{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://libraries.horizon36596.org/zenith/schema/v1/trajectory.json",
  "title": "Zenith interchange trajectory file, formatVersion 1",
  "type": "object",
  "properties": {
    "$schema": {
      "type": "string",
      "const": "https://libraries.horizon36596.org/zenith/schema/v1/trajectory.json"
    },
    "formatVersion": {
      "type": "number",
      "const": 1
    },
    "kind": {
      "type": "string",
      "const": "trajectory"
    },
    "season": {
      "type": "string",
      "minLength": 1,
      "maxLength": 200
    },
    "alliance": {
      "type": "string",
      "enum": [
        "RED",
        "BLUE"
      ]
    },
    "title": {
      "type": "string",
      "minLength": 1,
      "maxLength": 200
    },
    "source": {
      "type": "object",
      "properties": {
        "planner": {
          "type": "string",
          "maxLength": 200
        },
        "exporter": {
          "type": "string",
          "maxLength": 200
        }
      },
      "additionalProperties": false
    },
    "frame": {
      "type": "object",
      "properties": {
        "preset": {
          "type": "string",
          "enum": [
            "zenith",
            "pedro",
            "roadrunner"
          ]
        },
        "originIn": {
          "type": "object",
          "properties": {
            "xIn": {
              "type": "number"
            },
            "yIn": {
              "type": "number"
            }
          },
          "required": [
            "xIn",
            "yIn"
          ],
          "additionalProperties": false
        },
        "xAxis": {
          "type": "string",
          "enum": [
            "+x",
            "-x",
            "+y",
            "-y"
          ]
        },
        "yAxis": {
          "type": "string",
          "enum": [
            "+x",
            "-x",
            "+y",
            "-y"
          ]
        },
        "units": {
          "type": "string",
          "enum": [
            "in",
            "mm",
            "cm",
            "m"
          ]
        },
        "headingUnit": {
          "type": "string",
          "enum": [
            "rad",
            "deg"
          ]
        },
        "headingZero": {
          "type": "string",
          "enum": [
            "+x",
            "+y"
          ]
        },
        "headingPositive": {
          "type": "string",
          "enum": [
            "ccw",
            "cw"
          ]
        }
      },
      "additionalProperties": false,
      "description": "The planner's frame: a preset (zenith, pedro or roadrunner), optionally with some of its keys overridden, or every key given explicitly. Axis directions are field-frame directions."
    },
    "rateHz": {
      "type": "number",
      "exclusiveMinimum": 0,
      "maximum": 1000
    },
    "poses": {
      "type": "array",
      "items": {
        "type": "array",
        "items": {
          "type": "number"
        },
        "minItems": 3,
        "maxItems": 3
      },
      "minItems": 1,
      "maxItems": 300000
    },
    "boundingBox": {
      "type": "object",
      "properties": {
        "lengthIn": {
          "type": "number",
          "exclusiveMinimum": 0
        },
        "widthIn": {
          "type": "number",
          "exclusiveMinimum": 0
        },
        "centreOffsetIn": {
          "type": "object",
          "properties": {
            "xIn": {
              "type": "number"
            },
            "yIn": {
              "type": "number"
            }
          },
          "required": [
            "xIn",
            "yIn"
          ],
          "additionalProperties": false
        },
        "provenance": {
          "type": "string",
          "minLength": 1,
          "maxLength": 200
        }
      },
      "required": [
        "lengthIn",
        "widthIn"
      ],
      "additionalProperties": false
    },
    "phases": {
      "type": "array",
      "items": {
        "type": "object",
        "properties": {
          "startS": {
            "type": "number",
            "minimum": 0
          },
          "endS": {
            "type": "number",
            "minimum": 0
          },
          "label": {
            "type": "string",
            "enum": [
              "drive",
              "score",
              "collect",
              "wait",
              "park",
              "other"
            ]
          }
        },
        "required": [
          "startS",
          "endS",
          "label"
        ],
        "additionalProperties": false
      },
      "maxItems": 200
    },
    "claims": {
      "type": "array",
      "items": {
        "type": "object",
        "properties": {
          "elementId": {
            "type": "string",
            "minLength": 1,
            "maxLength": 200
          },
          "action": {
            "type": "string",
            "enum": [
              "take",
              "score"
            ]
          },
          "atS": {
            "type": "number",
            "minimum": 0
          }
        },
        "required": [
          "elementId",
          "action",
          "atS"
        ],
        "additionalProperties": false
      },
      "maxItems": 200
    },
    "envelopes": {
      "type": "array",
      "items": {
        "type": "object",
        "properties": {
          "startS": {
            "type": "number",
            "minimum": 0
          },
          "endS": {
            "type": "number",
            "minimum": 0
          },
          "polygon": {
            "type": "array",
            "items": {
              "type": "object",
              "properties": {
                "x": {
                  "type": "number"
                },
                "y": {
                  "type": "number"
                }
              },
              "required": [
                "x",
                "y"
              ],
              "additionalProperties": false
            },
            "minItems": 3,
            "maxItems": 200
          }
        },
        "required": [
          "startS",
          "endS",
          "polygon"
        ],
        "additionalProperties": false
      },
      "maxItems": 50
    }
  },
  "required": [
    "formatVersion",
    "kind",
    "season",
    "alliance",
    "frame",
    "rateHz",
    "poses",
    "boundingBox"
  ],
  "additionalProperties": false
}