StackChan-OpenClaw-Hermes

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StackChan-OpenClaw-Hermes

(★ 9)

The open-source reference firmware for making M5Stack Stack-chan a first-class node of OpenClaw or Hermes AI agent. Native ESP-IDF, no proxies, no middlemen.

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ZIP 다운로드

- - audio.js
  - device_config.js
  - device_control.js
  - hermes.js
  - hermes_audio.js
  - index.js
  - local_audio_output.js
  - local_vad.js
  - media.js
  - openclaw.js
  - server.js
  - session.js
  - stackchan_mcp_server.js
  - timing.js
- - .package-lock.json
- - load_env.cjs
  - voice_loop_probe.ts
- - agent_client.ts
  - audio.ts
  - device_config.ts
  - device_control.ts
  - hermes.ts
  - hermes_audio.ts
  - index.ts
  - local_audio_output.ts
  - local_vad.ts
  - media.ts
  - openclaw.ts
  - server.ts
  - session.ts
  - stackchan_mcp_server.ts
  - timing.ts
- - audio.test.ts
  - hermes_audio.test.ts
  - hermes_dashboard.test.ts
  - local_audio_output.test.ts
  - local_vad.test.ts
  - media.test.ts
  - openclaw.test.ts
  - session.test.ts
  - stackchan_mcp_server.test.ts
- - stt_server.py
  - tts_server.py
- .env.example
- devices.json
- docker-compose.windows.yml
- docker-compose.yml
- Dockerfile
- package-lock.json
- package.json
- tsconfig.json
- adversarial-code-review.md
- adversarial-doc-critique.md
- adversarial-review.md
- esp-openclaw-node-analysis.md
- plaipin-repo-analysis.md
- reddit-openclaw-stackchan-thread.md
- robot-bridge-repo-analysis.md
- stackchan-atoms3r-repo-analysis.md
- stackchan-firmware-analysis.md
- stackchan-gemini-firmware-repo-analysis.md
- stackchan-mcp-repo-analysis.md
- swarm-alpha-architecture-b-feasibility.md
- swarm-beta-minimal-client.md
- swarm-delta-plaipin-deep-dive.md
- swarm-gamma-devils-advocate.md
- swarm2-alpha-technical-feasibility.md
- swarm2-beta-scope-effort.md
- swarm2-delta-gaps-risks.md
- swarm2-gamma-opensource-strategy.md
- swarm2-synthesis.md
- swarm3-alpha-technical-feasibility.md
- swarm3-beta-larry-fidelity.md
- swarm3-delta-gaps-risks.md
- swarm3-gamma-opensource-strategy.md
- swarm3-synthesis.md
- xiaozhi-firmware-analysis.md
- zclaw-analysis.md
- - CHANGELOG.md
  - PLAN.md
  - PROJECT.md
  - README.md
  - server.py
- - .package-lock.json
- - app.js
  - index.html
  - style.css
- config.yaml
- package-lock.json
- package.json
- server.js
- - 0001-use-esp-openclaw-node-as-core.md
  - 0002-port-stackchan-robot-layer.md
  - 0003-custom-hey-rosie-wake-word.md
  - 0004-defer-mcp-server-for-full-openclaw-node.md
- agent-template.md
- BRIEF.md
- cover-dark.png
- CMakeLists.txt
- stackchan_ex_config.cc
- stackchan_ex_config.h
- strip_emoji.cc
- web_config_endpoints.cc
- web_config_endpoints.h
- - bootloader.bin
  - cover.png
  - FLASH-v0.1.md
  - ota_data_initial.bin
  - partition-table.bin
  - stack-chan.bin
- ADVERSARIAL_REVIEW.md
- API_REFERENCE.md
- channel-plugin-architecture.md
- CODE_REVIEW.md
- CURRENT_PLAN.md
- CUSTOM-WAKE-WORD.md
- deep-read-channel-sdk.md
- deep-read-device-patterns.md
- deep-read-hermes-channels.md
- deep-read-http-internals.md
- deep-read-session-reset.md
- existing-work-analysis.md
- FINAL_SYNTHESIS.md
- gateway-protocol-ws.md
- hermes-and-agent-binding.md
- hermes-stackchan-analysis.md
- http-endpoint-session-behavior.md
- MERGE_PLAN.md
- MERGE_PLAN_V2.md
- multi-agent-session-routing.md
- STEP1-FIRMWARE-CODE-PATH.md
- STEP1-HERMES-REUSABLE.md
- STEP1-REPO-AUDIT.md
- STEP2-MERGE-PLAN-REVISED.md
- STEP2-MERGE-PLAN.md
- STEP3-ADVERSARIAL-REVIEW.md
- STEP6-CODE-REVIEW.md
- xiaozhi-esp32-analysis.md
- e2e_test_harness.py
- index.html
- native_test_harness.py
- STACKCHAN_HANDSHAKE.txt
- test_agent_binding.py
- test_ws_e2e.py
- UX_REVIEW.md
- VALIDATION_RESULTS.md
- web-config.html
- workspace_write_test.py
- wake_word_flasher.py
.gitignore
analysis-official-stackchan.md
analysis-platformio-issues.md
analysis-stackchan-app.md
analysis-uiflow2-stackchan.md
BUILD_PLAN.md
CHANGELOG.md
CODE_REVIEW.md
CODE_REVIEW_V2.md
FIRMWARE_CHANGES_PROPOSED.md
FLASHING-GUIDE.md
README.md
RECOVERY-LOG.md
TODO.md

