iOS: wire node commands and incremental TTS

apps/ios/Sources/Capabilities/NodeCapabilityRouter.swift

@@ -0,0 +1,25 @@
+import Foundation
+import OpenClawKit
+
+@MainActor
+final class NodeCapabilityRouter {
+    enum RouterError: Error {
+        case unknownCommand
+        case handlerUnavailable
+    }
+
+    typealias Handler = (BridgeInvokeRequest) async throws -> BridgeInvokeResponse
+
+    private let handlers: [String: Handler]
+
+    init(handlers: [String: Handler]) {
+        self.handlers = handlers
+    }
+
+    func handle(_ request: BridgeInvokeRequest) async throws -> BridgeInvokeResponse {
+        guard let handler = handlers[request.command] else {
+            throw RouterError.unknownCommand
+        }
+        return try await handler(request)
+    }
+}

apps/ios/Sources/Gateway/GatewayConnectionController.swift

@@ -214,8 +214,8 @@ final class GatewayConnectionController {
         guard let appModel else { return }
         let connectOptions = self.makeConnectOptions()
 
-        Task { [weak self] in
-            guard let self else { return }
+        Task { [weak appModel] in
+            guard let appModel else { return }
             await MainActor.run {
                 appModel.gatewayStatusText = "Connecting…"
             }
@@ -353,6 +353,7 @@ final class GatewayConnectionController {
             OpenClawCanvasA2UICommand.reset.rawValue,
             OpenClawScreenCommand.record.rawValue,
             OpenClawSystemCommand.notify.rawValue,
+            OpenClawChatCommand.push.rawValue,
             OpenClawTalkCommand.pttStart.rawValue,
             OpenClawTalkCommand.pttStop.rawValue,
             OpenClawTalkCommand.pttCancel.rawValue,

apps/ios/Sources/Gateway/GatewayHealthMonitor.swift

@@ -0,0 +1,85 @@
+import Foundation
+import OpenClawKit
+
+@MainActor
+final class GatewayHealthMonitor {
+    struct Config: Sendable {
+        var intervalSeconds: Double
+        var timeoutSeconds: Double
+        var maxFailures: Int
+    }
+
+    private let config: Config
+    private let sleep: @Sendable (UInt64) async -> Void
+    private var task: Task<Void, Never>?
+
+    init(
+        config: Config = Config(intervalSeconds: 15, timeoutSeconds: 5, maxFailures: 3),
+        sleep: @escaping @Sendable (UInt64) async -> Void = { nanoseconds in
+            try? await Task.sleep(nanoseconds: nanoseconds)
+        }
+    ) {
+        self.config = config
+        self.sleep = sleep
+    }
+
+    func start(
+        check: @escaping @Sendable () async throws -> Bool,
+        onFailure: @escaping @Sendable (_ failureCount: Int) async -> Void)
+    {
+        self.stop()
+        let config = self.config
+        let sleep = self.sleep
+        self.task = Task { @MainActor in
+            var failures = 0
+            while !Task.isCancelled {
+                let ok = await Self.runCheck(check: check, timeoutSeconds: config.timeoutSeconds)
+                if ok {
+                    failures = 0
+                } else {
+                    failures += 1
+                    if failures >= max(1, config.maxFailures) {
+                        await onFailure(failures)
+                        failures = 0
+                    }
+                }
+
+                if Task.isCancelled { break }
+                let interval = max(0.0, config.intervalSeconds)
+                let nanos = UInt64(interval * 1_000_000_000)
+                if nanos > 0 {
+                    await sleep(nanos)
+                } else {
+                    await Task.yield()
+                }
+            }
+        }
+    }
+
+    func stop() {
+        self.task?.cancel()
+        self.task = nil
+    }
+
+    private static func runCheck(
+        check: @escaping @Sendable () async throws -> Bool,
+        timeoutSeconds: Double) async -> Bool
+    {
+        let timeout = max(0.0, timeoutSeconds)
+        if timeout == 0 {
+            return (try? await check()) ?? false
+        }
+        do {
+            let timeoutError = NSError(
+                domain: "GatewayHealthMonitor",
+                code: 1,
+                userInfo: [NSLocalizedDescriptionKey: "health check timed out"])
+            return try await AsyncTimeout.withTimeout(
+                seconds: timeout,
+                onTimeout: { timeoutError },
+                operation: check)
+        } catch {
+            return false
+        }
+    }
+}

apps/ios/Sources/Model/NodeAppModel.swift

@@ -1,3 +1,4 @@
+import OpenClawChatUI
 import OpenClawKit
 import Observation
 import SwiftUI
@@ -61,6 +62,8 @@ final class NodeAppModel {
     private var gatewayTask: Task<Void, Never>?
     private var voiceWakeSyncTask: Task<Void, Never>?
     @ObservationIgnored private var cameraHUDDismissTask: Task<Void, Never>?
+    @ObservationIgnored private var capabilityRouter: NodeCapabilityRouter
+    private let gatewayHealthMonitor = GatewayHealthMonitor()
     private let notificationCenter: NotificationCentering
     let voiceWake = VoiceWakeManager()
     let talkMode: TalkModeManager
@@ -108,6 +111,8 @@ final class NodeAppModel {
         self.remindersService = remindersService
         self.motionService = motionService
         self.talkMode = talkMode
+        self.capabilityRouter = NodeCapabilityRouter(handlers: [:])
+        self.capabilityRouter = self.buildCapabilityRouter()
 
         self.voiceWake.configure { [weak self] cmd in
             guard let self else { return }
@@ -281,6 +286,7 @@ final class NodeAppModel {
         connectOptions: GatewayConnectOptions)
     {
         self.gatewayTask?.cancel()
+        self.gatewayHealthMonitor.stop()
         self.gatewayServerName = nil
         self.gatewayRemoteAddress = nil
         let id = gatewayStableID.trimmingCharacters(in: .whitespacesAndNewlines)
@@ -325,6 +331,7 @@ final class NodeAppModel {
                             }
                             await self.refreshBrandingFromGateway()
                             await self.startVoiceWakeSync()
+                            await MainActor.run { self.startGatewayHealthMonitor() }
                             await self.showA2UIOnConnectIfNeeded()
                         },
                         onDisconnected: { [weak self] reason in
@@ -337,6 +344,7 @@ final class NodeAppModel {
                                 self.showLocalCanvasOnDisconnect()
                                 self.gatewayStatusText = "Disconnected: \(reason)"
                             }
+                            await MainActor.run { self.stopGatewayHealthMonitor() }
                         },
                         onInvoke: { [weak self] req in
                             guard let self else {
@@ -391,6 +399,7 @@ final class NodeAppModel {
         self.gatewayTask = nil
         self.voiceWakeSyncTask?.cancel()
         self.voiceWakeSyncTask = nil
+        self.gatewayHealthMonitor.stop()
         Task { await self.gateway.disconnect() }
         self.gatewayStatusText = "Offline"
         self.gatewayServerName = nil
@@ -492,6 +501,27 @@ final class NodeAppModel {
         }
     }
 
