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Add MicroPython runtime scaffolding #133

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d99cfa4
build: make MicroPython sdkconfig defaults CI-safe
IRONICBo Mar 8, 2026
bf0961e
feat: add embedded MicroPython runner and CLI commands
IRONICBo Mar 8, 2026
a25708f
fix: add TLS compatibility layer for certificate bundle usage
IRONICBo Mar 8, 2026
54e3ff4
fix: improve memory fallback and SNTP startup reliability
IRONICBo Mar 8, 2026
5cf61e6
fix(build): handle btree target compatibility with IDF 5.5
IRONICBo Mar 8, 2026
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98 changes: 98 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,104 @@
# CMakeLists in this exact order for cmake to work correctly
cmake_minimum_required(VERSION 3.16)

option(MIMI_ENABLE_MICROPYTHON "Enable MicroPython integration" OFF)

# MicroPython helper (local clone to avoid component-manager object lib issues)
if(MIMI_ENABLE_MICROPYTHON)
set(MICROPY_HELPER_DIR "${CMAKE_CURRENT_LIST_DIR}/third_party/micropython-helper")
if(NOT EXISTS "${MICROPY_HELPER_DIR}")
find_package(Git QUIET)
if(GIT_FOUND)
execute_process(
COMMAND "${GIT_EXECUTABLE}" clone --depth 1 --recurse-submodules
https://github.com/mr9you/micropython-helper.git
"${MICROPY_HELPER_DIR}"
RESULT_VARIABLE _mimi_git_clone_rc
)
endif()
endif()
endif()
if(NOT MICROPY_BOARD)
set(MICROPY_BOARD "ESP32_GENERIC_S3")
endif()
if(MIMI_ENABLE_MICROPYTHON AND EXISTS "${MICROPY_HELPER_DIR}/mpy.cmake")
# Work around IDF 5.5 + micropython-helper 1.22.1: linking micropy_extmod_btree
# (OBJECT_LIBRARY) breaks ldgen when TARGET_FILE is expanded.
set(_mimi_extmod_cmake "${MICROPY_HELPER_DIR}/micropython/extmod/extmod.cmake")
if(EXISTS "${_mimi_extmod_cmake}")
file(READ "${_mimi_extmod_cmake}" _mimi_extmod_src)
string(REPLACE
"add_library(micropy_extmod_btree OBJECT"
"add_library(micropy_extmod_btree STATIC"
_mimi_extmod_src
"${_mimi_extmod_src}"
)
file(WRITE "${_mimi_extmod_cmake}" "${_mimi_extmod_src}")
endif()
set(_mimi_mpy_common "${MICROPY_HELPER_DIR}/micropython/ports/esp32/esp32_common.cmake")
if(EXISTS "${_mimi_mpy_common}")
file(READ "${_mimi_mpy_common}" _mimi_mpy_common_src)
string(REGEX REPLACE
"[^\n]*target_link_libraries\\([^\n]*micropy_extmod_btree[^\n]*\\)\n"
""
_mimi_mpy_common_src
"${_mimi_mpy_common_src}"
)
file(WRITE "${_mimi_mpy_common}" "${_mimi_mpy_common_src}")
endif()
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@coderabbitai coderabbitai Bot Mar 8, 2026

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⚠️ Potential issue | 🔴 Critical

🧩 Analysis chain

🏁 Script executed:

#!/bin/bash
# Look for any remaining references to the broken target or generator expression.
rg -n -C2 'micropy_extmod_btree|\$<TARGET_FILE:micropy_extmod_btree>' CMakeLists.txt managed_components || true

Repository: memovai/mimiclaw

Length of output: 1203

🏁 Script executed:

#!/bin/bash
# Search entire repo for micropy_extmod_btree references
rg 'micropy_extmod_btree' --no-heading -n

Repository: memovai/mimiclaw

Length of output: 370

🏁 Script executed:

#!/bin/bash
# Check the structure and find any related cmake files
find . -name "*.cmake" -o -name "CMakeLists.txt" | head -20

Repository: memovai/mimiclaw

Length of output: 98

🏁 Script executed:

#!/bin/bash
# Look at full CMakeLists.txt to understand the complete workaround
wc -l CMakeLists.txt

Repository: memovai/mimiclaw

Length of output: 77

🏁 Script executed:

#!/bin/bash
# Read full CMakeLists.txt to understand the workaround context
cat -n CMakeLists.txt

Repository: memovai/mimiclaw

Length of output: 3383

🏁 Script executed:

#!/bin/bash
# Check if MICROPY_HELPER_DIR is set and what esp32_common.cmake contains
# Also check if there are other cmake files that might reference the target
find . -type f -name "esp32_common.cmake" -o -name "*esp32*.cmake" 2>/dev/null

Repository: memovai/mimiclaw

Length of output: 42

🏁 Script executed:

#!/bin/bash
# Verify the generator expression pattern - check if TARGET_FILE is mentioned elsewhere
rg '\$<TARGET_FILE' --no-heading -C2

Repository: memovai/mimiclaw

Length of output: 42

🏁 Script executed:

#!/bin/bash
# Check for any generator expressions in the codebase
rg '\$<' --no-heading | head -20

Repository: memovai/mimiclaw

Length of output: 173

The $<TARGET_FILE:micropy_extmod_btree> generator expression is not being removed by the current workaround.

The workaround removes $<LINK_ONLY:micropy_extmod_btree> at line 32 and attempts regex removal from source files at line 17, but the error indicates $<TARGET_FILE:micropy_extmod_btree> is still being generated. These are different generator expression patterns—the TARGET_FILE variant is not caught by the current mitigation. This requires either a patched version of micropython-helper that doesn't generate the TARGET_FILE expression, or a deterministic component-level fix after the target graph exists, before merge.

🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@CMakeLists.txt` around lines 11 - 23, The current regex-only removal in the
string(REGEX REPLACE) step for _mimi_mpy_common_src targets
target_link_libraries(...) lines but misses generator expressions like
$<TARGET_FILE:micropy_extmod_btree>; update the post-read transformations to
also remove or neutralize generator expressions referencing micropy_extmod_btree
(e.g., "$<TARGET_FILE:micropy_extmod_btree>" and
"$<LINK_ONLY:micropy_extmod_btree>") from the _mimi_mpy_common_src string after
reading _mimi_mpy_common so the offending generator expressions are eliminated
before writing the file back; keep references to the existing
variables/functions (_mimi_mpy_common, _mimi_mpy_common_src, string(REGEX
REPLACE), micropy_extmod_btree) when implementing the fix.

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⚠️ Potential issue | 🟠 Major

Modifying files in managed_components/ breaks reproducibility.

Writing to extmod.cmake (Line 33) and esp32_common.cmake (Line 44) mutates files managed by the Component Manager. This causes:

  1. Dirty working tree warnings in CI
  2. Potential conflicts on subsequent idf.py reconfigure when Component Manager updates
  3. Non-reproducible builds if patches silently fail

Prefer a downstream fix: after include(mpy.cmake), adjust target properties rather than patching upstream source files. If upstream patching is unavoidable, consider versioning the patch or contributing the fix upstream.

