[TomCC7]

Linear project: Message Encoding Refactor

Problem

Reviewers need the generator, bulk message definitions/packages and transport integration in their respective stack layers.

Solution

Runtime CDR cutover, including the raw dimos-lcm-transport Rust crate, workspace registration, Python/native bus interop demo and integration test commands. These transport files now first appear in this layer, with their existing runtime implementation preserved.

Layer 5/8 of native stack #4446. Published HEAD: 0e5cf368245210016e61df9c0ca0a11f3e4738a7. Base: cc/feat/cdr-message-authoring. Normal forward commits/merges; existing ancestry and reviews are preserved, with no force push.

Parent-relative git diff (binary lockfile excluded from textual line counts): 1137 files changed, 37951 insertions(+), 20085 deletions(-).

Layout-repair validation: unchanged namespace-policy test plus generator tests: 41 passed; ownership/project checks: 19 passed; clean source/wheel/sdist/editable installation with Cargo/rustc/CMake/C++ disabled: 1 passed. A fresh backend wheel has api modules/stubs and no stale package initializers. C++/Rust/schema outputs are byte-identical to the pre-layout validated outputs; final built-in generation --check passed. Scoped strict typing and hooks passed. These focused checks are not a complete new-HEAD CI pass.

Production Rust declarations now come from pinned ros2msg 0.5.3 in a normal Cargo build.rs; Python installation only packages its sources and does not invoke Cargo. C++ declaration and CDR field traversal use pinned upstream ROSIDL/FastRTPS templates, with documented strict-bool patches. Python uses rosbags-generated declarations and CDR traversal with scoped malformed-input checks; the separate handwritten wire-layout walker was removed. Default, bounds, ownership and Sequence compatibility adapters remain. PR1 core: ten files including both helpers total 1,380 physical lines versus the original eight-file 1,463. Including maintained typing stubs gives 1,493 -> 1,444, a net 49-line reduction (83 is core-only). Full-stack message_codegen maintained non-test sources total 2,573 lines including stubs; CLI/SDK sources elsewhere are outside that count. Vendored sources and generated/copied artifacts are disclosed separately. Runtime native consumers use the distributed message crate; the redundant four-file Python/Cargo bootstrap (126 lines) was removed. No generator code was hidden in uncounted helpers.

Exact-new-HEAD remote CI is pending; no reruns or manual dispatches were requested for this batch. Historical runs do not verify these commits. Benchmark investigation remains paused, without a waiver or weakened gate.

Complete proposal walkthrough. M20 SDK/access, host multicast and human viewer acceptance remain external; no hardware operation, registry release or merge is claimed.

Replaces closed, unmerged #4363. Original refs/history remain preserved.

Upstream generator contracts, compatibility adapters and maintenance counts.

Namespace repair: five nonempty upstream initializers and two matching typing stubs are relocated to ordinary api modules; the empty parser initializer is omitted. Imports/EmPy templates reference modules directly. Licenses and original upstream source paths/hashes remain recorded, with the relocation and omitted empty file documented in manifests. test_no_init_files is unchanged; no blanket vendor exemption was added. The earlier mypy vendor-discovery boundary remains separate, and first-party strict settings remain enabled. The coauthor policy check remains unresolved; no attribution removal/history rewrite, force push, benchmark gate change, rerun or manual CI dispatch was requested.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

❗ There is a different number of reports uploaded between BASE (7bb44ce) and HEAD (fc47830). Click for more details.

HEAD has 14 uploads less than BASE

Flag	BASE (7bb44ce)	HEAD (fc47830)
OS-ubuntu-24.04-arm	1	0
Py-3.12	3	0
OS-ubuntu-latest	3	0
Py-3.10	2	0
Py-3.11	2	0
OS-macos-latest	3	0

@@                        Coverage Diff                         @@
##           cc/feat/cdr-message-authoring    #4369       +/-   ##
==================================================================
- Coverage                          80.03%   41.77%   -38.27%     
==================================================================
  Files                               1709     1562      -147     
  Lines                             159446   149667     -9779     
  Branches                           15138    14207      -931     
==================================================================
- Hits                              127609    62520    -65089     
- Misses                             28168    84724    +56556     
+ Partials                            3669     2423     -1246     

Components	Coverage Δ
Tests	33.73% <ø> (-60.44%)	⬇️

Flag	Coverage Δ
MessageCodegen-macos-14	60.38% <ø> (ø)
MessageCodegen-ubuntu-latest	60.38% <ø> (ø)
OS-macos-latest	?
OS-ubuntu-24.04-arm	?
OS-ubuntu-latest	?
Py-3.10	?
Py-3.11	?
Py-3.12	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/agents/mcp/mcp_client.py	32.78% <ø> (-51.46%)	⬇️
dimos/agents/mcp/mcp_server.py	26.58% <ø> (-64.69%)	⬇️
dimos/agents/mcp/test_mcp_client.py	32.25% <ø> (-61.43%)	⬇️
dimos/agents/skills/navigation.py	30.71% <ø> (-10.80%)	⬇️
dimos/agents/skills/observe_skill.py	66.66% <ø> (-33.34%)	⬇️
dimos/agents/skills/person_follow.py	27.74% <ø> (-1.22%)	⬇️
dimos/agents/skills/test_navigation.py	69.86% <ø> (-12.81%)	⬇️
dimos/agents/skills/test_observe_skill.py	37.93% <ø> (-62.07%)	⬇️
...imos/agents/skills/test_unitree_skill_container.py	57.14% <ø> (-36.41%)	⬇️
...nts/skills/visual_servoing/detection_navigation.py	24.32% <ø> (-3.94%)	⬇️
... and 196 more

... and 1047 files with indirect coverage changes

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