{ "openapi": "3.0.2", "info": { "title": "Polymath API Service", "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" }, "paths": { "/v2/version": { "get": { "tags": [ "Health Check" ], "summary": "Get the version of the Polymath system", "description": "Returns the current Polymath Synapse and polymath_core commit SHAs.", "operationId": "get_version", "responses": { "200": { "description": "Polymath Synapse and polymath_core commit SHAs.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/VersionResponse" } } } } } } }, "/v2/health": { "get": { "tags": [ "Health Check" ], "summary": "Health check endpoint", "description": "Returns a basic health status response.", "operationId": "get_health", "responses": { "200": { "description": "Health status.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HealthStatusResponse" } } } } } } }, "/v2/uuid": { "get": { "tags": [ "Health Check" ], "summary": "Get the UUID of the Polymath system", "description": "Returns the device UUID derived from its MAC address. Deprecated; use `/health`.", "operationId": "get_device_uuid", "responses": { "200": { "description": "Device UUID.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/UUIDResponse" } } } }, "404": { "description": "Resource not found", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } } }, "deprecated": true } }, "/v2/polymath-feedback": { "get": { "tags": [ "Vehicle Autonomy" ], "summary": "Get the combined Autonomy, Navigation and Vehicle feedback from the Polymath system", "description": "Returns combined autonomy, navigation, and vehicle feedback from the Polymath system.", "operationId": "polymath_feedback", "responses": { "200": { "description": "Combined autonomy, navigation, and vehicle feedback.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/PolymathFeedbackResponse" } } } }, "500": { "description": "Internal server error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } } } } }, "/v2/costmap/boundary": { "get": { "tags": [ "Vehicle Autonomy" ], "summary": "Get global costmap boundary coordinates", "description": "Returns the latest latitude/longitude coordinates for the four corners of the global costmap boundary.", "operationId": "costmap_boundary", "responses": { "200": { "description": "Costmap boundary corner coordinates.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/CostmapBoundaryResponse" } } } }, "404": { "description": "Costmap boundary data unavailable", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } }, "500": { "description": "Internal server error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } } } } }, "/v2/navigation-path-options": { "get": { "tags": [ "Vehicle Autonomy" ], "summary": "Get the available Navigation Path Options and associated Parameters", "description": "Returns available navigation path options and configurable parameters.", "operationId": "navigation_path_options", "responses": { "200": { "description": "Available navigation path options and parameters.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/PathLogicOptionResponse" } } } }, "500": { "description": "Internal server error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } } } } }, "/v2/vehicle-commands": { "get": { "tags": [ "Vehicle Operations" ], "summary": "Get the available Vehicle Commands and associated Parameters", "description": "Returns available vehicle command options and configurable parameters.", "operationId": "vehicle_commands", "responses": { "200": { "description": "Available vehicle command options and parameters.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/VehicleCommandOptionResponse" } } } }, "500": { "description": "Internal server error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } } } } }, "/v2/motion-commands": { "get": { "tags": [ "Vehicle Autonomy" ], "summary": "Get the available motion commands", "description": "Returns available motion commands that can be sent to the Polymath system.", "operationId": "get_nav_cmds", "responses": { "200": { "description": "Available motion command names and numeric alternatives.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/MotionCommandListResponse" } } } } } } }, "/v2/reference-targets": { "get": { "tags": [ "Vehicle Autonomy" ], "summary": "Get all previously set reference targets", "description": "Returns all previously set reference targets.", "operationId": "reference_targets", "responses": { "200": { "description": "All previously set reference targets.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ReferenceTargetsResponse" } } } }, "500": { "description": "Internal server error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } } } }, "post": { "tags": [ "Vehicle Autonomy" ], "summary": "Set the location and details of a reference location or an object", "description": "Sets one or more reference targets for relative navigation. Each target may include optional `time_validity` and `recorded_speed_m_s` metadata. Use `POST /relative-waypoints` to send waypoints relative to these targets.", "operationId": "set_reference_targets", "requestBody": { "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ReferenceTargetsModel" } } }, "required": true }, "responses": { "200": { "description": "Sent reference targets and upstream service response.