function: picoclaw node, can link with gateway and execute system command

2026-03-02 14:29:51 +08:00 · 2026-03-02 14:29:51 +08:00 · 3c9dca7bef
commit 3c9dca7bef
parent f22f6006f8
18 changed files with 1774 additions and 1 deletions
--- a/.gitignore
+++ b/.gitignore
@ -51,3 +51,7 @@ dist/
 # cursor
 .cursorindexingignore
 .specstory/
+
+
+# picoclaw-node
+cmd/picoclaw-node/config.json
--- a/cmd/picoclaw-node/Makefile
+++ b/cmd/picoclaw-node/Makefile
@ -0,0 +1,177 @@
+.PHONY: all build install uninstall clean help test
+
+# Build variables
+BINARY_NAME=picoclaw-node
+BUILD_DIR=build
+
+# Version
+VERSION?=$(shell git describe --tags --always --dirty 2>/dev/null || echo "dev")
+LDFLAGS=-ldflags "-s -w"
+
+# Go variables
+GO?=CGO_ENABLED=0 go
+GOFLAGS?=-v
+
+# Golangci-lint
+GOLANGCI_LINT?=golangci-lint
+
+# Installation
+INSTALL_PREFIX?=$(HOME)/.local
+INSTALL_BIN_DIR=$(INSTALL_PREFIX)/bin
+INSTALL_TMP_SUFFIX=.new
+
+# Data dir (config, identity, etc.)
+OPENCLAW_HOME?=$(HOME)/.openclaw
+
+# OS detection
+UNAME_S:=Linux
+UNAME_M:=aarch64
+
+# Platform-specific settings
+ifeq ($(UNAME_S),Linux)
+	PLATFORM=linux
+	ifeq ($(UNAME_M),x86_64)
+		ARCH=amd64
+	else ifeq ($(UNAME_M),aarch64)
+		ARCH=arm64
+	else ifeq ($(UNAME_M),loongarch64)
+		ARCH=loong64
+	else ifeq ($(UNAME_M),riscv64)
+		ARCH=riscv64
+	else ifeq ($(UNAME_M),armv7l)
+		ARCH=arm
+	else
+		ARCH=$(UNAME_M)
+	endif
+else ifeq ($(UNAME_S),Darwin)
+	PLATFORM=darwin
+	ifeq ($(UNAME_M),x86_64)
+		ARCH=amd64
+	else ifeq ($(UNAME_M),arm64)
+		ARCH=arm64
+	else
+		ARCH=$(UNAME_M)
+	endif
+else
+	PLATFORM=$(UNAME_S)
+	ARCH=$(UNAME_M)
+endif
+
+BINARY_PATH=$(BUILD_DIR)/$(BINARY_NAME)-$(PLATFORM)-$(ARCH)
+
+# Default target
+all: build
+
+## build: Build the go_node binary for current platform
+build:
+	@echo "Building $(BINARY_NAME) for $(PLATFORM)/$(ARCH)..."
+	@mkdir -p $(BUILD_DIR)
+	GOOS=$(PLATFORM) GOARCH=$(ARCH) $(GO) build $(GOFLAGS) $(LDFLAGS) -o $(BINARY_PATH) .
+	@echo "Build complete: $(BINARY_PATH)"
+	@ln -sf $(BINARY_NAME)-$(PLATFORM)-$(ARCH) $(BUILD_DIR)/$(BINARY_NAME)
+
+## build-all: Build go_node for all platforms
+build-all:
+	@echo "Building for multiple platforms..."
+	@mkdir -p $(BUILD_DIR)
+	GOOS=linux GOARCH=amd64 $(GO) build $(LDFLAGS) -o $(BUILD_DIR)/$(BINARY_NAME)-linux-amd64 .
+	GOOS=linux GOARCH=arm64 $(GO) build $(LDFLAGS) -o $(BUILD_DIR)/$(BINARY_NAME)-linux-arm64 .
+	GOOS=linux GOARCH=loong64 $(GO) build $(LDFLAGS) -o $(BUILD_DIR)/$(BINARY_NAME)-linux-loong64 .
+	GOOS=linux GOARCH=riscv64 $(GO) build $(LDFLAGS) -o $(BUILD_DIR)/$(BINARY_NAME)-linux-riscv64 .
+	GOOS=darwin GOARCH=arm64 $(GO) build $(LDFLAGS) -o $(BUILD_DIR)/$(BINARY_NAME)-darwin-arm64 .
+	GOOS=darwin GOARCH=amd64 $(GO) build $(LDFLAGS) -o $(BUILD_DIR)/$(BINARY_NAME)-darwin-amd64 .
+	GOOS=windows GOARCH=amd64 $(GO) build $(LDFLAGS) -o $(BUILD_DIR)/$(BINARY_NAME)-windows-amd64.exe .
+	@echo "All builds complete"
+
+## install: Install go_node to system
+install: build
+	@echo "Installing $(BINARY_NAME)..."
+	@mkdir -p $(INSTALL_BIN_DIR)
+	@cp $(BUILD_DIR)/$(BINARY_NAME) $(INSTALL_BIN_DIR)/$(BINARY_NAME)$(INSTALL_TMP_SUFFIX)
+	@chmod +x $(INSTALL_BIN_DIR)/$(BINARY_NAME)$(INSTALL_TMP_SUFFIX)
+	@mv -f $(INSTALL_BIN_DIR)/$(BINARY_NAME)$(INSTALL_TMP_SUFFIX) $(INSTALL_BIN_DIR)/$(BINARY_NAME)
+	@echo "Installed binary to $(INSTALL_BIN_DIR)/$(BINARY_NAME)"
+	@echo "Installation complete!"
+
+## uninstall: Remove go_node from system
+uninstall:
+	@echo "Uninstalling $(BINARY_NAME)..."
+	@rm -f $(INSTALL_BIN_DIR)/$(BINARY_NAME)
+	@echo "Removed binary from $(INSTALL_BIN_DIR)/$(BINARY_NAME)"
+	@echo "Note: Only the executable has been deleted."
+	@echo "To remove config and identity, run 'make uninstall-all'"
+
+## uninstall-all: Remove go_node and all data (~/.openclaw)
+uninstall-all:
+	@echo "Removing $(OPENCLAW_HOME)..."
+	@rm -rf $(OPENCLAW_HOME)
+	@make uninstall
+	@echo "Complete uninstallation done!"
+
+## clean: Remove build artifacts
+clean:
+	@echo "Cleaning build artifacts..."
+	@rm -rf $(BUILD_DIR)
+	@echo "Clean complete"
+
+## vet: Run go vet for static analysis
+vet:
+	@$(GO) vet ./...
+
+## test: Test Go code
+test:
+	@$(GO) test ./...
+
+## fmt: Format Go code
+fmt:
+	@go fmt ./...
+
+## lint: Run linters
+lint:
+	@$(GOLANGCI_LINT) run
+
+## fix: Fix linting issues
+fix:
+	@$(GOLANGCI_LINT) run --fix
+
+## deps: Download dependencies
+deps:
+	@$(GO) mod download
+	@$(GO) mod verify
+
+## update-deps: Update dependencies
+update-deps:
+	@$(GO) get -u ./...
