…native builds)

…y path)

The fast-lio input was pinned to file:///Users/jeffhykin/... which only
exists on the Mac. Repoint to the dimensionalOS/dimos-module-fastlio2
pointlio branch on github so the flake builds on Linux. Same locked rev.

Rename the mirrored fastlio_blueprints.py to pointlio_blueprints.py and
wire it to PointLio (was incorrectly using FastLio2). Adds mid360-pointlio
and mid360-pointlio-voxels to the blueprint registry.

…race-fix flake relock

Adds the offline replay/inspection tooling for the pointlio_native module:
pcap_replay.hpp (streams a Livox pcap into the SDK callbacks), deterministic_clock
+ dual-thread replay options, the ruwik2_pt3 replay harness, the pcap_to_db tool
(append pointlio_odometry into an existing memory db at ~30Hz, streaming), validated
Point-LIO mid360.yaml, and the live smoke-test helper. flake.lock relocks onto the
fastlio2 pointlio rev carrying the mtx_buffer race fix; main.cpp comment corrected
to attribute the divergence fix to that lock (not the publish-rate gating).

Switches the flake's fast-lio input from path:/home/dimos/repos/dimos-module-fastlio2
to github:dimensionalOS/dimos-module-fastlio2/pointlio so the module builds on any
machine without a local fastlio2 clone. Relocked onto rev 7e5d88f (the mtx_buffer
race fix); verified pointlio_native builds from the github source.

…hful config

OUTPUT-model replay of the Jun-7 hand-shake bag diverged to ~25km (vs
hku-mars master's bounded ~5m). Two issues, both fixed here (paired with
the dimos-module-fastlio2 pointlio-branch curvature/deque fixes):

- main.cpp: heap-use-after-free thread race in bag-frame replay. The
  feeder thread drives run_main_iter via step() after each feed, but the
  main thread also drove run_main_iter, so both raced on the shared PCL
  measurement cloud (ASan: free in sync_packages, read-after-free in
  ImuProcess::Process). Force serial_replay in bag-frame mode so only the
  feeder thread touches the EKF.
- CMakeLists.txt + flake.nix: the iVox map backend needs glog; add the
  find_package/link and the nix buildInput. Drop ikd_Tree.cpp from
  sources (iVox replaces ikd-Tree).
- config/mid360.yaml (+ cpp/config duplicate): set satu_acc 5.5->3.0
  (master value — accel >=3g saturated, residual zeroed, keeps velocity
  bounded) and add ivox_grid_resolution=2.0 / ivox_nearby_type=6 (NEARBY6)
  matching the master config that produced the 5.028m baseline.
- replay_ruwik2_pt3.py: make MAX_WALL_SEC env-overridable.

After the fix the OUTPUT model stays bounded (peak |pos| 3.898m) on the
full bag; ASan reports zero memory errors.

…onsumes the iVox fix

The iVox-port + divergence fixes live in dimos-module-fastlio2 @ pointlio
commit 02d5066, which is committed locally but NOT pushed (per the task's
no-push constraint). The flake's fast-lio input was pointing at
github:dimensionalOS/dimos-module-fastlio2/pointlio, whose lock pinned the
pre-fix rev 7e5d88f. Since CMakeLists.txt already drops ikd_Tree.cpp (iVox
replaces ikd-Tree), building against that stale github source fails with
KD_TREE undefined-reference linker errors.

Repoint fast-lio at path:/home/dimos/repos/dimos-module-fastlio2 and bump
the lock so `nix build .#pointlio_native` consumes the local 02d5066 source.
Verified: build exits 0, no KD_TREE errors, 661176-byte binary.

NOTE: this bakes a machine-specific absolute path into the lock. Once
Repo A's pointlio branch is pushed, switch this input back to
github:dimensionalOS/dimos-module-fastlio2/pointlio and bump the lock to
02d5066 for portability.

Now that dimos-module-fastlio2 pointlio (02d5066, the iVox port + divergence
fix) is on origin, switch the fast-lio flake input from the local path: pin
back to github:dimensionalOS/dimos-module-fastlio2/pointlio and bump the lock
to rev 02d5066. This makes jeff/feat/pointlio_native self-contained and
portable (no machine-specific path in the lock).

Verified: nix build .#pointlio_native exits 0, no KD_TREE errors.

… add --force

Extends pcap_to_db.py to populate both pointlio_odometry and pointlio_lidar
streams (start-aligned onto the db's earliest ts) so pointlio can be compared
against fastlio in one recording. --force overwrites existing pointlio streams.
Untracks the machine-specific fastlio_test/setup_network symlinks (enhance
overlay) and drops the empty tools/__init__.py.

