refactor(mapping): migrate ray-tracing clouds and keyed regions to CDR

.github/workflows/message-codegen.yml

@@ -21,6 +21,8 @@ on:
       - dimos/memory/**
       - dimos/mapping/occupancy/**
       - dimos/mapping/voxels/**
+      - dimos/mapping/ray_tracing/**
+      - dimos/spec/mapping.py
       - dimos/navigation/base.py
       - dimos/navigation/tf_pose.py
       - dimos/navigation/spec.py
@@ -340,3 +342,14 @@ jobs:
         if: runner.os == 'Linux'
         run: |
           .native-review/bin/python -I -c 'import dimos.messages.dimos_msgs.msg; import pytest; import sys; raise SystemExit(pytest.main(sys.argv[1:]))' --noconftest --import-mode=importlib -o addopts='' -q "$PWD/dimos/msgs/test_regions.py"
+      - name: Verify generated ray-tracing maps, region keys and native interoperability
+        if: runner.os == 'Linux'
+        run: |
+          cargo test --locked --manifest-path dimos/mapping/ray_tracing/rust/Cargo.toml --lib --jobs 2
+          cargo clippy --locked --manifest-path dimos/mapping/ray_tracing/rust/Cargo.toml --all-targets --jobs 2 -- -D warnings
+          cargo build --locked --manifest-path dimos/mapping/ray_tracing/rust/Cargo.toml --bin voxel_ray_tracing --jobs 2
+          .venv/bin/maturin build --locked --profile dev --manifest-path dimos/mapping/ray_tracing/rust/py/Cargo.toml --jobs 2 --out build/mapper-python-wheels --interpreter .native-review/bin/python
+          .native-review/bin/python -m pip install --no-deps build/mapper-python-wheels/*.whl
+          export DIMOS_NATIVE_RAY_TRACING_BINARY="$PWD/dimos/mapping/ray_tracing/rust/target/debug/voxel_ray_tracing"
+          .native-review/bin/python -I -c 'from dimos.mapping.ray_tracing import module,transformer,viz; from dimos.mapping.ray_tracing.utils import loaded_map; import dimos_voxel_ray_tracing; import pytest; import sys; assert all("site-packages" in str(value.__file__) for value in (module,transformer,viz,loaded_map,dimos_voxel_ray_tracing)); raise SystemExit(pytest.main(sys.argv[1:]))' --noconftest --import-mode=importlib -o addopts='' -o $'markers=skipif_aarch64: optional architecture case\nskipif_macos: optional architecture case' -q "$PWD/dimos/mapping/ray_tracing/test_generated_native.py" "$PWD/dimos/mapping/ray_tracing/test_transformer.py" "$PWD/dimos/mapping/ray_tracing/test_viz.py" "$PWD/dimos/mapping/ray_tracing/utils/test_loaded_map.py" "$PWD/dimos/navigation/global_planner/test_viz.py"
+          MYPYPATH="$PWD/build/message-source/python" .native-review/bin/python -m mypy --follow-imports=silent dimos/mapping/ray_tracing/{module,transformer,viz}.py dimos/mapping/ray_tracing/utils/loaded_map.py dimos/spec/mapping.py

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 = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "d5f801d7dd0208731bab566d079bae7abe6278f1" }
 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"] }

dimos/experimental/memory/rust/crate-hashes.json

@@ -1,6 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA="
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=d5f801d7dd0208731bab566d079bae7abe6278f1#dimos-module-macros@0.1.0": "sha256-HUqrE2wSfu2lDLtIxPAa7ID9weerFccf68PPVak03RM=",
+  "git+https://github.com/dimensionalOS/dimos?rev=d5f801d7dd0208731bab566d079bae7abe6278f1#dimos-module@0.1.0": "sha256-HUqrE2wSfu2lDLtIxPAa7ID9weerFccf68PPVak03RM="
 }

dimos/hardware/sensors/lidar/livox/rust/Cargo.toml

@@ -22,7 +22,7 @@ imu = "sensor_msgs.Imu"
 