+    private func startGatewayHealthMonitor() {
+        self.gatewayHealthMonitor.start(
+            check: { [weak self] in
+                guard let self else { return false }
+                do {
+                    let data = try await self.gateway.request(method: "health", paramsJSON: nil, timeoutSeconds: 6)
+                    return (try? JSONDecoder().decode(OpenClawGatewayHealthOK.self, from: data))?.ok ?? true
+                } catch {
+                    return false
+                }
+            },
+            onFailure: { [weak self] _ in
+                guard let self else { return }
+                await self.gateway.disconnect()
+            })
+    }
+
+    private func stopGatewayHealthMonitor() {
+        self.gatewayHealthMonitor.stop()
+    }
+
     private func refreshWakeWordsFromGateway() async {
         do {
             let data = try await self.gateway.request(method: "voicewake.get", paramsJSON: "{}", timeoutSeconds: 8)
@@ -597,54 +627,19 @@ final class NodeAppModel {
         }
 
         do {
-            switch command {
-            case OpenClawLocationCommand.get.rawValue:
-                return try await self.handleLocationInvoke(req)
-            case OpenClawCanvasCommand.present.rawValue,
-                 OpenClawCanvasCommand.hide.rawValue,
-                 OpenClawCanvasCommand.navigate.rawValue,
-                 OpenClawCanvasCommand.evalJS.rawValue,
-                 OpenClawCanvasCommand.snapshot.rawValue:
-                return try await self.handleCanvasInvoke(req)
-            case OpenClawCanvasA2UICommand.reset.rawValue,
-                 OpenClawCanvasA2UICommand.push.rawValue,
-                 OpenClawCanvasA2UICommand.pushJSONL.rawValue:
-                return try await self.handleCanvasA2UIInvoke(req)
-            case OpenClawCameraCommand.list.rawValue,
-                 OpenClawCameraCommand.snap.rawValue,
-                 OpenClawCameraCommand.clip.rawValue:
-                return try await self.handleCameraInvoke(req)
-            case OpenClawScreenCommand.record.rawValue:
-                return try await self.handleScreenRecordInvoke(req)
-            case OpenClawSystemCommand.notify.rawValue:
-                return try await self.handleSystemNotify(req)
-            case OpenClawDeviceCommand.status.rawValue,
-                 OpenClawDeviceCommand.info.rawValue:
-                return try await self.handleDeviceInvoke(req)
-            case OpenClawPhotosCommand.latest.rawValue:
-                return try await self.handlePhotosInvoke(req)
-            case OpenClawContactsCommand.search.rawValue,
-                 OpenClawContactsCommand.add.rawValue:
-                return try await self.handleContactsInvoke(req)
-            case OpenClawCalendarCommand.events.rawValue,
-                 OpenClawCalendarCommand.add.rawValue:
-                return try await self.handleCalendarInvoke(req)
-            case OpenClawRemindersCommand.list.rawValue,
-                 OpenClawRemindersCommand.add.rawValue:
-                return try await self.handleRemindersInvoke(req)
-            case OpenClawMotionCommand.activity.rawValue,
-                 OpenClawMotionCommand.pedometer.rawValue:
-                return try await self.handleMotionInvoke(req)
-            case OpenClawTalkCommand.pttStart.rawValue,
-                 OpenClawTalkCommand.pttStop.rawValue,
-                 OpenClawTalkCommand.pttCancel.rawValue,
-                 OpenClawTalkCommand.pttOnce.rawValue:
-                return try await self.handleTalkInvoke(req)
-            default:
+            return try await self.capabilityRouter.handle(req)
+        } catch let error as NodeCapabilityRouter.RouterError {
+            switch error {
+            case .unknownCommand:
                 return BridgeInvokeResponse(
                     id: req.id,
                     ok: false,
                     error: OpenClawNodeError(code: .invalidRequest, message: "INVALID_REQUEST: unknown command"))
+            case .handlerUnavailable:
+                return BridgeInvokeResponse(
+                    id: req.id,
+                    ok: false,
+                    error: OpenClawNodeError(code: .unavailable, message: "node handler unavailable"))
             }
         } catch {
             if command.hasPrefix("camera.") {
@@ -983,6 +978,22 @@ final class NodeAppModel {
             let content = UNMutableNotificationContent()
             content.title = title
             content.body = body
+            if #available(iOS 15.0, *) {
+                switch params.priority ?? .active {
+                case .passive:
+                    content.interruptionLevel = .passive
+                case .timeSensitive:
+                    content.interruptionLevel = .timeSensitive
+                case .active:
+                    content.interruptionLevel = .active
+                }
+            }
+            let soundValue = params.sound?.trimmingCharacters(in: .whitespacesAndNewlines).lowercased()
+            if let soundValue, ["none", "silent", "off", "false", "0"].contains(soundValue) {
+                content.sound = nil
+            } else {
+                content.sound = .default
+            }
             let request = UNNotificationRequest(
                 identifier: UUID().uuidString,
                 content: content,
@@ -998,6 +1009,51 @@ final class NodeAppModel {
         return BridgeInvokeResponse(id: req.id, ok: true)
     }
 
+    private func handleChatPushInvoke(_ req: BridgeInvokeRequest) async throws -> BridgeInvokeResponse {
+        let params = try Self.decodeParams(OpenClawChatPushParams.self, from: req.paramsJSON)
+        let text = params.text.trimmingCharacters(in: .whitespacesAndNewlines)
+        guard !text.isEmpty else {
+            return BridgeInvokeResponse(
+                id: req.id,
+                ok: false,
+                error: OpenClawNodeError(code: .invalidRequest, message: "INVALID_REQUEST: empty chat.push text"))
+        }
+
+        let finalStatus = await self.requestNotificationAuthorizationIfNeeded()
+        let messageId = UUID().uuidString
+        if finalStatus == .authorized || finalStatus == .provisional || finalStatus == .ephemeral {
+            let addResult = await self.runNotificationCall(timeoutSeconds: 2.0) { [notificationCenter] in
+                let content = UNMutableNotificationContent()
+                content.title = "OpenClaw"
+                content.body = text
+                content.sound = .default
+                content.userInfo = ["messageId": messageId]
+                let request = UNNotificationRequest(
+                    identifier: messageId,
+                    content: content,
+                    trigger: nil)
+                try await notificationCenter.add(request)
+            }
+            if case let .failure(error) = addResult {
+                return BridgeInvokeResponse(
+                    id: req.id,
+                    ok: false,
+                    error: OpenClawNodeError(code: .unavailable, message: "NOTIFICATION_FAILED: \(error.message)"))
+            }
+        }
+
+        if params.speak ?? true {
+            let toSpeak = text
+            Task { @MainActor in
+                try? await TalkSystemSpeechSynthesizer.shared.speak(text: toSpeak)
+            }
+        }
+
+        let payload = OpenClawChatPushPayload(messageId: messageId)
+        let json = try Self.encodePayload(payload)
+        return BridgeInvokeResponse(id: req.id, ok: true, payloadJSON: json)
+    }
+
     private func requestNotificationAuthorizationIfNeeded() async -> NotificationAuthorizationStatus {
         let status = await self.notificationAuthorizationStatus()
         guard status == .notDetermined else { return status }
@@ -1203,6 +1259,123 @@ final class NodeAppModel {
 }
 
