{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "$id": "https://rsasaki0109.github.io/lidar_slam_ros2/schemas/public-doctor-evidence-v1.schema.json",
  "title": "Public doctor evidence v1",
  "type": "object",
  "additionalProperties": false,
  "required": [
    "schema_version",
    "schema_uri",
    "mode",
    "status",
    "input",
    "checks",
    "recommended_profile_id",
    "compatible_profile_ids",
    "finding_codes",
    "first_action_code",
    "privacy",
    "network_accessed",
    "writes_performed"
  ],
  "properties": {
    "schema_version": {"const": 1},
    "schema_uri": {
      "const": "https://rsasaki0109.github.io/lidar_slam_ros2/schemas/public-doctor-evidence-v1.schema.json"
    },
    "mode": {"const": "bag_public_evidence"},
    "status": {
      "enum": ["ready", "action_required", "unsupported", "input_error"]
    },
    "input": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "duration_sec",
        "message_count",
        "capabilities",
        "topic_type_counts"
      ],
      "properties": {
        "duration_sec": {"type": ["number", "null"], "minimum": 0},
        "message_count": {"type": "integer", "minimum": 0},
        "capabilities": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "has_applanix_gsof49",
            "has_applanix_gsof50",
            "has_imu",
            "has_navsatfix",
            "has_odometry",
            "has_pointcloud2",
            "has_tf",
            "has_velodyne_scan",
            "has_velocity_report"
          ],
          "properties": {
            "has_applanix_gsof49": {"type": "boolean"},
            "has_applanix_gsof50": {"type": "boolean"},
            "has_imu": {"type": "boolean"},
            "has_navsatfix": {"type": "boolean"},
            "has_odometry": {"type": "boolean"},
            "has_pointcloud2": {"type": "boolean"},
            "has_tf": {"type": "boolean"},
            "has_velodyne_scan": {"type": "boolean"},
            "has_velocity_report": {"type": "boolean"}
          }
        },
        "topic_type_counts": {
          "type": "array",
          "items": {
            "type": "object",
            "additionalProperties": false,
            "required": ["msg_type", "topic_count", "message_count"],
            "properties": {
              "msg_type": {"type": "string", "minLength": 1},
              "topic_count": {"type": "integer", "minimum": 1},
              "message_count": {"type": "integer", "minimum": 0}
            }
          }
        }
      }
    },
    "checks": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "pointcloud",
        "timestamp_order",
        "odometry_tf",
        "odometry_tf_timing"
      ],
      "properties": {
        "pointcloud": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "status",
            "field_names",
            "rko_lio_compatible",
            "timestamp_field"
          ],
          "properties": {
            "status": {
              "enum": ["not_applicable", "unavailable", "error", "empty", "inspected"]
            },
            "field_names": {
              "type": "array",
              "uniqueItems": true,
              "items": {"type": "string", "minLength": 1}
            },
            "rko_lio_compatible": {"type": ["boolean", "null"]},
            "timestamp_field": {"type": ["string", "null"]}
          }
        },
        "timestamp_order": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "status",
            "topic_type_count",
            "records_scanned",
            "reversal_count",
            "invalid_stamp_count"
          ],
          "properties": {
            "status": {
              "enum": ["not_applicable", "unavailable", "error", "failed", "sampled", "passed"]
            },
            "topic_type_count": {"type": "integer", "minimum": 0},
            "records_scanned": {"type": "integer", "minimum": 0},
            "reversal_count": {"type": "integer", "minimum": 0},
            "invalid_stamp_count": {"type": "integer", "minimum": 0}
          }
        },
        "odometry_tf": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "status",
            "records_scanned",
            "tf_records_scanned",
            "readable",
            "invalid_frame_count",
            "invalid_transform_count",
            "path_edge_count",
            "dynamic_path"
          ],
          "properties": {
            "status": {
              "enum": ["not_applicable", "unavailable", "error", "failed", "sampled", "passed"]
            },
            "records_scanned": {"type": "integer", "minimum": 0},
            "tf_records_scanned": {"type": "integer", "minimum": 0},
            "readable": {"type": "boolean"},
            "invalid_frame_count": {"type": "integer", "minimum": 0},
            "invalid_transform_count": {"type": "integer", "minimum": 0},
            "path_edge_count": {"type": "integer", "minimum": 0},
            "dynamic_path": {"type": ["boolean", "null"]}
          }
        },
        "odometry_tf_timing": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "status",
            "pointcloud_records_scanned",
            "tf_records_scanned",
            "invalid_pointcloud_stamp_count",
            "invalid_transform_stamp_count",
            "clouds_before_all_dynamic_tf",
            "future_extrapolation_count",
            "max_future_gap_ns"
          ],
          "properties": {
            "status": {
              "enum": ["not_applicable", "unavailable", "error", "failed", "sampled", "passed"]
            },
            "pointcloud_records_scanned": {"type": "integer", "minimum": 0},
            "tf_records_scanned": {"type": "integer", "minimum": 0},
            "invalid_pointcloud_stamp_count": {"type": "integer", "minimum": 0},
            "invalid_transform_stamp_count": {"type": "integer", "minimum": 0},
            "clouds_before_all_dynamic_tf": {"type": "integer", "minimum": 0},
            "future_extrapolation_count": {"type": "integer", "minimum": 0},
            "max_future_gap_ns": {"type": "integer", "minimum": 0}
          }
        }
      }
    },
    "recommended_profile_id": {"type": ["string", "null"]},
    "compatible_profile_ids": {
      "type": "array",
      "uniqueItems": true,
      "items": {"type": "string", "minLength": 1}
    },
    "finding_codes": {
      "type": "array",
      "uniqueItems": true,
      "items": {"type": "string", "minLength": 1}
    },
    "first_action_code": {"type": ["string", "null"]},
    "privacy": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "bag_path_included",
        "topic_or_frame_names_included",
        "local_commands_included",
        "raw_sensor_data_included",
        "raw_logs_included",
        "free_text_messages_included",
        "review_before_sharing"
      ],
      "properties": {
        "bag_path_included": {"const": false},
        "topic_or_frame_names_included": {"const": false},
        "local_commands_included": {"const": false},
        "raw_sensor_data_included": {"const": false},
        "raw_logs_included": {"const": false},
        "free_text_messages_included": {"const": false},
        "review_before_sharing": {"const": true}
      }
    },
    "network_accessed": {"const": false},
    "writes_performed": {"const": false}
  }
}