include(${MICROPY_HELPER_DIR}/mpy.cmake)
# If btree is an OBJECT library, wrap it as STATIC and replace references.
if(TARGET micropy_extmod_btree)
get_target_property(_mimi_btree_type micropy_extmod_btree TYPE)
if(_mimi_btree_type STREQUAL "OBJECT_LIBRARY")
add_library(micropy_extmod_btree_static STATIC $<TARGET_OBJECTS:micropy_extmod_btree>)
get_target_property(_mimi_btree_iface micropy_extmod_btree INTERFACE_LINK_LIBRARIES)
if(_mimi_btree_iface)
target_link_libraries(micropy_extmod_btree_static INTERFACE ${_mimi_btree_iface})
endif()
endif()
endif()
# Remove problematic link entry even if helper CMake layout changes.
get_property(_mimi_all_targets GLOBAL PROPERTY TARGETS)
foreach(_mimi_tgt IN LISTS _mimi_all_targets)
foreach(_mimi_prop IN ITEMS LINK_LIBRARIES INTERFACE_LINK_LIBRARIES)
get_target_property(_mimi_links ${_mimi_tgt} ${_mimi_prop})
if(_mimi_links)
set(_mimi_links_new "${_mimi_links}")
list(REMOVE_ITEM _mimi_links_new micropy_extmod_btree "$<LINK_ONLY:micropy_extmod_btree>")
if(TARGET micropy_extmod_btree_static)
list(REMOVE_ITEM _mimi_links_new micropy_extmod_btree_static "$<LINK_ONLY:micropy_extmod_btree_static>")
list(APPEND _mimi_links_new micropy_extmod_btree_static)
endif()
if(NOT _mimi_links_new STREQUAL _mimi_links)
set_property(TARGET ${_mimi_tgt} PROPERTY ${_mimi_prop} "${_mimi_links_new}")
endif()
endif()
endforeach()
endforeach()
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@coderabbitai coderabbitai Bot Mar 8, 2026

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⚠️ Potential issue | 🟠 Major

GLOBAL PROPERTY TARGETS is not valid; target cleanup loop is ineffective.

TARGETS is not a standard CMake global property. You likely intended BUILDSYSTEM_TARGETS on a directory scope:

get_property(_mimi_all_targets DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" PROPERTY BUILDSYSTEM_TARGETS)

However, even with this fix, the loop runs before project() is invoked, so ESP-IDF component targets haven't been created yet and won't be cleaned. This cleanup logic needs to execute after the ESP-IDF build system has defined all targets (e.g., via a project_include.cmake or in a component's CMakeLists.txt).

🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@CMakeLists.txt` around lines 48 - 64, The loop that tries to clean
micropy_extmod_btree links uses get_property(... GLOBAL PROPERTY TARGETS) which
is invalid and runs too early; change to query directory-level targets via
get_property(_mimi_all_targets DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" PROPERTY
BUILDSYSTEM_TARGETS) and move the entire cleanup block so it executes after
project() / after ESP-IDF has created its component targets (e.g., place it in a
project_include.cmake or a component CMakeLists.txt that is parsed
post-project()); keep the rest of the logic (list REMOVE_ITEM for
micropy_extmod_btree and micropy_extmod_btree_static and the set_property calls)
unchanged but ensure the new location runs when BUILD system targets exist.

endif()
if(EXISTS "${CMAKE_BINARY_DIR}/sdkconfig.combined")
file(READ "${CMAKE_BINARY_DIR}/sdkconfig.combined" _sc)
string(REPLACE "CONFIG_MBEDTLS_SSL_ALPN=n" "CONFIG_MBEDTLS_SSL_ALPN=y" _sc "${_sc}")
string(REPLACE "CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=n" "CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y" _sc "${_sc}")
file(WRITE "${CMAKE_BINARY_DIR}/sdkconfig.combined" "${_sc}")
file(APPEND "${CMAKE_BINARY_DIR}/sdkconfig.combined"
"\nCONFIG_MBEDTLS_SSL_ALPN=y\nCONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y\n")
endif()
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⚠️ Potential issue | 🟡 Minor

Redundant patching and timing issue with sdkconfig.combined.

  1. Redundancy: Lines 79-80 replace =n with =y, then Lines 82-83 append the same settings. If the replace succeeded, the append creates duplicates; if the keys didn't exist, the replace was a no-op anyway.

  2. Timing: On a clean configure, ${CMAKE_BINARY_DIR}/sdkconfig.combined typically doesn't exist until ESP-IDF's build system generates it. This block will be skipped, and the intended config won't apply.

Consider moving this logic to a post-configure hook or using SDKCONFIG_DEFAULTS to inject a fragment file with the required settings instead of patching generated files.

