This is roughly what my JSON parser does. It does type-checking, albeit without using JSON-schema, but an object descriptor that you have to define to parse and generate JSON.

It's been developed for embedded systems (it was written originally for a NATS implementation in the Zephyr RTOS), so it's a bit limited and there's no easy way to know where some parsing/type validation error happened, but the information is there if one wants to obtain it: https://github.com/lpereira/lwan/blob/master/src/samples/tec...