@abco20/btxml-checker 0.1.0 → 0.1.2

package/dist/semantic.js

@@ -1,2 +1,3 @@
-var S={Error:"error",Warning:"warning",Info:"info"};function M(e,t,n,i,r="",o,s){return{code:e,severity:t,message:n,uri:r,...i?{range:i}:{},...o?{details:o}:{},...s?{data:s}:{}}}function E(e,t){return e?e.start.offset<=t&&t<=e.end.offset:!1}var pt={DuplicateNodeModelId:"BT006_DUPLICATE_NODE_MODEL_ID"};function mt(e){return e.kind==="bt-document"?"bt-xml":e.kind==="model-document"?"model-xml":"unknown"}function T(e,t){return e.attributes.find(n=>n.name===t)}function ft(e){return e==="Action"||e==="Condition"||e==="Control"||e==="Decorator"||e==="SubTree"}function gt(e){if(e)return{uri:e.uri,range:e.range,value:e.value}}function yt(e,t="inline-tree-nodes-model"){return e.kind==="model-document"?"external-tree-nodes-model":t}function me(e,t,n){for(let i of e.attributes||[]){let r=[...String(i.value).matchAll(/\{([^}]+)\}/g)];for(let o of r){let s=o.index??0,a=i.valueRange.start,d={...a,character:a.character+o[0].length,offset:a.offset+s+o[0].length};t.push({name:o[1],attributeName:i.name,element:e,uri:n,range:{start:{...a,character:a.character+s,offset:a.offset+s},end:d}})}}for(let i of e.children||[])i.kind==="element"&&me(i,t,n)}function Tt(e,t,n,i){let r=[];for(let o of e.children||[]){if(o.kind!=="element"||!ft(o.name))continue;let s=T(o,"ID");if(!s)continue;let a=[];for(let d of o.children||[]){if(d.kind!=="element"||d.name!=="input_port"&&d.name!=="output_port"&&d.name!=="inout_port")continue;let u=T(d,"name"),l=T(d,"type"),m=T(d,"default")||T(d,"default_value"),f=T(d,"enum"),c=(d.children||[]).filter(y=>y.kind==="text").map(y=>y.text).join("").trim()||void 0,g=d.name==="input_port"?"input":d.name==="output_port"?"output":"inout",p=(g==="input"||g==="inout")&&m===void 0;a.push({source:n,direction:g,name:u?u.value:"",type:l?.value||void 0,defaultValue:m?.value||void 0,description:c,required:p,element:d,uri:t,range:d.range,nameRange:u?.range,enum:f?.value?f.value.split(";"):void 0})}r.push({id:s.value,kind:o.name,source:n,sourceMeta:{sourceKind:n,file:t,range:o.range},editable:i,ports:a,element:o,uri:t,range:o.range,elementRange:o.range,idRange:s.range})}return r}function St(e,t){let n=[];for(let i of e.children||[]){if(i.kind!=="element"||i.name!=="BehaviorTree")continue;let r=T(i,"ID");r&&n.push({id:r.value,kind:"BehaviorTree",uri:t,element:i,range:i.range,elementRange:i.range,idRange:r.range})}return n}function bt(e,t){let n=[],i=(r,o)=>{let s=r.name==="BehaviorTree"?T(r,"ID")?.value??o:o;if(r.name==="SubTree"){let a=T(r,"ID");a&&n.push({id:a.value,uri:t,element:r,range:r.range,elementRange:r.range,idRange:a.range,parentBehaviorTreeId:s,attributes:r.attributes})}for(let a of r.children||[])a.kind==="element"&&i(a,s)};for(let r of e.children||[])r.kind==="element"&&i(r);return n}function Dt(e){return{id:e.id,kind:e.kind,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange}}function fe(e){return{source:e.source,direction:e.direction,name:e.name,type:e.type,defaultValue:e.defaultValue,description:e.description,required:e.required,uri:e.uri,range:e.range,nameRange:e.nameRange,enum:e.enum?[...e.enum]:void 0}}function ht(e){return{id:e.id,kind:e.kind,editable:e.editable,ports:e.ports.map(fe),source:e.source,sourceMeta:e.sourceMeta?