// Feature: simulate_compatibility fault injection
//
//   spanda check examples/features/simulate_fault.sd
//   spanda verify examples/features/simulate_fault.sd --simulate --target RoverV1

hardware RoverV1 {
  memory: 4 GB;
  sensors [ Lidar ];
  actuators [ DifferentialDrive ];
  battery { capacity: 100 Wh; }
}

robot FaultRover {
  sensor lidar: Lidar on "/scan";
  actuator wheels: DifferentialDrive;

  safety {
    max_speed = 1.0 m/s;
  }

  behavior patrol() {
    wheels.stop();
  }
}

simulate_compatibility {
  fault BatteryDegradation;
}

deploy FaultRover to RoverV1;
