# EmergencyEvent.msg — Real-time emergency system state snapshot (Issue #169)
# Published by: /saltybot/emergency_node
# Topic: /saltybot/emergency

builtin_interfaces/Time stamp

# Overall FSM state
# Values: "NOMINAL" | "STOPPING" | "RECOVERING" | "ESCALATED"
string state

# Active threat (highest severity across all detectors)
# threat_type values: "NONE" | "OBSTACLE_PROXIMITY" | "FALL_RISK" | "WHEEL_STUCK" | "BUMP"
string threat_type

# Severity: "CLEAR" | "MINOR" | "MAJOR" | "CRITICAL"
string severity

# Triggering metric value (e.g. distance in m, jerk in m/s³, stuck seconds)
float32 threat_value

# Human-readable description of the active threat
string detail

# True when emergency system is overriding normal cmd_vel with its own commands
bool cmd_override
