{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://libraries.horizon36596.org/zenith/schema/v1/auto.json",
  "title": "Zenith auto file, formatVersion 4",
  "type": "object",
  "properties": {
    "$schema": {
      "type": "string"
    },
    "formatVersion": {
      "type": "number",
      "const": 4
    },
    "name": {
      "type": "string",
      "minLength": 1
    },
    "title": {
      "type": "string"
    },
    "description": {
      "type": "string"
    },
    "robot": {
      "type": "string",
      "minLength": 1
    },
    "field": {
      "type": "string",
      "minLength": 1
    },
    "alliance": {
      "type": "string",
      "enum": [
        "RED",
        "BLUE"
      ]
    },
    "authors": {
      "type": "array",
      "items": {
        "type": "string",
        "minLength": 1
      }
    },
    "created": {
      "type": "string"
    },
    "start": {
      "type": "object",
      "properties": {
        "pose": {
          "anyOf": [
            {
              "type": "object",
              "properties": {
                "ref": {
                  "type": "string",
                  "minLength": 1
                }
              },
              "required": [
                "ref"
              ],
              "additionalProperties": false
            },
            {
              "type": "object",
              "properties": {
                "xIn": {
                  "type": "number"
                },
                "yIn": {
                  "type": "number"
                },
                "headingRad": {
                  "type": "number"
                },
                "provenance": {
                  "type": "string",
                  "minLength": 1
                }
              },
              "required": [
                "xIn",
                "yIn"
              ],
              "additionalProperties": false
            }
          ]
        },
        "holds": {
          "type": "object",
          "additionalProperties": {
            "type": "number"
          }
        }
      },
      "required": [
        "pose"
      ],
      "additionalProperties": false
    },
    "steps": {
      "type": "array",
      "items": {
        "anyOf": [
          {
            "type": "object",
            "properties": {
              "id": {
                "type": "string",
                "minLength": 1
              },
              "kind": {
                "type": "string",
                "const": "path"
              },
              "timeoutS": {
                "type": "number",
                "exclusiveMinimum": 0
              },
              "rejoinFrom": {
                "type": "object",
                "properties": {
                  "xIn": {
                    "type": "number"
                  },
                  "yIn": {
                    "type": "number"
                  },
                  "headingRad": {
                    "type": "number"
                  },
                  "provenance": {
                    "$ref": "#/properties/start/properties/pose/anyOf/1/properties/provenance"
                  }
                },
                "required": [
                  "xIn",
                  "yIn",
                  "headingRad"
                ],
                "additionalProperties": false
              },
              "segments": {
                "type": "array",
                "items": {
                  "anyOf": [
                    {
                      "type": "object",
                      "properties": {
                        "kind": {
                          "type": "string",
                          "const": "line"
                        },
                        "from": {
                          "anyOf": [
                            {
                              "type": "string",
                              "const": "current"
                            },
                            {
                              "type": "object",
                              "properties": {
                                "ref": {
                                  "type": "string",
                                  "minLength": 1
                                }
                              },
                              "required": [
                                "ref"
                              ],
                              "additionalProperties": false
                            },
                            {
                              "$ref": "#/properties/start/properties/pose/anyOf/1"
                            }
                          ]
                        },
                        "to": {
                          "$ref": "#/properties/steps/items/anyOf/0/properties/segments/items/anyOf/0/properties/from"
                        }
                      },
                      "required": [
                        "kind",
                        "from",
                        "to"
                      ],
                      "additionalProperties": false
                    },
                    {
                      "type": "object",
                      "properties": {
                        "kind": {
                          "type": "string",
                          "const": "bezier"
                        },
                        "from": {
                          "$ref": "#/properties/steps/items/anyOf/0/properties/segments/items/anyOf/0/properties/from"
                        },
                        "control": {
                          "type": "array",
                          "items": {
                            "$ref": "#/properties/start/properties/pose/anyOf/1"
                          },
                          "minItems": 1,
                          "maxItems": 3
                        },
                        "to": {
                          "$ref": "#/properties/steps/items/anyOf/0/properties/segments/items/anyOf/0/properties/from"
                        }
                      },
                      "required": [
                        "kind",
                        "from",
                        "control",
                        "to"
                      ],
                      "additionalProperties": false
                    }
                  ]
                },
                "minItems": 1
              },
              "heading": {
                "anyOf": [
                  {
                    "type": "object",
                    "properties": {
                      "mode": {
                        "type": "string",
                        "const": "tangent"
                      }
                    },
                    "required": [
                      "mode"
                    ],
                    "additionalProperties": false
                  },
                  {
                    "type": "object",
                    "properties": {
                      "mode": {
                        "type": "string",
                        "const": "tangentReversed"
                      }
                    },
                    "required": [
                      "mode"
                    ],
                    "additionalProperties": false
                  },
                  {
                    "type": "object",
                    "properties": {
                      "mode": {
                        "type": "string",
                        "const": "constant"
                      },
                      "headingRad": {
                        "type": "number"
                      }
                    },
                    "required": [
                      "mode",
                      "headingRad"
                    ],
                    "additionalProperties": false
                  },
                  {