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**Give a little robot a real AI agent — with persistent identity, workspace access, session control, and profile binding across multiple backends.**

[![Version: 0.1](https://img.shields.io/badge/version-0.1-blue.svg)]()
[![License: MIT](https://img.shields.io/badge/license-MIT-blue.svg)](https://raw.githubusercontent.com/styles01/StackChan-OpenClaw-Hermes/main/LICENSE)
[![Platform: ESP32](https://img.shields.io/badge/platform-ESP32-blue.svg)](https://www.espressif.com/en/products/socs/esp32)
[![Agent: OpenClaw](https://img.shields.io/badge/agent-OpenClaw-purple.svg)](https://docs.openclaw.ai)
[![Buy me a coffee](https://img.shields.io/badge/Buy%20me%20a%20coffee-support-yellow?logo=buy-me-a-coffee&logoColor=white)](https://buymeacoffee.com/aitamedia)

[Project](#the-problem) · [Architecture](#architecture) · [Firmware](#firmware) · [Config Editor](#web-config-editor) · [Tests](#test-harness) · [Research](#research)

</div>

---

## The Problem

You have a [Stack-chan](https://github.com/meganetaaan/stack-chan) — a cute little ESP32 robot with a face, a speaker, and a microphone. Out of the box, it talks to cloud LLM APIs the same way every other IoT device does: stateless HTTP calls, no identity, no memory, no agent binding. Every request is a one-shot. The robot has no idea who it is, who it's talking to, or what was said 5 minutes ago.

That's not an AI companion. That's a smart speaker with a face.

## The Brief

**What if the robot was a first-class citizen in your AI agent ecosystem — and could bind to different agents on different backends?**

We run two AI agent platforms:

- **[OpenClaw](https://docs.openclaw.ai)** — runs agents with workspace access, memory files, and tool use. Agents talk to humans via channels (Telegram, Discord, WhatsApp). Each channel has a **stable identity** that survives session resets, dreaming cycles, and context compaction.
- **[Hermes](https://github.com/NousResearch/hermes-agent)** — runs agents with STT, LLM, TTS, memory, skills, and MCP configuration.

**The goal:** Make Stack-chan a proper channel in **both** ecosystems — with profile binding so each physical robot knows which backend AND which agent it belongs to.

### Profile Binding

Each Stack-chan has a **profile** that binds it to a specific backend + agent:

| Robot | Backend | Agent | Port | Session Key |
|-------|---------|-------|------|------------|
| Robot A | OpenClaw | Agent A (household ops) | 18789 | `agent:agent-a:stackchan:robot-a` |
| Robot B | Hermes | Agent B (product strategy) | 8643 | `agent-b-stackchan:robot-b` |
| Robot C | OpenClaw | custom agent | 18789 | `agent:custom:stackchan:robot-c` |

Profiles are configured via BLE provisioning or the web config editor — no reflashing needed. The `backend` field in config selects OpenClaw (0) or Hermes (1), and the agent binding headers/routes follow accordingly.

