PassiveCallback.onState(agentId:eventId:stateName:stateValue:)
                          ^^^^^^^^^                 ^^^^^^^^^^^^
                          模块名                    模块负载（JSON 字符串）

{
    "map_id": "MAP_001",
    "map_name": "1F 大厅",
    "navi_points": [
        { "name": "前台", "id": 1, "point_x": 1.2, "point_y": 3.4 },
        { "name": "茶水间", "id": 2, "point_x": 5.6, "point_y": 7.8 }
    ],
    "walls": [
        { "id": 101, "x": 0.0, "y": 0.0, "z": 0.0 },
        { "id": 102, "x": 10.0, "y": 0.0, "z": 0.0 }
    ],
    "infeasible_areas": [
        { "id": 201, "x": 2.5, "y": 3.0, "z": 0.0 }
    ]
}

{
    "map_id": "MAP_001",
    "map_name": "1F 大厅",
    "version": "v2",
    "frame": "map",
    "width": 1024,
    "height": 1024,
    "resolution": 0.05,
    "origin": { "x": -25.6, "y": -25.6, "yaw": 0.0 },
    "encoding": "int8_zstd_base64",
    "data": "KLUv/QBYDQAA...<base64>...",
    "data_md5": "9e107d9d372bb6826bd81d3542a419d6",
    "compression": {
        "raw_layout": "int8_row_major",
        "algorithm": "zstd",
        "binary_encoding": "base64"
    },
    "transport": { "mode": "inline" }
}

{
    "location_name": "前台",
    "location_coordinate": "1.2,3.4",
    "orientation": 90,
    "floor": "1F",
    "building": "总部大楼"
}

{
    "map_id": "MAP_001",
    "frame": "map",
    "x": 1.234,
    "y": 5.678,
    "z": 0.0,
    "yaw": 1.5708,
    "pitch": 0.0,
    "roll": 0.0,
    "quaternion": { "w": 0.7071, "x": 0.0, "y": 0.0, "z": 0.7071 },
    "linear_velocity": { "x": 0.3, "y": 0.0, "z": 0.0 },
    "angular_velocity": { "x": 0.0, "y": 0.0, "z": 0.1 },
    "timestamp_ms": 1774828800210
}

{
    "path_id": "path_001",
    "map_id": "MAP_001",
    "frame": "map",
    "planner": "global_planner_v2",
    "planning_status": "running",
    "start_pose": { "x": 0.0, "y": 0.0, "yaw": 0.0 },
    "target_pose": { "x": 10.0, "y": 5.0, "yaw": 1.5708 },
    "path_points": [
        { "x": 0.0, "y": 0.0 },
        { "x": 2.5, "y": 1.2 },
        { "x": 5.0, "y": 2.5 },
        { "x": 7.5, "y": 3.8 },
        { "x": 10.0, "y": 5.0 }
    ],
    "total_length_m": 11.18,
    "remaining_length_m": 8.94,
    "eta_sec": 30,
    "updated_at_ms": 1774828800210
}

{
    "motion_task_id": "nav_001",
    "task_name": "前往茶水间",
    "task_type": "navigation",
    "state": "running",
    "target_x": 10.0,
    "target_y": 5.0,
    "target_z": 0.0,
    "start_time_ms": 1774828800000,
    "estimated_completion_ms": 1774828830000,
    "timestamp_ms": 1774828810000,
    "trace_id": "trace_abc123",
    "error_message": ""
}

{
    "status": "path_block",
    "detail": "前方有静态障碍物，正在重规划"
}

[
    {
        "state": "running",
        "task_name": "导航到茶水间",
        "task_id": "nav_001",
        "task_type": "navigation",
        "message": "执行中",
        "updated_at_ms": 1774828810000
    }
]

[
    {
        "task_name": "总部参观线路 A",
        "task_id": "exhibit_001",
        "points": [
            { "name": "前台", "id": 1 },
            { "name": "展示厅", "id": 2 },
            { "name": "茶水间", "id": 3 }
        ]
    }
]

{
    "mode": 2,
    "silisoon_status": 1
}

"wheeled"

{
    "is_on": true,
    "mode": "pick",
    "updated_at_ms": 1774828810000
}

["福", "禄", "寿", "喜", "你好", "新年快乐"]

