@abco20/btxml-checker 0.1.0 → 0.1.2

package/dist/editor-node.js

@@ -1,30 +1,32 @@
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t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};oo.set(e.name,t),st.set(e.name,e.name);for(let n of e.aliases)st.set(n,e.name)}function nu(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 Bn(e){return st.get(e)??e}function ru(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 at(e){return st.get(e)}function He(e=[]){let t=new Map,n=new Map(st);for(let r of oo.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[o,i]of Object.entries(r.types??{})){let s=Bn(i.canonical??o),u=t.get(s)??nu(o,s,i);u.name=o,u.kind=i.kind,u.canonical=s,u.source="augmentation",u.validate=i.validate??u.validate,u.aliases.add(o),u.aliases.add(s);for(let l of i.aliases??[])u.aliases.add(l);for(let l of i.compatibleWith??[])u.compatibleWith.add(l);t.set(s,u),n.set(o,s),n.set(s,s);for(let l of i.aliases??[])n.set(l,s)}for(let r of t.values())r.compatibleWith=new Set([...r.compatibleWith].map(o=>n.get(o)??Bn(o))),r.compatibleWith.delete(r.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([r,o])=>[r,ru(o)])),namesToCanonical:n}}function ie(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??Bn(t),r=e.entriesByCanonical.get(n);return r||{name:t,kind:"opaque",canonical:n,aliases:[],compatibleWith:[],source:"custom"}}function Vt(e,t){return ie(e,t)?.canonical}function ut(e,t,n){let r=ie(e,t),o=ie(e,n);return!r||!o?!1:r.kind==="any"||o.kind==="any"||r.canonical===o.canonical?!0:r.compatibleWith.includes(o.canonical)||o.compatibleWith.includes(r.canonical)}function io(e,t){if(e.length<3)return!1;let n=0,r=e.length-1;for(;n<=r&&e[n]===" ";)n+=1;for(;n<=r&&e[r]===" ";)r-=1;let i=r-n+1>=3&&e[n]==="{"&&e[r]==="}";return i&&t&&(t.current=e.slice(n+1,r)),i}function so(e){let t={};return io(e,t)?t.current:void 0}function K(e,t){return t==="{=}"||t==="="?e:so(t)}var ao=[{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, 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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 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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:[]}],uo={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 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vo(e){if(e&&e!=="btcpp-v4"&&!lu(e))throw new Error(`unsupported builtin model set: ${e}`)}function wn(e="btcpp-v4"){vo(e);let t=bo(e);return au[t].map(r=>Ro(r))}function Mn(e="btcpp-v4"){vo(e);let t=uu[bo(e)]??So(lt[cu(e)].genericSubTreeModel);return t?(t.ports??[]).map(n=>({...n,enum:n.enum?[...n.enum]:void 0})):[]}function Ro(e){return{id:e.id,kind:e.kind,source:"builtin",sourceMeta:{sourceKind:"builtin"},editable:!1,ports:(e.ports??[]).map(t=>({...t,enum:t.enum?[...t.enum]:void 0}))}}function dt(e){return{id:e.id,kind:e.kind,ports:[...e.ports].sort((t,n)=>{let r=t.name.localeCompare(n.name);if(r!==0)return r;let o=t.direction.localeCompare(n.direction);if(o!==0)return o;let i=(t.type??"").localeCompare(n.type??"");if(i!==0)return i;let s=(t.defaultValue??"").localeCompare(n.defaultValue??"");return s!==0?s:(t.description??"").localeCompare(n.description??"")}).map(t=>({name:t.name,direction:t.direction,type:t.type,required:t.required,defaultValue:t.defaultValue,enum:t.enum?[...t.enum].sort():void 0,description:t.description}))}}function qt(e,t){let n=dt(e),r=dt(t);return JSON.stringify(n)===JSON.stringify(r)}function An(e,t){if(qt(e,t))return"none";let n=dt(e),r=dt(t);if(n.kind!==r.kind)return"kind";if(n.ports.length!==r.ports.length)return"ports";let o=new Map(r.ports.map(a=>[a.name,a])),i=!1,s=!1;for(let a of n.ports){let u=o.get(a.name);if(!u){s=!0;continue}(a.direction!==u.direction||a.type!==u.type||a.required!==u.required)&&(s=!0);let l=a.enum?JSON.stringify(a.enum):"",c=u.enum?JSON.stringify(u.enum):"";l!==c&&(s=!0),a.description!==u.description&&(s=!0),a.defaultValue!