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ReferenceTargetSetResponse" } } } }, "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" } } } } } } }, "/v2/reference-targets/current-location": { "post": { "tags": [ "Vehicle Autonomy" ], "summary": "Set a reference target at the current robot location", "description": "Creates a `previous_location` reference target from the robot's current GPS pose for subsequent relative navigation.", "operationId": "set_reference_target_current_location", "responses": { "200": { "description": "Generated current-location reference target and upstream service response.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ReferenceTargetSetResponse" } } } }, "500": { "description": "Internal server error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } } } } }, "/v2/gps-waypoints": { "post": { "tags": [ "Vehicle Autonomy" ], "summary": "Send a set of gps waypoints to the robot", "description": "Sends GPS waypoints and navigation options to the robot.", "operationId": "gps_waypoints", "requestBody": { "content": { "application/json": { "schema": { "$ref": "#/components/schemas/GPSWaypoints" } } }, "required": true }, "responses": { "200": { "description": "Sent GPS waypoints and upstream service response.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/GPSWaypointTransmissionResponse" } } } }, "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" } } } } } } }, "/v2/relative-waypoints": { "post": { "tags": [ "Vehicle Autonomy" ], "summary": "Send a set of relative waypoints to the robot", "description": "Sends relative waypoints and navigation options to the robot.", "operationId": "relative_waypoints", "requestBody": { "content": { "application/json": { "schema": { "$ref": "#/components/schemas/RelativeWaypoints" } } }, "required": true }, "responses": { "200": { "description": "Sent relative waypoints and upstream service response.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/RelativeWaypointTransmissionResponse" } } } }, "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" } } } } } } }, "/v2/motion-command": { "post": { "tags": [ "Vehicle Autonomy" ], "summary": "Send a motion command to the robot to change its current state", "description": "Sends a motion command to change the robot motion state. Supported commands: `STOP` (0), `PAUSE` (1), and `RESUME` (2).", "operationId": "nav_cmd", "requestBody": { "content": { "application/json": { "schema": { "$ref": "#/components/schemas/MotionCommandAction" } } }, "required": true }, "responses": { "201": { "description": "Motion command execution response.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/MotionCommandExecutionResponse" } } } }, "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" } } } } } } }, "/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" } } } } } } }, "/v2/media/streams": { "get": { "tags": [ "Media" ], "summary": "List Media Devices", "operationId": "list_media_devices", "responses": { "200": { "description": "Successful Response", "content": { "application/json": { "schema": { "title": "Response List Media Devices V2 Media Streams Get", "type": "array", "items": { "anyOf": [ { "$ref": "#/components/schemas/BaseStream" }, { "$ref": "#/components/schemas/BaseStream" } ] } } } } } } } }, "/v2/livekit/config": { "get": { "tags": [ "Livekit" ], "summary": "Get LiveKit discovery configuration", "description": "Returns the configured discovery values and effective LiveKit URL.", "operationId": "get_livekit_config", "responses": { "200": { "description": "Effective LiveKit discovery values.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/LivekitConfigResponse" } } } } } } }, "/v2/livekit/token": { "post": { "tags": [ "Livekit" ], "summary": "Generate a Livekit access token", "description": "Generates a LiveKit access token for the specified identity and room.", "operationId": "generate_livekit_token", "parameters": [ { "required": true, "schema": { "title": "Identity", "type": "string" }, "name": "identity", "in": "query" }, { "required": true, "schema": { "title": "Room Name", "type": "string" }, "name": "room_name", "in": "query" } ], "responses": { "200": { "description": "Generated LiveKit access token.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/LivekitTokenResponse" } } } }, "400": { "description": "Failed to generate token", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPExceptionResponse" } } } }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } } }, "/v2/livekit/room": { "get": { "tags": [ "Livekit" ], "summary": "Get the current status of the room", "description": "Returns the current LiveKit room status.", "operationId": "get_room", "responses": { "200": { "description": "Current LiveKit room status.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/LivekitRoomResponse" } } } } } }, "post": { "tags": [ "Livekit" ], "summary": "Create a livekit room on this robot", "description": "Connects this robot to the specified LiveKit room.", "operationId": "create_room", "parameters": [ { "required": true, "schema": { "title": "Room Name", "type": "string" }, "name": "room_name", "in": "query" } ], "responses": { "200": { "description": "Room status after connecting to LiveKit.