                    "type": "object",
                    "properties": {
                      "mode": {
                        "type": "string",
                        "const": "linear"
                      },
                      "fromRad": {
                        "type": "number"
                      },
                      "toRad": {
                        "type": "number"
                      }
                    },
                    "required": [
                      "mode",
                      "fromRad",
                      "toRad"
                    ],
                    "additionalProperties": false
                  },
                  {
                    "type": "object",
                    "properties": {
                      "mode": {
                        "type": "string",
                        "const": "facePoint"
                      },
                      "xIn": {
                        "type": "number"
                      },
                      "yIn": {
                        "type": "number"
                      },
                      "offsetRad": {
                        "type": "number"
                      }
                    },
                    "required": [
                      "mode",
                      "xIn",
                      "yIn"
                    ],
                    "additionalProperties": false
                  },
                  {
                    "type": "object",
                    "properties": {
                      "mode": {
                        "type": "string",
                        "const": "piecewise"
                      },
                      "ranges": {
                        "type": "array",
                        "items": {
                          "type": "object",
                          "properties": {
                            "startT": {
                              "type": "number",
                              "minimum": 0,
                              "maximum": 1
                            },
                            "endT": {
                              "type": "number",
                              "minimum": 0,
                              "maximum": 1
                            },
                            "heading": {
                              "anyOf": [
                                {
                                  "$ref": "#/properties/steps/items/anyOf/0/properties/heading/anyOf/0"
                                },
                                {
                                  "$ref": "#/properties/steps/items/anyOf/0/properties/heading/anyOf/1"
                                },
                                {
                                  "$ref": "#/properties/steps/items/anyOf/0/properties/heading/anyOf/2"
                                },
                                {
                                  "$ref": "#/properties/steps/items/anyOf/0/properties/heading/anyOf/3"
                                },
                                {
                                  "$ref": "#/properties/steps/items/anyOf/0/properties/heading/anyOf/4"
                                }
                              ]
                            }
                          },
                          "required": [
                            "startT",
                            "endT",
                            "heading"
                          ],
                          "additionalProperties": false
                        },
                        "minItems": 1
                      }
                    },
                    "required": [
                      "mode",
                      "ranges"
                    ],
                    "additionalProperties": false
                  }
                ]
              },
              "speedFraction": {
                "type": "number",
                "exclusiveMinimum": 0,
                "maximum": 1
              },
              "markers": {
                "type": "array",
                "items": {
                  "type": "object",
                  "properties": {
                    "at": {
                      "anyOf": [
                        {
                          "type": "object",
                          "properties": {
                            "t": {
                              "type": "number",
                              "minimum": 0,
                              "maximum": 1
                            }
                          },
                          "required": [
                            "t"
                          ],
                          "additionalProperties": false
                        },
                        {
                          "type": "object",
                          "properties": {
                            "distanceIn": {
                              "type": "number",
                              "minimum": 0
                            }
                          },
                          "required": [
                            "distanceIn"
                          ],
                          "additionalProperties": false
                        },
                        {
                          "type": "object",
                          "properties": {
                            "distanceFromEndIn": {
                              "type": "number",
                              "minimum": 0
                            }
                          },
                          "required": [
                            "distanceFromEndIn"
                          ],
                          "additionalProperties": false
                        }
                      ]
                    },
                    "command": {
                      "type": "object",
                      "properties": {
                        "name": {
                          "type": "string",
                          "minLength": 1
                        },
                        "args": {
                          "type": "object",
                          "additionalProperties": {
                            "type": [
                              "string",
                              "number",
                              "boolean"
                            ]
                          }
                        }
                      },
                      "required": [
                        "name"
                      ],
                      "additionalProperties": false
                    }
                  },
                  "required": [
                    "at",
                    "command"
                  ],
                  "additionalProperties": false
                }
              },
              "endCondition": {
                "type": "object",
                "properties": {
                  "condition": {
                    "type": "string",
                    "minLength": 1
                  }
                },
                "required": [
                  "condition"
                ],
                "additionalProperties": false
              },
              "expect": {
                "type": "object",
                "properties": {
                  "collectFrom": {
                    "type": "string",
                    "minLength": 1
                  },
                  "count": {
                    "type": "number"
                  },
                  "launchesInto": {
                    "type": "string",
                    "minLength": 1
                  },
                  "tip": {
                    "type": "string",
                    "enum": [
                      "own",
                      "opponent"
                    ]
                  }
                },
