06d06fdd1e
unix_dgram to NOTIFY_SOCKET failed on rk3528 (embedded Node), so WATCHDOG=1 never reached systemd despite WATCHDOG_USEC fallback. Switch to exec systemd-notify with NOTIFY_SOCKET in child env; unit sets NotifyAccess=all so cgroup may notify. Users must reload unit (re-run install.sh or add NotifyAccess=all manually). Made-with: Cursor
599 lines
22 KiB
JavaScript
599 lines
22 KiB
JavaScript
'use strict';
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const { getNotifySocket } = require('./systemd-env');
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const WebSocket = require('ws');
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const { execSync, execFileSync } = require('child_process');
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const config = require('./config');
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const log = require('./logger');
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const { getBoxId } = require('./fingerprint');
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const { collect } = require('./metrics');
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const { getDashboardInfo, resolveOpenclawConfigFile, startTtyd, FrpcManager } = require('./frpc'); // getDashboardInfo 也用于心跳中定期刷新
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const { ProvisionManager } = require('./provisioning');
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const { BtMonitor } = require('./bt-monitor');
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const { hasInternet, hasWiredInternetProbe, getLocalIps } = require('./network');
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const led = require('./led');
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const MAX_BACKOFF_MS = 60_000;
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/** 连续若干轮 ping 后仍无 pong 才判定死链（单轮易因调度/弱网误判） */
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const PONG_MISS_MAX = 3;
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const PING_INTERVAL_MS = 15_000;
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const NET_MONITOR_MS = 5_000; // AP 模式网络监视间隔
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/** AP 下 nmcli/ping 易抖动：连续多轮无上行再关 WS，避免误杀仍通的长连接 */
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const AP_NET_FAIL_MAX = 3;
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const HEARTBEAT_INTERVAL_MS = 10_000; // 心跳间隔：10 秒，用于快速感知网络状态
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const METRICS_EVERY_N = 3; // 每 N 次心跳采集一次指标（= 30 秒）
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class ClawClient {
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constructor() {
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this._cfg = config.load();
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this._boxId = getBoxId();
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this._ws = null;
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this._hbTimer = null;
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this._backoff = 1_000;
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this._stopped = false;
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this._frpc = new FrpcManager();
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this._btMonitor = null;
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this._dashInfo = {};
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this._hbCount = 0; // 心跳计数器，用于定期刷新 dashboard 信息
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this._externalIp = null; // 外网 IP
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this._location = null; // 地理位置（由 ipplus360 返回，如"北京市-北京市西城区"）
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// WS 层活性检测
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this._pingTimer = null;
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this._awaitingPong = false;
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this._pongMissCount = 0;
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// AP 模式网络监视（WS 连通后每 5s 检查；连续多轮无上行才 terminate）
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this._netMonitorTimer = null;
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this._apNetFailStreak = 0;
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// WS 连续失败计数（open 时清零）
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this._wsFailCount = 0;
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// 是否曾经成功连接过（首次成功前不显示 Err0/AP）
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this._hasEverConnected = false;
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// 最近一次 WS 错误是否是证书时间问题（NTP 未同步）
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this._certTimeError = false;
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// systemd watchdog（systemd-notify 子进程 + unit 里 NotifyAccess=all）
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this._sdTimer = null;
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this._setupGlobalHandlers();
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}
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// ── 全局异常兜底 ─────────────────────────────────────────────────────────────
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_setupGlobalHandlers() {
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process.on('uncaughtException', (err) => {
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log.error('process', '未捕获异常:', err);
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// 给日志写盘的时间，然后退出让 systemd 重启
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setTimeout(() => process.exit(1), 1000);
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});
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process.on('unhandledRejection', (reason) => {
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log.error('process', '未处理的 Promise 拒绝:', reason);
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});
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}