+	@$(GO) mod tidy
+
+## check: Run vet, fmt, and test
+check: deps fmt vet test
+
+## run: Build and run go_node
+run: build
+	@$(BUILD_DIR)/$(BINARY_NAME) $(ARGS)
+
+## help: Show this help message
+help:
+	@echo "go_node Makefile"
+	@echo ""
+	@echo "Usage:"
+	@echo "  make [target]"
+	@echo ""
+	@echo "Targets:"
+	@grep -E '^## ' $(MAKEFILE_LIST) | sort | awk -F': ' '{printf "  %-16s %s\n", substr($$1, 4), $$2}'
+	@echo ""
+	@echo "Examples:"
+	@echo "  make build              # Build for current platform"
+	@echo "  make install            # Install to ~/.local/bin"
+	@echo "  make uninstall          # Remove binary"
+	@echo ""
+	@echo "Environment Variables:"
+	@echo "  INSTALL_PREFIX          # Installation prefix (default: ~/.local)"
+	@echo "  OPENCLAW_HOME           # Data dir (default: ~/.openclaw)"
+	@echo "  VERSION                 # Version string (default: git describe)"
+	@echo ""
+	@echo "Current Configuration:"
+	@echo "  Platform: $(PLATFORM)/$(ARCH)"
+	@echo "  Binary: $(BINARY_PATH)"
+	@echo "  Install Prefix: $(INSTALL_PREFIX)"
--- a/cmd/picoclaw-node/README.md
+++ b/cmd/picoclaw-node/README.md
@ -0,0 +1,107 @@
+# go_node
+
+Go 实现的 OpenClaw node 节点，与 Android node 架构一致，通过 WebSocket 连接 Gateway，仅实现 `system.run`（执行 shell 命令）。
+
+## 架构
+
+- **GatewaySession**：WebSocket 连接、connect 握手、RPC 协议、`node.invoke.request` 事件处理
+- **InvokeDispatcher**：仅支持 `system.run` 命令，执行 shell 并返回 stdout/stderr
+- **DeviceIdentity**：Ed25519 设备身份、connect 时 device 签名
+
+## 配置文件
+
+配置通过 JSON 文件管理，支持以下路径（按优先级）：
+- `-config` 参数指定的路径
+- 当前目录 `config.json`
+- `~/.openclaw/go_node.json`
+
+### 配置示例
+
+```json
+{
+  "gateway": {
+    "host": "127.0.0.1",
+    "port": 18789,
+    "tls": false,
+    "token": "your-gateway-token",
+    "password": ""
+  },
+  "node": {
+    "displayName": "my-node",
+    "nodeId": "my-node"
+  },
+  "reconnect": {
+    "maxRetries": 0,
+    "retryIntervalMs": 5000
+  },
+  "exec": {
+    "workDir": "/tmp/go_node_work",
+    "allowedCommands": ["ls", "echo", "cat"],
+    "allowAllCommands": false
+  }
+}
+```
+
+| 字段 | 说明 | 默认 |
+|------|------|------|
+| gateway.host | Gateway 地址 | 127.0.0.1 |
+| gateway.port | Gateway 端口 | 18789 |
+| gateway.tls | 是否使用 WSS | false |
+| gateway.token | Gateway 令牌 | - |
+| gateway.password | Gateway 密码 | - |
+| node.displayName | 节点显示名 | hostname |
+| node.nodeId | 节点 ID | 同 displayName |
+| reconnect.maxRetries | 最大重连次数（0=无限） | 0 |
+| reconnect.retryIntervalMs | 重连间隔（毫秒） | 5000 |
+| exec.workDir | 工作目录，命令仅在此目录及子目录下执行，空=不限制 | - |
+| exec.allowedCommands | 可执行命令白名单（按 argv[0] 的 basename），空=允许所有 | - |
+| exec.allowAllCommands | 为 true 时忽略白名单，允许执行任意命令（含 rawCommand） | false |
+
+**安全说明**：
+- `workDir` 非空时：`params.cwd` 必须在 workDir 下（相对路径或绝对路径均校验）
+- `allowedCommands` 非空时：仅白名单中的命令可执行，且禁用 rawCommand（只支持 command 数组）
+- `allowAllCommands: true` 时： bypass 白名单，允许任意命令和 rawCommand；适用于完全信任的节点环境
+
+> 注意：go_node 使用 client ID `node-host`，与 openclaw node-host 相同，以便通过 gateway 的 client ID 校验。
+
+## 构建
+
+```bash
+go build -o go_node .
+```
+
+## 运行
+
+```bash
+# 生成示例配置
+./go_node -init-config
+# 或指定路径
+./go_node -init-config -config ~/.openclaw/go_node.json
+
+# 使用默认 config.json 运行
+./go_node
+
+# 指定配置文件
+./go_node -config /path/to/config.json
+```
+
+## system.run 参数
+
+与 openclaw node-host 兼容，paramsJSON 示例：
+
+```json
+{
+  "command": ["echo", "hello"],
+  "cwd": "/tmp",
+  "env": {"KEY": "value"},
+  "timeoutMs": 30000
+}
+```
+
+或使用 rawCommand（shell -c）：
+
+```json
+{
+  "rawCommand": "echo hello | wc -c"
+}
+```
--- a/cmd/picoclaw-node/camera_mock.jpg
+++ b/cmd/picoclaw-node/camera_mock.jpg
--- a/cmd/picoclaw-node/config.json.example
+++ b/cmd/picoclaw-node/config.json.example
@ -0,0 +1,27 @@
+{
+  "gateway": {
+    "host": "127.0.0.1",
+    "port": 18790,
+    "tls": false,
+    "token": "",
+    "password": ""
+  },
+  "node": {
+    "displayName": "my_device",
+    "nodeId": "my_device"
+  },
+  "reconnect": {
+    "maxRetries": 0,
+    "retryIntervalMs": 5000
+  },
+  "exec": {
+    "workDir": "",
+    "allowedCommands": null,
+    "allowAllCommands": true
+  },
+  "identity": {
+    "deviceId": "",
+    "publicKeyB64": "",
+    "privateKeyB64": ""
+  }
+}
--- a/cmd/picoclaw-node/config/config.go
+++ b/cmd/picoclaw-node/config/config.go
@ -0,0 +1,174 @@
+package config
+
+import (
+	"encoding/base64"
+	"encoding/json"
+	"fmt"
+	"os"
+	"path/filepath"
+
+	"github.com/openclaw/go_node/infra"
+)
+
+// Config holds gateway and node settings
+type Config struct {
+	Gateway   GatewayConfig   `json:"gateway"`
+	Node      NodeConfig      `json:"node"`
+	Reconnect ReconnectConfig `json:"reconnect"`
+	Exec      ExecConfig      `json:"exec"`
+	Identity  IdentityConfig  `json:"identity,omitempty"`
+}
+
+// ExecConfig holds security settings for system.run and camera mock
+type ExecConfig struct {
+	WorkDir          string   `json:"workDir"`          // base dir, commands run under this only
+	AllowedCommands  []string `json:"allowedCommands"`  // allowed executable names, empty = allow all
+	AllowAllCommands bool     `json:"allowAllCommands"` // when true, bypass allowedCommands check and allow any command (including rawCommand)
+	CameraMockPath   string   `json:"cameraMockPath"`   // fixed path for camera.snap mock image (default: workDir/camera_mock.jpg)
+}
+
+// ReconnectConfig holds auto-reconnect settings
+type ReconnectConfig struct {
+	MaxRetries      int `json:"maxRetries"`      // 0 = unlimited
+	RetryIntervalMs int `json:"retryIntervalMs"` // milliseconds between retries
+}
+
+// GatewayConfig holds gateway connection settings
+type GatewayConfig struct {
+	Host     string `json:"host"`
+	Port     int    `json:"port"`
+	TLS      bool   `json:"tls"`
+	Token    string `json:"token"`
+	Password string `json:"password"`
+}
+
+// NodeConfig holds node identity settings
+type NodeConfig struct {
+	DisplayName string `json:"displayName"`
+	NodeID      string `json:"nodeId"`
+}
+
+// IdentityConfig holds device identity (Ed25519 keypair) persisted in config.json
+type IdentityConfig struct {
+	DeviceID      string `json:"deviceId,omitempty"`
+	PublicKeyB64  string `json:"publicKeyB64,omitempty"`
+	PrivateKeyB64 string `json:"privateKeyB64,omitempty"`
+}
+
+// Load loads config from JSON file. Path can be absolute or relative.
