refactor gateway/helpers and add server.pid to health

cmd/picoclaw/internal/gateway/helpers.go

@@ -7,6 +7,7 @@ import (
 	"os/signal"
 	"path/filepath"
 	"sync"
+	"syscall"
 	"time"
 
 	"github.com/sipeed/picoclaw/cmd/picoclaw/internal"
@@ -43,7 +44,6 @@ import (
 
 // Timeout constants for service operations
 const (
-	serviceRestartTimeout   = 30 * time.Second
 	serviceShutdownTimeout  = 30 * time.Second
 	providerReloadTimeout   = 30 * time.Second
 	gracefulShutdownTimeout = 15 * time.Second
@@ -121,7 +121,7 @@ func gatewayCmd(debug bool) error {
 	defer stopWatch()
 
 	sigChan := make(chan os.Signal, 1)
-	signal.Notify(sigChan, os.Interrupt)
+	signal.Notify(sigChan, os.Interrupt, syscall.SIGTERM)
 
 	// Main event loop - wait for signals or config changes
 	for {
@@ -150,7 +150,8 @@ func setupAndStartServices(
 
 	// Setup cron tool and service
 	execTimeout := time.Duration(cfg.Tools.Cron.ExecTimeoutMinutes) * time.Minute
-	services.CronService = setupCronTool(
+	var err error
+	services.CronService, err = setupCronTool(
 		agentLoop,
 		msgBus,
 		cfg.WorkspacePath(),
@@ -158,7 +159,10 @@ func setupAndStartServices(
 		execTimeout,
 		cfg,
 	)
-	if err := services.CronService.Start(); err != nil {
+	if err != nil {
+		return nil, fmt.Errorf("error setting up cron service: %w", err)
+	}
+	if err = services.CronService.Start(); err != nil {
 		return nil, fmt.Errorf("error starting cron service: %w", err)
 	}
 	fmt.Println("✓ Cron service started")
@@ -170,26 +174,8 @@ func setupAndStartServices(
 		cfg.Heartbeat.Enabled,
 	)
 	services.HeartbeatService.SetBus(msgBus)
-	services.HeartbeatService.SetHandler(func(prompt, channel, chatID string) *tools.ToolResult {
+	services.HeartbeatService.SetHandler(createHeartbeatHandler(agentLoop))
-		// Use cli:direct as fallback if no valid channel
+	if err = services.HeartbeatService.Start(); err != nil {
-		if channel == "" || chatID == "" {
-			channel, chatID = "cli", "direct"
-		}
-		// Use ProcessHeartbeat - no session history, each heartbeat is independent
-		var response string
-		var err error
-		response, err = agentLoop.ProcessHeartbeat(context.Background(), prompt, channel, chatID)
-		if err != nil {
-			return tools.ErrorResult(fmt.Sprintf("Heartbeat error: %v", err))
-		}
-		if response == "HEARTBEAT_OK" {
-			return tools.SilentResult("Heartbeat OK")
-		}
-		// For heartbeat, always return silent - the subagent result will be
-		// sent to user via processSystemMessage when the async task completes
-		return tools.SilentResult(response)
-	})
-	if err := services.HeartbeatService.Start(); err != nil {
 		return nil, fmt.Errorf("error starting heartbeat service: %w", err)
 	}
 	fmt.Println("✓ Heartbeat service started")
@@ -206,7 +192,6 @@ func setupAndStartServices(
 	}
 
 	// Create channel manager
-	var err error
 	services.ChannelManager, err = channels.NewManager(cfg, msgBus, services.MediaStore)
 	if err != nil {
 		// Stop the media store if it's a FileMediaStore with cleanup
@@ -238,7 +223,7 @@ func setupAndStartServices(
 	services.HealthServer = health.NewServer(cfg.Gateway.Host, cfg.Gateway.Port)
 	services.ChannelManager.SetupHTTPServer(addr, services.HealthServer)
 
-	if err := services.ChannelManager.StartAll(context.Background()); err != nil {
+	if err = services.ChannelManager.StartAll(context.Background()); err != nil {
 		return nil, fmt.Errorf("error starting channels: %w", err)
 	}
 
