Polymath Robotics

Polymath Robotics Teleop Control API

Endpoints for managing control leases

GitHub OpenAPI

Operations 5

POST /v2/teleop-control/acquire Acquire control lease granting exclusive access to teleop #
POST /v2/teleop-control/renew Renew existing control lease #
POST /v2/teleop-control/release Release the current control lease #
POST /v2/teleop-control/transfer Transfer control lease to another user #
GET /v2/teleop-control/status Get current control lease status #

Specifications

⚙
OpenAPI
https://raw.githubusercontent.com/api-evangelist/polymath/refs/heads/main/openapi/polymath-teleop-control-api-openapi.yml

Other Resources

🔗
ErrorCatalog
https://raw.githubusercontent.com/api-evangelist/polymath/refs/heads/main/errors/polymath-problem-types.yml
🔗
DataModel
https://raw.githubusercontent.com/api-evangelist/polymath/refs/heads/main/data-model/polymath-data-model.yml

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OpenAPI Specification

polymath-teleop-control-api-openapi.yml Raw ↑ 
openapi: 3.2.0
info:
  title: Polymath API Service CANBus Teleop Control API
  description: Polymath API service to interact with a real or simulated polymath-powered robot
  termsOfService: https://www.polymathrobotics.com/legal/terms-of-service
  contact:
    name: Polymath Support
    url: https://www.polymathrobotics.com
    email: api@polymathrobotics.com
  license:
    name: All rights reserved
    url: https://www.polymathrobotics.com/legal/privacy-policy
  version: 2.0.0
servers:
- url: https://polyglot.polymathrobotics.dev/api
  description: Base URL declared by the provider in apis.yml (roadmap#122).
tags:
- name: Teleop Control
  description: Endpoints for managing control leases
paths:
  /v2/teleop-control/acquire:
    post:
      tags:
      - Teleop Control
      summary: Acquire control lease granting exclusive access to teleop
      description: Acquire control lease if none exists or has expired.
      operationId: acquire_lease
      responses:
        '200':
          description: Successful Response
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ControlResponse'
        '403':
          description: Lease is unavailable or not held by the requesting user
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
        '401':
          description: Authentication required
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      security:
      - HTTPBearer: []
  /v2/teleop-control/renew:
    post:
      tags:
      - Teleop Control
      summary: Renew existing control lease
      description: Renew an existing lease. Only the current lease holder can renew.
      operationId: renew_lease
      responses:
        '200':
          description: Successful Response
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ControlResponse'
        '403':
          description: Lease is unavailable or not held by the requesting user
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
        '401':
          description: Authentication required
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
      security:
      - HTTPBearer: []
  /v2/teleop-control/release:
    post:
      tags:
      - Teleop Control
      summary: Release the current control lease
      description: Explicitly release the current lease.
      operationId: release_lease
      parameters:
      - description: If true, release the lease regardless of who holds it. Requires valid bearer token; no additional admin validation exists.
        required: false
        schema:
          title: Force
          type: boolean
          description: If true, release the lease regardless of who holds it. Requires valid bearer token; no additional admin validation exists.
          default: false
        name: force
        in: query
      responses:
        '200':
          description: Successful Response
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ControlResponse'
        '403':
          description: Lease is unavailable or not held by the requesting user
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
        '401':
          description: Authentication required
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
        '422':
          description: Validation Error
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/HTTPValidationError'
      security:
      - HTTPBearer: []
  /v2/teleop-control/transfer:
    post:
      tags:
      - Teleop Control
      summary: Transfer control lease to another user
      description: Transfer the lease to another user. Only the current lease holder can transfer.
      operationId: transfer_lease
      requestBody:
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/TransferLeaseRequest'
        required: true
      responses:
        '200':
          description: Successful Response
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ControlResponse'
        '403':
          description: Lease is unavailable or not held by the requesting user
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
        '401':
          description: Authentication required
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
        '422':
          description: Validation Error
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/HTTPValidationError'
      security:
      - HTTPBearer: []
  /v2/teleop-control/status:
    get:
      tags:
      - Teleop Control
      summary: Get current control lease status
      description: Get current lease status and lease holder identity.
      operationId: get_lease_status
      responses:
        '200':
          description: Successful Response
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ControlResponse'
components:
  schemas:
    ValidationError:
      title: ValidationError
      required:
      - loc
      - msg
      - type
      type: object
      properties:
        loc:
          title: Location
          type: array
          items:
            anyOf:
            - type: string
            - type: integer
        msg:
          title: Message
          type: string
        type:
          title: Error Type
          type: string
    ControlLease:
      title: ControlLease
      type: object
      properties:
        holder_id:
          title: Holder Id
          type: string
        expires_at:
          title: Expires At
          type: string
          format: date-time
    ErrorResponse:
      title: ErrorResponse
      required:
      - status
      - message
      type: object
      properties:
        status:
          title: Status
          enum:
          - error
          type: string
        message:
          title: Message
          type: string
        error:
          $ref: '#/components/schemas/ErrorDetails'
    ControlResponse:
      title: ControlResponse
      required:
      - message
      - data
      type: object
      properties:
        status:
          title: Status
          enum:
          - success
          type: string
          description: JSend status
          default: success
        message:
          title: Message
          type: string
          description: Human readable message
        data:
          title: Data
          allOf:
          - $ref: '#/components/schemas/ControlLease'
          description: Current lease data
      description: Model for successful responses in the control API
    TransferLeaseRequest:
      title: TransferLeaseRequest
      required:
      - to
      type: object
      properties:
        to:
          title: To
          type: string
          description: User ID to transfer lease to
    ErrorDetails:
      title: ErrorDetails
      required:
      - details
      type: object
      properties:
        details:
          title: Details
          type: string
    HTTPValidationError:
      title: HTTPValidationError
      type: object
      properties:
        detail:
          title: Detail
          type: array
          items:
            $ref: '#/components/schemas/ValidationError'
  securitySchemes:
    HTTPBearer:
      type: http
      scheme: bearer