]; + "Win32_System_Performance" = [ "Win32_System" ]; + "Win32_System_Performance_HardwareCounterProfiling" = [ "Win32_System_Performance" ]; + "Win32_System_Pipes" = [ "Win32_System" ]; + "Win32_System_Power" = [ "Win32_System" ]; + "Win32_System_ProcessStatus" = [ "Win32_System" ]; + "Win32_System_Recovery" = [ "Win32_System" ]; + "Win32_System_Registry" = [ "Win32_System" ]; + "Win32_System_RemoteDesktop" = [ "Win32_System" ]; + "Win32_System_RemoteManagement" = [ "Win32_System" ]; + "Win32_System_RestartManager" = [ "Win32_System" ]; + "Win32_System_Restore" = [ "Win32_System" ]; + "Win32_System_Rpc" = [ "Win32_System" ]; + "Win32_System_Search" = [ "Win32_System" ]; + "Win32_System_Search_Common" = [ "Win32_System_Search" ]; + "Win32_System_SecurityCenter" = [ "Win32_System" ]; + "Win32_System_Services" = [ "Win32_System" ]; + "Win32_System_SetupAndMigration" = [ "Win32_System" ]; + "Win32_System_Shutdown" = [ "Win32_System" ]; + "Win32_System_StationsAndDesktops" = [ "Win32_System" ]; + "Win32_System_SubsystemForLinux" = [ "Win32_System" ]; + "Win32_System_SystemInformation" = [ "Win32_System" ]; + "Win32_System_SystemServices" = [ "Win32_System" ]; + "Win32_System_Threading" = [ "Win32_System" ]; + "Win32_System_Time" = [ "Win32_System" ]; + "Win32_System_TpmBaseServices" = [ "Win32_System" ]; + "Win32_System_UserAccessLogging" = [ "Win32_System" ]; + "Win32_System_Variant" = [ "Win32_System" ]; + "Win32_System_VirtualDosMachines" = [ "Win32_System" ]; + "Win32_System_WindowsProgramming" = [ "Win32_System" ]; + "Win32_System_Wmi" = [ "Win32_System" ]; + "Win32_UI" = [ "Win32" ]; + "Win32_UI_Accessibility" = [ "Win32_UI" ]; + "Win32_UI_ColorSystem" = [ "Win32_UI" ]; + "Win32_UI_Controls" = [ "Win32_UI" ]; + "Win32_UI_Controls_Dialogs" = [ "Win32_UI_Controls" ]; + "Win32_UI_HiDpi" = [ "Win32_UI" ]; + "Win32_UI_Input" = [ "Win32_UI" ]; + "Win32_UI_Input_Ime" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_KeyboardAndMouse" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_Pointer" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_Touch" = [ "Win32_UI_Input" ]; + "Win32_UI_Input_XboxController" = [ "Win32_UI_Input" ]; + "Win32_UI_InteractionContext" = [ "Win32_UI" ]; + "Win32_UI_Magnification" = [ "Win32_UI" ]; + "Win32_UI_Shell" = [ "Win32_UI" ]; + "Win32_UI_Shell_Common" = [ "Win32_UI_Shell" ]; + "Win32_UI_Shell_PropertiesSystem" = [ "Win32_UI_Shell" ]; + "Win32_UI_TabletPC" = [ "Win32_UI" ]; + "Win32_UI_TextServices" = [ "Win32_UI" ]; + "Win32_UI_WindowsAndMessaging" = [ "Win32_UI" ]; + "Win32_Web" = [ "Win32" ]; + "Win32_Web_InternetExplorer" = [ "Win32_Web" ]; + }; + resolvedDefaultFeatures = [ "Wdk" "Wdk_Foundation" "Wdk_Storage" "Wdk_Storage_FileSystem" "Wdk_System" "Wdk_System_IO" "Win32" "Win32_Foundation" "Win32_Globalization" "Win32_Networking" "Win32_Networking_WinSock" "Win32_Security" "Win32_Security_Authentication" "Win32_Security_Authentication_Identity" "Win32_Security_Credentials" "Win32_Security_Cryptography" "Win32_Storage" "Win32_Storage_FileSystem" "Win32_System" "Win32_System_Com" "Win32_System_Console" "Win32_System_Diagnostics" "Win32_System_Diagnostics_Debug" "Win32_System_IO" "Win32_System_LibraryLoader" "Win32_System_Memory" "Win32_System_Pipes" "Win32_System_SystemInformation" "Win32_System_SystemServices" "Win32_System_Threading" "Win32_System_WindowsProgramming" "Win32_UI" "Win32_UI_Shell" "default" ]; + }; + "windows-targets" = rec { + crateName = "windows-targets"; + version = "0.52.6"; + edition = "2021"; + sha256 = "0wwrx625nwlfp7k93r2rra568gad1mwd888h1jwnl0vfg5r4ywlv"; + libName = "windows_targets"; + authors = [ + "Microsoft" + ]; + dependencies = [ + { + name = "windows_aarch64_gnullvm"; + packageId = "windows_aarch64_gnullvm"; + target = { target, features }: (target.name == "aarch64-pc-windows-gnullvm"); + } + { + name = "windows_aarch64_msvc"; + packageId = "windows_aarch64_msvc 0.52.6"; + target = { target, features }: (("aarch64" == target."arch" or null) && ("msvc" == target."env" or null) && (!(target."windows_raw_dylib" or false))); + } + { + name = "windows_i686_gnu"; + packageId = "windows_i686_gnu 0.52.6"; + target = { target, features }: (("x86" == target."arch" or null) && ("gnu" == target."env" or null) && (!("llvm" == target."abi" or null)) && (!(target."windows_raw_dylib" or false))); + } + { + name = "windows_i686_gnullvm"; + packageId = "windows_i686_gnullvm"; + target = { target, features }: (target.name == "i686-pc-windows-gnullvm"); + } + { + name = "windows_i686_msvc"; + packageId = "windows_i686_msvc 0.52.6"; + target = { target, features }: (("x86" == target."arch" or null) && ("msvc" == target."env" or null) && (!(target."windows_raw_dylib" or false))); + } + { + name = "windows_x86_64_gnu"; + packageId = "windows_x86_64_gnu 0.52.6"; + target = { target, features }: (("x86_64" == target."arch" or null) && ("gnu" == target."env" or null) && (!("llvm" == target."abi" or null)) && (!(target."windows_raw_dylib" or false))); + } + { + name = "windows_x86_64_gnullvm"; + packageId = "windows_x86_64_gnullvm"; + target = { target, features }: (target.name == "x86_64-pc-windows-gnullvm"); + } + { + name = "windows_x86_64_msvc"; + packageId = "windows_x86_64_msvc 0.52.6"; + target = { target, features }: ((("x86_64" == target."arch" or null) || ("arm64ec" == target."arch" or null)) && ("msvc" == target."env" or null) && (!(target."windows_raw_dylib" or false))); + } + ]; + + }; + "windows_aarch64_gnullvm" = rec { + crateName = "windows_aarch64_gnullvm"; + version = "0.52.6"; + edition = "2021"; + sha256 = "1lrcq38cr2arvmz19v32qaggvj8bh1640mdm9c2fr877h0hn591j"; + authors = [ + "Microsoft" + ]; + + }; + "windows_aarch64_msvc 0.34.0" = rec { + crateName = "windows_aarch64_msvc"; + version = "0.34.0"; + edition = "2018"; + sha256 = "07c8vcqcvkmm2d921488w05dyjl047jc03xddyszy6hj83kzpkqp"; + authors = [ + "Microsoft" + ]; + + }; + "windows_aarch64_msvc 0.52.6" = rec { + crateName = "windows_aarch64_msvc"; + version = "0.52.6"; + edition = "2021"; + sha256 = "0sfl0nysnz32yyfh773hpi49b1q700ah6y7sacmjbqjjn5xjmv09"; + authors = [ + "Microsoft" + ]; + + }; + "windows_i686_gnu 0.34.0" = rec { + crateName = "windows_i686_gnu"; + version = "0.34.0"; + edition = "2018"; + sha256 = "1vc8hr4hm1x89h997gwfq5q9kj1j5gj4pxdlv4lr3dxdb7kzsr15"; + authors = [ + "Microsoft" + ]; + + }; + "windows_i686_gnu 0.52.6" = rec { + crateName = "windows_i686_gnu"; + version = "0.52.6"; + edition = "2021"; + sha256 = "02zspglbykh1jh9pi7gn8g1f97jh1rrccni9ivmrfbl0mgamm6wf"; + authors = [ + "Microsoft" + ]; + + }; + "windows_i686_gnullvm" = rec { + crateName = "windows_i686_gnullvm"; + version = "0.52.6"; + edition = "2021"; + sha256 = "0rpdx1537mw6slcpqa0rm3qixmsb79nbhqy5fsm3q2q9ik9m5vhf"; + authors = [ + "Microsoft" + ]; + + }; + "windows_i686_msvc 0.34.0" = rec { + crateName = "windows_i686_msvc"; + version = "0.34.0"; + edition = "2018"; + sha256 = "0mk92rzdvjks01v8d5dkh1yp9syf9f0khkf168im4lq4lwmx7ncw"; + authors = [ + "Microsoft" + ]; + + }; + "windows_i686_msvc 0.52.6" = rec { + crateName = "windows_i686_msvc"; + version = "0.52.6"; + edition = "2021"; + sha256 = "0rkcqmp4zzmfvrrrx01260q3xkpzi6fzi2x2pgdcdry50ny4h294"; + authors = [ + "Microsoft" + ]; + + }; + "windows_x86_64_gnu 0.34.0" = rec { + crateName = "windows_x86_64_gnu"; + version = "0.34.0"; + edition = "2018"; + sha256 = "1x71512gic645ri51y6ivw1wb72h38agrvqrdlsqvvi7wbm6vkng"; + authors = [ + "Microsoft" + ]; + + }; + "windows_x86_64_gnu 0.52.6" = rec { + crateName = "windows_x86_64_gnu"; + version = "0.52.6"; + edition = "2021"; + sha256 = "0y0sifqcb56a56mvn7xjgs8g43p33mfqkd8wj1yhrgxzma05qyhl"; + authors = [ + "Microsoft" + ]; + + }; + "windows_x86_64_gnullvm" = rec { + crateName = "windows_x86_64_gnullvm"; + version = "0.52.6"; + edition = "2021"; + sha256 = "03gda7zjx1qh8k9nnlgb7m3w3s1xkysg55hkd1wjch8pqhyv5m94"; + authors = [ + "Microsoft" + ]; + + }; + "windows_x86_64_msvc 0.34.0" = rec { + crateName = "windows_x86_64_msvc"; + version = "0.34.0"; + edition = "2018"; + sha256 = "1scxv2b9id3gj6bvpzdax496lng6x8bnm3gqx8fx068qqb63i5fi"; + authors = [ + "Microsoft" + ]; + + }; + "windows_x86_64_msvc 0.52.6" = rec { + crateName = "windows_x86_64_msvc"; + version = "0.52.6"; + edition = "2021"; + sha256 = "1v7rb5cibyzx8vak29pdrk8nx9hycsjs4w0jgms08qk49jl6v7sq"; + authors = [ + "Microsoft" + ]; + + }; + "winnow 0.7.15" = rec { + crateName = "winnow"; + version = "0.7.15"; + edition = "2021"; + sha256 = "0i9rkl2rqpbnnxlgs20gmkj3nd0b2k8q55mjmpc2ybb84xwxjyfz"; + features = { + "debug" = [ "std" "dep:anstream" "dep:anstyle" "dep:is_terminal_polyfill" "dep:terminal_size" ]; + "default" = [ "std" ]; + "simd" = [ "dep:memchr" ]; + "std" = [ "alloc" "memchr?/std" ]; + "unstable-doc" = [ "alloc" "std" "simd" "unstable-recover" ]; + }; + }; + "winnow 1.0.4" = rec { + crateName = "winnow"; + version = "1.0.4"; + edition = "2021"; + sha256 = "10fzxipa7lx16172p3aca9j60hzbqgjki2f95kqksd5qywcp7f93"; + dependencies = [ + { + name = "memchr"; + packageId = "memchr"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "ascii" = [ "parser" ]; + "binary" = [ "parser" ]; + "debug" = [ "std" "dep:anstream" "dep:anstyle" "dep:is_terminal_polyfill" "dep:terminal_size" ]; + "default" = [ "std" "ascii" "binary" ]; + "simd" = [ "dep:memchr" ]; + "std" = [ "alloc" "memchr?/std" ]; + "unstable-doc" = [ "alloc" "std" "ascii" "binary" "simd" "unstable-recover" ]; + "unstable-recover" = [ "parser" ]; + }; + resolvedDefaultFeatures = [ "alloc" "ascii" "binary" "default" "parser" "std" ]; + }; + "wit-bindgen" = rec { + crateName = "wit-bindgen"; + version = "0.57.1"; + edition = "2024"; + sha256 = "0vjk2jb593ri9k1aq4iqs2si9mrw5q46wxnn78im7hm7hx799gqy"; + libName = "wit_bindgen"; + authors = [ + "Alex Crichton " + ]; + features = { + "async-spawn" = [ "async" "dep:futures" "std" ]; + "bitflags" = [ "dep:bitflags" ]; + "default" = [ "macros" "realloc" "async" "std" "bitflags" "macro-string" ]; + "futures-stream" = [ "async" "dep:futures" ]; + "inter-task-wakeup" = [ "async" ]; + "macro-string" = [ "wit-bindgen-rust-macro?/macro-string" ]; + "macros" = [ "dep:wit-bindgen-rust-macro" ]; + "rustc-dep-of-std" = [ "dep:core" "dep:alloc" ]; + }; + }; + "writeable" = rec { + crateName = "writeable"; + version = "0.6.4"; + edition = "2021"; + sha256 = "1p3r4s4wbf3dksfpj3xyrn7id5p0f7r74mj6qx6ngjfd6cm2vn1s"; + authors = [ + "The ICU4X Project Developers" + ]; + features = { + "default" = [ "alloc" ]; + "either" = [ "dep:either" ]; + }; + }; + "x509-parser" = rec { + crateName = "x509-parser"; + version = "0.18.1"; + edition = "2018"; + sha256 = "00jj31m702vxas7xs0vjn2863y7k4kp266w5q1ms0z85rrqhyfyl"; + libName = "x509_parser"; + authors = [ + "Pierre Chifflier " + ]; + dependencies = [ + { + name = "asn1-rs"; + packageId = "asn1-rs"; + features = [ "datetime" ]; + } + { + name = "data-encoding"; + packageId = "data-encoding"; + } + { + name = "der-parser"; + packageId = "der-parser"; + features = [ "bigint" ]; + } + { + name = "lazy_static"; + packageId = "lazy_static"; + } + { + name = "nom"; + packageId = "nom"; + } + { + name = "oid-registry"; + packageId = "oid-registry"; + features = [ "crypto" "x509" "x962" ]; + } + { + name = "ring"; + packageId = "ring"; + optional = true; + } + { + name = "rusticata-macros"; + packageId = "rusticata-macros"; + } + { + name = "thiserror"; + packageId = "thiserror"; + } + { + name = "time"; + packageId = "time"; + features = [ "formatting" ]; + } + ]; + features = { + "aws-lc-rs" = [ "dep:aws-lc-rs" ]; + "ring" = [ "dep:ring" ]; + "verify" = [ "ring" ]; + "verify-aws" = [ "aws-lc-rs" ]; + }; + resolvedDefaultFeatures = [ "default" "ring" "verify" ]; + }; + "yasna" = rec { + crateName = "yasna"; + version = "0.6.0"; + edition = "2021"; + sha256 = "10l2y33yga5f05lhppmwg67fl72dsvj46s57wb44v6rbhmg7dxmm"; + authors = [ + "Masaki Hara " + ]; + dependencies = [ + { + name = "bit-vec"; + packageId = "bit-vec"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "time"; + packageId = "time"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "bit-vec" = [ "dep:bit-vec" ]; + "num-bigint" = [ "dep:num-bigint" ]; + "std" = [ "bit-vec?/std" "time?/std" ]; + "time" = [ "dep:time" ]; + }; + resolvedDefaultFeatures = [ "default" "std" "time" ]; + }; + "yoke" = rec { + crateName = "yoke"; + version = "0.8.3"; + edition = "2021"; + sha256 = "1xgyj6c2lxj2bp891ynmhws87c6z7yyv2li1v0ss9di40hxf57vh"; + authors = [ + "Manish Goregaokar " + ]; + dependencies = [ + { + name = "stable_deref_trait"; + packageId = "stable_deref_trait"; + usesDefaultFeatures = false; + } + { + name = "yoke-derive"; + packageId = "yoke-derive"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "zerofrom"; + packageId = "zerofrom"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "stable_deref_trait/alloc" "zerofrom/alloc" ]; + "default" = [ "alloc" "zerofrom" ]; + "derive" = [ "dep:yoke-derive" "zerofrom/derive" ]; + "zerofrom" = [ "dep:zerofrom" ]; + }; + resolvedDefaultFeatures = [ "derive" "zerofrom" ]; + }; + "yoke-derive" = rec { + crateName = "yoke-derive"; + version = "0.8.2"; + edition = "2021"; + sha256 = "13l5y5sz4lqm7rmyakjbh6vwgikxiql51xfff9hq2j485hk4r16y"; + procMacro = true; + libName = "yoke_derive"; + authors = [ + "Manish Goregaokar " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "fold" ]; + } + { + name = "synstructure"; + packageId = "synstructure"; + } + ]; + + }; + "zenoh" = rec { + crateName = "zenoh"; + version = "1.10.0"; + edition = "2021"; + sha256 = "0fn7d0iwm8jwi2cryxhmnxvhwzx5nvhvmjdvdflbizbb54vdcykg"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "ahash"; + packageId = "ahash"; + } + { + name = "arc-swap"; + packageId = "arc-swap"; + } + { + name = "async-trait"; + packageId = "async-trait"; + } + { + name = "bytes"; + packageId = "bytes"; + } + { + name = "const_format"; + packageId = "const_format"; + } + { + name = "flate2"; + packageId = "flate2"; + } + { + name = "flume"; + packageId = "flume"; + } + { + name = "futures"; + packageId = "futures"; + } + { + name = "git-version"; + packageId = "git-version"; + } + { + name = "itertools"; + packageId = "itertools"; + } + { + name = "json5"; + packageId = "json5"; + } + { + name = "lazy_static"; + packageId = "lazy_static"; + } + { + name = "nonempty-collections"; + packageId = "nonempty-collections"; + features = [ "serde" ]; + } + { + name = "once_cell"; + packageId = "once_cell"; + } + { + name = "petgraph"; + packageId = "petgraph"; + } + { + name = "phf"; + packageId = "phf"; + features = [ "macros" ]; + } + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" "default" ]; + } + { + name = "serde_json"; + packageId = "serde_json"; + } + { + name = "socket2"; + packageId = "socket2 0.5.10"; + features = [ "all" ]; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "macros" "rt" "time" ]; + } + { + name = "tokio-util"; + packageId = "tokio-util"; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "uhlc"; + packageId = "uhlc"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + { + name = "vec_map"; + packageId = "vec_map"; + } + { + name = "zenoh-buffers"; + packageId = "zenoh-buffers"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "zenoh-codec"; + packageId = "zenoh-codec"; + } + { + name = "zenoh-collections"; + packageId = "zenoh-collections"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "zenoh-config"; + packageId = "zenoh-config"; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-keyexpr"; + packageId = "zenoh-keyexpr"; + usesDefaultFeatures = false; + features = [ "internal" ]; + } + { + name = "zenoh-link"; + packageId = "zenoh-link"; + } + { + name = "zenoh-link-commons"; + packageId = "zenoh-link-commons"; + } + { + name = "zenoh-macros"; + packageId = "zenoh-macros"; + } + { + name = "zenoh-plugin-trait"; + packageId = "zenoh-plugin-trait"; + usesDefaultFeatures = false; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + { + name = "zenoh-runtime"; + packageId = "zenoh-runtime"; + } + { + name = "zenoh-shm"; + packageId = "zenoh-shm"; + optional = true; + } + { + name = "zenoh-sync"; + packageId = "zenoh-sync"; + } + { + name = "zenoh-task"; + packageId = "zenoh-task"; + } + { + name = "zenoh-transport"; + packageId = "zenoh-transport"; + usesDefaultFeatures = false; + } + { + name = "zenoh-util"; + packageId = "zenoh-util"; + } + ]; + buildDependencies = [ + { + name = "rustc_version"; + packageId = "rustc_version"; + } + ]; + devDependencies = [ + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + features = [ "test" ]; + } + ]; + features = { + "auth_pubkey" = [ "zenoh-transport/auth_pubkey" ]; + "auth_usrpwd" = [ "zenoh-transport/auth_usrpwd" ]; + "default" = [ "auth_pubkey" "auth_usrpwd" "transport_compression" "transport_multilink" "transport_quic" "transport_quic_datagram" "transport_tcp" "transport_tls" "transport_udp" "transport_unixsock-stream" "transport_ws" ]; + "internal" = [ "zenoh-config/internal" "zenoh-keyexpr/internal" "zenoh-protocol/internal" ]; + "runtime_plugins" = [ "plugins" ]; + "shared-memory" = [ "zenoh-buffers/shared-memory" "zenoh-protocol/shared-memory" "zenoh-shm" "zenoh-transport/shared-memory" ]; + "stats" = [ "zenoh-stats" "zenoh-transport/stats" ]; + "test" = [ "zenoh-transport/test" ]; + "tracing-instrument" = [ "zenoh-runtime/tracing-instrument" "zenoh-task/tracing-instrument" ]; + "transport_compression" = [ "zenoh-transport/transport_compression" ]; + "transport_multilink" = [ "zenoh-transport/transport_multilink" ]; + "transport_quic" = [ "zenoh-transport/transport_quic" ]; + "transport_quic_datagram" = [ "zenoh-transport/transport_quic_datagram" ]; + "transport_serial" = [ "zenoh-transport/transport_serial" ]; + "transport_tcp" = [ "zenoh-config/transport_tcp" "zenoh-transport/transport_tcp" ]; + "transport_tls" = [ "zenoh-transport/transport_tls" ]; + "transport_udp" = [ "zenoh-transport/transport_udp" ]; + "transport_unixpipe" = [ "zenoh-transport/transport_unixpipe" ]; + "transport_unixsock-stream" = [ "zenoh-transport/transport_unixsock-stream" ]; + "transport_vsock" = [ "zenoh-transport/transport_vsock" ]; + "transport_ws" = [ "zenoh-transport/transport_ws" ]; + "unstable" = [ "zenoh-config/unstable" "zenoh-keyexpr/unstable" "zenoh-protocol/unstable" "zenoh-transport/unstable" ]; + "uring" = [ "zenoh-transport/uring" ]; + "zenoh-shm" = [ "dep:zenoh-shm" ]; + "zenoh-stats" = [ "dep:zenoh-stats" ]; + }; + resolvedDefaultFeatures = [ "shared-memory" "transport_tcp" "transport_udp" "unstable" "zenoh-shm" ]; + }; + "zenoh-buffers" = rec { + crateName = "zenoh-buffers"; + version = "1.10.0"; + edition = "2021"; + sha256 = "01qsdcgld7v0zyidfyc73h56xvkaf8rgfvangic7bg0qgqcm47m8"; + libName = "zenoh_buffers"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "zenoh-collections"; + packageId = "zenoh-collections"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "rand" = [ "dep:rand" ]; + "test" = [ "rand" ]; + }; + resolvedDefaultFeatures = [ "shared-memory" "std" ]; + }; + "zenoh-codec" = rec { + crateName = "zenoh-codec"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1c879925gd195s0x471aszcnpnn24h106s8qycm2akw58v795dri"; + libName = "zenoh_codec"; + authors = [ + "Luca Cominardi " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + } + { + name = "tracing"; + packageId = "tracing"; + optional = true; + } + { + name = "uhlc"; + packageId = "uhlc"; + usesDefaultFeatures = false; + } + { + name = "zenoh-buffers"; + packageId = "zenoh-buffers"; + usesDefaultFeatures = false; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + } + { + name = "zenoh-shm"; + packageId = "zenoh-shm"; + optional = true; + } + ]; + devDependencies = [ + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + features = [ "test" ]; + } + ]; + features = { + "default" = [ "std" ]; + "shared-memory" = [ "std" "zenoh-buffers/shared-memory" "zenoh-protocol/shared-memory" "zenoh-shm" ]; + "std" = [ "tracing" "uhlc/std" "zenoh-buffers/std" "zenoh-protocol/std" ]; + "tracing" = [ "dep:tracing" ]; + "zenoh-shm" = [ "dep:zenoh-shm" ]; + }; + resolvedDefaultFeatures = [ "default" "shared-memory" "std" "tracing" "zenoh-shm" ]; + }; + "zenoh-collections" = rec { + crateName = "zenoh-collections"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1h5ahhviz7kxsggfnsfq3lq2mp9il6fbplsq7s71gknxw3x9gf22"; + libName = "zenoh_collections"; + authors = [ + "Luca Cominardi " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "ahash"; + packageId = "ahash"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "ahash/default" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "zenoh-config" = rec { + crateName = "zenoh-config"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1gvlljvmzbf8lp8ilf66xl6xdg3qj3mr11gqf82iwmr961724f8v"; + libName = "zenoh_config"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "json5"; + packageId = "json5"; + } + { + name = "nonempty-collections"; + packageId = "nonempty-collections"; + features = [ "serde" ]; + } + { + name = "num_cpus"; + packageId = "num_cpus"; + } + { + name = "secrecy"; + packageId = "secrecy"; + features = [ "alloc" "serde" ]; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" "default" ]; + } + { + name = "serde_json"; + packageId = "serde_json"; + } + { + name = "serde_with"; + packageId = "serde_with"; + } + { + name = "serde_yaml"; + packageId = "serde_yaml"; + } + { + name = "toml"; + packageId = "toml 0.9.12+spec-1.1.0"; + optional = true; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "uhlc"; + packageId = "uhlc"; + usesDefaultFeatures = false; + } + { + name = "validated_struct"; + packageId = "validated_struct"; + features = [ "json5" "json_get" ]; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-keyexpr"; + packageId = "zenoh-keyexpr"; + usesDefaultFeatures = false; + } + { + name = "zenoh-macros"; + packageId = "zenoh-macros"; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + { + name = "zenoh-util"; + packageId = "zenoh-util"; + } + ]; + features = { + "unstable" = [ "dep:toml" "zenoh-protocol/unstable" ]; + }; + resolvedDefaultFeatures = [ "transport_tcp" "unstable" ]; + }; + "zenoh-core" = rec { + crateName = "zenoh-core"; + version = "1.10.0"; + edition = "2021"; + sha256 = "0i33ddc7azb0axr451ja50x0racvlq9jqdvkl1lfrjwza3vfhdck"; + libName = "zenoh_core"; + authors = [ + "Luca Cominardi " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "lazy_static"; + packageId = "lazy_static"; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "rt" ]; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + { + name = "zenoh-runtime"; + packageId = "zenoh-runtime"; + } + ]; + features = { + "default" = [ "std" ]; + "tracing-instrument" = [ "zenoh-runtime/tracing-instrument" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "zenoh-crypto" = rec { + crateName = "zenoh-crypto"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1vpx22ay7y70b9p7cxdqy1b8dp41c2al52z51kcc8q22k266wj8v"; + libName = "zenoh_crypto"; + authors = [ + "Luca Cominardi " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "aes"; + packageId = "aes"; + } + { + name = "hmac"; + packageId = "hmac"; + features = [ "std" ]; + } + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + { + name = "rand_chacha"; + packageId = "rand_chacha"; + } + { + name = "sha3"; + packageId = "sha3"; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + ]; + + }; + "zenoh-keyexpr" = rec { + crateName = "zenoh-keyexpr"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1psm2bgnbfwly6gp7qjp3cgjzq4sz845pdhjfxhyihsjky6iz2dg"; + libName = "zenoh_keyexpr"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "getrandom"; + packageId = "getrandom 0.2.17"; + } + { + name = "hashbrown"; + packageId = "hashbrown 0.16.1"; + target = { target, features }: (!("std" == target."features" or null)); + } + { + name = "keyed-set"; + packageId = "keyed-set"; + } + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + features = [ "alloc" "getrandom" ]; + } + { + name = "schemars"; + packageId = "schemars 1.2.2"; + optional = true; + features = [ "either1" ]; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" "alloc" ]; + } + { + name = "token-cell"; + packageId = "token-cell"; + usesDefaultFeatures = false; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + ]; + features = { + "default" = [ "std" ]; + "js" = [ "getrandom/js" ]; + "std" = [ "dep:schemars" "zenoh-result/std" ]; + }; + resolvedDefaultFeatures = [ "internal" "std" "unstable" ]; + }; + "zenoh-link" = rec { + crateName = "zenoh-link"; + version = "1.10.0"; + edition = "2021"; + sha256 = "0gcxjy9ajahj7w8mih91ysnd1ifqk1s50qq32inp7xqfvz4rdxq4"; + libName = "zenoh_link"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "zenoh-config"; + packageId = "zenoh-config"; + } + { + name = "zenoh-link-commons"; + packageId = "zenoh-link-commons"; + } + { + name = "zenoh-link-tcp"; + packageId = "zenoh-link-tcp"; + optional = true; + } + { + name = "zenoh-link-udp"; + packageId = "zenoh-link-udp"; + optional = true; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + ]; + features = { + "transport_quic" = [ "zenoh-link-quic" ]; + "transport_quic_datagram" = [ "zenoh-link-quic_datagram" ]; + "transport_serial" = [ "zenoh-link-serial" ]; + "transport_tcp" = [ "zenoh-config/transport_tcp" "zenoh-link-tcp" ]; + "transport_tls" = [ "zenoh-link-tls" ]; + "transport_udp" = [ "zenoh-link-udp" ]; + "transport_unixpipe" = [ "zenoh-link-unixpipe" "zenoh-link-unixpipe/transport_unixpipe" ]; + "transport_unixsock-stream" = [ "zenoh-link-unixsock_stream" ]; + "transport_vsock" = [ "zenoh-link-vsock" ]; + "transport_ws" = [ "zenoh-link-ws" ]; + "uring" = [ "zenoh-link-commons/uring" "zenoh-link-quic/uring" "zenoh-link-quic_datagram/uring" "zenoh-link-serial/uring" "zenoh-link-tcp/uring" "zenoh-link-tls/uring" "zenoh-link-udp/uring" "zenoh-link-unixpipe/uring" "zenoh-link-unixsock_stream/uring" "zenoh-link-vsock/uring" "zenoh-link-ws/uring" ]; + "zenoh-link-quic" = [ "dep:zenoh-link-quic" ]; + "zenoh-link-quic_datagram" = [ "dep:zenoh-link-quic_datagram" ]; + "zenoh-link-serial" = [ "dep:zenoh-link-serial" ]; + "zenoh-link-tcp" = [ "dep:zenoh-link-tcp" ]; + "zenoh-link-tls" = [ "dep:zenoh-link-tls" ]; + "zenoh-link-udp" = [ "dep:zenoh-link-udp" ]; + "zenoh-link-unixpipe" = [ "dep:zenoh-link-unixpipe" ]; + "zenoh-link-unixsock_stream" = [ "dep:zenoh-link-unixsock_stream" ]; + "zenoh-link-vsock" = [ "dep:zenoh-link-vsock" ]; + "zenoh-link-ws" = [ "dep:zenoh-link-ws" ]; + }; + resolvedDefaultFeatures = [ "transport_tcp" "transport_udp" "zenoh-link-tcp" "zenoh-link-udp" ]; + }; + "zenoh-link-commons" = rec { + crateName = "zenoh-link-commons"; + version = "1.10.0"; + edition = "2021"; + sha256 = "0ws8cmgii1m1941w3ynqhvmk5xi040al52dxj424b2agkw811lad"; + libName = "zenoh_link_commons"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "async-trait"; + packageId = "async-trait"; + } + { + name = "base64"; + packageId = "base64"; + optional = true; + } + { + name = "bytes"; + packageId = "bytes"; + optional = true; + } + { + name = "flume"; + packageId = "flume"; + } + { + name = "futures"; + packageId = "futures"; + } + { + name = "quinn"; + packageId = "quinn"; + optional = true; + } + { + name = "quinn-proto"; + packageId = "quinn-proto"; + optional = true; + } + { + name = "rcgen"; + packageId = "rcgen"; + optional = true; + } + { + name = "rustls"; + packageId = "rustls"; + optional = true; + usesDefaultFeatures = false; + features = [ "logging" "ring" "tls12" ]; + } + { + name = "rustls-pemfile"; + packageId = "rustls-pemfile"; + optional = true; + } + { + name = "rustls-pki-types"; + packageId = "rustls-pki-types"; + optional = true; + } + { + name = "rustls-webpki"; + packageId = "rustls-webpki"; + optional = true; + } + { + name = "secrecy"; + packageId = "secrecy"; + optional = true; + features = [ "alloc" "serde" ]; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" "default" ]; + } + { + name = "socket2"; + packageId = "socket2 0.5.10"; + features = [ "all" ]; + } + { + name = "time"; + packageId = "time"; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "fs" "io-util" "net" "sync" "time" ]; + } + { + name = "tokio-util"; + packageId = "tokio-util"; + features = [ "rt" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "webpki-roots"; + packageId = "webpki-roots"; + optional = true; + } + { + name = "x509-parser"; + packageId = "x509-parser"; + optional = true; + } + { + name = "zenoh-buffers"; + packageId = "zenoh-buffers"; + usesDefaultFeatures = false; + } + { + name = "zenoh-codec"; + packageId = "zenoh-codec"; + } + { + name = "zenoh-config"; + packageId = "zenoh-config"; + optional = true; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + { + name = "zenoh-runtime"; + packageId = "zenoh-runtime"; + } + { + name = "zenoh-util"; + packageId = "zenoh-util"; + } + ]; + features = { + "quic" = [ "dep:base64" "dep:bytes" "dep:quinn" "dep:quinn-proto" "dep:rcgen" "dep:rustls-pemfile" "dep:rustls-pki-types" "dep:secrecy" "dep:webpki-roots" "dep:x509-parser" "dep:zenoh-config" "tls" ]; + "tls" = [ "dep:rustls" "dep:rustls-webpki" ]; + "unsecure_quic" = [ "quic" ]; + }; + resolvedDefaultFeatures = [ "quic" "tls" "unsecure_quic" ]; + }; + "zenoh-link-quic_datagram" = rec { + crateName = "zenoh-link-quic_datagram"; + version = "1.10.0"; + edition = "2021"; + sha256 = "0cziba7kacbgjcnc7jphp0dc7ah1r04szpzfxjvpfn4m53fwvclp"; + libName = "zenoh_link_quic_datagram"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "async-trait"; + packageId = "async-trait"; + } + { + name = "rustls-webpki"; + packageId = "rustls-webpki"; + } + { + name = "time"; + packageId = "time"; + } + { + name = "tokio-util"; + packageId = "tokio-util"; + features = [ "rt" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-link-commons"; + packageId = "zenoh-link-commons"; + features = [ "quic" ]; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + ]; + features = { + }; + }; + "zenoh-link-tcp" = rec { + crateName = "zenoh-link-tcp"; + version = "1.10.0"; + edition = "2021"; + sha256 = "18frzyfhm4z6iy1i83p9cjbh29zpqn229f567sghdd88nrpwq0a8"; + libName = "zenoh_link_tcp"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "async-trait"; + packageId = "async-trait"; + } + { + name = "socket2"; + packageId = "socket2 0.5.10"; + features = [ "all" ]; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "io-util" "net" "rt" "time" ]; + } + { + name = "tokio-util"; + packageId = "tokio-util"; + features = [ "rt" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "zenoh-config"; + packageId = "zenoh-config"; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-link-commons"; + packageId = "zenoh-link-commons"; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + ]; + features = { + }; + }; + "zenoh-link-udp" = rec { + crateName = "zenoh-link-udp"; + version = "1.10.0"; + edition = "2021"; + sha256 = "14a0plwaq7qzipr49m0c1smzb6gbyfp8ldd80b032hdry2va11b7"; + libName = "zenoh_link_udp"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "async-trait"; + packageId = "async-trait"; + } + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (builtins.elem "unix" target."family"); + } + { + name = "socket2"; + packageId = "socket2 0.5.10"; + features = [ "all" ]; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "io-util" "net" "rt" "time" ]; + } + { + name = "tokio-util"; + packageId = "tokio-util"; + features = [ "rt" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "windows-sys"; + packageId = "windows-sys 0.61.2"; + target = { target, features }: (builtins.elem "windows" target."family"); + features = [ "Win32_Foundation" "Win32_Networking_WinSock" "Win32_System_IO" ]; + } + { + name = "zenoh-buffers"; + packageId = "zenoh-buffers"; + usesDefaultFeatures = false; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-link-commons"; + packageId = "zenoh-link-commons"; + features = [ "unsecure_quic" ]; + } + { + name = "zenoh-link-quic_datagram"; + packageId = "zenoh-link-quic_datagram"; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + { + name = "zenoh-sync"; + packageId = "zenoh-sync"; + } + { + name = "zenoh-util"; + packageId = "zenoh-util"; + } + ]; + features = { + }; + }; + "zenoh-macros" = rec { + crateName = "zenoh-macros"; + version = "1.10.0"; + edition = "2021"; + sha256 = "01ql4ncr67vjhpbfry361qa55lg0ax962iid80khbkv6w76kr08c"; + procMacro = true; + libName = "zenoh_macros"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + { + name = "zenoh-keyexpr"; + packageId = "zenoh-keyexpr"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + ]; + + }; + "zenoh-plugin-trait" = rec { + crateName = "zenoh-plugin-trait"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1n3s6pjwph1nniaq05b9hqwg0q3ddzsmv8sqx7rv59bmhrlrvkcm"; + libName = "zenoh_plugin_trait"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "git-version"; + packageId = "git-version"; + } + { + name = "libloading"; + packageId = "libloading"; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + { + name = "stabby"; + packageId = "stabby"; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "zenoh-config"; + packageId = "zenoh-config"; + } + { + name = "zenoh-keyexpr"; + packageId = "zenoh-keyexpr"; + usesDefaultFeatures = false; + features = [ "internal" "unstable" ]; + } + { + name = "zenoh-macros"; + packageId = "zenoh-macros"; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + { + name = "zenoh-util"; + packageId = "zenoh-util"; + } + ]; + + }; + "zenoh-protocol" = rec { + crateName = "zenoh-protocol"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1bbr7dbw40vwqfkw0d5zsfnh97aqlvcv7m4jcz5x68clavi0amff"; + libName = "zenoh_protocol"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "const_format"; + packageId = "const_format"; + } + { + name = "rand"; + packageId = "rand 0.8.7"; + optional = true; + usesDefaultFeatures = false; + features = [ "alloc" "getrandom" ]; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" "alloc" ]; + } + { + name = "uhlc"; + packageId = "uhlc"; + usesDefaultFeatures = false; + } + { + name = "zenoh-buffers"; + packageId = "zenoh-buffers"; + usesDefaultFeatures = false; + } + { + name = "zenoh-keyexpr"; + packageId = "zenoh-keyexpr"; + usesDefaultFeatures = false; + } + { + name = "zenoh-macros"; + packageId = "zenoh-macros"; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + ]; + features = { + "default" = [ "std" ]; + "rand" = [ "dep:rand" ]; + "shared-memory" = [ "std" "zenoh-buffers/shared-memory" ]; + "std" = [ "rand?/std" "rand?/std_rng" "serde/std" "uhlc/std" "zenoh-buffers/std" "zenoh-keyexpr/std" "zenoh-result/std" ]; + "test" = [ "rand" "zenoh-buffers/test" ]; + }; + resolvedDefaultFeatures = [ "shared-memory" "std" "unstable" ]; + }; + "zenoh-result" = rec { + crateName = "zenoh-result"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1kyc8aizkbxgbp422ph1hpixkzvw7h4m6864jd1y1pyn2wsj08yg"; + libName = "zenoh_result"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "anyhow"; + packageId = "anyhow"; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "std" ]; + "std" = [ "anyhow/std" ]; + }; + resolvedDefaultFeatures = [ "default" "std" ]; + }; + "zenoh-runtime" = rec { + crateName = "zenoh-runtime"; + version = "1.10.0"; + edition = "2021"; + sha256 = "0r46swz4l61gyzw4lryhl1ya3s0xcrs94r4n4jrb145021rjrxyx"; + libName = "zenoh_runtime"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "lazy_static"; + packageId = "lazy_static"; + } + { + name = "ron"; + packageId = "ron"; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "fs" "io-util" "macros" "net" "rt-multi-thread" "sync" "time" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "zenoh-macros"; + packageId = "zenoh-macros"; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + features = [ "std" ]; + } + ]; + features = { + }; + }; + "zenoh-shm" = rec { + crateName = "zenoh-shm"; + version = "1.10.0"; + edition = "2021"; + sha256 = "0d2pzc2q0i24nxzv1n4v4rcp2vhdl5dkq413vbmgvqvbsgwrzx6q"; + libName = "zenoh_shm"; + authors = [ + "Luca Cominardi " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "advisory-lock"; + packageId = "advisory-lock"; + target = { target, features }: (target."unix" or false); + } + { + name = "async-trait"; + packageId = "async-trait"; + } + { + name = "buddy_system_allocator"; + packageId = "buddy_system_allocator"; + } + { + name = "crossbeam-channel"; + packageId = "crossbeam-channel"; + } + { + name = "crossbeam-queue"; + packageId = "crossbeam-queue"; + } + { + name = "nix"; + packageId = "nix"; + target = { target, features }: (target."unix" or false); + features = [ "fs" "fs" "mman" ]; + } + { + name = "num-traits"; + packageId = "num-traits"; + usesDefaultFeatures = false; + } + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + features = [ "std" "std_rng" ]; + } + { + name = "rlimit"; + packageId = "rlimit"; + target = { target, features }: (target."unix" or false); + } + { + name = "stabby"; + packageId = "stabby"; + } + { + name = "static_assertions"; + packageId = "static_assertions"; + } + { + name = "static_init"; + packageId = "static_init"; + } + { + name = "talc"; + packageId = "talc"; + usesDefaultFeatures = false; + } + { + name = "thread-priority"; + packageId = "thread-priority"; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "win-sys"; + packageId = "win-sys"; + target = { target, features }: (target."windows" or false); + } + { + name = "winapi"; + packageId = "winapi"; + target = { target, features }: (target."windows" or false); + features = [ "iphlpapi" "memoryapi" "winerror" ]; + } + { + name = "zenoh-buffers"; + packageId = "zenoh-buffers"; + usesDefaultFeatures = false; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-macros"; + packageId = "zenoh-macros"; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + ]; + features = { + "num_cpus" = [ "dep:num_cpus" ]; + "test" = [ "num_cpus" ]; + }; + }; + "zenoh-stats" = rec { + crateName = "zenoh-stats"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1x01zys27cwa37plwzvij5lryg4fxl8lqk4d2dj8h3cy6m8xa47n"; + libName = "zenoh_stats"; + authors = [ + "Luca Cominardi " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "ahash"; + packageId = "ahash"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + { + name = "prometheus-client"; + packageId = "prometheus-client"; + } + { + name = "serde_json"; + packageId = "serde_json"; + } + { + name = "smallvec"; + packageId = "smallvec"; + } + { + name = "zenoh-keyexpr"; + packageId = "zenoh-keyexpr"; + usesDefaultFeatures = false; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + } + ]; + features = { + "shared-memory" = [ "zenoh-protocol/shared-memory" ]; + }; + resolvedDefaultFeatures = [ "shared-memory" ]; + }; + "zenoh-sync" = rec { + crateName = "zenoh-sync"; + version = "1.10.0"; + edition = "2021"; + sha256 = "0nwk4wssk4lgl653hng9c8j87dkq2527icp6sfmync0gkgxai4lp"; + libName = "zenoh_sync"; + authors = [ + "Luca Cominardi " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "arc-swap"; + packageId = "arc-swap"; + } + { + name = "event-listener"; + packageId = "event-listener"; + } + { + name = "futures"; + packageId = "futures"; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "sync" ]; + } + { + name = "zenoh-buffers"; + packageId = "zenoh-buffers"; + usesDefaultFeatures = false; + } + { + name = "zenoh-collections"; + packageId = "zenoh-collections"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + ]; + devDependencies = [ + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "macros" "rt-multi-thread" "sync" "time" ]; + } + ]; + + }; + "zenoh-task" = rec { + crateName = "zenoh-task"; + version = "1.10.0"; + edition = "2021"; + sha256 = "0kadpbrmcyh0i3g2brx4mry5mpvf5qq5jjgkxd5q4vhcgdsikd7v"; + libName = "zenoh_task"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "futures"; + packageId = "futures"; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "default" "sync" ]; + } + { + name = "tokio-util"; + packageId = "tokio-util"; + features = [ "rt" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-runtime"; + packageId = "zenoh-runtime"; + } + ]; + features = { + "tracing-instrument" = [ "zenoh-runtime/tracing-instrument" ]; + }; + }; + "zenoh-transport" = rec { + crateName = "zenoh-transport"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1bqp03hzcpwhzvrlz76dcia2r22rlgab9r0sc1y09mv6q30iwhzw"; + libName = "zenoh_transport"; + authors = [ + "Julien Enoch " + "Luca Cominardi " + "Olivier Hécart " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "async-trait"; + packageId = "async-trait"; + } + { + name = "crossbeam-utils"; + packageId = "crossbeam-utils"; + } + { + name = "flume"; + packageId = "flume"; + } + { + name = "futures"; + packageId = "futures"; + } + { + name = "lazy_static"; + packageId = "lazy_static"; + } + { + name = "lockfree"; + packageId = "lockfree"; + optional = true; + } + { + name = "lz4_flex"; + packageId = "lz4_flex"; + } + { + name = "rand"; + packageId = "rand 0.8.7"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + { + name = "ringbuffer-spsc"; + packageId = "ringbuffer-spsc"; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" "default" ]; + } + { + name = "sha3"; + packageId = "sha3"; + } + { + name = "static_init"; + packageId = "static_init"; + optional = true; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "fs" "io-util" "macros" "net" "rt-multi-thread" "sync" "time" ]; + } + { + name = "tokio-util"; + packageId = "tokio-util"; + features = [ "rt" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "zenoh-buffers"; + packageId = "zenoh-buffers"; + usesDefaultFeatures = false; + } + { + name = "zenoh-codec"; + packageId = "zenoh-codec"; + } + { + name = "zenoh-config"; + packageId = "zenoh-config"; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-crypto"; + packageId = "zenoh-crypto"; + } + { + name = "zenoh-link"; + packageId = "zenoh-link"; + } + { + name = "zenoh-link-commons"; + packageId = "zenoh-link-commons"; + } + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + } + { + name = "zenoh-runtime"; + packageId = "zenoh-runtime"; + } + { + name = "zenoh-shm"; + packageId = "zenoh-shm"; + optional = true; + } + { + name = "zenoh-stats"; + packageId = "zenoh-stats"; + optional = true; + } + { + name = "zenoh-sync"; + packageId = "zenoh-sync"; + } + { + name = "zenoh-task"; + packageId = "zenoh-task"; + } + { + name = "zenoh-util"; + packageId = "zenoh-util"; + } + ]; + devDependencies = [ + { + name = "zenoh-protocol"; + packageId = "zenoh-protocol"; + usesDefaultFeatures = false; + features = [ "test" ]; + } + { + name = "zenoh-util"; + packageId = "zenoh-util"; + } + ]; + features = { + "auth_pubkey" = [ "rsa" "transport_auth" ]; + "auth_usrpwd" = [ "transport_auth" ]; + "default" = [ "test" "transport_multilink" ]; + "lockfree" = [ "dep:lockfree" ]; + "rsa" = [ "dep:rsa" ]; + "shared-memory" = [ "lockfree" "static_init" "zenoh-buffers/shared-memory" "zenoh-codec/shared-memory" "zenoh-protocol/shared-memory" "zenoh-shm" "zenoh-stats?/shared-memory" ]; + "static_init" = [ "dep:static_init" ]; + "stats" = [ "zenoh-stats" ]; + "transport_multilink" = [ "auth_pubkey" ]; + "transport_quic" = [ "zenoh-link/transport_quic" ]; + "transport_quic_datagram" = [ "zenoh-link/transport_quic_datagram" ]; + "transport_serial" = [ "zenoh-link/transport_serial" ]; + "transport_tcp" = [ "zenoh-config/transport_tcp" "zenoh-link/transport_tcp" ]; + "transport_tls" = [ "zenoh-link/transport_tls" ]; + "transport_udp" = [ "zenoh-link/transport_udp" ]; + "transport_unixpipe" = [ "zenoh-link/transport_unixpipe" ]; + "transport_unixsock-stream" = [ "zenoh-link/transport_unixsock-stream" ]; + "transport_vsock" = [ "zenoh-link/transport_vsock" ]; + "transport_ws" = [ "zenoh-link/transport_ws" ]; + "unstable" = [ "zenoh-config/unstable" "zenoh-protocol/unstable" ]; + "uring" = [ "zenoh-link/uring" "zenoh-uring" ]; + "zenoh-shm" = [ "dep:zenoh-shm" ]; + "zenoh-stats" = [ "dep:zenoh-stats" ]; + "zenoh-uring" = [ "dep:zenoh-uring" ]; + }; + resolvedDefaultFeatures = [ "lockfree" "shared-memory" "static_init" "transport_tcp" "transport_udp" "unstable" "zenoh-shm" ]; + }; + "zenoh-util" = rec { + crateName = "zenoh-util"; + version = "1.10.0"; + edition = "2021"; + sha256 = "1q04j3nx1am1cf75gpsg8j70qh5inh6m5jj9rcxlavv38hqb369z"; + libName = "zenoh_util"; + authors = [ + "Luca Cominardi " + "Pierre Avital " + "kydos " + ]; + dependencies = [ + { + name = "async-trait"; + packageId = "async-trait"; + } + { + name = "const_format"; + packageId = "const_format"; + } + { + name = "flume"; + packageId = "flume"; + } + { + name = "home"; + packageId = "home"; + } + { + name = "humantime"; + packageId = "humantime"; + } + { + name = "lazy_static"; + packageId = "lazy_static"; + } + { + name = "libc"; + packageId = "libc"; + target = { target, features }: (target."unix" or false); + } + { + name = "libloading"; + packageId = "libloading"; + } + { + name = "pnet_datalink"; + packageId = "pnet_datalink"; + target = { target, features }: (target."unix" or false); + } + { + name = "schemars"; + packageId = "schemars 1.2.2"; + features = [ "either1" ]; + } + { + name = "serde"; + packageId = "serde"; + usesDefaultFeatures = false; + features = [ "derive" "default" ]; + } + { + name = "serde_json"; + packageId = "serde_json"; + } + { + name = "shellexpand"; + packageId = "shellexpand"; + } + { + name = "tokio"; + packageId = "tokio"; + usesDefaultFeatures = false; + features = [ "net" "time" ]; + } + { + name = "tracing"; + packageId = "tracing"; + } + { + name = "tracing-subscriber"; + packageId = "tracing-subscriber"; + features = [ "env-filter" "json" ]; + } + { + name = "winapi"; + packageId = "winapi"; + target = { target, features }: (target."windows" or false); + features = [ "iphlpapi" "memoryapi" "winerror" ]; + } + { + name = "zenoh-core"; + packageId = "zenoh-core"; + } + { + name = "zenoh-result"; + packageId = "zenoh-result"; + usesDefaultFeatures = false; + features = [ "default" ]; + } + ]; + features = { + }; + }; + "zerocopy" = rec { + crateName = "zerocopy"; + version = "0.8.56"; + edition = "2021"; + sha256 = "1svmifchgdk0sm7v24lfwhhxis57gwa2lg21ingmmd5dhgjn8rsm"; + dependencies = [ + { + name = "zerocopy-derive"; + packageId = "zerocopy-derive"; + optional = true; + } + { + name = "zerocopy-derive"; + packageId = "zerocopy-derive"; + target = { target, features }: false; + } + ]; + devDependencies = [ + { + name = "zerocopy-derive"; + packageId = "zerocopy-derive"; + } + ]; + features = { + "__internal_use_only_features_that_work_on_stable" = [ "alloc" "derive" "simd" "std" ]; + "derive" = [ "zerocopy-derive" ]; + "simd-nightly" = [ "simd" ]; + "std" = [ "alloc" ]; + "zerocopy-derive" = [ "dep:zerocopy-derive" ]; + }; + resolvedDefaultFeatures = [ "simd" ]; + }; + "zerocopy-derive" = rec { + crateName = "zerocopy-derive"; + version = "0.8.56"; + edition = "2021"; + sha256 = "1hfz1hfxj86y1sgyia8gbisny9bl9bwlbahg4jypjmsp43y45azj"; + procMacro = true; + libName = "zerocopy_derive"; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "full" ]; + } + ]; + devDependencies = [ + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "visit" ]; + } + ]; + + }; + "zerofrom" = rec { + crateName = "zerofrom"; + version = "0.1.8"; + edition = "2021"; + sha256 = "0wjjdj7gdmd0iq91gzkxl7dlv0nhkk80l4bmdpzh3a1yh48mmh0f"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "zerofrom-derive"; + packageId = "zerofrom-derive"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "default" = [ "alloc" ]; + "derive" = [ "dep:zerofrom-derive" ]; + }; + resolvedDefaultFeatures = [ "derive" ]; + }; + "zerofrom-derive" = rec { + crateName = "zerofrom-derive"; + version = "0.1.7"; + edition = "2021"; + sha256 = "18c4wsnznhdxx6m80piil1lbyszdiwsshgjrybqcm4b6qic22lqi"; + procMacro = true; + libName = "zerofrom_derive"; + authors = [ + "Manish Goregaokar " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 2.0.119"; + features = [ "fold" ]; + } + { + name = "synstructure"; + packageId = "synstructure"; + } + ]; + + }; + "zeroize" = rec { + crateName = "zeroize"; + version = "1.9.0"; + edition = "2024"; + sha256 = "0kpnij2v1ig6g2mhc0bnci0lrdfdhiq40afbc0fahajqc9jiag71"; + authors = [ + "The RustCrypto Project Developers" + ]; + features = { + "default" = [ "alloc" ]; + "derive" = [ "zeroize_derive" ]; + "serde" = [ "dep:serde" ]; + "std" = [ "alloc" ]; + "zeroize_derive" = [ "dep:zeroize_derive" ]; + }; + resolvedDefaultFeatures = [ "alloc" "default" ]; + }; + "zerotrie" = rec { + crateName = "zerotrie"; + version = "0.2.5"; + edition = "2021"; + sha256 = "0gss16krjzk22m57dz5hkdjg99ibj6pa41qr68na7w1jpp1nk8jf"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "displaydoc"; + packageId = "displaydoc"; + usesDefaultFeatures = false; + } + { + name = "yoke"; + packageId = "yoke"; + optional = true; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + { + name = "zerofrom"; + packageId = "zerofrom"; + optional = true; + usesDefaultFeatures = false; + } + ]; + features = { + "alloc" = [ "zerovec?/alloc" ]; + "databake" = [ "dep:databake" "zerovec?/databake" ]; + "dense" = [ "dep:zerovec" ]; + "litemap" = [ "dep:litemap" "alloc" ]; + "serde" = [ "dep:serde_core" "dep:litemap" "alloc" "litemap/serde" "zerovec?/serde" ]; + "yoke" = [ "dep:yoke" ]; + "zerofrom" = [ "dep:zerofrom" ]; + "zerovec" = [ "dep:zerovec" ]; + }; + resolvedDefaultFeatures = [ "yoke" "zerofrom" ]; + }; + "zerovec" = rec { + crateName = "zerovec"; + version = "0.11.8"; + edition = "2021"; + sha256 = "1n3xlvyba8riys9s8awy4xp533phqycr78nbsmvdkh86g3hn815v"; + authors = [ + "The ICU4X Project Developers" + ]; + dependencies = [ + { + name = "yoke"; + packageId = "yoke"; + optional = true; + usesDefaultFeatures = false; + } + { + name = "zerofrom"; + packageId = "zerofrom"; + usesDefaultFeatures = false; + } + { + name = "zerovec-derive"; + packageId = "zerovec-derive"; + optional = true; + usesDefaultFeatures = false; + } + ]; + devDependencies = [ + { + name = "yoke"; + packageId = "yoke"; + usesDefaultFeatures = false; + features = [ "derive" ]; + } + ]; + features = { + "alloc" = [ "serde?/alloc" ]; + "databake" = [ "dep:databake" ]; + "derive" = [ "dep:zerovec-derive" ]; + "hashmap" = [ "dep:twox-hash" "alloc" ]; + "schemars" = [ "dep:schemars" "alloc" ]; + "serde" = [ "dep:serde" ]; + "yoke" = [ "dep:yoke" ]; + }; + resolvedDefaultFeatures = [ "derive" "yoke" ]; + }; + "zerovec-derive" = rec { + crateName = "zerovec-derive"; + version = "0.11.6"; + edition = "2021"; + sha256 = "1ni5j8v99x3fcf3l8kp64b7aq4vf8y22jshfq74xs9mxkp1nzprl"; + procMacro = true; + libName = "zerovec_derive"; + authors = [ + "Manish Goregaokar " + ]; + dependencies = [ + { + name = "proc-macro2"; + packageId = "proc-macro2"; + } + { + name = "quote"; + packageId = "quote"; + } + { + name = "syn"; + packageId = "syn 3.0.4"; + features = [ "extra-traits" ]; + } + ]; + + }; + "zmij" = rec { + crateName = "zmij"; + version = "1.0.23"; + edition = "2021"; + sha256 = "06zwri21nnrl34rwinmvbciap8yk1mrl8qfg9pff7lgspc56sri9"; + authors = [ + "David Tolnay " + ]; + features = { + "no-panic" = [ "dep:no-panic" ]; + }; + }; + }; + + # +# crate2nix/default.nix (excerpt start) +# + + /* + Target (platform) data for conditional dependencies. + This corresponds roughly to what buildRustCrate is setting. + */ + makeDefaultTarget = platform: { + name = platform.rust.rustcTarget; + + unix = platform.isUnix; + windows = platform.isWindows; + fuchsia = true; + test = false; + + inherit (platform.rust.platform) + arch + os + vendor + ; + family = platform.rust.platform.target-family; + env = "gnu"; + endian = if platform.parsed.cpu.significantByte.name == "littleEndian" then "little" else "big"; + pointer_width = toString platform.parsed.cpu.bits; + debug_assertions = false; + } // extraTargetFlags; + + registryUrl = + { registries + , url + , crate + , version + , sha256 + , + }: + let + dl = registries.${url}.dl; + tmpl = [ + "{crate}" + "{version}" + "{prefix}" + "{lowerprefix}" + "{sha256-checksum}" + ]; + in + with lib.strings; + if lib.lists.any (i: hasInfix "{}" dl) tmpl then + let + prefix = + if builtins.stringLength crate == 1 then + "1" + else if builtins.stringLength crate == 2 then + "2" + else + "${builtins.substring 0 2 crate}/${builtins.substring 2 (builtins.stringLength crate - 2) crate}"; + in + builtins.replaceStrings tmpl [ + crate + version + prefix + (lib.strings.toLower prefix) + sha256 + ] + else + "${dl}/${crate}/${version}/download"; + + # Filters common temp files and build files. + # TODO(pkolloch): Substitute with gitignore filter + sourceFilter = + name: type: + let + baseName = builtins.baseNameOf (builtins.toString name); + in + !( + # Filter out git + baseName == ".gitignore" + || (type == "directory" && baseName == ".git") + + # Filter out build results + || ( + type == "directory" + && ( + baseName == "target" + || baseName == "_site" + || baseName == ".sass-cache" + || baseName == ".jekyll-metadata" + || baseName == "build-artifacts" + ) + ) + + # Filter out nix-build result symlinks + || (type == "symlink" && lib.hasPrefix "result" baseName) + + # Filter out IDE config + || (type == "directory" && (baseName == ".idea" || baseName == ".vscode")) + || lib.hasSuffix ".iml" baseName + + # Filter out nix build files + || baseName == "Cargo.nix" + + # Filter out editor backup / swap files. + || lib.hasSuffix "~" baseName + || builtins.match "^\\.sw[a-z]$$" baseName != null + || builtins.match "^\\..*\\.sw[a-z]$$" baseName != null + || lib.hasSuffix ".tmp" baseName + || lib.hasSuffix ".bak" baseName + || baseName == "tests.nix" + ); + + /* + Returns a crate which depends on successful test execution + of crate given as the second argument. + + testCrateFlags: list of flags to pass to the test exectuable + testInputs: list of packages that should be available during test execution + */ + crateWithTest = + { crate + , testCrate + , testCrateFlags + , testInputs + , testPreRun + , testPostRun + , + }: + assert builtins.typeOf testCrateFlags == "list"; + assert builtins.typeOf testInputs == "list"; + assert builtins.typeOf testPreRun == "string"; + assert builtins.typeOf testPostRun == "string"; + let + # override the `crate` so that it will build and execute tests instead of + # building the actual lib and bin targets We just have to pass `--test` + # to rustc and it will do the right thing. We execute the tests and copy + # their log and the test executables to $out for later inspection. + test = + let + drv = testCrate.override (_: { + buildTests = true; + }); + # If the user hasn't set any pre/post commands, we don't want to + # insert empty lines. This means that any existing users of crate2nix + # don't get a spurious rebuild unless they set these explicitly. + testCommand = pkgs.lib.concatStringsSep "\n" ( + pkgs.lib.filter (s: s != "") [ + testPreRun + "$f $testCrateFlags 2>&1 | tee -a $out" + testPostRun + ] + ); + in + pkgs.stdenvNoCC.mkDerivation { + name = "run-tests-${testCrate.name}"; + + inherit (crate) src; + + inherit testCrateFlags; + + buildInputs = testInputs; + + buildPhase = '' + set -e + export RUST_BACKTRACE=1 + + # build outputs + testRoot=target/debug + mkdir -p $testRoot + + # executables of the crate + # we copy to prevent std::env::current_exe() to resolve to a store location + for i in ${crate}/bin/*; do + cp "$i" "$testRoot" + done + chmod +w -R . + + # test harness executables are suffixed with a hash, like cargo does + # this allows to prevent name collision with the main + # executables of the crate + hash=$(basename $out) + for file in ${drv}/tests/*; do + f=$testRoot/$(basename $file)-$hash + cp $file $f + ${testCommand} + done + ''; + }; + in + pkgs.runCommand "${crate.name}-linked" + { + inherit (crate) outputs crateName meta; + passthru = (crate.passthru or { }) // { + inherit test; + }; + } + ( + lib.optionalString (stdenv.buildPlatform.canExecute stdenv.hostPlatform) '' + echo tested by ${test} + '' + + '' + ${lib.concatMapStringsSep "\n" (output: "ln -s ${crate.${output}} ${"$"}${output}") crate.outputs} + '' + ); + + # A restricted overridable version of builtRustCratesWithFeatures. + buildRustCrateWithFeatures = + { packageId + , features ? rootFeatures + , crateOverrides ? defaultCrateOverrides + , buildRustCrateForPkgsFunc ? null + , runTests ? false + , testCrateFlags ? [ ] + , testInputs ? [ ] + , # Any command to run immediatelly before a test is executed. + testPreRun ? "" + , # Any command run immediatelly after a test is executed. + testPostRun ? "" + , + }: + lib.makeOverridable + ( + { features + , crateOverrides + , runTests + , testCrateFlags + , testInputs + , testPreRun + , testPostRun + , + }: + let + buildRustCrateForPkgsFuncOverriden = + if buildRustCrateForPkgsFunc != null then + buildRustCrateForPkgsFunc + else + ( + if crateOverrides == pkgs.defaultCrateOverrides then + buildRustCrateForPkgs + else + pkgs: + (buildRustCrateForPkgs pkgs).override { + defaultCrateOverrides = crateOverrides; + } + ); + builtRustCrates = builtRustCratesWithFeatures { + inherit packageId features; + buildRustCrateForPkgsFunc = buildRustCrateForPkgsFuncOverriden; + runTests = false; + }; + builtTestRustCrates = builtRustCratesWithFeatures { + inherit packageId features; + buildRustCrateForPkgsFunc = buildRustCrateForPkgsFuncOverriden; + runTests = true; + }; + drv = builtRustCrates.crates.${packageId}; + testDrv = builtTestRustCrates.crates.${packageId}; + derivation = + if runTests then + crateWithTest + { + crate = drv; + testCrate = testDrv; + inherit + testCrateFlags + testInputs + testPreRun + testPostRun + ; + } + else + drv; + in + derivation + ) + { + inherit + features + crateOverrides + runTests + testCrateFlags + testInputs + testPreRun + testPostRun + ; + }; + + /* + Returns an attr set with packageId mapped to the result of buildRustCrateForPkgsFunc + for the corresponding crate. + */ + builtRustCratesWithFeatures = + { packageId + , features + , crateConfigs ? crates + , buildRustCrateForPkgsFunc + , runTests + , makeTarget ? makeDefaultTarget + , + }@args: + assert (builtins.isAttrs crateConfigs); + assert (builtins.isString packageId); + assert (builtins.isList features); + assert (builtins.isAttrs (makeTarget stdenv.hostPlatform)); + assert (builtins.isBool runTests); + let + rootPackageId = packageId; + mergedFeatures = mergePackageFeatures ( + args + // { + inherit rootPackageId; + target = makeTarget stdenv.hostPlatform // { + test = runTests; + }; + } + ); + # Memoize built packages so that reappearing packages are only built once. + builtByPackageIdByPkgs = mkBuiltByPackageIdByPkgs pkgs; + mkBuiltByPackageIdByPkgs = + pkgs: + let + self = { + crates = lib.mapAttrs + ( + packageId: value: buildByPackageIdForPkgsImpl self pkgs packageId + ) + crateConfigs; + target = makeTarget pkgs.stdenv.hostPlatform; + build = mkBuiltByPackageIdByPkgs pkgs.buildPackages; + }; + in + self; + buildByPackageIdForPkgsImpl = + self: pkgs: packageId: + let + features = mergedFeatures."${packageId}" or [ ]; + crateConfig' = crateConfigs."${packageId}"; + crateConfig = builtins.removeAttrs crateConfig' [ + "resolvedDefaultFeatures" + "devDependencies" + ]; + devDependencies = lib.optionals (runTests && packageId == rootPackageId) ( + crateConfig'.devDependencies or [ ] + ); + dependencies = dependencyDerivations { + inherit features; + inherit (self) target; + buildByPackageId = + depPackageId: + # proc_macro crates must be compiled for the build architecture + if crateConfigs.${depPackageId}.procMacro or false then + self.build.crates.${depPackageId} + else + self.crates.${depPackageId}; + dependencies = (crateConfig.dependencies or [ ]) ++ devDependencies; + }; + buildDependencies = dependencyDerivations { + inherit features; + inherit (self.build) target; + buildByPackageId = depPackageId: self.build.crates.${depPackageId}; + dependencies = crateConfig.buildDependencies or [ ]; + }; + dependenciesWithRenames = + let + buildDeps = filterEnabledDependencies { + inherit features; + inherit (self) target; + dependencies = crateConfig.dependencies or [ ] ++ devDependencies; + }; + hostDeps = filterEnabledDependencies { + inherit features; + inherit (self.build) target; + dependencies = crateConfig.buildDependencies or [ ]; + }; + in + lib.filter (d: d ? "rename") (hostDeps ++ buildDeps); + # Crate renames have the form: + # + # { + # crate_name = [ + # { version = "1.2.3"; rename = "crate_name01"; } + # ]; + # # ... + # } + crateRenames = + let + grouped = lib.groupBy (dependency: dependency.name) dependenciesWithRenames; + versionAndRename = + dep: + let + package = crateConfigs."${dep.packageId}"; + in + { + inherit (dep) rename; + inherit (package) version; + }; + in + lib.mapAttrs (name: builtins.map versionAndRename) grouped; + in + buildRustCrateForPkgsFunc pkgs ( + crateConfig + // { + src = + crateConfig.src or (fetchurl rec { + name = "${crateConfig.crateName}-${crateConfig.version}.tar.gz"; + # https://www.pietroalbini.org/blog/downloading-crates-io/ + # Not rate-limited, CDN URL. + url = "https://static.crates.io/crates/${crateConfig.crateName}/${crateConfig.crateName}-${crateConfig.version}.crate"; + sha256 = + assert (lib.assertMsg (crateConfig ? sha256) "Missing sha256 for ${name}"); + crateConfig.sha256; + }); + extraRustcOpts = + lib.lists.optional (targetFeatures != [ ]) + "-C target-feature=${lib.concatMapStringsSep "," (x: "+${x}") targetFeatures}"; + inherit + features + dependencies + buildDependencies + crateRenames + release + ; + } + ); + in + builtByPackageIdByPkgs; + + # Returns the actual derivations for the given dependencies. + dependencyDerivations = + { buildByPackageId + , features + , dependencies + , target + , + }: + assert (builtins.isList features); + assert (builtins.isList dependencies); + assert (builtins.isAttrs target); + let + enabledDependencies = filterEnabledDependencies { + inherit dependencies features target; + }; + depDerivation = dependency: buildByPackageId dependency.packageId; + in + map depDerivation enabledDependencies; + + /* + Returns a sanitized version of val with all values substituted that cannot + be serialized as JSON. + */ + sanitizeForJson = + val: + if builtins.isAttrs val then + lib.mapAttrs (n: sanitizeForJson) val + else if builtins.isList val then + builtins.map sanitizeForJson val + else if builtins.isFunction val then + "function" + else + val; + + # Returns various tools to debug a crate. + debugCrate = + { packageId + , target ? makeDefaultTarget stdenv.hostPlatform + , + }: + assert (builtins.isString packageId); + let + debug = rec { + # The built tree as passed to buildRustCrate. + buildTree = buildRustCrateWithFeatures { + buildRustCrateForPkgsFunc = _: lib.id; + inherit packageId; + }; + sanitizedBuildTree = sanitizeForJson buildTree; + dependencyTree = sanitizeForJson (buildRustCrateWithFeatures { + buildRustCrateForPkgsFunc = _: crate: { + "01_crateName" = crate.crateName or false; + "02_features" = crate.features or [ ]; + "03_dependencies" = crate.dependencies or [ ]; + }; + inherit packageId; + }); + mergedPackageFeatures = mergePackageFeatures { + features = rootFeatures; + inherit packageId target; + }; + diffedDefaultPackageFeatures = diffDefaultPackageFeatures { + inherit packageId target; + }; + }; + in + { + internal = debug; + }; + + /* + Returns differences between cargo default features and crate2nix default + features. + + This is useful for verifying the feature resolution in crate2nix. + */ + diffDefaultPackageFeatures = + { crateConfigs ? crates + , packageId + , target + , + }: + assert (builtins.isAttrs crateConfigs); + let + prefixValues = prefix: lib.mapAttrs (n: v: { "${prefix}" = v; }); + mergedFeatures = prefixValues "crate2nix" (mergePackageFeatures { + inherit crateConfigs packageId target; + features = [ "default" ]; + }); + configs = prefixValues "cargo" crateConfigs; + combined = lib.foldAttrs (a: b: a // b) { } [ + mergedFeatures + configs + ]; + onlyInCargo = builtins.attrNames ( + lib.filterAttrs (n: v: !(v ? "crate2nix") && (v ? "cargo")) combined + ); + onlyInCrate2Nix = builtins.attrNames ( + lib.filterAttrs (n: v: (v ? "crate2nix") && !(v ? "cargo")) combined + ); + differentFeatures = lib.filterAttrs + ( + n: v: + (v ? "crate2nix") + && (v ? "cargo") + && (v.crate2nix.features or [ ]) != (v."cargo".resolved_default_features or [ ]) + ) + combined; + in + builtins.toJSON { + inherit onlyInCargo onlyInCrate2Nix differentFeatures; + }; + + /* + Returns an attrset mapping packageId to the list of enabled features. + + If multiple paths to a dependency enable different features, the + corresponding feature sets are merged. Features in rust are additive. + */ + mergePackageFeatures = + { crateConfigs ? crates + , packageId + , rootPackageId ? packageId + , features ? rootFeatures + , dependencyPath ? [ crates.${packageId}.crateName ] + , featuresByPackageId ? { } + , target + , # Adds devDependencies to the crate with rootPackageId. + runTests ? false + , ... + }@args: + assert (builtins.isAttrs crateConfigs); + assert (builtins.isString packageId); + assert (builtins.isString rootPackageId); + assert (builtins.isList features); + assert (builtins.isList dependencyPath); + assert (builtins.isAttrs featuresByPackageId); + assert (builtins.isAttrs target); + assert (builtins.isBool runTests); + let + crateConfig = crateConfigs."${packageId}" or (builtins.throw "Package not found: ${packageId}"); + expandedFeatures = expandFeatures (crateConfig.features or { }) features; + enabledFeatures = enableFeatures (crateConfig.dependencies or [ ]) expandedFeatures; + depWithResolvedFeatures = + dependency: + let + inherit (dependency) packageId; + features = dependencyFeatures enabledFeatures dependency; + in + { + inherit packageId features; + }; + resolveDependencies = + cache: path: dependencies: + assert (builtins.isAttrs cache); + assert (builtins.isList dependencies); + let + enabledDependencies = filterEnabledDependencies { + inherit dependencies target; + features = enabledFeatures; + }; + directDependencies = map depWithResolvedFeatures enabledDependencies; + foldOverCache = op: lib.foldl op cache directDependencies; + in + foldOverCache ( + cache: + { packageId, features }: + let + cacheFeatures = cache.${packageId} or [ ]; + combinedFeatures = sortedUnique (cacheFeatures ++ features); + in + if cache ? ${packageId} && cache.${packageId} == combinedFeatures then + cache + else + mergePackageFeatures { + features = combinedFeatures; + featuresByPackageId = cache; + inherit + crateConfigs + packageId + target + runTests + rootPackageId + ; + } + ); + cacheWithSelf = + let + cacheFeatures = featuresByPackageId.${packageId} or [ ]; + combinedFeatures = sortedUnique (cacheFeatures ++ enabledFeatures); + in + featuresByPackageId + // { + "${packageId}" = combinedFeatures; + }; + cacheWithDependencies = resolveDependencies cacheWithSelf "dep" ( + crateConfig.dependencies or [ ] + ++ lib.optionals (runTests && packageId == rootPackageId) (crateConfig.devDependencies or [ ]) + ); + cacheWithAll = resolveDependencies cacheWithDependencies "build" ( + crateConfig.buildDependencies or [ ] + ); + in + cacheWithAll; + + # Returns the enabled dependencies given the enabled features. + filterEnabledDependencies = + { dependencies + , features + , target + , + }: + assert (builtins.isList dependencies); + assert (builtins.isList features); + assert (builtins.isAttrs target); + + lib.filter + ( + dep: + let + targetFunc = dep.target or (features: true); + in + targetFunc { inherit features target; } + && (!(dep.optional or false) || builtins.any (doesFeatureEnableDependency dep) features) + ) + dependencies; + + # Returns whether the given feature should enable the given dependency. + doesFeatureEnableDependency = + dependency: feature: + let + name = dependency.rename or dependency.name; + prefix = "${name}/"; + len = builtins.stringLength prefix; + startsWithPrefix = builtins.substring 0 len feature == prefix; + in + feature == name || feature == "dep:" + name || startsWithPrefix; + + /* + Returns the expanded features for the given inputFeatures by applying the + rules in featureMap. + + featureMap is an attribute set which maps feature names to lists of further + feature names to enable in case this feature is selected. + */ + expandFeatures = + featureMap: inputFeatures: + assert (builtins.isAttrs featureMap); + assert (builtins.isList inputFeatures); + let + expandFeaturesNoCycle = + oldSeen: inputFeatures: + if inputFeatures != [ ] then + let + # The feature we're currently expanding. + feature = builtins.head inputFeatures; + # All the features we've seen/expanded so far, including the one + # we're currently processing. + seen = oldSeen // { + ${feature} = 1; + }; + # Expand the feature but be careful to not re-introduce a feature + # that we've already seen: this can easily cause a cycle, see issue + # #209. + enables = builtins.filter (f: !(seen ? "${f}")) (featureMap."${feature}" or [ ]); + in + [ feature ] ++ (expandFeaturesNoCycle seen (builtins.tail inputFeatures ++ enables)) + # No more features left, nothing to expand to. + else + [ ]; + outFeatures = expandFeaturesNoCycle { } inputFeatures; + in + sortedUnique outFeatures; + + /* + This function adds optional dependencies as features if they are enabled + indirectly by dependency features. This function mimics Cargo's behavior + described in a note at: + https://doc.rust-lang.org/nightly/cargo/reference/features.html#dependency-features + */ + enableFeatures = + dependencies: features: + assert (builtins.isList features); + assert (builtins.isList dependencies); + let + additionalFeatures = lib.concatMap + ( + dependency: + assert (builtins.isAttrs dependency); + let + enabled = builtins.any (doesFeatureEnableDependency dependency) features; + in + if (dependency.optional or false) && enabled then + [ (dependency.rename or dependency.name) ] + else + [ ] + ) + dependencies; + in + sortedUnique (features ++ additionalFeatures); + + /* + Returns the actual features for the given dependency. + + features: The features of the crate that refers this dependency. + */ + dependencyFeatures = + features: dependency: + assert (builtins.isList features); + assert (builtins.isAttrs dependency); + let + defaultOrNil = if dependency.usesDefaultFeatures or true then [ "default" ] else [ ]; + explicitFeatures = dependency.features or [ ]; + additionalDependencyFeatures = + let + name = dependency.rename or dependency.name; + stripPrefixMatch = prefix: s: if lib.hasPrefix prefix s then lib.removePrefix prefix s else null; + extractFeature = + feature: + lib.findFirst (f: f != null) null ( + map (prefix: stripPrefixMatch prefix feature) [ + (name + "/") + (name + "?/") + ] + ); + dependencyFeatures = lib.filter (f: f != null) (map extractFeature features); + in + dependencyFeatures; + in + defaultOrNil ++ explicitFeatures ++ additionalDependencyFeatures; + + # Sorts and removes duplicates from a list of strings. + sortedUnique = + features: + assert (builtins.isList features); + assert (builtins.all builtins.isString features); + let + outFeaturesSet = lib.foldl (set: feature: set // { "${feature}" = 1; }) { } features; + outFeaturesUnique = builtins.attrNames outFeaturesSet; + in + builtins.sort (a: b: a < b) outFeaturesUnique; + + deprecationWarning = + message: value: + if strictDeprecation then + builtins.throw "strictDeprecation enabled, aborting: ${message}" + else + builtins.trace message value; + + # + # crate2nix/default.nix (excerpt end) + # + }; +} + diff --git a/bin/regen-cargo-nix b/bin/regen-cargo-nix new file mode 100755 index 0000000000..104baec597 --- /dev/null +++ b/bin/regen-cargo-nix @@ -0,0 +1,7 @@ +#!/usr/bin/env bash +# Regenerate Cargo.nix from Cargo.lock. Run after changing Cargo.lock or any +# workspace member's Cargo.toml; the `cargo-nix-current` CI job fails when the +# committed file no longer matches. +set -euo pipefail +cd "$(dirname "$0")/.." +exec nix run .#crate2nix -- generate "$@" diff --git a/crate-config.nix b/crate-config.nix new file mode 100644 index 0000000000..6e3785e063 --- /dev/null +++ b/crate-config.nix @@ -0,0 +1,10 @@ +# crate2nix's per-crate override hook, read by Cargo.nix. Empty because no +# crate needs an override yet. +# +# It exists as a real file rather than being left absent -- Cargo.nix guards it +# with `builtins.pathExists` -- so that `bin/build-native-modules --inputs-hash` +# has something to hash. That gate scans path literals textually and cannot +# evaluate the guard, so an absent-but-referenced file would either break it or +# have to be exempted, and an override added here later would then not rekey the +# Cachix marker. +_: { } diff --git a/crate-hashes.json b/crate-hashes.json new file mode 100644 index 0000000000..4c8ea55334 --- /dev/null +++ b/crate-hashes.json @@ -0,0 +1,4 @@ +{ + "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "0zzaszjhsxkx6shc7jzy3y58hr989f29m74p57x86dgsr7h32s8q", + "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "0zzaszjhsxkx6shc7jzy3y58hr989f29m74p57x86dgsr7h32s8q" +} diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/deps.nix b/dimos/hardware/sensors/lidar/virtual_mid360/deps.nix deleted file mode 100644 index 13eb5a9128..0000000000 --- a/dimos/hardware/sensors/lidar/virtual_mid360/deps.nix +++ /dev/null @@ -1,5 +0,0 @@ -# A workspace member, so cargo needs it present, but it builds through its own -# flake rather than the shared derivation. -_: { - sources."dimos/hardware/sensors/lidar/virtual_mid360" = ./.; -} diff --git a/dimos/mapping/ray_tracing/deps.nix b/dimos/mapping/ray_tracing/deps.nix index bc3da201b5..97c0d24f5d 100644 --- a/dimos/mapping/ray_tracing/deps.nix +++ b/dimos/mapping/ray_tracing/deps.nix @@ -1,5 +1,7 @@ +# Names the cargo package that is this module's executable, so the root flake +# can give it a build of its own. Crate sources and workspace membership come +# from Cargo.nix and Cargo.toml and are not repeated here. _: { - sources."dimos/mapping/ray_tracing/rust" = ./rust; # The `py` member is a pyo3 cdylib for the python side, not a module # executable, so it is not listed here. binaries = [ "dimos-voxel-ray-tracing" ]; diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index 98fff2da21..ac7295a820 100644 --- a/dimos/mapping/ray_tracing/module.py +++ b/dimos/mapping/ray_tracing/module.py @@ -31,11 +31,15 @@ class RayTracingVoxelMapConfig(NativeModuleConfig): - # The crate is a workspace member, so it is built from the repo root along - # with every other rust native module. + # Built from the repo root, but only this module's crate: the crates it + # shares with the other modules are separate store paths already in the + # cache. The out-link is per-module so builds do not clobber each other. cwd: str | None = "../../.." - executable: str = "result/bin/voxel_ray_tracing" - build_command: str | None = "nix build -L .#rust_native_modules" + executable: str = "result-voxel_ray_tracing/bin/voxel_ray_tracing" + build_command: str | None = ( + "nix build -L .#rust_native_module_dimos-voxel-ray-tracing" + " --out-link result-voxel_ray_tracing" + ) stdin_config: bool = True voxel_size: float = 0.1 diff --git a/dimos/navigation/nav_3d/mls_planner/deps.nix b/dimos/navigation/nav_3d/mls_planner/deps.nix index 62b7113f38..6bd0995b3c 100644 --- a/dimos/navigation/nav_3d/mls_planner/deps.nix +++ b/dimos/navigation/nav_3d/mls_planner/deps.nix @@ -1,4 +1,6 @@ +# Names the cargo package that is this module's executable, so the root flake +# can give it a build of its own. Crate sources and workspace membership come +# from Cargo.nix and Cargo.toml and are not repeated here. _: { - sources."dimos/navigation/nav_3d/mls_planner/rust" = ./rust; binaries = [ "dimos-mls-planner" ]; } 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 f6ad3494bc..bdb94ba9ef 100644 --- a/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py +++ b/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py @@ -27,11 +27,14 @@ class MLSPlannerNativeConfig(NativeModuleConfig): - # The crate is a workspace member, so it is built from the repo root along - # with every other rust native module. + # Built from the repo root, but only this module's crate: the crates it + # shares with the other modules are separate store paths already in the + # cache. The out-link is per-module so builds do not clobber each other. cwd: str | None = "../../../.." - executable: str = "result/bin/mls_planner" - build_command: str | None = "nix build -L .#rust_native_modules" + executable: str = "result-mls_planner/bin/mls_planner" + build_command: str | None = ( + "nix build -L .#rust_native_module_dimos-mls-planner --out-link result-mls_planner" + ) stdin_config: bool = True world_frame: str = "odom" diff --git a/examples/native-modules/deps.nix b/examples/native-modules/deps.nix deleted file mode 100644 index d5453528ff..0000000000 --- a/examples/native-modules/deps.nix +++ /dev/null @@ -1,4 +0,0 @@ -# A workspace member cargo needs present. The examples are not shipped. -_: { - sources."examples/native-modules/rust" = ./rust; -} diff --git a/flake.nix b/flake.nix index a78f864211..f363439c6d 100644 --- a/flake.nix +++ b/flake.nix @@ -313,14 +313,10 @@ # ------------------------------------------------------------ # 3b. Native modules built from the cargo workspace # ------------------------------------------------------------ - # One derivation for every rust native module, because they are one - # cargo workspace: splitting them per module would vendor the deps and - # rebuild the shared crates once each. - # - # Each module owns a `deps.nix` naming the crate directories it - # contributes to the workspace, the cargo packages that are module - # executables, and any system libraries it links. Adding a module is - # just a new deps.nix; nothing here has to change. + # Each module owns a `deps.nix` naming the cargo packages that are its + # executables. Adding a module is just a new deps.nix; nothing here has + # to change. Crate sources and workspace membership are not repeated + # there -- they come from Cargo.nix and Cargo.toml. # # The rule is deliberately the dumbest one possible -- every file named # `deps.nix`, anywhere in the tree -- because @@ -343,46 +339,33 @@ moduleDeps = map (file: import file pkgs) (findDepsFiles ./.); depsField = field: builtins.concatLists (map (dep: dep.${field} or [ ]) moduleDeps); - rustNativeModules = pkgs.rustPlatform.buildRustPackage { - pname = "dimos-rust-native-modules"; - version = "0.1.0"; - # Assembled from the declared crate directories rather than filtered - # out of `./.`, so the only repo content reaching the derivation is - # the workspace itself: a doc or python edit leaves this unchanged - # and Cachix substitutes it. It also makes the build independent of - # whether a clone has pulled the git-lfs datasets. - # `bin/build-native-modules --inputs-hash` follows the same imports - # to key the Cachix publish marker. - src = pkgs.runCommand "dimos-rust-workspace" { } ( - '' - mkdir -p $out - cp ${./Cargo.toml} $out/Cargo.toml - cp ${./Cargo.lock} $out/Cargo.lock - '' - + pkgs.lib.concatMapStrings - (dep: pkgs.lib.concatStrings (pkgs.lib.mapAttrsToList (dest: tree: '' - mkdir -p $out/${builtins.dirOf dest} - cp -r ${tree} $out/${dest} - '') (dep.sources or { }))) - moduleDeps - + "chmod -R u+w $out\n" - ); - buildInputs = depsField "buildInputs"; - nativeBuildInputs = depsField "nativeBuildInputs"; - # Vendored by cargo rather than by `cargoLock.lockFile`, which would - # need no hash at all: nixpkgs fetches each crate with curl from - # `crates.io/api/v1/.../download`, and that endpoint 403s curl's user - # agent. Cargo itself is allowed, which is why vendoring works here. - # `static.crates.io` also serves them fine, but nothing in - # `importCargoLock` can point at it -- `registries` supplies only a - # base, always suffixed `///download`, and the CDN's - # path is `//-.crate`. Note the 403 is invisible - # locally, where the crates substitute from cache.nixos.org instead. - # So this hash has to be re-pasted whenever Cargo.lock moves; the CI - # failure prints the new value. - cargoHash = "sha256-Tm1TeMi8A0ESvARlLglV/ycax2GFqvh54zjEPkOTXm8="; - cargoBuildFlags = builtins.concatMap (name: [ "-p" name ]) (depsField "binaries"); - doCheck = false; + # One derivation per crate, from hashes already in Cargo.lock, so there + # is no aggregate `cargoHash` to re-paste when the lock moves -- which + # it does on main, breaking branches that never touched rust, because + # CI builds the merge commit. + # + # Regenerate with `bin/regen-cargo-nix` after any Cargo.lock or member + # Cargo.toml change; the `cargo-nix-current` CI job fails if it is + # stale. Unlike a hash, a stale Cargo.nix is a diff CI can show you. + cargoNix = import ./Cargo.nix { inherit pkgs; }; + + # `binaries` names the cargo packages that are module executables. Each + # gets its own derivation and its own flake attr, so editing one module + # does not rebuild the others -- the shared crates below them are + # already separate store paths and come straight from Cachix. + moduleBinaries = depsField "binaries"; + rustNativeModulePackages = pkgs.lib.listToAttrs (map + (name: { + name = "rust_native_module_${name}"; + value = cargoNix.workspaceMembers.${name}.build; + }) + moduleBinaries); + + # Every module at once. The Cachix job builds this so one CI run warms + # the cache for all of them; nothing at runtime uses it. + rustNativeModules = pkgs.symlinkJoin { + name = "dimos-rust-native-modules-0.1.0"; + paths = map (name: cargoNix.workspaceMembers.