feat: add Doom-style teleop control module (#1401)

dimos/agents/agent.py

@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dataclasses import dataclass
 import json
 from queue import Empty, Queue
 from threading import Event, RLock, Thread
@@ -31,14 +30,13 @@
 from dimos.core.module import Module, ModuleConfig, SkillInfo
 from dimos.core.rpc_client import RpcCall, RPCClient
 from dimos.core.stream import In, Out
-from dimos.protocol.rpc import RPCSpec
+from dimos.protocol.rpc.spec import RPCSpec
 from dimos.spec.utils import Spec
 
 if TYPE_CHECKING:
     from langchain_core.language_models import BaseChatModel
 
 
-@dataclass
 class AgentConfig(ModuleConfig):
     system_prompt: str | None = SYSTEM_PROMPT
     model: str = "gpt-4o"
@@ -58,8 +56,8 @@ class Agent(Module[AgentConfig]):
     _thread: Thread
     _stop_event: Event
 
-    def __init__(self, *args: Any, **kwargs: Any) -> None:
-        super().__init__(*args, **kwargs)
+    def __init__(self, **kwargs: Any) -> None:
+        super().__init__(**kwargs)
         self._lock = RLock()
         self._state_graph = None
         self._message_queue = Queue()

dimos/agents/agent_test_runner.py

@@ -12,29 +12,36 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from collections.abc import Iterable
 from threading import Event, Thread
+from typing import Any
 
 from langchain_core.messages import AIMessage
 from langchain_core.messages.base import BaseMessage
 from reactivex.disposable import Disposable
 
 from dimos.agents.agent import AgentSpec
 from dimos.core.core import rpc
-from dimos.core.module import Module
+from dimos.core.module import Module, ModuleConfig
 from dimos.core.rpc_client import RPCClient
 from dimos.core.stream import In, Out
 
 
-class AgentTestRunner(Module):
+class Config(ModuleConfig):
+    messages: Iterable[BaseMessage]
+
+
+class AgentTestRunner(Module[Config]):
+    default_config = Config
+
     agent_spec: AgentSpec
     agent: In[BaseMessage]
     agent_idle: In[bool]
     finished: Out[bool]
     added: Out[bool]
 
-    def __init__(self, messages: list[BaseMessage]) -> None:
-        super().__init__()
-        self._messages = messages
+    def __init__(self, **kwargs: Any) -> None:
+        super().__init__(**kwargs)
         self._idle_event = Event()
         self._subscription_ready = Event()
         self._thread = Thread(target=self._thread_loop, daemon=True)
@@ -71,7 +78,7 @@ def _thread_loop(self) -> None:
         if not self._subscription_ready.wait(5):
             raise TimeoutError("Timed out waiting for subscription to be ready.")
 
-        for message in self._messages:
+        for message in self.config.messages:
             self._idle_event.clear()
             self.agent_spec.add_message(message)
             if not self._idle_event.wait(60):

dimos/agents/demo_agent.py

@@ -14,9 +14,9 @@
 
 from dimos.agents.agent import Agent
 from dimos.core.blueprints import autoconnect
-from dimos.hardware.sensors.camera import zed
 from dimos.hardware.sensors.camera.module import camera_module
 from dimos.hardware.sensors.camera.webcam import Webcam
+from dimos.hardware.sensors.camera.zed import compat as zed
 
 demo_agent = autoconnect(Agent.blueprint())
 

dimos/agents/mcp/mcp_adapter.py

@@ -63,10 +63,6 @@ def __init__(self, url: str | None = None, timeout: int = DEFAULT_TIMEOUT) -> No
         self.url = url
         self.timeout = timeout
 
-    # ------------------------------------------------------------------
-    # Low-level JSON-RPC
-    # ------------------------------------------------------------------
-
     def call(self, method: str, params: dict[str, Any] | None = None) -> dict[str, Any]:
         """Send a JSON-RPC request and return the parsed response.
 
@@ -87,10 +83,6 @@ def call(self, method: str, params: dict[str, Any] | None = None) -> dict[str, A
             raise McpError(f"HTTP {resp.status_code}: {e}") from e
         return resp.json()  # type: ignore[no-any-return]
 
-    # ------------------------------------------------------------------
-    # MCP standard methods
-    # ------------------------------------------------------------------
-
     def initialize(self) -> dict[str, Any]:
         """Send ``initialize`` and return server info."""
         return self.call("initialize")
@@ -112,10 +104,6 @@ def call_tool_text(self, name: str, arguments: dict[str, Any] | None = None) ->
             return ""
         return content[0].get("text", str(content[0]))  # type: ignore[no-any-return]
 
