@abco20/btxml-checker 0.1.0

package/dist/editor-node.js

@@ -0,0 +1,30 @@
+import{constants as Cm}from"fs";import Ft from"fs/promises";import Ne from"path";import{fileURLToPath as Em,pathToFileURL as Yr}from"url";var Ut=["off","info","warn","error"];var Jr={linter:{rules:{"xml/require-btcpp-format":"error","xml/no-unknown-top-level-element":"error","model/no-unknown-node":"error","model/no-unknown-port":["error",{subTreePorts:"strict"}],"script/no-unknown-variable":"error","model/no-childless-control-shape-mismatch":"error","model/no-leaf-block-shape":"error","model/valid-child-count":"error","suppression/no-unused":"error","suppression/require-reason":"warn"}}},_a={files:{include:["**/*.xml"],ignore:["build/**","install/**","log/**","node_modules/**",".git/**"],useGitignore:!0,followSymlinks:!1,maxSize:5*1024*1024},resolver:{entrypoints:[],includes:{elements:[{name:"include",attribute:"path",base:"file"}],variables:{},allowOutsideRoot:!1,maxDepth:32,maxFiles:1e3},behaviorTreeIds:"workspace-unique"},models:{builtins:["btcpp-v4"],files:[],augmentations:[],definitions:[],inline:{}},linter:{enabled:!0,rules:{},baseline:void 0,suppressions:{inline:"allow"}},formatter:{indentWidth:2,xmlDeclaration:"always",blankLineBetweenBehaviorTrees:!0,lineEnding:"lf"},overrides:[]};function Ge(){return structuredClone(_a)}function ot(e,t){return{files:t.files?{...e.files,...t.files}:e.files,resolver:t.resolver?{...e.resolver,...t.resolver,includes:{...e.resolver.includes,...t.resolver.includes||{},variables:{...e.resolver.includes.variables,...t.resolver.includes?.variables||{}}}}:e.resolver,models:t.models?{...e.models,...t.models}:e.models,linter:t.linter?{...e.linter,...t.linter,rules:t.linter.rules?{...e.linter.rules,...t.linter.rules}:e.linter.rules,suppressions:t.linter.suppressions?{...e.linter.suppressions,...t.linter.suppressions}:e.linter.suppressions}:e.linter,formatter:t.formatter?{...e.formatter,...t.formatter}:e.formatter,overrides:t.overrides?[...e.overrides,...t.overrides]:e.overrides}}var h={Error:"error",Warning:"warning",Info:"info"};function w(e,t,n,r,o="",i,s){return{code:e,severity:t,message:n,uri:o,...r?{range:r}:{},...i?{details:i}:{},...s?{data:s}:{}}}function Ke(e,t,n){return{line:e,character:t,offset:n}}function I(e,t){return{start:e,end:t}}function z(e,t){return e?e.start.offset<=t&&t<=e.end.offset:!1}function La(e){let t=[0];for(let n=0;n<e.length;n+=1)e[n]===`
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e.kind==="model-document"?"external-tree-nodes-model":t}function Zr(e,t,n){for(let r of e.attributes||[]){let o=[...String(r.value).matchAll(/\{([^}]+)\}/g)];for(let i of o){let s=i.index??0,a=r.valueRange.start,u={...a,character:a.character+i[0].length,offset:a.offset+s+i[0].length};t.push({name:i[1],attributeName:r.name,element:e,uri:n,range:{start:{...a,character:a.character+s,offset:a.offset+s},end:u}})}}for(let r of e.children||[])r.kind==="element"&&Zr(r,t,n)}function qa(e,t,n,r){let o=[];for(let i of e.children||[]){if(i.kind!=="element"||!Ua(i.name))continue;let s=me(i,"ID");if(!s)continue;let a=[];for(let u of i.children||[]){if(u.kind!=="element"||u.name!=="input_port"&&u.name!=="output_port"&&u.name!=="inout_port")continue;let l=me(u,"name"),c=me(u,"type"),d=me(u,"default")||me(u,"default_value"),m=me(u,"enum"),f=(u.children||[]).filter(x=>x.kind==="text").map(x=>x.text).join("").trim()||void 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a=me(o,"ID");a&&n.push({id:a.value,uri:t,element:o,range:o.range,elementRange:o.range,idRange:a.range,parentBehaviorTreeId:s,attributes:o.attributes})}for(let a of o.children||[])a.kind==="element"&&r(a,s)};for(let o of e.children||[])o.kind==="element"&&r(o);return n}function za(e){return{id:e.id,kind:e.kind,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange}}function Qr(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 Wa(e){return{id:e.id,kind:e.kind,editable:e.editable,ports:e.ports.map(Qr),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 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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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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:[]}],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 lo=[{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> > 