from __future__ import annotations

COMMANDS = {"STOP": "SAFETY_STOP", "FOLLOW": "FOLLOW_WORKER", "CALL": "APPROACH_WORKER"}


def execute(payload: dict) -> dict:
    threshold = float(payload.get("confidenceThreshold", 0.8))
    candidates = [track for track in payload.get("tracks", []) if float(track.get("confidence", 0)) >= threshold]
    candidates.sort(key=lambda track: (-float(track["confidence"]), track["id"]))
    selected = candidates[0] if candidates else None
    command = "WAIT" if not selected else COMMANDS.get(selected.get("gesture"), "WAIT")
    worker = None if not selected else {"id": selected["id"], "confidence": float(selected["confidence"]), "distanceM": float(selected.get("distanceM", 0)), "gesture": selected.get("gesture", "UNKNOWN")}
    return {"component": "cnu/worker-gesture-perception", "accepted": selected is not None,
            "status": "WORKER_READY" if selected else "NO_WORKER", "target": "vpu",
            "selectedWorker": worker, "command": command, "stopRequired": command == "SAFETY_STOP",
            "consideredTracks": len(payload.get("tracks", []))}