-    # ------------------------------------------------------------------
-    # Readiness probes
-    # ------------------------------------------------------------------
-
     def wait_for_ready(self, timeout: float = 10.0, interval: float = 0.5) -> bool:
         """Poll until the MCP server responds, or return False on timeout."""
         deadline = time.monotonic() + timeout
@@ -148,10 +136,6 @@ def wait_for_down(self, timeout: float = 10.0, interval: float = 0.5) -> bool:
             time.sleep(interval)
         return False
 
-    # ------------------------------------------------------------------
-    # Class methods for discovery
-    # ------------------------------------------------------------------
-
     @classmethod
     def from_run_entry(cls, entry: Any | None = None, timeout: int = DEFAULT_TIMEOUT) -> McpAdapter:
         """Create an adapter from a RunEntry, or discover the latest one.
@@ -173,10 +157,6 @@ def from_run_entry(cls, entry: Any | None = None, timeout: int = DEFAULT_TIMEOUT
         url = f"http://localhost:{global_config.mcp_port}/mcp"
         return cls(url=url, timeout=timeout)
 
-    # ------------------------------------------------------------------
-    # Internals
-    # ------------------------------------------------------------------
-
     @staticmethod
     def _unwrap(response: dict[str, Any]) -> dict[str, Any]:
         """Extract the ``result`` from a JSON-RPC response, raising on error."""

dimos/agents/mcp/mcp_client.py

@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dataclasses import dataclass
 from queue import Empty, Queue
 from threading import Event, RLock, Thread
 import time
@@ -39,7 +38,6 @@
 logger = setup_logger()
 
 
-@dataclass
 class McpClientConfig(ModuleConfig):
     system_prompt: str | None = SYSTEM_PROMPT
     model: str = "gpt-4o"
@@ -62,8 +60,8 @@ class McpClient(Module[McpClientConfig]):
     _http_client: httpx.Client
     _seq_ids: SequentialIds
 
-    def __init__(self, *args: Any, **kwargs: Any) -> None:
-        super().__init__(*args, **kwargs)
+    def __init__(self, **kwargs: Any) -> None:
+        super().__init__(**kwargs)
         self._lock = RLock()
         self._state_graph = None
         self._message_queue = Queue()

dimos/agents/mcp/mcp_server.py

@@ -14,6 +14,7 @@
 from __future__ import annotations
 
 import asyncio
+import concurrent.futures
 import json
 import os
 import time
@@ -22,7 +23,7 @@
 from fastapi import FastAPI
 from fastapi.middleware.cors import CORSMiddleware
 from fastapi.responses import JSONResponse
-from starlette.requests import Request  # noqa: TC002
+from starlette.requests import Request
 from starlette.responses import Response
 import uvicorn
 
@@ -32,14 +33,11 @@
 from dimos.core.rpc_client import RpcCall, RPCClient
 from dimos.utils.logging_config import setup_logger
 
-logger = setup_logger()
-
-
 if TYPE_CHECKING:
-    import concurrent.futures
-
     from dimos.core.module import SkillInfo
 
+logger = setup_logger()
+
 
 app = FastAPI()
 app.add_middleware(
@@ -52,11 +50,6 @@
 app.state.rpc_calls = {}
 
 
-# ---------------------------------------------------------------------------
-# JSON-RPC helpers
-# ---------------------------------------------------------------------------
-
-
 def _jsonrpc_result(req_id: Any, result: Any) -> dict[str, Any]:
     return {"jsonrpc": "2.0", "id": req_id, "result": result}
 
@@ -69,11 +62,6 @@ def _jsonrpc_error(req_id: Any, code: int, message: str) -> dict[str, Any]:
     return {"jsonrpc": "2.0", "id": req_id, "error": {"code": code, "message": message}}
 
 
-# ---------------------------------------------------------------------------
-# JSON-RPC handlers (standard MCP protocol only)
-# ---------------------------------------------------------------------------
-
-
 def _handle_initialize(req_id: Any) -> dict[str, Any]:
     return _jsonrpc_result(
         req_id,
@@ -179,16 +167,9 @@ async def mcp_endpoint(request: Request) -> Response:
     return JSONResponse(result)
 
 
-# ---------------------------------------------------------------------------
-# McpServer Module
-# ---------------------------------------------------------------------------
-
-
 class McpServer(Module):
-    def __init__(self) -> None:
-        super().__init__()
-        self._uvicorn_server: uvicorn.Server | None = None
-        self._serve_future: concurrent.futures.Future[None] | None = None
+    _uvicorn_server: uvicorn.Server | None = None
+    _serve_future: concurrent.futures.Future[None] | None = None
 
     @rpc
     def start(self) -> None:
@@ -219,10 +200,6 @@ def on_system_modules(self, modules: list[RPCClient]) -> None:
             for skill_info in app.state.skills
         }
 