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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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T=[...x.slice(x.indexOf(k)),k];u.cycles.push({files:T}),s.push({kind:"cycle",uri:E?.uri??k,path:k,cycle:T,range:E?.range,message:"include cycle detected"});return}if(f.has(k))return;m.add(k),u.reachableFiles.add(k);let N=ge(t.rootUri,k);c.add(N);let g=await n.exists(N),S=a.get(k);!S&&g&&(S=fe(await n.readFile(N),{uri:N,path:k}).document,S&&a.set(k,S)),u.nodes.set(k,{path:k,document:S,exists:g}),S&&l.set(S.uri,S);let R=S?.uri??N;if(!g){s.push({kind:"not-found",uri:E?.uri??R,path:k,range:E?.range,message:`include file not found \`${k}\``}),m.delete(k);return}if(!S){m.delete(k);return}for(let T of cc(S,e)){if(!T.pathAttr){s.push({kind:"missing-path",uri:R,range:T.element.range,message:"missing include path"});continue}let A=lc(T.pathAttr.value,e.resolvedConfig.resolver.includes.variables,s,T.pathAttr.range,R),j;if(T.rosPackageAttr){let 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\`${A}\``})}u.edges.push({from:k,to:O,includeElementRange:T.element.range,includePathRange:T.pathAttr.range}),await y(O,[...x,k],{uri:R,range:T.pathAttr.range})}m.delete(k),f.add(k)};for(let p of u.entrypointFiles)await y(p,[]);return{graph:u,reachableUris:c,reachableDocuments:l,issues:s}}import{findNodeAtLocation as Ci,parse as dc,parseTree as mc}from"jsonc-parser";function pc(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
+`&&t.push(n+1);return n=>{let r=0,o=t.length-1;for(;r<=o;){let s=Math.floor((r+o)/2);t[s]<=n?r=s+1:o=s-1}let i=Math.max(0,r-1);return{line:i,character:n-t[i],offset:n}}}function Ei(e,t){if(e)return{start:t(e.offset),end:t(e.offset+e.length)}}async function Pi(e){let t=e.project,n=e.host??t.host,r=[],o=[],i=new Set;for(let s of t.definitionFiles){if(!await n.exists(s.uri)){r.push(w(b.NodeDefinitionFileNotFound,h.Error,`node definition file not found \`${s.path}\``,void 0,"",{help:"check `models.definitions` and make sure the file exists"}));continue}let a,u=await n.readFile(s.uri),l=[],c=mc(u,l,{allowTrailingComma:!0,disallowComments:!1});try{if(a=dc(u,l,{allowTrailingComma:!0,disallowComments:!1}),l.length>0||!c)throw new Error(`JSON parse error at offset ${l[0]?.offset??0}`)}catch(m){let f=String(m.message||m);r.push(w(b.InvalidNodeDefinitionJson,h.Error,`invalid node definition JSON \`${s.path}\``,void 0,"",{primaryLabel:"the file could not be parsed as JSON",help:`fix the JSON syntax in \`${s.path}\``,notes:[f]}));continue}let d=Ln.safeParse(a);if(!d.success){for(let m of d.error.issues){let f=m.code==="unrecognized_keys"?m.keys.map(y=>({label:`Unrecognized key: "${y}"`,path:[...m.path,y].join(".")})):[{label:m.message,path:m.path.join(".")}];for(let{label:y,path:p}of f)r.push(w(b.InvalidNodeDefinitionSchema,h.Error,`invalid node definition schema \`${s.path}\``,void 0,"",{primaryLabel:y,help:p?`fix the schema issue at \`${p}\``:"fix the schema issue in the file",notes:p?[p]:[]}))}continue}for(let[m,f]of Object.entries(d.data.nodes)){i.has(m)&&r.push(w(b.DuplicateNodeDefinitionId,h.Error,`duplicate node definition ID \`${m}\``,void 0,"",{primaryLabel:"this ID was already loaded from another node definition file",help:"remove one definition or rename one of the duplicate IDs"})),i.add(m);let y=pc(u),p=Ei(Ci(c,["nodes",m]),y),x=it(m,f),E=x.ports.map(k=>{let 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 Map(o.subtreeCalls.map(l=>[l.node.element,l])),a=ee(r),u=yc(t.root);return{document:t,view:o,semantic:n,config:r,options:e.options,facts:e.facts,report(l){let c=w(l.code??e.code,e.severity,l.message,l.range,t.uri,l.details,l.data);e.diagnostics.push({...c,rule:e.rule,...l.relatedInformation?{relatedInformation:l.relatedInformation}:{}})},getIncludeIssues(l){let c=Ai(e.facts,t.uri);return l?c.filter(d=>d.kind===l):c},getSuppressionIssues(l){let c=_i(e.facts,t.uri);return l?c.filter(d=>d.kind===l):c},getNodeUsage(l){return F(n,{element:l,documentRoot:t.root,uri:t.uri,config:r,policy:a,isModelDefinition:u.has(l)})},getPortUsage(l,c){return pe(n,{element:l,documentRoot:t.root,attributeName:c,uri:t.uri,config:r,policy:a,isModelDefinition:u.has(l)})},resolveSubTree(l,c){return kt(n,{id:l,fileLocalUri:c,config:r})},getNodeModel(l){return ne(n,l)},getBehaviorTrees(l){return H(n,l)},getTreeNodeView(l){return i.get(l)},getSubTreeCallView(l){return s.get(l)}}}function yc(e){let t=new Set;if(!e)return t;if(e.name==="TreeNodesModel")return mr(e,t),t;for(let n of e.children)n.kind!