@abco20/btxml-checker 0.1.1 → 0.1.3

package/dist/editor.js

@@ -1,28 +1,30 @@
-import{z as ft}from"zod";var S={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"},en=Object.values(S).sort();var Zo=ft.object({subTreePorts:ft.enum(["loose","strict"]).optional()}).strict(),Jo=ft.object({allowStringEntryCompatibility:ft.boolean().optional()}).strict(),dr={"script/valid-syntax":{code:S.InvalidScriptSyntax,defaultSeverity:"error",description:"Script-bearing attributes must parse as valid BT.CPP scripts."},"script/no-unknown-variable":{code:S.UnknownScriptVariable,defaultSeverity:"warn",description:"Script-bearing attributes should not reference unknown variables."},"script/valid-assignment":{code:S.AssignmentToUnknownVariable,codes:[S.AssignmentToUnknownVariable,S.InvalidCompoundAssignment,S.ScriptVariableTypeMismatch],defaultSeverity:"error",description:"Script assignments must target known variables and use compatible types."},"script/valid-expression-type":{code:S.InvalidScriptOperandType,defaultSeverity:"error",description:"Script expressions must use operators with compatible operand types."},"script/valid-result-type":{code:S.ScriptResultNotBoolCompatible,defaultSeverity:"error",description:"Condition-style script attributes must have a bool-compatible inferred result."},"xml/valid-root":{code:S.InvalidRootElement,defaultSeverity:"error",description:"Root element must be <root>."},"xml/require-btcpp-format":{code:S.MissingBTCPPFormat,defaultSeverity:"warn",description:'Root element must declare BTCPP_format="4".'},"tree/require-id":{code:S.MissingBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree elements require an ID attribute."},"tree/no-duplicate-id-in-file":{code:S.DuplicateBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree IDs must be unique within a file."},"tree/no-duplicate-id":{code:S.DuplicateBehaviorTreeIdInWorkspace,defaultSeverity:"error",description:"BehaviorTree IDs must be unique across the workspace."},"tree/no-unknown-subtree":{code:S.UnknownSubTree,defaultSeverity:"error",description:"A SubTree must resolve to a BehaviorTree or a configured model."},"tree/no-unknown-main-tree":{code:S.UnknownMainTree,defaultSeverity:"error",description:"main_tree_to_execute must reference a known BehaviorTree."},"tree/no-ambiguous-subtree":{code:S.AmbiguousSubTree,defaultSeverity:"error",description:"SubTree references must resolve to a single definition."},"tree/no-duplicate-node-model-id":{code:S.DuplicateNodeModelId,defaultSeverity:"error",description:"TreeNodesModel elements must have unique IDs within the same model block."},"xml/no-unknown-top-level-element":{code:S.UnknownTopLevelElement,defaultSeverity:"warn",description:"Top-level elements must be BehaviorTree, TreeNodesModel, or configured include elements."},"include/require-path":{code:S.MissingIncludePath,defaultSeverity:"error",description:"include elements require a path attribute."},"include/no-missing-file":{code:S.IncludeNotFound,defaultSeverity:"error",description:"Referenced include file does not exist."},"include/no-cycle":{code:S.IncludeCycle,defaultSeverity:"error",description:"Include graph cycles are not allowed."},"include/no-outside-root":{code:S.IncludeOutsideWorkspace,defaultSeverity:"error",description:"Includes must stay within the workspace root."},"include/no-unresolved-variable":{code:S.UnresolvedIncludePathVariable,defaultSeverity:"error",description:"Include path variables must resolve before lookup."},"include/no-depth-exceeded":{code:S.IncludeDepthExceeded,defaultSeverity:"error",description:"Include resolution must stay within the configured maximum depth."},"include/no-too-many-files":{code:S.TooManyResolvedFiles,defaultSeverity:"error",description:"Include resolution must stay within the configured file limit."