@honor-claw/yoyo 1.1.2 → 1.1.4-beta.1

package/src/cloud-channel/channel.ts

@@ -1,117 +1,117 @@
-import type { ClawChannelConfig } from "./types.js";
-import { ClawCloudSocketClient } from "./client.js";
-import { SessionManager } from "./session-manager.js";
-import { AdminClientManager } from "./admin-client-manager.js";
-import { MessageHandler } from "./message-handler.js";
-import { useClawLogger } from "../utils/logger.js";
-import { takeApiHost } from "../modules/claw-configs/hosts.js";
-
-/**
- * 新的Channel实现
- * - 使用ClawCloudSocketClient连接云侧服务器
- * - 处理配对消息和用户消息
- * - 管理GatewayClient连接
- */
-export class ClawChannel {
-  private cloudClient: ClawCloudSocketClient;
-  private sessionManager: SessionManager;
-  private adminClientManager: AdminClientManager;
-  private messageHandler: MessageHandler;
-  private config: ClawChannelConfig;
-
-  constructor(config: ClawChannelConfig) {
-    this.config = config;
-    const hosts = takeApiHost();
-
-    this.sessionManager = new SessionManager();
-    this.adminClientManager = new AdminClientManager({
-      onStatusEvent: this.handleStatusEvent,
-    });
-
-    const extraHeaders = hosts.grayTag ? { 'x-gray': hosts.grayTag } : undefined;
-
-    this.cloudClient = new ClawCloudSocketClient({
-      serverUrl: `wss://${hosts.clawCloud}/aicloud/yoyo-claw-service/v1/yoyoclaw/fullduplex`,
-      deviceInfo: config.deviceInfo,
-      userInfo: config.userInfo,
-      extraHeaders,
-      onStatusEvent: this.handleStatusEvent,
-    });
-
-    this.messageHandler = new MessageHandler({
-      sessionManager: this.sessionManager,
-      adminClientManager: this.adminClientManager,
-      cloudClient: this.cloudClient,
-      config: {
-        deviceInfo: {
-          deviceId: config.deviceInfo.deviceId,
-          port: config.deviceInfo.port,
-        },
-        onStatusEvent: this.handleStatusEvent,
-      },
-    });
-
-    this.cloudClient.setMessageHandler(this.messageHandler.handleCloudMessage);
-    this.cloudClient.setOpenHandler(this.handleCloudOpen);
-    this.cloudClient.setCloseHandler(this.handleCloudClose);
-    this.cloudClient.setRemoteDeviceOfflineHandler(this.handleRemoteDeviceOffline);
-    this.cloudClient.setDeviceNotRegisteredHandler(this.handleDeviceNotRegistered);
-
-    // 实例化AdminGatewayClient
-    this.adminClientManager.init();
-  }
-
-  start(): void {
-    useClawLogger().info("[yoyoclaw-channel] starting connection");
-    this.adminClientManager.ensureConnected();
-    this.cloudClient.connect();
-  }
-
-  /**
-   * 关闭连接
-   */
-  destroy(): void {
-    useClawLogger().info("[yoyoclaw-channel] closing connection");
-    this.sessionManager.closeAllNodeGatewayClients();
-    this.adminClientManager.destroy();
-    this.cloudClient.close();
-  }
-
-  /**
-   * 处理云侧连接打开
-   */
-  private handleCloudOpen = () => {
-    useClawLogger().info("[yoyoclaw-channel] cloud connection established");
-    this.config.onOpen?.();
-  };
-
-  /**
-   * 统一处理所有状态事件
-   */
-  private handleStatusEvent = (event: any) => {
-    this.config.onStatusEvent?.(event);
-  };
-
-  /**
-   * 处理云侧连接关闭
-   */
-  private handleCloudClose = () => {
-    useClawLogger().info("[yoyoclaw-channel] cloud connection closed");
-    this.config.onClose?.();
-  };
-
-  /**
-   * 处理对向设备离线
-   */
-  private handleRemoteDeviceOffline = (sourceDeviceId: string) => {
-    this.sessionManager.closeNodeGatewayClient(sourceDeviceId);
-  };
-
-  /**
-   * 处理当前设备未注册
-   */
-  private handleDeviceNotRegistered = () => {
-    useClawLogger().info("[yoyoclaw-channel] device not registered, notifying connection layer");