+// If path is empty, tries: ./config.json, ~/.openclaw/go_node.json
+func Load(path string) (*Config, error) {
+	if path == "" {
+		for _, p := range defaultConfigPaths() {
+			if _, err := os.Stat(p); err == nil {
+				path = p
+				break
+			}
+		}
+	}
+	if path == "" {
+		return defaultConfig(), nil
+	}
+
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return nil, fmt.Errorf("read config %s: %w", path, err)
+	}
+
+	var cfg Config
+	if err := json.Unmarshal(data, &cfg); err != nil {
+		return nil, fmt.Errorf("parse config %s: %w", path, err)
+	}
+
+	cfg.applyDefaults()
+	return &cfg, nil
+}
+
+func defaultConfigPaths() []string {
+	home, _ := os.UserHomeDir()
+	return []string{
+		"config.json",
+		filepath.Join(home, ".openclaw", "go_node.json"),
+	}
+}
+
+func defaultConfig() *Config {
+	displayName, _ := os.Hostname()
+	return &Config{
+		Gateway: GatewayConfig{
+			Host: "127.0.0.1",
+			Port: 18789,
+			TLS:  false,
+		},
+		Node: NodeConfig{
+			DisplayName: displayName,
+			NodeID:      displayName,
+		},
+		Reconnect: ReconnectConfig{
+			MaxRetries:      0,
+			RetryIntervalMs: 5000,
+		},
+		Exec: ExecConfig{
+			WorkDir:         "",
+			AllowedCommands: nil,
+		},
+	}
+}
+
+func (c *Config) applyDefaults() {
+	g := &c.Gateway
+	if g.Host == "" {
+		g.Host = "127.0.0.1"
+	}
+	if g.Port <= 0 {
+		g.Port = 18789
+	}
+	if c.Node.DisplayName == "" {
+		c.Node.DisplayName, _ = os.Hostname()
+	}
+	if c.Node.NodeID == "" {
+		c.Node.NodeID = c.Node.DisplayName
+	}
+	r := &c.Reconnect
+	if r.RetryIntervalMs <= 0 {
+		r.RetryIntervalMs = 5000
+	}
+	e := &c.Exec
+	if e.WorkDir != "" {
+		abs, err := filepath.Abs(e.WorkDir)
+		if err == nil {
+			e.WorkDir = abs
+		}
+	}
+}
+
+// WebSocketURL returns the gateway WebSocket URL
+func (c *Config) WebSocketURL() string {
+	scheme := "ws"
+	if c.Gateway.TLS {
+		scheme = "wss"
+	}
+	return fmt.Sprintf("%s://%s:%d", scheme, c.Gateway.Host, c.Gateway.Port)
+}
+
+// Example writes an example config to path
+func Example(path string) error {
+	cfg := defaultConfig()
+	cfg.Gateway.Token = ""
+	if ident, err := infra.GenerateDeviceIdentity(); err == nil {
+		cfg.Identity = IdentityConfig{
+			DeviceID:      ident.DeviceID,
+			PublicKeyB64:  base64.StdEncoding.EncodeToString(ident.PublicKeyRaw),
+			PrivateKeyB64: base64.StdEncoding.EncodeToString(ident.PrivateKey),
+		}
+	}
+	data, err := json.MarshalIndent(cfg, "", "  ")
+	if err != nil {
+		return err
+	}
+	dir := filepath.Dir(path)
+	if dir != "." {
+		_ = os.MkdirAll(dir, 0755)
+	}
+	return os.WriteFile(path, data, 0600)
+}
--- a/cmd/picoclaw-node/gateway/protocol.go
+++ b/cmd/picoclaw-node/gateway/protocol.go
@ -0,0 +1,93 @@
+package gateway
+
+import "encoding/json"
+
+// Protocol version (see openclaw src/gateway/protocol/schema.ts)
+const ProtocolVersion = 3
+
+// Frame types
+const (
+	FrameTypeReq  = "req"
+	FrameTypeRes  = "res"
+	FrameTypeEvent = "event"
+)
+
+// Events
+const (
+	EventConnectChallenge = "connect.challenge"
+	EventNodeInvokeReq    = "node.invoke.request"
+)
+
+// Methods
+const (
+	MethodConnect        = "connect"
+	MethodNodeEvent      = "node.event"
+	MethodNodeInvokeRes  = "node.invoke.result"
+)
+
+// ConnectParams for node role
+type ConnectParams struct {
+	MinProtocol int                 `json:"minProtocol"`
+	MaxProtocol int                 `json:"maxProtocol"`
+	Client      ClientInfo          `json:"client"`
+	Role        string              `json:"role"`
+	Scopes      []string            `json:"scopes,omitempty"`
+	Caps        []string            `json:"caps,omitempty"`
+	Commands    []string            `json:"commands,omitempty"`
+	Permissions map[string]bool     `json:"permissions,omitempty"`
+	Auth        *AuthParams         `json:"auth,omitempty"`
+	Device      *DeviceAuth         `json:"device,omitempty"`
+	Locale      string              `json:"locale"`
+	UserAgent   string              `json:"userAgent,omitempty"`
+}
+
+type ClientInfo struct {
+	ID               string  `json:"id"`
+	DisplayName      *string `json:"displayName,omitempty"`
+	Version          string  `json:"version"`
+	Platform         string  `json:"platform"`
+	Mode             string  `json:"mode"`
+	InstanceID       *string `json:"instanceId,omitempty"`
+	DeviceFamily     *string `json:"deviceFamily,omitempty"`
+	ModelIdentifier  *string `json:"modelIdentifier,omitempty"`
+}
+
+type AuthParams struct {
+	Token    string `json:"token,omitempty"`
+	Password string `json:"password,omitempty"`
+}
+
+type DeviceAuth struct {
+	ID        string `json:"id"`
+	PublicKey string `json:"publicKey"`
+	Signature string `json:"signature"`
+	SignedAt  int64  `json:"signedAt"`
+	Nonce     string `json:"nonce"`
+}
+
+type RequestFrame struct {
+	Type   string          `json:"type"`
+	ID     string          `json:"id"`
+	Method string          `json:"method"`
+	Params json.RawMessage `json:"params,omitempty"`
+}
+
+type ResponseFrame struct {
+	Type    string          `json:"type"`
+	ID      string          `json:"id"`
+	OK      bool            `json:"ok"`
+	Payload json.RawMessage `json:"payload,omitempty"`
+	Error   *ErrorShape     `json:"error,omitempty"`
+}
+
+type EventFrame struct {
+	Type    string          `json:"type"`
+	Event   string          `json:"event"`
+	Payload json.RawMessage `json:"payload,omitempty"`
+	Seq     *int64          `json:"seq,omitempty"`
+}
+
+type ErrorShape struct {
+	Code    string `json:"code"`
+	Message string `json:"message"`
+}
--- a/cmd/picoclaw-node/gateway/session.go
+++ b/cmd/picoclaw-node/gateway/session.go
@ -0,0 +1,303 @@
+package gateway
+
+import (
+	"context"
+	crand "crypto/rand"
+	"encoding/hex"
+	"encoding/json"
+	"log"
+	"net/http"
+	"sync"
+	"time"
+
+	"github.com/gorilla/websocket"
+	"github.com/openclaw/go_node/infra"
+)
+
+// InvokeRequest is the payload of node.invoke.request event
+type InvokeRequest struct {
+	ID         string `json:"id"`
+	NodeID     string `json:"nodeId"`
+	Command    string `json:"command"`
+	ParamsJSON string `json:"paramsJSON,omitempty"`
+	TimeoutMs  *int64 `json:"timeoutMs,omitempty"`
+}
+
