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Raspberry Pi 5📖
00.Quick Start (Must See)
  • 1.Quick Start (Must See)
  • 2.TF card expand capacity
  • 3.Raspberry Pi 5 - 1GB Version Must - See Before Use
01.Introduction to Raspberry PI 5
  • 1. Introduction to Raspberry PI 5
  • 2. Raspberry PI system installation and backup
  • 3. Powering the Raspberry PI 5
  • 4. Startup of Raspberry PI 5
  • 5. Installation and introduction of shell and active radiator
  • 6. GPIO and 40-pin pins
  • 7. Tips for using Raspberry PI 5
  • 8. Raspberry PI PCIe connector
  • 9. MIPI CSI DSI connector
  • 10. UART connector
  • 11. Real-time clock
  • 12. Power over Ethernet (PoE) connector
02.Introduction to common mirror systems
  • 1. Official Raspberry PI system
  • 2. Ubuntu
03.Basic settings of Raspberry Pi
  • 1. Update and upgrade operating system
  • 2.Introduction to raspi-config tool
  • 3.config.txt file description
  • 4.Network Configuration
  • 5.remote access
  • 6.Transfer files remotely
  • 7.Set display resolution and rotation
  • 8.Set screen to sleep
  • 9.Get real-time temperature of Raspberry Pi
  • 10.Play audio and video
  • 11.Using USB camera
  • 12.Using MIPI camera
04.Basic programming course
1. C language programming
  • 1. C language environment construction
  • 2. Print Hello World
2. Python programming
  • 1.Python usage
  • 2.Use APT to install Python packages
  • 3.Python virtual environment
  • 4.GPIO Zero
  • 5.Pin output high and low levels
  • 6.Pin reads high and low levels
  • 7.Pin output PWM
3.Jupyter lab programming
  • 1.Jupyter Lab environment construction
  • 2.Basic use of Jupyter Lab
  • 3.Jupyter Lab plug-in installation
  • 4.Basic use of Jupyter Widgets
05.Advanced AI course
5.Advanced AI gameplay
  • 1. Human pose estimation
  • 2. target detection
  • 3.yolov5
  • 4. Camera display
  • 5. QR code
  • 6. face detection
  • 7. Color recognition
2.Getting started with Open Source CV
  • 1. Introduction to Open Source CV
  • 2. Read and display Open Source CV images
  • 3. Open Source CV image writing
  • 4. Open Source CV image quality
  • 5.Open Source CV pixel operation
3.Open Source CV Geometric Transformations
  • 1. Image resizing
  • 2. Cut the image
  • 3. Image translation
  • 4. Image mirroring
  • 5. Affine transformation
  • 6. Rotate the image
  • 7. Perspective transformation
4.Text Picture Drawing Open Source CV image processing and drawing text line segments
  • 1、Grey Processing
  • 2、image binaryzation
  • 3、edge detection
  • 4、Line segment drawing
  • 5、Rectangle and circle drawing
  • 6、Text image drawing
1.Open Source CV environment setup
  • Open Source CV environment setup
6.YOLOv11 development
  • 1. YOLOv11 environment construction
  • 2. CLI Usage
  • 3. Object Detection
  • 4. Instance Segmentation
  • 5. Pose Estimation
  • 6. Image Classification
  • 7. Oriented Bounding Boxes Object Detection
  • 8. Model conversion
  • 9. Dataset Annotation
  • 10. Model training_conversion
  • 11. Model prediction
7.YOLO26 development
  • 01.YOLO26 environment
  • 02.CLI use
  • 03.Object detection
  • 04.Instance segmentation
  • 05.Pose estimation
  • 06.Image classification
  • 07.Oriented bounding box object detection
  • 08.Model conversion
  • 09.Dataset annotation
  • 10.Model training - conversion
  • 11.Model prediction
06.Mediapipe course
  • 1. Face special effects
  • 2. Face detection
  • 3. Three-dimensional object recognition
  • 4. Paintbrush
  • 5. Finger control
  • 6. Gesture recognition
07.Docker Tutorial
  • 1.Overview and installation
  • 2.Common commands
  • 3.Understand and publish images
  • 4.Hardware interaction data processing
  • 5.Enter docker container
  • 6.Update docker images
  • 7. docker container to install ROS using accessories
08.ROS1 advanced tutorial
1.ROS1 basic course
  • 1.ROS introduction
  • 2.ROS installation
  • 3.ROS common command tools
  • 4.ROS workspace
  • 5.ROS function package
  • 6.ROS node
  • 7.ROS topic publisher
  • 8.ROS topic subscribers
  • 9.ROS service client
  • 10.ROS service server
  • 11.ROS action client
  • 12.ROS action server
  • 13.ROS custom message reception
  • 14.ROS-launch file
  • 15.ROS-TF transformation
  • 16.ROS parameter service
  • 17.ROS-rviz use
  • 18.ROS-rqt tool usage
  • 19.Topic message recording and playback
  • 20.urdf model introduction
  • 21.gazebo introduction
  • 22.ROS distributed communication
2.ROS1 vision application
  • 0.Precautions
  • 1.AR vision
  • 2.AR QR code
  • 3.ROS+Opencv basics
  • 4.Face recognition
  • 5.harris corner detection
  • 6.Target tracking algorithm
