diff --git a/docs/ios/spec.md b/docs/ios/spec.md
index cf3d4a080..7d6de8a41 100644
--- a/docs/ios/spec.md
+++ b/docs/ios/spec.md
@@ -107,7 +107,7 @@ Add to `src/gateway/protocol/schema.ts` (and regenerate Swift models):
 **Methods**
 - `node.list` → list paired/connected nodes + capabilities
 - `node.invoke` → send a command to a specific node
-  - Params: `{ nodeId, command, params, idempotencyKey }`
+  - Params: `{ nodeId, command, params?, timeoutMs? }`
 
 **Events**
 - `node.event` → async node status/errors
@@ -125,6 +125,14 @@ Result pattern:
 - Request is a standard `req/res` with `ok` / `error`.
 - Long operations (loads, streaming drawing, etc.) may also emit `node.event` progress.
 
+#### Current (implemented)
+As of 2025-12-13, the Gateway supports `node.invoke` for bridge-connected nodes.
+
+Example: draw a diagonal line on the iOS Canvas:
+```bash
+clawdis nodes invoke --node ios-node --command screen.eval --params '{"javaScript":"(() => { const {ctx} = window.__clawdis; ctx.clearRect(0,0,innerWidth,innerHeight); ctx.lineWidth=6; ctx.strokeStyle=\"#ff2d55\"; ctx.beginPath(); ctx.moveTo(40,40); ctx.lineTo(innerWidth-40, innerHeight-40); ctx.stroke(); return \"ok\"; })()"}'
+```
+
 ### Background behavior requirement
 When iOS is backgrounded:
 - Voice may still be active (subject to iOS suspension).
diff --git a/src/cli/nodes-cli.ts b/src/cli/nodes-cli.ts
index e3562fcd5..03e3e7656 100644
--- a/src/cli/nodes-cli.ts
+++ b/src/cli/nodes-cli.ts
@@ -7,6 +7,10 @@ type NodesRpcOpts = {
   token?: string;
   timeout?: string;
   json?: boolean;
+  node?: string;
+  command?: string;
+  params?: string;
+  invokeTimeout?: string;
 };
 