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/LivekitRoomResponse" } } } }, "400": { "description": "Invalid room request (for example, empty or invalid room name)", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPExceptionResponse" } } } }, "500": { "description": "Failed to connect to the room", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPExceptionResponse" } } } }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } }, "delete": { "tags": [ "Livekit" ], "summary": "Disconnect from the current room", "description": "Disconnects this robot from the current LiveKit room.", "operationId": "delete_room", "responses": { "200": { "description": "Room status after disconnecting from LiveKit.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/LivekitRoomResponse" } } } }, "500": { "description": "Failed to disconnect the room", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPExceptionResponse" } } } } } } }, "/v2/livekit/room/track": { "post": { "tags": [ "Livekit" ], "summary": "Create a track on the current room", "description": "Creates and publishes a track in the current LiveKit room.", "operationId": "create_track", "parameters": [ { "required": true, "schema": { "title": "Name", "type": "string" }, "name": "name", "in": "query" }, { "required": false, "schema": { "title": "Fps", "type": "integer", "default": 30 }, "name": "fps", "in": "query" }, { "required": false, "schema": { "allOf": [ { "$ref": "#/components/schemas/CodecEnum" } ], "default": "H264" }, "name": "codec", "in": "query" }, { "required": false, "schema": { "allOf": [ { "$ref": "#/components/schemas/MediaTypeEnum" } ], "default": "media_device" }, "name": "media_type", "in": "query" }, { "required": false, "schema": { "title": "Stream Path", "type": "string" }, "name": "stream_path", "in": "query" }, { "required": false, "schema": { "title": "Use Experimental Reader", "type": "boolean", "default": false }, "name": "use_experimental_reader", "in": "query" }, { "required": false, "schema": { "title": "Width", "type": "integer" }, "name": "width", "in": "query" }, { "required": false, "schema": { "title": "Height", "type": "integer" }, "name": "height", "in": "query" }, { "required": false, "schema": { "title": "Max Bitrate Kbps", "type": "integer" }, "name": "max_bitrate_kbps", "in": "query" } ], "responses": { "200": { "description": "Room status after track creation.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/LivekitRoomResponse" } } } }, "400": { "description": "Invalid track request (for example, no room, invalid configuration, or duplicate track name)", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPExceptionResponse" } } } }, "500": { "description": "Failed to publish track", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPExceptionResponse" } } } }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } }, "delete": { "tags": [ "Livekit" ], "summary": "Delete a track from the current room", "description": "Deletes a track from the current LiveKit room.", "operationId": "delete_track", "parameters": [ { "required": true, "schema": { "title": "Name", "type": "string" }, "name": "name", "in": "query" } ], "responses": { "200": { "description": "Room status after track deletion.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/LivekitRoomResponse" } } } }, "400": { "description": "Invalid track delete request (for example, no room or track does not exist)", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPExceptionResponse" } } } }, "500": { "description": "Failed to delete track", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPExceptionResponse" } } } }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } } }, "/v2/canbus/interfaces": { "get": { "tags": [ "CANBus" ], "summary": "Get the list of available CAN interfaces on the system", "description": "Returns available CAN interfaces on the system.", "operationId": "get_can_interfaces", "responses": { "200": { "description": "Available CAN interfaces.", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/CanInterfaceListResponse" } } } }, "404": { "description": "Failed to retrieve CAN interfaces", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } }, "500": { "description": "An unexpected error occurred", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ErrorResponse" } } } } } } }, "/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" } } } } } } }, "/v2/systemd/{path}": { "get": { "tags": [ "systemd" ], "summary": "Proxy Systemd Request", "description": "Reverse proxy for Polymath systemd API requests. Please refer to the API documentation for details on available endpoints.\n\nForwards all requests under /v2/systemd/* to the systemd API service\nat POLYMATH_SYSTEMD_API_IP:POLYMATH_SYSTEMD_API_PORT.\n\nE.g. to list user services, send a GET request to: `/v2/systemd/list/user`", "operationId": "proxy_systemd_request", "parameters": [ { "required": true, "schema": { "title": "Path", "type": "string" }, "name": "path", "in": "path" } ], "responses": { "200": { "description": "Successful Response", "content": { "application/json": { "schema": {} } } }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } }, "post": { "tags": [ "systemd" ], "summary": "Proxy Systemd Request", "description": "Reverse proxy for Polymath systemd API requests. Please refer to the API documentation for details on available endpoints.\n\nForwards all requests under /v2/systemd/* to the systemd API service\nat POLYMATH_SYSTEMD_API_IP:POLYMATH_SYSTEMD_API_PORT.