also report latent fault

saka1-s · Dec 22, 2024 · ff2b3c3 · ff2b3c3
1 parent 08a64be
commit ff2b3c3
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/system/hazard_status_converter/src/converter.cpp b/system/hazard_status_converter/src/converter.cpp
@@ -122,7 +122,9 @@ void Converter::on_update(DiagGraph::ConstSharedPtr graph)
   hazard.status.level = get_system_level(hazard.status);
   hazard.status.emergency = hazard.status.level == HazardStatus::SINGLE_POINT_FAULT;
   if (report_safe_fault_)
-    hazard.status.emergency &= hazard.status.level == HazardStatus::SAFE_FAULT;
+    hazard.status.emergency &=
+      (hazard.status.level == HazardStatus::SAFE_FAULT ||
+       hazard.status.level == HazardStatus::LATENT_FAULT);
   hazard.status.emergency_holding = false;
   pub_hazard_->publish(hazard);
 }