### Why Both Backends?

OpenClaw and Hermes have different strengths. OpenClaw gives agents workspace file I/O, channel persistence, and tool use. Hermes gives agents voice-first interaction, MCP tools, and a TUI dashboard. Some robots serve as household assistants (OpenClaw/Agent A), others as research companions (Hermes/Agent B). Profile binding lets one fleet of robots span both worlds.

## Requirements

### Hardware

- **M5Stack CoreS3** — ESP32-S3, 16MB flash, ILI9342C display, dual microphones, speaker
- USB-C cable (for flashing)
- WiFi network (2.4 GHz — ESP32 does not support 5 GHz)

### Firmware Toolchain

- **ESP-IDF v5.5.4** (not Arduino/PlatformIO — see [Firmware](#firmware) for why)
- Python 3.9+
- `esptool.py` (for flashing without ESP-IDF)

### ai-server (the bridge)

The ai-server is a TypeScript bridge between the ESP32 device and your AI agent backend. You need:

- **Node.js** 20+
- **npm** — install dependencies: `cd ai-server && npm install`
- **tsx** — for running TypeScript directly: `npx tsx src/index.ts`
- Dependencies: `ws` (WebSocket), `opusscript` (Opus codec), `dotenv` (config)

### Agent Backend (choose one or both)

- **OpenClaw** — [OpenClaw Gateway](https://docs.openclaw.ai) running on your network (port 18789 by default). You need an agent ID, bot token, and model name.
- **Hermes** — [HermesAgent](https://github.com/NousResearch/hermes-agent) running on your network. You need the Hermes Python environment and dashboard URL.

### End-to-End Module List

| Component | What it is | Where | Required? |
|-----------|-----------|------|----------|
| **Firmware** | ESP32 firmware (C++, ESP-IDF) | `firmware/` | Yes — runs on the device |
| **ai-server** | TypeScript WebSocket bridge | `ai-server/` | Yes — connects device to agent |
| **Web Config Editor** | Browser-based config UI | `test-harness/web-config.html` | Optional — configure device over WiFi |
| **Wake Word Flasher** | Python tool to flash custom wake word model | `tools/wake_word_flasher.py` | Optional — for custom wake words |
| **Test Harness** | Python E2E + unit tests | `test-harness/` | Optional — for validation |
| **Config Editor** | YAML config server (Node.js) | `config-editor/` | Optional — alternative config UI |
| **OpenClaw Gateway** | AI agent platform | [docs.openclaw.ai](https://docs.openclaw.ai) | One backend required |
| **HermesAgent** | AI agent platform | [github.com/NousResearch/hermes-agent](https://github.com/NousResearch/hermes-agent) | One backend required |

### Quick Start

```bash
# 1. Flash the firmware (requires ESP-IDF v5.5.4)
export IDF_PATH=<your-esp-idf-path>
. "$IDF_PATH/export.sh"
cd firmware
idf.py set-target esp32s3
python3 ./fetch_repos.py
idf.py -p /dev/cu.usbmodemXXXX flash

# 2. Start the ai-server
cd ai-server && npm install
cp .env.example .env  # edit with your config
npx tsx src/index.ts

# 3. Configure the robot (browser-based, no reflashing)
# Open test-harness/web-config.html in a browser
# Enter the device IP, set your backend + agent config

# 4. Talk to your robot!
```

---

## What We Built

### Firmware Extensions

Extended the Stack-chan ESP32 firmware to talk to the OpenClaw Gateway instead of a raw LLM API:

- **Agent binding** — config struct extended with `agent_id`, `bot_token`, `default_model` so the robot knows which agent it belongs to
- **Backend selector** — swappable between OpenClaw (`backend: 0`) and Hermes (`backend: 1`) with the same config shape
- **Config endpoint** — `GET /config` returns current config as JSON, `POST /config` writes config to SPIFFS. The robot can be reconfigured over the network without reflashing.
- **YAML buffer** — bumped to 4096 bytes to fit the extended config
- **Emoji stripping** — `stripEmoji()` removes 4-byte emoji and 3-byte symbols for TTS compatibility (robots can't say 🎉)

```cpp
// Firmware config struct (StackchanExConfig.h)
// Replace "agent-a" with your agent's id
struct openclaw_s {
  String host;
  uint16_t port;
  String agent_id;      // e.g. "agent-a"
  String bot_token;     // Gateway auth
  String default_model; // e.g. "openclaw/agent-a"
};
```

