WIP: audit remaining CDR graph boundaries before legacy cleanup

.github/workflows/cdr-native.yml

@@ -25,6 +25,9 @@ jobs:
         with:
           python-version: '3.12'
           enable-cache: true
+      - uses: denoland/setup-deno@v2
+        with:
+          deno-version: v2.6.10
       - name: Install build and media dependencies
         run: |
           sudo apt-get update
@@ -42,7 +45,36 @@ jobs:
             dimos/message_utils/test_pointcloud.py \
             dimos/message_utils/test_pointcloud_colors.py \
             dimos/protocol/tf/test_buffer.py
-      - name: Test native SDK
+      - name: Test SDK and build native consumers
         run: |
           cargo test --locked --manifest-path native/rust/dimos-module/Cargo.toml
           cargo test --locked --manifest-path native/rust/dimos-module-macros/Cargo.toml
+          cargo test --locked --manifest-path dimos/mapping/ray_tracing/rust/Cargo.toml --lib
+          cargo test --locked --manifest-path dimos/navigation/global_planner/mls_planner/rust/Cargo.toml --lib
+          cargo test --locked --manifest-path dimos/navigation/local_planner/rust/Cargo.toml --features module,test-bodies
+          cargo test --locked --manifest-path dimos/navigation/trajectory_follower/fancy/rust/Cargo.toml --features module
+          cargo test --locked --manifest-path dimos/hardware/sensors/camera/v4l2/rust/Cargo.toml --lib
+          cargo check --locked --manifest-path dimos/perception/depth2depth_cloud/rust/Cargo.toml --lib
+          cargo check --locked --manifest-path dimos/hardware/sensors/camera/realsense/rust/Cargo.toml --all-targets --features docs-only
+          cargo build --locked --manifest-path dimos/mapping/ray_tracing/rust/Cargo.toml --bin voxel_ray_tracing
+          cargo build --locked --manifest-path dimos/navigation/global_planner/mls_planner/rust/Cargo.toml --bin mls_planner
+          cargo build --locked --manifest-path dimos/navigation/local_planner/rust/Cargo.toml --features module --bin local_planner
+          cargo build --locked --manifest-path dimos/navigation/trajectory_follower/fancy/rust/Cargo.toml --features module --bin trajectory_follower
+      - name: Prepare DimSim dependencies
+        working-directory: misc/DimSim/cli
+        run: deno install --node-modules-dir=auto --entrypoint bridge/cdr_test.ts
+      - name: Exchange generated messages with real native and TypeScript consumers
+        run: |
+          export DIMOS_NATIVE_RAY_TRACING_BINARY="$CARGO_TARGET_DIR/debug/voxel_ray_tracing"
+          export DIMOS_NATIVE_MLS_BINARY="$CARGO_TARGET_DIR/debug/mls_planner"
+          export DIMOS_NATIVE_LOCAL_PLANNER_BINARY="$CARGO_TARGET_DIR/debug/local_planner"
+          export DIMOS_NATIVE_FOLLOWER_BINARY="$CARGO_TARGET_DIR/debug/trajectory_follower"
+          export DIMOS_DIMSIM_DENO="$(command -v deno)"
+          uv run --no-sync pytest --noconftest --import-mode=importlib -o addopts='' -q \
+            dimos/mapping/ray_tracing/test_generated_native.py \
+            dimos/navigation/global_planner/mls_planner/test_generated_native.py \
+            dimos/navigation/local_planner/test_generated_native.py \
+            dimos/robot/unitree/test_dimsim_connection.py \
+            dimos/navigation/trajectory_follower/fancy/test_generated_native.py \
+            dimos/hardware/sensors/camera/realsense/test_camera.py \
+            dimos/perception/depth2depth_cloud/test_depth2depth_cloud_config.py

docs/development/cdr-cutover-status.md

@@ -0,0 +1,38 @@
+# CDR cutover and legacy cleanup status
+
+**WIP.** The shared factory supports generated CDR types and legacy LCM types.
+The repository migration is incomplete. Keep legacy schemas, decoders and value
+wrappers until their callers are migrated and verified.
+
+## Inspect remaining boundaries
+
+Run the static audit from this checkout. It does not import runtime modules or
+contact hardware:
+
+```sh
+python scripts/audit_cdr_boundaries.py --output /tmp/cdr-boundaries.json
+python scripts/audit_cdr_boundaries.py --check
+```
+
+`--check` returns nonzero while candidates remain. This snapshot has **312 legacy
+In/Out declarations** and **998 legacy imports**. These are syntax matches, not
+validated runtime failures. Internal driver values can be valid conversion
+boundaries. Inspect complete blueprint port pairs before changing them.
+
+## Current validation limits
+
+The default-layer check has 37 passing tests and four failures:
+
+- The Python `TransportRecorder` skips generated values on LCM and Zenoh. The new
+  Rust recording path is separate; this does not prove Python capture cutover.
+- The XArm and Piper collection graphs do not expose the expected generated
+  aggregate `coordinator_joint_state` input on their recorder.
+
+Agent, drone, Habitat and other legacy graphs still need migration. Original
+work and prior heads remain in the consolidation backups. This restack does not
+complete or discard those migrations.
+
+Before deleting an API, migrate its callers and verify the selected graph,
+capture/replay, source timestamps and schema identity on an installed package.
+Keep the converter's explicit historical decode boundary for old recordings.
+Nix hardware packaging and physical robot behavior are not verified here.

