tpt-teleop-construction

Heavy Machinery & Mining Operations middleware for the tpt robotics ecosystem — a hyper-optimized, zero-bloat, safety-critical Rust workspace for autonomous excavators, haul trucks, dozers, loaders, drill rigs, and tunnel boring machines in open-pit mines, underground mines, quarries, and large-scale civil construction.

See spec.txt for the full design document and bridge spec.txt for the tpt-teleop-domain-bridge integration contract this workspace adapts to. Outstanding work is tracked in todo.md.

Workspace layout

All crates live under crates/ and use the tpt-t-construction- prefix (the repository itself keeps the full tpt-teleop-construction name).

Crate	Purpose
tpt-teleop-ring	Vendored lock-free SPSC/MPSC ring buffer used for IPC/telemetry
tpt-t-construction-can	Zero-alloc CAN/J1939 parsing: identifier/PGN decoding, engine SPN decoders, BAM transport reassembly
tpt-t-construction-core	Central event loop, machine state machine, lock-free message bus
tpt-t-construction-excavator	Autonomous excavator: trenching, truck loading, grading
tpt-t-construction-haul	Autonomous haul truck: road navigation, dump queueing, payload tracking
tpt-t-construction-dozer	Autonomous dozer: slope grading, cut/fill tracking, material pushing
tpt-t-construction-loader	Wheel/front-end loader: bucket digging, lifting, truck loading
tpt-t-construction-drill	Automated drilling rigs: blast hole patterns, rock hardness detection
tpt-t-construction-hil	Hardware-in-loop test harness: a HardwareBackend trait run today against a simulated plant
tpt-t-construction-mine	Underground navigation: LiDAR SLAM, UWB positioning, ventilation-aware routing
tpt-t-construction-tunnel	TBM/roadheader control: advance rate, cutter head torque, segment installation
tpt-t-construction-hydraulic	Proportional hydraulic valve control: 1kHz PID, pressure comp, flow sharing
tpt-t-construction-powertrain	Diesel engine/transmission control: torque management, derating
tpt-t-construction-terrain	Real-time 3D terrain modeling, slope stability, obstacle detection
tpt-t-construction-payload	Cut/fill volume calc, on-board payload weighing, material classification
tpt-t-construction-safety	Proximity detection system (PDS): perception fusion, dynamic warning zones
tpt-t-construction-rollover	Rollover protection: tilt/CoG estimation, automatic braking
tpt-t-construction-fatigue	Operator fatigue monitoring: eye tracking, steering analysis, rest enforcement
tpt-t-construction-wear	Predictive maintenance: SIMD FFT vibration analysis
tpt-t-construction-telemetry	100Hz high-frequency telemetry logging to local NVMe
tpt-t-construction-sim	Headless simulator: vehicle/hydraulic/engine dynamics, synthetic sensors
tpt-t-construction-viz	egui-based visualizer: terrain heatmaps, trajectories, pressures, spectra
tpt-t-construction-teleop	Adapter to tpt-teleop-domain-bridge: teleoperation handover, valve translation

Sister repositories

Part of the tpt ecosystem alongside tpt-teleop (core teleoperation platform), tpt-teleop-fleet, tpt-t-agri, tpt-teleop-marine, tpt-teleop-medical, and tpt-teleop-defense.

Building

cargo build --workspace
cargo test --workspace
cargo clippy --workspace --all-targets -- -D warnings
cargo fmt --all -- --check
cargo deny check

License

Licensed under either of

• MIT license (LICENSE-MIT)
• Apache License, Version 2.0 (LICENSE-APACHE)

at your option. The dependency chain is strictly MIT/BSD/ISC: cargo-deny rejects Apache-only dependencies, and dual-licensed dependencies resolve under MIT (see deny.toml).

Source file header convention

Every source file carries:

// SPDX-License-Identifier: MIT OR Apache-2.0
// Copyright (c) 2026 TPT Solutions