{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "$id": "https://rsasaki0109.github.io/lidar_slam_ros2/schemas/sensor-setup-rejection-v1.schema.json",
  "title": "lidarslam_ros2 sensor setup rejection",
  "type": "object",
  "additionalProperties": false,
  "required": [
    "schema_version",
    "schema_uri",
    "status",
    "bag_path",
    "reason",
    "detected",
    "findings",
    "next_command",
    "files_written"
  ],
  "properties": {
    "schema_version": {"const": 1},
    "schema_uri": {
      "const": "https://rsasaki0109.github.io/lidar_slam_ros2/schemas/sensor-setup-rejection-v1.schema.json"
    },
    "status": {"const": "not_ready"},
    "bag_path": {"type": "string", "minLength": 1},
    "reason": {
      "type": "object",
      "additionalProperties": false,
      "required": ["code", "message"],
      "properties": {
        "code": {
          "enum": ["no-maintained-profile", "profile-incompatible"]
        },
        "message": {"type": "string", "minLength": 1}
      }
    },
    "detected": {
      "type": "object",
      "additionalProperties": false,
      "required": ["topics", "pointcloud_check", "timestamp_check"],
      "properties": {
        "topics": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "pointcloud2",
            "imu",
            "navsatfix",
            "velodyne_scan",
            "applanix_gsof49",
            "applanix_gsof50"
          ],
          "properties": {
            "pointcloud2": {"$ref": "#/definitions/topic_names"},
            "imu": {"$ref": "#/definitions/topic_names"},
            "navsatfix": {"$ref": "#/definitions/topic_names"},
            "velodyne_scan": {"$ref": "#/definitions/topic_names"},
            "applanix_gsof49": {"$ref": "#/definitions/topic_names"},
            "applanix_gsof50": {"$ref": "#/definitions/topic_names"}
          }
        },
        "pointcloud_check": {"type": "string", "minLength": 1},
        "timestamp_check": {"type": "string", "minLength": 1}
      }
    },
    "findings": {
      "type": "array",
      "minItems": 1,
      "items": {"$ref": "#/definitions/finding"}
    },
    "next_command": {"type": "string", "minLength": 1},
    "files_written": {"const": false}
  },
  "definitions": {
    "topic_names": {
      "type": "array",
      "items": {"type": "string", "minLength": 1},
      "uniqueItems": true
    },
    "finding": {
      "type": "object",
      "additionalProperties": false,
      "required": ["code", "message", "next_action"],
      "properties": {
        "code": {
          "type": "string",
          "pattern": "^[a-z0-9]+(?:-[a-z0-9]+)*$"
        },
        "message": {"type": "string", "minLength": 1},
        "next_action": {"type": "string", "minLength": 1}
      }
    }
  }
}