=="element"||n.name!=="TreeNodesModel"||mr(n,t);return t}function mr(e,t){t.add(e);for(let n of e.children)n.kind==="element"&&mr(n,t)}function P(e){let t=se[e.name];return{...e,code:t.code,defaultSeverity:t.defaultSeverity,optionsSchema:t.optionsSchema,meta:e.meta??{description:t.description}}}var hc={"missing-path":"include/require-path","not-found":"include/no-missing-file",cycle:"include/no-cycle","unresolved-variable":"include/no-unresolved-variable","outside-root":"include/no-outside-root","external-used":"include/report-external-used","depth-exceeded":"include/no-depth-exceeded","too-many-files":"include/no-too-many-files"};function Ce(e){return P({name:hc[e],create(t){return{ProgramExit(){for(let n of t.getIncludeIssues(e))t.report({message:n.message,range:n.range,data:Sc(n)})}}}})}function Sc(e){switch(e.kind){case"missing-path":return;case"unresolved-variable":return{variable:e.variable};case"cycle":return{path:e.path,cycle:e.cycle};default:return{path:e.path}}}var ji=[Ce("missing-path"),Ce("not-found"),Ce("cycle"),Ce("outside-root"),Ce("unresolved-variable"),Ce("depth-exceeded"),Ce("too-many-files"),Ce("external-used")];import bc from"ajv";var vc=bc,Rc=new vc,Tc=["IDLE","RUNNING","SUCCESS","FAILURE","SKIPPED"],xc={int8_t:{min:-128n,max:127n},"std::int8_t":{min:-128n,max:127n},int16_t:{min:-32768n,max:32767n},"std::int16_t":{min:-32768n,max:32767n},int32:{min:-2147483648n,max:2147483647n},int32_t:{min:-2147483648n,max:2147483647n},"std::int32_t":{min:-2147483648n,max:2147483647n},int64_t:{min:-9223372036854775808n,max:9223372036854775807n},int64:{min:-9223372036854775808n,max:9223372036854775807n},"std::int64_t":{min:-9223372036854775808n,max:9223372036854775807n},int:{min:-2147483648n,max:2147483647n},long:{min:-9223372036854775808n,max:9223372036854775807n},short:{min:-32768n,max:32767n},uint8_t:{min:0n,max:255n},"std::uint8_t":{min:0n,max:255n},uint16_t:{min:0n,max:65535n},"std::uint16_t":{min:0n,max:65535n},uint32:{min:0n,max:4294967295n},uint32_t:{min:0n,max:4294967295n},"std::uint32_t":{min:0n,max:4294967295n},uint64_t:{min:0n,max:18446744073709551615n},uint64:{min:0n,max:18446744073709551615n},"std::uint64_t":{min:0n,max:18446744073709551615n},uint:{min:0n,max:4294967295n},unsigned:{min:0n,max:4294967295n},"unsigned int":{min:0n,max:4294967295n},size_t:{min:0n,max:18446744073709551615n},"std::size_t":{min:0n,max:18446744073709551615n}},pr=new Set(["int8_t","int16_t","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","int","long","short","std::int8_t","std::int16_t"]),Fi=new Set(["uint8_t","uint16_t","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","uint","unsigned","unsigned int","std::uint8_t","std::uint16_t","size_t","std::size_t"]);function Ui(e){return e.children.filter(t=>t.kind==="element")}function ue(e){return e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"}function Oi(e){return e.children.some(t=>t.kind==="element")}function dn(e,t){let n=Vi(t);n&&e.report({code:n.code,message:n.message,range:t.range,details:n.details})}function Vi(e){let t=K(e.port.name,e.value);if(e.allowRemap&&t!==void 0)return;if(!e.allowRemap&&t!==void 0||e.port.enum&&!e.port.enum.includes(e.value))return cn(e.diagnosticCode,e.value,e.portLabel);let n=e.port.validate??e.typeDefinition?.validate;if(n)return Ec(e.registry,n,e.value)?void 0:cn(e.diagnosticCode,e.value,e.portLabel);let r=e.typeDefinition?.canonical??e.port.type;if(r&&!$i(r,e.value))return kc(r)?cn(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 et(e){return e.effectiveType??e.type}function qi(e,t){return ie(e,et(t))}function fr(e,t){return K(e,t)}function cn(e,t,n){return{code:e,message:`invalid value \`${t}\` for port \`${n}\``}}function kc(e){let t=at(e)??e;return Xi(e)!==void 0||Pc.has(t.toLowerCase())}function $i(e,t){let n=Xi(e);if(n)return Dc(n,t);let r=(at(e)??e).toLowerCase();switch(r){case"std::string":case"string":case"bt::any":case"bt::anytypeallowed":case"bt::anytype":case"any":return!0;case"bool":return t==="0"||t==="1"||t==="true"||t==="TRUE"||t==="True"||t==="false"||t==="FALSE"||t==="False";case"float":case"double":return/^-?