{
    "$schema": "https://json-schema.org/draft/2020-12/schema",
    "title": "instantActions",
    "description": "JSON Schema for publishing instantActions that the AGV is to execute as soon as they arrive.",
    "required": [
        "headerId",
        "timestamp",
        "version",
        "manufacturer",
        "serialNumber",
        "actions"
    ],
    "subtopic": "/instantActions",
    "type": "object",
    "properties": {
        "headerId": {
            "title": "headerId",
            "type": "integer",
            "description": "headerId of the message. The headerId is defined per topic and incremented by 1 with each sent (but not necessarily received) message."
        },
        "timestamp": {
            "title": "timestamp",
            "type": "string",
            "format": "date-time",
            "description": "Timestamp in ISO8601 format (YYYY-MM-DDTHH:mm:ss.ffZ).",
            "examples": [
                "1991-03-11T11:40:03.12Z"
            ]
        },
        "version": {
            "title": "Version",
            "type": "string",
            "description": "Version of the protocol [Major].[Minor].[Patch]",
            "examples": [
                "1.3.2"
            ]
        },
        "manufacturer": {
            "type": "string",
            "description": "Manufacturer of the AGV"
        },
        "serialNumber": {
            "type": "string",
            "description": "Serial number of the AGV."
        },
        "actions": {
            "type": "array",
            "items": {
                "type": "object",
                "description": "Describes an action that the AGV can perform.",
                "required": [
                    "actionId",
                    "actionType",
                    "blockingType"
                ],
                "properties": {
                    "actionType": {
                        "type": "string",
                        "description": "Name of action as described in the first column of \"Actions and Parameters\". Identifies the function of the action."
                    },
                    "actionId": {
                        "type": "string",
                        "description": "Unique ID to identify the action and map them to the actionState in the state. Suggestion: Use UUIDs."
                    },
                    "actionDescription": {
                        "type": "string",
                        "description": "Additional information on the action."
                    },
                    "blockingType": {
                        "type": "string",
                        "description": "Regulates if the action is allowed to be executed during movement and/or parallel to other actions.\nnone: action can happen in parallel with others, including movement.\nsoft: action can happen simultaneously with others, but not while moving.\nhard: no other actions can be performed while this action is running.",
                        "enum": [
                            "NONE",
                            "SOFT",
                            "HARD"
                        ]
                    },
                    "actionParameters": {
                        "type": "array",
                        "description": "Array of actionParameter-objects for the indicated action e. g. deviceId, loadId, external Triggers.",
                        "items": {
                            "title": "actionParameter",
                            "type": "object",
                            "required": [
                                "key",
                                "value"
                            ],
                            "properties": {
                                "key": {
                                    "type": "string",
                                    "description": "The key of the action parameter.",
                                    "examples": [
                                        "duration",
                                        "direction",
                                        "signal"
                                    ]
                                },
                                "value": {
                                    "type": [
                                        "array",
                                        "boolean",
                                        "number",
                                        "string",
                                        "object"
                                    ],
                                    "description": "The value of the action parameter",
                                    "examples": [
                                        103.2,
                                        "left",
                                        true,
                                        [
                                            "arrays",
                                            "are",
                                            "also",
                                            "valid"
                                        ]
                                    ]
                                }
                            }
                        }
                    }
                }
            }
        }
    }
}