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// ── 生命周期 ─────────────────────────────────────────────────────────────────
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async start() {
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log.info('clawd', `启动中... 服务器 = ${this._cfg.server}`);
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// 启动时全灭，WS 连接后由 _applyStatus() 按实际状态设置
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led.status.off();
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this._startSdNotify();
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// 启动蓝牙状态监控（独立于网络，立即开始）
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this._btMonitor = new BtMonitor();
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this._btMonitor.start();
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// 启动 AP 配网管理器（等待已保存 WiFi 自动连接，超时再开 AP）
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this._provisionMgr = new ProvisionManager(this._cfg.claw_id);
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this._connectionStarted = false;
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// 网络就绪时连接云端（仅触发一次）
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this._provisionMgr.on('network-ready', () => {
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if (!this._connectionStarted) {
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this._connectionStarted = true;
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this._proceedWithConnection().catch(e => {
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log.error('clawd', '连接启动失败:', e.message);
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});
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}
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});
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await this._provisionMgr.start();
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// start() 返回后，如果已有网络且尚未启动连接
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if (hasInternet() && !this._connectionStarted) {
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this._connectionStarted = true;
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await this._proceedWithConnection();
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} else if (!hasInternet()) {
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log.info('clawd', '等待外网就绪（可配网；有线已接时将自动识别网卡，含非 eth0 口）...');
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}
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}
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async _proceedWithConnection() {
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const [dashInfo] = await Promise.all([
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getDashboardInfo().catch(e => { log.warn('clawd', 'dashboard 信息获取失败:', e.message); return null; }),
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startTtyd().catch(e => log.warn('ttyd', '启动失败:', e.message)),
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]);
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this._dashInfo = dashInfo || {};
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// 查询外网 IP 和地理位置，失败不阻断连接
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try {
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const https = require('https');
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const fetchText = (url) => new Promise((resolve) => {
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const req = https.get(url, { timeout: 5000 }, (res) => {
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let body = '';
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res.on('data', d => { body += d; });
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res.on('end', () => resolve(body.trim()));
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});
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req.on('error', () => resolve(null));
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req.on('timeout', () => { req.destroy(); resolve(null); });
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});
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const fetchJson = (url) => new Promise((resolve) => {
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const req = https.get(url, { timeout: 5000 }, (res) => {
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let body = '';
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res.on('data', d => { body += d; });
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res.on('end', () => {
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try { resolve(JSON.parse(body)); } catch { resolve(null); }
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});
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});
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req.on('error', () => resolve(null));
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req.on('timeout', () => { req.destroy(); resolve(null); });
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});
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// 外网 IP：checkip.amazonaws.com 返回纯文本 IP
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const ip = await fetchText('https://checkip.amazonaws.com');
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if (ip && /^\d{1,3}(\.\d{1,3}){3}$/.test(ip)) {
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this._externalIp = ip;
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log.info('clawd', `外网 IP: ${this._externalIp}`);
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}
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// 地理位置：ipplus360（国内访问）返回 {"success":true,"data":"北京市-北京市西城区"}
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const geoResp = await fetchJson('https://www.ipplus360.com/getLocation');
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if (geoResp && geoResp.success && geoResp.data) {
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this._location = geoResp.data;