                "additionalProperties": false
              },
              "envelope": {
                "type": "object",
                "properties": {
                  "polygon": {
                    "type": "array",
                    "items": {
                      "type": "object",
                      "properties": {
                        "xIn": {
                          "type": "number"
                        },
                        "yIn": {
                          "type": "number"
                        }
                      },
                      "required": [
                        "xIn",
                        "yIn"
                      ],
                      "additionalProperties": false
                    },
                    "minItems": 3,
                    "maxItems": 32
                  },
                  "maxDurationS": {
                    "type": "number",
                    "exclusiveMinimum": 0,
                    "maximum": 30
                  },
                  "actualDurationS": {
                    "type": "number",
                    "exclusiveMinimum": 0
                  },
                  "provenance": {
                    "$ref": "#/properties/start/properties/pose/anyOf/1/properties/provenance"
                  }
                },
                "required": [
                  "polygon",
                  "maxDurationS",
                  "provenance"
                ],
                "additionalProperties": false
              },
              "notes": {
                "type": "string"
              }
            },
            "required": [
              "kind",
              "segments"
            ],
            "additionalProperties": false
          },
          {
            "type": "object",
            "properties": {
              "id": {
                "type": "string",
                "minLength": 1
              },
              "kind": {
                "type": "string",
                "const": "command"
              },
              "name": {
                "type": "string",
                "minLength": 1
              },
              "args": {
                "type": "object",
                "additionalProperties": {
                  "type": [
                    "string",
                    "number",
                    "boolean"
                  ]
                }
              },
              "timeoutS": {
                "type": "number",
                "exclusiveMinimum": 0
              },
              "expect": {
                "$ref": "#/properties/steps/items/anyOf/0/properties/expect"
              },
              "envelope": {
                "$ref": "#/properties/steps/items/anyOf/0/properties/envelope"
              },
              "notes": {
                "type": "string"
              }
            },
            "required": [
              "kind",
              "name"
            ],
            "additionalProperties": false
          },
          {
            "type": "object",
            "properties": {
              "id": {
                "type": "string",
                "minLength": 1
              },
              "kind": {
                "type": "string",
                "const": "wait"
              },
              "seconds": {
                "type": "number",
                "minimum": 0
              },
              "until": {
                "type": "string",
                "minLength": 1
              },
              "timeoutS": {
                "type": "number",
                "exclusiveMinimum": 0
              },
              "envelope": {
                "$ref": "#/properties/steps/items/anyOf/0/properties/envelope"
              },
              "notes": {
                "type": "string"
              }
            },
            "required": [
              "kind"
            ],
            "additionalProperties": false
          },
          {
            "type": "object",
            "properties": {
              "id": {
                "type": "string",
                "minLength": 1
              },
              "kind": {
                "type": "string",
                "const": "transfer"
              },
              "from": {
                "type": "string",
                "minLength": 1
              },
              "to": {
                "type": "string",
                "minLength": 1
              },
              "expectedCount": {
                "type": "integer",
                "minimum": 0
              },
              "actualCount": {
                "type": "integer",
                "minimum": 0
              },
              "notes": {
                "type": "string"
              }
            },
            "required": [
              "kind",
              "from",
              "to",
              "expectedCount"
            ],
            "additionalProperties": false
          },
          {
            "type": "object",
            "properties": {
              "id": {
                "type": "string",
                "minLength": 1
              },
              "kind": {
                "type": "string",
                "const": "sequence"
              },
              "steps": {
                "type": "array",
                "items": {
                  "$ref": "#/properties/steps/items"
                },
                "minItems": 1
              },
              "notes": {
                "type": "string"
              }
            },
            "required": [
              "kind",
              "steps"
            ],
            "additionalProperties": false
          },
          {
            "type": "object",
            "properties": {
              "id": {
                "type": "string",
                "minLength": 1
              },
              "kind": {
                "type": "string",
                "const": "parallel"
              },
              "mode": {
                "type": "string",
                "enum": [
                  "all",
                  "race",
                  "deadline"
                ]
              },
              "deadline": {
                "type": "string",
                "minLength": 1
              },
              "steps": {
                "type": "array",
                "items": {
                  "$ref": "#/properties/steps/items"
                },
                "minItems": 1
              },
              "notes": {
                "type": "string"
              }
            },
            "required": [
              "kind",
              "mode",
              "steps"
            ],
            "additionalProperties": false
          },
          {
            "type": "object",
            "properties": {
              "id": {
                "type": "string",
                "minLength": 1
              },
              "kind": {
                "type": "string",
                "const": "branch"
              },
              "condition": {
                "type": "string",
                "minLength": 1
              },
              "then": {
                "type": "array",
                "items": {
                  "$ref": "#/properties/steps/items"
                }
              },
              "else": {
                "type": "array",
                "items": {
                  "$ref": "#/properties/steps/items"
                }
              },
              "notes": {
                "type": "string"
              }
            },
            "required": [
              "kind",
              "condition",
              "then"
            ],
            "additionalProperties": false
          }
        ]
      },
      "minItems": 1
    }
  },
  "required": [
    "formatVersion",
    "name",
    "alliance",
    "start",
    "steps"
  ],
  "additionalProperties": false
}