 private extension NodeAppModel {
+    // Central registry for node invoke routing to keep commands in one place.
+    func buildCapabilityRouter() -> NodeCapabilityRouter {
+        var handlers: [String: NodeCapabilityRouter.Handler] = [:]
+
+        func register(_ commands: [String], handler: @escaping NodeCapabilityRouter.Handler) {
+            for command in commands {
+                handlers[command] = handler
+            }
+        }
+
+        register([OpenClawLocationCommand.get.rawValue]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleLocationInvoke(req)
+        }
+
+        register([
+            OpenClawCanvasCommand.present.rawValue,
+            OpenClawCanvasCommand.hide.rawValue,
+            OpenClawCanvasCommand.navigate.rawValue,
+            OpenClawCanvasCommand.evalJS.rawValue,
+            OpenClawCanvasCommand.snapshot.rawValue,
+        ]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleCanvasInvoke(req)
+        }
+
+        register([
+            OpenClawCanvasA2UICommand.reset.rawValue,
+            OpenClawCanvasA2UICommand.push.rawValue,
+            OpenClawCanvasA2UICommand.pushJSONL.rawValue,
+        ]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleCanvasA2UIInvoke(req)
+        }
+
+        register([
+            OpenClawCameraCommand.list.rawValue,
+            OpenClawCameraCommand.snap.rawValue,
+            OpenClawCameraCommand.clip.rawValue,
+        ]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleCameraInvoke(req)
+        }
+
+        register([OpenClawScreenCommand.record.rawValue]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleScreenRecordInvoke(req)
+        }
+
+        register([OpenClawSystemCommand.notify.rawValue]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleSystemNotify(req)
+        }
+
+        register([OpenClawChatCommand.push.rawValue]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleChatPushInvoke(req)
+        }
+
+        register([
+            OpenClawDeviceCommand.status.rawValue,
+            OpenClawDeviceCommand.info.rawValue,
+        ]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleDeviceInvoke(req)
+        }
+
+        register([OpenClawPhotosCommand.latest.rawValue]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handlePhotosInvoke(req)
+        }
+
+        register([
+            OpenClawContactsCommand.search.rawValue,
+            OpenClawContactsCommand.add.rawValue,
+        ]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleContactsInvoke(req)
+        }
+
+        register([
+            OpenClawCalendarCommand.events.rawValue,
+            OpenClawCalendarCommand.add.rawValue,
+        ]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleCalendarInvoke(req)
+        }
+
+        register([
+            OpenClawRemindersCommand.list.rawValue,
+            OpenClawRemindersCommand.add.rawValue,
+        ]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleRemindersInvoke(req)
+        }
+
+        register([
+            OpenClawMotionCommand.activity.rawValue,
+            OpenClawMotionCommand.pedometer.rawValue,
+        ]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleMotionInvoke(req)
+        }
+
+        register([
+            OpenClawTalkCommand.pttStart.rawValue,
+            OpenClawTalkCommand.pttStop.rawValue,
+            OpenClawTalkCommand.pttCancel.rawValue,
+            OpenClawTalkCommand.pttOnce.rawValue,
+        ]) { [weak self] req in
+            guard let self else { throw NodeCapabilityRouter.RouterError.handlerUnavailable }
+            return try await self.handleTalkInvoke(req)
+        }
+
+        return NodeCapabilityRouter(handlers: handlers)
+    }
+
     func locationMode() -> OpenClawLocationMode {
         let raw = UserDefaults.standard.string(forKey: "location.enabledMode") ?? "off"
         return OpenClawLocationMode(rawValue: raw) ?? .off

apps/ios/Sources/Voice/TalkModeManager.swift

@@ -1,4 +1,5 @@
 import AVFAudio
+import OpenClawChatUI
 import OpenClawKit
 import OpenClawProtocol
 import Foundation
@@ -65,6 +66,14 @@ final class TalkModeManager: NSObject {
     private let silenceWindow: TimeInterval = 0.7
 
     private var chatSubscribedSessionKeys = Set<String>()
+    private var incrementalSpeechQueue: [String] = []
+    private var incrementalSpeechTask: Task<Void, Never>?
+    private var incrementalSpeechActive = false
+    private var incrementalSpeechUsed = false
+    private var incrementalSpeechLanguage: String?
+    private var incrementalSpeechBuffer = IncrementalSpeechBuffer()
+    private var incrementalSpeechContext: IncrementalSpeechContext?
+    private var incrementalSpeechDirective: TalkDirective?
 
     private let logger = Logger(subsystem: "bot.molt", category: "TalkMode")
 
@@ -456,6 +465,14 @@ final class TalkModeManager: NSObject {
         }
         if isFinal {
             self.lastTranscript = trimmed
+            guard !trimmed.isEmpty else { return }
+            if self.captureMode == .pushToTalk, self.pttAutoStopEnabled, self.isPushToTalkActive {
+                _ = await self.endPushToTalk()
+                return
+            }
+            if self.captureMode == .continuous, !self.isSpeaking {
+                await self.processTranscript(trimmed, restartAfter: true)
+            }
         }
     }
 
@@ -539,6 +556,15 @@ final class TalkModeManager: NSObject {
                 "chat.send start sessionKey=\(sessionKey, privacy: .public) chars=\(prompt.count, privacy: .public)")
             let runId = try await self.sendChat(prompt, gateway: gateway)
             self.logger.info("chat.send ok runId=\(runId, privacy: .public)")
+            let shouldIncremental = self.shouldUseIncrementalTTS()
+            var streamingTask: Task<Void, Never>?
+            if shouldIncremental {
+                self.resetIncrementalSpeech()
+                streamingTask = Task { @MainActor [weak self] in
+                    guard let self else { return }
+                    await self.streamAssistant(runId: runId, gateway: gateway)
+                }
+            }
             let completion = await self.waitForChatCompletion(runId: runId, gateway: gateway, timeoutSeconds: 120)
             if completion == .timeout {
                 self.logger.warning(
@@ -546,27 +572,44 @@ final class TalkModeManager: NSObject {
             } else if completion == .aborted {
                 self.statusText = "Aborted"
                 self.logger.warning("chat completion aborted runId=\(runId, privacy: .public)")
+                streamingTask?.cancel()
+                await self.finishIncrementalSpeech()
                 await self.start()
                 return
             } else if completion == .error {
                 self.statusText = "Chat error"
                 self.logger.warning("chat completion error runId=\(runId, privacy: .public)")
+                streamingTask?.cancel()
+                await self.finishIncrementalSpeech()
                 await self.start()
                 return
             }
 