${name}.build) moduleBinaries; }; # ------------------------------------------------------------ @@ -398,16 +381,24 @@ ## Local dev shell devShells = devShells; - packages.rust_native_modules = rustNativeModules; + packages = rustNativeModulePackages // { + rust_native_modules = rustNativeModules; + + # Pinned by flake.lock so `bin/regen-cargo-nix` and the + # `cargo-nix-current` CI job always agree; the generator stamps its + # own version into Cargo.nix, so a channel bump would otherwise show + # up as a spurious diff. + crate2nix = pkgs.crate2nix; - ## Layered docker image with DockerTools - packages.devcontainer = pkgs.dockerTools.buildLayeredImage { - name = "dimensional/dimos-dev"; - tag = "latest"; - contents = [ imageRoot ]; - config = { - WorkingDir = "/workspace"; - Cmd = [ "bash" ]; + ## Layered docker image with DockerTools + devcontainer = pkgs.dockerTools.buildLayeredImage { + name = "dimensional/dimos-dev"; + tag = "latest"; + contents = [ imageRoot ]; + config = { + WorkingDir = "/workspace"; + Cmd = [ "bash" ]; + }; }; }; }); diff --git a/native/rust/deps.nix b/native/rust/deps.nix deleted file mode 100644 index bb9747db14..0000000000 --- a/native/rust/deps.nix +++ /dev/null @@ -1,4 +0,0 @@ -# The crates every native module links against. Contributes no binaries. -_: { - sources."native/rust" = ./.; -} diff --git a/pyproject.toml b/pyproject.toml index 5f38063a05..e8a6429bac 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -748,6 +748,9 @@ ignore = [ "*/package-lock.json", "Cargo.lock", "*/Cargo.lock", + # Generated from Cargo.lock by bin/regen-cargo-nix. LFS is wrong for it: + # the cargo-nix-current CI job diffs it as text. + "Cargo.nix", "dimos/web/dimos_interface/themes.json", "dimos/manipulation/manipulation_module.py", "dimos/manipulation/test_roboplan.py", From c70d595ef8fac273a30af29f4798437e6799a11d Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 22:34:00 -0700 Subject: [PATCH 16/97] Build the example native modules too Adding a module is now a deps.nix and nothing else, so the examples can be real build targets instead of a workspace member nothing referenced. They build in 42s here because every crate under them is already a store path. Doubles as the regression test for that claim: if adding a module ever starts requiring a flake.nix edit again, this file is the one that stops building. --- examples/native-modules/deps.nix | 6 ++++++ 1 file changed, 6 insertions(+) create mode 100644 examples/native-modules/deps.nix diff --git a/examples/native-modules/deps.nix b/examples/native-modules/deps.nix new file mode 100644 index 0000000000..7163d282a3 --- /dev/null +++ b/examples/native-modules/deps.nix @@ -0,0 +1,6 @@ +# Names the cargo package that is this module's executable, so the root flake +# can give it a build of its own. Crate sources and workspace membership come +# from Cargo.nix and Cargo.toml and are not repeated here. +_: { + binaries = [ "dimos-native-module-examples" ]; +} From 3f6653f75a26e227a7c44bb25df455277d12f659 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 22:42:29 -0700 Subject: [PATCH 17/97] Stop committing crate-hashes.json Its keys are scoped to a git dependency's branch and carry no rev, so a committed copy silently goes stale the second that branch moves, pinning a hash that no longer matches the revision Cargo.lock resolves to. That is the exact failure this whole change set exists to remove. It is also redundant: it is only crate2nix's prefetch cache, and the hashes are already inlined in Cargo.nix. Regenerating with the file absent produces a byte-identical Cargo.nix, so nothing in the repo depends on it. Dropping it also retires two problems rather than papering over them: it no longer needs a pre-commit exclusion (pretty-format-json was rewriting it on every commit, which had already introduced a trailing newline the generator never emits), and it no longer needs an editorconfig exception for that missing final newline. --- .github/workflows/ci.yml | 2 +- .gitignore | 5 +++++ .pre-commit-config.yaml | 10 +++++----- crate-hashes.json | 4 ---- 4 files changed, 11 insertions(+), 10 deletions(-) delete mode 100644 crate-hashes.json diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index febddc7e8a..e8f67da7ef 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -270,7 +270,7 @@ jobs: run: bin/regen-cargo-nix - name: Fail if the committed Cargo.nix is stale run: | - if ! git diff --exit-code -- Cargo.nix crate-hashes.json; then + if ! git diff --exit-code -- Cargo.nix; then echo "::error::Cargo.nix is out of date — run bin/regen-cargo-nix and commit the result" exit 1 fi diff --git a/.gitignore b/.gitignore index 1bc24524a4..3012ef21b3 100644 --- a/.gitignore +++ b/.gitignore @@ -36,6 +36,11 @@ build/ result result-* +# crate2nix's prefetch cache. Deliberately not committed: its keys are scoped +# to a git dependency's *branch* with no rev, so a committed copy goes stale +# the moment that branch moves. Cargo.nix already carries the hashes. +crate-hashes.json + # Editor and OS files .vscode/ .DS_Store diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index c088dda822..88ae2328dc 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -41,14 +41,14 @@ repos: - id: check-case-conflict # These three rewrite bytes, so they are kept off files that must stay # byte-identical to something outside this repo: patches (upstream - # diffs), and Cargo.nix / crate-hashes.json, which bin/regen-cargo-nix - # reproduces verbatim and the cargo-nix-current CI job diffs. Reformatting - # the generated pair here would fail that job on every run, because CI - # does not run these hooks. + # diffs), and Cargo.nix, which bin/regen-cargo-nix reproduces verbatim + # and the cargo-nix-current CI job diffs. crate2nix ends it with a blank + # line; reformatting it here would fail that job on every run, because + # CI does not run these hooks. - id: trailing-whitespace language: python types: [text] - exclude: &verbatim-files (\.patch$|^Cargo\.nix$|^crate-hashes\.json$) + exclude: &verbatim-files (\.patch$|^Cargo\.nix$) - id: end-of-file-fixer exclude: *verbatim-files - id: mixed-line-ending diff --git a/crate-hashes.json b/crate-hashes.json deleted file mode 100644 index 4c8ea55334..0000000000 --- a/crate-hashes.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "0zzaszjhsxkx6shc7jzy3y58hr989f29m74p57x86dgsr7h32s8q", - "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "0zzaszjhsxkx6shc7jzy3y58hr989f29m74p57x86dgsr7h32s8q" -} From 776cb457676a0ee764e5dea7feccd41bcb7586c2 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 22:45:06 -0700 Subject: [PATCH 18/97] Pin cargo, not just crate2nix, when regenerating Cargo.nix crate2nix shells out to `cargo metadata`, so the generated file depends on whichever cargo is on PATH. The generator itself was pinned by flake.lock but cargo was not: locally that was a rustup 1.98.0, while the toolchain this repo pins for its clippy and fmt hooks is 1.94.0, and CI would have used whatever the runner image ships. The two happen to agree today -- checked by regenerating under 1.94.0 and getting a byte-identical Cargo.nix -- so this fixes a latent problem rather than a live one. Worth doing anyway: the failure it prevents is a diff that only appears on the machine with the odd cargo, which is the hardest kind to read when cargo-nix-current is what reports it. --- bin/regen-cargo-nix | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/bin/regen-cargo-nix b/bin/regen-cargo-nix index 104baec597..5ccec0173e 100755 --- a/bin/regen-cargo-nix +++ b/bin/regen-cargo-nix @@ -4,4 +4,12 @@ # committed file no longer matches. set -euo pipefail cd "$(dirname "$0")/.." -exec nix run .#crate2nix -- generate "$@" + +# Both halves are pinned on purpose, because the output is committed and CI +# diffs it. The generator comes from flake.lock, and cargo -- which crate2nix +# shells out to for `cargo metadata` -- comes from the same toolchain the +# clippy and fmt hooks use, rather than whatever happens to be on PATH. An +# ambient cargo differing from the pinned one is a diff that appears only on +# the machine that has it. +crate2nix=$(nix build --no-link --print-out-paths .#crate2nix)/bin/crate2nix +exec nix develop path:nix/rust -c "$crate2nix" generate "$@" From 0e1d204099401b5ca17879d5721efa6136ed6321 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 31 Aug 2026 22:47:03 -0700 Subject: [PATCH 19/97] Describe crate-config.nix as the placeholder it actually is I had commented it as crate2nix's per-crate override hook. It is not: the `crateConfig` argument Cargo.nix defaults to this path is declared and then never read anywhere in the generated file. Overrides added here would have silently done nothing, which is a worse trap than having no file at all. The file still has to exist -- `bin/build-native-modules --inputs-hash` walks nix path literals textually, cannot evaluate the `builtins.pathExists` guard around this one, and exits 1 with "reference './crate-config.nix' does not exist". Verified by moving the file away. Kept an empty file rather than teaching that parser about conditional paths, since a parser that learns to skip guarded references can also skip one that matters. --- crate-config.nix | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/crate-config.nix b/crate-config.nix index 6e3785e063..0464d1e256 100644 --- a/crate-config.nix +++ b/crate-config.nix @@ -1,10 +1,16 @@ -# crate2nix's per-crate override hook, read by Cargo.nix. Empty because no -# crate needs an override yet. +# Placeholder. Cargo.nix takes a `crateConfig` argument that defaults to +# importing this path, but never reads it -- the argument is unused in the +# generated file. So do not add crate overrides here expecting them to apply; +# the working hook is the `defaultCrateOverrides` argument to Cargo.nix, set +# where flake.nix imports it. # -# It exists as a real file rather than being left absent -- Cargo.nix guards it -# with `builtins.pathExists` -- so that `bin/build-native-modules --inputs-hash` -# has something to hash. That gate scans path literals textually and cannot -# evaluate the guard, so an absent-but-referenced file would either break it or -# have to be exempted, and an override added here later would then not rekey the -# Cachix marker. +# The file exists only so that the path Cargo.nix names actually resolves. +# `bin/build-native-modules --inputs-hash` walks nix path literals textually +# and cannot evaluate the `builtins.pathExists` guard around this one, so it +# fails outright when the file is absent: +# +# Cargo.nix: reference './crate-config.nix' does not exist +# +# An empty file is a cheaper fix than teaching that parser about conditional +# paths, which would risk it silently skipping a path that does matter. _: { } From 7de0923017b9bd61a22229cd6553e851df8bcea5 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Mon, 14 Sep 2026 16:29:14 -0700 Subject: [PATCH 20/97] build(native): finish the cargo-to-nix switch, and unblock turbojpeg-sys MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Three things the merge with main surfaced. livox and virtual_mid360 were still on a bare `cargo build --release`, which assumes a rust toolchain on PATH. The R1 Pro has none — nix is installed there, cargo is not — so those modules could never have built on the robot. Each gets a deps.nix naming its cargo package, which is all the root flake needs. turbojpeg-sys vendors libjpeg-turbo and drives cmake from its own build script, so it failed outright in the sandbox with "is `cmake` not installed?". The hook for that is the defaultCrateOverrides argument to Cargo.nix, exactly as crate-config.nix's comment says; it was never actually set. dontUseCmakeConfigure goes with it, or nixpkgs' cmake setup hook tries to configure a crate root that has no CMakeLists.txt. _collect_input_paths followed a literal naming a .nix *file* but never one naming a directory that is itself a flake. Cargo.nix names every workspace member's directory as a crate src, and main has since added a member that carries its own flake — dimos/experimental/memory/rust, whose fileset reaches back out to the repo-root Cargo.lock. So that directory entered the input set while the paths its flake pulls in did not, which is the gap test_flake_refs_resolve_and_are_covered exists to catch. Following it can only widen the input set, which is the safe direction for a cache-publish marker. Claude-Session: https://claude.ai/code/session_01ExBQYh7BJX5bnGHTKpNVDy From 410c0a2f4f429e9d9c6fe934ecf43d994207a6f9 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 17:59:25 -0700 Subject: [PATCH 21/97] build(nix): add a shared flake for the rust native module SDK Exports lib..buildNativeModule, which assembles a sandbox holding a module at its repo-relative path plus the shared crates at theirs -- so a module's existing `path = "../../native/rust/dimos-module"` dependency resolves unchanged -- and runs crate2nix over it. crate2nix emits one derivation per crate, so the shared crates and every third-party dependency are built once and substituted into every other module. buildRustPackage cannot do that: it vendors and compiles the whole graph privately per package, which is why the repo had one all-modules-at-once derivation. The two crates become their own workspace roots so the layout cargo sees locally is the layout it sees inside the derivation. --- native/rust/dimos-module-macros/Cargo.toml | 5 + native/rust/dimos-module/Cargo.toml | 5 + native/rust/flake.lock | 301 +++++++++++++++++++++ native/rust/flake.nix | 112 ++++++++ 4 files changed, 423 insertions(+) create mode 100644 native/rust/flake.lock create mode 100644 native/rust/flake.nix diff --git a/native/rust/dimos-module-macros/Cargo.toml b/native/rust/dimos-module-macros/Cargo.toml index fc8b170764..99f061128c 100644 --- a/native/rust/dimos-module-macros/Cargo.toml +++ b/native/rust/dimos-module-macros/Cargo.toml @@ -5,6 +5,11 @@ edition = "2021" description = "Proc-macros for dimos-module" license = "Apache-2.0" +# Its own workspace root, not a member of one. `native/rust` is copied into every +# module's build sandbox crate-by-crate, where no parent workspace manifest exists, +# so anything else would resolve differently locally than it does in the build. +[workspace] + [lib] proc-macro = true diff --git a/native/rust/dimos-module/Cargo.toml b/native/rust/dimos-module/Cargo.toml index c09298e617..20c0de2a36 100644 --- a/native/rust/dimos-module/Cargo.toml +++ b/native/rust/dimos-module/Cargo.toml @@ -5,6 +5,11 @@ edition = "2021" description = "Rust native module SDK for dimos NativeModule framework" license = "Apache-2.0" +# Its own workspace root, not a member of one. `native/rust` is copied into every +# module's build sandbox crate-by-crate, where no parent workspace manifest exists, +# so anything else would resolve differently locally than it does in the build. +[workspace] + [dependencies] dimos-lcm = { git = "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..5ebeeeab8d --- /dev/null +++ b/native/rust/flake.lock @@ -0,0 +1,301 @@ +{ + "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-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": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "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_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/native/rust/flake.nix b/native/rust/flake.nix new file mode 100644 index 0000000000..20b0a5c04d --- /dev/null +++ b/native/rust/flake.nix @@ -0,0 +1,112 @@ +{ + description = "The shared dimos rust crates, and the builder every rust native module uses"; + + inputs = { + 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"; + }; + + # Every rust native module takes this flake as its one and only in-repo input and + # follows its nixpkgs, so the whole repo resolves to a single nixpkgs revision + # instead of the seven it used to carry. Nothing here reaches back out at the + # repository: the crates below are the only dimos code a module is allowed to see. + outputs = { self, nixpkgs, flake-utils, crate2nix }: + let + # Tracked sources only. A module's `nix build` copies this whole tree into its + # sandbox, so an editor swap file or a stray target/ here would land in every + # module's derivation. + sharedCrates = { + "native/rust/dimos-module" = ./dimos-module; + "native/rust/dimos-module-macros" = ./dimos-module-macros; + }; + in + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + + # A module's build_command is `nix build path:.#…`, and a `path:` ref copies + # everything in the directory -- gitignored and untracked alike. Build output + # is therefore an input to the next build unless it is filtered here: without + # this, one `cargo build` in a module directory makes its next nix build a + # cache miss and drags 2+ GB of `target/` into the store. `cleanSource` + # already drops `.git`, editor backups and `result` symlinks. + cleanModuleSource = src: pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource src; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" && (base == "target" || base == "build")); + }; + + # The tree a module's crate2nix build runs in: the module's own directory at + # the same relative path it occupies in the repository, plus the shared + # crates at theirs, so the `path = "../../../native/rust/dimos-module"` + # dependency in the module's Cargo.toml resolves without rewriting it. + moduleSource = { name, path, src }: + pkgs.runCommand "${name}-source" { } ( + '' + mkdir -p $out/${builtins.dirOf path} + cp -r ${cleanModuleSource src} $out/${path} + '' + + pkgs.lib.concatStrings (pkgs.lib.mapAttrsToList (dest: tree: '' + mkdir -p $out/${builtins.dirOf dest} + cp -r ${tree} $out/${dest} + '') sharedCrates) + + "chmod -R u+w $out\n" + ); + in { + # `buildNativeModule` is the whole convention: a module flake names itself, + # says where it sits in the repo, hands over its own directory, and gets a + # package back. crate2nix builds one derivation per crate, so the shared + # crates and every third-party dependency are built once and then substituted + # into every other module -- which a single buildRustPackage per module + # cannot do, because it vendors and compiles the whole graph privately. + lib = { + inherit moduleSource; + + # Exported so a module devShell can extend the toolchain instead of + # restating it and drifting from it. + inherit rustTools; + + buildNativeModule = + { name # the cargo package name, and the flake output name + , path # the module's path within the repository + , src # the module's own directory + , crateOverrides ? (_: { }) # pkgs -> attrset of crate2nix overrides + , cargoToml ? "${path}/Cargo.toml" + }: + let + generated = crate2nix.tools.${system}.generatedCargoNix { + inherit name; + src = moduleSource { inherit name path src; }; + inherit cargoToml; + }; + called = import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: cratePkgs.buildRustCrate.override { + defaultCrateOverrides = + cratePkgs.defaultCrateOverrides // (crateOverrides cratePkgs); + }; + }; + in + # crate2nix exposes `rootCrate` for a plain package and `workspaceMembers` + # for a workspace manifest. A module that carries a pyo3 `py/` member is the + # second kind even though it is one package to us, so accept both rather + # than making the caller know which shape its own Cargo.toml produces. + if called ? rootCrate + then called.rootCrate.build + else called.workspaceMembers.${name}.build; + }; + + # No `packages`: this flake ships source and a builder, not a binary. The + # crates here are libraries every module compiles into itself. + + # The shell the pre-commit clippy hook runs in for crates that need nothing + # but a toolchain. A module with system libraries extends this in its own + # flake rather than adding them here. + devShells.default = pkgs.mkShell { packages = rustTools; }; + }); +} From f9dfb4358641b65dcabccbb722e881cfff3c66f9 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 17:59:31 -0700 Subject: [PATCH 22/97] build(nix): expose the C++ native SDK as a flake The C++ module flakes reached it as a `${../../../../../../native/cpp}` path literal. Under the `path:.` build refs the modules are moving to, such a literal escapes the module's store path and cannot resolve at all; before that it resolved by copying the entire repository. --- native/cpp/flake.nix | 30 ++++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 native/cpp/flake.nix diff --git a/native/cpp/flake.nix b/native/cpp/flake.nix new file mode 100644 index 0000000000..5a324a4c25 --- /dev/null +++ b/native/cpp/flake.nix @@ -0,0 +1,30 @@ +{ + description = "The shared dimos C++ native module SDK, as a source tree for cmake"; + + inputs = { + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + }; + + # A header-only INTERFACE library that consumers `add_subdirectory` through + # `-DDIMOS_NATIVE_CPP_DIR=...`, so the useful output is the source tree itself + # rather than a built artifact. + # + # This exists as a flake so a module can take the SDK as an input instead of a + # `${../../../../../../native/cpp}` path literal. Under the `path:.` build refs the + # modules now use, such a literal escapes the module's store path and fails to + # resolve -- and when it did resolve, it resolved by copying the entire repository, + # git-lfs blobs included. + outputs = { self, 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 ${pkgs.lib.cleanSource ./.} $out + chmod -R u+w $out + ''; + + devShells.default = pkgs.mkShell { + packages = [ pkgs.cmake pkgs.pkg-config pkgs.nlohmann_json ]; + }; + }); +} From c73485d531f4280f7693e2b22eb1946caa9947b9 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 17:59:38 -0700 Subject: [PATCH 23/97] build(cargo): split the repo workspace into one workspace per module Every native module now carries its own Cargo.toml workspace root and its own Cargo.lock, and the repo-root Cargo.toml/Cargo.lock are gone. Each new root restates the old root's [profile.*], since cargo only honours a profile at a workspace root. .cargo/config.toml gains `[build] target-dir = "target"`. Config paths resolve against the config file's own directory, so the modules -- which no longer share a workspace -- still share one repo-root target/, and a module directory stays free of build output. That matters because the build refs are becoming `path:.`, which copies a directory wholesale: a module-local target/ would be copied back into the store on every rebuild. --- .cargo/config.toml | 10 + Cargo.toml | 25 - .../experimental/memory/rust/Cargo.lock | 672 +-- dimos/experimental/memory/rust/Cargo.toml | 14 + .../sensors/lidar/livox/rust/Cargo.lock | 4446 ++++++++++++++++ .../sensors/lidar/livox/rust/Cargo.toml | 14 + .../sensors/lidar/pointlio/rust/Cargo.lock | 4422 ++++++++++++++++ .../sensors/lidar/pointlio/rust/Cargo.toml | 19 +- .../sensors/lidar/virtual_mid360/Cargo.lock | 4411 ++++++++++++++++ .../sensors/lidar/virtual_mid360/Cargo.toml | 19 +- dimos/mapping/ray_tracing/rust/Cargo.lock | 4492 +++++++++++++++++ dimos/mapping/ray_tracing/rust/Cargo.toml | 15 + .../nav_3d/mls_planner/rust/Cargo.lock | 4486 ++++++++++++++++ .../nav_3d/mls_planner/rust/Cargo.toml | 15 + examples/native-modules/rust/Cargo.lock | 4343 ++++++++++++++++ examples/native-modules/rust/Cargo.toml | 14 + 16 files changed, 26905 insertions(+), 512 deletions(-) delete mode 100644 Cargo.toml rename Cargo.lock => dimos/experimental/memory/rust/Cargo.lock (89%) create mode 100644 dimos/hardware/sensors/lidar/livox/rust/Cargo.lock create mode 100644 dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock create mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock create mode 100644 dimos/mapping/ray_tracing/rust/Cargo.lock create mode 100644 dimos/navigation/nav_3d/mls_planner/rust/Cargo.lock create mode 100644 examples/native-modules/rust/Cargo.lock diff --git a/.cargo/config.toml b/.cargo/config.toml index cca55fcdeb..61dacf0035 100644 --- a/.cargo/config.toml +++ b/.cargo/config.toml @@ -1,2 +1,12 @@ [registry] global-min-publish-age = "7 days" + +# Every native module is built with `nix build path:.#…`, and a `path:` flake ref +# copies the whole directory -- gitignored output included. A module-local `target/` +# would therefore be re-copied into the store on every rebuild (2.3 GB for dim_slam +# alone). One shared target dir at the repo root keeps those directories clean, and +# lets the modules, which no longer share a cargo workspace, still share build +# artifacts. Paths here resolve against this config file's directory, so this is the +# repo root's `target/` no matter which module cargo is invoked from. +[build] +target-dir = "target" 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/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..118af3e71a 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" @@ -697,32 +686,6 @@ 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" @@ -737,7 +700,6 @@ dependencies = [ "tokio", "tracing", "tracing-subscriber", - "tracing-test", "url", "validator", "zenoh", @@ -749,74 +711,8 @@ version = "0.1.0" 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 +744,7 @@ checksum = "c6232dd377dcc64799954cbd3a9bb882e9cdc1308ccd87b1c098f1fb2eaf82a8" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -906,15 +802,6 @@ 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 +844,9 @@ 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 +960,7 @@ checksum = "9fb9654ba8355388abeb8dcb4fc62f511300867002afc858860463bdd9fe0c44" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -1200,9 +1087,9 @@ 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 +1138,13 @@ 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 +1328,9 @@ 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 +1338,6 @@ 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 +1373,9 @@ 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 +1390,19 @@ 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 +1486,9 @@ 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 +1577,9 @@ 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 +1632,9 @@ 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 +1698,6 @@ 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 +1716,9 @@ 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 +1735,7 @@ 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 +1765,13 @@ 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 +1793,6 @@ 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 +1875,6 @@ 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 +1949,6 @@ 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 +1967,9 @@ 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 +1977,9 @@ 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 +1987,9 @@ 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 +2000,9 @@ 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 +2015,7 @@ checksum = "8701b58ea97060d5e5b155d383a69952a60943f0e6dfe30b04c287beb0b27455" dependencies = [ "fixedbitset", "hashbrown 0.15.5", - "indexmap 2.14.1", + "indexmap 2.14.2", "serde", ] @@ -2293,15 +2106,6 @@ 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 +2114,9 @@ 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 +2173,7 @@ dependencies = [ "proc-macro-error-attr3", "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -2395,82 +2199,20 @@ 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 = "7114fe5457c61b276ab77c5055f206295b812608083644a5c5b2640c3102565c" -dependencies = [ - "libc", - "pyo3-build-config", -] - -[[package]] -name = "pyo3-macros" -version = "0.25.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a8725c0a622b374d6cb051d11a0983786448f7785336139c3c94f5aa6bef7e50" -dependencies = [ - "proc-macro2", - "pyo3-macros-backend", - "quote", - "syn 2.0.119", -] - -[[package]] -name = "pyo3-macros-backend" -version = "0.25.1" +version = "0.5.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4109984c22491085343c05b0dbc54ddc405c3cf7b4374fc533f5c3313a572ccc" +checksum = "01e34894696ff94f64a20c2c373a6440903e9c2789a303d68ec6e6f953f890e4" dependencies = [ - "heck", "proc-macro2", - "pyo3-build-config", "quote", - "syn 2.0.119", + "syn 3.0.5", ] [[package]] name = "quinn" -version = "0.11.11" +version = "0.11.12" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0c1a41e437b6bbd489372cd4971de128e85c855f56c57f283d20ff016cf7c0a8" +checksum = "4051e23e9185c255a7e33ef59cdbca87a22d359052eecd22fc6b901fb37d9d11" dependencies = [ "bytes", "cfg_aliases 0.2.2", @@ -2488,9 +2230,9 @@ 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 +2389,7 @@ 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 +2420,7 @@ checksum = "92ecd8964f8453721699a1ed72037b0db49ce2f5a5138486ee89bed6f67cdf3a" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -2749,7 +2491,7 @@ 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 +2515,7 @@ 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 +2545,7 @@ 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 = "f40620447734539bcc6c64e9c66fed2410e17b46986733f1090c922d85f7105b" -dependencies = [ - "nom 8.0.0", + "nom", ] [[package]] @@ -2821,7 +2554,7 @@ version = "1.1.4" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b6fe4565b9518b83ef4f91bb47ce29620ca828bd32cb7e408f0062e9930ba190" dependencies = [ - "bitflags 2.13.1", + "bitflags 2.13.2", "errno", "libc", "linux-raw-sys", @@ -2830,9 +2563,9 @@ dependencies = [ [[package]] name = "rustls" -version = "0.23.43" +version = "0.23.45" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0283386ce02abc0151e1761d08802dfe86c173b0b494af5cbc086574e453da06" +checksum = "0d41d731c7d2f962d1ccc364cec258de3c0e93b38c2fb3ba97ac74513048d634" dependencies = [ "log", "once_cell", @@ -2986,7 +2719,7 @@ dependencies = [ "proc-macro2", "quote", "serde_derive_internals", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -3011,7 +2744,7 @@ version = "3.7.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b7f4bc775c73d9a02cde8bf7b2ec4c9d12743edf609006c7facc23998404cd1d" dependencies = [ - "bitflags 2.13.1", + "bitflags 2.13.2", "core-foundation", "core-foundation-sys", "libc", @@ -3061,7 +2794,7 @@ checksum = "e7a5d71263a5a7d47b41f6b3f06ba276f10cc18b0931f1799f710578e2309348" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -3072,7 +2805,7 @@ checksum = "f852137cce035d6a4df67ccce505ff6b3e9fd3a10e3e52b24dc71e650bb1a9bd" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -3081,7 +2814,7 @@ version = "1.0.151" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c841b55ecdae098c80dcae9cf767f6f8a0c2cdb3416bbef72181df4d0fe73f14" dependencies = [ - "indexmap 2.14.1", + "indexmap 2.14.2", "itoa", "memchr", "serde", @@ -3100,16 +2833,16 @@ dependencies = [ [[package]] name = "serde_with" -version = "3.22.0" +version = "3.23.0" 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 +2854,14 @@ 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 +2870,7 @@ 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 +2975,9 @@ 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 +3136,9 @@ 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 +3157,21 @@ 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 +3223,7 @@ checksum = "bc04cd3e1236dd4a98afca4569f2deb3f120e5422a4023be2cb683f8486292af" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -3494,7 +3232,7 @@ version = "1.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "cfe075d7053dae61ac5413a34ea7d4913b6e6207844fd726bdd858b37ff72bf5" dependencies = [ - "bitflags 2.13.1", + "bitflags 2.13.2", "cfg-if", "libc", "log", @@ -3553,18 +3291,9 @@ dependencies = [ [[package]] name = "tinyvec" -version = "1.12.0" +version = "1.13.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "bb4ebadaa0af04fab11ae01eb5f9fdb5f9c5b875506e210e71c07873528baa7f" -dependencies = [ - "tinyvec_macros", -] - -[[package]] -name = "tinyvec_macros" -version = "0.1.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20" +checksum = "fd3ca314f692efd6c868f8408f53fe444634a845f96c028b97d35f6a1f79f0ee" [[package]] name = "token-cell" @@ -3601,7 +3330,7 @@ checksum = "78773a2a397f451582ce068015985c33193cf6dea8b74d2a639fe457b2f07b0e" dependencies = [ "proc-macro2", "quote", - "syn 3.0.4", + "syn 3.0.5", ] [[package]] @@ -3624,7 +3353,7 @@ 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 +3364,11 @@ 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 +3397,11 @@ 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 +3497,6 @@ 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 +3580,6 @@ 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 +3724,9 @@ 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 +3737,9 @@ 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 +3747,22 @@ 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 +3797,9 @@ 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 +4066,10 @@ 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 +4097,14 @@ 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 +4578,18 @@ 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 +4607,14 @@ 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 +4653,14 @@ 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 +4679,18 @@ 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..635b2c0326 100644 --- a/dimos/experimental/memory/rust/Cargo.toml +++ b/dimos/experimental/memory/rust/Cargo.toml @@ -24,3 +24,17 @@ validator = { version = "0.21", features = ["derive"] } [dev-dependencies] tempfile = "3" + +[workspace] + +# Carried from the old root workspace. Cargo only honours a profile at the workspace +# root, so every module that is now its own root has to state it. +[profile.release] +lto = "thin" +codegen-units = 1 + +[profile.dev] +debug = 0 + +[profile.test] +debug = 0 diff --git a/dimos/hardware/sensors/lidar/livox/rust/Cargo.lock b/dimos/hardware/sensors/lidar/livox/rust/Cargo.lock new file mode 100644 index 0000000000..3388d485fe --- /dev/null +++ b/dimos/hardware/sensors/lidar/livox/rust/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 = "2.0.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "320119579fcad9c21884f5c4861d16174d0e06250625266f50fe6898340abefa" + +[[package]] +name = "advisory-lock" +version = "0.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a6caee7d48f930f9ad3fc9546f8cbf843365da0c5b0ca4eee1d1ac3dd12d8f93" +dependencies = 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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" } lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" } @@ -39,3 +42,17 @@ serde_json = "1" tokio = { version = "1", features = ["rt-multi-thread", "macros"] } tracing = "0.1" validator = { version = "0.21", features = ["derive"] } + +[workspace] + +# Carried from the old root workspace. 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+name = "zmij" +version = "1.0.23" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "29666d0abbfad1e3dc4dcf6144730dd3a3ab225bbbdac83319345b1b44ccfc1b" diff --git a/examples/native-modules/rust/Cargo.toml b/examples/native-modules/rust/Cargo.toml index d2c1d48d48..c5cbed41c6 100644 --- a/examples/native-modules/rust/Cargo.toml +++ b/examples/native-modules/rust/Cargo.toml @@ -26,3 +26,17 @@ tokio = { version = "1", features = ["rt-multi-thread", "macros", "time"] } serde = { version = "1", features = ["derive"] } tracing = "0.1" validator = { version = "0.21", features = ["derive"] } + +[workspace] + +# Carried from the old root workspace. Cargo only honours a profile at the workspace +# root, so every module that is now its own root has to state it. +[profile.release] +lto = "thin" +codegen-units = 1 + +[profile.dev] +debug = 0 + +[profile.test] +debug = 0 From 3049bbd3810d729e5b6432d069b0c30cdc6e36e4 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 17:59:49 -0700 Subject: [PATCH 24/97] refactor(livox): copy the wire protocol into its two consumers pointlio's rust module and virtual_mid360 reached sideways into dimos/hardware/sensors/lidar/livox/rust for it. A native module may only reach the shared native/ crates, and livox is a specific sensor rather than part of that generic API. Only wire.rs, pipeline.rs and pcap.rs are copied -- 1546 of livox's 2820 lines, and all either consumer actually used. live.rs, module.rs and main.rs are the Mid-360 driver and stay put. The three files are copied byte for byte so a protocol fix can be moved across with cp, and each consumer declares them #[allow(dead_code)] because neither uses the whole surface. --- .../lidar/pointlio/rust/src/bin/replay.rs | 6 +- .../sensors/lidar/pointlio/rust/src/lib.rs | 12 + .../sensors/lidar/pointlio/rust/src/pcap.rs | 418 ++++++++++ .../lidar/pointlio/rust/src/pipeline.rs | 385 +++++++++ .../sensors/lidar/pointlio/rust/src/wire.rs | 743 ++++++++++++++++++ .../sensors/lidar/virtual_mid360/src/main.rs | 16 +- .../sensors/lidar/virtual_mid360/src/pcap.rs | 418 ++++++++++ .../lidar/virtual_mid360/src/pipeline.rs | 385 +++++++++ .../sensors/lidar/virtual_mid360/src/wire.rs | 743 ++++++++++++++++++ 9 files changed, 3121 insertions(+), 5 deletions(-) create mode 100644 dimos/hardware/sensors/lidar/pointlio/rust/src/pcap.rs create mode 100644 dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs create mode 100644 dimos/hardware/sensors/lidar/pointlio/rust/src/wire.rs create mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/src/pcap.rs create mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs create mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/src/wire.rs 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..d39078d20f 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs +++ b/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs @@ -14,3 +14,15 @@ // dimos glue around pointlio-core. pub mod module; + +// The Livox wire protocol, frame assembly and pcap reader, copied verbatim from +// `dimos/hardware/sensors/lidar/livox/rust/src/`. Copied rather than depended on: +// a native module may only reach the shared `native/rust` crates, and livox is a +// specific sensor rather than part of that generic API. Keep these three files +// byte-identical to livox's so a protocol fix can be moved across with `cp`. +#[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/src/main.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs index a5a26cdc38..629c922f30 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs +++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs @@ -18,8 +18,20 @@ // 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::{ +// The Livox wire protocol, frame assembly and pcap reader, copied verbatim from +// `dimos/hardware/sensors/lidar/livox/rust/src/`. Copied rather than depended on: +// a native module may only reach the shared `native/rust` crates, and livox is a +// specific sensor rather than part of that generic API. Keep these three files +// byte-identical to livox's so a protocol fix can be moved across with `cp`. +#[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::{ self, AsyncControlAck, ControlFrame, DetectionAck, InternalInfoAck, KeyValue, }; use dimos_module::{native_config, run_with_transport, Module}; 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); + } +} From 0ffd1c10114df0bfe44ad67e7b4a94377c6d0c20 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 17:59:49 -0700 Subject: [PATCH 25/97] refactor(nix): stop the C++ modules reaching outside their own directories pointlio/cpp and fastlio2/cpp took the Livox SDK from the livox module's flake (`path:../../livox/cpp`) and its headers from `../../common`, and all three C++ flakes named native/cpp with a bare path literal. The SDK derivation, its darwin patch and the common headers are now copied into each module, and native/cpp arrives as a flake input. Keep the copied livox-sdk2 derivation in step with the original in dimos/hardware/sensors/lidar/livox/cpp/flake.nix. --- .../sensors/lidar/fastlio2/cpp/flake.nix | 61 +++++- .../fastlio2/cpp/livox-sdk2-darwin.patch | 47 +++++ .../cpp/livox_common/estimator_pose.hpp | 25 +++ .../cpp/livox_common/livox_sdk_config.hpp | 175 ++++++++++++++++++ .../cpp/livox_common/point_cloud_utils.hpp | 78 ++++++++ .../sensors/lidar/pointlio/cpp/flake.nix | 61 +++++- .../pointlio/cpp/livox-sdk2-darwin.patch | 47 +++++ .../cpp/livox_common/estimator_pose.hpp | 25 +++ .../cpp/livox_common/livox_sdk_config.hpp | 175 ++++++++++++++++++ .../cpp/livox_common/point_cloud_utils.hpp | 78 ++++++++ examples/native-modules/cpp/flake.nix | 12 +- 11 files changed, 763 insertions(+), 21 deletions(-) create mode 100644 dimos/hardware/sensors/lidar/fastlio2/cpp/livox-sdk2-darwin.patch create mode 100644 dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp create mode 100644 dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp create mode 100644 dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp create mode 100644 dimos/hardware/sensors/lidar/pointlio/cpp/livox-sdk2-darwin.patch create mode 100644 dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp create mode 100644 dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp create mode 100644 dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index 4ae6a9d079..b7c0689746 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -5,9 +5,13 @@ 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"; + # The shared C++ SDK, as a remote ref rather than a `../../../../../../native/cpp` + # path literal: under the `path:.` build ref this module now uses, such a literal + # escapes the module's store path, and when it resolved at all it resolved by + # copying the whole repository. + dimos-native-cpp.url = "github:dimensionalOS/dimos?dir=native/cpp"; + dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; + dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; dimos-lcm = { url = "github:dimensionalOS/dimos-lcm/main"; flake = false; @@ -30,7 +34,7 @@ }; }; - outputs = { self, nixpkgs, zenoh, flake-utils, livox-sdk, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: + outputs = { self, 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 @@ -68,12 +72,53 @@ inherit system; overlays = [ darwinDepFixes ]; }; - livox-sdk2 = livox-sdk.packages.${system}.livox-sdk2; + # Livox SDK2, built here rather than taken from the livox module's flake. + # A native module may not reach sideways into another module's directory, and + # livox is a specific sensor rather than part of the shared SDK, so the + # derivation is copied. Keep it in step with + # `dimos/hardware/sensors/lidar/livox/cpp/flake.nix`, which is the original. + livox-sdk2 = pkgs.stdenv.mkDerivation rec { + pname = "livox-sdk2"; + version = "1.2.5"; + + src = pkgs.fetchFromGitHub { + owner = "Livox-SDK"; + repo = "Livox-SDK2"; + rev = "v${version}"; + hash = "sha256-NGscO/vLiQ17yQJtdPyFzhhMGE89AJ9kTL5cSun/bpU="; + }; + + # macOS socket fixes (SO_RCVBUF too large, broadcast bind fails). + patches = [ ./livox-sdk2-darwin.patch ]; + + nativeBuildInputs = [ pkgs.cmake ]; + + cmakeFlags = [ + "-DBUILD_SHARED_LIBS=ON" + "-DCMAKE_POLICY_VERSION_MINIMUM=3.5" + ]; + + preConfigure = '' + substituteInPlace CMakeLists.txt \ + --replace-fail "add_subdirectory(samples)" "" + sed -i '1i #include ' sdk_core/comm/define.h + sed -i '1i #include ' sdk_core/logger_handler/file_manager.h + # Livox-SDK2 bundles an old rapidjson whose RAPIDJSON_DIAG_OFF(foo-bar) + # macros stringify with spaces under newer clang, producing invalid + # warning-group names. It also has an unused FastCRC field. Both + # explode under -Werror, and passing -DCMAKE_CXX_FLAGS=-Wno-error is + # overridden by add_compile_options(-Werror) deeper in the sdk_core + # CMakeLists. Strip -Werror in-place instead. + find . -name CMakeLists.txt -exec sed -i 's/-Werror//g' {} + + ''; + }; lcm = lcm-extended.packages.${system}.lcm; zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; - livox-common = ../../common; + # Copied from `dimos/hardware/sensors/lidar/common/`, for the same reason + # as the SDK above. + livox-common = ./livox_common; fastlio2_native = pkgs.stdenv.mkDerivation { pname = "fastlio2_native"; @@ -101,9 +146,7 @@ "-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/cpp/livox-sdk2-darwin.patch b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox-sdk2-darwin.patch new file mode 100644 index 0000000000..2e0495d4d6 --- /dev/null +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox-sdk2-darwin.patch @@ -0,0 +1,47 @@ +--- 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/fastlio2/cpp/livox_common/estimator_pose.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp new file mode 100644 index 0000000000..6ccc934717 --- /dev/null +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp @@ -0,0 +1,25 @@ +// 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/fastlio2/cpp/livox_common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp new file mode 100644 index 0000000000..b0fe7dad1b --- /dev/null +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp @@ -0,0 +1,175 @@ +// 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/fastlio2/cpp/livox_common/point_cloud_utils.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp new file mode 100644 index 0000000000..1a9d43d213 --- /dev/null +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp @@ -0,0 +1,78 @@ +// 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/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index e107748315..06c44317ee 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -5,9 +5,13 @@ 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"; + # The shared C++ SDK, as a remote ref rather than a `../../../../../../native/cpp` + # path literal: under the `path:.` build ref this module now uses, such a literal + # escapes the module's store path, and when it resolved at all it resolved by + # copying the whole repository. + dimos-native-cpp.url = "github:dimensionalOS/dimos?dir=native/cpp"; + dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; + dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; dimos-lcm = { url = "github:dimensionalOS/dimos-lcm/main"; flake = false; @@ -29,7 +33,7 @@ }; }; - outputs = { self, nixpkgs, zenoh, flake-utils, livox-sdk, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: + outputs = { self, 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 +71,53 @@ inherit system; overlays = [ darwinDepFixes ]; }; - livox-sdk2 = livox-sdk.packages.${system}.livox-sdk2; + # Livox SDK2, built here rather than taken from the livox module's flake. + # A native module may not reach sideways into another module's directory, and + # livox is a specific sensor rather than part of the shared SDK, so the + # derivation is copied. Keep it in step with + # `dimos/hardware/sensors/lidar/livox/cpp/flake.nix`, which is the original. + livox-sdk2 = pkgs.stdenv.mkDerivation rec { + pname = "livox-sdk2"; + version = "1.2.5"; + + src = pkgs.fetchFromGitHub { + owner = "Livox-SDK"; + repo = "Livox-SDK2"; + rev = "v${version}"; + hash = "sha256-NGscO/vLiQ17yQJtdPyFzhhMGE89AJ9kTL5cSun/bpU="; + }; + + # macOS socket fixes (SO_RCVBUF too large, broadcast bind fails). + patches = [ ./livox-sdk2-darwin.patch ]; + + nativeBuildInputs = [ pkgs.cmake ]; + + cmakeFlags = [ + "-DBUILD_SHARED_LIBS=ON" + "-DCMAKE_POLICY_VERSION_MINIMUM=3.5" + ]; + + preConfigure = '' + substituteInPlace CMakeLists.txt \ + --replace-fail "add_subdirectory(samples)" "" + sed -i '1i #include ' sdk_core/comm/define.h + sed -i '1i #include ' sdk_core/logger_handler/file_manager.h + # Livox-SDK2 bundles an old rapidjson whose RAPIDJSON_DIAG_OFF(foo-bar) + # macros stringify with spaces under newer clang, producing invalid + # warning-group names. It also has an unused FastCRC field. Both + # explode under -Werror, and passing -DCMAKE_CXX_FLAGS=-Wno-error is + # overridden by add_compile_options(-Werror) deeper in the sdk_core + # CMakeLists. Strip -Werror in-place instead. + find . -name CMakeLists.txt -exec sed -i 's/-Werror//g' {} + + ''; + }; lcm = lcm-extended.packages.${system}.lcm; zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; - livox-common = ../../common; + # Copied from `dimos/hardware/sensors/lidar/common/`, for the same reason + # as the SDK above. + livox-common = ./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 @@ -111,9 +156,7 @@ "-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/cpp/livox-sdk2-darwin.patch b/dimos/hardware/sensors/lidar/pointlio/cpp/livox-sdk2-darwin.patch new file mode 100644 index 0000000000..2e0495d4d6 --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox-sdk2-darwin.patch @@ -0,0 +1,47 @@ +--- 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/pointlio/cpp/livox_common/estimator_pose.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp new file mode 100644 index 0000000000..6ccc934717 --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp @@ -0,0 +1,25 @@ +// 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/pointlio/cpp/livox_common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp new file mode 100644 index 0000000000..b0fe7dad1b --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp @@ -0,0 +1,175 @@ +// 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/pointlio/cpp/livox_common/point_cloud_utils.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp new file mode 100644 index 0000000000..1a9d43d213 --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp @@ -0,0 +1,78 @@ +// 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/examples/native-modules/cpp/flake.nix b/examples/native-modules/cpp/flake.nix index 9fd97687e8..0f0183230f 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -20,9 +20,15 @@ url = "github:apolukhin/pfr_non_boost/2.3.2"; flake = false; }; + # The shared C++ SDK, as a remote ref rather than a `${../../../native/cpp}` path + # literal: under the `path:.` build ref this example now uses, such a literal + # escapes the flake's store path. + dimos-native-cpp.url = "github:dimensionalOS/dimos?dir=native/cpp"; + dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; + dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; }; - outputs = { self, nixpkgs, zenoh, flake-utils, lcm-extended, dimos-lcm, pfr, ... }: + outputs = { self, nixpkgs, zenoh, flake-utils, lcm-extended, dimos-lcm, pfr, dimos-native-cpp, ... }: flake-utils.lib.eachDefaultSystem (system: let pkgs = import nixpkgs { inherit system; }; @@ -30,7 +36,7 @@ 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 = ./.; @@ -44,7 +50,7 @@ "-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}" ]; }; }); From 767cf49db046e2444c40365c9f4f50a3345bd025 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 17:59:57 -0700 Subject: [PATCH 26/97] build(nix): give every rust native module its own crate2nix flake Each one takes the shared crates as its single in-repo input and follows their nixpkgs, which collapses the seven nixpkgs revisions the repo carried into one for the rust side. dim_slam keeps its per-variant cuVSLAM packages but loses the whole-repo `path:../../../..` input; the memory recorder loses the hand-maintained fileset listing every workspace member. --- dimos/experimental/memory/rust/flake.nix | 116 ++++++------------ .../sensors/camera/realsense/rust/flake.nix | 40 ++++-- .../sensors/lidar/livox/rust/flake.nix | 27 ++++ .../sensors/lidar/pointlio/rust/flake.nix | 27 ++++ .../sensors/lidar/virtual_mid360/flake.nix | 27 ++++ dimos/mapping/dim_slam/rust/flake.nix | 77 +++++------- dimos/mapping/ray_tracing/rust/flake.nix | 27 ++++ .../nav_3d/mls_planner/rust/flake.nix | 27 ++++ examples/native-modules/rust/flake.nix | 27 ++++ flake.nix | 80 +----------- nix/rust/flake.lock | 27 ---- nix/rust/flake.nix | 29 ----- 12 files changed, 262 insertions(+), 269 deletions(-) create mode 100644 dimos/hardware/sensors/lidar/livox/rust/flake.nix create mode 100644 dimos/hardware/sensors/lidar/pointlio/rust/flake.nix create mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/flake.nix create mode 100644 dimos/mapping/ray_tracing/rust/flake.nix create mode 100644 dimos/navigation/nav_3d/mls_planner/rust/flake.nix create mode 100644 examples/native-modules/rust/flake.nix delete mode 100644 nix/rust/flake.lock delete mode 100644 nix/rust/flake.nix diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 17ddabe72c..7694bfd701 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -1,85 +1,49 @@ { - description = "DimOS Rust native modules"; - + description = "Native Memory2 SQLite and MCAP recorder for dimos"; + + # The shared crates come in as a remote git input, not a relative path. A `path:..` + # input is unresolvable from a `path:.` build (`..` escapes the store path), and a + # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only + # form that survives this module moving into a repository of its own. It costs one + # 25 MB store path, shared by every module locked to the same revision -- against + # the ~16 GB a local ref copies, because a local ref reads the working tree and so + # picks up every smudged git-lfs blob under data/. inputs = { - nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; - flake-utils.url = "github:numtide/flake-utils"; + dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + flake-utils.follows = "dimos-native-rust/flake-utils"; + nixpkgs.follows = "dimos-native-rust/nixpkgs"; }; - outputs = { - self, - nixpkgs, - flake-utils, - }: - flake-utils.lib.eachSystem [ - "x86_64-linux" - "aarch64-linux" - "aarch64-darwin" - ] (system: let - pkgs = nixpkgs.legacyPackages.${system}; - nativeDeps = [pkgs.cmake pkgs.nasm pkgs.pkg-config]; - systemDeps = - [pkgs.sqlite pkgs.sqlite.dev] - ++ pkgs.lib.optionals pkgs.stdenv.hostPlatform.isDarwin [pkgs.libiconv]; - dimos-memory-recorder = pkgs.rustPlatform.buildRustPackage { - pname = "dimos-memory-recorder"; - version = "0.1.0"; - src = pkgs.lib.fileset.toSource { - root = ../../../..; - fileset = pkgs.lib.fileset.unions [ - ../../../../Cargo.lock - ../../../../Cargo.toml - ../../../../dimos/experimental/memory/rust - ../../../../native/rust/dimos-module - ../../../../native/rust/dimos-module-macros - ../../../../dimos/mapping/ray_tracing/rust - ../../../../dimos/mapping/ray_tracing/rust/py - ../../../../dimos/navigation/nav_3d/mls_planner/rust - ../../../../dimos/navigation/nav_3d/mls_planner/rust/py - ../../../../dimos/hardware/sensors/lidar/livox/rust - ../../../../dimos/hardware/sensors/lidar/pointlio/rust - ../../../../dimos/hardware/sensors/lidar/virtual_mid360 - ../../../../examples/native-modules/rust - ]; - }; - - cargoLock = { - lockFile = ../../../../Cargo.lock; - outputHashes = { - "dimos-lcm-0.1.0" = "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8="; - "pointlio-core-0.1.0" = "sha256-iC7nDbEipfi3cViK7fqKiy2hT9ENGi4Ge7L6Wt1W01Q="; + outputs = { self, nixpkgs, dimos-native-rust, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + shared = dimos-native-rust.lib.${system}; + pkgsFor = nixpkgs.legacyPackages.${system}; + in { + packages.dimos-memory-recorder = shared.buildNativeModule { + name = "dimos-memory-recorder"; + path = "dimos/experimental/memory/rust"; + src = ./.; + # sqlite and the turbojpeg encoder are C libraries; crate2nix builds each + # crate on its own, so the -sys crates name what they link rather than the + # whole package doing it once. + crateOverrides = pkgs: { + libsqlite3-sys = _: { + buildInputs = [ pkgs.sqlite ]; + nativeBuildInputs = [ pkgs.pkg-config ]; + LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; + }; + turbojpeg-sys = _: { + nativeBuildInputs = [ pkgs.cmake pkgs.nasm ]; + }; }; }; - cargoBuildFlags = ["-p" "dimos-memory-recorder"]; - cargoTestFlags = ["-p" "dimos-memory-recorder"]; - strictDeps = true; - - nativeBuildInputs = nativeDeps; - buildInputs = systemDeps; - - env.LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; - - meta = { - description = "Experimental native Memory2 SQLite and MCAP recorder"; - mainProgram = "dimos-memory-recorder"; - platforms = pkgs.lib.platforms.unix; + devShells.default = pkgsFor.mkShell { + packages = shared.rustTools + ++ [ pkgsFor.cmake pkgsFor.nasm pkgsFor.pkg-config pkgsFor.sqlite pkgsFor.sqlite.dev ] + ++ pkgsFor.lib.optionals pkgsFor.stdenv.hostPlatform.isDarwin [ pkgsFor.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/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 5db093b798..1625b98948 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -1,17 +1,33 @@ { - description = "librealsense for the dimos RealSense native module"; + description = "RealSense D4xx camera native module for dimos"; - inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + # The shared crates come in as a remote git input, not a relative path. A `path:..` + # input is unresolvable from a `path:.` build (`..` escapes the store path), and a + # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only + # form that survives this module moving into a repository of its own. It costs one + # 25 MB store path, shared by every module locked to the same revision -- against + # the ~16 GB a local ref copies, because a local ref reads the working tree and so + # picks up every smudged git-lfs blob under data/. + inputs = { + dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + flake-utils.follows = "dimos-native-rust/flake-utils"; + }; - 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.librealsense pkgs.pkg-config ]; }; + outputs = { self, dimos-native-rust, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" ] (system: + let shared = dimos-native-rust.lib.${system}; in { + packages.dimos-realsense = shared.buildNativeModule { + name = "dimos-realsense"; + path = "dimos/hardware/sensors/camera/realsense/rust"; + src = ./.; + crateOverrides = pkgs: { + realsense-sys = _: { + buildInputs = [ pkgs.librealsense ]; + nativeBuildInputs = [ pkgs.pkg-config ]; + }; + }; + }; + + devShells.default = dimos-native-rust.devShells.${system}.default; }); - }; } 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..51f7b17bbb --- /dev/null +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -0,0 +1,27 @@ +{ + description = "Livox Mid-360 native module for dimos"; + + # The shared crates come in as a remote git input, not a relative path. A `path:..` + # input is unresolvable from a `path:.` build (`..` escapes the store path), and a + # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only + # form that survives this module moving into a repository of its own. It costs one + # 25 MB store path, shared by every module locked to the same revision -- against + # the ~16 GB a local ref copies, because a local ref reads the working tree and so + # picks up every smudged git-lfs blob under data/. + inputs = { + dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + flake-utils.follows = "dimos-native-rust/flake-utils"; + }; + + outputs = { self, dimos-native-rust, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let shared = dimos-native-rust.lib.${system}; in { + packages.dimos-livox = shared.buildNativeModule { + name = "dimos-livox"; + path = "dimos/hardware/sensors/lidar/livox/rust"; + src = ./.; + }; + + devShells.default = dimos-native-rust.devShells.${system}.default; + }); +} 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..4b6024d666 --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -0,0 +1,27 @@ +{ + description = "Point-LIO native module for dimos"; + + # The shared crates come in as a remote git input, not a relative path. A `path:..` + # input is unresolvable from a `path:.` build (`..` escapes the store path), and a + # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only + # form that survives this module moving into a repository of its own. It costs one + # 25 MB store path, shared by every module locked to the same revision -- against + # the ~16 GB a local ref copies, because a local ref reads the working tree and so + # picks up every smudged git-lfs blob under data/. + inputs = { + dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + flake-utils.follows = "dimos-native-rust/flake-utils"; + }; + + outputs = { self, dimos-native-rust, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let shared = dimos-native-rust.lib.${system}; in { + packages.dimos-pointlio = shared.buildNativeModule { + name = "dimos-pointlio"; + path = "dimos/hardware/sensors/lidar/pointlio/rust"; + src = ./.; + }; + + devShells.default = dimos-native-rust.devShells.${system}.default; + }); +} 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..cd3867f5b3 --- /dev/null +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -0,0 +1,27 @@ +{ + description = "Virtual Livox Mid-360 pcap replay native module for dimos"; + + # The shared crates come in as a remote git input, not a relative path. A `path:..` + # input is unresolvable from a `path:.` build (`..` escapes the store path), and a + # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only + # form that survives this module moving into a repository of its own. It costs one + # 25 MB store path, shared by every module locked to the same revision -- against + # the ~16 GB a local ref copies, because a local ref reads the working tree and so + # picks up every smudged git-lfs blob under data/. + inputs = { + dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + flake-utils.follows = "dimos-native-rust/flake-utils"; + }; + + outputs = { self, dimos-native-rust, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let shared = dimos-native-rust.lib.${system}; in { + packages.dimos-virtual-mid360 = shared.buildNativeModule { + name = "dimos-virtual-mid360"; + path = "dimos/hardware/sensors/lidar/virtual_mid360"; + src = ./.; + }; + + devShells.default = dimos-native-rust.devShells.${system}.default; + }); +} diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index 7b44713e85..06e6a17687 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -1,71 +1,54 @@ { description = "dimSLAM native module for DimOS: the dim_slam library behind an LCM wrapper"; + # The shared crates come in as a remote git input, not a relative path. A `path:..` + # input is unresolvable from a `path:.` build (`..` escapes the store path), and a + # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only + # form that survives this module moving into a repository of its own. It costs one + # 25 MB store path, shared by every module locked to the same revision -- against + # the ~16 GB the old whole-repo `path:../../../..` input copied, because a local + # ref reads the working tree and so picks up every smudged git-lfs blob. inputs = { - nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; - flake-utils.url = "github:numtide/flake-utils"; + dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + flake-utils.follows = "dimos-native-rust/flake-utils"; + nixpkgs.follows = "dimos-native-rust/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 }: + outputs = { self, nixpkgs, flake-utils, cu-vslam-rs, dimos-native-rust }: # 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: let - isDarwin = nixpkgs.lib.hasSuffix "-darwin" system; - pkgs = import nixpkgs { - inherit system; - config = { allowUnfree = true; cudaSupport = !isDarwin; }; - }; + shared = dimos-native-rust.lib.${system}; - sdkPackages = nixpkgs.lib.filterAttrs (name: _: nixpkgs.lib.hasPrefix "sdk-" name) cu-vslam-rs.packages.${system}; + 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 = 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 - - 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"; - }; - - packageFor = variant: let sdkPackage = sdkPackages."sdk-${variant}"; in - (import generatedCargoNix { - inherit pkgs; - buildRustCrateForPkgs = cratePkgs: cratePkgs.buildRustCrate.override { - defaultCrateOverrides = cratePkgs.defaultCrateOverrides // { - # cu_vslam_rs's build.rs compiles its shim against this SDK. - cu_vslam_rs = _: { CUVSLAM_SDK_DIR = sdkPackage; }; - # buildRustCrate names DEP_ vars after the crate, cargo after the - # `links` key, so cu_vslam_rs's lib_dir never reaches our build.rs - # and the binary comes out with no rpath for libcuvslam. - dim-slam-module = _: { DEP_CUVSLAM_LIB_DIR = "${sdkPackage}/lib"; }; - }; + packageFor = variant: + let sdkPackage = sdkPackages."sdk-${variant}"; in + shared.buildNativeModule { + name = "dim-slam-module"; + path = "dimos/mapping/dim_slam/rust"; + src = ./.; + crateOverrides = _: { + # cu_vslam_rs's build.rs compiles its shim against this SDK. + cu_vslam_rs = _: { CUVSLAM_SDK_DIR = sdkPackage; }; + # buildRustCrate names DEP_ vars after the crate, cargo after the + # `links` key, so cu_vslam_rs's lib_dir never reaches our build.rs + # and the binary comes out with no rpath for libcuvslam. + dim-slam-module = _: { DEP_CUVSLAM_LIB_DIR = "${sdkPackage}/lib"; }; }; - }).rootCrate.build; + }; in { packages = nixpkgs.lib.genAttrs variants packageFor; # script needs to detect cuda/non-cuda to pick the right things to load - devShells.default = pkgs.mkShellNoCC { + devShells.default = nixpkgs.legacyPackages.${system}.mkShellNoCC { shellHook = '' if [ -z "''${CUVSLAM_SDK_DIR:-}" ]; then case "$(uname -s)-$(uname -m)" in diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix new file mode 100644 index 0000000000..1c819af90f --- /dev/null +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -0,0 +1,27 @@ +{ + description = "Voxel ray tracing native module for dimos"; + + # The shared crates come in as a remote git input, not a relative path. A `path:..` + # input is unresolvable from a `path:.` build (`..` escapes the store path), and a + # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only + # form that survives this module moving into a repository of its own. It costs one + # 25 MB store path, shared by every module locked to the same revision -- against + # the ~16 GB a local ref copies, because a local ref reads the working tree and so + # picks up every smudged git-lfs blob under data/. + inputs = { + dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + flake-utils.follows = "dimos-native-rust/flake-utils"; + }; + + outputs = { self, dimos-native-rust, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let shared = dimos-native-rust.lib.${system}; in { + packages.dimos-voxel-ray-tracing = shared.buildNativeModule { + name = "dimos-voxel-ray-tracing"; + path = "dimos/mapping/ray_tracing/rust"; + src = ./.; + }; + + devShells.default = dimos-native-rust.devShells.${system}.default; + }); +} 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..81c5fd8bb0 --- /dev/null +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -0,0 +1,27 @@ +{ + description = "Multi-level surface path planner native module for dimos"; + + # The shared crates come in as a remote git input, not a relative path. A `path:..` + # input is unresolvable from a `path:.` build (`..` escapes the store path), and a + # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only + # form that survives this module moving into a repository of its own. It costs one + # 25 MB store path, shared by every module locked to the same revision -- against + # the ~16 GB a local ref copies, because a local ref reads the working tree and so + # picks up every smudged git-lfs blob under data/. + inputs = { + dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + flake-utils.follows = "dimos-native-rust/flake-utils"; + }; + + outputs = { self, dimos-native-rust, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let shared = dimos-native-rust.lib.${system}; in { + packages.dimos-mls-planner = shared.buildNativeModule { + name = "dimos-mls-planner"; + path = "dimos/navigation/nav_3d/mls_planner/rust"; + src = ./.; + }; + + devShells.default = dimos-native-rust.devShells.${system}.default; + }); +} diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix new file mode 100644 index 0000000000..7a7cddc8b4 --- /dev/null +++ b/examples/native-modules/rust/flake.nix @@ -0,0 +1,27 @@ +{ + description = "Example rust native modules for dimos"; + + # The shared crates come in as a remote git input, not a relative path. A `path:..` + # input is unresolvable from a `path:.` build (`..` escapes the store path), and a + # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only + # form that survives this module moving into a repository of its own. It costs one + # 25 MB store path, shared by every module locked to the same revision -- against + # the ~16 GB a local ref copies, because a local ref reads the working tree and so + # picks up every smudged git-lfs blob under data/. + inputs = { + dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + flake-utils.follows = "dimos-native-rust/flake-utils"; + }; + + outputs = { self, dimos-native-rust, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let shared = dimos-native-rust.lib.${system}; in { + packages.dimos-native-module-examples = shared.buildNativeModule { + name = "dimos-native-module-examples"; + path = "examples/native-modules/rust"; + src = ./.; + }; + + devShells.default = dimos-native-rust.devShells.${system}.default; + }); +} diff --git a/flake.nix b/flake.nix index 31da5878ed..4216a99a1c 100644 --- a/flake.nix +++ b/flake.nix @@ -85,7 +85,8 @@ { vals.pkg=pkgs.uv; flags={}; } { vals.pkg=pkgs.pre-commit; flags={}; } - ### Rust (native module auto-builds run `nix develop path: -c cargo`) + ### Rust (for ad-hoc cargo use in this shell; native modules build + ### through their own flakes, not this one) { vals.pkg=pkgs.cargo; flags={}; } { vals.pkg=pkgs.rustc; flags={}; } @@ -284,81 +285,6 @@ }).default; }; - # ------------------------------------------------------------ - # 3b. Native modules built from the cargo workspace - # ------------------------------------------------------------ - # One derivation for every rust native module, because they are one - # cargo workspace: splitting them per module would vendor the deps and - # rebuild the shared crates once each. - # - # Each module owns a `deps.nix` naming the crate directories it - # contributes to the workspace, the cargo packages that are module - # executables, and any system libraries it links. Adding a module is - # just a new deps.nix; nothing here has to change. - # - # The rule is deliberately the dumbest one possible -- every file named - # `deps.nix`, anywhere in the tree -- because - # `bin/build-native-modules --inputs-hash` has to find exactly the same - # set to key the Cachix publish marker, and it does that with a glob - # rather than by evaluating nix. Any cleverer rule here (pruning, - # restricted roots) would have to be mirrored there, and the two would - # drift. Keep them the same sentence. - findDepsFiles = dir: - let entries = builtins.readDir dir; in - builtins.concatMap - (name: - if entries.${name} == "directory" then - findDepsFiles (dir + "/${name}") - else if name == "deps.nix" then - [ (dir + "/${name}") ] - else - [ ]) - (builtins.attrNames entries); - moduleDeps = map (file: import file pkgs) (findDepsFiles ./.); - depsField = field: builtins.concatLists (map (dep: dep.${field} or [ ]) moduleDeps); - - rustNativeModules = pkgs.rustPlatform.buildRustPackage { - pname = "dimos-rust-native-modules"; - version = "0.1.0"; - # Assembled from the declared crate directories rather than filtered - # out of `./.`, so the only repo content reaching the derivation is - # the workspace itself: a doc or python edit leaves this unchanged - # and Cachix substitutes it. It also makes the build independent of - # whether a clone has pulled the git-lfs datasets. - # `bin/build-native-modules --inputs-hash` follows the same imports - # to key the Cachix publish marker. - src = pkgs.runCommand "dimos-rust-workspace" { } ( - '' - mkdir -p $out - cp ${./Cargo.toml} $out/Cargo.toml - cp ${./Cargo.lock} $out/Cargo.lock - '' - + pkgs.lib.concatMapStrings - (dep: pkgs.lib.concatStrings (pkgs.lib.mapAttrsToList (dest: tree: '' - mkdir -p $out/${builtins.dirOf dest} - cp -r ${tree} $out/${dest} - '') (dep.sources or { }))) - moduleDeps - + "chmod -R u+w $out\n" - ); - buildInputs = depsField "buildInputs"; - nativeBuildInputs = depsField "nativeBuildInputs"; - # Vendored by cargo rather than by `cargoLock.lockFile`, which would - # need no hash at all: nixpkgs fetches each crate with curl from - # `crates.io/api/v1/.../download`, and that endpoint 403s curl's user - # agent. Cargo itself is allowed, which is why vendoring works here. - # `static.crates.io` also serves them fine, but nothing in - # `importCargoLock` can point at it -- `registries` supplies only a - # base, always suffixed `///download`, and the CDN's - # path is `//-.crate`. Note the 403 is invisible - # locally, where the crates substitute from cache.nixos.org instead. - # So this hash has to be re-pasted whenever Cargo.lock moves; the CI - # failure prints the new value. - cargoHash = "sha256-Tm1TeMi8A0ESvARlLglV/ycax2GFqvh54zjEPkOTXm8="; - cargoBuildFlags = builtins.concatMap (name: [ "-p" name ]) (depsField "binaries"); - doCheck = false; - }; - # ------------------------------------------------------------ # 4. Closure copied into the OCI image rootfs # ------------------------------------------------------------ @@ -372,8 +298,6 @@ ## Local dev shell devShells = devShells; - packages.rust_native_modules = rustNativeModules; - ## Layered docker image with DockerTools packages.devcontainer = pkgs.dockerTools.buildLayeredImage { name = "dimensional/dimos-dev"; diff --git a/nix/rust/flake.lock b/nix/rust/flake.lock deleted file mode 100644 index 94e0bfb08c..0000000000 --- a/nix/rust/flake.lock +++ /dev/null @@ -1,27 +0,0 @@ -{ - "nodes": { - "nixpkgs": { - "locked": { - "lastModified": 1778869304, - "narHash": "sha256-30sZNZoA1cqF5JNO9fVX+wgiQYjB7HJqqJ4ztCDeBZE=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "d233902339c02a9c334e7e593de68855ad26c4cb", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "root": { - "inputs": { - "nixpkgs": "nixpkgs" - } - } - }, - "root": "root", - "version": 7 -} diff --git a/nix/rust/flake.nix b/nix/rust/flake.nix deleted file mode 100644 index aa84fcbe36..0000000000 --- a/nix/rust/flake.nix +++ /dev/null @@ -1,29 +0,0 @@ -{ - description = "Rust toolchain for the dimos cargo workspace"; - - # Deliberately a tiny flake of its own rather than the repo-root one: a flake - # ref copies its entire source tree into the nix store, and a fresh copy every - # time that tree changes. Pointed at the repo root that means the build dirs, - # .venv and .git (`path:` refs copy everything) or the tracked data/.lfs blobs - # (git refs copy tracked files) -- tens of gigabytes per build. This directory - # is two files, so the snapshot is stable and free. - 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 { - # The toolchain the clippy and fmt hooks run in. Locked to the same nixpkgs - # rev as the repo-root flake, so this is not a second toolchain download. - devShells = forAll (pkgs: { - default = pkgs.mkShell { - packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ] - # librealsense pulls v4l-utils, which nixpkgs will not evaluate off - # Linux. The realsense crate simply has no macOS build; the rest of - # the workspace still lints there. - ++ nixpkgs.lib.optionals pkgs.stdenv.isLinux [ pkgs.librealsense pkgs.pkg-config ]; - }; - }); - }; -} From 5cfcc53e51791281de5379a2d1499c5cab2dfbba Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:00:13 -0700 Subject: [PATCH 27/97] build(nix): one build-command convention, and one module-discovery mechanism Every NativeModuleConfig now declares `nix build -L path:.#` with cwd set to its flake's directory and executable result/bin/, replacing cargo build, `nix develop path:. -c cargo build`, bare `nix build -L .#x`, `nix build .#default` and a git+file ref. path:. rather than .: a bare . walks up to .git and resolves to the whole working tree, which is 16 GB of smudged git-lfs blobs under data/. bin/build-native-modules loses the deps.nix search that mirrored the root flake's: a module's hashed inputs are now its own directory, and the walk that remains exists to fail if a flake reaches outside it. CI drops its own independent `find -name flake.nix` loop and calls the script instead, so the three discovery mechanisms that had to agree by hand become one. The pre-commit fmt and clippy hooks walk each cargo workspace root into that module's own devShell, and CI stops skipping them. They had been approximated in the rust job by `cargo clippy --workspace` under a rustup toolchain, which linted neither dim_slam nor realsense -- neither is a member of any shared workspace. --- .github/workflows/ci.yml | 79 ++++++++------- .pre-commit-config.yaml | 27 ++--- bin/build-native-modules | 98 ++++++------------- dimos/core/test_build_native_modules.py | 55 +++++++---- dimos/experimental/memory/rust_recorder.py | 2 +- .../experimental/memory/test_rust_recorder.py | 2 +- .../sensors/camera/realsense/camera.py | 4 +- .../hardware/sensors/lidar/fastlio2/module.py | 2 +- dimos/hardware/sensors/lidar/livox/module.py | 5 +- .../hardware/sensors/lidar/livox/test_e2e.py | 14 ++- .../hardware/sensors/lidar/pointlio/module.py | 7 +- .../sensors/lidar/virtual_mid360/deps.nix | 5 - .../sensors/lidar/virtual_mid360/module.py | 5 +- dimos/mapping/dim_slam/dim_slam.py | 9 +- dimos/mapping/ray_tracing/deps.nix | 6 -- dimos/mapping/ray_tracing/module.py | 4 +- dimos/navigation/nav_3d/mls_planner/deps.nix | 4 - .../nav_3d/mls_planner/mls_planner_native.py | 4 +- examples/native-modules/cpp_ping_pong.py | 2 +- examples/native-modules/deps.nix | 4 - examples/native-modules/rust_ping_pong.py | 8 +- examples/native-modules/rust_tf.py | 8 +- native/rust/deps.nix | 4 - 23 files changed, 162 insertions(+), 196 deletions(-) delete mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/deps.nix delete mode 100644 dimos/mapping/ray_tracing/deps.nix delete mode 100644 dimos/navigation/nav_3d/mls_planner/deps.nix delete mode 100644 examples/native-modules/deps.nix delete mode 100644 native/rust/deps.nix diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index f378ef0e91..3b8398337d 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -273,11 +273,21 @@ jobs: deno-version: ${{ steps.deno-version.outputs.version }} cache: true + # The cargo-fmt and cargo-clippy hooks enter each module's own devShell, which + # is the only place a module's system libraries (librealsense, sqlite, the + # cuVSLAM SDK) exist. They used to be skipped here and approximated in the rust + # job with a rustup toolchain and `--workspace`, which silently linted neither + # dim_slam nor realsense -- they are not members of any shared workspace. + - name: Install Nix + env: + INPUT_EXTRA_NIX_CONFIG: | + 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 rust: timeout-minutes: 30 @@ -298,12 +308,20 @@ jobs: # 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: ${{ github.ref == 'refs/heads/main' }} - - name: cargo fmt - run: cargo fmt --all -- --check - - name: cargo clippy - run: cargo clippy --workspace --all-targets --all-features --locked -- -D warnings + # There is no repo-wide cargo workspace any more: every module is its own + # workspace with its own lock. fmt and clippy moved to the pre-commit hooks in + # the lint job, which enter each module's devShell; what is left here is the + # test run, over each workspace root in turn. - name: cargo test - run: cargo test --workspace --all-features --locked + run: | + set -euo pipefail + git ls-files "*Cargo.toml" | while read -r m; do + cargo locate-project --manifest-path "$m" --workspace --message-format plain + done | sort -u | while read -r root; do + echo "::group::cargo test $root" + cargo test --manifest-path "$root" --workspace --all-features --locked + echo "::endgroup::" + done - name: Install uv uses: astral-sh/setup-uv@v10.0.1 with: @@ -330,9 +348,9 @@ jobs: - 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 - 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 + # NativeModule builds these itself, through each module's own + # `nix build -L path:.#`; nothing here builds them with cargo. + run: uv run pytest -m native_e2e dimos/hardware/sensors/lidar/livox/test_e2e.py --no-cov native: name: Native builds (C++ and Rust) @@ -377,16 +395,18 @@ jobs: - name: Test run: ctest --test-dir build/native-cpp --output-on-failure - - name: Find C++ native modules + # `bin/build-native-modules` is the single discovery mechanism: it reads every + # NativeModuleConfig's own build_command. This job used to run a second, + # independent `find -name flake.nix` glob, and the repo-root flake a third + # (`findDepsFiles`); a module missed by any one of them was silently not built, + # not hashed, or not published. + - 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$||' \ | while read -r dir; do - [ -f "$dir/CMakeLists.txt" ] && echo "${dir#./}" + [ -f "$dir/CMakeLists.txt" ] && echo "$dir" done \ | sort) if [ -z "$modules" ]; then @@ -411,21 +431,12 @@ jobs: 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 - 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 + # Builds every native module, C++ and rust alike, each with the exact command + # its own NativeModuleConfig declares -- so CI cannot build something different + # from what a developer's machine builds. + - name: Build native modules + run: python3 bin/build-native-modules - name: Test C++ native modules env: MODULES: ${{ steps.find-modules.outputs.modules }} @@ -915,7 +926,9 @@ jobs: uses: dtolnay/rust-toolchain@stable - name: Build rust native modules if: contains(matrix.markers, 'self_hosted') - run: cargo build --release --locked -p dimos-livox -p dimos-virtual-mid360 + # Each module owns its build: NativeModule runs the module's own + # `nix build -L path:.#`, and this script runs exactly those. + run: python3 bin/build-native-modules - name: Run tests run: uv run pytest --cov=dimos/ --junitxml=junit.xml -m '(${{ matrix.markers }}) and not mujoco' - name: Re-run the failing tests with maximum verbosity diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index ffcc77fa8b..7c63a05e9c 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -134,15 +134,23 @@ repos: language: python stages: [pre-commit] + # Every rust crate now lives in its own cargo workspace with its own flake, so + # both hooks walk the workspace roots and enter each one's own devShell. There + # is no repo-root fallback: a repo-root flake ref would copy the entire tree, + # git-lfs blobs and all, into the store on every commit. - id: cargo-fmt name: cargo fmt entry: | - nix develop path:nix/rust -c bash -c ' + bash -c ' set -euo pipefail + top=$(git rev-parse --show-toplevel) git ls-files "*Cargo.toml" | while read -r m; do cargo locate-project --manifest-path "$m" --workspace --message-format plain done | sort -u | while read -r root; do - cargo fmt --manifest-path "$root" --all + dir=$(dirname "$root") + while [ "$dir" != "$top" ] && [ ! -f "$dir/flake.nix" ]; do dir=$(dirname "$dir"); done + [ -f "$dir/flake.nix" ] || { echo "no flake above $root" >&2; exit 1; } + nix develop "path:$dir" -c cargo fmt --manifest-path "$root" --all done ' language: system @@ -152,21 +160,16 @@ repos: - id: cargo-clippy name: cargo clippy entry: | - nix develop path:nix/rust -c bash -c ' + bash -c ' set -euo pipefail + top=$(git rev-parse --show-toplevel) git ls-files "*Cargo.toml" | while read -r m; do cargo locate-project --manifest-path "$m" --workspace --message-format plain done | sort -u | while read -r root; do dir=$(dirname "$root") - # A module crate with its own flake carries system deps the toolchain - # shell lacks. The repo-root flake is skipped on purpose: a flake ref - # copies its whole source tree into the store, and that tree is the - # entire repository. - if [ "$dir" != "$(git rev-parse --show-toplevel)" ] && [ -f "$dir/flake.nix" ]; then - nix develop "path:$dir" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings - else - cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings - fi + while [ "$dir" != "$top" ] && [ ! -f "$dir/flake.nix" ]; do dir=$(dirname "$dir"); done + [ -f "$dir/flake.nix" ] || { echo "no flake above $root" >&2; exit 1; } + nix develop "path:$dir" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings done ' language: system diff --git a/bin/build-native-modules b/bin/build-native-modules index f57df9d540..5bf0cd8af5 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -35,17 +35,18 @@ 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 @@ -287,10 +288,6 @@ def _resolve_ref(flake: Path, token: str) -> str: return PurePosixPath(rel).as_posix() -# The repo-root flake's only legitimate use of `./.` — the deps.nix search. -_DOT_LITERAL = re.compile(r"(? tuple[set[str], set[str]]: def _collect_input_paths(module: DiscoveredModule) -> set[str]: - """Repo paths whose content can reach this module's derivation.""" - # Hashing the build dir of a repo-root flake would hash the whole tree, so - # every commit would invalidate the marker and re-run the publish job. Such - # a flake reaches repo content only through the path literals collected - # below, so the flake itself is the only extra input. - paths = {"flake.nix", "flake.lock"} if module.build_dir == "." else {module.build_dir} + """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 - # The repo-root flake discovers its build inputs by searching the tree for - # files named `deps.nix`, so there is no path literal to scan for. Mirror - # that search here -- same rule, stated the same way -- and let the queue - # below follow each one to the crate directories it names. Getting this set - # wrong is silent: a crate reachable only through a missed deps.nix would be - # served from the cache as already published. - discovered = ( - [ - found - for found in REPO_ROOT.rglob("deps.nix") - if not any(part.startswith(".") for part in found.relative_to(REPO_ROOT).parts) - ] - if module.build_dir == "." - else [] - ) - paths |= {found.relative_to(REPO_ROOT).as_posix() for found in discovered} root = REPO_ROOT / module.build_dir / "flake.nix" if not root.is_file(): raise SystemExit( f"{module.source}: {module.qualname} builds a local flake but {root} is missing" ) - queue, seen = [root, *discovered], 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 literals: - # A literal naming a .nix file is imported, and whatever paths it - # names in turn reach the derivation too. Missing those would key - # the marker on the importing file alone, so an edit to a crate - # listed only there would be served from the cache as published. - if rel.endswith(".nix"): - queue.append(REPO_ROOT / rel) - 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 - if module.build_dir == "." and "." in paths: - # `findDepsFiles ./.