Proposed simplification (remove redundant append) 
 if(EXISTS "${CMAKE_BINARY_DIR}/sdkconfig.combined")
   file(READ "${CMAKE_BINARY_DIR}/sdkconfig.combined" _sc)
   string(REPLACE "CONFIG_MBEDTLS_SSL_ALPN=n" "CONFIG_MBEDTLS_SSL_ALPN=y" _sc "${_sc}")
   string(REPLACE "CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=n" "CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y" _sc "${_sc}")
   file(WRITE "${CMAKE_BINARY_DIR}/sdkconfig.combined" "${_sc}")
-  file(APPEND "${CMAKE_BINARY_DIR}/sdkconfig.combined"
-    "\nCONFIG_MBEDTLS_SSL_ALPN=y\nCONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y\n")
 endif()
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@CMakeLists.txt` around lines 77 - 84, The current block that reads and then
appends CONFIG_MBEDTLS_SSL_ALPN and CONFIG_MBEDTLS_CERTIFICATE_BUNDLE is
redundant and can race with ESP-IDF generating sdkconfig.combined; remove the
read/replace + append hack and instead inject the settings reliably via
ESP-IDF's SDKCONFIG_DEFAULTS mechanism or a post-configure hook. Concretely:
delete the file(READ)/string(REPLACE)/file(APPEND) sequence operating on
"${CMAKE_BINARY_DIR}/sdkconfig.combined", add a small sdkconfig.defaults
fragment containing CONFIG_MBEDTLS_SSL_ALPN=y and
CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y, and set/export SDKCONFIG_DEFAULTS (or
register that fragment with the build) so the settings are picked up at
configure time; alternatively, if you must patch the generated file, perform the
modification from a custom CMake post-configure/custom command that runs after
ESP-IDF produces sdkconfig.combined to avoid the timing issue.

set(_mimi_sdkconfig_defaults
"sdkconfig.defaults"
"${CMAKE_CURRENT_LIST_DIR}/sdkconfig.defaults.esp32s3"
)
if(MIMI_ENABLE_MICROPYTHON)
list(APPEND _mimi_sdkconfig_defaults
"${CMAKE_CURRENT_LIST_DIR}/sdkconfig.micropython.override"
)
endif()
if(EXISTS "${CMAKE_BINARY_DIR}/sdkconfig.combined")
list(INSERT _mimi_sdkconfig_defaults 1 "${CMAKE_BINARY_DIR}/sdkconfig.combined")
endif()
set(SDKCONFIG_DEFAULTS "${_mimi_sdkconfig_defaults}" CACHE STRING "Kconfig defaults" FORCE)

include($ENV{IDF_PATH}/tools/cmake/project.cmake)
project(mimiclaw)

Expand Down
92 changes: 64 additions & 28 deletions main/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,30 +1,66 @@
set(MIMI_MAIN_SRCS
"mimi.c"
"bus/message_bus.c"
"wifi/wifi_manager.c"
"channels/telegram/telegram_bot.c"
"channels/feishu/feishu_bot.c"
"llm/llm_proxy.c"
"agent/agent_loop.c"
"agent/context_builder.c"
"memory/memory_store.c"
"memory/session_mgr.c"
"gateway/ws_server.c"
"compat/esp_tls_stubs.c"
"cli/serial_cli.c"
"proxy/http_proxy.c"
"cron/cron_service.c"
"heartbeat/heartbeat.c"
"tools/tool_registry.c"
"tools/tool_cron.c"
"tools/tool_web_search.c"
"tools/tool_get_time.c"
"tools/tool_files.c"
"skills/skill_loader.c"
)

set(MIMI_MAIN_INCLUDE_DIRS "." "compat")

set(MIMI_MAIN_REQUIRES
nvs_flash esp_wifi esp_netif esp_http_client esp_http_server
esp_https_ota esp_event json spiffs console vfs app_update esp-tls
esp_timer esp_websocket_client tcp_transport
)

