feat: generic nix native-module builder for cachix

[jeff-hykin]

Fix cachix, simplify CI

Which required a couple other things

ref DIM-1285

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
4882	2	4880	82

View the full list of 2 ❄️ flaky test(s)

dimos.e2e_tests.test_manipulation_planning_groups::test_dual_arm_plans_and_dispatches_both_arms_through_control_coordinator

Flake rate in main: 100.00% (Passed 0 times, Failed 3 times)

Stack Traces | 120s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7bfbd1ac8da0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7bfbd06bcf40>

    def test_dual_arm_plans_and_dispatches_both_arms_through_control_coordinator(
        lcm_spy: LcmSpy,
        start_blueprint: Callable[..., DimosCliCall],
    ) -> None:
        """Plan one generated plan over both arms and dispatch through one trajectory task."""
>       _start_openarm_mock_planner(start_blueprint, lcm_spy)

lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7bfbd1ac8da0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7bfbd06bcf40>

dimos/e2e_tests/test_manipulation_planning_groups.py:190: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/test_manipulation_planning_groups.py:151: in _start_openarm_mock_planner
    lcm_spy.wait_for_saved_topic(JOINT_STATE_TOPIC, timeout=120.0)
        lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7bfbd1ac8da0>
        start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7bfbd06bcf40>
dimos/e2e_tests/lcm_spy.py:97: in wait_for_saved_topic
    wait_until(
        condition  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0x7bfbd06bd4e0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7bfbd1ac8da0>
        timeout    = 120.0
        topic      = '/coordinator_joint_state#sensor_msgs.JointState'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0x7bfbd06bd4e0>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState

deadline   = 4399252.104891942
interval   = 0.1
message    = 'Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState'
predicate  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0x7bfbd06bd4e0>
timeout    = 120.0

.../utils/testing/waiting.py:35: TimeoutError

dimos.e2e_tests.test_manipulation_planning_groups::test_single_arm_plans_and_executes_through_control_coordinator

Flake rate in main: 25.00% (Passed 12 times, Failed 4 times)

Stack Traces | 120s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7bfbd1de1be0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7bfbd06bcae0>

    def test_single_arm_plans_and_executes_through_control_coordinator(
        lcm_spy: LcmSpy,
        start_blueprint: Callable[..., DimosCliCall],
    ) -> None:
        """Plan with one arm and execute through its trajectory task."""
>       _start_openarm_mock_planner(start_blueprint, lcm_spy)

lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7bfbd1de1be0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7bfbd06bcae0>

dimos/e2e_tests/test_manipulation_planning_groups.py:159: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/test_manipulation_planning_groups.py:151: in _start_openarm_mock_planner
    lcm_spy.wait_for_saved_topic(JOINT_STATE_TOPIC, timeout=120.0)
        lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7bfbd1de1be0>
        start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x7bfbd06bcae0>
dimos/e2e_tests/lcm_spy.py:97: in wait_for_saved_topic
    wait_until(
        condition  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0x7bfbd065bec0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x7bfbd1de1be0>
        timeout    = 120.0
        topic      = '/coordinator_joint_state#sensor_msgs.JointState'
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0x7bfbd065bec0>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState

deadline   = 4399131.907577119
interval   = 0.1
message    = 'Timeout waiting for topic /coordinator_joint_state#sensor_msgs.JointState'
predicate  = <function LcmSpy.wait_for_saved_topic.<locals>.condition at 0x7bfbd065bec0>
timeout    = 120.0

.../utils/testing/waiting.py:35: TimeoutError

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[greptile-apps]

Greptile Summary

Introduces a generic Nix native-module builder and updates CI to build, verify, publish, and consume native artifacts through Cachix.

• Adds AST-based native-module discovery, input hashing, parallel builds, and Cachix publication verification.
• Gates Cachix publishing with a content-derived cache marker and coordinates dependent test jobs.
• Runs Rust checks inside each crate’s Nix development shell where available.
• Updates the virtual MID-360 and voxel ray-tracing flakes and lock files.
• Extends local native-test setup and adds builder guard-rail tests.

Confidence Score: 5/5

The PR appears safe to merge because no new blocking failure eligible for this follow-up review remains.

No blocking failure remains within the scope of the displayed previous review threads.

Files Needing Attention: No files require blocking changes.

T-Rex Logs

What T-Rex did

• I observed a marker transition from ca33ae… to 412d1f… between the before and after captures, with the manifest reflecting updated virtual Mid360 and ray-tracing input trees.
• I ran the focused isolated test suite and recorded 5 passed, 1 deselected in 1.56s.
• I performed determinism checks and confirmed both executions and both byte comparisons exited with code 0.

_{Ran code and verified through T-Rex}

Important Files Changed

Filename	Overview
bin/build-native-modules	Adds native-module discovery, deterministic input manifests, parallel Nix builds, dry-run support, and Cachix verification.
.github/workflows/ci.yml	Adds Cachix build gating and publication while coordinating native artifacts with Rust and Python test jobs.
dimos/core/test_build_native_modules.py	Adds structural tests for module discovery, input coverage, lock-file handling, and manifest determinism.
dimos/hardware/sensors/lidar/virtual_mid360/flake.nix	Switches shared Rust sources to a locked repository input and adds a Rust development shell.
dimos/mapping/ray_tracing/rust/flake.nix	Adds a development shell and lock-driven Cargo dependency vendoring for voxel ray tracing.

_{Reviews (9): Last reviewed commit: "Merge branch 'main' into jeff/feat/cachi..." | Re-trigger Greptile}