Control coordinator refactor to add declarative task

[mustafab0]

Problem

The ControlCoordinator hardcoded which task consumes which input stream and which methods are RPC-invokable. Adding a task meant editing the coordinator, and stream allowlists drifted from the tasks they mirrored.

Issue: #2958
Closes DIM-1231

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Solution

Tasks now declare their own I/O in _registry.py manifests as import-free string cards. ControlTaskRegistry parses them into typed StreamBinding/TaskBindings (routing.py), and the coordinator builds its route table and command allowlist from the registry at task-registration time.

task_invoke only dispatches methods a task declares via TASK_EXPOSES. Twist, cartesian, velocity, teleop, servo, and g1-groot tasks migrated to cards.

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Breaking Changes

None

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How to Test

1. .venv/bin/python -m pytest dimos/control -k "routing or coordinator_commands or registry"
2. Register a task with a binding card; confirm the coordinator routes its stream without coordinator edits.
3. Call task_invoke on an undeclared method — expect a clear "declare it in TASK_EXPOSES" error.

[greptile-apps]

Greptile Summary

This PR makes control-task routing declarative. The main changes are:

• Task manifests declare consumed streams and exposed commands.
• The coordinator builds routes and subscriptions from registered task types.
• Migrated tasks add card-compatible stream handlers.

Confidence Score: 5/5

This looks safe to merge.

• No blocking issues found in the changed code.

Important Files Changed

Filename	Overview
dimos/control/coordinator.py	Builds stream routes and command declarations from task manifests.
dimos/control/tasks/registry.py	Parses and validates task binding cards during registry discovery.
dimos/control/routing.py	Adds typed stream-routing and task-binding definitions.
dimos/control/tasks/g1_groot_wbc_task/_registry.py	Declares the task's twist input and lifecycle commands.

_{Reviews (6): Last reviewed commit: "Auto-fixes for mustafa/control-coordinat..." | Re-trigger Greptile}

[codecov]

Codecov Report

❌ Patch coverage is 95.00000% with 57 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/control/tasks/test_registry.py	88.30%	14 Missing and 6 partials ⚠️
dimos/control/tasks/registry.py	82.22%	8 Missing and 8 partials ⚠️
dimos/control/coordinator.py	92.90%	8 Missing and 3 partials ⚠️
dimos/control/test_coordinator_commands.py	98.11%	4 Missing ⚠️
dimos/control/_control_test_helpers.py	89.65%	3 Missing ⚠️
dimos/control/test_coordinator_routing.py	99.45%	2 Missing ⚠️
dimos/control/tasks/teleop_task/teleop_task.py	50.00%	1 Missing ⚠️

@@            Coverage Diff             @@
##             main    #2959      +/-   ##
==========================================
+ Coverage   72.31%   72.80%   +0.48%     
==========================================
  Files        1024     1030       +6     
  Lines       92074    92959     +885     
  Branches     8418     8478      +60     
==========================================
+ Hits        66585    67679    +1094     
+ Misses      23232    22989     -243     
- Partials     2257     2291      +34     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	65.93% <95.00%> (+0.57%)	⬆️
OS-ubuntu-latest	68.24% <95.00%> (+0.53%)	⬆️
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SelfHosted-macOS	36.15% <26.53%> (-0.09%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/control/routing.py	100.00% <100.00%> (ø)
dimos/control/task.py	80.45% <100.00%> (+0.94%)	⬆️
dimos/control/tasks/cartesian_ik_task/_registry.py	100.00% <100.00%> (ø)
...ntrol/tasks/cartesian_ik_task/cartesian_ik_task.py	31.09% <ø> (-0.88%)	⬇️
dimos/control/tasks/eef_twist_task/_registry.py	100.00% <100.00%> (ø)
...mos/control/tasks/eef_twist_task/eef_twist_task.py	86.36% <ø> (+0.52%)	⬆️
dimos/control/tasks/g1_groot_wbc_task/_registry.py	100.00% <100.00%> (ø)
...ntrol/tasks/g1_groot_wbc_task/g1_groot_wbc_task.py	81.11% <100.00%> (+0.68%)	⬆️
.../tasks/g1_groot_wbc_task/test_g1_groot_wbc_task.py	100.00% <100.00%> (ø)
dimos/control/tasks/servo_task/_registry.py	100.00% <100.00%> (ø)
... and 16 more

... and 18 files with indirect coverage changes

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[github-actions]

Successfully created backport PR for release/0.0.14b1:

• [Backport release/0.0.14b1] Control coordinator refactor to add declarative task #3105