…o tools

- Consolidate config/ to one default.yaml (the tuned Mid-360/iVox config);
  remove the unused upstream sensor presets (avia, horizon, marsim, ouster64,
  velodyne, mid360). Module now defaults to default.yaml.
- Remove tools/replay_ruwik2_pt3.py (pcap_to_db.py covers offline replay) and
  tools/demo_live_test.py.

…egistry

- --db is now optional: with no existing db, build one from scratch (defaults
  to <pcap>.db next to the pcap); with an existing db, append + time-align as
  before.
- Rename the internal recorder Rec/RecConfig -> _Rec/_RecConfig so the
  blueprint-registry generator skips it (a tool helper isn't a public module);
  fixes test_all_blueprints_is_current.
- Docstring: document from-scratch generation using the ruwik2_part3 LFS sample.

…yaml

… rm cpp/README + config copies; concise comments

- config: consolidate to a single config/default.yaml; drop the ROS-only
  lid_topic/imu_topic + odom frame-id/publish/pcd_save keys (parsed-but-unused
  by the native binary), and note which params are Mid-360-specific.
- delete cpp/config/{mid360.json,mid360.yaml} (duplicate) and cpp/README.md.
- tighten verbose comments in main.cpp, pcap_replay.hpp, timing.hpp
  (comments only; binary rebuilds clean).

… db name in docstring

120s clip (elapsed 55-175s) of the ruwik velocity-spike recording — the data
that diverges through FAST-LIO at the 0.5m pre-KF voxel and is bounded under
Point-LIO. Use via get_data('ruwik2_part3'); pcap_to_db --pcap <it> builds the
db from scratch.

…rt3 sample

….0 clock bug

- module.py docstring: Point-LIO (not FAST-LIO2) + correct import path.
- pcap_to_db.py: use 'is not None' (not 'or') for the ts fallback so a real
  sensor ts of 0.0 isn't replaced by wall time (which would misclassify the
  stream clock in _resolve_offset).

… NIC

Reads a Livox Mid-360 pcap into RAM, rewrites packet timestamps to
current-time, and replays point/IMU/status onto a virtual network
interface at a configurable rate + delay. Synthesizes the Livox SDK2
control protocol (discovery + GetInternalInfo/FwType ACKs, CRC16/CRC32)
so an unmodified consumer (pointlio) handshakes with it as a real sensor.
Builds via nix (rustPlatform.buildRustPackage, cargoLock from Cargo.lock).

…bal_map

- Cloud now published in the sensor frame (mid360_link): use fastlio2
  get_body_cloud() (undistorted scan, no world registration) instead of
  inverse-transforming the world cloud. No transform in publish_lidar.
- Split frames: frame_id (mid360_link) on both the cloud + odometry
  headers; odom_parent_frame_id (odom) -> odom_frame_id (base_link) for
  the TF publish.
- Remove global_map / voxel_map.hpp entirely (deleted file, config,
  blueprint + pcap_to_db references).
- Bump fast-lio pin to fcbd1c2 (adds get_body_cloud).

…gister

get_data() at module level triggered a git-LFS download during blueprint
validation (test_blueprint_is_valid), which CI blocks via git-lfs-guard —
failing the whole test matrix. Default pcap to empty; resolve the capture
path at run time instead.

Port the minimal pcap-replay subsystem from jeff/feat/go2_record into the
clean branch so FAST-LIO can run offline from a Mid-360 pcap, matching the
Point-LIO pcap_to_db workflow:

- cpp: pcap_replay.hpp + timing.hpp (header-only), main.cpp refactored so the
  main loop runs from either the live SDK or a pcap feeder thread, with an
  optional deterministic sensor-clock mode. Keeps the clean branch's
  velocity-cap (guarded set_max_velocity_norm_ms) and flake (velocity-cap
  fast-lio); does not pull go2_record's tcpdump record path.
- module.py: replay_pcap / replay_skip_until_ns / first_packet_marker /
  deterministic_clock config fields; skip network validation in replay mode.
- tools/pcap_to_db.py: replay a pcap through FastLio2 (real-time, non-
  deterministic) and append fastlio_odometry + fastlio_lidar into an existing
  memory2 db, time-aligned onto its clock. --force overwrites.