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log.info('clawd', `地理位置: ${this._location}`);
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}
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} catch (e) {
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log.warn('clawd', '网络信息查询失败:', e.message);
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}
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this._connect();
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}
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stop() {
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this._stopped = true;
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this._clearHeartbeat();
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this._clearPing();
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this._clearNetMonitor();
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if (this._sdTimer) { clearInterval(this._sdTimer); this._sdTimer = null; }
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if (this._btMonitor) { this._btMonitor.stop(); this._btMonitor = null; }
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if (this._provisionMgr) { this._provisionMgr.stop(); this._provisionMgr = null; }
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this._frpc.stop();
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if (this._ws) this._ws.terminate();
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led.status.off(); // 进程退出，两灯全灭
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this._sdNotify('STOPPING=1');
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log.info('clawd', '已停止');
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log.close();
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}
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// ── WebSocket 连接 ──────────────────────────────────────────────────────────
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_connect() {
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if (this._stopped) return;
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// AP 模式 + 无网：不建立 WS，5s 后重新检查（有线经 -I ping 仍通则建立，避免热点误挡 WS）
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if (this._provisionMgr && this._provisionMgr.isApMode() && !hasInternet() && !hasWiredInternetProbe()) {
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led.display.showAP();
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log.info('clawd', 'AP 模式无网络，5s 后重新检查...');
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this._backoff = 1_000; // 有网时立即快速重连
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this._wsFailCount = 0; // 不计入失败
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setTimeout(() => this._connect(), 5_000);
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return;
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}
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if (!this._hasEverConnected || this._wsFailCount < 3) led.display.showConn();
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log.info('clawd', `正在连接 ${this._cfg.server} ...`);
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const ws = new WebSocket(this._cfg.server, {
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handshakeTimeout: 10_000,
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});
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this._ws = ws;
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ws.on('open', () => {
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log.info('clawd', 'WebSocket 已连接');
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this._backoff = 1_000;
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this._wsFailCount = 0; // 连接成功，重置失败计数
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this._hasEverConnected = true; // 标记已成功连接过
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this._sendConnect();
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this._startPing();
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this._startNetMonitor();
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// 显示由 _onConnected 根据 status 设置，不在此处提前 showTime
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});
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ws.on('message', (data) => {
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try {
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this._handleMessage(JSON.parse(data.toString()));
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} catch (e) {
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log.error('clawd', '消息解析失败:', e.message);
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}
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});
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ws.on('pong', () => {
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this._awaitingPong = false;
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this._pongMissCount = 0;
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});
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ws.on('close', (code, reason) => {
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this._clearHeartbeat();
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this._clearPing();
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this._clearNetMonitor();
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if (!this._stopped) {
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this._wsFailCount++;
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log.warn('clawd', `连接断开 (${code})，失败次数=${this._wsFailCount}，${this._backoff / 1000}s 后重连...`);
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if (this._hasEverConnected && this._wsFailCount >= 3) {
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const inAp = this._provisionMgr && this._provisionMgr.isApMode();
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if (inAp || (!hasInternet() && !hasWiredInternetProbe())) {
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led.display.showAP(); // AP 模式 或 无网（有线探测也无则视为无上行）
