fix(control): arm streamed path before task is active

[shahtvisha]

Summary

HolonomicPoseFollowerTask never starts driving a path that arrives via the path stream card (on_path). The robot receives the path and logs it, but doesn't move.

Root cause

compute() is the only thing that arms a pending path: on_path() just latches it (self._pending_path = msg), and compute() arms it on the next tick that has a pose, by calling start_path().

But the tick loop only calls compute() on tasks where is_active() is already True:

# tick_loop.py, _compute_all_tasks
for task in self._tasks.values():
    if not task.is_active():
        continue
    ...
    output = task.compute(state)

And is_active() only checked states that start_path() itself sets:

def is_active(self) -> bool:
    return self._state in ("tracking", "settling", "stopping")

The task starts in "idle", so is_active() is False until compute() runs, but compute() never runs until is_active() is True. It's a permanent deadlock with no error, since nothing throws; the task just never starts.

Fix

is_active() also returns True while a path is pending arm, so the tick loop lets compute() run once to arm it. After that, the normal state-based check takes over.

Test plan

• Ran 50 runs on the Go2 (10 paths x 5 speeds) with this fix applied — path arms and the robot tracks correctly.

[greptile-apps]

Greptile Summary

The PR allows streamed paths to activate an idle holonomic pose follower.

• Extends is_active to include a latched pending path.
• Lets the tick loop call compute so that the pending path can be armed once pose state is available.

Confidence Score: 3/5

The PR should not merge until cancellation and preemption reliably discard pending paths instead of allowing them to start later.

A pending path now independently keeps the task schedulable, while cancellation and preemption only change the state; compute can therefore arm and execute work that was already cancelled, or leave the task active indefinitely without pose data.

dimos/control/tasks/holonomic_pose_follower_task/holonomic_pose_follower_task.py

Important Files Changed

Filename	Overview
dimos/control/tasks/holonomic_pose_follower_task/holonomic_pose_follower_task.py	The activation fix resolves initial streamed-path scheduling but leaves pending paths live across cancellation and preemption.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  P[Path stream] --> L[Latch pending path]
  L --> A[is_active returns true]
  A --> C[Tick loop calls compute]
  C --> Q{Pose available?}
  Q -->|Yes| S[start_path]
  Q -->|No| W[Keep path pending]
  W --> A
  X[Cancel or preempt] --> B[Set state aborted]
  B --> A

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_{Reviews (1): Last reviewed commit: "fix(control): arm streamed path before t..." | Re-trigger Greptile}

[greptile-apps]

Cancellation leaves pending path active

When a path is cancelled or preempted before pose data is available, _pending_path remains set, so this condition keeps scheduling the task and later arms the cancelled path once pose data arrives, causing the robot to execute work that was cancelled. Without pose data, the task remains active indefinitely and can block removal of hardware whose joints it claims.

Knowledge Base Used: Control Coordinator and Control Tasks

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
2948	1	2947	175

View the top 1 failed test(s) by shortest run time

dimos.control.tasks.holonomic_pose_follower_task.test_holonomic_pose_follower_task::test_streamed_path_arms_on_the_first_tick_with_a_pose

Stack Traces | 0.025s run time

def test_streamed_path_arms_on_the_first_tick_with_a_pose():
        """The card handler carries no odom, so a streamed path is latched and armed
        on the first tick that has a pose — never dropped for arriving early."""
        task = _task()
        task.on_path(straight_rotate(), t_now=0.0)
>       assert not task.is_active()  # latched, not armed
E       assert not True
E        +  where True = is_active()
E        +    where is_active = <dimos.control.tasks.holonomic_pose_follower_task.holonomic_pose_follower_task.HolonomicPoseFollowerTask object at 0xff39206157c0>.is_active

task       = <dimos.control.tasks.holonomic_pose_follower_task.holonomic_pose_follower_task.HolonomicPoseFollowerTask object at 0xff39206157c0>

.../tasks/holonomic_pose_follower_task/test_holonomic_pose_follower_task.py:145: AssertionError

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