+// InvokeResult is sent via node.invoke.result
+type InvokeResult struct {
+	OK          bool        `json:"ok"`
+	Payload     interface{} `json:"payload,omitempty"`
+	PayloadJSON string      `json:"payloadJSON,omitempty"`
+	Error       *ErrorShape `json:"error,omitempty"`
+}
+
+// OnInvoke is called when node.invoke.request is received
+type OnInvoke func(req InvokeRequest) InvokeResult
+
+// Session connects to the gateway as a node role and handles node.invoke.request
+type Session struct {
+	url          string
+	token        string
+	password     string
+	opts         ConnectOptions
+	identity     *infra.DeviceIdentity
+	onInvoke     OnInvoke
+	conn         *websocket.Conn
+	writeMu      sync.Mutex
+	pending      map[string]chan json.RawMessage
+	pendingMu    sync.Mutex
+	connectNonce string
+}
+
+// ConnectOptions for node role
+type ConnectOptions struct {
+	Client    ClientInfo
+	Role      string // "node"
+	Scopes    []string
+	Caps      []string
+	Commands  []string
+	Locale    string
+	UserAgent string
+}
+
+// NewSession creates a new node session
+func NewSession(url, token, password string, opts ConnectOptions, identity *infra.DeviceIdentity, onInvoke OnInvoke) *Session {
+	return &Session{
+		url:      url,
+		token:    token,
+		password: password,
+		opts:     opts,
+		identity: identity,
+		onInvoke: onInvoke,
+		pending:  make(map[string]chan json.RawMessage),
+	}
+}
+
+// Run connects to the gateway and processes messages until ctx is done
+func (s *Session) Run(ctx context.Context) error {
+	headers := http.Header{}
+	headers.Set("Origin", s.url)
+	if s.url[:5] == "wss:" {
+		headers.Set("Origin", "https"+s.url[3:])
+	}
+	conn, _, err := websocket.DefaultDialer.Dial(s.url, headers)
+	if err != nil {
+		return err
+	}
+	defer conn.Close()
+	s.conn = conn
+
+	ctx, cancel := context.WithCancel(ctx)
+	defer cancel()
+
+	go func() {
+		<-ctx.Done()
+		conn.Close()
+	}()
+
+	for {
+		_, data, err := conn.ReadMessage()
+		if err != nil {
+			return err
+		}
+		var raw map[string]json.RawMessage
+		if err := json.Unmarshal(data, &raw); err != nil {
+			continue
+		}
+		typ, _ := raw["type"]
+		var typStr string
+		_ = json.Unmarshal(typ, &typStr)
+
+		switch typStr {
+		case FrameTypeEvent:
+			s.handleEvent(data)
+		case FrameTypeRes:
+			s.handleResponse(data)
+		}
+	}
+}
+
+func (s *Session) handleEvent(data []byte) {
+	var evt EventFrame
+	if err := json.Unmarshal(data, &evt); err != nil {
+		return
+	}
+	if evt.Event == EventConnectChallenge {
+		var payload struct {
+			Nonce string `json:"nonce"`
+		}
+		_ = json.Unmarshal(evt.Payload, &payload)
+		s.connectNonce = payload.Nonce
+		if s.connectNonce != "" {
+			s.sendConnect()
+		}
+		return
+	}
+	if evt.Event == EventNodeInvokeReq && s.onInvoke != nil {
+		var req struct {
+			ID         string          `json:"id"`
+			NodeID     string          `json:"nodeId"`
+			Command    string          `json:"command"`
+			ParamsJSON string          `json:"paramsJSON"`
+			Params     json.RawMessage `json:"params"`
+			TimeoutMs  *int64          `json:"timeoutMs"`
+		}
+		_ = json.Unmarshal(evt.Payload, &req)
+		paramsJSON := req.ParamsJSON
+		if paramsJSON == "" && len(req.Params) > 0 {
+			paramsJSON = string(req.Params)
+		}
+		invReq := InvokeRequest{
+			ID:         req.ID,
+			NodeID:     req.NodeID,
+			Command:    req.Command,
+			ParamsJSON: paramsJSON,
+			TimeoutMs:  req.TimeoutMs,
+		}
+		result := s.onInvoke(invReq)
+		s.sendInvokeResult(invReq.ID, invReq.NodeID, result)
+	}
+}
+
+func (s *Session) handleResponse(data []byte) {
+	var res struct {
+		ID json.RawMessage `json:"id"`
+	}
+	_ = json.Unmarshal(data, &res)
+	var idStr string
+	if err := json.Unmarshal(res.ID, &idStr); err != nil {
+		return
+	}
+	s.pendingMu.Lock()
+	ch := s.pending[idStr]
+	delete(s.pending, idStr)
+	s.pendingMu.Unlock()
+	if ch != nil {
+		select {
+		case ch <- data:
+		default:
+		}
+	}
+}
+
+func (s *Session) sendConnect() {
+	auth := &AuthParams{}
+	if s.token != "" {
+		auth.Token = s.token
+	} else if s.password != "" {
+		auth.Password = s.password
+	}
+
+	device := (*DeviceAuth)(nil)
+	if s.connectNonce != "" && s.identity != nil {
+		signedAtMs := time.Now().UnixMilli()
+		payload := infra.BuildDeviceAuthPayload(struct {
+			DeviceID   string
+			ClientID   string
+			ClientMode string
+			Role       string
+			Scopes     []string
+			SignedAtMs int64
+			Token      string
+			Nonce      string
+		}{
+			s.identity.DeviceID,
+			s.opts.Client.ID,
+			s.opts.Client.Mode,
+			s.opts.Role,
+			s.opts.Scopes,
+			signedAtMs,
+			s.token,
+			s.connectNonce,
+		})
+		sig := infra.SignDevicePayload(s.identity, payload)
+		device = &DeviceAuth{
+			ID:        s.identity.DeviceID,
+			PublicKey: infra.PublicKeyBase64URL(s.identity),
+			Signature: sig,
+			SignedAt:  signedAtMs,
+			Nonce:     s.connectNonce,
+		}
+	}
+
+	params := ConnectParams{
+		MinProtocol: ProtocolVersion,
+		MaxProtocol: ProtocolVersion,
+		Client:      s.opts.Client,
+		Role:        s.opts.Role,
+		Scopes:      s.opts.Scopes,
+		Caps:        s.opts.Caps,
+		Commands:    s.opts.Commands,
+		Auth:        auth,
+		Device:      device,
+		Locale:      s.opts.Locale,
+		UserAgent:   s.opts.UserAgent,
+	}
+	paramsB, _ := json.Marshal(params)
+	req := map[string]interface{}{
+		"type":   FrameTypeReq,
+		"id":     genID(),
+		"method": MethodConnect,
+		"params": json.RawMessage(paramsB),
+	}
+	_ = s.request(req, 15*time.Second)
+	log.Printf("go_node: connect sent")
+}
+
+func (s *Session) sendInvokeResult(id, nodeID string, result InvokeResult) {
+	params := map[string]interface{}{
+		"id":     id,
+		"nodeId": nodeID,
+		"ok":     result.OK,
+	}
+	if result.Payload != nil {
+		params["payload"] = result.Payload
+	}
+	if result.PayloadJSON != "" {
+		params["payloadJSON"] = result.PayloadJSON
+	}
+	if result.Error != nil {
+		params["error"] = result.Error
+	}
+	req := map[string]interface{}{
+		"type":   FrameTypeReq,
+		"id":     genID(),
+		"method": MethodNodeInvokeRes,
+		"params": params,
+	}
+	if err := s.request(req, 15*time.Second); err != nil {