},"include/require-ros-package-resolver":{code:S.RosPackageResolverMissing,defaultSeverity:"error",description:"When include uses ros_pkg, a host resolvePackageUri capability must be provided."},"include/no-missing-ros-package":{code:S.RosPackageNotFound,defaultSeverity:"error",description:"ros_pkg include must resolve to an existing ROS package root URI."},"include/report-external-used":{code:S.ExternalIncludeUsed,defaultSeverity:"info",description:"Reports when an allowed include resolves outside the workspace root."},"model/no-unknown-node":{code:S.UnknownNode,defaultSeverity:"warn",description:"Node usages must resolve to a known model."},"model/require-port":{code:S.MissingRequiredPort,defaultSeverity:"error",description:"Required ports must be supplied."},"model/require-port-name":{code:S.MissingPortName,defaultSeverity:"error",description:"Port elements require a name attribute."},"model/no-duplicate-port-name":{code:S.DuplicatePortName,defaultSeverity:"error",description:"Ports with the same name are not allowed."},"model/valid-port-name":{code:S.InvalidPortName,defaultSeverity:"error",description:"Port names must be valid XML attribute names for BT nodes."},"model/no-unknown-port":{code:S.UnknownPort,defaultSeverity:"warn",optionsSchema:Zo,options:[{name:"subTreePorts",type:'"loose" | "strict"',default:"loose",description:"Controls whether SubTree remap attributes are checked strictly."}],description:"Reports ports that are not declared by the resolved node model."},"model/valid-port-value":{code:S.InvalidPortValueType,defaultSeverity:"error",description:"Port values must match the declared type."},"model/no-blackboard-type-mismatch":{code:S.BlackboardTypeMismatch,defaultSeverity:"error",optionsSchema:Jo,options:[{name:"allowStringEntryCompatibility",type:"boolean",default:"true",description:"Treat std::string blackboard entries as runtime-compatible with other port types, matching BT.CPP's existing-entry special case."}],description:"Blackboard entries must not mix incompatible resolved port types."},"model/valid-port-default-value":{code:S.InvalidPortDefaultValue,defaultSeverity:"error",description:"TreeNodesModel port defaults 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shape."},"suppression/no-unused":{code:S.UnusedSuppression,defaultSeverity:"warn",description:"Suppressions should match at least one diagnostic."},"suppression/require-reason":{code:S.MissingSuppressionReason,defaultSeverity:"off",description:"Suppressions should include a reason when required."}};var gt=["off","info","warn","error"];var lr={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"}}},Qo={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 we(){return structuredClone(Qo)}function Fe(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 C={Error:"error",Warning:"warning",Info:"info"};function 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cs(e){return{id:e.id,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function ms(e){return{name:e.name,attributeName:e.attributeName,uri:e.uri,range:e.range}}function ps(e){return{uri:e.uri,path:e.path,isBtXml:e.isBtXml,kind:e.kind,behaviorTrees:e.behaviorTrees.map(ds),subtreeReferences:e.subtreeReferences.map(cs),blackboardReferences:e.blackboardReferences.map(ms),treeNodesModel:e.treeNodesModel.map(ls),genericSubTreePorts:e.genericSubTreePorts.map(mr),rootMainTreeToExecute:is(e.rootMainTreeToExecute)}}function fs(e){return e.node.kind==="SubTree"&&e.node.id==="SubTree"?