Remote Control Your Robot
From Anywhere on Earth

#!/usr/bin/env python3
# ── Python Operator Client ─────────────────────────────────────────
import asyncio
from teleop_sdk import TeleOpClient, Gamepad

async def main():
    # Connect to a remote robot by ID — works over the internet
    async with TeleOpClient(
        robot_id="robo-xyz-7a3f",
        api_key="ak-live-your-key",
        latency_target_ms=40,          # SDK picks the closest relay node
        reconnect=True,                # auto-reconnect on drop
    ) as bot:

        # Subscribe to telemetry
        @bot.on_telemetry
        async def on_telem(data):
            print(f"Battery: {data['battery_v']:.2f}V  Yaw: {data['imu_yaw']:.1f}°")

        # Drive loop with Xbox gamepad
        async with Gamepad() as gp:
            while True:
                axes = await gp.read()
                await bot.command("drive", {
                    "speed": axes.left_y,   # left stick Y
                    "turn":  axes.right_x,  # right stick X
                })
                if axes.button_b:
                    await bot.command("estop")

asyncio.run(main())

// ── Browser / Node.js Operator SDK ─────────────────────────────────
import { TeleOpClient, GamepadBinding } from '@teleop/sdk';

const bot = new TeleOpClient({
  robotId:  'robo-xyz-7a3f',
  apiKey:   'ak-live-your-key',
  relay:    'auto',          // picks nearest Anycast node
  reconnect: true,
});

// Real-time telemetry callback
bot.onTelemetry((data) => {
  document.getElementById('battery').textContent =
    data.battery_v.toFixed(2) + 'V';
});

// Keyboard → drive command mapping
const keys = {};
document.addEventListener('keydown', e => keys[e.key] = true);
document.addEventListener('keyup',   e => keys[e.key] = false);

setInterval(async () => {
  const speed = (keys['ArrowUp'] ? 1 : 0) - (keys['ArrowDown'] ? 1 : 0);
  const turn  = (keys['ArrowRight'] ? 1 : 0) - (keys['ArrowLeft'] ? 1 : 0);
  await bot.command('drive', { speed, turn });
}, 50); // 20 Hz command rate

// Gamepad binding helper
const gp = new GamepadBinding(bot, {
  axes: { 1: 'drive.speed', 2: 'drive.turn' },
  buttons: { 1: 'estop' },
  deadzone: 0.08,
});
gp.start();

await bot.connect();
console.log('Connected to', await bot.ping(), 'ms away');

// ── ESP32 Gateway Firmware ──────────────────────────────────────────
// Flash this to an ESP32. It bridges Arduino (USB Serial) ↔ TeleOp cloud
#include <TeleOpGateway.h>
#include <WiFi.h>

const char* SSID     = "YourWiFi";
const char* PASS     = "password";
const char* ROBOT_ID = "robo-xyz-7a3f";
const char* SECRET   = "sk-live-abc123...";

// TeleOpGateway handles: WiFi reconnection, MQTT-over-TLS to relay,
// AES-256-GCM command decryption, and forwarding to Arduino via Serial2
TeleOpGateway gw(ROBOT_ID, SECRET);

void setup() {
  Serial.begin(115200);            // Debug
  Serial2.begin(115200, SERIAL_8N1, 16, 17);  // Arduino link

  WiFi.begin(SSID, PASS);
  gw.begin(Serial2);              // Pass the serial port to Arduino

  // Optional: report gateway status in telemetry
  gw.addStatusProvider([]() {
    return TeleOpStatus{
      .rssi    = WiFi.RSSI(),
      .heap    = ESP.getFreeHeap(),
      .uptime  = millis() / 1000UL,
    };
  });
}

void loop() {
  gw.loop();    // Non-blocking — handles WiFi, MQTT, bridging
}

// ── ROS2 TeleOp Bridge Node (C++) ─────────────────────────────────
#include "teleop_sdk/ros2_bridge.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "sensor_msgs/msg/imu.hpp"

using namespace teleop_sdk;

class TeleOpBridgeNode : public Ros2Bridge {
public:
  TeleOpBridgeNode() : Ros2Bridge("teleop_bridge") {
    // Declare parameters
    robot_id_ = declare_parameter<std::string>("robot_id");
    api_key_  = declare_parameter<std::string>("api_key");

    // Map TeleOp "drive" command → /cmd_vel topic
    mapCommandToTopic<geometry_msgs::msg::Twist>(
      "drive", "/cmd_vel",
      [](TeleOpCmd cmd, geometry_msgs::msg::Twist& msg) {
        msg.linear.x  = cmd.getDouble("speed");
        msg.angular.z = cmd.getDouble("turn");
      }
    );

    // Map /imu/data topic → telemetry stream
    mapTopicToTelemetry<sensor_msgs::msg::Imu>(
      "/imu/data", "imu",
      [](sensor_msgs::msg::Imu msg, TeleOpTelemetry& telem) {
        telem.add("yaw",   quaternionToYaw(msg.orientation));
        telem.add("accel", msg.linear_acceleration.x);
      }
    );

    connect(robot_id_, api_key_);
  }
};