void setup() {
  pinMode(0, INPUT_PULLUP);  // Botão no GPIO 0
  Serial.begin(115200);       // Inicializa serial a 115200 baud
}

void loop() {
  int state = digitalRead(0);
  // Lógica invertida: LOW = pressionado (1), HIGH = solto (0)
  Serial.println(state == LOW ? "1" : "0");
  delay(50);  // Polling a cada 50ms
}

use serialport;
use ros2_client;

fn main() {
    let mut serial_port = serialport::open("/dev/ttyAM0")
        .expect("Failed to open serial port");

    serial_port.set_baud_rate(115200)
        .expect("Failed to set baud rate");

    let mut ros_publisher = ros2_client::create_publisher("/cmd/dump");
    let mut previous_state = '0';

    loop {
        let mut buffer = [0; 1];
        match serial_port.read_exact(&mut buffer) {
            Ok(_) => {
                let current_byte = buffer[0] as char;

                if current_byte == '1' && previous_state == '0' {
                    // Transição 0→1: Botão pressionado
                    log_event("KILL_SWITCH_ACTIVATED", "CRITICAL");

                    ros_publisher.publish(EmergencyStopCommand {
                        action: "DUMP".to_string(),
                        timestamp: get_current_time_utc(),
                        trace_id: generate_trace_id(),
                    });
                } else if current_byte == '0' && previous_state == '1' {
                    // Transição 1→0: Botão liberado
                    log_event("KILL_SWITCH_RELEASED", "HIGH");

                    ros_publisher.publish(RecoverCommand {
                        action: "RECOVER_FROM_FALL".to_string(),
                        timestamp: get_current_time_utc(),
                    });
                }

                previous_state = current_byte;
            }
            Err(e) => {
                log_event("SERIAL_READ_ERROR", "ERROR");
                eprintln!("Error reading from serial: {}", e);
            }
        }
    }
}

{
  "timestamp": "2025-12-10T16:30:45.123Z",
  "trace_id": "550e8400-e29b-41d4-a716-446655440000",
  "event": "KILL_SWITCH_ACTIVATED",
  "severity": "CRITICAL",
  "source": "SERIAL",
  "action": "DUMP",
  "ack_time_ms": 245
}

{
  "timestamp": "2025-12-10T16:30:50.456Z",
  "trace_id": "550e8400-e29b-41d4-a716-446655440001",
  "event": "KILL_SWITCH_RELEASED",
  "severity": "HIGH",
  "source": "SERIAL",
  "action": "RECOVER_FROM_FALL"
}

void estop_callback(const EmergencyStopCommand& msg) {
    // Desliga todos os motores
    for (auto& motor : motors) {
        motor.set_torque(0);
    }
    robot_state = DUMP_MODE;
    log_event("DUMP_MODE_ACTIVATED");
}

void recover_callback(const RecoverCommand& msg) {
    // Inicia sequência de recuperação
    robot_state = RECOVERING;
    execute_recovery_sequence();
}