==u.defaultValue&&(i=!0)}return s?"ports":i?"port-default":"mixed"}import{findNodeAtLocation as yu,parse as hu,parseTree as Su}from"jsonc-parser";import{z as B}from"zod";var To=B.discriminatedUnion("kind",[B.object({kind:B.literal("pattern"),pattern:B.string()}).strict(),B.object({kind:B.literal("enum"),values:B.array(B.string())}).strict(),B.object({kind:B.literal("tuple"),separator:B.string(),items:B.array(B.string())}).strict(),B.object({kind:B.literal("json-schema"),schema:B.unknown()}).strict()]),du=B.object({kind:B.enum(["primitive","opaque","any"]),canonical:B.string().optional(),aliases:B.array(B.string()).optional(),compatibleWith:B.array(B.string()).optional(),validate:To.optional()}).strict(),mu=B.object({from:B.string().optional(),to:B.string()}).strict(),pu=B.object({typeRefinement:mu.optional(),validate:To.optional(),required:B.boolean().optional(),enum:B.array(B.string()).optional(),description:B.string().optional()}).strict(),fu=B.object({ports:B.record(B.string(),pu).optional()}).strict(),gu=B.object({enums:B.record(B.string(),B.number().finite()).optional()}).strict(),xo=B.object({version:B.literal(1),types:B.record(B.string(),du).optional(),augment:B.record(B.string(),fu).optional(),script:gu.optional()}).strict();function bu(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
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a=bu(e);return{ok:!1,uri:n,path:t?.path,issues:s.error.issues.map(u=>{let l=Ru(u),{message:c,path:d}=Tu(u);return{kind:"schema",message:c,path:d,range:vu(yu(o,l),a),notes:d?[d]:void 0}})}}return{ok:!0,data:{...s.data,uri:n,path:t?.path},issues:[],uri:n,path:t?.path}}catch(i){return{ok:!1,uri:n,path:t?.path,issues:[{kind:"json",message:"the file could not be parsed as JSON",notes:[String(i.message||i)]}]}}}import{z as $}from"zod";var Do=$.object({direction:$.enum(["input","output","inout"]).optional(),type:$.string().optional(),required:$.boolean().optional(),default:$.string().optional(),description:$.string().optional(),enum:$.array($.string()).optional()}).strict(),$t=$.object({kind:$.enum(["Action","Condition","Control","Decorator","SubTree"]),ports:$.record($.string(),Do).optional(),description:$.string().optional()}).strict(),Ln=$.object({nodes:$.record($.string(),$t)}).strict();import{z as D}from"zod";var 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n=Fu(t.pathname);return/^\/[A-Za-z]:/.test(n)?ft(n.slice(1)):t.host?ft(`//${t.host}${n}`):ft(n)}function zt(e,t){let n=ft(t);return e.files.ignore.some(r=>Xt(n,r))?!1:e.files.include.some(r=>Xt(n,r))}function jn(e,t){return zt(e,gt(t))}function J(e,t){let n=ft(t),r=_o(e,n),o=e;for(let i of r)o=ot(o,{linter:i.linter,formatter:i.formatter});return{files:o.files,resolver:o.resolver,models:o.models,linter:o.linter,formatter:o.formatter}}function Fn(e,t){return J(e,gt(t))}import{z as Wt}from"zod";var b={InvalidScriptSyntax:"BT401_INVALID_SCRIPT_SYNTAX",EmptyScript:"BT402_EMPTY_SCRIPT",InvalidScriptToken:"BT403_INVALID_SCRIPT_TOKEN",UnknownScriptVariable:"BT404_UNKNOWN_SCRIPT_VARIABLE",AssignmentToUnknownVariable:"BT405_ASSIGNMENT_TO_UNKNOWN_VARIABLE",InvalidCompoundAssignment:"BT406_INVALID_COMPOUND_ASSIGNMENT",InvalidScriptOperandType:"BT407_INVALID_SCRIPT_OPERAND_TYPE",ScriptResultNotBoolCompatible:"BT408_SCRIPT_RESULT_NOT_BOOL_COMPATIBLE",ScriptVariableTypeMismatch:"BT410_SCRIPT_VARIABLE_TYPE_MISMATCH",InvalidRootElement:"BT001_INVALID_ROOT_ELEMENT",MissingBTCPPFormat:"BT002_MISSING_BTCPP_FORMAT",MissingBehaviorTreeID:"BT003_MISSING_BEHAVIOR_TREE_ID",DuplicateBehaviorTreeID:"BT004_DUPLICATE_BEHAVIOR_TREE_ID",UnknownSubTree:"BT005_UNKNOWN_SUBTREE",DuplicateNodeModelId:"BT006_DUPLICATE_NODE_MODEL_ID",MissingPortName:"BT007_MISSING_PORT_NAME",DuplicatePortName:"BT008_DUPLICATE_PORT_NAME",UnknownTopLevelElement:"BT009_UNKNOWN_TOP_LEVEL_ELEMENT",UnknownMainTree:"BT010_UNKNOWN_MAIN_TREE",AmbiguousSubTree:"BT011_AMBIGUOUS_SUBTREE",ConflictingNodeModel:"BT012_CONFLICTING_NODE_MODEL",DuplicateBehaviorTreeIdInWorkspace:"BT013_DUPLICATE_BEHAVIOR_TREE_ID_IN_WORKSPACE",MissingIncludePath:"BT301_MISSING_INCLUDE_PATH",IncludeNotFound:"BT302_INCLUDE_NOT_FOUND",IncludeCycle:"BT303_INCLUDE_CYCLE",UnresolvedIncludePathVariable:"BT304_UNRESOLVED_INCLUDE_PATH_VARIABLE",IncludeOutsideWorkspace:"BT306_INCLUDE_OUTSIDE_WORKSPACE",ExternalIncludeUsed:"BT307_EXTERNAL_INCLUDE_USED",IncludeDepthExceeded:"BT309_INCLUDE_DEPTH_EXCEEDED",TooManyResolvedFiles:"BT310_TOO_MANY_RESOLVED_FILES",EntrypointNotFound:"BT311_ENTRYPOINT_NOT_FOUND",RosPackageResolverMissing:"BT312_ROS_PACKAGE_RESOLVER_MISSING",RosPackageNotFound:"BT313_ROS_PACKAGE_NOT_FOUND",UnknownNode:"BT105_UNKNOWN_NODE",MissingRequiredPort:"BT101_MISSING_REQUIRED_PORT",UnknownPort:"BT102_UNKNOWN_PORT",InvalidPortValueType:"BT103_INVALID_PORT_VALUE_TYPE",ChildCapableNodeSelfClosing:"BT108_CHILD_CAPABLE_NODE_SELF_CLOSING",LeafNodeOpenClose:"BT109_LEAF_NODE_OPEN_CLOSE",InvalidChildCount:"BT110_INVALID_CHILD_COUNT",BlackboardTypeMismatch:"BT111_BLACKBOARD_TYPE_MISMATCH",CustomLiteralRequiresValidator:"BT112_CUSTOM_LITERAL_REQUIRES_VALIDATOR",InvalidPortDefaultValue:"BT114_INVALID_PORT_DEFAULT_VALUE",OutputPortRequiresRemap:"BT115_OUTPUT_PORT_REQUIRES_REMAP",InvalidPortName:"BT116_INVALID_PORT_NAME",AugmentTargetNotFound:"BT117_AUGMENT_TARGET_NOT_FOUND",AugmentPortNotFound:"BT118_AUGMENT_PORT_NOT_FOUND",InvalidTypeRefinement:"BT119_INVALID_TYPE_REFINEMENT",ExternalModelFileNotFound:"BT321_EXTERNAL_MODEL_FILE_NOT_FOUND",AugmentationFileNotFound:"BT324_AUGMENTATION_FILE_NOT_FOUND",MissingTreeNodesModel:"BT322_MISSING_TREENODESMODEL",ExternalModelXmlParseError:"BT323_EXTERNAL_MODEL_XML_PARSE_ERROR",NodeDefinitionFileNotFound:"BT331_NODE_DEFINITION_FILE_NOT_FOUND",InvalidNodeDefinitionJson:"BT332_INVALID_NODE_DEFINITION_JSON",InvalidNodeDefinitionSchema:"BT333_INVALID_NODE_DEFINITION_SCHEMA",DuplicateNodeDefinitionId:"BT334_DUPLICATE_NODE_DEFINITION_ID",InvalidAugmentationJson:"BT335_INVALID_AUGMENTATION_JSON",InvalidAugmentationSchema:"BT336_INVALID_AUGMENTATION_SCHEMA",ConflictingPortDefault:"BT107_CONFLICTING_PORT_DEFAULT",UnusedSuppression:"BT351_UNUSED_SUPPRESSION",MissingSuppressionReason:"BT353_MISSING_SUPPRESSION_REASON"},Un=Object.values(b).sort();var 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o}async function Ii(e){let t=e.project,n=e.host??t.host,r=e.resolvedConfig.resolver.includes.allowOutsideRoot,o=e.resolvedConfig.resolver.includes.maxDepth,i=e.resolvedConfig.resolver.includes.maxFiles,s=[],a=new Map(e.documents.map(p=>[Di(t.rootUri,p.path||p.uri),p])),u={nodes:new Map,edges:[],entrypointFiles:[],reachableFiles:new Set,cycles:[]},l=new Map,c=new Set,d=t.entrypoints.length?t.entrypoints.map(p=>p.file):t.selectedFiles.map(p=>p.path);u.entrypointFiles=[...new Set(d)];let m=new Set,f=new Set,y=async(p,x,E)=>{if(x.length>=o){s.push({kind:"depth-exceeded",uri:E?.uri??p,path:p,range:E?.range,message:`include \`${p}\` exceeds the configured maximum include depth`});return}if(u.reachableFiles.size>=i){s.push({kind:"too-many-files",uri:E?.uri??p,path:p,range:E?.range,message:`resolving \`${p}\` would exceed the configured file limit`});return}let k=p.replaceAll("\\","/");if(m.has(k)){let 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M=T.rosPackageAttr.value.trim();if(!n.resolvePackageUri){s.push({kind:"ros-package-resolver-missing",uri:R,packageName:M,range:T.rosPackageAttr.range,message:`include uses ros_pkg=\`${M}\` but ProjectHost.resolvePackageUri is not available`});continue}let L=await n.resolvePackageUri(M);if(!L){s.push({kind:"ros-package-not-found",uri:R,packageName:M,path:A,range:T.rosPackageAttr.range,message:`ROS package \`${M}\` could not be resolved for include path \`${A}\``});continue}j=ge(L,A)}else{let M=T.base==="project-root"?t.rootUri:hi(N);j=ge(M,A)}let O=Di(t.rootUri,j),v=j;try{await n.exists(j)&&(v=n.realpath?await n.realpath(j):j)}catch{}if(!bi(t.rootUri,v)){if(!r){s.push({kind:"outside-root",uri:R,path:O,range:T.pathAttr.range,message:"include target is outside the workspace"});continue}s.push({kind:"external-used",uri:R,path:O,range:T.pathAttr.range,message:`external include used 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N=Ei(Ci(c,["nodes",m,"ports",k.name]),y);return{...k,source:"node-definition-file",uri:s.path,range:N,nameRange:N}});o.push({...x,ports:E,source:"node-definition-file",sourceMeta:{sourceKind:"node-definition-file",file:s.path,range:p},editable:!0,uri:s.path,range:p,elementRange:p})}}return{ok:r.every(s=>s.severity!