+		log.Printf("go_node: node.invoke.result failed: %v", err)
+	}
+}
+
+func (s *Session) request(req map[string]interface{}, timeout time.Duration) error {
+	id, _ := req["id"].(string)
+	ch := make(chan json.RawMessage, 1)
+	s.pendingMu.Lock()
+	s.pending[id] = ch
+	s.pendingMu.Unlock()
+	defer func() {
+		s.pendingMu.Lock()
+		delete(s.pending, id)
+		s.pendingMu.Unlock()
+	}()
+
+	s.writeMu.Lock()
+	err := s.conn.WriteJSON(req)
+	s.writeMu.Unlock()
+	if err != nil {
+		return err
+	}
+	select {
+	case <-time.After(timeout):
+		return nil
+	case <-ch:
+		return nil
+	}
+}
+
+func genID() string {
+	b := make([]byte, 8)
+	crand.Read(b)
+	return "go-node-" + hex.EncodeToString(b)
+}
--- a/cmd/picoclaw-node/go.mod
+++ b/cmd/picoclaw-node/go.mod
@ -0,0 +1,7 @@
+module github.com/openclaw/go_node
+
+go 1.21
+
+require github.com/gorilla/websocket v1.5.1
+
+require golang.org/x/net v0.17.0 // indirect
--- a/cmd/picoclaw-node/go.sum
+++ b/cmd/picoclaw-node/go.sum
@ -0,0 +1,4 @@
+github.com/gorilla/websocket v1.5.1 h1:gmztn0JnHVt9JZquRuzLw3g4wouNVzKL15iLr/zn/QY=
+github.com/gorilla/websocket v1.5.1/go.mod h1:x3kM2JMyaluk02fnUJpQuwD2dCS5NDG2ZHL0uE0tcaY=
+golang.org/x/net v0.17.0 h1:pVaXccu2ozPjCXewfr1S7xza/zcXTity9cCdXQYSjIM=
+golang.org/x/net v0.17.0/go.mod h1:NxSsAGuq816PNPmqtQdLE42eU2Fs7NoRIZrHJAlaCOE=
--- a/cmd/picoclaw-node/infra/auth.go
+++ b/cmd/picoclaw-node/infra/auth.go
@ -0,0 +1,35 @@
+package infra
+
+import (
+	"fmt"
+	"strings"
+)
+
+// BuildDeviceAuthPayload builds the string that gets signed for connect device auth
+// Format: v2|deviceId|clientId|clientMode|role|scopes|signedAtMs|token|nonce
+func BuildDeviceAuthPayload(params struct {
+	DeviceID   string
+	ClientID   string
+	ClientMode string
+	Role       string
+	Scopes     []string
+	SignedAtMs int64
+	Token      string
+	Nonce      string
+}) string {
+	scopes := strings.Join(params.Scopes, ",")
+	if params.Token == "" && params.Nonce == "" {
+		return ""
+	}
+	return strings.Join([]string{
+		"v2",
+		params.DeviceID,
+		params.ClientID,
+		params.ClientMode,
+		params.Role,
+		scopes,
+		fmt.Sprintf("%d", params.SignedAtMs),
+		params.Token,
+		params.Nonce,
+	}, "|")
+}
--- a/cmd/picoclaw-node/infra/device_identity.go
+++ b/cmd/picoclaw-node/infra/device_identity.go
@ -0,0 +1,57 @@
+package infra
+
+import (
+	"crypto/ed25519"
+	"crypto/sha256"
+	"encoding/base64"
+)
+
+// DeviceIdentity holds Ed25519 keypair and derived device ID
+type DeviceIdentity struct {
+	DeviceID     string
+	PublicKeyRaw []byte // raw 32-byte Ed25519 public key
+	PrivateKey   ed25519.PrivateKey
+}
+
+// GenerateDeviceIdentity generates a new device identity (no file I/O; suitable for embedded)
+func GenerateDeviceIdentity() (*DeviceIdentity, error) {
+	pub, priv, err := ed25519.GenerateKey(nil)
+	if err != nil {
+		return nil, err
+	}
+	return &DeviceIdentity{
+		DeviceID:     fingerprintPublicKey(pub),
+		PublicKeyRaw: pub,
+		PrivateKey:   priv,
+	}, nil
+}
+
+func fingerprintPublicKey(pub ed25519.PublicKey) string {
+	h := sha256.Sum256(pub)
+	return encodeHex(h[:])
+}
+
+func encodeHex(b []byte) string {
+	const hex = "0123456789abcdef"
+	out := make([]byte, len(b)*2)
+	for i, v := range b {
+		out[i*2] = hex[v>>4]
+		out[i*2+1] = hex[v&0xf]
+	}
+	return string(out)
+}
+
+// SignDevicePayload signs the auth payload string with Ed25519, returns base64url signature
+func SignDevicePayload(ident *DeviceIdentity, payload string) string {
+	sig := ed25519.Sign(ident.PrivateKey, []byte(payload))
+	return base64URLEncode(sig)
+}
+
+// PublicKeyBase64URL returns raw public key as base64url
+func PublicKeyBase64URL(ident *DeviceIdentity) string {
+	return base64URLEncode(ident.PublicKeyRaw)
+}
+
+func base64URLEncode(b []byte) string {
+	return base64.RawURLEncoding.EncodeToString(b)
+}
--- a/cmd/picoclaw-node/main.go
+++ b/cmd/picoclaw-node/main.go
@ -0,0 +1,153 @@
+package main
+
+import (
+	"context"
+	"crypto/ed25519"
+	"encoding/base64"
+	"flag"
+	"log"
+	"os"
+	"os/signal"
+	"runtime"
+	"strings"
+	"time"
+
+	"github.com/openclaw/go_node/config"
+	"github.com/openclaw/go_node/gateway"
+	"github.com/openclaw/go_node/infra"
+	"github.com/openclaw/go_node/node"
+)
+
+const version = "0.1.0"
+
+func main() {
+	configPath := flag.String("config", "", "path to config.json (default: config.json, ~/.openclaw/go_node.json)")
+	initConfig := flag.Bool("init-config", false, "write example config.json and exit")
+	flag.Parse()
+
+	if *initConfig {
+		path := strings.TrimSpace(*configPath)
+		if path == "" {
+			path = "config.json"
+		}
+		if err := config.Example(path); err != nil {
+			log.Fatalf("init config: %v", err)
+		}
+		log.Printf("wrote example config to %s", path)
+		return
+	}
+
+	cfg, err := config.Load(strings.TrimSpace(*configPath))
+	if err != nil {
+		log.Fatalf("load config: %v", err)
+	}
+
+	identity, err := identityFromConfig(cfg)
+	if err != nil {
+		log.Fatalf("load device identity: %v", err)
+	}
+
+	invokeDispatcher := node.NewInvokeDispatcher(cfg.Exec)
+	opts := gateway.ConnectOptions{
+		Client: gateway.ClientInfo{
+			ID:       "node-host",
+			Version:  version,
+			Platform: runtime.GOOS,
+			Mode:     "node",
+		},
+		Role:      "node",
+		Scopes:    []string{},
+		Caps:      []string{"system", "file", "camera"},
+		Commands:  []string{"system.run", "file.save", "camera.snap"},
+		Locale:    "en-US",
+		UserAgent: "OpenClawGoNode/" + version + " (" + runtime.GOOS + "; " + runtime.Version() + ")",
+	}
+	if cfg.Node.DisplayName != "" {
+		opts.Client.DisplayName = &cfg.Node.DisplayName
+	}
+	if cfg.Node.NodeID != "" {
+		opts.Client.InstanceID = &cfg.Node.NodeID
+	}
+
+	onInvoke := func(req gateway.InvokeRequest) gateway.InvokeResult {
+		return invokeDispatcher.HandleInvoke(req)
+	}
+
+	sess := gateway.NewSession(
+		cfg.WebSocketURL(),
+		cfg.Gateway.Token,
+		cfg.Gateway.Password,
+		opts,
+		identity,
+		onInvoke,
+	)
+
+	ctx, cancel := context.WithCancel(context.Background())
+	defer cancel()
+
+	sigCh := make(chan os.Signal, 1)
+	signal.Notify(sigCh, os.Interrupt)
+	go func() {
+		<-sigCh
+		log.Println("shutting down...")
