fix: 插件增量重载 + clawhubadapter ipcGoroutine 优雅退出

- Registry.Reload 改为增量: 对比插件入口文件(plugin.so/main.lua) SHA256, 仅重载有变更的插件, 未变更保持运行, 消除 plgreload 触发全量 StopAll+Load 导致的重复加载与内置插件状态错乱
- Registry 新增 pluginHashes 记录 + pluginEntryHash 辅助
- clawhubadapter.ipcGoroutine 无退出条件导致重载后旧 goroutine 永久残留(线程累积): 增加 stopCh/stopOnce, Stop() 关闭, ipcGoroutine 用 select 监听退出
- 新增 TestRegistryIncrementalReload 验证无变更跳过/变更重载

internal/plugin/plugin_test.go

@@ -1,8 +1,12 @@
 package plugin
 
 import (
+	"os"
+	"path/filepath"
+	"strings"
 	"testing"
 
+	internalConfig "gitcode.com/JianFeeeee/HomeAgent/internal/config"
 	sdk "gitcode.com/JianFeeeee/HomeAgent/internal/sdk"
 )
 
@@ -202,3 +206,55 @@ func TestPluginManagerInterfaceReloadOne(t *testing.T) {
 	// 编译期契约：Registry 必须实现 PluginManager（含 ReloadOne 单插件重载）。
 	var _ sdk.PluginManager = (*Registry)(nil)
 }
+
+func TestRegistryIncrementalReload(t *testing.T) {
+	dir := t.TempDir()
+	plgDir := filepath.Join(dir, "plugins")
+	os.MkdirAll(plgDir, 0755)
+
+	// 一个 Lua 插件
+	luaDir := filepath.Join(plgDir, "reloaddemo")
+	os.MkdirAll(luaDir, 0755)
+	os.WriteFile(filepath.Join(luaDir, "plugin.json"), []byte(`{"name":"reloaddemo","entry":"main.lua"}`), 0644)
+	writeLua := func(body string) {
+		os.WriteFile(filepath.Join(luaDir, "main.lua"), []byte(`local plugin = { name = "reloaddemo" }
+function plugin.start(sdk) sdk.log("info", "`+body+`") end
+function plugin.stop() end
+return plugin
+`), 0644)
+	}
+	writeLua("v1")
+
+	reg := NewRegistry()
+	reg.SetPluginDir(plgDir)
+	reg.SetConfigRegistry(internalConfig.NewConfigRegistry(""))
+
+
+	// 首次 Reload：应加载 1 个
+	msg, err := reg.Reload(plgDir)
+	if err != nil {
+		t.Fatalf("first reload: %v", err)
+	}
+	if len(reg.List()) != 1 {
+		t.Fatalf("first reload loaded=%d, want 1 (%s)", len(reg.List()), msg)
+	}
+
+	// 无变更再 Reload：不应重载（0 changed, 1 unchanged）
+	msg, err = reg.Reload(plgDir)
+	if err != nil {
+		t.Fatalf("second reload: %v", err)
+	}
+	if !strings.Contains(msg, "0 plugins") || !strings.Contains(msg, "1 unchanged") {
+		t.Errorf("unchanged reload should skip: %q", msg)
+	}
+
+	// 修改 main.lua → 应重载该插件
+	writeLua("v2")
+	msg, err = reg.Reload(plgDir)
+	if err != nil {
+		t.Fatalf("changed reload: %v", err)
+	}
+	if !strings.Contains(msg, "1 plugins") {
+		t.Errorf("changed reload should reload 1: %q", msg)
+	}
+}

internal/plugin/registry.go

@@ -1,6 +1,8 @@
 package plugin
 
 import (
+	"crypto/sha256"
+	"encoding/hex"
 	"encoding/json"
 	"fmt"
 	"log"
@@ -97,6 +99,10 @@ type Registry struct {
 
 	knownDisabled map[string]bool
 	allowlist     map[string]bool
+
+	// pluginHashes 记录各插件二进制(plugin.so/main.lua)的 SHA256，
+	// 供增量重载(Reload)对比：仅重载有变更的插件，避免全量 StopAll+Load 导致重复加载。
+	pluginHashes map[string]string
 }
 
 func NewRegistry() *Registry {
@@ -106,6 +112,7 @@ func NewRegistry() *Registry {
 		pluginAutoRestart: make(map[string]bool),
 		sdkRefs:           make(map[string]*sdk.PluginSDK),
 		knownDisabled:     make(map[string]bool),
+		pluginHashes:     make(map[string]string),
 	}
 }
 
@@ -345,6 +352,19 @@ func (r *Registry) isDisabled(name string) bool {
 	return r.cfgReg.IsPluginDisabled(name)
 }
 