(?:\d+\.?\d*|\.\d+)(?:[eE][-+]?\d+)?$/.test(t);case"bt::nodestatus":case"nodestatus":return Tc.includes(t);default:return pr.has(r)||Fi.has(r)?zi(r,t):!1}}function Xi(e){return/^std::vector<\s*(.+?)\s*>$/.exec(e)?.[1]}function Dc(e,t){let n=Cc(t);return n?n.every(r=>Ic(e,r)):!1}function Ic(e,t){if(t.kind==="string")return $i(e,t.value);let n=(at(e)??e).toLowerCase();switch(n){case"std::string":return typeof t.value=="string";case"bool":return typeof t.value=="boolean";case"float":case"double":return typeof t.value=="number"&&Number.isFinite(t.value);default:return pr.has(n)||Fi.has(n)?typeof t.value=="number"&&Number.isInteger(t.value)&&zi(n,String(t.value)):!1}}function zi(e,t){let n=xc[e];if(!n)return!1;if(pr.has(e)){if(!/^-?\d+$/.test(t))return!1}else if(!/^\d+$/.test(t))return!1;try{let r=BigInt(t);return r>=n.min&&r<=n.max}catch{return!1}}function Cc(e){if(e.startsWith("json:"))try{let t=JSON.parse(e.slice(5));return Array.isArray(t)?t.map(n=>({kind:"json",value:n})):void 0}catch{return}return e.split(";").map(t=>({kind:"string",value:t}))}function Ec(e,t,n){switch(t.kind){case"pattern":return new RegExp(`^(?:${t.pattern})$`).test(n);case"enum":return t.values.includes(n);case"tuple":{let r=n.split(t.separator);return r.length!==t.items.length?!1:r.every((o,i)=>{let s=t.items[i];return s?Vi({port:{name:`tuple[${i}]`,type:s},value:o,registry:e,typeDefinition:ie(e,s),allowRemap:!1,diagnosticCode:"BT103_INVALID_PORT_VALUE_TYPE",customLiteralDiagnosticCode:"BT112_CUSTOM_LITERAL_REQUIRES_VALIDATOR",portLabel:`tuple[${i}]`})===void 0:!1})}case"json-schema":try{let r=JSON.parse(n);return Rc.compile(t.schema)(r)===!0}catch{return!1}}}var Pc=new Set(["std::string","string","bool","int8_t","std::int8_t","int16_t","std::int16_t","int","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","long","short","uint8_t","std::uint8_t","uint16_t","std::uint16_t","uint","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","size_t","std::size_t","unsigned","unsigned int","float","double","bt::nodestatus","nodestatus","bt::any","bt::anytypeallowed","bt::anytype","any"]);var Wi=[P({name:"model/require-port-name",meta:{description:"Port elements require a name attribute."},create(e){return{TreeNodeModel(t){for(let n of t.ports)n.name||e.report({message:"Port must have name attribute",range:n.range||n.nameRange||t.idRange||t.range})}}}}),P({name:"model/no-duplicate-port-name",meta:{description:"Ports with the same name are not allowed."},create(e){return{TreeNodeModel(t){let n=new Set;for(let r of t.ports)r.name&&(n.has(r.name)&&e.report({message:`Duplicate port name "${r.name}" in ${t.id}`,range:r.nameRange||r.range||t.idRange||t.range}),n.add(r.name))}}}}),P({name:"model/valid-port-name",meta:{description:"Port names must be valid XML attribute names for BT nodes."},create(e){return{TreeNodeModel(t){for(let n of t.ports){if(!n.name)continue;let r=Pn(n.name);r&&e.report({code:b.InvalidPortName,message:`invalid port name \`${n.name}\`: ${r}`,range:n.nameRange||n.range||t.idRange||t.range,details:{primaryLabel:`invalid port name \`${n.name}\``,help:"rename the port to a non-reserved XML attribute name without forbidden characters"}})}}}}}),P({name:"model/no-conflicting-definition",create(e){return{ProgramExit(){for(let t of xt(e.semantic))t.uri&&t.uri!==e.document.uri||Bc(e.document,t.id)||e.report({code:t.code,message:t.message,range:t.range,details:t.details,data:t.data,relatedInformation:t.relatedInformation})}}}}),P({name:"model/valid-port-default-value",meta:{description:"TreeNodesModel port defaults must match the declared type."},create(e){return{Element(t){if(!Nc(t))return;let n=t.attributes.find(u=>u.name==="default")??t.attributes.find(u=>u.name==="default_value");if(!n)return;let r=t.attributes.find(u=>u.name==="name")?.value;if(!r)return;let i=wc(e.document.root,t)?.attributes.find(u=>u.name==="ID")?.value;if(!i)return;let a=e.getNodeModel(i)?.ports.find(u=>u.name===r);if(a){if(a.direction==="output"){K(a.name,n.value)===void 0&&e.report({code:b.InvalidPortDefaultValue,message:`output port default for \`${a.name}\` must be a blackboard remap`,range:n.range,details:{primaryLabel:`output port default for \`${a.name}\` must be a blackboard remap`,help:`use \`${a.name}="{${a.name}}"\` or \`${a.name}="{=}"\``}});return}dn(e,{port:a,value:n.value,range:n.range,registry:Z(e.semantic),typeDefinition:te(e.semantic,a.type),allowRemap:!0,diagnosticCode:b.InvalidPortDefaultValue,customLiteralDiagnosticCode:b.CustomLiteralRequiresValidator,portLabel:a.name})}}}}}),P({name:"model/no-blackboard-type-mismatch",meta:{description:"Blackboard entries must not mix incompatible resolved port types."