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feat(schema): use versioned common interfaces schema (#205)
* feat(schema): add static bundled draft/1-0-0 common interfaces * feat(schema): reference draft common interfaces schema * docs: update schema links to use static versioned schemas
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,319 @@ | ||
| { | ||
| "$id": "/draft/1-0-0/interfaces.schema.json", | ||
| "$schema": "https://json-schema.org/draft/2020-12/schema", | ||
| "title": "Common Interfaces", | ||
| "description": "This schema includes definitions for common interfaces across the AICA System", | ||
| "$defs": { | ||
| "encoded_state_type": { | ||
| "$schema": "https://json-schema.org/draft/2020-12/schema", | ||
| "title": "Encoded State Type", | ||
| "description": "The state type of an encoded value from a collection of supported types, as defined in clproto.", | ||
| "type": "string", | ||
| "enum": [ | ||
| "state", | ||
| "spatial_state", | ||
| "cartesian_state", | ||
| "cartesian_pose", | ||
| "cartesian_twist", | ||
| "cartesian_acceleration", | ||
| "cartesian_wrench", | ||
| "jacobian", | ||
| "joint_state", | ||
| "joint_positions", | ||
| "joint_velocities", | ||
| "joint_accelerations", | ||
| "joint_torques", | ||
| "shape", | ||
| "ellipsoid", | ||
| "parameter", | ||
| "digital_io_state", | ||
| "analog_io_state" | ||
| ] | ||
| }, | ||
| "parameter": { | ||
| "$schema": "https://json-schema.org/draft/2020-12/schema", | ||
| "title": "Parameter", | ||
| "description": "A dynamic parameter that is publicly configurable.", | ||
| "type": "object", | ||
| "additionalProperties": false, | ||
| "properties": { | ||
| "display_name": { | ||
| "description": "The human-readable parameter name.", | ||
| "examples": [ | ||
| "Reference Frame", | ||
| "Gain" | ||
| ], | ||
| "type": "string" | ||
| }, | ||
| "description": { | ||
| "description": "A brief description of the parameter.", | ||
| "type": "string" | ||
| }, | ||
| "parameter_name": { | ||
| "description": "The lower_snake_case parameter name as it is declared in the implementation.", | ||
| "examples": [ | ||
| "reference_frame", | ||
| "gain" | ||
| ], | ||
| "type": "string" | ||
| }, | ||
| "parameter_type": { | ||
| "description": "The parameter value type.", | ||
| "$ref": "#/$defs/parameter_type" | ||
| }, | ||
| "parameter_state_type": { | ||
| "description": "The state type of the parameter, if the value type is an encoded state.", | ||
| "$ref": "#/$defs/encoded_state_type" | ||
| }, | ||
| "default_value": { | ||
| "description": "The string representation of the default parameter value, or null if the parameter has no valid default value.", | ||
| "examples": [ | ||
| "foo", | ||
| "[ 1.0, 2.0, 3.0 ]", | ||
| null | ||
| ], | ||
| "anyOf": [ | ||
| { | ||
| "type": "string" | ||
| }, | ||
| { | ||
| "type": "null" | ||
| } | ||
| ] | ||
| }, | ||
| "optional": { | ||
| "description": "Specify if this parameter is optional (only applicable if the default value is null)", | ||
| "type": "boolean" | ||
| }, | ||
| "dynamic": { | ||
| "description": "Specify if this parameter can be dynamically reconfigured.", | ||
| "type": "boolean" | ||
| }, | ||
| "internal": { | ||
| "description": "Specify if this parameter is for internal use only and should be hidden from public users.", | ||
| "type": "boolean", | ||
| "default": false | ||
| } | ||
| }, | ||
| "required": [ | ||
| "display_name", | ||
| "description", | ||
| "parameter_name", | ||
| "parameter_type", | ||
| "default_value" | ||
| ], | ||
| "allOf": [ | ||
| { | ||
| "if": { | ||
| "properties": { | ||
| "default_value": { | ||
| "not": { | ||
| "const": null | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| "then": { | ||
| "not": { | ||
| "required": [ | ||
| "optional" | ||
| ] | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "if": { | ||
| "properties": { | ||
| "parameter_type": { | ||
| "const": "state" | ||
| } | ||
| } | ||
| }, | ||
| "then": { | ||
| "required": [ | ||
| "parameter_state_type" | ||
| ] | ||
| } | ||
| } | ||
| ] | ||
| }, | ||
| "parameter_type": { | ||
| "$schema": "https://json-schema.org/draft/2020-12/schema", | ||
| "title": "Parameter Type", | ||
| "description": "The value type of a parameter from a collection of supported types.", | ||
| "type": "string", | ||
| "enum": [ | ||
| "bool", | ||
| "bool_array", | ||
| "int", | ||
| "int_array", | ||
| "double", | ||
| "double_array", | ||
| "string", | ||
| "string_array", | ||
| "vector", | ||
| "matrix", | ||
| "state" | ||
| ] | ||
| }, | ||
| "predicate": { | ||
| "$schema": "https://json-schema.org/draft/2020-12/schema", | ||
| "title": "Predicate", | ||
| "description": "A predicate of a component or controller.", | ||
| "type": "object", | ||
| "properties": { | ||
| "display_name": { | ||
| "description": "The human-readable predicate name.", | ||
