added an initial schema

[marc-hanheide]

This pull request includes the addition of a new JSON schema for the topological map configuration. The schema defines the structure and validation rules for the topological map data.

Schema definition:

• topological_navigation/config/tmap-schema.yaml: Added a new JSON schema to define the structure of the topological map configuration. The schema includes required properties such as meta, metric_map, name, nodes, and pointset, and specifies the types and validation rules for these properties.

I have used this little python code to test the validation:

(after pip install pyyaml jsonschema)

import yaml
from jsonschema import validate
import sys

def validate_yaml(schema_file, yaml_file):
    try:
        with open(schema_file, 'r') as f:
            schema = yaml.safe_load(f)
        
        with open(yaml_file, 'r') as f:
            data = yaml.safe_load(f)
            
        validate(instance=data, schema=schema)
        print("Validation successful!")
        
    except Exception as e:
        print(f"Validation error: {str(e)}")
        sys.exit(1)

if __name__ == "__main__":
    validate_yaml('schema.yaml', 'your_topo_map.yaml')

In particular, I have tested the validation against https://raw.githubusercontent.com/LCAS/environment_template/refs/heads/riseholme_park_farm_strawberry_polytunnels/config/topological/network.tmap2.yaml

This is a very forgiving schema, allowing additional elements and just ensures the basic structure of our tmap format:

Topological Map Schema Documentation

Required Top-Level Elements

The schema requires these root elements:

• meta - Contains metadata
• metric_map - String identifier for the metric map
• name - String identifier for the map
• nodes - Array of node objects
• pointset - String identifier for the pointset

Additional properties allowed at the root level (like transformation).

Element Details

meta

Required properties:

• last_updated - String in format "YYYY-MM-DD_HH-MM-SS"

nodes

Array of node objects, each requiring:

Node Object Structure

1. meta object with required fields:

   • map (string)
   • node (string)
   • pointset (string)
   • Additional properties allowed

2. node object with required fields:

   • edges (array of edge objects)
   • name (string)
   • parent_frame (string)
   • Additional properties allowed

Edge Object Structure

Each edge in the edges array requires:

• edge_id (string)
• node (string)
• Additional properties allowed

Additional Property Rules

• Root level: Additional properties allowed
• Node objects: Additional properties allowed
• Edge objects: Additional properties allowed
• Meta objects: Additional properties allowed

[marc-hanheide]

@Iranaphor @ibrahimhroob

We should use this schema, a) to better document our format, and b) to run automatic schema validation in https://github.com/LCAS/environment_template and derived repositories.

[marc-hanheide]

should be possible to use this github workflow action: https://github.com/marketplace/actions/schema-validation-action for instance