+// pluginEntryHash 计算插件入口文件（plugin.so 或 main.lua）的 SHA256，用于增量重载对比。
+// 无入口文件（内置纯工厂插件）返回空字符串（始终视为已加载）。
+func pluginEntryHash(plgDir string) string {
+	for _, candidate := range []string{"plugin.so", "plugin.dll", "main.lua", "SKILL.md"} {
+		path := filepath.Join(plgDir, candidate)
+		if data, err := os.ReadFile(path); err == nil && len(data) > 0 {
+			sum := sha256.Sum256(data)
+			return hex.EncodeToString(sum[:])
+		}
+	}
+	return ""
+}
+
 func (r *Registry) loadOne(plgDir, name string) bool {
 	if r.isDisabled(name) {
 		log.Printf("[plugin] %s is disabled, skipping", name)
@@ -410,6 +430,11 @@ func (r *Registry) loadOne(plgDir, name string) bool {
 	r.pluginAutoRestart[name] = plgSDK.AutoRestart()
 	r.sdkRefs[name] = plgSDK
 	r.instances = append(r.instances, plg)
+	if h := pluginEntryHash(plgDir); h != "" {
+		r.pluginHashes[name] = h
+	} else {
+		delete(r.pluginHashes, name)
+	}
 	r.mu.Unlock()
 	log.Printf("[plugin] loaded: %s", name)
 	return true
@@ -445,11 +470,55 @@ func (r *Registry) StopAll() {
 }
 
 func (r *Registry) Reload(dir string) (string, error) {
-	r.StopAll()
+	if dir == "" {
-	if err := r.Load(dir); err != nil {
+		dir = r.plgDir
+	}
+	// 增量重载：扫描插件目录，对比入口文件 hash，仅 Stop+重载有变更的插件。
+	// 未变更插件保持运行，避免 plgreload 触发全量 StopAll+Load 导致所有插件重复加载
+	// 及内置插件(如 healthcheck)状态机错乱。
+	entries, err := os.ReadDir(dir)
+	if err != nil {
 		return "", err
 	}
-	return fmt.Sprintf("loaded %d plugins", len(r.instances)), nil
+	changed := 0
+	remaining := 0
+	for _, entry := range entries {
+		if !entry.IsDir() {
+			continue
+		}
+		name := entry.Name()
+		if !r.allowlistAllows(name) {
+			continue
+		}
+		plgDir := filepath.Join(dir, name)
+		h := pluginEntryHash(plgDir)
+		r.mu.RLock()
+		old := r.pluginHashes[name]
+		loaded := r.plugins[name] != nil
+		r.mu.RUnlock()
+		// 无入口文件（纯内置工厂插件）始终视为已加载；
+		// 有变更或首次出现且未加载 → 需要重载。
+		if !loaded {
+			if r.loadOne(plgDir, name) {
+				changed++
+			}
+			continue
+		}
+		if h == "" {
+			remaining++
+			continue
+		}
+		if old != h {
+			if err := r.ReloadOne(name); err != nil {
+				log.Printf("[plugin] reload %s: %v", name, err)
+			} else {
+				changed++
+			}
+		} else {
+			remaining++
+		}
+	}
+	return fmt.Sprintf("reloaded %d plugins, %d unchanged", changed, remaining), nil
 }
 
 func (r *Registry) ReloadOne(name string) error {

internal/plugins/clawhubadapter/plugin.go

@@ -53,6 +53,9 @@ type Plugin struct {
 	sdk          *sdk.PluginSDK
 	dispatcher   *RegistryDispatcher
 	httpClient   *http.Client
+
+	stopCh    chan struct{}
+	stopOnce  sync.Once
 }
 
 // pluginSingleton 内核单例引用（Start 时设置），供 SendToChannel/ChannelSender 使用
@@ -65,6 +68,7 @@ func New(name, skillsDir string) *Plugin {
 	}
 	return &Plugin{
 		name:         name,
+		stopCh:       make(chan struct{}),
 		skillsDir:    skillsDir,
 		simulatorDir: sd,
 		dispatcher:   NewDispatcher(),
@@ -300,10 +304,14 @@ func (p *Plugin) ipcGoroutine(s *sdk.PluginSDK) {
 	ticker := time.NewTicker(3 * time.Second)
 	defer ticker.Stop()
 
-	for range ticker.C {
+	for {
-		p.mu.Lock()
+		select {
-		simDir := p.simulatorDir
+		case <-p.stopCh:
-		p.mu.Unlock()
+			return
+		case <-ticker.C:
+			p.mu.Lock()
+			simDir := p.simulatorDir
+			p.mu.Unlock()
 		if simDir == "" {
 			continue
 		}
@@ -339,6 +347,7 @@ func (p *Plugin) ipcGoroutine(s *sdk.PluginSDK) {
 			}
 			os.Remove(reloadPath)
 		}
+		}
 	}
 }
 
@@ -1247,6 +1256,10 @@ func (p *Plugin) loadSidecar(s *sdk.PluginSDK, dir, name string) error {
 func (p *Plugin) Stop() error {
 	p.mu.Lock()
 	defer p.mu.Unlock()
+	// 关停 ipcGoroutine（stopCh），避免重载后旧 goroutine 残留导致线程累积
+	p.stopOnce.Do(func() {
+		close(p.stopCh)
+	})
 	for _, sp := range p.sidecars {
 		sp.Close()
 	}