### Web Config Editor

A browser-based config editor for Stack-chan — because flashing YAML files via SD card gets old:

- Node.js server on port 5570
- Edit robot config from any device on your network
- POSTs config directly to the robot's `/config` endpoint
- No reflashing, no SD card swapping

### Test Harness

**8/8 end-to-end tests passed. 5/5 workspace write tests passed.**

The test harness simulates the full firmware message pipeline — system prompts + user message array → Gateway → agent response → JSON parsing — and validates that Stack-chan can:

- ✅ Talk to the right agent (your agent, not the default)
- ✅ Read and write files in your agent's workspace
- ✅ Handle multi-turn conversations
- ✅ Process system prompts from SPIFFS
- ✅ Parse responses in firmware-compatible JSON
- ✅ Use tools (workspace file writes confirmed on disk)
- ✅ Maintain agent identity across requests

## Architecture

Stack-chan supports **two backends** with profile binding. The firmware config struct has both OpenClaw and Hermes fields, with a `backend` selector (0=OpenClaw, 1=Hermes). The same robot can be reconfigured to talk to either backend via the web config editor or BLE provisioning — no reflashing needed.

### OpenClaw Path

```
ESP32 Stack-chan                    OpenClaw Gateway                    Your Agent
┌─────────────┐    POST /v1/chat    ┌──────────────┐    agent run     ┌─────────────┐
│ OpenClaw    │ ──────────────────▶ │ Gateway      │ ──────────────▶ │ your-agent  │
│ Client      │  model:openclaw/    │ :18789       │                 │ (workspace) │
│             │  your-agent         │              │  ◀────────────── │             │
│ TTS + Avatar│ ◀───────────────── │              │   response      │             │
└─────────────┘    JSON response    └──────────────┘                 └─────────────┘
```

- Headers: `model: openclaw/<agent_id>`, `x-openclaw-session-key: agent:<agent_id>:stackchan:<device>`, `x-openclaw-message-channel: stackchan`
- Agent binding via `model` field + agent-prefixed session key
- Full workspace file I/O (read + write)
- Session key survives 4am reset (only sessionId rotates)

### Hermes Path

```
ESP32 Stack-chan                    ai-server (bridge)                 HermesAgent
┌─────────────┐    WebSocket + Opus  ┌──────────────┐  session.create ┌─────────────┐
│ Hermes      │ ──────────────────▶ │ ai-server    │ ──────────────▶│ HermesAgent │
│ Client      │  ws://server:8765   │ (TypeScript) │  prompt.submit  │ (STT/LLM/   │
│             │                     │              │                 │  TTS/MCP)   │
│ TTS + Avatar│ ◀───────────────── │              │  ◀────────────── │             │
└─────────────┘  Opus audio stream  └──────────────┘  message.done   └─────────────┘
```

- Dedicated port per profile (Agent B on 8643)
- Auth: `Authorization: Bearer <profile_api_key>`
- Session: `X-Hermes-Session-Key: <agent>-stackchan-<device>`
- MCP tools: `stackchan_take_photo`, `stackchan_set_head_angles`, `stackchan_set_led_color`, etc.
- Voice-first: streaming ASR + LLM + TTS architecture

### Reference Implementation: circlemouth/Hermes-StackChan

The [Hermes-StackChan](https://github.com/circlemouth/Hermes-StackChan) fork is our **primary reference** for the Hermes path. It already solved:
- Firmware → custom WebSocket server (instead of XiaoZhi cloud)
- ai-server TypeScript bridge (Opus audio ↔ HermesAgent protocol)
- Full MCP tool suite (13 robot control tools)
- BLE provisioning with `websocket_url` config
- Desktop UI simulator (test avatar without flashing)
- Hermes error display on avatar face

We extend this to add OpenClaw as a second backend option.

### The Channel Question

> **Why not just use a stateless HTTP client?** Because OpenClaw resets sessions at 4am — the conversation context gets wiped to prevent bloat and enable dreaming. But the **channel identity survives**. The next message after a reset creates a fresh session under the same channel. Stack-chan needs the same treatment.

OpenClaw channels (Telegram, Discord, WhatsApp) have **stable identities** that survive the 4am session reset / dreaming cycle. Sessions are ephemeral — they get wiped nightly to prevent context bloat. Channels are permanent — the next message after a reset creates a fresh session under the same channel.