if(MIMI_ENABLE_MICROPYTHON)
list(APPEND MIMI_MAIN_SRCS
"micropython/mpy_runner.c"
"micropython/mpy_stubs.c"
"micropython/mpy_uart_stubs.c"
)
list(APPEND MIMI_MAIN_INCLUDE_DIRS
"micropython"
"${CMAKE_BINARY_DIR}"
"${CMAKE_SOURCE_DIR}/third_party/micropython-helper/micropython"
"${CMAKE_SOURCE_DIR}/third_party/micropython-helper/micropython/ports/esp32"
"${CMAKE_SOURCE_DIR}/third_party/micropython-helper/micropython/ports/esp32/boards/${MICROPY_BOARD}"
)
list(APPEND MIMI_MAIN_REQUIRES esp_driver_gpio esp_driver_i2s)
endif()

idf_component_register(
SRCS
"mimi.c"
"bus/message_bus.c"
"wifi/wifi_manager.c"
"channels/telegram/telegram_bot.c"
"channels/feishu/feishu_bot.c"
"llm/llm_proxy.c"
"agent/agent_loop.c"
"agent/context_builder.c"
"memory/memory_store.c"
"memory/session_mgr.c"
"gateway/ws_server.c"
"cli/serial_cli.c"
"proxy/http_proxy.c"
"cron/cron_service.c"
"heartbeat/heartbeat.c"
"tools/tool_registry.c"
"tools/tool_cron.c"
"tools/tool_web_search.c"
"tools/tool_get_time.c"
"tools/tool_files.c"
"skills/skill_loader.c"
INCLUDE_DIRS
"."
REQUIRES
nvs_flash esp_wifi esp_netif esp_http_client esp_http_server
esp_https_ota esp_event json spiffs console vfs app_update esp-tls
esp_timer esp_websocket_client
SRCS ${MIMI_MAIN_SRCS}
INCLUDE_DIRS ${MIMI_MAIN_INCLUDE_DIRS}
REQUIRES ${MIMI_MAIN_REQUIRES}
)

target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-format-truncation)
target_include_directories(${COMPONENT_LIB} PRIVATE ${IDF_PATH}/components/mbedtls/esp_crt_bundle/include)
if(MIMI_ENABLE_MICROPYTHON)
if(DEFINED MICROPY_GENHDR_DIR)
get_filename_component(_mimi_genhdr_parent "${MICROPY_GENHDR_DIR}" DIRECTORY)
target_include_directories(${COMPONENT_LIB} PRIVATE "${_mimi_genhdr_parent}")
endif()
if(DEFINED MICROPY_TARGET)
add_dependencies(${COMPONENT_LIB} ${MICROPY_TARGET})
endif()
endif()
14 changes: 12 additions & 2 deletions main/agent/agent_loop.c
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Original file line number Diff line number Diff line change
Expand Up @@ -172,13 +172,23 @@ static void agent_loop_task(void *arg)
{
ESP_LOGI(TAG, "Agent loop started on core %d", xPortGetCoreID());

/* Allocate large buffers from PSRAM */
/* Allocate large buffers from PSRAM, fallback to internal RAM */
char *system_prompt = heap_caps_calloc(1, MIMI_CONTEXT_BUF_SIZE, MALLOC_CAP_SPIRAM);
char *history_json = heap_caps_calloc(1, MIMI_LLM_STREAM_BUF_SIZE, MALLOC_CAP_SPIRAM);
char *tool_output = heap_caps_calloc(1, TOOL_OUTPUT_SIZE, MALLOC_CAP_SPIRAM);

if (!system_prompt) {
system_prompt = heap_caps_calloc(1, MIMI_CONTEXT_BUF_SIZE, MALLOC_CAP_8BIT);
}
if (!history_json) {
history_json = heap_caps_calloc(1, MIMI_LLM_STREAM_BUF_SIZE, MALLOC_CAP_8BIT);
}
if (!tool_output) {
tool_output = heap_caps_calloc(1, TOOL_OUTPUT_SIZE, MALLOC_CAP_8BIT);
}

if (!system_prompt || !history_json || !tool_output) {
ESP_LOGE(TAG, "Failed to allocate PSRAM buffers");
ESP_LOGE(TAG, "Failed to allocate agent buffers");
vTaskDelete(NULL);
Comment on lines +180 to 192
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⚠️ Potential issue | 🟠 Major

Free successful allocations before aborting startup.

