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Add POSIX-based OSAL backend (osal/linux/) enabling rt-claw to run natively on Linux without QEMU or cross-compilation: - claw_os_linux.c: pthreads, POSIX semaphores, mutex+cond MQ, timer threads, cooperative cancellation, ANSI logging - claw_net_linux.c: libcurl HTTP/HTTPS with native TLS - claw_kv_linux.c: file KV at ~/.config/rt-claw/kv/ (atomic) Platform integration (platform/linux/): - main.c with SIGINT/SIGTERM signal handling - Interactive shell (fgets/printf) with AI streaming - No-op board abstraction Build system: - osal=linux Meson option + CLAW_PLATFORM_LINUX define - libcurl dependency auto-detection - Makefile: build-linux / run-linux targets Service/tool adaptation: - net_service.c: getifaddrs() for /ip command - tool_system.c: uname() + sysinfo() - tool_net.c: libcurl HTTP tool (HTTPS capable) - swarm.c: POSIX sockets + /etc/machine-id node ID - heartbeat.c: sysinfo() memory monitoring - tool_sched.c: stub fix Signed-off-by: Chao Liu <chao.liu.zevorn@gmail.com>
Signed-off-by: Chao Liu <chao.liu.zevorn@gmail.com>
Address all findings from Codex review: OSAL cooperative cancellation (Finding 4): - Add claw_thread_should_exit() API to claw_os.h - Implement via thread-local storage in Linux OSAL - Add stubs in FreeRTOS/RT-Thread OSAL backends - Update all long-running threads: gateway, scheduler, swarm receiver, AI worker, sched worker, IM workers to poll exit flag Linux startup/shutdown (Finding 3, 5): - Add claw_kv_init() + shell_nvs_config_load() to main.c - KV persistence now works across restart Thread leak fix (Finding 6): - Save animation thread handle and join after AI chat AC-6 tool/service completion (Finding 2): - Register GPIO stub tools (gpio_set/get/config/blink/stop) that return "unsupported on this platform" - Migrate tool_sched from NVS to claw_kv for cross-platform task persistence (list_tasks/schedule_task/remove_task) - Add Linux OTA stub backend (ota_stub.c) implementing all claw_ota_platform_* symbols, -Dota=true builds and links AC-7 IM service migration (Finding 1): - Telegram: replace esp_http_client with claw_net_post in tg_api_post(), remove platform guard, keep message queue and AI worker architecture unchanged - Feishu: replace esp_http_client REST calls with claw_net_post, add libcurl WebSocket transport for Linux (curl_ws_recv/curl_ws_send), keep ESP-IDF WebSocket for ESP-IDF builds Build verification: - Default build: 42/42, 16 tools registered - -Dota=true: links successfully, 20 tools + OTA stub - -Dfeishu=true -Dtelegram=true: links successfully Signed-off-by: Chao Liu <chao.liu.zevorn@gmail.com>
Graceful shutdown (Finding 1): - Add claw_deinit() that stops services in reverse init order - Add stop() to gateway, scheduler, swarm, ai_engine, feishu, telegram: save thread handles, join threads, free resources - Wire stop callbacks into service table in claw_init.c - main.c calls claw_deinit() after shell exits - Track per-service init success; skip start() on failed init() - Add SO_RCVTIMEO to swarm UDP socket for interruptible recv - Fix ota_check_thread to check claw_thread_should_exit() IM runtime config (Finding 2): - Add /telegram_set and /telegram_status shell commands - Add SHELL_NVS_NS_TELEGRAM KV namespace - shell_nvs_config_load() now restores Telegram bot token - telegram_init() returns CLAW_ERROR on missing token - feishu_init() returns CLAW_ERROR on missing credentials - claw_init skips start() for services whose init() failed OTA unsupported semantics (Finding 3): - Add claw_ota_supported() API (1 on ESP-IDF, 0 on Linux) - ota_trigger_update() checks platform support upfront - /ota rollback checks claw_ota_supported() synchronously - No worker thread spawned on unsupported platforms Signed-off-by: Chao Liu <chao.liu.zevorn@gmail.com>
