WIP Feat/livox

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Greptile Overview

Greptile Summary

This PR integrates Livox Mid-360 LiDAR hardware support into the dimos framework. The implementation includes:

• Complete Livox SDK2 ctypes bindings (sdk.py) for interfacing with the C library
• Hardware driver (mid360.py) with point cloud and IMU streaming via RxPy observables
• Module wrapper (livox/module.py) extending the base LidarModule with IMU support
• New Imu message type compatible with ROS sensor_msgs
• Protocol specs for Lidar and IMU interfaces
• Bug fix for port resolution broken by from __future__ import annotations

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

• This PR is safe to merge with minimal risk
• The implementation is well-structured with proper thread safety, error handling, and comprehensive SDK bindings. The port resolution fix addresses a real issue. Only minor style improvements suggested.
• No files require special attention - all changes are well-implemented

Important Files Changed

Filename	Overview
dimos/hardware/sensors/lidar/livox/mid360.py	Livox Mid-360 hardware driver with ctypes SDK bindings, point cloud and IMU streaming - well-structured with proper thread safety and error handling
dimos/hardware/sensors/lidar/livox/sdk.py	ctypes bindings for Livox SDK2 C library - comprehensive struct definitions and library loading logic
dimos/hardware/sensors/lidar/livox/module.py	LivoxLidarModule extends base LidarModule with IMU support - clean implementation but missing from __future__ import annotations
dimos/hardware/sensors/lidar/module.py	Fixed port resolution issue by removing future annotations that broke Module metaclass
dimos/hardware/sensors/lidar/spec.py	New LiDAR hardware interface spec with point cloud and optional IMU streams
dimos/msgs/sensor_msgs/Imu.py	New IMU message type with ROS sensor_msgs/Imu compatibility and LCM encoding

Sequence Diagram

sequenceDiagram
    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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[greptile-apps]

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