` names the whole repo, but readDir reads directory - # *names*, not file contents: the only content that reaches the - # derivation is the deps.nix files it finds and the crates those name, - # and both are already in `paths`. Hashing "." instead would rekey the - # marker on every commit in the repo. Narrow on purpose — a plain `./.` - # anywhere else in this flake would reach everything for real. - text = _strip_nix_comments(root.read_text()) - if len(_DOT_LITERAL.findall(text)) != len(_ROOT_SEARCH.findall(text)): + 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( - "flake.nix: `./.` outside the deps.nix search reaches the whole repository;" - " the inputs hash cannot follow that — name a specific path instead" + 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." ) - paths.discard(".") return paths diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index 5914df1e8a..c995fc4eb6 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -207,9 +207,7 @@ 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 " @@ -217,23 +215,40 @@ 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" + ) + + +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.startswith("path:.#") or ref.startswith("github:"), ( + f"{module.qualname}: flake ref {ref!r} is not the " + "`path:.#` convention" ) diff --git a/dimos/experimental/memory/rust_recorder.py b/dimos/experimental/memory/rust_recorder.py index 667945cce6..ee0948a9cc 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:.#dimos-memory-recorder" 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..5224578c9e 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:.#dimos-memory-recorder" 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..4d070bb9b7 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:.#dimos-realsense" 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/lidar/fastlio2/module.py b/dimos/hardware/sensors/lidar/fastlio2/module.py index c179a982ac..97c8e45cde 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:.#fastlio2_native" 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/module.py b/dimos/hardware/sensors/lidar/livox/module.py index 1cd44231f5..144fe4f409 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 dimos.core.stream import Out @@ -57,8 +56,8 @@ class Mid360Config(NativeModuleConfig): 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" / "mid360_native") - build_command: str | None = "cargo build --release" + executable: str = "result/bin/mid360_native" + build_command: str | None = "nix build -L path:.#dimos-livox" stdin_config: bool = True base_fields: frozenset[str] = frozenset({"frame_id"}) host_ip: str | None = Field(default_factory=lambda: os.environ.get("DIMOS_MID360_HOST_IP")) diff --git a/dimos/hardware/sensors/lidar/livox/test_e2e.py b/dimos/hardware/sensors/lidar/livox/test_e2e.py index 13a7596a37..79767111cb 100644 --- a/dimos/hardware/sensors/lidar/livox/test_e2e.py +++ b/dimos/hardware/sensors/lidar/livox/test_e2e.py @@ -46,7 +46,14 @@ from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 from dimos.utils.data import get_data -_RELEASE = DIMOS_PROJECT_ROOT / "target" / "release" +# Each native module is built by its own flake and leaves its binary behind at +# `/result/bin/`; there is no shared cargo target dir output any +# more, because there is no shared cargo workspace. +_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 @@ -121,10 +128,11 @@ 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" + f"{binary} missing; run: (cd {module_dir}) && nix build -L path:.#{package}" ) return binary diff --git a/dimos/hardware/sensors/lidar/pointlio/module.py b/dimos/hardware/sensors/lidar/pointlio/module.py index 0db4fc6b58..fafcd53a9a 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:.#pointlio_native" # 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:.#dimos-pointlio" class PointLioRust(NativeModule, perception.Lidar, perception.Odometry): diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/deps.nix b/dimos/hardware/sensors/lidar/virtual_mid360/deps.nix deleted file mode 100644 index 13eb5a9128..0000000000 --- a/dimos/hardware/sensors/lidar/virtual_mid360/deps.nix +++ /dev/null @@ -1,5 +0,0 @@ -# A workspace member, so cargo needs it present, but it builds through its own -# flake rather than the shared derivation. -_: { - sources."dimos/hardware/sensors/lidar/virtual_mid360" = ./.; -} diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/module.py b/dimos/hardware/sensors/lidar/virtual_mid360/module.py index 51370e7a00..ed35b8904b 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 @@ -57,8 +56,8 @@ 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:.#dimos-virtual-mid360" # 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/mapping/dim_slam/dim_slam.py b/dimos/mapping/dim_slam/dim_slam.py index f17926d7ad..9f6f945fc3 100644 --- a/dimos/mapping/dim_slam/dim_slam.py +++ b/dimos/mapping/dim_slam/dim_slam.py @@ -122,12 +122,11 @@ 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. + # Same `nix build -L path:.#` shape as every other native module. The + # package name is the cuVSLAM SDK variant rather than a fixed string, because the + # SDK a build links decides what the binary can run on. build_command: str | None = Field( - default_factory=lambda: ( - f"nix build -L 'git+file:../../../..?dir=dimos/mapping/dim_slam/rust#{sdk_variant()}'" - ) + default_factory=lambda: f"nix build -L path:.#{sdk_variant()}" ) stdin_config: bool = True extra_env: dict[str, str] = Field(default_factory=driver_env) diff --git a/dimos/mapping/ray_tracing/deps.nix b/dimos/mapping/ray_tracing/deps.nix deleted file mode 100644 index bc3da201b5..0000000000 --- a/dimos/mapping/ray_tracing/deps.nix +++ /dev/null @@ -1,6 +0,0 @@ -_: { - sources."dimos/mapping/ray_tracing/rust" = ./rust; - # The `py` member is a pyo3 cdylib for the python side, not a module - # executable, so it is not listed here. - binaries = [ "dimos-voxel-ray-tracing" ]; -} diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index bbab98d410..ca2916c6da 100644 --- a/dimos/mapping/ray_tracing/module.py +++ b/dimos/mapping/ray_tracing/module.py @@ -33,9 +33,9 @@ class RayTracingVoxelMapConfig(NativeModuleConfig): # The crate is a workspace member, so it is built from the repo root along # with every other rust native module. - cwd: str | None = "../../.." + cwd: str | None = "rust" executable: str = "result/bin/voxel_ray_tracing" - build_command: str | None = "nix build -L .#rust_native_modules" + build_command: str | None = "nix build -L path:.#dimos-voxel-ray-tracing" stdin_config: bool = True voxel_size: float = 0.08 diff --git a/dimos/navigation/nav_3d/mls_planner/deps.nix b/dimos/navigation/nav_3d/mls_planner/deps.nix deleted file mode 100644 index 62b7113f38..0000000000 --- a/dimos/navigation/nav_3d/mls_planner/deps.nix +++ /dev/null @@ -1,4 +0,0 @@ -_: { - sources."dimos/navigation/nav_3d/mls_planner/rust" = ./rust; - binaries = [ "dimos-mls-planner" ]; -} 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 f6ad3494bc..059a588d31 100644 --- a/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py +++ b/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py @@ -29,9 +29,9 @@ class MLSPlannerNativeConfig(NativeModuleConfig): # The crate is a workspace member, so it is built from the repo root along # with every other rust native module. - cwd: str | None = "../../../.." + cwd: str | None = "rust" executable: str = "result/bin/mls_planner" - build_command: str | None = "nix build -L .#rust_native_modules" + build_command: str | None = "nix build -L path:.#dimos-mls-planner" stdin_config: bool = True world_frame: str = "odom" 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/deps.nix b/examples/native-modules/deps.nix deleted file mode 100644 index d5453528ff..0000000000 --- a/examples/native-modules/deps.nix +++ /dev/null @@ -1,4 +0,0 @@ -# A workspace member cargo needs present. The examples are not shipped. -_: { - sources."examples/native-modules/rust" = ./rust; -} 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/native/rust/deps.nix b/native/rust/deps.nix deleted file mode 100644 index bb9747db14..0000000000 --- a/native/rust/deps.nix +++ /dev/null @@ -1,4 +0,0 @@ -# The crates every native module links against. Contributes no binaries. -_: { - sources."native/rust" = ./.; -} From ec5874735843343fa7ad419c794db1f4f17ad7f8 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:10:24 -0700 Subject: [PATCH 28/97] fix(nix): turbojpeg-sys needs dontUseCmakeConfigure, and no repo-root clippy fallback turbojpeg-sys vendors libjpeg-turbo and drives cmake from its own build script, so nixpkgs' cmake setup hook must be told not to also configure the crate root, which has no CMakeLists.txt. Carried over from 7de0923017 on the pushed branch, where it was found the hard way. The fmt and clippy hooks walked up from each workspace root looking for a flake and stopped at the repository root -- which has one, so a module missing its own flake would have silently entered the repo-root shell and copied the whole tree. Fail instead. --- .pre-commit-config.yaml | 12 ++++++++++-- dimos/experimental/memory/rust/flake.nix | 6 ++++++ 2 files changed, 16 insertions(+), 2 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 7c63a05e9c..d9e4cd3d62 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -149,7 +149,11 @@ repos: done | sort -u | while read -r root; do dir=$(dirname "$root") while [ "$dir" != "$top" ] && [ ! -f "$dir/flake.nix" ]; do dir=$(dirname "$dir"); done - [ -f "$dir/flake.nix" ] || { echo "no flake above $root" >&2; exit 1; } + if [ "$dir" = "$top" ]; then + echo "no module flake above $root -- refusing to fall back to the repo-root" >&2 + echo "flake, which would copy the whole tree (git-lfs blobs included)." >&2 + exit 1 + fi nix develop "path:$dir" -c cargo fmt --manifest-path "$root" --all done ' @@ -168,7 +172,11 @@ repos: done | sort -u | while read -r root; do dir=$(dirname "$root") while [ "$dir" != "$top" ] && [ ! -f "$dir/flake.nix" ]; do dir=$(dirname "$dir"); done - [ -f "$dir/flake.nix" ] || { echo "no flake above $root" >&2; exit 1; } + if [ "$dir" = "$top" ]; then + echo "no module flake above $root -- refusing to fall back to the repo-root" >&2 + echo "flake, which would copy the whole tree (git-lfs blobs included)." >&2 + exit 1 + fi nix develop "path:$dir" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings done ' diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 7694bfd701..8c8bb8e345 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -33,8 +33,14 @@ nativeBuildInputs = [ pkgs.pkg-config ]; LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; }; + # turbojpeg-sys vendors libjpeg-turbo and drives cmake from its own + # build script. dontUseCmakeConfigure stops nixpkgs' cmake setup hook + # from *also* trying to configure the crate root, which has no + # CMakeLists.txt -- the crate's build.rs is the only thing that should + # invoke cmake. turbojpeg-sys = _: { nativeBuildInputs = [ pkgs.cmake pkgs.nasm ]; + dontUseCmakeConfigure = true; }; }; }; From ebbd9cb9479ea83ed5df6c64d26d7b5f93ee5fe0 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:12:05 -0700 Subject: [PATCH 29/97] test(nix): keep resolvable path literals out of flake comments test_flake_refs_resolve_and_are_covered scans raw flake text, comments included, and fails on any literal that resolves to something real outside the module's hashed input set. That is the right rule -- a reader cannot tell a live reference from a described one -- so describe the old paths in prose instead of quoting them. --- dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix | 8 ++++---- dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix | 8 ++++---- dimos/mapping/dim_slam/rust/flake.nix | 5 +++-- examples/native-modules/cpp/flake.nix | 6 +++--- native/cpp/flake.nix | 2 +- native/rust/flake.nix | 4 ++-- 6 files changed, 17 insertions(+), 16 deletions(-) diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index b7c0689746..a79eaa8002 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -5,10 +5,10 @@ zenoh.url = "github:jeff-hykin/zenoh_flake"; nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; flake-utils.url = "github:numtide/flake-utils"; - # The shared C++ SDK, as a remote ref rather than a `../../../../../../native/cpp` - # path literal: under the `path:.` build ref this module now uses, such a literal - # escapes the module's store path, and when it resolved at all it resolved by - # copying the whole repository. + # The shared C++ SDK, as a remote ref rather than the bare path literal that + # used to climb six directories to reach native/cpp. Under the `path:.` build + # ref this module now uses, such a literal escapes the module's store path, and + # back when it resolved at all it resolved by copying the whole repository. dimos-native-cpp.url = "github:dimensionalOS/dimos?dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index 06c44317ee..42fb204a33 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -5,10 +5,10 @@ zenoh.url = "github:jeff-hykin/zenoh_flake"; nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; flake-utils.url = "github:numtide/flake-utils"; - # The shared C++ SDK, as a remote ref rather than a `../../../../../../native/cpp` - # path literal: under the `path:.` build ref this module now uses, such a literal - # escapes the module's store path, and when it resolved at all it resolved by - # copying the whole repository. + # The shared C++ SDK, as a remote ref rather than the bare path literal that + # used to climb six directories to reach native/cpp. Under the `path:.` build + # ref this module now uses, such a literal escapes the module's store path, and + # back when it resolved at all it resolved by copying the whole repository. dimos-native-cpp.url = "github:dimensionalOS/dimos?dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index 06e6a17687..43809dc63a 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -6,8 +6,9 @@ # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only # form that survives this module moving into a repository of its own. It costs one # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB the old whole-repo `path:../../../..` input copied, because a local - # ref reads the working tree and so picks up every smudged git-lfs blob. + # the ~16 GB the old whole-repo input copied (a `path:` ref four levels up), + # because a local ref reads the working tree and so picks up every smudged + # git-lfs blob. inputs = { dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; diff --git a/examples/native-modules/cpp/flake.nix b/examples/native-modules/cpp/flake.nix index 0f0183230f..493c1a3ce4 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -20,9 +20,9 @@ url = "github:apolukhin/pfr_non_boost/2.3.2"; flake = false; }; - # The shared C++ SDK, as a remote ref rather than a `${../../../native/cpp}` path - # literal: under the `path:.` build ref this example now uses, such a literal - # escapes the flake's store path. + # The shared C++ SDK, as a remote ref rather than the bare path literal that used + # to climb three directories to reach native/cpp. Under the `path:.` build ref + # this example now uses, such a literal escapes the flake's store path. dimos-native-cpp.url = "github:dimensionalOS/dimos?dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; diff --git a/native/cpp/flake.nix b/native/cpp/flake.nix index 5a324a4c25..3342a8aa8f 100644 --- a/native/cpp/flake.nix +++ b/native/cpp/flake.nix @@ -11,7 +11,7 @@ # rather than a built artifact. # # This exists as a flake so a module can take the SDK as an input instead of a - # `${../../../../../../native/cpp}` path literal. Under the `path:.` build refs the + # bare path literal climbing six directories to reach it. Under the `path:.` refs the # modules now use, such a literal escapes the module's store path and fails to # resolve -- and when it did resolve, it resolved by copying the entire repository, # git-lfs blobs included. diff --git a/native/rust/flake.nix b/native/rust/flake.nix index 20b0a5c04d..1cac5b0514 100644 --- a/native/rust/flake.nix +++ b/native/rust/flake.nix @@ -43,8 +43,8 @@ # The tree a module's crate2nix build runs in: the module's own directory at # the same relative path it occupies in the repository, plus the shared - # crates at theirs, so the `path = "../../../native/rust/dimos-module"` - # dependency in the module's Cargo.toml resolves without rewriting it. + # crates at theirs, so the relative `path = ` dependency on dimos-module + # in the module's Cargo.toml resolves without rewriting it. moduleSource = { name, path, src }: pkgs.runCommand "${name}-source" { } ( '' From ac1aaee93ea554bf32e6cea4625a375c05688611 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:13:25 -0700 Subject: [PATCH 30/97] fix(virtual_mid360): do not re-import the wire module it now declares `use crate::wire::{self, ...}` binds `wire` a second time, on top of the `mod wire;` this crate now carries. The `self` was there because the module used to come from the dimos-livox crate, where it was the only way to name it. E0255. --- dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs index 629c922f30..49197370ee 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs +++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs @@ -31,9 +31,7 @@ pub mod pipeline; pub mod wire; use crate::pcap::PcapReader; -use crate::wire::{ - self, AsyncControlAck, ControlFrame, DetectionAck, InternalInfoAck, KeyValue, -}; +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}; From 717352b0c41d66d1d9f5a02892d09f2c0492c752 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:23:10 -0700 Subject: [PATCH 31/97] fix(native): drop the duplicate config fields the merge left behind Resolving the merge kept this side's build_command and executable but the surrounding lines auto-merged from the other side, so Mid360Config and VirtualMid360Config each ended up declaring the fields twice -- with the repo-root cwd winning, which put the whole repository back in the publish gate's hashed inputs. --- dimos/hardware/sensors/lidar/livox/module.py | 10 +--------- dimos/hardware/sensors/lidar/virtual_mid360/module.py | 10 +--------- 2 files changed, 2 insertions(+), 18 deletions(-) diff --git a/dimos/hardware/sensors/lidar/livox/module.py b/dimos/hardware/sensors/lidar/livox/module.py index 08a6567f0a..e04d76a366 100644 --- a/dimos/hardware/sensors/lidar/livox/module.py +++ b/dimos/hardware/sensors/lidar/livox/module.py @@ -54,15 +54,7 @@ class Mid360Config(NativeModuleConfig): - # Built from the repo root, but only this module's crate: the crates it - # shares with the other modules are separate store paths already in the - # cache. The out-link is per-module so builds do not clobber each other. - cwd: str | None = "../../../../.." - executable: str = "result-mid360_native/bin/mid360_native" - build_command: str | None = ( - "nix build -L .#rust_native_module_dimos-livox --out-link result-mid360_native" - ) - # The crate is a workspace member, so cargo builds into the repo-root target dir. + cwd: str | None = "rust" executable: str = "result/bin/mid360_native" build_command: str | None = "nix build -L path:.#dimos-livox" stdin_config: bool = True diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/module.py b/dimos/hardware/sensors/lidar/virtual_mid360/module.py index 4963165fcf..21ee3abecf 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/module.py +++ b/dimos/hardware/sensors/lidar/virtual_mid360/module.py @@ -54,15 +54,7 @@ class VirtualMid360Config(NativeModuleConfig): - # Built from the repo root, but only this module's crate: the crates it - # shares with the other modules are separate store paths already in the - # cache. The out-link is per-module so builds do not clobber each other. - cwd: str | None = "../../../../.." - executable: str = "result-virtual_mid360/bin/virtual_mid360" - build_command: str | None = ( - "nix build -L .#rust_native_module_dimos-virtual-mid360 --out-link result-virtual_mid360" - ) - # The crate is a workspace member, so cargo builds into the repo-root target dir. + cwd: str | None = "." executable: str = "result/bin/virtual_mid360" build_command: str | None = "nix build -L path:.#dimos-virtual-mid360" # The rust binary reads its config as a JSON object on stdin (required). From eb86a4ca2271b46412388b608d0397cfe2d6a690 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:25:19 -0700 Subject: [PATCH 32/97] build(nix): lock every module onto the pushed shared flakes The inputs name a branch rather than the default branch because native/rust and native/cpp do not exist on main until this merges; each flake carries a NOTE to drop the `ref=` then, after which the input follows the default branch on its own. Verified end to end with no --override-input: `nix build -L path:.#dimos-voxel-ray-tracing` in dimos/mapping/ray_tracing/rust builds result/bin/voxel_ray_tracing. --- dimos/experimental/memory/rust/flake.lock | 290 ++++++++++++++- dimos/experimental/memory/rust/flake.nix | 6 +- .../sensors/camera/realsense/rust/flake.lock | 318 ++++++++++++++++- .../sensors/camera/realsense/rust/flake.nix | 6 +- .../sensors/lidar/fastlio2/cpp/flake.lock | 47 +-- .../sensors/lidar/fastlio2/cpp/flake.nix | 6 +- .../sensors/lidar/livox/rust/flake.lock | 337 ++++++++++++++++++ .../sensors/lidar/livox/rust/flake.nix | 6 +- .../sensors/lidar/pointlio/cpp/flake.lock | 47 +-- .../sensors/lidar/pointlio/cpp/flake.nix | 6 +- .../sensors/lidar/pointlio/rust/flake.lock | 337 ++++++++++++++++++ .../sensors/lidar/pointlio/rust/flake.nix | 6 +- .../sensors/lidar/virtual_mid360/flake.lock | 337 ++++++++++++++++++ .../sensors/lidar/virtual_mid360/flake.nix | 6 +- dimos/mapping/dim_slam/rust/flake.lock | 57 ++- dimos/mapping/dim_slam/rust/flake.nix | 6 +- dimos/mapping/ray_tracing/rust/flake.lock | 337 ++++++++++++++++++ dimos/mapping/ray_tracing/rust/flake.nix | 6 +- .../nav_3d/mls_planner/rust/flake.lock | 337 ++++++++++++++++++ .../nav_3d/mls_planner/rust/flake.nix | 6 +- examples/native-modules/cpp/flake.lock | 27 ++ examples/native-modules/cpp/flake.nix | 6 +- examples/native-modules/rust/flake.lock | 337 ++++++++++++++++++ examples/native-modules/rust/flake.nix | 6 +- native/cpp/flake.lock | 61 ++++ 25 files changed, 2865 insertions(+), 76 deletions(-) create mode 100644 dimos/hardware/sensors/lidar/livox/rust/flake.lock create mode 100644 dimos/hardware/sensors/lidar/pointlio/rust/flake.lock create mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/flake.lock create mode 100644 dimos/mapping/ray_tracing/rust/flake.lock create mode 100644 dimos/navigation/nav_3d/mls_planner/rust/flake.lock create mode 100644 examples/native-modules/rust/flake.lock create mode 100644 native/cpp/flake.lock diff --git a/dimos/experimental/memory/rust/flake.lock b/dimos/experimental/memory/rust/flake.lock index e0c5f2bf9d..4129191cf9 100644 --- a/dimos/experimental/memory/rust/flake.lock +++ b/dimos/experimental/memory/rust/flake.lock @@ -1,5 +1,141 @@ { "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "dimos-native-rust", + "crate2nix" + ], + "flake-compat": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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" + } + }, + "dimos-native-rust": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "dir": "native/rust", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/rust", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "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": [ + "dimos-native-rust", + "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 +154,106 @@ "type": "github" } }, + "git-hooks": { + "inputs": { + "flake-compat": [ + "dimos-native-rust", + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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-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 +263,61 @@ "type": "github" } }, + "nixpkgs_2": { + "locked": { + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "dimos-native-rust", + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "dimos-native-rust", + "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": { - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs" + "dimos-native-rust": "dimos-native-rust", + "flake-utils": [ + "dimos-native-rust", + "flake-utils" + ], + "nixpkgs": [ + "dimos-native-rust", + "nixpkgs" + ] } }, "systems": { diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 8c8bb8e345..72f9b5bb43 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -9,7 +9,11 @@ # the ~16 GB a local ref copies, because a local ref reads the working tree and so # picks up every smudged git-lfs blob under data/. inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; nixpkgs.follows = "dimos-native-rust/nixpkgs"; }; diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.lock b/dimos/hardware/sensors/camera/realsense/rust/flake.lock index c50829616b..9c60e4fea2 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.lock +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.lock @@ -1,12 +1,259 @@ { "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "dimos-native-rust", + "crate2nix" + ], + "flake-compat": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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" + } + }, + "dimos-native-rust": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "dir": "native/rust", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/rust", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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-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 +263,72 @@ "type": "github" } }, + "nixpkgs_2": { + "locked": { + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "dimos-native-rust", + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "dimos-native-rust", + "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" + "dimos-native-rust": "dimos-native-rust", + "flake-utils": [ + "dimos-native-rust", + "flake-utils" + ] + } + }, + "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 1625b98948..32230199bc 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -9,7 +9,11 @@ # the ~16 GB a local ref copies, because a local ref reads the working tree and so # picks up every smudged git-lfs blob under data/. inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index 7adfee5400..8bb960771a 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -17,6 +17,32 @@ "type": "github" } }, + "dimos-native-cpp": { + "inputs": { + "flake-utils": [ + "flake-utils" + ], + "nixpkgs": [ + "nixpkgs" + ] + }, + "locked": { + "dir": "native/cpp", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/cpp", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "type": "github" + } + }, "fast-lio": { "flake": false, "locked": { @@ -93,25 +119,6 @@ "type": "github" } }, - "livox-sdk": { - "inputs": { - "flake-utils": [ - "flake-utils" - ], - "nixpkgs": [ - "nixpkgs" - ] - }, - "locked": { - "path": "../../livox/cpp", - "type": "path" - }, - "original": { - "path": "../../livox/cpp", - "type": "path" - }, - "parent": [] - }, "nixpkgs": { "locked": { "lastModified": 1770841267, @@ -164,10 +171,10 @@ "root": { "inputs": { "dimos-lcm": "dimos-lcm", + "dimos-native-cpp": "dimos-native-cpp", "fast-lio": "fast-lio", "flake-utils": "flake-utils", "lcm-extended": "lcm-extended", - "livox-sdk": "livox-sdk", "nixpkgs": "nixpkgs", "pfr": "pfr", "zenoh": "zenoh" diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index a79eaa8002..8b94ee0347 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -9,7 +9,11 @@ # used to climb six directories to reach native/cpp. Under the `path:.` build # ref this module now uses, such a literal escapes the module's store path, and # back when it resolved at all it resolved by copying the whole repository. - dimos-native-cpp.url = "github:dimensionalOS/dimos?dir=native/cpp"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; dimos-lcm = { 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..9c60e4fea2 --- /dev/null +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.lock @@ -0,0 +1,337 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "dimos-native-rust", + "crate2nix" + ], + "flake-compat": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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" + } + }, + "dimos-native-rust": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "dir": "native/rust", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/rust", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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-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": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "dimos-native-rust", + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "dimos-native-rust", + "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": { + "dimos-native-rust": "dimos-native-rust", + "flake-utils": [ + "dimos-native-rust", + "flake-utils" + ] + } + }, + "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 index 51f7b17bbb..8bd26e63d6 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -9,7 +9,11 @@ # the ~16 GB a local ref copies, because a local ref reads the working tree and so # picks up every smudged git-lfs blob under data/. inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index 73bd9ebd6a..6fc85180e7 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -17,6 +17,32 @@ "type": "github" } }, + "dimos-native-cpp": { + "inputs": { + "flake-utils": [ + "flake-utils" + ], + "nixpkgs": [ + "nixpkgs" + ] + }, + "locked": { + "dir": "native/cpp", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/cpp", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "type": "github" + } + }, "fast-lio": { "flake": false, "locked": { @@ -93,25 +119,6 @@ "type": "github" } }, - "livox-sdk": { - "inputs": { - "flake-utils": [ - "flake-utils" - ], - "nixpkgs": [ - "nixpkgs" - ] - }, - "locked": { - "path": "../../livox/cpp", - "type": "path" - }, - "original": { - "path": "../../livox/cpp", - "type": "path" - }, - "parent": [] - }, "nixpkgs": { "locked": { "lastModified": 1770841267, @@ -164,10 +171,10 @@ "root": { "inputs": { "dimos-lcm": "dimos-lcm", + "dimos-native-cpp": "dimos-native-cpp", "fast-lio": "fast-lio", "flake-utils": "flake-utils", "lcm-extended": "lcm-extended", - "livox-sdk": "livox-sdk", "nixpkgs": "nixpkgs", "pfr": "pfr", "zenoh": "zenoh" diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index 42fb204a33..29d22b3c30 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -9,7 +9,11 @@ # used to climb six directories to reach native/cpp. Under the `path:.` build # ref this module now uses, such a literal escapes the module's store path, and # back when it resolved at all it resolved by copying the whole repository. - dimos-native-cpp.url = "github:dimensionalOS/dimos?dir=native/cpp"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; dimos-lcm = { 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 0000000000..9c60e4fea2 --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock @@ -0,0 +1,337 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "dimos-native-rust", + "crate2nix" + ], + "flake-compat": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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" + } + }, + "dimos-native-rust": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "dir": "native/rust", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/rust", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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-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": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "dimos-native-rust", + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "dimos-native-rust", + "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": { + "dimos-native-rust": "dimos-native-rust", + "flake-utils": [ + "dimos-native-rust", + "flake-utils" + ] + } + }, + "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 index 4b6024d666..cdacb7cb6c 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -9,7 +9,11 @@ # the ~16 GB a local ref copies, because a local ref reads the working tree and so # picks up every smudged git-lfs blob under data/. inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; 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..9c60e4fea2 --- /dev/null +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock @@ -0,0 +1,337 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "dimos-native-rust", + "crate2nix" + ], + "flake-compat": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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" + } + }, + "dimos-native-rust": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "dir": "native/rust", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/rust", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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-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": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "dimos-native-rust", + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "dimos-native-rust", + "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": { + "dimos-native-rust": "dimos-native-rust", + "flake-utils": [ + "dimos-native-rust", + "flake-utils" + ] + } + }, + "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 index cd3867f5b3..487df0d692 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -9,7 +9,11 @@ # the ~16 GB a local ref copies, because a local ref reads the working tree and so # picks up every smudged git-lfs blob under data/. inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/dimos/mapping/dim_slam/rust/flake.lock b/dimos/mapping/dim_slam/rust/flake.lock index aa91a03893..479bb2a7b9 100644 --- a/dimos/mapping/dim_slam/rust/flake.lock +++ b/dimos/mapping/dim_slam/rust/flake.lock @@ -3,9 +3,11 @@ "cachix": { "inputs": { "devenv": [ + "dimos-native-rust", "crate2nix" ], "flake-compat": [ + "dimos-native-rust", "crate2nix" ], "git-hooks": "git-hooks", @@ -34,6 +36,7 @@ "flake-parts": "flake-parts", "nix-test-runner": "nix-test-runner", "nixpkgs": [ + "dimos-native-rust", "nixpkgs" ], "pre-commit-hooks": "pre-commit-hooks" @@ -78,6 +81,7 @@ "devshell": { "inputs": { "nixpkgs": [ + "dimos-native-rust", "crate2nix", "nixpkgs" ] @@ -96,17 +100,28 @@ "type": "github" } }, - "dimos-repo": { - "flake": false, + "dimos-native-rust": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, "locked": { - "path": "../../../..", - "type": "path" + "dir": "native/rust", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" }, "original": { - "path": "../../../..", - "type": "path" - }, - "parent": [] + "dir": "native/rust", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "type": "github" + } }, "flake-compat": { "locked": { @@ -125,6 +140,7 @@ "flake-parts": { "inputs": { "nixpkgs-lib": [ + "dimos-native-rust", "crate2nix", "nixpkgs" ] @@ -164,12 +180,14 @@ "git-hooks": { "inputs": { "flake-compat": [ + "dimos-native-rust", "crate2nix", "cachix", "flake-compat" ], "gitignore": "gitignore", "nixpkgs": [ + "dimos-native-rust", "crate2nix", "cachix", "nixpkgs" @@ -192,6 +210,7 @@ "gitignore": { "inputs": { "nixpkgs": [ + "dimos-native-rust", "crate2nix", "cachix", "git-hooks", @@ -215,6 +234,7 @@ "gitignore_2": { "inputs": { "nixpkgs": [ + "dimos-native-rust", "crate2nix", "pre-commit-hooks", "nixpkgs" @@ -268,11 +288,11 @@ }, "nixpkgs_2": { "locked": { - "lastModified": 1787498568, - "narHash": "sha256-9i/VTdusq/+NM/tz+J1Re+ojkMB8MBf0QshnYfzHz30=", + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "56c02bc00adcf003215cc4bd996d6efaf4cff188", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", "type": "github" }, "original": { @@ -285,11 +305,13 @@ "pre-commit-hooks": { "inputs": { "flake-compat": [ + "dimos-native-rust", "crate2nix", "flake-compat" ], "gitignore": "gitignore_2", "nixpkgs": [ + "dimos-native-rust", "crate2nix", "nixpkgs" ] @@ -310,11 +332,16 @@ }, "root": { "inputs": { - "crate2nix": "crate2nix", "cu-vslam-rs": "cu-vslam-rs", - "dimos-repo": "dimos-repo", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" + "dimos-native-rust": "dimos-native-rust", + "flake-utils": [ + "dimos-native-rust", + "flake-utils" + ], + "nixpkgs": [ + "dimos-native-rust", + "nixpkgs" + ] } }, "systems": { diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index 43809dc63a..8125e1cca1 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -10,7 +10,11 @@ # because a local ref reads the working tree and so picks up every smudged # git-lfs blob. inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; nixpkgs.follows = "dimos-native-rust/nixpkgs"; cu-vslam-rs.url = "github:jeff-hykin/cu_vslam_rs"; diff --git a/dimos/mapping/ray_tracing/rust/flake.lock b/dimos/mapping/ray_tracing/rust/flake.lock new file mode 100644 index 0000000000..9c60e4fea2 --- /dev/null +++ b/dimos/mapping/ray_tracing/rust/flake.lock @@ -0,0 +1,337 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "dimos-native-rust", + "crate2nix" + ], + "flake-compat": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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" + } + }, + "dimos-native-rust": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "dir": "native/rust", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/rust", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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-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": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "dimos-native-rust", + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "dimos-native-rust", + "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": { + "dimos-native-rust": "dimos-native-rust", + "flake-utils": [ + "dimos-native-rust", + "flake-utils" + ] + } + }, + "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/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index 1c819af90f..aaec7110b3 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -9,7 +9,11 @@ # the ~16 GB a local ref copies, because a local ref reads the working tree and so # picks up every smudged git-lfs blob under data/. inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock new file mode 100644 index 0000000000..9c60e4fea2 --- /dev/null +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock @@ -0,0 +1,337 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "dimos-native-rust", + "crate2nix" + ], + "flake-compat": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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" + } + }, + "dimos-native-rust": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "dir": "native/rust", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/rust", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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-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": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "dimos-native-rust", + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "dimos-native-rust", + "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": { + "dimos-native-rust": "dimos-native-rust", + "flake-utils": [ + "dimos-native-rust", + "flake-utils" + ] + } + }, + "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 index 81c5fd8bb0..f89e315bd6 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -9,7 +9,11 @@ # the ~16 GB a local ref copies, because a local ref reads the working tree and so # picks up every smudged git-lfs blob under data/. inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock index 0e91e63845..000a8b2ad2 100644 --- a/examples/native-modules/cpp/flake.lock +++ b/examples/native-modules/cpp/flake.lock @@ -17,6 +17,32 @@ "type": "github" } }, + "dimos-native-cpp": { + "inputs": { + "flake-utils": [ + "flake-utils" + ], + "nixpkgs": [ + "nixpkgs" + ] + }, + "locked": { + "dir": "native/cpp", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/cpp", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "type": "github" + } + }, "flake-utils": { "inputs": { "systems": "systems" @@ -128,6 +154,7 @@ "root": { "inputs": { "dimos-lcm": "dimos-lcm", + "dimos-native-cpp": "dimos-native-cpp", "flake-utils": "flake-utils", "lcm-extended": "lcm-extended", "nixpkgs": "nixpkgs", diff --git a/examples/native-modules/cpp/flake.nix b/examples/native-modules/cpp/flake.nix index 493c1a3ce4..fbb970bd15 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -23,7 +23,11 @@ # The shared C++ SDK, as a remote ref rather than the bare path literal that used # to climb three directories to reach native/cpp. Under the `path:.` build ref # this example now uses, such a literal escapes the flake's store path. - dimos-native-cpp.url = "github:dimensionalOS/dimos?dir=native/cpp"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; }; diff --git a/examples/native-modules/rust/flake.lock b/examples/native-modules/rust/flake.lock new file mode 100644 index 0000000000..9c60e4fea2 --- /dev/null +++ b/examples/native-modules/rust/flake.lock @@ -0,0 +1,337 @@ +{ + "nodes": { + "cachix": { + "inputs": { + "devenv": [ + "dimos-native-rust", + "crate2nix" + ], + "flake-compat": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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" + } + }, + "dimos-native-rust": { + "inputs": { + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "dir": "native/rust", + "lastModified": 1789521790, + "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "type": "github" + }, + "original": { + "dir": "native/rust", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "crate2nix", + "cachix", + "flake-compat" + ], + "gitignore": "gitignore", + "nixpkgs": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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": [ + "dimos-native-rust", + "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-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": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "pre-commit-hooks": { + "inputs": { + "flake-compat": [ + "dimos-native-rust", + "crate2nix", + "flake-compat" + ], + "gitignore": "gitignore_2", + "nixpkgs": [ + "dimos-native-rust", + "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": { + "dimos-native-rust": "dimos-native-rust", + "flake-utils": [ + "dimos-native-rust", + "flake-utils" + ] + } + }, + "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 index 7a7cddc8b4..c17efdc009 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -9,7 +9,11 @@ # the ~16 GB a local ref copies, because a local ref reads the working tree and so # picks up every smudged git-lfs blob under data/. inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?dir=native/rust"; + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Drop the `ref=` + # once this is on main -- without it the input follows the default branch, + # which is what we want from then on. + dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/native/cpp/flake.lock b/native/cpp/flake.lock new file mode 100644 index 0000000000..0796952d50 --- /dev/null +++ b/native/cpp/flake.lock @@ -0,0 +1,61 @@ +{ + "nodes": { + "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" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "root": { + "inputs": { + "flake-utils": "flake-utils", + "nixpkgs": "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" + } + } + }, + "root": "root", + "version": 7 +} From c398d882fdd4cff3619fbfa485ba89fb23791289 Mon Sep 17 00:00:00 2001 From: "autofix-ci[bot]" <114827586+autofix-ci[bot]@users.noreply.github.com> Date: Wed, 16 Sep 2026 01:25:54 +0000 Subject: [PATCH 33/97] [autofix.ci] apply automated fixes --- dimos/core/test_build_native_modules.py | 7 ++----- dimos/hardware/sensors/lidar/livox/test_e2e.py | 4 +--- 2 files changed, 3 insertions(+), 8 deletions(-) diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index c995fc4eb6..e26615b5e9 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -242,13 +242,10 @@ def test_no_module_reaches_the_repository_root() -> None: 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" - ) + assert module.build_dir != ".", f"{module.qualname}: builds from the repository root" ref = _SCRIPT._flake_ref_of(module) assert ref.startswith("path:.#") or ref.startswith("github:"), ( - f"{module.qualname}: flake ref {ref!r} is not the " - "`path:.#` convention" + f"{module.qualname}: flake ref {ref!r} is not the `path:.#` convention" ) diff --git a/dimos/hardware/sensors/lidar/livox/test_e2e.py b/dimos/hardware/sensors/lidar/livox/test_e2e.py index 79767111cb..374a568969 100644 --- a/dimos/hardware/sensors/lidar/livox/test_e2e.py +++ b/dimos/hardware/sensors/lidar/livox/test_e2e.py @@ -131,9 +131,7 @@ def _require_binary(name: str) -> Path: module_dir, package = _MODULE_OF[name] binary = module_dir / "result" / "bin" / name if not binary.exists(): - pytest.fail( - f"{binary} missing; run: (cd {module_dir}) && nix build -L path:.#{package}" - ) + pytest.fail(f"{binary} missing; run: (cd {module_dir}) && nix build -L path:.#{package}") return binary From c6381535a39c9b5dbb8b502d9b3ebc46c921d572 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:31:53 -0700 Subject: [PATCH 34/97] fix(pre-commit): skip a module that declares no devShell for this platform realsense links librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off Linux -- so its flake offers Linux systems only and `nix develop` on a mac dies with "does not provide attribute devShells.aarch64-darwin". Blocking every commit on a mac over a module that cannot be linted there is wrong; CI lints on Linux, where the devShell exists. --- .pre-commit-config.yaml | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 54a1b7e7e2..7eb7f0452c 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -146,6 +146,7 @@ repos: bash -c ' set -euo pipefail top=$(git rev-parse --show-toplevel) + system=$(nix eval --raw --impure --expr builtins.currentSystem) git ls-files "*Cargo.toml" | while read -r m; do cargo locate-project --manifest-path "$m" --workspace --message-format plain done | sort -u | while read -r root; do @@ -156,6 +157,15 @@ repos: echo "flake, which would copy the whole tree (git-lfs blobs included)." >&2 exit 1 fi + # A module may declare it does not support this platform: realsense links + # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off + # Linux. Such a module has no devShell here and cannot be linted here + # either, so skip it rather than block the commit. CI lints on Linux, + # where the devShell does exist. + if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then + echo "skipping $root: $dir declares no devShell for $system" >&2 + continue + fi nix develop "path:$dir" -c cargo fmt --manifest-path "$root" --all done ' @@ -169,6 +179,7 @@ repos: bash -c ' set -euo pipefail top=$(git rev-parse --show-toplevel) + system=$(nix eval --raw --impure --expr builtins.currentSystem) git ls-files "*Cargo.toml" | while read -r m; do cargo locate-project --manifest-path "$m" --workspace --message-format plain done | sort -u | while read -r root; do @@ -179,6 +190,15 @@ repos: echo "flake, which would copy the whole tree (git-lfs blobs included)." >&2 exit 1 fi + # A module may declare it does not support this platform: realsense links + # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off + # Linux. Such a module has no devShell here and cannot be linted here + # either, so skip it rather than block the commit. CI lints on Linux, + # where the devShell does exist. + if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then + echo "skipping $root: $dir declares no devShell for $system" >&2 + continue + fi nix develop "path:$dir" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings done ' From 21702e4f062d5152bac60397b69c2113911d487a Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:34:40 -0700 Subject: [PATCH 35/97] fix(livox copy): declare the tempfile dev-dependency the copied tests need pcap.rs's tests write a temp pcap, so copying that module into pointlio and virtual_mid360 meant copying its test dependency too. Only `--all-targets` sees it, which is why the builds passed and clippy did not. --- .../sensors/lidar/pointlio/rust/Cargo.lock | 33 +++++++++++++++++++ .../sensors/lidar/pointlio/rust/Cargo.toml | 5 +++ .../sensors/lidar/virtual_mid360/Cargo.lock | 33 +++++++++++++++++++ .../sensors/lidar/virtual_mid360/Cargo.toml | 5 +++ 4 files changed, 76 insertions(+) diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock index 48d13117ea..98be6c6ee9 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock +++ b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock @@ -657,6 +657,7 @@ dependencies = [ "pointlio-core", "serde", "serde_json", + "tempfile", "tokio", "tracing", "validator", @@ -1473,6 +1474,12 @@ dependencies = [ "libc", ] +[[package]] +name = "linux-raw-sys" +version = "0.12.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "32a66949e030da00e8c7d4434b251670a91556f4144941d37452769c25d58a53" + [[package]] name = "litemap" version = "0.8.3" @@ -2394,6 +2401,19 @@ dependencies = [ "nom 8.0.0", ] +[[package]] +name = "rustix" +version = "1.1.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b6fe4565b9518b83ef4f91bb47ce29620ca828bd32cb7e408f0062e9930ba190" +dependencies = [ + "bitflags 2.13.2", + "errno", + "libc", + "linux-raw-sys", + "windows-sys 0.61.2", +] + [[package]] name = "rustls" version = "0.23.45" @@ -2994,6 +3014,19 @@ version = "4.4.3" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a3ae828aa394de34c7de08f522d1b86bd1c182c668d27da69caadda00590f26d" +[[package]] +name = "tempfile" +version = "3.27.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "32497e9a4c7b38532efcdebeef879707aa9f794296a4f0244f6f69e9bc8574bd" +dependencies = [ + "fastrand", + "getrandom 0.4.3", + "once_cell", + "rustix", + "windows-sys 0.61.2", +] + [[package]] name = "thiserror" version = "2.0.20" diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml index 2c7b25d55b..5225c44dd8 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml +++ b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml @@ -43,6 +43,11 @@ tokio = { version = "1", features = ["rt-multi-thread", "macros"] } tracing = "0.1" validator = { version = "0.21", features = ["derive"] } +# The copied livox pcap.rs tests write a temp pcap. Copying the module meant +# copying its test dependency too. +[dev-dependencies] +tempfile = "3" + [workspace] # Carried from the old root workspace. Cargo only honours a profile at the workspace diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock index 4db32cca69..071543f0d6 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock +++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock @@ -655,6 +655,7 @@ dependencies = [ "pcap-parser", "serde", "socket2 0.6.5", + "tempfile", "tokio", "tracing", "validator", @@ -1471,6 +1472,12 @@ dependencies = [ "libc", ] +[[package]] +name = "linux-raw-sys" +version = "0.12.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "32a66949e030da00e8c7d4434b251670a91556f4144941d37452769c25d58a53" + [[package]] name = "litemap" version = "0.8.3" @@ -2383,6 +2390,19 @@ dependencies = [ "nom 8.0.0", ] +[[package]] +name = "rustix" +version = "1.1.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b6fe4565b9518b83ef4f91bb47ce29620ca828bd32cb7e408f0062e9930ba190" +dependencies = [ + "bitflags 2.13.2", + "errno", + "libc", + "linux-raw-sys", + "windows-sys 0.61.2", +] + [[package]] name = "rustls" version = "0.23.45" @@ -2983,6 +3003,19 @@ version = "4.4.3" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a3ae828aa394de34c7de08f522d1b86bd1c182c668d27da69caadda00590f26d" +[[package]] +name = "tempfile" +version = "3.27.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "32497e9a4c7b38532efcdebeef879707aa9f794296a4f0244f6f69e9bc8574bd" +dependencies = [ + "fastrand", + "getrandom 0.4.3", + "once_cell", + "rustix", + "windows-sys 0.61.2", +] + [[package]] name = "thiserror" version = "2.0.20" diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml index 6fcdb9f87f..de996dc6da 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml +++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml @@ -19,6 +19,11 @@ socket2 = "0.6" tracing = "0.1" validator = { version = "0.21", features = ["derive"] } +# The copied livox pcap.rs tests write a temp pcap. Copying the module meant +# copying its test dependency too. +[dev-dependencies] +tempfile = "3" + [workspace] # Carried from the old root workspace. Cargo only honours a profile at the workspace From 76796e28336fde112f137c4652c59b9613304ca0 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:35:52 -0700 Subject: [PATCH 36/97] fix(dim_slam): put the rust toolchain in its devShell Its devShell is a mkShellNoCC carrying only the cuVSLAM-variant shellHook. That worked while the clippy hook entered it from inside the nix/rust toolchain shell; with that shell gone, `nix develop -c cargo clippy` here silently used whatever cargo the host had on PATH -- rustup's, not the pinned one. Every other rust module re-exports the shared devShell and was never affected. --- dimos/mapping/dim_slam/rust/flake.nix | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index 8125e1cca1..b90eb719bf 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -52,8 +52,13 @@ in { packages = nixpkgs.lib.genAttrs variants packageFor; - # script needs to detect cuda/non-cuda to pick the right things to load + # script needs to detect cuda/non-cuda to pick the right things to load. + # The toolchain has to come from here: this used to be entered from inside + # the nix/rust toolchain shell, and that shell is gone, so a devShell with + # only a shellHook would silently hand cargo/clippy back to whatever the + # host has on PATH. devShells.default = nixpkgs.legacyPackages.${system}.mkShellNoCC { + packages = shared.rustTools; shellHook = '' if [ -z "''${CUVSLAM_SDK_DIR:-}" ]; then case "$(uname -s)-$(uname -m)" in From 9451b014628bb14767e975ea7260e25937d3ec66 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:39:24 -0700 Subject: [PATCH 37/97] build(cargo): commit the shared crates' own lockfiles They became workspace roots in their own right, so clippy resolving them writes a lock; committing it keeps that resolution reproducible instead of re-resolving on every checkout. --- native/rust/dimos-module-macros/Cargo.lock | 144 + native/rust/dimos-module/Cargo.lock | 4353 ++++++++++++++++++++ 2 files changed, 4497 insertions(+) create mode 100644 native/rust/dimos-module-macros/Cargo.lock create mode 100644 native/rust/dimos-module/Cargo.lock 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 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"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" From ad02ee7b494103c57609e34cc0a424309d98d1ae Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:43:58 -0700 Subject: [PATCH 38/97] ci(lint): give the clippy hook a timeout and a cache it can live with The job kept its old 10-minute budget after gaining nix and the cargo-fmt and cargo-clippy hooks. With no shared cargo workspace left those hooks compile each module's dependency graph in turn, which does not fit. Raise it to 60 minutes and restore main's cargo cache; every module writes to the same repo-root target dir, so one entry covers all of them. --- .github/workflows/ci.yml | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 3b8398337d..a2ac6f0b66 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -244,7 +244,11 @@ jobs: key: cachix-published-${{ runner.os }}-${{ runner.arch }}-${{ needs.cachix-build-check.outputs.inputs-hash }} lint: - timeout-minutes: 10 + # Not 10 minutes any more: this job now runs the cargo-fmt and cargo-clippy hooks, + # and with no shared cargo workspace left they compile each module's dependency + # graph in turn. The cache below makes repeat runs cheap; a cold run is the + # expensive one. + timeout-minutes: 60 runs-on: ubuntu-latest permissions: contents: read # For checkout @@ -286,6 +290,15 @@ jobs: INPUT_SET_AS_TRUSTED_USER: "true" run: bash docker/ros/install-nix.sh + # The clippy hook compiles every module's dependency graph. They all share the + # repo-root target dir (.cargo/config.toml), so one cache entry covers the lot. + - name: Cache cargo build + uses: Swatinem/rust-cache@v2 + 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: Run pre-commit uses: pre-commit/action@v3.0.1 From 7fcf48136793e5ce413722ea39d742635c69a31c Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 18:47:34 -0700 Subject: [PATCH 39/97] test(nix): make the bootstrap branch-pin self-disarming The module inputs name this branch because native/{rust,cpp}/flake.nix do not exist on the default branch until this merges. A comment asking the next person to remember is not a mechanism; this test is. It skips while the shared flakes are absent upstream and fails the moment they appear with any `ref=` pin still in place, which is exactly the merge boundary. --- dimos/core/test_build_native_modules.py | 47 +++++++++++++++++++ dimos/experimental/memory/rust/flake.nix | 4 +- .../sensors/camera/realsense/rust/flake.nix | 4 +- .../sensors/lidar/fastlio2/cpp/flake.nix | 4 +- .../sensors/lidar/livox/rust/flake.nix | 4 +- .../sensors/lidar/pointlio/cpp/flake.nix | 4 +- .../sensors/lidar/pointlio/rust/flake.nix | 4 +- .../sensors/lidar/virtual_mid360/flake.nix | 4 +- dimos/mapping/dim_slam/rust/flake.nix | 4 +- dimos/mapping/ray_tracing/rust/flake.nix | 4 +- .../nav_3d/mls_planner/rust/flake.nix | 4 +- examples/native-modules/cpp/flake.nix | 4 +- examples/native-modules/rust/flake.nix | 4 +- 13 files changed, 83 insertions(+), 12 deletions(-) diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index e26615b5e9..9dd7102953 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 @@ -249,6 +250,52 @@ def test_no_module_reaches_the_repository_root() -> None: ) +# The shared flakes live in this repository, so the very change that introduces +# native/rust/flake.nix cannot reference it on the default branch -- it is not there +# yet. Until it merges, the module inputs name this branch. That pin must not outlive +# the merge, and a comment is not a mechanism: this test is. +_SHARED_FLAKES = ("native/rust/flake.nix", "native/cpp/flake.nix") + + +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", "origin/main", "main"): + 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 test_shared_flake_inputs_are_unpinned_once_they_exist_upstream() -> None: + """A module input may name a branch only while the shared flakes are not upstream. + + `github:dimensionalOS/dimos?dir=native/rust` with no `ref=` follows the default + branch, which is what every module should do. The branch-pinned form exists purely + to bootstrap the change that first adds those flakes; once they are on the default + branch the pin is stale -- it freezes every module on one commit of a branch that + may be deleted. This test goes red the moment that bootstrap window closes, so + nobody has to remember. + """ + if not _default_branch_has_shared_flakes(): + pytest.skip("shared flakes are not on the default branch yet; the pin is the bootstrap") + pinned = [ + flake.relative_to(DIMOS_PROJECT_ROOT).as_posix() + for flake in DIMOS_PROJECT_ROOT.rglob("flake.nix") + if ".git" not in flake.parts + and re.search(r'url = "github:dimensionalOS/dimos\?ref=', flake.read_text()) + ] + assert not pinned, ( + "these flakes still pin the shared input to a branch, now that it is on the " + f"default branch: {sorted(pinned)} -- drop the `ref=` so the input follows the " + "default branch" + ) + + @pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs git HEAD for object hashes") def test_manifest_is_deterministic() -> None: modules = _SCRIPT.discover() diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 72f9b5bb43..7705f58dbc 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; nixpkgs.follows = "dimos-native-rust/nixpkgs"; diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 32230199bc..210eab76bd 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index 8b94ee0347..24d601ac89 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index 8bd26e63d6..f8963d6db2 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index 29d22b3c30..cf510faa41 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index cdacb7cb6c..0244b3de41 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index 487df0d692..bbfe2eb438 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index b90eb719bf..1389ef903c 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -13,7 +13,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; nixpkgs.follows = "dimos-native-rust/nixpkgs"; diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index aaec7110b3..c3a9bd1c21 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index f89e315bd6..6e9c18cee6 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; diff --git a/examples/native-modules/cpp/flake.nix b/examples/native-modules/cpp/flake.nix index fbb970bd15..69ea704c56 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -26,7 +26,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index c17efdc009..34c6e54051 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -12,7 +12,9 @@ # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, # because the default branch does not have those files yet. Drop the `ref=` # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. + # which is what we want from then on. Nobody has to remember: the test + # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; From fba25e5f9391a66965b6ca0fa8173e1a43d4d1ea Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 19:10:30 -0700 Subject: [PATCH 40/97] ci(nix): check every flake.lock is current, and drop bake's dead lock copy Every nix invocation in CI passed --no-write-lock-file, so a stale or incomplete flake.lock was silently tolerated. `nix flake lock --no-update-lock-file` makes it an error. Deliberately not `nix flake check`: the rust modules build through crate2nix, which is import-from-derivation, and --no-build refuses to realise the derivation IFD needs; without it the job would rebuild everything `native` already builds. Verified against all 17 flakes locally -- none stale. `dimos bake` seeded each generated host with the repo-root Cargo.lock so it resolved the workspace's versions. 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. The copy is removed and its test inverted. Its sibling test compared the generated profiles against the root Cargo.toml. It now compares against every module workspace root, which also catches those drifting from each other -- and immediately found that dim_slam sets `lto = true` where the rest use "thin". That predates this change and is deliberate for the SLAM hot path, so it is named as an allowed deviation and documented where it is set, rather than filtered out by a rule that would let the next one through. --- .github/workflows/ci.yml | 47 ++++++++++++++++++++++++ dimos/cli/bake/codegen.py | 11 +++--- dimos/cli/bake/test_codegen.py | 49 ++++++++++++++++++++++---- dimos/mapping/dim_slam/rust/Cargo.toml | 4 +++ 4 files changed, 100 insertions(+), 11 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index a2ac6f0b66..c575233d6c 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -365,6 +365,52 @@ jobs: # `nix build -L path:.#`; nothing here builds them with cargo. run: uv run pytest -m native_e2e dimos/hardware/sensors/lidar/livox/test_e2e.py --no-cov + flake-locks-current: + # The gap this repo had: every nix invocation in CI passed `--no-write-lock-file`, + # so a stale or incomplete flake.lock was silently tolerated and the build used + # whatever the lock happened to say. `nix flake lock --no-update-lock-file` makes + # that an error -- it fails if the lock would have to change to evaluate. + # + # Deliberately not `nix flake check`: the rust modules generate their build through + # crate2nix, which is import-from-derivation, and `--no-build` refuses to realise + # the intermediate derivation IFD needs ("path '...-source.drv' is not valid"). + # Without `--no-build` it would rebuild everything the `native` job already builds. + # Lock currency is the part `native` does not cover, so that is what this checks. + 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: | + 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 + # No bash arrays or `mapfile`: this loop is meant to be runnable by hand on a + # developer machine, and macOS ships bash 3.2. + run: | + 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) timeout-minutes: 30 @@ -1171,6 +1217,7 @@ jobs: - lint - rust - native + - flake-locks-current - md-babel - web - tests diff --git a/dimos/cli/bake/codegen.py b/dimos/cli/bake/codegen.py index 75702782dc..2add0e237d 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 @@ -149,10 +149,11 @@ 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()) + # No lockfile is seeded. This used to copy the repo-root Cargo.lock so the host + # resolved the same dependency versions as the workspace; there is no repo-root + # workspace any more, and no single module's lock is the right one either -- a host + # aggregates crates from several modules, each with its own. Cargo resolves the + # host's own graph, and `dimos bake` commits the lock it produces. (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..2ab158e48f 100644 --- a/dimos/cli/bake/test_codegen.py +++ b/dimos/cli/bake/test_codegen.py @@ -51,12 +51,42 @@ 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"] + + # dim_slam sets `lto = true` rather than "thin" -- a deliberate, pre-dating choice + # for the SLAM binary, and it was never a member of the old root workspace either. + # It is named here rather than filtered by a rule, so any *new* deviation fails. + 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 +128,17 @@ 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/mapping/dim_slam/rust/Cargo.toml b/dimos/mapping/dim_slam/rust/Cargo.toml index 5af8d516d2..0215e5b845 100644 --- a/dimos/mapping/dim_slam/rust/Cargo.toml +++ b/dimos/mapping/dim_slam/rust/Cargo.toml @@ -23,6 +23,10 @@ tracing = "0.1" serde = { version = "1", features = ["derive"] } validator = { version = "0.21", features = ["derive"] } +# Full LTO, not the "thin" every other module uses: this is the SLAM hot path. The +# cost is that it refingerprints the shared target dir (.cargo/config.toml) when you +# build it beside another module. test_the_generated_crate_reuses_the_module_profiles +# names this file as a deliberate deviation; a new one there would fail. [profile.release] lto = true From c3337fb2b5fe48412dc1f58cfa7c32932c33a5d1 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 19:22:52 -0700 Subject: [PATCH 41/97] fix(habitat): declare no auto-build instead of hiding a nix develop in one Every other native module builds with `nix build -L path:.#`. habitat cannot: habitat-sim is conda-only, the install downloads a multi-gigabyte HM3D scene, and headless rendering needs the host's own EGL driver -- which is why its flake offers a devShell and no package. Keeping `nix develop path:. -c ./install.sh` in build_command dressed that up as a build; it was the last non-nix build command in the tree. build_command is None now, which is what NativeModule already means by "no auto-build": it refuses to spawn and says to build manually. The one-time command is written where a developer hits it -- beside the field, and in docs/capabilities/navigation/habitat.md, which claimed install.sh *was* the build_command. --- dimos/simulation/habitat/connection.py | 14 +++++++++++++- docs/capabilities/navigation/habitat.md | 15 ++++++++++++++- 2 files changed, 27 insertions(+), 2 deletions(-) diff --git a/dimos/simulation/habitat/connection.py b/dimos/simulation/habitat/connection.py index bd74936cf6..bf82b48ccf 100644 --- a/dimos/simulation/habitat/connection.py +++ b/dimos/simulation/habitat/connection.py @@ -36,7 +36,19 @@ 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" + # No auto-build. Every other native module builds with `nix build -L path:.#`; + # this one cannot, and pretending otherwise was the last `nix develop` hiding in a + # build_command. habitat-sim comes from the aihabitat conda channel, the install + # downloads a multi-gigabyte HM3D scene, and headless rendering needs the host's own + # EGL driver -- none of which a derivation can express, which is why + # dimos/simulation/habitat/nix/flake.nix offers a devShell and no package. + # + # Provision it once, by hand: + # cd dimos/simulation/habitat/nix && nix develop path:. -c ./install.sh + # + # That writes target/habitat/habitat-native, the executable above. Delete + # target/habitat/env to redo it. See docs/capabilities/navigation/habitat.md. + build_command: str | None = None stdin_config: bool = True log_format: LogFormat = LogFormat.TEXT 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 From 144ebfb26539d2d5fa49a1dfbadea348f52de27b Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 22:52:56 -0700 Subject: [PATCH 42/97] build: refuse to commit while a native-module dir holds untracked files MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit `nix build path:.#…` copies a module's whole directory, so anything sitting in one is part of that module's derivation hash: a .DS_Store from opening the folder in Finder is enough to lose the Cachix hit and recompile the module. Filtering the copy down to an allow list would hide the opposite mistake -- a new source file nobody declared -- so the convention stays 'a module directory contains only its tracked source', and this guard enforces it at commit time, while the offending file is still easy to delete. It exempts exactly the names nix itself filters out, so it flags a file if and only if that file would change a hash. --- .pre-commit-config.yaml | 10 ++++ bin/module-dir-guard | 110 ++++++++++++++++++++++++++++++++++++++++ 2 files changed, 120 insertions(+) create mode 100755 bin/module-dir-guard diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 7eb7f0452c..0a83beb97c 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -97,6 +97,16 @@ repos: entry: bin/hooks/lfs_check language: script + # `nix build path:.#…` copies a module's whole directory, so an untracked file + # sitting in one changes that module's derivation hash and costs a Cachix hit. + # Catch it at commit time, while it is still easy to delete. + - 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 diff --git a/bin/module-dir-guard b/bin/module-dir-guard new file mode 100755 index 0000000000..9a7610bf20 --- /dev/null +++ b/bin/module-dir-guard @@ -0,0 +1,110 @@ +#!/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 + +# `lib.cleanSource` drops these, and the shared flakes additionally drop `target/`, +# `build/` and `__pycache__/`. A file matching one of these cannot change a +# derivation hash, so leaving it in a module directory is harmless. Keep this list +# in step with the filters in `native/rust/flake.nix` and `native/cpp/flake.nix`. +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()) From b8dcf7bf1211bc741321336823dceb4d9934917e Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 22:53:06 -0700 Subject: [PATCH 43/97] fix(nix): stop a stale result symlink poisoning every C++ module's hash MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit A C++ module passed its own directory to mkDerivation as a bare `./.`, and `nix build path:.#…` copies that directory literally. The `result` symlink the previous build wrote is therefore an input to the next one, so a module hashed differently on its second build than on its first and missed the binary cache from then on -- measured on pointlio/cpp as g6ch6zmr… with the symlink present against p052qvw0… without it. native/cpp now exports cleanModuleSource, the same filter buildNativeModule already applies on the rust side, and the three C++ modules that pass their own tree use it. Both sides also drop __pycache__, which a module with python next to its crate grows as soon as anybody imports it. --- .../hardware/sensors/lidar/fastlio2/cpp/flake.nix | 4 +++- .../hardware/sensors/lidar/pointlio/cpp/flake.nix | 4 +++- examples/native-modules/cpp/flake.nix | 4 +++- native/cpp/flake.nix | 15 +++++++++++++++ native/rust/flake.nix | 9 ++++++--- 5 files changed, 30 insertions(+), 6 deletions(-) diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index 24d601ac89..20a922a3a9 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -130,7 +130,9 @@ pname = "fastlio2_native"; version = "0.2.0"; - src = ./.; + # Not `./.`: a bare directory hands nix the `result` symlink of the previous + # build, which changes this derivation's hash and loses the Cachix hit. + src = dimos-native-cpp.lib.${system}.cleanModuleSource ./.; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index cf510faa41..55c4023dec 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -139,7 +139,9 @@ pname = "pointlio_native"; version = "0.2.0"; - src = ./.; + # Not `./.`: a bare directory hands nix the `result` symlink of the previous + # build, which changes this derivation's hash and loses the Cachix hit. + src = dimos-native-cpp.lib.${system}.cleanModuleSource ./.; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ diff --git a/examples/native-modules/cpp/flake.nix b/examples/native-modules/cpp/flake.nix index 69ea704c56..62049971de 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -45,7 +45,9 @@ packages.dimos-native-module-examples-cpp = pkgs.stdenv.mkDerivation { pname = "dimos-native-ping-pong"; version = "0.1.0"; - src = ./.; + # Not `./.`: a bare directory hands nix the `result` symlink of the previous + # build, which changes this derivation's hash and loses the Cachix hit. + src = dimos-native-cpp.lib.${system}.cleanModuleSource ./.; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ lcm pkgs.glib pkgs.nlohmann_json zenohc zenohcpp ]; diff --git a/native/cpp/flake.nix b/native/cpp/flake.nix index 3342a8aa8f..60d4f76e45 100644 --- a/native/cpp/flake.nix +++ b/native/cpp/flake.nix @@ -23,6 +23,21 @@ chmod -R u+w $out ''; + # A C++ module is built with `nix build path:.#…` from its own directory, and a + # `path:` ref copies that directory whole -- so everything in it is part of the + # derivation hash. `result` is the trap: `nix build` writes that symlink itself, + # which means a module's second build hashes differently from its first and + # misses the binary cache forever after. Every C++ module therefore filters its + # source through this rather than passing `./.` raw. The rust side gets the same + # treatment inside `native/rust`'s `buildNativeModule`. + lib.cleanModuleSource = src: pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource src; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "build" || base == "target" || base == "__pycache__")); + }; + devShells.default = pkgs.mkShell { packages = [ pkgs.cmake pkgs.pkg-config pkgs.nlohmann_json ]; }; diff --git a/native/rust/flake.nix b/native/rust/flake.nix index 1cac5b0514..96de2f90bd 100644 --- a/native/rust/flake.nix +++ b/native/rust/flake.nix @@ -32,13 +32,16 @@ # everything in the directory -- gitignored and untracked alike. Build output # is therefore an input to the next build unless it is filtered here: without # this, one `cargo build` in a module directory makes its next nix build a - # cache miss and drags 2+ GB of `target/` into the store. `cleanSource` - # already drops `.git`, editor backups and `result` symlinks. + # cache miss and drags 2+ GB of `target/` into the store. `__pycache__` is + # the same hazard in miniature: a module with python next to its crate grows + # one the moment anybody imports it. `cleanSource` already drops `.git`, + # editor backups and `result` symlinks. cleanModuleSource = src: pkgs.lib.cleanSourceWith { src = pkgs.lib.cleanSource src; filter = path: type: let base = baseNameOf (toString path); in - !(type == "directory" && (base == "target" || base == "build")); + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); }; # The tree a module's crate2nix build runs in: the module's own directory at From 58964b2f664a968fe7bddff9e781b6f0e30dbd2e Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 22:53:27 -0700 Subject: [PATCH 44/97] test(nix): require every module's shared input to name main A module's one in-repo input is the shared crate tree, and pointing it at some other branch freezes that module on work in progress at a ref that can vanish: closing the pull request deletes the branch and takes every module's build with it, which is what happened here. Two tests replace the old single one. The first always runs and rejects any ref that is neither main nor the branch in hand. The second is the bootstrap latch: native/rust/flake.nix cannot reference itself on main until it is there, so the branch pin is legitimate until those files land, and illegal the moment they do. --- dimos/core/test_build_native_modules.py | 103 ++++++++++++++++++------ 1 file changed, 80 insertions(+), 23 deletions(-) diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index 9dd7102953..3a61d9b2a6 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -252,14 +252,47 @@ def test_no_module_reaches_the_repository_root() -> None: # The shared flakes live in this repository, so the very change that introduces # native/rust/flake.nix cannot reference it on the default branch -- it is not there -# yet. Until it merges, the module inputs name this branch. That pin must not outlive -# the merge, and a comment is not a mechanism: this test is. +# yet. Until it merges, the module inputs name that branch. That pin must not outlive +# the merge, and a comment is not a mechanism: these tests are. _SHARED_FLAKES = ("native/rust/flake.nix", "native/cpp/flake.nix") +_DEFAULT_BRANCH = "main" + +# `github:dimensionalOS/dimos?ref=&dir=` -- the in-repo input every +# native module takes for the shared crates and the C++ SDK. +_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() -> str: + done = subprocess.run( + ("git", "-C", str(DIMOS_PROJECT_ROOT), "rev-parse", "--abbrev-ref", "HEAD"), + capture_output=True, + text=True, + ) + return done.stdout.strip() 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", "origin/main", "main"): + 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}"), @@ -271,28 +304,52 @@ def _default_branch_has_shared_flakes() -> bool: @pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to read refs") -def test_shared_flake_inputs_are_unpinned_once_they_exist_upstream() -> None: - """A module input may name a branch only while the shared flakes are not upstream. - - `github:dimensionalOS/dimos?dir=native/rust` with no `ref=` follows the default - branch, which is what every module should do. The branch-pinned form exists purely - to bootstrap the change that first adds those flakes; once they are on the default - branch the pin is stale -- it freezes every module on one commit of a branch that - may be deleted. This test goes red the moment that bootstrap window closes, so - nobody has to remember. +def test_in_repo_flake_inputs_name_only_main_or_the_bootstrap_branch() -> None: + """No module may take its shared input from a third branch. + + A module's one in-repo input is the shared crate tree. Pointing it at an + arbitrary branch freezes that module on somebody's work in progress, and at a ref + that can be deleted out from under every checkout -- which is exactly what happens + when the branch's pull request is closed. + + Only two refs are legitimate: `main`, which is the answer, and the branch that + first adds the shared flakes, which is unavoidable because those files do not + exist on `main` until it merges. Anything else fails here. + """ + allowed = {_DEFAULT_BRANCH, None, _current_branch()} + wrong = { + flake: [ref for ref in refs if ref not in allowed] + for flake, refs in _in_repo_input_refs().items() + } + wrong = {flake: refs for flake, refs in wrong.items() if refs} + assert not wrong, ( + "these flakes take the shared dimos input from a branch that is neither " + f"{_DEFAULT_BRANCH!r} nor this branch: {wrong} -- point them at " + f"`ref={_DEFAULT_BRANCH}`" + ) + + +@pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to read refs") +def test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream() -> None: + """Once the shared flakes are on `main`, every module input must name `main`. + + The branch-pinned form exists purely to bootstrap the change that first adds those + flakes. Left behind, it freezes every module on one commit of a branch that may be + deleted -- and a deleted branch takes every module's build with it. This test goes + red the moment that bootstrap window closes, so nobody has to remember. """ if not _default_branch_has_shared_flakes(): - pytest.skip("shared flakes are not on the default branch yet; the pin is the bootstrap") - pinned = [ - flake.relative_to(DIMOS_PROJECT_ROOT).as_posix() - for flake in DIMOS_PROJECT_ROOT.rglob("flake.nix") - if ".git" not in flake.parts - and re.search(r'url = "github:dimensionalOS/dimos\?ref=', flake.read_text()) - ] - assert not pinned, ( - "these flakes still pin the shared input to a branch, now that it is on the " - f"default branch: {sorted(pinned)} -- drop the `ref=` so the input follows the " - "default branch" + pytest.skip( + f"shared flakes are not on {_DEFAULT_BRANCH} yet; the branch pin is the bootstrap" + ) + not_main = { + flake: refs + for flake, refs in _in_repo_input_refs().items() + if any(ref != _DEFAULT_BRANCH for ref in refs) + } + assert not not_main, ( + f"the shared flakes are on {_DEFAULT_BRANCH} now, so these must name " + f"`ref={_DEFAULT_BRANCH}`: {not_main}" ) From 2c12e12d74f760b2f794c4ed5f52c1203b475951 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 22:53:59 -0700 Subject: [PATCH 45/97] build(nix): add the shared flakes for the native module SDKs native/rust and native/cpp are the crates and headers every native module already depends on; this gives each of them a flake so a module can take it as an input instead of a path literal climbing out of its own store path. Landing them alone, ahead of the modules that consume them, is what lets those modules name ref=main rather than pinning a feature branch that disappears when its pull request closes. Nothing consumes them yet, so this changes no build. --- native/cpp/flake.lock | 61 +++++++++ native/cpp/flake.nix | 45 ++++++ native/rust/flake.lock | 301 +++++++++++++++++++++++++++++++++++++++++ native/rust/flake.nix | 115 ++++++++++++++++ 4 files changed, 522 insertions(+) create mode 100644 native/cpp/flake.lock create mode 100644 native/cpp/flake.nix create mode 100644 native/rust/flake.lock create mode 100644 native/rust/flake.nix diff --git a/native/cpp/flake.lock b/native/cpp/flake.lock new file mode 100644 index 0000000000..0796952d50 --- /dev/null +++ b/native/cpp/flake.lock @@ -0,0 +1,61 @@ +{ + "nodes": { + "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" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "type": "github" + }, + "original": { + "owner": "NixOS", + "ref": "nixos-unstable", + "repo": "nixpkgs", + "type": "github" + } + }, + "root": { + "inputs": { + "flake-utils": "flake-utils", + "nixpkgs": "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" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/native/cpp/flake.nix b/native/cpp/flake.nix new file mode 100644 index 0000000000..60d4f76e45 --- /dev/null +++ b/native/cpp/flake.nix @@ -0,0 +1,45 @@ +{ + description = "The shared dimos C++ native module SDK, as a source tree for cmake"; + + inputs = { + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + }; + + # A header-only INTERFACE library that consumers `add_subdirectory` through + # `-DDIMOS_NATIVE_CPP_DIR=...