@@ -251,7 +236,7 @@ func setupAndStartServices(
 		MonitorUSB: cfg.Devices.MonitorUSB,
 	}, stateManager)
 	services.DeviceService.SetBus(msgBus)
-	if err := services.DeviceService.Start(context.Background()); err != nil {
+	if err = services.DeviceService.Start(context.Background()); err != nil {
 		logger.ErrorCF("device", "Error starting device service", map[string]any{"error": err.Error()})
 	} else if cfg.Devices.Enabled {
 		fmt.Println("✓ Device event service started")
@@ -386,17 +371,13 @@ func restartServices(
 	services *gatewayServices,
 	msgBus *bus.MessageBus,
 ) error {
-	// Create an independent context with timeout for service restart
-	// This prevents cancellation from the main loop context during reload
-	ctx, cancel := context.WithTimeout(context.Background(), serviceRestartTimeout)
-	defer cancel()
-
 	// Get current config from agent loop (which has been updated if this is a reload)
 	cfg := al.GetConfig()
 
 	// Re-create and start cron service with new config
 	execTimeout := time.Duration(cfg.Tools.Cron.ExecTimeoutMinutes) * time.Minute
-	services.CronService = setupCronTool(
+	var err error
+	services.CronService, err = setupCronTool(
 		al,
 		msgBus,
 		cfg.WorkspacePath(),
@@ -404,7 +385,10 @@ func restartServices(
 		execTimeout,
 		cfg,
 	)
-	if err := services.CronService.Start(); err != nil {
+	if err != nil {
+		return fmt.Errorf("error restarting cron service: %w", err)
+	}
+	if err = services.CronService.Start(); err != nil {
 		return fmt.Errorf("error restarting cron service: %w", err)
 	}
 	fmt.Println("  ✓ Cron service restarted")
@@ -416,31 +400,12 @@ func restartServices(
 		cfg.Heartbeat.Enabled,
 	)
 	services.HeartbeatService.SetBus(msgBus)
-	services.HeartbeatService.SetHandler(func(prompt, channel, chatID string) *tools.ToolResult {
+	services.HeartbeatService.SetHandler(createHeartbeatHandler(al))
-		if channel == "" || chatID == "" {
+	if err = services.HeartbeatService.Start(); err != nil {
-			channel, chatID = "cli", "direct"
-		}
-		var response string
-		var err error
-		response, err = al.ProcessHeartbeat(context.Background(), prompt, channel, chatID)
-		if err != nil {
-			return tools.ErrorResult(fmt.Sprintf("Heartbeat error: %v", err))
-		}
-		if response == "HEARTBEAT_OK" {
-			return tools.SilentResult("Heartbeat OK")
-		}
-		return tools.SilentResult(response)
-	})
-	if err := services.HeartbeatService.Start(); err != nil {
 		return fmt.Errorf("error restarting heartbeat service: %w", err)
 	}
 	fmt.Println("  ✓ Heartbeat service restarted")
 
-	// Stop the old media store before creating a new one
-	if fms, ok := services.MediaStore.(*media.FileMediaStore); ok {
-		fms.Stop()
-	}
-
 	// Re-create media store with new config
 	services.MediaStore = media.NewFileMediaStoreWithCleanup(media.MediaCleanerConfig{
 		Enabled:  cfg.Tools.MediaCleanup.Enabled,
@@ -454,13 +419,8 @@ func restartServices(
 	al.SetMediaStore(services.MediaStore)
 
 	// Re-create channel manager with new config
-	var err error
 	services.ChannelManager, err = channels.NewManager(cfg, msgBus, services.MediaStore)
 	if err != nil {
-		// Stop the media store if it's a FileMediaStore with cleanup
-		if fms, ok := services.MediaStore.(*media.FileMediaStore); ok {
-			fms.Stop()
-		}
 		return fmt.Errorf("error recreating channel manager: %w", err)
 	}
 	al.SetChannelManager(services.ChannelManager)
@@ -477,7 +437,8 @@ func restartServices(
 	services.HealthServer = health.NewServer(cfg.Gateway.Host, cfg.Gateway.Port)
 	services.ChannelManager.SetupHTTPServer(addr, services.HealthServer)
 