-            guard let assistantText = try await self.waitForAssistantText(
+            var assistantText = try await self.waitForAssistantText(
                 gateway: gateway,
                 since: startedAt,
                 timeoutSeconds: completion == .final ? 12 : 25)
-            else {
+            if assistantText == nil, shouldIncremental {
+                let fallback = self.incrementalSpeechBuffer.latestText
+                if !fallback.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty {
+                    assistantText = fallback
+                }
+            }
+            guard let assistantText else {
                 self.statusText = "No reply"
                 self.logger.warning("assistant text timeout runId=\(runId, privacy: .public)")
+                streamingTask?.cancel()
+                await self.finishIncrementalSpeech()
                 await self.start()
                 return
             }
             self.logger.info("assistant text ok chars=\(assistantText.count, privacy: .public)")
-            await self.playAssistant(text: assistantText)
+            streamingTask?.cancel()
+            if shouldIncremental {
+                await self.handleIncrementalAssistantFinal(text: assistantText)
+            } else {
+                await self.playAssistant(text: assistantText)
+            }
         } catch {
             self.statusText = "Talk failed: \(error.localizedDescription)"
             self.logger.error("finalize failed: \(error.localizedDescription, privacy: .public)")
@@ -720,24 +763,7 @@ final class TalkModeManager: NSObject {
         let directive = parsed.directive
         let cleaned = parsed.stripped.trimmingCharacters(in: .whitespacesAndNewlines)
         guard !cleaned.isEmpty else { return }
-
-        let requestedVoice = directive?.voiceId?.trimmingCharacters(in: .whitespacesAndNewlines)
-        let resolvedVoice = self.resolveVoiceAlias(requestedVoice)
-        if requestedVoice?.isEmpty == false, resolvedVoice == nil {
-            self.logger.warning("unknown voice alias \(requestedVoice ?? "?", privacy: .public)")
-        }
-        if let voice = resolvedVoice {
-            if directive?.once != true {
-                self.currentVoiceId = voice
-                self.voiceOverrideActive = true
-            }
-        }
-        if let model = directive?.modelId {
-            if directive?.once != true {
-                self.currentModelId = model
-                self.modelOverrideActive = true
-            }
-        }
+        self.applyDirective(directive)
 
         self.statusText = "Generating voice…"
         self.isSpeaking = true
@@ -746,6 +772,11 @@ final class TalkModeManager: NSObject {
         do {
             let started = Date()
             let language = ElevenLabsTTSClient.validatedLanguage(directive?.language)
+            let requestedVoice = directive?.voiceId?.trimmingCharacters(in: .whitespacesAndNewlines)
+            let resolvedVoice = self.resolveVoiceAlias(requestedVoice)
+            if requestedVoice?.isEmpty == false, resolvedVoice == nil {
+                self.logger.warning("unknown voice alias \(requestedVoice ?? "?", privacy: .public)")
+            }
 
             let resolvedKey =
                 (self.apiKey?.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty == false ? self.apiKey : nil) ??
@@ -875,6 +906,7 @@ final class TalkModeManager: NSObject {
             ? self.mp3Player.stop()
             : self.pcmPlayer.stop()
         TalkSystemSpeechSynthesizer.shared.stop()
+        self.cancelIncrementalSpeech()
         self.isSpeaking = false
     }
 
@@ -887,6 +919,268 @@ final class TalkModeManager: NSObject {
         return true
     }
 
