feat: move typed runtime and browser channels to CDR (4/6)

.github/docker/message-codegen-reference.Dockerfile

@@ -1,7 +1,7 @@
 FROM ros:jazzy-ros-base
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    build-essential cmake python3-colcon-common-extensions \
+    build-essential cmake python3-colcon-common-extensions python3-pytest python3-typing-extensions \
     ros-jazzy-common-interfaces ros-jazzy-rosidl-default-generators \
     && rm -rf /var/lib/apt/lists/*
 

.github/scripts/message_wheel_smoke.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+# 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.
+
+"""Verify the standalone built-in wheel without installing the robot runtime."""
+
+import json
+from pathlib import Path
+
+import dimos_generated as messages
+from dimos_generated_schemas.provider import package_root
+
+assert messages.__dimos_version__ == "0.1.0"
+header = messages.std_msgs.msg.Header()
+assert type(header).decode(header.encode()).encode() == header.encode()
+root = Path(package_root())
+metadata = json.loads((root / "message-package.json").read_text())
+assert metadata["shared"]
+assert "std_msgs/msg/Header" in metadata["owned"]
+assert (root / "schemas/std_msgs/msg/Header.msg").is_file()
+assert (root / "lib/cmake/dimos_generated/dimos_generatedConfig.cmake").is_file()
+assert (root / "rust/Cargo.toml").is_file()

.github/workflows/ci.yml

@@ -277,9 +277,17 @@ jobs:
         with:
           enable-cache: true
           prune-cache: true
+      - name: Build standalone CDR dependency
+        run: bash scripts/setup_message_codegen.sh
       - name: Install lint dependencies
         run: uv sync --only-group lint --frozen
+      - name: Install native build typing dependencies
+        run: uv pip install --no-deps pybind11==3.0.1 types-setuptools==77.0.2.20250328
+      - name: Generate CDR typing package
+        run: uv run python -m dimos.message_codegen.generate --output build/messages
       - name: Mypy
+        env:
+          MYPYPATH: build/messages/typing
         run: uv run mypy
 
       # The deno-fmt pre-commit hook needs deno on PATH.
@@ -333,6 +341,8 @@ jobs:
         run: |
           sudo apt-get update
           sudo apt-get install -y portaudio19-dev
+      - name: Build standalone CDR dependency
+        run: bash scripts/setup_message_codegen.sh
       - 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.
@@ -374,7 +384,7 @@ 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
+          sudo apt-get install -y liblcm-dev libglib2.0-dev nlohmann-json3-dev portaudio19-dev libturbojpeg
           base=https://github.com/eclipse-zenoh
           curl -fsSL -o /tmp/zenoh-c.zip \
             "$base/zenoh-c/releases/download/$ZENOH_VERSION/zenoh-c-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip"
@@ -390,13 +400,39 @@ jobs:
           sudo unzip -q /tmp/zenoh-c.zip -d /usr/local
           sudo unzip -q /tmp/zenoh-cpp.zip -d /usr/local
           sudo ldconfig
+      - name: Generate native CDR message package
+        run: |
+          bash scripts/setup_message_codegen.sh
+          bash scripts/install_native_messages.sh
+          echo "CMAKE_PREFIX_PATH=$PWD/build/message-codegen/install" >> "$GITHUB_ENV"
       - name: Configure
         run: cmake -S native/cpp -B build/native-cpp -DDIMOS_NATIVE_BUILD_TESTS=ON
       - name: Build
         run: cmake --build build/native-cpp -j
       - name: Test
         run: ctest --test-dir build/native-cpp --output-on-failure
 
