fix: code/cli acpx reliability 20260304 (#34020)

* agents: switch claude-cli defaults to bypassPermissions

* agents: add claude-cli default args coverage

* agents: emit watchdog stall system event for cli runs

* agents: test cli watchdog stall system event

* acpx: fallback to sessions new when ensure returns no ids

* acpx tests: mock sessions new fallback path

* acpx tests: cover ensure-empty fallback flow

* skills: clarify claude print mode without pty

* docs: update cli-backends claude default args

* docs: refresh cli live test default args

* gateway tests: align live claude args defaults

* changelog: credit claude/acpx reliability fixes

* Agents: normalize legacy Claude permission flag overrides

* Tests: cover legacy Claude permission override normalization

* Changelog: note legacy Claude permission flag auto-normalization

* ACPX: fail fast when ensure/new return no session IDs

* ACPX tests: support empty sessions new fixture output

* ACPX tests: assert ensureSession failure when IDs missing

* CLI runner: scope watchdog heartbeat wake to session

* CLI runner tests: assert session-scoped watchdog wake

* Update CHANGELOG.md

skills/coding-agent/SKILL.md

@@ -1,6 +1,6 @@
 ---
 name: coding-agent
-description: 'Delegate coding tasks to Codex, Claude Code, or Pi agents via background process. Use when: (1) building/creating new features or apps, (2) reviewing PRs (spawn in temp dir), (3) refactoring large codebases, (4) iterative coding that needs file exploration. NOT for: simple one-liner fixes (just edit), reading code (use read tool), thread-bound ACP harness requests in chat (for example spawn/run Codex or Claude Code in a Discord thread; use sessions_spawn with runtime:"acp"), or any work in ~/clawd workspace (never spawn agents here). Requires a bash tool that supports pty:true.'
+description: 'Delegate coding tasks to Codex, Claude Code, or Pi agents via background process. Use when: (1) building/creating new features or apps, (2) reviewing PRs (spawn in temp dir), (3) refactoring large codebases, (4) iterative coding that needs file exploration. NOT for: simple one-liner fixes (just edit), reading code (use read tool), thread-bound ACP harness requests in chat (for example spawn/run Codex or Claude Code in a Discord thread; use sessions_spawn with runtime:"acp"), or any work in ~/clawd workspace (never spawn agents here). Claude Code: use --print --permission-mode bypassPermissions (no PTY). Codex/Pi/OpenCode: pty:true required.'
 metadata:
   {
     "openclaw": { "emoji": "🧩", "requires": { "anyBins": ["claude", "codex", "opencode", "pi"] } },
@@ -11,18 +11,27 @@ metadata:
 
 Use **bash** (with optional background mode) for all coding agent work. Simple and effective.
 
-## ⚠️ PTY Mode Required!
+## ⚠️ PTY Mode: Codex/Pi/OpenCode yes, Claude Code no
 
-Coding agents (Codex, Claude Code, Pi) are **interactive terminal applications** that need a pseudo-terminal (PTY) to work correctly. Without PTY, you'll get broken output, missing colors, or the agent may hang.
-
-**Always use `pty:true`** when running coding agents:
+For **Codex, Pi, and OpenCode**, PTY is still required (interactive terminal apps):
 
 ```bash
-# ✅ Correct - with PTY
+# ✅ Correct for Codex/Pi/OpenCode
 bash pty:true command:"codex exec 'Your prompt'"
+```
 
-# ❌ Wrong - no PTY, agent may break
-bash command:"codex exec 'Your prompt'"
+For **Claude Code** (`claude` CLI), use `--print --permission-mode bypassPermissions` instead.
+`--dangerously-skip-permissions` with PTY can exit after the confirmation dialog.
+`--print` mode keeps full tool access and avoids interactive confirmation:
+
+```bash
+# ✅ Correct for Claude Code (no PTY needed)
+cd /path/to/project && claude --permission-mode bypassPermissions --print 'Your task'
+
+# For background execution: use background:true on the exec tool
+
+# ❌ Wrong for Claude Code
+bash pty:true command:"claude --dangerously-skip-permissions 'task'"
 ```
 
 ### Bash Tool Parameters
@@ -158,11 +167,11 @@ gh pr comment <PR#> --body "<review content>"
 ## Claude Code
 
 ```bash
-# With PTY for proper terminal output
-bash pty:true workdir:~/project command:"claude 'Your task'"
+# Foreground
+bash workdir:~/project command:"claude --permission-mode bypassPermissions --print 'Your task'"
 
 # Background
-bash pty:true workdir:~/project background:true command:"claude 'Your task'"
+bash workdir:~/project background:true command:"claude --permission-mode bypassPermissions --print 'Your task'"
 ```
 
 ---
@@ -222,7 +231,9 @@ git worktree remove /tmp/issue-99
 
 ## ⚠️ Rules
 
-1. **Always use pty:true** - coding agents need a terminal!
+1. **Use the right execution mode per agent**:
+   - Codex/Pi/OpenCode: `pty:true`
+   - Claude Code: `--print --permission-mode bypassPermissions` (no PTY required)
 2. **Respect tool choice** - if user asks for Codex, use Codex.
    - Orchestrator mode: do NOT hand-code patches yourself.
    - If an agent fails/hangs, respawn it or ask the user for direction, but don't silently take over.