fix gateway reload will cause pico stop working issue

pkg/agent/loop_test.go

@@ -2343,7 +2343,7 @@ func TestProcessMessage_PublishesReasoningContentToReasoningChannel(t *testing.T
 		if outbound.Content != "thinking trace" {
 			t.Fatalf("reasoning content = %q, want %q", outbound.Content, "thinking trace")
 		}
-	case <-time.After(2 * time.Second):
+	case <-time.After(3 * time.Second):
 		t.Fatal("expected reasoning content to be published to reasoning channel")
 	}
 }

pkg/channels/dynamic_mux.go

@@ -0,0 +1,74 @@
+package channels
+
+import (
+	"net/http"
+	"strings"
+	"sync"
+)
+
+// dynamicServeMux is an http.Handler that supports dynamic registration
+// and unregistration of handlers without recreating the server.
+type dynamicServeMux struct {
+	mu       sync.RWMutex
+	handlers map[string]http.Handler
+}
+
+func newDynamicServeMux() *dynamicServeMux {
+	return &dynamicServeMux{
+		handlers: make(map[string]http.Handler),
+	}
+}
+
+// Handle registers the handler for the given pattern.
+func (dm *dynamicServeMux) Handle(pattern string, handler http.Handler) {
+	dm.mu.Lock()
+	defer dm.mu.Unlock()
+	dm.handlers[pattern] = handler
+}
+
+// HandleFunc registers the handler function for the given pattern.
+func (dm *dynamicServeMux) HandleFunc(pattern string, handler func(http.ResponseWriter, *http.Request)) {
+	dm.Handle(pattern, http.HandlerFunc(handler))
+}
+
+// Unhandle removes the handler for the given pattern.
+func (dm *dynamicServeMux) Unhandle(pattern string) {
+	dm.mu.Lock()
+	defer dm.mu.Unlock()
+	delete(dm.handlers, pattern)
+}
+
+// ServeHTTP dispatches the request to the handler whose pattern best matches
+// the request URL path. It supports both exact path matches and subtree
+// (trailing-slash) prefix matches, choosing the longest prefix on collision.
+func (dm *dynamicServeMux) ServeHTTP(w http.ResponseWriter, r *http.Request) {
+	dm.mu.RLock()
+	defer dm.mu.RUnlock()
+
+	path := r.URL.Path
+
+	// Exact match first.
+	if h, ok := dm.handlers[path]; ok {
+		h.ServeHTTP(w, r)
+		return
+	}
+
+	// Longest subtree prefix match (patterns ending with "/").
+	var bestLen int
+	var bestHandler http.Handler
+	for pattern, handler := range dm.handlers {
+		if strings.HasSuffix(pattern, "/") && strings.HasPrefix(path, pattern) {
+			if len(pattern) > bestLen {
+				bestLen = len(pattern)
+				bestHandler = handler
+			}
+		}
+	}
+
+	if bestHandler != nil {
+		bestHandler.ServeHTTP(w, r)
+		return
+	}
+
+	http.NotFound(w, r)
+}

pkg/channels/manager.go

@@ -83,7 +83,7 @@ type Manager struct {
 	config        *config.Config
 	mediaStore    media.MediaStore
 	dispatchTask  *asyncTask
-	mux           *http.ServeMux
+	mux           *dynamicServeMux
 	httpServer    *http.Server
 	mu            sync.RWMutex
 	placeholders  sync.Map          // "channel:chatID" → placeholderID (string)
@@ -436,7 +436,7 @@ func (m *Manager) initChannels(channels *config.ChannelsConfig) error {
 // It registers health endpoints from the health server and discovers channels
 // that implement WebhookHandler and/or HealthChecker to register their handlers.
 func (m *Manager) SetupHTTPServer(addr string, healthServer *health.Server) {
-	m.mux = http.NewServeMux()
+	m.mux = newDynamicServeMux()
 
 	// Register health endpoints
 	if healthServer != nil {
@@ -444,7 +444,28 @@ func (m *Manager) SetupHTTPServer(addr string, healthServer *health.Server) {
 	}
 
