from __future__ import annotationsdef execute(payload: dict) -> dict:    maximum = float(payload.get("maximumPayloadKg", 120))    payload_kg = float(payload.get("payloadKg", 0))    reasons = []    if not payload.get("driveReady"): reasons.append("DRIVE_NOT_READY")    if payload.get("fieldMode") != "GREENHOUSE": reasons.append("INVALID_FIELD_MODE")    if payload.get("emergencyStop"): reasons.append("EMERGENCY_STOP")    if maximum <= 0 or payload_kg > maximum: reasons.append("PAYLOAD_LIMIT")    ratio = payload_kg / maximum if maximum > 0 else 1.0    accepted = not reasons    speed = 0.0 if not accepted else max(0.25, round(0.8 * (1 - 0.45 * min(ratio, 1)), 3))    return {"component": "hada/greenhouse-transport-platform", "accepted": accepted,            "status": "PLATFORM_READY" if accepted else "BLOCKED", "target": "mcu",            "platformId": str(payload.get("platformId", "unknown")), "command": "ENABLE_DRIVE" if accepted else "STOP",            "speedLimitMps": speed, "loadRatio": round(ratio, 3), "blockingReasons": reasons}