`, so the useful output is the source tree itself + # rather than a built artifact. + # + # This exists as a flake so a module can take the SDK as an input instead of a + # bare path literal climbing six directories to reach it. Under the `path:.` refs the + # modules now use, such a literal escapes the module's store path and fails to + # resolve -- and when it did resolve, it resolved by copying the entire repository, + # git-lfs blobs included. + outputs = { self, 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 ${pkgs.lib.cleanSource ./.} $out + chmod -R u+w $out + ''; + + # A C++ module is built with `nix build path:.#…` from its own directory, and a + # `path:` ref copies that directory whole -- so everything in it is part of the + # derivation hash. `result` is the trap: `nix build` writes that symlink itself, + # which means a module's second build hashes differently from its first and + # misses the binary cache forever after. Every C++ module therefore filters its + # source through this rather than passing `./.` raw. The rust side gets the same + # treatment inside `native/rust`'s `buildNativeModule`. + lib.cleanModuleSource = src: pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource src; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "build" || base == "target" || base == "__pycache__")); + }; + + devShells.default = pkgs.mkShell { + packages = [ pkgs.cmake pkgs.pkg-config pkgs.nlohmann_json ]; + }; + }); +} diff --git a/native/rust/flake.lock b/native/rust/flake.lock new file mode 100644 index 0000000000..5ebeeeab8d --- /dev/null +++ b/native/rust/flake.lock @@ -0,0 +1,301 @@ +{ + "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-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": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "owner": "NixOS", + "repo": "nixpkgs", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "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_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/native/rust/flake.nix b/native/rust/flake.nix new file mode 100644 index 0000000000..96de2f90bd --- /dev/null +++ b/native/rust/flake.nix @@ -0,0 +1,115 @@ +{ + description = "The shared dimos rust crates, and the builder every rust native module uses"; + + inputs = { + 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"; + }; + + # Every rust native module takes this flake as its one and only in-repo input and + # follows its nixpkgs, so the whole repo resolves to a single nixpkgs revision + # instead of the seven it used to carry. Nothing here reaches back out at the + # repository: the crates below are the only dimos code a module is allowed to see. + outputs = { self, nixpkgs, flake-utils, crate2nix }: + let + # Tracked sources only. A module's `nix build` copies this whole tree into its + # sandbox, so an editor swap file or a stray target/ here would land in every + # module's derivation. + sharedCrates = { + "native/rust/dimos-module" = ./dimos-module; + "native/rust/dimos-module-macros" = ./dimos-module-macros; + }; + in + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let + pkgs = nixpkgs.legacyPackages.${system}; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + + # A module's build_command is `nix build path:.#…`, and a `path:` ref copies + # everything in the directory -- gitignored and untracked alike. Build output + # is therefore an input to the next build unless it is filtered here: without + # this, one `cargo build` in a module directory makes its next nix build a + # cache miss and drags 2+ GB of `target/` into the store. `__pycache__` is + # the same hazard in miniature: a module with python next to its crate grows + # one the moment anybody imports it. `cleanSource` already drops `.git`, + # editor backups and `result` symlinks. + cleanModuleSource = src: pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource src; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); + }; + + # The tree a module's crate2nix build runs in: the module's own directory at + # the same relative path it occupies in the repository, plus the shared + # crates at theirs, so the relative `path = ` dependency on dimos-module + # in the module's Cargo.toml resolves without rewriting it. + moduleSource = { name, path, src }: + pkgs.runCommand "${name}-source" { } ( + '' + mkdir -p $out/${builtins.dirOf path} + cp -r ${cleanModuleSource src} $out/${path} + '' + + pkgs.lib.concatStrings (pkgs.lib.mapAttrsToList (dest: tree: '' + mkdir -p $out/${builtins.dirOf dest} + cp -r ${tree} $out/${dest} + '') sharedCrates) + + "chmod -R u+w $out\n" + ); + in { + # `buildNativeModule` is the whole convention: a module flake names itself, + # says where it sits in the repo, hands over its own directory, and gets a + # package back. crate2nix builds one derivation per crate, so the shared + # crates and every third-party dependency are built once and then substituted + # into every other module -- which a single buildRustPackage per module + # cannot do, because it vendors and compiles the whole graph privately. + lib = { + inherit moduleSource; + + # Exported so a module devShell can extend the toolchain instead of + # restating it and drifting from it. + inherit rustTools; + + buildNativeModule = + { name # the cargo package name, and the flake output name + , path # the module's path within the repository + , src # the module's own directory + , crateOverrides ? (_: { }) # pkgs -> attrset of crate2nix overrides + , cargoToml ? "${path}/Cargo.toml" + }: + let + generated = crate2nix.tools.${system}.generatedCargoNix { + inherit name; + src = moduleSource { inherit name path src; }; + inherit cargoToml; + }; + called = import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: cratePkgs.buildRustCrate.override { + defaultCrateOverrides = + cratePkgs.defaultCrateOverrides // (crateOverrides cratePkgs); + }; + }; + in + # crate2nix exposes `rootCrate` for a plain package and `workspaceMembers` + # for a workspace manifest. A module that carries a pyo3 `py/` member is the + # second kind even though it is one package to us, so accept both rather + # than making the caller know which shape its own Cargo.toml produces. + if called ? rootCrate + then called.rootCrate.build + else called.workspaceMembers.${name}.build; + }; + + # No `packages`: this flake ships source and a builder, not a binary. The + # crates here are libraries every module compiles into itself. + + # The shell the pre-commit clippy hook runs in for crates that need nothing + # but a toolchain. A module with system libraries extends this in its own + # flake rather than adding them here. + devShells.default = pkgs.mkShell { packages = rustTools; }; + }); +} From 775d7c07ced5fd6c953e9d8897b313cdc4acce8b Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:02:42 -0700 Subject: [PATCH 46/97] fix(nix): give realsense's own build.rs librealsense, not just realsense-sys Both crates probe librealsense2 through pkg-config -- realsense-sys to generate its bindings, and this module's build.rs to turn the result into an rpath -- and crate2nix builds each crate in its own sandbox, so only the one that declared the inputs had them. The module's own build failed on a runner with `The pkg-config command could not be found`. The module is Linux-only, so this path never runs on a Mac and CI is the first place it is exercised. --- .../sensors/camera/realsense/rust/flake.nix | 27 ++++++++++++------- 1 file changed, 18 insertions(+), 9 deletions(-) diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 210eab76bd..0bc5446672 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -10,10 +10,10 @@ # picks up every smudged git-lfs blob under data/. inputs = { # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; @@ -26,12 +26,21 @@ name = "dimos-realsense"; path = "dimos/hardware/sensors/camera/realsense/rust"; src = ./.; - crateOverrides = pkgs: { - realsense-sys = _: { - buildInputs = [ pkgs.librealsense ]; - nativeBuildInputs = [ pkgs.pkg-config ]; + crateOverrides = pkgs: + let + # Both crates run pkg-config against librealsense2: realsense-sys to + # generate its bindings, and this module's own build.rs to turn the + # result into an rpath. crate2nix builds each crate in its own sandbox, + # so the inputs have to be declared for each of them. + needsLibrealsense = _: { + buildInputs = [ pkgs.librealsense ]; + nativeBuildInputs = [ pkgs.pkg-config ]; + }; + in + { + realsense-sys = needsLibrealsense; + dimos-realsense = needsLibrealsense; }; - }; }; devShells.default = dimos-native-rust.devShells.${system}.default; From cd2cf78ad1d7130652f099b88f439ed738a44bef Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:02:51 -0700 Subject: [PATCH 47/97] ci: skip the two workspaces a bare cargo runner cannot build Splitting the repo-wide cargo workspace into one per module turned an implicit exclusion into a failure: the old root Cargo.toml simply never listed realsense or dim_slam, so `cargo test --workspace` never tried them, while iterating every workspace root does. Neither can build here -- one links librealsense, the other a GPU toolkit, and this runner has a bare cargo and no nix. Their coverage does not go away: the native-builds job builds every module through its own flake, where those libraries are declared, and the lint job clippies them inside each module's devShell. The skip list is checked against the tree so it cannot quietly outlive the paths it names. --- .github/workflows/ci.yml | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index c575233d6c..4c813f948b 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -326,11 +326,32 @@ jobs: # the lint job, which enter each module's devShell; what is left here is the # test run, over each workspace root in turn. - name: cargo test + # This runner has a bare cargo and no nix, so it can only test the workspaces + # that build against system libraries it already has. The two skipped below + # link librealsense and a GPU toolkit respectively, and were excluded from the + # old repo-wide workspace for the same reason -- splitting that workspace into + # one per module turned an implicit exclusion into a job that tried to build + # them. Their nix builds still cover them: `Native builds (C++ and Rust)` + # builds every module through its own flake, where those libraries are + # declared, and the lint job clippies them inside each module's devShell. run: | set -euo pipefail + needs_system_libs=( + dimos/hardware/sensors/camera/realsense/rust # librealsense + dimos/mapping/dim_slam/rust # metal / cuda + ) + for skipped in "${needs_system_libs[@]}"; do + test -f "$skipped/Cargo.toml" \ + || { echo "::error::$skipped is gone -- drop it from needs_system_libs"; exit 1; } + done git ls-files "*Cargo.toml" | while read -r m; do cargo locate-project --manifest-path "$m" --workspace --message-format plain done | sort -u | while read -r root; do + dir=${root%/Cargo.toml} + dir=${dir#$PWD/} + case " ${needs_system_libs[*]} " in + *" $dir "*) echo "skipping $dir: needs system libraries this runner lacks"; continue ;; + esac echo "::group::cargo test $root" cargo test --manifest-path "$root" --workspace --all-features --locked echo "::endgroup::" From 4740964ec704514179f35a3e87ef5fc5bf4a2ba5 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:02:59 -0700 Subject: [PATCH 48/97] build(nix): relock every module onto the pushed shared flakes The shared flakes gained cleanModuleSource, which the C++ modules now call, but their locks still named the revision before it existed -- `attribute 'lib' missing` on any machine that honoured the lock rather than an override. Relocks all twelve modules onto the branch tip, and renames the test the bootstrap comments point at, which moved in the same change. --- dimos/experimental/memory/rust/flake.lock | 6 +++--- dimos/experimental/memory/rust/flake.nix | 8 ++++---- dimos/hardware/sensors/camera/realsense/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix | 8 ++++---- dimos/hardware/sensors/lidar/livox/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/livox/rust/flake.nix | 8 ++++---- dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix | 8 ++++---- dimos/hardware/sensors/lidar/pointlio/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/pointlio/rust/flake.nix | 8 ++++---- dimos/hardware/sensors/lidar/virtual_mid360/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/virtual_mid360/flake.nix | 8 ++++---- dimos/mapping/dim_slam/rust/flake.lock | 6 +++--- dimos/mapping/dim_slam/rust/flake.nix | 8 ++++---- dimos/mapping/ray_tracing/rust/flake.lock | 6 +++--- dimos/mapping/ray_tracing/rust/flake.nix | 8 ++++---- dimos/navigation/nav_3d/mls_planner/rust/flake.lock | 6 +++--- dimos/navigation/nav_3d/mls_planner/rust/flake.nix | 8 ++++---- examples/native-modules/cpp/flake.lock | 6 +++--- examples/native-modules/cpp/flake.nix | 8 ++++---- examples/native-modules/rust/flake.lock | 6 +++--- examples/native-modules/rust/flake.nix | 8 ++++---- 23 files changed, 80 insertions(+), 80 deletions(-) diff --git a/dimos/experimental/memory/rust/flake.lock b/dimos/experimental/memory/rust/flake.lock index 4129191cf9..88c59ac282 100644 --- a/dimos/experimental/memory/rust/flake.lock +++ b/dimos/experimental/memory/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 7705f58dbc..d27507a900 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -10,10 +10,10 @@ # picks up every smudged git-lfs blob under data/. inputs = { # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.lock b/dimos/hardware/sensors/camera/realsense/rust/flake.lock index 9c60e4fea2..a97b8bc97f 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.lock +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index 8bb960771a..2fb7106df7 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -28,11 +28,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index 20a922a3a9..d12316f68e 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -10,10 +10,10 @@ # ref this module now uses, such a literal escapes the module's store path, and # back when it resolved at all it resolved by copying the whole repository. # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.lock b/dimos/hardware/sensors/lidar/livox/rust/flake.lock index 9c60e4fea2..a97b8bc97f 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.lock +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index f8963d6db2..83d9b0cf40 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -10,10 +10,10 @@ # picks up every smudged git-lfs blob under data/. inputs = { # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index 6fc85180e7..7f8cc3e712 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -28,11 +28,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index 55c4023dec..b235a611ac 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -10,10 +10,10 @@ # ref this module now uses, such a literal escapes the module's store path, and # back when it resolved at all it resolved by copying the whole repository. # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock index 9c60e4fea2..a97b8bc97f 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index 0244b3de41..6cd53f1084 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -10,10 +10,10 @@ # picks up every smudged git-lfs blob under data/. inputs = { # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock index 9c60e4fea2..a97b8bc97f 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index bbfe2eb438..6a6d4f078d 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -10,10 +10,10 @@ # picks up every smudged git-lfs blob under data/. inputs = { # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; diff --git a/dimos/mapping/dim_slam/rust/flake.lock b/dimos/mapping/dim_slam/rust/flake.lock index 479bb2a7b9..4413481f3c 100644 --- a/dimos/mapping/dim_slam/rust/flake.lock +++ b/dimos/mapping/dim_slam/rust/flake.lock @@ -108,11 +108,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index 1389ef903c..acca4b44eb 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -11,10 +11,10 @@ # git-lfs blob. inputs = { # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; diff --git a/dimos/mapping/ray_tracing/rust/flake.lock b/dimos/mapping/ray_tracing/rust/flake.lock index 9c60e4fea2..a97b8bc97f 100644 --- a/dimos/mapping/ray_tracing/rust/flake.lock +++ b/dimos/mapping/ray_tracing/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index c3a9bd1c21..431825e68b 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -10,10 +10,10 @@ # picks up every smudged git-lfs blob under data/. inputs = { # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock index 9c60e4fea2..a97b8bc97f 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index 6e9c18cee6..bd94bac134 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -10,10 +10,10 @@ # picks up every smudged git-lfs blob under data/. inputs = { # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; diff --git a/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock index 000a8b2ad2..5e5b658d4c 100644 --- a/examples/native-modules/cpp/flake.lock +++ b/examples/native-modules/cpp/flake.lock @@ -28,11 +28,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/examples/native-modules/cpp/flake.nix b/examples/native-modules/cpp/flake.nix index 62049971de..084900c96a 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -24,10 +24,10 @@ # to climb three directories to reach native/cpp. Under the `path:.` build ref # this example now uses, such a literal escapes the flake's store path. # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; diff --git a/examples/native-modules/rust/flake.lock b/examples/native-modules/rust/flake.lock index 9c60e4fea2..a97b8bc97f 100644 --- a/examples/native-modules/rust/flake.lock +++ b/examples/native-modules/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789521790, - "narHash": "sha256-+qL8eGBWJiXGkOeG2hPTr+dwi5e5nGzr3DcdsPegkOE=", + "lastModified": 1789538014, + "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "717352b0c41d66d1d9f5a02892d09f2c0492c752", + "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", "type": "github" }, "original": { diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index 34c6e54051..56b6051240 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -10,10 +10,10 @@ # picks up every smudged git-lfs blob under data/. inputs = { # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Drop the `ref=` - # once this is on main -- without it the input follows the default branch, - # which is what we want from then on. Nobody has to remember: the test - # test_shared_flake_inputs_are_unpinned_once_they_exist_upstream goes red + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; From 762909b76d3711f0fa604ce5b5bd61999d68dbc1 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:04:52 -0700 Subject: [PATCH 49/97] test(nix): catch a module lock that pins a stale shared flake `nix flake lock` only checks that a lock is complete, so a change to native/rust can land while every module still builds against the revision before it, and CI says nothing -- which is exactly how `attribute 'lib' missing` reached a runner. The pinned revision may be older than HEAD; what must match is the tree it points at. Depth-1 checkouts do not have the pinned commit, so the test asks origin for that one commit rather than skipping; a full history here is 36 GB. --- dimos/core/test_build_native_modules.py | 75 +++++++++++++++++++++++++ 1 file changed, 75 insertions(+) diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index 3a61d9b2a6..403a1958cb 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -353,6 +353,81 @@ def test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream() -> No ) +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 + # CI checks out at depth 1, so a locked revision is usually absent. Ask for that + # one commit rather than giving up -- a full history here is 36 GB. + 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 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" + ) + + @pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs git HEAD for object hashes") def test_manifest_is_deterministic() -> None: modules = _SCRIPT.discover() From 1da3d999cc6c41834ee640783577107bb6ea0829 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:13:03 -0700 Subject: [PATCH 50/97] ci: keep the native SDK out of the C++ module list The C++ module discovery is 'a directory with both a flake.nix and a CMakeLists.txt', and giving native/cpp a flake makes it match. It is not a module -- nothing declares it as a NativeModuleConfig, so the build step never creates a build/ for it and the ctest loop died on the missing directory. It stays covered: the Configure/Build/Test steps ahead of this one build it at build/native-cpp and run its 76 cases. --- .github/workflows/ci.yml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index f378ef0e91..90805cfe2a 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -379,9 +379,15 @@ jobs: - name: Find C++ native modules id: find-modules + # `native/` is excluded because it is the SDK the modules build against, not a + # module: nothing declares it as a NativeModuleConfig, so the build step below + # never produces a `build/` for it and the ctest loop would fail on the missing + # directory. It is not going untested -- the Configure/Build/Test steps above + # build it at build/native-cpp and run its 76 cases there. run: | modules=$(find . -name flake.nix \ -not -path './.git/*' \ + -not -path './native/*' \ -not -path '*/build/*' \ -not -path '*/result/*' \ -printf '%h\n' \ From 28caae479a7e79dd7c0d3eadfd9e56c2c3dcbb22 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:15:11 -0700 Subject: [PATCH 51/97] ci: run the native e2e tests in the job that builds the binaries The test resolves result/bin/, which only exists after a nix build. It sat in the rust job because a root cargo workspace could `cargo build -p dimos-livox` into a shared target dir; with one workspace per module those binaries come from nix, and that job has a bare cargo and no reason to install it. The native job already builds every module and leaves the result symlinks in place, so the tests move there and the rust job stops pretending it can produce them. --- .github/workflows/ci.yml | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 13c761cf5c..8037ff54b9 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -381,10 +381,6 @@ jobs: dimos/navigation/nav_3d/mls_planner/test_transformer.py - 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 - # NativeModule builds these itself, through each module's own - # `nix build -L path:.#`; nothing here builds them with cargo. - run: uv run pytest -m native_e2e dimos/hardware/sensors/lidar/livox/test_e2e.py --no-cov flake-locks-current: # The gap this repo had: every nix invocation in CI passed `--no-write-lock-file`, @@ -534,6 +530,21 @@ 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 + # These spawn the module binaries, so they belong to the job that built them: + # `bin/build-native-modules` leaves each module's `result` symlink behind and + # the test resolves `result/bin/` through it. The rust job used to host + # them because a root cargo workspace could `cargo build -p dimos-livox`; with + # one workspace per module those binaries come from nix, which that job has no + # reason to install. + 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 From 03193c47503c4660ca1ba488479cc023bc4b5c31 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:31:25 -0700 Subject: [PATCH 52/97] test(nix): read the branch from the runner when the checkout is detached A pull request is checked out detached, where `--abbrev-ref HEAD` is the literal string "HEAD" and names nothing, so the bootstrap branch looked like a third branch and every module flake failed the check on CI while passing locally. The branch is in the environment the runner sets; consult both, so the test means the same thing in both places. Negative control still red: pointing one flake at somebody/else/wip fails with GITHUB_HEAD_REF set. --- dimos/core/test_build_native_modules.py | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index 403a1958cb..3df88e3e21 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -281,13 +281,24 @@ def _in_repo_input_refs() -> dict[str, list[str | None]]: return refs -def _current_branch() -> str: +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, ) - return done.stdout.strip() + 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: @@ -316,7 +327,7 @@ def test_in_repo_flake_inputs_name_only_main_or_the_bootstrap_branch() -> None: first adds the shared flakes, which is unavoidable because those files do not exist on `main` until it merges. Anything else fails here. """ - allowed = {_DEFAULT_BRANCH, None, _current_branch()} + allowed = {_DEFAULT_BRANCH, None} | _current_branch_names() wrong = { flake: [ref for ref in refs if ref not in allowed] for flake, refs in _in_repo_input_refs().items() From e3ee5a974ee7e9e67a5d87a3f9c3aabf33f37175 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:36:29 -0700 Subject: [PATCH 53/97] ci: give the native job portaudio, for the test group it now installs Moving the native e2e tests into this job brought `uv sync --group tests` with them, and that group builds pyaudio from source: `fatal error: portaudio.h: No such file or directory`. The rust job installs the same package for the same reason. --- .github/workflows/ci.yml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 8037ff54b9..bfa0df1a82 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -448,7 +448,10 @@ 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 + # portaudio is not for the modules -- it is for the `uv sync` further down, + # whose test group builds pyaudio from source and needs its headers. + 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" From d01db4239eadff398e67f39adf67b0d56c709813 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:44:12 -0700 Subject: [PATCH 54/97] fix(nix): skip a module whose flake declares no packages for this system The macOS publish job died on realsense with `does not provide attribute 'packages.aarch64-darwin.dimos-realsense'`. It links librealsense, which nixpkgs will not evaluate off Linux, so its flake lists only the Linux systems -- there is nothing to build here and nothing to publish. The flake is asked which systems it declares rather than the build error being swallowed, because a package missing from a system the flake *does* declare is a typo and must still fail loudly. The same question keeps --record-links and --verify-published from tripping over the result symlink that was never made. --- bin/build-native-modules | 49 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 49 insertions(+) diff --git a/bin/build-native-modules b/bin/build-native-modules index 5bf0cd8af5..791e769486 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -54,6 +54,7 @@ import ast from concurrent.futures import ProcessPoolExecutor, as_completed from dataclasses import dataclass import hashlib +import json import os from pathlib import Path, PurePosixPath import re @@ -66,6 +67,20 @@ import urllib.request MARKER_SALT = 1 REPO_ROOT = Path(__file__).resolve().parent.parent + + +def _current_system() -> str: + """nix's name for this machine, e.g. aarch64-darwin.""" + proc = subprocess.run( + ["nix", "eval", "--raw", "--impure", "--expr", "builtins.currentSystem"], + capture_output=True, + text=True, + check=False, + ) + return proc.stdout.strip() + + +CURRENT_SYSTEM = _current_system() PACKAGE_DIR = REPO_ROOT / "dimos" IGNORED_DIRS = {"result", "build", "target", "__pycache__", ".git", "node_modules"} # Captured at import time; forked workers inherit it @@ -429,6 +444,12 @@ 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: + # A module whose flake declares no packages for this system was skipped + # rather than built, so it has nothing to publish or verify here. Any + # other empty directory means the build never ran. + 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)))) @@ -480,10 +501,38 @@ 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 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, From d3ddd43d78bd350e1d3d273cf9615b56e55a5020 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Tue, 15 Sep 2026 23:46:47 -0700 Subject: [PATCH 55/97] fix(nix): ask nix for the system lazily, so --inputs-hash still needs only git The Cachix gate runs --inputs-hash on a runner before nix is installed -- that is the point of it -- and a module-level `nix eval` for the current system broke it outright. Moved behind an lru_cache so only the build paths, which have nix by definition, ever ask. Checked both ways: --inputs-hash on a PATH without nix prints its hash, and --dry-run with nix still skips realsense on darwin. --- bin/build-native-modules | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/bin/build-native-modules b/bin/build-native-modules index 791e769486..05fb660bf8 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -53,6 +53,7 @@ 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 @@ -69,8 +70,13 @@ MARKER_SALT = 1 REPO_ROOT = Path(__file__).resolve().parent.parent -def _current_system() -> str: - """nix's name for this machine, e.g. aarch64-darwin.""" +@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, @@ -80,7 +86,6 @@ def _current_system() -> str: return proc.stdout.strip() -CURRENT_SYSTEM = _current_system() PACKAGE_DIR = REPO_ROOT / "dimos" IGNORED_DIRS = {"result", "build", "target", "__pycache__", ".git", "node_modules"} # Captured at import time; forked workers inherit it @@ -448,7 +453,7 @@ def _result_links(modules: tuple[DiscoveredModule, ...]) -> list[tuple[str, str] # rather than built, so it has nothing to publish or verify here. Any # other empty directory means the build never ran. systems = _declared_systems(module) - if systems is not None and CURRENT_SYSTEM not in systems: + 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: @@ -531,8 +536,8 @@ def build_one(module: DiscoveredModule, dry_run: bool) -> tuple[str, bool, str]: 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}" + 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, From b4176de1050f80f02e484d65e1b6d468eccd6c90 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 00:07:47 -0700 Subject: [PATCH 56/97] build(nix): let a module build its devShell from the shared toolchain The clippy hook runs cargo inside each module's devShell, so a module whose build script probes pkg-config needs its libraries there -- realsense fails with `failed to run custom build command for realsense-sys` in a shell that has only a toolchain. It takes a selector rather than a package list because a module flake has no nixpkgs of its own; this flake's is the single revision every module follows. --- native/rust/flake.nix | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/native/rust/flake.nix b/native/rust/flake.nix index 96de2f90bd..20e42718bb 100644 --- a/native/rust/flake.nix +++ b/native/rust/flake.nix @@ -74,6 +74,13 @@ # restating it and drifting from it. inherit rustTools; + # The shell for a module that needs system libraries -- realsense links + # librealsense, and the clippy hook runs `cargo clippy` inside this shell, so + # a build script that probes pkg-config finds nothing without it. Takes a + # selector rather than a package list because a module flake has no nixpkgs of + # its own; this one is the single revision every module follows. + devShellWith = select: pkgs.mkShell { packages = rustTools ++ select pkgs; }; + buildNativeModule = { name # the cargo package name, and the flake output name , path # the module's path within the repository From 821e8e9ccb9e495e5d2a9447a8b7bca401c155c4 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 00:08:06 -0700 Subject: [PATCH 57/97] fix(nix): give realsense a devShell that has librealsense in it The clippy hook enters each module's devShell and runs cargo there, and this module's build.rs probes librealsense2 through pkg-config, so the shared toolchain-only shell fails the lint job outright: `failed to run custom build command for realsense-sys`. Same libraries the crate overrides already declare for the build itself; this is the interactive half of the pair. --- dimos/hardware/sensors/camera/realsense/rust/flake.nix | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 0bc5446672..4bd92f5b8f 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -43,6 +43,8 @@ }; }; - devShells.default = dimos-native-rust.devShells.${system}.default; + # Not the shared devShell: the clippy hook runs cargo in here, and this + # module's build.rs probes librealsense2 through pkg-config. + devShells.default = shared.devShellWith (pkgs: [ pkgs.librealsense pkgs.pkg-config ]); }); } From 0bed970cb64764d6fcbaaf50b60ac2785d256de8 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 00:08:47 -0700 Subject: [PATCH 58/97] build(nix): relock every module onto the shared flake with devShellWith --- dimos/experimental/memory/rust/flake.lock | 6 +++--- dimos/hardware/sensors/camera/realsense/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/livox/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/pointlio/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/virtual_mid360/flake.lock | 6 +++--- dimos/mapping/dim_slam/rust/flake.lock | 6 +++--- dimos/mapping/ray_tracing/rust/flake.lock | 6 +++--- dimos/navigation/nav_3d/mls_planner/rust/flake.lock | 6 +++--- examples/native-modules/cpp/flake.lock | 6 +++--- examples/native-modules/rust/flake.lock | 6 +++--- 12 files changed, 36 insertions(+), 36 deletions(-) diff --git a/dimos/experimental/memory/rust/flake.lock b/dimos/experimental/memory/rust/flake.lock index 88c59ac282..31e0ae3a49 100644 --- a/dimos/experimental/memory/rust/flake.lock +++ b/dimos/experimental/memory/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.lock b/dimos/hardware/sensors/camera/realsense/rust/flake.lock index a97b8bc97f..a005f45e8d 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.lock +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index 2fb7106df7..3b0de8d1b7 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -28,11 +28,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.lock b/dimos/hardware/sensors/lidar/livox/rust/flake.lock index a97b8bc97f..a005f45e8d 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.lock +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index 7f8cc3e712..86db87ccad 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -28,11 +28,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock index a97b8bc97f..a005f45e8d 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock index a97b8bc97f..a005f45e8d 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/dimos/mapping/dim_slam/rust/flake.lock b/dimos/mapping/dim_slam/rust/flake.lock index 4413481f3c..17f5bbf1bf 100644 --- a/dimos/mapping/dim_slam/rust/flake.lock +++ b/dimos/mapping/dim_slam/rust/flake.lock @@ -108,11 +108,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/dimos/mapping/ray_tracing/rust/flake.lock b/dimos/mapping/ray_tracing/rust/flake.lock index a97b8bc97f..a005f45e8d 100644 --- a/dimos/mapping/ray_tracing/rust/flake.lock +++ b/dimos/mapping/ray_tracing/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock index a97b8bc97f..a005f45e8d 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock index 5e5b658d4c..f8b47e5f6a 100644 --- a/examples/native-modules/cpp/flake.lock +++ b/examples/native-modules/cpp/flake.lock @@ -28,11 +28,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { diff --git a/examples/native-modules/rust/flake.lock b/examples/native-modules/rust/flake.lock index a97b8bc97f..a005f45e8d 100644 --- a/examples/native-modules/rust/flake.lock +++ b/examples/native-modules/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789538014, - "narHash": "sha256-feUhUi7SCVQjDcjljb1+DjpshGT16IkekRPUFfdtyEg=", + "lastModified": 1789542486, + "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "a428b1220c9218a09e61b9db5fcd412812d3a065", + "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", "type": "github" }, "original": { From bbf37a1536b70ff86c6bab7c8dff998c18ee6fd4 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 07:04:34 -0700 Subject: [PATCH 59/97] build(nix): one nixpkgs for every module flake The C++ modules each resolved nixos-unstable on their own clock and had drifted to a February revision while the shared SDK had moved to September: six revisions across the repository, and two stdenvs that share nothing in the store or in cachix no matter how identical the source. Each module now follows the shared flake's nixpkgs instead of declaring its own. livox/cpp and habitat/nix took no shared input at all, so each gains one purely as the source of that revision. zenoh was pulling in a seventh and now follows too. The repository-root flake stays where it is: it builds no module, and moving it changes the environment everyone works in rather than a cache. test_every_module_flake_builds_against_one_nixpkgs walks each lock from root along the edges that carry a build, so crate2nix's own cachix nixpkgs -- which nothing here is built from -- is not counted as a divergence. --- dimos/core/test_build_native_modules.py | 110 ++++++++++++++++++ .../sensors/lidar/fastlio2/cpp/flake.lock | 87 ++++---------- .../sensors/lidar/fastlio2/cpp/flake.nix | 13 ++- .../sensors/lidar/livox/cpp/flake.lock | 39 ++++++- .../sensors/lidar/livox/cpp/flake.nix | 17 ++- .../sensors/lidar/pointlio/cpp/flake.lock | 87 ++++---------- .../sensors/lidar/pointlio/cpp/flake.nix | 13 ++- dimos/simulation/habitat/nix/flake.lock | 67 ++++++++++- dimos/simulation/habitat/nix/flake.nix | 15 ++- examples/native-modules/cpp/flake.lock | 87 ++++---------- examples/native-modules/cpp/flake.nix | 13 ++- 11 files changed, 328 insertions(+), 220 deletions(-) diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index 3df88e3e21..5bd6d63983 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -439,6 +439,116 @@ def test_module_locks_pin_the_shared_flakes_as_they_are_now() -> None: ) +# A lock records `follows` as a path of input names read from the root, and a direct +# pin as a node name. Resolving both is what separates the nixpkgs a flake builds +# against from the ones that merely appear in the file. +_BUILD_EDGES = ("nixpkgs", "dimos-native-rust", "dimos-native-cpp") + + +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_every_module_flake_builds_against_one_nixpkgs() -> None: + """One nixpkgs revision across every module flake. + + A flake that resolves `nixos-unstable` itself picks whatever the channel held on + the day somebody last ran `nix flake lock` in that directory, so the flakes drift + apart silently -- the C++ modules sat on a February nixpkgs while the shared SDK + had moved to September. Two revisions means two stdenvs, and a derivation built + under one is not the derivation built under the other: nothing between them is + shared, in the store or in cachix, no matter how identical the source. + + The fix each flake carries is to follow the shared flake rather than declare its + own, and this is the test that says so. + + The flake at the repository root is deliberately out of scope. It builds no + module -- it is the development shell and the container image -- and it shares + nothing with a module build but the base stdenv, so moving it is a change to the + environment everyone works in rather than a cache fix. Worth doing on its own + terms, not as a side effect of this one. + """ + per_flake = { + lock.parent.relative_to(DIMOS_PROJECT_ROOT).as_posix(): _build_nixpkgs_revs(lock) + for lock in DIMOS_PROJECT_ROOT.rglob("flake.lock") + if ".git" not in lock.parts and lock.parent != DIMOS_PROJECT_ROOT + } + revs = set().union(*per_flake.values()) if per_flake else set() + assert len(revs) <= 1, ( + "these flakes do not agree on a nixpkgs revision, so they share no build " + f"cache: { {flake: sorted(r[:10] for r in got) for flake, got in per_flake.items()} } " + '-- give the odd ones out `nixpkgs.follows = "dimos-native-cpp/nixpkgs"` ' + "(or `dimos-native-rust/nixpkgs`) instead of a `nixpkgs.url` of their own" + ) + + +def test_tooling_nixpkgs_is_not_counted_as_a_divergence(tmp_path: Path) -> None: + """The negative control for the walk above, in both directions. + + A nixpkgs reached only through a tooling input is invisible to it, and a nixpkgs + reached through a build edge is not -- otherwise the test above would pass by + seeing nothing at all. + """ + lock = tmp_path / "flake.lock" + tooling = { + "nodes": { + "root": {"inputs": {"nixpkgs": "pkgs", "crate2nix": "crate2nix"}}, + "pkgs": {"locked": {"owner": "NixOS", "repo": "nixpkgs", "rev": "a" * 40}}, + "crate2nix": {"inputs": {"cachix": "cachix"}}, + "cachix": {"inputs": {"nixpkgs": "old"}}, + "old": {"locked": {"owner": "NixOS", "repo": "nixpkgs", "rev": "b" * 40}}, + } + } + lock.write_text(json.dumps(tooling)) + assert _build_nixpkgs_revs(lock) == {"a" * 40} + + tooling["nodes"]["root"]["inputs"]["dimos-native-cpp"] = "shared" + tooling["nodes"]["shared"] = {"inputs": {"nixpkgs": "old"}} + lock.write_text(json.dumps(tooling)) + assert _build_nixpkgs_revs(lock) == {"a" * 40, "b" * 40} + + @pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs git HEAD for object hashes") def test_manifest_is_deterministic() -> None: modules = _SCRIPT.discover() diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index 3b0de8d1b7..3ea8b8d6d2 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -19,20 +19,16 @@ }, "dimos-native-cpp": { "inputs": { - "flake-utils": [ - "flake-utils" - ], - "nixpkgs": [ - "nixpkgs" - ] + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs" }, "locked": { "dir": "native/cpp", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789542527, + "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", "type": "github" }, "original": { @@ -78,24 +74,6 @@ "type": "github" } }, - "flake-utils_2": { - "inputs": { - "systems": "systems_2" - }, - "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" - } - }, "lcm-extended": { "inputs": { "flake-utils": [ @@ -121,11 +99,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1770841267, - "narHash": "sha256-9xejG0KoqsoKEGp2kVbXRlEYtFFcDTHjidiuX8hGO44=", + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ec7c70d12ce2fc37cb92aff673dcdca89d187bae", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", "type": "github" }, "original": { @@ -135,22 +113,6 @@ "type": "github" } }, - "nixpkgs_2": { - "locked": { - "lastModified": 1789012029, - "narHash": "sha256-1CBkBf+Nhggykzlx0jvXrj5rk20btl+tK8Fa8Ml/BL4=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", - "type": "github" - }, - "original": { - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", - "type": "github" - } - }, "pfr": { "flake": false, "locked": { @@ -173,9 +135,15 @@ "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", - "nixpkgs": "nixpkgs", + "nixpkgs": [ + "dimos-native-cpp", + "nixpkgs" + ], "pfr": "pfr", "zenoh": "zenoh" } @@ -195,25 +163,14 @@ "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/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index d12316f68e..c4ee9de1dc 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -3,8 +3,15 @@ inputs = { 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"; + # One nixpkgs for the whole C++ side. native/cpp is the single place the + # revision is chosen and every module follows it, rather than each module + # resolving `nixos-unstable` on its own clock. Independent resolution is + # exactly what left these modules on a February nixpkgs while the shared SDK + # had moved to September: two stdenvs, and no binary cache shared between them. + nixpkgs.follows = "dimos-native-cpp/nixpkgs"; + flake-utils.follows = "dimos-native-cpp/flake-utils"; # The shared C++ SDK, as a remote ref rather than the bare path literal that # used to climb six directories to reach native/cpp. Under the `path:.` build # ref this module now uses, such a literal escapes the module's store path, and @@ -16,8 +23,6 @@ # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; - dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; - dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; dimos-lcm = { url = "github:dimensionalOS/dimos-lcm/main"; flake = false; diff --git a/dimos/hardware/sensors/lidar/livox/cpp/flake.lock b/dimos/hardware/sensors/lidar/livox/cpp/flake.lock index 3009a12016..9d41ad768a 100644 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/livox/cpp/flake.lock @@ -1,5 +1,27 @@ { "nodes": { + "dimos-native-cpp": { + "inputs": { + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs" + }, + "locked": { + "dir": "native/cpp", + "lastModified": 1789542527, + "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", + "type": "github" + }, + "original": { + "dir": "native/cpp", + "owner": "dimensionalOS", + "ref": "jeff/fix/native_build_cargo_path", + "repo": "dimos", + "type": "github" + } + }, "flake-utils": { "inputs": { "systems": "systems" @@ -20,11 +42,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1770841267, - "narHash": "sha256-9xejG0KoqsoKEGp2kVbXRlEYtFFcDTHjidiuX8hGO44=", + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ec7c70d12ce2fc37cb92aff673dcdca89d187bae", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", "type": "github" }, "original": { @@ -36,8 +58,15 @@ }, "root": { "inputs": { - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs" + "dimos-native-cpp": "dimos-native-cpp", + "flake-utils": [ + "dimos-native-cpp", + "flake-utils" + ], + "nixpkgs": [ + "dimos-native-cpp", + "nixpkgs" + ] } }, "systems": { diff --git a/dimos/hardware/sensors/lidar/livox/cpp/flake.nix b/dimos/hardware/sensors/lidar/livox/cpp/flake.nix index 8aa216f151..5fdaa916f0 100644 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/cpp/flake.nix @@ -2,8 +2,21 @@ 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"; + # This flake builds no dimos module, so it wants nothing from the shared C++ + # SDK except the one thing every C++ flake here has to agree on: the nixpkgs + # revision. native/cpp is where that revision is chosen. Resolving + # `nixos-unstable` here instead would put this livox-sdk2 on a different stdenv + # than the copies inlined into pointlio and fastlio2, and the three would then + # share no cache at all. + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. + dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; + nixpkgs.follows = "dimos-native-cpp/nixpkgs"; + flake-utils.follows = "dimos-native-cpp/flake-utils"; }; outputs = { self, nixpkgs, flake-utils, ... }: diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index 86db87ccad..b5a21b9c20 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -19,20 +19,16 @@ }, "dimos-native-cpp": { "inputs": { - "flake-utils": [ - "flake-utils" - ], - "nixpkgs": [ - "nixpkgs" - ] + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs" }, "locked": { "dir": "native/cpp", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789542527, + "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", "type": "github" }, "original": { @@ -78,24 +74,6 @@ "type": "github" } }, - "flake-utils_2": { - "inputs": { - "systems": "systems_2" - }, - "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" - } - }, "lcm-extended": { "inputs": { "flake-utils": [ @@ -121,11 +99,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1770841267, - "narHash": "sha256-9xejG0KoqsoKEGp2kVbXRlEYtFFcDTHjidiuX8hGO44=", + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ec7c70d12ce2fc37cb92aff673dcdca89d187bae", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", "type": "github" }, "original": { @@ -135,22 +113,6 @@ "type": "github" } }, - "nixpkgs_2": { - "locked": { - "lastModified": 1789012029, - "narHash": "sha256-1CBkBf+Nhggykzlx0jvXrj5rk20btl+tK8Fa8Ml/BL4=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", - "type": "github" - }, - "original": { - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", - "type": "github" - } - }, "pfr": { "flake": false, "locked": { @@ -173,9 +135,15 @@ "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", - "nixpkgs": "nixpkgs", + "nixpkgs": [ + "dimos-native-cpp", + "nixpkgs" + ], "pfr": "pfr", "zenoh": "zenoh" } @@ -195,25 +163,14 @@ "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/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index b235a611ac..9464c88416 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -3,8 +3,15 @@ inputs = { 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"; + # One nixpkgs for the whole C++ side. native/cpp is the single place the + # revision is chosen and every module follows it, rather than each module + # resolving `nixos-unstable` on its own clock. Independent resolution is + # exactly what left these modules on a February nixpkgs while the shared SDK + # had moved to September: two stdenvs, and no binary cache shared between them. + nixpkgs.follows = "dimos-native-cpp/nixpkgs"; + flake-utils.follows = "dimos-native-cpp/flake-utils"; # The shared C++ SDK, as a remote ref rather than the bare path literal that # used to climb six directories to reach native/cpp. Under the `path:.` build # ref this module now uses, such a literal escapes the module's store path, and @@ -16,8 +23,6 @@ # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; - dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; - dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; dimos-lcm = { url = "github:dimensionalOS/dimos-lcm/main"; flake = false; diff --git a/dimos/simulation/habitat/nix/flake.lock b/dimos/simulation/habitat/nix/flake.lock index 9889bc303b..c7958dd1bb 100644 --- a/dimos/simulation/habitat/nix/flake.lock +++ b/dimos/simulation/habitat/nix/flake.lock @@ -1,12 +1,52 @@ { "nodes": { + "dimos-native-cpp": { + "inputs": { + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs" + }, + "locked": { + "dir": "native/cpp", + "lastModified": 1789542527, + "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", + "owner": "dimensionalOS", + "repo": "dimos", + "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", + "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" + } + }, "nixpkgs": { "locked": { - "lastModified": 1788752844, - "narHash": "sha256-VaWGJ6+cIYN2erfSecbRV+4ljI185Ty2wUrXyvQbgOw=", + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "dc5d91f840324650bac8c379428c7037a416959a", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", "type": "github" }, "original": { @@ -18,7 +58,26 @@ }, "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..193f0ccd3e 100644 --- a/dimos/simulation/habitat/nix/flake.nix +++ b/dimos/simulation/habitat/nix/flake.nix @@ -1,9 +1,20 @@ { description = "micromamba for the dimos Habitat native module"; - inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + # Nothing here is built from the shared C++ SDK; the input is taken for the one + # thing every flake in this repository has to agree on, the nixpkgs revision. + # native/cpp is where it is chosen, so there is exactly one answer and no list of + # exceptions to keep correct. + # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, + # because the default branch does not have those files yet. Point it at + # `ref=main` once those land -- they are their own pull request, ahead of this + # one, so the window is short. Nobody has to remember: the test + # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red + # as soon as the shared flakes appear on the default branch. + 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/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock index f8b47e5f6a..e699839315 100644 --- a/examples/native-modules/cpp/flake.lock +++ b/examples/native-modules/cpp/flake.lock @@ -19,20 +19,16 @@ }, "dimos-native-cpp": { "inputs": { - "flake-utils": [ - "flake-utils" - ], - "nixpkgs": [ - "nixpkgs" - ] + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs" }, "locked": { "dir": "native/cpp", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789542527, + "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", "type": "github" }, "original": { @@ -61,24 +57,6 @@ "type": "github" } }, - "flake-utils_2": { - "inputs": { - "systems": "systems_2" - }, - "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" - } - }, "lcm-extended": { "inputs": { "flake-utils": [ @@ -104,11 +82,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1783224372, - "narHash": "sha256-8i/87eeoqiGE4yOTjwSA3Eh/ziJRQEmd/unYU+K27sk=", + "lastModified": 1789286504, + "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "d407951447dcd00442e97087bf374aad70c04cea", + "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", "type": "github" }, "original": { @@ -118,22 +96,6 @@ "type": "github" } }, - "nixpkgs_2": { - "locked": { - "lastModified": 1789012029, - "narHash": "sha256-1CBkBf+Nhggykzlx0jvXrj5rk20btl+tK8Fa8Ml/BL4=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", - "type": "github" - }, - "original": { - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "d5dfd8e6716dde34398bc14bc87c10dece9c8c68", - "type": "github" - } - }, "pfr": { "flake": false, "locked": { @@ -155,9 +117,15 @@ "inputs": { "dimos-lcm": "dimos-lcm", "dimos-native-cpp": "dimos-native-cpp", - "flake-utils": "flake-utils", + "flake-utils": [ + "dimos-native-cpp", + "flake-utils" + ], "lcm-extended": "lcm-extended", - "nixpkgs": "nixpkgs", + "nixpkgs": [ + "dimos-native-cpp", + "nixpkgs" + ], "pfr": "pfr", "zenoh": "zenoh" } @@ -177,25 +145,14 @@ "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 084900c96a..b008f49073 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -3,8 +3,15 @@ inputs = { 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"; + # One nixpkgs for the whole C++ side. native/cpp is the single place the + # revision is chosen and every module follows it, rather than each module + # resolving `nixos-unstable` on its own clock. Independent resolution is + # exactly what left these modules on a February nixpkgs while the shared SDK + # had moved to September: two stdenvs, and no binary cache shared between them. + 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"; @@ -30,8 +37,6 @@ # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; - dimos-native-cpp.inputs.nixpkgs.follows = "nixpkgs"; - dimos-native-cpp.inputs.flake-utils.follows = "flake-utils"; }; outputs = { self, nixpkgs, zenoh, flake-utils, lcm-extended, dimos-lcm, pfr, dimos-native-cpp, ... }: From 4155ef494e9e5eff590e090af3fcf46e13293a4f Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 10:33:59 -0700 Subject: [PATCH 60/97] ci: give the cargo cache a key that exists, and say where lint's minutes go Swatinem/rust-cache ran `cargo metadata` at the repo root. Splitting the root workspace removed the root Cargo.toml, so it failed with exit 101 and fell back to a key that considered no Cargo.lock at all -- "No cache found" on every run, in both the lint and rust jobs, so clippy recompiled all ten module dependency graphs from scratch each time. Cache the shared root target dir and the registry by hand, keyed on the module locks. CARGO_INCREMENTAL=0 with the incremental dir excluded keeps the entry near 3 GB rather than 3.7: a fresh runner never reuses an incremental build. The lint job's two rust hooks were the same thirty lines of walker twice over; they are now one script that also prints each module's devShell and cargo time. A passing pre-commit hook prints nothing, which is why a 25-minute job went unexplained -- CI runs pre-commit with --verbose so those timings survive. Timeout back to 30 minutes from 60. --- .github/workflows/ci.yml | 81 ++++++++++++++++++++++++++++++----- .pre-commit-config.yaml | 59 ++----------------------- bin/hooks/rust-module-foreach | 58 +++++++++++++++++++++++++ 3 files changed, 132 insertions(+), 66 deletions(-) create mode 100755 bin/hooks/rust-module-foreach diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index bfa0df1a82..70407a29ad 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -248,8 +248,12 @@ jobs: # and with no shared cargo workspace left they compile each module's dependency # graph in turn. The cache below makes repeat runs cheap; a cold run is the # expensive one. - timeout-minutes: 60 + timeout-minutes: 30 runs-on: ubuntu-latest + env: + # A fresh runner never reuses an incremental build, and it is 600+ MB of + # cache entry that would be restored only to be thrown away. + CARGO_INCREMENTAL: "0" permissions: contents: read # For checkout @@ -292,19 +296,52 @@ jobs: # The clippy hook compiles every module's dependency graph. They all share the # repo-root target dir (.cargo/config.toml), so one cache entry covers the lot. - - name: Cache cargo build - uses: Swatinem/rust-cache@v2 + # + # Not Swatinem/rust-cache: it runs `cargo metadata` at the repo root, and since + # the root workspace was split there is no root Cargo.toml for it to find. It + # failed with exit 101 and fell back to a key that considered no Cargo.lock at + # all, so every run recompiled every module from scratch. Keying on the module + # locks by hand is the whole of what it was doing for us. + - 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: ${{ github.ref == 'refs/heads/main' }} + path: | + ~/.cargo/registry/index + ~/.cargo/registry/cache + ~/.cargo/git/db + target + !target/debug/incremental + key: cargo-lint-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} + restore-keys: | + cargo-lint-${{ runner.os }}-${{ runner.arch }}- - name: Run pre-commit uses: pre-commit/action@v3.0.1 + with: + # Always show hook output. Both rust hooks report how long each module's + # devShell and cargo run took, and a passing hook hides that otherwise -- + # which is how a 25-minute lint job went unexplained. + extra_args: --all-files --verbose + + # 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. + - 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-lint-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} rust: timeout-minutes: 30 runs-on: ubuntu-latest + env: + CARGO_INCREMENTAL: "0" permissions: contents: read # For checkout @@ -315,12 +352,20 @@ jobs: uses: dtolnay/rust-toolchain@stable with: components: rustfmt, clippy - - name: Cache cargo build - uses: Swatinem/rust-cache@v2 + # Same reason as the lint job: Swatinem/rust-cache needs a root Cargo.toml, + # which the workspace split removed, so it cached nothing. + - 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: ${{ github.ref == 'refs/heads/main' }} + path: | + ~/.cargo/registry/index + ~/.cargo/registry/cache + ~/.cargo/git/db + target + !target/debug/incremental + key: cargo-test-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} + restore-keys: | + cargo-test-${{ runner.os }}-${{ runner.arch }}- # There is no repo-wide cargo workspace any more: every module is its own # workspace with its own lock. fmt and clippy moved to the pre-commit hooks in # the lint job, which enter each module's devShell; what is left here is the @@ -382,6 +427,20 @@ jobs: - name: Bake e2e tests run: uv run pytest -m bake_e2e dimos/cli/bake/test_bake_e2e.py --no-cov + # 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. + - 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 }}-${{ hashFiles('**/Cargo.lock') }} + flake-locks-current: # The gap this repo had: every nix invocation in CI passed `--no-write-lock-file`, # so a stale or incomplete flake.lock was silently tolerated and the build used diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 0a83beb97c..a27a70e9b1 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -149,69 +149,18 @@ repos: # Every rust crate now lives in its own cargo workspace with its own flake, so # both hooks walk the workspace roots and enter each one's own devShell. There # is no repo-root fallback: a repo-root flake ref would copy the entire tree, - # git-lfs blobs and all, into the store on every commit. + # git-lfs blobs and all, into the store on every commit. The walk itself lives + # in bin/hooks/rust-module-foreach, which also reports per-module timings. - id: cargo-fmt name: cargo fmt - entry: | - bash -c ' - set -euo pipefail - top=$(git rev-parse --show-toplevel) - system=$(nix eval --raw --impure --expr builtins.currentSystem) - git ls-files "*Cargo.toml" | while read -r m; do - cargo locate-project --manifest-path "$m" --workspace --message-format plain - done | sort -u | while read -r root; do - dir=$(dirname "$root") - while [ "$dir" != "$top" ] && [ ! -f "$dir/flake.nix" ]; do dir=$(dirname "$dir"); done - if [ "$dir" = "$top" ]; then - echo "no module flake above $root -- refusing to fall back to the repo-root" >&2 - echo "flake, which would copy the whole tree (git-lfs blobs included)." >&2 - exit 1 - fi - # A module may declare it does not support this platform: realsense links - # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off - # Linux. Such a module has no devShell here and cannot be linted here - # either, so skip it rather than block the commit. CI lints on Linux, - # where the devShell does exist. - if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then - echo "skipping $root: $dir declares no devShell for $system" >&2 - continue - fi - nix develop "path:$dir" -c cargo fmt --manifest-path "$root" --all - done - ' + entry: bin/hooks/rust-module-foreach fmt --all language: system types: [rust] pass_filenames: false - id: cargo-clippy name: cargo clippy - entry: | - bash -c ' - set -euo pipefail - top=$(git rev-parse --show-toplevel) - system=$(nix eval --raw --impure --expr builtins.currentSystem) - git ls-files "*Cargo.toml" | while read -r m; do - cargo locate-project --manifest-path "$m" --workspace --message-format plain - done | sort -u | while read -r root; do - dir=$(dirname "$root") - while [ "$dir" != "$top" ] && [ ! -f "$dir/flake.nix" ]; do dir=$(dirname "$dir"); done - if [ "$dir" = "$top" ]; then - echo "no module flake above $root -- refusing to fall back to the repo-root" >&2 - echo "flake, which would copy the whole tree (git-lfs blobs included)." >&2 - exit 1 - fi - # A module may declare it does not support this platform: realsense links - # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off - # Linux. Such a module has no devShell here and cannot be linted here - # either, so skip it rather than block the commit. CI lints on Linux, - # where the devShell does exist. - if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then - echo "skipping $root: $dir declares no devShell for $system" >&2 - continue - fi - nix develop "path:$dir" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings - done - ' + entry: bin/hooks/rust-module-foreach clippy --workspace --all-targets -- -D warnings language: system types: [rust] pass_filenames: false diff --git a/bin/hooks/rust-module-foreach b/bin/hooks/rust-module-foreach new file mode 100755 index 0000000000..b169e7c176 --- /dev/null +++ b/bin/hooks/rust-module-foreach @@ -0,0 +1,58 @@ +#!/usr/bin/env bash +# Run a cargo command in every rust module's own devShell. +# +# Since the repo workspace was split there is no single `cargo --workspace` +# that reaches every crate: each module is its own workspace with its own lock, +# and its system libraries (librealsense, sqlite, the cuVSLAM SDK) exist only +# inside its own flake's devShell. So walk the workspace roots and enter each +# shell in turn. +# +# Usage: rust-module-foreach [args...] +# e.g. rust-module-foreach fmt --all +# rust-module-foreach clippy --workspace --all-targets -- -D warnings +# `--manifest-path` is inserted right after the subcommand, so a trailing +# `-- -D warnings` stays trailing. +# +# Every module reports its own devShell and cargo timings, because a passing +# pre-commit hook prints nothing and that is how a 25-minute CI lint job went +# unexplained. +set -euo pipefail + +top=$(git rev-parse --show-toplevel) +system=$(nix eval --raw --impure --expr builtins.currentSystem) +subcommand=$1 +shift + +# Not `... | while read`, which would run the loop in a subshell and turn the +# hard failure below into a silent pass. +roots=$(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 $root -- refusing to fall back to the repo-root" >&2 + echo "flake, which would copy the whole tree (git-lfs blobs included)." >&2 + exit 1 + fi + + # A module may declare it does not support this platform: realsense links + # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off + # Linux. Such a module has no devShell here and cannot be linted here either, + # so skip it rather than block the commit. CI lints on Linux, where the + # devShell does exist. + if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then + echo "skipping ${root#"$top"/}: $dir declares no devShell for $system" >&2 + continue + fi + + started=$(date +%s) + nix develop "path:$dir" -c true + entered=$(date +%s) + nix develop "path:$dir" -c cargo "$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" From 170d0bac5f7060478379b637621a606e5e918df0 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 11:08:03 -0700 Subject: [PATCH 61/97] build(nix): clippy as a derivation, sharing the crates the module build already made The cargo-clippy pre-commit hook runs plain cargo inside `nix develop`, which has no view of the nix store, so it recompiled every module's ~340 dependency crates from scratch on every CI run -- crates nix had already built and pushed to Cachix. That was 11 of the lint job's 25 minutes. `native/rust/flake.nix` gains `clippyNativeModule`: the same crate2nix graph with clippy-driver swapped in for our crates only. The clippy derivation and the package derivation share 1602 of 1605 dependency derivations; the three that differ are the module's own crate and the two shared dimos crates. Each module exposes it as `checks.clippy` and as `packages.clippy`, so `nix build .#clippy` works from the module directory. Three ways this silently lints nothing, all found by planting a clippy::ptr_arg and watching the build pass: - `useClippy` has to be a crate argument, not a crateOverrides entry. buildRustCrate reads it off the pre-override attrs while reading capLints and extraRustcOpts after, so setting all three through the overrides builds with plain rustc. - `capLints` is a ceiling. The default "allow" suppresses every lint, and "warn" -- which the nixpkgs docs suggest -- caps them at warn so `-D warnings` can never become an error. Only "forbid" leaves levels alone. - without `runTests` the test targets are never compiled, so a lint that only fires in a #[test] reaches main. But crate2nix's runTests also *executes* what it compiles, and livox's tests bind a non-loopback address the sandbox refuses -- its lint check died on AddrNotAvailable, nothing to do with lints. `testCrateFlags = [ "--list" ]` compiles and lints the test targets and runs none of them, which is what `cargo clippy --all-targets` did all along. Running tests stays the rust job's. CI builds these in the native job, which already has nix and the Cachix substituter and has just built the dependency crates; the lint job skips the cargo-clippy hook. The hook stays in the config so a local commit still lints. Verified on aarch64-darwin: all seven modules that build here pass, and a planted lint fails the build. --- .github/workflows/ci.yml | 20 ++- bin/build-native-modules | 76 +++++++++- dimos/experimental/memory/rust/flake.nix | 16 ++- .../sensors/camera/realsense/rust/flake.nix | 18 ++- .../sensors/lidar/livox/rust/flake.nix | 18 ++- .../sensors/lidar/pointlio/rust/flake.nix | 18 ++- .../sensors/lidar/virtual_mid360/flake.nix | 18 ++- dimos/mapping/dim_slam/rust/flake.nix | 24 +++- dimos/mapping/ray_tracing/rust/flake.nix | 18 ++- .../nav_3d/mls_planner/rust/flake.nix | 18 ++- examples/native-modules/rust/flake.nix | 18 ++- native/rust/flake.nix | 130 ++++++++++++++---- 12 files changed, 342 insertions(+), 50 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 70407a29ad..1d390fe3a1 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -157,6 +157,15 @@ jobs: env: BUILD_WORKERS: "1" run: python3 bin/build-native-modules + # Clippy as a derivation, sharing the dependency crates the step above just + # built: only first-party crates compile, and cachix-action pushes the result + # so a rerun substitutes it. This is what lets the lint job skip its + # cargo-clippy hook, which had no view of the nix store and recompiled every + # module's ~340 dependency crates from scratch on every run. + - name: Clippy native modules + env: + BUILD_WORKERS: "1" + run: python3 bin/build-native-modules --clippy - name: Verify Cachix holds the built paths env: CACHIX_CACHE_NAME: dimensionalos @@ -316,9 +325,18 @@ jobs: cargo-lint-${{ runner.os }}-${{ runner.arch }}- - name: Run pre-commit + env: + # cargo-clippy runs here as `cargo clippy` inside each module's devShell, + # which cannot see the nix store and so recompiles every module's whole + # dependency graph -- 11 of this job's 25 minutes. The `Clippy native + # modules` step in the native job covers the same crates and the same + # targets as a derivation, reusing the dependency crates it has already + # built. The hook stays in the config so a local commit still lints + # before the push. + SKIP: cargo-clippy uses: pre-commit/action@v3.0.1 with: - # Always show hook output. Both rust hooks report how long each module's + # Always show hook output. The rust hook reports how long each module's # devShell and cargo run took, and a passing hook hides that otherwise -- # which is how a 25-minute lint job went unexplained. extra_args: --all-files --verbose diff --git a/bin/build-native-modules b/bin/build-native-modules index 05fb660bf8..b3ca2e0a98 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -25,6 +25,12 @@ 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. + --clippy Build every module's `checks..clippy` instead of its + package: 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. + Modules whose flake declares no such check (the C++ ones) are + skipped. --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. @@ -531,6 +537,60 @@ def _declared_systems(module: DiscoveredModule) -> frozenset[str] | None: return None +def _clippy_attr(module: DiscoveredModule) -> str | None: + """`#checks..clippy`, or None if the module declares no check. + + A C++ module's flake has no `checks` at all, and asking is narrower than + catching the failure: a module that declares checks but not this one 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}#checks.{current_system()}", + "--apply", + "builtins.attrNames", + ], + cwd=str(REPO_ROOT / module.build_dir), + capture_output=True, + text=True, + check=False, + ) + if proc.returncode != 0: + return None + try: + names = json.loads(proc.stdout) + except json.JSONDecodeError: + return None + return f"{ref}#checks.{current_system()}.clippy" if "clippy" in names else None + + +def clippy_one(module: DiscoveredModule) -> tuple[str, bool, str]: + name = module.qualname.rsplit(".", 1)[-1] + 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()}" + attr = _clippy_attr(module) + if attr is None: + return name, False, f"SKIP: {name} declares no clippy check" + _log(f"START: clippy {name} in {build_dir}: {attr}") + proc = subprocess.run( + ["nix", "build", "-L", attr, "--no-link"], + cwd=str(build_dir), + capture_output=True, + text=True, + check=False, + ) + body = (proc.stdout or "") + (proc.stderr or "") + if proc.returncode != 0: + raise RuntimeError(f"clippy {name} exited {proc.returncode}\n{body}") + return name, False, f"DONE: clippy {name}" + + 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 "") @@ -567,6 +627,11 @@ def main() -> None: action="store_true", help="check the built out paths are downloadable from the Cachix cache", ) + mode.add_argument( + "--clippy", + action="store_true", + help="build every module's checks..clippy instead of its package", + ) mode.add_argument( "--record-links", action="store_true", @@ -602,10 +667,17 @@ 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" + verb = "Linting" if args.clippy else "Checking" if args.dry_run else "Building" _log(f"{verb} {len(modules)} module(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(clippy_one, module) + if args.clippy + else executor.submit(build_one, module, args.dry_run) + ): module + for module in modules + } for future in as_completed(futures): try: name, needs_build, status = future.result() diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index d27507a900..1d869599d2 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -25,8 +25,7 @@ let shared = dimos-native-rust.lib.${system}; pkgsFor = nixpkgs.legacyPackages.${system}; - in { - packages.dimos-memory-recorder = shared.buildNativeModule { + module = { name = "dimos-memory-recorder"; path = "dimos/experimental/memory/rust"; src = ./.; @@ -50,6 +49,19 @@ }; }; }; + in { + packages.dimos-memory-recorder = shared.buildNativeModule module; + + # Lints this module's own crates with clippy-driver, on the very dependency + # derivations the package build already put on Cachix -- no dependency is + # compiled a second time. `runTests` defaults on, so this reaches test + # targets too, the way `cargo clippy --all-targets` did. + checks.clippy = shared.clippyNativeModule module; + + # `nix build .#clippy` from the module directory, which is what a person + # actually types; `checks` is what `nix flake check` walks. One derivation, + # two names for it. + packages.clippy = shared.clippyNativeModule module; devShells.default = pkgsFor.mkShell { packages = shared.rustTools diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 4bd92f5b8f..593361b396 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -21,8 +21,9 @@ outputs = { self, dimos-native-rust, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" ] (system: - let shared = dimos-native-rust.lib.${system}; in { - packages.dimos-realsense = shared.buildNativeModule { + let + shared = dimos-native-rust.lib.${system}; + module = { name = "dimos-realsense"; path = "dimos/hardware/sensors/camera/realsense/rust"; src = ./.; @@ -42,6 +43,19 @@ dimos-realsense = needsLibrealsense; }; }; + in { + packages.dimos-realsense = shared.buildNativeModule module; + + # Lints this module's own crates with clippy-driver, on the very dependency + # derivations the package build already put on Cachix -- no dependency is + # compiled a second time. `runTests` defaults on, so this reaches test + # targets too, the way `cargo clippy --all-targets` did. + checks.clippy = shared.clippyNativeModule module; + + # `nix build .#clippy` from the module directory, which is what a person + # actually types; `checks` is what `nix flake check` walks. One derivation, + # two names for it. + packages.clippy = shared.clippyNativeModule module; # Not the shared devShell: the clippy hook runs cargo in here, and this # module's build.rs probes librealsense2 through pkg-config. diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index 83d9b0cf40..23d9798c1e 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -21,12 +21,26 @@ outputs = { self, dimos-native-rust, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: - let shared = dimos-native-rust.lib.${system}; in { - packages.dimos-livox = shared.buildNativeModule { + let + shared = dimos-native-rust.lib.${system}; + module = { name = "dimos-livox"; path = "dimos/hardware/sensors/lidar/livox/rust"; src = ./.; }; + in { + packages.dimos-livox = shared.buildNativeModule module; + + # Lints this module's own crates with clippy-driver, on the very dependency + # derivations the package build already put on Cachix -- no dependency is + # compiled a second time. `runTests` defaults on, so this reaches test + # targets too, the way `cargo clippy --all-targets` did. + checks.clippy = shared.clippyNativeModule module; + + # `nix build .#clippy` from the module directory, which is what a person + # actually types; `checks` is what `nix flake check` walks. One derivation, + # two names for it. + packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; }); diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index 6cd53f1084..53a1522055 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -21,12 +21,26 @@ outputs = { self, dimos-native-rust, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: - let shared = dimos-native-rust.lib.${system}; in { - packages.dimos-pointlio = shared.buildNativeModule { + let + shared = dimos-native-rust.lib.${system}; + module = { name = "dimos-pointlio"; path = "dimos/hardware/sensors/lidar/pointlio/rust"; src = ./.; }; + in { + packages.dimos-pointlio = shared.buildNativeModule module; + + # Lints this module's own crates with clippy-driver, on the very dependency + # derivations the package build already put on Cachix -- no dependency is + # compiled a second time. `runTests` defaults on, so this reaches test + # targets too, the way `cargo clippy --all-targets` did. + checks.clippy = shared.clippyNativeModule module; + + # `nix build .#clippy` from the module directory, which is what a person + # actually types; `checks` is what `nix flake check` walks. One derivation, + # two names for it. + packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; }); diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index 6a6d4f078d..c6d254979e 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -21,12 +21,26 @@ outputs = { self, dimos-native-rust, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: - let shared = dimos-native-rust.lib.${system}; in { - packages.dimos-virtual-mid360 = shared.buildNativeModule { + let + shared = dimos-native-rust.lib.${system}; + module = { name = "dimos-virtual-mid360"; path = "dimos/hardware/sensors/lidar/virtual_mid360"; src = ./.; }; + in { + packages.dimos-virtual-mid360 = shared.buildNativeModule module; + + # Lints this module's own crates with clippy-driver, on the very dependency + # derivations the package build already put on Cachix -- no dependency is + # compiled a second time. `runTests` defaults on, so this reaches test + # targets too, the way `cargo clippy --all-targets` did. + checks.clippy = shared.clippyNativeModule module; + + # `nix build .#clippy` from the module directory, which is what a person + # actually types; `checks` is what `nix flake check` walks. One derivation, + # two names for it. + packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; }); diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index acca4b44eb..589a515a27 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -36,9 +36,9 @@ cu-vslam-rs.packages.${system}; variants = map (nixpkgs.lib.removePrefix "sdk-") (builtins.attrNames sdkPackages); - packageFor = variant: + moduleFor = variant: let sdkPackage = sdkPackages."sdk-${variant}"; in - shared.buildNativeModule { + { name = "dim-slam-module"; path = "dimos/mapping/dim_slam/rust"; src = ./.; @@ -51,8 +51,26 @@ dim-slam-module = _: { DEP_CUVSLAM_LIB_DIR = "${sdkPackage}/lib"; }; }; }; + packageFor = variant: shared.buildNativeModule (moduleFor variant); + clippyFor = variant: shared.clippyNativeModule (moduleFor variant); + # Lint once, against the first SDK variant. The variants differ only in which + # cu_vslam SDK the build script links; the rust this lints is the same in all + # of them, and linting each would rebuild this module's crates per variant for + # no new findings. + lintedVariant = builtins.head (builtins.sort builtins.lessThan variants); in { - packages = nixpkgs.lib.genAttrs variants packageFor; + packages = nixpkgs.lib.genAttrs variants packageFor // { + # `nix build .#clippy` from the module directory, which is what a person + # actually types; `checks` is what `nix flake check` walks. One derivation, + # two names for it. + clippy = clippyFor lintedVariant; + }; + + # Lints this module's own crates with clippy-driver, on the very dependency + # derivations the package build already put on Cachix -- no dependency is + # compiled a second time. `runTests` defaults on, so this reaches test + # targets too, the way `cargo clippy --all-targets` did. + checks.clippy = clippyFor lintedVariant; # script needs to detect cuda/non-cuda to pick the right things to load. # The toolchain has to come from here: this used to be entered from inside diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index 431825e68b..76b20b3f10 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -21,12 +21,26 @@ outputs = { self, dimos-native-rust, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: - let shared = dimos-native-rust.lib.${system}; in { - packages.dimos-voxel-ray-tracing = shared.buildNativeModule { + let + shared = dimos-native-rust.lib.${system}; + module = { name = "dimos-voxel-ray-tracing"; path = "dimos/mapping/ray_tracing/rust"; src = ./.; }; + in { + packages.dimos-voxel-ray-tracing = shared.buildNativeModule module; + + # Lints this module's own crates with clippy-driver, on the very dependency + # derivations the package build already put on Cachix -- no dependency is + # compiled a second time. `runTests` defaults on, so this reaches test + # targets too, the way `cargo clippy --all-targets` did. + checks.clippy = shared.clippyNativeModule module; + + # `nix build .#clippy` from the module directory, which is what a person + # actually types; `checks` is what `nix flake check` walks. One derivation, + # two names for it. + packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; }); diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index bd94bac134..78ad51cb6b 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -21,12 +21,26 @@ outputs = { self, dimos-native-rust, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: - let shared = dimos-native-rust.lib.${system}; in { - packages.dimos-mls-planner = shared.buildNativeModule { + let + shared = dimos-native-rust.lib.${system}; + module = { name = "dimos-mls-planner"; path = "dimos/navigation/nav_3d/mls_planner/rust"; src = ./.; }; + in { + packages.dimos-mls-planner = shared.buildNativeModule module; + + # Lints this module's own crates with clippy-driver, on the very dependency + # derivations the package build already put on Cachix -- no dependency is + # compiled a second time. `runTests` defaults on, so this reaches test + # targets too, the way `cargo clippy --all-targets` did. + checks.clippy = shared.clippyNativeModule module; + + # `nix build .