  • 7.Contour moment
  • 8.Polygon outline
  • 9.Discrete fourier transform algorithm
  • 10.Edge detection algorithm
  • 11.Face detection algorithm
  • 12.Optical flow detection algorithm
  • 13.Contour detection
  • 14.General contour detection
  • 15.Feature point tracking
  • 16.HLS color filtering
  • 17.Hough circle detection
  • 18.Hough linear detection
  • 19.HSV color filtering
  • 20.LK optical flow algorithm
  • 21.detection algorithm
  • 22.Phase dependent displacement detection
  • 23.Image pyramid sampling algorithm
  • 24.RGB color filtering
  • 25.Clear background detection algorithm
  • 26.Simplified optical flow algorithm
  • 27.Simple filter
  • 28.Threshold image processing
  • 29.Watershed segmentation algorithm
09.ROS2 advanced tutorial
1.ROS2 basic course
  • 1. Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
2.ROS2 vision application
  • 0.Precautions
  • 1.Opencv basic course
  • 2.ROS+opencv application
  • 3.QR code creation and recognition
  • 4.AR vision
  • 5.Interesting gameplay of mediapipe
10.Offline AI model coursenew
Offline large model (Text Interaction)
  • 0. AI large model image description
  • 1. Deployment of large AI model environments
  • 2. Switch Chinese input method
  • 3. Installation of large model dialogue platform
  • 4. Meta AI Llama 3.2 model
  • 5. Alibaba Cloud Qwen3 Model
  • 6. Microsoft Phi-4-mini model
  • 7. DeepSeek DeepSeek-R1 model
  • 8. Alibaba Cloud Qwen2.5vl Visual Multimodal Large Model
  • 9. Google Gemma3 Visual Multimodal Large Model
  • 10. Llava Visual Multimodal Large Model
  • 11.MiniCPM-V Visual Multimodal Large Model
  • 12. Multimodal Visual Understanding Applications
  • 13. Multimodal Text-Based Image Application
  • 14. Multimodal Video Analysis Application
  • 15. Multimodal visual positioning applications
  • 16. Multimodal table scanning application
  • 17. Multimodal Autonomous Agent Application
Offline large model (Voice Interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Offline speech-to-text (ASR)
  • 2. Offline Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual understanding and voice interaction
  • 5. Multimodal Text-Based Image Application
  • 6. Multimodal Video Analysis Application
  • 7. Multimodal visual positioning applications
  • 8. Multimodal table scanning application
  • 9. Multimodal Autonomous Agent Applications
  • 10. AI large model offline voice assistant
11.Online AI model coursenew
Online large model (text interaction)
  • 1.OpenRouter Large Model API Aggregation Platform
  • 2. Multimodal Visual Understanding Applications
  • 3. Multimodal visual positioning applications
  • 4. Multimodal table scanning application
  • 5. Multimodal Autonomous Agent Applications
Online large model (voice interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Online speech-to-text (ASR)
  • 2. Online Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual and voice interaction
  • 5. Multimodal visual positioning applications
  • 6. Multimodal table scanning application
  • 7. Multimodal Autonomous Agent Applications
  • 8. AI large model online voice assistant
12.OpenClaw Deployment and Basic Usagenew
  • 01. OpenClaw Deployment
  • 02. OpenClaw WhatsApp Plugin Application
  • 03. OpenClaw WebChat Interaction
  • 04. OpenClaw TUI Interaction
  • 05. OpenClaw Tools Introduction
  • 06. OpenClawGate Gateway User Manual
  • 07. OpenClaw Features Overview
  • 08. OpenClawHub Introduction (Skill Installation)
  • 09. OpenClaw Application - File Management
  • 10. OpenClaw Application - Camera
  • 11. OpenClaw Application - Browser Control
  • 12. OpenClaw Application - Script Execution
  • 13. OpenClaw Application - AI Programming (Peripheral & GPIO Control)
  • 14. OpenClaw Application - Dedicated AI Assistant
13.OpenClaw Advanced Developmentnew
1.Preparation Before Use
  • 01. Peripheral Hardware Configuration
  • 02. OpenClaw API-KEY Configuration
  • 03. OpenClaw Model Switching
  • 04. OpenClaw Prompts
  • 05. AI Voice Interaction Configuration
  • 06. 3D Configuration Tests
2.OpenClaw AI Programming Peripheral Control
  • 1. Servo Control
  • 2. RGB Strip
  • 3. OLED Display
  • 4. Temperature and Humidity Sensor
  • 5. Camera Application
  • 6. AI Script Peripheral Control
3.OpenClaw Peripheral Integration Applications
  • 1. Plant Care Assistant
  • 2. AI Calorie Estimation
  • 3. AI Rock Paper Scissors Game
  • 4. AI Pet
  • 5. AI Weather Station
  • 6. Temperature and Humidity Dashboard
  • 7. Scheduled Tasks
Download
  • SystemFile
  • Code
  • SoftWare
  • 3D_Model_File
  • GuideManual
Download ZIP