+		cancel()
+	}()
+
+	interval := time.Duration(cfg.Reconnect.RetryIntervalMs) * time.Millisecond
+	if interval <= 0 {
+		interval = 5 * time.Second
+	}
+	var attempt int
+reconnect:
+	for {
+		if ctx.Err() != nil {
+			break reconnect
+		}
+		if attempt > 0 {
+			log.Printf("go_node: reconnect attempt %d", attempt)
+		} else {
+			log.Printf("go_node: connecting to %s as node %q", cfg.WebSocketURL(), cfg.Node.DisplayName)
+		}
+		err := sess.Run(ctx)
+		if ctx.Err() != nil {
+			break reconnect
+		}
+		attempt++
+		if cfg.Reconnect.MaxRetries > 0 && attempt > cfg.Reconnect.MaxRetries {
+			log.Fatalf("go_node: max retries (%d) reached, last error: %v", cfg.Reconnect.MaxRetries, err)
+		}
+		log.Printf("go_node: connection lost: %v, retrying in %v", err, interval)
+		select {
+		case <-time.After(interval):
+			continue
+		case <-ctx.Done():
+			break reconnect
+		}
+	}
+	log.Println("go_node: exited")
+}
+
+// identityFromConfig builds a DeviceIdentity from cfg.Identity.
+// If identity information is missing or invalid, it falls back to generating
+// a fresh in-memory identity (not persisted).
+func identityFromConfig(cfg *config.Config) (*infra.DeviceIdentity, error) {
+	idCfg := cfg.Identity
+	if idCfg.DeviceID == "" || idCfg.PublicKeyB64 == "" || idCfg.PrivateKeyB64 == "" {
+		return infra.GenerateDeviceIdentity()
+	}
+
+	pubRaw, err := base64.StdEncoding.DecodeString(idCfg.PublicKeyB64)
+	if err != nil || len(pubRaw) != ed25519.PublicKeySize {
+		return infra.GenerateDeviceIdentity()
+	}
+	privRaw, err := base64.StdEncoding.DecodeString(idCfg.PrivateKeyB64)
+	if err != nil || len(privRaw) != ed25519.PrivateKeySize {
+		return infra.GenerateDeviceIdentity()
+	}
+
+	return &infra.DeviceIdentity{
+		DeviceID:     idCfg.DeviceID,
+		PublicKeyRaw: pubRaw,
+		PrivateKey:   ed25519.PrivateKey(privRaw),
+	}, nil
+}
--- a/cmd/picoclaw-node/node/handlers/camera_snap.go
+++ b/cmd/picoclaw-node/node/handlers/camera_snap.go
@ -0,0 +1,85 @@
+package handlers
+
+import (
+	"encoding/base64"
+	"encoding/json"
+	"fmt"
+	"image"
+	_ "image/gif"
+	_ "image/jpeg"
+	_ "image/png"
+	"log"
+	"os"
+	"path/filepath"
+	"strings"
+
+	"github.com/openclaw/go_node/config"
+	"github.com/openclaw/go_node/gateway"
+)
+
+// CameraSnapHandler handles camera.snap command: mock by reading a fixed image file and returning base64
+type CameraSnapHandler struct {
+	cfg config.ExecConfig
+}
+
+// NewCameraSnapHandler creates a mock handler that reads from a fixed path
+func NewCameraSnapHandler(cfg config.ExecConfig) *CameraSnapHandler {
+	return &CameraSnapHandler{cfg: cfg}
+}
+
+// Handle reads the mock image from fixed path, base64-encodes, and returns camera.snap payload
+func (h *CameraSnapHandler) Handle(req gateway.InvokeRequest) gateway.InvokeResult {
+	path := h.mockPath()
+	data, err := os.ReadFile(path)
+	if err != nil {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "UNAVAILABLE",
+				Message: fmt.Sprintf("camera.snap mock: read file %s: %v", path, err),
+			},
+		}
+	}
+
+	width, height := 0, 0
+	if cfg, _, err := image.DecodeConfig(strings.NewReader(string(data))); err == nil {
+		width, height = cfg.Width, cfg.Height
+	}
+
+	ext := strings.ToLower(strings.TrimPrefix(filepath.Ext(path), "."))
+	if ext == "" {
+		ext = "jpg"
+	}
+	if ext == "jpeg" {
+		ext = "jpg"
+	}
+
+	b64 := base64.StdEncoding.EncodeToString(data)
+	log.Printf("go_node: camera.snap mock path=%s bytes=%d width=%d height=%d", path, len(data), width, height)
+
+	out := map[string]any{
+		"format": ext,
+		"base64": b64,
+		"width":  width,
+		"height": height,
+	}
+	payload, _ := json.Marshal(out)
+	return gateway.InvokeResult{
+		OK:          true,
+		PayloadJSON: string(payload),
+	}
+}
+
+func (h *CameraSnapHandler) mockPath() string {
+	if p := strings.TrimSpace(h.cfg.CameraMockPath); p != "" {
+		return p
+	}
+	workDir := strings.TrimSpace(h.cfg.WorkDir)
+	if workDir == "" {
+		workDir, _ = os.Getwd()
+	}
+	if workDir == "" {
+		return "camera_mock.jpg"
+	}
+	return filepath.Join(workDir, "camera_mock.jpg")
+}
--- a/cmd/picoclaw-node/node/handlers/file_save.go
+++ b/cmd/picoclaw-node/node/handlers/file_save.go
@ -0,0 +1,133 @@
+package handlers
+
+import (
+	"encoding/base64"
+	"encoding/json"
+	"log"
+	"os"
+	"path/filepath"
+	"strings"
+
+	"github.com/openclaw/go_node/config"
+	"github.com/openclaw/go_node/gateway"
+)
+
+// FileSaveParams holds params for file.save (from picoclaw nodes tool)
+type FileSaveParams struct {
+	Base64   string `json:"base64"`
+	Format   string `json:"format"`
+	Filename string `json:"filename"`
+}
+
+// FileSaveHandler handles file.save command: save base64-encoded image to local disk
+type FileSaveHandler struct {
+	cfg config.ExecConfig
+}
+
+// NewFileSaveHandler creates a handler that saves files under exec.workDir/saved
+func NewFileSaveHandler(cfg config.ExecConfig) *FileSaveHandler {
+	return &FileSaveHandler{cfg: cfg}
+}
+
+// Handle decodes base64 image and saves to local directory
+func (h *FileSaveHandler) Handle(req gateway.InvokeRequest) gateway.InvokeResult {
+	var params FileSaveParams
+	paramsJSON := strings.TrimSpace(req.ParamsJSON)
+	if paramsJSON == "" {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "INVALID_REQUEST",
+				Message: "paramsJSON required",
+			},
+		}
+	}
+	if err := json.Unmarshal([]byte(paramsJSON), &params); err != nil {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "INVALID_REQUEST",
+				Message: "invalid paramsJSON: " + err.Error(),
+			},
+		}
+	}
+
+	if params.Base64 == "" {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "INVALID_REQUEST",
+				Message: "base64 required",
+			},
+		}
+	}
+
+	data, err := base64.StdEncoding.DecodeString(params.Base64)
+	if err != nil {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "INVALID_REQUEST",
+				Message: "base64 decode failed: " + err.Error(),
+			},
+		}
+	}
+
+	filename := strings.TrimSpace(params.Filename)
+	if filename == "" {
+		ext := strings.TrimSpace(strings.ToLower(params.Format))
+		if ext == "" {
+			ext = "bin"
+		}
+		filename = "file." + ext
+	}
+
+	// Sanitize filename: remove path traversal and dangerous chars
+	filename = filepath.Base(filename)
+	if filename == "" || filename == "." {
+		filename = "file.bin"
+	}
+
+	saveDir := h.saveDir()
+	if err := os.MkdirAll(saveDir, 0o755); err != nil {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "UNAVAILABLE",
+				Message: "mkdir failed: " + err.Error(),
+			},
+		}
+	}
+
+	outPath := filepath.Join(saveDir, filename)
+	if err := os.WriteFile(outPath, data, 0o644); err != nil {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "UNAVAILABLE",
+				Message: "write file failed: " + err.Error(),
+			},
+		}
+	}
+
+	absPath, _ := filepath.Abs(outPath)
+	log.Printf("go_node: file.save path=%s bytes=%d", absPath, len(data))
+
+	payload, _ := json.Marshal(map[string]any{