…FastLio2Recorder

- livox/pcap_recorder.py: standalone tcpdump pcap capture (LivoxPcapRecorder),
  decoupled from FAST-LIO. The lidar/SLAM module no longer owns packet capture.
- fastlio2/recorder.py: FastLio2Recorder records fastlio_odometry + fastlio_lidar
  and rewrites ONLY those streams' timestamps onto the db clock (promoted from
  pcap_to_db's inline recorder; fixes the ts==0.0 falsy-fallback bug).
- pcap_to_db.py now imports FastLio2Recorder instead of an inline copy.

FastLio2 no longer produces a global voxel map — odometry + registered lidar
only. Removed global_map Out, map config, and the mapping.GlobalPointcloud spec.
Updated all consumers (fastlio_blueprints, alfred_nav, g1_onboard, g1_nav_onboard,
mobile, pcap_to_db) to drop map args + the global_map remap. Nav blueprints lose
their fastlio map; full nav wants a separate mapper wired in (follow-up).

It was a [&]-capturing lambda called from exactly one place (a leftover of the
old replay/virtual-clock design). Inline the body into the while loop and drop
the now-redundant check_now copy.

… a lambda)

Extract the per-iteration body into a plain static function that takes the time
point + the rate-limit bookmarks/intervals/flags as explicit args, instead of a
[&]-capturing lambda.

…inery

Remove _existing_min_ts / _resolve_offset / _resolve_ts / time_offset and the
EPS tie-breaker. Records use the base Recorder's ts (msg.ts) directly — the
native modules always stamp a real epoch ts, so no re-basing is needed. Drop the
now-unused --time-offset from both pcap_to_db tools.

The README was redundant; the tuning comment referenced the removed YAML/_YAML_LAYOUT
(it's plain CLI args now).

Drop the jhist pointer and Go2-specific wording; describe acc_cov generically
(high vs low IMU-accel trust).

…streams

_prepare_streams is now 3 lines: delete the recorder's own two streams if present
(keeping any other streams), then record. Removes the force config + the refuse-
to-overwrite raise, and --force from both pcap_to_db tools.

…ream_name

Name the In ports as the db tables (fastlio_/pointlio_odometry/lidar) and wire
them to the module's odometry/lidar outputs with .remappings() in pcap_to_db —
matching the base Recorder convention (stream = port name). Removes _stream_name
and the odom/lidar_stream_name config; _prepare_streams just replaces our own
ports' streams. pcap_to_db drops the now-fixed --odom/lidar-stream-name args.

Move record_tf + @pose_setter_for into Recorder/RecorderConfig and delete
tf_recorder.py. Every Recorder now records the live tf stream by default and
supports per-stream pose setters; fastlio/pointlio recorders subclass Recorder
directly. Drop the now-redundant tf-recorder blueprint entry.

Mirror the fastlio no-yaml change: PointLioConfig tuning fields are passed to
the binary as CLI args (read into a PointLioParams struct in main.cpp) instead
of being rendered to a throwaway YAML read via --config_path. Removes the
yaml-cpp dependency from the flake + CMake and the config-file plumbing from the
module. Requires the matching dimos-module-fastlio2 pointlio-branch change
(flake.lock bumped to 288e357).

{port_name: db_stream_name} to control the recorded stream/table name without
subclassing — conceptually what .remappings() expresses, but the active
remappings aren't readily accessible from inside the module.

… frame

Both modules now expose the same three frames: frame_id (fixed odom, the
odometry header + TF parent), child_frame_id (moving body, the odometry child +
TF child), and sensor_frame_id (the lidar's own frame, stamped on the published
point cloud). get_body_cloud is the undistorted scan in the sensor frame, so the
cloud was previously mislabeled — fastlio stamped it with the body frame and
pointlio reused frame_id for both the cloud and the odometry header. pointlio's
body_start_frame_id/body_frame_id are folded into this scheme. Drops a stale PGO
comment.

Use the lidar's concrete frame name rather than the generic FRAME_SENSOR.

…_remapping

Move the replace-on-append logic into the base Recorder so it drops exactly the
streams it is about to rewrite: the remapped In-port streams (via _stream_name)
AND the tf stream. Previously each recorder's _prepare_streams deleted only the
raw In-port names, so re-running into an existing db appended a second full copy
of the tf tree and would orphan remapped streams. Also guard _record_tf for
non-pubsub tf backends, and drop the now-dead world/global_map_fastlio rerun
overrides (FastLio2's global_map port was removed in this PR).

The pointlio improvements (no-yaml config, Recorder-subclass rework,
frame_id scheme) move to jeff/feat/pointlio_native via merge; this PR
carries only the fastlio2 work + shared memory2 Recorder base.