(e.genericSubTreePorts.push(...e.node.ports),!0):(e.treeNodesModel.push(e.node),!1)}function gs(e){return z(ts.DuplicateNodeModelId,C.Error,`duplicate node model ID \`${e.id}\``,e.idRange||e.range,e.uri,{primaryLabel:"this node model ID is already defined in the same model source",help:"merge the duplicate definitions or rename one of them"})}function 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t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};Sr.set(e.name,t),Xe.set(e.name,e.name);for(let n of e.aliases)Xe.set(n,e.name)}function vs(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 an(e){return Xe.get(e)??e}function Rs(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 $e(e){return Xe.get(e)}function Ae(e=[]){let t=new Map,n=new Map(Xe);for(let r of Sr.values())t.set(r.canonical,{name:r.name,kind:r.kind,canonical:r.canonical,aliases:new Set([r.name,r.canonical,...r.aliases]),compatibleWith:new Set(r.compatibleWith),validate:r.validate,source:r.source});for(let r of e)for(let[i,o]of Object.entries(r.types??{})){let 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kr=[{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, 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ki(){return{includeIssuesByUri:new Map,suppressionIssuesByUri:new Map}}function Ci(e,t){return e.includeIssuesByUri.get(t)??[]}function Ii(e,t){return e.suppressionIssuesByUri.get(t)??[]}function Di(e){let{document:t,semantic:n,config:r,view:i}=e,o=new Map(i.nodes.map(d=>[d.element,d])),s=new Map(i.subtreeCalls.map(d=>[d.node.element,d])),a=ce(r),u=Za(t.root);return{document:t,view:i,semantic:n,config:r,options:e.options,facts:e.facts,report(d){let l=z(d.code??e.code,e.severity,d.message,d.range,t.uri,d.details,d.data);e.diagnostics.push({...l,rule:e.rule,...d.relatedInformation?{relatedInformation:d.relatedInformation}:{}})},getIncludeIssues(d){let l=Ci(e.facts,t.uri);return d?l.filter(c=>c.kind===d):l},getSuppressionIssues(d){let l=Ii(e.facts,t.uri);return d?l.filter(c=>c.kind===d):l},getNodeUsage(d){return L(n,{element:d,documentRoot:t.root,uri:t.uri,config:r,policy:a,isModelDefinition:u.has(d)})},getPortUsage(d,l){return 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n=iu[e];if(!n)return!1;if(wn.has(e)){if(!/^-?\d+$/.test(t))return!1}else if(!/^\d+$/.test(t))return!1;try{let r=BigInt(t);return r>=n.min&&r<=n.max}catch{return!1}}function uu(e){if(e.startsWith("json:"))try{let t=JSON.parse(e.slice(5));return Array.isArray(t)?t.map(n=>({kind:"json",value:n})):void 0}catch{return}return e.split(";").map(t=>({kind:"string",value:t}))}function du(e,t,n){switch(t.kind){case"pattern":return new RegExp(`^(?:${t.pattern})$`).test(n);case"enum":return t.values.includes(n);case"tuple":{let r=n.split(t.separator);return r.length!==t.items.length?!1:r.every((i,o)=>{let s=t.items[o];return s?Mi({port:{name:`tuple[${o}]`,type:s},value:i,registry:e,typeDefinition:Q(e,s),allowRemap:!1,diagnosticCode:"BT103_INVALID_PORT_VALUE_TYPE",customLiteralDiagnosticCode:"BT112_CUSTOM_LITERAL_REQUIRES_VALIDATOR",portLabel:`tuple[${o}]`})===void 0:!1})}case"json-schema":try{let r=JSON.parse(n);return nu.compile(t.schema)(r)===!0}catch{return!1}}}var lu=new Set(["std::string","string","bool","int8_t","std::int8_t","int16_t","std::int16_t","int","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","long","short","uint8_t","std::uint8_t","uint16_t","std::uint16_t","uint","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","size_t","std::size_t","unsigned","unsigned int","float","double","bt::nodestatus","nodestatus","bt::any","bt::anytypeallowed","bt::anytype","any"]);var Oi=[I({name:"model/require-port-name",meta:{description:"Port elements require a name attribute."},create(e){return{TreeNodeModel(t){for(let n of t.ports)n.name||e.report({message:"Port must have name attribute",range:n.range||n.nameRange||t.idRange||t.range})}}}}),I({name:"model/no-duplicate-port-name",meta:{description:"Ports with the same name are not allowed."