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ControlCoordinator still exposed legacy typed JointState/Twist/Float32 ports. The base ports now declare generated CDR classes, while tick outputs convert at the publication boundary. The internal TickLoop, task routing, arbitration and hardware adapter APIs stay unchanged. A streamed generated JointState now passes the existing trajectory handler's empty-array check without ambiguous NumPy truth evaluation.
Linear: https://linear.app/dimensional/project/message-encoding-refactor-05a3ddb4af3e/overview
Parent: #4698. This covers the generic coordinator's base wire boundaries and common arm TF declaration. Extended teleop/path ports, robot-specific declarations/transports and complete robot graph closures remain subsequent work. Legacy internal JointState/Pose/trajectory helpers remain; dependency retirement is not claimed. No blanket conversion is inserted into card dispatch: custom handlers receive their original generated value.
Offline manual acceptance, with this proposal checkout installed and its test dependencies:
DIMOS_TRANSPORT=lcm LCM_DEFAULT_URL=memq:// python -m pytest --noconftest --import-mode=importlib -o addopts='' -q dimos/control/test_coordinator_routing.py dimos/control/test_per_robot_joint_states.py dimos/control/test_frame_pose_tf.pyExpected: 66 passed. Actual default-factory CDR joint commands reach the existing trajectory task; state returns over real memq with canonical type and exact zero Header. Card routing retains the raw generated object. Existing numeric per-robot publication, FK/TF geometry and task routing assertions remain. All hardware is mocked; no actuator is started.
Validation: 66 focused source and 66 isolated installed-wheel cases passed, plus 178 broader source root-control regressions (benchmark directory excluded). The first broad invocation with --noconftest lacked three existing wait fixtures; the complete root-conftest invocation passed all 178. That global fixture emitted a watchdog subprocess ResourceWarning; a subsequent read-only current-process check found no remaining watchdog, and the focused installed run emitted no warning. Three production files passed strict mypy; scoped hooks passed except unavailable Nix lint. Wheel SHA256
7d797872e1fb40ea541b90e8d4143f4311a68734e6eaf8090547d4a0e4543201.No CI polling, benchmark, hardware, merge or registry publication. Final main/stack reconciliation must also preserve main's newer intended-command JointState publication; upper-stack ancestry is not yet claimed fully reconciled.