-    this.config.onDeviceNotRegistered?.();
-  };
-}
+import type { ClawChannelConfig } from "./types.js";
+import { ClawCloudSocketClient } from "./client.js";
+import { SessionManager } from "./session-manager.js";
+import { AdminClientManager } from "./admin-client-manager.js";
+import { MessageHandler } from "./message-handler.js";
+import { useClawLogger } from "../utils/logger.js";
+import { takeApiHost } from "../modules/claw-configs/hosts.js";
+
+/**
+ * 新的Channel实现
+ * - 使用ClawCloudSocketClient连接云侧服务器
+ * - 处理配对消息和用户消息
+ * - 管理GatewayClient连接
+ */
+export class ClawChannel {
+  private cloudClient: ClawCloudSocketClient;
+  private sessionManager: SessionManager;
+  private adminClientManager: AdminClientManager;
+  private messageHandler: MessageHandler;
+  private config: ClawChannelConfig;
+
+  constructor(config: ClawChannelConfig) {
+    this.config = config;
+    const hosts = takeApiHost();
+
+    this.sessionManager = new SessionManager();
+    this.adminClientManager = new AdminClientManager({
+      onStatusEvent: this.handleStatusEvent,
+    });
+
+    const extraHeaders = hosts.grayTag ? { 'x-gray': hosts.grayTag } : undefined;
+
+    this.cloudClient = new ClawCloudSocketClient({
+      serverUrl: `wss://${hosts.clawCloud}/aicloud/yoyo-claw-service/v1/yoyoclaw/fullduplex`,
+      deviceInfo: config.deviceInfo,
+      userInfo: config.userInfo,
+      extraHeaders,
+      onStatusEvent: this.handleStatusEvent,
+    });
+
+    this.messageHandler = new MessageHandler({
+      sessionManager: this.sessionManager,
+      adminClientManager: this.adminClientManager,
+      cloudClient: this.cloudClient,
+      config: {
+        deviceInfo: {
+          deviceId: config.deviceInfo.deviceId,
+          port: config.deviceInfo.port,
+        },
+        onStatusEvent: this.handleStatusEvent,
+      },
+    });
+
+    this.cloudClient.setMessageHandler(this.messageHandler.handleCloudMessage);
+    this.cloudClient.setOpenHandler(this.handleCloudOpen);
+    this.cloudClient.setCloseHandler(this.handleCloudClose);
+    this.cloudClient.setRemoteDeviceOfflineHandler(this.handleRemoteDeviceOffline);
+    this.cloudClient.setDeviceNotRegisteredHandler(this.handleDeviceNotRegistered);
+
+    // 实例化AdminGatewayClient
+    this.adminClientManager.init();
+  }
+
+  start(): void {
+    useClawLogger().info("[yoyoclaw-channel] starting connection");
+    this.adminClientManager.ensureConnected();
+    this.cloudClient.connect();
+  }
+
+  /**
+   * 关闭连接
+   */
+  destroy(): void {
+    useClawLogger().info("[yoyoclaw-channel] closing connection");
+    this.sessionManager.closeAllNodeGatewayClients();
+    this.adminClientManager.destroy();
+    this.cloudClient.close();
+  }
+
+  /**
+   * 处理云侧连接打开
+   */
+  private handleCloudOpen = () => {
+    useClawLogger().info("[yoyoclaw-channel] cloud connection established");
+    this.config.onOpen?.();
+  };
+
+  /**
+   * 统一处理所有状态事件
+   */
+  private handleStatusEvent = (event: any) => {
+    this.config.onStatusEvent?.(event);
+  };
+
+  /**
+   * 处理云侧连接关闭
+   */
+  private handleCloudClose = () => {
+    useClawLogger().info("[yoyoclaw-channel] cloud connection closed");
+    this.config.onClose?.();
+  };
+
+  /**
+   * 处理对向设备离线
+   */
+  private handleRemoteDeviceOffline = (sourceDeviceId: string) => {
+    this.sessionManager.closeNodeGatewayClient(sourceDeviceId);
+  };
+
+  /**
+   * 处理当前设备未注册
+   */
+  private handleDeviceNotRegistered = () => {
+    useClawLogger().info("[yoyoclaw-channel] device not registered, notifying connection layer");
+    this.config.onDeviceNotRegistered?.();
+  };
+}