+      - uses: astral-sh/setup-uv@v10.0.1
+      - name: Verify the documented external three-language project
+        run: |
+          uv sync --group tests --frozen
+          cmake --install build/native-cpp --prefix "$PWD/build/native-sdk"
+          uv run python scripts/package_native_sdk.py --output examples/message-project/sdk
+          export CMAKE_PREFIX_PATH="$PWD/build/native-sdk:$CMAKE_PREFIX_PATH"
+          uv run dimos build --project examples/message-project
+          uv pip install --no-deps examples/message-project/dist/story_messages-*.whl
+          (cd examples/message-project/cpp && cmake --preset dimos && cmake --build --preset dimos)
+          cargo build --locked --manifest-path examples/message-project/rust/Cargo.toml
+          uv run python examples/message-project/demo_blueprint.py --transport zenoh
+      - name: Retain custom message and native SDK review artifacts
+        uses: actions/upload-artifact@v7
+        with:
+          name: external-message-project
+          path: |
+            examples/message-project/dist/
+            examples/message-project/sdk/
+            build/native-sdk/
+
       - name: Find C++ native modules
         id: find-modules
         run: |
@@ -481,6 +517,8 @@ jobs:
       - uses: actions/setup-node@v7
         with:
           node-version: 'lts/*'
+      - name: Build standalone CDR dependency
+        run: bash scripts/setup_message_codegen.sh
       - name: Install Python dependencies
         run: uv sync --group tests --frozen
       - name: Restore Hugging Face model cache
@@ -603,8 +641,6 @@ jobs:
         run: |
           sudo apt-get update
           sudo apt-get install -y portaudio19-dev libturbojpeg ffmpeg
-      - name: Fetch the go2_short replay dataset
-        run: git lfs pull --include="data/.lfs/go2_short.db.tar.gz" --exclude=""
       - name: Build standalone CDR dependency
         run: bash scripts/setup_message_codegen.sh
       - name: Install dependencies
@@ -632,7 +668,8 @@ jobs:
       contains(fromJSON('["success", "skipped"]'), needs.cachix-build-check.result) &&
       contains(fromJSON('["success", "skipped"]'), needs.cachix-build.result)
     needs: [cachix-build-check, cachix-build]
-    timeout-minutes: 20
+    # Cold native/Python setup can consume nine minutes before pytest starts.
+    timeout-minutes: 30
     strategy:
       matrix:
         pyver: ['3.10', '3.11', '3.12']
@@ -715,8 +752,17 @@ jobs:
         run: bash scripts/setup_message_codegen.sh
       - name: Install dependencies
         run: uv sync --group tests --frozen
+      - name: Install CDR conformance test dependencies
+        run: uv pip install mcap==1.4.0 rosbags==0.11.0 mypy==1.19.1 pybind11==3.0.1
+      - name: Install Rust for offline planner bindings
+        uses: dtolnay/rust-toolchain@stable
+      - name: Build offline planner Python bindings
+        run: |
+          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
       - name: Run tests
-        run: uv run pytest --numprocesses=logical --cov=dimos/ --junitxml=junit.xml -m 'not (self_hosted or mujoco or self_hosted_large or web_browser or bake_e2e or native_e2e)'
+        run: uv run pytest --numprocesses=logical --cov=dimos/ --junitxml=junit.xml -o faulthandler_timeout=120 -m 'not (self_hosted or mujoco or self_hosted_large or web_browser or bake_e2e or native_e2e)'
       - name: Re-run the failing tests with maximum verbosity
         if: failure()
         env:

.github/workflows/message-codegen.yml

@@ -5,12 +5,17 @@ on:
     paths:
       - dimos/message_codegen/**
       - examples/message-codegen/**
+      - examples/message-project/**
+      - packages/dimos-generated/**
+      - docs/development/messages.md
       - native/rust/dimos-lcm-transport/**
       - scripts/*message*codegen*
       - scripts/test_message_packages.sh
+      - scripts/package_messages.sh
       - scripts/test_message_mcap.sh
       - dimos/protocol/cdr_mcap.py
       - dimos/protocol/test_cdr_mcap.py
+      - dimos/protocol/pubsub/impl/*ros*.py
       - scripts/vendor_message_definitions.py
       - .github/workflows/message-codegen.yml
       - .github/docker/message-codegen-reference.Dockerfile
@@ -35,14 +40,45 @@ jobs:
         run: |
           test ! -d /opt/ros
           uv venv .venv --python 3.12
-          uv pip install --python .venv/bin/python pybind11==3.0.1 rosbags==0.11.0 numpy pytest pytest-asyncio pytest-env lcm-dimos-fork setuptools wheel mcap==1.4.0 rerun-sdk==0.32.0 pillow
+          uv pip install --python .venv/bin/python pybind11==3.0.1 rosbags==0.11.0 numpy PyYAML==6.0.3 pytest pytest-asyncio pytest-env lcm-dimos-fork setuptools wheel mcap==1.4.0 rerun-sdk==0.32.0 pillow mypy==1.19.0
           .venv/bin/python -c "import importlib.util; assert importlib.util.find_spec('rclpy') is None"
       - name: Build the pinned standalone CDR library
         run: bash scripts/setup_message_codegen.sh
       - name: Generate, build, test, and demonstrate all three languages
         run: bash scripts/test_message_codegen.sh
       - name: Build and consume wheel, sdist, CMake, and Cargo packages
         run: bash scripts/test_message_packages.sh
+      - name: Build standalone message authoring and built-in packages
+        run: |
+          uv build dimos/message_codegen --out-dir build/message-codegen/ux-wheelhouse
+          CMAKE_PREFIX_PATH="$PWD/build/message-codegen/install" uv build packages/dimos-generated --out-dir build/message-codegen/ux-wheelhouse
+          uv venv --seed build/message-codegen/download-env
+          build/message-codegen/download-env/bin/python -m pip download --only-binary=:all: --dest build/message-codegen/ux-wheelhouse setuptools wheel packaging pybind11==3.0.1 cmake
+      - name: Verify custom package ownership, rebuilds, and isolated pip installs
+        env:
+          DIMOS_FASTCDR_PREFIX: ${{ github.workspace }}/build/message-codegen/install
+          DIMOS_MESSAGE_WHEELHOUSE: ${{ github.workspace }}/build/message-codegen/ux-wheelhouse
+        run: |
+          .venv/bin/python -m pytest -o addopts="" --noconftest -q \
+            dimos/message_codegen/test_project.py \
+            dimos/message_codegen/test_documented_project.py \
+            dimos/message_codegen/test_ownership.py \
+            dimos/message_codegen/test_ownership_native.py \
+            dimos/message_codegen/test_project_install.py
+      - name: Package matching built-in CMake and Rust artifacts
+        run: bash scripts/package_messages.sh
+      - name: Consume relocated built-in native packages
+        env:
+          DIMOS_BUILTIN_PACKAGE: ${{ github.workspace }}/build/message-codegen/release
+          DIMOS_FASTCDR_PREFIX: ${{ github.workspace }}/build/message-codegen/install
+        run: .venv/bin/python -m pytest -o addopts="" --noconftest -q dimos/message_codegen/test_builtin_artifacts.py
+      - name: Retain standalone message build artifacts
+        uses: actions/upload-artifact@v7
+        with:
+          name: message-authoring-packages
+          path: |
+            build/message-codegen/ux-wheelhouse/dimos*
+            build/message-codegen/release/dist/*
       - name: Record generated CDR and verify both viewer decoders
         run: bash scripts/test_message_mcap.sh
       - name: Retain self-contained recording and viewer evidence
@@ -61,6 +97,12 @@ jobs:
             build/message-codegen/external-app/evidence/
             build/message-codegen/external-app/dist/
             build/message-codegen/external-app/generated/rust/target/package/*.crate
+      - name: Retain the standalone Python binding for ROS bridge verification
+        uses: actions/upload-artifact@v7
+        with:
+          name: message-codegen-python-binding
+          path: build/message-codegen/demo/cpp/build/dimos_generated*.so
+          if-no-files-found: error
       - name: Retain executable demo evidence
         if: always()
         uses: actions/upload-artifact@v7
@@ -78,6 +120,10 @@ jobs:
         with:
           name: message-codegen-evidence
           path: build/message-codegen/demo/evidence/
+      - uses: actions/download-artifact@v8
+        with:
+          name: message-codegen-python-binding
+          path: build/message-codegen/demo/cpp/build/
       - name: Build independent ROS2 reference environment
         run: docker build -f .github/docker/message-codegen-reference.Dockerfile -t dimos-cdr-jazzy-reference .github/docker
       - name: Compare native payloads with independently generated ROS2 types
@@ -95,6 +141,18 @@ jobs:
               source install/setup.bash
               python3 /source/examples/message-codegen/demo_ros_reference.py --build /demo
             ' | tee build/message-codegen/demo/evidence/jazzy-reference.txt
+      - name: Verify generated messages through the optional ROS bridge
+        run: |
+          docker run --rm -v "$PWD:/source:ro" dimos-cdr-jazzy-reference '
+            set -e
+            source /opt/ros/jazzy/setup.bash
+            export PYTHONPATH=/source:/source/build/message-codegen/demo/cpp/build:$PYTHONPATH
+            cd /source
+            python3 -m pytest -o addopts="" --noconftest --import-mode=importlib -p no:cacheprovider \
+              dimos/protocol/pubsub/impl/test_rospubsub_conversion.py \
+              dimos/protocol/pubsub/impl/test_rospubsub.py -q
+            python3 examples/message-codegen/demo_ros_bridge.py
+          ' | tee build/message-codegen/demo/evidence/ros-bridge.txt
       - uses: actions/upload-artifact@v7
         with:
           name: message-codegen-jazzy-reference

