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+{
+  "$id": "/1-0-0/interfaces.schema.json",
+  "$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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