If one buffer still fails after fallback, Lines 190-192 delete the task without releasing the buffers that already succeeded. On a low-memory boot that leaks tens of KiB permanently and makes recovery harder.

Proposed fix 
     if (!system_prompt || !history_json || !tool_output) {
         ESP_LOGE(TAG, "Failed to allocate agent buffers");
+        free(system_prompt);
+        free(history_json);
+        free(tool_output);
         vTaskDelete(NULL);
         return;
     }
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@main/agent/agent_loop.c` around lines 180 - 192, If any of the three
allocations (system_prompt, history_json, tool_output via heap_caps_calloc)
fails, free any buffers that were successfully allocated before calling
vTaskDelete; specifically check each pointer (system_prompt, history_json,
tool_output) and call the appropriate free (heap_caps_free or free consistent
with heap_caps_calloc) to release memory, then log the error with ESP_LOGE and
call vTaskDelete(NULL). Update the failure branch around the allocation block in
agent_loop.c so no partial allocations are leaked on startup abort.

return;
}
Expand Down
10 changes: 5 additions & 5 deletions main/channels/feishu/feishu_bot.c
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
#include "esp_log.h"
#include "esp_http_client.h"
#include "esp_websocket_client.h"
#include "esp_crt_bundle.h"
#include "compat/mbedtls_compat.h"
#include "esp_timer.h"
#include "esp_event.h"
#include "nvs.h"
Expand Down Expand Up @@ -327,7 +327,7 @@ static esp_err_t feishu_get_tenant_token(void)
.timeout_ms = 10000,
.buffer_size = 2048,
.buffer_size_tx = 2048,
.crt_bundle_attach = esp_crt_bundle_attach,
.crt_bundle_attach = MIMI_CRT_BUNDLE_ATTACH,
};

esp_http_client_handle_t client = esp_http_client_init(&config);
Expand Down Expand Up @@ -387,7 +387,7 @@ static char *feishu_api_call(const char *url, const char *method, const char *po
.timeout_ms = 15000,
.buffer_size = 2048,
.buffer_size_tx = 2048,
.crt_bundle_attach = esp_crt_bundle_attach,
.crt_bundle_attach = MIMI_CRT_BUNDLE_ATTACH,
};

esp_http_client_handle_t client = esp_http_client_init(&config);
Expand Down Expand Up @@ -464,7 +464,7 @@ static esp_err_t feishu_pull_ws_config(void)
.timeout_ms = 15000,
.buffer_size = 2048,
.buffer_size_tx = 1024,
.crt_bundle_attach = esp_crt_bundle_attach,
.crt_bundle_attach = MIMI_CRT_BUNDLE_ATTACH,
};
esp_http_client_handle_t client = esp_http_client_init(&config);
if (!client) {
Expand Down Expand Up @@ -620,7 +620,7 @@ static void feishu_ws_task(void *arg)
.reconnect_timeout_ms = s_ws_reconnect_interval_ms,
.network_timeout_ms = 10000,
.disable_auto_reconnect = false,
.crt_bundle_attach = esp_crt_bundle_attach,
.crt_bundle_attach = MIMI_CRT_BUNDLE_ATTACH,
};

s_ws_client = esp_websocket_client_init(&ws_cfg);
Expand Down
4 changes: 2 additions & 2 deletions main/channels/telegram/telegram_bot.c
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
#include "esp_log.h"
#include "esp_timer.h"
#include "esp_http_client.h"
#include "esp_crt_bundle.h"
#include "compat/mbedtls_compat.h"
#include "nvs.h"
#include "cJSON.h"

Expand Down Expand Up @@ -215,7 +215,7 @@ static char *tg_api_call_direct(const char *method, const char *post_data)
.timeout_ms = (MIMI_TG_POLL_TIMEOUT_S + 5) * 1000,
.buffer_size = 2048,
.buffer_size_tx = 2048,
.crt_bundle_attach = esp_crt_bundle_attach,
.crt_bundle_attach = MIMI_CRT_BUNDLE_ATTACH,
};

esp_http_client_handle_t client = esp_http_client_init(&config);
Expand Down
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