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README.md
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![esp-openclaw-node banner](docs/assets/esp-openclaw-node-banner.png)
# esp-openclaw-node
This repository contains the `esp-openclaw-node` ESP-IDF component, example applications, and documentation for running ESP32 boards as [OpenClaw Nodes](https://docs.openclaw.ai/nodes).
<a href="docs/assets/openclaw-gateway-esp-box-3-message-flow.png">
<img src="docs/assets/openclaw-gateway-esp-box-3-message-flow.png" alt="OpenClaw Gateway to ESP-BOX-3 message flow" width="900">
</a>
## Repository Layout
- `components/esp-openclaw-node/` The `esp-openclaw-node` ESP-IDF component that handles OpenClaw transport, pairing, reconnect, and command dispatch.
See the [Component README](./components/esp-openclaw-node/README.md) for more details on component internals.
- `examples/` Example applications for supported boards.
- `docs/` Getting-started and troubleshooting guides.
## Start Here
<a href="https://espressif.github.io/esp-launchpad/?flashConfigURL=https://espressif.github.io/esp-openclaw-node/launchpad.toml">
<img alt="Try it with ESP Launchpad" src="https://espressif.github.io/esp-launchpad/assets/try_with_launchpad.png" width="220" height="62">
</a>
1. Read [Getting Started](./docs/getting-started.md).
2. Choose an example from [Examples](./examples/README.md).
3. Use [Troubleshooting](./docs/troubleshooting.md) if the node pairs, connects, or advertises commands differently than expected.

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components/esp-openclaw-node/README.md
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@ -514,7 +514,7 @@ Example `connect` from the node:
For explicit no-auth, the component omits the `auth` object entirely.
Successful response:
Successful `hello-ok` response:
```json
{
@ -523,13 +523,38 @@ Successful response:
"ok": true,
"payload": {
"type": "hello-ok",
"protocol": 3,
"server": {
"version": "2026.4.9",
"connId": "<gateway-connection-id>"
},
"auth": {
"deviceToken": "<gateway-issued-device-token>"
"deviceToken": "<node-device-token>",
"role": "node",
"scopes": [],
"deviceTokens": [
{
"deviceToken": "<bounded-operator-token>",
"role": "operator",
"scopes": [
"operator.approvals",
"operator.read",
"operator.talk.secrets",
"operator.write"
]
}
]
}
}
}
```
The gateway may return the primary node reconnect token in
`payload.auth.deviceToken` plus additional tokens in
`payload.auth.deviceTokens`.
This component persists and reuses only
`payload.auth.deviceToken`; it ignores any extra `payload.auth.deviceTokens` entries.
Example `node.invoke.request` from the gateway:
```json

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components/esp-openclaw-node/include/esp_openclaw_node.h
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@ -32,16 +32,16 @@ typedef struct esp_openclaw_node *esp_openclaw_node_handle_t;
/** @brief Terminal and maintenance events emitted by the component. */
typedef enum {
ESP_OPENCLAW_NODE_EVENT_CONNECTED = 0, /**< Handshake completed and the session is ready. */
ESP_OPENCLAW_NODE_EVENT_CONNECTED = 0, /**< Handshake completed and the session is ready. */
ESP_OPENCLAW_NODE_EVENT_CONNECT_FAILED, /**< A connect attempt ended without reaching ready state. */
ESP_OPENCLAW_NODE_EVENT_DISCONNECTED, /**< An established session disconnected or was closed locally. */
ESP_OPENCLAW_NODE_EVENT_DISCONNECTED, /**< An established session disconnected or was closed locally. */
} esp_openclaw_node_event_t;
/** @brief Failure reasons surfaced on @ref ESP_OPENCLAW_NODE_EVENT_CONNECT_FAILED. */
typedef enum {
ESP_OPENCLAW_NODE_CONNECT_FAILURE_TRANSPORT_START_FAILED = 0, /**< Transport startup or local connect setup failed. */
ESP_OPENCLAW_NODE_CONNECT_FAILURE_CONNECTION_LOST, /**< The transport dropped before connect completed. */
ESP_OPENCLAW_NODE_CONNECT_FAILURE_AUTH_REJECTED, /**< The gateway rejected the auth material or signature. */
ESP_OPENCLAW_NODE_CONNECT_FAILURE_TRANSPORT_START_FAILED = 0, /**< Transport startup or local connect setup failed. */
ESP_OPENCLAW_NODE_CONNECT_FAILURE_CONNECTION_LOST, /**< The transport dropped before connect completed. */
ESP_OPENCLAW_NODE_CONNECT_FAILURE_AUTH_REJECTED, /**< The gateway rejected the auth material or signature. */
ESP_OPENCLAW_NODE_CONNECT_FAILURE_SESSION_FINALIZATION_FAILED, /**< `hello-ok` handling failed after initial auth acceptance. */
} esp_openclaw_node_connect_failure_reason_t;
@ -54,7 +54,7 @@ typedef struct {
/** @brief Disconnect reasons surfaced on @ref ESP_OPENCLAW_NODE_EVENT_DISCONNECTED. */
typedef enum {
ESP_OPENCLAW_NODE_DISCONNECTED_REASON_REQUESTED = 0, /**< Disconnect was requested locally. */
ESP_OPENCLAW_NODE_DISCONNECTED_REASON_REQUESTED = 0, /**< Disconnect was requested locally. */
ESP_OPENCLAW_NODE_DISCONNECTED_REASON_CONNECTION_LOST, /**< Disconnect followed a transport loss or remote close. */
} esp_openclaw_node_disconnected_reason_t;
@ -108,28 +108,28 @@ typedef void (*esp_openclaw_node_event_cb_t)(
* session once a route to the configured gateway exists.