+    private func shouldUseIncrementalTTS() -> Bool {
+        true
+    }
+
+    private func applyDirective(_ directive: TalkDirective?) {
+        let requestedVoice = directive?.voiceId?.trimmingCharacters(in: .whitespacesAndNewlines)
+        let resolvedVoice = self.resolveVoiceAlias(requestedVoice)
+        if requestedVoice?.isEmpty == false, resolvedVoice == nil {
+            self.logger.warning("unknown voice alias \(requestedVoice ?? "?", privacy: .public)")
+        }
+        if let voice = resolvedVoice {
+            if directive?.once != true {
+                self.currentVoiceId = voice
+                self.voiceOverrideActive = true
+            }
+        }
+        if let model = directive?.modelId {
+            if directive?.once != true {
+                self.currentModelId = model
+                self.modelOverrideActive = true
+            }
+        }
+    }
+
+    private func resetIncrementalSpeech() {
+        self.incrementalSpeechQueue.removeAll()
+        self.incrementalSpeechTask?.cancel()
+        self.incrementalSpeechTask = nil
+        self.incrementalSpeechActive = true
+        self.incrementalSpeechUsed = false
+        self.incrementalSpeechLanguage = nil
+        self.incrementalSpeechBuffer = IncrementalSpeechBuffer()
+        self.incrementalSpeechContext = nil
+        self.incrementalSpeechDirective = nil
+    }
+
+    private func cancelIncrementalSpeech() {
+        self.incrementalSpeechQueue.removeAll()
+        self.incrementalSpeechTask?.cancel()
+        self.incrementalSpeechTask = nil
+        self.incrementalSpeechActive = false
+        self.incrementalSpeechContext = nil
+        self.incrementalSpeechDirective = nil
+    }
+
+    private func enqueueIncrementalSpeech(_ text: String) {
+        let trimmed = text.trimmingCharacters(in: .whitespacesAndNewlines)
+        guard !trimmed.isEmpty else { return }
+        self.incrementalSpeechQueue.append(trimmed)
+        self.incrementalSpeechUsed = true
+        if self.incrementalSpeechTask == nil {
+            self.startIncrementalSpeechTask()
+        }
+    }
+
+    private func startIncrementalSpeechTask() {
+        if self.interruptOnSpeech {
+            do {
+                try self.startRecognition()
+            } catch {
+                self.logger.warning(
+                    "startRecognition during incremental speak failed: \(error.localizedDescription, privacy: .public)")
+            }
+        }
+
+        self.incrementalSpeechTask = Task { @MainActor [weak self] in
+            guard let self else { return }
+            while !Task.isCancelled {
+                guard !self.incrementalSpeechQueue.isEmpty else { break }
+                let segment = self.incrementalSpeechQueue.removeFirst()
+                self.statusText = "Speaking…"
+                self.isSpeaking = true
+                self.lastSpokenText = segment
+                await self.speakIncrementalSegment(segment)
+            }
+            self.isSpeaking = false
+            self.stopRecognition()
+            self.incrementalSpeechTask = nil
+        }
+    }
+
+    private func finishIncrementalSpeech() async {
+        guard self.incrementalSpeechActive else { return }
+        let leftover = self.incrementalSpeechBuffer.flush()
+        if let leftover {
+            self.enqueueIncrementalSpeech(leftover)
+        }
+        if let task = self.incrementalSpeechTask {
+            _ = await task.result
+        }
+        self.incrementalSpeechActive = false
+    }
+
+    private func handleIncrementalAssistantFinal(text: String) async {
+        let parsed = TalkDirectiveParser.parse(text)
+        self.applyDirective(parsed.directive)
+        if let lang = parsed.directive?.language {
+            self.incrementalSpeechLanguage = ElevenLabsTTSClient.validatedLanguage(lang)
+        }
+        await self.updateIncrementalContextIfNeeded()
+        let segments = self.incrementalSpeechBuffer.ingest(text: text, isFinal: true)
+        for segment in segments {
+            self.enqueueIncrementalSpeech(segment)
+        }
+        await self.finishIncrementalSpeech()
+        if !self.incrementalSpeechUsed {
+            await self.playAssistant(text: text)
+        }
+    }
+
+    private func streamAssistant(runId: String, gateway: GatewayNodeSession) async {
+        let stream = await gateway.subscribeServerEvents(bufferingNewest: 200)
+        for await evt in stream {
+            if Task.isCancelled { return }
+            guard evt.event == "agent", let payload = evt.payload else { continue }
+            guard let agentEvent = try? GatewayPayloadDecoding.decode(payload, as: OpenClawAgentEventPayload.self) else {
+                continue
+            }
+            guard agentEvent.runId == runId, agentEvent.stream == "assistant" else { continue }
+            guard let text = agentEvent.data["text"]?.value as? String else { continue }
+            let segments = self.incrementalSpeechBuffer.ingest(text: text, isFinal: false)
+            if let lang = self.incrementalSpeechBuffer.directive?.language {
+                self.incrementalSpeechLanguage = ElevenLabsTTSClient.validatedLanguage(lang)
+            }
+            await self.updateIncrementalContextIfNeeded()
+            for segment in segments {
+                self.enqueueIncrementalSpeech(segment)
+            }
+        }
+    }
+
+    private func updateIncrementalContextIfNeeded() async {
+        let directive = self.incrementalSpeechBuffer.directive
+        if let existing = self.incrementalSpeechContext, directive == self.incrementalSpeechDirective {
+            if existing.language != self.incrementalSpeechLanguage {
+                self.incrementalSpeechContext = IncrementalSpeechContext(
+                    apiKey: existing.apiKey,
+                    voiceId: existing.voiceId,
+                    modelId: existing.modelId,
+                    outputFormat: existing.outputFormat,
+                    language: self.incrementalSpeechLanguage,
+                    directive: existing.directive,
+                    canUseElevenLabs: existing.canUseElevenLabs)
+            }
+            return
+        }
+        let context = await self.buildIncrementalSpeechContext(directive: directive)
+        self.incrementalSpeechContext = context
+        self.incrementalSpeechDirective = directive
+    }
+
+    private func buildIncrementalSpeechContext(directive: TalkDirective?) async -> IncrementalSpeechContext {
+        let requestedVoice = directive?.voiceId?.trimmingCharacters(in: .whitespacesAndNewlines)
+        let resolvedVoice = self.resolveVoiceAlias(requestedVoice)
+        if requestedVoice?.isEmpty == false, resolvedVoice == nil {
+            self.logger.warning("unknown voice alias \(requestedVoice ?? "?", privacy: .public)")
+        }
+        let preferredVoice = resolvedVoice ?? self.currentVoiceId ?? self.defaultVoiceId
+        let modelId = directive?.modelId ?? self.currentModelId ?? self.defaultModelId
+        let desiredOutputFormat = (directive?.outputFormat ?? self.defaultOutputFormat)?
+            .trimmingCharacters(in: .whitespacesAndNewlines)
+        let requestedOutputFormat = (desiredOutputFormat?.isEmpty == false) ? desiredOutputFormat : nil
+        let outputFormat = ElevenLabsTTSClient.validatedOutputFormat(requestedOutputFormat ?? "pcm_44100")
+        if outputFormat == nil, let requestedOutputFormat {
+            self.logger.warning(
+                "talk output_format unsupported for local playback: \(requestedOutputFormat, privacy: .public)")
+        }
+
+        let resolvedKey =
+            (self.apiKey?.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty == false ? self.apiKey : nil) ??
+            ProcessInfo.processInfo.environment["ELEVENLABS_API_KEY"]
+        let apiKey = resolvedKey?.trimmingCharacters(in: .whitespacesAndNewlines)
+        let voiceId: String? = if let apiKey, !apiKey.isEmpty {
+            await self.resolveVoiceId(preferred: preferredVoice, apiKey: apiKey)
+        } else {
+            nil
+        }
+        let canUseElevenLabs = (voiceId?.isEmpty == false) && (apiKey?.isEmpty == false)
+        return IncrementalSpeechContext(
+            apiKey: apiKey,
+            voiceId: voiceId,
+            modelId: modelId,
+            outputFormat: outputFormat,
+            language: self.incrementalSpeechLanguage,
+            directive: directive,
+            canUseElevenLabs: canUseElevenLabs)
+    }
+
+    private func speakIncrementalSegment(_ text: String) async {
+        await self.updateIncrementalContextIfNeeded()
+        guard let context = self.incrementalSpeechContext else {
+            try? await TalkSystemSpeechSynthesizer.shared.speak(
+                text: text,
+                language: self.incrementalSpeechLanguage)
+            return
+        }
+
+        if context.canUseElevenLabs, let apiKey = context.apiKey, let voiceId = context.voiceId {
+            let request = ElevenLabsTTSRequest(
+                text: text,
+                modelId: context.modelId,
+                outputFormat: context.outputFormat,
+                speed: TalkTTSValidation.resolveSpeed(
+                    speed: context.directive?.speed,
+                    rateWPM: context.directive?.rateWPM),
+                stability: TalkTTSValidation.validatedStability(
+                    context.directive?.stability,
+                    modelId: context.modelId),
+                similarity: TalkTTSValidation.validatedUnit(context.directive?.similarity),
+                style: TalkTTSValidation.validatedUnit(context.directive?.style),
+                speakerBoost: context.directive?.speakerBoost,
+                seed: TalkTTSValidation.validatedSeed(context.directive?.seed),
+                normalize: ElevenLabsTTSClient.validatedNormalize(context.directive?.normalize),
+                language: context.language,
+                latencyTier: TalkTTSValidation.validatedLatencyTier(context.directive?.latencyTier))
+            let client = ElevenLabsTTSClient(apiKey: apiKey)
+            let stream = client.streamSynthesize(voiceId: voiceId, request: request)
+            let sampleRate = TalkTTSValidation.pcmSampleRate(from: context.outputFormat)
+            let result: StreamingPlaybackResult
+            if let sampleRate {
+                self.lastPlaybackWasPCM = true
+                var playback = await self.pcmPlayer.play(stream: stream, sampleRate: sampleRate)
+                if !playback.finished, playback.interruptedAt == nil {
+                    self.logger.warning("pcm playback failed; retrying mp3")
+                    self.lastPlaybackWasPCM = false
+                    let mp3Format = ElevenLabsTTSClient.validatedOutputFormat("mp3_44100")
+                    let mp3Stream = client.streamSynthesize(
+                        voiceId: voiceId,
+                        request: ElevenLabsTTSRequest(
+                            text: text,
+                            modelId: context.modelId,
+                            outputFormat: mp3Format,
+                            speed: TalkTTSValidation.resolveSpeed(
+                                speed: context.directive?.speed,
+                                rateWPM: context.directive?.rateWPM),
+                            stability: TalkTTSValidation.validatedStability(
+                                context.directive?.stability,
+                                modelId: context.modelId),
+                            similarity: TalkTTSValidation.validatedUnit(context.directive?.similarity),
+                            style: TalkTTSValidation.validatedUnit(context.directive?.style),
+                            speakerBoost: context.directive?.speakerBoost,
+                            seed: TalkTTSValidation.validatedSeed(context.directive?.seed),
+                            normalize: ElevenLabsTTSClient.validatedNormalize(context.directive?.normalize),
+                            language: context.language,
+                            latencyTier: TalkTTSValidation.validatedLatencyTier(context.directive?.latencyTier)))
+                    playback = await self.mp3Player.play(stream: mp3Stream)
+                }
+                result = playback
+            } else {
+                self.lastPlaybackWasPCM = false
+                result = await self.mp3Player.play(stream: stream)
+            }
+            if !result.finished, let interruptedAt = result.interruptedAt {
+                self.lastInterruptedAtSeconds = interruptedAt
+            }
+        } else {
+            try? await TalkSystemSpeechSynthesizer.shared.speak(
+                text: text,
+                language: self.incrementalSpeechLanguage)
+        }
+    }
+
     private func resolveVoiceAlias(_ value: String?) -> String? {
         let trimmed = (value ?? "").trimmingCharacters(in: .whitespacesAndNewlines)
         guard !trimmed.isEmpty else { return nil }
@@ -1010,6 +1304,121 @@ final class TalkModeManager: NSObject {
     }
 }
 