+		"path":   absPath,
+		"bytes":  len(data),
+		"format": params.Format,
+	})
+	return gateway.InvokeResult{
+		OK:          true,
+		PayloadJSON: string(payload),
+	}
+}
+
+func (h *FileSaveHandler) saveDir() string {
+	workDir := strings.TrimSpace(h.cfg.WorkDir)
+	if workDir == "" {
+		return filepath.Join(os.TempDir(), "go_node_saved")
+	}
+	return filepath.Join(workDir, "saved")
+}
--- a/cmd/picoclaw-node/node/handlers/handler.go
+++ b/cmd/picoclaw-node/node/handlers/handler.go
@ -0,0 +1,8 @@
+package handlers
+
+import "github.com/openclaw/go_node/gateway"
+
+// Handler handles a specific invoke command
+type Handler interface {
+	Handle(req gateway.InvokeRequest) gateway.InvokeResult
+}
--- a/cmd/picoclaw-node/node/handlers/system_run.go
+++ b/cmd/picoclaw-node/node/handlers/system_run.go
@ -0,0 +1,360 @@
+package handlers
+
+import (
+	"bytes"
+	"encoding/json"
+	"log"
+	"os"
+	"os/exec"
+	"path/filepath"
+	"runtime"
+	"strings"
+	"time"
+
+	"github.com/openclaw/go_node/config"
+	"github.com/openclaw/go_node/gateway"
+)
+
+const outputCap = 200_000 // max combined stdout+stderr bytes
+
+// SystemRunParams matches openclaw node-host invoke-types SystemRunParams
+type SystemRunParams struct {
+	Command    []string          `json:"command"`
+	RawCommand *string           `json:"rawCommand,omitempty"`
+	CWD        *string           `json:"cwd,omitempty"`
+	Env        map[string]string `json:"env,omitempty"`
+	TimeoutMs  *int64            `json:"timeoutMs,omitempty"`
+}
+
+// RunResult matches openclaw invoke-types RunResult
+type RunResult struct {
+	ExitCode  *int   `json:"exitCode,omitempty"`
+	TimedOut  bool   `json:"timedOut"`
+	Success   bool   `json:"success"`
+	Stdout    string `json:"stdout"`
+	Stderr    string `json:"stderr"`
+	Error     string `json:"error,omitempty"`
+	Truncated bool   `json:"truncated"`
+}
+
+// SystemRunHandler handles system.run command
+type SystemRunHandler struct {
+	cfg config.ExecConfig
+}
+
+// NewSystemRunHandler creates a handler with exec security config
+func NewSystemRunHandler(cfg config.ExecConfig) *SystemRunHandler {
+	return &SystemRunHandler{cfg: cfg}
+}
+
+// Handle executes shell command and returns result
+func (h *SystemRunHandler) Handle(req gateway.InvokeRequest) gateway.InvokeResult {
+	var params SystemRunParams
+	paramsJSON := strings.TrimSpace(req.ParamsJSON)
+	if paramsJSON == "" {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "INVALID_REQUEST",
+				Message: "paramsJSON required",
+			},
+		}
+	}
+	if err := json.Unmarshal([]byte(paramsJSON), &params); err != nil {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "INVALID_REQUEST",
+				Message: "invalid paramsJSON: " + err.Error(),
+			},
+		}
+	}
+
+	argv := params.Command
+	if len(argv) == 0 && params.RawCommand != nil {
+		if !h.cfg.AllowAllCommands && len(h.cfg.AllowedCommands) > 0 {
+			return gateway.InvokeResult{
+				OK: false,
+				Error: &gateway.ErrorShape{
+					Code:    "RAW_COMMAND_NOT_ALLOWED",
+					Message: "RAW_COMMAND_NOT_ALLOWED: rawCommand disabled when allowedCommands is set (unless allowAllCommands=true)",
+				},
+			}
+		}
+		raw := strings.TrimSpace(*params.RawCommand)
+		if raw == "" {
+			return gateway.InvokeResult{
+				OK: false,
+				Error: &gateway.ErrorShape{
+					Code:    "INVALID_REQUEST",
+					Message: "command required",
+				},
+			}
+		}
+		shell, args := shellExec()
+		argv = append([]string{shell}, append(args, raw)...)
+	}
+	if len(argv) == 0 {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "INVALID_REQUEST",
+				Message: "command required",
+			},
+		}
+	}
+
+	if errRes := h.checkAllowed(argv[0]); errRes != nil {
+		return *errRes
+	}
+
+	cwd, errRes := h.resolveCWD(params.CWD)
+	if errRes != nil {
+		return *errRes
+	}
+
+	log.Printf("go_node: system.run argv=%v cwd=%s", argv, cwd)
+
+	timeoutMs := int64(60_000)
+	if params.TimeoutMs != nil && *params.TimeoutMs > 0 {
+		timeoutMs = *params.TimeoutMs
+	}
+
+	result := runCommand(argv, &cwd, params.Env, timeoutMs)
+	payload, _ := json.Marshal(result)
+	return gateway.InvokeResult{
+		OK:          result.Success,
+		PayloadJSON: string(payload),
+	}
+}
+
+func (h *SystemRunHandler) checkAllowed(cmd string) *gateway.InvokeResult {
+	if h.cfg.AllowAllCommands || len(h.cfg.AllowedCommands) == 0 {
+		return nil // ok, allow all
+	}
+	name := filepath.Base(strings.TrimSpace(cmd))
+	for _, allowed := range h.cfg.AllowedCommands {
+		if name == strings.TrimSpace(allowed) {
+			return nil // ok
+		}
+	}
+	return &gateway.InvokeResult{
+		OK: false,
+		Error: &gateway.ErrorShape{
+			Code:    "COMMAND_NOT_ALLOWED",
+			Message: "COMMAND_NOT_ALLOWED: " + name + " is not in allowedCommands",
+		},
+	}
+}
+
+func (h *SystemRunHandler) resolveCWD(paramCWD *string) (string, *gateway.InvokeResult) {
+	workDir := strings.TrimSpace(h.cfg.WorkDir)
+	if workDir == "" {
+		if paramCWD != nil && strings.TrimSpace(*paramCWD) != "" {
+			abs, err := filepath.Abs(*paramCWD)
+			if err != nil {
+				return "", &gateway.InvokeResult{
+					OK: false,
+					Error: &gateway.ErrorShape{
+						Code:    "INVALID_REQUEST",
+						Message: "invalid cwd: " + err.Error(),
+					},
+				}
+			}
+			return abs, nil
+		}
+		wd, _ := os.Getwd()
+		return wd, nil
+	}
+	if paramCWD == nil || strings.TrimSpace(*paramCWD) == "" {
+		if fi, err := os.Stat(workDir); err != nil || !fi.IsDir() {
+			return "", &gateway.InvokeResult{
+				OK: false,
+				Error: &gateway.ErrorShape{
+					Code:    "WORKDIR_INVALID",
+					Message: "WORKDIR_INVALID: exec.workDir must be an existing directory: " + workDir,
+				},
+			}
+		}
+		return workDir, nil
+	}
+	if fi, err := os.Stat(workDir); err != nil || !fi.IsDir() {
+		return "", &gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "WORKDIR_INVALID",
+				Message: "WORKDIR_INVALID: exec.workDir must be an existing directory: " + workDir,
+			},
+		}
+	}
+	req := strings.TrimSpace(*paramCWD)
+	var abs string
+	if filepath.IsAbs(req) {
+		abs = req
+	} else {
+		abs = filepath.Join(workDir, req)
+	}
+	abs, err := filepath.Abs(abs)
+	if err != nil {
+		return "", &gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "INVALID_REQUEST",
+				Message: "invalid cwd: " + err.Error(),
+			},
+		}
+	}
+	rel, err := filepath.Rel(workDir, abs)
+	if err != nil || strings.HasPrefix(rel, "..") {
+		return "", &gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "CWD_OUTSIDE_WORKDIR",
+				Message: "CWD_OUTSIDE_WORKDIR: cwd must be under workDir " + workDir,
+			},
+		}
+	}
+	return abs, nil
+}
+
+func shellExec() (shell string, args []string) {
+	if runtime.GOOS == "windows" {
+		return "cmd.exe", []string{"/c"}
+	}
+	return "/bin/sh", []string{"-c"}
+}
+
+func runCommand(argv []string, cwd *string, env map[string]string, timeoutMs int64) RunResult {
+	cmd := exec.Command(argv[0], argv[1:]...)
