fix(core): match module refs by IS-A so a subclass provider resolves

[mustafab0]

Problem

A module can declare that it depends on another module by naming that module's class. The wiring layer matched that dependency by exact class. If a deployment swapped in a subclass, the match failed and the dependency was quietly set to
nothing at all.

Solution

Match with issubclass, which is what declaring the dependency means.

Only two modules in the tree are depended on by concrete class this way:
ControlCoordinator and GO2Connection. Every other dependency is declared
through a *Spec, which already matched structurally and so accepted subclasses.
That is why this never surfaced before: no deployment had yet subclassed either
one in a blueprint that also contained a module depending on it.

---

Breaking Changes

None.

---

How to Test

1. pytest dimos/core/coordination/test_module_coordinator.py — 48 pass.
2. The added test_module_ref_direct_accepts_a_subclass_provider is the regression
   guard; revert the one-line change and it fails, which is how it was verified.
3. pytest dimos/core — one unrelated pre-existing failure, test_module_reloading,
   which fails identically on a clean main checkout.
   EOF
   gh pr create --repo dimensionalOS/dimos --base main --head core-module-ref-subclass-match --title "fix(core): match module refs by IS-A so a subclass provider resolves" --body-file /tmp/claude-1001/-home-mustafa-dimos/2e38385f-08b5-4bd8-ac72-4fd29234694d/scratchpad/core-pr.md 2>&1 | tail -3

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
4207	1	4206	69

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

dimos.e2e_tests.test_dimsim_path_replaning::test_path_replanning

Stack Traces | 222s run time

lcm_spy = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x73b978192270>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x73b95a386480>
dim_sim = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x73b9780bce30>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x73ba7aa25880>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x73b95a386de0>

    @pytest.mark.self_hosted_large
    def test_path_replanning(
        lcm_spy, start_blueprint, dim_sim, direct_cmd_vel_explorer, spawn_wall_on_pose
    ) -> None:
        start_blueprint(
            "--dimsim-scene=empty",
            "run",
            "unitree-go2-agentic",
            simulator="dimsim",
        )
        lcm_spy.save_topic(".../McpClient/on_system_modules/res")
        lcm_spy.wait_for_saved_topic(".../McpClient/on_system_modules/res", timeout=1200.0)
    
        # robot spawns at (3, 2)
    
        # side wall
        dim_sim.add_wall(2, -2.5, 12, -2.5)
        # other side wall
        dim_sim.add_wall(2, 3.5, 12, 3.5)
        # back wall (behind robot)
        dim_sim.add_wall(2, -2.5, 2, 3.5)
        # forward wall (far end)
        dim_sim.add_wall(12, -2.5, 12, 3.5)
        # dividing wall at x=7 with doors at y=[-1.5,-0.5] and y=[1.5,2.5]
        dim_sim.add_wall(7, -2.5, 7, -1.5)
        dim_sim.add_wall(7, -0.5, 7, 1.5)
        dim_sim.add_wall(7, 2.5, 7, 3.5)
    
        direct_cmd_vel_explorer.linear_speed = 0.8
        direct_cmd_vel_explorer.follow_points([(10, 2), (2.5, 2), (3, 2)])
    
        # When the robot comes within 1.5 m of the left door's centre, drop a wall
        # in the opening so the planner has to bail out and route through the
        # right door at y=-1 instead.
        spawn_wall_on_pose(
            point=(7, 2),
            threshold=1.5,
            wall=(7, 1.5, 7, 2.5),
        )
    
        dim_sim.publish_goal(10.913, 0.588)
    
>       lcm_spy.wait_until_odom_position(10.913, 0.588, threshold=1, timeout=120)

dim_sim    = <dimos.e2e_tests.dim_sim_client.DimSimClient object at 0x73b9780bce30>
direct_cmd_vel_explorer = <dimos.simulation.mujoco.direct_cmd_vel_explorer.DirectCmdVelExplorer object at 0x73ba7aa25880>
lcm_spy    = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x73b978192270>
spawn_wall_on_pose = <function spawn_wall_on_pose.<locals>.spawn at 0x73b95a386de0>
start_blueprint = <function start_blueprint.<locals>.set_name_and_start at 0x73b95a386480>

dimos/e2e_tests/test_dimsim_path_replaning.py:60: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
dimos/e2e_tests/lcm_spy.py:167: in wait_until_odom_position
    self.wait_for_message_result(
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x73b95a3876a0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x73b978192270>
        threshold  = 1
        timeout    = 120
        x          = 10.913
        y          = 0.588
dimos/e2e_tests/lcm_spy.py:153: in wait_for_message_result
    wait_until(
        event      = <threading.Event at 0x73b95abf3680: unset>
        fail_message = 'Failed to get to position x=10.913, y=0.588'
        listener   = <function LcmSpy.wait_for_message_result.<locals>.listener at 0x73b95a387740>
        predicate  = <function LcmSpy.wait_until_odom_position.<locals>.predicate at 0x73b95a3876a0>
        self       = <dimos.e2e_tests.lcm_spy.LcmSpy object at 0x73b978192270>
        timeout    = 120
        topic      = '/odom#geometry_msgs.PoseStamped'
        type       = <class 'dimos.msgs.geometry_msgs.PoseStamped.PoseStamped'>
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

predicate = <bound method Event.is_set of <threading.Event at 0x73b95abf3680: unset>>

    def wait_until(
        predicate: Callable[[], bool],
        *,
        timeout: float,
        interval: float = 0.1,
        message: str | None = None,
    ) -> None:
        """Poll ``predicate`` until it returns truthy or ``timeout`` elapses."""
        deadline = time.monotonic() + timeout
        while time.monotonic() < deadline:
            if predicate():
                return
            time.sleep(interval)
>       raise TimeoutError(message or f"Timed out after {timeout}s waiting for condition")
E       TimeoutError: Failed to get to position x=10.913, y=0.588

deadline   = 2699491.899925911
interval   = 0.1
message    = 'Failed to get to position x=10.913, y=0.588'
predicate  = <bound method Event.is_set of <threading.Event at 0x73b95abf3680: unset>>
timeout    = 120

.../utils/testing/waiting.py:35: TimeoutError

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[leshy]

Approving, but good for @jeff-hykin to look a this and confirm