Polymath Robotics Vehicle Operations API
All endpoints related to interacting with Robot's vehicle operations here
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OpenAPI Specification
openapi: 3.2.0
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
servers:
- url: https://polyglot.polymathrobotics.dev/api
description: Base URL declared by the provider in apis.yml (roadmap#122).
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:
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'
CommandMode:
title: CommandMode
enum:
- 0
- 1
description: An enumeration.
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
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'
KeyValuePair:
title: KeyValuePair
required:
- key
- value
type: object
properties:
key:
title: Key
type: string
value:
title: Value
type: string
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'
VehicleCommandData:
title: VehicleCommandData
required:
- sent
- received
type: object
properties:
sent:
$ref: '#/components/schemas/VehicleCommandAction'
received:
title: Received
type: object
CortexOption:
title: CortexOption
required:
- name
- params
type: object
properties:
name:
title: Name
type: string
params:
title: Params
type: array
items:
$ref: '#/components/schemas/KeyValuePair'
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
HTTPValidationError:
title: HTTPValidationError
type: object
properties:
detail:
title: Detail
type: array
items:
$ref: '#/components/schemas/ValidationError'
securitySchemes:
HTTPBearer:
type: http
scheme: bearer