Indicate reason for pod failures leading to Faulted (#111)

* add fault reasons

* chk

* chk

* chk

control-station/src/services/PodSocketClient.ts

@@ -9,13 +9,14 @@ export enum State {
 	Running = "Running",
 	Stopped = "Stopped",
 	Halted = "Halted",
-	Faulted = "Faulted",
+	fault = "Faulted",
 }
 
 interface ServerToClientEvents {
 	connect: () => void;
 	disconnect: (reason: Socket.DisconnectReason) => void;
 	serverResponse: (data: Partial<PodData>) => void;
+	fault: (data: string) => void;
 }
 
 interface Message {
@@ -71,6 +72,7 @@ class PodSocketClient {
 			connect: this.onConnect.bind(this),
 			disconnect: this.onDisconnect.bind(this),
 			serverResponse: this.onData.bind(this),
+			fault: this.onFault.bind(this),
 		} as const;
 		this.setPodData = setPodData;
 	}
@@ -138,6 +140,11 @@ class PodSocketClient {
 		this.setPodData((d) => ({ ...d, ...data }));
 	}
 
+	private onFault(data: string): void {
+		console.error("Server fault with message:", data);
+		this.addMessage(data, State.fault);
+	}
+
 	private addMessage(response: string, newState: State): void {
 		const timestamp = new Date();
 		const newMessage = {

pod-operation/src/state_machine.rs

@@ -239,6 +239,17 @@ impl StateMachine {
 		}
 
 		if self.downstream_pressure_transducer.read_pressure() < MIN_PRESSURE {
+			self.io
+				.of("/control-station")
+				.unwrap()
+				.emit(
+					"fault",
+					(
+						"Low pressure detected. Currently {}, should be above 126 PSI.",
+						self.downstream_pressure_transducer.read_pressure(),
+					),
+				)
+				.ok();
 			return State::Faulted;
 		}
 		let default_readings = self.lim_temperature_port.read_lim_temps();
@@ -248,10 +259,26 @@ impl StateMachine {
 			.chain(alternative_readings.iter())
 			.any(|&reading| reading > LIM_TEMP_THRESHOLD)
 		{
+			self.io
+				.of("/control-station")
+				.unwrap()
+				.emit(
+					"fault",
+					(
+						"High temperature detected, should be below {} C.",
+						LIM_TEMP_THRESHOLD,
+					),
+				)
+				.ok();
 			return State::Faulted;
 		}
 		// Last 20% of the track, as indicated by braking
 		if self.lidar.read_distance() < END_OF_TRACK {
+			self.io
+				.of("/control-station")
+				.unwrap()
+				.emit("fault", ("End of track detected. Current distance to end: {}, less than {} meters away", self.lidar.read_distance(), END_OF_TRACK))
+				.ok();
 			return State::Faulted;
 		}