+	if cwd != nil && *cwd != "" {
+		cmd.Dir = *cwd
+	}
+	if len(env) > 0 {
+		cmd.Env = envToSlice(env)
+	}
+
+	var stdout, stderr bytes.Buffer
+	stdoutCap := &capWriter{w: &stdout, max: outputCap}
+	stderrCap := &capWriter{w: &stderr, max: outputCap}
+	cmd.Stdout = stdoutCap
+	cmd.Stderr = stderrCap
+
+	err := cmd.Start()
+	if err != nil {
+		return RunResult{
+			Success: false,
+			Stdout:  stdout.String(),
+			Stderr:  stderr.String(),
+			Error:   err.Error(),
+		}
+	}
+
+	timeout := time.Duration(timeoutMs) * time.Millisecond
+	done := make(chan error, 1)
+	go func() { done <- cmd.Wait() }()
+
+	select {
+	case waitErr := <-done:
+		if waitErr != nil {
+			if exitErr, ok := waitErr.(*exec.ExitError); ok {
+				code := exitErr.ExitCode()
+				return RunResult{
+					ExitCode:  &code,
+					TimedOut:  false,
+					Success:   false,
+					Stdout:    truncateOutput(stdout.String(), outputCap),
+					Stderr:    truncateOutput(stderr.String(), outputCap),
+					Truncated: stdoutCap.truncated || stderrCap.truncated,
+				}
+			}
+			return RunResult{
+				Success:   false,
+				Stdout:    truncateOutput(stdout.String(), outputCap),
+				Stderr:    truncateOutput(stderr.String(), outputCap),
+				Error:     waitErr.Error(),
+				Truncated: stdoutCap.truncated || stderrCap.truncated,
+			}
+		}
+		ec := 0
+		return RunResult{
+			ExitCode:  &ec,
+			TimedOut:  false,
+			Success:   true,
+			Stdout:    truncateOutput(stdout.String(), outputCap),
+			Stderr:    truncateOutput(stderr.String(), outputCap),
+			Truncated: stdoutCap.truncated || stderrCap.truncated,
+		}
+	case <-time.After(timeout):
+		cmd.Process.Kill()
+		<-done
+		return RunResult{
+			TimedOut:  true,
+			Success:   false,
+			Stdout:    truncateOutput(stdout.String(), outputCap),
+			Stderr:    truncateOutput(stderr.String(), outputCap),
+			Error:     "command timeout",
+			Truncated: stdoutCap.truncated || stderrCap.truncated,
+		}
+	}
+}
+
+func envToSlice(m map[string]string) []string {
+	base := os.Environ()
+	overrides := make(map[string]string)
+	for k, v := range m {
+		overrides[k] = v
+	}
+	if len(overrides) == 0 {
+		return base
+	}
+	seen := make(map[string]bool)
+	var out []string
+	for _, s := range base {
+		if idx := strings.IndexByte(s, '='); idx > 0 {
+			key := s[:idx]
+			if v, ok := overrides[key]; ok {
+				out = append(out, key+"="+v)
+				seen[key] = true
+				continue
+			}
+		}
+		out = append(out, s)
+	}
+	for k, v := range overrides {
+		if !seen[k] {
+			out = append(out, k+"="+v)
+		}
+	}
+	return out
+}
+
+func truncateOutput(s string, max int) string {
+	if len(s) <= max {
+		return s
+	}
+	return "... (truncated) " + s[len(s)-max:]
+}
+
+type capWriter struct {
+	w         *bytes.Buffer
+	max       int
+	written   int
+	truncated bool
+}
+
+func (c *capWriter) Write(p []byte) (n int, err error) {
+	if c.written >= c.max {
+		c.truncated = true
+		return len(p), nil
+	}
+	rem := c.max - c.written
+	if len(p) > rem {
+		c.w.Write(p[:rem])
+		c.written += rem
+		c.truncated = true
+		return len(p), nil
+	}
+	c.w.Write(p)
+	c.written += len(p)
+	return len(p), nil
+}
--- a/cmd/picoclaw-node/node/invoke_dispatcher.go
+++ b/cmd/picoclaw-node/node/invoke_dispatcher.go
@ -0,0 +1,46 @@
+package node
+
+import (
+	"github.com/openclaw/go_node/config"
+	"github.com/openclaw/go_node/gateway"
+	"github.com/openclaw/go_node/node/handlers"
+)
+
+// InvokeDispatcher routes node.invoke.request to registered handlers
+type InvokeDispatcher struct {
+	handlers map[string]handlers.Handler
+}
+
+// NewInvokeDispatcher creates a dispatcher with default handlers using exec config
+func NewInvokeDispatcher(execCfg config.ExecConfig) *InvokeDispatcher {
+	return &InvokeDispatcher{
+		handlers: map[string]handlers.Handler{
+			"system.run":  handlers.NewSystemRunHandler(execCfg),
+			"file.save":   handlers.NewFileSaveHandler(execCfg),
+			"camera.snap": handlers.NewCameraSnapHandler(execCfg),
+		},
+	}
+}
+
+// Register adds or overrides a handler for command
+func (d *InvokeDispatcher) Register(command string, h handlers.Handler) {
+	if d.handlers == nil {
+		d.handlers = make(map[string]handlers.Handler)
+	}
+	d.handlers[command] = h
+}
+
+// HandleInvoke dispatches to the handler for the command, or returns error if unknown
+func (d *InvokeDispatcher) HandleInvoke(req gateway.InvokeRequest) gateway.InvokeResult {
+	h, ok := d.handlers[req.Command]
+	if !ok {
+		return gateway.InvokeResult{
+			OK: false,
+			Error: &gateway.ErrorShape{
+				Code:    "UNAVAILABLE",
+				Message: "command not supported",
+			},
+		}
+	}
+	return h.Handle(req)
+}