package/src/cloud-channel/client.ts

@@ -126,12 +126,12 @@ export class ClawCloudSocketClient {
 
     this.ws.on("ping", () => {
       // 收到服务端的 ping，自动回复 pong（ws 库会自动处理）
-      useClawLogger().debug("[claw-cloud-socket] received ping from server");
+      useClawLogger().debug?.("[claw-cloud-socket] received ping from server");
     });
 
     this.ws.on("pong", () => {
       // 收到服务端的 pong 响应
-      useClawLogger().debug("[claw-cloud-socket] received pong from server");
+      useClawLogger().debug?.("[claw-cloud-socket] received pong from server");
     });
 
     this.ws.on("close", (code: number, reason: Buffer) => {
@@ -354,7 +354,7 @@ export class ClawCloudSocketClient {
 
       // 发送 ping
       this.ws.ping();
-      useClawLogger().debug("[claw-cloud-socket] sent ping to server");
+      useClawLogger().debug?.("[claw-cloud-socket] sent ping to server");
     }, PING_INTERVAL);
   }
 

package/src/cloud-channel/index.ts

@@ -1,4 +1,4 @@
-/**
- * Gateway Channel 导出
- */
-export { ClawChannel } from "./channel.js";
+/**
+ * Gateway Channel 导出
+ */
+export { ClawChannel } from "./channel.js";

package/src/cloud-channel/message-handler.ts

@@ -1,9 +1,9 @@
-import type { YoyoClawMessage, DeviceSessionInfo } from "./types.js";
-import type { ClawCloudSocketClient } from "./client.js";
-import { SessionManager } from "./session-manager.js";
-import { AdminClientManager } from "./admin-client-manager.js";
 import type { NodeStatusEvent } from "../gateway-client/node-gateway-client.js";
 import { useClawLogger } from "../utils/logger.js";
+import { AdminClientManager } from "./admin-client-manager.js";
+import type { ClawCloudSocketClient } from "./client.js";
+import { SessionManager } from "./session-manager.js";
+import type { YoyoClawMessage, DeviceSessionInfo } from "./types.js";
 
 export interface MessageHandlerConfig {
   deviceInfo: { deviceId: string; port: number };
@@ -60,30 +60,29 @@ export class MessageHandler {
    * 处理配对消息，创建GatewayClient连接
    */
   private handlePairMessage(message: YoyoClawMessage): void {
-    if (message.msgType !== "devicePairMessage") return;
+    if (message.msgType !== "devicePairMessage") {
+      return;
+    }
 
     try {
       const { sourceDeviceId, sourceDeviceInfo, targetDeviceId, port, sessionInfo } = message;
 