{
    "state": "playing",
    "item_id": "item_tts_001",
    "event_id": "event_dialog_001",
    "text": "好的，正在为您播报。",
    "domain": "agent",
    "priority": 5,
    "error_msg": "",
    "in_queue_item_ids": ["item_tts_002", "item_tts_003"],
    "updated_at_ms": 1774828810000
}

{
    "state": "eos",
    "event_id": "event_dialog_001",
    "updated_at_ms": 1774828810000
}

{
    "state": "waiting_dm",
    "event_id": "event_dialog_001",
    "before_quit_voice": false,
    "source": "sdk_dialog_manager",
    "updated_at_ms": 1774828810000
}

{
    "state": "running",
    "tag": "write",
    "task_name": "写 福 字",
    "task_id": "action_001",
    "message": "笔顺执行中 3/5",
    "updated_at_ms": 1774828810000
}

{
    "state": "listening",
    "wakeup_state": "already_wake_up",
    "event_id": "status_nav_001",
    "source": "sdk_wakeup_manager",
    "updated_at_ms": 1774828800210
}

{
    "state": "active",
    "flow_id": "flow_mock_demo_001",
    "request_event_id": "event_wakeup_behavior_001",
    "ttl_ms": 30000,
    "expires_at_ms": 1774828830210,
    "interrupt_current_interaction": true,
    "behavior": {
        "tts": { "text": "我在，请说" },
        "emoticon": { "id": 103, "times": 1 },
        "motion": { "id": [10226] }
    },
    "source": "agentsdk.flow",
    "updated_at_ms": 1774828800210
}

{
    "perception_mode": "full",
    "greeting_in_dialog": true,
    "streams": {
        "front_cam": {
            "image_size": { "width": 1280, "height": 720 },
            "person_count": 2,
            "tracked_person_count": 2,
            "known_face_ids": ["face_uid001"],
            "gesture_labels": ["wave"],
            "action_labels": [],
            "persons": [
                {
                    "track_id": 1,
                    "global_id": "g_1",
                    "face_uid": "face_uid001",
                    "identity_category": "recognized_known",
                    "face": {
                        "box_norm": { "x": 0.29, "y": 0.17, "w": 0.05, "h": 0.11, "cx": 0.32, "cy": 0.22 },
                        "yaw": 4.8, "pitch": -2.1, "roll": 0.9
                    }
                }
            ]
        }
    },
    "aggregate": {
        "person_count": 2,
        "tracked_person_count": 2,
        "known_face_ids": ["face_uid001"],
        "unknown_face_count": 1,
        "facing_face_count": 1,
        "gesture_labels": ["wave"],
        "action_labels": []
    },
    "updated_at_ms": 1774828810000
}

{
    "event_id": "event_xxx",
    "order": "left_to_right",
    "image_size": { "width": 1280, "height": 720 },
    "speaker_id": "face_uid001",
    "doa": 60,
    "persons": [
        {
            "face_uid": "face_uid001",
            "identity_category": "recognized_known",
            "user_name": "张三",
            "user_desc": "001 号员工，创业元老",
            "age": 14,
            "gender": 0
        }
    ]
}

{
    "greeting_in_dialog": true
}

override func onState(agentId: String, eventId: String, stateName: String, stateValue: String) {
    guard let data = stateValue.data(using: .utf8),
          let obj = try? JSONSerialization.jsonObject(with: data) else { return }

    switch stateName {
    case "robot_pose":
        if let pose = obj as? [String: Any] {
            print("x=\(String(describing: pose["x"])) yaw=\(String(describing: pose["yaw"]))")
        }
    case "tts_status":
        if let tts = obj as? [String: Any], tts["state"] as? String == "finished" {
            // TTS 已播完
        }
    case "robot_form":
        // robot_form 是裸字符串，无需 JSON 解析
        print("form = \(stateValue)")
    default:
        break
    }
}

@Override
public void onState(String agentId, String eventId, String stateName, String stateValue) {
    switch (stateName) {
        case "robot_pose" -> {
            JSONObject pose = JSONObject.parseObject(stateValue);
            log.info("x={} y={} yaw={}", pose.getDouble("x"), pose.getDouble("y"), pose.getDouble("yaw"));
        }
        case "robot_form" -> log.info("form = {}", stateValue);
        default -> { /* ignore */ }
    }
}