Thread ownership (Finding 1): - Add sched_tool_stop(): save sched_ai worker handle, join on stop, free semaphore/mutex resources - Add ota_service_stop(): save ota_check thread handle, join - Add claw_tools_stop() that calls sched_tool_stop() - Wire tools stop and ota stop into service table - Verified: /quit now stops all services including tools and OTA Feishu shutdown safety (Finding 2): - Reorder feishu_stop(): set ws_connected=0 first, join main thread (it exits on next recv timeout since exit flag is set), then destroy curl/ws handle after thread is gone - Eliminates use-after-free race on CURL WebSocket handle OTA unsupported semantics (Finding 3): - Add claw_ota_supported() check at entry of tool_ota_check, tool_ota_update, tool_ota_rollback - Restructure cmd_ota(): version always works, all other sub-commands check claw_ota_supported() first - No-URL update path also gated by platform check - tool_ota_rollback checks return value before reporting ok Signed-off-by: Chao Liu <chao.liu.zevorn@gmail.com>
Interruptible delay (Finding 1, 3): - Linux claw_thread_delay_ms() now sleeps in 200ms chunks, checking claw_thread_should_exit() between each chunk - This makes ALL long waits interruptible: OTA auto-check 30s boot wait, Feishu 10s token retry, reconnect delays Feishu retry exit (Finding 1): - Token fetch retry loop checks claw_thread_should_exit() before each retry — breaks immediately on shutdown - WS connect retry loop checks claw_thread_should_exit() - Verified: Feishu with bad creds + /quit exits in ~4s instead of hanging in 10s retry loop Heartbeat lifecycle (Finding 2): - Save last worker thread handle in s_last_worker - Join previous worker before spawning new one (no leak) - Add heartbeat_stop(): remove scheduler task, join last worker, free mutexes - Wire heartbeat_stop into service table Signed-off-by: Chao Liu <chao.liu.zevorn@gmail.com>
tool_sched shutdown deadlock (Finding 1): - Swap ai_engine before tools in service table so reverse stop order is: tools → ai_engine (tools stops first while AI worker is still alive to process pending requests) - sched_tool_stop() now removes all scheduler tasks before joining worker, and wakes worker via sem_give - submit_and_wait() in ai_engine now uses 500ms timeout loop checking claw_thread_should_exit(), returns CLAW_ERROR on shutdown instead of blocking forever - Verified: persisted sched task + /quit exits cleanly heartbeat stop race (Finding 2): - heartbeat_stop() now waits for s_busy==0 after sched_remove before destroying resources, preventing use-after-free of mutex by in-flight callback - Verified: heartbeat=true build /quit exits cleanly Signed-off-by: Chao Liu <chao.liu.zevorn@gmail.com>
Linux log defaults changed: - s_log_enabled defaults to 0: logs off by default - s_log_level = CLAW_LOG_INFO (was DEBUG) - Users enable via /log on command at runtime Shell Tab completion for /commands: - Raw terminal mode (termios) for character-by-character input - Tab key triggers command name completion for /commands - Supports backspace, Ctrl-C/Ctrl-D, escape sequence filtering - Falls back to fgets() when stdin is not a TTY (pipes) - Temporarily restores cooked mode during AI output and command execution for proper line-buffered output - Reuses find_completions() pattern from zynq-a9 shell Signed-off-by: Chao Liu <chao.liu.zevorn@gmail.com>
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Summary
Test plan
make build-linuxcompiles successfully (42 targets)make run-linuxstarts, shows banner,/helplists all commands/ipdisplays network interfaces via getifaddrs()/quitperforms graceful shutdown (all services stopped)-Dota=truebuild links;/ota check/update/rollbackreturns "unsupported"-Dfeishu=true -Dtelegram=truebuild links/ai_set model xxxpersists across restart🤖 Generated with Claude Code