feat(viewer): interactive click-to-coordinate with Python bridge

.github/workflows/build-viewer.yml

@@ -0,0 +1,116 @@
+name: Build Interactive Viewer
+
+on:
+  push:
+    branches: [main]
+    tags: ['v*']
+  pull_request:
+    branches: [main]
+
+jobs:
+  build-linux:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Rust
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          toolchain: 1.92.0
+
+      - name: Install system dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y \
+            libgtk-3-dev \
+            libxcb-render0-dev \
+            libxcb-shape0-dev \
+            libxcb-xfixes0-dev \
+            libxkbcommon-dev \
+            libvulkan-dev \
+            mesa-vulkan-drivers \
+            xvfb \
+            libxkbcommon-x11-0
+
+      - name: Cache cargo
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
+
+      - name: Build viewer
+        run: cargo build --release -p custom_callback
+
+      - name: Run tests
+        run: cargo test -p custom_callback
+
+      - name: Package binary
+        run: |
+          cd target/release
+          strip custom_callback_viewer
+          tar -czf dimos-viewer-${{ github.ref_name }}-linux-x64.tar.gz custom_callback_viewer
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: dimos-viewer-linux-x64
+          path: target/release/dimos-viewer-*.tar.gz
+
+  build-macos:
+    runs-on: macos-14
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Rust
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          toolchain: 1.92.0
+
+      - name: Cache cargo
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/registry/index/
+            ~/.cargo/registry/cache/
+            ~/.cargo/git/db/
+            target/
+          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
+
+      - name: Build viewer
+        run: cargo build --release -p custom_callback
+
+      - name: Run tests
+        run: cargo test -p custom_callback
+
+      - name: Package binary
+        run: |
+          cd target/release
+          strip custom_callback_viewer
+          tar -czf dimos-viewer-${{ github.ref_name }}-macos-arm64.tar.gz custom_callback_viewer
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: dimos-viewer-macos-arm64
+          path: target/release/dimos-viewer-*.tar.gz
+
+  release:
+    needs: [build-linux, build-macos]
+    runs-on: ubuntu-22.04
+    if: startsWith(github.ref, 'refs/tags/v')
+    steps:
+      - name: Download all artifacts
+        uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          path: release/
+
+      - name: Create GitHub Release
+        uses: softprops/action-gh-release@v2
+        with:
+          files: release/dimos-viewer-*.tar.gz
+          generate_release_notes: true

examples/rust/custom_callback/src/interaction/handle.rs

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+use tokio::sync::mpsc;
+use super::protocol::ViewerEvent;
+
+/// Handle for sending interaction events from the viewer to the application.
+///
+/// Cheap to clone and thread-safe.
+#[derive(Clone)]
+pub struct InteractionHandle {
+    tx: mpsc::UnboundedSender<ViewerEvent>,
+}
+
+impl InteractionHandle {
+    /// Create a new handle from a channel sender.
+    pub fn new(tx: mpsc::UnboundedSender<ViewerEvent>) -> Self {
+        Self { tx }
+    }
+
+    /// Send a click event to the application.
+    pub fn send_click(
+        &self,
+        position: [f32; 3],
+        entity_path: Option<String>,
+        view_id: String,
+        is_2d: bool,
+    ) {
+        let event = ViewerEvent::Click {
+            position,
+            entity_path,
+            view_id,
+            timestamp_ms: std::time::SystemTime::now()
+                .duration_since(std::time::UNIX_EPOCH)
+                .unwrap_or_default()
+                .as_millis() as u64,
+            is_2d,
+        };
+
+        if let Err(e) = self.tx.send(event) {
+            eprintln!("Failed to send click event: {}", e);
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_handle_send_click() {
+        let (tx, mut rx) = mpsc::unbounded_channel();
+        let handle = InteractionHandle::new(tx);
+
+        handle.send_click(
+            [1.0, 2.0, 3.0],
+            Some("world/robot".to_string()),
+            "view_123".to_string(),
+            false,
+        );
+
+        let event = rx.try_recv().unwrap();
+        match event {
+            ViewerEvent::Click { position, entity_path, view_id, is_2d, .. } => {
+                assert_eq!(position, [1.0, 2.0, 3.0]);
+                assert_eq!(entity_path, Some("world/robot".to_string()));
+                assert_eq!(view_id, "view_123");
+                assert!(!is_2d);
+            }
+        }
+    }
+
+    #[test]
+    fn test_handle_is_cloneable() {
+        let (tx, _rx) = mpsc::unbounded_channel();
+        let handle1 = InteractionHandle::new(tx);
+        let _handle2 = handle1.clone();
+    }
+}