Welcome to Raspberry Pi 5 repository

06. OpenClawGate Gateway User Manual

Gateway Runtime Manual

Last updated: 2025-12-09

What It Is

  • A resident process with a single Baileys/Telegram connection and control/event plane.
  • Replaces the old gateway command. CLI entry point: openclaw gateway.
  • Runs until stopped; exits with non-zero exit code on fatal errors so supervisor can restart it.

How to Run (Local)

openclaw gateway --port 18789
# Get full debug/trace logs in stdio:
openclaw gateway --port 18789 --verbose
# If port is occupied, terminate listener then start:
openclaw gateway --force
# Development loop (auto-reload on TS changes):
pnpm gateway:watch

  • Configuration hot reload watches ~/.openclaw/openclaw.json (or OPENCLAW_CONFIG_PATH).

    • Default mode: gateway.reload.mode="hybrid" (hot-applies safe changes, restarts on critical changes).
    • Hot reload uses SIGUSR1 for in-process restart when needed.
    • Use gateway.reload.mode="off" to disable.

  • Binds WebSocket control plane to 127.0.0.1:<port> (default 18789).

  • Same port also serves HTTP (control interface, hooks, A2UI). Single port multiplexing.

    • OpenAI Chat Completions (HTTP): /v1/chat/completions.
    • OpenResponses (HTTP): /v1/responses.
    • Tools Invoke (HTTP): /tools/invoke.

  • By default starts Canvas file server on canvasHost.port (default 18793), serving http://<gateway-host>:18793/__openclaw__/canvas/ from ~/.openclaw/workspace/canvas. Use canvasHost.enabled=false or OPENCLAW_SKIP_CANVAS_HOST=1 to disable.

  • Logs to stdout; use launchd/systemd to keep running and rotate logs.

  • Pass --verbose for troubleshooting to mirror debug logs (handshakes, requests/responses, events) from log file to stdio.

  • --force uses lsof to find listener on selected port, sends SIGTERM, logs what it terminated, then starts Gateway (fails fast if lsof missing).

  • If you're running under a supervisor (launchd/systemd/mac app subprocess mode), stop/restart usually sends SIGTERM; old versions may show this as pnpm ELIFECYCLE exit code 143 (SIGTERM), which is normal shutdown, not a crash.

  • SIGUSR1 triggers in-process restart when authorized (Gateway tools/config apply/update, or enable commands.restart for manual restart).

  • By default requires Gateway authentication: set gateway.auth.token (or OPENCLAW_GATEWAY_TOKEN) or gateway.auth.password. Clients must send connect.params.auth.token/password unless using Tailscale Serve identity.

  • Wizard now generates tokens by default, even on loopback.

  • Port priority: --port > OPENCLAW_GATEWAY_PORT > gateway.port > default 18789.