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} else {
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led.display.showErr0(); // STA 模式 + 有网 但 VPS 不可达
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}
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}
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if (this._certTimeError) {
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// NTP 未同步：固定 5s 重试，等时钟校正
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this._certTimeError = false;
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this._backoff = 5_000;
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log.warn('clawd', '证书时间错误（NTP 未同步），5s 后重试...');
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} else {
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this._backoff = Math.min(this._backoff * 2, MAX_BACKOFF_MS);
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}
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setTimeout(() => this._connect(), this._backoff);
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}
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});
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ws.on('error', (err) => {
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log.error('clawd', '连接错误:', err.message);
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// 证书时间错误：NTP 未同步，close 后用固定短间隔重试，不做指数退避
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this._certTimeError = !!(
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err.code === 'CERT_NOT_YET_VALID' ||
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(err.message && err.message.includes('not yet valid'))
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);
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});
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}
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// ── WS 层 Ping/Pong 活性检测 ──────────────────────────────────────────────
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_startPing() {
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this._clearPing();
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this._pingTimer = setInterval(() => {
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if (!this._ws || this._ws.readyState !== WebSocket.OPEN) return;
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if (this._awaitingPong) {
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this._pongMissCount++;
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if (this._pongMissCount >= PONG_MISS_MAX) {
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log.warn('clawd', `Pong 连续 ${PONG_MISS_MAX} 次未响应，主动关闭重连`);
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this._ws.terminate();
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return;
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}
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log.warn('clawd', `Pong 超时 (${this._pongMissCount}/${PONG_MISS_MAX})，继续探测...`);
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}
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this._awaitingPong = true;
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try { this._ws.ping(); } catch (_) {}
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}, PING_INTERVAL_MS);
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}
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_clearPing() {
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if (this._pingTimer) {
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clearInterval(this._pingTimer);
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this._pingTimer = null;
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}
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this._awaitingPong = false;
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this._pongMissCount = 0;
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}
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// ── AP 模式网络监视（拔网线后 ≤5s 感知）────────────────────────────────────
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_startNetMonitor() {
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this._clearNetMonitor();
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this._apNetFailStreak = 0;
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this._netMonitorTimer = setInterval(() => {
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if (!this._provisionMgr || !this._provisionMgr.isApMode()) {
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this._apNetFailStreak = 0;
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return;
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}
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if (hasInternet() || hasWiredInternetProbe()) {
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this._apNetFailStreak = 0;
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return;
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}
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this._apNetFailStreak++;
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if (this._apNetFailStreak < AP_NET_FAIL_MAX) {
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log.info('clawd', `AP 网监：无上行 (${this._apNetFailStreak}/${AP_NET_FAIL_MAX})，累计后再判定`);
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return;
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}
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log.warn('clawd', 'AP 模式检测到网络断开（已连续多次无上行），主动关闭 WS');
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led.display.showAP();
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this._apNetFailStreak = 0;
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if (this._ws) this._ws.terminate();
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}, NET_MONITOR_MS);
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}
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_clearNetMonitor() {
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if (this._netMonitorTimer) {