{sourceKind:e.sourceMeta.sourceKind,file:e.sourceMeta.file,range:e.sourceMeta.range}:void 0,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange}}function Nt(e){return{id:e.id,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function Mt(e){return{name:e.name,attributeName:e.attributeName,uri:e.uri,range:e.range}}function Bt(e){return{uri:e.uri,path:e.path,isBtXml:e.isBtXml,kind:e.kind,behaviorTrees:e.behaviorTrees.map(Dt),subtreeReferences:e.subtreeReferences.map(Nt),blackboardReferences:e.blackboardReferences.map(Mt),treeNodesModel:e.treeNodesModel.map(ht),genericSubTreePorts:e.genericSubTreePorts.map(fe),rootMainTreeToExecute:gt(e.rootMainTreeToExecute)}}function vt(e){return e.node.kind==="SubTree"&&e.node.id==="SubTree"?(e.genericSubTreePorts.push(...e.node.ports),!0):(e.treeNodesModel.push(e.node),!1)}function xt(e){return M(pt.DuplicateNodeModelId,S.Error,`duplicate node model ID \`${e.id}\``,e.idRange||e.range,e.uri,{primaryLabel:"this node model ID is already defined in the same model source",help:"merge the duplicate definitions or rename one of them"})}function kt(e,t){let n=[],i=t?.uri||e.uri,r=e.root,o=e.isBtXml,s=mt(e),a=yt(e),d=((t?.path??e.path)||i==="")&&e.kind==="model-document"?!0:e.kind!=="model-document",u=r&&e.kind!=="model-document"?St(r,i):[],l=[],m=[],f=r?r.name==="TreeNodesModel"?[r]:r.children.filter(h=>h.kind==="element"&&h.name==="TreeNodesModel"):[];for(let h of f){let ct=Tt(h,i,a,d),pe=new Map;for(let x of ct)vt({node:x,treeNodesModel:l,genericSubTreePorts:m})||(pe.has(x.id)?n.push(xt(x)):pe.set(x.id,x))}let c=r?bt(r,i):[],g=r?(()=>{let h=[];return me(r,h,i),h})():[],p=r?T(r,"main_tree_to_execute"):void 0;return{extracted:{publicModel:Bt({uri:i,path:t?.path??e.path,isBtXml:o,kind:s,behaviorTrees:u,subtreeReferences:c,blackboardReferences:g,treeNodesModel:l,genericSubTreePorts:m,rootMainTreeToExecute:p?{uri:i,range:p.range,value:p.value}:void 0}),extractedBehaviorTrees:u,extractedTreeNodesModel:l,extractedSubTreeReferences:c,extractedBlackboardReferences:g},diagnostics:n}}function ge(e,t){let{extracted:n,diagnostics:i}=kt(e,t);return{model:n.publicModel,diagnostics:i}}function G(e,t){return ge(e,t)}var ye=new Set(["ID","name","_name","_autoremap","_failureIf","_successIf","_skipIf","_while","_onSuccess","_onFailure","_onHalted","_post"]),An=new Set([...ye,"_autoremap","_description","__shared_blackboard"]);function K(e){return ye.has(e)}function Te(e,t){let n=t.direction??"input";return{source:"config",name:e,direction:n,type:t.type,defaultValue:t.default,description:t.description,required:t.required??((n==="input"||n==="inout")&&t.default===void 0),enum:t.enum}}function j(e,t){return{id:e,kind:t.kind,source:"config",sourceMeta:{sourceKind:"config"},editable:!0,ports:Object.entries(t.ports??{}).map(([n,i])=>Te(n,i))}}var Rt=[{name:"std::string",kind:"primitive",aliases:["string"]},{name:"bool",kind:"primitive",aliases:[]},{name:"int8_t",kind:"primitive",aliases:["std::int8_t"]},{name:"int16_t",kind:"primitive",aliases:["std::int16_t"]},{name:"int32",kind:"primitive",aliases:["int","int32_t","std::int32_t"]},{name:"int64_t",kind:"primitive",aliases:["long","int64","std::int64_t"]},{name:"short",kind:"primitive",aliases:[]},{name:"uint8_t",kind:"primitive",aliases:["std::uint8_t"]},{name:"uint16_t",kind:"primitive",aliases:["std::uint16_t"]},{name:"uint32",kind:"primitive",aliases:["uint","unsigned","unsigned