Polymath Robotics Vehicle Operations API

openapi: 3.0.2
info:
  title: Polymath API Service CANBus Vehicle Operations 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
tags:
- name: Vehicle Operations
  description: All endpoints related to interacting with Robot's vehicle operations here
paths:
  /v2/vehicle-commands:
    get:
      tags:
      - Vehicle Operations
      summary: Get the available Vehicle Commands and associated Parameters
      description: Returns available vehicle command options and configurable parameters.
      operationId: vehicle_commands
      responses:
        '200':
          description: Available vehicle command options and parameters.
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/VehicleCommandOptionResponse'
        '500':
          description: Internal server error
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
  /v2/vehicle-command:
    post:
      tags:
      - Vehicle Operations
      summary: Send a vehicle command to the robot
      description: Sends a vehicle command to the robot.
      operationId: vehicle_command
      requestBody:
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/VehicleCommandAction'
        required: true
      responses:
        '200':
          description: Sent vehicle command and upstream service response.
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/VehicleCommandResponse'
        '500':
          description: Internal server error
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/ErrorResponse'
        '422':
          description: Validation Error
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/HTTPValidationError'
components:
  schemas:
    CommandMode:
      title: CommandMode
      enum:
      - 0
      - 1
      description: An enumeration.
    VehicleCommandOptionResponse:
      title: VehicleCommandOptionResponse
      required:
      - status
      - message
      - data
      type: object
      properties:
        status:
          title: Status
          type: string
        message:
          title: Message
          type: string
        data:
          title: Data
          type: array
          items:
            $ref: '#/components/schemas/CortexOption'
    KeyValuePair:
      title: KeyValuePair
      required:
      - key
      - value
      type: object
      properties:
        key:
          title: Key
          type: string
        value:
          title: Value
          type: string
    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
    HTTPValidationError:
      title: HTTPValidationError
      type: object
      properties:
        detail:
          title: Detail
          type: array
          items:
            $ref: '#/components/schemas/ValidationError'
    VehicleCommandResponse:
      title: VehicleCommandResponse
      required:
      - status
      - message
      - data
      type: object
      properties:
        status:
          title: Status
          type: string
        message:
          title: Message
          type: string
        data:
          $ref: '#/components/schemas/VehicleCommandData'
    VehicleCommandData:
      title: VehicleCommandData
      required:
      - sent
      - received
      type: object
      properties:
        sent:
          $ref: '#/components/schemas/VehicleCommandAction'
        received:
          title: Received
          type: object
    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'
    VehicleCommandAction:
      title: VehicleCommandAction
      type: object
      properties:
        vehicle_command:
          title: Vehicle Command
          allOf:
          - $ref: '#/components/schemas/CortexOption'
          description: Vehicle command to execute
        mode:
          allOf:
          - $ref: '#/components/schemas/CommandMode'
          description: 'Mode of execution of previous and current waypoints. Available options: ''ADD'',''PREEMPT''. ADD or 0: Add a new waypoint to existing queue of waypoints, PREEMPT or 1: Delete the existing queue and adds the new waypoint.'
          default: 0
          example: ADD
    ErrorDetails:
      title: ErrorDetails
      required:
      - details
      type: object
      properties:
        details:
          title: Details
          type: string
    CortexOption:
      title: CortexOption
      required:
      - name
      - params
      type: object
      properties:
        name:
          title: Name
          type: string
        params:
          title: Params
          type: array
          items:
            $ref: '#/components/schemas/KeyValuePair'
  securitySchemes:
    HTTPBearer:
      type: http
      scheme: bearer