**Stack-chan needs the same treatment.** Two approaches:

| | v1: HTTP + Headers | v2: Channel Plugin |
|---|---|---|
| **How** | Firmware sends `model: openclaw/<agent_id>` + `x-openclaw-message-channel: stackchan` + `x-openclaw-session-key: agent:<agent_id>:stackchan:<device>` | A minimal OpenClaw channel plugin that registers `stackchan` as a first-class channel |
| **Agent binding** | Via `model` field + explicit session key prefix | Via `bindings` config (like Telegram) |
| **Session persistence** | Session key survives 4am reset (only sessionId rotates, sessionKey persists) | Same — channel plugin constructs proper session keys |
| **Channel identity** | Synthetic (header label, not a real channel in the registry) | First-class (appears in `channels list`, has config, can have multiple accounts) |
| **Effort** | Low — works today, no Gateway changes | Medium — plugin code + manifest |
| **When** | Ship now, validate behavior | When Stack-chan needs multi-device, outbound push, or channel management |

### Key Findings

- **`model: openclaw/agent-a`** routes to the target agent with full workspace access (read + write) ✅
- **`user: "stackchan:<device_id>"`** creates persistent agent-bound sessions ✅
- **Bare session keys route to the wrong agent** — `x-openclaw-session-key: stackchan:*` gets re-scoped to the default agent. Must use agent-prefixed key: `agent:<agent_id>:stackchan:*` ✅
- **4am reset rotates `sessionId`, not `sessionKey`** — the channel identity and session key survive, only the conversation context resets. This is by design (dreaming/compaction). ✅
- **`x-openclaw-message-channel: stackchan`** sets the delivery routing context (where replies go) but does NOT affect session identity

## Firmware

The firmware has **three development paths**. The official M5Stack firmware uses ESP-IDF (not PlatformIO), and a community UIFlow2 Python implementation also exists.

### Path 1: Official ESP-IDF Firmware (✅ CONFIRMED WORKING — built & flashed Aug 18, 2026)

The official [m5stack/StackChan](https://github.com/m5stack/StackChan) firmware is **native ESP-IDF (C++)**, NOT Arduino/PlatformIO. It's a fork of xiaozhi-esp32 v2.2.4. Firmware version: 1.4.3.

**Toolchain:** ESP-IDF v5.5.4 (installed at `<repo-root>/esp-idf/`)

```bash
# Activate ESP-IDF (must be in same shell as build/flash)
export IDF_PATH=<repo-root>/esp-idf
. "$IDF_PATH/export.sh"

cd <repo-root>/stackchan-node/repos/StackChan/firmware
idf.py set-target esp32s3                     # first time only
python3 ./fetch_repos.py                      # fetch deps
idf.py build                                  # build (~2 min, 2493 steps)
idf.py -p /dev/cu.usbmodemXXXX flash         # flash (~30 sec)

# Host-side tests (NO HARDWARE NEEDED — just CMake!)
cmake -S tests -B build-host-tests
cmake --build build-host-tests
ctest --test-dir build-host-tests --output-on-failure
```

**Flash partitions:** bootloader(0x0) + stack-chan.bin(0x20000, 3.7MB) + partition_table(0x8000) + ota_data(0xd000) + generated_assets(0xa00000, 2.3MB)
**Firmware config:** `CONFIG_BOARD_TYPE_M5STACK_STACK_CHAN=y`, SPIRAM 80MHz, BLE NimBLE, QIO flash 16MB
**Dependencies:** mooncake v2.3.3, xiaozhi-esp32 v2.2.4 (patched), ArduinoJson v7.4.2, esp-now, smooth_ui_toolkit v2.12.0
**AI layer:** xiaozhi-esp32 v2.2.4 — WebSocket/MQTT client to XiaoZhi cloud. This is the integration point for OpenClaw.