int","uint32_t","std::uint32_t"]},{name:"uint64_t",kind:"primitive",aliases:["uint64","std::uint64_t","size_t","std::size_t"]},{name:"float",kind:"primitive",aliases:[]},{name:"double",kind:"primitive",aliases:[]},{name:"BT::NodeStatus",kind:"primitive",aliases:["NodeStatus"]},{name:"BT::Any",kind:"any",aliases:["BT::AnyTypeAllowed","BT::AnyType","Any"]}],_=new Map,Se=new Map;for(let e of Rt){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};Se.set(e.name,t),_.set(e.name,e.name);for(let n of e.aliases)_.set(n,e.name)}function Pt(e,t,n){return{name:e,kind:n.kind,canonical:t,aliases:new Set([e,t,...n.aliases??[]]),compatibleWith:new Set(n.compatibleWith??[]),validate:n.validate,source:"augmentation"}}function X(e){return _.get(e)??e}function It(e){return{name:e.name,kind:e.kind,canonical:e.canonical,aliases:[...e.aliases].filter(t=>t!==e.canonical),compatibleWith:[...e.compatibleWith],validate:e.validate,source:e.source}}function w(e=[]){let t=new Map,n=new Map(_);for(let i of Se.values())t.set(i.canonical,{name:i.name,kind:i.kind,canonical:i.canonical,aliases:new Set([i.name,i.canonical,...i.aliases]),compatibleWith:new Set(i.compatibleWith),validate:i.validate,source:i.source});for(let i of e)for(let[r,o]of Object.entries(i.types??{})){let s=X(o.canonical??r),d=t.get(s)??Pt(r,s,o);d.name=r,d.kind=o.kind,d.canonical=s,d.source="augmentation",d.validate=o.validate??d.validate,d.aliases.add(r),d.aliases.add(s);for(let u of o.aliases??[])d.aliases.add(u);for(let u of o.compatibleWith??[])d.compatibleWith.add(u);t.set(s,d),n.set(r,s),n.set(s,s);for(let u of o.aliases??[])n.set(u,s)}for(let i of t.values())i.compatibleWith=new Set([...i.compatibleWith].map(r=>n.get(r)??X(r))),i.compatibleWith.delete(i.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([i,r])=>[i,It(r)])),namesToCanonical:n}}function be(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??X(t),i=e.entriesByCanonical.get(n);return i||{name:t,kind:"opaque",canonical:n,aliases:[],compatibleWith:[],source:"custom"}}function W(e,t){return be(e,t)?.canonical}var De=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<double, std::allocator<double> > >",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<int, std::allocator<int> > >",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once bu the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written int othe output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned int",description:"After a certain amount of time, halt() the child if it is still running.",required:!0}]},{id:"UnsetBlackboard",kind:"Action",ports:[{name:"key",direction:"input",type:"std::string",description:"Key of the entry to remove",required:!0}]},{id:"WaitValueUpdate",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WasEntryUpdated",kind:"Action",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WhileDoElse",kind:"Control",ports:[]}],he={id:"SubTree",kind:"SubTree",ports:[{name:"_autoremap",direction:"input",type:"bool",defaultValue:"false",description:"If true, all the ports with the same name will be remapped",required:!1}]};var Ne=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<double, std::allocator<double> > >",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<int, std::allocator<int> > >",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once by the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written into the output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned 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ke(e){return{source:e.source,direction:e.direction,name:e.name,type:e.type,defaultValue:e.defaultValue,description:e.description,required:e.required,uri:e.uri,range:e.range,nameRange:e.nameRange,enum:e.enum?