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clearInterval(this._netMonitorTimer);
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this._netMonitorTimer = null;
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}
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this._apNetFailStreak = 0;
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}
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// ── 发送 connect ─────────────────────────────────────────────────────────────
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_sendConnect() {
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const msg = {
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type: 'connect',
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box_id: this._boxId,
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claw_id: this._cfg.claw_id ?? null,
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token: this._cfg.token ?? null,
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local_ip: getLocalIps(),
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external_ip: this._externalIp ?? null,
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location: this._location ?? null,
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...this._dashInfo,
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};
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this._send(msg);
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}
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// ── 消息处理 ─────────────────────────────────────────────────────────────────
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_handleMessage(msg) {
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switch (msg.type) {
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case 'connected':
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this._onConnected(msg);
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break;
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case 'heartbeat_ack':
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break;
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case 'status_update':
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this._applyStatus(msg);
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break;
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case 'error':
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log.error('clawd', `服务器错误: ${msg.msg}`);
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if (msg.msg === 'hardware_mismatch') {
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log.warn('clawd', '硬件指纹不符，清除凭证重新注册...');
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this._cfg.claw_id = null;
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this._cfg.token = null;
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config.save(this._cfg);
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} else if (msg.msg && msg.msg.includes('invalid')) {
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log.warn('clawd', '凭证无效，清除凭证重新注册...');
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this._cfg.claw_id = null;
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this._cfg.token = null;
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config.save(this._cfg);
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}
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break;
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default:
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log.warn('clawd', '未知消息类型:', msg.type);
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}
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}
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_onConnected(msg) {
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const isNew = !this._cfg.claw_id;
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this._cfg.claw_id = msg.claw_id;
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this._cfg.token = msg.token;
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config.save(this._cfg);
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if (isNew) {
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log.info('clawd', `注册成功！claw_id = ${msg.claw_id}`);
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}
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this._applyStatus(msg);
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if (msg.frp && msg.frp.server && msg.frp.auth_token) {
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this._frpc.start(msg.claw_id, msg.frp).catch(e => {
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log.error('frpc', '启动失败:', e.message);
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});
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}
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this._startHeartbeat();
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}
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_applyStatus(msg) {
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if (msg.status === 'inactive') {
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led.status.setSetup();
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led.display.showPin(msg.pin);
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const id = String(this._cfg.claw_id || '').padEnd(6);
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const pin = String(msg.pin || '');
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log.info('clawd', '');
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log.info('clawd', '╔════════════════════════════════════╗');
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log.info('clawd', `║ Claw ID : ${id} ║`);
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log.info('clawd', `║ PIN 码 : ${pin} ║`);
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log.info('clawd', '║ 请在网页前台「添加设备」中输入 ║');
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log.info('clawd', '╚════════════════════════════════════╝');
