From aeab9d96b80384813ce8b3f07670006159edf02c Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Tue, 7 Jul 2026 10:09:18 +0300
Subject: [PATCH] fix: be able to send messages

---
 dimos/robot/cli/test_topic.py | 50 ++++++++++++++++++++++++++++++++++-
 dimos/robot/cli/topic.py      | 42 ++++++++++++++---------------
 2 files changed, 70 insertions(+), 22 deletions(-)

diff --git a/dimos/robot/cli/test_topic.py b/dimos/robot/cli/test_topic.py
index add79603c1..c2245cd64f 100644
--- a/dimos/robot/cli/test_topic.py
+++ b/dimos/robot/cli/test_topic.py
@@ -12,8 +12,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import pytest
+
+from dimos.core.global_config import global_config
+from dimos.core.transport import PubSubTransport
+from dimos.core.transport_factory import make_transport
+from dimos.msgs.geometry_msgs.Twist import Twist
+from dimos.msgs.geometry_msgs.Vector3 import Vector3
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
-from dimos.robot.cli.topic import _decode_typed_lcm_message
+from dimos.protocol.pubsub.impl.lcmpubsub import LCM, Topic
+from dimos.robot.cli.topic import _build_eval_context, _decode_typed_lcm_message, topic_send
+from dimos.utils.testing.collector import CallbackCollector
 
 
 def test_decode_typed_lcm_message_resolves_message_submodule() -> None:
@@ -34,3 +43,42 @@ def test_decode_typed_lcm_message_resolves_message_submodule() -> None:
     assert decoded.height == 1080
     assert decoded.frame_id == "camera_optical"
     assert decoded.distortion_model == "plumb_bob"
+
+
+def test_build_eval_context_maps_message_names_to_classes() -> None:
+    context = _build_eval_context()
+
+    for name in ("Twist", "Vector3", "PoseStamped"):
+        cls = context[name]
+        assert isinstance(cls, type)
+        assert cls.__name__ == name
+
+
+def test_topic_send_delivers_over_lcm(monkeypatch: pytest.MonkeyPatch, lcm_url: str) -> None:
+    monkeypatch.setattr(global_config, "transport", "lcm")
+
+    # topic_send never stops the transport it creates; capture it so its LCM
+    # threads can be stopped (the thread-leak check fails the test otherwise).
+    transports: list[PubSubTransport[object]] = []
+
+    def capturing_make_transport(name: str, msg_type: type) -> PubSubTransport[object]:
+        transport: PubSubTransport[object] = make_transport(name, msg_type)
+        transports.append(transport)
+        return transport
+
+    monkeypatch.setattr("dimos.robot.cli.topic.make_transport", capturing_make_transport)
+
+    bus = LCM(url=lcm_url)
+    bus.start()
+    collector = CallbackCollector(1)
+    bus.subscribe(Topic(topic="/test_topic_send", lcm_type=Twist), collector)
+
+    try:
+        topic_send("/test_topic_send", "Twist(Vector3(0.5, 0, 0), Vector3(0, 0, 0))")
+        collector.wait()
+    finally:
+        for transport in transports:
+            transport.stop()
+        bus.stop()
+
+    assert collector.results[0][0] == Twist(Vector3(0.5, 0, 0), Vector3(0, 0, 0))
diff --git a/dimos/robot/cli/topic.py b/dimos/robot/cli/topic.py
index 4e793eb472..1e5dd05dbd 100644
--- a/dimos/robot/cli/topic.py
+++ b/dimos/robot/cli/topic.py
@@ -16,6 +16,7 @@
 
 from collections.abc import Callable
 import importlib
+import pkgutil
 import re
 import time
 
@@ -130,30 +131,29 @@ def _topic_echo_inferred_zenoh(topic: str) -> None:
     )
 
 
-def topic_send(topic: str, message_expr: str) -> None:
+def _build_eval_context() -> dict[str, object]:
+    # The msgs packages are namespace packages (no __init__.py), so walk their
+    # submodules; each message file defines a class of the same name.
     eval_context: dict[str, object] = {}
-    modules_to_import = [
-        "dimos.msgs.geometry_msgs",
-        "dimos.msgs.nav_msgs",
-        "dimos.msgs.sensor_msgs",
-        "dimos.msgs.std_msgs",
-        "dimos.msgs.vision_msgs",
-        "dimos.msgs.tf2_msgs",
-    ]
-
-    for module_name in modules_to_import:
-        try:
-            module = importlib.import_module(module_name)
-            for name in dir(module):
-                if not name.startswith("_"):
-                    obj = getattr(module, name, None)
-                    if obj is not None:
-                        eval_context[name] = obj
-        except ImportError:
-            continue
+    for package_name in _modules_to_try:
+        package = importlib.import_module(package_name)
+        for module_info in pkgutil.iter_modules(package.__path__):
+            name = module_info.name
+            if name.startswith("test_"):
+                continue
+            try:
+                submodule = importlib.import_module(f"{package_name}.{name}")
+            except ImportError:
+                continue
+            obj = getattr(submodule, name, None)
+            if obj is not None:
+                eval_context[name] = obj
+    return eval_context
+
 
+def topic_send(topic: str, message_expr: str) -> None:
     try:
-        message = eval(message_expr, eval_context)
+        message = eval(message_expr, _build_eval_context())
     except Exception as e:
         typer.echo(f"Error parsing message: {e}", err=True)
         raise typer.Exit(1)