{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "$id": "https://rsasaki0109.github.io/lidar_slam_ros2/schemas/preflight-v2.schema.json",
  "title": "lidarslam_ros2 preflight v2",
  "type": "object",
  "additionalProperties": false,
  "required": [
    "schema_version",
    "schema_uri",
    "summary",
    "recommendations",
    "recommended_profile_id",
    "beginner_commands",
    "advisory",
    "missing_requirements"
  ],
  "properties": {
    "schema_version": {"const": 2},
    "schema_uri": {
      "const": "https://rsasaki0109.github.io/lidar_slam_ros2/schemas/preflight-v2.schema.json"
    },
    "summary": {
      "type": "object",
      "required": ["bag_path", "topics", "capabilities", "pointcloud_inspection"],
      "properties": {
        "pointcloud_inspection": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "status",
            "topic",
            "fields",
            "rko_lio_compatible",
            "timestamp_field",
            "reason"
          ],
          "properties": {
            "status": {
              "enum": ["not_applicable", "unavailable", "error", "empty", "inspected"]
            },
            "topic": {"type": ["string", "null"]},
            "fields": {
              "type": "array",
              "items": {
                "type": "object",
                "additionalProperties": false,
                "required": ["name", "datatype", "count"],
                "properties": {
                  "name": {"type": "string"},
                  "datatype": {"type": "integer"},
                  "count": {"type": "integer", "minimum": 0}
                }
              }
            },
            "rko_lio_compatible": {"type": ["boolean", "null"]},
            "timestamp_field": {"type": ["string", "null"]},
            "reason": {"type": "string", "minLength": 1}
          }
        }
      }
    },
    "recommendations": {"type": "array", "items": {"type": "object"}},
    "recommended_profile_id": {"type": ["string", "null"]},
    "beginner_commands": {"type": "array", "items": {"type": "object"}},
    "advisory": {"type": "array"},
    "missing_requirements": {
      "type": "array",
      "items": {"type": "string"}
    }
  }
}