*/
typedef struct {
const char *display_name; /**< Human-readable name advertised to the gateway. */
const char *platform; /**< Lower-level platform string included in auth and identity metadata. */
const char *device_family; /**< Higher-level device family string included in auth metadata. */
const char *client_id; /**< Protocol client identifier sent during connect. */
const char *client_mode; /**< Protocol client mode, typically `node` for these examples. */
const char *role; /**< Protocol role string expected by the gateway for this client. */
const char *model_identifier; /**< Optional model string such as `esp32c6` or `esp32s3`. */
const char *locale; /**< Optional locale metadata advertised to the gateway. */
const char *tls_common_name; /**< Optional TLS common-name override for certificate checks. */
const char *tls_cert_pem; /**< Optional PEM trust anchor for `wss://` connections. */
size_t tls_cert_len; /**< Length of @p tls_cert_pem in bytes, or `0` for NUL-terminated PEM. */
bool use_cert_bundle; /**< Use the ESP-IDF certificate bundle for server validation. */
bool skip_cert_common_name_check; /**< Skip common-name validation for TLS server certificates. */
esp_openclaw_node_event_cb_t event_cb; /**< Optional event callback invoked on the component task. */
void *event_user_ctx; /**< Opaque caller context passed back to @p event_cb. */
const char *display_name; /**< Human-readable name advertised to the gateway. */
const char *platform; /**< Lower-level platform string included in auth and identity metadata. */
const char *device_family; /**< Higher-level device family string included in auth metadata. */
const char *client_id; /**< Protocol client identifier sent during connect. */
const char *client_mode; /**< Protocol client mode, typically `node` for these examples. */
const char *role; /**< Protocol role string expected by the gateway for this client. */
const char *model_identifier; /**< Optional model string such as `esp32c6` or `esp32s3`. */
const char *locale; /**< Optional locale metadata advertised to the gateway. */
const char *tls_common_name; /**< Optional TLS common-name override for certificate checks. */
const char *tls_cert_pem; /**< Optional PEM trust anchor for `wss://` connections. */
size_t tls_cert_len; /**< Length of @p tls_cert_pem in bytes, or `0` for NUL-terminated PEM. */
bool use_cert_bundle; /**< Use the ESP-IDF certificate bundle for server validation. */
bool skip_cert_common_name_check; /**< Skip common-name validation for TLS server certificates. */
esp_openclaw_node_event_cb_t event_cb; /**< Optional event callback invoked on the component task. */
void *event_user_ctx; /**< Opaque caller context passed back to @p event_cb. */
} esp_openclaw_node_config_t;
/* Command Types */
/** @brief Structured command error returned to the gateway. */
typedef struct {
const char *code; /**< Stable machine-readable error code returned to the gateway. */
const char *code; /**< Stable machine-readable error code returned to the gateway. */
const char *message; /**< Human-readable error message returned to the gateway. */
} esp_openclaw_node_error_t;
@ -161,9 +161,9 @@ typedef esp_err_t (*esp_openclaw_node_command_handler_t)(
/** @brief Command registration entry passed to esp_openclaw_node_register_command(). */
typedef struct {
const char *name; /**< Command name advertised to the gateway, for example `wifi.status`. */
const char *name; /**< Command name advertised to the gateway, for example `wifi.status`. */
esp_openclaw_node_command_handler_t handler; /**< Command callback invoked for matching requests. */
void *context; /**< Opaque caller context passed to @p handler. */
void *context; /**< Opaque caller context passed to @p handler. */
} esp_openclaw_node_command_t;
/* Connect Input Types */
@ -171,26 +171,26 @@ typedef struct {
/** @brief Caller-chosen source for one connect attempt. */
typedef enum {
ESP_OPENCLAW_NODE_CONNECT_SOURCE_SAVED_SESSION = 0, /**< Reconnect with the persisted `{ gateway_uri, device_token }` session. */
