fix: 修复6个边缘侧问题 + 单元测试

1. 删除 ConfigAgent (与 MQTT 配置更新重叠且未启用)
2. OTA 完整安装流程: 解压tar.gz -> 校验ELF -> 替换二进制 -> systemctl重启
3. StreamManager stopAll 添加 Wait() 防止僵尸进程
4. InferClient socket 读写添加 timeout 防止永久阻塞
5. Heartbeat 集成 NPU 监控 (npu-smi + fallback 脚本)
6. 配置更新时动态重启 ffmpeg 以应用新 fps

internal/control/ota_agent.go

@@ -1,7 +1,9 @@
 package control
 
 import (
+	"archive/tar"
 	"bytes"
+	"compress/gzip"
 	"context"
 	"crypto/sha256"
 	"encoding/hex"
@@ -11,6 +13,7 @@ import (
 	"log"
 	"net/http"
 	"os"
+	"os/exec"
 	"path/filepath"
 	"time"
 
@@ -29,6 +32,12 @@ func (o *OTAAgent) Run(ctx context.Context) {
 	client := &http.Client{Timeout: 30 * time.Second}
 	ticker := time.NewTicker(10 * time.Minute)
 	defer ticker.Stop()
+
+	// Check once on startup if in maintenance window
+	if inMaintenanceWindow() {
+		o.check(client)
+	}
+
 	for {
 		select {
 		case <-ctx.Done():
@@ -69,10 +78,16 @@ func (o *OTAAgent) check(client *http.Client) {
 		return
 	}
 	if err := o.downloadAndVerify(client, mf); err != nil {
+		log.Printf("ota: download/verify failed: %v", err)
 		o.report(client, target, "failed")
 		return
 	}
-	o.report(client, target, "verified")
+	if err := o.install(target); err != nil {
+		log.Printf("ota: install failed: %v", err)
+		o.report(client, target, "install_failed")
+		return
+	}
+	o.report(client, target, "installed")
 }
 
 func (o *OTAAgent) downloadAndVerify(client *http.Client, mf map[string]string) error {
@@ -93,13 +108,150 @@ func (o *OTAAgent) downloadAndVerify(client *http.Client, mf map[string]string)
 	sum := sha256.Sum256(data)
 	actual := hex.EncodeToString(sum[:])
 	if actual != expected {
-		return fmt.Errorf("checksum mismatch")
+		return fmt.Errorf("checksum mismatch: expected %s got %s", expected, actual)
 	}
 	_ = os.MkdirAll("/opt/tianyan-edge/staging", 0o755)
 	path := filepath.Join("/opt/tianyan-edge/staging", target+".tar.gz")
 	return os.WriteFile(path, data, 0o644)
 }
 
+func (o *OTAAgent) install(target string) error {
+	stagingPath := filepath.Join("/opt/tianyan-edge/staging", target+".tar.gz")
+	data, err := os.ReadFile(stagingPath)
+	if err != nil {
+		return fmt.Errorf("read staging file: %w", err)
+	}
+
+	// Extract tar.gz into a temp directory
+	tmpDir, err := os.MkdirTemp("/opt/tianyan-edge/staging", "ota-"+target)
+	if err != nil {
+		return fmt.Errorf("create temp dir: %w", err)
+	}
+	defer os.RemoveAll(tmpDir)
+
+	if err := extractTarGz(bytes.NewReader(data), tmpDir); err != nil {
+		return fmt.Errorf("extract: %w", err)
+	}
+
+	// Look for edge-agent binary in extracted content
+	newBinary := filepath.Join(tmpDir, "edge-agent")
+	if _, err := os.Stat(newBinary); os.IsNotExist(err) {
+		// Try finding it recursively
+		found := ""
+		var stopWalk = fmt.Errorf("found")
+		filepath.Walk(tmpDir, func(path string, info os.FileInfo, err error) error {
+			if err != nil {
+				return nil
+			}
+			if info.Name() == "edge-agent" && !info.IsDir() {
+				found = path
+				return stopWalk
+			}
+			return nil
+		})
+		if found == "" {
+			return fmt.Errorf("edge-agent binary not found in package")
+		}
+		newBinary = found
+	}
+
+	// Verify the new binary is actually an ELF executable
+	header, err := os.Open(newBinary)
+	if err != nil {
+		return fmt.Errorf("open new binary: %w", err)
+	}
+	magic := make([]byte, 4)
+	header.Read(magic)
+	header.Close()
+	if !bytes.Equal(magic, []byte{0x7f, 0x45, 0x4c, 0x46}) { // ELF magic
+		return fmt.Errorf("new binary is not a valid ELF executable")
+	}
+
+	// Backup current binary
+	backupPath := "/opt/tianyan-edge/edge-agent.bak"
+	if err := copyFile("/opt/tianyan-edge/edge-agent", backupPath); err != nil {
+		log.Printf("ota: backup failed (non-fatal): %v", err)
+	}
+
+	// Replace binary
+	if err := copyFile(newBinary, "/opt/tianyan-edge/edge-agent"); err != nil {
+		return fmt.Errorf("replace binary: %w", err)
+	}
+	if err := os.Chmod("/opt/tianyan-edge/edge-agent", 0755); err != nil {
+		return fmt.Errorf("chmod: %w", err)
+	}
+
+	// Update version in config
+	o.cfg.Version = target
+	_ = o.cfg.Save()
+
+	// Clean up staging
+	os.Remove(stagingPath)
+
+	// Restart service via systemd
+	log.Println("ota: binary replaced, restarting service...")
+	cmd := exec.Command("systemctl", "restart", "edge-agent")
+	if err := cmd.Run(); err != nil {
+		log.Printf("ota: systemctl restart failed: %v (binary replaced, manual restart needed)", err)
+		// Binary is already replaced, service will use new version on next boot
+	}
+
+	return nil
+}
+
+func extractTarGz(r io.Reader, dest string) error {
+	gzr, err := gzip.NewReader(r)
+	if err != nil {
+		return err
+	}
+	defer gzr.Close()
+
+	tr := tar.NewReader(gzr)
+	for {
+		hdr, err := tr.Next()
+		if err == io.EOF {
+			break
+		}
+		if err != nil {
+			return err
+		}
+		target := filepath.Join(dest, hdr.Name)
+		switch hdr.Typeflag {
+		case tar.TypeDir:
+			if err := os.MkdirAll(target, os.FileMode(hdr.Mode)); err != nil {
+				return err
+			}
+		case tar.TypeReg:
+			os.MkdirAll(filepath.Dir(target), 0755)
+			f, err := os.OpenFile(target, os.O_CREATE|os.O_WRONLY, os.FileMode(hdr.Mode))
+			if err != nil {
+				return err
+			}
+			if _, err := io.Copy(f, tr); err != nil {
+				f.Close()
+				return err
+			}
+			f.Close()
+		}
+	}
+	return nil
+}
+
+func copyFile(src, dst string) error {
+	in, err := os.Open(src)
+	if err != nil {
+		return err
+	}
+	defer in.Close()
+	out, err := os.Create(dst)
+	if err != nil {
+		return err
+	}
+	defer out.Close()
+	_, err = io.Copy(out, in)
+	return err
+}
+
 func (o *OTAAgent) report(client *http.Client, version, status string) {
 	payload := map[string]any{"edge_id": o.cfg.EdgeID, "version": version,
 		"status": status, "ts": float64(time.Now().UnixMilli()) / 1000.0}