| "type": "string" | ||
| }, | ||
| "description": { | ||
| "description": "A brief description of the predicate.", | ||
| "type": "string" | ||
| }, | ||
| "predicate_name": { | ||
| "description": "The lower_snake_case predicate name as it is declared in the component or controller.", | ||
| "type": "string" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "display_name", | ||
| "description", | ||
| "predicate_name" | ||
| ] | ||
| }, | ||
| "service": { | ||
| "$schema": "https://json-schema.org/draft/2020-12/schema", | ||
| "title": "Service", | ||
| "description": "A service endpoint of a component or controller.", | ||
| "type": "object", | ||
| "properties": { | ||
| "display_name": { | ||
| "description": "The human-readable service name.", | ||
| "type": "string" | ||
| }, | ||
| "description": { | ||
| "description": "A brief description of the service.", | ||
| "type": "string" | ||
| }, | ||
| "service_name": { | ||
| "description": "The lower_snake_case service name as it is declared in the component or controller.", | ||
| "type": "string" | ||
| }, | ||
| "payload_format": { | ||
| "description": "Optional description of the payload format if the service has a string payload. If omitted, the service is assumed to be an empty trigger.", | ||
| "type": "string" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "display_name", | ||
| "description", | ||
| "service_name" | ||
| ] | ||
| }, | ||
| "signal": { | ||
| "$schema": "https://json-schema.org/draft/2020-12/schema", | ||
| "title": "Signal", | ||
| "description": "A continuous data signal in the AICA framework that can be an input or an output.", | ||
| "type": "object", | ||
| "properties": { | ||
| "display_name": { | ||
| "description": "The short name of this signal (to be displayed on the edge of the node in the graph view).", | ||
| "examples": [ | ||
| "Target Pose", | ||
| "Sum", | ||
| "Command Torque" | ||
| ], | ||
| "type": "string" | ||
| }, | ||
| "description": { | ||
| "description": "A description of the signal for tool-tips and documentation.", | ||
| "type": "string" | ||
| }, | ||
| "signal_name": { | ||
| "description": "The registered name of the signal from which the default topic and parameter '<$signal_name>_topic' are determined.", | ||
| "examples": [ | ||
| "target_pose", | ||
| "sum", | ||
| "command_torque" | ||
| ], | ||
| "type": "string" | ||
| }, | ||
| "default_topic": { | ||
| "description": "The default topic name assigned to this signal. If unspecified, it is assumed to be '~/<$signal_name>'. Setting the parameter '<$signal_name>_topic' will override the default value.", | ||
| "default": "~/signal_name", | ||
| "type": "string" | ||
| }, | ||
| "reconfigurable_topic": { | ||
| "description": "Indicate if the signal topic is reconfigurable and can be renamed while the parent node is inactive through the '<$signal_name>_topic' parameter.", | ||
| "default": false, | ||
| "type": "boolean" | ||
| }, | ||
| "signal_type": { | ||
| "description": "The fixed type of this signal.", | ||
| "$ref": "#/$defs/signal_type" | ||
| }, | ||
| "signal_types": { | ||
| "description": "An array of signal types supported by configurable typing. The active type is set through the '<$signal_name>_type' parameter, and the default type is determined by the `signal_type` property.", | ||
| "type": "array", | ||
| "items": { | ||
| "$ref": "#/$defs/signal_type" | ||
| }, | ||
| "minItems": 1, | ||
| "uniqueItems": true | ||
| }, | ||
| "reconfigurable_type": { | ||
| "description": "Indicate if the signal type is reconfigurable and can be renamed while the parent node is inactive through the '<$signal_name>_type' parameter.", | ||
| "default": false, | ||
| "type": "boolean" | ||
| }, | ||
| "custom_signal_type": { | ||
| "description": "The custom signal type of the signal", | ||
| "examples": [ | ||
| "sensor_msgs::msg::JointState", | ||
| "geometry_msgs::msg::Pose" | ||
| ], | ||
| "type": "string" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "display_name", | ||
| "description", | ||
| "signal_name", | ||
| "signal_type" | ||
| ], | ||
| "if": { | ||
| "properties": { | ||
| "signal_type": { | ||
| "const": "other" | ||
| } | ||
| } | ||
| }, | ||
| "then": { | ||
| "required": [ | ||
| "custom_signal_type" | ||
| ] | ||
| } | ||
| }, | ||
| "signal_type": { | ||
| "$schema": "https://json-schema.org/draft/2020-12/schema", | ||
| "title": "Signal Type", | ||
| "description": "Supported signal value types as simple atomic types or encoded state types.", | ||
| "anyOf": [ | ||
| { | ||
| "type": "string", | ||
| "enum": [ | ||
| "bool", | ||
| "int", | ||
| "double", | ||
| "double_array", | ||
| "string", | ||
| "other" | ||
| ] | ||
| }, | ||
| { | ||
| "$ref": "#/$defs/encoded_state_type" | ||
| } | ||
| ] | ||
| } | ||
| } | ||
| } |
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