{
    "$schema": "http://json-schema.org/draft-07/schema#",
    "$id": "https://dvrk.lcsr.jhu.edu/documentation/schemas/v2.2/dvrk-psm.schema.json",
    "title": "dVRK psm 2.2",
    "description": "Configuration file format for the dVRK PSM arm component.  Some of the properties are inherited from the See [dVRK wiki](https://github.com/jhu-dVRK/sawIntuitiveResearchKit/wiki).<ul><li>PSM schema extends [arm schema](dvrk-arm.html)<li>For details of implementation, see code under `sawIntuitiveResearchKit/components/code/mtsIntuitiveResearchKitPSM.cpp`<li>[Schema file](dvrk-psm.schema.json)</ul>",
    "allOf": [
        { "$ref": "https://dvrk.lcsr.jhu.edu/documentation/schemas/v2.1/dvrk-arm.schema.json#/" },

        {
            "properties": {
                "custom-tool-index": {
                    "description": "Extra instrument list loaded for this arm.  By default, the supported instruments are defined in the file `share/tool/index.html` but one might need some new instruments.  This can be to support custom instruments or standard ISI instruments not yet supported by the dVRK (see [dVRK wiki](https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Custom-Instruments)).  The filename can be absolute or relative to `sawIntuitiveResearchKit/share`.  For example \"jhu-dVRK/custom-tool/custom-tool-index.json\"",
                    "type": "string"
                }
                ,
                "tool-detection": {
                    "description": "Set the tool detection method.  Possible values are defined in `sawIntuitiveResearchKit/components/code/mtsIntuitiveResearchKitToolTypes.cdg`.  For more details regarding tool detection see the [dVRK wiki](https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Tool-Detection).",
                    "type": "string",
                    "enum": ["AUTOMATIC", "MANUAL", "FIXED"],
                    "default": "AUTOMATIC"
                }
                ,
                "tool": {
                    "description": "Tool type (e.g. \"LARGE_NEEDLE_DRIVER:400006\" or \"LARGE_NEEDLE_DRIVER:420006[12]\" if the version is needed).   This is required if the \"tool-detection\" is set to \"FIXED\" and ignored otherwise.  This emulates the behavior of the dVRK 1.x and should only be used if the tool is never changed.",
                    "type": "string"
                }
            }
        }
    ]
}