==h.Error),nodeModels:o,diagnostics:r}}function Bi(e,t){return De(e,t).replace(/\\/g,"/")}function fc(e){return[...e.reachableDocuments.values()]}function cr(e){let t=new Map;for(let n of e)t.set(n.uri,n);return[...t.values()]}function Ni(e){let t=new Map;for(let n of e)t.set(n.path,n);return[...t.values()]}function gc(e){let t=new Map;for(let n of e){let r=t.get(n.uri)??[];r.push(n),t.set(n.uri,r)}return t}async function dr(e){let t=[],n=e.project,r=e.resolvedConfig,o=e.resolutionMode??lr(r),i=o==="entrypoints"||e.resolveGraph?await Ii({project:e.project,documents:e.documents,resolvedConfig:r,host:e.host}):void 0,s=e.externalModelDocuments,a=e.augmentations,u=await Pi({project:e.project,host:e.host});t.push(...u.diagnostics);let l=u.nodeModels,c=i&&(o==="entrypoints"||e.resolveGraph)?cr([...e.documents.filter(p=>e.activeDocumentUris.has(p.uri)&&i.reachableUris.has(p.uri)),...i.reachableDocuments.values(),...s]):cr([...e.documents.filter(p=>e.activeDocumentUris.has(p.uri)),...s]),d=Me(c,{config:r,models:l,augmentations:a}),m={includeIssuesByUri:gc(i?.issues??[]),suppressionIssuesByUri:new Map};t.push(...d.diagnostics);let f=new Map(Te(d.index).map(p=>[p,H(d.index,p)])),y={mode:o,files:new Map(c.map(p=>[Bi(n.rootUri,p.path||p.uri),p])),documentViews:new Map(c.map(p=>[p.uri,(()=>{let x=J(r,Bi(n.rootUri,p.path||p.uri));return ae(p,{semantic:d.index,config:x,policy:ee(x)})})()])),includeGraph:i?.graph,reachableDocuments:i?.reachableDocuments??new Map,behaviorTreesById:new Map(Te(d.index).map(p=>[p,H(d.index,p)])),reachableBehaviorTreesById:f,nodeModelsById:new Map(Rt(d.index).map(p=>[p.id,p])),nodeModelSources:new Map(Kn(d.index).map(p=>[p,vt(d.index,p).flatMap(x=>x.sourceMeta?[x.sourceMeta]:[])])),nodeDefinitionModels:[...l],entrypoints:n.entrypoints,workspace:d.index,facts:m};return{ok:t.every(p=>p.severity!==h.Error),index:y,diagnostics:t}}async function wi(e){let t=e.project,n=e.resolvedConfig??t.resolvedConfig;if(!n)throw new Error("Invariant: resolvedConfig is required");let r=[...e.projectDiagnostics??[]],o=e.host??t.host,i=e.externalModelDocuments!==void 0?[...e.externalModelDocuments]:(await Promise.all(t.modelFiles.map(async y=>{let p=await or(y,o);return r.push(...p.diagnostics),p.document?[p.document]:[]}))).flat(),s=e.augmentations!==void 0?[...e.augmentations]:void 0;if(!s){let y=await un({project:e.project,host:o});r.push(...y.diagnostics),s=[...y.augmentations]}let a=e.resolutionMode??lr(n),u=a==="entrypoints"?new Set(e.documents.filter(y=>y.kind==="bt-document").map(y=>y.uri)):new Set(e.documents.map(y=>y.uri)),l=await dr({project:e.project,documents:e.documents,activeDocumentUris:u,externalModelDocuments:i,augmentations:s,resolutionMode:a,resolveGraph:e.mode==="check",resolvedConfig:n,host:o}),c=cr([...e.documents,...fc(l.index),...i]),d=n.linter.enabled!==!1,m=e.showSuppressed,f=[...l.index.nodeDefinitionModels];return{input:e,project:e.project,documents:e.documents,externalModelDocuments:i,augmentations:s,projectDiagnostics:r,indexResult:l,nodeDefinitionModels:f,fileDocuments:c,lintEnabled:d,showSuppressed:m,resolvedConfig:n,suppressionIssuesByUri:void 0}}function Mi(){return{includeIssuesByUri:new Map,suppressionIssuesByUri:new Map}}function Ai(e,t){return e.includeIssuesByUri.get(t)??[]}function _i(e,t){return e.suppressionIssuesByUri.get(t)??