 type PendingRequest = {
@@ -207,4 +211,50 @@ export function registerNodesCli(program: Command) {
         }
       }),
   );
+
+  nodesCallOpts(
+    nodes
+      .command("invoke")
+      .description("Invoke a command on a connected node")
+      .requiredOption("--node <nodeId>", "Node id (instanceId)")
+      .requiredOption("--command <command>", "Command (e.g. screen.eval)")
+      .option("--params <json>", "JSON object string for params")
+      .option(
+        "--invoke-timeout <ms>",
+        "Node invoke timeout in ms (default 15000)",
+      )
+      .action(async (opts: NodesRpcOpts) => {
+        try {
+          const nodeId = String(opts.node ?? "").trim();
+          const command = String(opts.command ?? "").trim();
+          if (!nodeId || !command) {
+            defaultRuntime.error("--node and --command required");
+            defaultRuntime.exit(1);
+            return;
+          }
+          const params = opts.params
+            ? (JSON.parse(String(opts.params)) as unknown)
+            : undefined;
+          const timeoutMs = opts.invokeTimeout
+            ? Number.parseInt(String(opts.invokeTimeout), 10)
+            : undefined;
+
+          const invokeParams: Record<string, unknown> = { nodeId, command };
+          if (params !== undefined) invokeParams.params = params;
+          if (typeof timeoutMs === "number" && Number.isFinite(timeoutMs)) {
+            invokeParams.timeoutMs = timeoutMs;
+          }
+
+          const result = await callGatewayCli(
+            "node.invoke",
+            opts,
+            invokeParams,
+          );
+          defaultRuntime.log(JSON.stringify(result, null, 2));
+        } catch (err) {
+          defaultRuntime.error(`nodes invoke failed: ${String(err)}`);
+          defaultRuntime.exit(1);
+        }
+      }),
+  );
 }
diff --git a/src/cli/program.test.ts b/src/cli/program.test.ts
index 54e6669c5..c255de4cc 100644
--- a/src/cli/program.test.ts
+++ b/src/cli/program.test.ts
@@ -91,4 +91,41 @@ describe("cli program", () => {
     );
     expect(runtime.log).toHaveBeenCalled();
   });
+
+  it("runs nodes invoke and calls node.invoke", async () => {
+    callGateway.mockResolvedValue({
+      ok: true,
+      nodeId: "ios-node",
+      command: "screen.eval",
+      payload: { result: "ok" },
+    });
+
+    const program = buildProgram();
+    runtime.log.mockClear();
+    await program.parseAsync(
+      [
+        "nodes",
+        "invoke",
+        "--node",
+        "ios-node",
+        "--command",
+        "screen.eval",
+        "--params",
+        '{"javaScript":"1+1"}',
+      ],
+      { from: "user" },
+    );
+
+    expect(callGateway).toHaveBeenCalledWith(
+      expect.objectContaining({
+        method: "node.invoke",
+        params: {
+          nodeId: "ios-node",
+          command: "screen.eval",
+          params: { javaScript: "1+1" },
+        },
+      }),
+    );
+    expect(runtime.log).toHaveBeenCalled();
+  });
 });
diff --git a/src/gateway/protocol/index.ts b/src/gateway/protocol/index.ts
index 45aa74439..ecec9a7ae 100644
--- a/src/gateway/protocol/index.ts
+++ b/src/gateway/protocol/index.ts
@@ -36,6 +36,8 @@ import {
   GatewayFrameSchema,
   type HelloOk,
   HelloOkSchema,
+  type NodeInvokeParams,
+  NodeInvokeParamsSchema,
   type NodePairApproveParams,
   NodePairApproveParamsSchema,
   type NodePairListParams,
@@ -103,6 +105,9 @@ export const validateNodePairRejectParams = ajv.compile<NodePairRejectParams>(
 export const validateNodePairVerifyParams = ajv.compile<NodePairVerifyParams>(
   NodePairVerifyParamsSchema,
 );
+export const validateNodeInvokeParams = ajv.compile<NodeInvokeParams>(
+  NodeInvokeParamsSchema,
+);
 export const validateSessionsListParams = ajv.compile<SessionsListParams>(
   SessionsListParamsSchema,
 );
@@ -158,6 +163,7 @@ export {
   NodePairApproveParamsSchema,
   NodePairRejectParamsSchema,
   NodePairVerifyParamsSchema,
+  NodeInvokeParamsSchema,
   SessionsListParamsSchema,
   SessionsPatchParamsSchema,
   CronJobSchema,
@@ -199,6 +205,7 @@ export type {
   NodePairApproveParams,
   NodePairRejectParams,
   NodePairVerifyParams,
+  NodeInvokeParams,
   SessionsListParams,
   SessionsPatchParams,
   CronJob,
diff --git a/src/gateway/protocol/schema.ts b/src/gateway/protocol/schema.ts
index 4590223cb..3fa266ded 100644
--- a/src/gateway/protocol/schema.ts
+++ b/src/gateway/protocol/schema.ts
@@ -242,6 +242,16 @@ export const NodePairVerifyParamsSchema = Type.Object(
   { additionalProperties: false },
 );
 
+export const NodeInvokeParamsSchema = Type.Object(
+  {
+    nodeId: NonEmptyString,
+    command: NonEmptyString,
+    params: Type.Optional(Type.Unknown()),
+    timeoutMs: Type.Optional(Type.Integer({ minimum: 0 })),
+  },
+  { additionalProperties: false },
+);
+
 export const SessionsListParamsSchema = Type.Object(
   {
     limit: Type.Optional(Type.Integer({ minimum: 1 })),
@@ -496,6 +506,7 @@ export const ProtocolSchemas: Record<string, TSchema> = {
   NodePairApproveParams: NodePairApproveParamsSchema,
   NodePairRejectParams: NodePairRejectParamsSchema,
   NodePairVerifyParams: NodePairVerifyParamsSchema,
+  NodeInvokeParams: NodeInvokeParamsSchema,
   SessionsListParams: SessionsListParamsSchema,
   SessionsPatchParams: SessionsPatchParamsSchema,
   CronJob: CronJobSchema,
@@ -533,6 +544,7 @@ export type NodePairListParams = Static<typeof NodePairListParamsSchema>;
 export type NodePairApproveParams = Static<typeof NodePairApproveParamsSchema>;
 export type NodePairRejectParams = Static<typeof NodePairRejectParamsSchema>;
 export type NodePairVerifyParams = Static<typeof NodePairVerifyParamsSchema>;
+export type NodeInvokeParams = Static<typeof NodeInvokeParamsSchema>;
 export type SessionsListParams = Static<typeof SessionsListParamsSchema>;
 export type SessionsPatchParams = Static<typeof SessionsPatchParamsSchema>;
 export type CronJob = Static<typeof CronJobSchema>;
diff --git a/src/gateway/server.test.ts b/src/gateway/server.test.ts
index 8784796ea..ae6d9947f 100644
--- a/src/gateway/server.test.ts
+++ b/src/gateway/server.test.ts
@@ -27,10 +27,24 @@ type BridgeStartOpts = {
 };
 