},create(e){return{ProgramExit(){let t=Z(e.semantic),n=new Map,r=e.options.allowStringEntryCompatibility??!0;for(let o of e.view.nodes)for(let i of o.portBindings){if(i.declaredPort.status!=="resolved")continue;let s=fr(i.name,i.value);if(!s)continue;let a=qi(t,i.declaredPort.port);if(!a||a.kind==="any")continue;let u=n.get(s)??[];u.push({key:s,nodeId:_c(o.element),port:i.declaredPort.port,typeDefinition:a,range:i.attribute.range}),n.set(s,u)}for(let[o,i]of n){let s=Mc(e.semantic,i,r);if(s.length<2)continue;let a=i.find(u=>u.typeDefinition.canonical===s[0]);e.report({code:b.BlackboardTypeMismatch,message:`blackboard entry \`${o}\` is used with incompatible port types: ${s.map(u=>`\`${u}\``).join(", ")}`,range:a?.range,details:{primaryLabel:`blackboard entry \`${o}\` mixes incompatible port types`,notes:i.filter(u=>s.includes(u.typeDefinition.canonical)).map(u=>`${u.nodeId}.${u.port.name} declares ${Ac(u.port,u.typeDefinition)}`),help:"use different blackboard keys, align the port types, or declare compatibility in btxml.model-augment.json"}})}}}}}),P({name:"model/require-output-port-remap",meta:{description:"Resolved output ports must write to a blackboard remap."},create(e){return{Element(t){if(Lc(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of t.attributes){let o=e.getPortUsage(t,r.name);o?.status==="resolved"&&o.port.direction==="output"&&fr(o.port.name,r.value)===void 0&&e.report({code:b.OutputPortRequiresRemap,message:`output port 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e.kind==="unknown"||e.kind==="any"||e.kind==="error"}function ts(e){return!qe(e)}function od(e,t,n){return gn(t)||gn(n)?!0:e==="=="||e==="!="?t.kind==="custom"||n.kind==="custom"?t.kind==="custom"&&n.kind==="custom"&&t.canonical===n.canonical:t.kind===n.kind:t.kind==="custom"||n.kind==="custom"?!1:t.kind==="number"&&n.kind==="number"||t.kind==="string"&&n.kind==="string"}function br(e,t,n){le(e,"invalid-operand-type",t,`operator \`${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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r.kind==="identifier"&&(o.push(...ud(e,r)),gd(e.attributeInfo,t,n)&&o.push(...dd(r.range))),(r.kind==="operator"||r.kind==="after-assignment-lhs")&&o.push(...ld(r.range,r.prefix)),r.kind==="after-assignment-lhs"&&o.push(...cd(r.range,r.prefix)),Sd(o)}function hn(e){let t=e.source,n=ss(t,e.cursorOffset),r=tt(t).filter(u=>u.type!=="EndOfInput"),o=r.find(u=>u.start<=n&&n<=u.end);if(o?.type==="Identifier")return{kind:"identifier",prefix:o.text.slice(0,Math.max(0,n-o.start)),range:{start:o.start,end:o.end}};if(o&&(o.type==="Integer"||o.type==="Real"||o.type==="String"||o.type==="Boolean"))return{kind:"literal",range:{start:o.start,end:o.end}};let i=yd(t,n),s=yn(r,i.start);if(i.start<i.end&&s&&rs.has(s.type))return{kind:s.type==="Identifier"&&is(r,s)?"after-assignment-lhs":"operator",prefix:t.slice(i.start,n),range:i};let a=yn(r,n);return a&&rs.has(a.type)&&a.end<=n?{kind:a.type==="Identifier"&&is(r,a)?"after-assignment-lhs":"operator",prefix:"",range:{start:n,end:n}}:!a||id.has(a.type)?{kind:"identifier",prefix:"",range:{start:n,end:n}}:{kind:"unknown",range:{start:n,end:n}}}function ud(e,t){let n=md(e),r=t.prefix.toLowerCase(),o=[];for(let[i,s]of n.enums)_t(i,r)&&o.push({label:i,kind:"enum",detail:`enum value ${s}`,replaceRange:t.range,sortText:`0-${i}`});for(let i of n.symbols.values())i.conflict||i.readable&&_t(i.name,r)&&o.push({label:i.name,kind:"identifier",detail:pd(i),replaceRange:t.range,sortText:i.source.kind==="script-assignment"?