.github/workflows/release-build-check.yml

@@ -4,6 +4,12 @@
 name: release-build-check
 
 on:
+  workflow_dispatch:
+    inputs:
+      full-matrix:
+        type: boolean
+        default: false
+        description: Build and test all supported release wheels without publishing
   pull_request:
     paths:
       - .github/workflows/release.yml
@@ -13,6 +19,8 @@ on:
       - .github/scripts/wheel_smoke.py
       - pyproject.toml
       - setup.py
+      - packages/dimos-generated/**
+      - .github/scripts/message_wheel_smoke.py
       - dimos/message_codegen/**
       - scripts/setup_message_codegen.sh
       - MANIFEST.in
@@ -27,24 +35,89 @@ permissions: {}
 
 jobs:
   build-one-wheel:
+    if: github.event_name != 'workflow_dispatch' || !inputs.full-matrix
     runs-on: ubuntu-latest
     permissions:
       contents: read
     env:
       # Keep in sync with the build-wheels env in release.yml
       CIBW_MANYLINUX_X86_64_IMAGE: manylinux_2_34
       CIBW_BEFORE_BUILD: "bash {project}/scripts/setup_message_codegen.sh"
+      CIBW_BEFORE_TEST: "pip install --no-index --find-links {project}/wheelhouse --find-links {project}/build/message-test-dependencies dimos-generated==0.1.0 dimos-message-build==0.1.0"
       CIBW_TEST_COMMAND: "python {project}/.github/scripts/wheel_smoke.py"
     steps:
       - name: Checkout
         uses: actions/checkout@v7
       - name: Build cockpit dist
         uses: ./.github/actions/build-cockpit
+      - uses: astral-sh/setup-uv@v10.0.1
+      - name: Build message backend wheel and prepare its test dependencies
+        run: |
+          uv build dimos/message_codegen --wheel --out-dir wheelhouse
+          uv venv --seed build/message-wheel-download
+          build/message-wheel-download/bin/python -m pip download --only-binary=:all: --platform any --implementation py --python-version 3.10 --dest build/message-test-dependencies setuptools==77.0.3 wheel==0.48.0 packaging==25.0 pybind11==3.0.1 tomli==2.4.0
+      - name: Build built-in message wheels
+        uses: pypa/cibuildwheel@v4.2.0
+        with:
+          package-dir: packages/dimos-generated
+          only: cp312-manylinux_x86_64
+        env:
+          CIBW_BEFORE_TEST: ""
+          CIBW_TEST_COMMAND: "python {project}/.github/scripts/message_wheel_smoke.py"
       - name: Build one wheel
         uses: pypa/cibuildwheel@v4.2.0
         with:
           only: cp312-manylinux_x86_64
 