[...e.enum]:void 0}}function wt(e){return{id:e.id,kind:e.kind,editable:e.editable,ports:e.ports.map(ke),source:e.source,sourceMeta:e.sourceMeta?{sourceKind:e.sourceMeta.sourceKind,file:e.sourceMeta.file,range:e.sourceMeta.range}:void 0,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange}}function Et(e){return{id:e.id,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function _t(e){return{raw:e.raw,key:e.key,scope:e.scope,identity:e.identity,syntax:e.syntax,attributeName:e.attributeName,uri:e.uri,range:e.range}}function At(e){return{uri:e.uri,path:e.path,isBtXml:e.isBtXml,kind:e.kind,behaviorTrees:e.behaviorTrees.map(It),subtreeReferences:e.subtreeReferences.map(Et),blackboardReferences:e.blackboardReferences.map(_t),treeNodesModel:e.treeNodesModel.map(wt),genericSubTreePorts:e.genericSubTreePorts.map(ke),rootMainTreeToExecute:Nt(e.rootMainTreeToExecute)}}function Vt(e){return e.node.kind==="SubTree"&&e.node.id==="SubTree"?(e.genericSubTreePorts.push(...e.node.ports),!0):(e.treeNodesModel.push(e.node),!1)}function Ct(e){return M(kt.DuplicateNodeModelId,S.Error,`duplicate node model ID \`${e.id}\``,e.idRange||e.range,e.uri,{primaryLabel:"this node model ID is already defined in the same model source",help:"merge the duplicate definitions or rename one of them"})}function qt(e,t){let n=[],r=t?.uri||e.uri,i=e.root,o=e.isBtXml,s=Dt(e),u=Mt(e),a=((t?.path??e.path)||r==="")&&e.kind==="model-document"?!0:e.kind!=="model-document",d=i&&e.kind!=="model-document"?Rt(i,r):[],c=[],p=[],f=i?i.name==="TreeNodesModel"?[i]:i.children.filter(D=>D.kind==="element"&&D.name==="TreeNodesModel"):[];for(let D of f){let St=vt(D,r,u,a),ye=new Map;for(let P of St)Vt({node:P,treeNodesModel:c,genericSubTreePorts:p})||(ye.has(P.id)?n.push(Ct(P)):ye.set(P.id,P))}let l=i?Pt(i,r):[],g=i?(()=>{let D=[];return he(i,D,r,e.originalText),D})():[],m=i?b(i,"main_tree_to_execute"):void 0;return{extracted:{publicModel:At({uri:r,path:t?.path??e.path,isBtXml:o,kind:s,behaviorTrees:d,subtreeReferences:l,blackboardReferences:g,treeNodesModel:c,genericSubTreePorts:p,rootMainTreeToExecute:m?{uri:r,range:m.range,value:m.value}:void 0}),extractedBehaviorTrees:d,extractedTreeNodesModel:c,extractedSubTreeReferences:l,extractedBlackboardReferences:g},diagnostics:n}}function De(e,t){let{extracted:n,diagnostics:r}=qt(e,t);return{model:n.publicModel,diagnostics:r}}function X(e,t){return De(e,t)}var Be=new Set(["ID","name","_name","_autoremap","_failureIf","_successIf","_skipIf","_while","_onSuccess","_onFailure","_onHalted","_post"]),Wn=new Set([...Be,"_autoremap","_description","__shared_blackboard"]);function $(e){return Be.has(e)}function Ne(e,t){let n=t.direction??"input";return{source:"config",name:e,direction:n,type:t.type,defaultValue:t.default,description:t.description,required:t.required??((n==="input"||n==="inout")&&t.default===void 0),enum:t.enum}}function W(e,t){return{id:e,kind:t.kind,source:"config",sourceMeta:{sourceKind:"config"},editable:!0,ports:Object.entries(t.ports??