},create(e){return{TreeNodeModel(t){let n=new Set;for(let r of t.ports)r.name&&(n.has(r.name)&&e.report({message:`Duplicate port name "${r.name}" in 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ro=I({name:"script/valid-expression-type",create(e){return{Element(t){for(let n of ye(e,t))if(n.analysis)for(let r of n.analysis.diagnostics)r.code==="invalid-operand-type"&&e.report({code:S.InvalidScriptOperandType,message:r.message,range:re(e,n.attribute,r.range),details:r.details})}}}});var io=I({name:"script/valid-result-type",create(e){return{Element(t){for(let n of ye(e,t)){if(n.info.expectedResult!=="bool-compatible"||!n.parseResult.ok||!n.analysis)continue;let r=n.parseResult.program.statements.at(-1),i=n.analysis.finalType;!r||!i||Ie(i)||e.report({code:S.ScriptResultNotBoolCompatible,message:`script result for \`${n.attribute.name}\` is not bool-compatible`,range:re(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 oo=I({name:"script/valid-syntax",create(e){return{Element(t){for(let n of zt(e,t))if(!n.parseResult.ok)for(let r 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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",InvalidGlobalBlackboardIdentifier:"BT411_INVALID_GLOBAL_BLACKBOARD_IDENTIFIER",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",ConflictingModelKind:"BT120_CONFLICTING_MODEL_KIND",UnusedModelDefinition:"BT121_UNUSED_MODEL_DEFINITION",DuplicateModelDefinition:"BT122_DUPLICATE_MODEL_DEFINITION",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"},pn=Object.values(b).sort();var 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exist."},"include/no-cycle":{code:b.IncludeCycle,defaultSeverity:"error",description:"Include graph cycles are not allowed."},"include/no-outside-root":{code:b.IncludeOutsideWorkspace,defaultSeverity:"error",description:"Includes must stay within the workspace root."},"include/no-unresolved-variable":{code:b.UnresolvedIncludePathVariable,defaultSeverity:"error",description:"Include path variables must resolve before lookup."},"include/no-depth-exceeded":{code:b.IncludeDepthExceeded,defaultSeverity:"error",description:"Include resolution must stay within the configured maximum depth."},"include/no-too-many-files":{code:b.TooManyResolvedFiles,defaultSeverity:"error",description:"Include resolution must stay within the configured file limit."},"include/require-ros-package-resolver":{code:b.RosPackageResolverMissing,defaultSeverity:"error",description:"When include uses ros_pkg, a host resolvePackageUri capability must be 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Xr=[{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, 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Kr=["4.6.2","4.8.2","4.9.0"],Tn="4.9.0",Qe={"4.6.2":{models:Ur,genericSubTreeModel:qr},"4.8.2":{models:Fr,genericSubTreeModel:$r},"4.9.0":{models:Xr,genericSubTreeModel:jr}};var zr=Kr.map(e=>`btcpp-v${e}`),et=["btcpp-v4",...zr],Gr=`btcpp-v${Tn}`;function Wr(e){return{source:"builtin",direction:e.direction,name:e.name,type:e.type,defaultValue:e.defaultValue,description:e.description,required:e.required,enum:e.enum}}function Ja(e){return e.map(t=>({id:t.id,kind:t.kind,ports:t.ports.map(Wr)}))}function Yr(e){if(e)return{id:e.id,kind:e.kind,ports:e.ports.map(Wr)}}function Qa(){let e={};for(let[t,n]of Object.entries(Qe))e[`btcpp-v${t}`]=Ja(n.models);return e}function es(){let e={};for(let[t,n]of Object.entries(Qe))e[`btcpp-v${t}`]=Yr(n.genericSubTreeModel);return e}var ts=Qa(),ns=es();function rs(e){let t=e.replace(/^btcpp-v/,"");return Object.hasOwn(Qe,t)}function Hr(e){return e==="btcpp-v4"?Gr:e}function os(e){return e==="btcpp-v4"?Tn:e.replace(/^btcpp-v/,"")}function Zr(e){if(e&&e!=="btcpp-v4"&&!rs(e))throw new Error(`unsupported builtin model set: ${e}`)}function vn(e="btcpp-v4"){Zr(e);let t=Hr(e);return ts[t].map(r=>Jr(r))}function hn(e="btcpp-v4"){Zr(e);let t=ns[Hr(e)]??Yr(Qe[os(e)].genericSubTreeModel);return t?(t.ports??[]).map(n=>({...n,enum:n.enum?