 [dependencies]
 livox-wire = { git = "https://github.com/dimensionalOS/livox-wire", rev = "441c4a16dbe2adb0683ece976cc800c6d7fbc790" }
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "d5f801d7dd0208731bab566d079bae7abe6278f1" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"

dimos/hardware/sensors/lidar/livox/rust/crate-hashes.json

@@ -1,7 +1,8 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=d5f801d7dd0208731bab566d079bae7abe6278f1#dimos-module-macros@0.1.0": "sha256-HUqrE2wSfu2lDLtIxPAa7ID9weerFccf68PPVak03RM=",
+  "git+https://github.com/dimensionalOS/dimos?rev=d5f801d7dd0208731bab566d079bae7abe6278f1#dimos-module@0.1.0": "sha256-HUqrE2wSfu2lDLtIxPAa7ID9weerFccf68PPVak03RM=",
   "git+https://github.com/dimensionalOS/livox-wire?rev=441c4a16dbe2adb0683ece976cc800c6d7fbc790#0.1.0": "sha256-wDNVchRiqm4N9wPGwvYJ9JssmPOC33wBTE4QT6vZkGA="
 }

dimos/hardware/sensors/lidar/pointlio/rust/Cargo.toml

@@ -33,7 +33,7 @@ odometry = "nav_msgs.Odometry"
 livox-wire = { git = "https://github.com/dimensionalOS/livox-wire", rev = "441c4a16dbe2adb0683ece976cc800c6d7fbc790" }
 # Direct dependencies of the copied livox wire/pipeline/pcap modules. See src/lib.rs.
 pointlio-core = { git = "https://github.com/dimensionalOS/dimos-module-pointlio.git", rev = "22a5403f827d030b248ae473c2808b5d405b3d55" }
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "d5f801d7dd0208731bab566d079bae7abe6278f1" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"

dimos/hardware/sensors/lidar/pointlio/rust/crate-hashes.json

@@ -1,8 +1,9 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
   "git+https://github.com/dimensionalOS/dimos-module-pointlio.git?rev=22a5403f827d030b248ae473c2808b5d405b3d55#pointlio-core@0.1.0": "sha256-FjUcsZVI8nTcmKw8WhdxBuHelBjOCeJmyEsyqRxDvX0=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
+  "git+https://github.com/dimensionalOS/dimos?rev=d5f801d7dd0208731bab566d079bae7abe6278f1#dimos-module-macros@0.1.0": "sha256-HUqrE2wSfu2lDLtIxPAa7ID9weerFccf68PPVak03RM=",
+  "git+https://github.com/dimensionalOS/dimos?rev=d5f801d7dd0208731bab566d079bae7abe6278f1#dimos-module@0.1.0": "sha256-HUqrE2wSfu2lDLtIxPAa7ID9weerFccf68PPVak03RM=",
   "git+https://github.com/dimensionalOS/livox-wire?rev=441c4a16dbe2adb0683ece976cc800c6d7fbc790#0.1.0": "sha256-wDNVchRiqm4N9wPGwvYJ9JssmPOC33wBTE4QT6vZkGA="
 }

dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml

@@ -10,7 +10,7 @@ path = "src/main.rs"
 [dependencies]
 livox-wire = { git = "https://github.com/dimensionalOS/livox-wire", rev = "441c4a16dbe2adb0683ece976cc800c6d7fbc790" }
 # Direct dependencies of the copied livox wire/pipeline/pcap modules. See src/main.rs.
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "d5f801d7dd0208731bab566d079bae7abe6278f1" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "time", "net", "sync"] }
 serde = { version = "1", features = ["derive"] }
 socket2 = "0.6"

dimos/hardware/sensors/lidar/virtual_mid360/crate-hashes.json

@@ -1,7 +1,7 @@
 {
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos-lcm.git?branch=rust-codegen#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module-macros@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
-  "git+https://github.com/dimensionalOS/dimos?rev=6663bcb6e5e18f43a6cb9cf77ccbec613e310443#dimos-module@0.1.0": "sha256-6ikqdS3sroOJGI4WGuSyFx2yZjtJ+4Qgt+IGlkFl+qA=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#dimos-lcm@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos-lcm.git?rev=04d78e8622500244123ba9cefa4c51b4cb454549#lcm-msgs@0.1.0": "sha256-GGkx4Mn6NYP6KZecmoRLKGWIih/+y8OgNn12DeXX6n8=",
+  "git+https://github.com/dimensionalOS/dimos?rev=d5f801d7dd0208731bab566d079bae7abe6278f1#dimos-module-macros@0.1.0": "sha256-HUqrE2wSfu2lDLtIxPAa7ID9weerFccf68PPVak03RM=",
+  "git+https://github.com/dimensionalOS/dimos?rev=d5f801d7dd0208731bab566d079bae7abe6278f1#dimos-module@0.1.0": "sha256-HUqrE2wSfu2lDLtIxPAa7ID9weerFccf68PPVak03RM=",
   "git+https://github.com/dimensionalOS/livox-wire?rev=441c4a16dbe2adb0683ece976cc800c6d7fbc790#0.1.0": "sha256-wDNVchRiqm4N9wPGwvYJ9JssmPOC33wBTE4QT6vZkGA="
 }