+private struct IncrementalSpeechBuffer {
+    private(set) var latestText: String = ""
+    private(set) var directive: TalkDirective?
+    private var spokenOffset: Int = 0
+    private var inCodeBlock = false
+    private var directiveParsed = false
+
+    mutating func ingest(text: String, isFinal: Bool) -> [String] {
+        let normalized = text.replacingOccurrences(of: "\r\n", with: "\n")
+        guard let usable = self.stripDirectiveIfReady(from: normalized) else { return [] }
+        self.updateText(usable)
+        return self.extractSegments(isFinal: isFinal)
+    }
+
+    mutating func flush() -> String? {
+        guard !self.latestText.isEmpty else { return nil }
+        let segments = self.extractSegments(isFinal: true)
+        return segments.first
+    }
+
+    private mutating func stripDirectiveIfReady(from text: String) -> String? {
+        guard !self.directiveParsed else { return text }
+        let trimmed = text.trimmingCharacters(in: .whitespacesAndNewlines)
+        guard !trimmed.isEmpty else { return nil }
+        if trimmed.hasPrefix("{") {
+            guard let newlineRange = text.range(of: "\n") else { return nil }
+            let firstLine = text[..<newlineRange.lowerBound]
+            let head = firstLine.trimmingCharacters(in: .whitespacesAndNewlines)
+            guard head.hasSuffix("}") else { return nil }
+            let parsed = TalkDirectiveParser.parse(text)
+            if let directive = parsed.directive {
+                self.directive = directive
+            }
+            self.directiveParsed = true
+            return parsed.stripped
+        }
+        self.directiveParsed = true
+        return text
+    }
+
+    private mutating func updateText(_ newText: String) {
+        if newText.hasPrefix(self.latestText) {
+            self.latestText = newText
+        } else if self.latestText.hasPrefix(newText) {
+            // Keep the longer cached text.
+        } else {
+            self.latestText += newText
+        }
+        if self.spokenOffset > self.latestText.count {
+            self.spokenOffset = self.latestText.count
+        }
+    }
+
+    private mutating func extractSegments(isFinal: Bool) -> [String] {
+        let chars = Array(self.latestText)
+        guard self.spokenOffset < chars.count else { return [] }
+        var idx = self.spokenOffset
+        var lastBoundary: Int?
+        var inCodeBlock = self.inCodeBlock
+        var buffer = ""
+        var bufferAtBoundary = ""
+        var inCodeBlockAtBoundary = inCodeBlock
+
+        while idx < chars.count {
+            if idx + 2 < chars.count,
+               chars[idx] == "`",
+               chars[idx + 1] == "`",
+               chars[idx + 2] == "`"
+            {
+                inCodeBlock.toggle()
+                idx += 3
+                continue
+            }
+
+            if !inCodeBlock {
+                buffer.append(chars[idx])
+                if Self.isBoundary(chars[idx]) {
+                    lastBoundary = idx + 1
+                    bufferAtBoundary = buffer
+                    inCodeBlockAtBoundary = inCodeBlock
+                }
+            }
+
+            idx += 1
+        }
+
+        if let boundary = lastBoundary {
+            self.spokenOffset = boundary
+            self.inCodeBlock = inCodeBlockAtBoundary
+            let trimmed = bufferAtBoundary.trimmingCharacters(in: .whitespacesAndNewlines)
+            return trimmed.isEmpty ? [] : [trimmed]
+        }
+
+        guard isFinal else { return [] }
+        self.spokenOffset = chars.count
+        self.inCodeBlock = inCodeBlock
+        let trimmed = buffer.trimmingCharacters(in: .whitespacesAndNewlines)
+        return trimmed.isEmpty ? [] : [trimmed]
+    }
+
+    private static func isBoundary(_ ch: Character) -> Bool {
+        ch == "." || ch == "!" || ch == "?" || ch == "\n"
+    }
+}
+
+private struct IncrementalSpeechContext {
+    let apiKey: String?
+    let voiceId: String?
+    let modelId: String?
+    let outputFormat: String?
+    let language: String?
+    let directive: TalkDirective?
+    let canUseElevenLabs: Bool
+}
+
 #if DEBUG
 extension TalkModeManager {
     func _test_seedTranscript(_ transcript: String) {
@@ -1017,6 +1426,10 @@ extension TalkModeManager {
         self.lastHeard = Date()
     }
 