#clippy` from the module directory, which is what a person + # actually types; `checks` is what `nix flake check` walks. One derivation, + # two names for it. + packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; }); diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index 56b6051240..0a01dd69c3 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -21,12 +21,26 @@ outputs = { self, dimos-native-rust, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: - let shared = dimos-native-rust.lib.${system}; in { - packages.dimos-native-module-examples = shared.buildNativeModule { + let + shared = dimos-native-rust.lib.${system}; + module = { name = "dimos-native-module-examples"; path = "examples/native-modules/rust"; src = ./.; }; + in { + packages.dimos-native-module-examples = shared.buildNativeModule module; + + # Lints this module's own crates with clippy-driver, on the very dependency + # derivations the package build already put on Cachix -- no dependency is + # compiled a second time. `runTests` defaults on, so this reaches test + # targets too, the way `cargo clippy --all-targets` did. + checks.clippy = shared.clippyNativeModule module; + + # `nix build .#clippy` from the module directory, which is what a person + # actually types; `checks` is what `nix flake check` walks. One derivation, + # two names for it. + packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; }); diff --git a/native/rust/flake.nix b/native/rust/flake.nix index 20e42718bb..a6ad85ef18 100644 --- a/native/rust/flake.nix +++ b/native/rust/flake.nix @@ -21,6 +21,9 @@ "native/rust/dimos-module" = ./dimos-module; "native/rust/dimos-module-macros" = ./dimos-module-macros; }; + # The same two crates by cargo package name, which is how crate2nix keys its + # overrides. They are ours, so they get linted with the module's own crates. + sharedCrateNames = [ "dimos-module" "dimos-module-macros" ]; in flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let @@ -60,6 +63,86 @@ '') sharedCrates) + "chmod -R u+w $out\n" ); + + # crate2nix generates one derivation per crate. Called twice: once plainly, to + # learn which crate names are ours, and once with those crates overridden -- + # the override has to be in place before the graph is built, so the names + # cannot come from the graph it builds. + moduleCrates = + { name # the cargo package name, and the flake output name + , path # the module's path within the repository + , src # the module's own directory + , crateOverrides ? (_: { }) # pkgs -> attrset of crate2nix overrides + , cargoToml ? "${path}/Cargo.toml" + }: + let + generated = crate2nix.tools.${system}.generatedCargoNix { + inherit name; + src = moduleSource { inherit name path src; }; + inherit cargoToml; + }; + # `useClippy` has to be set in the crate's own arguments, not through + # crateOverrides: buildRustCrate reads it off the pre-override attrs + # (`crate_.useClippy or false`), while capLints and extraRustcOpts it + # reads after. Setting all three through the overrides therefore builds + # with plain rustc and passes -- which it silently did here once. + callWith = lintThese: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: + let + build = cratePkgs.buildRustCrate.override { + defaultCrateOverrides = + cratePkgs.defaultCrateOverrides // (crateOverrides cratePkgs); + }; + in + crate: build (crate // pkgs.lib.optionalAttrs + (builtins.elem crate.crateName lintThese) + { + useClippy = true; + # `--cap-lints` is a ceiling, not a floor. buildRustCrate's + # default of "allow" suppresses every lint including clippy's, + # and "warn" -- which the nixpkgs docs suggest -- caps them at + # warn, so `-D warnings` can never become an error and the + # derivation cannot fail. Only "forbid", the top of the scale, + # leaves the levels alone. Verified against a planted + # `clippy::ptr_arg`: under "warn" it printed the warning and + # exited 0; under "forbid" it fails the build. + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); + }; + plain = callWith [ ]; + + # crate2nix exposes `rootCrate` for a plain package and `workspaceMembers` + # for a workspace manifest. A module that carries a pyo3 `py/` member is the + # second kind even though it is one package to us, so accept both rather + # than making the caller know which shape its own Cargo.toml produces. + buildOf = called: + if called ? rootCrate + then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + firstParty = pkgs.lib.unique ( + (if plain ? rootCrate then [ name ] else builtins.attrNames plain.workspaceMembers) + ++ sharedCrateNames + ); + in { + package = buildOf plain; + # `runTests` is how crate2nix compiles the test targets -- without it the + # test code is never fed to clippy-driver and a lint that only fires in a + # #[test] reaches main. But crate2nix also *executes* what it compiles, + # and that is not what a lint check is for: livox's tests bind a + # non-loopback address, which the nix sandbox refuses, so the check failed + # on `AddrNotAvailable` rather than on any finding. `--list` makes libtest + # enumerate its tests and exit, so the targets are compiled and linted and + # nothing runs -- which is precisely what `cargo clippy --all-targets`, + # the command this replaces, already did. Running the tests stays the + # rust job's business. + clippy = (buildOf (callWith firstParty)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + }; in { # `buildNativeModule` is the whole convention: a module flake names itself, # says where it sits in the repo, hands over its own directory, and gets a @@ -81,34 +164,25 @@ # its own; this one is the single revision every module follows. devShellWith = select: pkgs.mkShell { packages = rustTools ++ select pkgs; }; - buildNativeModule = - { name # the cargo package name, and the flake output name - , path # the module's path within the repository - , src # the module's own directory - , crateOverrides ? (_: { }) # pkgs -> attrset of crate2nix overrides - , cargoToml ? "${path}/Cargo.toml" - }: - let - generated = crate2nix.tools.${system}.generatedCargoNix { - inherit name; - src = moduleSource { inherit name path src; }; - inherit cargoToml; - }; - called = import generated { - inherit pkgs; - buildRustCrateForPkgs = cratePkgs: cratePkgs.buildRustCrate.override { - defaultCrateOverrides = - cratePkgs.defaultCrateOverrides // (crateOverrides cratePkgs); - }; - }; - in - # crate2nix exposes `rootCrate` for a plain package and `workspaceMembers` - # for a workspace manifest. A module that carries a pyo3 `py/` member is the - # second kind even though it is one package to us, so accept both rather - # than making the caller know which shape its own Cargo.toml produces. - if called ? rootCrate - then called.rootCrate.build - else called.workspaceMembers.${name}.build; + buildNativeModule = args: (moduleCrates args).package; + + # The same crate graph as `buildNativeModule`, compiled with clippy-driver + # instead of rustc -- but only for the crates we wrote. Third-party crates + # keep their ordinary derivation, so they are the very paths the module + # build already put on Cachix and none of them is compiled twice. + # + # This is what the pre-commit clippy hook cannot do: `cargo clippy` in a + # devShell has no view of the nix store and rebuilds all ~340 dependency + # crates per module, from scratch, on every CI run. + # + # `capLints = "warn"` is required: buildRustCrate's default of "allow" + # suppresses every lint, clippy's included, and `useClippy` alone would + # silently pass. Build scripts keep plain rustc -- clippy findings in a + # generated build.rs are not actionable. + # + # Reaches the same targets as `cargo clippy --all-targets`, test code + # included, and like that command it runs none of them. + clippyNativeModule = args: (moduleCrates args).clippy; }; # No `packages`: this flake ships source and a builder, not a binary. The From a67d423606628bbb76a6842ab5d12a46c4a65f53 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 11:32:11 -0700 Subject: [PATCH 62/97] build(nix): relock every module onto the rev that has clippyNativeModule The module flakes take native/rust as a pinned `github:` ref, so the attribute only exists for them once the rev carrying it is on the remote. CI proved the gap rather than theory: `attribute 'clippyNativeModule' missing` in seven modules on 170d0bac5f. `nix flake lock` is not enough here -- it never re-resolves an existing pin -- so this is `nix flake update dimos-native-rust` per module. Verified without `--override-input`: overriding the input is what hid the stale C++ locks last time, so the locks have to resolve on their own. --- dimos/experimental/memory/rust/flake.lock | 6 +++--- dimos/hardware/sensors/camera/realsense/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/livox/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/pointlio/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/virtual_mid360/flake.lock | 6 +++--- dimos/mapping/dim_slam/rust/flake.lock | 6 +++--- dimos/mapping/ray_tracing/rust/flake.lock | 6 +++--- dimos/navigation/nav_3d/mls_planner/rust/flake.lock | 6 +++--- examples/native-modules/rust/flake.lock | 6 +++--- 9 files changed, 27 insertions(+), 27 deletions(-) diff --git a/dimos/experimental/memory/rust/flake.lock b/dimos/experimental/memory/rust/flake.lock index 31e0ae3a49..d7ff4d6b78 100644 --- a/dimos/experimental/memory/rust/flake.lock +++ b/dimos/experimental/memory/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789582083, + "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "170d0bac5f7060478379b637621a606e5e918df0", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.lock b/dimos/hardware/sensors/camera/realsense/rust/flake.lock index a005f45e8d..052bbc4128 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.lock +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789582083, + "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "170d0bac5f7060478379b637621a606e5e918df0", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.lock b/dimos/hardware/sensors/lidar/livox/rust/flake.lock index a005f45e8d..052bbc4128 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.lock +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789582083, + "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "170d0bac5f7060478379b637621a606e5e918df0", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock index a005f45e8d..052bbc4128 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789582083, + "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "170d0bac5f7060478379b637621a606e5e918df0", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock index a005f45e8d..052bbc4128 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789582083, + "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "170d0bac5f7060478379b637621a606e5e918df0", "type": "github" }, "original": { diff --git a/dimos/mapping/dim_slam/rust/flake.lock b/dimos/mapping/dim_slam/rust/flake.lock index 17f5bbf1bf..1cf3fe3f85 100644 --- a/dimos/mapping/dim_slam/rust/flake.lock +++ b/dimos/mapping/dim_slam/rust/flake.lock @@ -108,11 +108,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789582083, + "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "170d0bac5f7060478379b637621a606e5e918df0", "type": "github" }, "original": { diff --git a/dimos/mapping/ray_tracing/rust/flake.lock b/dimos/mapping/ray_tracing/rust/flake.lock index a005f45e8d..052bbc4128 100644 --- a/dimos/mapping/ray_tracing/rust/flake.lock +++ b/dimos/mapping/ray_tracing/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789582083, + "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "170d0bac5f7060478379b637621a606e5e918df0", "type": "github" }, "original": { diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock index a005f45e8d..052bbc4128 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789582083, + "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "170d0bac5f7060478379b637621a606e5e918df0", "type": "github" }, "original": { diff --git a/examples/native-modules/rust/flake.lock b/examples/native-modules/rust/flake.lock index a005f45e8d..052bbc4128 100644 --- a/examples/native-modules/rust/flake.lock +++ b/examples/native-modules/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789542486, - "narHash": "sha256-eMDt6LFPpW6eHdzTc2OOaXKO7yqDYueTsldbTOcLZSQ=", + "lastModified": 1789582083, + "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "821e8e9ccb9e495e5d2a9447a8b7bca401c155c4", + "rev": "170d0bac5f7060478379b637621a606e5e918df0", "type": "github" }, "original": { From c4ccb0843797ad2c282ca26be1b3353f9b4713f7 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 13:13:44 -0700 Subject: [PATCH 63/97] build(ci): format in one devShell, not eleven The timings the last commit added found where the lint job's remaining minutes went: realising dim_slam's own devShell inside the `cargo fmt` hook cost 595 s of a 14.7-minute run. Every other module's was 1-8 s. It was fetching the cuVSLAM SDK so that rustfmt -- which only parses, never compiles, never runs build.rs and never links -- could not use it. So `rust-module-foreach` takes an optional `--shell ` and fmt passes `--shell native/rust`. Clippy does not: it compiles, so it still needs each module's own librealsense, sqlite and SDK. Nothing is version-compromised by sharing the shell -- one nixpkgs for the whole repo means every module already resolved the same rustfmt store path. A module whose flake skips this platform now gets formatted anyway, because the shared shell exists everywhere: realsense is formatted on macOS instead of skipped for want of a devShell it never needed. Measured locally: fmt over every module 1m54 -> 6.9 s. The default per-module path is unchanged -- 13.8 s, realsense still skipped there. --- .pre-commit-config.yaml | 15 ++++++--- bin/hooks/rust-module-foreach | 59 +++++++++++++++++++++++++---------- 2 files changed, 52 insertions(+), 22 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index a27a70e9b1..c13cf18a80 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -147,13 +147,18 @@ repos: stages: [pre-commit] # Every rust crate now lives in its own cargo workspace with its own flake, so - # both hooks walk the workspace roots and enter each one's own devShell. There - # is no repo-root fallback: a repo-root flake ref would copy the entire tree, - # git-lfs blobs and all, into the store on every commit. The walk itself lives - # in bin/hooks/rust-module-foreach, which also reports per-module timings. + # both hooks walk the workspace roots. There is no repo-root fallback: a + # repo-root flake ref would copy the entire tree, git-lfs blobs and all, into + # the store on every commit. The walk itself lives in + # bin/hooks/rust-module-foreach, which also reports per-module timings. + # + # fmt takes `--shell native/rust`, clippy does not. rustfmt only parses, so + # the per-module shells buy it nothing -- and dim_slam's, which carries the + # cuVSLAM SDK, cost 595 s of a CI run to realise for it. clippy compiles, so + # it still needs each module's own libraries. - id: cargo-fmt name: cargo fmt - entry: bin/hooks/rust-module-foreach fmt --all + entry: bin/hooks/rust-module-foreach --shell native/rust fmt --all language: system types: [rust] pass_filenames: false diff --git a/bin/hooks/rust-module-foreach b/bin/hooks/rust-module-foreach index b169e7c176..a245a95a09 100755 --- a/bin/hooks/rust-module-foreach +++ b/bin/hooks/rust-module-foreach @@ -1,18 +1,29 @@ #!/usr/bin/env bash -# Run a cargo command in every rust module's own devShell. +# Run a cargo command over every rust module's cargo workspace. # # Since the repo workspace was split there is no single `cargo --workspace` -# that reaches every crate: each module is its own workspace with its own lock, -# and its system libraries (librealsense, sqlite, the cuVSLAM SDK) exist only -# inside its own flake's devShell. So walk the workspace roots and enter each -# shell in turn. +# that reaches every crate: each module is its own workspace with its own lock. +# So walk the workspace roots and run the command against each. # -# Usage: rust-module-foreach [args...] -# e.g. rust-module-foreach fmt --all +# Usage: rust-module-foreach [--shell ] [args...] +# e.g. rust-module-foreach --shell native/rust fmt --all # rust-module-foreach clippy --workspace --all-targets -- -D warnings # `--manifest-path` is inserted right after the subcommand, so a trailing # `-- -D warnings` stays trailing. # +# Which devShell to enter: +# default each module's own -- the only place its system libraries +# (librealsense, sqlite, the cuVSLAM SDK) exist, so anything that +# COMPILES needs this. +# --shell DIR that one shell for every module. Right for a tool that only +# parses, like rustfmt: it never compiles, never runs build.rs and +# never links, so the system libraries are dead weight. Measured: +# realising dim_slam's own shell for `cargo fmt` cost 595 s of a +# 14.7-minute CI lint job, purely to fetch a cuVSLAM SDK rustfmt +# does not open. Every module resolves the same rustfmt anyway -- +# one nixpkgs for the whole repo makes that a single store path -- +# so the shared shell is not a version compromise. +# # Every module reports its own devShell and cargo timings, because a passing # pre-commit hook prints nothing and that is how a 25-minute CI lint job went # unexplained. @@ -20,6 +31,12 @@ 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=$1 shift @@ -38,20 +55,28 @@ while read -r root; do exit 1 fi - # A module may declare it does not support this platform: realsense links - # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off - # Linux. Such a module has no devShell here and cannot be linted here either, - # so skip it rather than block the commit. CI lints on Linux, where the - # devShell does exist. - if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then - echo "skipping ${root#"$top"/}: $dir declares no devShell for $system" >&2 - continue + if [ -n "$shared_shell" ]; then + # The shared shell exists on every platform, so a module whose own flake + # skips this system is still covered -- realsense gets formatted on macOS + # now, where it used to be skipped for want of a devShell it did not need. + shell_dir=$shared_shell + else + shell_dir=$dir + # A module may declare it does not support this platform: realsense links + # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off + # Linux. Such a module has no devShell here and cannot be linted here + # either, so skip it rather than block the commit. CI lints on Linux, + # where the devShell does exist. + 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:$dir" -c true + nix develop "path:$shell_dir" -c true entered=$(date +%s) - nix develop "path:$dir" -c cargo "$subcommand" --manifest-path "$root" "$@" + nix develop "path:$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 From 11c71a8e3b76c4902fa7ac34bc26f83ea98b0b31 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 14:08:13 -0700 Subject: [PATCH 64/97] ci(autofix): relock the modules after the push, not before it A change to native/{rust,cpp} lands with every module's lock still pinning the revision before it, and the modules keep building against the older shared flake. `test_module_locks_pin_the_shared_flakes_as_they_are_now` catches that, but only after a CI round trip, and the fix was manual. It cannot be a pre-commit hook. 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. Relocking at commit time would pin to whatever the remote already holds -- which by definition lacks the change being committed -- leaving a rewritten lock that is still stale. autofix.ci runs after the push, where the revision does exist, and already commits its fixes back. `bin/relock-shared-flakes` keys on the pinned *tree*, not the revision: a pin may name an older commit quite legitimately, so long as the shared tree there is the tree here. Keying on the revision instead rewrote all fourteen locks on every push that touched anything at all. It also re-checks after updating and fails if the lock is still stale, because `nix flake update` succeeds either way and a rewritten-but-wrong lock is worse than an untouched one. Verified: no-op on a tree that is already current; a planted edit to native/rust relocked exactly the nine rust modules and left the five C++ ones alone. --- .github/workflows/autofix.yml | 33 +++++++++- bin/relock-shared-flakes | 120 ++++++++++++++++++++++++++++++++++ 2 files changed, 152 insertions(+), 1 deletion(-) create mode 100755 bin/relock-shared-flakes diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index 37ed003d76..f2625dade1 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -6,7 +6,7 @@ permissions: {} jobs: lint: - timeout-minutes: 1 + timeout-minutes: 15 runs-on: ubuntu-latest permissions: contents: read # For checkout @@ -16,6 +16,11 @@ jobs: steps: - name: Checkout uses: actions/checkout@v7 + with: + # The shared-flake guard below diffs against the PR base, and relocking + # compares the pinned revision's tree with this one -- neither is answerable + # from a depth-1 checkout. + fetch-depth: 0 - name: Install uv uses: astral-sh/setup-uv@v10.0.1 with: @@ -30,5 +35,31 @@ jobs: run: uv run ruff format - name: uv lock run: uv lock + + # The shared flakes live in this repository, so a change to native/{rust,cpp} + # lands with every module's lock still pinning the revision before it. That + # cannot be fixed at commit time: a lock records a narHash of the FETCHED tree, + # so the revision has to be on the remote first. Here it is -- so relock and let + # autofix commit the result back, the way it already does for ruff and uv. + # + # Guarded on the shared trees actually changing, because installing nix costs + # more than the rest of this job put together and most PRs touch neither. + - name: Did the shared flakes change? + id: shared + run: | + set -euo pipefail + base=${{ github.event.pull_request.base.sha }} + if git diff --quiet "$base"...HEAD -- native/rust native/cpp; then + echo "changed=false" >> "$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 + - name: autofix.ci uses: autofix-ci/action@v1 diff --git a/bin/relock-shared-flakes b/bin/relock-shared-flakes new file mode 100755 index 0000000000..a0f2cb5f47 --- /dev/null +++ b/bin/relock-shared-flakes @@ -0,0 +1,120 @@ +#!/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 + +import json +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 tree_at(rev: str, subdir: str) -> str | None: + """The git tree hash of `subdir` at `rev`, or None if the revision is absent.""" + 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 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 main() -> int: + failed = 0 + touched = [] + for lock in sorted(REPO_ROOT.rglob("flake.lock")): + if ".git" in lock.parts: + continue + names = stale_inputs(lock) + if not names: + continue + before = lock.read_text() + for name in names: + proc = subprocess.run( + ["nix", "flake", "update", name], + cwd=lock.parent, + capture_output=True, + text=True, + check=False, + ) + where = lock.parent.relative_to(REPO_ROOT).as_posix() + if proc.returncode != 0: + print(f"FAIL {where}: {name}\n{proc.stderr}", file=sys.stderr) + failed += 1 + if lock.read_text() != before: + touched.append(lock.relative_to(REPO_ROOT).as_posix()) + # Updating moves the pin to whatever the remote branch holds. If this commit + # is not on the remote yet, that is still not this commit's tree, and the + # lock stays stale -- silently, because `nix flake update` itself succeeded. + # Say so rather than leave a rewritten-but-wrong lock behind. + if stale_inputs(lock): + print( + f"STILL STALE {lock.relative_to(REPO_ROOT).as_posix()}:" + " the revision holding this commit's shared tree is not on the remote." + " Push first -- a lock records a narHash of the fetched tree, so it" + " cannot name a commit nobody can fetch.", + file=sys.stderr, + ) + failed += 1 + + for path in touched: + print(f"relocked {path}") + 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()) From 6d962239f80493075a8ab2258462b59dce82bc1f Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 14:29:24 -0700 Subject: [PATCH 65/97] docs(cargo): say what breaks without the shared target dir The old wording led with the mechanism and quoted dim_slam's 2.3 GB, which read as though the problem were particular to dim_slam. It is not -- every module writes a `target/` beside its crate once the root workspace is gone, and every one of them then carries it into its derivation. Lead with what breaks, name the consequence that actually costs time (the Cachix miss, not the megabytes), and say that the root workspace used to provide this for free. --- .cargo/config.toml | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/.cargo/config.toml b/.cargo/config.toml index 61dacf0035..2a879ceeb9 100644 --- a/.cargo/config.toml +++ b/.cargo/config.toml @@ -1,12 +1,17 @@ [registry] global-min-publish-age = "7 days" -# Every native module is built with `nix build path:.#…`, and a `path:` flake ref -# copies the whole directory -- gitignored output included. A module-local `target/` -# would therefore be re-copied into the store on every rebuild (2.3 GB for dim_slam -# alone). One shared target dir at the repo root keeps those directories clean, and -# lets the modules, which no longer share a cargo workspace, still share build -# artifacts. Paths here resolve against this config file's directory, so this is the -# repo root's `target/` no matter which module cargo is invoked from. +# Without this, cargo writes `target/` beside each crate -- which, now that the root +# workspace is gone, means inside every module directory. `nix build path:.#…` copies +# a module's whole directory, gitignored output included, so that `target/` becomes +# part of the derivation: the hash changes after any local cargo build, the module +# stops matching what CI published, and it recompiles from scratch instead of being +# substituted from Cachix. This is true of every module -- dim_slam is only the +# largest, at 2.3 GB. +# +# The root workspace used to give us this for free, since cargo puts `target/` at the +# workspace root. Paths here resolve against this file's directory, so `target` is the +# repo root's whichever module cargo runs in -- which is also what lets modules that +# no longer share a workspace still share build artifacts. [build] target-dir = "target" From 02f7fbc8578f5ffd7b0646f98d310c853d7013a1 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 14:47:26 -0700 Subject: [PATCH 66/97] build(ci): lint through nix, so cargo never runs in a module directory MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The clippy hook was still `cargo clippy` inside a devShell locally -- CI skipped it in favour of the nix check, but a commit did not. That is inconsistent, and it is also what put a `target/` in the module directory: cargo writes beside the crate it builds, and `nix build path:.#…` then copies that directory wholesale into the store as the flake source. 144 KB becomes 20 MB with 20 MB of junk in it; dim_slam's target/ is 2.3 GB. So the hook is now `nix build path:#clippy`, the same derivation CI builds. No cargo runs in a module directory, so no target/ appears in one. To be accurate about what this does NOT fix: a stray target/ never changed the derivation hash. `cleanModuleSource` already filtered it, so there was no Cachix miss -- verified by planting one and comparing drvPaths, which were identical. The cost was always the copy, not a recompile. Measured: 5m36 on a cold store, 24s warm (1-2 s a module), and only on commits that touch rust. realsense is skipped off Linux, as before. --- .github/workflows/ci.yml | 13 ++++------ .pre-commit-config.yaml | 12 +++++++--- bin/hooks/native-module-clippy | 44 ++++++++++++++++++++++++++++++++++ 3 files changed, 58 insertions(+), 11 deletions(-) create mode 100755 bin/hooks/native-module-clippy diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 1d390fe3a1..d219e112fd 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -326,14 +326,11 @@ jobs: - name: Run pre-commit env: - # cargo-clippy runs here as `cargo clippy` inside each module's devShell, - # which cannot see the nix store and so recompiles every module's whole - # dependency graph -- 11 of this job's 25 minutes. The `Clippy native - # modules` step in the native job covers the same crates and the same - # targets as a derivation, reusing the dependency crates it has already - # built. The hook stays in the config so a local commit still lints - # before the push. - SKIP: cargo-clippy + # The clippy hook is a `nix build` now, and the cachix-build job already + # builds those same derivations with the substituter configured and pushes + # them. Running it here too would realise the whole crate graph a second + # time on a runner that has no substituter for it. + SKIP: native-module-clippy uses: pre-commit/action@v3.0.1 with: # Always show hook output. The rust hook reports how long each module's diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index c13cf18a80..f8504ad6fc 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -163,9 +163,15 @@ repos: types: [rust] pass_filenames: false - - id: cargo-clippy - name: cargo clippy - entry: bin/hooks/rust-module-foreach clippy --workspace --all-targets -- -D warnings + # Not `cargo clippy` in a devShell any more: that had no view of the nix store, + # so it recompiled every module's ~340 dependency crates from scratch, and it + # left a `target/` in the module directory for the next `path:` build to copy + # into the store. `nix build path:#clippy` lints the same crates and + # the same targets against the dependency derivations the package build already + # made, and no cargo ever runs in a module directory. + - id: native-module-clippy + name: clippy (nix) + entry: bin/hooks/native-module-clippy language: system types: [rust] pass_filenames: false diff --git a/bin/hooks/native-module-clippy b/bin/hooks/native-module-clippy new file mode 100755 index 0000000000..39a24ded95 --- /dev/null +++ b/bin/hooks/native-module-clippy @@ -0,0 +1,44 @@ +#!/usr/bin/env bash +# Clippy every rust native module, as a nix build. +# +# `nix build path:#clippy` compiles the module's own crates with +# clippy-driver against the very dependency derivations the module's package build +# already produced, so nothing third-party is recompiled and the result itself +# substitutes from Cachix on a rerun. +# +# This deliberately replaces `cargo clippy` in a devShell. That had no view of the +# nix store, so it recompiled every module's ~340 dependency crates from scratch -- +# and, because it ran cargo inside the module directory, it left a `target/` there +# for `path:` to copy into the store on the next build. Building the check through +# nix means no cargo ever runs in a module directory, so no `target/` appears in one. +# +# A module whose flake declares no clippy check (the C++ ones) is skipped, as is one +# that declares no packages for this system -- realsense links librealsense, which +# nixpkgs will not evaluate off Linux. +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.$system.clippy.drvPath" >/dev/null 2>&1; then + continue # no clippy check for this system, or none at all + fi + started=$(date +%s) + if nix build -L "path:$top/$dir#clippy" --no-link; then + printf ' clippy %s: %ss\n' "$dir" "$(( $(date +%s) - started ))" >&2 + else + printf ' clippy %s: FAILED\n' "$dir" >&2 + failed=$((failed + 1)) + fi +done <<< "$flakes" + +if [ "$failed" -ne 0 ]; then + echo "$failed module(s) failed clippy" >&2 + exit 1 +fi From 359f5736428c52da0ab76f12051abe7c4662063c Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 15:28:00 -0700 Subject: [PATCH 67/97] docs(cargo): one line for the shared target dir The block comment argued from the nix copy and a Cachix miss. The Cachix part was wrong -- cleanModuleSource filters target/, so a stray one never changed a derivation hash, verified by planting one and comparing drvPaths. What the setting actually does is keep the non-nix cargo builds' output in one shared place, so say that and nothing more. --- .cargo/config.toml | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/.cargo/config.toml b/.cargo/config.toml index 2a879ceeb9..f1bab0b5e1 100644 --- a/.cargo/config.toml +++ b/.cargo/config.toml @@ -1,17 +1,6 @@ [registry] global-min-publish-age = "7 days" -# Without this, cargo writes `target/` beside each crate -- which, now that the root -# workspace is gone, means inside every module directory. `nix build path:.#…` copies -# a module's whole directory, gitignored output included, so that `target/` becomes -# part of the derivation: the hash changes after any local cargo build, the module -# stops matching what CI published, and it recompiles from scratch instead of being -# substituted from Cachix. This is true of every module -- dim_slam is only the -# largest, at 2.3 GB. -# -# The root workspace used to give us this for free, since cargo puts `target/` at the -# workspace root. Paths here resolve against this file's directory, so `target` is the -# repo root's whichever module cargo runs in -- which is also what lets modules that -# no longer share a workspace still share build artifacts. +# store cache of all non-nix rust builds at the root level (shared) [build] target-dir = "target" From 8e626c09c9ed21cc220386bd9e0d4a4ba6b1b67a Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 15:55:57 -0700 Subject: [PATCH 68/97] ci(autofix): keep lint at one minute, relock in its own job Putting the nix install and the relock in `lint` meant raising its timeout from 1 to 15, which is backwards: that job is forty seconds of ruff and uv, and a fifteen-minute budget lets an ordinary hung run sit there instead of failing fast. The relock is also rare -- only PRs touching native/{rust,cpp} need it. So: `lint` is back to 1 minute and untouched. A two-minute `shared-flakes-changed` job answers the cheap question with no nix, and `relock-shared-flakes` does the work only when the answer is yes. --- .github/workflows/autofix.yml | 59 ++++++++++++++++++++++++----------- 1 file changed, 40 insertions(+), 19 deletions(-) diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index f2625dade1..5cd5ef2317 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -6,7 +6,7 @@ permissions: {} jobs: lint: - timeout-minutes: 15 + timeout-minutes: 1 runs-on: ubuntu-latest permissions: contents: read # For checkout @@ -16,11 +16,6 @@ jobs: steps: - name: Checkout uses: actions/checkout@v7 - with: - # The shared-flake guard below diffs against the PR base, and relocking - # compares the pinned revision's tree with this one -- neither is answerable - # from a depth-1 checkout. - fetch-depth: 0 - name: Install uv uses: astral-sh/setup-uv@v10.0.1 with: @@ -36,16 +31,26 @@ jobs: - name: uv lock run: uv lock - # The shared flakes live in this repository, so a change to native/{rust,cpp} - # lands with every module's lock still pinning the revision before it. That - # cannot be fixed at commit time: a lock records a narHash of the FETCHED tree, - # so the revision has to be on the remote first. Here it is -- so relock and let - # autofix commit the result back, the way it already does for ruff and uv. - # - # Guarded on the shared trees actually changing, because installing nix costs - # more than the rest of this job put together and most PRs touch neither. - - name: Did the shared flakes change? - id: shared + - name: autofix.ci + uses: autofix-ci/action@v1 + + # Its own job, so `lint` keeps its one-minute budget: installing nix and relocking + # fourteen locks cannot fit in that, and raising lint's timeout would let every + # ordinary run hang for fifteen minutes instead of failing fast. + shared-flakes-changed: + timeout-minutes: 2 + runs-on: ubuntu-latest + permissions: + contents: read # For checkout + outputs: + changed: ${{ steps.check.outputs.changed }} + steps: + - name: Checkout + uses: actions/checkout@v7 + with: + fetch-depth: 0 # diffing against the PR base needs history + - name: Did native/{rust,cpp} change? + id: check run: | set -euo pipefail base=${{ github.event.pull_request.base.sha }} @@ -54,12 +59,28 @@ jobs: else echo "changed=true" >> "$GITHUB_OUTPUT" fi + + # The shared flakes live in this repository, so a change to native/{rust,cpp} lands + # with every module's lock still pinning the revision before it. That cannot be + # fixed at commit time: a lock records a narHash of the FETCHED tree, so the + # revision has to be on the remote first. Here it is -- so relock and let autofix + # commit the result back, the way it already does for ruff and uv. + relock-shared-flakes: + needs: shared-flakes-changed + if: needs.shared-flakes-changed.outputs.changed == 'true' + timeout-minutes: 15 + runs-on: ubuntu-latest + permissions: + contents: read # For checkout + + steps: + - name: Checkout + uses: actions/checkout@v7 + with: + fetch-depth: 0 # comparing a pinned revision's tree with this one needs history - 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 - - name: autofix.ci uses: autofix-ci/action@v1 From 1d4ff22703b8f4c8bc23b27824df8d6fd92d49b6 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 15:57:21 -0700 Subject: [PATCH 69/97] ci(autofix): five minutes for the relock, not fifteen Measured rather than guessed: one module relocks in 2.6 s, and all fourteen share a single fetch of the same revision, so the job is the nix install (6 s in CI) plus well under a minute of lock rewriting. Fifteen was a number I picked without checking. --- .github/workflows/autofix.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index 5cd5ef2317..243b265c2a 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -68,7 +68,7 @@ jobs: relock-shared-flakes: needs: shared-flakes-changed if: needs.shared-flakes-changed.outputs.changed == 'true' - timeout-minutes: 15 + timeout-minutes: 5 runs-on: ubuntu-latest permissions: contents: read # For checkout From f7e47c683d713a909e7bdcab00d91b64ca991bde Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 16:01:01 -0700 Subject: [PATCH 70/97] ci(autofix): fold the shared-flake check back into one job A separate gate job made sense when I thought the relock cost fifteen minutes. It costs under one, so the gate was spinning up a runner and a checkout on every PR to save forty seconds. One job, guarded steps, same protection for lint. --- .github/workflows/autofix.yml | 49 +++++++++++++++-------------------- 1 file changed, 21 insertions(+), 28 deletions(-) diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index 243b265c2a..6e70a3ece9 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -34,23 +34,32 @@ jobs: - name: autofix.ci uses: autofix-ci/action@v1 - # Its own job, so `lint` keeps its one-minute budget: installing nix and relocking - # fourteen locks cannot fit in that, and raising lint's timeout would let every - # ordinary run hang for fifteen minutes instead of failing fast. - shared-flakes-changed: - timeout-minutes: 2 + # Its own job, so `lint` keeps its one-minute budget: installing nix cannot fit in + # that, and raising lint's timeout would let every ordinary run hang for fifteen + # minutes instead of failing fast. + # + # The shared flakes live in this repository, so a change to native/{rust,cpp} lands + # with every module's lock still pinning the revision before it. That cannot be + # fixed at commit time: a lock records a narHash of the FETCHED tree, so the + # revision has to be on the remote first. Here it is -- so relock and let autofix + # commit the result back, the way it already does for ruff and uv. + relock-shared-flakes: + timeout-minutes: 5 runs-on: ubuntu-latest permissions: contents: read # For checkout - outputs: - changed: ${{ steps.check.outputs.changed }} + steps: - name: Checkout uses: actions/checkout@v7 with: - fetch-depth: 0 # diffing against the PR base needs history + # Diffing against the PR base, and comparing a pinned revision's tree with + # this one, are both unanswerable from a depth-1 checkout. + fetch-depth: 0 + # Guarded because installing nix costs more than everything else here, and most + # PRs touch neither shared flake. - name: Did native/{rust,cpp} change? - id: check + id: shared run: | set -euo pipefail base=${{ github.event.pull_request.base.sha }} @@ -59,28 +68,12 @@ jobs: else echo "changed=true" >> "$GITHUB_OUTPUT" fi - - # The shared flakes live in this repository, so a change to native/{rust,cpp} lands - # with every module's lock still pinning the revision before it. That cannot be - # fixed at commit time: a lock records a narHash of the FETCHED tree, so the - # revision has to be on the remote first. Here it is -- so relock and let autofix - # commit the result back, the way it already does for ruff and uv. - relock-shared-flakes: - needs: shared-flakes-changed - if: needs.shared-flakes-changed.outputs.changed == 'true' - timeout-minutes: 5 - runs-on: ubuntu-latest - permissions: - contents: read # For checkout - - steps: - - name: Checkout - uses: actions/checkout@v7 - with: - fetch-depth: 0 # comparing a pinned revision's tree with this one needs history - 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 - name: autofix.ci + if: steps.shared.outputs.changed == 'true' uses: autofix-ci/action@v1 From 59b56b3b079b1d22842155dca3d94d602b4dd500 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 16:15:23 -0700 Subject: [PATCH 71/97] docs: drop the multi-line explanatory comments this branch added 158 blocks, 736 lines, removed programmatically: each was matched against the text recorded when the diff was scanned and skipped if it had moved, so nothing was deleted by line number alone. Kept: 12 Copyright headers, which the insert-license hook reinstates anyway, and 34 rustdoc blocks, which are API documentation rather than explanation. Also dropped what a now-deleted comment described: the lint job's cargo cache and CARGO_INCREMENTAL. That job compiles nothing since clippy became a nix build, and cargo fmt only parses. Timeout 30 to 10. --- .github/workflows/autofix.yml | 13 -- .github/workflows/ci.yml | 112 +----------------- .gitignore | 3 - .pre-commit-config.yaml | 21 ---- bin/build-native-modules | 3 - bin/hooks/native-module-clippy | 16 --- bin/hooks/rust-module-foreach | 38 ------ bin/module-dir-guard | 4 - bin/relock-shared-flakes | 4 - dimos/cli/bake/codegen.py | 5 - dimos/cli/bake/test_codegen.py | 3 - dimos/core/test_build_native_modules.py | 11 -- dimos/experimental/memory/rust/Cargo.toml | 2 - dimos/experimental/memory/rust/flake.nix | 28 ----- .../sensors/camera/realsense/rust/flake.nix | 26 ---- .../sensors/lidar/fastlio2/cpp/flake.nix | 30 ----- .../cpp/livox_common/estimator_pose.hpp | 3 - .../cpp/livox_common/livox_sdk_config.hpp | 23 ---- .../cpp/livox_common/point_cloud_utils.hpp | 2 - .../sensors/lidar/livox/cpp/flake.nix | 12 -- .../sensors/lidar/livox/rust/Cargo.toml | 2 - .../sensors/lidar/livox/rust/flake.nix | 20 ---- .../hardware/sensors/lidar/livox/test_e2e.py | 3 - .../sensors/lidar/pointlio/cpp/flake.nix | 30 ----- .../cpp/livox_common/estimator_pose.hpp | 3 - .../cpp/livox_common/livox_sdk_config.hpp | 23 ---- .../cpp/livox_common/point_cloud_utils.hpp | 2 - .../sensors/lidar/pointlio/rust/Cargo.toml | 4 - .../sensors/lidar/pointlio/rust/flake.nix | 20 ---- .../sensors/lidar/pointlio/rust/src/lib.rs | 5 - .../lidar/pointlio/rust/src/pipeline.rs | 4 - .../sensors/lidar/virtual_mid360/Cargo.toml | 4 - .../sensors/lidar/virtual_mid360/flake.nix | 20 ---- .../sensors/lidar/virtual_mid360/src/main.rs | 5 - .../lidar/virtual_mid360/src/pipeline.rs | 4 - dimos/mapping/dim_slam/dim_slam.py | 3 - dimos/mapping/dim_slam/rust/Cargo.toml | 4 - dimos/mapping/dim_slam/rust/flake.nix | 33 ------ dimos/mapping/ray_tracing/rust/Cargo.toml | 2 - dimos/mapping/ray_tracing/rust/flake.nix | 20 ---- .../nav_3d/mls_planner/rust/Cargo.toml | 2 - .../nav_3d/mls_planner/rust/flake.nix | 20 ---- dimos/simulation/habitat/connection.py | 12 -- dimos/simulation/habitat/nix/flake.nix | 10 -- examples/native-modules/cpp/flake.nix | 16 --- examples/native-modules/rust/Cargo.toml | 2 - examples/native-modules/rust/flake.nix | 20 ---- flake.nix | 2 - native/cpp/flake.nix | 16 --- native/rust/dimos-module-macros/Cargo.toml | 3 - native/rust/dimos-module/Cargo.toml | 3 - native/rust/flake.nix | 86 -------------- 52 files changed, 1 insertion(+), 761 deletions(-) diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index 6e70a3ece9..257b23f7e9 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -34,15 +34,6 @@ jobs: - name: autofix.ci uses: autofix-ci/action@v1 - # Its own job, so `lint` keeps its one-minute budget: installing nix cannot fit in - # that, and raising lint's timeout would let every ordinary run hang for fifteen - # minutes instead of failing fast. - # - # The shared flakes live in this repository, so a change to native/{rust,cpp} lands - # with every module's lock still pinning the revision before it. That cannot be - # fixed at commit time: a lock records a narHash of the FETCHED tree, so the - # revision has to be on the remote first. Here it is -- so relock and let autofix - # commit the result back, the way it already does for ruff and uv. relock-shared-flakes: timeout-minutes: 5 runs-on: ubuntu-latest @@ -53,11 +44,7 @@ jobs: - name: Checkout uses: actions/checkout@v7 with: - # Diffing against the PR base, and comparing a pinned revision's tree with - # this one, are both unanswerable from a depth-1 checkout. fetch-depth: 0 - # Guarded because installing nix costs more than everything else here, and most - # PRs touch neither shared flake. - name: Did native/{rust,cpp} change? id: shared run: | diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index d219e112fd..3e1adc2275 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -157,11 +157,6 @@ jobs: env: BUILD_WORKERS: "1" run: python3 bin/build-native-modules - # Clippy as a derivation, sharing the dependency crates the step above just - # built: only first-party crates compile, and cachix-action pushes the result - # so a rerun substitutes it. This is what lets the lint job skip its - # cargo-clippy hook, which had no view of the nix store and recompiled every - # module's ~340 dependency crates from scratch on every run. - name: Clippy native modules env: BUILD_WORKERS: "1" @@ -253,16 +248,8 @@ jobs: key: cachix-published-${{ runner.os }}-${{ runner.arch }}-${{ needs.cachix-build-check.outputs.inputs-hash }} lint: - # Not 10 minutes any more: this job now runs the cargo-fmt and cargo-clippy hooks, - # and with no shared cargo workspace left they compile each module's dependency - # graph in turn. The cache below makes repeat runs cheap; a cold run is the - # expensive one. - timeout-minutes: 30 + timeout-minutes: 10 runs-on: ubuntu-latest - env: - # A fresh runner never reuses an incremental build, and it is 600+ MB of - # cache entry that would be restored only to be thrown away. - CARGO_INCREMENTAL: "0" permissions: contents: read # For checkout @@ -290,11 +277,6 @@ jobs: deno-version: ${{ steps.deno-version.outputs.version }} cache: true - # The cargo-fmt and cargo-clippy hooks enter each module's own devShell, which - # is the only place a module's system libraries (librealsense, sqlite, the - # cuVSLAM SDK) exist. They used to be skipped here and approximated in the rust - # job with a rustup toolchain and `--workspace`, which silently linted neither - # dim_slam nor realsense -- they are not members of any shared workspace. - name: Install Nix env: INPUT_EXTRA_NIX_CONFIG: | @@ -303,54 +285,13 @@ jobs: INPUT_SET_AS_TRUSTED_USER: "true" run: bash docker/ros/install-nix.sh - # The clippy hook compiles every module's dependency graph. They all share the - # repo-root target dir (.cargo/config.toml), so one cache entry covers the lot. - # - # Not Swatinem/rust-cache: it runs `cargo metadata` at the repo root, and since - # the root workspace was split there is no root Cargo.toml for it to find. It - # failed with exit 101 and fell back to a key that considered no Cargo.lock at - # all, so every run recompiled every module from scratch. Keying on the module - # locks by hand is the whole of what it was doing for us. - - name: Restore cargo build cache - uses: actions/cache/restore@v4 - with: - path: | - ~/.cargo/registry/index - ~/.cargo/registry/cache - ~/.cargo/git/db - target - !target/debug/incremental - key: cargo-lint-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} - restore-keys: | - cargo-lint-${{ runner.os }}-${{ runner.arch }}- - - name: Run pre-commit env: - # The clippy hook is a `nix build` now, and the cachix-build job already - # builds those same derivations with the substituter configured and pushes - # them. Running it here too would realise the whole crate graph a second - # time on a runner that has no substituter for it. SKIP: native-module-clippy uses: pre-commit/action@v3.0.1 with: - # Always show hook output. The rust hook reports how long each module's - # devShell and cargo run took, and a passing hook hides that otherwise -- - # which is how a 25-minute lint job went unexplained. extra_args: --all-files --verbose - # 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. - - 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-lint-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} rust: timeout-minutes: 30 @@ -367,8 +308,6 @@ jobs: uses: dtolnay/rust-toolchain@stable with: components: rustfmt, clippy - # Same reason as the lint job: Swatinem/rust-cache needs a root Cargo.toml, - # which the workspace split removed, so it cached nothing. - name: Restore cargo build cache uses: actions/cache/restore@v4 with: @@ -381,19 +320,7 @@ jobs: key: cargo-test-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} restore-keys: | cargo-test-${{ runner.os }}-${{ runner.arch }}- - # There is no repo-wide cargo workspace any more: every module is its own - # workspace with its own lock. fmt and clippy moved to the pre-commit hooks in - # the lint job, which enter each module's devShell; what is left here is the - # test run, over each workspace root in turn. - name: cargo test - # This runner has a bare cargo and no nix, so it can only test the workspaces - # that build against system libraries it already has. The two skipped below - # link librealsense and a GPU toolkit respectively, and were excluded from the - # old repo-wide workspace for the same reason -- splitting that workspace into - # one per module turned an implicit exclusion into a job that tried to build - # them. Their nix builds still cover them: `Native builds (C++ and Rust)` - # builds every module through its own flake, where those libraries are - # declared, and the lint job clippies them inside each module's devShell. run: | set -euo pipefail needs_system_libs=( @@ -442,8 +369,6 @@ jobs: - name: Bake e2e tests run: uv run pytest -m bake_e2e dimos/cli/bake/test_bake_e2e.py --no-cov - # 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. - name: Save cargo build cache if: github.ref == 'refs/heads/main' uses: actions/cache/save@v4 @@ -457,16 +382,6 @@ jobs: key: cargo-test-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} flake-locks-current: - # The gap this repo had: every nix invocation in CI passed `--no-write-lock-file`, - # so a stale or incomplete flake.lock was silently tolerated and the build used - # whatever the lock happened to say. `nix flake lock --no-update-lock-file` makes - # that an error -- it fails if the lock would have to change to evaluate. - # - # Deliberately not `nix flake check`: the rust modules generate their build through - # crate2nix, which is import-from-derivation, and `--no-build` refuses to realise - # the intermediate derivation IFD needs ("path '...-source.drv' is not valid"). - # Without `--no-build` it would rebuild everything the `native` job already builds. - # Lock currency is the part `native` does not cover, so that is what this checks. timeout-minutes: 30 runs-on: ubuntu-latest permissions: @@ -483,8 +398,6 @@ jobs: INPUT_SET_AS_TRUSTED_USER: "true" run: bash docker/ros/install-nix.sh - name: Every flake.lock is current - # No bash arrays or `mapfile`: this loop is meant to be runnable by hand on a - # developer machine, and macOS ships bash 3.2. run: | set -u git ls-files '*flake.nix' | sed 's|/flake.nix$||;s|^flake.nix$|.|' | sort -u > /tmp/flakes @@ -522,8 +435,6 @@ jobs: sudo apt-get update # lcm.pc carries `Requires: glib-2.0`, so pkg-config cannot resolve # lcm at all without glib's own .pc file - # portaudio is not for the modules -- it is for the `uv sync` further down, - # whose test group builds pyaudio from source and needs its headers. sudo apt-get install -y liblcm-dev libglib2.0-dev nlohmann-json3-dev \ portaudio19-dev base=https://github.com/eclipse-zenoh @@ -548,18 +459,8 @@ jobs: - name: Test run: ctest --test-dir build/native-cpp --output-on-failure - # `bin/build-native-modules` is the single discovery mechanism: it reads every - # NativeModuleConfig's own build_command. This job used to run a second, - # independent `find -name flake.nix` glob, and the repo-root flake a third - # (`findDepsFiles`); a module missed by any one of them was silently not built, - # not hashed, or not published. - name: List C++ native modules id: find-modules - # `native/` is excluded because it is the SDK the modules build against, not a - # module: nothing declares it as a NativeModuleConfig, so the build step below - # never produces a `build/` for it and the ctest loop would fail on the missing - # directory. It is not going untested -- the Configure/Build/Test steps above - # build it at build/native-cpp and run its 76 cases there. run: | modules=$(git ls-files '*/flake.nix' \ | sed 's|/flake.nix$||' \ @@ -591,9 +492,6 @@ jobs: INPUT_SET_AS_TRUSTED_USER: "true" run: bash docker/ros/install-nix.sh # PCL, GTSAM and the SLAM cores come from each module's flake, not apt. - # Builds every native module, C++ and rust alike, each with the exact command - # its own NativeModuleConfig declares -- so CI cannot build something different - # from what a developer's machine builds. - name: Build native modules run: python3 bin/build-native-modules - name: Test C++ native modules @@ -613,12 +511,6 @@ jobs: enable-cache: true prune-cache: true - name: Native module e2e tests - # These spawn the module binaries, so they belong to the job that built them: - # `bin/build-native-modules` leaves each module's `result` symlink behind and - # the test resolves `result/bin/` through it. The rust job used to host - # them because a root cargo workspace could `cargo build -p dimos-livox`; with - # one workspace per module those binaries come from nix, which that job has no - # reason to install. run: | uv sync --group tests --frozen uv run pytest -m native_e2e dimos/hardware/sensors/lidar/livox/test_e2e.py --no-cov @@ -1100,8 +992,6 @@ jobs: uses: dtolnay/rust-toolchain@stable - name: Build rust native modules if: contains(matrix.markers, 'self_hosted') - # Each module owns its build: NativeModule runs the module's own - # `nix build -L path:.#`, and this script runs exactly those. run: python3 bin/build-native-modules - name: Run tests run: uv run pytest --cov=dimos/ --junitxml=junit.xml -m '(${{ matrix.markers }}) and not mujoco' diff --git a/.gitignore b/.gitignore index dd9c07f4d8..2e99484610 100644 --- a/.gitignore +++ b/.gitignore @@ -36,9 +36,6 @@ build/ result result-* -# crate2nix's prefetch cache. Deliberately not committed: its keys are scoped -# to a git dependency's *branch* with no rev, so a committed copy goes stale -# the moment that branch moves. crate-hashes.json # Editor and OS files diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index f8504ad6fc..3f11f943b5 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -39,8 +39,6 @@ repos: rev: v4.6.0 hooks: - id: check-case-conflict - # These three rewrite bytes, so they are kept off files that must stay - # byte-identical to something outside this repo: upstream patches. - id: trailing-whitespace language: python types: [text] @@ -97,9 +95,6 @@ repos: entry: bin/hooks/lfs_check language: script - # `nix build path:.#…` copies a module's whole directory, so an untracked file - # sitting in one changes that module's derivation hash and costs a Cachix hit. - # Catch it at commit time, while it is still easy to delete. - id: module-dir-guard name: No untracked files in a native-module dir always_run: true @@ -146,16 +141,6 @@ repos: language: python stages: [pre-commit] - # Every rust crate now lives in its own cargo workspace with its own flake, so - # both hooks walk the workspace roots. There is no repo-root fallback: a - # repo-root flake ref would copy the entire tree, git-lfs blobs and all, into - # the store on every commit. The walk itself lives in - # bin/hooks/rust-module-foreach, which also reports per-module timings. - # - # fmt takes `--shell native/rust`, clippy does not. rustfmt only parses, so - # the per-module shells buy it nothing -- and dim_slam's, which carries the - # cuVSLAM SDK, cost 595 s of a CI run to realise for it. clippy compiles, so - # it still needs each module's own libraries. - id: cargo-fmt name: cargo fmt entry: bin/hooks/rust-module-foreach --shell native/rust fmt --all @@ -163,12 +148,6 @@ repos: types: [rust] pass_filenames: false - # Not `cargo clippy` in a devShell any more: that had no view of the nix store, - # so it recompiled every module's ~340 dependency crates from scratch, and it - # left a `target/` in the module directory for the next `path:` build to copy - # into the store. `nix build path:#clippy` lints the same crates and - # the same targets against the dependency derivations the package build already - # made, and no cargo ever runs in a module directory. - id: native-module-clippy name: clippy (nix) entry: bin/hooks/native-module-clippy diff --git a/bin/build-native-modules b/bin/build-native-modules index b3ca2e0a98..5805094fdf 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -455,9 +455,6 @@ 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: - # A module whose flake declares no packages for this system was skipped - # rather than built, so it has nothing to publish or verify here. Any - # other empty directory means the build never ran. systems = _declared_systems(module) if systems is not None and current_system() not in systems: continue diff --git a/bin/hooks/native-module-clippy b/bin/hooks/native-module-clippy index 39a24ded95..9f77925a4b 100755 --- a/bin/hooks/native-module-clippy +++ b/bin/hooks/native-module-clippy @@ -1,20 +1,4 @@ #!/usr/bin/env bash -# Clippy every rust native module, as a nix build. -# -# `nix build path:#clippy` compiles the module's own crates with -# clippy-driver against the very dependency derivations the module's package build -# already produced, so nothing third-party is recompiled and the result itself -# substitutes from Cachix on a rerun. -# -# This deliberately replaces `cargo clippy` in a devShell. That had no view of the -# nix store, so it recompiled every module's ~340 dependency crates from scratch -- -# and, because it ran cargo inside the module directory, it left a `target/` there -# for `path:` to copy into the store on the next build. Building the check through -# nix means no cargo ever runs in a module directory, so no `target/` appears in one. -# -# A module whose flake declares no clippy check (the C++ ones) is skipped, as is one -# that declares no packages for this system -- realsense links librealsense, which -# nixpkgs will not evaluate off Linux. set -euo pipefail top=$(git rev-parse --show-toplevel) diff --git a/bin/hooks/rust-module-foreach b/bin/hooks/rust-module-foreach index a245a95a09..3536692ff9 100755 --- a/bin/hooks/rust-module-foreach +++ b/bin/hooks/rust-module-foreach @@ -1,32 +1,4 @@ #!/usr/bin/env bash -# Run a cargo command over every rust module's cargo workspace. -# -# Since the repo workspace was split there is no single `cargo --workspace` -# that reaches every crate: each module is its own workspace with its own lock. -# So walk the workspace roots and run the command against each. -# -# Usage: rust-module-foreach [--shell ] [args...] -# e.g. rust-module-foreach --shell native/rust fmt --all -# rust-module-foreach clippy --workspace --all-targets -- -D warnings -# `--manifest-path` is inserted right after the subcommand, so a trailing -# `-- -D warnings` stays trailing. -# -# Which devShell to enter: -# default each module's own -- the only place its system libraries -# (librealsense, sqlite, the cuVSLAM SDK) exist, so anything that -# COMPILES needs this. -# --shell DIR that one shell for every module. Right for a tool that only -# parses, like rustfmt: it never compiles, never runs build.rs and -# never links, so the system libraries are dead weight. Measured: -# realising dim_slam's own shell for `cargo fmt` cost 595 s of a -# 14.7-minute CI lint job, purely to fetch a cuVSLAM SDK rustfmt -# does not open. Every module resolves the same rustfmt anyway -- -# one nixpkgs for the whole repo makes that a single store path -- -# so the shared shell is not a version compromise. -# -# Every module reports its own devShell and cargo timings, because a passing -# pre-commit hook prints nothing and that is how a 25-minute CI lint job went -# unexplained. set -euo pipefail top=$(git rev-parse --show-toplevel) @@ -40,8 +12,6 @@ fi subcommand=$1 shift -# Not `... | while read`, which would run the loop in a subshell and turn the -# hard failure below into a silent pass. roots=$(git ls-files "*Cargo.toml" | while read -r manifest; do cargo locate-project --manifest-path "$manifest" --workspace --message-format plain done | sort -u) @@ -56,17 +26,9 @@ while read -r root; do fi if [ -n "$shared_shell" ]; then - # The shared shell exists on every platform, so a module whose own flake - # skips this system is still covered -- realsense gets formatted on macOS - # now, where it used to be skipped for want of a devShell it did not need. shell_dir=$shared_shell else shell_dir=$dir - # A module may declare it does not support this platform: realsense links - # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off - # Linux. Such a module has no devShell here and cannot be linted here - # either, so skip it rather than block the commit. CI lints on Linux, - # where the devShell does exist. 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 diff --git a/bin/module-dir-guard b/bin/module-dir-guard index 9a7610bf20..c81070f9b8 100755 --- a/bin/module-dir-guard +++ b/bin/module-dir-guard @@ -24,10 +24,6 @@ from pathlib import Path import subprocess import sys -# `lib.cleanSource` drops these, and the shared flakes additionally drop `target/`, -# `build/` and `__pycache__/`. A file matching one of these cannot change a -# derivation hash, so leaving it in a module directory is harmless. Keep this list -# in step with the filters in `native/rust/flake.nix` and `native/cpp/flake.nix`. EXEMPT_NAMES = {"target", "build", "__pycache__"} EXEMPT_PREFIXES = ("result",) # `nix build` writes result, result-1, result-2, ... EXEMPT_SUFFIXES = ("~", ".o", ".so") diff --git a/bin/relock-shared-flakes b/bin/relock-shared-flakes index a0f2cb5f47..d24bc40420 100755 --- a/bin/relock-shared-flakes +++ b/bin/relock-shared-flakes @@ -95,10 +95,6 @@ def main() -> int: failed += 1 if lock.read_text() != before: touched.append(lock.relative_to(REPO_ROOT).as_posix()) - # Updating moves the pin to whatever the remote branch holds. If this commit - # is not on the remote yet, that is still not this commit's tree, and the - # lock stays stale -- silently, because `nix flake update` itself succeeded. - # Say so rather than leave a rewritten-but-wrong lock behind. if stale_inputs(lock): print( f"STILL STALE {lock.relative_to(REPO_ROOT).as_posix()}:" diff --git a/dimos/cli/bake/codegen.py b/dimos/cli/bake/codegen.py index 2add0e237d..8152feb847 100644 --- a/dimos/cli/bake/codegen.py +++ b/dimos/cli/bake/codegen.py @@ -149,11 +149,6 @@ def generate_crate( src.mkdir(parents=True, exist_ok=True) (directory / "Cargo.toml").write_text(render_cargo_toml(host, modules, root)) - # No lockfile is seeded. This used to copy the repo-root Cargo.lock so the host - # resolved the same dependency versions as the workspace; there is no repo-root - # workspace any more, and no single module's lock is the right one either -- a host - # aggregates crates from several modules, each with its own. Cargo resolves the - # host's own graph, and `dimos bake` commits the lock it produces. (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 2ab158e48f..7d156bab6c 100644 --- a/dimos/cli/bake/test_codegen.py +++ b/dimos/cli/bake/test_codegen.py @@ -63,9 +63,6 @@ def test_the_generated_crate_reuses_the_module_profiles() -> None: 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"} - # dim_slam sets `lto = true` rather than "thin" -- a deliberate, pre-dating choice - # for the SLAM binary, and it was never a member of the old root workspace either. - # It is named here rather than filtered by a rule, so any *new* deviation fails. deliberate_deviations = {"dimos/mapping/dim_slam/rust/Cargo.toml"} roots = [ diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index 5bd6d63983..f794c1800d 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -250,15 +250,9 @@ def test_no_module_reaches_the_repository_root() -> None: ) -# The shared flakes live in this repository, so the very change that introduces -# native/rust/flake.nix cannot reference it on the default branch -- it is not there -# yet. Until it merges, the module inputs name that branch. That pin must not outlive -# the merge, and a comment is not a mechanism: these tests are. _SHARED_FLAKES = ("native/rust/flake.nix", "native/cpp/flake.nix") _DEFAULT_BRANCH = "main" -# `github:dimensionalOS/dimos?ref=&dir=` -- the in-repo input every -# native module takes for the shared crates and the C++ SDK. _IN_REPO_INPUT = re.compile(r'url = "github:dimensionalOS/dimos\?(?P[^"]*)"') @@ -396,8 +390,6 @@ def read() -> str | None: if (tree := read()) is not None: return tree - # CI checks out at depth 1, so a locked revision is usually absent. Ask for that - # one commit rather than giving up -- a full history here is 36 GB. subprocess.run( ("git", "-C", str(DIMOS_PROJECT_ROOT), "fetch", "--depth=1", "origin", rev), capture_output=True, @@ -439,9 +431,6 @@ def test_module_locks_pin_the_shared_flakes_as_they_are_now() -> None: ) -# A lock records `follows` as a path of input names read from the root, and a direct -# pin as a node name. Resolving both is what separates the nixpkgs a flake builds -# against from the ones that merely appear in the file. _BUILD_EDGES = ("nixpkgs", "dimos-native-rust", "dimos-native-cpp") diff --git a/dimos/experimental/memory/rust/Cargo.toml b/dimos/experimental/memory/rust/Cargo.toml index 635b2c0326..d2247133ba 100644 --- a/dimos/experimental/memory/rust/Cargo.toml +++ b/dimos/experimental/memory/rust/Cargo.toml @@ -27,8 +27,6 @@ tempfile = "3" [workspace] -# Carried from the old root workspace. Cargo only honours a profile at the workspace -# root, so every module that is now its own root has to state it. [profile.release] lto = "thin" codegen-units = 1 diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 1d869599d2..cf0fcd7924 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -1,20 +1,7 @@ { description = "Native Memory2 SQLite and MCAP recorder for dimos"; - # The shared crates come in as a remote git input, not a relative path. A `path:..` - # input is unresolvable from a `path:.` build (`..` escapes the store path), and a - # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only - # form that survives this module moving into a repository of its own. It costs one - # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB a local ref copies, because a local ref reads the working tree and so - # picks up every smudged git-lfs blob under data/. inputs = { - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; nixpkgs.follows = "dimos-native-rust/nixpkgs"; @@ -29,20 +16,12 @@ name = "dimos-memory-recorder"; path = "dimos/experimental/memory/rust"; src = ./.; - # sqlite and the turbojpeg encoder are C libraries; crate2nix builds each - # crate on its own, so the -sys crates name what they link rather than the - # whole package doing it once. crateOverrides = pkgs: { libsqlite3-sys = _: { buildInputs = [ pkgs.sqlite ]; nativeBuildInputs = [ pkgs.pkg-config ]; LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; }; - # turbojpeg-sys vendors libjpeg-turbo and drives cmake from its own - # build script. dontUseCmakeConfigure stops nixpkgs' cmake setup hook - # from *also* trying to configure the crate root, which has no - # CMakeLists.txt -- the crate's build.rs is the only thing that should - # invoke cmake. turbojpeg-sys = _: { nativeBuildInputs = [ pkgs.cmake pkgs.nasm ]; dontUseCmakeConfigure = true; @@ -52,15 +31,8 @@ in { packages.dimos-memory-recorder = shared.buildNativeModule module; - # Lints this module's own crates with clippy-driver, on the very dependency - # derivations the package build already put on Cachix -- no dependency is - # compiled a second time. `runTests` defaults on, so this reaches test - # targets too, the way `cargo clippy --all-targets` did. checks.clippy = shared.clippyNativeModule module; - # `nix build .#clippy` from the module directory, which is what a person - # actually types; `checks` is what `nix flake check` walks. One derivation, - # two names for it. packages.clippy = shared.clippyNativeModule module; devShells.default = pkgsFor.mkShell { diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 593361b396..b17c958923 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -1,20 +1,7 @@ { description = "RealSense D4xx camera native module for dimos"; - # The shared crates come in as a remote git input, not a relative path. A `path:..` - # input is unresolvable from a `path:.` build (`..` escapes the store path), and a - # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only - # form that survives this module moving into a repository of its own. It costs one - # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB a local ref copies, because a local ref reads the working tree and so - # picks up every smudged git-lfs blob under data/. inputs = { - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; @@ -29,10 +16,6 @@ src = ./.; crateOverrides = pkgs: let - # Both crates run pkg-config against librealsense2: realsense-sys to - # generate its bindings, and this module's own build.rs to turn the - # result into an rpath. crate2nix builds each crate in its own sandbox, - # so the inputs have to be declared for each of them. needsLibrealsense = _: { buildInputs = [ pkgs.librealsense ]; nativeBuildInputs = [ pkgs.pkg-config ]; @@ -46,19 +29,10 @@ in { packages.dimos-realsense = shared.buildNativeModule module; - # Lints this module's own crates with clippy-driver, on the very dependency - # derivations the package build already put on Cachix -- no dependency is - # compiled a second time. `runTests` defaults on, so this reaches test - # targets too, the way `cargo clippy --all-targets` did. checks.clippy = shared.clippyNativeModule module; - # `nix build .#clippy` from the module directory, which is what a person - # actually types; `checks` is what `nix flake check` walks. One derivation, - # two names for it. packages.clippy = shared.clippyNativeModule module; - # Not the shared devShell: the clippy hook runs cargo in here, and this - # module's build.rs probes librealsense2 through pkg-config. devShells.default = shared.devShellWith (pkgs: [ pkgs.librealsense pkgs.pkg-config ]); }); } diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index c4ee9de1dc..e06a87d169 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -5,23 +5,8 @@ zenoh.url = "github:jeff-hykin/zenoh_flake"; zenoh.inputs.nixpkgs.follows = "nixpkgs"; zenoh.inputs.flake-utils.follows = "flake-utils"; - # One nixpkgs for the whole C++ side. native/cpp is the single place the - # revision is chosen and every module follows it, rather than each module - # resolving `nixos-unstable` on its own clock. Independent resolution is - # exactly what left these modules on a February nixpkgs while the shared SDK - # had moved to September: two stdenvs, and no binary cache shared between them. nixpkgs.follows = "dimos-native-cpp/nixpkgs"; flake-utils.follows = "dimos-native-cpp/flake-utils"; - # The shared C++ SDK, as a remote ref rather than the bare path literal that - # used to climb six directories to reach native/cpp. Under the `path:.` build - # ref this module now uses, such a literal escapes the module's store path, and - # back when it resolved at all it resolved by copying the whole repository. - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. 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"; @@ -83,11 +68,6 @@ inherit system; overlays = [ darwinDepFixes ]; }; - # Livox SDK2, built here rather than taken from the livox module's flake. - # A native module may not reach sideways into another module's directory, and - # livox is a specific sensor rather than part of the shared SDK, so the - # derivation is copied. Keep it in step with - # `dimos/hardware/sensors/lidar/livox/cpp/flake.nix`, which is the original. livox-sdk2 = pkgs.stdenv.mkDerivation rec { pname = "livox-sdk2"; version = "1.2.5"; @@ -114,12 +94,6 @@ --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' {} + ''; }; @@ -127,16 +101,12 @@ zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; - # Copied from `dimos/hardware/sensors/lidar/common/`, for the same reason - # as the SDK above. livox-common = ./livox_common; fastlio2_native = pkgs.stdenv.mkDerivation { pname = "fastlio2_native"; version = "0.2.0"; - # Not `./.`: a bare directory hands nix the `result` symlink of the previous - # build, which changes this derivation's hash and loses the Cachix hit. src = dimos-native-cpp.lib.${system}.cleanModuleSource ./.; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp index 6ccc934717..9068c5f7c0 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp @@ -10,9 +10,6 @@ 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; diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp index b0fe7dad1b..f5a0c9c28b 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp @@ -28,8 +28,6 @@ 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 @@ -46,15 +44,6 @@ struct SdkPorts { 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) { @@ -65,9 +54,6 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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"; @@ -92,11 +78,6 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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 @@ -137,8 +118,6 @@ inline std::pair write_sdk_config(const std::string& host_ip, #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 @@ -147,8 +126,6 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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, diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp index 1a9d43d213..21166822e1 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp @@ -37,8 +37,6 @@ inline std_msgs::Header make_header(const std::string& frame_id, double ts) { 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; diff --git a/dimos/hardware/sensors/lidar/livox/cpp/flake.nix b/dimos/hardware/sensors/lidar/livox/cpp/flake.nix index 5fdaa916f0..1cd36a5941 100644 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/cpp/flake.nix @@ -2,18 +2,6 @@ description = "Livox SDK2 packaging, consumed by the C++ LIO module flakes"; inputs = { - # This flake builds no dimos module, so it wants nothing from the shared C++ - # SDK except the one thing every C++ flake here has to agree on: the nixpkgs - # revision. native/cpp is where that revision is chosen. Resolving - # `nixos-unstable` here instead would put this livox-sdk2 on a different stdenv - # than the copies inlined into pointlio and fastlio2, and the three would then - # share no cache at all. - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; nixpkgs.follows = "dimos-native-cpp/nixpkgs"; flake-utils.follows = "dimos-native-cpp/flake-utils"; diff --git a/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml b/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml index 76d6087289..53f887ab85 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml +++ b/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml @@ -38,8 +38,6 @@ tempfile = "3" [workspace] -# Carried from the old root workspace. Cargo only honours a profile at the workspace -# root, so every module that is now its own root has to state it. [profile.release] lto = "thin" codegen-units = 1 diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index 23d9798c1e..32e61bf38d 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -1,20 +1,7 @@ { description = "Livox Mid-360 native module for dimos"; - # The shared crates come in as a remote git input, not a relative path. A `path:..` - # input is unresolvable from a `path:.` build (`..` escapes the store path), and a - # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only - # form that survives this module moving into a repository of its own. It costs one - # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB a local ref copies, because a local ref reads the working tree and so - # picks up every smudged git-lfs blob under data/. inputs = { - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; @@ -31,15 +18,8 @@ in { packages.dimos-livox = shared.buildNativeModule module; - # Lints this module's own crates with clippy-driver, on the very dependency - # derivations the package build already put on Cachix -- no dependency is - # compiled a second time. `runTests` defaults on, so this reaches test - # targets too, the way `cargo clippy --all-targets` did. checks.clippy = shared.clippyNativeModule module; - # `nix build .#clippy` from the module directory, which is what a person - # actually types; `checks` is what `nix flake check` walks. One derivation, - # two names for it. packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; diff --git a/dimos/hardware/sensors/lidar/livox/test_e2e.py b/dimos/hardware/sensors/lidar/livox/test_e2e.py index 374a568969..c8f77e38d0 100644 --- a/dimos/hardware/sensors/lidar/livox/test_e2e.py +++ b/dimos/hardware/sensors/lidar/livox/test_e2e.py @@ -46,9 +46,6 @@ from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2 from dimos.utils.data import get_data -# Each native module is built by its own flake and leaves its binary behind at -# `/result/bin/`; there is no shared cargo target dir output any -# more, because there is no shared cargo workspace. _LIDAR = DIMOS_PROJECT_ROOT / "dimos" / "hardware" / "sensors" / "lidar" _MODULE_OF = { "mid360_native": (_LIDAR / "livox" / "rust", "dimos-livox"), diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index 9464c88416..dc5ed98051 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -5,23 +5,8 @@ zenoh.url = "github:jeff-hykin/zenoh_flake"; zenoh.inputs.nixpkgs.follows = "nixpkgs"; zenoh.inputs.flake-utils.follows = "flake-utils"; - # One nixpkgs for the whole C++ side. native/cpp is the single place the - # revision is chosen and every module follows it, rather than each module - # resolving `nixos-unstable` on its own clock. Independent resolution is - # exactly what left these modules on a February nixpkgs while the shared SDK - # had moved to September: two stdenvs, and no binary cache shared between them. nixpkgs.follows = "dimos-native-cpp/nixpkgs"; flake-utils.follows = "dimos-native-cpp/flake-utils"; - # The shared C++ SDK, as a remote ref rather than the bare path literal that - # used to climb six directories to reach native/cpp. Under the `path:.` build - # ref this module now uses, such a literal escapes the module's store path, and - # back when it resolved at all it resolved by copying the whole repository. - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. 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"; @@ -82,11 +67,6 @@ inherit system; overlays = [ darwinDepFixes ]; }; - # Livox SDK2, built here rather than taken from the livox module's flake. - # A native module may not reach sideways into another module's directory, and - # livox is a specific sensor rather than part of the shared SDK, so the - # derivation is copied. Keep it in step with - # `dimos/hardware/sensors/lidar/livox/cpp/flake.nix`, which is the original. livox-sdk2 = pkgs.stdenv.mkDerivation rec { pname = "livox-sdk2"; version = "1.2.5"; @@ -113,12 +93,6 @@ --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' {} + ''; }; @@ -126,8 +100,6 @@ zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; - # Copied from `dimos/hardware/sensors/lidar/common/`, for the same reason - # as the SDK above. livox-common = ./livox_common; # Patch the Point-LIO fork in place: resize (not reserve) the per-point @@ -144,8 +116,6 @@ pname = "pointlio_native"; version = "0.2.0"; - # Not `./.`: a bare directory hands nix the `result` symlink of the previous - # build, which changes this derivation's hash and loses the Cachix hit. src = dimos-native-cpp.lib.${system}.cleanModuleSource ./.; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp index 6ccc934717..9068c5f7c0 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp @@ -10,9 +10,6 @@ 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; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp index b0fe7dad1b..f5a0c9c28b 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp @@ -28,8 +28,6 @@ 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 @@ -46,15 +44,6 @@ struct SdkPorts { 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) { @@ -65,9 +54,6 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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"; @@ -92,11 +78,6 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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 @@ -137,8 +118,6 @@ inline std::pair write_sdk_config(const std::string& host_ip, #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 @@ -147,8 +126,6 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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, diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp index 1a9d43d213..21166822e1 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp @@ -37,8 +37,6 @@ inline std_msgs::Header make_header(const std::string& frame_id, double ts) { 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; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml index 5225c44dd8..db95521100 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml +++ b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml @@ -43,15 +43,11 @@ tokio = { version = "1", features = ["rt-multi-thread", "macros"] } tracing = "0.1" validator = { version = "0.21", features = ["derive"] } -# The copied livox pcap.rs tests write a temp pcap. Copying the module meant -# copying its test dependency too. [dev-dependencies] tempfile = "3" [workspace] -# Carried from the old root workspace. Cargo only honours a profile at the workspace -# root, so every module that is now its own root has to state it. [profile.release] lto = "thin" codegen-units = 1 diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index 53a1522055..0e6163edda 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -1,20 +1,7 @@ { description = "Point-LIO native module for dimos"; - # The shared crates come in as a remote git input, not a relative path. A `path:..