Struct TeleopInput 

pub struct TeleopInput {
    pub source: String,
    pub priority: u8,
    pub linear: f32,
    pub angular: f32,
    pub timestamp: u64,
    pub emergency_stop: bool,
}

Input command from any teleoperation source

Multiple sources can send commands, and the teleop node will arbitrate between them based on priority and timestamps.

Fields

source: String

Source identifier (e.g., “cli”, “dashboard”, “gamepad”)

priority: u8

Priority level (0-255, higher = more important) Typical values:

• 255: Emergency stop
• 200: Safety operator override
• 100: Primary operator (gamepad)
• 50: Secondary operator (dashboard)
• 10: Autonomous fallback

linear: f32

Linear velocity command in m/s

angular: f32

Angular velocity command in rad/s

timestamp: u64

Timestamp in microseconds (from now_micros)

emergency_stop: bool

Emergency stop flag - immediately halt all motion

Implementations

impl TeleopInput

pub fn new( source: impl Into<String>, linear: f32, angular: f32, timestamp: u64, ) -> Self

Create a new teleop input with standard priority

pub fn emergency_stop(source: impl Into<String>, timestamp: u64) -> Self

Create an emergency stop command

pub fn with_priority(self, priority: u8) -> Self

Set the priority level

pub fn is_expired(&self, current_time: u64, timeout_ms: u64) -> bool

Check if command is expired (older than timeout_ms milliseconds)

pub fn age_ms(&self, current_time: u64) -> u64

Get age in milliseconds

Trait Implementations

impl Clone for TeleopInput

fn clone(&self) -> TeleopInput

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for TeleopInput

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for TeleopInput

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for TeleopInput

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Message for TeleopInput