diff --git a/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt b/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
index 9318a31..ec8c7d2 100644
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
@@ -96,6 +96,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     override fun onTtsStatusChanged(ttsRequest: TtsRequest) {
+        // Forward TTS status to MqttManager for stream queue handling
+        mqttManager?.handleTtsStatusChange(ttsRequest)
+
         when (ttsRequest.status) {
             TtsRequest.Status.STARTED -> {
                 Log.i("MainActivity", "TTS started: ${ttsRequest.speech}")
diff --git a/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt b/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
index 032a43a..b7fa85b 100644
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
@@ -8,6 +8,8 @@ import kotlinx.coroutines.*
 import org.eclipse.paho.client.mqttv3.*
 import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence
 import org.json.JSONObject
+import java.util.LinkedList
+import java.util.Queue
 
 class MqttManager(
     private val context: Context,
@@ -24,6 +26,13 @@ class MqttManager(
     private val scope = CoroutineScope(Dispatchers.IO + job)
     private var reconnectJob: Job? = null
 
+    // Streaming text buffer
+    private val speechBuffer = StringBuilder()
+    
+    // TTS Queue
+    private val ttsQueue: Queue<TtsRequest> = LinkedList()
+    private var isTtsBusy = false
+
     init {
         try {
             mqttClient = MqttClient(brokerUri, clientId, MemoryPersistence())
@@ -88,6 +97,7 @@ class MqttManager(
     }
 
     fun disconnect() {
+        robot.removeTtsListener(this)
         scope.launch {
             try {
                 reconnectJob?.cancel() 
@@ -161,8 +171,20 @@ class MqttManager(
                 val lang = obj.optString("lang", "")
                 speak(text, lang)
             }
+            "stream" -> {
+                val text = obj.optString("text", obj.optString("content", ""))
+                val lang = obj.optString("lang", "")
+                processStreamText(text, lang)
+            }
+            "repose" -> {
+                val ok = navController.repose()
+                speak("正在进行重新定位")
+                Log.i(TAG, "Repose command sent: $ok")
+                monitorReposeStatus()
+            }
             "stop" -> {
                 navController.stop()
+                stopTts()
             }
             "patrol" -> {
                 navController.randomPatrol()
@@ -171,27 +193,137 @@ class MqttManager(
         }
     }
 
-    private fun goTo(location: String) {
+    private fun processStreamText(text: String, langCode: String?) {
+        speechBuffer.append(text)
+        
+        while (true) {
+            val content = speechBuffer.toString()
+            var minIndex = -1
+            
+            // Sentence delimiters: Chinese and English punctuation + newline
+            val delimiters = listOf("。", "！", "？", "!", "?", "\n")
+            
+            for (d in delimiters) {
+                val index = content.indexOf(d)
+                if (index != -1) {
+                    if (minIndex == -1 || index < minIndex) {
+                        minIndex = index
+                    }
+                }
+            }
+            
+            if (minIndex != -1) {
+                // Extract sentence including the delimiter
+                val sentence = content.substring(0, minIndex + 1)
+                speak(sentence, langCode)
+                
+                // Remove processed sentence from buffer
+                speechBuffer.delete(0, minIndex + 1)
+            } else {
+                // No more complete sentences found
+                break
+            }
+        }
+    }
+
+    private fun stopTts() {
+        // Clear buffer
+        speechBuffer.setLength(0)
+        
+        scope.launch(Dispatchers.Main) {
+            ttsQueue.clear()
+            isTtsBusy = false
+            robot.cancelAllTtsRequests()
+            Log.i(TAG, "TTS stopped and queue cleared.")
+        }
+    }
+
+    private fun monitorReposeStatus() {
+        scope.launch {
+            Log.i(TAG, "Starting repose monitoring...")
+            val timeout = 30000L
+            val startTime = System.currentTimeMillis()
+            var lastStatus: String? = null
+
+            while (System.currentTimeMillis() - startTime < timeout) {
+                delay(1000L)
+                val status = robot.reposeStatus.toString().uppercase()
+
+                if (status != lastStatus) {
+                    Log.i(TAG, "Repose status: $status")
+                    lastStatus = status
+                }
+
+                if (status == "COMPLETE") {
+                    speak("重新定位成功", null)
+                    return@launch
+                } else if (status == "FAILURE" || status == "ABORTED") {
+                    speak("重新定位失败", null)
+                    return@launch
+                }
+            }
+            Log.w(TAG, "Repose monitoring timed out.")
+            speak("重新定位超时", null)
+        }
+    }
+
+    private fun goTo(location: String, backwards: Boolean = false) {
         val target = location.trim()
         if (target.isEmpty()) {
             Log.w(TAG, "GoTo ignored: empty location")
             return
         }
-        val ok = navController.goTo(target)
-        Log.i(TAG, "GoTo command sent: $target, result=$ok")
+        val ok = navController.goTo(target, backwards)
+        Log.i(TAG, "GoTo command sent: $target, backwards=$backwards, result=$ok")
     }
 
     private fun speak(text: String, langCode: String?) {
         val content = text.trim()
         if (content.isEmpty()) {
-            Log.w(TAG, "Speak ignored: empty text")
+            // Log.w(TAG, "Speak ignored: empty text") // Too noisy for stream?
             return
         }
         val language = resolveLanguage(langCode)
         scope.launch(Dispatchers.Main) {
             val ttsRequest = TtsRequest.create(content, false, language = language)
-            robot.speak(ttsRequest)
-            Log.i(TAG, "Speak command sent: $content, lang=$language")
+            
+            if (!isTtsBusy) {
+                isTtsBusy = true
+                robot.speak(ttsRequest)
+                Log.i(TAG, "Speak immediate: $content")
+            } else {
+                ttsQueue.offer(ttsRequest)
+                Log.i(TAG, "Speak queued: $content. Queue size: ${ttsQueue.size}")
+            }
+        }
+    }
+
+    override fun handleTtsStatusChange(ttsRequest: TtsRequest) {
+        scope.launch(Dispatchers.Main) {
+            when (ttsRequest.status) {
+                TtsRequest.Status.STARTED -> {
+                    isTtsBusy = true
+                }
+                TtsRequest.Status.COMPLETED, 
+                TtsRequest.Status.CANCELED, 
+                TtsRequest.Status.ERROR, 
+                TtsRequest.Status.ABORTED -> {
+                    isTtsBusy = false
+                    processNextTts()
+                }
+                else -> {}
+            }
+        }
+    }
+
+    private fun processNextTts() {
+        if (!isTtsBusy && ttsQueue.isNotEmpty()) {
+            val next = ttsQueue.poll()
+            if (next != null) {
+                isTtsBusy = true
+                robot.speak(next)
+                Log.i(TAG, "Speak from queue: ${next.speech}")
+            }
         }
     }
 
diff --git a/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt b/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt
index 7815f36..0436020 100644
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt
@@ -6,8 +6,8 @@ import com.robotemi.sdk.Robot
 class NavController(private val robot: Robot) {
     private val TAG = "NavController"
 
-    fun goTo(location: String): Boolean {
-        robot.goTo(location)
+    fun goTo(location: String, backwards: Boolean = false): Boolean {
+        robot.goTo(location, backwards)
         return true
     }
 
@@ -24,6 +24,11 @@ class NavController(private val robot: Robot) {
         robot.patrol(locations, nonStop, times, waiting)
     }
 
+    fun repose(): Boolean {
+        robot.repose()
+        return true
+    }
+
     fun randomPatrol() {
         val allLocations = getAllLocations()
         if (allLocations.size < 3) {