 	// Discover and register webhook handlers and health checkers
+	m.registerHTTPHandlersLocked()
+
+	m.httpServer = &http.Server{
+		Addr:         addr,
+		Handler:      m.mux,
+		ReadTimeout:  30 * time.Second,
+		WriteTimeout: 30 * time.Second,
+	}
+}
+
+// registerHTTPHandlersLocked registers webhook and health-check handlers for
+// all channels currently in m.channels. Caller must hold m.mu (or ensure
+// exclusive access).
+func (m *Manager) registerHTTPHandlersLocked() {
 	for name, ch := range m.channels {
+		m.registerChannelHTTPHandler(name, ch)
+	}
+}
+
+// registerChannelHTTPHandler registers the webhook/health handlers for a
+// single channel onto m.mux.
+func (m *Manager) registerChannelHTTPHandler(name string, ch Channel) {
 	if wh, ok := ch.(WebhookHandler); ok {
 		m.mux.Handle(wh.WebhookPath(), wh)
 		logger.InfoCF("channels", "Webhook handler registered", map[string]any{
@@ -461,11 +482,22 @@ func (m *Manager) SetupHTTPServer(addr string, healthServer *health.Server) {
 	}
 }
 
-	m.httpServer = &http.Server{
-		Addr:         addr,
-		Handler:      m.mux,
-		ReadTimeout:  30 * time.Second,
-		WriteTimeout: 30 * time.Second,
+// unregisterChannelHTTPHandler removes the webhook/health handlers for a
+// single channel from m.mux.
+func (m *Manager) unregisterChannelHTTPHandler(name string, ch Channel) {
+	if wh, ok := ch.(WebhookHandler); ok {
+		m.mux.Unhandle(wh.WebhookPath())
+		logger.InfoCF("channels", "Webhook handler unregistered", map[string]any{
+			"channel": name,
+			"path":    wh.WebhookPath(),
+		})
+	}
+	if hc, ok := ch.(HealthChecker); ok {
+		m.mux.Unhandle(hc.HealthPath())
+		logger.InfoCF("channels", "Health endpoint unregistered", map[string]any{
+			"channel": name,
+			"path":    hc.HealthPath(),
+		})
 	}
 }
 
@@ -984,8 +1016,13 @@ func (m *Manager) GetEnabledChannels() []string {
 func (m *Manager) Reload(ctx context.Context, cfg *config.Config) error {
 	m.mu.Lock()
 	defer m.mu.Unlock()
+
+	m.config = cfg
+
 	list := toChannelHashes(cfg)
 	added, removed := compareChannels(m.channelHashes, list)
+
+	deferFuncs := make([]func(), 0, len(removed)+len(added))
 	for _, name := range removed {
 		// Stop all channels
 		channel := m.channels[name]
@@ -998,9 +1035,9 @@ func (m *Manager) Reload(ctx context.Context, cfg *config.Config) error {
 				"error":   err.Error(),
 			})
 		}
-		go func() {
+		deferFuncs = append(deferFuncs, func() {
 			m.UnregisterChannel(name)
-		}()
+		})
 	}
 	dispatchCtx, cancel := context.WithCancel(ctx)
 	m.dispatchTask = &asyncTask{cancel: cancel}
@@ -1031,13 +1068,17 @@ func (m *Manager) Reload(ctx context.Context, cfg *config.Config) error {
 		m.workers[name] = w
 		go m.runWorker(dispatchCtx, name, w)
 		go m.runMediaWorker(dispatchCtx, name, w)
-		go func() {
+		deferFuncs = append(deferFuncs, func() {
 			m.RegisterChannel(name, channel)
-		}()
+		})
 	}
 
-	m.config = cfg
-	m.channelHashes = toChannelHashes(cfg)
+	m.channelHashes = list
+	go func() {
+		for _, f := range deferFuncs {
+			f()
+		}
+	}()
 	return nil
 }
 
@@ -1045,11 +1086,17 @@ func (m *Manager) RegisterChannel(name string, channel Channel) {
 	m.mu.Lock()
 	defer m.mu.Unlock()
 	m.channels[name] = channel
+	if m.mux != nil {
+		m.registerChannelHTTPHandler(name, channel)
+	}
 }
 
 func (m *Manager) UnregisterChannel(name string) {
 	m.mu.Lock()
 	defer m.mu.Unlock()
+	if ch, ok := m.channels[name]; ok && m.mux != nil {
+		m.unregisterChannelHTTPHandler(name, ch)
+	}
 	if w, ok := m.workers[name]; ok && w != nil {
 		close(w.queue)
 		<-w.done

pkg/gateway/gateway.go

@@ -490,12 +490,13 @@ func restartServices(
 	}
 	al.SetMediaStore(runningServices.MediaStore)
 