[...n.enum]:void 0})):[]}function Jr(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 tt(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 a=(t.defaultValue??"").localeCompare(n.defaultValue??"");return a!==0?a:(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 Dt(e,t){let n=tt(e),r=tt(t);return JSON.stringify(n)===JSON.stringify(r)}function kn(e,t){if(Dt(e,t))return"none";let n=tt(e),r=tt(t);if(n.kind!==r.kind)return"kind";if(n.ports.length!==r.ports.length)return"ports";let o=new Map(r.ports.map(s=>[s.name,s])),i=!1,a=!1;for(let s of n.ports){let l=o.get(s.name);if(!l){a=!0;continue}(s.direction!==l.direction||s.type!==l.type||s.required!==l.required)&&(a=!0);let u=s.enum?JSON.stringify(s.enum):"",d=l.enum?JSON.stringify(l.enum):"";u!==d&&(a=!0),s.description!==l.description&&(a=!0),s.defaultValue!==l.defaultValue&&(i=!0)}return a?"ports":i?"port-default":"mixed"}import{z as X}from"zod";var Qr=X.object({direction:X.enum(["input","output","inout"]).optional(),type:X.string().optional(),required:X.boolean().optional(),default:X.string().optional(),description:X.string().optional(),enum:X.array(X.string()).optional()}).strict(),Bt=X.object({kind:X.enum(["Action","Condition","Control","Decorator","SubTree"]),ports:X.record(X.string(),Qr).optional(),description:X.string().optional()}).strict(),is=X.object({nodes:X.record(X.string(),Bt)}).strict();import{z as T}from"zod";var 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Eu={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"};function Ni(e){return B({name:Eu[e],create(t){return{ProgramExit(){for(let n of t.getSuppressionIssues(e))t.report({message:n.message,range:n.range,data:Nu(n)})}}}})}function Nu(e){return e.code?{code:e.code}:void 0}var wi=[Ni("unused"),Ni("missing-reason")];function tn(e,t){return e.attributes.find(n=>n.name===t)}function Mi(e,t){if(!e)return!1;let n=(r,o)=>{let i=o||r.name==="TreeNodesModel";if(r===t)return i;for(let a of r.children)if(a.kind==="element"&&n(a,i))return!0;return!1};return n(e,!1)}var Pi=[B({name:"tree/require-id",create(e){return{Element(t){t.name!=="BehaviorTree"||tn(t,"ID")||e.report({message:"BehaviorTree must have ID attribute",range:t.range})}}}}),B({name:"tree/no-duplicate-id-in-file",create(e){let t=new Set;return{ProgramExit(){let n=at(e.semantic,e.document.uri);for(let r of n?.behaviorTrees??[])r.idRange&&(t.has(r.id)&&e.report({message:`Duplicate BehaviorTree ID: 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Ai=B({name:"model/valid-child-count",create(e){return{Element(t){if(ae(t))return;let n=e.getNodeUsage(t);n.model.status==="resolved"&&Pu(e,t,n.model.model.id,n.model.model.kind)}}}});function Pu(e,t,n,r){let o=Ho(t).length,i=wu.get(n);if(i){if(o<i.min||o>i.max){let a=Mu(i.min,i.max);e.report({message:`\`${n}\` requires ${a} 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 ${o}.`,range:t.range})}var _i=B({name:"model/valid-port-value",create(e){return{Element(t){if(ae(t))return;let 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n=e.getNodeUsage(t);if(n.tagForm==="root"||n.tagForm==="behavior-tree"||n.tagForm==="tree-nodes-model"||n.tagForm==="include"||n.tagForm==="model-definition"||n.tagForm==="subtree"||n.tagForm==="unknown-xml"||n.model.status==="resolved"||n.model.status==="ambiguous")return;let r=t.attributes.find(o=>o.name==="ID");e.report({message:`unknown node \`${n.nodeType??n.tagName}\``,range:r?.valueContentRange??r?.valueRange??t.range})}}}});var Ui=B({name:"model/no-unknown-port",create(e){return{Element(t){if(ae(t))return;let n=e.getNodeUsage(t);for(let r of n.portUsages){if(r.status!=="undeclared")continue;let o=n.ports.map(a=>a.name).sort(),i=o.length>=1&&o.length<=8?[`note: defined ports: ${o.map(a=>`\`${a}\``).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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