 

Remote Access

  • Prefer Tailscale/VPN; otherwise use SSH tunnel:

    xxxxxxxxxx
    ssh -N -L 18789:127.0.0.1:18789 user@host

  • Then clients connect to ws://127.0.0.1:18789 through the tunnel.

  • If token is configured, clients must include it in connect.params.auth.token even through tunnel.

Multiple Gateways (Same Host)

Usually not needed: one Gateway can serve multiple message channels and agents. Use multiple Gateways only when you need redundancy or strict isolation (e.g., rescue bot). Supported if you isolate state + configuration and use unique ports. Full guide: Multiple Gateways. Service names are profile-aware:

  • macOS: bot.molt.<profile> (legacy com.openclaw.* may still exist)
  • Linux: openclaw-gateway-<profile>.service
  • Windows: OpenClaw Gateway (<profile>)

Installation metadata is embedded in service configuration:

  • OPENCLAW_SERVICE_MARKER=openclaw
  • OPENCLAW_SERVICE_KIND=gateway
  • OPENCLAW_SERVICE_VERSION=<version>

Rescue bot mode: Keep a second Gateway isolated with its own profile, state directory, workspace, and base port offset. Full guide: Rescue Bot Guide.

Dev Profile (--dev)

Quick path: Run completely isolated dev instance (config/state/workspace) without touching your main setup.

xxxxxxxxxx
openclaw --dev setup
openclaw --dev gateway --allow-unconfigured
# Then target dev instance:
openclaw --dev status
openclaw --dev health

Defaults (overridable via env/flags/config):

  • OPENCLAW_STATE_DIR=~/.openclaw-dev
  • OPENCLAW_CONFIG_PATH=~/.openclaw-dev/openclaw.json
  • OPENCLAW_GATEWAY_PORT=19001 (Gateway WS + HTTP)
  • Browser control service port = 19003 (derived: gateway.port+2, loopback only)
  • canvasHost.port=19005 (derived: gateway.port+4)
  • When you run setup/onboard under --dev, agents.defaults.workspace defaults to ~/.openclaw/workspace-dev.

Derived ports (rule of thumb):

  • Base port = gateway.port (or OPENCLAW_GATEWAY_PORT / --port)
  • Browser control service port = base + 2 (loopback only)
  • canvasHost.port = base + 4 (or OPENCLAW_CANVAS_HOST_PORT / config override)
  • Browser profile CDP ports auto-allocated from browser.controlPort + 9 .. + 108 (persisted per profile).

Per-instance checklist:

  • Unique gateway.port
  • Unique OPENCLAW_CONFIG_PATH
  • Unique OPENCLAW_STATE_DIR
  • Unique agents.defaults.workspace
  • Separate WhatsApp number (if using WA)

Install services by profile:

xxxxxxxxxx
openclaw --profile main gateway install
openclaw --profile rescue gateway install

Example:

xxxxxxxxxx
OPENCLAW_CONFIG_PATH=~/.openclaw/a.json OPENCLAW_STATE_DIR=~/.openclaw-a openclaw gateway --port 19001
OPENCLAW_CONFIG_PATH=~/.openclaw/b.json OPENCLAW_STATE_DIR=~/.openclaw-b openclaw gateway --port 19002

Protocol (Operations View)

  • Full documentation: Gateway Protocol and Bridge Protocol (Legacy).

  • First frame clients must send: req {type:"req", id, method:"connect", params:{minProtocol,maxProtocol,client:{id,displayName?,version,platform,deviceFamily?,modelIdentifier?,mode,instanceId?}, caps, auth?, locale?, userAgent? } }.

  • Gateway replies res {type:"res", id, ok:true, payload:hello-ok } (or ok:false with error, then close).

  • After handshake:

    • Requests: {type:"req", id, method, params} → {type:"res", id, ok, payload|error}
    • Events: {type:"event", event, payload, seq?, stateVersion?}

  • Structured presence entries: {host, ip, version, platform?, deviceFamily?, modelIdentifier?, mode, lastInputSeconds?, ts, reason?, tags?[], instanceId? } (for WS clients, instanceId from connect.client.instanceId).

  • agent responses are two-phase: first res acknowledges {runId,status:"accepted"}, then final res {runId,status:"ok"|"error",summary} sent after run completes; streaming output arrives as event:"agent".