-	if err := services.ChannelManager.StartAll(ctx); err != nil {
+	// Use background context for lifecycle to ensure services persist after restartServices returns
+	if err = services.ChannelManager.StartAll(context.Background()); err != nil {
 		return fmt.Errorf("error restarting channels: %w", err)
 	}
 	fmt.Printf(
@@ -493,7 +454,7 @@ func restartServices(
 		MonitorUSB: cfg.Devices.MonitorUSB,
 	}, stateManager)
 	services.DeviceService.SetBus(msgBus)
-	if err := services.DeviceService.Start(ctx); err != nil {
+	if err := services.DeviceService.Start(context.Background()); err != nil {
 		logger.WarnCF("device", "Failed to restart device service", map[string]any{"error": err.Error()})
 	} else if cfg.Devices.Enabled {
 		fmt.Println("  ✓ Device event service restarted")
@@ -544,6 +505,10 @@ func setupConfigWatcherPolling(configPath string, debug bool) (chan *config.Conf
 					// Debounce - wait a bit to ensure file write is complete
 					time.Sleep(500 * time.Millisecond)
 
+					// Update last known state to prevent repeated reload attempts on failure
+					lastModTime = currentModTime
+					lastSize = currentSize
+
 					// Validate and load new config
 					newCfg, err := config.LoadConfig(configPath)
 					if err != nil {
@@ -561,10 +526,6 @@ func setupConfigWatcherPolling(configPath string, debug bool) (chan *config.Conf
 
 					logger.Info("✓ Config file validated and loaded")
 
-					// Update last known state
-					lastModTime = currentModTime
-					lastSize = currentSize
-
 					// Send new config to main loop (non-blocking)
 					select {
 					case configChan <- newCfg:
@@ -613,7 +574,7 @@ func setupCronTool(
 	restrict bool,
 	execTimeout time.Duration,
 	cfg *config.Config,
-) *cron.CronService {
+) (*cron.CronService, error) {
 	cronStorePath := filepath.Join(workspace, "cron", "jobs.json")
 
 	// Create cron service
@@ -625,7 +586,7 @@ func setupCronTool(
 		var err error
 		cronTool, err = tools.NewCronTool(cronService, agentLoop, msgBus, workspace, restrict, execTimeout, cfg)
 		if err != nil {
-			logger.Fatalf("Critical error during CronTool initialization: %v", err)
+			return nil, fmt.Errorf("critical error during CronTool initialization: %w", err)
 		}
 
 		agentLoop.RegisterTool(cronTool)
@@ -639,5 +600,27 @@ func setupCronTool(
 		})
 	}
 
-	return cronService
+	return cronService, nil
+}
+
+func createHeartbeatHandler(agentLoop *agent.AgentLoop) func(prompt, channel, chatID string) *tools.ToolResult {
+	return func(prompt, channel, chatID string) *tools.ToolResult {
+		// Use cli:direct as fallback if no valid channel
+		if channel == "" || chatID == "" {
+			channel, chatID = "cli", "direct"
+		}
+		// Use ProcessHeartbeat - no session history, each heartbeat is independent
+		var response string
+		var err error
+		response, err = agentLoop.ProcessHeartbeat(context.Background(), prompt, channel, chatID)
+		if err != nil {
+			return tools.ErrorResult(fmt.Sprintf("Heartbeat error: %v", err))
+		}
+		if response == "HEARTBEAT_OK" {
+			return tools.SilentResult("Heartbeat OK")
+		}
+		// For heartbeat, always return silent - the subagent result will be
+		// sent to user via processSystemMessage when the async task completes
+		return tools.SilentResult(response)
+	}
 }

pkg/health/server.go

@@ -6,6 +6,7 @@ import (
 	"fmt"
 	"maps"
 	"net/http"
+	"os"
 	"sync"
 	"time"
 )
@@ -29,6 +30,7 @@ type StatusResponse struct {
 	Status string           `json:"status"`
 	Uptime string           `json:"uptime"`
 	Checks map[string]Check `json:"checks,omitempty"`
+	Pid    int              `json:"pid"`
 }
 
 func NewServer(host string, port int) *Server {
@@ -112,6 +114,7 @@ func (s *Server) healthHandler(w http.ResponseWriter, r *http.Request) {
 	resp := StatusResponse{
 		Status: "ok",
 		Uptime: uptime.String(),
+		Pid:    os.Getpid(),
 	}
 
 	json.NewEncoder(w).Encode(resp)