-    # ------------------------------------------------------------------
-    # Introspection skills (exposed as MCP tools via tools/list)
-    # ------------------------------------------------------------------
-
     @skill
     def server_status(self) -> str:
         """Get MCP server status: main process PID, deployed modules, and skill count."""

dimos/agents/mcp/test_mcp_client.py

@@ -12,13 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Any
 
 from langchain_core.messages import HumanMessage
 import pytest
 
 from dimos.agents.annotation import skill
 from dimos.core.module import Module
-from dimos.msgs.sensor_msgs import Image
+from dimos.msgs.sensor_msgs.Image import Image
 from dimos.utils.data import get_data
 
 
@@ -40,10 +41,8 @@ def test_can_call_tool(agent_setup):
 
 
 class UserRegistration(Module):
-    def __init__(self):
-        super().__init__()
-        self._first_call = True
-        self._use_upper = False
+    _first_call = True
+    _use_upper = False
 
     @skill
     def register_user(self, name: str) -> str:
@@ -79,8 +78,8 @@ def test_can_call_again_on_error(agent_setup):
 
 
 class MultipleTools(Module):
-    def __init__(self):
-        super().__init__()
+    def __init__(self, **kwargs: Any):
+        super().__init__(**kwargs)
         self._people = {"Ben": "office", "Bob": "garage"}
 
     @skill

dimos/agents/skills/demo_robot.py

@@ -17,7 +17,7 @@
 
 from dimos.core.module import Module
 from dimos.core.stream import Out
-from dimos.mapping.types import LatLon
+from dimos.mapping.models import LatLon
 
 
 class DemoRobot(Module):

dimos/agents/skills/google_maps_skill_container.py

@@ -20,7 +20,7 @@
 from dimos.core.module import Module
 from dimos.core.stream import In
 from dimos.mapping.google_maps.google_maps import GoogleMaps
-from dimos.mapping.types import LatLon
+from dimos.mapping.models import LatLon
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
@@ -32,8 +32,8 @@ class GoogleMapsSkillContainer(Module):
 
     gps_location: In[LatLon]
 
-    def __init__(self) -> None:
-        super().__init__()
+    def __init__(self, **kwargs: Any) -> None:
+        super().__init__(**kwargs)
         try:
             self._client = GoogleMaps()
         except ValueError:

dimos/agents/skills/gps_nav_skill.py

@@ -19,7 +19,7 @@
 from dimos.core.module import Module
 from dimos.core.rpc_client import RpcCall
 from dimos.core.stream import In, Out
-from dimos.mapping.types import LatLon
+from dimos.mapping.models import LatLon
 from dimos.mapping.utils.distance import distance_in_meters
 from dimos.utils.logging_config import setup_logger
 
@@ -34,9 +34,6 @@ class GpsNavSkillContainer(Module):
     gps_location: In[LatLon]
     gps_goal: Out[LatLon]
 
-    def __init__(self) -> None:
-        super().__init__()
-
     @rpc
     def start(self) -> None:
         super().start()

dimos/agents/skills/navigation.py

@@ -22,9 +22,10 @@
 from dimos.core.module import Module
 from dimos.core.stream import In
 from dimos.models.qwen.bbox import BBox
-from dimos.msgs.geometry_msgs import PoseStamped, Quaternion, Vector3
-from dimos.msgs.geometry_msgs.Vector3 import make_vector3
-from dimos.msgs.sensor_msgs import Image
+from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
+from dimos.msgs.geometry_msgs.Quaternion import Quaternion
+from dimos.msgs.geometry_msgs.Vector3 import Vector3, make_vector3
+from dimos.msgs.sensor_msgs.Image import Image
 from dimos.navigation.base import NavigationState
 from dimos.navigation.visual.query import get_object_bbox_from_image
 from dimos.types.robot_location import RobotLocation
@@ -55,8 +56,8 @@ class NavigationSkillContainer(Module):
     color_image: In[Image]
     odom: In[PoseStamped]
 
-    def __init__(self) -> None:
-        super().__init__()
+    def __init__(self, **kwargs: Any) -> None:
+        super().__init__(**kwargs)
         self._skill_started = False
 
         # Here to prevent unwanted imports in the file.

dimos/agents/skills/osm.py

@@ -16,8 +16,8 @@
 from dimos.agents.annotation import skill
 from dimos.core.module import Module
 from dimos.core.stream import In
+from dimos.mapping.models import LatLon
 from dimos.mapping.osm.current_location_map import CurrentLocationMap
-from dimos.mapping.types import LatLon
 from dimos.mapping.utils.distance import distance_in_meters
 from dimos.models.vl.qwen import QwenVlModel
 from dimos.utils.logging_config import setup_logger