+    func _test_handleTranscript(_ transcript: String, isFinal: Bool) async {
+        await self.handleTranscript(transcript: transcript, isFinal: isFinal)
+    }
+
     func _test_backdateLastHeard(seconds: TimeInterval) {
         self.lastHeard = Date().addingTimeInterval(-seconds)
     }
@@ -1024,5 +1437,13 @@ extension TalkModeManager {
     func _test_runSilenceCheck() async {
         await self.checkSilence()
     }
+
+    func _test_incrementalReset() {
+        self.incrementalSpeechBuffer = IncrementalSpeechBuffer()
+    }
+
+    func _test_incrementalIngest(_ text: String, isFinal: Bool) -> [String] {
+        self.incrementalSpeechBuffer.ingest(text: text, isFinal: isFinal)
+    }
 }
 #endif

apps/ios/SwiftSources.input.xcfilelist

@@ -2,7 +2,9 @@ Sources/Gateway/GatewayConnectionController.swift
 Sources/Gateway/GatewayDiscoveryDebugLogView.swift
 Sources/Gateway/GatewayDiscoveryModel.swift
 Sources/Gateway/GatewaySettingsStore.swift
+Sources/Gateway/GatewayHealthMonitor.swift
 Sources/Gateway/KeychainStore.swift
+Sources/Capabilities/NodeCapabilityRouter.swift
 Sources/Camera/CameraController.swift
 Sources/Chat/ChatSheet.swift
 Sources/Chat/IOSGatewayChatTransport.swift
@@ -58,6 +60,7 @@ Sources/Voice/VoiceWakePreferences.swift
 ../shared/OpenClawKit/Sources/OpenClawKit/CanvasCommandParams.swift
 ../shared/OpenClawKit/Sources/OpenClawKit/CanvasCommands.swift
 ../shared/OpenClawKit/Sources/OpenClawKit/Capabilities.swift
+../shared/OpenClawKit/Sources/OpenClawKit/ChatCommands.swift
 ../shared/OpenClawKit/Sources/OpenClawKit/ContactsCommands.swift
 ../shared/OpenClawKit/Sources/OpenClawKit/DeviceCommands.swift
 ../shared/OpenClawKit/Sources/OpenClawKit/OpenClawKitResources.swift

apps/ios/Tests/GatewayConnectionControllerTests.swift

@@ -92,6 +92,7 @@ private func withUserDefaults<T>(_ updates: [String: Any?], _ body: () throws ->
             let commands = Set(controller._test_currentCommands())
 
             #expect(commands.contains(OpenClawSystemCommand.notify.rawValue))
+            #expect(commands.contains(OpenClawChatCommand.push.rawValue))
             #expect(!commands.contains(OpenClawSystemCommand.run.rawValue))
             #expect(!commands.contains(OpenClawSystemCommand.which.rawValue))
             #expect(!commands.contains(OpenClawSystemCommand.execApprovalsGet.rawValue))

apps/ios/Tests/GatewayHealthMonitorTests.swift

@@ -0,0 +1,60 @@
+import Foundation
+import Testing
+@testable import OpenClaw
+
+private actor Counter {
+    private var value = 0
+
+    func increment() {
+        value += 1
+    }
+
+    func get() -> Int {
+        value
+    }
+
+    func set(_ newValue: Int) {
+        value = newValue
+    }
+}
+
+@Suite struct GatewayHealthMonitorTests {
+    @Test @MainActor func triggersFailureAfterThreshold() async {
+        let failureCount = Counter()
+        let monitor = GatewayHealthMonitor(
+            config: .init(intervalSeconds: 0.001, timeoutSeconds: 0.0, maxFailures: 2))
+
+        monitor.start(
+            check: { false },
+            onFailure: { _ in
+                await failureCount.increment()
+                await monitor.stop()
+            })
+
+        try? await Task.sleep(nanoseconds: 60_000_000)
+        #expect(await failureCount.get() == 1)
+    }
+
+    @Test @MainActor func resetsFailuresAfterSuccess() async {
+        let failureCount = Counter()
+        let calls = Counter()
+        let monitor = GatewayHealthMonitor(
+            config: .init(intervalSeconds: 0.001, timeoutSeconds: 0.0, maxFailures: 2))
+
+        monitor.start(
+            check: {
+                await calls.increment()
+                let callCount = await calls.get()
+                if callCount >= 6 {
+                    await monitor.stop()
+                }
+                return callCount % 2 == 0
+            },
+            onFailure: { _ in
+                await failureCount.increment()
+            })
+
+        try? await Task.sleep(nanoseconds: 60_000_000)
+        #expect(await failureCount.get() == 0)
+    }
+}

apps/ios/Tests/NodeAppModelInvokeTests.swift

@@ -448,6 +448,91 @@ private func decodePayload<T: Decodable>(_ json: String?, as type: T.Type) throw
         #expect(request.content.body == "World")
     }
 
