fix(perception): retain exact native depth-cloud TF stamps

dimos/perception/depth2depth_cloud/rust/flake.nix

@@ -34,8 +34,8 @@
         name = "dimos-depth2depth-cloud";
         moduleSource = nix-filter.lib { root = ./.; exclude = [ "target" "build" "result" "__pycache__" ]; };
         sharedArchive = pkgs.fetchurl {
-          url = "https://codeload.github.com/dimensionalOS/dimos/tar.gz/b547716883d0f2619e53d241351357347400a40a";
-          sha256 = "1ec7f63d9ff57a3e5f151009a2b71472b2c90a3c4f17c29f98a6215cbef18c6b";
+          url = "https://codeload.github.com/dimensionalOS/dimos/tar.gz/b971b729786cc12dcf4769cfbc233b0e36f1feee";
+          sha256 = "20abf8673b36a6fdea3c30b6949fe7e618c2836917c34f39425ef466609a5171";
         };
         sharedSource = pkgs.runCommand "dimos-depth-cloud-sdk-source" {
           nativeBuildInputs = [ pkgs.gnutar pkgs.gzip ];
@@ -52,6 +52,8 @@
           mkdir -p $out/sdk
           cp -r ${sharedSource}/native/rust/dimos-module ${sharedSource}/native/rust/dimos-module-macros $out/sdk/
           cp -r ${messageSource}/rust $out/messages
+          substituteInPlace $out/Cargo.toml --replace-fail '[workspace]' '[workspace]
+          exclude = ["sdk/dimos-module", "sdk/dimos-module-macros", "messages"]'
           substituteInPlace $out/Cargo.toml \
             --replace-fail '../../../../native/rust/dimos-module' 'sdk/dimos-module' \
             --replace-fail '../../../../build/message-source/rust' 'messages'

dimos/perception/depth2depth_cloud/rust/src/module.rs

@@ -100,10 +100,10 @@ fn decode_tf(bytes: &[u8]) -> std::io::Result<Vec<dimos_module::tf::Transform>>
                     "unnormalized TF stamp",
                 ));
             }
-            Ok(dimos_module::tf::Transform::new(
+            Ok(dimos_module::tf::Transform::from_nanoseconds(
                 edge.header.frame_id,
                 edge.child_frame_id,
-                seconds(&edge.header.stamp),
+                edge.header.stamp.sec as i64 * 1_000_000_000 + edge.header.stamp.nanosec as i64,
                 Isometry3::from_parts(Translation3::new(p.x, p.y, p.z), rotation),
             ))
         })
@@ -121,14 +121,12 @@ fn encode_tf(transforms: &[dimos_module::tf::Transform]) -> std::io::Result<Vec<
     let transforms = transforms
         .iter()
         .map(|value| {
-            let ns = (value.ts * 1e9).round();
-            if !ns.is_finite() || ns < i64::MIN as f64 || ns > i64::MAX as f64 {
-                return Err(std::io::Error::new(
+            let ns = value.stamp_nanoseconds().ok_or_else(|| {
+                std::io::Error::new(
                     std::io::ErrorKind::InvalidInput,
                     "TF timestamp is outside range",
-                ));
-            }
-            let ns = ns as i64;
+                )
+            })?;
             let sec = i32::try_from(ns.div_euclid(1_000_000_000)).map_err(|_| {
                 std::io::Error::new(
                     std::io::ErrorKind::InvalidInput,
@@ -988,6 +986,35 @@ mod tests {
         assert!(decode_tf(&[0, 3, 0, 0]).is_err());
     }
 
+    #[test]
+    fn tf_cdr_source_stamps_survive_epoch_nanoseconds_and_negative_times() {
+        use dimos_generated_messages::tf2_msgs::msg::tf_message::TFMessage;
+        for ns in [0, -1, 1_700_000_000_123_456_789] {
+            let value = dimos_module::tf::Transform::from_nanoseconds(
+                "world",
+                "camera",
+                ns,
+                Isometry3::translation(1., 2., 3.),
+            );
+            let message: TFMessage = cdr::decode(&encode_tf(&[value]).unwrap()).unwrap();
+            assert_eq!(
+                message.transforms[0].header.stamp.sec as i64,
+                ns.div_euclid(1_000_000_000)
+            );
+            assert_eq!(
+                message.transforms[0].header.stamp.nanosec as i64,
+                ns.rem_euclid(1_000_000_000)
+            );
+            for little in [false, true] {
+                let bytes = cdr::encode_endian(&message, little).unwrap();
+                let decoded = decode_tf(&bytes).unwrap();
+                assert_eq!(decoded[0].stamp_nanoseconds(), Some(ns));
+                let output: TFMessage = cdr::decode(&encode_tf(&decoded).unwrap()).unwrap();
+                assert_eq!(output, message);
+            }
+        }
+    }
+
     #[test]
     fn a_stage_behind_takes_the_newest_item_and_counts_the_ones_it_missed() {
         let latest = Latest::default();