Measurement Decision (SPATIAL_DECISION)

local karar_ok = nil
local karar_hazir = nil
local karar_durum = nil
local karar_yon = nil
local karar_aci = nil
local karar_sapma = nil
local karar_uzaklik = nil

local _mhM = {}
local _mhMeasureSeq = 0
local _mhFlowEpoch = 0
local function _mhSide(nx, ny, dz)
 local ax, ay = math.abs(nx - 0.5), math.abs(ny - 0.5)
 local hz = (ax <= dz) and "" or ((nx < 0.5) and "sol" or "sag")
 local vt = (ay <= dz) and "" or ((ny < 0.5) and "ust" or "alt")
 if vt ~= "" and hz ~= "" then return vt .. "_" .. hz end
 if vt ~= "" then return vt end
 if hz ~= "" then return hz end
 return "merkez"
end
local _mhD = {}
local _mhDecisionSeen = {}
local _mhLastDecision = nil
local _mhLastDecisionSwipeAngles = {}
local function _mhMeasurementCurrent(record)
 if record == nil then return true end
 if record.match == nil or record.match.canClick == nil then return true end
 local ok, current = pcall(function() return record.match:canClick() end)
 return ok and current == true
end
local function _mhDir(ang, snap)
 if snap == 4 then
  local i = math.floor(((ang + 45) % 360) / 90)
  return ({ "right", "down", "left", "up" })[i + 1], i * 90
 elseif snap == 8 then
  local i = math.floor(((ang + 22.5) % 360) / 45)
  local names = { "right", "down_right", "down", "down_left", "left", "up_left", "up", "up_right" }
  return names[i + 1], i * 45
 end
 local i = math.floor(((ang + 22.5) % 360) / 45)
 local names = { "right", "down_right", "down", "down_left", "left", "up_left", "up", "up_right" }
 return names[i + 1], ang
end

_mhFlowEpoch = _mhFlowEpoch + 1
local _sd1 = false
do
 local _a = _mhM[""]
 local _st = "ok"
 _mhD["block:00000000-0000-4000-8000-000000000001"] = nil
 local _seen = _mhDecisionSeen["block:00000000-0000-4000-8000-000000000001"]
 local _aCurrent = _mhMeasurementCurrent(_a)
 if not (_a ~= nil and _a.ok == true and _a.seq ~= nil and _a.epoch == _mhFlowEpoch and _aCurrent and _a.stale ~= true and (_seen == nil or _a.seq ~= _seen.a)) then
  _st = ((_a ~= nil and (_a.stale == true or not _aCurrent)) or (_seen ~= nil and _a ~= nil and _a.seq == _seen.a)) and "source_stale" or "source_unavailable"
 end
 local _rules = true
 if _st == "ok" then
  local _vx = (_a.dx or 0) * ((_a.rw or 0) / 2)
  local _vy = (_a.dy or 0) * ((_a.rh or 0) / 2)
  local _len = math.sqrt(_vx * _vx + _vy * _vy)
  if _len < 1e-6 then
   _st = "degenerate_direction"
  else
   local _ux, _uy = _vx / _len, _vy / _len
   _ux, _uy = -_ux, -_uy
   local _fwd = nil
   local _ang = math.deg(Math.atan2(_uy, _ux))
   if _ang < 0 then _ang = _ang + 360 end
   local _cal = nil
   local _dir, _snapAng = _mhDir(_ang, 4)
   _ang = _snapAng
   _ux, _uy = math.cos(math.rad(_ang)), math.sin(math.rad(_ang))
   local _sapma = nil
   if _fwd ~= nil then _sapma = (_ang - _fwd) % 360 end
   local _ox = (_a.rx or 0) + (_a.nx or 0) * (_a.rw or 0)
   local _oy = (_a.ry or 0) + (_a.ny or 0) * (_a.rh or 0)
   if _st == "ok" then
    _sd1 = (_rules == true)
    local _decisionStatus = _sd1 and "ok" or "rules_failed"
    _mhD["block:00000000-0000-4000-8000-000000000001"] = {
     ok = _sd1, result = _sd1, available = true, vectorOk = true, status = _decisionStatus,
     stateKey = "block:00000000-0000-4000-8000-000000000001",
     ux = _ux, uy = _uy, angle = _ang, dir = _dir,
     deviation = _sapma, forward = _fwd,
     originX = _ox, originY = _oy, calibration = _cal, distance = _len,
    }
   end
  end
 end
 if _mhD["block:00000000-0000-4000-8000-000000000001"] == nil then
  _mhD["block:00000000-0000-4000-8000-000000000001"] = { ok = false, result = false, available = false, vectorOk = false, status = _st, stateKey = "block:00000000-0000-4000-8000-000000000001" }
 end
 _mhDecisionSeen["block:00000000-0000-4000-8000-000000000001"] = { a = _a and _a.seq or nil }
 local _d = _mhD["block:00000000-0000-4000-8000-000000000001"]
 karar_ok = (_d ~= nil and _d.result == true)
 karar_hazir = (_d ~= nil and _d.available == true)
 karar_durum = (_d ~= nil and _d.status) or "unknown"
 karar_yon = (_d ~= nil and _d.vectorOk == true and _d.dir) or ""
 karar_aci = (_d ~= nil and _d.vectorOk == true and _d.angle) or 0
 karar_sapma = (_d ~= nil and _d.vectorOk == true and _d.deviation) or 0
 karar_uzaklik = (_d ~= nil and _d.vectorOk == true and _d.distance) or 0
 _mhLastDecision = _mhD["block:00000000-0000-4000-8000-000000000001"]
end