\n\nE.g. to list user services, send a GET request to: `/v2/systemd/list/user`", "operationId": "proxy_systemd_request", "parameters": [ { "required": true, "schema": { "title": "Path", "type": "string" }, "name": "path", "in": "path" } ], "responses": { "200": { "description": "Successful Response", "content": { "application/json": { "schema": {} } } }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } } }, "/v2/fs/health": { "get": { "tags": [ "filesystem", "filesystem" ], "summary": "Health check for dufs service", "description": "Checks whether the dufs service is reachable. Always returns HTTP 200 and reports health in the response body.", "operationId": "health_check", "responses": { "200": { "description": "Service health status (healthy or degraded)", "content": { "application/json": { "schema": {} } } } } } }, "/v2/fs/recursive-list": { "get": { "tags": [ "filesystem", "filesystem" ], "summary": "List files and directories recursively", "description": "Returns a recursive file and directory tree from the robot data directory.", "operationId": "list_files_and_directories", "parameters": [ { "required": false, "schema": { "title": "Depth", "type": "integer", "default": 5 }, "name": "depth", "in": "query" }, { "required": false, "schema": { "title": "Path", "type": "string", "default": "/" }, "name": "path", "in": "query" } ], "responses": { "200": { "description": "List of files and directories", "content": { "application/json": { "schema": {} } } }, "503": { "description": "Service unavailable" }, "504": { "description": "Request timed out" }, "500": { "description": "Internal server error" }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } } }, "/v2/fs/{path}": { "get": { "tags": [ "filesystem", "filesystem" ], "summary": "Get file or directory", "description": "Returns file content or a directory listing from the robot data directory. Use `?zip` to download a zip archive. Use `?json` for directory listings in JSON format.", "operationId": "get_file_or_directory", "parameters": [ { "required": true, "schema": { "title": "Path", "type": "string" }, "name": "path", "in": "path" } ], "responses": { "200": { "description": "File content or directory listing", "content": { "application/json": { "schema": {} } } }, "404": { "description": "File or directory not found" }, "503": { "description": "Service unavailable" }, "504": { "description": "Request timed out" }, "500": { "description": "Internal server error" }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } }, "delete": { "tags": [ "filesystem", "filesystem" ], "summary": "Delete file or directory", "description": "Deletes a file or directory from the robot data directory.", "operationId": "delete_file_or_directory", "parameters": [ { "required": true, "schema": { "title": "Path", "type": "string" }, "name": "path", "in": "path" } ], "responses": { "200": { "description": "Successful Response", "content": { "application/json": { "schema": {} } } }, "204": { "description": "File or directory deleted successfully" }, "404": { "description": "File or directory not found" }, "503": { "description": "Service unavailable" }, "504": { "description": "Request timed out" }, "500": { "description": "Internal server error" }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } } }, "/v2/ros/{path}": { "get": { "tags": [ "ros" ], "summary": "Proxy Systemd Request", "description": "Reverse proxy for RESTful ROS2 API requests. Please refer to the API documentation for details on available endpoints.", "operationId": "proxy_systemd_request", "parameters": [ { "required": true, "schema": { "title": "Path", "type": "string" }, "name": "path", "in": "path" } ], "responses": { "200": { "description": "Successful Response", "content": { "application/json": { "schema": {} } } }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } }, "post": { "tags": [ "ros" ], "summary": "Proxy Systemd Request", "description": "Reverse proxy for RESTful ROS2 API requests. Please refer to the API documentation for details on available endpoints.", "operationId": "proxy_systemd_request", "parameters": [ { "required": true, "schema": { "title": "Path", "type": "string" }, "name": "path", "in": "path" } ], "responses": { "200": { "description": "Successful Response", "content": { "application/json": { "schema": {} } } }, "422": { "description": "Validation Error", "content": { "application/json": { "schema": { "$ref": "#/components/schemas/HTTPValidationError" } } } } } } } }, "components": { "schemas": { "BaseStream": { "title": "BaseStream", "required": [ "media_type" ], "type": "object", "properties": { "media_type": { "$ref": "#/components/schemas/MediaTypeEnum" }, "data": { "title": "Data" } }, "description": "Abstract base class for generic types.\n\nOn Python 3.12 and newer, generic classes implicitly inherit from\nGeneric when they declare a parameter list after the class's name::\n\n class Mapping[KT, VT]:\n def __getitem__(self, key: KT) -> VT:\n ...\n # Etc.\n\nOn older versions of Python, however, generic classes have to\nexplicitly inherit from Generic.