 const bridgeStartCalls = vi.hoisted(() => [] as BridgeStartOpts[]);
+const bridgeInvoke = vi.hoisted(() =>
+  vi.fn(async () => ({
+    type: "invoke-res",
+    id: "1",
+    ok: true,
+    payloadJSON: JSON.stringify({ ok: true }),
+    error: null,
+  })),
+);
 vi.mock("../infra/bridge/server.js", () => ({
   startNodeBridgeServer: vi.fn(async (opts: BridgeStartOpts) => {
     bridgeStartCalls.push(opts);
-    return { port: 0, close: async () => {} };
+    return {
+      port: 18790,
+      close: async () => {},
+      listConnected: () => [],
+      invoke: bridgeInvoke,
+    };
   }),
 }));
 
@@ -362,6 +376,54 @@ describe("gateway server", () => {
     }
   });
 
+  test("routes node.invoke to the node bridge", async () => {
+    const homeDir = await fs.mkdtemp(path.join(os.tmpdir(), "clawdis-home-"));
+    const prevHome = process.env.HOME;
+    process.env.HOME = homeDir;
+
+    try {
+      bridgeInvoke.mockResolvedValueOnce({
+        type: "invoke-res",
+        id: "inv-1",
+        ok: true,
+        payloadJSON: JSON.stringify({ result: "4" }),
+        error: null,
+      });
+
+      const { server, ws } = await startServerWithClient();
+      try {
+        await connectOk(ws);
+
+        const res = await rpcReq(ws, "node.invoke", {
+          nodeId: "ios-node",
+          command: "screen.eval",
+          params: { javaScript: "2+2" },
+          timeoutMs: 123,
+        });
+        expect(res.ok).toBe(true);
+
+        expect(bridgeInvoke).toHaveBeenCalledWith(
+          expect.objectContaining({
+            nodeId: "ios-node",
+            command: "screen.eval",
+            paramsJSON: JSON.stringify({ javaScript: "2+2" }),
+            timeoutMs: 123,
+          }),
+        );
+      } finally {
+        ws.close();
+        await server.close();
+      }
+    } finally {
+      await fs.rm(homeDir, { recursive: true, force: true });
+      if (prevHome === undefined) {
+        delete process.env.HOME;
+      } else {
+        process.env.HOME = prevHome;
+      }
+    }
+  });
+
   test("emits presence updates for bridge connect/disconnect", async () => {
     const homeDir = await fs.mkdtemp(path.join(os.tmpdir(), "clawdis-home-"));
     const prevHome = process.env.HOME;
diff --git a/src/gateway/server.ts b/src/gateway/server.ts
index dc4a1ff54..5b20e5ee0 100644
--- a/src/gateway/server.ts
+++ b/src/gateway/server.ts
@@ -100,6 +100,7 @@ import {
   validateCronRunsParams,
   validateCronStatusParams,
   validateCronUpdateParams,
+  validateNodeInvokeParams,
   validateNodePairApproveParams,
   validateNodePairListParams,
   validateNodePairRejectParams,
@@ -176,6 +177,7 @@ const METHODS = [
   "node.pair.approve",
   "node.pair.reject",
   "node.pair.verify",
+  "node.invoke",
   "cron.list",
   "cron.status",
   "cron.add",
@@ -2046,6 +2048,100 @@ export async function startGatewayServer(
             }
             break;
           }
+          case "node.invoke": {
+            const params = (req.params ?? {}) as Record<string, unknown>;
+            if (!validateNodeInvokeParams(params)) {
+              respond(
+                false,
+                undefined,
+                errorShape(
+                  ErrorCodes.INVALID_REQUEST,
+                  `invalid node.invoke params: ${formatValidationErrors(validateNodeInvokeParams.errors)}`,
+                ),
+              );
+              break;
+            }
+            if (!bridge) {
+              respond(
+                false,
+                undefined,
+                errorShape(ErrorCodes.UNAVAILABLE, "bridge not running"),
+              );
+              break;
+            }
+            const p = params as {
+              nodeId: string;
+              command: string;
+              params?: unknown;
+              timeoutMs?: number;
+            };
+            const nodeId = String(p.nodeId ?? "").trim();
+            const command = String(p.command ?? "").trim();
+            if (!nodeId || !command) {
+              respond(
+                false,
+                undefined,
+                errorShape(
+                  ErrorCodes.INVALID_REQUEST,
+                  "nodeId and command required",
+                ),
+              );
+              break;
+            }
+
+            try {
+              const paramsJSON =
+                "params" in p && p.params !== undefined
+                  ? JSON.stringify(p.params)
+                  : null;
+              const res = await bridge.invoke({
+                nodeId,
+                command,
+                paramsJSON,
+                timeoutMs: p.timeoutMs,
+              });
+              if (!res.ok) {
+                respond(
+                  false,
+                  undefined,
+                  errorShape(
+                    ErrorCodes.UNAVAILABLE,
+                    res.error?.message ?? "node invoke failed",
+                    { details: { nodeError: res.error ?? null } },
+                  ),
+                );
+                break;
+              }
+              const payload =
+                typeof res.payloadJSON === "string" && res.payloadJSON.trim()
+                  ? (() => {
+                      try {
+                        return JSON.parse(res.payloadJSON) as unknown;
+                      } catch {
+                        return { payloadJSON: res.payloadJSON };
+                      }
+                    })()
+                  : undefined;
+              respond(
+                true,
+                {
+                  ok: true,
+                  nodeId,
+                  command,
+                  payload,
+                  payloadJSON: res.payloadJSON ?? null,
+                },
+                undefined,
+              );
+            } catch (err) {
+              respond(
+                false,
+                undefined,
+                errorShape(ErrorCodes.UNAVAILABLE, formatForLog(err)),
+              );
+            }
+            break;
+          }
           case "send": {
             const p = (req.params ?? {}) as Record<string, unknown>;
             if (!validateSendParams(p)) {
diff --git a/src/infra/bridge/server.test.ts b/src/infra/bridge/server.test.ts
index 56ac9127f..44a375013 100644
--- a/src/infra/bridge/server.test.ts
+++ b/src/infra/bridge/server.test.ts
@@ -253,4 +253,87 @@ describe("node bridge server", () => {
 
