feat(messages): add built-in CDR types alongside legacy messages

.github/scripts/test_relock_shared_flakes.py

@@ -0,0 +1,70 @@
+# Copyright 2026 Dimensional Inc.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Exact SDK API pins must survive automatic shared-source refreshes."""
+
+from importlib.machinery import SourceFileLoader
+from importlib.util import module_from_spec, spec_from_loader
+from pathlib import Path
+from tempfile import TemporaryDirectory
+import unittest
+from unittest.mock import patch
+
+ROOT = Path(__file__).resolve().parents[2]
+loader = SourceFileLoader("relock_shared_flakes", str(ROOT / "bin/relock-shared-flakes"))
+spec = spec_from_loader(loader.name, loader)
+relock = module_from_spec(spec)
+loader.exec_module(relock)
+
+
+class ExactSdkVersionTests(unittest.TestCase):
+    def stale(self, requirement: str, revision_matches: bool = True) -> list[str]:
+        revision = "a" * 40
+        manifest_revision = revision if revision_matches else "b" * 40
+        with TemporaryDirectory() as directory:
+            manifest = Path(directory) / "Cargo.toml"
+            manifest.write_text(
+                '[dependencies]\ndimos-module = { git = "'
+                + relock.GIT_URL
+                + '", rev = "'
+                + manifest_revision
+                + '"'
+                + requirement
+                + " }\n"
+            )
+            with (
+                patch.object(
+                    relock,
+                    "_pinned_crates",
+                    return_value=[
+                        ("dimos-module", "0.1.0", revision),
+                        ("dimos-module-macros", "0.1.0", revision),
+                    ],
+                ),
+                patch.object(
+                    relock,
+                    "_crate_dirs",
+                    return_value={
+                        "dimos-module": "native/rust/dimos-module",
+                        "dimos-module-macros": "native/rust/dimos-module-macros",
+                    },
+                ),
+                patch.object(relock, "_git", return_value='[package]\nversion = "0.2.0"'),
+                patch.object(relock, "tree_at", side_effect=lambda rev, _: rev),
+            ):
+                return relock._stale_pin(manifest, manifest.with_name("Cargo.lock"))
+
+    def test_exact_legacy_api_keeps_its_sdk_and_transitive_macro_revision(self):
+        self.assertEqual(self.stale(', version = "=0.1.0"'), [])
+
+    def test_unconstrained_dependencies_still_refresh_changed_sources(self):
+        self.assertEqual(len(self.stale("")), 2)
+
+    def test_exact_constraint_does_not_hide_a_mismatched_lock_revision(self):
+        failures = self.stale(', version = "=0.1.0"', revision_matches=False)
+        self.assertEqual(len(failures), 2)
+        self.assertTrue(all("Cargo.lock pins" in error for error in failures))
+
+
+if __name__ == "__main__":
+    unittest.main()

.github/workflows/autofix.yml

@@ -47,7 +47,9 @@ jobs:
         run: bash docker/ros/install-nix.sh
       - name: Relock the modules onto this revision
         if: steps.shared.outputs.changed == 'true'
-        run: python3 bin/relock-shared-flakes
+        run: |
+          python3 .github/scripts/test_relock_shared_flakes.py
+          python3 bin/relock-shared-flakes
 
       - name: autofix.ci
         uses: autofix-ci/action@v1

.gitignore

@@ -106,3 +106,6 @@ optuna.db
 
 # policy blobs are loaded from outside the repository
 *.bin
+
+# Prepared from schema-sources.json; keep downloaded schemas out of Git.
+/packages/dimos-generated/interfaces/

MANIFEST.in

@@ -47,3 +47,8 @@ prune dimos/web/command-center-extension
 
 global-exclude test_*.py
 global-exclude conftest.py
+
+# Built-in message inputs are prepared automatically during source builds; the sdist is self-contained.
+include packages/dimos-generated/schema-sources.json
+recursive-include packages/dimos-generated/custom *.msg LICENSE
+recursive-include packages/dimos-generated/interfaces *.msg *LICENSE*

bin/relock-shared-flakes

@@ -22,6 +22,8 @@ rewrites a pull request's merge ref, so a pin on it would rot.
 What counts as stale is the pinned *content*, not the revision. A pin may name an
 older commit quite legitimately -- what matters is that the shared tree at that
 commit is the tree in this one.
+An explicit exact Cargo version keeps its pinned revision, including transitive
+SDK crates. Updating that API is a caller migration rather than an automatic relock.
 