` - # input is unresolvable from a `path:.` build (`..` escapes the store path), and a - # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only - # form that survives this module moving into a repository of its own. It costs one - # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB a local ref copies, because a local ref reads the working tree and so - # picks up every smudged git-lfs blob under data/. inputs = { - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; @@ -31,15 +18,8 @@ in { packages.dimos-pointlio = shared.buildNativeModule module; - # Lints this module's own crates with clippy-driver, on the very dependency - # derivations the package build already put on Cachix -- no dependency is - # compiled a second time. `runTests` defaults on, so this reaches test - # targets too, the way `cargo clippy --all-targets` did. checks.clippy = shared.clippyNativeModule module; - # `nix build .#clippy` from the module directory, which is what a person - # actually types; `checks` is what `nix flake check` walks. One derivation, - # two names for it. packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs b/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs index d39078d20f..93477e5017 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs +++ b/dimos/hardware/sensors/lidar/pointlio/rust/src/lib.rs @@ -15,11 +15,6 @@ // dimos glue around pointlio-core. pub mod module; -// The Livox wire protocol, frame assembly and pcap reader, copied verbatim from -// `dimos/hardware/sensors/lidar/livox/rust/src/`. Copied rather than depended on: -// a native module may only reach the shared `native/rust` crates, and livox is a -// specific sensor rather than part of that generic API. Keep these three files -// byte-identical to livox's so a protocol fix can be moved across with `cp`. #[allow(dead_code)] pub mod pcap; #[allow(dead_code)] diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs b/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs index 087b5650e9..1595a5bdde 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs +++ b/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs @@ -110,8 +110,6 @@ impl FrameAssembler { 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, @@ -130,8 +128,6 @@ impl FrameAssembler { }; 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 { diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml index de996dc6da..6b44eb8aa9 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml +++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml @@ -19,15 +19,11 @@ socket2 = "0.6" tracing = "0.1" validator = { version = "0.21", features = ["derive"] } -# The copied livox pcap.rs tests write a temp pcap. Copying the module meant -# copying its test dependency too. [dev-dependencies] tempfile = "3" [workspace] -# Carried from the old root workspace. Cargo only honours a profile at the workspace -# root, so every module that is now its own root has to state it. [profile.release] lto = "thin" codegen-units = 1 diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index c6d254979e..bf67bbac37 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -1,20 +1,7 @@ { description = "Virtual Livox Mid-360 pcap replay native module for dimos"; - # The shared crates come in as a remote git input, not a relative path. A `path:..` - # input is unresolvable from a `path:.` build (`..` escapes the store path), and a - # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only - # form that survives this module moving into a repository of its own. It costs one - # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB a local ref copies, because a local ref reads the working tree and so - # picks up every smudged git-lfs blob under data/. inputs = { - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; @@ -31,15 +18,8 @@ in { packages.dimos-virtual-mid360 = shared.buildNativeModule module; - # Lints this module's own crates with clippy-driver, on the very dependency - # derivations the package build already put on Cachix -- no dependency is - # compiled a second time. `runTests` defaults on, so this reaches test - # targets too, the way `cargo clippy --all-targets` did. checks.clippy = shared.clippyNativeModule module; - # `nix build .#clippy` from the module directory, which is what a person - # actually types; `checks` is what `nix flake check` walks. One derivation, - # two names for it. packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs index 49197370ee..08312d9066 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs +++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs @@ -18,11 +18,6 @@ // 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. -// The Livox wire protocol, frame assembly and pcap reader, copied verbatim from -// `dimos/hardware/sensors/lidar/livox/rust/src/`. Copied rather than depended on: -// a native module may only reach the shared `native/rust` crates, and livox is a -// specific sensor rather than part of that generic API. Keep these three files -// byte-identical to livox's so a protocol fix can be moved across with `cp`. #[allow(dead_code)] pub mod pcap; #[allow(dead_code)] diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs index 087b5650e9..1595a5bdde 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs +++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs @@ -110,8 +110,6 @@ impl FrameAssembler { 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, @@ -130,8 +128,6 @@ impl FrameAssembler { }; 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 { diff --git a/dimos/mapping/dim_slam/dim_slam.py b/dimos/mapping/dim_slam/dim_slam.py index 9f6f945fc3..bd78972d9b 100644 --- a/dimos/mapping/dim_slam/dim_slam.py +++ b/dimos/mapping/dim_slam/dim_slam.py @@ -122,9 +122,6 @@ class SourceConfig(BaseModel): class DimSlamConfig(NativeModuleConfig): cwd: str | None = "rust" executable: str = "result/bin/dim_slam" - # Same `nix build -L path:.#` shape as every other native module. The - # package name is the cuVSLAM SDK variant rather than a fixed string, because the - # SDK a build links decides what the binary can run on. build_command: str | None = Field( default_factory=lambda: f"nix build -L path:.#{sdk_variant()}" ) diff --git a/dimos/mapping/dim_slam/rust/Cargo.toml b/dimos/mapping/dim_slam/rust/Cargo.toml index 0215e5b845..5af8d516d2 100644 --- a/dimos/mapping/dim_slam/rust/Cargo.toml +++ b/dimos/mapping/dim_slam/rust/Cargo.toml @@ -23,10 +23,6 @@ tracing = "0.1" serde = { version = "1", features = ["derive"] } validator = { version = "0.21", features = ["derive"] } -# Full LTO, not the "thin" every other module uses: this is the SLAM hot path. The -# cost is that it refingerprints the shared target dir (.cargo/config.toml) when you -# build it beside another module. test_the_generated_crate_reuses_the_module_profiles -# names this file as a deliberate deviation; a new one there would fail. [profile.release] lto = true diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index 589a515a27..e6ae250245 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -1,21 +1,7 @@ { description = "dimSLAM native module for DimOS: the dim_slam library behind an LCM wrapper"; - # The shared crates come in as a remote git input, not a relative path. A `path:..` - # input is unresolvable from a `path:.` build (`..` escapes the store path), and a - # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only - # form that survives this module moving into a repository of its own. It costs one - # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB the old whole-repo input copied (a `path:` ref four levels up), - # because a local ref reads the working tree and so picks up every smudged - # git-lfs blob. inputs = { - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; nixpkgs.follows = "dimos-native-rust/nixpkgs"; @@ -45,38 +31,19 @@ crateOverrides = _: { # 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"; }; }; }; packageFor = variant: shared.buildNativeModule (moduleFor variant); clippyFor = variant: shared.clippyNativeModule (moduleFor variant); - # Lint once, against the first SDK variant. The variants differ only in which - # cu_vslam SDK the build script links; the rust this lints is the same in all - # of them, and linting each would rebuild this module's crates per variant for - # no new findings. lintedVariant = builtins.head (builtins.sort builtins.lessThan variants); in { packages = nixpkgs.lib.genAttrs variants packageFor // { - # `nix build .#clippy` from the module directory, which is what a person - # actually types; `checks` is what `nix flake check` walks. One derivation, - # two names for it. clippy = clippyFor lintedVariant; }; - # Lints this module's own crates with clippy-driver, on the very dependency - # derivations the package build already put on Cachix -- no dependency is - # compiled a second time. `runTests` defaults on, so this reaches test - # targets too, the way `cargo clippy --all-targets` did. checks.clippy = clippyFor lintedVariant; - # script needs to detect cuda/non-cuda to pick the right things to load. - # The toolchain has to come from here: this used to be entered from inside - # the nix/rust toolchain shell, and that shell is gone, so a devShell with - # only a shellHook would silently hand cargo/clippy back to whatever the - # host has on PATH. devShells.default = nixpkgs.legacyPackages.${system}.mkShellNoCC { packages = shared.rustTools; shellHook = '' diff --git a/dimos/mapping/ray_tracing/rust/Cargo.toml b/dimos/mapping/ray_tracing/rust/Cargo.toml index e3f2faba8d..aeab52447d 100644 --- a/dimos/mapping/ray_tracing/rust/Cargo.toml +++ b/dimos/mapping/ray_tracing/rust/Cargo.toml @@ -46,8 +46,6 @@ nalgebra = "0.35.0" [workspace] members = ["py"] -# Carried from the old root workspace. Cargo only honours a profile at the workspace -# root, so every module that is now its own root has to state it. [profile.release] lto = "thin" codegen-units = 1 diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index 76b20b3f10..1eee356a43 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -1,20 +1,7 @@ { description = "Voxel ray tracing native module for dimos"; - # The shared crates come in as a remote git input, not a relative path. A `path:..` - # input is unresolvable from a `path:.` build (`..` escapes the store path), and a - # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only - # form that survives this module moving into a repository of its own. It costs one - # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB a local ref copies, because a local ref reads the working tree and so - # picks up every smudged git-lfs blob under data/. inputs = { - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; @@ -31,15 +18,8 @@ in { packages.dimos-voxel-ray-tracing = shared.buildNativeModule module; - # Lints this module's own crates with clippy-driver, on the very dependency - # derivations the package build already put on Cachix -- no dependency is - # compiled a second time. `runTests` defaults on, so this reaches test - # targets too, the way `cargo clippy --all-targets` did. checks.clippy = shared.clippyNativeModule module; - # `nix build .#clippy` from the module directory, which is what a person - # actually types; `checks` is what `nix flake check` walks. One derivation, - # two names for it. packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; diff --git a/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml index 0595ee2921..cb714c0e27 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml +++ b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml @@ -48,8 +48,6 @@ rayon = "1" [workspace] members = ["py"] -# Carried from the old root workspace. Cargo only honours a profile at the workspace -# root, so every module that is now its own root has to state it. [profile.release] lto = "thin" codegen-units = 1 diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index 78ad51cb6b..7f6cbb9ff5 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -1,20 +1,7 @@ { description = "Multi-level surface path planner native module for dimos"; - # The shared crates come in as a remote git input, not a relative path. A `path:..` - # input is unresolvable from a `path:.` build (`..` escapes the store path), and a - # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only - # form that survives this module moving into a repository of its own. It costs one - # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB a local ref copies, because a local ref reads the working tree and so - # picks up every smudged git-lfs blob under data/. inputs = { - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; @@ -31,15 +18,8 @@ in { packages.dimos-mls-planner = shared.buildNativeModule module; - # Lints this module's own crates with clippy-driver, on the very dependency - # derivations the package build already put on Cachix -- no dependency is - # compiled a second time. `runTests` defaults on, so this reaches test - # targets too, the way `cargo clippy --all-targets` did. checks.clippy = shared.clippyNativeModule module; - # `nix build .#clippy` from the module directory, which is what a person - # actually types; `checks` is what `nix flake check` walks. One derivation, - # two names for it. packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; diff --git a/dimos/simulation/habitat/connection.py b/dimos/simulation/habitat/connection.py index bf82b48ccf..515bfa2736 100644 --- a/dimos/simulation/habitat/connection.py +++ b/dimos/simulation/habitat/connection.py @@ -36,18 +36,6 @@ 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") - # No auto-build. Every other native module builds with `nix build -L path:.#`; - # this one cannot, and pretending otherwise was the last `nix develop` hiding in a - # build_command. habitat-sim comes from the aihabitat conda channel, the install - # downloads a multi-gigabyte HM3D scene, and headless rendering needs the host's own - # EGL driver -- none of which a derivation can express, which is why - # dimos/simulation/habitat/nix/flake.nix offers a devShell and no package. - # - # Provision it once, by hand: - # cd dimos/simulation/habitat/nix && nix develop path:. -c ./install.sh - # - # That writes target/habitat/habitat-native, the executable above. Delete - # target/habitat/env to redo it. See docs/capabilities/navigation/habitat.md. build_command: str | None = None stdin_config: bool = True log_format: LogFormat = LogFormat.TEXT diff --git a/dimos/simulation/habitat/nix/flake.nix b/dimos/simulation/habitat/nix/flake.nix index 193f0ccd3e..928d6421cf 100644 --- a/dimos/simulation/habitat/nix/flake.nix +++ b/dimos/simulation/habitat/nix/flake.nix @@ -1,16 +1,6 @@ { description = "micromamba for the dimos Habitat native module"; - # Nothing here is built from the shared C++ SDK; the input is taken for the one - # thing every flake in this repository has to agree on, the nixpkgs revision. - # native/cpp is where it is chosen, so there is exactly one answer and no list of - # exceptions to keep correct. - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. 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"; diff --git a/examples/native-modules/cpp/flake.nix b/examples/native-modules/cpp/flake.nix index b008f49073..d20413bf64 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -5,11 +5,6 @@ zenoh.url = "github:jeff-hykin/zenoh_flake"; zenoh.inputs.nixpkgs.follows = "nixpkgs"; zenoh.inputs.flake-utils.follows = "flake-utils"; - # One nixpkgs for the whole C++ side. native/cpp is the single place the - # revision is chosen and every module follows it, rather than each module - # resolving `nixos-unstable` on its own clock. Independent resolution is - # exactly what left these modules on a February nixpkgs while the shared SDK - # had moved to September: two stdenvs, and no binary cache shared between them. nixpkgs.follows = "dimos-native-cpp/nixpkgs"; flake-utils.follows = "dimos-native-cpp/flake-utils"; lcm-extended = { @@ -27,15 +22,6 @@ url = "github:apolukhin/pfr_non_boost/2.3.2"; flake = false; }; - # The shared C++ SDK, as a remote ref rather than the bare path literal that used - # to climb three directories to reach native/cpp. Under the `path:.` build ref - # this example now uses, such a literal escapes the flake's store path. - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; }; @@ -50,8 +36,6 @@ packages.dimos-native-module-examples-cpp = pkgs.stdenv.mkDerivation { pname = "dimos-native-ping-pong"; version = "0.1.0"; - # Not `./.`: a bare directory hands nix the `result` symlink of the previous - # build, which changes this derivation's hash and loses the Cachix hit. src = dimos-native-cpp.lib.${system}.cleanModuleSource ./.; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; diff --git a/examples/native-modules/rust/Cargo.toml b/examples/native-modules/rust/Cargo.toml index c5cbed41c6..73354ab5aa 100644 --- a/examples/native-modules/rust/Cargo.toml +++ b/examples/native-modules/rust/Cargo.toml @@ -29,8 +29,6 @@ validator = { version = "0.21", features = ["derive"] } [workspace] -# Carried from the old root workspace. Cargo only honours a profile at the workspace -# root, so every module that is now its own root has to state it. [profile.release] lto = "thin" codegen-units = 1 diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index 0a01dd69c3..83fd5739f7 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -1,20 +1,7 @@ { description = "Example rust native modules for dimos"; - # The shared crates come in as a remote git input, not a relative path. A `path:..` - # input is unresolvable from a `path:.` build (`..` escapes the store path), and a - # relative `git+file:` is deprecated (nix#12281); the remote ref is also the only - # form that survives this module moving into a repository of its own. It costs one - # 25 MB store path, shared by every module locked to the same revision -- against - # the ~16 GB a local ref copies, because a local ref reads the working tree and so - # picks up every smudged git-lfs blob under data/. inputs = { - # NOTE: pinned to the branch that introduces native/{rust,cpp}/flake.nix, - # because the default branch does not have those files yet. Point it at - # `ref=main` once those land -- they are their own pull request, ahead of this - # one, so the window is short. Nobody has to remember: the test - # test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream goes red - # as soon as the shared flakes appear on the default branch. dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; flake-utils.follows = "dimos-native-rust/flake-utils"; }; @@ -31,15 +18,8 @@ in { packages.dimos-native-module-examples = shared.buildNativeModule module; - # Lints this module's own crates with clippy-driver, on the very dependency - # derivations the package build already put on Cachix -- no dependency is - # compiled a second time. `runTests` defaults on, so this reaches test - # targets too, the way `cargo clippy --all-targets` did. checks.clippy = shared.clippyNativeModule module; - # `nix build .#clippy` from the module directory, which is what a person - # actually types; `checks` is what `nix flake check` walks. One derivation, - # two names for it. packages.clippy = shared.clippyNativeModule module; devShells.default = dimos-native-rust.devShells.${system}.default; diff --git a/flake.nix b/flake.nix index 4216a99a1c..fe5aef516f 100644 --- a/flake.nix +++ b/flake.nix @@ -85,8 +85,6 @@ { vals.pkg=pkgs.uv; flags={}; } { vals.pkg=pkgs.pre-commit; flags={}; } - ### Rust (for ad-hoc cargo use in this shell; native modules build - ### through their own flakes, not this one) { vals.pkg=pkgs.cargo; flags={}; } { vals.pkg=pkgs.rustc; flags={}; } diff --git a/native/cpp/flake.nix b/native/cpp/flake.nix index 60d4f76e45..6d2b09480f 100644 --- a/native/cpp/flake.nix +++ b/native/cpp/flake.nix @@ -6,15 +6,6 @@ flake-utils.url = "github:numtide/flake-utils"; }; - # A header-only INTERFACE library that consumers `add_subdirectory` through - # `-DDIMOS_NATIVE_CPP_DIR=...`, so the useful output is the source tree itself - # rather than a built artifact. - # - # This exists as a flake so a module can take the SDK as an input instead of a - # bare path literal climbing six directories to reach it. Under the `path:.` refs the - # modules now use, such a literal escapes the module's store path and fails to - # resolve -- and when it did resolve, it resolved by copying the entire repository, - # git-lfs blobs included. outputs = { self, nixpkgs, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; in { @@ -23,13 +14,6 @@ chmod -R u+w $out ''; - # A C++ module is built with `nix build path:.#…` from its own directory, and a - # `path:` ref copies that directory whole -- so everything in it is part of the - # derivation hash. `result` is the trap: `nix build` writes that symlink itself, - # which means a module's second build hashes differently from its first and - # misses the binary cache forever after. Every C++ module therefore filters its - # source through this rather than passing `./.` raw. The rust side gets the same - # treatment inside `native/rust`'s `buildNativeModule`. lib.cleanModuleSource = src: pkgs.lib.cleanSourceWith { src = pkgs.lib.cleanSource src; filter = path: type: diff --git a/native/rust/dimos-module-macros/Cargo.toml b/native/rust/dimos-module-macros/Cargo.toml index 99f061128c..c3c8a0d217 100644 --- a/native/rust/dimos-module-macros/Cargo.toml +++ b/native/rust/dimos-module-macros/Cargo.toml @@ -5,9 +5,6 @@ edition = "2021" description = "Proc-macros for dimos-module" license = "Apache-2.0" -# Its own workspace root, not a member of one. `native/rust` is copied into every -# module's build sandbox crate-by-crate, where no parent workspace manifest exists, -# so anything else would resolve differently locally than it does in the build. [workspace] [lib] diff --git a/native/rust/dimos-module/Cargo.toml b/native/rust/dimos-module/Cargo.toml index 20c0de2a36..8eea9cc478 100644 --- a/native/rust/dimos-module/Cargo.toml +++ b/native/rust/dimos-module/Cargo.toml @@ -5,9 +5,6 @@ edition = "2021" description = "Rust native module SDK for dimos NativeModule framework" license = "Apache-2.0" -# Its own workspace root, not a member of one. `native/rust` is copied into every -# module's build sandbox crate-by-crate, where no parent workspace manifest exists, -# so anything else would resolve differently locally than it does in the build. [workspace] [dependencies] diff --git a/native/rust/flake.nix b/native/rust/flake.nix index a6ad85ef18..e599583b17 100644 --- a/native/rust/flake.nix +++ b/native/rust/flake.nix @@ -8,21 +8,12 @@ crate2nix.inputs.nixpkgs.follows = "nixpkgs"; }; - # Every rust native module takes this flake as its one and only in-repo input and - # follows its nixpkgs, so the whole repo resolves to a single nixpkgs revision - # instead of the seven it used to carry. Nothing here reaches back out at the - # repository: the crates below are the only dimos code a module is allowed to see. outputs = { self, nixpkgs, flake-utils, crate2nix }: let - # Tracked sources only. A module's `nix build` copies this whole tree into its - # sandbox, so an editor swap file or a stray target/ here would land in every - # module's derivation. sharedCrates = { "native/rust/dimos-module" = ./dimos-module; "native/rust/dimos-module-macros" = ./dimos-module-macros; }; - # The same two crates by cargo package name, which is how crate2nix keys its - # overrides. They are ours, so they get linted with the module's own crates. sharedCrateNames = [ "dimos-module" "dimos-module-macros" ]; in flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: @@ -31,14 +22,6 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; - # A module's build_command is `nix build path:.#…`, and a `path:` ref copies - # everything in the directory -- gitignored and untracked alike. Build output - # is therefore an input to the next build unless it is filtered here: without - # this, one `cargo build` in a module directory makes its next nix build a - # cache miss and drags 2+ GB of `target/` into the store. `__pycache__` is - # the same hazard in miniature: a module with python next to its crate grows - # one the moment anybody imports it. `cleanSource` already drops `.git`, - # editor backups and `result` symlinks. cleanModuleSource = src: pkgs.lib.cleanSourceWith { src = pkgs.lib.cleanSource src; filter = path: type: @@ -47,10 +30,6 @@ && (base == "target" || base == "build" || base == "__pycache__")); }; - # The tree a module's crate2nix build runs in: the module's own directory at - # the same relative path it occupies in the repository, plus the shared - # crates at theirs, so the relative `path = ` dependency on dimos-module - # in the module's Cargo.toml resolves without rewriting it. moduleSource = { name, path, src }: pkgs.runCommand "${name}-source" { } ( '' @@ -64,10 +43,6 @@ + "chmod -R u+w $out\n" ); - # crate2nix generates one derivation per crate. Called twice: once plainly, to - # learn which crate names are ours, and once with those crates overridden -- - # the override has to be in place before the graph is built, so the names - # cannot come from the graph it builds. moduleCrates = { name # the cargo package name, and the flake output name , path # the module's path within the repository @@ -81,11 +56,6 @@ src = moduleSource { inherit name path src; }; inherit cargoToml; }; - # `useClippy` has to be set in the crate's own arguments, not through - # crateOverrides: buildRustCrate reads it off the pre-override attrs - # (`crate_.useClippy or false`), while capLints and extraRustcOpts it - # reads after. Setting all three through the overrides therefore builds - # with plain rustc and passes -- which it silently did here once. callWith = lintThese: import generated { inherit pkgs; buildRustCrateForPkgs = cratePkgs: @@ -99,24 +69,12 @@ (builtins.elem crate.crateName lintThese) { useClippy = true; - # `--cap-lints` is a ceiling, not a floor. buildRustCrate's - # default of "allow" suppresses every lint including clippy's, - # and "warn" -- which the nixpkgs docs suggest -- caps them at - # warn, so `-D warnings` can never become an error and the - # derivation cannot fail. Only "forbid", the top of the scale, - # leaves the levels alone. Verified against a planted - # `clippy::ptr_arg`: under "warn" it printed the warning and - # exited 0; under "forbid" it fails the build. capLints = "forbid"; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; }); }; plain = callWith [ ]; - # crate2nix exposes `rootCrate` for a plain package and `workspaceMembers` - # for a workspace manifest. A module that carries a pyo3 `py/` member is the - # second kind even though it is one package to us, so accept both rather - # than making the caller know which shape its own Cargo.toml produces. buildOf = called: if called ? rootCrate then called.rootCrate.build @@ -128,69 +86,25 @@ ); in { package = buildOf plain; - # `runTests` is how crate2nix compiles the test targets -- without it the - # test code is never fed to clippy-driver and a lint that only fires in a - # #[test] reaches main. But crate2nix also *executes* what it compiles, - # and that is not what a lint check is for: livox's tests bind a - # non-loopback address, which the nix sandbox refuses, so the check failed - # on `AddrNotAvailable` rather than on any finding. `--list` makes libtest - # enumerate its tests and exit, so the targets are compiled and linted and - # nothing runs -- which is precisely what `cargo clippy --all-targets`, - # the command this replaces, already did. Running the tests stays the - # rust job's business. clippy = (buildOf (callWith firstParty)).override { runTests = true; testCrateFlags = [ "--list" ]; }; }; in { - # `buildNativeModule` is the whole convention: a module flake names itself, - # says where it sits in the repo, hands over its own directory, and gets a - # package back. crate2nix builds one derivation per crate, so the shared - # crates and every third-party dependency are built once and then substituted - # into every other module -- which a single buildRustPackage per module - # cannot do, because it vendors and compiles the whole graph privately. lib = { inherit moduleSource; - # Exported so a module devShell can extend the toolchain instead of - # restating it and drifting from it. inherit rustTools; - # The shell for a module that needs system libraries -- realsense links - # librealsense, and the clippy hook runs `cargo clippy` inside this shell, so - # a build script that probes pkg-config finds nothing without it. Takes a - # selector rather than a package list because a module flake has no nixpkgs of - # its own; this one is the single revision every module follows. devShellWith = select: pkgs.mkShell { packages = rustTools ++ select pkgs; }; buildNativeModule = args: (moduleCrates args).package; - # The same crate graph as `buildNativeModule`, compiled with clippy-driver - # instead of rustc -- but only for the crates we wrote. Third-party crates - # keep their ordinary derivation, so they are the very paths the module - # build already put on Cachix and none of them is compiled twice. - # - # This is what the pre-commit clippy hook cannot do: `cargo clippy` in a - # devShell has no view of the nix store and rebuilds all ~340 dependency - # crates per module, from scratch, on every CI run. - # - # `capLints = "warn"` is required: buildRustCrate's default of "allow" - # suppresses every lint, clippy's included, and `useClippy` alone would - # silently pass. Build scripts keep plain rustc -- clippy findings in a - # generated build.rs are not actionable. - # - # Reaches the same targets as `cargo clippy --all-targets`, test code - # included, and like that command it runs none of them. clippyNativeModule = args: (moduleCrates args).clippy; }; - # No `packages`: this flake ships source and a builder, not a binary. The - # crates here are libraries every module compiles into itself. - # The shell the pre-commit clippy hook runs in for crates that need nothing - # but a toolchain. A module with system libraries extends this in its own - # flake rather than adding them here. devShells.default = pkgs.mkShell { packages = rustTools; }; }); } From b29f59e5a6e8dd5d5a0484feea194f1a0e8e156d Mon Sep 17 00:00:00 2001 From: "autofix-ci[bot]" <114827586+autofix-ci[bot]@users.noreply.github.com> Date: Wed, 16 Sep 2026 23:16:47 +0000 Subject: [PATCH 72/97] [autofix.ci] apply automated fixes --- dimos/experimental/memory/rust/flake.lock | 6 +++--- dimos/hardware/sensors/camera/realsense/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/livox/cpp/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/livox/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/pointlio/rust/flake.lock | 6 +++--- dimos/hardware/sensors/lidar/virtual_mid360/flake.lock | 6 +++--- dimos/mapping/dim_slam/rust/flake.lock | 6 +++--- dimos/mapping/ray_tracing/rust/flake.lock | 6 +++--- dimos/navigation/nav_3d/mls_planner/rust/flake.lock | 6 +++--- dimos/simulation/habitat/nix/flake.lock | 6 +++--- examples/native-modules/cpp/flake.lock | 6 +++--- examples/native-modules/rust/flake.lock | 6 +++--- 14 files changed, 42 insertions(+), 42 deletions(-) diff --git a/dimos/experimental/memory/rust/flake.lock b/dimos/experimental/memory/rust/flake.lock index d7ff4d6b78..46635f13ff 100644 --- a/dimos/experimental/memory/rust/flake.lock +++ b/dimos/experimental/memory/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789582083, - "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "170d0bac5f7060478379b637621a606e5e918df0", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.lock b/dimos/hardware/sensors/camera/realsense/rust/flake.lock index 052bbc4128..9f2365e1d4 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.lock +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789582083, - "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "170d0bac5f7060478379b637621a606e5e918df0", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index 3ea8b8d6d2..f474983a16 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -24,11 +24,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789542527, - "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/livox/cpp/flake.lock b/dimos/hardware/sensors/lidar/livox/cpp/flake.lock index 9d41ad768a..73cffa93b4 100644 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/livox/cpp/flake.lock @@ -7,11 +7,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789542527, - "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.lock b/dimos/hardware/sensors/lidar/livox/rust/flake.lock index 052bbc4128..9f2365e1d4 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.lock +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789582083, - "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "170d0bac5f7060478379b637621a606e5e918df0", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index b5a21b9c20..51e895ed7d 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -24,11 +24,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789542527, - "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock index 052bbc4128..9f2365e1d4 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789582083, - "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "170d0bac5f7060478379b637621a606e5e918df0", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock index 052bbc4128..9f2365e1d4 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789582083, - "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "170d0bac5f7060478379b637621a606e5e918df0", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/mapping/dim_slam/rust/flake.lock b/dimos/mapping/dim_slam/rust/flake.lock index 1cf3fe3f85..cab4186974 100644 --- a/dimos/mapping/dim_slam/rust/flake.lock +++ b/dimos/mapping/dim_slam/rust/flake.lock @@ -108,11 +108,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789582083, - "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "170d0bac5f7060478379b637621a606e5e918df0", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/mapping/ray_tracing/rust/flake.lock b/dimos/mapping/ray_tracing/rust/flake.lock index 052bbc4128..9f2365e1d4 100644 --- a/dimos/mapping/ray_tracing/rust/flake.lock +++ b/dimos/mapping/ray_tracing/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789582083, - "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "170d0bac5f7060478379b637621a606e5e918df0", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock index 052bbc4128..9f2365e1d4 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789582083, - "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "170d0bac5f7060478379b637621a606e5e918df0", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/dimos/simulation/habitat/nix/flake.lock b/dimos/simulation/habitat/nix/flake.lock index c7958dd1bb..faadcd48a2 100644 --- a/dimos/simulation/habitat/nix/flake.lock +++ b/dimos/simulation/habitat/nix/flake.lock @@ -7,11 +7,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789542527, - "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock index e699839315..021aa3a555 100644 --- a/examples/native-modules/cpp/flake.lock +++ b/examples/native-modules/cpp/flake.lock @@ -24,11 +24,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789542527, - "narHash": "sha256-FP+LewMZB54n6MPdfwnM3oXZErK0q13S/94J9eDRECM=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "0bed970cb64764d6fcbaaf50b60ac2785d256de8", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { diff --git a/examples/native-modules/rust/flake.lock b/examples/native-modules/rust/flake.lock index 052bbc4128..9f2365e1d4 100644 --- a/examples/native-modules/rust/flake.lock +++ b/examples/native-modules/rust/flake.lock @@ -85,11 +85,11 @@ }, "locked": { "dir": "native/rust", - "lastModified": 1789582083, - "narHash": "sha256-MclPtOaXpbFRXbRKDQhp5CbPUcu06jO/aZzivn+OxMU=", + "lastModified": 1789600523, + "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "170d0bac5f7060478379b637621a606e5e918df0", + "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", "type": "github" }, "original": { From 787b3dee23999623622c49623737eca4fbc861b6 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 16:18:38 -0700 Subject: [PATCH 73/97] ci(autofix): one job, two minutes The relock is under a minute -- 2.6 s a module, all fourteen sharing one fetch, plus a six-second nix install -- so a separate job was more machinery than the work justified. It lives in lint now, guarded on native/{rust,cpp} changing, and lint goes 1 -> 2 minutes to fit it. --- .github/workflows/autofix.yml | 20 ++++---------------- 1 file changed, 4 insertions(+), 16 deletions(-) diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index 257b23f7e9..c88dd4a540 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -6,7 +6,7 @@ permissions: {} jobs: lint: - timeout-minutes: 1 + timeout-minutes: 2 runs-on: ubuntu-latest permissions: contents: read # For checkout @@ -16,6 +16,8 @@ jobs: steps: - name: Checkout uses: actions/checkout@v7 + with: + fetch-depth: 0 # the shared-flake check diffs against the PR base - name: Install uv uses: astral-sh/setup-uv@v10.0.1 with: @@ -31,20 +33,6 @@ jobs: - name: uv lock run: uv lock - - name: autofix.ci - uses: autofix-ci/action@v1 - - relock-shared-flakes: - timeout-minutes: 5 - runs-on: ubuntu-latest - permissions: - contents: read # For checkout - - steps: - - name: Checkout - uses: actions/checkout@v7 - with: - fetch-depth: 0 - name: Did native/{rust,cpp} change? id: shared run: | @@ -61,6 +49,6 @@ jobs: - 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 - if: steps.shared.outputs.changed == 'true' uses: autofix-ci/action@v1 From 8ac9a02cd4410df36d2a96f77ee2171831f86bf8 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 16:31:36 -0700 Subject: [PATCH 74/97] ci(autofix): relock the locks in parallel, and watch all of native/ Fourteen locks, each in its own directory, sharing no state -- so they update concurrently. Threads rather than processes: each one only waits on a `nix` subprocess. Measured over a real relock, warm both times: 9.78 s serially, 1.73 s with eight workers. The guard watches `native/` rather than naming rust and cpp, so a third SDK added there is covered without anyone remembering to update this. lint goes to 1.5 minutes: ruff and uv are about forty seconds, the relock now under two, and the nix install six. --- .github/workflows/autofix.yml | 6 +-- bin/relock-shared-flakes | 77 +++++++++++++++++++---------------- 2 files changed, 46 insertions(+), 37 deletions(-) diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index c88dd4a540..9925f320c4 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -6,7 +6,7 @@ permissions: {} jobs: lint: - timeout-minutes: 2 + timeout-minutes: 1.5 runs-on: ubuntu-latest permissions: contents: read # For checkout @@ -33,12 +33,12 @@ jobs: - name: uv lock run: uv lock - - name: Did native/{rust,cpp} change? + - name: Did native/ change? id: shared run: | set -euo pipefail base=${{ github.event.pull_request.base.sha }} - if git diff --quiet "$base"...HEAD -- native/rust native/cpp; then + if git diff --quiet "$base"...HEAD -- native; then echo "changed=false" >> "$GITHUB_OUTPUT" else echo "changed=true" >> "$GITHUB_OUTPUT" diff --git a/bin/relock-shared-flakes b/bin/relock-shared-flakes index d24bc40420..a947a21d2e 100755 --- a/bin/relock-shared-flakes +++ b/bin/relock-shared-flakes @@ -23,7 +23,9 @@ 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 @@ -71,42 +73,49 @@ def stale_inputs(lock: Path) -> list[str]: 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: - failed = 0 - touched = [] - for lock in sorted(REPO_ROOT.rglob("flake.lock")): - if ".git" in lock.parts: - continue - names = stale_inputs(lock) - if not names: - continue - before = lock.read_text() - for name in names: - proc = subprocess.run( - ["nix", "flake", "update", name], - cwd=lock.parent, - capture_output=True, - text=True, - check=False, - ) - where = lock.parent.relative_to(REPO_ROOT).as_posix() - if proc.returncode != 0: - print(f"FAIL {where}: {name}\n{proc.stderr}", file=sys.stderr) - failed += 1 - if lock.read_text() != before: - touched.append(lock.relative_to(REPO_ROOT).as_posix()) - if stale_inputs(lock): - print( - f"STILL STALE {lock.relative_to(REPO_ROOT).as_posix()}:" - " the revision holding this commit's shared tree is not on the remote." - " Push first -- a lock records a narHash of the fetched tree, so it" - " cannot name a commit nobody can fetch.", - file=sys.stderr, - ) - failed += 1 - - for path in touched: + locks = [l for l in sorted(REPO_ROOT.rglob("flake.lock")) if ".git" not in l.parts] + # Each lock is in its own directory and shares no state with the others. Threads + # rather than processes: every one of these just waits on a `nix` subprocess. + # Measured over fourteen locks: 9.78 s serially, 1.73 s with eight workers. + 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 From 8378fb164534f29afdda9e101d505f25e1f281bf Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 18:03:57 -0700 Subject: [PATCH 75/97] docs: put back the comments this branch did not write The strip took comments the diff called "added", and for a copied file the diff calls every line added -- so it removed other people's comments from the copies while leaving them in the originals. Three files that are meant to be verbatim copies stopped being verbatim. Restored 23 blocks, all authored by someone else: - livox's pipeline.rs comments in the pointlio and virtual_mid360 copies (Andrew Lauer, 8756af29cb) - the livox_common headers in fastlio2/cpp and pointlio/cpp, restored from dimos/hardware/sensors/lidar/common - the rapidjson and DEP_CUVSLAM_LIB_DIR explanations (Jeff Hykin, 2a430b55bd and 9748dfd751) wire.rs, pipeline.rs and pcap.rs are byte-identical across all three modules again, and the six livox_common headers match their source exactly. --- .github/workflows/autofix.yml | 7 ++++-- bin/relock-shared-flakes | 25 +++++++++++++++++-- .../sensors/lidar/fastlio2/cpp/flake.nix | 6 +++++ .../cpp/livox_common/estimator_pose.hpp | 3 +++ .../cpp/livox_common/livox_sdk_config.hpp | 23 +++++++++++++++++ .../cpp/livox_common/point_cloud_utils.hpp | 2 ++ .../sensors/lidar/pointlio/cpp/flake.nix | 6 +++++ .../cpp/livox_common/estimator_pose.hpp | 3 +++ .../cpp/livox_common/livox_sdk_config.hpp | 23 +++++++++++++++++ .../cpp/livox_common/point_cloud_utils.hpp | 2 ++ .../lidar/pointlio/rust/src/pipeline.rs | 4 +++ .../lidar/virtual_mid360/src/pipeline.rs | 4 +++ dimos/mapping/dim_slam/rust/flake.nix | 3 +++ 13 files changed, 107 insertions(+), 4 deletions(-) diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index 9925f320c4..a2893c76d1 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -16,8 +16,6 @@ jobs: steps: - name: Checkout uses: actions/checkout@v7 - with: - fetch-depth: 0 # the shared-flake check diffs against the PR base - name: Install uv uses: astral-sh/setup-uv@v10.0.1 with: @@ -38,6 +36,11 @@ jobs: run: | set -euo pipefail base=${{ github.event.pull_request.base.sha }} + # The checkout is shallow, so fetch just the base commit rather than the + # whole history: 0.9 s and 0.1 MB, against 9 s and 344 MB for the history. + # Not optional -- without the base, `git diff` fails and the `if` below + # reads that as "changed", installing nix on every PR. + git fetch --quiet --depth 1 origin "$base" if git diff --quiet "$base"...HEAD -- native; then echo "changed=false" >> "$GITHUB_OUTPUT" else diff --git a/bin/relock-shared-flakes b/bin/relock-shared-flakes index a947a21d2e..ed0357c482 100755 --- a/bin/relock-shared-flakes +++ b/bin/relock-shared-flakes @@ -37,8 +37,7 @@ REPO_ROOT = Path( ) -def tree_at(rev: str, subdir: str) -> str | None: - """The git tree hash of `subdir` at `rev`, or None if the revision is absent.""" +def _rev_parse(rev: str, subdir: str) -> str | None: proc = subprocess.run( ["git", "rev-parse", f"{rev}:{subdir}"], cwd=REPO_ROOT, @@ -49,6 +48,28 @@ def tree_at(rev: str, subdir: str) -> str | None: 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", {}) diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index e06a87d169..2c599736c6 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -94,6 +94,12 @@ --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' {} + ''; }; diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp index 9068c5f7c0..6ccc934717 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp @@ -10,6 +10,9 @@ 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; diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp index f5a0c9c28b..b0fe7dad1b 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp @@ -28,6 +28,8 @@ 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 @@ -44,6 +46,15 @@ struct SdkPorts { 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) { @@ -54,6 +65,9 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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"; @@ -78,6 +92,11 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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 @@ -118,6 +137,8 @@ inline std::pair write_sdk_config(const std::string& host_ip, #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 @@ -126,6 +147,8 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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, diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp index 21166822e1..1a9d43d213 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp @@ -37,6 +37,8 @@ inline std_msgs::Header make_header(const std::string& frame_id, double ts) { 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; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index dc5ed98051..b6f7b3cf22 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -93,6 +93,12 @@ --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' {} + ''; }; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp index 9068c5f7c0..6ccc934717 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp @@ -10,6 +10,9 @@ 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; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp index f5a0c9c28b..b0fe7dad1b 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp @@ -28,6 +28,8 @@ 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 @@ -44,6 +46,15 @@ struct SdkPorts { 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) { @@ -54,6 +65,9 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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"; @@ -78,6 +92,11 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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 @@ -118,6 +137,8 @@ inline std::pair write_sdk_config(const std::string& host_ip, #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 @@ -126,6 +147,8 @@ inline std::pair write_sdk_config(const std::string& host_ip, 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, diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp index 21166822e1..1a9d43d213 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp @@ -37,6 +37,8 @@ inline std_msgs::Header make_header(const std::string& frame_id, double ts) { 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; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs b/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs index 1595a5bdde..087b5650e9 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs +++ b/dimos/hardware/sensors/lidar/pointlio/rust/src/pipeline.rs @@ -110,6 +110,8 @@ impl FrameAssembler { 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, @@ -128,6 +130,8 @@ impl FrameAssembler { }; 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 { diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs b/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs index 1595a5bdde..087b5650e9 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs +++ b/dimos/hardware/sensors/lidar/virtual_mid360/src/pipeline.rs @@ -110,6 +110,8 @@ impl FrameAssembler { 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, @@ -128,6 +130,8 @@ impl FrameAssembler { }; 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 { diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index e6ae250245..b4051517a8 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -31,6 +31,9 @@ crateOverrides = _: { # 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"; }; }; }; From 998ea8608f9241e6480f53502b8591061c1eb838 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 18:29:44 -0700 Subject: [PATCH 76/97] build(nix): every rust module flake stands alone No shared nix tooling for rust. Each module flake brings its own nixpkgs and crate2nix, filters its own source, and builds its own clippy check. Nine flakes, 64 lines each, nothing in common but the shape. `dimos-module` is an ordinary git dependency now, so cargo fetches it like lcm-msgs or pointlio-core rather than nix assembling a tree where a relative path resolves. That deletes native/rust/flake.nix along with the whole class of problem it created: with no in-repo flake input, no lock can go stale against it. So bin/relock-shared-flakes, the autofix relock job, every module flake.lock and the five tests that policed those pins are all gone too. NOT verified beyond `nix-instantiate --parse` on all nine and one real build: ray_tracing builds green, fetching dimos-module from git inside the sandbox. Pushed early at Jeff's request so he can review the shape now. --- .github/workflows/autofix.yml | 23 +- bin/relock-shared-flakes | 146 ------- dimos/core/test_build_native_modules.py | 140 ------- dimos/experimental/memory/rust/Cargo.lock | 2 + dimos/experimental/memory/rust/Cargo.toml | 2 +- dimos/experimental/memory/rust/flake.lock | 341 ---------------- dimos/experimental/memory/rust/flake.nix | 93 +++-- .../sensors/camera/realsense/rust/Cargo.lock | 2 + .../sensors/camera/realsense/rust/Cargo.toml | 2 +- .../sensors/camera/realsense/rust/flake.lock | 337 ---------------- .../sensors/camera/realsense/rust/flake.nix | 85 ++-- .../sensors/lidar/livox/rust/Cargo.lock | 2 + .../sensors/lidar/livox/rust/Cargo.toml | 2 +- .../sensors/lidar/livox/rust/flake.lock | 337 ---------------- .../sensors/lidar/livox/rust/flake.nix | 64 ++- .../sensors/lidar/pointlio/rust/Cargo.lock | 2 + .../sensors/lidar/pointlio/rust/Cargo.toml | 2 +- .../sensors/lidar/pointlio/rust/flake.lock | 337 ---------------- .../sensors/lidar/pointlio/rust/flake.nix | 64 ++- .../sensors/lidar/virtual_mid360/Cargo.lock | 2 + .../sensors/lidar/virtual_mid360/Cargo.toml | 2 +- .../sensors/lidar/virtual_mid360/flake.lock | 337 ---------------- .../sensors/lidar/virtual_mid360/flake.nix | 66 +++- dimos/mapping/dim_slam/rust/Cargo.lock | 2 + dimos/mapping/dim_slam/rust/Cargo.toml | 2 +- dimos/mapping/dim_slam/rust/flake.lock | 365 ------------------ dimos/mapping/dim_slam/rust/flake.nix | 114 +++--- dimos/mapping/ray_tracing/rust/Cargo.lock | 2 + dimos/mapping/ray_tracing/rust/Cargo.toml | 2 +- dimos/mapping/ray_tracing/rust/flake.lock | 48 +-- dimos/mapping/ray_tracing/rust/flake.nix | 63 ++- .../nav_3d/mls_planner/rust/Cargo.lock | 2 + .../nav_3d/mls_planner/rust/Cargo.toml | 2 +- .../nav_3d/mls_planner/rust/flake.lock | 337 ---------------- .../nav_3d/mls_planner/rust/flake.nix | 66 +++- examples/native-modules/rust/Cargo.lock | 2 + examples/native-modules/rust/Cargo.toml | 2 +- examples/native-modules/rust/flake.lock | 337 ---------------- examples/native-modules/rust/flake.nix | 66 +++- native/rust/flake.lock | 301 --------------- native/rust/flake.nix | 110 ------ 41 files changed, 522 insertions(+), 3691 deletions(-) delete mode 100755 bin/relock-shared-flakes delete mode 100644 dimos/experimental/memory/rust/flake.lock delete mode 100644 dimos/hardware/sensors/camera/realsense/rust/flake.lock delete mode 100644 dimos/hardware/sensors/lidar/livox/rust/flake.lock delete mode 100644 dimos/hardware/sensors/lidar/pointlio/rust/flake.lock delete mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/flake.lock delete mode 100644 dimos/mapping/dim_slam/rust/flake.lock delete mode 100644 dimos/navigation/nav_3d/mls_planner/rust/flake.lock delete mode 100644 examples/native-modules/rust/flake.lock delete mode 100644 native/rust/flake.lock delete mode 100644 native/rust/flake.nix diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index a2893c76d1..761fa78492 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -6,7 +6,7 @@ permissions: {} jobs: lint: - timeout-minutes: 1.5 + timeout-minutes: 1 runs-on: ubuntu-latest permissions: contents: read # For checkout @@ -31,27 +31,6 @@ jobs: - name: uv lock run: uv lock - - name: Did native/ change? - id: shared - run: | - set -euo pipefail - base=${{ github.event.pull_request.base.sha }} - # The checkout is shallow, so fetch just the base commit rather than the - # whole history: 0.9 s and 0.1 MB, against 9 s and 344 MB for the history. - # Not optional -- without the base, `git diff` fails and the `if` below - # reads that as "changed", installing nix on every PR. - git fetch --quiet --depth 1 origin "$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/bin/relock-shared-flakes b/bin/relock-shared-flakes deleted file mode 100755 index ed0357c482..0000000000 --- a/bin/relock-shared-flakes +++ /dev/null @@ -1,146 +0,0 @@ -#!/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] - # Each lock is in its own directory and shares no state with the others. Threads - # rather than processes: every one of these just waits on a `nix` subprocess. - # Measured over fourteen locks: 9.78 s serially, 1.73 s with eight workers. - 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/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index f794c1800d..e608f11e40 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -309,54 +309,6 @@ def _default_branch_has_shared_flakes() -> bool: @pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to read refs") -def test_in_repo_flake_inputs_name_only_main_or_the_bootstrap_branch() -> None: - """No module may take its shared input from a third branch. - - A module's one in-repo input is the shared crate tree. Pointing it at an - arbitrary branch freezes that module on somebody's work in progress, and at a ref - that can be deleted out from under every checkout -- which is exactly what happens - when the branch's pull request is closed. - - Only two refs are legitimate: `main`, which is the answer, and the branch that - first adds the shared flakes, which is unavoidable because those files do not - exist on `main` until it merges. Anything else fails here. - """ - allowed = {_DEFAULT_BRANCH, None} | _current_branch_names() - wrong = { - flake: [ref for ref in refs if ref not in allowed] - for flake, refs in _in_repo_input_refs().items() - } - wrong = {flake: refs for flake, refs in wrong.items() if refs} - assert not wrong, ( - "these flakes take the shared dimos input from a branch that is neither " - f"{_DEFAULT_BRANCH!r} nor this branch: {wrong} -- point them at " - f"`ref={_DEFAULT_BRANCH}`" - ) - - -@pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to read refs") -def test_shared_flake_inputs_are_pinned_to_main_once_they_exist_upstream() -> None: - """Once the shared flakes are on `main`, every module input must name `main`. - - The branch-pinned form exists purely to bootstrap the change that first adds those - flakes. Left behind, it freezes every module on one commit of a branch that may be - deleted -- and a deleted branch takes every module's build with it. This test goes - red the moment that bootstrap window closes, so nobody has to remember. - """ - if not _default_branch_has_shared_flakes(): - pytest.skip( - f"shared flakes are not on {_DEFAULT_BRANCH} yet; the branch pin is the bootstrap" - ) - not_main = { - flake: refs - for flake, refs in _in_repo_input_refs().items() - if any(ref != _DEFAULT_BRANCH for ref in refs) - } - assert not not_main, ( - f"the shared flakes are on {_DEFAULT_BRANCH} now, so these must name " - f"`ref={_DEFAULT_BRANCH}`: {not_main}" - ) - def _locked_in_repo_inputs() -> dict[str, list[tuple[str, str]]]: """flake.lock path -> the (rev, dir) of each in-repo input it pins.""" @@ -399,40 +351,6 @@ def read() -> str | None: @pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to read refs") -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 _resolve(nodes: dict, node: str, name: str) -> str | None: """The node `name` refers to from `node`, resolving a `follows` path from root.""" @@ -479,66 +397,8 @@ def _build_nixpkgs_revs(lock: Path) -> set[str]: @pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs a git checkout to find the locks") -def test_every_module_flake_builds_against_one_nixpkgs() -> None: - """One nixpkgs revision across every module flake. - - A flake that resolves `nixos-unstable` itself picks whatever the channel held on - the day somebody last ran `nix flake lock` in that directory, so the flakes drift - apart silently -- the C++ modules sat on a February nixpkgs while the shared SDK - had moved to September. Two revisions means two stdenvs, and a derivation built - under one is not the derivation built under the other: nothing between them is - shared, in the store or in cachix, no matter how identical the source. - - The fix each flake carries is to follow the shared flake rather than declare its - own, and this is the test that says so. - - The flake at the repository root is deliberately out of scope. It builds no - module -- it is the development shell and the container image -- and it shares - nothing with a module build but the base stdenv, so moving it is a change to the - environment everyone works in rather than a cache fix. Worth doing on its own - terms, not as a side effect of this one. - """ - per_flake = { - lock.parent.relative_to(DIMOS_PROJECT_ROOT).as_posix(): _build_nixpkgs_revs(lock) - for lock in DIMOS_PROJECT_ROOT.rglob("flake.lock") - if ".git" not in lock.parts and lock.parent != DIMOS_PROJECT_ROOT - } - revs = set().union(*per_flake.values()) if per_flake else set() - assert len(revs) <= 1, ( - "these flakes do not agree on a nixpkgs revision, so they share no build " - f"cache: { {flake: sorted(r[:10] for r in got) for flake, got in per_flake.items()} } " - '-- give the odd ones out `nixpkgs.follows = "dimos-native-cpp/nixpkgs"` ' - "(or `dimos-native-rust/nixpkgs`) instead of a `nixpkgs.url` of their own" - ) -def test_tooling_nixpkgs_is_not_counted_as_a_divergence(tmp_path: Path) -> None: - """The negative control for the walk above, in both directions. - - A nixpkgs reached only through a tooling input is invisible to it, and a nixpkgs - reached through a build edge is not -- otherwise the test above would pass by - seeing nothing at all. - """ - lock = tmp_path / "flake.lock" - tooling = { - "nodes": { - "root": {"inputs": {"nixpkgs": "pkgs", "crate2nix": "crate2nix"}}, - "pkgs": {"locked": {"owner": "NixOS", "repo": "nixpkgs", "rev": "a" * 40}}, - "crate2nix": {"inputs": {"cachix": "cachix"}}, - "cachix": {"inputs": {"nixpkgs": "old"}}, - "old": {"locked": {"owner": "NixOS", "repo": "nixpkgs", "rev": "b" * 40}}, - } - } - lock.write_text(json.dumps(tooling)) - assert _build_nixpkgs_revs(lock) == {"a" * 40} - - tooling["nodes"]["root"]["inputs"]["dimos-native-cpp"] = "shared" - tooling["nodes"]["shared"] = {"inputs": {"nixpkgs": "old"}} - lock.write_text(json.dumps(tooling)) - assert _build_nixpkgs_revs(lock) == {"a" * 40, "b" * 40} - - -@pytest.mark.skipif(not _IN_GIT_CHECKOUT, reason="needs git HEAD for object hashes") def test_manifest_is_deterministic() -> None: modules = _SCRIPT.discover() manifest = _SCRIPT.build_manifest(modules) diff --git a/dimos/experimental/memory/rust/Cargo.lock b/dimos/experimental/memory/rust/Cargo.lock index 118af3e71a..f2a0a76426 100644 --- a/dimos/experimental/memory/rust/Cargo.lock +++ b/dimos/experimental/memory/rust/Cargo.lock @@ -689,6 +689,7 @@ 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", @@ -708,6 +709,7 @@ 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/experimental/memory/rust/Cargo.toml b/dimos/experimental/memory/rust/Cargo.toml index d2247133ba..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"] } diff --git a/dimos/experimental/memory/rust/flake.lock b/dimos/experimental/memory/rust/flake.lock deleted file mode 100644 index 46635f13ff..0000000000 --- a/dimos/experimental/memory/rust/flake.lock +++ /dev/null @@ -1,341 +0,0 @@ -{ - "nodes": { - "cachix": { - "inputs": { - "devenv": [ - "dimos-native-rust", - "crate2nix" - ], - "flake-compat": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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" - } - }, - "dimos-native-rust": { - "inputs": { - "crate2nix": "crate2nix", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" - }, - "locked": { - "dir": "native/rust", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "type": "github" - }, - "original": { - "dir": "native/rust", - "owner": "dimensionalOS", - "ref": "jeff/fix/native_build_cargo_path", - "repo": "dimos", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "crate2nix", - "cachix", - "flake-compat" - ], - "gitignore": "gitignore", - "nixpkgs": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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-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": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "pre-commit-hooks": { - "inputs": { - "flake-compat": [ - "dimos-native-rust", - "crate2nix", - "flake-compat" - ], - "gitignore": "gitignore_2", - "nixpkgs": [ - "dimos-native-rust", - "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": { - "dimos-native-rust": "dimos-native-rust", - "flake-utils": [ - "dimos-native-rust", - "flake-utils" - ], - "nixpkgs": [ - "dimos-native-rust", - "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" - } - } - }, - "root": "root", - "version": 7 -} diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index cf0fcd7924..81643cf53d 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -1,44 +1,79 @@ { - description = "Native Memory2 SQLite and MCAP recorder for dimos"; + description = "Memory recorder native module for dimos"; inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; - flake-utils.follows = "dimos-native-rust/flake-utils"; - nixpkgs.follows = "dimos-native-rust/nixpkgs"; + 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, dimos-native-rust, flake-utils }: + outputs = { self, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let - shared = dimos-native-rust.lib.${system}; - pkgsFor = nixpkgs.legacyPackages.${system}; - module = { - name = "dimos-memory-recorder"; - path = "dimos/experimental/memory/rust"; - src = ./.; - crateOverrides = pkgs: { - libsqlite3-sys = _: { - buildInputs = [ pkgs.sqlite ]; - nativeBuildInputs = [ pkgs.pkg-config ]; - LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; - }; - turbojpeg-sys = _: { - nativeBuildInputs = [ pkgs.cmake pkgs.nasm ]; - dontUseCmakeConfigure = true; - }; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-memory-recorder"; + + src = pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource ./.; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); + }; + + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + # sqlite and the turbojpeg encoder are C libraries; crate2nix builds each + # crate on its own, so the -sys crates name what they link rather than the + # whole package doing it once. + sysOverrides = { + libsqlite3-sys = _: { + buildInputs = [ pkgs.sqlite ]; + nativeBuildInputs = [ pkgs.pkg-config ]; + LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; + }; + # turbojpeg-sys vendors libjpeg-turbo and drives cmake from its own build + # script. dontUseCmakeConfigure stops nixpkgs' cmake setup hook from *also* + # configuring the crate root, which has no CMakeLists.txt. + turbojpeg-sys = _: { + nativeBuildInputs = [ pkgs.cmake pkgs.nasm ]; + dontUseCmakeConfigure = true; }; }; - in { - packages.dimos-memory-recorder = shared.buildNativeModule module; - checks.clippy = shared.clippyNativeModule module; + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = lint: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: + let build = cratePkgs.buildRustCrate.override { + defaultCrateOverrides = cratePkgs.defaultCrateOverrides // sysOverrides; + }; + in crate: build (crate // pkgs.lib.optionalAttrs + (lint && builtins.elem crate.crateName ours) + { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); + }; + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; - packages.clippy = shared.clippyNativeModule module; + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.${name} = buildOf (callWith false); + packages.clippy = (buildOf (callWith true)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.clippy = self.packages.${system}.clippy; - devShells.default = pkgsFor.mkShell { - packages = shared.rustTools - ++ [ pkgsFor.cmake pkgsFor.nasm pkgsFor.pkg-config pkgsFor.sqlite pkgsFor.sqlite.dev ] - ++ pkgsFor.lib.optionals pkgsFor.stdenv.hostPlatform.isDarwin [ pkgsFor.libiconv ]; + 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"; }; }); 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 deleted file mode 100644 index 9f2365e1d4..0000000000 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.lock +++ /dev/null @@ -1,337 +0,0 @@ -{ - "nodes": { - "cachix": { - "inputs": { - "devenv": [ - "dimos-native-rust", - "crate2nix" - ], - "flake-compat": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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" - } - }, - "dimos-native-rust": { - "inputs": { - "crate2nix": "crate2nix", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" - }, - "locked": { - "dir": "native/rust", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "type": "github" - }, - "original": { - "dir": "native/rust", - "owner": "dimensionalOS", - "ref": "jeff/fix/native_build_cargo_path", - "repo": "dimos", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "crate2nix", - "cachix", - "flake-compat" - ], - "gitignore": "gitignore", - "nixpkgs": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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-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": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "pre-commit-hooks": { - "inputs": { - "flake-compat": [ - "dimos-native-rust", - "crate2nix", - "flake-compat" - ], - "gitignore": "gitignore_2", - "nixpkgs": [ - "dimos-native-rust", - "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": { - "dimos-native-rust": "dimos-native-rust", - "flake-utils": [ - "dimos-native-rust", - "flake-utils" - ] - } - }, - "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/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index b17c958923..fdb34dcfcd 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -1,38 +1,73 @@ { - description = "RealSense D4xx camera native module for dimos"; + description = "RealSense camera native module for dimos"; inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; - flake-utils.follows = "dimos-native-rust/flake-utils"; + 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, dimos-native-rust, flake-utils }: + # Linux only: librealsense pulls v4l-utils, which nixpkgs will not evaluate on + # darwin. Declaring darwin anyway is what main did, and `nix develop` there fails. + outputs = { self, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" ] (system: let - shared = dimos-native-rust.lib.${system}; - module = { - name = "dimos-realsense"; - path = "dimos/hardware/sensors/camera/realsense/rust"; - src = ./.; - crateOverrides = pkgs: - let - needsLibrealsense = _: { - buildInputs = [ pkgs.librealsense ]; - nativeBuildInputs = [ pkgs.pkg-config ]; - }; - in - { - realsense-sys = needsLibrealsense; - dimos-realsense = needsLibrealsense; - }; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-realsense"; + + src = pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource ./.; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); }; - in { - packages.dimos-realsense = shared.buildNativeModule module; - checks.clippy = shared.clippyNativeModule module; + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - packages.clippy = shared.clippyNativeModule module; + # Both crates run pkg-config against librealsense2: realsense-sys to generate + # its bindings, and this module's own build.rs to turn the result into an + # rpath. crate2nix builds each crate in its own sandbox, so the inputs have to + # be declared for each of them. + needsLibrealsense = _: { + buildInputs = [ pkgs.librealsense ]; + nativeBuildInputs = [ pkgs.pkg-config ]; + }; + sysOverrides = { + realsense-sys = needsLibrealsense; + dimos-realsense = needsLibrealsense; + }; - devShells.default = shared.devShellWith (pkgs: [ pkgs.librealsense pkgs.pkg-config ]); + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = lint: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: + let build = cratePkgs.buildRustCrate.override { + defaultCrateOverrides = cratePkgs.defaultCrateOverrides // sysOverrides; + }; + in crate: build (crate // pkgs.lib.optionalAttrs + (lint && builtins.elem crate.crateName ours) + { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); + }; + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + in { + packages.${name} = buildOf (callWith false); + packages.clippy = (buildOf (callWith true)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.clippy = self.packages.${system}.clippy; + + 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/livox/rust/Cargo.lock b/dimos/hardware/sensors/lidar/livox/rust/Cargo.lock index 3388d485fe..df2188f5f6 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/Cargo.lock +++ b/dimos/hardware/sensors/lidar/livox/rust/Cargo.lock @@ -637,6 +637,7 @@ 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", @@ -656,6 +657,7 @@ 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/lidar/livox/rust/Cargo.toml b/dimos/hardware/sensors/lidar/livox/rust/Cargo.toml index 53f887ab85..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" diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.lock b/dimos/hardware/sensors/lidar/livox/rust/flake.lock deleted file mode 100644 index 9f2365e1d4..0000000000 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.lock +++ /dev/null @@ -1,337 +0,0 @@ -{ - "nodes": { - "cachix": { - "inputs": { - "devenv": [ - "dimos-native-rust", - "crate2nix" - ], - "flake-compat": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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" - } - }, - "dimos-native-rust": { - "inputs": { - "crate2nix": "crate2nix", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" - }, - "locked": { - "dir": "native/rust", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "type": "github" - }, - "original": { - "dir": "native/rust", - "owner": "dimensionalOS", - "ref": "jeff/fix/native_build_cargo_path", - "repo": "dimos", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "crate2nix", - "cachix", - "flake-compat" - ], - "gitignore": "gitignore", - "nixpkgs": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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-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": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "pre-commit-hooks": { - "inputs": { - "flake-compat": [ - "dimos-native-rust", - "crate2nix", - "flake-compat" - ], - "gitignore": "gitignore_2", - "nixpkgs": [ - "dimos-native-rust", - "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": { - "dimos-native-rust": "dimos-native-rust", - "flake-utils": [ - "dimos-native-rust", - "flake-utils" - ] - } - }, - "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 index 32e61bf38d..89f4a2d9b3 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -2,26 +2,64 @@ description = "Livox Mid-360 native module for dimos"; inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; - flake-utils.follows = "dimos-native-rust/flake-utils"; + 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, dimos-native-rust, flake-utils }: + outputs = { self, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let - shared = dimos-native-rust.lib.${system}; - module = { - name = "dimos-livox"; - path = "dimos/hardware/sensors/lidar/livox/rust"; - src = ./.; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-livox"; + + # `nix build path:.#…` copies this directory wholesale, gitignored output + # included, so build output has to be filtered out or it lands in the + # derivation. + src = pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource ./.; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); }; - in { - packages.dimos-livox = shared.buildNativeModule module; - checks.clippy = shared.clippyNativeModule module; + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + # Our own crates compile with clippy-driver; everything else keeps its + # ordinary derivation, so no dependency is built twice. capLints must be + # "forbid": it is a ceiling, and the default "allow" suppresses every lint. + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = lint: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (lint && builtins.elem crate.crateName ours) + { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.${name} = buildOf (callWith false); - packages.clippy = shared.clippyNativeModule module; + # `runTests` is how crate2nix compiles test targets; `--list` makes the + # binary enumerate and exit, so they are linted without being run -- + # exactly what `cargo clippy --all-targets` did. + packages.clippy = (buildOf (callWith true)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.clippy = self.packages.${system}.clippy; - devShells.default = dimos-native-rust.devShells.${system}.default; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock index 98be6c6ee9..37cec362bb 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock +++ b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.lock @@ -619,6 +619,7 @@ 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", @@ -638,6 +639,7 @@ 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/lidar/pointlio/rust/Cargo.toml b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml index db95521100..85c1b1f124 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml +++ b/dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml @@ -35,7 +35,7 @@ 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" diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock deleted file mode 100644 index 9f2365e1d4..0000000000 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock +++ /dev/null @@ -1,337 +0,0 @@ -{ - "nodes": { - "cachix": { - "inputs": { - "devenv": [ - "dimos-native-rust", - "crate2nix" - ], - "flake-compat": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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" - } - }, - "dimos-native-rust": { - "inputs": { - "crate2nix": "crate2nix", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" - }, - "locked": { - "dir": "native/rust", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "type": "github" - }, - "original": { - "dir": "native/rust", - "owner": "dimensionalOS", - "ref": "jeff/fix/native_build_cargo_path", - "repo": "dimos", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "crate2nix", - "cachix", - "flake-compat" - ], - "gitignore": "gitignore", - "nixpkgs": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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-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": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "pre-commit-hooks": { - "inputs": { - "flake-compat": [ - "dimos-native-rust", - "crate2nix", - "flake-compat" - ], - "gitignore": "gitignore_2", - "nixpkgs": [ - "dimos-native-rust", - "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": { - "dimos-native-rust": "dimos-native-rust", - "flake-utils": [ - "dimos-native-rust", - "flake-utils" - ] - } - }, - "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 index 0e6163edda..7c1785affc 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -2,26 +2,64 @@ description = "Point-LIO native module for dimos"; inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; - flake-utils.follows = "dimos-native-rust/flake-utils"; + 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, dimos-native-rust, flake-utils }: + outputs = { self, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let - shared = dimos-native-rust.lib.${system}; - module = { - name = "dimos-pointlio"; - path = "dimos/hardware/sensors/lidar/pointlio/rust"; - src = ./.; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-pointlio"; + + # `nix build path:.#…` copies this directory wholesale, gitignored output + # included, so build output has to be filtered out or it lands in the + # derivation. + src = pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource ./.; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); }; - in { - packages.dimos-pointlio = shared.buildNativeModule module; - checks.clippy = shared.clippyNativeModule module; + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + # Our own crates compile with clippy-driver; everything else keeps its + # ordinary derivation, so no dependency is built twice. capLints must be + # "forbid": it is a ceiling, and the default "allow" suppresses every lint. + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = lint: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (lint && builtins.elem crate.crateName ours) + { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.${name} = buildOf (callWith false); - packages.clippy = shared.clippyNativeModule module; + # `runTests` is how crate2nix compiles test targets; `--list` makes the + # binary enumerate and exit, so they are linted without being run -- + # exactly what `cargo clippy --all-targets` did. + packages.clippy = (buildOf (callWith true)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.clippy = self.packages.${system}.clippy; - devShells.default = dimos-native-rust.devShells.${system}.default; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock index 071543f0d6..189acf96a7 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock +++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.lock @@ -619,6 +619,7 @@ 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", @@ -638,6 +639,7 @@ 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/lidar/virtual_mid360/Cargo.toml b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml index 6b44eb8aa9..879485f6c8 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml +++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml @@ -12,7 +12,7 @@ path = "src/main.rs" crc = "3" etherparse = "0.21.0" pcap-parser = "0.17.0" -dimos-module = { path = "../../../../../native/rust/dimos-module" } +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" diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock b/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock deleted file mode 100644 index 9f2365e1d4..0000000000 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.lock +++ /dev/null @@ -1,337 +0,0 @@ -{ - "nodes": { - "cachix": { - "inputs": { - "devenv": [ - "dimos-native-rust", - "crate2nix" - ], - "flake-compat": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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" - } - }, - "dimos-native-rust": { - "inputs": { - "crate2nix": "crate2nix", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" - }, - "locked": { - "dir": "native/rust", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "type": "github" - }, - "original": { - "dir": "native/rust", - "owner": "dimensionalOS", - "ref": "jeff/fix/native_build_cargo_path", - "repo": "dimos", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "crate2nix", - "cachix", - "flake-compat" - ], - "gitignore": "gitignore", - "nixpkgs": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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-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": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "pre-commit-hooks": { - "inputs": { - "flake-compat": [ - "dimos-native-rust", - "crate2nix", - "flake-compat" - ], - "gitignore": "gitignore_2", - "nixpkgs": [ - "dimos-native-rust", - "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": { - "dimos-native-rust": "dimos-native-rust", - "flake-utils": [ - "dimos-native-rust", - "flake-utils" - ] - } - }, - "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 index bf67bbac37..e480b6c8a6 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -1,27 +1,65 @@ { - description = "Virtual Livox Mid-360 pcap replay native module for dimos"; + description = "Virtual Mid-360 native module for dimos"; inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; - flake-utils.follows = "dimos-native-rust/flake-utils"; + 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, dimos-native-rust, flake-utils }: + outputs = { self, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let - shared = dimos-native-rust.lib.${system}; - module = { - name = "dimos-virtual-mid360"; - path = "dimos/hardware/sensors/lidar/virtual_mid360"; - src = ./.; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-virtual-mid360"; + + # `nix build path:.#…` copies this directory wholesale, gitignored output + # included, so build output has to be filtered out or it lands in the + # derivation. + src = pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource ./.; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); }; - in { - packages.dimos-virtual-mid360 = shared.buildNativeModule module; - checks.clippy = shared.clippyNativeModule module; + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + # Our own crates compile with clippy-driver; everything else keeps its + # ordinary derivation, so no dependency is built twice. capLints must be + # "forbid": it is a ceiling, and the default "allow" suppresses every lint. + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = lint: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (lint && builtins.elem crate.crateName ours) + { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.${name} = buildOf (callWith false); - packages.clippy = shared.clippyNativeModule module; + # `runTests` is how crate2nix compiles test targets; `--list` makes the + # binary enumerate and exit, so they are linted without being run -- + # exactly what `cargo clippy --all-targets` did. + packages.clippy = (buildOf (callWith true)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.clippy = self.packages.${system}.clippy; - devShells.default = dimos-native-rust.devShells.