{}).map(([n,r])=>Ne(n,r))}}var Ut=[{name:"std::string",kind:"primitive",aliases:["string"]},{name:"bool",kind:"primitive",aliases:[]},{name:"int8_t",kind:"primitive",aliases:["std::int8_t"]},{name:"int16_t",kind:"primitive",aliases:["std::int16_t"]},{name:"int32",kind:"primitive",aliases:["int","int32_t","std::int32_t"]},{name:"int64_t",kind:"primitive",aliases:["long","int64","std::int64_t"]},{name:"short",kind:"primitive",aliases:[]},{name:"uint8_t",kind:"primitive",aliases:["std::uint8_t"]},{name:"uint16_t",kind:"primitive",aliases:["std::uint16_t"]},{name:"uint32",kind:"primitive",aliases:["uint","unsigned","unsigned int","uint32_t","std::uint32_t"]},{name:"uint64_t",kind:"primitive",aliases:["uint64","std::uint64_t","size_t","std::size_t"]},{name:"float",kind:"primitive",aliases:[]},{name:"double",kind:"primitive",aliases:[]},{name:"BT::NodeStatus",kind:"primitive",aliases:["NodeStatus"]},{name:"BT::Any",kind:"any",aliases:["BT::AnyTypeAllowed","BT::AnyType","Any"]}],V=new Map,Me=new Map;for(let e of Ut){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};Me.set(e.name,t),V.set(e.name,e.name);for(let n of e.aliases)V.set(n,e.name)}function Lt(e,t,n){return{name:e,kind:n.kind,canonical:t,aliases:new Set([e,t,...n.aliases??[]]),compatibleWith:new Set(n.compatibleWith??[]),validate:n.validate,source:"augmentation"}}function z(e){return V.get(e)??e}function Ft(e){return{name:e.name,kind:e.kind,canonical:e.canonical,aliases:[...e.aliases].filter(t=>t!==e.canonical),compatibleWith:[...e.compatibleWith],validate:e.validate,source:e.source}}function C(e=[]){let t=new Map,n=new Map(V);for(let r of Me.values())t.set(r.canonical,{name:r.name,kind:r.kind,canonical:r.canonical,aliases:new Set([r.name,r.canonical,...r.aliases]),compatibleWith:new Set(r.compatibleWith),validate:r.validate,source:r.source});for(let r of e)for(let[i,o]of Object.entries(r.types??{})){let s=z(o.canonical??i),a=t.get(s)??Lt(i,s,o);a.name=i,a.kind=o.kind,a.canonical=s,a.source="augmentation",a.validate=o.validate??a.validate,a.aliases.add(i),a.aliases.add(s);for(let d of o.aliases??[])a.aliases.add(d);for(let d of o.compatibleWith??[])a.compatibleWith.add(d);t.set(s,a),n.set(i,s),n.set(s,s);for(let d of o.aliases??[])n.set(d,s)}for(let r of t.values())r.compatibleWith=new Set([...r.compatibleWith].map(i=>n.get(i)??z(i))),r.compatibleWith.delete(r.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([r,i])=>[r,Ft(i)])),namesToCanonical:n}}function xe(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??z(t),r=e.entriesByCanonical.get(n);return r||{name:t,kind:"opaque",canonical:n,aliases:[],compatibleWith:[],source:"custom"}}function J(e,t){return xe(e,t)?.canonical}var ve=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<double, std::allocator<double> > >",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<int, std::allocator<int> > >",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once bu the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written int othe output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned int",description:"After a certain amount of time, halt() the child if it is still running.",required:!0}]},{id:"UnsetBlackboard",kind:"Action",ports:[{name:"key",direction:"input",type:"std::string",description:"Key of the entry to