-      if (
-        sourceDeviceId &&
-        targetDeviceId &&
-        port &&
-        sourceDeviceInfo?.deviceId
-      ) {
+      if (sourceDeviceId && targetDeviceId && port && sourceDeviceInfo?.deviceId) {
         const hardwareDeviceId = sourceDeviceInfo.deviceId;
         const newTimestamp = sessionInfo?.nodeConnectTimestamp;
 
         if (!newTimestamp) {
           // 兜底旧版本，异常场景，暂时不移除旧连接
-          useClawLogger().warn(`[yoyoclaw-channel] pair message missing timestamp for device: ${sourceDeviceId}`);
+          useClawLogger().warn(
+            `[yoyoclaw-channel] pair message missing timestamp for device: ${sourceDeviceId}`,
+          );
         } else {
           // 关闭该硬件设备ID对应的所有前序 GatewayClient（timestamp 小于新 timestamp）
           this.sessionManager.closePreviousNodeGatewayClients(hardwareDeviceId, newTimestamp);
         }
 
         useClawLogger().info(
-          `[yoyoclaw-channel] received pair message, creating node gateway client for device: ${sourceDeviceId}, hardware device: ${hardwareDeviceId}, timestamp: ${newTimestamp}`
+          `[yoyoclaw-channel] received pair message, creating node gateway client for device: ${sourceDeviceId}, hardware device: ${hardwareDeviceId}, timestamp: ${newTimestamp}`,
         );
 
         const sessionInfoData: DeviceSessionInfo = {
@@ -122,9 +121,10 @@ export class MessageHandler {
           onStatusEvent: (event: NodeStatusEvent) => {
             // 通知状态跟踪器：GatewayClient状态变化
             this.config.onStatusEvent?.({
-              type: event.type === "node_connected"
-                ? "gateway_client_connected"
-                : "gateway_client_disconnected",
+              type:
+                event.type === "node_connected"
+                  ? "gateway_client_connected"
+                  : "gateway_client_disconnected",
               timestamp: event.timestamp,
               data: event.data,
             });
@@ -134,9 +134,7 @@ export class MessageHandler {
         nodeGatewayClient.connect();
       }
     } catch (error) {
-      useClawLogger().error(
-        `[yoyoclaw-channel] failed to handle pair message: ${String(error)}`
-      );
+      useClawLogger().error(`[yoyoclaw-channel] failed to handle pair message: ${String(error)}`);
     }
   }
 
@@ -156,20 +154,20 @@ export class MessageHandler {
       const nodeGatewayClient = this.sessionManager.getNodeGatewayClient(sourceDeviceId);
       if (!nodeGatewayClient) {
         useClawLogger().warn(
-          `[yoyoclaw-channel] no node gateway client found for source device: ${hardwareDeviceId}, session: ${sourceDeviceId}`
+          `[yoyoclaw-channel] no node gateway client found for source device: ${hardwareDeviceId}, session: ${sourceDeviceId}`,
         );
         return;
       }
 
       if (message.data) {
         useClawLogger().info(
-          `[yoyoclaw-channel] forwarding user message to node gateway from ${hardwareDeviceId}, session: ${sourceDeviceId}`
+          `[yoyoclaw-channel] forwarding user message to node gateway from ${hardwareDeviceId}, session: ${sourceDeviceId}`,
         );
         nodeGatewayClient.send(message.data);
       }
     } catch (error) {
       useClawLogger().error(
-        `[yoyoclaw-channel] failed to send node gateway message to ${hardwareDeviceId}: ${String(error)}, session: ${sourceDeviceId}`
+        `[yoyoclaw-channel] failed to send node gateway message to ${hardwareDeviceId}: ${String(error)}, session: ${sourceDeviceId}`,
       );
     }
   }
@@ -180,7 +178,9 @@ export class MessageHandler {
   handleNodeGatewayMessage = (sourceDeviceId: string, data: string): void => {
     const hardwareDeviceId = this.sessionManager.getHardwareDeviceId(sourceDeviceId);
     if (!hardwareDeviceId) {
-      useClawLogger().warn(`[yoyoclaw-channel] node gateway source offline, session: ${sourceDeviceId}`);
+      useClawLogger().warn(
+        `[yoyoclaw-channel] node gateway source offline, session: ${sourceDeviceId}`,
+      );
       return;
     }
 