[]}function Li(e){let{document:t,semantic:n,config:r,view:o}=e,i=new Map(o.nodes.map(l=>[l.element,l])),s=new 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m={name:a.name,type:s,source:{kind:"script-assignment",attributeName:n,range:a.range,originId:e.originId},readable:!0,writable:!0};return t.symbols.set(a.name,m),e.resolvedIdentifiers.push({access:l,resolution:{kind:"symbol",symbol:m}}),o.push(m),s}if(!c)return e.resolvedIdentifiers.push({access:l,resolution:{kind:"unknown"}}),le(e,"assignment-to-unknown-variable",a.range,`assignment target \`${a.name}\` is not defined`,`\`${a.name}\` must already exist before this assignment`,"introduce the variable earlier with `:=` or add a matching blackboard remap"),W;if(e.resolvedIdentifiers.push({access:l,resolution:{kind:"symbol",symbol:c}}),i.operator==="=")return mn(c.type,s)?(vr(c,s),s):(ns(e,a,c.type,s),W);if(i.operator===":=")return mn(c.type,s)?(vr(c,s),s):(ns(e,a,c.type,s),W);let d=rd(c.type,s,i.operator);return d?(vr(c,d),d):(le(e,"invalid-compound-assignment",i.range,`operator \`${i.operator}\` is not valid for these operand types`,`compound assignment \`${i.operator}\` is not allowed 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e.kind==="unknown"||e.kind==="any"||e.kind==="error"}function ts(e){return!qe(e)}function od(e,t,n){return gn(t)||gn(n)?!0:e==="=="||e==="!="?t.kind==="custom"||n.kind==="custom"?t.kind==="custom"&&n.kind==="custom"&&t.canonical===n.canonical:t.kind===n.kind:t.kind==="custom"||n.kind==="custom"?!1:t.kind==="number"&&n.kind==="number"||t.kind==="string"&&n.kind==="string"}function br(e,t,n){le(e,"invalid-operand-type",t,`operator \`${n}\` cannot be applied to these operand types`,`operands for \`${n}\` are not compatible`,"use operands with the types required by this operator")}function ns(e,t,n,r){le(e,"variable-type-mismatch",t.range,`cannot assign ${Rr(r)} to variable \`${t.name}\` of type ${Rr(n)}`,`\`${t.name}\` expects ${Rr(n)} here`,"assign a compatible value or change the variable's source type")}function vr(e,t){e.source.kind==="script-assignment"&&(e.type.kind!=="unknown"&&e.type.kind!=="error"||t.kind==="unknown"||t.kind==="any"||t.kind==="error"||(e.type=t))}function 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us(e){return{start:0,end:e.value.length}}function Ee(e,t){let n=e.getTreeNodeView(t),r=n?.behaviorTree;return!n||!r?Sn(e,t).map(o=>{let i=ls(e,[]);return{...o,environment:i,analysis:o.parseResult.ok?$e({program:o.parseResult.program,environment:i,attributeName:o.attribute.name}):void 0}}):bd(e,r).filter(o=>o.node.element===t).map(o=>({...o.candidate,environment:o.environmentBefore,analysis:o.analysis}))}function bd(e,t){let n=as.get(e.view);n||(n=new WeakMap,as.set(e.view,n));let r=n.get(t);if(r)return r;let o=t.nodes.flatMap(s=>Sn(e,s.element).map((a,u)=>({id:`${s.path.join(".")}:${a.attribute.name}:${u}`,node:s,candidate:a}))),i=At({baseEnvironment:ls(e,t.nodes),entries:o.map(s=>({id:s.id,source:s.candidate.attribute.value,attributeName:s.candidate.attribute.name,originId:s.id,parseResult:s.candidate.parseResult}))}).flatMap((s,a)=>{let u=o[a];return u?[{...s,node:u.node,candidate:u.candidate}]:[]});return n.set(t,i),i}function ls(e,t){let n=Z(e.semantic),r=[],o=t[0]?.behaviorTree.id;if(o){let i=e.getNodeModel(o);if(i?.kind==="SubTree")for(let s of i.ports){let a=et(s),l=te(e.semantic,a)?.canonical??a;r.push({name:s.name,type:Ve(n,a),source:{kind:"subtree-port",nodeType:o,portName:s.name,direction:s.direction},readable:!0,writable:s.direction==="output"||s.direction==="inout",compatibilityKey:l})}}for(let i of t){let s=i.usage.model.status==="resolved"?i.usage.model.model.id:i.usage.nodeType;for(let a of i.portBindings){if(a.usage.status!