// Integration — minimal triggers (event handler + periodic task)
//
//   spanda run examples/integration/triggers_minimal.sd --trace-triggers
//
// Timer, condition, topic, and state triggers: examples/triggers_demo.sd

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

  safety {
    max_speed = 1.0 m/s;
    stop_if lidar.nearest_distance < 0.5 m;
  }

  event ObstacleSeen;

  on ObstacleSeen {
    wheels.stop();
  }

  task sense every 50ms {
    let scan = lidar.read();
    if scan.nearest_distance < 0.5 m {
      emit ObstacleSeen;
    } else {
      wheels.drive(linear: 0.2 m/s, angular: 0.0 rad/s);
    }
  }
}