\n\nAfter a class has been declared to be generic, it can then be used as\nfollows::\n\n def lookup_name[KT, VT](mapping: Mapping[KT, VT], key: KT, default: VT) -> VT:\n try:\n return mapping[key]\n except KeyError:\n return default" }, "CanInterfaceListResponse": { "title": "CanInterfaceListResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "title": "Data", "type": "array", "items": { "type": "object" } } } }, "CodecEnum": { "title": "CodecEnum", "enum": [ "VP8", "H264", "AV1", "VP9" ], "type": "string", "description": "An enumeration." }, "CommandMode": { "title": "CommandMode", "enum": [ 0, 1, 2 ], "description": "An enumeration." }, "ControlLease": { "title": "ControlLease", "type": "object", "properties": { "holder_id": { "title": "Holder Id", "type": "string" }, "expires_at": { "title": "Expires At", "type": "string", "format": "date-time" } } }, "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": [ { "$ref": "#/components/schemas/ControlLease" } ], "description": "Current lease data" } }, "description": "Model for successful responses in the control API" }, "CortexNavigationOptions": { "title": "CortexNavigationOptions", "type": "object", "properties": { "path_option": { "title": "Path Option", "allOf": [ { "$ref": "#/components/schemas/CortexOption" } ], "description": "Navigation path logic options to set", "example": { "name": "target_follower", "params": [ { "key": "speed", "value": "0.5" } ] } }, "mode": { "allOf": [ { "$ref": "#/components/schemas/CommandMode" } ], "description": "Mode of execution of previous and current waypoints. Available options: 'Add','PREEMPT'. Future options: 'CLEAR'. ADD or 0: Add a new waypoint to existing queue of waypoints, PREEMPT or 1: Delete the existing queue and adds the new waypoint, CLEAR: Clear the active queue", "default": 0, "example": "ADD" } } }, "CortexOption": { "title": "CortexOption", "required": [ "name", "params" ], "type": "object", "properties": { "name": { "title": "Name", "type": "string" }, "params": { "title": "Params", "type": "array", "items": { "$ref": "#/components/schemas/KeyValuePair" } } } }, "CortexStatus": { "title": "CortexStatus", "type": "object", "properties": { "status": { "$ref": "#/components/schemas/CortexStatusEnum" }, "status_text": { "title": "Status Text", "type": "string", "default": "" }, "description": { "title": "Description", "type": "string" } } }, "CortexStatusEnum": { "title": "CortexStatusEnum", "enum": [ 0, 1, 2, 3, 4 ], "description": "An enumeration." }, "CostmapBoundaryResponse": { "title": "CostmapBoundaryResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "$ref": "#/components/schemas/GeofenceBoundary" } } }, "ErrorDetails": { "title": "ErrorDetails", "required": [ "details" ], "type": "object", "properties": { "details": { "title": "Details", "type": "string" } } }, "ErrorResponse": { "title": "ErrorResponse", "required": [ "status", "message" ], "type": "object", "properties": { "status": { "title": "Status", "enum": [ "error" ], "type": "string" }, "message": { "title": "Message", "type": "string" }, "error": { "$ref": "#/components/schemas/ErrorDetails" } } }, "GPSWaypointTransmissionData": { "title": "GPSWaypointTransmissionData", "required": [ "sent" ], "type": "object", "properties": { "sent": { "$ref": "#/components/schemas/GPSWaypoints" }, "received": { "title": "Received" } } }, "GPSWaypointTransmissionResponse": { "title": "GPSWaypointTransmissionResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "$ref": "#/components/schemas/GPSWaypointTransmissionData" } } }, "GPSWaypoints": { "title": "GPSWaypoints", "required": [ "goals" ], "type": "object", "properties": { "timestamp_utc": { "title": "Timestamp Utc", "type": "string", "description": "Timestamp of the relative target position in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.", "default": "" }, "goals": { "title": "Goals", "type": "array", "items": { "$ref": "#/components/schemas/GoalPoses" } }, "navigation_options": { "$ref": "#/components/schemas/CortexNavigationOptions" } } }, "GeoPoint": { "title": "GeoPoint", "required": [ "lat", "lon" ], "type": "object", "properties": { "lat": { "title": "Lat", "type": "number", "description": "Latitude" }, "lon": { "title": "Lon", "type": "number", "description": "Longitude" }, "altitude": { "title": "Altitude", "type": "number", "description": "Altitude" }, "yaw": { "title": "Yaw", "type": "number", "description": "Yaw" } } }, "GeofenceBoundary": { "title": "GeofenceBoundary", "required": [ "bottom_left", "bottom_right", "top_left", "top_right" ], "type": "object", "properties": { "bottom_left": { "$ref": "#/components/schemas/NavSatFixModel" }, "bottom_right": { "$ref": "#/components/schemas/NavSatFixModel" }, "top_left": { "$ref": "#/components/schemas/NavSatFixModel" }, "top_right": { "$ref": "#/components/schemas/NavSatFixModel" } } }, "GoalInfo": { "title": "GoalInfo", "required": [ "stamp" ], "type": "object", "properties": { "goal_id": { "$ref": "#/components/schemas/UUID" }, "stamp": { "$ref": "#/components/schemas/Stamp" } } }, "GoalPoses": { "title": "GoalPoses", "required": [ "lat", "lon" ], "type": "object", "properties": { "timestamp_utc": { "title": "Timestamp Utc", "type": "string", "description": "Timestamp of the relative target position in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.", "default": "" }, "lat": { "title": "Lat", "type": "number", "description": "Latitude" }, "lon": { "title": "Lon", "type": "number", "description": "Longitude" }, "yaw": { "title": "Yaw", "type": "number", "description": "Yaw" } } }, "HTTPExceptionResponse": { "title": "HTTPExceptionResponse", "required": [ "detail" ], "type": "object", "properties": { "detail": { "title": "Detail", "type": "string" } }, "description": "Response model for HTTPException errors." }, "HTTPValidationError": { "title": "HTTPValidationError", "type": "object", "properties": { "detail": { "title": "Detail", "type": "array", "items": { "$ref": "#/components/schemas/ValidationError" } } } }, "Header": { "title": "Header", "required": [ "stamp", "frame_id" ], "type": "object", "properties": { "stamp": { "$ref": "#/components/schemas/Stamp" }, "frame_id": { "title": "Frame Id", "type": "string" } } }, "HealthStatusResponse": { "title": "HealthStatusResponse", "required": [ "status" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" } } }, "KeyValuePair": { "title": "KeyValuePair", "required": [ "key", "value" ], "type": "object", "properties": { "key": { "title": "Key", "type": "string" }, "value": { "title": "Value", "type": "string" } } }, "LivekitConfigResponse": { "title": "LivekitConfigResponse", "type": "object", "properties": { "room_name": { "title": "Room Name", "type": "string" }, "bridge_identity": { "title": "Bridge Identity", "type": "string" }, "livekit_url": { "title": "Livekit Url", "type": "string" } }, "description": "Response model for environment-backed LiveKit discovery configuration." }, "LivekitRoomDetails": { "title": "LivekitRoomDetails", "type": "object", "properties": { "room": { "$ref": "#/components/schemas/LivekitRoomInfo" }, "hostname": { "title": "Hostname", "type": "string" }, "tracks": { "title": "Tracks", "type": "array", "items": { "$ref": "#/components/schemas/LivekitTrack" }, "default": [] } }, "description": "Details about the current LiveKit room state." }, "LivekitRoomInfo": { "title": "LivekitRoomInfo", "required": [ "name" ], "type": "object", "properties": { "name": { "title": "Name", "type": "string" } }, "description": "Information about a connected LiveKit room." }, "LivekitRoomResponse": { "title": "LivekitRoomResponse", "required": [ "alive", "message", "room" ], "type": "object", "properties": { "alive": { "title": "Alive", "type": "boolean" }, "message": { "title": "Message", "type": "string" }, "room": { "$ref": "#/components/schemas/LivekitRoomDetails" } }, "description": "Response model for LiveKit room operations." }, "LivekitTokenResponse": { "title": "LivekitTokenResponse", "required": [ "token" ], "type": "object", "properties": { "token": { "title": "Token", "type": "string" } }, "description": "Response model for LiveKit token generation." }, "LivekitTrack": { "title": "LivekitTrack", "required": [ "name", "codec", "fps", "media_type", "stream_path", "use_experimental_reader", "stats" ], "type": "object", "properties": { "name": { "title": "Name", "type": "string" }, "sid": { "title": "Sid", "type": "string" }, "codec": { "$ref": "#/components/schemas/CodecEnum" }, "fps": { "title": "Fps", "type": "number" }, "media_type": { "$ref": "#/components/schemas/MediaTypeEnum" }, "stream_path": { "title": "Stream Path", "type": "string" }, "use_experimental_reader": { "title": "Use Experimental Reader", "type": "boolean" }, "stats": { "$ref": "#/components/schemas/LivekitTrackStats" }, "width": { "title": "Width", "type": "integer" }, "height": { "title": "Height", "type": "integer" }, "max_bitrate_kbps": { "title": "Max Bitrate Kbps", "type": "integer" } }, "description": "Track information for API responses, including configuration and runtime data." }, "LivekitTrackStats": { "title": "LivekitTrackStats", "type": "object", "properties": { "timestamp": { "title": "Timestamp", "type": "number", "default": 0.0 }, "fps": { "title": "Fps", "allOf": [ { "$ref": "#/components/schemas/Metric" } ], "default": { "p50": 0.0, "p95": 0.0, "p99": 0.0 } }, "size_bytes": { "title": "Size Bytes", "type": "integer", "default": 0 } } }, "MediaTypeEnum": { "title": "MediaTypeEnum", "enum": [ "media_device", "rtsp", "ros", "gstream" ], "type": "string", "description": "An enumeration." }, "Metric": { "title": "Metric", "required": [ "p50", "p95", "p99" ], "type": "object", "properties": { "p50": { "title": "P50", "type": "number" }, "p95": { "title": "P95", "type": "number" }, "p99": { "title": "P99", "type": "number" } } }, "MotionCommandAction": { "title": "MotionCommandAction", "type": "object", "properties": { "motion_command": { "allOf": [ { "$ref": "#/components/schemas/MotionCommandOptions" } ], "description": "Motion command options", "default": 0 }, "mode": { "allOf": [ { "$ref": "#/components/schemas/CommandMode" } ], "description": "Mode of execution of previous and current waypoints. Available options: 'Add','PREEMPT'. Future options: 'CLEAR'. ADD or 0: Add a new waypoint to existing queue of waypoints, PREEMPT or 1: Delete the existing queue and adds the new waypoint, CLEAR: Clear the active queue", "default": 1, "example": "PREEMPT" } } }, "MotionCommandExecutionData": { "title": "MotionCommandExecutionData", "type": "object", "properties": { "received": { "title": "Received" } } }, "MotionCommandExecutionResponse": { "title": "MotionCommandExecutionResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "$ref": "#/components/schemas/MotionCommandExecutionData" } } }, "MotionCommandListResponse": { "title": "MotionCommandListResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "title": "Data", "type": "array", "items": { "$ref": "#/components/schemas/MotionCommandSummary" } } } }, "MotionCommandOptions": { "title": "MotionCommandOptions", "enum": [ 0, 1, 2 ], "description": "An enumeration." }, "MotionCommandSummary": { "title": "MotionCommandSummary", "required": [ "motion_command", "alternative" ], "type": "object", "properties": { "motion_command": { "title": "Motion