=="resolved")continue;let u=K(a.usage.port.name,a.usage.value);if(!u)continue;let l=et(a.usage.port),d=te(e.semantic,l)?.canonical??l,m=a.usage.port.direction;r.push({name:u,type:Ve(n,l),source:{kind:"port-remap",nodeType:s,portName:a.usage.port.name,direction:m},readable:m==="input"||m==="output"||m==="inout",writable:m==="output"||m==="inout",compatibilityKey:d})}}return Mt({symbols:r,augmentations:Tt(e.semantic),areTypesCompatible:(i,s)=>i&&s?Re(e.semantic,i,s):!0})}var cs=P({name:"script/no-unknown-variable",create(e){return{Element(t){for(let n of Ee(e,t))if(n.analysis)for(let r of n.analysis.unknownIdentifiers)e.report({code:b.UnknownScriptVariable,message:`unknown script variable \`${r.name}\``,range:ce(e,n.attribute,r.range),details:{primaryLabel:`\`${r.name}\` is not defined in the script environment`,help:"introduce it earlier with `:=`, add a matching blackboard remap, or define a script enum in btxml.model-augment.json"}})}}}});var ds=P({name:"script/valid-assignment",create(e){return{Element(t){for(let n of Ee(e,t))if(n.analysis)for(let r of n.analysis.diagnostics){let o=r.code==="assignment-to-unknown-variable"?b.AssignmentToUnknownVariable:r.code==="invalid-compound-assignment"?b.InvalidCompoundAssignment:r.code==="variable-type-mismatch"?b.ScriptVariableTypeMismatch:void 0;o&&e.report({code:o,message:r.message,range:ce(e,n.attribute,r.range),details:r.details})}}}}});var ms=P({name:"script/valid-expression-type",create(e){return{Element(t){for(let n of Ee(e,t))if(n.analysis)for(let r of n.analysis.diagnostics)r.code==="invalid-operand-type"&&e.report({code:b.InvalidScriptOperandType,message:r.message,range:ce(e,n.attribute,r.range),details:r.details})}}}});var ps=P({name:"script/valid-result-type",create(e){return{Element(t){for(let n of Ee(e,t)){if(n.info.expectedResult!=="bool-compatible"||!n.parseResult.ok||!n.analysis)continue;let r=n.parseResult.program.statements.at(-1),o=n.analysis.finalType;!r||!o||qe(o)||e.report({code:b.ScriptResultNotBoolCompatible,message:`script result for \`${n.attribute.name}\` is not bool-compatible`,range:ce(e,n.attribute,r.range),details:{primaryLabel:"script result is not bool-compatible here",help:"return a boolean or numeric expression, or move side effects into a postcondition/script node"}})}}}}});var fs=P({name:"script/valid-syntax",create(e){return{Element(t){for(let n of Sn(e,t))if(!n.parseResult.ok)for(let r 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n=e.port.validate??e.typeDefinition?.validate;if(n)return td(e.registry,n,e.value)?void 0:hn(e.diagnosticCode,e.value,e.portLabel);let r=e.typeDefinition?.canonical??e.port.type;if(r&&!ss(r,e.value))return Ju(r)?hn(e.diagnosticCode,e.value,e.portLabel):{code:e.customLiteralDiagnosticCode,message:`literal value for custom type \`${r}\` requires a validator`,details:{primaryLabel:`literal value requires a validator for custom type \`${r}\``,help:`use a blackboard remap such as \`${e.portLabel}="{${e.port.name}}"\`, or define a validator in btxml.model-augment.json`}}}function $e(e){return e.effectiveType??e.type}function is(e,t){return ce(e,$e(t))}function Ft(e,t){let n=X({portName:e,rawValue:t.trim()});return n.ok?n.reference:void 0}function hn(e,t,n){return{code:e,message:`invalid value \`${t}\` for port \`${n}\``}}function Ju(e){let t=yt(e)??e;return as(e)!==void 0||nd.has(t.toLowerCase())}function ss(e,t){let n=as(e);if(n)return Zu(n,t);let r=(yt(e)??e).toLowerCase();switch(r){case"std::string":case"string":case"bt::any":case"bt::anytypeallowed":case"bt::anytype":case"any":return!0;case"bool":return t==="0"||t==="1"||t==="true"||t==="TRUE"||t==="True"||t==="false"||t==="FALSE"||t==="False";case"float":case"double":return/^-?(?:\d+\.?\d*|\.\d+)(?:[eE][-+]?\d+)?$/.test(t);case"bt::nodestatus":case"nodestatus":return Hu.includes(t);default:return Tr.has(r)||ts.has(r)?ls(r,t):!1}}function as(e){return/^std::vector<\s*(.+?)\s*>$/.exec(e)?.[1]}function Zu(e,t){let n=ed(t);return n?n.every(r=>Qu(e,r)):!1}function Qu(e,t){if(t.kind==="string")return ss(e,t.value);let n=(yt(e)??e).toLowerCase();switch(n){case"std::string":return typeof t.value=="string";case"bool":return typeof t.value=="boolean";case"float":case"double":return typeof t.value=="number"&&Number.isFinite(t.value);default:return Tr.has(n)||ts.has(n)?typeof t.value=="number"&&Number.isInteger(t.value)&&ls(n,String(t.value)):!1}}function ls(e,t){let n=Yu[e];if(!n)return!1;if(Tr.has(e)){if(!