pre-commit: license headers for Rust files

.pre-commit-config.yaml

@@ -16,6 +16,16 @@ repos:
           - --license-filepath
           - assets/license_file_header.txt
           - --use-current-year
+      - id: insert-license
+        name: insert-license (rust)
+        files: \.rs$
+        types: [rust]
+        args:
+          - --license-filepath
+          - assets/license_file_header.txt
+          - --comment-style
+          - "//"
+          - --use-current-year
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
     rev: v0.14.3

dimos/hardware/sensors/lidar/virtual_mid360/src/main.rs

@@ -1,3 +1,17 @@
+// Copyright 2026 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.
+
 // Fake Livox Mid-360 — replays a recorded pcap over a virtual NIC and synthesizes
 // the Livox SDK2 control handshake so an unmodified, live-mode pointlio ingests it
 // through the real Livox SDK as if from a live sensor. Namespace-agnostic: it just

dimos/mapping/ray_tracing/rust/src/lib.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 pub mod voxel_ray_tracer;
 

dimos/mapping/ray_tracing/rust/src/main.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 use std::time::Duration;
 

dimos/mapping/ray_tracing/rust/src/python.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 use numpy::ndarray::Array2;
 use numpy::{IntoPyArray, PyArray2, PyReadonlyArray2, PyUntypedArrayMethods};

dimos/mapping/ray_tracing/rust/src/voxel_ray_tracer.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 use ahash::{AHashMap, AHashSet};
 use arrayvec::ArrayVec;

dimos/navigation/nav_3d/mls_planner/rust/src/adjacency.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 //! Surface cells indexed by dense CellId.
 //!

dimos/navigation/nav_3d/mls_planner/rust/src/dijkstra.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 //! Multi-source Dijkstra over the CellId-indexed surface graph. State and
 //! the heap live in a reusable struct so the inner loop never allocates.

dimos/navigation/nav_3d/mls_planner/rust/src/edges.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 //! Node-graph edge construction.
 //!

dimos/navigation/nav_3d/mls_planner/rust/src/lib.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 mod adjacency;
 mod dijkstra;

dimos/navigation/nav_3d/mls_planner/rust/src/main.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 use std::sync::{Arc, Mutex};
 use std::time::{Duration, Instant, SystemTime, UNIX_EPOCH};

dimos/navigation/nav_3d/mls_planner/rust/src/mls_planner.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 //! Config and the owned-state Planner that builds and queries the MLS graph.
 

dimos/navigation/nav_3d/mls_planner/rust/src/nodes.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 //! Node placement: identify standable cells far from any wall, place graph
 //! nodes at local maxima via NMS, and rescale cell-edge costs to push paths

dimos/navigation/nav_3d/mls_planner/rust/src/planner.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 use std::cmp::Ordering;
 use std::collections::{BinaryHeap, VecDeque};

dimos/navigation/nav_3d/mls_planner/rust/src/python.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 use numpy::ndarray::Array2;
 use numpy::{IntoPyArray, PyArray2, PyReadonlyArray2, PyUntypedArrayMethods};

dimos/navigation/nav_3d/mls_planner/rust/src/surfaces.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 //! Surface extraction: mark cells with robot-height clearance above as
 //! standable, then morphologically close per-z-level holes without bridging

dimos/navigation/nav_3d/mls_planner/rust/src/voxel.rs

@@ -1,5 +1,16 @@
 // Copyright 2026 Dimensional Inc.
-// SPDX-License-Identifier: Apache-2.0
+//
+// 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.
 
 //! Voxel-grid coordinate math.
 

examples/native-modules/rust/src/native_ping.rs

@@ -1,3 +1,17 @@
+// Copyright 2026 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.
+
 use dimos_module::{run, Input, LcmTransport, Module, Output};
 use lcm_msgs::geometry_msgs::{Twist, Vector3};
 use tokio::time::{interval, Duration};

examples/native-modules/rust/src/native_pong.rs

@@ -1,3 +1,17 @@
+// Copyright 2026 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.
+
 use dimos_module::{native_config, run, Input, LcmTransport, Module, Output};
 use lcm_msgs::geometry_msgs::{Twist, Vector3};
 

native/rust/dimos-module-macros/src/lib.rs

@@ -1,3 +1,17 @@
+// Copyright 2026 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.
+
 use proc_macro::TokenStream;
 use proc_macro2::TokenStream as TokenStream2;
 use quote::{format_ident, quote};

native/rust/dimos-module/src/lcm.rs

@@ -1,3 +1,17 @@
+// Copyright 2026 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.
+
 use std::io;
 
 use dimos_lcm::{Lcm, LcmOptions};

native/rust/dimos-module/src/lib.rs

@@ -1,3 +1,17 @@
+// Copyright 2026 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.
+
 pub mod lcm;
 pub mod log;
 pub mod module;