     await server.close();
   });
+
+  it("supports invoke roundtrip to a connected node", async () => {
+    const server = await startNodeBridgeServer({
+      host: "127.0.0.1",
+      port: 0,
+      pairingBaseDir: baseDir,
+    });
+
+    const socket = net.connect({ host: "127.0.0.1", port: server.port });
+    const readLine = createLineReader(socket);
+    sendLine(socket, { type: "pair-request", nodeId: "n5", platform: "ios" });
+
+    // Approve the pending request from the gateway side.
+    let reqId: string | undefined;
+    for (let i = 0; i < 40; i += 1) {
+      const list = await listNodePairing(baseDir);
+      const req = list.pending.find((p) => p.nodeId === "n5");
+      if (req) {
+        reqId = req.requestId;
+        break;
+      }
+      await new Promise((r) => setTimeout(r, 25));
+    }
+    expect(reqId).toBeTruthy();
+    if (!reqId) throw new Error("expected a pending requestId");
+    await approveNodePairing(reqId, baseDir);
+
+    const pairOk = JSON.parse(await readLine()) as {
+      type: string;
+      token?: string;
+    };
+    expect(pairOk.type).toBe("pair-ok");
+    expect(typeof pairOk.token).toBe("string");
+    if (!pairOk.token) throw new Error("expected pair-ok token");
+    const token = pairOk.token;
+
+    const helloOk = JSON.parse(await readLine()) as { type: string };
+    expect(helloOk.type).toBe("hello-ok");
+
+    const responder = (async () => {
+      while (true) {
+        const frame = JSON.parse(await readLine()) as {
+          type: string;
+          id?: string;
+          command?: string;
+        };
+        if (frame.type !== "invoke") continue;
+        sendLine(socket, {
+          type: "invoke-res",
+          id: frame.id,
+          ok: true,
+          payloadJSON: JSON.stringify({ echo: frame.command }),
+        });
+        break;
+      }
+    })();
+
+    const res = await server.invoke({
+      nodeId: "n5",
+      command: "screen.eval",
+      paramsJSON: JSON.stringify({ javaScript: "1+1" }),
+      timeoutMs: 3000,
+    });
+
+    expect(res.ok).toBe(true);
+    const payload = JSON.parse(String(res.payloadJSON ?? "null")) as {
+      echo?: string;
+    };
+    expect(payload.echo).toBe("screen.eval");
+
+    await responder;
+    socket.destroy();
+
+    // Ensure invoke works only for connected nodes (hello with token on a new socket).
+    const socket2 = net.connect({ host: "127.0.0.1", port: server.port });
+    const readLine2 = createLineReader(socket2);
+    sendLine(socket2, { type: "hello", nodeId: "n5", token });
+    const hello2 = JSON.parse(await readLine2()) as { type: string };
+    expect(hello2.type).toBe("hello-ok");
+    socket2.destroy();
+
+    await server.close();
+  });
 });
diff --git a/src/infra/bridge/server.ts b/src/infra/bridge/server.ts
index ffd68897d..dba596f38 100644
--- a/src/infra/bridge/server.ts
+++ b/src/infra/bridge/server.ts
@@ -1,3 +1,4 @@
+import { randomUUID } from "node:crypto";
 import net from "node:net";
 import os from "node:os";
 