**Factory restore:** `<repo-root>/stackchan-node/backups/cores3_factory_uiflow2_v2.5.1.bin`
```bash
esptool.py --chip esp32s3 -p /dev/cu.usbmodemXXXX -b 460800 \
  --before=default_reset --after=hard_reset \
  write_flash --flash_mode dio --flash_size 16MB --flash_freq 80m \
  0x0 <repo-root>/stackchan-node/backups/cores3_factory_uiflow2_v2.5.1.bin
```

### Path 2: UIFlow2 Python (Recommended for rapid development)

[haraisao/stackchan-uiflow2](https://github.com/haraisao/stackchan-uiflow2) — complete Stack-chan implementation in Python/MicroPython for UIFlow2. Runs on factory firmware, no build system needed.

- Face rendering (11 expressions, blinking, talk animation)
- TTS (Google, Voicevox) + STT (Google, Vosk)
- Dialog backends: Gemini, OpenAI, LM Studio, Dify (adding OpenClaw = 1 new file)
- Motor control (Dynamixel, SG90), camera with face tracking, web server with REST API
- Deploy via UIFlow2 web IDE (`https://uiflow2.m5stack.com/`) or USB-ampy

### Path 3: PlatformIO Arduino Fork (Legacy — requires fixes)

The [plaipin-openclaw-stackchan](https://github.com/PlaiPin/plaipin-openclaw-stackchan) fork uses PlatformIO Arduino. **All builds produced black screen / boot loop on CoreS3.**

**Root cause (confirmed Aug 18, 2026 via subagent analysis):**
1. Missing `-mfix-esp32-psram-cache-issue` — ESP32-S3 cache errata CACHE-126 causes random crashes under PSRAM load
2. Wrong board `esp32s3box` — I2C pins wrong (SDA=41/SCL=40 vs CoreS3's SDA=12/SCL=11)
3. M5Unified 0.1.17 mismatched with M5GFX 0.2.27 — incompatible version pairing

**To fix:** `board = esp32-s3-devkitc-1`, add `-mfix-esp32-psram-cache-issue -DESP32S3 -DBOARD_HAS_PSRAM` to build_flags, update M5Unified to `^0.2.20`.

The firmware lives in a fork of [plaipin-openclaw-stackchan](https://github.com/PlaiPin/plaipin-openclaw-stackchan):

- **Fork:** https://github.com/styles01/plaipin-openclaw-stackchan

### Key files
- `firmware/src/llm/OpenClaw/OpenClawClient.cpp` — HTTP client, sends chat requests to Gateway
- `firmware/src/StackchanExConfig.h` — config structs with agent binding
- `firmware/src/llm/OpenClaw/OpenClawConfig.h` — config loading from SPIFFS YAML
- `Copy-to-SD/app/AiStackChanEx/SC_ExConfig.yaml.example` — example config

### Config YAML
```yaml
openclaw:
  host: "192.168.x.x"     # Gateway host (LAN or tailnet)
  port: 18789              # Gateway port
  agent_id: "agent-a"        # Your agent's id
  bot_token: "..."         # Gateway auth token
  default_model: "openclaw/agent-a"  # openclaw/<agent_id>
hermes:
  host: ""
  port: 0
  agent_id: ""
  bot_token: ""
  default_model: ""
backend: 0                 # 0 = OpenClaw, 1 = Hermes
```

## Web Config Editor

A standalone HTML page that talks directly to the Stack-chan's `/config` endpoint. No server needed — just open it in a browser.

```
test-harness/web-config.html    # Open this file in any browser
```

Features:
- Connect to any Stack-chan by IP address
- View and edit OpenClaw + Hermes backend settings
- Switch active backend (0=OpenClaw, 1=Hermes)
- Test chat endpoint inline
- View raw config JSON

The ESP32 firmware serves these endpoints on port 80:
- `GET /config` — returns current config as JSON
- `POST /config` — updates config and persists to SPIFFS
- `GET /role_get` — returns current role text
- `POST /role_set` — sets role text
- `GET /memory_get` — returns user info
- `POST /memory_clear` — clears user info
- `GET /chat?text=<msg>` — sends a chat message to the LLM
- `GET /speech?say=<text>` — speaks text via TTS

## Test Harness

```bash
# End-to-end test (simulates full firmware pipeline)
python3 test-harness/e2e_test_harness.py

# Workspace write validation (proves agent binding is real)
python3 test-harness/workspace_write_test.py
```

### Test results
| Suite | Tests | Passed | Time |
|---|---|---|---|
| Agent binding (strict) | 12 | 12 ✅ | ~2min |

All 12 tests use strict identity validation: Agent A must say "agent-a", Agent B must say "agent-b", session persistence must contain "testbot". No false positives.

```bash
# Run all tests (requires live OpenClaw + Hermes gateways)
python3 test-harness/test_agent_binding.py \
  --oc-key <gateway_password> \
  --hermes-key <agent_b_api_key> \
  --hermes-url http://127.0.0.1:8643

# Unit tests only (no network)
python3 test-harness/test_agent_binding.py --unit-tests-only
```

## Research

Deep research into OpenClaw's channel plugin architecture, session lifecycle, and agent binding — using subagents to read source code and docs without burning main context.