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log.info('clawd', '');
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log.info('clawd', '等待激活，心跳正常运行...');
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this._updateOpenClawOrigin('0000');
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} else {
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led.status.setApps();
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led.display.showTime();
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log.info('clawd', `已激活 claw_id = ${this._cfg.claw_id}`);
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this._updateOpenClawOrigin(String(this._cfg.claw_id));
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}
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}
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// ── OpenClaw 配置 ────────────────────────────────────────────────────────────
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|
||
_updateOpenClawOrigin(targetId) {
|
||
const { readFileSync, writeFileSync } = require('fs');
|
||
const configFile = resolveOpenclawConfigFile();
|
||
|
||
if (!configFile) {
|
||
log.warn('clawd', 'openclaw 配置文件不存在（~/.openclaw/openclaw.json 等候选路径均未找到）');
|
||
return;
|
||
}
|
||
|
||
try {
|
||
const raw = readFileSync(configFile, 'utf8');
|
||
const config = JSON.parse(raw);
|
||
const newOrigin = `https://${targetId}.claw.cutos.ai`;
|
||
const re = /https:\/\/[^"'\s]+\.claw\.cutos\.ai/g;
|
||
|
||
/** 与原 YAML 全文替换等价：遍历 JSON 内所有字符串并替换匹配的 origin */
|
||
const replaceOriginStrings = (node) => {
|
||
let changed = false;
|
||
if (typeof node === 'string') {
|
||
return false;
|
||
}
|
||
if (Array.isArray(node)) {
|
||
for (let i = 0; i < node.length; i++) {
|
||
const v = node[i];
|
||
if (typeof v === 'string') {
|
||
const next = v.replace(re, newOrigin);
|
||
if (next !== v) {
|
||
node[i] = next;
|
||
changed = true;
|
||
}
|
||
} else if (v && typeof v === 'object') {
|
||
changed = replaceOriginStrings(v) || changed;
|
||
}
|
||
}
|
||
return changed;
|
||
}
|
||
if (node && typeof node === 'object') {
|
||
for (const k of Object.keys(node)) {
|
||
const v = node[k];
|
||
if (typeof v === 'string') {
|
||
const next = v.replace(re, newOrigin);
|
||
if (next !== v) {
|
||
node[k] = next;
|
||
changed = true;
|
||
}
|
||
} else if (v && typeof v === 'object') {
|
||
changed = replaceOriginStrings(v) || changed;
|
||
}
|
||
}
|
||
return changed;
|
||
}
|
||
return false;
|
||
};
|
||
|
||
if (!replaceOriginStrings(config)) {
|
||
log.info('clawd', `openclaw origin 已是 ${newOrigin}，无需变更`);
|
||
return;
|
||
}
|
||
|
||
writeFileSync(configFile, `${JSON.stringify(config, null, 2)}\n`, 'utf8');
|
||
log.info('clawd', `openclaw config 已更新: ${newOrigin}`);
|
||
|
||
// 文件有变化，kill -9 openclaw-gateway，让它被 systemd --user 自动拉起
|
||
try {
|
||
execSync('pkill -9 -x openclaw-gateway', { timeout: 3000 });
|
||
log.info('clawd', 'openclaw-gateway 已终止，等待自动重启');
|
||
} catch (_) {
|
||
// pkill 找不到进程时返回非 0，属于正常情况（进程未运行）
|
||
log.info('clawd', 'openclaw-gateway 进程不存在，无需终止');
|
||
}
|
||
} catch (e) {
|
||
log.warn('clawd', `openclaw config 更新失败: ${e.message}`);
|
||
}
|
||
}
|
||
|
||
// ── 心跳 ────────────────────────────────────────────────────────────────────
|
||
|
||
_startHeartbeat() {
|
||
this._clearHeartbeat();
|
||
this._sendHeartbeat();
|
||
this._hbTimer = setInterval(() => this._sendHeartbeat(), HEARTBEAT_INTERVAL_MS);
|
||
}
|
||
|
||
async _sendHeartbeat() {
|
||
if (!this._ws || this._ws.readyState !== WebSocket.OPEN) return;
|
||
try {
|
||
this._hbCount++;
|
||
|
||
// 每 30 次心跳（约 5 分钟）刷新一次 dashboard 信息
|
||
if (this._hbCount % 30 === 0) {
|
||
const freshInfo = await getDashboardInfo().catch(() => null);
|
||
if (freshInfo && Object.keys(freshInfo).length > 0) {
|
||
this._dashInfo = freshInfo;
|
||
}
|
||
}
|
||
|
||
// 每 METRICS_EVERY_N 次心跳（30 秒）采集一次指标，其余发轻量心跳
|
||
const msg = {
|
||
type: 'heartbeat',
|
||
claw_id: this._cfg.claw_id,
|
||
token: this._cfg.token,
|
||
...this._dashInfo,
|
||
};
|
||
if (this._hbCount % METRICS_EVERY_N === 0) {
|
||
msg.metrics = await collect();
|
||
}
|
||
this._send(msg);
|
||
} catch (e) {
|
||
log.error('clawd', '心跳发送失败:', e.message);
|
||
}
|
||
}
|
||
|
||
_clearHeartbeat() {
|
||
if (this._hbTimer) {
|
||
clearInterval(this._hbTimer);
|
||
this._hbTimer = null;
|
||
}
|
||
}
|
||
|
||
// ── 工具 ────────────────────────────────────────────────────────────────────
|
||
|
||
_send(obj) {
|
||
if (this._ws && this._ws.readyState === WebSocket.OPEN) {
|
||
this._ws.send(JSON.stringify(obj));
|
||
}
|
||
}
|
||
|
||
// ── systemd Watchdog ────────────────────────────────────────────────────────
|
||
|
||
_startSdNotify() {
|
||
const raw = getNotifySocket();
|
||
if (!raw) return;
|
||
|
||
// 部分嵌入式 systemd 有 WatchdogSec 但未注入 WATCHDOG_USEC；若此时不喂狗，约 1min 会 SIGABRT
|
||
let usec = parseInt(process.env.WATCHDOG_USEC || '0', 10);
|
||
if (usec <= 0) {
|
||
usec = 60_000_000;
|
||
log.info('clawd', 'WATCHDOG_USEC 未设置，按 60s 周期向 systemd 发送 WATCHDOG=1（与 unit WatchdogSec=60 一致）');
|
||
}
|
||
const intervalMs = Math.max(1000, Math.floor(usec / 2 / 1000));
|
||
|
||
log.debug('clawd', `systemd watchdog 启用，通知间隔 ${intervalMs}ms`);
|
||
this._sdNotify('READY=1');
|
||
this._sdTimer = setInterval(() => this._sdNotify('WATCHDOG=1'), intervalMs);
|
||
}
|
||
|
||
/**
|
||
* 通过 systemd-notify 写入 NOTIFY_SOCKET。嵌入式上 Node unix_dgram 对抽象套接字常无效；
|
||
* 子进程发 notify 需在 unit 中设置 NotifyAccess=all（install.sh 已写）。
|
||
*/
|
||
_sdNotify(msg) {
|
||
const sock = getNotifySocket();
|
||
if (!sock) return;
|
||
const arg = String(msg).replace(/\n+$/, '');
|
||
if (!arg) return;
|
||
try {
|
||
execFileSync('systemd-notify', [arg], {
|
||
timeout: 3000,
|
||
encoding: 'utf8',
|
||
env: {
|
||
PATH: process.env.PATH || '/usr/bin:/bin',
|
||
NOTIFY_SOCKET: sock,
|
||
},
|
||
});
|
||
} catch (e) {
|
||
log.warn('clawd', 'systemd-notify 失败:', e.message);
|
||
}
|
||
}
|
||
}
|
||
|
||
module.exports = { ClawClient };
|