`1-${i.name}`:`2-${i.name}`});for(let i of["true","false"])_t(i,r)&&o.push({label:i,kind:"value",detail:"bool",replaceRange:t.range,sortText:`3-${i}`});return o}function ld(e,t){return sd.filter(n=>_t(n,t)).map(n=>({label:n,kind:"operator",detail:"script operator",replaceRange:e,sortText:`4-${n}`}))}function cd(e,t){return ad.filter(n=>_t(n,t)).map(n=>({label:n,kind:"operator",detail:"assignment operator",replaceRange:e,sortText:`5-${n}`}))}function dd(e){return[{label:"name := value",kind:"snippet",detail:"Declare local script variable",replaceRange:e,insertText:"${1:name} := ${2:value}",insertTextFormat:"snippet",sortText:"6-name := value"},{label:"name = value",kind:"snippet",detail:"Assign existing variable",replaceRange:e,insertText:"${1:name} = ${2:value}",insertTextFormat:"snippet",sortText:"6-name = value"}]}function md(e){let t=ye(e.environment),n=tt(e.source),r=Oe(e.source);if(r.ok){let o=$e({program:r.program,environment:t,attributeName:e.attributeName}),i=ye(e.environment);for(let s of o.introducedSymbols)s.source.kind==="script-assignment"&&(s.source.range.end>e.cursorOffset||i.symbols.set(s.name,s));return i}for(let o of n){if(o.type!=="Identifier")continue;if(o.end>e.cursorOffset)break;let i=hd(n,o.end);i?.type==="ColonEqual"&&(i.end>e.cursorOffset||t.symbols.has(o.text)||t.symbols.set(o.text,{name:o.text,type:{kind:"unknown"},source:{kind:"script-assignment",attributeName:e.attributeName??"code",range:{start:o.start,end:o.end}},readable:!0,writable:!0}))}return t}function pd(e){let t=fd(e.type);switch(e.source.kind){case"port-remap":return`${t} from ${e.source.nodeType??"node"}.${e.source.portName}`;case"subtree-port":return`${t} from ${e.source.nodeType??"SubTree"}.${e.source.portName}`;case"script-assignment":return`${t} from earlier ${e.source.attributeName} declaration`;case"augmentation":return`${t} from augmentation`;case"enum":return`${t} enum`}}function fd(e){switch(e.kind){case"number":case"string":case"bool":case"any":case"unknown":case"error":return e.kind;case"custom":return e.name}}function gd(e,t,n){if(e?.expectedResult!=="ignored")return!1;let r=tt(t).filter(i=>i.type!=="EndOfInput"),o=yn(r,n);return!o||o.type==="Semicolon"}function yd(e,t){let n=t;for(;n>0&&os.has(e[n-1]??"");)n-=1;let r=t;for(;r<e.length&&os.has(e[r]??"");)r+=1;return{start:n,end:r}}function yn(e,t){for(let n=e.length-1;n>=0;n-=1){let r=e[n];if(r.end<=t)return r}}function is(e,t){if(t.type!=="Identifier")return!1;let n=yn(e,t.start);return!n||n.type==="Semicolon"}function hd(e,t){return e.find(n=>n.start>=t&&n.type!=="EndOfInput")}function _t(e,t){return t.length===0||e.toLowerCase().startsWith(t.toLowerCase())}function ss(e,t){return Math.max(0,Math.min(e.length,t))}function Sd(e){let t=new Set;return e.filter(n=>{let r=`${n.kind}:${n.label}:${n.insertText??""}`;return t.has(r)?!1:(t.add(r),!0)})}var as=new WeakMap;function Sn(e,t){let n=e.getNodeUsage(t),r=n.model.status==="resolved"?n.model.model.id:n.nodeType;return t.attributes.flatMap(o=>{let i=je({elementName:t.name,attributeName:o.name,resolvedNodeType:r});return i?[{attribute:o,info:i,parseResult:Oe(o.value)}]:[]})}function ce(e,t,n){return ke(e.document,t,n)}function 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 \`${n.attribute.name}\` is not bool-compatible`,range:ce(e,n.attribute,r.range),details:{primaryLabel:"script result is not bool-compatible here",help:"return a boolean or numeric expression, or move side effects into a postcondition/script node"}})}}}}});var fs=P({name:"script/valid-syntax",create(e){return{Element(t){for(let n of Sn(e,t))if(!n.parseResult.ok)for(let r of n.parseResult.errors){let o=r.kind==="empty-script"?b.EmptyScript:r.kind==="invalid-token"?b.InvalidScriptToken:b.InvalidScriptSyntax;e.report({code:o,message:r.message,range:r.kind==="empty-script"?n.attribute.valueContentRange??n.attribute.valueRange??ce(e,n.attribute,us(n.attribute)):ce(e,n.attribute,r.range),details:{primaryLabel:`invalid script in \`${n.attribute.name}\``}})}}}}});var gs=[fs,cs,ds,ms,ps];var vd={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"};function ys(e){return P({name:vd[e],create(t){return{ProgramExit(){for(let n of t.getSuppressionIssues(e))t.report({message:n.message,range:n.range,data:Rd(n)})}}}})}function Rd(e){return e.code?{code:e.code}:void 0}var hs=[ys("unused"),ys("missing-reason")];function bn(e,t){return e.attributes.find(n=>n.name===t)}var Ss=[P({name:"tree/require-id",create(e){return{Element(t){t.name!=="BehaviorTree"||bn(t,"ID")||e.report({message:"BehaviorTree must have ID attribute",range:t.range})}}}}),P({name:"tree/no-duplicate-id-in-file",create(e){let t=new Set;return{ProgramExit(){let n=bt(e.semantic,e.document.uri);for(let r of n?.behaviorTrees??