### Phase 1: Architecture survey
- `research/channel-plugin-architecture.md` — how channel plugins work
- `research/hermes-and-agent-binding.md` — how Hermes/agent binding works
- `research/http-endpoint-session-behavior.md` — HTTP endpoint session routing
- `research/gateway-protocol-ws.md` — WebSocket protocol analysis
- `research/multi-agent-session-routing.md` — multi-agent routing config

### Phase 2: Deep code reads
- `research/deep-read-channel-sdk.md` — channel plugin SDK internals
- `research/deep-read-http-internals.md` — HTTP endpoint code trace
- `research/deep-read-hermes-channels.md` — Hermes channel patterns
- `research/deep-read-session-reset.md` — 4am reset & channel persistence
- `research/deep-read-device-patterns.md` — existing robot/device patterns

### Current plan
- `research/CURRENT_PLAN.md` — living plan & findings document

## Status — v0.1 (Aug 19, 2026)

### ✅ Done
- Firmware extensions (commit `ff2df3a`, pushed to fork)
- Web config page (`test-harness/web-config.html` — browser-based, talks to ESP32 `/config` endpoint)
- Agent binding test harness — 12/12 passed with strict identity validation
- Workspace file I/O tests — both agents can write/update/read files via HTTP API
- Research phase 1 — 5 research docs
- Research phase 2 — 5 deep code reads
- API reference — both Option A (multiplex) and Option B (dedicated port) documented
- Code review V2 — 4 critical, 8 recommended findings (see `CODE_REVIEW_V2.md`)
- Hermes Agent B setup — dedicated port 8643 with own API key (Option B)
- Official ESP-IDF firmware built + flashed (v1.4.3, working on CoreS3)
- Working reference repos collected (5 repos in `repos/working-repos/`)
- **Hermes-StackChan reference** — circlemouth fork analyzed as primary architecture reference
- **Profile binding validated** — Agent A on OpenClaw:18789, Agent B on Hermes:8643, strict identity tests pass
- **Three-repo merge** — official v1.4.3 + circlemouth ai-server + plaipin config layer
- **Web config server** — GET/POST /config on device port 80, HTML editor, mDNS (`<your-host>.local`)
- **Device connected to ai-server** — full chain: device → mDNS → WS → ai-server → OpenClaw → Agent A
- **English voice** — TTS (`en-GB-LibbyNeural`), STT (faster-whisper, English), English fast-acks
- **OpenClaw auth** — Bearer token working, HTTP 200
- **Firmware crash fixed** — WiFi power save + TCP reconnect cleanup, 61KB free SRAM (up from 29KB)
- **Device talks and survives** — full conversation cycles: listening → speaking → listening (no crash!)
- **Custom wake word** — "Hey Agent A" WakeNet9 model trained on DGX Spark, flashed to model partition
- **Compiled-in wake word disabled** — firmware uses our custom model, not the stock "Hi Stack Chan"
- **Volume control fixed** — correct MCP tool name (`self.audio_speaker.set_volume`), boot volume boost on connect
- **Response truncation fixed** — streaming segment alignment bug found and fixed, full sentences now speak
- **Configurable ai-server** — fast-ack text, cooldown, segment limits, VAD params, all via `.env`

