{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "urn:linuxcnc:joint-model:1",
  "title": "Web LinuxCNC single-DOF joint model",
  "type": "object",
  "additionalProperties": false,
  "required": [
    "schema",
    "coordinates",
    "units",
    "controller",
    "calibration",
    "axisMap",
    "nodes"
  ],
  "properties": {
    "schema": {
      "const": "linuxcnc.joint-model/1"
    },
    "coordinates": {
      "enum": [
        "XYZAC",
        "XYZBC"
      ]
    },
    "units": {
      "const": {
        "length": "mm",
        "angle": "deg",
        "gltfLength": "m"
      }
    },
    "controller": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "source",
        "axisOrder"
      ],
      "properties": {
        "source": {
          "const": "linuxcnc-wasm.visual.joints"
        },
        "axisOrder": {
          "enum": [
            [
              "X",
              "Y",
              "Z",
              "A",
              "C"
            ],
            [
              "X",
              "Y",
              "Z",
              "B",
              "C"
            ]
          ]
        }
      }
    },
    "calibration": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "cOriginMm",
        "tiltOffsetMm",
        "physicalZero"
      ],
      "properties": {
        "cOriginMm": {
          "$ref": "#/$defs/vector3"
        },
        "tiltOffsetMm": {
          "$ref": "#/$defs/vector3"
        },
        "physicalZero": {
          "type": "object",
          "required": [
            "x",
            "y",
            "z",
            "a",
            "b",
            "c"
          ],
          "additionalProperties": false,
          "properties": {
            "x": {
              "type": "number"
            },
            "y": {
              "type": "number"
            },
            "z": {
              "type": "number"
            },
            "a": {
              "type": "number"
            },
            "b": {
              "type": "number"
            },
            "c": {
              "type": "number"
            }
          }
        }
      }
    },
    "axisMap": {
      "type": "object",
      "additionalProperties": false,
      "properties": {
        "X": {
          "type": "string",
          "minLength": 1
        },
        "Y": {
          "type": "string",
          "minLength": 1
        },
        "Z": {
          "type": "string",
          "minLength": 1
        },
        "A": {
          "type": "string",
          "minLength": 1
        },
        "B": {
          "type": "string",
          "minLength": 1
        },
        "C": {
          "type": "string",
          "minLength": 1
        }
      }
    },
    "nodes": {
      "type": "array",
      "minItems": 1,
      "maxItems": 12000,
      "items": {
        "$ref": "#/$defs/node"
      }
    }
  },
  "$defs": {
    "vector3": {
      "type": "array",
      "items": {
        "type": "number"
      },
      "minItems": 3,
      "maxItems": 3
    },
    "node": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "id",
        "parentId",
        "name",
        "role",
        "source",
        "zero",
        "joint"
      ],
      "properties": {
        "id": {
          "type": "string",
          "minLength": 1
        },
        "parentId": {
          "type": [
            "string",
            "null"
          ]
        },
        "name": {
          "type": "string"
        },
        "role": {
          "type": "string"
        },
        "source": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "file",
            "hash",
            "path"
          ],
          "properties": {
            "file": {
              "type": "string"
            },
            "hash": {
              "type": "string"
            },
            "path": {
              "type": "string"
            }
          }
        },
        "zero": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "positionMm",
            "quaternion",
            "scale"
          ],
          "properties": {
            "positionMm": {
              "$ref": "#/$defs/vector3"
            },
            "quaternion": {
              "type": "array",
              "items": {
                "type": "number",
                "minimum": -1,
                "maximum": 1
              },
              "minItems": 4,
              "maxItems": 4
            },
            "scale": {
              "type": "array",
              "items": {
                "type": "number",
                "exclusiveMinimum": 0
              },
              "minItems": 3,
              "maxItems": 3
            }
          }
        },
        "joint": {
          "anyOf": [
            {
              "type": "null"
            },
            {
              "$ref": "#/$defs/dof"
            }
          ]
        }
      }
    },
    "dof": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "axis",
        "direction",
        "sign",
        "dof",
        "type",
        "unit",
        "frame"
      ],
      "properties": {
        "axis": {
          "enum": [
            "X",
            "Y",
            "Z",
            "A",
            "B",
            "C"
          ]
        },
        "direction": {
          "enum": [
            "x",
            "y",
            "z"
          ]
        },
        "sign": {
          "enum": [
            -1,
            1
          ]
        },
        "dof": {
          "const": 1
        },
        "frame": {
          "const": "parent"
        },
        "type": {
          "enum": [
            "prismatic",
            "revolute"
          ]
        },
        "unit": {
          "enum": [
            "mm",
            "deg"
          ]
        }
      },
      "allOf": [
        {
          "if": {
            "properties": {
              "axis": {
                "enum": [
                  "X",
                  "Y",
                  "Z"
                ]
              }
            }
          },
          "then": {
            "properties": {
              "type": {
                "const": "prismatic"
              },
              "unit": {
                "const": "mm"
              }
            }
          },
          "else": {
            "properties": {
              "type": {
                "const": "revolute"
              },
              "unit": {
                "const": "deg"
              }
            }
          }
        }
      ]
    }
  },
  "allOf": [
    {
      "if": {
        "properties": {
          "coordinates": {
            "const": "XYZAC"
          }
        }
      },
      "then": {
        "properties": {
          "controller": {
            "properties": {
              "axisOrder": {
                "const": [
                  "X",
                  "Y",
                  "Z",
                  "A",
                  "C"
                ]
              }
            }
          },
          "axisMap": {
            "propertyNames": {
              "enum": [
                "X",
                "Y",
                "Z",
                "A",
                "C"
              ]
            }
          },
          "nodes": {
            "items": {
              "properties": {
                "joint": {
                  "anyOf": [
                    {
                      "type": "null"
                    },
                    {
                      "properties": {
                        "axis": {
                          "enum": [
                            "X",
                            "Y",
                            "Z",
                            "A",
                            "C"
                          ]
                        }
                      }
                    }
                  ]
                }
              }
            }
          }
        }
      }
    },
    {
      "if": {
        "properties": {
          "coordinates": {
            "const": "XYZBC"
          }
        }
      },
      "then": {
        "properties": {
          "controller": {
            "properties": {
              "axisOrder": {
                "const": [
                  "X",
                  "Y",
                  "Z",
                  "B",
                  "C"
                ]
              }
            }
          },
          "axisMap": {
            "propertyNames": {
              "enum": [
                "X",
                "Y",
                "Z",
                "B",
                "C"
              ]
            }
          },
          "nodes": {
            "items": {
              "properties": {
                "joint": {
                  "anyOf": [
                    {
                      "type": "null"
                    },
                    {
                      "properties": {
                        "axis": {
                          "enum": [
                            "X",
                            "Y",
                            "Z",
                            "B",
                            "C"
                          ]
                        }
                      }
                    }
                  ]
                }
              }
            }
          }
        }
      }
    }
  ]
}