[TomCC7]

What this adds

Install an external .msg project as a Python package. Its cdrgen provider registers the generated types alongside built-in messages.

Base: #4366. This layer adds external message authoring and registration; it does not add another code generator or transport SDK.

How to test

From this PR's checkout, with uv and a C++ compiler:

uv venv .venv-msg-review --python 3.12
DIMOS_ALLOW_MISSING_COCKPIT=1 uv pip install --python .venv-msg-review/bin/python .
uv pip install --python .venv-msg-review/bin/python 'setuptools>=70' wheel
uv pip install --python .venv-msg-review/bin/python --no-build-isolation ./examples/external-messages
.venv-msg-review/bin/python -I examples/external-messages/demo_reading.py

No previous PR installation is needed. The example checks provider registration, shared Header identity and decoded DeviceReading values. Reinstall the external package and restart Python after changing definitions.

Full instructions. WIP: application integration follows in later layers.

Shared CDR foundation

Standard ROS definitions are fetched and verified through the existing source lock and generation pipeline in #4366. Native SDK support is included in #4722. Shared Python value implementations and regressions are reviewed in #4800–#4803 before the #4734 caller migration. SDK and consumers use the same generated Rust message crate, including Time, TransformStamped and TFMessage; there is no separate TF schema package or generation command. Camera/depth callers migrate in #4734 and mapping/navigation callers in #4737.

The external CDR and transforms library pins remain unchanged. Local verification passed 122 SDK tests, all existing native consumer suites, and all 24 real native/DimSim/port acceptance tests without skips. Seven staged Nix source layouts resolve exactly one message crate with locked Cargo metadata. This is not a full Nix build or hardware validation. Fresh CI runs verify #4722 independently and the combined stack tip.

Stack #4804 contains the 12 original feature PRs and four separately reviewed adapter/buffer PRs (#4800–#4803). The redundant #4774 is superseded by #4722. No feature PR has been merged into main; existing conflicts with main and the WIP cutover failures in #4739 remain.

[github-actions]

go2 replay realtime (arm64)

Details

Benchmark suite	Current: 086c166	Previous: ecc2b8f	Ratio
peak memory	1591.996 MB	1570.996 MB	1.01
peak threads	353 threads	355 threads	0.99
network (transport)	2722.111 MB	2730.387 MB	1.00
disk write	1.52 MB	1.496 MB	1.02
instructions	115.235 G	115 G	1.00

This comment was automatically generated by workflow using github-action-benchmark.

[codecov]

Codecov Report

❌ Patch coverage is 23.43750% with 49 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/message_codegen/test_project_install.py	23.43%	48 Missing and 1 partial ⚠️

@@                       Coverage Diff                        @@
##           cc/feat/cdr-message-packages    #4721      +/-   ##
================================================================
- Coverage                         82.33%   82.33%   -0.01%     
================================================================
  Files                              1677     1678       +1     
  Lines                            156940   157004      +64     
  Branches                          13161    13166       +5     
================================================================
+ Hits                             129220   129266      +46     
- Misses                            24048    24075      +27     
+ Partials                           3672     3663       -9     

Components	Coverage Δ
Tests	96.71% <23.43%> (-0.07%)	⬇️

Flag	Coverage Δ
OS-macos-latest	76.27% <23.43%> (-0.01%)	⬇️
OS-ubuntu-24.04-arm	76.02% <23.43%> (-0.03%)	⬇️
OS-ubuntu-latest	76.37% <23.43%> (-0.02%)	⬇️
Py-3.10	76.25% <23.43%> (?)
Py-3.11	76.38% <23.43%> (-0.03%)	⬇️
Py-3.12	76.38% <23.43%> (-0.03%)	⬇️
SelfHosted-Large	32.15% <20.31%> (+<0.01%)	⬆️
SelfHosted-Linux	40.70% <20.31%> (-0.02%)	⬇️
SelfHosted-macOS	40.99% <20.31%> (-0.01%)	⬇️

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

Files with missing lines	Coverage Δ
dimos/message_codegen/test_project_install.py	23.43% <23.43%> (ø)

... and 16 files with indirect coverage changes

🚀 New features to boost your workflow:

• 📦 JS Bundle Analysis: Save yourself from yourself by tracking and limiting bundle sizes in JS merges.

[greptile-apps]

Confidence Score: 5/5

[Medium impact] No merge-blocking issue was identified. The installed external message flow passed provider registration, CDR roundtrip, and built-in type identity checks.

Summary

Adds a standalone external message project that reuses the built-in Header through dimos-cdrgen.

• External Python projects can register messages that reuse DimOS types.
• Editable message packages pick up definition edits after reinstalling.

TomCC7 explicitly documents that these examples require the matching review DimOS wheel; that requirement is intentional.

No actionable issues were found. No merge-blocking issue was identified in the reviewed changes.

_{Reviews (1) · Last reviewed commit: "Merge branch 'cc/review/cdr-preserve-leg..." · Reviewed by Greptile}