 Stdlib only, so it runs on a bare `python3` like the other bin/ scripts.
 """
@@ -296,10 +298,19 @@ def _hashes_file(manifest: Path) -> Path:
 def _stale_pin(manifest: Path, lock: Path) -> list[str]:
     """Why the pin on this repository's crates is not this commit's; empty when it is."""
     revs = {m.group("rev") for m in _GIT_DEP.finditer(manifest.read_text())}
+    dependencies = tomllib.loads(manifest.read_text()).get("dependencies", {})
+    packages = _pinned_crates(lock)
+    fixed_revs = set()
+    for name, version, rev in packages:
+        dependency = dependencies.get(name, {})
+        if isinstance(dependency, dict) and dependency.get("version") == f"={version}":
+            fixed_revs.add(rev)
     stale = []
-    for name, _, rev in _pinned_crates(lock):
+    for name, _, rev in packages:
         if rev not in revs:
             stale.append(f"{name}: Cargo.lock pins {rev[:10]}, Cargo.toml another revision")
+        if rev in fixed_revs:
+            continue
         subdir = _crate_dirs().get(name)
         pinned = tree_at(rev, subdir) if subdir else None
         if subdir is None or (pinned is not None and pinned != tree_at("HEAD", subdir)):
@@ -345,7 +356,9 @@ def relock_cargo(manifest: Path) -> tuple[Path, bool, list[str]]:
             return manifest, False, [_unpushed(manifest, " and ".join(subdirs))]
         manifest.write_text(
             _GIT_DEP.sub(
-                lambda m: f'{m.group("name")} = {{ git = "{GIT_URL}", rev = "{rev}"{m.group("rest")}}}',
+                lambda m: (
+                    f'{m.group("name")} = {{ git = "{GIT_URL}", rev = "{rev}"{m.group("rest")}}}'
+                ),
                 before[manifest],
             )
         )

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 = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", version = "=0.1.0" }
 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/hardware/sensors/camera/realsense/rust/Cargo.toml

@@ -33,7 +33,7 @@ infrared_left_camera_info = "sensor_msgs.CameraInfo"
 infrared_right_camera_info = "sensor_msgs.CameraInfo"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", version = "=0.1.0" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 realsense-rust = "1.3"
 realsense-sys = "2.56"

dimos/hardware/sensors/camera/v4l2/rust/Cargo.toml

@@ -21,7 +21,7 @@ python = "dimos.hardware.sensors.camera.v4l2.module:V4L2Camera"
 jpeg_out = "sensor_msgs.CompressedImage"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", version = "=0.1.0" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal"] }
 serde = { version = "1", features = ["derive"] }

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 = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", version = "=0.1.0" }
 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/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 = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", version = "=0.1.0" }
 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/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 = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", version = "=0.1.0" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "time", "net", "sync"] }
 serde = { version = "1", features = ["derive"] }
 socket2 = "0.6"

dimos/mapping/dim_slam/rust/Cargo.toml

@@ -15,7 +15,7 @@ dim_slam = { git = "https://github.com/dimensionalOS/dimSLAM", tag = "v0.4.1" }
 # Unused directly, but cargo hands DEP_CUVSLAM_LIB_DIR only to immediate dependents
 # and build.rs needs it for the rpath.
 cu_vslam_rs = "0.2.0"
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", version = "=0.1.0" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros"] }
 tracing = "0.1"

dimos/mapping/ray_tracing/rust/Cargo.toml

@@ -35,7 +35,7 @@ region_bounds = "geometry_msgs.PoseStamped"
 map_regions = "sensor_msgs.PointCloud2"
 