@@ -188,29 +188,36 @@ export class MessageHandler {
     const deviceId = sessionInfo?.sourceInfo.sourceDeviceInfo?.deviceId;
 
     if (!sessionInfo) {
-      useClawLogger().warn(`[yoyoclaw-channel] node gateway source offline, session: ${sourceDeviceId}`);
+      useClawLogger().warn(
+        `[yoyoclaw-channel] node gateway source offline, session: ${sourceDeviceId}`,
+      );
       return;
     }
 
-    useClawLogger().debug?.(
-      `[yoyoclaw-channel] received node gateway message from ${deviceId} to cloud:, ${data.slice(0, 1000)}`
-    );
+    useClawLogger().info(`[yoyoclaw-channel] received node gateway message from ${deviceId}`);
 
     try {
       // 使用当前接收到的socket对应deviceId的来源信息
       const targetDeviceId = sessionInfo.sourceInfo.sourceDeviceId;
+
+      useClawLogger().debug?.(
+        `[yoyoclaw-channel] trans gateway msg to cloud device: ${targetDeviceId}, ${data.slice(0, 1000)}`,
+      );
+
       const result = this.sendMessage("userMessage", targetDeviceId, data, undefined, deviceId);
 
       if (!result) {
         // 云socket挂了，这个gateway连接就需要取消掉
         // 最好不要一次性把所有的gateway连接都干掉，让惰性关闭
         useClawLogger().error(
-          `[yoyoclaw-channel] failed to send message, cloud socket closed, from ${targetDeviceId}`
+          `[yoyoclaw-channel] failed to send message, cloud socket closed, from ${targetDeviceId}`,
         );
         this.sessionManager.closeNodeGatewayClient(targetDeviceId);
       }
     } catch (error) {
-      useClawLogger().error(`[yoyoclaw-channel] failed to handle node gateway message: ${String(error)}`);
+      useClawLogger().error(
+        `[yoyoclaw-channel] failed to handle node gateway message: ${String(error)}`,
+      );
     }
   };
 
@@ -227,7 +234,7 @@ export class MessageHandler {
       return;
     }
 
-    if (!await this.adminClientManager.waitForReady()) {
+    if (!(await this.adminClientManager.waitForReady())) {
       useClawLogger().error("[yoyoclaw-channel] admin gateway client not ready after retry");
       this.sendResponse("updateContexts", message.sourceDeviceId, {
         success: false,
@@ -276,7 +283,7 @@ export class MessageHandler {
   private async handleFetchContexts(message: YoyoClawMessage): Promise<void> {
     useClawLogger().info("[yoyoclaw-channel] handling fetchContexts message");
 
-    if (!await this.adminClientManager.waitForReady()) {
+    if (!(await this.adminClientManager.waitForReady())) {
       useClawLogger().error("[yoyoclaw-channel] admin gateway client not ready after retry");
       this.sendResponse("fetchContexts", message.sourceDeviceId, {
         success: false,
@@ -288,17 +295,18 @@ export class MessageHandler {
     try {
       const context = message.contexts?.[0];
       const client = this.adminClientManager.getClient()!;
-      const { name } = context.header;
+      const { name } = context?.header || {};
       if (name === "skills") {
         const result = await client.getSkillsStatus();
-        const skills = result.skills
-          ?.filter(v => v.eligible)
-          .map(v => ({
-            name: v.name,
-            description: v.description,
-            source: v.source,
-            disableModelInvocation: v.disabled,
-          })) ?? [];
+        const skills =
+          result.skills
+            ?.filter((v) => v.eligible)
+            .map((v) => ({
+              name: v.name,
+              description: v.description,
+              source: v.source,
+              disableModelInvocation: v.disabled,
+            })) ?? [];
         this.sendResponse("fetchContexts", message.sourceDeviceId, { success: true }, [
           { header: { name: "skills", namespace: "yoyoclaw" }, payload: { skills } },
         ]);
@@ -324,7 +332,7 @@ export class MessageHandler {
     targetDeviceId: string,
     data: string | Record<string, any>,
     contexts?: YoyoClawMessage["contexts"],
-    logDeviceId?: string
+    logDeviceId?: string,
   ): boolean {
     const message: YoyoClawMessage = {
       msgType,
@@ -343,7 +351,7 @@ export class MessageHandler {
     msgType: "updateContexts" | "fetchContexts",
     targetDeviceId: string,
     data: Record<string, any>,
-    contexts?: YoyoClawMessage["contexts"]
+    contexts?: YoyoClawMessage["contexts"],
   ): void {
     this.sendMessage(msgType, targetDeviceId, data, contexts);
   }