Methods (Initial Set)

  • health — Full health snapshot (same shape as openclaw health --json).
  • status — Brief summary.
  • system-presence — Current presence list.
  • system-event — Publish presence/system annotation (structured).
  • send — Send message via active channel.
  • agent — Run agent turn (streams events back on same connection).
  • node.list — List paired + currently connected nodes (including caps, deviceFamily, modelIdentifier, paired, connected, and broadcasted commands).
  • node.describe — Describe node (capabilities + supported node.invoke commands; works for paired nodes and currently connected unpaired nodes).
  • node.invoke — Invoke command on node (e.g., canvas.*, camera.*).
  • node.pair.* — Pairing lifecycle (request, list, approve, reject, verify).

See also: Presence for how presence is generated/deduplicated and why stable client.instanceId is important.

Events

  • agent — Streaming tool/output events from agent runs (with seq markers).
  • presence — Presence updates (deltas with stateVersion) pushed to all connected clients.
  • tick — Periodic keepalive/noop to confirm liveness.
  • shutdown — Gateway is exiting; payload includes reason and optional restartExpectedMs. Clients should reconnect.

WebChat Integration

  • WebChat is native SwiftUI UI that talks directly to Gateway WebSocket for history, send, abort, and events.
  • Remote use works through same SSH/Tailscale tunnel; if Gateway token is configured, client includes it during connect.
  • macOS app uses single WS connection (shared connection); it populates presence from initial snapshot and listens to presence events to update UI.

Types and Validation

  • Server validates each inbound frame using AJV against JSON Schema emitted from protocol definition.

  • Clients (TS/Swift) consume generated types (TS directly; Swift via repo's generator).

  • Protocol definition is source of truth; regenerate schema/models with:

    • pnpm protocol:gen
    • pnpm protocol:gen:swift

Connection Snapshot

  • hello-ok contains snapshot with presence, health, stateVersion, and uptimeMs, plus policy {maxPayload,maxBufferedBytes,tickIntervalMs}, so clients can render immediately without extra requests.
  • health/system-presence still available for manual refresh but not required on connect.

Error Codes (res.error shape)

  • Errors use `{ code, message, details?, retryable?, retryAfterMs? }".

  • Standard codes:

    • NOT_LINKED — WhatsApp not authenticated.
    • AGENT_TIMEOUT — Agent didn't respond within configured deadline.
    • INVALID_REQUEST — schema/parameter validation failed.
    • UNAVAILABLE — Gateway is shutting down or dependency unavailable.

Keepalive Behavior

  • tick events (or WS ping/pong) are sent periodically so clients know Gateway is alive even when there's no traffic.
  • Send/agent acknowledgments remain separate responses; don't overload tick for sends.

Replay / Gaps

Events are not replayed. Clients detect seq gaps and should refresh (health + system-presence) before continuing. WebChat and macOS clients now auto-refresh on gaps.

Supervision (macOS Example)

  • Use launchd to keep service alive:

    • Program: path to openclaw
    • Arguments: gateway
    • KeepAlive: true
    • StandardOut/Err: file paths or syslog

  • On failure, launchd restarts; fatal configuration errors should stay exited so ops notice.

  • LaunchAgents are per-user and require logged-in session; for headless setups, use custom LaunchDaemon (not bundled).

    • openclaw gateway install writes ~/Library/LaunchAgents/bot.molt.gateway.plist (or bot.molt.<profile>.plist; legacy com.openclaw.* will be cleaned up).
    • openclaw doctor audits LaunchAgent config and can update it to current defaults.

Gateway Service Management (CLI)

Use Gateway CLI for install/start/stop/restart/status:

xxxxxxxxxx
openclaw gateway status
openclaw gateway install
openclaw gateway stop
openclaw gateway restart
openclaw logs --follow

Notes:

  • gateway status by default probes Gateway RPC using service-resolved port/config (override with --url).

  • gateway status --deep adds system-level scan (LaunchDaemons/system units).

  • gateway status --no-probe skips RPC probe (useful when network is down).

  • gateway status --json is stable for scripting.

  • gateway status reports supervisor runtime (launchd/systemd running) separate from RPC reachability (WS connection + status RPC).

  • gateway status prints config path + probe target to avoid "localhost vs LAN bind" confusion and profile mismatches.

  • gateway status includes last Gateway error line when service appears running but port is closed.