${system}.default; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } 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 deleted file mode 100644 index cab4186974..0000000000 --- a/dimos/mapping/dim_slam/rust/flake.lock +++ /dev/null @@ -1,365 +0,0 @@ -{ - "nodes": { - "cachix": { - "inputs": { - "devenv": [ - "dimos-native-rust", - "crate2nix" - ], - "flake-compat": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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" - } - }, - "cu-vslam-rs": { - "inputs": { - "flake-utils": [ - "flake-utils" - ], - "nixpkgs": [ - "nixpkgs" - ] - }, - "locked": { - "lastModified": 1787890856, - "narHash": "sha256-3dsQXz4xx54uKzAZfuxnZwo9R+l+VKFdjHVN1W7twGE=", - "owner": "jeff-hykin", - "repo": "cu_vslam_rs", - "rev": "54b8c88762ae28e3d6165962b54503b28e328e7c", - "type": "github" - }, - "original": { - "owner": "jeff-hykin", - "repo": "cu_vslam_rs", - "type": "github" - } - }, - "devshell": { - "inputs": { - "nixpkgs": [ - "dimos-native-rust", - "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" - } - }, - "dimos-native-rust": { - "inputs": { - "crate2nix": "crate2nix", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" - }, - "locked": { - "dir": "native/rust", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "type": "github" - }, - "original": { - "dir": "native/rust", - "owner": "dimensionalOS", - "ref": "jeff/fix/native_build_cargo_path", - "repo": "dimos", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "crate2nix", - "cachix", - "flake-compat" - ], - "gitignore": "gitignore", - "nixpkgs": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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-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": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "pre-commit-hooks": { - "inputs": { - "flake-compat": [ - "dimos-native-rust", - "crate2nix", - "flake-compat" - ], - "gitignore": "gitignore_2", - "nixpkgs": [ - "dimos-native-rust", - "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": { - "cu-vslam-rs": "cu-vslam-rs", - "dimos-native-rust": "dimos-native-rust", - "flake-utils": [ - "dimos-native-rust", - "flake-utils" - ], - "nixpkgs": [ - "dimos-native-rust", - "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" - } - } - }, - "root": "root", - "version": 7 -} diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index b4051517a8..d76f5dfbd1 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -2,82 +2,80 @@ description = "dimSLAM native module for DimOS: the dim_slam library behind an LCM wrapper"; inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; - flake-utils.follows = "dimos-native-rust/flake-utils"; - nixpkgs.follows = "dimos-native-rust/nixpkgs"; + 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"; }; - outputs = { self, nixpkgs, flake-utils, cu-vslam-rs, dimos-native-rust }: - # Not eachDefaultSystem: nixpkgs 26.11 dropped x86_64-darwin, and merely naming - # it is an eval error. + # Not eachDefaultSystem: nixpkgs 26.11 dropped x86_64-darwin, and merely naming it + # is an eval error. + outputs = { self, nixpkgs, flake-utils, crate2nix, cu-vslam-rs }: flake-utils.lib.eachSystem [ "aarch64-darwin" "aarch64-linux" "x86_64-linux" ] (system: let - shared = dimos-native-rust.lib.${system}; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dim-slam-module"; + + src = pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource ./.; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); + }; + + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; sdkPackages = nixpkgs.lib.filterAttrs - (name: _: nixpkgs.lib.hasPrefix "sdk-" name) + (n: _: nixpkgs.lib.hasPrefix "sdk-" n) cu-vslam-rs.packages.${system}; variants = map (nixpkgs.lib.removePrefix "sdk-") (builtins.attrNames sdkPackages); - moduleFor = variant: + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = variant: lint: let sdkPackage = sdkPackages."sdk-${variant}"; in - { - name = "dim-slam-module"; - path = "dimos/mapping/dim_slam/rust"; - src = ./.; - crateOverrides = _: { - # 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 = "${sdkPackage}/lib"; }; - }; + import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: + let build = cratePkgs.buildRustCrate.override { + defaultCrateOverrides = cratePkgs.defaultCrateOverrides // { + # cu_vslam_rs's build.rs compiles its shim against this SDK. + cu_vslam_rs = _: { CUVSLAM_SDK_DIR = sdkPackage; }; + # buildRustCrate names DEP_ vars after the crate, cargo after the + # `links` key, so cu_vslam_rs's lib_dir never reaches our build.rs + # and the binary comes out with no rpath for libcuvslam. + dim-slam-module = _: { DEP_CUVSLAM_LIB_DIR = "${sdkPackage}/lib"; }; + }; + }; + in crate: build (crate // pkgs.lib.optionalAttrs + (lint && builtins.elem crate.crateName ours) + { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); }; - packageFor = variant: shared.buildNativeModule (moduleFor variant); - clippyFor = variant: shared.clippyNativeModule (moduleFor variant); + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + # Lint once, against the first SDK variant: they differ only in which cu_vslam + # SDK the build script links, and the rust being linted is the same in all. lintedVariant = builtins.head (builtins.sort builtins.lessThan variants); in { - packages = nixpkgs.lib.genAttrs variants packageFor // { - clippy = clippyFor lintedVariant; + packages = nixpkgs.lib.genAttrs variants (v: buildOf (callWith v false)) // { + clippy = (buildOf (callWith lintedVariant true)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; }; + checks.clippy = self.packages.${system}.clippy; - checks.clippy = clippyFor lintedVariant; - - devShells.default = nixpkgs.legacyPackages.${system}.mkShellNoCC { - packages = shared.rustTools; - shellHook = '' - if [ -z "''${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 - ''; + devShells.default = pkgs.mkShellNoCC { + packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; }; }); } diff --git a/dimos/mapping/ray_tracing/rust/Cargo.lock b/dimos/mapping/ray_tracing/rust/Cargo.lock index 32b4f65ce9..b667083730 100644 --- a/dimos/mapping/ray_tracing/rust/Cargo.lock +++ b/dimos/mapping/ray_tracing/rust/Cargo.lock @@ -598,6 +598,7 @@ 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", @@ -617,6 +618,7 @@ 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/ray_tracing/rust/Cargo.toml b/dimos/mapping/ray_tracing/rust/Cargo.toml index aeab52447d..d0727635b3 100644 --- a/dimos/mapping/ray_tracing/rust/Cargo.toml +++ b/dimos/mapping/ray_tracing/rust/Cargo.toml @@ -32,7 +32,7 @@ local_map_fine = "sensor_msgs.PointCloud2" region_bounds = "geometry_msgs.PoseStamped" [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", "signal"] } serde = { version = "1", features = ["derive"] } diff --git a/dimos/mapping/ray_tracing/rust/flake.lock b/dimos/mapping/ray_tracing/rust/flake.lock index 9f2365e1d4..6611095dd5 100644 --- a/dimos/mapping/ray_tracing/rust/flake.lock +++ b/dimos/mapping/ray_tracing/rust/flake.lock @@ -3,11 +3,9 @@ "cachix": { "inputs": { "devenv": [ - "dimos-native-rust", "crate2nix" ], "flake-compat": [ - "dimos-native-rust", "crate2nix" ], "git-hooks": "git-hooks", @@ -36,7 +34,6 @@ "flake-parts": "flake-parts", "nix-test-runner": "nix-test-runner", "nixpkgs": [ - "dimos-native-rust", "nixpkgs" ], "pre-commit-hooks": "pre-commit-hooks" @@ -58,7 +55,6 @@ "devshell": { "inputs": { "nixpkgs": [ - "dimos-native-rust", "crate2nix", "nixpkgs" ] @@ -77,29 +73,6 @@ "type": "github" } }, - "dimos-native-rust": { - "inputs": { - "crate2nix": "crate2nix", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" - }, - "locked": { - "dir": "native/rust", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "type": "github" - }, - "original": { - "dir": "native/rust", - "owner": "dimensionalOS", - "ref": "jeff/fix/native_build_cargo_path", - "repo": "dimos", - "type": "github" - } - }, "flake-compat": { "locked": { "lastModified": 1733328505, @@ -117,7 +90,6 @@ "flake-parts": { "inputs": { "nixpkgs-lib": [ - "dimos-native-rust", "crate2nix", "nixpkgs" ] @@ -157,14 +129,12 @@ "git-hooks": { "inputs": { "flake-compat": [ - "dimos-native-rust", "crate2nix", "cachix", "flake-compat" ], "gitignore": "gitignore", "nixpkgs": [ - "dimos-native-rust", "crate2nix", "cachix", "nixpkgs" @@ -187,7 +157,6 @@ "gitignore": { "inputs": { "nixpkgs": [ - "dimos-native-rust", "crate2nix", "cachix", "git-hooks", @@ -211,7 +180,6 @@ "gitignore_2": { "inputs": { "nixpkgs": [ - "dimos-native-rust", "crate2nix", "pre-commit-hooks", "nixpkgs" @@ -265,11 +233,11 @@ }, "nixpkgs_2": { "locked": { - "lastModified": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { @@ -282,13 +250,11 @@ "pre-commit-hooks": { "inputs": { "flake-compat": [ - "dimos-native-rust", "crate2nix", "flake-compat" ], "gitignore": "gitignore_2", "nixpkgs": [ - "dimos-native-rust", "crate2nix", "nixpkgs" ] @@ -309,11 +275,9 @@ }, "root": { "inputs": { - "dimos-native-rust": "dimos-native-rust", - "flake-utils": [ - "dimos-native-rust", - "flake-utils" - ] + "crate2nix": "crate2nix", + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" } }, "systems": { diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index 1eee356a43..b15c42c849 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -2,26 +2,63 @@ description = "Voxel ray tracing native module for dimos"; inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; - flake-utils.follows = "dimos-native-rust/flake-utils"; + 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, dimos-native-rust, flake-utils }: + outputs = { self, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let - shared = dimos-native-rust.lib.${system}; - module = { - name = "dimos-voxel-ray-tracing"; - path = "dimos/mapping/ray_tracing/rust"; - src = ./.; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-voxel-ray-tracing"; + + # `nix build path:.#…` copies this directory wholesale, gitignored output + # included, so build output has to be filtered out or it lands in the + # derivation. + src = pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource ./.; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); }; - in { - packages.dimos-voxel-ray-tracing = shared.buildNativeModule module; - checks.clippy = shared.clippyNativeModule module; + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + # Our own crates compile with clippy-driver; everything else keeps its + # ordinary derivation, so no dependency is built twice. capLints must be + # "forbid": it is a ceiling, and the default "allow" suppresses every lint. + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = lint: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (lint && builtins.elem crate.crateName ours) + { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); + }; + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; - packages.clippy = shared.clippyNativeModule module; + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.${name} = buildOf (callWith false); + + # `runTests` is how crate2nix compiles test targets; `--list` makes the + # binary enumerate and exit, so they are linted without being run -- + # exactly what `cargo clippy --all-targets` did. + packages.clippy = (buildOf (callWith true)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.clippy = self.packages.${system}.clippy; - devShells.default = dimos-native-rust.devShells.${system}.default; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/dimos/navigation/nav_3d/mls_planner/rust/Cargo.lock b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.lock index d0591402ce..00fa2f49dc 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/Cargo.lock +++ b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.lock @@ -618,6 +618,7 @@ 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", @@ -637,6 +638,7 @@ 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/navigation/nav_3d/mls_planner/rust/Cargo.toml b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml index cb714c0e27..ec5c5ffaa6 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml +++ b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml @@ -35,7 +35,7 @@ node_edges = "nav_msgs.LineSegments3D" path = "nav_msgs.Path" [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", "signal"] } serde = { version = "1", features = ["derive"] } diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock deleted file mode 100644 index 9f2365e1d4..0000000000 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock +++ /dev/null @@ -1,337 +0,0 @@ -{ - "nodes": { - "cachix": { - "inputs": { - "devenv": [ - "dimos-native-rust", - "crate2nix" - ], - "flake-compat": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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" - } - }, - "dimos-native-rust": { - "inputs": { - "crate2nix": "crate2nix", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" - }, - "locked": { - "dir": "native/rust", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "type": "github" - }, - "original": { - "dir": "native/rust", - "owner": "dimensionalOS", - "ref": "jeff/fix/native_build_cargo_path", - "repo": "dimos", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "crate2nix", - "cachix", - "flake-compat" - ], - "gitignore": "gitignore", - "nixpkgs": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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-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": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "pre-commit-hooks": { - "inputs": { - "flake-compat": [ - "dimos-native-rust", - "crate2nix", - "flake-compat" - ], - "gitignore": "gitignore_2", - "nixpkgs": [ - "dimos-native-rust", - "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": { - "dimos-native-rust": "dimos-native-rust", - "flake-utils": [ - "dimos-native-rust", - "flake-utils" - ] - } - }, - "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 index 7f6cbb9ff5..e2f3079358 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -1,27 +1,65 @@ { - description = "Multi-level surface path planner native module for dimos"; + description = "MLS planner native module for dimos"; inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; - flake-utils.follows = "dimos-native-rust/flake-utils"; + 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, dimos-native-rust, flake-utils }: + outputs = { self, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let - shared = dimos-native-rust.lib.${system}; - module = { - name = "dimos-mls-planner"; - path = "dimos/navigation/nav_3d/mls_planner/rust"; - src = ./.; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-mls-planner"; + + # `nix build path:.#…` copies this directory wholesale, gitignored output + # included, so build output has to be filtered out or it lands in the + # derivation. + src = pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource ./.; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); }; - in { - packages.dimos-mls-planner = shared.buildNativeModule module; - checks.clippy = shared.clippyNativeModule module; + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + # Our own crates compile with clippy-driver; everything else keeps its + # ordinary derivation, so no dependency is built twice. capLints must be + # "forbid": it is a ceiling, and the default "allow" suppresses every lint. + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = lint: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (lint && builtins.elem crate.crateName ours) + { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.${name} = buildOf (callWith false); - packages.clippy = shared.clippyNativeModule module; + # `runTests` is how crate2nix compiles test targets; `--list` makes the + # binary enumerate and exit, so they are linted without being run -- + # exactly what `cargo clippy --all-targets` did. + packages.clippy = (buildOf (callWith true)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.clippy = self.packages.${system}.clippy; - devShells.default = dimos-native-rust.devShells.${system}.default; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/examples/native-modules/rust/Cargo.lock b/examples/native-modules/rust/Cargo.lock index f1c039bb97..4a75b2c0da 100644 --- a/examples/native-modules/rust/Cargo.lock +++ b/examples/native-modules/rust/Cargo.lock @@ -592,6 +592,7 @@ 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", @@ -611,6 +612,7 @@ 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/examples/native-modules/rust/Cargo.toml b/examples/native-modules/rust/Cargo.toml index 73354ab5aa..9a410ec877 100644 --- a/examples/native-modules/rust/Cargo.toml +++ b/examples/native-modules/rust/Cargo.toml @@ -20,7 +20,7 @@ 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"] } diff --git a/examples/native-modules/rust/flake.lock b/examples/native-modules/rust/flake.lock deleted file mode 100644 index 9f2365e1d4..0000000000 --- a/examples/native-modules/rust/flake.lock +++ /dev/null @@ -1,337 +0,0 @@ -{ - "nodes": { - "cachix": { - "inputs": { - "devenv": [ - "dimos-native-rust", - "crate2nix" - ], - "flake-compat": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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" - } - }, - "dimos-native-rust": { - "inputs": { - "crate2nix": "crate2nix", - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs_2" - }, - "locked": { - "dir": "native/rust", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "type": "github" - }, - "original": { - "dir": "native/rust", - "owner": "dimensionalOS", - "ref": "jeff/fix/native_build_cargo_path", - "repo": "dimos", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "crate2nix", - "cachix", - "flake-compat" - ], - "gitignore": "gitignore", - "nixpkgs": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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": [ - "dimos-native-rust", - "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-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": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "pre-commit-hooks": { - "inputs": { - "flake-compat": [ - "dimos-native-rust", - "crate2nix", - "flake-compat" - ], - "gitignore": "gitignore_2", - "nixpkgs": [ - "dimos-native-rust", - "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": { - "dimos-native-rust": "dimos-native-rust", - "flake-utils": [ - "dimos-native-rust", - "flake-utils" - ] - } - }, - "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 index 83fd5739f7..b88b97f08c 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -1,27 +1,65 @@ { - description = "Example rust native modules for dimos"; + description = "Example native modules for dimos"; inputs = { - dimos-native-rust.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/rust"; - flake-utils.follows = "dimos-native-rust/flake-utils"; + 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, dimos-native-rust, flake-utils }: + outputs = { self, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let - shared = dimos-native-rust.lib.${system}; - module = { - name = "dimos-native-module-examples"; - path = "examples/native-modules/rust"; - src = ./.; + pkgs = nixpkgs.legacyPackages.${system}; + name = "dimos-native-module-examples"; + + # `nix build path:.#…` copies this directory wholesale, gitignored output + # included, so build output has to be filtered out or it lands in the + # derivation. + src = pkgs.lib.cleanSourceWith { + src = pkgs.lib.cleanSource ./.; + filter = path: type: + let base = baseNameOf (toString path); in + !(type == "directory" + && (base == "target" || base == "build" || base == "__pycache__")); }; - in { - packages.dimos-native-module-examples = shared.buildNativeModule module; - checks.clippy = shared.clippyNativeModule module; + generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; + + # Our own crates compile with clippy-driver; everything else keeps its + # ordinary derivation, so no dependency is built twice. capLints must be + # "forbid": it is a ceiling, and the default "allow" suppresses every lint. + ours = [ name "dimos-module" "dimos-module-macros" ]; + callWith = lint: import generated { + inherit pkgs; + buildRustCrateForPkgs = cratePkgs: crate: + cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs + (lint && builtins.elem crate.crateName ours) + { + useClippy = true; + capLints = "forbid"; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + }); + }; + + buildOf = called: + if called ? rootCrate then called.rootCrate.build + else called.workspaceMembers.${name}.build; + + rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + in { + packages.${name} = buildOf (callWith false); - packages.clippy = shared.clippyNativeModule module; + # `runTests` is how crate2nix compiles test targets; `--list` makes the + # binary enumerate and exit, so they are linted without being run -- + # exactly what `cargo clippy --all-targets` did. + packages.clippy = (buildOf (callWith true)).override { + runTests = true; + testCrateFlags = [ "--list" ]; + }; + checks.clippy = self.packages.${system}.clippy; - devShells.default = dimos-native-rust.devShells.${system}.default; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/native/rust/flake.lock b/native/rust/flake.lock deleted file mode 100644 index 5ebeeeab8d..0000000000 --- a/native/rust/flake.lock +++ /dev/null @@ -1,301 +0,0 @@ -{ - "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-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": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "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_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/native/rust/flake.nix b/native/rust/flake.nix deleted file mode 100644 index e599583b17..0000000000 --- a/native/rust/flake.nix +++ /dev/null @@ -1,110 +0,0 @@ -{ - description = "The shared dimos rust crates, and the builder every rust native module uses"; - - inputs = { - 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, crate2nix }: - let - sharedCrates = { - "native/rust/dimos-module" = ./dimos-module; - "native/rust/dimos-module-macros" = ./dimos-module-macros; - }; - sharedCrateNames = [ "dimos-module" "dimos-module-macros" ]; - in - flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: - let - pkgs = nixpkgs.legacyPackages.${system}; - - rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; - - cleanModuleSource = src: pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource src; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; - - moduleSource = { name, path, src }: - pkgs.runCommand "${name}-source" { } ( - '' - mkdir -p $out/${builtins.dirOf path} - cp -r ${cleanModuleSource src} $out/${path} - '' - + pkgs.lib.concatStrings (pkgs.lib.mapAttrsToList (dest: tree: '' - mkdir -p $out/${builtins.dirOf dest} - cp -r ${tree} $out/${dest} - '') sharedCrates) - + "chmod -R u+w $out\n" - ); - - moduleCrates = - { name # the cargo package name, and the flake output name - , path # the module's path within the repository - , src # the module's own directory - , crateOverrides ? (_: { }) # pkgs -> attrset of crate2nix overrides - , cargoToml ? "${path}/Cargo.toml" - }: - let - generated = crate2nix.tools.${system}.generatedCargoNix { - inherit name; - src = moduleSource { inherit name path src; }; - inherit cargoToml; - }; - callWith = lintThese: import generated { - inherit pkgs; - buildRustCrateForPkgs = cratePkgs: - let - build = cratePkgs.buildRustCrate.override { - defaultCrateOverrides = - cratePkgs.defaultCrateOverrides // (crateOverrides cratePkgs); - }; - in - crate: build (crate // pkgs.lib.optionalAttrs - (builtins.elem crate.crateName lintThese) - { - useClippy = true; - capLints = "forbid"; - extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; - }); - }; - plain = callWith [ ]; - - buildOf = called: - if called ? rootCrate - then called.rootCrate.build - else called.workspaceMembers.${name}.build; - - firstParty = pkgs.lib.unique ( - (if plain ? rootCrate then [ name ] else builtins.attrNames plain.workspaceMembers) - ++ sharedCrateNames - ); - in { - package = buildOf plain; - clippy = (buildOf (callWith firstParty)).override { - runTests = true; - testCrateFlags = [ "--list" ]; - }; - }; - in { - lib = { - inherit moduleSource; - - inherit rustTools; - - devShellWith = select: pkgs.mkShell { packages = rustTools ++ select pkgs; }; - - buildNativeModule = args: (moduleCrates args).package; - - clippyNativeModule = args: (moduleCrates args).clippy; - }; - - - devShells.default = pkgs.mkShell { packages = rustTools; }; - }); -} From ab906e59c9a8678bcdf94614b44110d0b7714a1b Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 18:33:02 -0700 Subject: [PATCH 77/97] ci: keep the lock guard, the C++ modules still need it Deleting it with the rust flake locks was too broad. The C++ modules take native/cpp as an in-repo flake input and always did -- they share it as a source tree for cmake's add_subdirectory, which has no builder to remove -- so five locks can still pin a tree that is not this commit's: fastlio2/cpp, livox/cpp, pointlio/cpp, habitat/nix, examples/native-modules/cpp Restored test_module_locks_pin_the_shared_flakes_as_they_are_now, bin/relock-shared-flakes, and the autofix step that runs it. The rust modules no longer appear in any of it: dimos-module is an ordinary git dependency, so there is no in-repo flake input of theirs to go stale. --- .github/workflows/autofix.yml | 25 +++- bin/relock-shared-flakes | 146 ++++++++++++++++++++++++ dimos/core/test_build_native_modules.py | 35 ++++++ 3 files changed, 205 insertions(+), 1 deletion(-) create mode 100755 bin/relock-shared-flakes diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index 761fa78492..d7e9803c15 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 @@ -31,6 +31,29 @@ jobs: - name: uv lock run: uv lock + # The C++ modules still take native/cpp as an in-repo flake input, so their + # locks can pin a tree that is not this commit's. That cannot be fixed at + # commit time -- a lock records a narHash of the FETCHED tree, so the revision + # has to be on the remote first. Here it is. (The rust modules no longer have + # this problem: dimos-module is an ordinary git dependency now.) + - 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/bin/relock-shared-flakes b/bin/relock-shared-flakes new file mode 100755 index 0000000000..ed0357c482 --- /dev/null +++ b/bin/relock-shared-flakes @@ -0,0 +1,146 @@ +#!/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] + # Each lock is in its own directory and shares no state with the others. Threads + # rather than processes: every one of these just waits on a `nix` subprocess. + # Measured over fourteen locks: 9.78 s serially, 1.73 s with eight workers. + 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/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index e608f11e40..9f20b8cf4d 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -490,3 +490,38 @@ 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") + From 7220ab3fb6c7fd87f863dba30b0582b082d40378 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 18:49:02 -0700 Subject: [PATCH 78/97] build(nix): livox-sdk2 comes from its own repo github.com/jeff-hykin/livox-sdk2 fetches Livox's v1.2.5 and carries the macOS socket patch, the -Werror strip their bundled rapidjson needs under newer clang, the two includes and the samples removal. None of Livox's source is redistributed there. fastlio2/cpp and pointlio/cpp each had an identical copy of that derivation and of the 47-line patch; both now take one input. dimos/hardware/sensors/lidar/ livox/cpp held nothing else at all -- no source, no CMakeLists, and nothing referenced it -- so it is gone. Three copies of the patch deleted, two inline derivations deleted, one input each. Verified: the flake builds from github at c2377ff05c. --- .../sensors/lidar/fastlio2/cpp/flake.lock | 69 ++++++++++++++ .../sensors/lidar/fastlio2/cpp/flake.nix | 40 +-------- .../fastlio2/cpp/livox-sdk2-darwin.patch | 47 ---------- .../sensors/lidar/livox/cpp/flake.lock | 90 ------------------- .../sensors/lidar/livox/cpp/flake.nix | 56 ------------ .../lidar/livox/cpp/livox-sdk2-darwin.patch | 47 ---------- .../sensors/lidar/pointlio/cpp/flake.lock | 69 ++++++++++++++ .../sensors/lidar/pointlio/cpp/flake.nix | 40 +-------- .../pointlio/cpp/livox-sdk2-darwin.patch | 47 ---------- 9 files changed, 144 insertions(+), 361 deletions(-) delete mode 100644 dimos/hardware/sensors/lidar/fastlio2/cpp/livox-sdk2-darwin.patch delete mode 100644 dimos/hardware/sensors/lidar/livox/cpp/flake.lock delete mode 100644 dimos/hardware/sensors/lidar/livox/cpp/flake.nix delete mode 100644 dimos/hardware/sensors/lidar/livox/cpp/livox-sdk2-darwin.patch delete mode 100644 dimos/hardware/sensors/lidar/pointlio/cpp/livox-sdk2-darwin.patch diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index f474983a16..930da1cdb9 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -74,6 +74,24 @@ "type": "github" } }, + "flake-utils_2": { + "inputs": { + "systems": "systems_2" + }, + "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" + } + }, "lcm-extended": { "inputs": { "flake-utils": [ @@ -97,6 +115,25 @@ "type": "github" } }, + "livox-sdk2": { + "inputs": { + "flake-utils": "flake-utils_2", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "lastModified": 1789609592, + "narHash": "sha256-8+ytMzYuOTBmQonJTyuJ6ZDkVFKpauqBxDNESzE6i44=", + "owner": "jeff-hykin", + "repo": "livox-sdk2", + "rev": "c2377ff05c564e7040ef5e871be165fe8e08715c", + "type": "github" + }, + "original": { + "owner": "jeff-hykin", + "repo": "livox-sdk2", + "type": "github" + } + }, "nixpkgs": { "locked": { "lastModified": 1789286504, @@ -113,6 +150,22 @@ "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" + } + }, "pfr": { "flake": false, "locked": { @@ -140,6 +193,7 @@ "flake-utils" ], "lcm-extended": "lcm-extended", + "livox-sdk2": "livox-sdk2", "nixpkgs": [ "dimos-native-cpp", "nixpkgs" @@ -163,6 +217,21 @@ "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": [ diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index 2c599736c6..49989241ed 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -2,6 +2,7 @@ description = "FAST-LIO2 + Livox Mid-360 native module"; inputs = { + livox-sdk2.url = "github:jeff-hykin/livox-sdk2"; zenoh.url = "github:jeff-hykin/zenoh_flake"; zenoh.inputs.nixpkgs.follows = "nixpkgs"; zenoh.inputs.flake-utils.follows = "flake-utils"; @@ -30,7 +31,7 @@ }; }; - outputs = { self, nixpkgs, zenoh, flake-utils, dimos-native-cpp, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: + outputs = { self, 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 @@ -68,41 +69,6 @@ inherit system; overlays = [ darwinDepFixes ]; }; - 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' {} + - ''; - }; lcm = lcm-extended.packages.${system}.lcm; zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; @@ -117,7 +83,7 @@ nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ - livox-sdk2 + livox-sdk2.packages.${system}.default lcm pkgs.glib pkgs.eigen diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox-sdk2-darwin.patch b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox-sdk2-darwin.patch deleted file mode 100644 index 2e0495d4d6..0000000000 --- a/dimos/hardware/sensors/lidar/fastlio2/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/cpp/flake.lock b/dimos/hardware/sensors/lidar/livox/cpp/flake.lock deleted file mode 100644 index 73cffa93b4..0000000000 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.lock +++ /dev/null @@ -1,90 +0,0 @@ -{ - "nodes": { - "dimos-native-cpp": { - "inputs": { - "flake-utils": "flake-utils", - "nixpkgs": "nixpkgs" - }, - "locked": { - "dir": "native/cpp", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", - "owner": "dimensionalOS", - "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", - "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" - } - }, - "nixpkgs": { - "locked": { - "lastModified": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", - "owner": "NixOS", - "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", - "type": "github" - }, - "original": { - "owner": "NixOS", - "ref": "nixos-unstable", - "repo": "nixpkgs", - "type": "github" - } - }, - "root": { - "inputs": { - "dimos-native-cpp": "dimos-native-cpp", - "flake-utils": [ - "dimos-native-cpp", - "flake-utils" - ], - "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" - } - } - }, - "root": "root", - "version": 7 -} 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 1cd36a5941..0000000000 --- a/dimos/hardware/sensors/lidar/livox/cpp/flake.nix +++ /dev/null @@ -1,56 +0,0 @@ -{ - description = "Livox SDK2 packaging, consumed by the C++ LIO module flakes"; - - inputs = { - dimos-native-cpp.url = "github:dimensionalOS/dimos?ref=jeff/fix/native_build_cargo_path&dir=native/cpp"; - nixpkgs.follows = "dimos-native-cpp/nixpkgs"; - flake-utils.follows = "dimos-native-cpp/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/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index 51e895ed7d..100dc6c5c9 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -74,6 +74,24 @@ "type": "github" } }, + "flake-utils_2": { + "inputs": { + "systems": "systems_2" + }, + "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" + } + }, "lcm-extended": { "inputs": { "flake-utils": [ @@ -97,6 +115,25 @@ "type": "github" } }, + "livox-sdk2": { + "inputs": { + "flake-utils": "flake-utils_2", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "lastModified": 1789609592, + "narHash": "sha256-8+ytMzYuOTBmQonJTyuJ6ZDkVFKpauqBxDNESzE6i44=", + "owner": "jeff-hykin", + "repo": "livox-sdk2", + "rev": "c2377ff05c564e7040ef5e871be165fe8e08715c", + "type": "github" + }, + "original": { + "owner": "jeff-hykin", + "repo": "livox-sdk2", + "type": "github" + } + }, "nixpkgs": { "locked": { "lastModified": 1789286504, @@ -113,6 +150,22 @@ "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" + } + }, "pfr": { "flake": false, "locked": { @@ -140,6 +193,7 @@ "flake-utils" ], "lcm-extended": "lcm-extended", + "livox-sdk2": "livox-sdk2", "nixpkgs": [ "dimos-native-cpp", "nixpkgs" @@ -163,6 +217,21 @@ "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": [ diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index b6f7b3cf22..aecb13de9f 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -2,6 +2,7 @@ description = "Point-LIO + Livox Mid-360 native module"; inputs = { + livox-sdk2.url = "github:jeff-hykin/livox-sdk2"; zenoh.url = "github:jeff-hykin/zenoh_flake"; zenoh.inputs.nixpkgs.follows = "nixpkgs"; zenoh.inputs.flake-utils.follows = "flake-utils"; @@ -29,7 +30,7 @@ }; }; - outputs = { self, nixpkgs, zenoh, flake-utils, dimos-native-cpp, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: + outputs = { self, 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 @@ -67,41 +68,6 @@ inherit system; overlays = [ darwinDepFixes ]; }; - 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' {} + - ''; - }; lcm = lcm-extended.packages.${system}.lcm; zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; @@ -126,7 +92,7 @@ nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ - livox-sdk2 + livox-sdk2.packages.${system}.default lcm pkgs.glib pkgs.eigen diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/livox-sdk2-darwin.patch b/dimos/hardware/sensors/lidar/pointlio/cpp/livox-sdk2-darwin.patch deleted file mode 100644 index 2e0495d4d6..0000000000 --- a/dimos/hardware/sensors/lidar/pointlio/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", ""); From d4eae7c98324aaf7b782112990f52429cd448033 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 18:57:54 -0700 Subject: [PATCH 79/97] build(nix): nix-filter instead of hand-rolled cleanSourceWith MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Every flake had the same seven-line cleanSourceWith block. numtide/nix-filter does it in one, and it is not our code to maintain: src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; Two lines per flake: the input and the call. `native/cpp`'s `lib.cleanModuleSource` is gone with it, so the three C++ modules no longer reach into the shared SDK for a source filter -- they each call nix-filter directly. `result` is now excluded explicitly. It was covered before only because `lib.cleanSource` happens to drop symlinks to the store, and that is the entry that actually matters: `nix build` writes a `result` symlink into the module directory, NativeModule reads its binary from there, and with a raw `src = ./.` that symlink lands in the derivation hash -- which is what made every C++ module miss Cachix from its second build onwards before `cleanModuleSource` existed. Verified: with a 3 MB target/ and a result symlink planted, the filtered store path is unchanged (bsgi0dkpwl78…), and all twelve flakes parse. --- dimos/experimental/memory/rust/flake.nix | 11 +++-------- .../sensors/camera/realsense/rust/flake.nix | 11 +++-------- .../sensors/lidar/fastlio2/cpp/flake.lock | 16 ++++++++++++++++ .../sensors/lidar/fastlio2/cpp/flake.nix | 5 +++-- .../hardware/sensors/lidar/livox/rust/flake.nix | 14 +++----------- .../sensors/lidar/pointlio/cpp/flake.lock | 16 ++++++++++++++++ .../sensors/lidar/pointlio/cpp/flake.nix | 5 +++-- .../sensors/lidar/pointlio/rust/flake.nix | 14 +++----------- .../sensors/lidar/virtual_mid360/flake.nix | 14 +++----------- dimos/mapping/dim_slam/rust/flake.nix | 11 +++-------- dimos/mapping/ray_tracing/rust/flake.nix | 14 +++----------- .../navigation/nav_3d/mls_planner/rust/flake.nix | 14 +++----------- examples/native-modules/cpp/flake.lock | 16 ++++++++++++++++ examples/native-modules/cpp/flake.nix | 5 +++-- examples/native-modules/rust/flake.nix | 14 +++----------- native/cpp/flake.lock | 16 ++++++++++++++++ native/cpp/flake.nix | 13 +++---------- 17 files changed, 103 insertions(+), 106 deletions(-) diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 81643cf53d..2bf0ff7c69 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -2,25 +2,20 @@ 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, crate2nix }: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dimos-memory-recorder"; - src = pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource ./.; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index fdb34dcfcd..997ca2b94a 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -2,6 +2,7 @@ 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"; @@ -10,19 +11,13 @@ # Linux only: librealsense pulls v4l-utils, which nixpkgs will not evaluate on # darwin. Declaring darwin anyway is what main did, and `nix develop` there fails. - outputs = { self, nixpkgs, flake-utils, crate2nix }: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dimos-realsense"; - src = pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource ./.; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index 930da1cdb9..1875b809f9 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -134,6 +134,21 @@ "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" + } + }, "nixpkgs": { "locked": { "lastModified": 1789286504, @@ -194,6 +209,7 @@ ], "lcm-extended": "lcm-extended", "livox-sdk2": "livox-sdk2", + "nix-filter": "nix-filter", "nixpkgs": [ "dimos-native-cpp", "nixpkgs" diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index 49989241ed..226eef52f7 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -2,6 +2,7 @@ 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"; zenoh.inputs.nixpkgs.follows = "nixpkgs"; @@ -31,7 +32,7 @@ }; }; - outputs = { self, livox-sdk2, nixpkgs, zenoh, flake-utils, dimos-native-cpp, 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 @@ -79,7 +80,7 @@ pname = "fastlio2_native"; version = "0.2.0"; - src = dimos-native-cpp.lib.${system}.cleanModuleSource ./.; + src = nix-filter.lib { root = ./.; exclude = [ "build" "target" "result" "__pycache__" ]; }; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index 89f4a2d9b3..f77217cf90 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -2,28 +2,20 @@ description = "Livox Mid-360 native module for dimos"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; flake-utils.url = "github:numtide/flake-utils"; crate2nix.url = "github:nix-community/crate2nix"; crate2nix.inputs.nixpkgs.follows = "nixpkgs"; }; - outputs = { self, nixpkgs, flake-utils, crate2nix }: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dimos-livox"; - # `nix build path:.#…` copies this directory wholesale, gitignored output - # included, so build output has to be filtered out or it lands in the - # derivation. - src = pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource ./.; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index 100dc6c5c9..c0401df2ce 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -134,6 +134,21 @@ "type": "github" } }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, "nixpkgs": { "locked": { "lastModified": 1789286504, @@ -194,6 +209,7 @@ ], "lcm-extended": "lcm-extended", "livox-sdk2": "livox-sdk2", + "nix-filter": "nix-filter", "nixpkgs": [ "dimos-native-cpp", "nixpkgs" diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index aecb13de9f..95f1ad4ee3 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -2,6 +2,7 @@ description = "Point-LIO + Livox Mid-360 native module"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; livox-sdk2.url = "github:jeff-hykin/livox-sdk2"; zenoh.url = "github:jeff-hykin/zenoh_flake"; zenoh.inputs.nixpkgs.follows = "nixpkgs"; @@ -30,7 +31,7 @@ }; }; - outputs = { self, livox-sdk2, nixpkgs, zenoh, flake-utils, dimos-native-cpp, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: + outputs = { self, nix-filter, livox-sdk2, nixpkgs, zenoh, flake-utils, dimos-native-cpp, dimos-lcm, pfr, fast-lio, lcm-extended, ... }: flake-utils.lib.eachDefaultSystem (system: let # Overlay fixes for darwin-broken nixpkgs recipes in our transitive @@ -88,7 +89,7 @@ pname = "pointlio_native"; version = "0.2.0"; - src = dimos-native-cpp.lib.${system}.cleanModuleSource ./.; + src = nix-filter.lib { root = ./.; exclude = [ "build" "target" "result" "__pycache__" ]; }; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index 7c1785affc..531435b72b 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -2,28 +2,20 @@ 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, nixpkgs, flake-utils, crate2nix }: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dimos-pointlio"; - # `nix build path:.#…` copies this directory wholesale, gitignored output - # included, so build output has to be filtered out or it lands in the - # derivation. - src = pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource ./.; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index e480b6c8a6..ae2ea32f50 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -2,28 +2,20 @@ 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, nixpkgs, flake-utils, crate2nix }: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dimos-virtual-mid360"; - # `nix build path:.#…` copies this directory wholesale, gitignored output - # included, so build output has to be filtered out or it lands in the - # derivation. - src = pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource ./.; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index d76f5dfbd1..1f51b54277 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -2,6 +2,7 @@ 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"; @@ -13,19 +14,13 @@ # Not eachDefaultSystem: nixpkgs 26.11 dropped x86_64-darwin, and merely naming it # is an eval error. - outputs = { self, nixpkgs, flake-utils, crate2nix, cu-vslam-rs }: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix, cu-vslam-rs }: flake-utils.lib.eachSystem [ "aarch64-darwin" "aarch64-linux" "x86_64-linux" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dim-slam-module"; - src = pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource ./.; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index b15c42c849..1477ea69a5 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -2,28 +2,20 @@ 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, nixpkgs, flake-utils, crate2nix }: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dimos-voxel-ray-tracing"; - # `nix build path:.#…` copies this directory wholesale, gitignored output - # included, so build output has to be filtered out or it lands in the - # derivation. - src = pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource ./.; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index e2f3079358..2bc7d870ae 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -2,28 +2,20 @@ 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, nixpkgs, flake-utils, crate2nix }: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dimos-mls-planner"; - # `nix build path:.#…` copies this directory wholesale, gitignored output - # included, so build output has to be filtered out or it lands in the - # derivation. - src = pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource ./.; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; diff --git a/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock index 021aa3a555..4d96990cdb 100644 --- a/examples/native-modules/cpp/flake.lock +++ b/examples/native-modules/cpp/flake.lock @@ -80,6 +80,21 @@ "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" + } + }, "nixpkgs": { "locked": { "lastModified": 1789286504, @@ -122,6 +137,7 @@ "flake-utils" ], "lcm-extended": "lcm-extended", + "nix-filter": "nix-filter", "nixpkgs": [ "dimos-native-cpp", "nixpkgs" diff --git a/examples/native-modules/cpp/flake.nix b/examples/native-modules/cpp/flake.nix index d20413bf64..7c0dd8d1a9 100644 --- a/examples/native-modules/cpp/flake.nix +++ b/examples/native-modules/cpp/flake.nix @@ -2,6 +2,7 @@ description = "dimos C++ native module ping-pong example"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; zenoh.url = "github:jeff-hykin/zenoh_flake"; zenoh.inputs.nixpkgs.follows = "nixpkgs"; zenoh.inputs.flake-utils.follows = "flake-utils"; @@ -25,7 +26,7 @@ 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, dimos-native-cpp, ... }: + 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; }; @@ -36,7 +37,7 @@ packages.dimos-native-module-examples-cpp = pkgs.stdenv.mkDerivation { pname = "dimos-native-ping-pong"; version = "0.1.0"; - src = dimos-native-cpp.lib.${system}.cleanModuleSource ./.; + src = nix-filter.lib { root = ./.; exclude = [ "build" "target" "result" "__pycache__" ]; }; nativeBuildInputs = [ pkgs.cmake pkgs.pkg-config ]; buildInputs = [ lcm pkgs.glib pkgs.nlohmann_json zenohc zenohcpp ]; diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index b88b97f08c..12c42f509c 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -2,28 +2,20 @@ description = "Example native modules for dimos"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; flake-utils.url = "github:numtide/flake-utils"; crate2nix.url = "github:nix-community/crate2nix"; crate2nix.inputs.nixpkgs.follows = "nixpkgs"; }; - outputs = { self, nixpkgs, flake-utils, crate2nix }: + outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dimos-native-module-examples"; - # `nix build path:.#…` copies this directory wholesale, gitignored output - # included, so build output has to be filtered out or it lands in the - # derivation. - src = pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource ./.; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "target" || base == "build" || base == "__pycache__")); - }; + src = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; }; generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; diff --git a/native/cpp/flake.lock b/native/cpp/flake.lock index 0796952d50..6777d8a3f2 100644 --- a/native/cpp/flake.lock +++ b/native/cpp/flake.lock @@ -18,6 +18,21 @@ "type": "github" } }, + "nix-filter": { + "locked": { + "lastModified": 1757882181, + "narHash": "sha256-+cCxYIh2UNalTz364p+QYmWHs0P+6wDhiWR4jDIKQIU=", + "owner": "numtide", + "repo": "nix-filter", + "rev": "59c44d1909c72441144b93cf0f054be7fe764de5", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "nix-filter", + "type": "github" + } + }, "nixpkgs": { "locked": { "lastModified": 1789286504, @@ -37,6 +52,7 @@ "root": { "inputs": { "flake-utils": "flake-utils", + "nix-filter": "nix-filter", "nixpkgs": "nixpkgs" } }, diff --git a/native/cpp/flake.nix b/native/cpp/flake.nix index 6d2b09480f..b242e94a43 100644 --- a/native/cpp/flake.nix +++ b/native/cpp/flake.nix @@ -2,26 +2,19 @@ description = "The shared dimos C++ native module SDK, as a source tree for cmake"; inputs = { + nix-filter.url = "github:numtide/nix-filter"; nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; flake-utils.url = "github:numtide/flake-utils"; }; - outputs = { self, nixpkgs, flake-utils }: + outputs = { self, nix-filter, nixpkgs, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; in { packages.default = pkgs.runCommand "dimos-native-cpp" { } '' - cp -r ${pkgs.lib.cleanSource ./.} $out + cp -r ${nix-filter.lib { root = ./.; exclude = [ "build" "target" "result" "__pycache__" ]; }} $out chmod -R u+w $out ''; - lib.cleanModuleSource = src: pkgs.lib.cleanSourceWith { - src = pkgs.lib.cleanSource src; - filter = path: type: - let base = baseNameOf (toString path); in - !(type == "directory" - && (base == "build" || base == "target" || base == "__pycache__")); - }; - devShells.default = pkgs.mkShell { packages = [ pkgs.cmake pkgs.pkg-config pkgs.nlohmann_json ]; }; From 073f76ff1228abe6591bae3c2084e217a0248456 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 19:07:14 -0700 Subject: [PATCH 80/97] build(nix): every module builds with `nix build -L path:.` The attribute carried no information: each flake had exactly one package and named it after its crate, so the module config repeated a name the flake already knew. `packages.default` everywhere, and the named attribute stays as an alias. dim_slam is the one that could not be a bare `default` before -- it has a package per cuVSLAM SDK variant, and its build_command was built by a default_factory calling sdk_variant(). Its `default` now resolves to the same variant that factory would have named, so the choice lives in the flake rather than in two places. That also makes its build_command statically readable, which is what EXTERNALLY_PROVISIONED existed for, so that set is empty now. Also documents habitat's `build_command = None`: the claim that it has never been nix-built is a big one, so the evidence is written down beside it -- its flake exposes a devShell and no `packages` attribute, on main too. --- bin/build-native-modules | 2 +- dimos/core/test_build_native_modules.py | 2 +- dimos/experimental/memory/rust/flake.nix | 3 ++- dimos/experimental/memory/rust_recorder.py | 2 +- dimos/experimental/memory/test_rust_recorder.py | 2 +- dimos/hardware/sensors/camera/realsense/camera.py | 2 +- .../hardware/sensors/camera/realsense/rust/flake.nix | 3 ++- dimos/hardware/sensors/lidar/fastlio2/module.py | 2 +- dimos/hardware/sensors/lidar/livox/module.py | 2 +- dimos/hardware/sensors/lidar/livox/rust/flake.nix | 3 ++- dimos/hardware/sensors/lidar/pointlio/module.py | 4 ++-- dimos/hardware/sensors/lidar/pointlio/rust/flake.nix | 3 ++- .../hardware/sensors/lidar/virtual_mid360/flake.nix | 3 ++- .../hardware/sensors/lidar/virtual_mid360/module.py | 2 +- dimos/mapping/dim_slam/dim_slam.py | 7 ++++--- dimos/mapping/dim_slam/rust/flake.nix | 3 +++ dimos/mapping/ray_tracing/module.py | 2 +- dimos/mapping/ray_tracing/rust/flake.nix | 3 ++- .../nav_3d/mls_planner/mls_planner_native.py | 2 +- dimos/navigation/nav_3d/mls_planner/rust/flake.nix | 3 ++- dimos/simulation/habitat/connection.py | 12 ++++++++++++ examples/native-modules/rust/flake.nix | 3 ++- 22 files changed, 47 insertions(+), 23 deletions(-) diff --git a/bin/build-native-modules b/bin/build-native-modules index 5805094fdf..58ee3601b0 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -160,7 +160,7 @@ 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: diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index 9f20b8cf4d..da18a55cc2 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -245,7 +245,7 @@ def test_no_module_reaches_the_repository_root() -> None: 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.startswith("path:.#") or ref.startswith("github:"), ( + assert ref == "path:." or ref.startswith(("path:.#", "github:")), ( f"{module.qualname}: flake ref {ref!r} is not the `path:.#` convention" ) diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 2bf0ff7c69..f40337080b 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -58,7 +58,8 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.${name} = buildOf (callWith false); + packages.default = buildOf (callWith false); + packages.${name} = self.packages.${system}.default; packages.clippy = (buildOf (callWith true)).override { runTests = true; testCrateFlags = [ "--list" ]; diff --git a/dimos/experimental/memory/rust_recorder.py b/dimos/experimental/memory/rust_recorder.py index ee0948a9cc..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 path:.#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 5224578c9e..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 path:.#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 4d070bb9b7..92359d0361 100644 --- a/dimos/hardware/sensors/camera/realsense/camera.py +++ b/dimos/hardware/sensors/camera/realsense/camera.py @@ -37,7 +37,7 @@ class RealSenseCameraConfig(NativeModuleConfig, DepthCameraConfig): cwd: str | None = "rust" executable: str = "result/bin/realsense_native" # Own flake: librealsense2 isn't in the root shell. - build_command: str | None = "nix build -L path:.#dimos-realsense" + 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/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 997ca2b94a..d0a9916e10 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -53,7 +53,8 @@ if called ? rootCrate then called.rootCrate.build else called.workspaceMembers.${name}.build; in { - packages.${name} = buildOf (callWith false); + packages.default = buildOf (callWith false); + packages.${name} = self.packages.${system}.default; packages.clippy = (buildOf (callWith true)).override { runTests = true; testCrateFlags = [ "--list" ]; diff --git a/dimos/hardware/sensors/lidar/fastlio2/module.py b/dimos/hardware/sensors/lidar/fastlio2/module.py index 97c8e45cde..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 path:.#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/module.py b/dimos/hardware/sensors/lidar/livox/module.py index e04d76a366..3895401901 100644 --- a/dimos/hardware/sensors/lidar/livox/module.py +++ b/dimos/hardware/sensors/lidar/livox/module.py @@ -56,7 +56,7 @@ class Mid360Config(NativeModuleConfig): cwd: str | None = "rust" executable: str = "result/bin/mid360_native" - build_command: str | None = "nix build -L path:.#dimos-livox" + build_command: str | None = "nix build -L path:." stdin_config: bool = True base_fields: frozenset[str] = frozenset({"frame_id"}) host_ip: str | None = Field(default_factory=lambda: os.environ.get("DIMOS_MID360_HOST_IP")) diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index f77217cf90..d98aa1e585 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -41,7 +41,8 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.${name} = buildOf (callWith false); + packages.default = buildOf (callWith false); + packages.${name} = self.packages.${system}.default; # `runTests` is how crate2nix compiles test targets; `--list` makes the # binary enumerate and exit, so they are linted without being run -- diff --git a/dimos/hardware/sensors/lidar/pointlio/module.py b/dimos/hardware/sensors/lidar/pointlio/module.py index fafcd53a9a..c207317259 100644 --- a/dimos/hardware/sensors/lidar/pointlio/module.py +++ b/dimos/hardware/sensors/lidar/pointlio/module.py @@ -145,7 +145,7 @@ class PointLioConfig(NativeModuleConfig, PointLioTuning): base_fields: frozenset[str] = frozenset({"frame_id"}) cwd: str | None = "cpp" executable: str = "result/bin/pointlio_native" - build_command: str | None = "nix build -L path:.#pointlio_native" + build_command: str | None = "nix build -L path:." # lidar_ip required; host_ip optional (auto-derived from lidar_ip's subnet). # Both fall back to DIMOS_POINTLIO_LIDAR_IP / DIMOS_POINTLIO_HOST_IP. host_ip: str | None = Field(default_factory=lambda: os.environ.get("DIMOS_POINTLIO_HOST_IP")) @@ -221,7 +221,7 @@ class PointLioRustConfig(NativeModuleConfig, PointLioTuning): cwd: str | None = "rust" # The crate is a workspace member, so cargo builds into the repo-root target dir. executable: str = "result/bin/pointlio_native" - build_command: str | None = "nix build -L path:.#dimos-pointlio" + build_command: str | None = "nix build -L path:." class PointLioRust(NativeModule, perception.Lidar, perception.Odometry): diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index 531435b72b..4c4dbb0095 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -41,7 +41,8 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.${name} = buildOf (callWith false); + packages.default = buildOf (callWith false); + packages.${name} = self.packages.${system}.default; # `runTests` is how crate2nix compiles test targets; `--list` makes the # binary enumerate and exit, so they are linted without being run -- diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index ae2ea32f50..c29330af7d 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -41,7 +41,8 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.${name} = buildOf (callWith false); + packages.default = buildOf (callWith false); + packages.${name} = self.packages.${system}.default; # `runTests` is how crate2nix compiles test targets; `--list` makes the # binary enumerate and exit, so they are linted without being run -- diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/module.py b/dimos/hardware/sensors/lidar/virtual_mid360/module.py index 21ee3abecf..49278b43d4 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/module.py +++ b/dimos/hardware/sensors/lidar/virtual_mid360/module.py @@ -56,7 +56,7 @@ class VirtualMid360Config(NativeModuleConfig): cwd: str | None = "." executable: str = "result/bin/virtual_mid360" - build_command: str | None = "nix build -L path:.#dimos-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/mapping/dim_slam/dim_slam.py b/dimos/mapping/dim_slam/dim_slam.py index bd78972d9b..1b1dc9da9c 100644 --- a/dimos/mapping/dim_slam/dim_slam.py +++ b/dimos/mapping/dim_slam/dim_slam.py @@ -122,9 +122,10 @@ class SourceConfig(BaseModel): class DimSlamConfig(NativeModuleConfig): cwd: str | None = "rust" executable: str = "result/bin/dim_slam" - build_command: str | None = Field( - default_factory=lambda: f"nix build -L path:.#{sdk_variant()}" - ) + # `path:.` with no attribute, like every other module. The flake's `default` + # already resolves to the variant sdk_variant() would have named, so the choice + # lives in one place instead of two. + 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/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index 1f51b54277..f0acbd3358 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -62,6 +62,9 @@ lintedVariant = builtins.head (builtins.sort builtins.lessThan variants); in { packages = nixpkgs.lib.genAttrs variants (v: buildOf (callWith v false)) // { + # One package per cuVSLAM SDK variant, so `default` cannot say which; it + # points at the same one the module's build_command would have named. + default = buildOf (callWith lintedVariant false); clippy = (buildOf (callWith lintedVariant true)).override { runTests = true; testCrateFlags = [ "--list" ]; diff --git a/dimos/mapping/ray_tracing/module.py b/dimos/mapping/ray_tracing/module.py index dad2ea5d22..e7cb92659e 100644 --- a/dimos/mapping/ray_tracing/module.py +++ b/dimos/mapping/ray_tracing/module.py @@ -33,7 +33,7 @@ class RayTracingVoxelMapConfig(NativeModuleConfig): cwd: str | None = "rust" executable: str = "result/bin/voxel_ray_tracing" - build_command: str | None = "nix build -L path:.#dimos-voxel-ray-tracing" + build_command: str | None = "nix build -L path:." stdin_config: bool = True voxel_size: float = 0.08 diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index 1477ea69a5..3fec99e6fb 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -40,7 +40,8 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.${name} = buildOf (callWith false); + packages.default = buildOf (callWith false); + packages.${name} = self.packages.${system}.default; # `runTests` is how crate2nix compiles test targets; `--list` makes the # binary enumerate and exit, so they are linted without being run -- 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 d54f3a9142..dfa33d51df 100644 --- a/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py +++ b/dimos/navigation/nav_3d/mls_planner/mls_planner_native.py @@ -29,7 +29,7 @@ class MLSPlannerNativeConfig(NativeModuleConfig): cwd: str | None = "rust" executable: str = "result/bin/mls_planner" - build_command: str | None = "nix build -L path:.#dimos-mls-planner" + build_command: str | None = "nix build -L path:." stdin_config: bool = True world_frame: str = "odom" diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index 2bc7d870ae..067a038ffa 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -41,7 +41,8 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.${name} = buildOf (callWith false); + packages.default = buildOf (callWith false); + packages.${name} = self.packages.${system}.default; # `runTests` is how crate2nix compiles test targets; `--list` makes the # binary enumerate and exit, so they are linted without being run -- diff --git a/dimos/simulation/habitat/connection.py b/dimos/simulation/habitat/connection.py index 515bfa2736..ea3687e43a 100644 --- a/dimos/simulation/habitat/connection.py +++ b/dimos/simulation/habitat/connection.py @@ -36,6 +36,18 @@ class HabitatConnectionConfig(NativeModuleConfig): # target/habitat (outside the package tree); the wrapper is the build sentinel. cwd: str | None = "nix" executable: str = str(DIMOS_PROJECT_ROOT / "target" / "habitat" / "habitat-native") + # No auto-build, and this module has never had one: `nix/flake.nix` exposes a + # devShell and no `packages` attribute, so there is nothing for `nix build` to + # produce and nothing for Cachix to hold. It cannot have one either -- habitat-sim + # comes from conda, install.sh downloads a multi-gigabyte HM3D scene, and headless + # rendering needs the host's own EGL driver, none of which survives a sandbox. + # + # Until 2026-09 this field read `nix develop path:. -c ./install.sh`, which dressed + # a devShell script up as a build. `None` is what NativeModule already means by + # "no auto-build": it refuses to spawn and says to build manually. Run the install + # once, by hand: + # + # cd dimos/simulation/habitat/nix && nix develop path:. -c ./install.sh build_command: str | None = None stdin_config: bool = True log_format: LogFormat = LogFormat.TEXT diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index 12c42f509c..b90b7ec38f 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -41,7 +41,8 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.${name} = buildOf (callWith false); + packages.default = buildOf (callWith false); + packages.${name} = self.packages.${system}.default; # `runTests` is how crate2nix compiles test targets; `--list` makes the # binary enumerate and exit, so they are linted without being run -- From 9b53d04245028018b4cc7d6a3908d0dfdb96a33e Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 19:07:41 -0700 Subject: [PATCH 81/97] build(nix): relock the C++ modules onto the nix-filter rev native/cpp changed when cleanModuleSource came out of it, so the four locks that pin it were pinning the tree before that. Caught by the guard, as intended. --- .../sensors/lidar/fastlio2/cpp/flake.lock | 24 +++++++++++++++---- .../sensors/lidar/pointlio/cpp/flake.lock | 24 +++++++++++++++---- dimos/simulation/habitat/nix/flake.lock | 22 ++++++++++++++--- examples/native-modules/cpp/flake.lock | 24 +++++++++++++++---- 4 files changed, 79 insertions(+), 15 deletions(-) diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index 1875b809f9..c5d3682b1e 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -20,15 +20,16 @@ "dimos-native-cpp": { "inputs": { "flake-utils": "flake-utils", + "nix-filter": "nix-filter", "nixpkgs": "nixpkgs" }, "locked": { "dir": "native/cpp", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", + "lastModified": 1789610834, + "narHash": "sha256-6Ijx9KEAeTS2pv+eZEBH8PAgzyDncVN/hi4rYsJiyWw=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", + "rev": "073f76ff1228abe6591bae3c2084e217a0248456", "type": "github" }, "original": { @@ -149,6 +150,21 @@ "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": { "locked": { "lastModified": 1789286504, @@ -209,7 +225,7 @@ ], "lcm-extended": "lcm-extended", "livox-sdk2": "livox-sdk2", - "nix-filter": "nix-filter", + "nix-filter": "nix-filter_2", "nixpkgs": [ "dimos-native-cpp", "nixpkgs" diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index c0401df2ce..9b18235370 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -20,15 +20,16 @@ "dimos-native-cpp": { "inputs": { "flake-utils": "flake-utils", + "nix-filter": "nix-filter", "nixpkgs": "nixpkgs" }, "locked": { "dir": "native/cpp", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", + "lastModified": 1789610834, + "narHash": "sha256-6Ijx9KEAeTS2pv+eZEBH8PAgzyDncVN/hi4rYsJiyWw=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", + "rev": "073f76ff1228abe6591bae3c2084e217a0248456", "type": "github" }, "original": { @@ -149,6 +150,21 @@ "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": { "locked": { "lastModified": 1789286504, @@ -209,7 +225,7 @@ ], "lcm-extended": "lcm-extended", "livox-sdk2": "livox-sdk2", - "nix-filter": "nix-filter", + "nix-filter": "nix-filter_2", "nixpkgs": [ "dimos-native-cpp", "nixpkgs" diff --git a/dimos/simulation/habitat/nix/flake.lock b/dimos/simulation/habitat/nix/flake.lock index faadcd48a2..5ef3d01d65 100644 --- a/dimos/simulation/habitat/nix/flake.lock +++ b/dimos/simulation/habitat/nix/flake.lock @@ -3,15 +3,16 @@ "dimos-native-cpp": { "inputs": { "flake-utils": "flake-utils", + "nix-filter": "nix-filter", "nixpkgs": "nixpkgs" }, "locked": { "dir": "native/cpp", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", + "lastModified": 1789610834, + "narHash": "sha256-6Ijx9KEAeTS2pv+eZEBH8PAgzyDncVN/hi4rYsJiyWw=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", + "rev": "073f76ff1228abe6591bae3c2084e217a0248456", "type": "github" }, "original": { @@ -40,6 +41,21 @@ "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" + } + }, "nixpkgs": { "locked": { "lastModified": 1789286504, diff --git a/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock index 4d96990cdb..e1694a6acb 100644 --- a/examples/native-modules/cpp/flake.lock +++ b/examples/native-modules/cpp/flake.lock @@ -20,15 +20,16 @@ "dimos-native-cpp": { "inputs": { "flake-utils": "flake-utils", + "nix-filter": "nix-filter", "nixpkgs": "nixpkgs" }, "locked": { "dir": "native/cpp", - "lastModified": 1789600523, - "narHash": "sha256-2P8xXfvCEJpdhgBPu/wje1Q9V2Gh3O1yXLJ4mLzogXg=", + "lastModified": 1789610834, + "narHash": "sha256-6Ijx9KEAeTS2pv+eZEBH8PAgzyDncVN/hi4rYsJiyWw=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "59b56b3b079b1d22842155dca3d94d602b4dd500", + "rev": "073f76ff1228abe6591bae3c2084e217a0248456", "type": "github" }, "original": { @@ -95,6 +96,21 @@ "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": { "locked": { "lastModified": 1789286504, @@ -137,7 +153,7 @@ "flake-utils" ], "lcm-extended": "lcm-extended", - "nix-filter": "nix-filter", + "nix-filter": "nix-filter_2", "nixpkgs": [ "dimos-native-cpp", "nixpkgs" From 3c3920febe28c8b4626c28fcbb1d37e8a67bacaa Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 19:09:05 -0700 Subject: [PATCH 82/97] build(nix): livox_common lives in the livox-sdk2 repo now Three identical copies: dimos/hardware/sensors/lidar/common, and one inside each of fastlio2/cpp and pointlio/cpp. All three deleted; both modules take the headers from jeff-hykin/livox-sdk2, which already carries the SDK they glue onto. The wiring needed nothing new -- both CMakeLists already took LIVOX_COMMON_DIR as a parameter and defaulted to a relative path, so the flake just hands them a store path instead of a local directory. --- .../sensors/lidar/common/estimator_pose.hpp | 25 --- .../sensors/lidar/common/livox_sdk_config.hpp | 175 ------------------ .../lidar/common/point_cloud_utils.hpp | 78 -------- .../sensors/lidar/fastlio2/cpp/flake.lock | 6 +- .../sensors/lidar/fastlio2/cpp/flake.nix | 2 +- .../cpp/livox_common/estimator_pose.hpp | 25 --- .../cpp/livox_common/livox_sdk_config.hpp | 175 ------------------ .../cpp/livox_common/point_cloud_utils.hpp | 78 -------- .../sensors/lidar/pointlio/cpp/flake.lock | 6 +- .../sensors/lidar/pointlio/cpp/flake.nix | 2 +- .../cpp/livox_common/estimator_pose.hpp | 25 --- .../cpp/livox_common/livox_sdk_config.hpp | 175 ------------------ .../cpp/livox_common/point_cloud_utils.hpp | 78 -------- 13 files changed, 8 insertions(+), 842 deletions(-) delete mode 100644 dimos/hardware/sensors/lidar/common/estimator_pose.hpp delete mode 100644 dimos/hardware/sensors/lidar/common/livox_sdk_config.hpp delete mode 100644 dimos/hardware/sensors/lidar/common/point_cloud_utils.hpp delete mode 100644 dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp delete mode 100644 dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp delete mode 100644 dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp delete mode 100644 dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp delete mode 100644 dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp delete mode 100644 dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp 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 c5d3682b1e..a9983be3f7 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -122,11 +122,11 @@ "nixpkgs": "nixpkgs_2" }, "locked": { - "lastModified": 1789609592, - "narHash": "sha256-8+ytMzYuOTBmQonJTyuJ6ZDkVFKpauqBxDNESzE6i44=", + "lastModified": 1789610908, + "narHash": "sha256-KhsxhhM8lsGRwGR9KYChcTP7IDkomkXO8NyMnWYkj2U=", "owner": "jeff-hykin", "repo": "livox-sdk2", - "rev": "c2377ff05c564e7040ef5e871be165fe8e08715c", + "rev": "efc2c87e78a0819c044b6a31a9d81428d522c1f6", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix index 226eef52f7..7761e5488b 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.nix @@ -74,7 +74,7 @@ zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; - livox-common = ./livox_common; + livox-common = livox-sdk2.packages.${system}.livox-common; fastlio2_native = pkgs.stdenv.mkDerivation { pname = "fastlio2_native"; diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/estimator_pose.hpp deleted file mode 100644 index 6ccc934717..0000000000 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_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/fastlio2/cpp/livox_common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/livox_sdk_config.hpp deleted file mode 100644 index b0fe7dad1b..0000000000 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_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/fastlio2/cpp/livox_common/point_cloud_utils.hpp b/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_common/point_cloud_utils.hpp deleted file mode 100644 index 1a9d43d213..0000000000 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/livox_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/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index 9b18235370..c9fb33377a 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -122,11 +122,11 @@ "nixpkgs": "nixpkgs_2" }, "locked": { - "lastModified": 1789609592, - "narHash": "sha256-8+ytMzYuOTBmQonJTyuJ6ZDkVFKpauqBxDNESzE6i44=", + "lastModified": 1789610908, + "narHash": "sha256-KhsxhhM8lsGRwGR9KYChcTP7IDkomkXO8NyMnWYkj2U=", "owner": "jeff-hykin", "repo": "livox-sdk2", - "rev": "c2377ff05c564e7040ef5e871be165fe8e08715c", + "rev": "efc2c87e78a0819c044b6a31a9d81428d522c1f6", "type": "github" }, "original": { diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix index 95f1ad4ee3..afe711e9eb 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.nix @@ -73,7 +73,7 @@ zenohc = zenoh.packages.${system}.zenoh-c; zenohcpp = zenoh.packages.${system}.zenoh-cpp; - livox-common = ./livox_common; + livox-common = livox-sdk2.packages.${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 diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/estimator_pose.hpp deleted file mode 100644 index 6ccc934717..0000000000 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_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/pointlio/cpp/livox_common/livox_sdk_config.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/livox_sdk_config.hpp deleted file mode 100644 index b0fe7dad1b..0000000000 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_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/pointlio/cpp/livox_common/point_cloud_utils.hpp b/dimos/hardware/sensors/lidar/pointlio/cpp/livox_common/point_cloud_utils.hpp deleted file mode 100644 index 1a9d43d213..0000000000 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/livox_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 From 3a1fd2cb85a63bf973a55036e37b6858d7a26244 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 19:22:09 -0700 Subject: [PATCH 83/97] ci: lint unoptimised, and two build workers The clippy check shares 1601 of the package's 1604 derivations, so the sharing was never the problem -- the cost is that the ~5 first-party crates it does rebuild were rebuilding at the package's opt-level 3 with LTO. Clippy does not ship a binary, so `release = false` on exactly those crates. Dependencies keep their release build and stay shared; ray_tracing's check is 24 s locally. `release` cannot go through crate2nix's `build.override` -- its functor takes features, crateOverrides, runTests and the test hooks, nothing else. It belongs in the per-crate override next to useClippy, which also confines it to our own crates rather than the whole graph. BUILD_WORKERS 1 -> 2 on the clippy step, to find out whether that job is disk bound rather than assuming it from the free-disk-space action next to it. --- .github/workflows/ci.yml | 2 +- dimos/experimental/memory/rust/flake.nix | 5 +++++ .../sensors/camera/realsense/rust/flake.nix | 5 +++++ .../hardware/sensors/lidar/livox/rust/flake.nix | 5 +++++ .../sensors/lidar/pointlio/rust/flake.nix | 5 +++++ .../sensors/lidar/virtual_mid360/flake.nix | 5 +++++ dimos/mapping/ray_tracing/rust/flake.lock | 16 ++++++++++++++++ dimos/mapping/ray_tracing/rust/flake.nix | 5 +++++ .../navigation/nav_3d/mls_planner/rust/flake.nix | 5 +++++ examples/native-modules/rust/flake.nix | 5 +++++ 10 files changed, 57 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 3e1adc2275..13bc64432f 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -159,7 +159,7 @@ jobs: run: python3 bin/build-native-modules - name: Clippy native modules env: - BUILD_WORKERS: "1" + BUILD_WORKERS: "2" run: python3 bin/build-native-modules --clippy - name: Verify Cachix holds the built paths env: diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index f40337080b..348ac5f3ea 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -49,6 +49,11 @@ { useClippy = true; capLints = "forbid"; + # Lint unoptimised. These first-party crates are the only ones + # rebuilt for the check, and at the package's opt-level 3 + LTO + # that recompile is most of its cost. Dependencies are untouched, + # so nothing stops being shared. + release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; }); }; diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index d0a9916e10..bd95c6ff8c 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -46,6 +46,11 @@ { useClippy = true; capLints = "forbid"; + # Lint unoptimised. These first-party crates are the only ones + # rebuilt for the check, and at the package's opt-level 3 + LTO + # that recompile is most of its cost. Dependencies are untouched, + # so nothing stops being shared. + release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; }); }; diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index d98aa1e585..0f2c51ac6a 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -31,6 +31,11 @@ { useClippy = true; capLints = "forbid"; + # Lint unoptimised. These first-party crates are the only ones + # rebuilt for the check, and at the package's opt-level 3 + LTO + # that recompile is most of its cost. Dependencies are untouched, + # so nothing stops being shared. + release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; }); }; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index 4c4dbb0095..8a3d6697fc 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -31,6 +31,11 @@ { useClippy = true; capLints = "forbid"; + # Lint unoptimised. These first-party crates are the only ones + # rebuilt for the check, and at the package's opt-level 3 + LTO + # that recompile is most of its cost. Dependencies are untouched, + # so nothing stops being shared. + release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; }); }; diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index c29330af7d..b1277f4a0b 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -31,6 +31,11 @@ { useClippy = true; capLints = "forbid"; + # Lint unoptimised. These first-party crates are the only ones + # rebuilt for the check, and at the package's opt-level 3 + LTO + # that recompile is most of its cost. Dependencies are untouched, + # so nothing stops being shared. + release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; }); }; diff --git a/dimos/mapping/ray_tracing/rust/flake.lock b/dimos/mapping/ray_tracing/rust/flake.lock index 6611095dd5..12d4afa66f 100644 --- a/dimos/mapping/ray_tracing/rust/flake.lock +++ b/dimos/mapping/ray_tracing/rust/flake.lock @@ -199,6 +199,21 @@ "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": { @@ -277,6 +292,7 @@ "inputs": { "crate2nix": "crate2nix", "flake-utils": "flake-utils", + "nix-filter": "nix-filter", "nixpkgs": "nixpkgs_2" } }, diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index 3fec99e6fb..a0b8e90d4b 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -31,6 +31,11 @@ { useClippy = true; capLints = "forbid"; + # Lint unoptimised. These first-party crates are the only ones + # rebuilt for the check, and at the package's opt-level 3 + LTO + # that recompile is most of its cost. Dependencies are untouched, + # so nothing stops being shared. + release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; }); }; diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index 067a038ffa..9075c3e656 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -31,6 +31,11 @@ { useClippy = true; capLints = "forbid"; + # Lint unoptimised. These first-party crates are the only ones + # rebuilt for the check, and at the package's opt-level 3 + LTO + # that recompile is most of its cost. Dependencies are untouched, + # so nothing stops being shared. + release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; }); }; diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index b90b7ec38f..f3d03664b3 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -31,6 +31,11 @@ { useClippy = true; capLints = "forbid"; + # Lint unoptimised. These first-party crates are the only ones + # rebuilt for the check, and at the package's opt-level 3 + LTO + # that recompile is most of its cost. Dependencies are untouched, + # so nothing stops being shared. + release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; }); }; From 1c89c683be15f52fb1efac9f420630d86f502055 Mon Sep 17 00:00:00 2001 From: "autofix-ci[bot]" <114827586+autofix-ci[bot]@users.noreply.github.com> Date: Thu, 17 Sep 2026 02:23:47 +0000 Subject: [PATCH 84/97] [autofix.ci] apply automated fixes --- dimos/core/test_build_native_modules.py | 6 +----- dimos/mapping/dim_slam/dim_slam.py | 2 +- 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index da18a55cc2..f053ee1d1b 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -309,7 +309,6 @@ def _default_branch_has_shared_flakes() -> bool: @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]]] = {} @@ -351,7 +350,6 @@ def read() -> str | None: @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) @@ -397,8 +395,6 @@ def _build_nixpkgs_revs(lock: Path) -> set[str]: @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) @@ -491,6 +487,7 @@ def test_flake_refs_resolve_and_are_covered() -> None: "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. @@ -524,4 +521,3 @@ def test_module_locks_pin_the_shared_flakes_as_they_are_now() -> None: _BUILD_EDGES = ("nixpkgs", "dimos-native-rust", "dimos-native-cpp") - diff --git a/dimos/mapping/dim_slam/dim_slam.py b/dimos/mapping/dim_slam/dim_slam.py index 1b1dc9da9c..9da64cc573 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() From aa2825761ff1540099879777fa6c270b275b82a8 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 19:58:21 -0700 Subject: [PATCH 85/97] fix(nix): commit the module locks, and guard the one nixpkgs again cachix-build went 13.8 -> 31.0 minutes, and this is why: deleting the module flake.locks left eight of the nine untracked, so in CI every flake resolved `nixos-unstable` on its own. I removed them reasoning that without an in-repo flake input no lock can go stale -- true, and beside the point. A lock's other job is pinning nixpkgs, and that is what makes nine independent flakes share a rustc at all. That is the real cost of standalone flakes: `nixpkgs.follows` used to make one revision govern everything, and nine separate `nixpkgs.url` lines do not. So the one-nixpkgs test comes back, now as the only thing standing between the modules and silent drift. Eleven flakes on b1b875982b; the repo-root devcontainer stays excluded, as before. Also in here, from the same CI run: - bake emitted `dimos-module = { path = ... }` while the modules use the git dep, so a baked host had two of them and `Module` was not implemented for anything. It emits the git dep now. - the fmt hook still passed `--shell native/rust`, a file this branch deleted. The option existed for dim_slam's SDK-carrying devShell, which the standalone rewrite reduced to a plain toolchain, so the whole option is gone. - dim_slam claimed aarch64-darwin while cu_vslam_rs publishes Linux only, which made every one of its outputs throw there, devShell included. Linux only now. - native/rust has a devShell-only flake again: nothing takes it as an input and it builds nothing, but the two crates beside it are cargo workspace roots and the hooks need somewhere to run rustfmt. --- .pre-commit-config.yaml | 2 +- bin/hooks/rust-module-foreach | 23 +- dimos/cli/bake/codegen.py | 10 +- dimos/cli/bake/test_codegen.py | 7 +- dimos/core/test_build_native_modules.py | 43 +++ dimos/experimental/memory/rust/flake.lock | 317 ++++++++++++++++ .../sensors/camera/realsense/rust/flake.lock | 317 ++++++++++++++++ .../sensors/lidar/livox/rust/flake.lock | 317 ++++++++++++++++ .../sensors/lidar/pointlio/rust/flake.lock | 317 ++++++++++++++++ .../sensors/lidar/virtual_mid360/flake.lock | 317 ++++++++++++++++ dimos/mapping/dim_slam/rust/flake.lock | 341 ++++++++++++++++++ dimos/mapping/dim_slam/rust/flake.nix | 7 +- .../nav_3d/mls_planner/rust/flake.lock | 317 ++++++++++++++++ examples/native-modules/rust/flake.lock | 317 ++++++++++++++++ native/cpp/flake.lock | 6 +- native/rust/flake.lock | 61 ++++ native/rust/flake.nix | 21 ++ 17 files changed, 2716 insertions(+), 24 deletions(-) create mode 100644 dimos/experimental/memory/rust/flake.lock create mode 100644 dimos/hardware/sensors/camera/realsense/rust/flake.lock create mode 100644 dimos/hardware/sensors/lidar/livox/rust/flake.lock create mode 100644 dimos/hardware/sensors/lidar/pointlio/rust/flake.lock create mode 100644 dimos/hardware/sensors/lidar/virtual_mid360/flake.lock create mode 100644 dimos/mapping/dim_slam/rust/flake.lock create mode 100644 dimos/navigation/nav_3d/mls_planner/rust/flake.lock create mode 100644 examples/native-modules/rust/flake.lock create mode 100644 native/rust/flake.lock create mode 100644 native/rust/flake.nix diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 3f11f943b5..7c94aa61c0 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -143,7 +143,7 @@ repos: - id: cargo-fmt name: cargo fmt - entry: bin/hooks/rust-module-foreach --shell native/rust fmt --all + entry: bin/hooks/rust-module-foreach fmt --all language: system types: [rust] pass_filenames: false diff --git a/bin/hooks/rust-module-foreach b/bin/hooks/rust-module-foreach index 3536692ff9..d9f120dbd3 100755 --- a/bin/hooks/rust-module-foreach +++ b/bin/hooks/rust-module-foreach @@ -4,11 +4,6 @@ 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=$1 shift @@ -25,20 +20,18 @@ while read -r root; do exit 1 fi - if [ -n "$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 $system" >&2 - continue - fi + # A module may declare it does not support this platform: realsense links + # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off Linux. + # Skip it rather than block the commit; CI lints on Linux, where it does exist. + if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then + echo "skipping ${root#"$top"/}: $dir declares no devShell for $system" >&2 + continue fi started=$(date +%s) - nix develop "path:$shell_dir" -c true + nix develop "path:$dir" -c true entered=$(date +%s) - nix develop "path:$shell_dir" -c cargo "$subcommand" --manifest-path "$root" "$@" + nix develop "path:$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 diff --git a/dimos/cli/bake/codegen.py b/dimos/cli/bake/codegen.py index 8152feb847..0a69c803a5 100644 --- a/dimos/cli/bake/codegen.py +++ b/dimos/cli/bake/codegen.py @@ -83,13 +83,21 @@ """ +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"}" }}'] + # The same git dependency every module declares. A path here would put a second + # `dimos-module` in the graph -- the modules' own copy comes from git -- and the + # `Module` trait from one does not satisfy a bound written against the other. + 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): diff --git a/dimos/cli/bake/test_codegen.py b/dimos/cli/bake/test_codegen.py index 7d156bab6c..bce980b138 100644 --- a/dimos/cli/bake/test_codegen.py +++ b/dimos/cli/bake/test_codegen.py @@ -43,7 +43,12 @@ 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 + # git, not a path: the modules declare the same dependency that way, and two + # copies of dimos-module in one graph give "trait Module is not implemented". + 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 diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index f053ee1d1b..e1a4c691bc 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -521,3 +521,46 @@ def test_module_locks_pin_the_shared_flakes_as_they_are_now() -> None: _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" + ) diff --git a/dimos/experimental/memory/rust/flake.lock b/dimos/experimental/memory/rust/flake.lock new file mode 100644 index 0000000000..12d4afa66f --- /dev/null +++ b/dimos/experimental/memory/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/camera/realsense/rust/flake.lock b/dimos/hardware/sensors/camera/realsense/rust/flake.lock new file mode 100644 index 0000000000..12d4afa66f --- /dev/null +++ b/dimos/hardware/sensors/camera/realsense/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": 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--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": 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a/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock b/dimos/hardware/sensors/lidar/pointlio/rust/flake.lock new file mode 100644 index 0000000000..12d4afa66f --- /dev/null +++ b/dimos/hardware/sensors/lidar/pointlio/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": 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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" + ], + 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--git a/dimos/mapping/dim_slam/rust/flake.lock b/dimos/mapping/dim_slam/rust/flake.lock new file mode 100644 index 0000000000..5f703f5274 --- /dev/null +++ b/dimos/mapping/dim_slam/rust/flake.lock @@ -0,0 +1,341 @@ +{ + "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" + } + }, + "cu-vslam-rs": { + "inputs": { + "flake-utils": [ + "flake-utils" + ], + "nixpkgs": [ + "nixpkgs" + ] + }, + "locked": { + "lastModified": 1788061359, + "narHash": "sha256-nO9tQNKxCvvoeRhy5/BwB6sl9E4dUK+tXCif5uofTxQ=", + "owner": "jeff-hykin", + "repo": "cu_vslam_rs", + "rev": "6b0a6bd05be61eed33e3d2ee351398a7dcd3b654", + "type": "github" + }, + "original": { + "owner": "jeff-hykin", + "repo": "cu_vslam_rs", + "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", + "cu-vslam-rs": "cu-vslam-rs", + "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/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index f0acbd3358..311beb99ad 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -12,10 +12,11 @@ cu-vslam-rs.inputs.flake-utils.follows = "flake-utils"; }; - # Not eachDefaultSystem: nixpkgs 26.11 dropped x86_64-darwin, and merely naming it - # is an eval error. + # Linux only, because cu_vslam_rs is: it publishes aarch64-linux and x86_64-linux + # and nothing else, so naming darwin here makes `cu-vslam-rs.packages.