[])r.idRange&&(t.has(r.id)&&e.report({message:`Duplicate BehaviorTree ID: ${r.id}`,range:r.idRange}),t.add(r.id))}}}}),P({name:"tree/no-duplicate-id",create(e){return{ProgramExit(){if(e.config.resolver.behaviorTreeIds!=="allow-ambiguous")for(let t of Te(e.semantic)){let n=H(e.semantic,t);if(n.length<=1||new Set(n.map(i=>i.uri)).size<=1)continue;let o=n.filter(i=>i.uri===e.document.uri);o.length>0&&e.report({message:`Duplicate BehaviorTree ID: ${t}`,range:o[0]?.idRange})}}}}}),P({name:"tree/no-unknown-main-tree",create(e){return{Document(){let t=e.document.root;if(e.document.kind!=="bt-document"||!t)return;let n=bn(t,"main_tree_to_execute");!n?.value||Xn(e.semantic,n.value)||e.report({message:`main_tree_to_execute references unknown BehaviorTree: ${n.value}`,range:n.range})}}}}),P({name:"tree/no-unknown-subtree",create(e){return{Element(t){if(t.name!=="SubTree")return;let n=e.getSubTreeCallView(t),r=n?.node.element.attributes.find(i=>i.name==="ID")??bn(t,"ID");!r||n?.target.status==="resolved"||e.resolveSubTree(r.value,e.document.uri).status!=="unresolved"||e.report({message:`unknown subtree \`${r.value}\``,range:r.valueContentRange||r.valueRange})}}}}),P({name:"tree/no-ambiguous-subtree",create(e){return{Element(t){if(t.name!=="SubTree")return;let n=bn(t,"ID");if(!n||e.getSubTreeCallView(t)?.target.status==="resolved")return;let o=e.resolveSubTree(n.value,e.document.uri);o.status!=="ambiguous"||o.behaviorTrees.length<=1||e.report({message:`ambiguous subtree \`${n.value}\``,range:n.valueContentRange||n.valueRange})}}}}),P({name:"tree/no-duplicate-node-model-id",meta:{description:"TreeNodesModel elements must have unique IDs within the same model block."},create(){return{}}})];var Td=new Map([["IfThenElse",{min:2,max:3}],["WhileDoElse",{min:2,max:3}]]);function xd(e,t){return e===t?String(e):`${e}\u2013${t}`}var bs=P({name:"model/valid-child-count",create(e){return{Element(t){if(ue(t))return;let n=e.getNodeUsage(t);n.model.status==="resolved"&&kd(e,t,n.model.model.id,n.model.model.kind)}}}});function kd(e,t,n,r){let o=Ui(t).length,i=Td.get(n);if(i){if(o<i.min||o>i.max){let s=xd(i.min,i.max);e.report({message:`\`${n}\` requires ${s} child node(s), but has ${o}.`,range:t.range})}return}if(r==="Action"||r==="Condition"){o>0&&e.report({message:`${r} node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range});return}if(r==="Decorator"){o!==1&&e.report({message:`Decorator node \`${n}\` must have exactly 1 child node, but has ${o}.`,range:t.range});return}if(r==="Control"){o<1&&e.report({message:`Control node \`${n}\` must have at least 1 child node.`,range:t.range});return}r==="SubTree"&&o>0&&e.report({message:`SubTree node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range})}var vs=P({name:"model/valid-port-value",create(e){return{Element(t){if(ue(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of t.attributes){let o=e.getPortUsage(t,r.name);o?.status==="resolved"&&dn(e,{port:o.port,value:r.value,range:r.range,registry:Z(e.semantic),typeDefinition:te(e.semantic,o.port.type),allowRemap:!0,diagnosticCode:b.InvalidPortValueType,customLiteralDiagnosticCode:b.CustomLiteralRequiresValidator,portLabel:r.name})}}}}});var Rs=P({name:"model/require-port",create(e){return{Element(t){if(ue(t))return;let n=e.getNodeUsage(t);if(!(n.tagForm==="subtree"&&n.allowsArbitraryAttributes)&&!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of n.ports)!r.required||n.portUsages.some(i=>i.name===r.name&&i.status==="resolved")||e.report({message:`missing required port \`${r.name}\``,range:t.range,details:n.tagForm==="subtree"?{primaryLabel:n.model.status==="resolved"?`node \`${n.model.model.id}\` requires port \`${r.name}\``:`SubTree requires port \`${r.name}\``,help:`add \`${r.name}="..."\` or provide a blackboard reference such as \`${r.name}="{value}"\``}:void 0})}}}});var Ts=[P({name:"model/no-childless-control-shape-mismatch",create(e){return{Element(t){if(ue(t)||!t.selfClosing)return;let n=e.getTreeNodeView(t);if(n?.model.status!=="resolved")return;let r=n.model.model.kind;r!=="Control"&&r!=="Decorator"||e.report({message:`${r} node \`${n.model.model.id}\` normally expects child nodes.`,range:t.range})}}}}),P({name:"model/no-leaf-block-shape",create(e){return{Element(t){if(ue(t)||t.selfClosing||Oi(t))return;let n=e.getTreeNodeView(t);if(n?.model.status!