### 📋 TODO — Firmware (v1)
- **C1:** Add session/channel headers to `OpenClawClient::http_post_json()`
- **C2:** Fix config YAML round-trip (write full struct, not just backend/openclaw/hermes)
- **C3:** Add auth to web endpoints + mask bot_token in GET /config
- **C4:** Enlarge `DynamicJsonDocument` buffers to 4096
- **R1:** Cap `chatHistory` length (prevent unbounded growth)
- **R2:** Add mutex around chat/speech (thread safety)
- **STT/VAD tuning** — raise VAD threshold (0.025 too low), increase max duration, fix segment limit (1 sentence cut-off)
- **Wake word** — submit Espressif request for "Hey Agent A" custom WakeNet, or use "Hey, Ivy" temporarily
- **POST /config crash** — 16384 stack built but untested (device was disconnected)
- **P1:** Fix PlatformIO build: `board = esp32-s3-devkitc-1`, add `-mfix-esp32-psram-cache-issue -DESP32S3 -DBOARD_HAS_PSRAM`, update M5Unified to `^0.2.20`
- **P2:** Or migrate to official ESP-IDF build system (recommended)
- **P3:** Or use UIFlow2 Python path (easiest, no build system)

### 🔮 TODO — Future
- **M5Burner publishing** — publish working firmware via M5Burner for one-click install (no toolchain needed by users)
- **v2 channel plugin** — proper OpenClaw `stackchan` channel plugin for outbound push, multi-device, `channels list` visibility
- **ai-server OpenClaw adapter** — extend circlemouth's ai-server bridge to support OpenClaw Gateway as a backend option alongside HermesAgent
- **Fleet management** — multi-robot profile management UI

## repos/ Directory

### Working Repos (confirmed building/booting on CoreS3)

| Repo | Source | Path | CoreS3 | Purpose |
|------|--------|------|--------|---------|
| `Hermes-StackChan/` | circlemouth/Hermes-StackChan | `working-repos/` | ✅ | **PRIMARY REFERENCE** — fork with self-hosted HermesAgent backend, ai-server bridge, MCP tools, UI simulator |
| `xiaozhi-esp32/` | 78/xiaozhi-esp32 v2.2.6 | `working-repos/` | ✅ | AI/LLM layer (WebSocket/MQTT client), 70+ board support |
| `HeavenlyPointer/` | r3dfish/HeavenlyPointer | `working-repos/` | ✅ | Working PlatformIO firmware, satellite tracker, proper board config |
| `stackchan-mcp/` | kisaragi-mochi/stackchan-mcp | `working-repos/` | ✅ | MCP bridge for Claude + Stack-chan, firmware + Python MCP server |
| `stackchan-bluetooth-simple/` | mongonta0716 | `working-repos/` | ❌ | Core2 only, but servo/YAML config reference |

### Reference Repos (official + legacy)

| Repo | Source | Path | Purpose |
|------|--------|------|---------|
| `StackChan/` | m5stack/StackChan | top level | Official M5Stack firmware (ESP-IDF) — C++ firmware, app, server, remote |
| `stackchan-uiflow2/` | haraisao/stackchan-uiflow2 | top level | UIFlow2 Python implementation — face, voice, motors, dialog backends |
| `plaipin-openclaw-stackchan/` | PlaiPin/plaipin-openclaw-stackchan | top level | Arduino fork (broken on CoreS3) — OpenClaw client code lives here |
| `StackChan-BSP/` | m5stack/StackChan-BSP | top level | Arduino peripheral library — servos, touch, NFC, IR, RGB |
| `esp-openclaw-node/` | openclaw/esp-openclaw-node | top level | ESP node code |
| `zclaw/` | (existing) | top level | Additional tooling |

## Analysis Files (Aug 18, 2026)

- `analysis-official-stackchan.md` — Official repo deep dive (314 lines)
- `analysis-uiflow2-stackchan.md` — UIFlow2 implementation analysis
- `analysis-platformio-issues.md` — PlatformIO root cause analysis (333 lines)

Three subagents analyzed the official StackChan repo, the UIFlow2 implementation, and the PlatformIO build failures. Key findings:

- **Official firmware = ESP-IDF v5.5.4** (not Arduino). Build: `python3 fetch_repos.py && idf.py build && idf.py flash`
- **Host-side tests** run with CMake (no device needed): `cmake -S tests -B build-host-tests && cmake --build build-host-tests && ctest --test-dir build-host-tests --output-on-failure`
- **UIFlow2 Python** implementation is complete and adaptable — adding OpenClaw backend requires 1 new Python file + 1 config entry
- **PlatformIO root cause:** missing PSRAM cache fix + wrong board definition + M5Unified version mismatch

## License

MIT — see [LICENSE](LICENSE)

---

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