# EMU example fault definitions
# Note: this serves as an example only - it does not represent a real robot reaction
# Highly Confidential and Proprietary Zoox Information. Copyright (c) Zoox.

component: DriveManager
source_enum: kEmuDriveManager
namespace: zoox
can_messages:
  - status_msg: EMU_driveAlertStatus
    log_msg: EMU_driveAlertLog
can_import: firmware/common/can/generated/vh6/emu.h
can_namespace: vh6
faults:
  - id: 0
    name: EpasStale
    severity: ERROR
    description: EPAS message has not been received recently
    threshold_ms: 50
    reaction:
      trajectory: NoGo
      allowed_forward_direction: Both
      allowed_missions: All
      power_mode_limit: Hv
      robot_release_available: false
      max_speed_mps: 11
      max_driving_grade_pct: 5
      max_time_until_pull_over_s: 0
  - id: 1
    name: EstopPressed
    severity: WARNING
    description: Hardware estop button is currently pressed
    threshold_ms: 50
  - id: 2
    name: EstopLatched
    severity: ERROR
    description: Hardware estop was pressed and fault has latched
    threshold_ms: 50
    reaction:
      trajectory: Estop
      power_mode_limit: Acc