@@ -36,6 +37,13 @@ type BridgeEventFrame = {
 type BridgePingFrame = { type: "ping"; id: string };
 type BridgePongFrame = { type: "pong"; id: string };
 
+type BridgeInvokeRequestFrame = {
+  type: "invoke";
+  id: string;
+  command: string;
+  paramsJSON?: string | null;
+};
+
 type BridgeInvokeResponseFrame = {
   type: "invoke-res";
   id: string;
@@ -54,6 +62,7 @@ type AnyBridgeFrame =
   | BridgeEventFrame
   | BridgePingFrame
   | BridgePongFrame
+  | BridgeInvokeRequestFrame
   | BridgeInvokeResponseFrame
   | BridgeHelloOkFrame
   | BridgePairOkFrame
@@ -63,6 +72,13 @@ type AnyBridgeFrame =
 export type NodeBridgeServer = {
   port: number;
   close: () => Promise<void>;
+  invoke: (opts: {
+    nodeId: string;
+    command: string;
+    paramsJSON?: string | null;
+    timeoutMs?: number;
+  }) => Promise<BridgeInvokeResponseFrame>;
+  listConnected: () => NodeBridgeClientInfo[];
 };
 
 export type NodeBridgeClientInfo = {
@@ -105,6 +121,10 @@ export async function startNodeBridgeServer(
     return {
       port: 0,
       close: async () => {},
+      invoke: async () => {
+        throw new Error("bridge disabled in tests");
+      },
+      listConnected: () => [],
     };
   }
 
@@ -113,7 +133,20 @@ export async function startNodeBridgeServer(
       ? opts.serverName.trim()
       : os.hostname();
 
-  const connections = new Map<string, net.Socket>();
+  type ConnectionState = {
+    socket: net.Socket;
+    nodeInfo: NodeBridgeClientInfo;
+    invokeWaiters: Map<
+      string,
+      {
+        resolve: (value: BridgeInvokeResponseFrame) => void;
+        reject: (err: Error) => void;
+        timer: ReturnType<typeof setTimeout>;
+      }
+    >;
+  };
+
+  const connections = new Map<string, ConnectionState>();
 
   const server = net.createServer((socket) => {
     socket.setNoDelay(true);
@@ -127,17 +160,22 @@ export async function startNodeBridgeServer(
       {
         resolve: (value: BridgeInvokeResponseFrame) => void;
         reject: (err: Error) => void;
+        timer: ReturnType<typeof setTimeout>;
       }
     >();
 
     const abort = new AbortController();
     const stop = () => {
       if (!abort.signal.aborted) abort.abort();
-      if (nodeId) connections.delete(nodeId);
       for (const [, waiter] of invokeWaiters) {
+        clearTimeout(waiter.timer);
         waiter.reject(new Error("bridge connection closed"));
       }
       invokeWaiters.clear();
+      if (nodeId) {
+        const existing = connections.get(nodeId);
+        if (existing?.socket === socket) connections.delete(nodeId);
+      }
     };
 
     const send = (frame: AnyBridgeFrame) => {
@@ -182,7 +220,14 @@ export async function startNodeBridgeServer(
       }
 
