std_msgs/Header header

# Current power mode (use constants below)
uint8 mode
uint8 MODE_SLEEP   = 0   # charging / idle — minimal sensors
uint8 MODE_SOCIAL  = 1   # parked / socialising — webcam + face UI only
uint8 MODE_AWARE   = 2   # indoor / slow (<5 km/h) — front CSI + RealSense + LIDAR
uint8 MODE_ACTIVE  = 3   # sidewalk / bike path (5–15 km/h) — front+rear + RealSense + LIDAR + UWB
uint8 MODE_FULL    = 4   # street / high-speed (>15 km/h) or crossing — all sensors

string mode_name         # human-readable label

# Active sensor flags for this mode
bool csi_front
bool csi_rear
bool csi_left
bool csi_right
bool realsense
bool lidar
bool uwb
bool webcam

# Transition metadata
float32 trigger_speed_mps    # speed that triggered the last transition
string  trigger_scenario     # scenario that triggered the last transition
bool    scenario_override    # true when scenario (not speed) forced the mode