remove",required:!0}]},{id:"WaitValueUpdate",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WasEntryUpdated",kind:"Action",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WhileDoElse",kind:"Control",ports:[]}],Re={id:"SubTree",kind:"SubTree",ports:[{name:"_autoremap",direction:"input",type:"bool",defaultValue:"false",description:"If true, all the ports with the same name will be remapped",required:!1}]};var Pe=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<double, std::allocator<double> > >",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<int, std::allocator<int> > >",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once by the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written into the output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned int",description:"After a certain amount of time, halt() the child if it is still running.",required:!0}]},{id:"UnsetBlackboard",kind:"Action",ports:[{name:"key",direction:"input",type:"std::string",description:"Key of the entry to remove",required:!0}]},{id:"WaitValueUpdate",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WasEntryUpdated",kind:"Action",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WhileDoElse",kind:"Control",ports:[]}],Ie={id:"SubTree",kind:"SubTree",ports:[{name:"_autoremap",direction:"input",type:"bool",defaultValue:"false",description:"If true, all the ports with the same name will be remapped",required:!1}]};var we=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is 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e.model.status==="resolved"?{status:"resolved",model:e.model.model,source:e.model.model.sourceMeta}:e.model.status==="ambiguous"?{status:"ambiguous",nodeType:e.model.nodeType,candidates:e.model.candidates}:{status:"unresolved",nodeType:e.nodeType??e.tagName}}function yt(e){return e.status==="resolved"?{status:"resolved",port:e.port}:e.status==="allowed-arbitrary"?{status:"allowed-arbitrary",name:e.name}:e.status==="undeclared"?{status:"undeclared",name:e.name}:{status:"unknown-node-model"}}function Bn(e){return e.status==="resolved"?e.port.direction:"unknown"}function Nn(e,t){return e===""?"empty":e==="{=}"||e==="="?"substitution":t.some(n=>n.syntax==="braced")?"blackboard-reference":t.some(n=>n.syntax==="shorthand")?"substitution":t.some(n=>n.syntax==="invalid")?"unknown":"literal"}function lt(e,t){return{nodeId:e,portName:t.name,rawValue:t.value,direction:Bn(t.usage),valueKind:Nn(t.value,t.blackboardReferences),range:t.attribute.range,nameRange:t.attribute.nameRange,valueRange:t.attribute.valueContentRange||t.attribute.valueRange,resolution:t.declaredPort,usage:t.usage,blackboardReferences:t.blackboardReferences}}function Mn(e){let t=new Set;for(let n of[e.name,e.idAttr,e.nodeType,e.tagName,e.instancePath,e.behaviorTreeId&&!e.instancePath.startsWith(`${e.behaviorTreeId}/`)?`${e.behaviorTreeId}/${e.instancePath}`:void 0,e.nodeId])n&&t.add(n);return[...t]}function k(e,t){return e.attributes.find(n=>n.name===t)}function xn(e){return e.root?k(e.root,"main_tree_to_execute")?.value:void 0}function vn(e){let t=new Set;if(!e)return t;let n=r=>{t.add(r);for(let i of r.children)i.kind==="element"&&n(i)};if(e.name==="TreeNodesModel")return n(e),t;for(let r of e.children)r.kind!=="element"||r.name!