  • logs tails Gateway file logs via RPC (no manual tail/grep needed).

  • CLI warns if it detects other Gateway-like services, unless they are OpenClaw profile services. We still recommend most setups have one Gateway per machine; use isolated profiles/ports for redundancy or rescue bots. See Multiple Gateways.

    • Cleanup: openclaw gateway uninstall (current service) and openclaw doctor (legacy migration).

  • gateway install is no-op when already installed; use openclaw gateway install --force to reinstall (profile/env/path changes).

Bundled mac app:

  • OpenClaw.app can bundle Node-based Gateway relay and install per-user LaunchAgent labeled bot.molt.gateway (or bot.molt.<profile>; legacy com.openclaw.* labels still clean uninstall).

  • To stop it cleanly, use openclaw gateway stop (or launchctl bootout gui/$UID/bot.molt.gateway).

  • To restart, use openclaw gateway restart (or launchctl kickstart -k gui/$UID/bot.molt.gateway).

    • launchctl only works if LaunchAgent is installed; otherwise use openclaw gateway install first.
    • When running named profile, replace label with bot.molt.<profile>.

Supervision (systemd user units)

OpenClaw defaults to systemd user services on Linux/WSL2. We recommend user services for single-user machines (simpler env, per-user config). For multi-user or always-on servers use system services (no lingering needed, shared supervision). openclaw gateway install writes user unit. openclaw doctor audits unit and can update it to match current recommended defaults. Creates ~/.config/systemd/user/openclaw-gateway[-<profile>].service:

​x
[Unit]
Description=OpenClaw Gateway (profile: <profile>, v<version>)
After=network-online.target
Wants=network-online.target
​
[Service]
ExecStart=/usr/local/bin/openclaw gateway --port 18789
Restart=always
RestartSec=5
Environment=OPENCLAW_GATEWAY_TOKEN=
WorkingDirectory=/home/youruser
​
[Install]
WantedBy=default.target

Enable lingering (required for user services to survive logout/idle):

xxxxxxxxxx
sudo loginctl enable-linger youruser

Onboarding runs this on Linux/WSL2 (may prompt for sudo; writes /var/lib/systemd/linger). Then enable service:

xxxxxxxxxx
systemctl --user enable --now openclaw-gateway[-<profile>].service

Alternative (system service) - For always-on or multi-user servers, you can install systemd system unit instead of user unit (no lingering needed). Create /etc/systemd/system/openclaw-gateway[-<profile>].service (copy unit above, switch WantedBy=multi-user.target, set User= + WorkingDirectory=), then:

xxxxxxxxxx
sudo systemctl daemon-reload
sudo systemctl enable --now openclaw-gateway[-<profile>].service

Windows (WSL2)

Windows installations should use WSL2 and follow the Linux systemd section above.

Operations Checks

  • Liveness check: Open WS and send req:connect → expect res with payload.type="hello-ok" (with snapshot).
  • Readiness check: Call health → expect ok: true and linked channel in linkChannel (when applicable).
  • Debug: Subscribe to tick and presence events; ensure status shows linked/auth time; presence entries show Gateway host and connected clients.

Security Guarantees

  • Default assumes one Gateway per host; if you run multiple profiles, isolate ports/state and target the correct instance.
  • Won't fall back to direct Baileys connection; if Gateway is down, sends fail fast.
  • Non-connect first frame or malformed JSON is rejected and socket closed.
  • Graceful shutdown: emits shutdown event before close; clients must handle close + reconnect.

CLI Helpers

  • openclaw gateway health|status — Request health/status via Gateway WS.
  • openclaw message send --target <num> --message "hi" [--media ...] — Send via Gateway (idempotent for WhatsApp).
  • openclaw agent --message "hi" --to <num> — Run agent turn (waits for final result by default).
  • openclaw gateway call <method> --params '{"k":"v"}' — Raw method invoker for debugging.
  • openclaw gateway stop|restart — Stop/restart supervised Gateway service (launchd/systemd).
  • Gateway helper subcommands assume running Gateway on --url; they no longer auto-spawn one.

Migration Guide

  • Deprecate use of openclaw gateway and legacy TCP control port.
  • Update clients to use WS protocol with mandatory connect and structured presence.

For more Gateway content, refer to: Gateway Runtime Manual - OpenClaw

OpenClaw Tools Introduction
OpenClaw Features Overview

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