-	runningServices.ChannelManager, err = channels.NewManager(cfg, msgBus, runningServices.MediaStore)
-	if err != nil {
-		return fmt.Errorf("error recreating channel manager: %w", err)
-	}
 	al.SetChannelManager(runningServices.ChannelManager)
 
+	if err = runningServices.ChannelManager.Reload(context.Background(), cfg); err != nil {
+		return fmt.Errorf("error reload channels: %w", err)
+	}
+	fmt.Println("  ✓ Channels restarted.")
+
 	enabledChannels := runningServices.ChannelManager.GetEnabledChannels()
 	if len(enabledChannels) > 0 {
 		fmt.Printf("  ✓ Channels enabled: %s\n", enabledChannels)
@@ -503,18 +504,6 @@ func restartServices(
 		fmt.Println("  ⚠ Warning: No channels enabled")
 	}
 
-	addr := fmt.Sprintf("%s:%d", cfg.Gateway.Host, cfg.Gateway.Port)
-	// Reuse existing HealthServer to preserve reloadFunc
-	if runningServices.HealthServer == nil {
-		runningServices.HealthServer = health.NewServer(cfg.Gateway.Host, cfg.Gateway.Port)
-	}
-	runningServices.ChannelManager.SetupHTTPServer(addr, runningServices.HealthServer)
-
-	if err = runningServices.ChannelManager.Reload(context.Background(), cfg); err != nil {
-		return fmt.Errorf("error reload channels: %w", err)
-	}
-	fmt.Println("  ✓ Channels restarted.")
-
 	stateManager := state.NewManager(cfg.WorkspacePath())
 	runningServices.DeviceService = devices.NewService(devices.Config{
 		Enabled:    cfg.Devices.Enabled,

pkg/health/server.go

@@ -198,9 +198,17 @@ func (s *Server) readyHandler(w http.ResponseWriter, r *http.Request) {
 	})
 }
 
+// HandlerMux is the interface for registering HTTP handlers, used by
+// RegisterOnMux so that callers can pass any mux implementation
+// (e.g. *http.ServeMux or a custom dynamic mux).
+type HandlerMux interface {
+	Handle(pattern string, handler http.Handler)
+	HandleFunc(pattern string, handler func(http.ResponseWriter, *http.Request))
+}
+
 // RegisterOnMux registers /health, /ready and /reload handlers onto the given mux.
 // This allows the health endpoints to be served by a shared HTTP server.
-func (s *Server) RegisterOnMux(mux *http.ServeMux) {
+func (s *Server) RegisterOnMux(mux HandlerMux) {
 	mux.HandleFunc("/health", s.healthHandler)
 	mux.HandleFunc("/ready", s.readyHandler)
 	mux.HandleFunc("/reload", s.reloadHandler)

pkg/logger/logger.go

@@ -353,6 +353,10 @@ func WarnCF(component string, message string, fields map[string]any) {
 	logMessage(WARN, component, message, fields)
 }
 
+func Warnf(message string, ss ...any) {
+	logMessage(WARN, "", fmt.Sprintf(message, ss...), nil)
+}
+
 func Error(message string) {
 	logMessage(ERROR, "", message, nil)
 }

web/backend/api/gateway.go

@@ -730,8 +730,8 @@ func (h *Handler) gatewayStatusData() map[string]any {
 		gateway.mu.Unlock()
 		logger.ErrorC("gateway", fmt.Sprintf("Gateway health check failed: %v", err))
 	} else {
-		logger.InfoC("gateway", fmt.Sprintf("Gateway health status: %d", statusCode))
 		if statusCode != http.StatusOK {
+			logger.WarnC("gateway", fmt.Sprintf("Gateway health status: %d", statusCode))
 			gateway.mu.Lock()
 			setGatewayRuntimeStatusLocked("error")
 			gateway.mu.Unlock()