feat(native): add rebuild-on-change for NativeModule

[jeff-hykin]

Problem

Editing source code doesnt cause native modules to rebuild. Very easy to forget and not friendly for ai edits.

Solution

Some generic utils:

• dimos/utils/change_detect.py: Content-hash-based file change detection using xxhash.
• NativeModuleConfig.rebuild_on_change: Optional list[str|Path|Glob]

Breaking Changes

None

How to Test

# Change detection tests
pytest dimos/utils/test_change_detect.py -v

# Native module rebuild tests
pytest dimos/core/test_native_rebuild.py -v

# Native module crash/thread leak test
pytest dimos/core/test_native_module.py::test_process_crash_triggers_stop -v

# LCM isolation tests
pytest dimos/protocol/pubsub/test_pattern_sub.py -v
pytest dimos/protocol/pubsub/impl/test_lcmpubsub.py -v

# Full fast suite
pytest -m 'not (tool or slow or mujoco)' dimos/

Contributor License Agreement

• I have read and approved the CLA.

[greptile-apps]

Greptile Summary

This PR adds a content-hash-based file change detection utility (dimos/utils/change_detect.py) and integrates it into NativeModule so native executables automatically rebuild when watched source files change. It also fixes a thread-leak ordering bug in NativeModule.stop(), improves LCM test isolation with dedicated multicast addresses, and resolves the missing xxhash dependency.

Key changes and findings:

• xxhash dependency added to pyproject.toml — resolves the previously-flagged missing dependency.
• Thread-leak fix — super().stop() (which joins the asyncio loop thread) is now correctly called before _process = None, preventing a race condition in CI.
• LCM test isolation — test_lcmpubsub.py and test_pattern_sub.py now use dedicated multicast groups (239.255.76.98:7698 and 239.255.76.99:7699) to prevent cross-test contamination.
• mesh_utils.py regression — did_change is called without cwd using str(urdf_path). If urdf_path is relative (the function signature accepts Path | str with no absolute constraint), _resolve_paths raises ValueError. Previously the mtime-based approach handled relative paths transparently via the process CWD.
• Two issues flagged in prior review rounds remain open: the pre-build did_change call writes the new hash before confirming build success (stale-build-on-failure scenario), and the post-build seeding call does not forward cwd for relative path sets.

Confidence Score: 3/5

• Core feature is functional on the happy path but has known reliability gaps: a build failure leaves the cache in a state that permanently suppresses future rebuild attempts, and a new regression in mesh_utils.py breaks relative URDF paths.
• Several improvements from prior rounds are addressed (xxhash dependency, thread-leak, LCM isolation), but the two central reliability bugs in the rebuild-on-change feature (cache written before build success, missing cwd in post-build seed call) remain unaddressed from earlier review rounds. The new relative-path regression in mesh_utils.py adds one more concrete fix required before merge.
• dimos/core/native_module.py (pre-build hash write / missing cwd in post-build seed) and dimos/manipulation/planning/utils/mesh_utils.py (relative urdf_path raises ValueError)

Important Files Changed

Filename	Overview
dimos/utils/change_detect.py	New content-hash change detection utility using xxhash. Core logic is sound; thread + file locking implemented correctly. The known design trade-off (cache always written on call, not just on success) is the root cause of the previously-flagged build-failure regression, but is otherwise well-documented.
dimos/core/native_module.py	Integrates rebuild-on-change into _maybe_build. Thread-leak fix (super().stop() before _process=None) is correct. Two previously-flagged issues remain open: the pre-build did_change call writes the hash before confirming build success, and the post-build seeding call (line 314) does not pass cwd, both already tracked in earlier review rounds.
dimos/manipulation/planning/utils/mesh_utils.py	Switches URDF cache invalidation from mtime-in-cache-key to did_change. Introduces a behavioral regression: relative urdf_path values now raise ValueError because did_change is called without cwd, whereas the previous mtime approach worked with relative paths.
dimos/core/test_native_rebuild.py	New test file covering happy-path rebuild-on-change scenarios. Uses autouse tmp_path cache redirect for proper isolation. All tests use try/finally to call mod.stop().
dimos/utils/test_change_detect.py	Good unit coverage for change_detect.py. One test (test_nonexistent_path_warns) captures caplog but never asserts its contents, previously flagged in an earlier round.
dimos/protocol/pubsub/impl/test_lcmpubsub.py	LCM test isolation fix using a dedicated multicast address — clean and correct improvement.
dimos/protocol/pubsub/test_pattern_sub.py	Same LCM isolation fix as test_lcmpubsub.py, using a separate isolated multicast group.
pyproject.toml	Adds xxhash>=3.0.0 to project dependencies, resolving the missing dependency flagged in a prior review round.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[NativeModule._maybe_build] --> B{rebuild_on_change\nset AND exe exists?}
    B -- No --> C{exe exists?}
    B -- Yes --> D["did_change(cache_name, paths, cwd)\n⚠ writes hash to cache immediately"]
    D -- False\nno change --> C
    D -- True\nfiles changed --> E[needs_rebuild = True\nlog 'Source files changed']
    C -- Yes and not needs_rebuild --> F[return early\nno build]
    C -- No OR needs_rebuild --> G{build_command set?}
    G -- No --> H[raise FileNotFoundError]
    G -- Yes --> I[subprocess.Popen build_command]
    I --> J{returncode == 0?}
    J -- No --> K[raise RuntimeError\n⚠ cache already updated\nfuture rebuilds blocked]
    J -- Yes --> L{exe exists\nafter build?}
    L -- No --> M[raise FileNotFoundError]
    L -- Yes --> N["did_change(cache_name, paths, cwd)\nseed cache post-build\n⚠ cwd arg present here"]
    N --> O[build complete]

Loading

_{Reviews (2): Last reviewed commit: "fix(test): isolate LCM multicast in flak..." | Re-trigger Greptile}

[paul-nechifor]

Move to the top. You already ahve this file imported.

[jeff-hykin]

Done!