       isAuthenticated = true;
-      connections.set(nodeId, socket);
+      const existing = connections.get(nodeId);
+      if (existing?.socket && existing.socket !== socket) {
+        try {
+          existing.socket.destroy();
+        } catch {
+          /* ignore */
+        }
+      }
       nodeInfo = {
         nodeId,
         displayName: verified.node.displayName ?? hello.displayName,
@@ -190,6 +235,7 @@ export async function startNodeBridgeServer(
         version: verified.node.version ?? hello.version,
         remoteIp: remoteAddress,
       };
+      connections.set(nodeId, { socket, nodeInfo, invokeWaiters });
       send({ type: "hello-ok", serverName } satisfies BridgeHelloOkFrame);
       await opts.onAuthenticated?.(nodeInfo);
     };
@@ -258,7 +304,14 @@ export async function startNodeBridgeServer(
       }
 
       isAuthenticated = true;
-      connections.set(nodeId, socket);
+      const existing = connections.get(nodeId);
+      if (existing?.socket && existing.socket !== socket) {
+        try {
+          existing.socket.destroy();
+        } catch {
+          /* ignore */
+        }
+      }
       nodeInfo = {
         nodeId,
         displayName: req.displayName,
@@ -266,6 +319,7 @@ export async function startNodeBridgeServer(
         version: req.version,
         remoteIp: remoteAddress,
       };
+      connections.set(nodeId, { socket, nodeInfo, invokeWaiters });
       send({ type: "pair-ok", token: wait.token } satisfies BridgePairOkFrame);
       send({ type: "hello-ok", serverName } satisfies BridgeHelloOkFrame);
       await opts.onAuthenticated?.(nodeInfo);
@@ -331,10 +385,16 @@ export async function startNodeBridgeServer(
                 const waiter = invokeWaiters.get(res.id);
                 if (waiter) {
                   invokeWaiters.delete(res.id);
+                  clearTimeout(waiter.timer);
                   waiter.resolve(res);
                 }
                 break;
               }
+              case "invoke": {
+                // Direction is gateway -> node only.
+                sendError("INVALID_REQUEST", "invoke not allowed from node");
+                break;
+              }
               case "pong":
                 // ignore
                 break;
@@ -372,7 +432,7 @@ export async function startNodeBridgeServer(
     close: async () => {
       for (const sock of connections.values()) {
         try {
-          sock.destroy();
+          sock.socket.destroy();
         } catch {
           /* ignore */
         }
@@ -382,5 +442,52 @@ export async function startNodeBridgeServer(
         server.close((err) => (err ? reject(err) : resolve())),
       );
     },
+    listConnected: () => [...connections.values()].map((c) => c.nodeInfo),
+    invoke: async ({ nodeId, command, paramsJSON, timeoutMs }) => {
+      const normalizedNodeId = String(nodeId ?? "").trim();
+      const normalizedCommand = String(command ?? "").trim();
+      if (!normalizedNodeId) {
+        throw new Error("INVALID_REQUEST: nodeId required");
+      }
+      if (!normalizedCommand) {
+        throw new Error("INVALID_REQUEST: command required");
+      }
+
+      const conn = connections.get(normalizedNodeId);
+      if (!conn) {
+        throw new Error(
+          `UNAVAILABLE: node not connected (${normalizedNodeId})`,
+        );
+      }
+
+      const id = randomUUID();
+      const timeout = Number.isFinite(timeoutMs) ? Number(timeoutMs) : 15_000;
+
+      return await new Promise<BridgeInvokeResponseFrame>((resolve, reject) => {
+        const timer = setTimeout(
+          () => {
+            conn.invokeWaiters.delete(id);
+            reject(new Error("UNAVAILABLE: invoke timeout"));
+          },
+          Math.max(0, timeout),
+        );
+
+        conn.invokeWaiters.set(id, { resolve, reject, timer });
+        try {
+          conn.socket.write(
+            encodeLine({
+              type: "invoke",
+              id,
+              command: normalizedCommand,
+              paramsJSON: paramsJSON ?? null,
+            } satisfies BridgeInvokeRequestFrame),
+          );
+        } catch (err) {
+          conn.invokeWaiters.delete(id);
+          clearTimeout(timer);
+          reject(err instanceof Error ? err : new Error(String(err)));
+        }
+      });
+    },
   };
 }