Control coordinator refactor to add declarative task (#2959)

Co-authored-by: Paul Nechifor <paul@nechifor.net>
Co-authored-by: leshy <lesh@sysphere.org>

Author: 3 people

dimos/control/_control_test_helpers.py

@@ -0,0 +1,70 @@
+# 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.
+
+"""Shared control-task stubs for tests.
+
+Not named ``test_*``/``*_test`` so pytest does not collect it; both
+``test_control.py`` and ``test_coordinator_routing.py`` import ``RecordingTask``
+from here rather than reaching into each other's test modules.
+"""
+
+from __future__ import annotations
+
+from typing import Any
+
+from dimos.control.task import (
+    BaseControlTask,
+    CoordinatorState,
+    JointCommandOutput,
+    ResourceClaim,
+)
+
+
+class RecordingTask(BaseControlTask):
+    """Stub task that records every stream handler invocation."""
+
+    def __init__(self, name: str, joints: frozenset[str] = frozenset()) -> None:
+        self._name = name
+        self._joints = frozenset(joints)
+        self.cartesian_calls: list[tuple[Any, float]] = []
+        self.ee_twist_calls: list[tuple[Any, float]] = []
+        self.buttons_calls: list[Any] = []
+
+    def claim(self) -> ResourceClaim:
+        return ResourceClaim(joints=self._joints)
+
+    def is_active(self) -> bool:
+        return False
+
+    def compute(self, state: CoordinatorState) -> JointCommandOutput | None:
+        return None
+
+    def on_preempted(self, by_task: str, joints: frozenset[str]) -> None:
+        pass
+
+    def on_cartesian_command(self, pose: Any, t_now: float) -> bool:
+        self.cartesian_calls.append((pose, t_now))
+        return True
+
+    def on_ee_twist_command(self, twist: Any, t_now: float) -> bool:
+        self.ee_twist_calls.append((twist, t_now))
+        return True
+
+    def on_buttons(self, msg: Any) -> bool:
+        self.buttons_calls.append(msg)
+        return True
+
+    def on_teleop_buttons(self, msg: Any, t_now: float) -> bool:
+        # Mirrors TeleopIKTask: the uniform handler delegates to on_buttons.
+        return self.on_buttons(msg)