Command", "type": "string" }, "alternative": { "title": "Alternative", "type": "integer" } } }, "NavSatFixModel": { "title": "NavSatFixModel", "required": [ "latitude", "longitude", "altitude" ], "type": "object", "properties": { "latitude": { "title": "Latitude", "type": "number" }, "longitude": { "title": "Longitude", "type": "number" }, "altitude": { "title": "Altitude", "type": "number" } } }, "NavigationFeedback": { "title": "NavigationFeedback", "type": "object", "properties": { "nav2_goal_status": { "$ref": "#/components/schemas/NavigationGoalStatus" }, "total_distance_remaining": { "title": "Total Distance Remaining", "type": "number" }, "target_pose": { "$ref": "#/components/schemas/PoseWithHeader" }, "final_pose": { "$ref": "#/components/schemas/PoseWithHeader" }, "current_pose_index": { "title": "Current Pose Index", "type": "integer" }, "number_of_poses_remaining": { "title": "Number Of Poses Remaining", "type": "integer" }, "navigation_time": { "$ref": "#/components/schemas/Stamp" }, "estimated_time_remaining": { "$ref": "#/components/schemas/Stamp" } } }, "NavigationGoalStatus": { "title": "NavigationGoalStatus", "required": [ "goal_info", "status" ], "type": "object", "properties": { "goal_info": { "$ref": "#/components/schemas/GoalInfo" }, "status": { "$ref": "#/components/schemas/Ros2ActionServerGoalStatus" }, "status_text": { "title": "Status Text", "type": "string" }, "text": { "title": "Text", "type": "string" } } }, "Orientation": { "title": "Orientation", "required": [ "x", "y", "z", "w" ], "type": "object", "properties": { "x": { "title": "X", "type": "number" }, "y": { "title": "Y", "type": "number" }, "z": { "title": "Z", "type": "number" }, "w": { "title": "W", "type": "number" } } }, "PathLogicOptionResponse": { "title": "PathLogicOptionResponse", "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "title": "Data", "type": "array", "items": { "$ref": "#/components/schemas/CortexOption" } } } }, "PolymathFeedback": { "title": "PolymathFeedback", "required": [ "navigation_feedback", "vehicle_feedback", "current_pose", "current_command_index", "number_commands_remaining" ], "type": "object", "properties": { "timestamp_utc": { "title": "Timestamp Utc", "allOf": [ { "$ref": "#/components/schemas/TimeStamp" } ], "default": {} }, "cortex_status": { "$ref": "#/components/schemas/CortexStatus" }, "navigation_feedback": { "$ref": "#/components/schemas/NavigationFeedback" }, "vehicle_feedback": { "$ref": "#/components/schemas/VehicleFeedback" }, "current_pose": { "$ref": "#/components/schemas/PoseWithHeader" }, "current_command_index": { "title": "Current Command Index", "type": "integer" }, "number_commands_remaining": { "title": "Number Commands Remaining", "type": "integer" } } }, "PolymathFeedbackData": { "title": "PolymathFeedbackData", "required": [ "polymath_feedback" ], "type": "object", "properties": { "polymath_feedback": { "$ref": "#/components/schemas/PolymathFeedback" } } }, "PolymathFeedbackResponse": { "title": "PolymathFeedbackResponse", "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "$ref": "#/components/schemas/PolymathFeedbackData" } } }, "Pose": { "title": "Pose", "required": [ "position", "orientation" ], "type": "object", "properties": { "position": { "$ref": "#/components/schemas/Position" }, "orientation": { "$ref": "#/components/schemas/Orientation" } } }, "PoseWithHeader": { "title": "PoseWithHeader", "required": [ "header", "pose" ], "type": "object", "properties": { "header": { "$ref": "#/components/schemas/Header" }, "pose": { "$ref": "#/components/schemas/Pose" } } }, "Position": { "title": "Position", "required": [ "latitude", "longitude", "altitude" ], "type": "object", "properties": { "latitude": { "title": "Latitude", "type": "number" }, "longitude": { "title": "Longitude", "type": "number" }, "altitude": { "title": "Altitude", "type": "number" } } }, "ReferenceTarget": { "title": "ReferenceTarget", "required": [ "pose" ], "type": "object", "properties": { "target_id": { "title": "Target Id", "type": "string", "description": "Unique name or ID of the reference target", "default": "string" }, "timestamp_utc": { "title": "Timestamp Utc", "type": "string", "description": "Timestamp of the relative target position in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time." }, "pose": { "$ref": "#/components/schemas/GeoPoint" }, "time_validity": { "title": "Time Validity", "type": "number", "description": "Time validity in seconds. -1 means forever.", "default": -1 }, "recorded_speed_m_s": { "title": "Recorded Speed M S", "type": "number", "description": "Recorded speed of the object in m/s. `None` indicates no measurement available." } } }, "ReferenceTargetSetData": { "title": "ReferenceTargetSetData", "required": [ "sent" ], "type": "object", "properties": { "sent": { "$ref": "#/components/schemas/ReferenceTargetsModel" }, "received": { "title": "Received" } } }, "ReferenceTargetSetResponse": { "title": "ReferenceTargetSetResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "$ref": "#/components/schemas/ReferenceTargetSetData" } } }, "ReferenceTargetsModel": { "title": "ReferenceTargetsModel", "required": [ "reference_targets" ], "type": "object", "properties": { "reference_targets": { "title": "Reference Targets", "type": "array", "items": { "$ref": "#/components/schemas/ReferenceTarget" } } } }, "ReferenceTargetsResponse": { "title": "ReferenceTargetsResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "$ref": "#/components/schemas/ReferenceTargetsModel" } } }, "RelativeCommand": { "title": "RelativeCommand", "type": "object", "properties": { "timestamp_utc": { "title": "Timestamp