package/src/cloud-channel/session-manager.ts

@@ -1,11 +1,12 @@
-import type { DeviceSessionInfo } from "./types.js";
+import type { ClawDeviceInfo } from "src/types.js";
 import { NodeGatewayClient, type NodeStatusEvent } from "../gateway-client/node-gateway-client.js";
 import { useClawLogger } from "../utils/logger.js";
+import type { DeviceSessionInfo } from "./types.js";
 
 export interface CreateNodeGatewayClientOptions {
   sessionId: string;
   hardwareDeviceId: string;
-  deviceInfo: any;
+  deviceInfo: ClawDeviceInfo;
   onMessage: (data: string) => void;
   onStatusEvent: (event: NodeStatusEvent) => void;
 }
@@ -42,7 +43,9 @@ export class SessionManager {
 
   getSession(sessionId: string): DeviceSessionInfo | undefined {
     const hardwareDeviceId = this.sessionIdToHardwareDeviceMap.get(sessionId);
-    if (!hardwareDeviceId) return undefined;
+    if (!hardwareDeviceId) {
+      return undefined;
+    }
     const sessions = this.deviceSessionsMap.get(hardwareDeviceId);
     return sessions?.find((s) => s.sessionId === sessionId);
   }
@@ -82,24 +85,26 @@ export class SessionManager {
       this.nodeGatewayClientsMap.delete(sessionId);
       this.removeSession(sessionId);
       useClawLogger().info(
-        `[yoyoclaw-channel] closed node gateway client for session: ${sessionId}`
+        `[yoyoclaw-channel] closed node gateway client for session: ${sessionId}`,
       );
     }
   }
 
   /**
-  * 关闭硬件设备的所有前序 GatewayClient（timestamp 小于指定值）
-  */
+   * 关闭硬件设备的所有前序 GatewayClient（timestamp 小于指定值）
+   */
   closePreviousNodeGatewayClients(hardwareDeviceId: string, newTimestamp: number): void {
     const sessions = this.deviceSessionsMap.get(hardwareDeviceId);
-    if (!sessions || sessions.length === 0) return;
+    if (!sessions || sessions.length === 0) {
+      return;
+    }
 
     // 找出所有 timestamp 小于新 timestamp 的会话
     const previousSessions = sessions.filter((s) => s.timestamp < newTimestamp);
 
     if (previousSessions.length > 0) {
       useClawLogger().info(
-        `[yoyoclaw-channel] closing ${previousSessions.length} previous node gateway client(s) for hardware device: ${hardwareDeviceId}, new timestamp: ${newTimestamp}`
+        `[yoyoclaw-channel] closing ${previousSessions.length} previous node gateway client(s) for hardware device: ${hardwareDeviceId}, new timestamp: ${newTimestamp}`,
       );
       for (const session of previousSessions) {
         this.closeNodeGatewayClient(session.sessionId);
@@ -114,7 +119,7 @@ export class SessionManager {
     for (const [sessionId, client] of this.nodeGatewayClientsMap.entries()) {
       client.stop();
       useClawLogger().info(
-        `[yoyoclaw-channel] closed node gateway client for session: ${sessionId}`
+        `[yoyoclaw-channel] closed node gateway client for session: ${sessionId}`,
       );
     }
     this.nodeGatewayClientsMap.clear();