+    @Test @MainActor func handleInvokeChatPushCreatesNotification() async throws {
+        let notifier = TestNotificationCenter(status: .authorized)
+        let deviceStatus = TestDeviceStatusService(
+            statusPayload: OpenClawDeviceStatusPayload(
+                battery: OpenClawBatteryStatusPayload(level: 0.5, state: .charging, lowPowerModeEnabled: false),
+                thermal: OpenClawThermalStatusPayload(state: .nominal),
+                storage: OpenClawStorageStatusPayload(totalBytes: 100, freeBytes: 50, usedBytes: 50),
+                network: OpenClawNetworkStatusPayload(
+                    status: .satisfied,
+                    isExpensive: false,
+                    isConstrained: false,
+                    interfaces: [.wifi]),
+                uptimeSeconds: 10),
+            infoPayload: OpenClawDeviceInfoPayload(
+                deviceName: "Test",
+                modelIdentifier: "Test1,1",
+                systemName: "iOS",
+                systemVersion: "1.0",
+                appVersion: "dev",
+                appBuild: "0",
+                locale: "en-US"))
+        let emptyContact = OpenClawContactPayload(
+            identifier: "c0",
+            displayName: "",
+            givenName: "",
+            familyName: "",
+            organizationName: "",
+            phoneNumbers: [],
+            emails: [])
+        let emptyEvent = OpenClawCalendarEventPayload(
+            identifier: "e0",
+            title: "Test",
+            startISO: "2024-01-01T00:00:00Z",
+            endISO: "2024-01-01T00:30:00Z",
+            isAllDay: false,
+            location: nil,
+            calendarTitle: nil)
+        let emptyReminder = OpenClawReminderPayload(
+            identifier: "r0",
+            title: "Test",
+            dueISO: nil,
+            completed: false,
+            listName: nil)
+        let appModel = makeTestAppModel(
+            notificationCenter: notifier,
+            deviceStatusService: deviceStatus,
+            photosService: TestPhotosService(payload: OpenClawPhotosLatestPayload(photos: [])),
+            contactsService: TestContactsService(
+                searchPayload: OpenClawContactsSearchPayload(contacts: []),
+                addPayload: OpenClawContactsAddPayload(contact: emptyContact)),
+            calendarService: TestCalendarService(
+                eventsPayload: OpenClawCalendarEventsPayload(events: []),
+                addPayload: OpenClawCalendarAddPayload(event: emptyEvent)),
+            remindersService: TestRemindersService(
+                listPayload: OpenClawRemindersListPayload(reminders: []),
+                addPayload: OpenClawRemindersAddPayload(reminder: emptyReminder)),
+            motionService: TestMotionService(
+                activityPayload: OpenClawMotionActivityPayload(activities: []),
+                pedometerPayload: OpenClawPedometerPayload(
+                    startISO: "2024-01-01T00:00:00Z",
+                    endISO: "2024-01-01T01:00:00Z",
+                    steps: nil,
+                    distanceMeters: nil,
+                    floorsAscended: nil,
+                    floorsDescended: nil)))
+
+        let params = OpenClawChatPushParams(text: "Ping", speak: false)
+        let data = try JSONEncoder().encode(params)
+        let json = String(decoding: data, as: UTF8.self)
+        let req = BridgeInvokeRequest(
+            id: "chat-push",
+            command: OpenClawChatCommand.push.rawValue,
+            paramsJSON: json)
+        let res = await appModel._test_handleInvoke(req)
+        #expect(res.ok == true)
+        #expect(notifier.addedRequests.count == 1)
+        let request = try #require(notifier.addedRequests.first)
+        #expect(request.content.title == "OpenClaw")
+        #expect(request.content.body == "Ping")
+        let payloadJSON = try #require(res.payloadJSON)
+        let decoded = try JSONDecoder().decode(OpenClawChatPushPayload.self, from: Data(payloadJSON.utf8))
+        #expect((decoded.messageId ?? "").isEmpty == false)
+        #expect(request.identifier == decoded.messageId)
+    }
+
     @Test @MainActor func handleInvokeDeviceAndDataCommandsReturnPayloads() async throws {
         let deviceStatusPayload = OpenClawDeviceStatusPayload(
             battery: OpenClawBatteryStatusPayload(level: 0.25, state: .unplugged, lowPowerModeEnabled: false),
@@ -723,6 +808,28 @@ private func decodePayload<T: Decodable>(_ json: String?, as type: T.Type) throw
         #expect(oncePayload.status == "offline")
     }
 
+    @Test @MainActor func handleInvokePushToTalkOnceStopsOnFinalTranscript() async throws {
+        let talkMode = TalkModeManager(allowSimulatorCapture: true)
+        talkMode.updateGatewayConnected(false)
+        let appModel = makeTalkTestAppModel(talkMode: talkMode)
+
+        let onceReq = BridgeInvokeRequest(id: "ptt-once-final", command: OpenClawTalkCommand.pttOnce.rawValue)
+        let onceTask = Task { await appModel._test_handleInvoke(onceReq) }
+
+        for _ in 0..<5 where !talkMode.isPushToTalkActive {
+            await Task.yield()
+        }
+        #expect(talkMode.isPushToTalkActive == true)
+
+        await talkMode._test_handleTranscript("Hello final", isFinal: true)
+
+        let onceRes = await onceTask.value
+        #expect(onceRes.ok == true)
+        let oncePayload = try decodePayload(onceRes.payloadJSON, as: OpenClawTalkPTTStopPayload.self)
+        #expect(oncePayload.transcript == "Hello final")
+        #expect(oncePayload.status == "offline")
+    }
+
     @Test @MainActor func handleDeepLinkSetsErrorWhenNotConnected() async {
         let appModel = NodeAppModel()
         let url = URL(string: "openclaw://agent?message=hello")!

apps/ios/Tests/TalkModeIncrementalTests.swift

@@ -0,0 +1,33 @@
+import Foundation
+import Testing
+@testable import OpenClaw
+
+@Suite struct TalkModeIncrementalTests {
+    @Test @MainActor func incrementalSpeechSplitsOnBoundary() {
+        let talkMode = TalkModeManager(allowSimulatorCapture: true)
+        talkMode._test_incrementalReset()
+        let segments = talkMode._test_incrementalIngest("Hello world. Next", isFinal: false)
+        #expect(segments.count == 1)
+        #expect(segments.first == "Hello world.")
+    }
+
+    @Test @MainActor func incrementalSpeechSkipsDirectiveLine() {
+        let talkMode = TalkModeManager(allowSimulatorCapture: true)
+        talkMode._test_incrementalReset()
+        let segments = talkMode._test_incrementalIngest("{\"voice\":\"abc\"}\nHello.", isFinal: false)
+        #expect(segments.count == 1)
+        #expect(segments.first == "Hello.")
+    }
+
+    @Test @MainActor func incrementalSpeechIgnoresCodeBlocks() {
+        let talkMode = TalkModeManager(allowSimulatorCapture: true)
+        talkMode._test_incrementalReset()
+        let text = "Here is code:\n```js\nx=1\n```\nDone."
+        let segments = talkMode._test_incrementalIngest(text, isFinal: true)
+        #expect(segments.count == 1)
+        let value = segments.first ?? ""
+        #expect(value.contains("x=1") == false)
+        #expect(value.contains("Here is code") == true)
+        #expect(value.contains("Done.") == true)
+    }
+}

apps/shared/OpenClawKit/Sources/OpenClawKit/ChatCommands.swift

@@ -0,0 +1,23 @@
+import Foundation
+
+public enum OpenClawChatCommand: String, Codable, Sendable {
+    case push = "chat.push"
+}
+
+public struct OpenClawChatPushParams: Codable, Sendable, Equatable {
+    public var text: String
+    public var speak: Bool?
+
+    public init(text: String, speak: Bool? = nil) {
+        self.text = text
+        self.speak = speak
+    }
+}
+
+public struct OpenClawChatPushPayload: Codable, Sendable, Equatable {
+    public var messageId: String?
+
+    public init(messageId: String? = nil) {
+        self.messageId = messageId
+    }
+}

src/gateway/node-command-policy.ts

@@ -34,6 +34,8 @@ const MOTION_COMMANDS = ["motion.activity", "motion.pedometer"];
 
 const SYSTEM_NOTIFY_COMMANDS = ["system.notify"];
 
+const CHAT_COMMANDS = ["chat.push"];
+
 const TALK_COMMANDS = ["talk.ptt.start", "talk.ptt.stop", "talk.ptt.cancel", "talk.ptt.once"];
 
 const SYSTEM_COMMANDS = [
@@ -52,6 +54,7 @@ const PLATFORM_DEFAULTS: Record<string, string[]> = {
     ...SCREEN_COMMANDS,
     ...LOCATION_COMMANDS,
     ...SYSTEM_NOTIFY_COMMANDS,
+    ...CHAT_COMMANDS,
     ...DEVICE_COMMANDS,
     ...PHOTOS_COMMANDS,
     ...CONTACTS_COMMANDS,