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native modules: build rust workspace crates through the repo flake #3770

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native modules: build rust workspace crates through the repo flake #3770

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5241122
native_module: put ~/.cargo/bin on the auto-build PATH when cargo is …
jeff-hykin Aug 30, 2026
112c9d5
Revert "native_module: put ~/.cargo/bin on the auto-build PATH when c…
jeff-hykin Aug 30, 2026
0d216be
native modules: build the rust workspace crates through the repo flake
jeff-hykin Aug 30, 2026
4cd942a
Merge remote-tracking branch 'origin/main' into _flake_work
jeff-hykin Aug 31, 2026
6ab3467
native modules: keep build_command a literal for the publish gate
jeff-hykin Aug 31, 2026
7a4f671
native modules: drop the build_command comments
jeff-hykin Aug 31, 2026
e4eb3f8
Point rust nix shells at a tiny toolchain flake
jeff-hykin Aug 31, 2026
12c5ae2
Build the rust native modules with a nix derivation
jeff-hykin Aug 31, 2026
ac844e9
Merge remote-tracking branch 'origin/main' into jeff/fix/native_build…
jeff-hykin Aug 31, 2026
6d274a2
Update the workspace cargoHash for main's Cargo.lock bump
jeff-hykin Sep 1, 2026
8a9dc1a
Let each native module declare its own build inputs
jeff-hykin Sep 1, 2026
d08156f
Find the native module deps.nix files instead of listing them
jeff-hykin Sep 1, 2026
d06824e
Vendor the rust workspace from Cargo.lock instead of an aggregate hash
jeff-hykin Sep 1, 2026
7d19b37
Revert "Vendor the rust workspace from Cargo.lock instead of an aggre…
jeff-hykin Sep 1, 2026
5def8fd
Record why cargoLock.lockFile cannot replace the aggregate hash
jeff-hykin Sep 1, 2026
7ea8f45
Merge remote-tracking branch 'origin/main' into jeff/fix/native_build…
jeff-hykin Sep 1, 2026
701453c
Re-paste cargoHash for the Cargo.lock main brought in
jeff-hykin Sep 1, 2026
8b4e3fa
Build native modules with crate2nix instead of one cargoHash
jeff-hykin Sep 1, 2026
c70d595
Build the example native modules too
jeff-hykin Sep 1, 2026
3f6653f
Stop committing crate-hashes.json
jeff-hykin Sep 1, 2026
776cb45
Pin cargo, not just crate2nix, when regenerating Cargo.nix
jeff-hykin Sep 1, 2026
0e1d204
Describe crate-config.nix as the placeholder it actually is
jeff-hykin Sep 1, 2026
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2 changes: 1 addition & 1 deletion dimos/mapping/ray_tracing/module.py
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Expand Up @@ -35,7 +35,7 @@ class RayTracingVoxelMapConfig(NativeModuleConfig):
cwd: str | None = "rust"
# The crate is a workspace member, so cargo builds into the repo-root target dir.
executable: str = str(DIMOS_PROJECT_ROOT / "target" / "release" / "voxel_ray_tracing")
build_command: str | None = "cargo build --release"
build_command: str | None = "nix develop path:../../../.. -c cargo build --release"

@aclauer aclauer Aug 31, 2026

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Suggested change
build_command: str | None = "nix develop path:../../../.. -c cargo build --release"
build_command: str | None = "nix develop ../../../.. -c cargo build --release"

So if we use path that will cause the entire workspace to get snapshotted on every build, can you double check this isn't going to spam the nix store?

@jeff-hykin jeff-hykin Aug 31, 2026

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Yeah... I'm afraid this is looking like a "pick your poison" kinda decision. I've got a couple ideas but I'm gonna have to do testing.

stdin_config: bool = True

voxel_size: float = 0.1
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2 changes: 1 addition & 1 deletion dimos/navigation/nav_3d/mls_planner/mls_planner_native.py
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Expand Up @@ -31,7 +31,7 @@ class MLSPlannerNativeConfig(NativeModuleConfig):
cwd: str | None = "rust"
# The crate is a workspace member, so cargo builds into the repo-root target dir.
executable: str = str(DIMOS_PROJECT_ROOT / "target" / "release" / "mls_planner")
build_command: str | None = "cargo build --release"
build_command: str | None = "nix develop path:../../../../.. -c cargo build --release"

@aclauer aclauer Aug 31, 2026

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Suggested change
build_command: str | None = "nix develop path:../../../../.. -c cargo build --release"
build_command: str | None = "nix develop ../../../../.. -c cargo build --release"

stdin_config: bool = True

world_frame: str = "odom"
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4 changes: 4 additions & 0 deletions flake.nix
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Expand Up @@ -80,6 +80,10 @@
{ vals.pkg=pkgs.uv; flags={}; }
{ vals.pkg=pkgs.pre-commit; flags={}; }

### Rust (native module auto-builds run `nix develop path:<repo> -c cargo`)
{ vals.pkg=pkgs.cargo; flags={}; }
{ vals.pkg=pkgs.rustc; flags={}; }

### Runtime deps
{ vals.pkg=pkgs.portaudio; flags={ldLibraryGroup=true; packageConfGroup=true;}; }
{ vals.pkg=pkgs.ffmpeg_6; flags={}; }
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