#Programmatic message sending via gateway API - custom dashboard integration

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mystic dragon
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Is there a way to send messages to an agent programmatically via the gateway API?
I have a self-hosted OpenClaw instance with a custom agent (Sun Jin Woo) and I want to integrate a chat interface in my own dashboard. The gateway runs on port 18789 with a token.
I tried GET /api/agents but got 404. Is there a REST endpoint or WebSocket protocol to:

Send a message to a specific agent
Receive the response

Or is the only option to use the web UI at localhost:18789?