feat: rust performance and api improvements

.pre-commit-config.yaml

@@ -108,3 +108,33 @@ repos:
         entry: python bin/hooks/filter_commit_message.py --check
         language: python
         stages: [pre-commit]
+
+      - id: cargo-fmt
+        name: cargo fmt
+        entry: |
+          bash -c '
+            set -euo pipefail
+            git ls-files "*Cargo.toml" | while read -r m; do
+              cargo locate-project --manifest-path "$m" --workspace --message-format plain
+            done | sort -u | while read -r root; do
+              cargo fmt --manifest-path "$root" --all --check
+            done
+          '
+        language: system
+        types: [rust]
+        pass_filenames: false
+
+      - id: cargo-clippy
+        name: cargo clippy
+        entry: |
+          bash -c '
+            set -euo pipefail
+            git ls-files "*Cargo.toml" | while read -r m; do
+              cargo locate-project --manifest-path "$m" --workspace --message-format plain
+            done | sort -u | while read -r root; do
+              cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings
+            done
+          '
+        language: system
+        types: [rust]
+        pass_filenames: false

examples/native-modules/rust/Cargo.toml

@@ -12,7 +12,7 @@ name = "native_pong"
 path = "src/native_pong.rs"
 
 [dependencies]
-dimos-native-module = { path = "../../../native/rust" }
+dimos-module = { path = "../../../native/rust/dimos-module" }
 lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
 tokio = { version = "1", features = ["rt-multi-thread", "macros", "time"] }
 serde = { version = "1", features = ["derive"] }

examples/native-modules/rust/src/native_ping.rs

@@ -1,40 +1,55 @@
-// NativeModule ping example.
-//
-// Sends a Twist message at 5 Hz and logs each echo received on `confirm`.
-
-use dimos_native_module::{LcmTransport, NativeModule};
+use dimos_module::{run, Input, LcmTransport, Module, Output};
 use lcm_msgs::geometry_msgs::{Twist, Vector3};
 use tokio::time::{interval, Duration};
 
-#[tokio::main]
-async fn main() {
-    let transport = LcmTransport::new()
-        .await
-        .expect("Failed to create transport");
-    let (mut module, _config) = NativeModule::from_stdin::<()>(transport)
-        .await
-        .expect("Failed to read config from stdin");
-
-    let mut confirm = module.input("confirm", Twist::decode);
-    let data = module.output("data", Twist::encode);
-    let _handle = module.spawn();
+#[derive(Module)]
+#[module(setup = start_publisher)]
+struct Ping {
+    #[input(decode = Twist::decode)]
+    confirm: Input<Twist>,
 
-    let mut ticker = interval(Duration::from_millis(200));
-    let mut seq = 0u64;
+    #[output(encode = Twist::encode)]
+    data: Output<Twist>,
+}
 
-    loop {
-        tokio::select! {
-            _ = ticker.tick() => {
+impl Ping {
+    async fn start_publisher(&mut self) {
+        let data = self.data.clone();
+        tokio::spawn(async move {
+            let mut ticker = interval(Duration::from_millis(200));
+            let mut seq = 0u64;
+            loop {
+                ticker.tick().await;
                 let msg = Twist {
-                    linear: Vector3 { x: seq as f64, y: 0.0, z: 0.0 },
-                    angular: Vector3 { x: 0.0, y: 0.0, z: 0.0 },
+                    linear: Vector3 {
+                        x: seq as f64,
+                        y: 0.0,
+                        z: 0.0,
+                    },
+                    angular: Vector3 {
+                        x: 0.0,
+                        y: 0.0,
+                        z: 0.0,
+                    },
                 };
                 data.publish(&msg).await.ok();
                 seq += 1;
             }
-            Some(echo) = confirm.recv() => {
-                eprintln!("ping: echo received (seq={}, sample_config={})", echo.linear.x as u64, echo.angular.z as i64);
-            }
-        }
+        });
     }
+
+    async fn handle_confirm(&mut self, echo: Twist) {
+        println!(
+            "ping: echo received (seq={}, sample_config={})",
+            echo.linear.x as u64, echo.angular.z as i64,
+        );
+    }
+}
+
+#[tokio::main]
+async fn main() {
+    let transport = LcmTransport::new()
+        .await
+        .expect("Failed to create transport");
+    run::<Ping, _>(transport).await.expect("ping run failed");
 }

examples/native-modules/rust/src/native_pong.rs

@@ -1,9 +1,4 @@
-// NativeModule pong example.
-//
-// Receives Twist messages on `data` and echoes each one back on `confirm`,
-// embedding the sample_config value in the reply's angular.z field.
-
-use dimos_native_module::{LcmTransport, NativeModule};
+use dimos_module::{run, Input, LcmTransport, Module, Output};
 use lcm_msgs::geometry_msgs::{Twist, Vector3};
 use serde::Deserialize;
 
@@ -13,37 +8,36 @@ struct PongConfig {
     sample_config: i64,
 }
 
+#[derive(Module)]
+struct Pong {
+    #[input(decode = Twist::decode)]
+    data: Input<Twist>,
+
+    #[output(encode = Twist::encode)]
+    confirm: Output<Twist>,
+
+    #[config]
+    config: PongConfig,
+}
+
+impl Pong {
+    async fn handle_data(&mut self, msg: Twist) {
+        let reply = Twist {
+            linear: msg.linear,
+            angular: Vector3 {
+                x: 0.0,
+                y: 0.0,
+                z: self.config.sample_config as f64,
+            },
+        };
+        self.confirm.publish(&reply).await.ok();
+    }
+}
+
 #[tokio::main]
 async fn main() {
     let transport = LcmTransport::new()
         .await
         .expect("Failed to create transport");
-    let (mut module, config) = NativeModule::from_stdin::<PongConfig>(transport)
-        .await
-        .expect("Failed to read config from stdin");
-
-    eprintln!("pong: sample_config={}", config.sample_config);
-
-    let mut data = module.input("data", Twist::decode);
-    let confirm = module.output("confirm", Twist::encode);
-    let _handle = module.spawn();
-
-    eprintln!("pong ready");
-
-    loop {
-        match data.recv().await {
-            Some(msg) => {
-                let reply = Twist {
-                    linear: msg.linear,
-                    angular: Vector3 {
-                        x: 0.0,
-                        y: 0.0,
-                        z: config.sample_config as f64,
-                    },
-                };
-                confirm.publish(&reply).await.ok();
-            }
-            None => break,
-        }
-    }
+    run::<Pong, _>(transport).await.expect("pong run failed");
 }

native/rust/.gitignore

@@ -1 +1,2 @@
-target/
+/target/
+**/*.rs.bk