{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "$id": "https://rsasaki0109.github.io/lidar_slam_ros2/schemas/preflight-v5.schema.json",
  "title": "lidarslam_ros2 preflight v5",
  "type": "object",
  "additionalProperties": false,
  "required": [
    "schema_version",
    "schema_uri",
    "summary",
    "recommendations",
    "recommended_profile_id",
    "beginner_commands",
    "advisory",
    "findings",
    "missing_requirements"
  ],
  "properties": {
    "schema_version": {"const": 5},
    "schema_uri": {
      "const": "https://rsasaki0109.github.io/lidar_slam_ros2/schemas/preflight-v5.schema.json"
    },
    "summary": {
      "type": "object",
      "required": [
        "bag_path",
        "topics",
        "capabilities",
        "pointcloud_inspection",
        "timestamp_order",
        "odometry_tf"
      ],
      "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"]},
            "frame_id": {"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}
          }
        },
        "timestamp_order": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "status",
            "timestamp_source",
            "max_records_per_topic",
            "failed_topics",
            "topics",
            "reason"
          ],
          "properties": {
            "status": {
              "enum": [
                "not_applicable",
                "unavailable",
                "error",
                "failed",
                "sampled",
                "passed"
              ]
            },
            "timestamp_source": {"const": "header.stamp"},
            "max_records_per_topic": {
              "type": "integer",
              "minimum": 1
            },
            "failed_topics": {
              "type": "array",
              "uniqueItems": true,
              "items": {"type": "string", "minLength": 1}
            },
            "topics": {
              "type": "array",
              "items": {
                "type": "object",
                "additionalProperties": false,
                "required": [
                  "topic",
                  "msg_type",
                  "expected_records",
                  "records_scanned",
                  "complete",
                  "readable",
                  "first_stamp_ns",
                  "last_stamp_ns",
                  "reversal_count",
                  "invalid_stamp_count",
                  "max_backward_jump_ns"
                ],
                "properties": {
                  "topic": {"type": "string", "minLength": 1},
                  "msg_type": {
                    "enum": [
                      "sensor_msgs/msg/PointCloud2",
                      "sensor_msgs/msg/Imu"
                    ]
                  },
                  "expected_records": {"type": "integer", "minimum": 0},
                  "records_scanned": {"type": "integer", "minimum": 0},
                  "complete": {"type": "boolean"},
                  "readable": {"type": "boolean"},
                  "first_stamp_ns": {
                    "type": ["integer", "null"],
                    "minimum": 0
                  },
                  "last_stamp_ns": {
                    "type": ["integer", "null"],
                    "minimum": 0
                  },
                  "reversal_count": {"type": "integer", "minimum": 0},
                  "invalid_stamp_count": {"type": "integer", "minimum": 0},
                  "max_backward_jump_ns": {"type": "integer", "minimum": 0},
                  "frame_id": {"type": ["string", "null"]},
                  "frame_ids": {
                    "type": "array",
                    "uniqueItems": true,
                    "items": {"type": "string", "minLength": 1}
                  }
                }
              }
            },
            "reason": {"type": "string", "minLength": 1}
          }
        },
        "odometry_tf": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "status",
            "odometry_topic",
            "expected_records",
            "records_scanned",
            "complete",
            "readable",
            "header_frame_id",
            "child_frame_id",
            "frame_ids",
            "child_frame_ids",
            "invalid_frame_count",
            "tf_topics",
            "tf_records_scanned",
            "invalid_transform_count",
            "tf_path",
            "dynamic_path",
            "max_records_per_topic",
            "reason"
          ],
          "properties": {
            "status": {
              "enum": [
                "not_applicable",
                "unavailable",
                "error",
                "failed",
                "sampled",
                "passed"
              ]
            },
            "odometry_topic": {"type": ["string", "null"]},
            "expected_records": {"type": "integer", "minimum": 0},
            "records_scanned": {"type": "integer", "minimum": 0},
            "complete": {"type": "boolean"},
            "readable": {"type": "boolean"},
            "header_frame_id": {"type": ["string", "null"]},
            "child_frame_id": {"type": ["string", "null"]},
            "frame_ids": {
              "type": "array",
              "uniqueItems": true,
              "items": {"type": "string", "minLength": 1}
            },
            "child_frame_ids": {
              "type": "array",
              "uniqueItems": true,
              "items": {"type": "string", "minLength": 1}
            },
            "invalid_frame_count": {"type": "integer", "minimum": 0},
            "tf_topics": {
              "type": "array",
              "items": {
                "type": "object",
                "additionalProperties": false,
                "required": [
                  "topic",
                  "expected_records",
                  "records_scanned",
                  "complete",
                  "readable"
                ],
                "properties": {
                  "topic": {"type": "string", "minLength": 1},
                  "expected_records": {"type": "integer", "minimum": 0},
                  "records_scanned": {"type": "integer", "minimum": 0},
                  "complete": {"type": "boolean"},
                  "readable": {"type": "boolean"}
                }
              }
            },
            "tf_records_scanned": {"type": "integer", "minimum": 0},
            "invalid_transform_count": {"type": "integer", "minimum": 0},
            "tf_path": {
              "type": "array",
              "uniqueItems": true,
              "items": {"type": "string", "minLength": 1}
            },
            "dynamic_path": {"type": ["boolean", "null"]},
            "max_records_per_topic": {"type": "integer", "minimum": 1},
            "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"},
    "findings": {
      "type": "array",
      "items": {
        "type": "object",
        "additionalProperties": false,
        "required": ["code", "message", "next_action"],
        "properties": {
          "code": {
            "type": "string",
            "pattern": "^[a-z0-9]+(?:-[a-z0-9]+)*$"
          },
          "message": {"type": "string", "minLength": 1},
          "next_action": {"type": "string", "minLength": 1}
        }
      }
    },
    "missing_requirements": {
      "type": "array",
      "items": {"type": "string"}
    }
  }
}