/^-?\d+$/.test(t))return!1}else if(!/^\d+$/.test(t))return!1;try{let r=BigInt(t);return r>=n.min&&r<=n.max}catch{return!1}}function ed(e){if(e.startsWith("json:"))try{let t=JSON.parse(e.slice(5));return Array.isArray(t)?t.map(n=>({kind:"json",value:n})):void 0}catch{return}return e.split(";").map(t=>({kind:"string",value:t}))}function td(e,t,n){switch(t.kind){case"pattern":return new RegExp(`^(?:${t.pattern})$`).test(n);case"enum":return t.values.includes(n);case"tuple":{let r=n.split(t.separator);return r.length!==t.items.length?!1:r.every((o,i)=>{let s=t.items[i];return s?os({port:{name:`tuple[${i}]`,type:s},value:o,registry:e,typeDefinition:ce(e,s),allowRemap:!1,diagnosticCode:"BT103_INVALID_PORT_VALUE_TYPE",customLiteralDiagnosticCode:"BT112_CUSTOM_LITERAL_REQUIRES_VALIDATOR",portLabel:`tuple[${i}]`})===void 0:!1})}case"json-schema":try{let r=JSON.parse(n);return Ku.compile(t.schema)(r)===!0}catch{return!1}}}var nd=new Set(["std::string","string","bool","int8_t","std::int8_t","int16_t","std::int16_t","int","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","long","short","uint8_t","std::uint8_t","uint16_t","std::uint16_t","uint","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","size_t","std::size_t","unsigned","unsigned int","float","double","bt::nodestatus","nodestatus","bt::any","bt::anytypeallowed","bt::anytype","any"]);var cs=[P({name:"model/require-port-name",meta:{description:"Port elements require a name attribute."},create(e){return{TreeNodeModel(t){for(let n of t.ports)n.name||e.report({message:"Port must have name attribute",range:n.range||n.nameRange||t.idRange||t.range})}}}}),P({name:"model/no-duplicate-port-name",meta:{description:"Ports with the same name are not allowed."},create(e){return{TreeNodeModel(t){let n=new Set;for(let r of t.ports)r.name&&(n.has(r.name)&&e.report({message:`Duplicate port name "${r.name}" in 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s=o.find(a=>a.typeDefinition.canonical===i[0]);e.report({code:S.BlackboardTypeMismatch,message:`blackboard entry \`${s?.displayName??o[0]?.displayName??o[0]?.key??""}\` is used with incompatible port types: ${i.map(a=>`\`${a}\``).join(", ")}`,range:s?.range,details:{primaryLabel:`blackboard entry \`${s?.displayName??o[0]?.displayName??o[0]?.key??""}\` mixes incompatible port types`,notes:o.filter(a=>i.includes(a.typeDefinition.canonical)).map(a=>`${a.nodeId}.${a.port.name} declares ${ad(a.port,a.typeDefinition)}`),help:"use different blackboard keys, align the port types, or declare compatibility in btxml.model-augment.json"}})}}}}}),P({name:"model/require-output-port-remap",meta:{description:"Resolved output ports must write to a blackboard remap."},create(e){return{Element(t){if(cd(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of t.attributes){let o=e.getPortUsage(t,r.name);o?.status==="resolved"&&o.port.direction==="output"&&Ft(o.port.name,r.value)===void 0&&e.report({code:S.OutputPortRequiresRemap,message:`output port \`${o.port.name}\` must be remapped to a blackboard entry`,range:r.range,details:{primaryLabel:`output port \`${o.port.name}\` requires a blackboard remap`,help:`use \`${o.port.name}="{${o.port.name}}"\` or \`${o.port.name}="{some_key}"\``}})}}}}})];function rd(e,t){return e.diagnostics.some(n=>n.code===S.DuplicateNodeModelId&&n.message.includes(`\`${t}\``))}function od(e){return e.name==="input_port"||e.name==="output_port"||e.name==="inout_port"}function id(e,t){if(!e)return;return n(e,!1,void 0);function n(r,o,i){let s=o||r.name==="TreeNodesModel",a=s&&(r.name==="Action"||r.name==="Condition"||r.name==="Control"||r.name==="Decorator"||r.name==="SubTree")?r:i;if(r===t)return a;for(let l of r.children){if(l.kind!