ESP_OPENCLAW_NODE_CONNECT_SOURCE_SETUP_CODE, /**< Decode and use a setup code that contains the gateway URI and exactly one auth secret. */
ESP_OPENCLAW_NODE_CONNECT_SOURCE_GATEWAY_TOKEN, /**< Connect with an explicit shared gateway token. */
ESP_OPENCLAW_NODE_CONNECT_SOURCE_GATEWAY_PASSWORD, /**< Connect with an explicit shared gateway password. */
ESP_OPENCLAW_NODE_CONNECT_SOURCE_NO_AUTH, /**< Connect to a gateway that intentionally allows unauthenticated node access. */
ESP_OPENCLAW_NODE_CONNECT_SOURCE_SETUP_CODE, /**< Decode and use a setup code that contains the gateway URI and exactly one auth secret. */
ESP_OPENCLAW_NODE_CONNECT_SOURCE_GATEWAY_TOKEN, /**< Connect with an explicit shared gateway token. */
ESP_OPENCLAW_NODE_CONNECT_SOURCE_GATEWAY_PASSWORD, /**< Connect with an explicit shared gateway password. */
ESP_OPENCLAW_NODE_CONNECT_SOURCE_NO_AUTH, /**< Connect to a gateway that intentionally allows unauthenticated node access. */
} esp_openclaw_node_connect_source_t;
/**
* @brief Connect request submitted to @ref esp_openclaw_node_request_connect().
*
* Field requirements by source:
* - `SAVED_SESSION`: `gateway_uri = NULL`, `value = NULL`
* - `SETUP_CODE`: `gateway_uri = NULL`, `value = <setup code>`
* - `GATEWAY_TOKEN`: `gateway_uri = <ws://...|wss://...>`, `value = <token>`
* - `SAVED_SESSION`: `gateway_uri = NULL`, `value = NULL`
* - `SETUP_CODE`: `gateway_uri = NULL`, `value = <setup code>`
* - `GATEWAY_TOKEN`: `gateway_uri = <ws://...|wss://...>`, `value = <token>`
* - `GATEWAY_PASSWORD`: `gateway_uri = <ws://...|wss://...>`, `value = <password>`
* - `NO_AUTH`: `gateway_uri = <ws://...|wss://...>`, `value = NULL`
* - `NO_AUTH`: `gateway_uri = <ws://...|wss://...>`, `value = NULL`
*/
typedef struct {
esp_openclaw_node_connect_source_t source; /**< Caller-chosen source for this one connect attempt. */
const char *gateway_uri; /**< Explicit `ws://` or `wss://` URI when required by @p source. */
const char *value; /**< Setup code, token, or password when required by @p source. */
const char *gateway_uri; /**< Explicit `ws://` or `wss://` URI when required by @p source. */
const char *value; /**< Setup code, token, or password when required by @p source. */
} esp_openclaw_node_connect_request_t;
/* Lifecycle APIs */

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components/esp-openclaw-node/test_apps/esp_openclaw_node_unity_tests/README.md
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@ -23,21 +23,12 @@ not require a live OpenClaw gateway.
- setup-code validation for malformed or ambiguous payloads
- explicit connect-request argument validation for saved-session, token,
password, and no-auth sources
- auth-material selection, including the password-signature exclusion rule
- auth-material selection, including the rule that password auth is not included
in the device-signature payload
- destroy-path notification safety
- transport-state edge cases around challenge ping, clean close, and disconnect
rejection while still connecting
## Not covered here
The following still need integration or end-to-end tests:
- WebSocket handshake behavior against a live gateway
- end-to-end event delivery for `CONNECTED`, `CONNECT_FAILED`, and
`DISCONNECTED`
- persistence of `{ gateway_uri, device_token }` after a real `hello-ok`
- example-application REPL flows and Wi-Fi recovery behavior
## Build and run
Example for `esp32s3`:

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examples/esp32-node/main/esp_openclaw_node_example_gpio_node_cmd.h
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@ -13,12 +13,12 @@
* @brief Register the GPIO commands used by the generic ESP32 example.
*
* The helper adds the `gpio.mode`, `gpio.read`, and `gpio.write` commands.
* The documented v1 path is:
* The documented path is:
* - `gpio.mode` with `"input"`, `"output"`, or `"input_output"`
* - `gpio.read`
* - `gpio.write` after `"output"` or `"input_output"`
*
* Open-drain drive modes are intentionally not exposed in this v1 helper.
* Open-drain drive modes are intentionally not exposed in this helper.
*
* @param[in] node OpenClaw Node instance to extend.
*