scripts/audit_cdr_boundaries.py

@@ -0,0 +1,125 @@
+# 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.
+
+
+"""Inventory legacy runtime imports and typed ports without importing robot modules."""
+
+from __future__ import annotations
+
+import argparse
+import ast
+from collections import Counter
+import json
+from pathlib import Path
+
+
+def qualified(node: ast.expr, imports: dict[str, str]) -> str:
+    if isinstance(node, ast.Name):
+        return imports.get(node.id, node.id)
+    if isinstance(node, ast.Attribute):
+        return qualified(node.value, imports) + "." + node.attr
+    return ast.unparse(node)
+
+
+def legacy(name: str) -> bool:
+    if name == "dimos_lcm" or name.startswith("dimos_lcm."):
+        return True
+    parts = name.split(".")
+    return len(parts) >= 3 and parts[:2] == ["dimos", "msgs"] and parts[2].endswith("_msgs")
+
+
+def audit(root: Path) -> dict:
+    imports_found = []
+    ports = []
+    for path in sorted((root / "dimos").rglob("*.py")):
+        relative = path.relative_to(root)
+        if path.name.startswith(("test_", "demo_", "tool_")) or path.name == "conftest.py":
+            continue
+        if relative.parts[:2] == ("dimos", "msgs"):
+            continue
+        tree = ast.parse(path.read_text(), filename=str(relative))
+        imports = {}
+        for node in ast.walk(tree):
+            if isinstance(node, ast.ImportFrom):
+                for alias in node.names:
+                    full = f"{node.module}.{alias.name}"
+                    imports[alias.asname or alias.name] = full
+                    if legacy(full):
+                        imports_found.append(
+                            {"file": str(relative), "line": node.lineno, "symbol": full}
+                        )
+            elif isinstance(node, ast.Import):
+                for alias in node.names:
+                    imports[alias.asname or alias.name.split(".")[0]] = (
+                        alias.name if alias.asname else alias.name.split(".")[0]
+                    )
+                    if legacy(alias.name):
+                        imports_found.append(
+                            {"file": str(relative), "line": node.lineno, "symbol": alias.name}
+                        )
+        for node in ast.walk(tree):
+            if not isinstance(node, ast.AnnAssign) or not isinstance(
+                node.annotation, ast.Subscript
+            ):
+                continue
+            annotation = node.annotation
+            direction = qualified(annotation.value, imports)
+            if direction not in {"dimos.core.stream.In", "dimos.core.stream.Out"}:
+                continue
+            candidates = [
+                qualified(n, imports)
+                for n in ast.walk(annotation.slice)
+                if isinstance(n, (ast.Name, ast.Attribute))
+            ]
+            types = sorted({name for name in candidates if legacy(name)})
+            if types:
+                ports.append(
+                    {
+                        "file": str(relative),
+                        "line": node.lineno,
+                        "port": ast.unparse(node.target),
+                        "direction": direction.rsplit(".", 1)[1],
+                        "legacy_types": types,
+                    }
+                )
+    return {
+        "status": "unfinished" if ports or imports_found else "clear",
+        "method": "Static Python import and typed In/Out scan; no runtime graph or hardware imports. Internal driver values are not automatically wire defects.",
+        "legacy_port_count": len(ports),
+        "legacy_import_count": len(imports_found),
+        "ports_by_subsystem": dict(sorted(Counter(p["file"].split("/")[1] for p in ports).items())),
+        "legacy_ports": ports,
+        "legacy_imports": imports_found,
+    }
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--root", type=Path, default=Path(__file__).resolve().parents[1])
+    parser.add_argument("--output", type=Path)
+    parser.add_argument(
+        "--check", action="store_true", help="Fail while any legacy imports or ports remain."
+    )
+    args = parser.parse_args()
+    report = audit(args.root.resolve())
+    text = json.dumps(report, indent=2) + "\n"
+    if args.output:
+        args.output.write_text(text)
+    else:
+        print(text, end="")
+    return int(args.check and report["status"] != "clear")
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())