Utc", "type": "string", "description": "Timestamp of the relative target position in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.", "default": "" }, "x": { "title": "X", "type": "number", "description": "Offset distance in meters along the X axis", "default": 0.0 }, "y": { "title": "Y", "type": "number", "description": "Offset distance in meters along the Y axis", "default": 0.0 }, "z": { "title": "Z", "type": "number", "description": "Offset distance in meters along the Z axis", "default": 0.0 }, "yaw": { "title": "Yaw", "type": "number", "description": "Angular offset in radians indicating the direction the robot should face relative to the target", "default": 0.0 } } }, "RelativeWaypointTransmissionData": { "title": "RelativeWaypointTransmissionData", "required": [ "sent" ], "type": "object", "properties": { "sent": { "$ref": "#/components/schemas/RelativeWaypoints" }, "received": { "title": "Received" } } }, "RelativeWaypointTransmissionResponse": { "title": "RelativeWaypointTransmissionResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "$ref": "#/components/schemas/RelativeWaypointTransmissionData" } } }, "RelativeWaypoints": { "title": "RelativeWaypoints", "required": [ "relative_to", "move_to" ], "type": "object", "properties": { "relative_to": { "title": "Relative To", "anyOf": [ { "type": "string" }, { "$ref": "#/components/schemas/ReferenceTarget" } ], "description": "Name of the reference target set previously, or a fully specified reference target" }, "timestamp_utc": { "title": "Timestamp Utc", "type": "string", "description": "Timestamp of the relative target position in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.", "default": "" }, "move_to": { "title": "Move To", "type": "array", "items": { "$ref": "#/components/schemas/RelativeCommand" } }, "navigation_options": { "$ref": "#/components/schemas/CortexNavigationOptions" } } }, "Ros2ActionServerGoalStatus": { "title": "Ros2ActionServerGoalStatus", "enum": [ 0, 1, 2, 3, 4, 5, 6 ], "description": "An enumeration." }, "Stamp": { "title": "Stamp", "type": "object", "properties": { "sec": { "title": "Sec", "type": "integer" }, "nanosec": { "title": "Nanosec", "type": "integer" } } }, "TimeStamp": { "title": "TimeStamp", "type": "object", "properties": { "sec": { "title": "Sec", "type": "integer" }, "nanosec": { "title": "Nanosec", "type": "integer" } } }, "TransferLeaseRequest": { "title": "TransferLeaseRequest", "required": [ "to" ], "type": "object", "properties": { "to": { "title": "To", "type": "string", "description": "User ID to transfer lease to" } } }, "UUID": { "title": "UUID", "required": [ "uuid" ], "type": "object", "properties": { "uuid": { "title": "Uuid", "type": "array", "items": { "type": "integer" } } } }, "UUIDData": { "title": "UUIDData", "required": [ "uuid" ], "type": "object", "properties": { "uuid": { "title": "Uuid", "type": "string" } } }, "UUIDResponse": { "title": "UUIDResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "$ref": "#/components/schemas/UUIDData" } } }, "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" } } }, "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'. Future options: 'CLEAR'. ADD or 0: Add a new waypoint to existing queue of waypoints, PREEMPT or 1: Delete the existing queue and adds the new waypoint, CLEAR: Clear the active queue", "default": 0, "example": "ADD" } } }, "VehicleCommandData": { "title": "VehicleCommandData", "required": [ "sent", "received" ], "type": "object", "properties": { "sent": { "$ref": "#/components/schemas/VehicleCommandAction" }, "received": { "title": "Received", "type": "object" } } }, "VehicleCommandOptionResponse": { "title": "VehicleCommandOptionResponse", "required": [ "status", "message", "data" ], "type": "object", "properties": { "status": { "title": "Status", "type": "string" }, "message": { "title": "Message", "type": "string" }, "data": { "title": "Data", "type": "array", "items": { "$ref": "#/components/schemas/CortexOption" } } } }, "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" } } }, "VehicleFeedback": { "title": "VehicleFeedback", "type": "object", "properties": { "state": { "title": "State", "type": "string" }, "description": { "title": "Description", "type": "string" }, "data": { "title": "Data", "type": "array", "items": {} } } }, "VersionResponse": { "title": "VersionResponse", "required": [ "commit_sha", "polymath_core_commit_sha" ], "type": "object", "properties": { "commit_sha": { "title": "Commit Sha", "type": "string" }, "polymath_core_commit_sha": { "title": "Polymath Core Commit Sha", "type": "string" } } } }, "securitySchemes": { "HTTPBearer": { "type": "http", "scheme": "bearer" } } }, "tags": [ { "name": "Health Check", "description": "Contains UUID endpoint that can be used to health check the robot" }, { "name": "Vehicle Autonomy", "description": "All endpoints related to interacting with Robot's autonomy operations here" }, { "name": "Vehicle Operations", "description": "All endpoints related to interacting with Robot's vehicle operations here" }, { "name": "Media", "description": "All endpoints related to interacting with Robot's media resources" }, { "name": "Teleop Control", "description": "Endpoints for managing control leases" } ] }