Dask lcm multiprocess

.devcontainer/devcontainer.json

@@ -25,5 +25,8 @@
     },
     "editor.defaultFormatter": "charliermarsh.ruff",
     "editor.formatOnSave": true
-  }
+  },
+  "runArgs": [
+    "--cap-add=NET_ADMIN"
+  ]
 }

.github/workflows/docker.yml

@@ -35,6 +35,7 @@ jobs:
               - .github/workflows/docker.yml
               - docker/python/**
               - requirements*.txt
+              - requirements.txt
 
             dev:
               - docker/dev/**

.github/workflows/tests.yml

@@ -20,21 +20,38 @@ permissions:
   packages: read
 
 jobs:
+
+  # cleanup:
+  #   runs-on: dimos-runner-ubuntu-2204
+  #   steps:
+  #     - name: exit early
+  #       if: ${{ !inputs.should-run }}
+  #       run: |
+  #         exit 0
+
+  #     - name: Free disk space
+  #       run: |
+  #         sudo rm -rf /opt/ghc
+  #         sudo rm -rf /usr/share/dotnet
+  #         sudo rm -rf /usr/local/share/boost
+  #         sudo rm -rf /usr/local/lib/android
+
   run-tests:
     runs-on: dimos-runner-ubuntu-2204
-
     container:
       image: ghcr.io/dimensionalos/${{ inputs.dev-image }}
 
     steps:
-      - name: exit early
-        if: ${{ !inputs.should-run }}
-        run: |
-          exit 0
 
       - uses: actions/checkout@v4
-
+        
       - name: Run tests
         run: |
           git config --global --add safe.directory '*'
           /entrypoint.sh bash -c "${{ inputs.cmd }}"
+
+      - name: check disk space
+        if: failure()
+        run: |
+          df -h
+

.pre-commit-config.yaml

@@ -40,6 +40,17 @@ repos:
         name: format json
         args: [ --autofix, --no-sort-keys ]
 
+  # - repo: local
+  #   hooks:
+  #     - id: mypy
+  #       name: Type check
+  #       # possible to also run within the dev image
+  #       #entry: "./bin/dev mypy"
+  #       entry: "./bin/mypy"
+  #       language: python
+  #       additional_dependencies: ["mypy==1.15.0", "numpy>=1.26.4,<2.0.0"]
+  #       types: [python]
+
   - repo: local
     hooks:
       - id: lfs_check
@@ -48,3 +59,5 @@ repos:
         pass_filenames: false
         entry: bin/lfs_check
         language: script
+
+

dimos/core/__init__.py

@@ -0,0 +1,51 @@
+import multiprocessing as mp
+
+import pytest
+from dask.distributed import Client, LocalCluster
+
+import dimos.core.colors as colors
+from dimos.core.core import In, Out, RemoteOut, rpc
+from dimos.core.module_dask import Module
+from dimos.core.transport import LCMTransport, ZenohTransport, pLCMTransport
+
+
+def patchdask(dask_client: Client):
+    def deploy(actor_class, *args, **kwargs):
+        actor = dask_client.submit(
+            actor_class,
+            *args,
+            **kwargs,
+            actor=True,
+        ).result()
+
+        actor.set_ref(actor).result()
+        print(colors.green(f"Subsystem deployed: {actor}"))
+        return actor
+
+    dask_client.deploy = deploy
+    return dask_client
+
+
+@pytest.fixture
+def dimos():
+    process_count = 3  # we chill
+    client = start(process_count)
+    yield client
+    stop(client)
+
+
+def start(n):
+    if not n:
+        n = mp.cpu_count()
+    print(colors.green(f"Initializing dimos local cluster with {n} workers"))
+    cluster = LocalCluster(
+        n_workers=n,
+        threads_per_worker=3,
+    )
+    client = Client(cluster)
+    return patchdask(client)
+
+
+def stop(client: Client):
+    client.close()
+    client.cluster.close()

dimos/core/colors.py

@@ -0,0 +1,43 @@
+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+def green(text: str) -> str:
+    """Return the given text in green color."""
+    return f"\033[92m{text}\033[0m"
+
+
+def blue(text: str) -> str:
+    """Return the given text in blue color."""
+    return f"\033[94m{text}\033[0m"
+
+
+def red(text: str) -> str:
+    """Return the given text in red color."""
+    return f"\033[91m{text}\033[0m"
+
+
+def yellow(text: str) -> str:
+    """Return the given text in yellow color."""
+    return f"\033[93m{text}\033[0m"
+
+
+def cyan(text: str) -> str:
+    """Return the given text in cyan color."""
+    return f"\033[96m{text}\033[0m"
+
+
+def orange(text: str) -> str:
+    """Return the given text in orange color."""
+    return f"\033[38;5;208m{text}\033[0m"