 [dependencies]
-dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443" }
+dimos-module = { git = "https://github.com/dimensionalOS/dimos", rev = "6663bcb6e5e18f43a6cb9cf77ccbec613e310443", version = "=0.1.0" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal"] }
 serde = { version = "1", features = ["derive"] }

dimos/message_codegen/build.py

@@ -0,0 +1,122 @@
+# 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.
+
+"""DimOS source-build inputs; imported only by packaging and preparation tools."""
+
+from hashlib import sha256
+import os
+from pathlib import Path, PurePosixPath
+import shutil
+from tempfile import TemporaryDirectory
+from typing import Annotated, Literal
+
+from dimos_cdrgen.source_inputs import prepare_sources
+from pydantic import AfterValidator, BaseModel, ConfigDict, Field
+
+ROOT = Path(__file__).resolve().parents[2]
+PROJECT = ROOT / "packages/dimos-generated"
+
+
+def _relative_path(value: str) -> str:
+    path = PurePosixPath(value)
+    if not path.parts or path.is_absolute() or ".." in path.parts:
+        raise ValueError("Unsafe source input path")
+    return value
+
+
+RelativePath = Annotated[str, AfterValidator(_relative_path)]
+Sha256 = Annotated[str, Field(pattern=r"^[0-9a-f]{64}$")]
+
+
+class SourceFile(BaseModel):
+    model_config = ConfigDict(strict=True, extra="forbid")
+
+    path: RelativePath
+    sha256: Sha256
+
+
+class SourceArchive(BaseModel):
+    model_config = ConfigDict(strict=True, extra="forbid")
+
+    repository: str | None = None
+    revision: str | None = None
+    url: str
+    sha256: Sha256
+    prefix: RelativePath
+    files: dict[RelativePath, SourceFile]
+
+
+class SourceLock(BaseModel):
+    model_config = ConfigDict(strict=True, extra="forbid")
+
+    format: Literal[1]
+    sources: list[SourceArchive]
+
+
+def _matches(directory: Path, files: dict[str, str]) -> bool:
+    return all(
+        (directory / name).is_file()
+        and sha256((directory / name).read_bytes()).hexdigest() == digest
+        for name, digest in files.items()
+    )
+
+
+def prepare_builtin_sources(
+    cache: Path | None = None, *, offline: bool = False, project: Path = PROJECT
+) -> Path:
+    cache = cache or Path(
+        os.environ.get("DIMOS_MESSAGE_SOURCE_CACHE", ROOT / "build/builtin-source-cache")
+    )
+    lock = project / "schema-sources.json"
+    data = SourceLock.model_validate_json(lock.read_text())
+    upstream = {
+        name: entry.sha256 for source in data.sources for name, entry in source.files.items()
+    }
+    custom_root = project / "custom/dimos_msgs"
+    custom = {
+        "dimos_msgs/msg/" + path.name: sha256(path.read_bytes()).hexdigest()
+        for path in (custom_root / "msg").glob("*.msg")
+    }
+    custom["licenses/dimos_msgs-LICENSE"] = sha256(
+        (custom_root / "LICENSE").read_bytes()
+    ).hexdigest()
+    expected = {**upstream, **custom}
+    target = project / "interfaces"
+    actual = {str(path.relative_to(target)) for path in target.rglob("*") if path.is_file()}
+    if actual == expected.keys() and _matches(target, expected):
+        return target
+    # Stage both downloaded and local definitions before replacing previous inputs.
+    with TemporaryDirectory(prefix=".interfaces-", dir=project) as directory:
+        stage = Path(directory) / "inputs"
+        if _matches(target, upstream):
+            stage.mkdir()
+            for name in upstream:
+                output = stage / name
+                output.parent.mkdir(parents=True, exist_ok=True)
+                shutil.copyfile(target / name, output)
+        else:
+            prepare_sources(lock, stage, cache / "archives", offline=offline)
+        shutil.copytree(custom_root / "msg", stage / "dimos_msgs/msg")
+        (stage / "licenses").mkdir(exist_ok=True)
+        shutil.copyfile(custom_root / "LICENSE", stage / "licenses/dimos_msgs-LICENSE")
+        backup = Path(directory) / "previous"
+        if target.exists():
+            target.rename(backup)
+        try:
+            stage.rename(target)
+        except OSError:
+            if backup.exists():
+                backup.rename(target)
+            raise
+    return target