=="TreeNodesModel"||n(r);return t}function bt(e,t){let n=t.semantic,r=vn(e.root),i=yn(e).map(a=>({id:k(a,"ID")?.value,element:a,rootNode:void 0,nodes:[]})),o=[],s=[],u=(a,d,c,p)=>{let f=h(n,{element:a,uri:e.uri,documentRoot:e.root,config:t?.config,policy:t?.policy,isModelDefinition:r.has(a)}),l=gt(f),g={element:a,path:p,tagName:a.name,kind:bn(a,f),model:l,usage:f,portBindings:[],children:[],parent:c,behaviorTree:d};if(g.portBindings=f.portUsages.filter(m=>m.status!=="reserved-attribute").map(m=>({name:m.name,value:m.value,attribute:m.attribute,declaredPort:yt(m),usage:m,blackboardReferences:pt(e,m.name,m.attribute)})),g.children=a.children.filter(m=>m.kind==="element").map((m,y)=>u(m,d,g,[...p,y])),a.name==="SubTree"){let m=k(a,"ID")?.value;o.push({node:g,id:m,target:f.subtree?.target??{status:"unresolved",id:m},portRemaps:g.portBindings})}return g};for(let a of i){let d=a.element.children.filter(c=>c.kind==="element").map((c,p)=>u(c,a,void 0,[p]));a.rootNode=d[0],a.nodes=mt(d),s.push(...a.nodes)}return{document:e,behaviorTrees:i,subtreeCalls:o,nodes:s}}function le(e,t,n){let r=bt(e,{semantic:t,config:n?.config,policy:n?.policy}),i=Tn(r.behaviorTrees),o=r.nodes.map(d=>{let c=i(d),p=d.usage,f=p.nodeType??d.tagName,l=ft(d.element),g=k(d.element,"ID")?.value,m=Dn(d);return{nodeId:c,path:d.path,instancePath:m,tagName:d.tagName,nodeType:f,name:l,idAttr:g,kind:d.kind,range:d.element.range,fullRange:d.element.fullRange,nameRange:d.element.nameRange,parentNodeId:d.parent?i(d.parent):void 0,childNodeIds:d.children.map(i),behaviorTreeId:d.behaviorTree.id,attributes:d.element.attributes.map(hn),identityCandidates:Mn({name:l,idAttr:g,nodeType:f,tagName:d.tagName,instancePath:m,behaviorTreeId:d.behaviorTree.id,nodeId:c}),model:gt(p),usage:p,portBindings:p.portUsages.filter(y=>y.status!=="reserved-attribute").map(y=>lt(c,{name:y.name,value:y.value,attribute:y.attribute,declaredPort:yt(y),usage:y,blackboardReferences:pt(e,y.name,y.attribute)}))}}),s=r.behaviorTrees.map(d=>({id:d.id,range:d.element.range,idRange:k(d.element,"ID")?.valueContentRange,rootNodeId:d.rootNode?i(d.rootNode):void 0,nodeIds:d.nodes.map(i)})),u=r.subtreeCalls.map(d=>({nodeId:i(d.node),callId:d.id,range:d.node.element.range,target:d.target,portBindings:d.portRemaps.map(c=>lt(i(d.node),c))})),a=e.root?k(e.root,"main_tree_to_execute"):void 0;return{uri:e.uri,kind:Sn(e),mainTreeToExecute:xn(e),mainTreeToExecuteRange:a?.valueContentRange||a?.valueRange,behaviorTrees:s,nodes:o,subtreeCalls:u}}function Rn(e,t){return A(e.fullRange||e.range,t)}function Pn(e,t){let n=e.fullRange||e.range,r=t.fullRange||t.range;return n.end.offset-n.start.offset<r.end.offset-r.start.offset}function pe(e){return e.nodes}function me(e){return e.subtreeCalls}function fe(e,t){let n;for(let r of e.nodes)Rn(r,t.offset)&&(!n||Pn(r,n))&&(n=r);return n}function ge(e,t){for(let n of e.nodes)for(let r of n.portBindings)if(A(r.range,t.offset))return r}export{le as buildSemanticDocumentView,et as buildSemanticIndex,fe as findSemanticNodeAtPosition,ge as findSemanticPortBindingAtPosition,st as getAllNodeModels,pe as getAllSemanticTreeNodes,at as getAllSubTreeReferences,dt as getBehaviorTreeIds,F as getBehaviorTrees,ut as getEffectiveNodeModels,ne as getGenericNodeKindFromTag,K as getGenericSubTreePorts,G as getModelConflicts,N as getNodeModel,O as getNodeModelDefinitions,_ as getNodeTypeFromElement,me as getSemanticSubTreeCalls,ot as getSubTreeReferences,ue as getUsagePorts,R as isGenericNodeTag,h as resolveNodeUsage,se as resolvePortUsage,j as resolveSubTreeTarget};