Allow LCM encoder to pass through raw bytes

[leshy]

Skip lcm_encode() when the message is already bytes, assume msg is already LCM encoded. small functionality for
#1222

[greptile-apps]

Greptile Overview

Greptile Summary

This change updates LCMEncoderMixin.encode() to accept either a DimosMsg or pre-encoded bytes. If the caller provides bytes, the encoder now passes them through unchanged; otherwise it encodes via msg.lcm_encode(). This avoids redundant LCM re-encoding for already-serialized payloads while keeping the existing decode() path (using topic.lcm_type.lcm_decode) unchanged.

No merge-blocking issues found in the change.

Confidence Score: 5/5

• This PR is safe to merge with minimal risk.
• The change is small and localized to LCMEncoderMixin.encode(), adds a straightforward bytes passthrough, and preserves existing behavior for DimosMsg encoding/decoding. No runtime regressions were found by tracing publish/subscribe flow and existing call patterns that already publish bytes.
• No files require special attention

Important Files Changed

Filename	Overview
dimos/protocol/pubsub/encoders.py	LCMEncoderMixin.encode now accepts pre-encoded bytes and returns them directly; otherwise uses msg.lcm_encode(). No functional issues found.

Sequence Diagram

sequenceDiagram
    participant App as Publisher (app code)
    participant Enc as PubSubEncoderMixin.publish
    participant LcmEnc as LCMEncoderMixin.encode
    participant Base as LCMPubSubBase.publish
    participant LCM as LCM transport

    App->>Enc: publish(topic, message)
    Enc->>LcmEnc: encode(message, topic)
    alt message is bytes
        LcmEnc-->>Enc: return message (passthrough)
    else message is DimosMsg
        LcmEnc-->>Enc: return message.lcm_encode()
    end
    Enc->>Base: super().publish(topic, encoded_bytes)
    Base->>LCM: publish(topic.topic, encoded_bytes)

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