=="element")continue;let c=n(l,s,a);if(c)return c}}}function sd(e,t,n){let r=new Set;for(let 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t=e.resolvedNodeType??e.elementName;if(e.attributeName==="code"&&t==="Script")return{kind:"script-node-code",expectedResult:"ignored"};if(e.attributeName==="code"&&t==="ScriptCondition")return{kind:"script-condition-code",expectedResult:"bool-compatible"};if(e.attributeName==="if"&&t==="Precondition")return{kind:"precondition-node-if",expectedResult:"bool-compatible"}}function Ot(e){if(!e.startsWith("@"))return{kind:"local",name:e};let t=mt({rawName:e});return t.ok?{kind:"global-blackboard",key:t.reference.key}:{kind:"invalid-global-blackboard",raw:e,message:`invalid global blackboard identifier \`${e}\``}}var us=new Map([["..","DotDot"],["&&","AmpAmp"],["||","PipePipe"],["==","EqualEqual"],["!=","BangEqual"],["<=","LessEqual"],[">=","GreaterEqual"],[":=","ColonEqual"],["+=","PlusEqual"],["-=","MinusEqual"],["*=","StarEqual"],["/=","SlashEqual"]]),ds=new 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e.globalBlackboardAccesses.push({key:o.key,rawName:t,kind:"read",range:n,inferredType:a?.type??le}),e.resolvedIdentifiers.push({access:r,resolution:{kind:"global-blackboard",key:o.key,...a?{symbol:a}:{}}}),a?.type??le}let i=e.environment.enums.get(t);if(i!==void 0)return e.resolvedIdentifiers.push({access:r,resolution:{kind:"enum",name:t,value:i}}),Ye;let s=e.environment.symbols.get(t);return s?(e.resolvedIdentifiers.push({access:r,resolution:{kind:"symbol",symbol:s}}),s.type):(e.resolvedIdentifiers.push({access:r,resolution:{kind:"unknown"}}),e.unknownIdentifiers.push(r),le)}function Ss(e,t,n){return e.kind==="error"||t.kind==="error"?V:e.kind==="unknown"||t.kind==="unknown"||e.kind==="any"||t.kind==="any"?le:n==="+="?e.kind==="number"&&t.kind==="number"?Ye:e.kind==="string"&&t.kind==="string"?Rn:void 0:e.kind==="number"&&t.kind==="number"?Ye:void 0}function Cr(e,t){return kn(e)||kn(t)}function kn(e){return e.kind==="unknown"||e.kind==="any"||e.kind==="error"}function 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r=n.parseResult.program.statements.at(-1),o=n.analysis.finalType;!r||!o||Ke(o)||e.report({code:S.ScriptResultNotBoolCompatible,message:`script result for \`${n.attribute.name}\` is not bool-compatible`,range:pe(e,n.attribute,r.range),details:{primaryLabel:"script result is not bool-compatible here",help:"return a boolean or numeric expression, or move side effects into a postcondition/script node"}})}}}}});var As=P({name:"script/valid-syntax",create(e){return{Element(t){for(let n of In(e,t))if(!n.parseResult.ok)for(let r of n.parseResult.errors){let o=r.kind==="empty-script"?S.EmptyScript:r.kind==="invalid-token"?S.InvalidScriptToken:S.InvalidScriptSyntax;e.report({code:o,message:r.message,range:r.kind==="empty-script"?n.attribute.valueContentRange??n.attribute.valueRange??pe(e,n.attribute,Bs(n.attribute)):pe(e,n.attribute,r.range),details:{primaryLabel:`invalid script in \`${n.attribute.name}\``}})}}}}});var _s=[As,Ps,Ns,ws,Ms];var 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pp(e){if(e.configUri)return Q.dirname(e.configUri);let t=e.startUri;for(;;){if(await e.host.exists(Q.join(t,".git"))||await e.host.exists(Q.join(t,".colcon")))return t;let n=Q.dirname(t);if(n===t)return e.startUri;t=n}}async function jr(e){let t=await fa({startUri:e.rootUri,configUri:e.configUri,noConfig:e.noConfig,host:e.host});if(!t.ok||!t.config)return{ok:!1,diagnostics:t.diagnostics};let n=kt(t.config);if(!n.ok)return{ok:!1,diagnostics:[...t.diagnostics,...n.diagnostics]};let r=n.config,o=await pp({startUri:e.rootUri,configUri:t.configUri,host:e.host}),{selectedFiles:i,skippedFiles:s}=await Fi(o,r.files,e.cliFiles,e.rootUri,e.host),a=[...t.diagnostics,...n.diagnostics],l=t.configUri?$(o,t.configUri):"",c=Oi(r.resolver);for(let f of c){let x=Q.join(o,f.file);await e.host.exists(x)&&!i.some(B=>B.uri===x)&&i.push({path:f.file,uri:x,kind:"bt-xml"})}let{modelFiles:u,augmentationFiles:d,definitionFiles:p,unmatchedPatterns:m}=await ga(o,r.models,r.files,e.host);for(let f of 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