+  build-wheel-matrix:
+    if: github.event_name == 'workflow_dispatch' && inputs.full-matrix
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { os: ubuntu-latest, arch: x86_64 }
+          - { os: ubuntu-24.04-arm, arch: aarch64 }
+          - { os: macos-14, arch: arm64 }
+    runs-on: ${{ matrix.os }}
+    permissions:
+      contents: read
+    env:
+      # Same build and installed-wheel smoke test as release.yml, without publish jobs.
+      CIBW_ARCHS: ${{ matrix.arch }}
+      CIBW_BUILD: "cp310-* cp311-* cp312-*"
+      CIBW_SKIP: "*-musllinux_*"
+      CIBW_MANYLINUX_X86_64_IMAGE: manylinux_2_34
+      CIBW_MANYLINUX_AARCH64_IMAGE: manylinux_2_34
+      CIBW_BEFORE_BUILD: "bash {project}/scripts/setup_message_codegen.sh"
+      CIBW_BEFORE_TEST: "pip install --no-index --find-links {project}/wheelhouse --find-links {project}/build/message-test-dependencies dimos-generated==0.1.0 dimos-message-build==0.1.0"
+      CIBW_TEST_COMMAND: "python {project}/.github/scripts/wheel_smoke.py"
+      MACOSX_DEPLOYMENT_TARGET: "11.0"
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v7
+      - name: Build cockpit dist
+        uses: ./.github/actions/build-cockpit
+      - uses: astral-sh/setup-uv@v10.0.1
+      - name: Build message backend wheel and prepare its test dependencies
+        run: |
+          uv build dimos/message_codegen --wheel --out-dir wheelhouse
+          uv venv --seed build/message-wheel-download
+          build/message-wheel-download/bin/python -m pip download --only-binary=:all: --platform any --implementation py --python-version 3.10 --dest build/message-test-dependencies setuptools==77.0.3 wheel==0.48.0 packaging==25.0 pybind11==3.0.1 tomli==2.4.0
+      - name: Build built-in message wheels
+        uses: pypa/cibuildwheel@v4.2.0
+        with:
+          package-dir: packages/dimos-generated
+        env:
+          CIBW_BEFORE_TEST: ""
+          CIBW_TEST_COMMAND: "python {project}/.github/scripts/message_wheel_smoke.py"
+      - name: Build and test supported wheels
+        uses: pypa/cibuildwheel@v4.2.0
+      - name: Upload review wheels
+        uses: actions/upload-artifact@v7
+        with:
+          name: checked-wheels-${{ matrix.os }}-${{ matrix.arch }}
+          path: wheelhouse/*.whl
+
   build-sdist:
     runs-on: ubuntu-latest
     permissions:
@@ -61,5 +134,12 @@ jobs:
           prune-cache: true
       - name: Build sdist
         run: uv build --sdist
+      - name: Build lightweight backend artifacts
+        run: uv build dimos/message_codegen --out-dir message-dist
+      - name: Upload build backend for review
+        uses: actions/upload-artifact@v7
+        with:
+          name: checked-message-backend
+          path: message-dist/*
       - name: Check sdist contents
         run: python3 .github/scripts/check_sdist.py dist/*.tar.gz