=="resolved")return;let r=n.model.model.kind;r!=="Action"&&r!=="Condition"&&r!=="SubTree"||e.report({message:`${r} node \`${n.model.model.id}\` should be self-closing or have no children.`,range:t.range})}}}})];var xs=P({name:"model/no-unknown-node",create(e){return{Element(t){let n=e.getNodeUsage(t);if(n.tagForm==="root"||n.tagForm==="behavior-tree"||n.tagForm==="tree-nodes-model"||n.tagForm==="include"||n.tagForm==="model-definition"||n.tagForm==="subtree"||n.tagForm==="unknown-xml"||n.model.status==="resolved"||n.model.status==="ambiguous")return;let r=t.attributes.find(o=>o.name==="ID");e.report({message:`unknown node \`${n.nodeType??n.tagName}\``,range:r?.valueContentRange??r?.valueRange??t.range})}}}});var ks=P({name:"model/no-unknown-port",create(e){return{Element(t){if(ue(t))return;let n=e.getNodeUsage(t);for(let r of n.portUsages){if(r.status!=="undeclared")continue;let o=n.ports.map(s=>s.name).sort(),i=o.length>=1&&o.length<=8?[`note: defined ports: ${o.map(s=>`\`${s}\``).join(", ")}`]:void 0;e.report({message:`unknown port \`${r.name}\``,range:r.attribute.range,details:n.tagForm==="subtree"?{primaryLabel:n.model.status==="resolved"?`node \`${n.model.model.id}\` does not define this port`:"SubTree does not define this port in strict 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+
+Ports: ${e.ports.map(n=>`\`${n.name}\``).join(", ")}`:""}`}function hm(e,t){return`**SubTree** \`${e}\`
+
+Resolves ambiguously across ${t.length} candidates:
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+
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+
+Resolves to \`BehaviorTree ID="${i.value}"\` in \`${l.uri}\`.`}}if(u?.status==="ambiguous"){let l=e.parsed?.uri||"workspace",c=Sm([...u.behaviorTrees,...u.definitions],l);return{range:i.valueContentRange||i.valueRange,contents:hm(i.value,c)}}if(u?.status==="resolved"&&u.kind==="node-model")return{range:i.valueContentRange||i.valueRange,contents:`**SubTree** \`${i.value}\`
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d=e.config,m=c.projectRoot||e.projectRoot||c.cwd||e.cwd||process.cwd(),f=c.cwd||e.cwd||m,y=jm(c.host??t,m),p=await Cr({rootUri:nt(m),configUri:c.configPath||e.configPath?nt(Ne.resolve(f,c.configPath||e.configPath||"")):void 0,host:y});if(!p.project)return n={version:++r,diagnostics:p.diagnostics,rawConfig:d},{ok:!1,projectOk:!1,diagnostics:p.diagnostics,rawConfig:d};let x=await _e(p.project,y),E=Ba(m,x.documents),k=Ba(m,x.externalModelDocuments),N=rr(p.project);if(!N)return n={version:++r,diagnostics:p.diagnostics,rawConfig:d},{ok:!1,projectOk:!1,diagnostics:p.diagnostics,rawConfig:d};let g=await Er({project:p.project,documents:E,externalModelDocuments:k,resolveGraph:!0,host:y}),S=await Ir({project:p.project,documents:E,externalModelDocuments:k,projectDiagnostics:[...p.diagnostics,...x.diagnostics],host:y}),R=[...p.diagnostics,...x.diagnostics,...g.diagnostics,...S.projectDiagnostics,...S.files.flatMap(T=>T.diagnostics)];return n={version:++r,diagnostics:R,rawConfig:d,resolvedConfig:N,workspace:{rootDir:Br(p.project),documents:E,nodeDefinitionModels:g.nodeDefinitionModels}},{ok:p.ok&&g.ok,projectOk:S.ok,diagnostics:[...R],rawConfig:d,resolvedConfig:N,workspace:n.workspace}}function u(c=300){if(o&&clearTimeout(o),!s){let d,m;s={promise:new Promise((y,p)=>{d=y,m=p}),resolve(y){d?.(y)},reject(y){m?.(y)}}}return o=setTimeout(()=>{o=void 0;let d=s;a(i).then(m=>{d?.resolve(m)}).catch(m=>{d?.reject(m)}).finally(()=>{s===d&&(s=void 0)})},c),s.promise}let l=Pa({config:e.config,getRuntimeState:()=>n});return{...l,getResolvedConfig(){return n?.resolvedConfig??l.getResolvedConfig()},getEffectiveConfigForDocument(c){return Lm(this.getResolvedConfig(),n?.workspace?.rootDir,c,l.getEffectiveConfigForDocument(c))},async loadProject(c){return Na(await a(c))},async refreshProject(c){let d=await a(c);return{ok:d.ok,diagnostics:d.diagnostics}},notifyWatchedFileChanged(c){return Mm(c)?u().then(d=>Na(d)):Promise.resolve(void 0)},getProjectConfig(){return n?.rawConfig??e.config},dispose(){l.dispose(),n=void 0,o&&clearTimeout(o),s?.reject(new Error("Node workspace service disposed during pending reload")),s=void 0}}}function wT(e={}){return Ma(e)}export{wT as createBtProjectEditorService,wa as createNodeWorkspaceHost,Be as fileUriToPath,nt as pathToFileUri};