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…notations` The future annotations import made Out[PointCloud2] and Out[Imu] lazy strings, preventing the Module metaclass from creating real port descriptors. Move type imports out of TYPE_CHECKING block so ports are properly resolved at class definition time.
Livox-specific module (LivoxLidarModule, LivoxLidarModuleConfig) now lives in dimos/hardware/sensors/lidar/livox/module.py alongside the driver and SDK code. Generic LidarModule stays in the parent.
Greptile OverviewGreptile SummaryThis PR integrates Livox Mid-360 LiDAR hardware support into the dimos framework. The implementation includes:
The implementation follows good practices with thread-safe queuing, proper SDK lifecycle management, and comprehensive error handling. The code is well-documented and includes spec compliance tests. Confidence Score: 4/5
Important Files Changed
Sequence DiagramsequenceDiagram
participant User
participant LivoxLidarModule
participant LivoxMid360
participant LivoxSDK
participant HardwareDevice as Livox Hardware
User->>LivoxLidarModule: start()
LivoxLidarModule->>LivoxMid360: pointcloud_stream()
LivoxMid360->>LivoxSDK: init(config, host_ip)
LivoxSDK->>LivoxSDK: load shared library
LivoxSDK->>HardwareDevice: connect via network
LivoxMid360->>LivoxSDK: set_point_cloud_callback()
LivoxMid360->>LivoxSDK: set_imu_callback()
LivoxMid360->>LivoxSDK: set_info_change_callback()
LivoxMid360->>LivoxSDK: start()
LivoxSDK->>HardwareDevice: start device communication
loop Point Cloud Data
HardwareDevice->>LivoxSDK: UDP packet (points)
LivoxSDK->>LivoxMid360: callback with packet
LivoxMid360->>LivoxMid360: enqueue to _pc_queue
LivoxMid360->>LivoxMid360: consumer thread aggregates
LivoxMid360->>LivoxLidarModule: emit PointCloud2
LivoxLidarModule->>User: publish to pointcloud port
end
loop IMU Data
HardwareDevice->>LivoxSDK: UDP packet (IMU)
LivoxSDK->>LivoxMid360: callback with packet
LivoxMid360->>LivoxMid360: enqueue to _imu_queue
LivoxMid360->>LivoxMid360: consumer thread processes
LivoxMid360->>LivoxLidarModule: emit Imu
LivoxLidarModule->>User: publish to imu port
end
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| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
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| """Livox-specific LiDAR module with IMU support.""" |
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missing from __future__ import annotations import that was intentionally removed from dimos/hardware/sensors/lidar/module.py to fix port resolution
Suggested change
| """Livox-specific LiDAR module with IMU support.""" | |
| """Livox-specific LiDAR module with IMU support.""" | |
| from __future__ import annotations |
Integrates FAST-LIO-NON-ROS directly with Livox SDK2 as a dimos NativeModule. The C++ binary feeds live LiDAR/IMU data into FAST-LIO's EKF-LOAM SLAM and publishes aggregated world-frame point clouds and odometry over LCM. Includes rate-limited output (pointcloud_freq, odom_freq), Odometry.to_rerun() for visualization, and nix flake deps.
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