${system}` + # throw and takes every output down with it, devShell included. outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix, cu-vslam-rs }: - flake-utils.lib.eachSystem [ "aarch64-darwin" "aarch64-linux" "x86_64-linux" ] (system: + flake-utils.lib.eachSystem [ "aarch64-linux" "x86_64-linux" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; name = "dim-slam-module"; diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.lock b/dimos/navigation/nav_3d/mls_planner/rust/flake.lock new file mode 100644 index 0000000000..12d4afa66f --- /dev/null +++ b/dimos/navigation/nav_3d/mls_planner/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.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/native/cpp/flake.lock b/native/cpp/flake.lock index 6777d8a3f2..8f7a59940d 100644 --- a/native/cpp/flake.lock +++ b/native/cpp/flake.lock @@ -35,11 +35,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { diff --git a/native/rust/flake.lock b/native/rust/flake.lock new file mode 100644 index 0000000000..c3e053d36d --- /dev/null +++ b/native/rust/flake.lock @@ -0,0 +1,61 @@ +{ + "nodes": { + "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" + } + }, + "nixpkgs": { + "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" + } + }, + "root": { + "inputs": { + "flake-utils": "flake-utils", + "nixpkgs": "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" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/native/rust/flake.nix b/native/rust/flake.nix new file mode 100644 index 0000000000..23e34e306e --- /dev/null +++ b/native/rust/flake.nix @@ -0,0 +1,21 @@ +{ + description = "A devShell for the shared dimos crates; they are consumed as a git dependency, not from here"; + + inputs = { + nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable"; + flake-utils.url = "github:numtide/flake-utils"; + }; + + # Nothing takes this as an input and it builds no package. It exists so the two + # crates beside it can be formatted and linted like any other: the hooks walk cargo + # workspace roots, and these are workspace roots with no module flake of their own. + # Modules get these crates from github.com/dimensionalOS/dimos as an ordinary git + # dependency, so there is no shared builder here to go stale. + outputs = { self, nixpkgs, flake-utils }: + flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: + let pkgs = nixpkgs.legacyPackages.${system}; in { + devShells.default = pkgs.mkShell { + packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; + }; + }); +} From 95b35c50f32209477bd30bc4725c4b69a126c5d5 Mon Sep 17 00:00:00 2001 From: "autofix-ci[bot]" <114827586+autofix-ci[bot]@users.noreply.github.com> Date: Thu, 17 Sep 2026 02:58:54 +0000 Subject: [PATCH 86/97] [autofix.ci] apply automated fixes --- dimos/cli/bake/test_codegen.py | 3 +-- dimos/core/test_build_native_modules.py | 4 +++- dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock | 12 ++++++------ 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/dimos/cli/bake/test_codegen.py b/dimos/cli/bake/test_codegen.py index bce980b138..c82fbeac1c 100644 --- a/dimos/cli/bake/test_codegen.py +++ b/dimos/cli/bake/test_codegen.py @@ -46,8 +46,7 @@ def test_cargo_toml_pins_absolute_paths_for_module_crates() -> None: # git, not a path: the modules declare the same dependency that way, and two # copies of dimos-module in one graph give "trait Module is not implemented". assert ( - 'dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" }' - in toml + '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") diff --git a/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index e1a4c691bc..6fa232e385 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -556,7 +556,9 @@ def test_every_module_flake_builds_against_one_nixpkgs() -> None: continue rev = _root_nixpkgs(lock) if rev: - by_rev.setdefault(rev, []).append(lock.parent.relative_to(DIMOS_PROJECT_ROOT).as_posix()) + 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, ( diff --git a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock index a9983be3f7..15d8b001e0 100644 --- a/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/fastlio2/cpp/flake.lock @@ -25,11 +25,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789610834, - "narHash": "sha256-6Ijx9KEAeTS2pv+eZEBH8PAgzyDncVN/hi4rYsJiyWw=", + "lastModified": 1789613901, + "narHash": "sha256-rQc0kVxt2Z+0miKIpwQbmaXzYZaJ+3l9wpz2uX67fRM=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "073f76ff1228abe6591bae3c2084e217a0248456", + "rev": "aa2825761ff1540099879777fa6c270b275b82a8", "type": "github" }, "original": { @@ -167,11 +167,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { From 3dc82f7f46abb7c7e9019fdf004e8ba88f146d4f Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 20:09:58 -0700 Subject: [PATCH 87/97] fix(nix): the unoptimised clippy build needs debuginfo off `release = false` alone breaks the check on darwin, and only on darwin: an unoptimised build emits a `.dSYM` *directory* beside each binary, and crate2nix's test runner copies binaries with a plain `cp`, which refuses a directory -- cp: -r not specified; omitting directory '.../bin/ping.dSYM' so every module's clippy check failed there while Linux passed. `-C debuginfo=0` removes the symbols a lint has no use for, and the check builds again. Verified on ray_tracing, virtual_mid360, mls_planner and livox. I had called `release = false` verified on the strength of an evaluation and one Linux-shaped build. It was not. --- dimos/experimental/memory/rust/flake.nix | 6 +++++- dimos/hardware/sensors/camera/realsense/rust/flake.nix | 6 +++++- dimos/hardware/sensors/lidar/livox/rust/flake.nix | 6 +++++- dimos/hardware/sensors/lidar/pointlio/rust/flake.nix | 6 +++++- dimos/hardware/sensors/lidar/virtual_mid360/flake.nix | 6 +++++- dimos/mapping/ray_tracing/rust/flake.nix | 6 +++++- dimos/navigation/nav_3d/mls_planner/rust/flake.nix | 6 +++++- examples/native-modules/rust/flake.nix | 6 +++++- 8 files changed, 40 insertions(+), 8 deletions(-) diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 348ac5f3ea..7b17fd10df 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -54,7 +54,11 @@ # that recompile is most of its cost. Dependencies are untouched, # so nothing stops being shared. release = false; - extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + # -C debuginfo=0 is not an optimisation: an unoptimised build emits a + # .dSYM *directory* beside each binary on darwin, and crate2nix's test + # runner copies binaries with a plain `cp`, which refuses a directory. + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); }; buildOf = called: diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index bd95c6ff8c..2675bf7b26 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -51,7 +51,11 @@ # that recompile is most of its cost. Dependencies are untouched, # so nothing stops being shared. release = false; - extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + # -C debuginfo=0 is not an optimisation: an unoptimised build emits a + # .dSYM *directory* beside each binary on darwin, and crate2nix's test + # runner copies binaries with a plain `cp`, which refuses a directory. + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); }; buildOf = called: diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index 0f2c51ac6a..60b6d58a31 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -36,7 +36,11 @@ # that recompile is most of its cost. Dependencies are untouched, # so nothing stops being shared. release = false; - extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + # -C debuginfo=0 is not an optimisation: an unoptimised build emits a + # .dSYM *directory* beside each binary on darwin, and crate2nix's test + # runner copies binaries with a plain `cp`, which refuses a directory. + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); }; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index 8a3d6697fc..3438d97c5a 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -36,7 +36,11 @@ # that recompile is most of its cost. Dependencies are untouched, # so nothing stops being shared. release = false; - extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + # -C debuginfo=0 is not an optimisation: an unoptimised build emits a + # .dSYM *directory* beside each binary on darwin, and crate2nix's test + # runner copies binaries with a plain `cp`, which refuses a directory. + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); }; diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index b1277f4a0b..22a0dd5c26 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -36,7 +36,11 @@ # that recompile is most of its cost. Dependencies are untouched, # so nothing stops being shared. release = false; - extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + # -C debuginfo=0 is not an optimisation: an unoptimised build emits a + # .dSYM *directory* beside each binary on darwin, and crate2nix's test + # runner copies binaries with a plain `cp`, which refuses a directory. + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); }; diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index a0b8e90d4b..6801f01817 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -36,7 +36,11 @@ # that recompile is most of its cost. Dependencies are untouched, # so nothing stops being shared. release = false; - extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + # -C debuginfo=0 is not an optimisation: an unoptimised build emits a + # .dSYM *directory* beside each binary on darwin, and crate2nix's test + # runner copies binaries with a plain `cp`, which refuses a directory. + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); }; buildOf = called: diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index 9075c3e656..7d847602cd 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -36,7 +36,11 @@ # that recompile is most of its cost. Dependencies are untouched, # so nothing stops being shared. release = false; - extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + # -C debuginfo=0 is not an optimisation: an unoptimised build emits a + # .dSYM *directory* beside each binary on darwin, and crate2nix's test + # runner copies binaries with a plain `cp`, which refuses a directory. + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); }; diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index f3d03664b3..728f380317 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -36,7 +36,11 @@ # that recompile is most of its cost. Dependencies are untouched, # so nothing stops being shared. release = false; - extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" ]; + # -C debuginfo=0 is not an optimisation: an unoptimised build emits a + # .dSYM *directory* beside each binary on darwin, and crate2nix's test + # runner copies binaries with a plain `cp`, which refuses a directory. + extraRustcOpts = + (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); }; From fcc57a6b29e1086e59ecf30e80c978b3cacce38a Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 21:19:36 -0700 Subject: [PATCH 88/97] ci: fetch harder, and relock the three C++ locks the guard caught Profiling the last cachix-build changed what is worth optimising: it copied 2461 store paths and built 17. These jobs substitute far more than they compile, so `release = false` and a second build worker -- both aimed at compile time -- were aimed at the wrong thing. Correct, and not where the minutes are. nix defaults to 25 parallel HTTP connections. crate2nix's one-derivation-per-crate graph is precisely what makes the fetch thousands of small paths, so the sharing that makes the builds cheap is what makes the download expensive. 50 now, in all seven nix job configs. Also relocks pointlio/cpp, habitat/nix and examples/native-modules/cpp: native/cpp changed when cleanModuleSource left it, and only fastlio2 had been relocked. That was the arm job's failure in the last run -- the guard working, not a flake. --- .github/workflows/ci.yml | 24 +++++++++++++++++++ .../sensors/lidar/pointlio/cpp/flake.lock | 12 +++++----- dimos/simulation/habitat/nix/flake.lock | 12 +++++----- examples/native-modules/cpp/flake.lock | 12 +++++----- 4 files changed, 42 insertions(+), 18 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index ee38c6848a..22bedbe468 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -130,6 +130,10 @@ jobs: - name: Install Nix (with Cachix substituter) env: INPUT_EXTRA_NIX_CONFIG: | + # 2461 paths copied against 17 built in a recent run: these jobs fetch + # far more than they compile, and crate2nix's one-derivation-per-crate + # graph makes those paths many and small. nix defaults to 25. + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" @@ -206,6 +210,10 @@ jobs: - name: Install Nix (with Cachix substituter) env: INPUT_EXTRA_NIX_CONFIG: | + # 2461 paths copied against 17 built in a recent run: these jobs fetch + # far more than they compile, and crate2nix's one-derivation-per-crate + # graph makes those paths many and small. nix defaults to 25. + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" @@ -280,6 +288,10 @@ jobs: - name: Install Nix env: INPUT_EXTRA_NIX_CONFIG: | + # 2461 paths copied against 17 built in a recent run: these jobs fetch + # far more than they compile, and crate2nix's one-derivation-per-crate + # graph makes those paths many and small. nix defaults to 25. + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" @@ -393,6 +405,10 @@ jobs: - name: Install Nix env: INPUT_EXTRA_NIX_CONFIG: | + # 2461 paths copied against 17 built in a recent run: these jobs fetch + # far more than they compile, and crate2nix's one-derivation-per-crate + # graph makes those paths many and small. nix defaults to 25. + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" @@ -487,6 +503,10 @@ jobs: # and this stays safe on fork PRs. env: INPUT_EXTRA_NIX_CONFIG: | + # 2461 paths copied against 17 built in a recent run: these jobs fetch + # far more than they compile, and crate2nix's one-derivation-per-crate + # graph makes those paths many and small. nix defaults to 25. + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" @@ -758,6 +778,10 @@ jobs: if: steps.native-marker.outputs.cache-hit == 'true' env: INPUT_EXTRA_NIX_CONFIG: | + # 2461 paths copied against 17 built in a recent run: these jobs fetch + # far more than they compile, and crate2nix's one-derivation-per-crate + # graph makes those paths many and small. nix defaults to 25. + http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= INPUT_SET_AS_TRUSTED_USER: "true" diff --git a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock index c9fb33377a..2ebc33a892 100644 --- a/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock +++ b/dimos/hardware/sensors/lidar/pointlio/cpp/flake.lock @@ -25,11 +25,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789610834, - "narHash": "sha256-6Ijx9KEAeTS2pv+eZEBH8PAgzyDncVN/hi4rYsJiyWw=", + "lastModified": 1789614598, + "narHash": "sha256-cLjnjDYCy/NHMN+o3pyQsAsJ5whB7kHNjv/yIRctdiY=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "073f76ff1228abe6591bae3c2084e217a0248456", + "rev": "3dc82f7f46abb7c7e9019fdf004e8ba88f146d4f", "type": "github" }, "original": { @@ -167,11 +167,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { diff --git a/dimos/simulation/habitat/nix/flake.lock b/dimos/simulation/habitat/nix/flake.lock index 5ef3d01d65..af35d6ab0d 100644 --- a/dimos/simulation/habitat/nix/flake.lock +++ b/dimos/simulation/habitat/nix/flake.lock @@ -8,11 +8,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789610834, - "narHash": "sha256-6Ijx9KEAeTS2pv+eZEBH8PAgzyDncVN/hi4rYsJiyWw=", + "lastModified": 1789614598, + "narHash": "sha256-cLjnjDYCy/NHMN+o3pyQsAsJ5whB7kHNjv/yIRctdiY=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "073f76ff1228abe6591bae3c2084e217a0248456", + "rev": "3dc82f7f46abb7c7e9019fdf004e8ba88f146d4f", "type": "github" }, "original": { @@ -58,11 +58,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { diff --git a/examples/native-modules/cpp/flake.lock b/examples/native-modules/cpp/flake.lock index e1694a6acb..75d525d75e 100644 --- a/examples/native-modules/cpp/flake.lock +++ b/examples/native-modules/cpp/flake.lock @@ -25,11 +25,11 @@ }, "locked": { "dir": "native/cpp", - "lastModified": 1789610834, - "narHash": "sha256-6Ijx9KEAeTS2pv+eZEBH8PAgzyDncVN/hi4rYsJiyWw=", + "lastModified": 1789614598, + "narHash": "sha256-cLjnjDYCy/NHMN+o3pyQsAsJ5whB7kHNjv/yIRctdiY=", "owner": "dimensionalOS", "repo": "dimos", - "rev": "073f76ff1228abe6591bae3c2084e217a0248456", + "rev": "3dc82f7f46abb7c7e9019fdf004e8ba88f146d4f", "type": "github" }, "original": { @@ -113,11 +113,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1789286504, - "narHash": "sha256-eiEK7cKZORNEvX0GeF3RtNEF/JXhgf2RqSp3230q13E=", + "lastModified": 1789546076, + "narHash": "sha256-zVxLZiSnmaaPLwnhj7pwmqe3axBg/C6nG5JZsJMh2g4=", "owner": "NixOS", "repo": "nixpkgs", - "rev": "ef34387ddd751e1ab8857adf4676492d32eb24ec", + "rev": "b1b875982b17dabde9b4a37f3e229e74913e6db3", "type": "github" }, "original": { From 436de49c4468f2942f1670181706084030ad6c30 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 23:44:26 -0700 Subject: [PATCH 89/97] ci: temporarily save the cargo cache from PR runs, to measure warm CI --- .github/workflows/ci.yml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 22bedbe468..0696c5539e 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -382,7 +382,10 @@ jobs: run: uv run pytest -m bake_e2e dimos/cli/bake/test_bake_e2e.py --no-cov - name: Save cargo build cache - if: github.ref == 'refs/heads/main' + # TEMPORARY (measurement): also save from this branch so a second run can show + # the warm-cache number. Revert to main-only before merge -- PR-scoped caches + # eat the repo's 10 GB quota and can evict main's entry. + if: github.ref == 'refs/heads/main' || github.event_name == 'pull_request' uses: actions/cache/save@v4 with: path: | From 2bea6661f282cde1205f0e8808e2a542938e7a55 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Wed, 16 Sep 2026 23:49:11 -0700 Subject: [PATCH 90/97] build(ci): format in one devShell again The standalone-flake rewrite dropped --shell along with the native/rust flake, then re-added that flake as a devShell in the same commit. So the option came out for no remaining reason, and lint's pre-commit step went 0.2m (main) to 1.4m: eleven nix evals and twenty-two nix develops for a tool that only parses. Locally 11.8s -> 5.9s, and realsense and dim_slam are formatted on darwin now instead of skipped for want of a devShell rustfmt never needed. --- .pre-commit-config.yaml | 2 +- bin/hooks/rust-module-foreach | 26 ++++++++++++++++++-------- 2 files changed, 19 insertions(+), 9 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 7c94aa61c0..3f11f943b5 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -143,7 +143,7 @@ repos: - id: cargo-fmt name: cargo fmt - entry: bin/hooks/rust-module-foreach fmt --all + entry: bin/hooks/rust-module-foreach --shell native/rust fmt --all language: system types: [rust] pass_filenames: false diff --git a/bin/hooks/rust-module-foreach b/bin/hooks/rust-module-foreach index d9f120dbd3..4f253cc889 100755 --- a/bin/hooks/rust-module-foreach +++ b/bin/hooks/rust-module-foreach @@ -4,6 +4,11 @@ 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=$1 shift @@ -20,18 +25,23 @@ while read -r root; do exit 1 fi - # A module may declare it does not support this platform: realsense links - # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off Linux. - # Skip it rather than block the commit; CI lints on Linux, where it does exist. - if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then - echo "skipping ${root#"$top"/}: $dir declares no devShell for $system" >&2 - continue + if [ -n "$shared_shell" ]; then + shell_dir=$shared_shell + else + shell_dir=$dir + # A module may declare it does not support this platform: realsense links + # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off Linux. + # Skip it rather than block the commit; CI lints on Linux, where it does exist. + 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:$dir" -c true + nix develop "path:$shell_dir" -c true entered=$(date +%s) - nix develop "path:$dir" -c cargo "$subcommand" --manifest-path "$root" "$@" + nix develop "path:$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 From bca03886d76febcfc8e5fdc95cf89f1f354ce5c2 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Thu, 17 Sep 2026 07:20:26 -0700 Subject: [PATCH 91/97] docs: drop the multi-line comments added since the last sweep --- .github/workflows/autofix.yml | 5 ----- .github/workflows/ci.yml | 21 ------------------- bin/hooks/rust-module-foreach | 3 --- bin/relock-shared-flakes | 3 --- dimos/cli/bake/codegen.py | 3 --- dimos/cli/bake/test_codegen.py | 2 -- dimos/experimental/memory/rust/flake.nix | 13 ------------ .../sensors/camera/realsense/rust/flake.nix | 13 ------------ .../sensors/lidar/livox/rust/flake.nix | 13 ------------ .../sensors/lidar/pointlio/rust/flake.nix | 13 ------------ .../sensors/lidar/virtual_mid360/flake.nix | 13 ------------ dimos/mapping/dim_slam/dim_slam.py | 3 --- dimos/mapping/dim_slam/rust/flake.nix | 10 --------- dimos/mapping/ray_tracing/rust/flake.nix | 13 ------------ .../nav_3d/mls_planner/rust/flake.nix | 13 ------------ dimos/simulation/habitat/connection.py | 12 ----------- examples/native-modules/rust/flake.nix | 13 ------------ native/rust/flake.nix | 5 ----- 18 files changed, 171 deletions(-) diff --git a/.github/workflows/autofix.yml b/.github/workflows/autofix.yml index d7e9803c15..64766e2680 100644 --- a/.github/workflows/autofix.yml +++ b/.github/workflows/autofix.yml @@ -31,11 +31,6 @@ jobs: - name: uv lock run: uv lock - # The C++ modules still take native/cpp as an in-repo flake input, so their - # locks can pin a tree that is not this commit's. That cannot be fixed at - # commit time -- a lock records a narHash of the FETCHED tree, so the revision - # has to be on the remote first. Here it is. (The rust modules no longer have - # this problem: dimos-module is an ordinary git dependency now.) - name: Did native/ change? id: shared run: | diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 0696c5539e..5f4b9b2b53 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -130,9 +130,6 @@ jobs: - name: Install Nix (with Cachix substituter) env: INPUT_EXTRA_NIX_CONFIG: | - # 2461 paths copied against 17 built in a recent run: these jobs fetch - # far more than they compile, and crate2nix's one-derivation-per-crate - # graph makes those paths many and small. nix defaults to 25. http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= @@ -210,9 +207,6 @@ jobs: - name: Install Nix (with Cachix substituter) env: INPUT_EXTRA_NIX_CONFIG: | - # 2461 paths copied against 17 built in a recent run: these jobs fetch - # far more than they compile, and crate2nix's one-derivation-per-crate - # graph makes those paths many and small. nix defaults to 25. http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= @@ -288,9 +282,6 @@ jobs: - name: Install Nix env: INPUT_EXTRA_NIX_CONFIG: | - # 2461 paths copied against 17 built in a recent run: these jobs fetch - # far more than they compile, and crate2nix's one-derivation-per-crate - # graph makes those paths many and small. nix defaults to 25. http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= @@ -382,9 +373,6 @@ jobs: run: uv run pytest -m bake_e2e dimos/cli/bake/test_bake_e2e.py --no-cov - name: Save cargo build cache - # TEMPORARY (measurement): also save from this branch so a second run can show - # the warm-cache number. Revert to main-only before merge -- PR-scoped caches - # eat the repo's 10 GB quota and can evict main's entry. if: github.ref == 'refs/heads/main' || github.event_name == 'pull_request' uses: actions/cache/save@v4 with: @@ -408,9 +396,6 @@ jobs: - name: Install Nix env: INPUT_EXTRA_NIX_CONFIG: | - # 2461 paths copied against 17 built in a recent run: these jobs fetch - # far more than they compile, and crate2nix's one-derivation-per-crate - # graph makes those paths many and small. nix defaults to 25. http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= @@ -506,9 +491,6 @@ jobs: # and this stays safe on fork PRs. env: INPUT_EXTRA_NIX_CONFIG: | - # 2461 paths copied against 17 built in a recent run: these jobs fetch - # far more than they compile, and crate2nix's one-derivation-per-crate - # graph makes those paths many and small. nix defaults to 25. http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= @@ -781,9 +763,6 @@ jobs: if: steps.native-marker.outputs.cache-hit == 'true' env: INPUT_EXTRA_NIX_CONFIG: | - # 2461 paths copied against 17 built in a recent run: these jobs fetch - # far more than they compile, and crate2nix's one-derivation-per-crate - # graph makes those paths many and small. nix defaults to 25. http-connections = 50 extra-substituters = https://dimensionalos.cachix.org extra-trusted-public-keys = dimensionalos.cachix.org-1:20ynj6TjpoD3qTxkdNoeHtgs2G2pNvgAq1EQYLTHJXI= diff --git a/bin/hooks/rust-module-foreach b/bin/hooks/rust-module-foreach index 4f253cc889..3536692ff9 100755 --- a/bin/hooks/rust-module-foreach +++ b/bin/hooks/rust-module-foreach @@ -29,9 +29,6 @@ while read -r root; do shell_dir=$shared_shell else shell_dir=$dir - # A module may declare it does not support this platform: realsense links - # librealsense, which pulls v4l-utils, which nixpkgs will not evaluate off Linux. - # Skip it rather than block the commit; CI lints on Linux, where it does exist. if ! nix eval --quiet "path:$dir#devShells.$system.default.outPath" >/dev/null 2>&1; then echo "skipping ${root#"$top"/}: $dir declares no devShell for $system" >&2 continue diff --git a/bin/relock-shared-flakes b/bin/relock-shared-flakes index ed0357c482..b789c8d554 100755 --- a/bin/relock-shared-flakes +++ b/bin/relock-shared-flakes @@ -122,9 +122,6 @@ def relock(lock: Path) -> tuple[Path, bool, list[str]]: def main() -> int: locks = [l for l in sorted(REPO_ROOT.rglob("flake.lock")) if ".git" not in l.parts] - # Each lock is in its own directory and shares no state with the others. Threads - # rather than processes: every one of these just waits on a `nix` subprocess. - # Measured over fourteen locks: 9.78 s serially, 1.73 s with eight workers. workers = int(os.environ.get("RELOCK_WORKERS") or min(8, len(locks) or 1)) touched, failed = [], [] with ThreadPoolExecutor(max_workers=workers) as pool: diff --git a/dimos/cli/bake/codegen.py b/dimos/cli/bake/codegen.py index 0a69c803a5..4ff2a03ffb 100644 --- a/dimos/cli/bake/codegen.py +++ b/dimos/cli/bake/codegen.py @@ -94,9 +94,6 @@ def crate_dir(host: str, root: Path | None = None) -> Path: def _dependencies(modules: Sequence[RegisteredModule], root: Path) -> str: - # The same git dependency every module declares. A path here would put a second - # `dimos-module` in the graph -- the modules' own copy comes from git -- and the - # `Module` trait from one does not satisfy a bound written against the other. 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. diff --git a/dimos/cli/bake/test_codegen.py b/dimos/cli/bake/test_codegen.py index c82fbeac1c..acb78bd15e 100644 --- a/dimos/cli/bake/test_codegen.py +++ b/dimos/cli/bake/test_codegen.py @@ -43,8 +43,6 @@ 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 - # git, not a path: the modules declare the same dependency that way, and two - # copies of dimos-module in one graph give "trait Module is not implemented". assert ( 'dimos-module = { git = "https://github.com/dimensionalOS/dimos", branch = "main" }' in toml ) diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 7b17fd10df..0ba4a56ba4 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -19,18 +19,12 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - # sqlite and the turbojpeg encoder are C libraries; crate2nix builds each - # crate on its own, so the -sys crates name what they link rather than the - # whole package doing it once. sysOverrides = { libsqlite3-sys = _: { buildInputs = [ pkgs.sqlite ]; nativeBuildInputs = [ pkgs.pkg-config ]; LIBSQLITE3_SYS_USE_PKG_CONFIG = "1"; }; - # turbojpeg-sys vendors libjpeg-turbo and drives cmake from its own build - # script. dontUseCmakeConfigure stops nixpkgs' cmake setup hook from *also* - # configuring the crate root, which has no CMakeLists.txt. turbojpeg-sys = _: { nativeBuildInputs = [ pkgs.cmake pkgs.nasm ]; dontUseCmakeConfigure = true; @@ -49,14 +43,7 @@ { useClippy = true; capLints = "forbid"; - # Lint unoptimised. These first-party crates are the only ones - # rebuilt for the check, and at the package's opt-level 3 + LTO - # that recompile is most of its cost. Dependencies are untouched, - # so nothing stops being shared. release = false; - # -C debuginfo=0 is not an optimisation: an unoptimised build emits a - # .dSYM *directory* beside each binary on darwin, and crate2nix's test - # runner copies binaries with a plain `cp`, which refuses a directory. extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 2675bf7b26..24cf3adb98 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -9,8 +9,6 @@ crate2nix.inputs.nixpkgs.follows = "nixpkgs"; }; - # Linux only: librealsense pulls v4l-utils, which nixpkgs will not evaluate on - # darwin. Declaring darwin anyway is what main did, and `nix develop` there fails. outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" ] (system: let @@ -21,10 +19,6 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - # Both crates run pkg-config against librealsense2: realsense-sys to generate - # its bindings, and this module's own build.rs to turn the result into an - # rpath. crate2nix builds each crate in its own sandbox, so the inputs have to - # be declared for each of them. needsLibrealsense = _: { buildInputs = [ pkgs.librealsense ]; nativeBuildInputs = [ pkgs.pkg-config ]; @@ -46,14 +40,7 @@ { useClippy = true; capLints = "forbid"; - # Lint unoptimised. These first-party crates are the only ones - # rebuilt for the check, and at the package's opt-level 3 + LTO - # that recompile is most of its cost. Dependencies are untouched, - # so nothing stops being shared. release = false; - # -C debuginfo=0 is not an optimisation: an unoptimised build emits a - # .dSYM *directory* beside each binary on darwin, and crate2nix's test - # runner copies binaries with a plain `cp`, which refuses a directory. extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index 60b6d58a31..c02da20d1c 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -19,9 +19,6 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - # Our own crates compile with clippy-driver; everything else keeps its - # ordinary derivation, so no dependency is built twice. capLints must be - # "forbid": it is a ceiling, and the default "allow" suppresses every lint. ours = [ name "dimos-module" "dimos-module-macros" ]; callWith = lint: import generated { inherit pkgs; @@ -31,14 +28,7 @@ { useClippy = true; capLints = "forbid"; - # Lint unoptimised. These first-party crates are the only ones - # rebuilt for the check, and at the package's opt-level 3 + LTO - # that recompile is most of its cost. Dependencies are untouched, - # so nothing stops being shared. release = false; - # -C debuginfo=0 is not an optimisation: an unoptimised build emits a - # .dSYM *directory* beside each binary on darwin, and crate2nix's test - # runner copies binaries with a plain `cp`, which refuses a directory. extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); @@ -53,9 +43,6 @@ packages.default = buildOf (callWith false); packages.${name} = self.packages.${system}.default; - # `runTests` is how crate2nix compiles test targets; `--list` makes the - # binary enumerate and exit, so they are linted without being run -- - # exactly what `cargo clippy --all-targets` did. packages.clippy = (buildOf (callWith true)).override { runTests = true; testCrateFlags = [ "--list" ]; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index 3438d97c5a..a261284de8 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -19,9 +19,6 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - # Our own crates compile with clippy-driver; everything else keeps its - # ordinary derivation, so no dependency is built twice. capLints must be - # "forbid": it is a ceiling, and the default "allow" suppresses every lint. ours = [ name "dimos-module" "dimos-module-macros" ]; callWith = lint: import generated { inherit pkgs; @@ -31,14 +28,7 @@ { useClippy = true; capLints = "forbid"; - # Lint unoptimised. These first-party crates are the only ones - # rebuilt for the check, and at the package's opt-level 3 + LTO - # that recompile is most of its cost. Dependencies are untouched, - # so nothing stops being shared. release = false; - # -C debuginfo=0 is not an optimisation: an unoptimised build emits a - # .dSYM *directory* beside each binary on darwin, and crate2nix's test - # runner copies binaries with a plain `cp`, which refuses a directory. extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); @@ -53,9 +43,6 @@ packages.default = buildOf (callWith false); packages.${name} = self.packages.${system}.default; - # `runTests` is how crate2nix compiles test targets; `--list` makes the - # binary enumerate and exit, so they are linted without being run -- - # exactly what `cargo clippy --all-targets` did. packages.clippy = (buildOf (callWith true)).override { runTests = true; testCrateFlags = [ "--list" ]; diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index 22a0dd5c26..8b52c69f8d 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -19,9 +19,6 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - # Our own crates compile with clippy-driver; everything else keeps its - # ordinary derivation, so no dependency is built twice. capLints must be - # "forbid": it is a ceiling, and the default "allow" suppresses every lint. ours = [ name "dimos-module" "dimos-module-macros" ]; callWith = lint: import generated { inherit pkgs; @@ -31,14 +28,7 @@ { useClippy = true; capLints = "forbid"; - # Lint unoptimised. These first-party crates are the only ones - # rebuilt for the check, and at the package's opt-level 3 + LTO - # that recompile is most of its cost. Dependencies are untouched, - # so nothing stops being shared. release = false; - # -C debuginfo=0 is not an optimisation: an unoptimised build emits a - # .dSYM *directory* beside each binary on darwin, and crate2nix's test - # runner copies binaries with a plain `cp`, which refuses a directory. extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); @@ -53,9 +43,6 @@ packages.default = buildOf (callWith false); packages.${name} = self.packages.${system}.default; - # `runTests` is how crate2nix compiles test targets; `--list` makes the - # binary enumerate and exit, so they are linted without being run -- - # exactly what `cargo clippy --all-targets` did. packages.clippy = (buildOf (callWith true)).override { runTests = true; testCrateFlags = [ "--list" ]; diff --git a/dimos/mapping/dim_slam/dim_slam.py b/dimos/mapping/dim_slam/dim_slam.py index 9da64cc573..bc9513fcb6 100644 --- a/dimos/mapping/dim_slam/dim_slam.py +++ b/dimos/mapping/dim_slam/dim_slam.py @@ -122,9 +122,6 @@ class SourceConfig(BaseModel): class DimSlamConfig(NativeModuleConfig): cwd: str | None = "rust" executable: str = "result/bin/dim_slam" - # `path:.` with no attribute, like every other module. The flake's `default` - # already resolves to the variant sdk_variant() would have named, so the choice - # lives in one place instead of two. 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/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index 311beb99ad..bf466fe734 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -12,9 +12,6 @@ cu-vslam-rs.inputs.flake-utils.follows = "flake-utils"; }; - # Linux only, because cu_vslam_rs is: it publishes aarch64-linux and x86_64-linux - # and nothing else, so naming darwin here makes `cu-vslam-rs.packages.${system}` - # throw and takes every output down with it, devShell included. outputs = { self, nix-filter, nixpkgs, flake-utils, crate2nix, cu-vslam-rs }: flake-utils.lib.eachSystem [ "aarch64-linux" "x86_64-linux" ] (system: let @@ -40,9 +37,6 @@ defaultCrateOverrides = cratePkgs.defaultCrateOverrides // { # cu_vslam_rs's build.rs compiles its shim against this SDK. cu_vslam_rs = _: { CUVSLAM_SDK_DIR = sdkPackage; }; - # buildRustCrate names DEP_ vars after the crate, cargo after the - # `links` key, so cu_vslam_rs's lib_dir never reaches our build.rs - # and the binary comes out with no rpath for libcuvslam. dim-slam-module = _: { DEP_CUVSLAM_LIB_DIR = "${sdkPackage}/lib"; }; }; }; @@ -58,13 +52,9 @@ if called ? rootCrate then called.rootCrate.build else called.workspaceMembers.${name}.build; - # Lint once, against the first SDK variant: they differ only in which cu_vslam - # SDK the build script links, and the rust being linted is the same in all. lintedVariant = builtins.head (builtins.sort builtins.lessThan variants); in { packages = nixpkgs.lib.genAttrs variants (v: buildOf (callWith v false)) // { - # One package per cuVSLAM SDK variant, so `default` cannot say which; it - # points at the same one the module's build_command would have named. default = buildOf (callWith lintedVariant false); clippy = (buildOf (callWith lintedVariant true)).override { runTests = true; diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index 6801f01817..45cbbe5855 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -19,9 +19,6 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - # Our own crates compile with clippy-driver; everything else keeps its - # ordinary derivation, so no dependency is built twice. capLints must be - # "forbid": it is a ceiling, and the default "allow" suppresses every lint. ours = [ name "dimos-module" "dimos-module-macros" ]; callWith = lint: import generated { inherit pkgs; @@ -31,14 +28,7 @@ { useClippy = true; capLints = "forbid"; - # Lint unoptimised. These first-party crates are the only ones - # rebuilt for the check, and at the package's opt-level 3 + LTO - # that recompile is most of its cost. Dependencies are untouched, - # so nothing stops being shared. release = false; - # -C debuginfo=0 is not an optimisation: an unoptimised build emits a - # .dSYM *directory* beside each binary on darwin, and crate2nix's test - # runner copies binaries with a plain `cp`, which refuses a directory. extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); @@ -52,9 +42,6 @@ packages.default = buildOf (callWith false); packages.${name} = self.packages.${system}.default; - # `runTests` is how crate2nix compiles test targets; `--list` makes the - # binary enumerate and exit, so they are linted without being run -- - # exactly what `cargo clippy --all-targets` did. packages.clippy = (buildOf (callWith true)).override { runTests = true; testCrateFlags = [ "--list" ]; diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index 7d847602cd..39696b6e22 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -19,9 +19,6 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - # Our own crates compile with clippy-driver; everything else keeps its - # ordinary derivation, so no dependency is built twice. capLints must be - # "forbid": it is a ceiling, and the default "allow" suppresses every lint. ours = [ name "dimos-module" "dimos-module-macros" ]; callWith = lint: import generated { inherit pkgs; @@ -31,14 +28,7 @@ { useClippy = true; capLints = "forbid"; - # Lint unoptimised. These first-party crates are the only ones - # rebuilt for the check, and at the package's opt-level 3 + LTO - # that recompile is most of its cost. Dependencies are untouched, - # so nothing stops being shared. release = false; - # -C debuginfo=0 is not an optimisation: an unoptimised build emits a - # .dSYM *directory* beside each binary on darwin, and crate2nix's test - # runner copies binaries with a plain `cp`, which refuses a directory. extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); @@ -53,9 +43,6 @@ packages.default = buildOf (callWith false); packages.${name} = self.packages.${system}.default; - # `runTests` is how crate2nix compiles test targets; `--list` makes the - # binary enumerate and exit, so they are linted without being run -- - # exactly what `cargo clippy --all-targets` did. packages.clippy = (buildOf (callWith true)).override { runTests = true; testCrateFlags = [ "--list" ]; diff --git a/dimos/simulation/habitat/connection.py b/dimos/simulation/habitat/connection.py index 4493fa8c38..344d9e4c18 100644 --- a/dimos/simulation/habitat/connection.py +++ b/dimos/simulation/habitat/connection.py @@ -36,18 +36,6 @@ class HabitatConnectionConfig(NativeModuleConfig): # target/habitat (outside the package tree); the wrapper is the build sentinel. cwd: str | None = "nix" executable: str = str(DIMOS_PROJECT_ROOT / "target" / "habitat" / "habitat-native") - # No auto-build, and this module has never had one: `nix/flake.nix` exposes a - # devShell and no `packages` attribute, so there is nothing for `nix build` to - # produce and nothing for Cachix to hold. It cannot have one either -- habitat-sim - # comes from conda, install.sh downloads a multi-gigabyte HM3D scene, and headless - # rendering needs the host's own EGL driver, none of which survives a sandbox. - # - # Until 2026-09 this field read `nix develop path:. -c ./install.sh`, which dressed - # a devShell script up as a build. `None` is what NativeModule already means by - # "no auto-build": it refuses to spawn and says to build manually. Run the install - # once, by hand: - # - # cd dimos/simulation/habitat/nix && nix develop path:. -c ./install.sh build_command: str | None = None stdin_config: bool = True log_format: LogFormat = LogFormat.TEXT diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index 728f380317..d50a812969 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -19,9 +19,6 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; - # Our own crates compile with clippy-driver; everything else keeps its - # ordinary derivation, so no dependency is built twice. capLints must be - # "forbid": it is a ceiling, and the default "allow" suppresses every lint. ours = [ name "dimos-module" "dimos-module-macros" ]; callWith = lint: import generated { inherit pkgs; @@ -31,14 +28,7 @@ { useClippy = true; capLints = "forbid"; - # Lint unoptimised. These first-party crates are the only ones - # rebuilt for the check, and at the package's opt-level 3 + LTO - # that recompile is most of its cost. Dependencies are untouched, - # so nothing stops being shared. release = false; - # -C debuginfo=0 is not an optimisation: an unoptimised build emits a - # .dSYM *directory* beside each binary on darwin, and crate2nix's test - # runner copies binaries with a plain `cp`, which refuses a directory. extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; }); @@ -53,9 +43,6 @@ packages.default = buildOf (callWith false); packages.${name} = self.packages.${system}.default; - # `runTests` is how crate2nix compiles test targets; `--list` makes the - # binary enumerate and exit, so they are linted without being run -- - # exactly what `cargo clippy --all-targets` did. packages.clippy = (buildOf (callWith true)).override { runTests = true; testCrateFlags = [ "--list" ]; diff --git a/native/rust/flake.nix b/native/rust/flake.nix index 23e34e306e..d5fee7e3b8 100644 --- a/native/rust/flake.nix +++ b/native/rust/flake.nix @@ -6,11 +6,6 @@ flake-utils.url = "github:numtide/flake-utils"; }; - # Nothing takes this as an input and it builds no package. It exists so the two - # crates beside it can be formatted and linted like any other: the hooks walk cargo - # workspace roots, and these are workspace roots with no module flake of their own. - # Modules get these crates from github.com/dimensionalOS/dimos as an ordinary git - # dependency, so there is no shared builder here to go stale. outputs = { self, nixpkgs, flake-utils }: flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ] (system: let pkgs = nixpkgs.legacyPackages.${system}; in { From 041614d3f4f01c75be79f3d9ff7bac0f0f0a6644 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Thu, 17 Sep 2026 07:20:33 -0700 Subject: [PATCH 92/97] ci: save the cargo cache from main only again, the measurement is done --- .github/workflows/ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 5f4b9b2b53..49a68056d6 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -373,7 +373,7 @@ jobs: run: uv run pytest -m bake_e2e dimos/cli/bake/test_bake_e2e.py --no-cov - name: Save cargo build cache - if: github.ref == 'refs/heads/main' || github.event_name == 'pull_request' + if: github.ref == 'refs/heads/main' uses: actions/cache/save@v4 with: path: | From bf1fab2425e70c728c38de6b06d0a2babe3c4de5 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Thu, 17 Sep 2026 07:22:01 -0700 Subject: [PATCH 93/97] ci: let a module declare the system libs it needs, instead of a list in ci.yml --- .github/workflows/ci.yml | 19 ++++++------------- .../sensors/camera/realsense/rust/Cargo.toml | 3 +++ dimos/mapping/dim_slam/rust/Cargo.toml | 3 +++ 3 files changed, 12 insertions(+), 13 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 49a68056d6..057f6e1183 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -326,22 +326,15 @@ jobs: - name: cargo test run: | set -euo pipefail - needs_system_libs=( - dimos/hardware/sensors/camera/realsense/rust # librealsense - dimos/mapping/dim_slam/rust # metal / cuda - ) - for skipped in "${needs_system_libs[@]}"; do - test -f "$skipped/Cargo.toml" \ - || { echo "::error::$skipped is gone -- drop it from needs_system_libs"; exit 1; } - done git ls-files "*Cargo.toml" | while read -r m; do cargo locate-project --manifest-path "$m" --workspace --message-format plain done | sort -u | while read -r root; do - dir=${root%/Cargo.toml} - dir=${dir#$PWD/} - case " ${needs_system_libs[*]} " in - *" $dir "*) echo "skipping $dir: needs system libraries this runner lacks"; continue ;; - esac + needs=$(cargo metadata --manifest-path "$root" --no-deps --format-version 1 \ + | python3 -c 'import json,sys; print(next((p["metadata"]["dimos"]["needs-system-libs"] for p in json.load(sys.stdin)["packages"] if (p.get("metadata") or {}).get("dimos", {}).get("needs-system-libs")), ""))') + if [ -n "$needs" ]; then + echo "skipping ${root%/Cargo.toml}: needs $needs, which this runner lacks" + continue + fi echo "::group::cargo test $root" cargo test --manifest-path "$root" --workspace --all-features --locked echo "::endgroup::" diff --git a/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml index 60caf0ac91..1ed794e0bc 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml +++ b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml @@ -13,6 +13,9 @@ path = "src/main.rs" # CI's `cargo clippy --workspace` don't carry. Built via ./flake.nix instead. [workspace] +[package.metadata.dimos] +needs-system-libs = "librealsense2" + # Bake registry entry, cross-checked at compile time by the module macro. [package.metadata.dimos.module.realsense] path = "dimos_realsense::RealSense" diff --git a/dimos/mapping/dim_slam/rust/Cargo.toml b/dimos/mapping/dim_slam/rust/Cargo.toml index f2394eaa8c..fe5850c5f8 100644 --- a/dimos/mapping/dim_slam/rust/Cargo.toml +++ b/dimos/mapping/dim_slam/rust/Cargo.toml @@ -8,6 +8,9 @@ license = "Apache-2.0" name = "dim_slam" path = "src/main.rs" +[package.metadata.dimos] +needs-system-libs = "cuvslam / metal" + [dependencies] # tag, not rev: nix's fetchGit only searches the ref the url names, so a bare rev is # unfetchable. Cargo.lock still pins the exact commit. From bcda98369d72d63ee0f469571f237b4423b232de Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Thu, 17 Sep 2026 07:48:50 -0700 Subject: [PATCH 94/97] test(nix): run the rust tests as derivations, discovered from the flakes --- .github/workflows/ci.yml | 34 +-- bin/build-native-modules | 105 ++++--- bin/pyo3-extensions | 123 +++++++++ dimos/core/test_build_native_modules.py | 49 ++++ dimos/experimental/memory/rust/flake.nix | 19 +- .../sensors/camera/realsense/rust/Cargo.toml | 3 - .../sensors/camera/realsense/rust/flake.nix | 19 +- .../sensors/lidar/livox/rust/flake.nix | 19 +- .../sensors/lidar/livox/rust/src/live.rs | 54 ---- .../sensors/lidar/pointlio/rust/flake.nix | 19 +- .../sensors/lidar/virtual_mid360/flake.nix | 19 +- dimos/mapping/dim_slam/rust/Cargo.toml | 3 - dimos/mapping/dim_slam/rust/flake.nix | 16 +- dimos/mapping/ray_tracing/rust/flake.nix | 19 +- .../nav_3d/mls_planner/rust/flake.nix | 19 +- examples/native-modules/rust/flake.nix | 19 +- native/rust/flake.lock | 258 +++++++++++++++++- native/rust/flake.nix | 53 +++- 18 files changed, 654 insertions(+), 196 deletions(-) create mode 100755 bin/pyo3-extensions diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 057f6e1183..52e67f2963 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -323,22 +323,6 @@ jobs: key: cargo-test-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('**/Cargo.lock') }} restore-keys: | cargo-test-${{ runner.os }}-${{ runner.arch }}- - - name: cargo test - run: | - set -euo pipefail - git ls-files "*Cargo.toml" | while read -r m; do - cargo locate-project --manifest-path "$m" --workspace --message-format plain - done | sort -u | while read -r root; do - needs=$(cargo metadata --manifest-path "$root" --no-deps --format-version 1 \ - | python3 -c 'import json,sys; print(next((p["metadata"]["dimos"]["needs-system-libs"] for p in json.load(sys.stdin)["packages"] if (p.get("metadata") or {}).get("dimos", {}).get("needs-system-libs")), ""))') - if [ -n "$needs" ]; then - echo "skipping ${root%/Cargo.toml}: needs $needs, which this runner lacks" - continue - fi - echo "::group::cargo test $root" - cargo test --manifest-path "$root" --workspace --all-features --locked - echo "::endgroup::" - done - name: Install uv uses: astral-sh/setup-uv@v10.0.1 with: @@ -349,19 +333,13 @@ 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 @@ -492,6 +470,10 @@ jobs: # PCL, GTSAM and the SLAM cores come from each module's flake, not apt. - name: Build native modules run: python3 bin/build-native-modules + - name: Test rust native modules + env: + BUILD_WORKERS: "2" + run: python3 bin/build-native-modules --tests - name: Test C++ native modules env: MODULES: ${{ steps.find-modules.outputs.modules }} diff --git a/bin/build-native-modules b/bin/build-native-modules index 58ee3601b0..6862efbe87 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -25,12 +25,18 @@ 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. - --clippy Build every module's `checks..clippy` instead of its - package: 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. - Modules whose flake declares no such check (the C++ ones) are - skipped. + --clippy Build every flake's `checks..clippy` instead of the + module packages: 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. Flakes declaring no such check (the C++ ones) 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. @@ -534,58 +540,64 @@ def _declared_systems(module: DiscoveredModule) -> frozenset[str] | None: return None -def _clippy_attr(module: DiscoveredModule) -> str | None: - """`#checks..clippy`, or None if the module declares no check. +def flake_dirs() -> list[str]: + """Every tracked directory holding a `flake.nix`, repo-relative, sorted. - A C++ module's flake has no `checks` at all, and asking is narrower than - catching the failure: a module that declares checks but not this one is a - typo and must still fail loudly. + 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. """ - ref = _flake_ref_of(module).split("#", 1)[0] or "." + 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"{ref}#checks.{current_system()}", + f"path:.#checks.{current_system()}", "--apply", "builtins.attrNames", ], - cwd=str(REPO_ROOT / module.build_dir), + cwd=str(REPO_ROOT / build_dir), capture_output=True, text=True, check=False, ) if proc.returncode != 0: - return None + return frozenset() try: - names = json.loads(proc.stdout) + return frozenset(json.loads(proc.stdout)) except json.JSONDecodeError: - return None - return f"{ref}#checks.{current_system()}.clippy" if "clippy" in names else None + return frozenset() -def clippy_one(module: DiscoveredModule) -> tuple[str, bool, str]: - name = module.qualname.rsplit(".", 1)[-1] - 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()}" - attr = _clippy_attr(module) - if attr is None: - return name, False, f"SKIP: {name} declares no clippy check" - _log(f"START: clippy {name} in {build_dir}: {attr}") +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(build_dir), + 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"clippy {name} exited {proc.returncode}\n{body}") - return name, False, f"DONE: clippy {name}" + 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]: @@ -627,7 +639,12 @@ def main() -> None: mode.add_argument( "--clippy", action="store_true", - help="build every module's checks..clippy instead of its package", + help="build every flake's checks..clippy 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", @@ -664,17 +681,19 @@ def main() -> None: failed = 0 pending: list[str] = [] workers = int(os.environ.get("BUILD_WORKERS") or os.cpu_count() or 2) - verb = "Linting" if args.clippy else "Checking" if args.dry_run else "Building" - _log(f"{verb} {len(modules)} module(s) with up to {workers} workers") + check = "clippy" if args.clippy 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(clippy_one, module) - if args.clippy - else 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() @@ -682,7 +701,7 @@ 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/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/dimos/core/test_build_native_modules.py b/dimos/core/test_build_native_modules.py index 6fa232e385..a7df2fb157 100644 --- a/dimos/core/test_build_native_modules.py +++ b/dimos/core/test_build_native_modules.py @@ -566,3 +566,52 @@ def test_every_module_flake_builds_against_one_nixpkgs() -> None: + "; ".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/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 0ba4a56ba4..9736571832 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -32,21 +32,23 @@ }; ours = [ name "dimos-module" "dimos-module-macros" ]; - callWith = lint: import generated { + callWith = mode: import generated { inherit pkgs; buildRustCrateForPkgs = cratePkgs: let build = cratePkgs.buildRustCrate.override { defaultCrateOverrides = cratePkgs.defaultCrateOverrides // sysOverrides; }; in crate: build (crate // pkgs.lib.optionalAttrs - (lint && builtins.elem crate.crateName ours) - { + (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"; - release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; - }); + })); }; buildOf = called: if called ? rootCrate then called.rootCrate.build @@ -54,14 +56,17 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.default = buildOf (callWith false); + packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith true)).override { + packages.clippy = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; checks.clippy = self.packages.${system}.clippy; + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + devShells.default = pkgs.mkShell { packages = rustTools ++ [ pkgs.cmake pkgs.nasm pkgs.pkg-config pkgs.sqlite pkgs.sqlite.dev ] diff --git a/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml index 1ed794e0bc..60caf0ac91 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml +++ b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml @@ -13,9 +13,6 @@ path = "src/main.rs" # CI's `cargo clippy --workspace` don't carry. Built via ./flake.nix instead. [workspace] -[package.metadata.dimos] -needs-system-libs = "librealsense2" - # Bake registry entry, cross-checked at compile time by the module macro. [package.metadata.dimos.module.realsense] path = "dimos_realsense::RealSense" diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 24cf3adb98..14fb825821 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -29,34 +29,39 @@ }; ours = [ name "dimos-module" "dimos-module-macros" ]; - callWith = lint: import generated { + callWith = mode: import generated { inherit pkgs; buildRustCrateForPkgs = cratePkgs: let build = cratePkgs.buildRustCrate.override { defaultCrateOverrides = cratePkgs.defaultCrateOverrides // sysOverrides; }; in crate: build (crate // pkgs.lib.optionalAttrs - (lint && builtins.elem crate.crateName ours) - { + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { useClippy = true; capLints = "forbid"; - release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; - }); + })); }; buildOf = called: if called ? rootCrate then called.rootCrate.build else called.workspaceMembers.${name}.build; in { - packages.default = buildOf (callWith false); + packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith true)).override { + packages.clippy = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; checks.clippy = self.packages.${system}.clippy; + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${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/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index c02da20d1c..7782d103b4 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -20,18 +20,20 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; ours = [ name "dimos-module" "dimos-module-macros" ]; - callWith = lint: import generated { + callWith = mode: import generated { inherit pkgs; buildRustCrateForPkgs = cratePkgs: crate: cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs - (lint && builtins.elem crate.crateName ours) - { + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { useClippy = true; capLints = "forbid"; - release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; - }); + })); }; buildOf = called: @@ -40,15 +42,18 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.default = buildOf (callWith false); + packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith true)).override { + packages.clippy = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; checks.clippy = self.packages.${system}.clippy; + 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/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index a261284de8..438c198313 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -20,18 +20,20 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; ours = [ name "dimos-module" "dimos-module-macros" ]; - callWith = lint: import generated { + callWith = mode: import generated { inherit pkgs; buildRustCrateForPkgs = cratePkgs: crate: cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs - (lint && builtins.elem crate.crateName ours) - { + (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"; - release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; - }); + })); }; buildOf = called: @@ -40,15 +42,18 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.default = buildOf (callWith false); + packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith true)).override { + packages.clippy = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; checks.clippy = self.packages.${system}.clippy; + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index 8b52c69f8d..a75bcff2ed 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -20,18 +20,20 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; ours = [ name "dimos-module" "dimos-module-macros" ]; - callWith = lint: import generated { + callWith = mode: import generated { inherit pkgs; buildRustCrateForPkgs = cratePkgs: crate: cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs - (lint && builtins.elem crate.crateName ours) - { + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { useClippy = true; capLints = "forbid"; - release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; - }); + })); }; buildOf = called: @@ -40,15 +42,18 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.default = buildOf (callWith false); + packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith true)).override { + packages.clippy = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; checks.clippy = self.packages.${system}.clippy; + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/dimos/mapping/dim_slam/rust/Cargo.toml b/dimos/mapping/dim_slam/rust/Cargo.toml index fe5850c5f8..f2394eaa8c 100644 --- a/dimos/mapping/dim_slam/rust/Cargo.toml +++ b/dimos/mapping/dim_slam/rust/Cargo.toml @@ -8,9 +8,6 @@ license = "Apache-2.0" name = "dim_slam" path = "src/main.rs" -[package.metadata.dimos] -needs-system-libs = "cuvslam / metal" - [dependencies] # tag, not rev: nix's fetchGit only searches the ref the url names, so a bare rev is # unfetchable. Cargo.lock still pins the exact commit. diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index bf466fe734..b1b441742d 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -28,7 +28,7 @@ variants = map (nixpkgs.lib.removePrefix "sdk-") (builtins.attrNames sdkPackages); ours = [ name "dimos-module" "dimos-module-macros" ]; - callWith = variant: lint: + callWith = variant: mode: let sdkPackage = sdkPackages."sdk-${variant}"; in import generated { inherit pkgs; @@ -41,12 +41,12 @@ }; }; in crate: build (crate // pkgs.lib.optionalAttrs - (lint && builtins.elem crate.crateName ours) - { + (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 @@ -54,14 +54,16 @@ lintedVariant = builtins.head (builtins.sort builtins.lessThan variants); in { - packages = nixpkgs.lib.genAttrs variants (v: buildOf (callWith v false)) // { - default = buildOf (callWith lintedVariant false); - clippy = (buildOf (callWith lintedVariant true)).override { + packages = nixpkgs.lib.genAttrs variants (v: buildOf (callWith v null)) // { + default = buildOf (callWith lintedVariant null); + clippy = (buildOf (callWith lintedVariant "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; + tests = (buildOf (callWith lintedVariant "test")).override { runTests = true; }; }; checks.clippy = self.packages.${system}.clippy; + checks.tests = self.packages.${system}.tests; devShells.default = pkgs.mkShellNoCC { packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index 45cbbe5855..3f7d79dfdb 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -20,18 +20,20 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; ours = [ name "dimos-module" "dimos-module-macros" ]; - callWith = lint: import generated { + callWith = mode: import generated { inherit pkgs; buildRustCrateForPkgs = cratePkgs: crate: cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs - (lint && builtins.elem crate.crateName ours) - { + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { useClippy = true; capLints = "forbid"; - release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; - }); + })); }; buildOf = called: if called ? rootCrate then called.rootCrate.build @@ -39,15 +41,18 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.default = buildOf (callWith false); + packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith true)).override { + packages.clippy = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; checks.clippy = self.packages.${system}.clippy; + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index 39696b6e22..d5cbe132ba 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -20,18 +20,20 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; ours = [ name "dimos-module" "dimos-module-macros" ]; - callWith = lint: import generated { + callWith = mode: import generated { inherit pkgs; buildRustCrateForPkgs = cratePkgs: crate: cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs - (lint && builtins.elem crate.crateName ours) - { + (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"; - release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; - }); + })); }; buildOf = called: @@ -40,15 +42,18 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.default = buildOf (callWith false); + packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith true)).override { + packages.clippy = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; checks.clippy = self.packages.${system}.clippy; + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index d50a812969..a48e9fdf7a 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -20,18 +20,20 @@ generated = crate2nix.tools.${system}.generatedCargoNix { inherit name src; }; ours = [ name "dimos-module" "dimos-module-macros" ]; - callWith = lint: import generated { + callWith = mode: import generated { inherit pkgs; buildRustCrateForPkgs = cratePkgs: crate: cratePkgs.buildRustCrate (crate // pkgs.lib.optionalAttrs - (lint && builtins.elem crate.crateName ours) - { + (mode != null && builtins.elem crate.crateName ours) + ({ + release = false; + extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-C" "debuginfo=0" ]; + } // pkgs.lib.optionalAttrs (mode == "lint") { useClippy = true; capLints = "forbid"; - release = false; extraRustcOpts = (crate.extraRustcOpts or [ ]) ++ [ "-D" "warnings" "-C" "debuginfo=0" ]; - }); + })); }; buildOf = called: @@ -40,15 +42,18 @@ rustTools = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; in { - packages.default = buildOf (callWith false); + packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith true)).override { + packages.clippy = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; checks.clippy = self.packages.${system}.clippy; + packages.tests = (buildOf (callWith "test")).override { runTests = true; }; + checks.tests = self.packages.${system}.tests; + devShells.default = pkgs.mkShell { packages = rustTools; }; }); } diff --git a/native/rust/flake.lock b/native/rust/flake.lock index c3e053d36d..12d4afa66f 100644 --- a/native/rust/flake.lock +++ b/native/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" @@ -18,7 +126,127 @@ "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=", @@ -34,10 +262,38 @@ "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/native/rust/flake.nix b/native/rust/flake.nix index d5fee7e3b8..c1d8e0b7d1 100644 --- a/native/rust/flake.nix +++ b/native/rust/flake.nix @@ -1,14 +1,61 @@ { - description = "A devShell for the shared dimos crates; they are consumed as a git dependency, not from here"; + 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, nixpkgs, flake-utils }: + 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}; in { + 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 { + clippy = (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.clippy = pkgs.linkFarmFromDrvs "dimos-module-clippy" [ module.clippy macros.clippy ]; + packages.tests = pkgs.linkFarmFromDrvs "dimos-module-tests" [ module.tests macros.tests ]; + checks.clippy = self.packages.${system}.clippy; + checks.tests = self.packages.${system}.tests; + devShells.default = pkgs.mkShell { packages = [ pkgs.cargo pkgs.rustc pkgs.clippy pkgs.rustfmt ]; }; From ded3b95ad6618a862c14a7c60536d21eecc34fb2 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Thu, 17 Sep 2026 07:51:34 -0700 Subject: [PATCH 95/97] refactor(nix): the check is named lint, not clippy, so C++ can offer one too --- .github/workflows/ci.yml | 6 +++--- .pre-commit-config.yaml | 6 +++--- bin/build-native-modules | 18 ++++++++++-------- ...native-module-clippy => native-module-lint} | 12 ++++++------ dimos/experimental/memory/rust/flake.nix | 4 ++-- .../sensors/camera/realsense/rust/flake.nix | 4 ++-- .../sensors/lidar/livox/rust/flake.nix | 4 ++-- .../sensors/lidar/pointlio/rust/flake.nix | 4 ++-- .../sensors/lidar/virtual_mid360/flake.nix | 4 ++-- dimos/mapping/dim_slam/rust/flake.nix | 4 ++-- dimos/mapping/ray_tracing/rust/flake.nix | 4 ++-- .../nav_3d/mls_planner/rust/flake.nix | 4 ++-- examples/native-modules/rust/flake.nix | 4 ++-- native/rust/flake.nix | 6 +++--- 14 files changed, 43 insertions(+), 41 deletions(-) rename bin/hooks/{native-module-clippy => native-module-lint} (53%) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 52e67f2963..936a5ec2d0 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -158,10 +158,10 @@ jobs: env: BUILD_WORKERS: "1" run: python3 bin/build-native-modules - - name: Clippy native modules + - name: Lint native modules env: BUILD_WORKERS: "2" - run: python3 bin/build-native-modules --clippy + run: python3 bin/build-native-modules --lint - name: Verify Cachix holds the built paths env: CACHIX_CACHE_NAME: dimensionalos @@ -290,7 +290,7 @@ jobs: - name: Run pre-commit env: - SKIP: native-module-clippy + SKIP: native-module-lint uses: pre-commit/action@v3.0.1 with: extra_args: --all-files --verbose diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 3f11f943b5..c498724bfc 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -148,9 +148,9 @@ repos: types: [rust] pass_filenames: false - - id: native-module-clippy - name: clippy (nix) - entry: bin/hooks/native-module-clippy + - id: native-module-lint + name: lint (nix) + entry: bin/hooks/native-module-lint language: system types: [rust] pass_filenames: false diff --git a/bin/build-native-modules b/bin/build-native-modules index 6862efbe87..4118cc2971 100755 --- a/bin/build-native-modules +++ b/bin/build-native-modules @@ -25,11 +25,13 @@ 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. - --clippy Build every flake's `checks..clippy` instead of the - module packages: 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. Flakes declaring no such check (the C++ ones) skip. + --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 @@ -637,9 +639,9 @@ def main() -> None: help="check the built out paths are downloadable from the Cachix cache", ) mode.add_argument( - "--clippy", + "--lint", action="store_true", - help="build every flake's checks..clippy instead of the module packages", + help="build every flake's checks..lint instead of the module packages", ) mode.add_argument( "--tests", @@ -681,7 +683,7 @@ def main() -> None: failed = 0 pending: list[str] = [] workers = int(os.environ.get("BUILD_WORKERS") or os.cpu_count() or 2) - check = "clippy" if args.clippy else "tests" if args.tests else None + 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") diff --git a/bin/hooks/native-module-clippy b/bin/hooks/native-module-lint similarity index 53% rename from bin/hooks/native-module-clippy rename to bin/hooks/native-module-lint index 9f77925a4b..bc8031f461 100755 --- a/bin/hooks/native-module-clippy +++ b/bin/hooks/native-module-lint @@ -10,19 +10,19 @@ 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.clippy.drvPath" >/dev/null 2>&1; then - continue # no clippy check for this system, or none at all + 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#clippy" --no-link; then - printf ' clippy %s: %ss\n' "$dir" "$(( $(date +%s) - started ))" >&2 + if nix build -L "path:$top/$dir#lint" --no-link; then + printf ' lint %s: %ss\n' "$dir" "$(( $(date +%s) - started ))" >&2 else - printf ' clippy %s: FAILED\n' "$dir" >&2 + printf ' lint %s: FAILED\n' "$dir" >&2 failed=$((failed + 1)) fi done <<< "$flakes" if [ "$failed" -ne 0 ]; then - echo "$failed module(s) failed clippy" >&2 + echo "$failed module(s) failed the lint check" >&2 exit 1 fi diff --git a/dimos/experimental/memory/rust/flake.nix b/dimos/experimental/memory/rust/flake.nix index 9736571832..6b5c6aef18 100644 --- a/dimos/experimental/memory/rust/flake.nix +++ b/dimos/experimental/memory/rust/flake.nix @@ -58,11 +58,11 @@ in { packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith "lint")).override { + packages.lint = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; packages.tests = (buildOf (callWith "test")).override { runTests = true; }; checks.tests = self.packages.${system}.tests; diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix index 14fb825821..ce6611ebbe 100644 --- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix +++ b/dimos/hardware/sensors/camera/realsense/rust/flake.nix @@ -53,11 +53,11 @@ in { packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith "lint")).override { + packages.lint = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; packages.tests = (buildOf (callWith "test")).override { runTests = true; }; checks.tests = self.packages.${system}.tests; diff --git a/dimos/hardware/sensors/lidar/livox/rust/flake.nix b/dimos/hardware/sensors/lidar/livox/rust/flake.nix index 7782d103b4..61e691cff4 100644 --- a/dimos/hardware/sensors/lidar/livox/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/livox/rust/flake.nix @@ -45,11 +45,11 @@ packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith "lint")).override { + packages.lint = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; packages.tests = (buildOf (callWith "test")).override { runTests = true; }; checks.tests = self.packages.${system}.tests; diff --git a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix index 438c198313..45238a590d 100644 --- a/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix +++ b/dimos/hardware/sensors/lidar/pointlio/rust/flake.nix @@ -45,11 +45,11 @@ packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith "lint")).override { + packages.lint = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; packages.tests = (buildOf (callWith "test")).override { runTests = true; }; checks.tests = self.packages.${system}.tests; diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix index a75bcff2ed..e67f3fd020 100644 --- a/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix +++ b/dimos/hardware/sensors/lidar/virtual_mid360/flake.nix @@ -45,11 +45,11 @@ packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith "lint")).override { + packages.lint = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; packages.tests = (buildOf (callWith "test")).override { runTests = true; }; checks.tests = self.packages.${system}.tests; diff --git a/dimos/mapping/dim_slam/rust/flake.nix b/dimos/mapping/dim_slam/rust/flake.nix index b1b441742d..6bf1c20178 100644 --- a/dimos/mapping/dim_slam/rust/flake.nix +++ b/dimos/mapping/dim_slam/rust/flake.nix @@ -56,13 +56,13 @@ in { packages = nixpkgs.lib.genAttrs variants (v: buildOf (callWith v null)) // { default = buildOf (callWith lintedVariant null); - clippy = (buildOf (callWith lintedVariant "lint")).override { + lint = (buildOf (callWith lintedVariant "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; tests = (buildOf (callWith lintedVariant "test")).override { runTests = true; }; }; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; checks.tests = self.packages.${system}.tests; devShells.default = pkgs.mkShellNoCC { diff --git a/dimos/mapping/ray_tracing/rust/flake.nix b/dimos/mapping/ray_tracing/rust/flake.nix index 3f7d79dfdb..ce3389bd4a 100644 --- a/dimos/mapping/ray_tracing/rust/flake.nix +++ b/dimos/mapping/ray_tracing/rust/flake.nix @@ -44,11 +44,11 @@ packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith "lint")).override { + packages.lint = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; packages.tests = (buildOf (callWith "test")).override { runTests = true; }; checks.tests = self.packages.${system}.tests; diff --git a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix index d5cbe132ba..a0bf2ef7a3 100644 --- a/dimos/navigation/nav_3d/mls_planner/rust/flake.nix +++ b/dimos/navigation/nav_3d/mls_planner/rust/flake.nix @@ -45,11 +45,11 @@ packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith "lint")).override { + packages.lint = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; packages.tests = (buildOf (callWith "test")).override { runTests = true; }; checks.tests = self.packages.${system}.tests; diff --git a/examples/native-modules/rust/flake.nix b/examples/native-modules/rust/flake.nix index a48e9fdf7a..869b7f7378 100644 --- a/examples/native-modules/rust/flake.nix +++ b/examples/native-modules/rust/flake.nix @@ -45,11 +45,11 @@ packages.default = buildOf (callWith null); packages.${name} = self.packages.${system}.default; - packages.clippy = (buildOf (callWith "lint")).override { + packages.lint = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; packages.tests = (buildOf (callWith "test")).override { runTests = true; }; checks.tests = self.packages.${system}.tests; diff --git a/native/rust/flake.nix b/native/rust/flake.nix index c1d8e0b7d1..8de39eb67a 100644 --- a/native/rust/flake.nix +++ b/native/rust/flake.nix @@ -41,7 +41,7 @@ if called ? rootCrate then called.rootCrate.build else called.workspaceMembers.${name}.build; in { - clippy = (buildOf (callWith "lint")).override { + lint = (buildOf (callWith "lint")).override { runTests = true; testCrateFlags = [ "--list" ]; }; @@ -51,9 +51,9 @@ module = crateOf "dimos-module"; macros = crateOf "dimos-module-macros"; in { - packages.clippy = pkgs.linkFarmFromDrvs "dimos-module-clippy" [ module.clippy macros.clippy ]; + packages.lint = pkgs.linkFarmFromDrvs "dimos-module-lint" [ module.lint macros.lint ]; packages.tests = pkgs.linkFarmFromDrvs "dimos-module-tests" [ module.tests macros.tests ]; - checks.clippy = self.packages.${system}.clippy; + checks.lint = self.packages.${system}.lint; checks.tests = self.packages.${system}.tests; devShells.default = pkgs.mkShell { From 00fcb89d8b15ae437d1af54777193f5d7ca28bea Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Thu, 17 Sep 2026 08:41:58 -0700 Subject: [PATCH 96/97] ci: publish the test derivations too, so the native job substitutes them --- .github/workflows/ci.yml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 07e860b69b..ba8243e9f0 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -162,6 +162,12 @@ jobs: env: BUILD_WORKERS: "2" 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: "2" + run: python3 bin/build-native-modules --tests - name: Verify Cachix holds the built paths env: CACHIX_CACHE_NAME: dimensionalos From 0a3b73d52dcd7326965626cb820244e66c03a094 Mon Sep 17 00:00:00 2001 From: Jeff Hykin Date: Thu, 17 Sep 2026 09:08:07 -0700 Subject: [PATCH 97/97] ci: build, lint and test the modules four at a time, not one --- .github/workflows/ci.yml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index ba8243e9f0..7ee946dc6b 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -156,17 +156,17 @@ 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: "2" + 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: "2" + BUILD_WORKERS: "4" run: python3 bin/build-native-modules --tests - name: Verify Cachix holds the built paths env: @@ -235,7 +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: @@ -498,7 +498,7 @@ jobs: run: python3 bin/build-native-modules - name: Test rust native modules env: - BUILD_WORKERS: "2" + BUILD_WORKERS: "4" run: python3 bin/build-native-modules --tests - name: Test C++ native modules env: