@abco20/btxml-checker 0.1.2 → 0.1.3

package/dist/cli.js

@@ -1,34 +1,35 @@
 #!/usr/bin/env node
-import{hideBin as dm}from"yargs/helpers";import cm from"yargs/yargs";import{z as en}from"zod";var u={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",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"},Ol=Object.values(u).sort();var $l=en.object({subTreePorts:en.enum(["loose","strict"]).optional()}).strict(),Ul=en.object({allowStringEntryCompatibility:en.boolean().optional()}).strict(),z={"script/valid-syntax":{code:u.InvalidScriptSyntax,defaultSeverity:"error",description:"Script-bearing attributes must parse as valid BT.CPP scripts."},"script/no-unknown-variable":{code:u.UnknownScriptVariable,defaultSeverity:"warn",description:"Script-bearing attributes should not reference unknown variables."},"script/valid-assignment":{code:u.AssignmentToUnknownVariable,codes:[u.AssignmentToUnknownVariable,u.InvalidCompoundAssignment,u.ScriptVariableTypeMismatch,u.InvalidGlobalBlackboardIdentifier],defaultSeverity:"error",description:"Script assignments must target known variables and use compatible types."},"script/valid-expression-type":{code:u.InvalidScriptOperandType,defaultSeverity:"error",description:"Script expressions must use operators with compatible operand types."},"script/valid-result-type":{code:u.ScriptResultNotBoolCompatible,defaultSeverity:"error",description:"Condition-style script attributes must have a bool-compatible inferred result."},"xml/valid-root":{code:u.InvalidRootElement,defaultSeverity:"error",description:"Root element must be <root>."},"xml/require-btcpp-format":{code:u.MissingBTCPPFormat,defaultSeverity:"warn",description:'Root element must declare BTCPP_format="4".'},"tree/require-id":{code:u.MissingBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree elements require an ID attribute."},"tree/no-duplicate-id-in-file":{code:u.DuplicateBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree IDs must be unique within a file."},"tree/no-duplicate-id":{code:u.DuplicateBehaviorTreeIdInWorkspace,defaultSeverity:"error",description:"BehaviorTree IDs must be unique across the workspace."},"tree/no-unknown-subtree":{code:u.UnknownSubTree,defaultSeverity:"error",description:"A SubTree must resolve to a BehaviorTree or a configured model."},"tree/no-unknown-main-tree":{code:u.UnknownMainTree,defaultSeverity:"error",description:"main_tree_to_execute must reference a known BehaviorTree."},"tree/no-ambiguous-subtree":{code:u.AmbiguousSubTree,defaultSeverity:"error",description:"SubTree references must resolve to a single definition."},"tree/no-duplicate-node-model-id":{code:u.DuplicateNodeModelId,defaultSeverity:"error",description:"TreeNodesModel elements must have unique IDs within the same model block."},"xml/no-unknown-top-level-element":{code:u.UnknownTopLevelElement,defaultSeverity:"warn",description:"Top-level elements must be BehaviorTree, TreeNodesModel, or configured include elements."},"include/require-path":{code:u.MissingIncludePath,defaultSeverity:"error",description:"include elements require a path attribute."},"include/no-missing-file":{code:u.IncludeNotFound,defaultSeverity:"error",description:"Referenced include file does not exist."},"include/no-cycle":{code:u.IncludeCycle,defaultSeverity:"error",description:"Include graph cycles are not allowed."},"include/no-outside-root":{code:u.IncludeOutsideWorkspace,defaultSeverity:"error",description:"Includes must stay within the workspace root."},"include/no-unresolved-variable":{code:u.UnresolvedIncludePathVariable,defaultSeverity:"error",description:"Include path variables must resolve before lookup."},"include/no-depth-exceeded":{code:u.IncludeDepthExceeded,defaultSeverity:"error",description:"Include resolution must stay within the configured maximum depth."},"include/no-too-many-files":{code:u.TooManyResolvedFiles,defaultSeverity:"error",description:"Include resolution must stay within the configured file limit."},"include/require-ros-package-resolver":{code:u.RosPackageResolverMissing,defaultSeverity:"error",description:"When include uses ros_pkg, a host resolvePackageUri capability must be provided."},"include/no-missing-ros-package":{code:u.RosPackageNotFound,defaultSeverity:"error",description:"ros_pkg include must resolve to an existing ROS package root URI."},"include/report-external-used":{code:u.ExternalIncludeUsed,defaultSeverity:"info",description:"Reports when an allowed include resolves outside the workspace root."},"model/no-unknown-node":{code:u.UnknownNode,defaultSeverity:"warn",description:"Node usages must resolve to a known model."},"model/require-port":{code:u.MissingRequiredPort,defaultSeverity:"error",description:"Required ports must be supplied."},"model/require-port-name":{code:u.MissingPortName,defaultSeverity:"error",description:"Port elements require a name attribute."},"model/no-duplicate-port-name":{code:u.DuplicatePortName,defaultSeverity:"error",description:"Ports with the same name are not allowed."},"model/valid-port-name":{code:u.InvalidPortName,defaultSeverity:"error",description:"Port names must be valid XML attribute names for BT nodes."},"model/no-unknown-port":{code:u.UnknownPort,defaultSeverity:"warn",optionsSchema:$l,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:u.InvalidPortValueType,defaultSeverity:"error",description:"Port values must match the declared type."},"model/no-blackboard-type-mismatch":{code:u.BlackboardTypeMismatch,defaultSeverity:"error",optionsSchema:Ul,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:u.InvalidPortDefaultValue,defaultSeverity:"error",description:"TreeNodesModel port defaults must match the declared type."},"model/require-output-port-remap":{code:u.OutputPortRequiresRemap,defaultSeverity:"warn",description:"Resolved output ports must write to a blackboard remap."},"model/no-childless-control-shape-mismatch":{code:u.ChildCapableNodeSelfClosing,defaultSeverity:"warn",description:"Control and decorator nodes should normally use open/close tags."},"model/no-leaf-block-shape":{code:u.LeafNodeOpenClose,defaultSeverity:"warn",description:"Leaf nodes should normally be self-closing unless they contain child nodes."},"model/valid-child-count":{code:u.InvalidChildCount,defaultSeverity:"warn",description:"Child count must match the expected count for the node kind (Action/Condition: 0, Decorator: 1, Control: >=1, special builtins: fixed range)."},"model/no-conflicting-definition":{code:u.ConflictingNodeModel,defaultSeverity:"error",description:"Node model definitions must agree on kind and port shape."},"suppression/no-unused":{code:u.UnusedSuppression,defaultSeverity:"warn",description:"Suppressions should match at least one diagnostic."},"suppression/require-reason":{code:u.MissingSuppressionReason,defaultSeverity:"off",description:"Suppressions should include a reason when required."}};var tn=["off","info","warn","error"];var Nr={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"}}},Vl={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 Kn(){return structuredClone(Vl)}function kt(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 E(e,t,n,o,r="",i,s){return{code:e,severity:t,message:n,uri:r,...o?{range:o}:{},...i?{details:i}:{},...s?{data:s}:{}}}function st(e,t,n){return{line:e,character:t,offset:n}}function C(e,t){return{start:e,end:t}}function Rt(e,t){return[...t].sort((n,o)=>o.range.start.offset-n.range.start.offset).reduce((n,o)=>n.slice(0,o.range.start.offset)+o.newText+n.slice(o.range.end.offset),e)}var ql=/^[A-Za-z_][A-Za-z0-9_./:-]*$/;function Hn(e){return{ok:!0,reference:e}}function Me(e,t,n){return{ok:!1,error:{kind:e,raw:t,message:n}}}function Pr(e){return ql.test(e)}function Mr(e){if(!e)return Me("empty-key",e,"Blackboard reference key must not be empty");if(e[0]==="@"){let t=e.slice(1);return t?Pr(t)?{ok:!0,scope:"global",key:t}:Me("invalid-global-key",e,`Invalid global blackboard reference key: ${e}`):Me("empty-key",e,"Global blackboard reference key must not be empty")}return Pr(e)?{ok:!0,scope:"local",key:e}:Me("invalid-key",e,`Invalid blackboard reference key: ${e}`)}function 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e.kind==="bt-document"?"bt-xml":e.kind==="model-document"?"model-xml":"unknown"}function ge(e,t){return e.attributes.find(n=>n.name===t)}function zl(e){return e==="Action"||e==="Condition"||e==="Control"||e==="Decorator"||e==="SubTree"}function Wl(e){if(e)return{uri:e.uri,range:e.range,value:e.value}}function Kl(e,t="inline-tree-nodes-model"){return e.kind==="model-document"?"external-tree-nodes-model":t}function Br(e,t){let n=e.line,o=e.character,r=e.offset;for(let i of t){if(r+=i.length,i===`
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Ar(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 ed(e){return{id:e.id,kind:e.kind,editable:e.editable,ports:e.ports.map(Ar),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 td(e){return{id:e.id,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function nd(e){return{raw:e.raw,key:e.key,scope:e.scope,identity:e.identity,syntax:e.syntax,attributeName:e.attributeName,uri:e.uri,range:e.range}}function od(e){return{uri:e.uri,path:e.path,isBtXml:e.isBtXml,kind:e.kind,behaviorTrees:e.behaviorTrees.map(Ql),subtreeReferences:e.subtreeReferences.map(td),blackboardReferences:e.blackboardReferences.map(nd),treeNodesModel:e.treeNodesModel.map(ed),genericSubTreePorts:e.genericSubTreePorts.map(Ar),rootMainTreeToExecute:Wl(e.rootMainTreeToExecute)}}function rd(e){return e.node.kind==="SubTree"&&e.node.id==="SubTree"?(e.genericSubTreePorts.push(...e.node.ports),!0):(e.treeNodesModel.push(e.node),!1)}function id(e){return E(Xl.DuplicateNodeModelId,h.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 sd(e,t){let n=[],o=t?.uri||e.uri,r=e.root,i=e.isBtXml,s=Gl(e),a=Kl(e),l=((t?.path??e.path)||o==="")&&e.kind==="model-document"?!0:e.kind!=="model-document",d=r&&e.kind!=="model-document"?Yl(r,o):[],c=[],p=[],m=r?r.name==="TreeNodesModel"?[r]:r.children.filter(b=>b.kind==="element"&&b.name==="TreeNodesModel"):[];for(let b of m){let S=Jl(b,o,a,l),T=new Map;for(let N of S)rd({node:N,treeNodesModel:c,genericSubTreePorts:p})||(T.has(N.id)?n.push(id(N)):T.set(N.id,N))}let g=r?Zl(r,o):[],y=r?(()=>{let b=[];return _r(r,b,o,e.originalText),b})():[],f=r?ge(r,"main_tree_to_execute"):void 0;return{extracted:{publicModel:od({uri:o,path:t?.path??e.path,isBtXml:i,kind:s,behaviorTrees:d,subtreeReferences:g,blackboardReferences:y,treeNodesModel:c,genericSubTreePorts:p,rootMainTreeToExecute:f?{uri:o,range:f.range,value:f.value}:void 0}),extractedBehaviorTrees:d,extractedTreeNodesModel:c,extractedSubTreeReferences:g,extractedBlackboardReferences:y},diagnostics:n}}function jr(e,t){let{extracted:n,diagnostics:o}=sd(e,t);return{model:n.publicModel,diagnostics:o}}function Jn(e,t){return jr(e,t)}var Fr=new Set(["ID","name","_name","_autoremap","_failureIf","_successIf","_skipIf","_while","_onSuccess","_onFailure","_onHalted","_post"]),ad=new Set([...Fr,"_autoremap","_description","__shared_blackboard"]),ld=new Map([[".","port names must not contain `.`"],["<","port names must not contain `<`"],[">","port names must not contain `>`"],["&","port names must not contain `&`"],['"','port names must not contain `"`'],["'","port names must not contain `'`"],["/","port names must not contain `/`"],["\\","port names must not contain `\\`"],[":","port names must not contain `:`"],["*","port names must not contain `*`"],["?","port names must not contain `?`"],["|","port names must not contain `|`"]]);function Yn(e){return Fr.has(e)}function Lr(e){return ad.has(e)}function Zn(e){if(e.length===0)return"port names must not be empty";if(/^[0-9]/.test(e))return"port names must not start with a digit";if(Lr(e))return`\`${e}\` is a reserved attribute name`;for(let t of e){let n=t.charCodeAt(0);if(n<=31||n===127)return"port names must not contain ASCII control characters";if(t===" "||t==="	"||t===`
-`||t==="\r")return"port names must not contain whitespace";let o=ld.get(t);if(o)return o}}function Or(e,t){let n=t.direction??"input";return{source:"config",name:e,direction:n,type:t.type,defaultValue:t.default,description:t.description,required:t.required??((n==="input"||n==="inout")&&t.default===void 0),enum:t.enum}}function Tt(e,t){return{id:e,kind:t.kind,source:"config",sourceMeta:{sourceKind:"config"},editable:!0,ports:Object.entries(t.ports??{}).map(([n,o])=>Or(n,o))}}var dd=[{name:"std::string",kind:"primitive",aliases:["string"]},{name:"bool",kind:"primitive",aliases:[]},{name:"int8_t",kind:"primitive",aliases:["std::int8_t"]},{name:"int16_t",kind:"primitive",aliases:["std::int16_t"]},{name:"int32",kind:"primitive",aliases:["int","int32_t","std::int32_t"]},{name:"int64_t",kind:"primitive",aliases:["long","int64","std::int64_t"]},{name:"short",kind:"primitive",aliases:[]},{name:"uint8_t",kind:"primitive",aliases:["std::uint8_t"]},{name:"uint16_t",kind:"primitive",aliases:["std::uint16_t"]},{name:"uint32",kind:"primitive",aliases:["uint","unsigned","unsigned int","uint32_t","std::uint32_t"]},{name:"uint64_t",kind:"primitive",aliases:["uint64","std::uint64_t","size_t","std::size_t"]},{name:"float",kind:"primitive",aliases:[]},{name:"double",kind:"primitive",aliases:[]},{name:"BT::NodeStatus",kind:"primitive",aliases:["NodeStatus"]},{name:"BT::Any",kind:"any",aliases:["BT::AnyTypeAllowed","BT::AnyType","Any"]}],Dt=new Map,$r=new Map;for(let e of dd){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};$r.set(e.name,t),Dt.set(e.name,e.name);for(let n of e.aliases)Dt.set(n,e.name)}function cd(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 Qn(e){return Dt.get(e)??e}function ud(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 Ct(e){return Dt.get(e)}function at(e=[]){let t=new Map,n=new Map(Dt);for(let o of $r.values())t.set(o.canonical,{name:o.name,kind:o.kind,canonical:o.canonical,aliases:new Set([o.name,o.canonical,...o.aliases]),compatibleWith:new Set(o.compatibleWith),validate:o.validate,source:o.source});for(let o of e)for(let[r,i]of Object.entries(o.types??{})){let s=Qn(i.canonical??r),l=t.get(s)??cd(r,s,i);l.name=r,l.kind=i.kind,l.canonical=s,l.source="augmentation",l.validate=i.validate??l.validate,l.aliases.add(r),l.aliases.add(s);for(let d of i.aliases??[])l.aliases.add(d);for(let d of i.compatibleWith??[])l.compatibleWith.add(d);t.set(s,l),n.set(r,s),n.set(s,s);for(let d of i.aliases??[])n.set(d,s)}for(let o of t.values())o.compatibleWith=new Set([...o.compatibleWith].map(r=>n.get(r)??Qn(r))),o.compatibleWith.delete(o.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([o,r])=>[o,ud(r)])),namesToCanonical:n}}function ue(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??Qn(t),o=e.entriesByCanonical.get(n);return o||{name:t,kind:"opaque",canonical:n,aliases:[],compatibleWith:[],source:"custom"}}function rn(e,t){return ue(e,t)?.canonical}function It(e,t,n){let o=ue(e,t),r=ue(e,n);return!o||!r?!1:o.kind==="any"||r.kind==="any"||o.canonical===r.canonical?!0:o.compatibleWith.includes(r.canonical)||r.compatibleWith.includes(o.canonical)}var Ur=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<double, std::allocator<double> > >",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<int, std::allocator<int> > >",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once bu the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written int othe output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned int",description:"After a certain amount of time, halt() the child if it is still running.",required:!0}]},{id:"UnsetBlackboard",kind:"Action",ports:[{name:"key",direction:"input",type:"std::string",description:"Key of the entry to remove",required:!0}]},{id:"WaitValueUpdate",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WasEntryUpdated",kind:"Action",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WhileDoElse",kind:"Control",ports:[]}],Vr={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 qr=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<double, std::allocator<double> > >",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<int, std::allocator<int> > >",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once by the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written into the output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned int",description:"After a certain amount of time, halt() the child if it is still running.",required:!0}]},{id:"UnsetBlackboard",kind:"Action",ports:[{name:"key",direction:"input",type:"std::string",description:"Key of the entry to remove",required:!0}]},{id:"WaitValueUpdate",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WasEntryUpdated",kind:"Action",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WhileDoElse",kind:"Control",ports:[]}],Xr={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 Gr=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once by the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written into the output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned int",description:"After a certain amount of time, halt() the child if it is still running.",required:!0}]},{id:"TryCatch",kind:"Control",ports:[{name:"catch_on_halt",direction:"input",type:"bool",defaultValue:"false",description:"If true, execute the catch child when the node is halted during the try-block",required:!1}]},{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:[]}],zr={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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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 lt(e,t){let n=Nt(e),o=Nt(t);return JSON.stringify(n)===JSON.stringify(o)}function oo(e,t){if(lt(e,t))return"none";let n=Nt(e),o=Nt(t);if(n.kind!==o.kind)return"kind";if(n.ports.length!==o.ports.length)return"ports";let r=new Map(o.ports.map(a=>[a.name,a])),i=!1,s=!1;for(let a of n.ports){let l=r.get(a.name);if(!l){s=!0;continue}(a.direction!==l.direction||a.type!==l.type||a.required!==l.required)&&(s=!0);let d=a.enum?JSON.stringify(a.enum):"",c=l.enum?JSON.stringify(l.enum):"";d!==c&&(s=!0),a.description!==l.description&&(s=!0),a.defaultValue!==l.defaultValue&&(i=!0)}return s?"ports":i?"port-default":"mixed"}import{findNodeAtLocation as Td,parse as Dd,parseTree as Cd}from"jsonc-parser";import{z as w}from"zod";var ti=w.discriminatedUnion("kind",[w.object({kind:w.literal("pattern"),pattern:w.string()}).strict(),w.object({kind:w.literal("enum"),values:w.array(w.string())}).strict(),w.object({kind:w.literal("tuple"),separator:w.string(),items:w.array(w.string())}).strict(),w.object({kind:w.literal("json-schema"),schema:w.unknown()}).strict()]),vd=w.object({kind:w.enum(["primitive","opaque","any"]),canonical:w.string().optional(),aliases:w.array(w.string()).optional(),compatibleWith:w.array(w.string()).optional(),validate:ti.optional()}).strict(),Sd=w.object({from:w.string().optional(),to:w.string()}).strict(),xd=w.object({typeRefinement:Sd.optional(),validate:ti.optional(),required:w.boolean().optional(),enum:w.array(w.string()).optional(),description:w.string().optional()}).strict(),kd=w.object({ports:w.record(w.string(),xd).optional()}).strict(),Rd=w.object({enums:w.record(w.string(),w.number().finite()).optional()}).strict(),ni=w.object({version:w.literal(1),types:w.record(w.string(),vd).optional(),augment:w.record(w.string(),kd).optional(),script:Rd.optional()}).strict();function Id(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
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a=Id(e);return{ok:!1,uri:n,path:t?.path,issues:s.error.issues.map(l=>{let d=wd(l),{message:c,path:p}=Nd(l);return{kind:"schema",message:c,path:p,range:Ed(Td(r,d),a),notes:p?[p]: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 q}from"zod";var ri=q.object({direction:q.enum(["input","output","inout"]).optional(),type:q.string().optional(),required:q.boolean().optional(),default:q.string().optional(),description:q.string().optional(),enum:q.array(q.string()).optional()}).strict(),sn=q.object({kind:q.enum(["Action","Condition","Control","Decorator","SubTree"]),ports:q.record(q.string(),ri).optional(),description:q.string().optional()}).strict(),io=q.object({nodes:q.record(q.string(),sn)}).strict();import{z as k}from"zod";var 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pi(e){return e.flatMap($d)}function $d(e){if(String(e.code)==="unrecognized_keys")return(Array.isArray(e.keys)?e.keys??[]:[]).map(r=>{let i=ci([...e.path,String(r)]);return{code:"CFG002_UNKNOWN_CONFIG_FIELD",severity:"error",path:i,message:`unknown config field \`${i}\``}});let n=ci(e.path);return mi(e)?[{code:"CFG003_INVALID_CONFIG_VALUE",severity:"error",path:n,message:n?`invalid config value at \`${n}\``:"invalid config value"}]:[{code:"CFG001_INVALID_CONFIG",severity:"error",path:n,message:n?`invalid config at \`${n}\``:"invalid config"}]}function ci(e){return e.map(String).join(".")||void 0}function mi(e){let t=String(e.code);if(t==="invalid_value"||t==="invalid_enum_value"||t==="invalid_literal")return!0;if(t!=="invalid_union")return!1;let n=e.errors;if(Array.isArray(n))return n.flat().some(ui);let o=e.unionErrors;return Array.isArray(o)?o.flatMap(r=>r.issues??[]).some(ui):!1}function ui(e){return typeof e=="object"&&e!==null&&mi(e)}function dt(e){let t=di.safeParse(e);return t.success?{ok:!0,value:t.data,diagnostics:[]}:{ok:!1,diagnostics:pi(t.error.issues)}}function Ud(e){if(!e)return;let t={};return e.indentWidth!==void 0&&(t.indentWidth=e.indentWidth),e.xmlDeclaration!==void 0&&(t.xmlDeclaration=e.xmlDeclaration),e.blankLineBetweenBehaviorTrees!==void 0&&(t.blankLineBetweenBehaviorTrees=e.blankLineBetweenBehaviorTrees),e.lineEnding!==void 0&&(t.lineEnding=e.lineEnding),t}function Vd(e){if(!e)return;let t={};return e.rules!==void 0&&(t.rules=e.rules),e.suppressions!==void 0&&(t.suppressions={},e.suppressions.inline!==void 0&&(t.suppressions.inline=e.suppressions.inline)),t}function qd(e){return e.map(t=>E(t.code,t.severity==="error"?h.Error:h.Warning,t.message,void 0,"",t.help?{help:t.help}:void 0))}function Xd(e){let t=[],n=Kn(),{$schema:o,strict:r,overrides:i,...s}=e;r&&(n=kt(n,Nr)),n=kt(n,s),n.overrides=(i??[]).map(l=>({files:l.files,linter:Vd(l.linter),formatter:Ud(l.formatter)}));let a=!t.some(l=>l.severity===h.Error);return{config:n,diagnostics:t,ok:a}}function an(e){let t=dt(e);return t.ok?Xd(t.value):{ok:!1,config:Kn(),diagnostics:qd(t.diagnostics)}}var Gd="https://unpkg.com/@abco20/btxml-checker/schemas/btxml.config.schema.json";function ln(){return{$schema:Gd}}function zd(e){let t="",n=0;for(;n<e.length;)e.slice(n,n+3)==="/**"&&(n+3===e.length||e[n+3]==="/")?n+3===e.length?(t+="(?:/.*)?",n+=3):(t+="(?:/.*)?/",n+=4):n===0&&e.slice(n,n+3)==="**/"?(t+="(?:.*/)?",n+=3):e.slice(n,n+2)==="**"?(t+=".*",n+=2):e[n]==="*"?(t+="[^/]*",n+=1):e[n]==="?"?(t+="[^/]",n+=1):(t+=e[n].replace(/[.+^${}()|[\]\\]/g,"\\$&"),n+=1);return new RegExp(`^${t}$`)}function Wd(e,t){let n=e.replace(/\\/g,"/"),o=t.startsWith("!"),r=o?t.slice(1):t,s=zd(r).test(n);return o?!s:s}function fi(e,t){return e.overrides.filter(n=>n.files.some(o=>Wd(t,o)))}function Kd(e){return e.replaceAll("\\","/")}function ee(e,t){let n=Kd(t),o=fi(e,n),r=e;for(let i of 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2"/>',configExample:'{"linter":{"rules":{"script/valid-assignment":"error"}}}'},[u.InvalidGlobalBlackboardIdentifier]:{code:u.InvalidGlobalBlackboardIdentifier,title:"Invalid global blackboard identifier",description:"Script global blackboard identifiers must use `@name` with a valid blackboard key after the scope marker.",suppressible:!0,invalidExample:'<Script code="@ := 1"/>',validExample:'<Script code="@count := 1"/>',configExample:'{"linter":{"rules":{"script/valid-assignment":"error"}}}'},[u.InvalidRootElement]:j(u.InvalidRootElement,"Invalid root element","Root element must be <root>.",!1),[u.MissingBTCPPFormat]:j(u.MissingBTCPPFormat,"Missing BTCPP format",'Root element must declare BTCPP_format="4".',!1),[u.MissingBehaviorTreeID]:j(u.MissingBehaviorTreeID,"Missing BehaviorTree ID","BehaviorTree elements require an ID attribute.",!1),[u.DuplicateBehaviorTreeID]:j(u.DuplicateBehaviorTreeID,"Duplicate BehaviorTree ID","BehaviorTree IDs must be unique within a 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Run `btxmlc repair --write` to resolve the conflict interactively."},[u.DuplicateBehaviorTreeIdInWorkspace]:{code:u.DuplicateBehaviorTreeIdInWorkspace,title:"Duplicate BehaviorTree ID in workspace",description:"BehaviorTree IDs must be unique across the workspace.",suppressible:!1,invalidExample:`<!-- file1.xml --><BehaviorTree ID="shared"/>
+import{hideBin as Bm}from"yargs/helpers";import _m from"yargs/yargs";import{z as sn}from"zod";var u={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"},Ql=Object.values(u).sort();var ed=sn.object({subTreePorts:sn.enum(["loose","strict"]).optional()}).strict(),td=sn.object({allowStringEntryCompatibility:sn.boolean().optional()}).strict(),W={"script/valid-syntax":{code:u.InvalidScriptSyntax,defaultSeverity:"error",description:"Script-bearing attributes must parse as valid BT.CPP scripts."},"script/no-unknown-variable":{code:u.UnknownScriptVariable,defaultSeverity:"warn",description:"Script-bearing attributes should not reference unknown variables."},"script/valid-assignment":{code:u.AssignmentToUnknownVariable,codes:[u.AssignmentToUnknownVariable,u.InvalidCompoundAssignment,u.ScriptVariableTypeMismatch,u.InvalidGlobalBlackboardIdentifier],defaultSeverity:"error",description:"Script assignments must target known variables and use compatible types."},"script/valid-expression-type":{code:u.InvalidScriptOperandType,defaultSeverity:"error",description:"Script expressions must use operators with compatible operand 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BehaviorTree or a configured model."},"tree/no-unknown-main-tree":{code:u.UnknownMainTree,defaultSeverity:"error",description:"main_tree_to_execute must reference a known BehaviorTree."},"tree/no-ambiguous-subtree":{code:u.AmbiguousSubTree,defaultSeverity:"error",description:"SubTree references must resolve to a single definition."},"tree/no-duplicate-node-model-id":{code:u.DuplicateNodeModelId,defaultSeverity:"error",description:"TreeNodesModel elements must have unique IDs within the same model block."},"xml/no-unknown-top-level-element":{code:u.UnknownTopLevelElement,defaultSeverity:"warn",description:"Top-level elements must be BehaviorTree, TreeNodesModel, or configured include elements."},"include/require-path":{code:u.MissingIncludePath,defaultSeverity:"error",description:"include elements require a path attribute."},"include/no-missing-file":{code:u.IncludeNotFound,defaultSeverity:"error",description:"Referenced include file does not 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contain `"`'],["'","port names must not contain `'`"],["/","port names must not contain `/`"],["\\","port names must not contain `\\`"],[":","port names must not contain `:`"],["*","port names must not contain `*`"],["?","port names must not contain `?`"],["|","port names must not contain `|`"]]);function no(e){return Gi.has(e)}function zi(e){return Rd.has(e)}function oo(e){if(e.length===0)return"port names must not be empty";if(/^[0-9]/.test(e))return"port names must not start with a digit";if(zi(e))return`\`${e}\` is a reserved attribute name`;for(let t of e){let n=t.charCodeAt(0);if(n<=31||n===127)return"port names must not contain ASCII control characters";if(t===" "||t==="	"||t===`
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Td=[{name:"std::string",kind:"primitive",aliases:["string"]},{name:"bool",kind:"primitive",aliases:[]},{name:"int8_t",kind:"primitive",aliases:["std::int8_t"]},{name:"int16_t",kind:"primitive",aliases:["std::int16_t"]},{name:"int32",kind:"primitive",aliases:["int","int32_t","std::int32_t"]},{name:"int64_t",kind:"primitive",aliases:["long","int64","std::int64_t"]},{name:"short",kind:"primitive",aliases:[]},{name:"uint8_t",kind:"primitive",aliases:["std::uint8_t"]},{name:"uint16_t",kind:"primitive",aliases:["std::uint16_t"]},{name:"uint32",kind:"primitive",aliases:["uint","unsigned","unsigned int","uint32_t","std::uint32_t"]},{name:"uint64_t",kind:"primitive",aliases:["uint64","std::uint64_t","size_t","std::size_t"]},{name:"float",kind:"primitive",aliases:[]},{name:"double",kind:"primitive",aliases:[]},{name:"BT::NodeStatus",kind:"primitive",aliases:["NodeStatus"]},{name:"BT::Any",kind:"any",aliases:["BT::AnyTypeAllowed","BT::AnyType","Any"]}],Nt=new Map,Ki=new Map;for(let e of Td){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};Ki.set(e.name,t),Nt.set(e.name,e.name);for(let n of e.aliases)Nt.set(n,e.name)}function Id(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 io(e){return Nt.get(e)??e}function Cd(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 Mt(e){return Nt.get(e)}function ct(e=[]){let t=new Map,n=new Map(Nt);for(let o of Ki.values())t.set(o.canonical,{name:o.name,kind:o.kind,canonical:o.canonical,aliases:new Set([o.name,o.canonical,...o.aliases]),compatibleWith:new Set(o.compatibleWith),validate:o.validate,source:o.source});for(let o of e)for(let[i,r]of Object.entries(o.types??{})){let s=io(r.canonical??i),l=t.get(s)??Id(i,s,r);l.name=i,l.kind=r.kind,l.canonical=s,l.source="augmentation",l.validate=r.validate??l.validate,l.aliases.add(i),l.aliases.add(s);for(let d of r.aliases??[])l.aliases.add(d);for(let d of r.compatibleWith??[])l.compatibleWith.add(d);t.set(s,l),n.set(i,s),n.set(s,s);for(let d of r.aliases??[])n.set(d,s)}for(let o of t.values())o.compatibleWith=new Set([...o.compatibleWith].map(i=>n.get(i)??io(i))),o.compatibleWith.delete(o.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([o,i])=>[o,Cd(i)])),namesToCanonical:n}}function fe(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??io(t),o=e.entriesByCanonical.get(n);return o||{name:t,kind:"opaque",canonical:n,aliases:[],compatibleWith:[],source:"custom"}}function cn(e,t){return fe(e,t)?.canonical}function wt(e,t,n){let o=fe(e,t),i=fe(e,n);return!o||!i?!1:o.kind==="any"||i.kind==="any"||o.canonical===i.canonical?!0:o.compatibleWith.includes(i.canonical)||i.compatibleWith.includes(o.canonical)}var Hi=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<double, std::allocator<double> > >",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<int, std::allocator<int> > >",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once bu the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written int othe output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned int",description:"After a certain amount of time, halt() the child if it is still running.",required:!0}]},{id:"UnsetBlackboard",kind:"Action",ports:[{name:"key",direction:"input",type:"std::string",description:"Key of the entry to remove",required:!0}]},{id:"WaitValueUpdate",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WasEntryUpdated",kind:"Action",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WhileDoElse",kind:"Control",ports:[]}],Ji={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 Yi=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<double, std::allocator<double> > >",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<int, std::allocator<int> > >",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once by the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written into the output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned int",description:"After a certain amount of time, halt() the child if it is still running.",required:!0}]},{id:"UnsetBlackboard",kind:"Action",ports:[{name:"key",direction:"input",type:"std::string",description:"Key of the entry to remove",required:!0}]},{id:"WaitValueUpdate",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WasEntryUpdated",kind:"Action",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WhileDoElse",kind:"Control",ports:[]}],Zi={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 Qi=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"BT::AnyTypeAllowed",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once by the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written into the output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned 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file.",!1),[u.UnknownSubTree]:{code:u.UnknownSubTree,title:"Unknown SubTree reference",description:"A SubTree must resolve to a BehaviorTree or a configured model.",suppressible:!0,invalidExample:'<SubTree ID="missing_tree"/>',validExample:'<BehaviorTree ID="missing_tree"><Sequence/></BehaviorTree>',fix:"Define the BehaviorTree, add an external TreeNodesModel file, or add a nodes config entry.",configExample:'{"linter":{"rules":{"tree/no-unknown-subtree":"warn"}}}'},[u.DuplicateNodeModelId]:j(u.DuplicateNodeModelId,"Duplicate node model ID in TreeNodesModel","TreeNodesModel elements must have unique IDs within the same model block.",!1),[u.MissingPortName]:j(u.MissingPortName,"Missing port name","Port elements require a name attribute.",!1),[u.DuplicatePortName]:j(u.DuplicatePortName,"Duplicate port name","Ports with the same name are not allowed.",!1),[u.InvalidPortName]:{code:u.InvalidPortName,title:"Invalid port name",description:"Port names must be valid XML attribute names for BT 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Run `btxmlc repair --write` to resolve the conflict interactively."},[u.ConflictingModelKind]:{code:u.ConflictingModelKind,title:"Conflicting model kind for ID",description:"The same model ID must not be defined with different node kinds.",suppressible:!1,invalidExample:'<TreeNodesModel><Action ID="Foo"/><Condition ID="Foo"/></TreeNodesModel>',validExample:'<TreeNodesModel><Action ID="Foo"/></TreeNodesModel>'},[u.UnusedModelDefinition]:{code:u.UnusedModelDefinition,title:"Unused inline model definition",description:"When models.convention is used-only, inline Action/Condition/Decorator/Control definitions must be used in the same file.",suppressible:!1,invalidExample:'<root BTCPP_format="4"><BehaviorTree ID="Main"><Run/></BehaviorTree><TreeNodesModel><Action ID="Run"/><Action ID="Unused"/></TreeNodesModel></root>',validExample:'<root BTCPP_format="4"><BehaviorTree ID="Main"><Run/></BehaviorTree><TreeNodesModel><Action ID="Run"/></TreeNodesModel></root>',fix:"Run `btxmlc lint --fix` to remove unused inline model definitions when safe."},[u.DuplicateModelDefinition]:{code:u.DuplicateModelDefinition,title:"Duplicate model definition",description:"When models.convention is single-source, each user-defined (ID, kind) model definition should appear only once.",suppressible:!1,invalidExample:`<!-- a.xml --><TreeNodesModel><Action ID="Move"/></TreeNodesModel>
+<!-- b.xml --><TreeNodesModel><Action ID="Move"/></TreeNodesModel>`,validExample:'<TreeNodesModel><Action ID="Move"/></TreeNodesModel>',fix:"Run `btxmlc lint --fix` to delete non-canonical duplicates when safe."},[u.DuplicateBehaviorTreeIdInWorkspace]:{code:u.DuplicateBehaviorTreeIdInWorkspace,title:"Duplicate BehaviorTree ID in workspace",description:"BehaviorTree IDs must be unique across the workspace.",suppressible:!1,invalidExample:`<!-- file1.xml --><BehaviorTree ID="shared"/>
 <!-- file2.xml --><BehaviorTree ID="shared"/>`,validExample:`<!-- file1.xml --><BehaviorTree ID="shared"/>
 <!-- file2.xml --><BehaviorTree ID="other"/>`,configExample:'{"linter":{"rules":{"tree/no-duplicate-id":"warn"}}}'},[u.MissingIncludePath]:{code:u.MissingIncludePath,title:"Missing include path",description:"include elements require a path attribute.",suppressible:!1,invalidExample:"<include/>",validExample:'<include path="common.xml"/>',configExample:'{"linter":{"rules":{"include/require-path":"warn"}}}'},[u.IncludeNotFound]:{code:u.IncludeNotFound,title:"Include not found",description:"Referenced include file does not exist.",suppressible:!1,invalidExample:'<include path="missing.xml"/>',validExample:'<include path="common.xml"/>',configExample:'{"linter":{"rules":{"include/no-missing-file":"warn"}}}'},[u.IncludeCycle]:j(u.IncludeCycle,"Include cycle","Include graph cycles are not allowed.",!1),[u.UnresolvedIncludePathVariable]:j(u.UnresolvedIncludePathVariable,"Unresolved include path variable","Include path variables must resolve before lookup.",!1),[u.IncludeOutsideWorkspace]:j(u.IncludeOutsideWorkspace,"Include outside workspace","Includes must stay within the workspace root.",!1),[u.ExternalIncludeUsed]:j(u.ExternalIncludeUsed,"External include used","An include file outside the workspace root was used.",!1),[u.IncludeDepthExceeded]:j(u.IncludeDepthExceeded,"Include depth exceeded","The maximum depth of nested includes was reached.",!1),[u.TooManyResolvedFiles]:j(u.TooManyResolvedFiles,"Too many resolved files","The maximum number of allowed files included was reached.",!1),[u.EntrypointNotFound]:j(u.EntrypointNotFound,"Entrypoint not found","Configured entrypoint files must exist.",!1),[u.RosPackageResolverMissing]:{code:u.RosPackageResolverMissing,title:"ROS package resolver is missing",description:"include elements with ros_pkg require ProjectHost.resolvePackageUri to be provided.",suppressible:!1,invalidExample:'<include ros_pkg="my_pkg" path="trees/common.xml"/>',validExample:"Provide a host implementation of resolvePackageUri that resolves my_pkg to a package root URI."},[u.RosPackageNotFound]:{code:u.RosPackageNotFound,title:"ROS package not found",description:"ros_pkg include must resolve to a known package root URI.",suppressible:!1,invalidExample:'<include ros_pkg="missing_pkg" path="trees/common.xml"/>',validExample:'<include ros_pkg="my_pkg" path="trees/common.xml"/>'},[u.UnknownNode]:j(u.UnknownNode,"Unknown node","Node usages must resolve to a known model.",!0),[u.MissingRequiredPort]:{code:u.MissingRequiredPort,title:"Missing required port",description:"Required ports must be supplied.",suppressible:!0,invalidExample:'<Action ID="SetFlag"/>',validExample:'<Action ID="SetFlag" enabled="true"/>',configExample:'{"linter":{"rules":{"model/require-port":"warn"}}}'},[u.UnknownPort]:{code:u.UnknownPort,title:"Unknown port",description:"Unknown ports are reported against the resolved node model.",suppressible:!0,invalidExample:'<Action ID="SetFlag" unknown="1"/>',validExample:'<Action ID="SetFlag" enabled="true"/>',configExample:'{"linter":{"rules":{"model/no-unknown-port":"error"}}}'},[u.InvalidPortValueType]:{code:u.InvalidPortValueType,title:"Invalid port value type",description:"Port values must match the declared type.",suppressible:!0,invalidExample:'<Action ID="SetFlag" enabled="yes"/>',validExample:'<Action ID="SetFlag" enabled="true"/>',configExample:'{"linter":{"rules":{"model/valid-port-value":"warn"}}}'},[u.BlackboardTypeMismatch]:{code:u.BlackboardTypeMismatch,title:"Blackboard type mismatch",description:"Blackboard entries must not mix incompatible resolved port types.",suppressible:!0,invalidExample:'<Sequence><ReadPose pose="{target}"/><UseString text="{target}"/></Sequence>',validExample:'<Sequence><ReadPose pose="{target}"/><UsePose pose="{target}"/></Sequence>',configExample:'{"linter":{"rules":{"model/no-blackboard-type-mismatch":["warn",{"allowStringEntryCompatibility":true}]}}}'},[u.CustomLiteralRequiresValidator]:{code:u.CustomLiteralRequiresValidator,title:"Custom literal requires validator",description:"Literal values for custom port types require a validator.",suppressible:!0,invalidExample:'<Action ID="MoveTo" target="1.0;2.0;3.14"/>',validExample:'<Action ID="MoveTo" target="{target}"/>',configExample:'{"linter":{"rules":{"model/valid-port-value":"warn"}}}'},[u.InvalidPortDefaultValue]:{code:u.InvalidPortDefaultValue,title:"Invalid port default value",description:"TreeNodesModel port defaults must match the declared type.",suppressible:!0,invalidExample:'<input_port name="count" type="int" default="abc"/>',validExample:'<input_port name="count" type="int" default="1"/>',configExample:'{"linter":{"rules":{"model/valid-port-default-value":"warn"}}}'},[u.OutputPortRequiresRemap]:{code:u.OutputPortRequiresRemap,title:"Output port requires remap",description:"Resolved output ports must write to a blackboard remap.",suppressible:!0,invalidExample:'<Action ID="Producer" result="value"/>',validExample:'<Action ID="Producer" result="{value}"/>',configExample:'{"linter":{"rules":{"model/require-output-port-remap":"error"}}}'},[u.AugmentTargetNotFound]:{code:u.AugmentTargetNotFound,title:"Augmentation target not found",description:"Model augmentations must target an existing node model.",suppressible:!1,invalidExample:'{"augment":{"MissingNode":{"ports":{}}}}',validExample:'{"augment":{"MoveTo":{"ports":{}}}}'},[u.AugmentPortNotFound]:{code:u.AugmentPortNotFound,title:"Augmentation port not found",description:"Model augmentations must target an existing port on the node model.",suppressible:!1,invalidExample:'{"augment":{"MoveTo":{"ports":{"missing":{}}}}}',validExample:'{"augment":{"MoveTo":{"ports":{"target":{}}}}}'},[u.InvalidTypeRefinement]:{code:u.InvalidTypeRefinement,title:"Invalid type refinement",description:"Model augmentation type refinements must match the port base type when `from` is provided.",suppressible:!1,invalidExample:'{"typeRefinement":{"from":"std::string","to":"Pose2D"}}',validExample:'{"typeRefinement":{"from":"int","to":"Pose2D"}}'},[u.ChildCapableNodeSelfClosing]:{code:u.ChildCapableNodeSelfClosing,title:"Child-capable node is self-closing",description:"Control and decorator nodes should normally use open/close tags.",suppressible:!0,invalidExample:"<Sequence/>",validExample:`<Sequence>
   <AlwaysSuccess/>
-</Sequence>`,configExample:'{"linter":{"rules":{"model/no-childless-control-shape-mismatch":"off"}}}'},[u.LeafNodeOpenClose]:{code:u.LeafNodeOpenClose,title:"Leaf node uses block shape",description:"Leaf nodes should normally be self-closing unless they contain child nodes.",suppressible:!0,invalidExample:"<AlwaysSuccess></AlwaysSuccess>",validExample:"<AlwaysSuccess/>",configExample:'{"linter":{"rules":{"model/no-leaf-block-shape":"off"}}}'},[u.InvalidChildCount]:{code:u.InvalidChildCount,title:"Invalid child count",description:"Node child count must satisfy the constraints for its kind: Action/Condition have no children, Decorator has exactly one, Control has one or more, SubTree has none, and special builtins like IfThenElse/WhileDoElse require 2 or 3.",suppressible:!0,invalidExample:"<Sequence/>",validExample:"<Sequence><AlwaysSuccess/></Sequence>",configExample:'{"linter":{"rules":{"model/valid-child-count":"warn"}}}'},[u.ExternalModelFileNotFound]:{code:u.ExternalModelFileNotFound,title:"External model file not found",description:"Configured external TreeNodesModel files must exist.",suppressible:!1,invalidExample:'{"models":{"files":["missing.xml"]}}',validExample:'{"models":{"files":["models.xml"]}}'},[u.AugmentationFileNotFound]:{code:u.AugmentationFileNotFound,title:"Augmentation file not found",description:"Configured augmentation files must exist.",suppressible:!1,invalidExample:'{"models":{"augmentations":["missing.xml"]}}',validExample:'{"models":{"augmentations":["augmentations.xml"]}}'},[u.MissingTreeNodesModel]:j(u.MissingTreeNodesModel,"Missing TreeNodesModel","External model files must contain a TreeNodesModel.",!1),[u.ExternalModelXmlParseError]:j(u.ExternalModelXmlParseError,"External model XML parse error","External model files must parse as XML.",!1),[u.NodeDefinitionFileNotFound]:{code:u.NodeDefinitionFileNotFound,title:"Node definition file not found",description:"Configured node definition files must exist.",suppressible:!1,invalidExample:'{"models":{"definitions":["missing.json"]}}',validExample:'{"models":{"definitions":["nodes.json"]}}'},[u.InvalidNodeDefinitionJson]:j(u.InvalidNodeDefinitionJson,"Invalid node definition JSON","Node definition files must parse as JSON.",!1),[u.InvalidNodeDefinitionSchema]:j(u.InvalidNodeDefinitionSchema,"Invalid node definition schema","Node definition files must match the expected schema.",!1),[u.DuplicateNodeDefinitionId]:j(u.DuplicateNodeDefinitionId,"Duplicate node definition ID","Node definition IDs must be unique.",!1),[u.InvalidAugmentationJson]:j(u.InvalidAugmentationJson,"Invalid augmentation JSON","Model augmentation files must parse as JSON.",!1),[u.InvalidAugmentationSchema]:j(u.InvalidAugmentationSchema,"Invalid augmentation schema","Model augmentation files must match the expected schema.",!1),[u.ConflictingPortDefault]:{code:u.ConflictingPortDefault,title:"Conflicting port default",description:"Merged port defaults must agree.",suppressible:!1,fix:"Run `btxmlc repair` to inspect conflicts. Run `btxmlc repair --write` to resolve the conflict interactively."},[u.UnusedSuppression]:j(u.UnusedSuppression,"Unused suppression","Suppressions should match at least one diagnostic.",!1),[u.MissingSuppressionReason]:j(u.MissingSuppressionReason,"Missing suppression reason","Suppressions should include a reason when required.",!1),XML016_TEXT_OUTSIDE_ROOT:j("XML016_TEXT_OUTSIDE_ROOT","Text outside root element","Non-whitespace text is not allowed outside the root element.",!1)},Qd=Object.fromEntries(Object.values(z).flatMap(e=>{let t=e;return[t.code,...(t.codes??[]).filter(n=>n!==t.code)].map(n=>[n,t.defaultSeverity])})),ec={[u.DuplicateNodeModelId]:"error",[u.UnknownTopLevelElement]:"warning",[u.UnresolvedIncludePathVariable]:"error",[u.ExternalIncludeUsed]:"info",[u.IncludeDepthExceeded]:"error",[u.TooManyResolvedFiles]:"error",[u.EntrypointNotFound]:"error",[u.ExternalModelFileNotFound]:"error",[u.AugmentationFileNotFound]:"error",[u.MissingTreeNodesModel]:"error",[u.ExternalModelXmlParseError]:"error",[u.NodeDefinitionFileNotFound]:"error",[u.InvalidNodeDefinitionJson]:"error",[u.InvalidNodeDefinitionSchema]:"error",[u.DuplicateNodeDefinitionId]:"error",[u.InvalidAugmentationJson]:"error",[u.InvalidAugmentationSchema]:"error",[u.CustomLiteralRequiresValidator]:"error",[u.InvalidPortDefaultValue]:"error",[u.InvalidPortName]:"error",[u.AugmentTargetNotFound]:"error",[u.AugmentPortNotFound]:"error",[u.InvalidTypeRefinement]:"error",[u.ConflictingPortDefault]:"warning",[u.EmptyScript]:"error",[u.InvalidScriptToken]:"error",[u.InvalidCompoundAssignment]:"error",[u.ScriptVariableTypeMismatch]:"error",XML016_TEXT_OUTSIDE_ROOT:"error"};function tc(e){let t=Qd[e]??ec[e];if(!t)throw new Error(`Missing default severity metadata for ${e}`);return t}var dn={};for(let[e,t]of Object.entries(Zd))dn[e]={...t,defaultSeverity:tc(e)};var hi={};for(let[e,t]of Object.entries(z)){let n=dn[t.code];if(n){let o=t;hi[e]=o.options?{...n,options:o.options}:n}}function cn(e){return dn[e]}function uo(){return[...Object.values(u)].sort()}function bi(e,t){if(t)return rn(e,t)}function vi(e){return e.source==="inline-tree-nodes-model"||e.source==="external-tree-nodes-model",e.source}function Si(e){let t=e.port?.uri??e.model?.uri??"",n=e.port?.nameRange??e.port?.range??e.model?.idRange??e.model?.range;return E(e.code,h.Error,e.message,n,t,{primaryLabel:e.message,help:e.help,notes:e.notes},e.data)}function nc(e,t,n,o,r){let i=n.effectiveType??n.type,s=n.originalType??n.type,a={...n,originalType:s,effectiveType:i,typeSource:n.typeSource??vi(n),validate:o.validate??n.validate,required:o.required??n.required,enum:o.enum?[...o.enum]:n.enum,description:o.description??n.description},l=o.typeRefinement;if(!l)return{...a,type:a.effectiveType};let d=bi(e,l.from),c=bi(e,i);return d&&d!==c?(r.push(Si({code:"BT119_INVALID_TYPE_REFINEMENT",message:`invalid type refinement for port \`${n.name}\` on node \`${t.id}\``,help:`make \`typeRefinement.from\` match the base port type \`${i??"unknown"}\`, or remove it for an unconditional refinement`,model:t,port:n,data:{kind:"invalid-type-refinement",nodeId:t.id,portName:n.name,expectedFrom:i,actualFrom:l.from,to:l.to},notes:i||l.from?[`base type: ${i??"(unspecified)"}`,`requested from: ${l.from??"(unspecified)"}`]:void 0})),{...a,type:a.effectiveType}):{...a,type:l.to,effectiveType:l.to,typeSource:"model-augmentation",typeRefinement:l}}function oc(e,t,n,o){let r=new Map(t.ports.map(i=>[i.name,i]));for(let[i,s]of Object.entries(n.ports??{})){let a=r.get(i);if(!a){o.push(Si({code:"BT118_AUGMENT_PORT_NOT_FOUND",message:`augmentation port \`${i}\` not found on node \`${t.id}\``,help:`change the augmentation to an existing port on \`${t.id}\` or remove the override`,model:t,data:{kind:"augment-port-not-found",nodeId:t.id,portName:i}}));continue}r.set(i,nc(e,t,a,s,o))}return{...t,ports:t.ports.map(i=>r.get(i.name)??i)}}function rc(e){let t=e.effectiveType??e.type,n=e.originalType??e.type;return{...e,type:t,effectiveType:t,originalType:n,typeSource:e.typeSource??vi(e)}}function xi(e,t,n){let o=[],r=new Map([...e.entries()].map(([i,s])=>[i,{...s,ports:s.ports.map(rc)}]));for(let i of n)for(let[s,a]of Object.entries(i.augment??{})){let l=r.get(s);if(!l){o.push(E("BT117_AUGMENT_TARGET_NOT_FOUND",h.Error,`augmentation target node \`${s}\` not found`,void 0,i.uri??"",{primaryLabel:`augmentation target \`${s}\` does not match any node model`,help:"change the augmentation target to an existing node model or remove it",notes:i.path?[`augmentation file: ${i.path}`]:void 0},{kind:"augment-target-not-found",nodeId:s,filePath:i.path}));continue}r.set(s,oc(t,l,a,o))}return{modelsById:r,diagnostics:o}}function Ti(e){return Mt("builtin",0,!1,e)}function Di(e){return Mt("xml-tree-nodes-model",10,!0,e)}function Ci(e){return Mt("external-tree-nodes-model",15,e.some(t=>t.editable!==!1),e)}function Ii(e){return Mt("node-definition-file",20,!0,e)}function Ei(e){return Mt("config-inline",30,!0,e)}function Mt(e,t,n,o){return{kind:e,precedence:t,editable:n,models:o.map(r=>wi(r,e,n&&r.editable!==!1))}}function ic(e){return e==="config-inline"?"config":e==="xml-tree-nodes-model"?"inline-tree-nodes-model":e}function wi(e,t,n){let o=ic(t);return{...e,source:o,sourceMeta:e.sourceMeta??{sourceKind:o,file:e.uri,range:e.range},editable:n,ports:e.ports.map(r=>({...r,source:o}))}}function ct(e,t){return{uri:e.uri,sourceKind:e.source||"inline-tree-nodes-model",nodeId:e.id,kind:e.kind,range:e.range,idRange:e.idRange,sourceIndex:t}}function ki(e){return{name:e.name,direction:e.direction,type:e.type,required:e.required,defaultValue:e.defaultValue,enum:e.enum?[...e.enum].sort():void 0,description:e.description}}function sc(e,t){let n=[];e.kind!==t.kind&&n.push({kind:"node-kind",left:e.kind,right:t.kind});let o=new Map(e.ports.map(i=>[i.name,i])),r=new Map(t.ports.map(i=>[i.name,i]));for(let[i,s]of o)r.has(i)||n.push({kind:"port-removed",portName:i,sourceIndex:0,port:ki(s)});for(let[i,s]of r)o.has(i)||n.push({kind:"port-added",portName:i,sourceIndex:1,port:ki(s)});for(let[i,s]of o){let a=r.get(i);if(!a)continue;s.direction!==a.direction&&n.push({kind:"port-direction",portName:i,left:s.direction,right:a.direction}),s.type!==a.type&&n.push({kind:"port-type",portName:i,left:s.type,right:a.type}),s.required!==a.required&&n.push({kind:"port-required",portName:i,left:s.required,right:a.required}),s.defaultValue!==a.defaultValue&&n.push({kind:"port-default",portName:i,left:s.defaultValue,right:a.defaultValue});let l=s.enum?JSON.stringify([...s.enum].sort()):"",d=a.enum?JSON.stringify([...a.enum].sort()):"";l!==d&&n.push({kind:"port-enum",portName:i,left:s.enum?[...s.enum].sort():void 0,right:a.enum?[...a.enum].sort():void 0}),s.description!==a.description&&n.push({kind:"port-description",portName:i,left:s.description,right:a.description})}return n}function Ri(e,t){let n=new Map;for(let o of e){let r=n.get(o.id);if(!r){n.set(o.id,o);continue}if(lt(r,o))continue;let i=oo(r,o),s=sc(r,o),a;if(i==="port-default"){let l=new Map(r.ports.map(m=>[m.name,m])),d=o.ports.find(m=>{let g=l.get(m.name);return g&&g.defaultValue!==m.defaultValue}),c=d?.name??"unknown",p=[ct(r,0),ct(o,1)];a={kind:"port-default-conflict",nodeId:o.id,portName:c,sources:[{source:ct(r,0),value:l.get(c)?.defaultValue},{source:ct(o,1),value:d?.defaultValue}]},t.push({id:o.id,definitions:[r,o],sources:p,code:"BT107_CONFLICTING_PORT_DEFAULT",message:`conflicting default for port \`${c}\` on node \`${o.id}\``,uri:o.uri,range:o.idRange||o.range,details:{primaryLabel:"the same port has different default values across model definitions",help:`use the same default value in every \`${o.id}\` definition or remove the duplicate model`},data:a,relatedInformation:r.uri&&r.range?[{uri:r.uri,range:r.range,message:"previous definition"}]:void 0})}else{let l=[ct(r,0),ct(o,1)];a={kind:"node-model-conflict",nodeId:o.id,sources:l,differences:s},t.push({id:o.id,definitions:[r,o],sources:l,code:"BT012_CONFLICTING_NODE_MODEL",message:`conflicting node model \`${o.id}\``,uri:o.uri,range:o.idRange||o.range,details:{primaryLabel:"another model with this ID defines a different kind or port shape",help:`make all \`${o.id}\` model definitions agree, or keep only one definition at the same precedence level`},data:a,relatedInformation:r.uri&&r.range?[{uri:r.uri,range:r.range,message:"previous definition"}]:void 0})}}return n}function ac(e,t){if(!e)return{...t,ports:[...t.ports]};let n=new Map(e.ports.map(o=>[o.name,o]));for(let o of t.ports)n.set(o.name,o);return{...e,...t,sourceMeta:t.sourceMeta||e.sourceMeta,ports:[...n.values()]}}function Ni(e){let t=[],n=new Map,o=new Map,r=[...e].sort((a,l)=>a.precedence-l.precedence),i=new Map,s=new Map;for(let a of r){let l=i.get(a.precedence)??[],d=a.models.map(c=>wi(c,a.kind,a.editable&&c.editable!==!1));l.push(...d),i.set(a.precedence,l);for(let c of d)s.set(c.id,a.precedence)}for(let[a,l]of[...i.entries()].sort((d,c)=>d[0]-c[0])){let 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e.filter(t=>!(t.kind==="text"&&t.text.trim()===""))}function tu(e,t,n){return`${" ".repeat(e*n)}${t}`}function ht(e,t,n,o){let i=" ".repeat(t*o),r=e.attributes||[];if(r.length===0)return[`${i}<${e.name}${n}`];if(r.length===1)return[`${i}<${e.name} ${r[0].name}="${Sn(r[0].value)}"${n}`];let s=[`${i}<${e.name} ${r[0].name}="${Sn(r[0].value)}"`],a=" ".repeat(i.length+1+e.name.length+1);for(let l=1;l<r.length;l+=1){let d=r[l],c=l===r.length-1?n:"";s.push(`${a}${d.name}="${Sn(d.value)}"${c}`)}return s}function xn(e,t,n,o){let i=" ".repeat(t*n);if(e.kind==="comment")return[`${i}<!--${e.text}-->`];if(e.kind==="text"){let c=e.text.trim();return c?[tu(t,vn(c),n)]:[]}let r=eu(e.children||[]),s=e.kind==="element"&&(e.name==="input_port"||e.name==="output_port"),a=(e.children||[]).filter(c=>c.kind==="text").map(c=>c.text).join("").trim(),l=r.some(c=>c.kind==="element"||c.kind==="comment");if(a&&l&&!s&&o.push({code:"XML015_UNSUPPORTED_MIXED_CONTENT",severity:"error",message:"Mixed XML content is 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c=E(d.code??e.code,e.severity,d.message,d.range,t.uri,d.details,d.data);e.diagnostics.push({...c,rule:e.rule,...d.relatedInformation?{relatedInformation:d.relatedInformation}:{}})},getIncludeIssues(d){let c=Xi(e.facts,t.uri);return d?c.filter(p=>p.kind===d):c},getSuppressionIssues(d){let c=Gi(e.facts,t.uri);return d?c.filter(p=>p.kind===d):c},getNodeUsage(d){return _e(n,{element:d,documentRoot:t.root,uri:t.uri,config:o,policy:a,isModelDefinition:l.has(d)})},getPortUsage(d,c){return mn(n,{element:d,documentRoot:t.root,attributeName:c,uri:t.uri,config:o,policy:a,isModelDefinition:l.has(d)})},resolveSubTree(d,c){return Lt(n,{id:d,fileLocalUri:c,config:o})},getNodeModel(d){return Be(n,d)},getBehaviorTrees(d){return be(n,d)},getTreeNodeView(d){return i.get(d)},getSubTreeCallView(d){return s.get(d)}}}function Oc(e){let t=new Set;if(!e)return t;if(e.name==="TreeNodesModel")return No(e,t),t;for(let n of e.children)n.kind!=="element"||n.name!=="TreeNodesModel"||No(n,t);return t}function No(e,t){t.add(e);for(let n of e.children)n.kind==="element"&&No(n,t)}function I(e){let t=z[e.name];return{...e,code:t.code,defaultSeverity:t.defaultSeverity,optionsSchema:t.optionsSchema,meta:e.meta??{description:t.description}}}var $c={"missing-path":"include/require-path","not-found":"include/no-missing-file",cycle:"include/no-cycle","unresolved-variable":"include/no-unresolved-variable","outside-root":"include/no-outside-root","external-used":"include/report-external-used","depth-exceeded":"include/no-depth-exceeded","too-many-files":"include/no-too-many-files"};function Fe(e){return I({name:$c[e],create(t){return{ProgramExit(){for(let n of t.getIncludeIssues(e))t.report({message:n.message,range:n.range,data:Uc(n)})}}}})}function Uc(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 Wi=[Fe("missing-path"),Fe("not-found"),Fe("cycle"),Fe("outside-root"),Fe("unresolved-variable"),Fe("depth-exceeded"),Fe("too-many-files"),Fe("external-used")];import Vc from"ajv";var qc=Vc,Xc=new qc,Gc=["IDLE","RUNNING","SUCCESS","FAILURE","SKIPPED"],zc={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 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n=e.port.validate??e.typeDefinition?.validate;if(n)return Yc(e.registry,n,e.value)?void 0:hn(e.diagnosticCode,e.value,e.portLabel);let o=e.typeDefinition?.canonical??e.port.type;if(o&&!Qi(o,e.value))return Wc(o)?hn(e.diagnosticCode,e.value,e.portLabel):{code:e.customLiteralDiagnosticCode,message:`literal value for custom type \`${o}\` requires a validator`,details:{primaryLabel:`literal value requires a validator for custom type \`${o}\``,help:`use a blackboard remap such as \`${e.portLabel}="{${e.port.name}}"\`, or define a validator in btxml.model-augment.json`}}}function We(e){return e.effectiveType??e.type}function Zi(e,t){return ue(e,We(t))}function Ut(e,t){let n=Q({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 Wc(e){let t=Ct(e)??e;return es(e)!==void 0||Zc.has(t.toLowerCase())}function Qi(e,t){let n=es(e);if(n)return Kc(n,t);let o=(Ct(e)??e).toLowerCase();switch(o){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+)?$/.test(t);case"bt::nodestatus":case"nodestatus":return Gc.includes(t);default:return Po.has(o)||Ki.has(o)?ts(o,t):!1}}function es(e){return/^std::vector<\s*(.+?)\s*>$/.exec(e)?.[1]}function Kc(e,t){let n=Jc(t);return n?n.every(o=>Hc(e,o)):!1}function Hc(e,t){if(t.kind==="string")return Qi(e,t.value);let n=(Ct(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 Po.has(n)||Ki.has(n)?typeof t.value=="number"&&Number.isInteger(t.value)&&ts(n,String(t.value)):!1}}function ts(e,t){let n=zc[e];if(!n)return!1;if(Po.has(e)){if(!/^-?\d+$/.test(t))return!1}else if(!/^\d+$/.test(t))return!1;try{let o=BigInt(t);return o>=n.min&&o<=n.max}catch{return!1}}function Jc(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 Yc(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 o=n.split(t.separator);return o.length!==t.items.length?!1:o.every((r,i)=>{let s=t.items[i];return s?Yi({port:{name:`tuple[${i}]`,type:s},value:r,registry:e,typeDefinition:ue(e,s),allowRemap:!1,diagnosticCode:"BT103_INVALID_PORT_VALUE_TYPE",customLiteralDiagnosticCode:"BT112_CUSTOM_LITERAL_REQUIRES_VALIDATOR",portLabel:`tuple[${i}]`})===void 0:!1})}case"json-schema":try{let o=JSON.parse(n);return Xc.compile(t.schema)(o)===!0}catch{return!1}}}var Zc=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 ns=[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 o of t.ports)o.name&&(n.has(o.name)&&e.report({message:`Duplicate port name "${o.name}" in ${t.id}`,range:o.nameRange||o.range||t.idRange||t.range}),n.add(o.name))}}}}),I({name:"model/valid-port-name",meta:{description:"Port names must be valid XML attribute names for BT nodes."},create(e){return{TreeNodeModel(t){for(let n of t.ports){if(!n.name)continue;let o=Zn(n.name);o&&e.report({code:u.InvalidPortName,message:`invalid port name \`${n.name}\`: ${o}`,range:n.nameRange||n.range||t.idRange||t.range,details:{primaryLabel:`invalid port name \`${n.name}\``,help:"rename the port to a non-reserved XML attribute name without forbidden characters"}})}}}}}),I({name:"model/no-conflicting-definition",create(e){return{ProgramExit(){for(let t of Ft(e.semantic))t.uri&&t.uri!==e.document.uri||Qc(e.document,t.id)||e.report({code:t.code,message:t.message,range:t.range,details:t.details,data:t.data,relatedInformation:t.relatedInformation})}}}}),I({name:"model/valid-port-default-value",meta:{description:"TreeNodesModel port defaults must match the declared type."},create(e){return{Element(t){if(!eu(t))return;let n=t.attributes.find(l=>l.name==="default")??t.attributes.find(l=>l.name==="default_value");if(!n)return;let o=t.attributes.find(l=>l.name==="name")?.value;if(!o)return;let i=tu(e.document.root,t)?.attributes.find(l=>l.name==="ID")?.value;if(!i)return;let a=e.getNodeModel(i)?.ports.find(l=>l.name===o);if(a){if(a.direction==="output"){Ut(a.name,n.value)===void 0&&e.report({code:u.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 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s=r.find(a=>a.typeDefinition.canonical===i[0]);e.report({code:u.BlackboardTypeMismatch,message:`blackboard entry \`${s?.displayName??r[0]?.displayName??r[0]?.key??""}\` is used with incompatible port types: ${i.map(a=>`\`${a}\``).join(", ")}`,range:s?.range,details:{primaryLabel:`blackboard entry \`${s?.displayName??r[0]?.displayName??r[0]?.key??""}\` mixes incompatible port types`,notes:r.filter(a=>i.includes(a.typeDefinition.canonical)).map(a=>`${a.nodeId}.${a.port.name} declares ${ou(a.port,a.typeDefinition)}`),help:"use different blackboard keys, align the port types, or declare compatibility in btxml.model-augment.json"}})}}}}}),I({name:"model/require-output-port-remap",meta:{description:"Resolved output ports must write to a blackboard remap."},create(e){return{Element(t){if(iu(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let o of t.attributes){let 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remap"),O;if(e.resolvedIdentifiers.push({access:d,resolution:{kind:"symbol",symbol:p}}),i.operator==="=")return gt(p.type,s)?(Vo(p,s),s):(Uo(e,a,p.type,s),O);if(i.operator===":=")return gt(p.type,s)?(Vo(p,s),s):(Uo(e,a,p.type,s),O);let m=ms(p.type,s,i.operator);return m?(Vo(p,m),m):(te(e,"invalid-compound-assignment",i.range,`operator \`${i.operator}\` is not valid for these operand types`,`compound assignment \`${i.operator}\` is not allowed here`,i.operator==="+="?"use number += number or string += string":"use numeric operands for this compound assignment"),O)}function Tu(e,t,n){let o={name:t,kind:"read",range:n,identifier:e.expression,statementIndex:e.statementIndex};e.identifiers.push(o);let r=Bo(t);if(r.kind==="invalid-global-blackboard")return e.invalidGlobalBlackboardIdentifiers.push(o),gs(e,n,r.raw,r.message),O;if(r.kind==="global-blackboard"){let a=e.environment.globalBlackboard.get(r.key);return e.globalBlackboardAccesses.push({key:r.key,rawName:t,kind:"read",range:n,inferredType:a?.type??ae}),e.resolvedIdentifiers.push({access:o,resolution:{kind:"global-blackboard",key:r.key,...a?{symbol:a}:{}}}),a?.type??ae}let i=e.environment.enums.get(t);if(i!==void 0)return e.resolvedIdentifiers.push({access:o,resolution:{kind:"enum",name:t,value:i}}),Ze;let s=e.environment.symbols.get(t);return s?(e.resolvedIdentifiers.push({access:o,resolution:{kind:"symbol",symbol:s}}),s.type):(e.resolvedIdentifiers.push({access:o,resolution:{kind:"unknown"}}),e.unknownIdentifiers.push(o),ae)}function ms(e,t,n){return e.kind==="error"||t.kind==="error"?O:e.kind==="unknown"||t.kind==="unknown"||e.kind==="any"||t.kind==="any"?ae:n==="+="?e.kind==="number"&&t.kind==="number"?Ze:e.kind==="string"&&t.kind==="string"?Sn:void 0:e.kind==="number"&&t.kind==="number"?Ze:void 0}function Oo(e,t){return xn(e)||xn(t)}function xn(e){return e.kind==="unknown"||e.kind==="any"||e.kind==="error"}function fs(e){return!Ye(e)}function Du(e,t,n){return xn(t)||xn(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 $o(e,t,n){te(e,"invalid-operand-type",t,`operator \`${n}\` cannot be applied to these operand types`,`operands for \`${n}\` are not compatible`,"use operands with the types required by this operator")}function Uo(e,t,n,o){te(e,"variable-type-mismatch",t.range,`cannot assign ${qo(o)} to variable \`${t.name}\` of type ${qo(n)}`,`\`${t.name}\` expects ${qo(n)} here`,"assign a compatible value or change the variable's source type")}function gs(e,t,n,o){te(e,"invalid-global-blackboard-identifier",t,o,`\`${n}\` is not a valid global blackboard identifier`,"use `@name` with a valid blackboard key that starts with a letter or underscore")}function Vo(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 te(e,t,n,o,r,i){e.diagnostics.push({code:t,range:n,message:o,details:{primaryLabel:r,help:i}})}function qo(e){return e.kind==="custom"?e.name:e.kind}var ys=new WeakMap;function kn(e,t){let n=e.getNodeUsage(t),o=n.model.status==="resolved"?n.model.model.id:n.nodeType;return t.attributes.flatMap(r=>{let i=Mo({elementName:t.name,attributeName:r.name,resolvedNodeType:o});return i?[{attribute:r,info:i,parseResult:Gt(r.value)}]:[]})}function fe(e,t,n){return wo(e.document,t,n)}function hs(e){return{start:0,end:e.value.length}}function Le(e,t){let n=e.getTreeNodeView(t),o=n?.behaviorTree;return!n||!o?kn(e,t).map(r=>{let i=bs(e,[]);return{...r,environment:i,analysis:r.parseResult.ok?Wt({program:r.parseResult.program,environment:i,attributeName:r.attribute.name}):void 0}}):Cu(e,o).filter(r=>r.node.element===t).map(r=>({...r.candidate,environment:r.environmentBefore,analysis:r.analysis}))}function Cu(e,t){let n=ys.get(e.view);n||(n=new WeakMap,ys.set(e.view,n));let o=n.get(t);if(o)return o;let r=t.nodes.flatMap(s=>kn(e,s.element).map((a,l)=>({id:`${s.path.join(".")}:${a.attribute.name}:${l}`,node:s,candidate:a}))),i=Fo({baseEnvironment:bs(e,t.nodes),entries:r.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 l=r[a];return l?[{...s,node:l.node,candidate:l.candidate}]:[]});return n.set(t,i),i}function bs(e,t){let n=pe(e.semantic),o=[],r=[],i=t[0]?.behaviorTree.id;if(i){let s=e.getNodeModel(i);if(s?.kind==="SubTree")for(let a of s.ports){let l=We(a),c=he(e.semantic,l)?.canonical??l;o.push({name:a.name,type:zt(n,l),source:{kind:"subtree-port",nodeType:i,portName:a.name,direction:a.direction},readable:!0,writable:a.direction==="output"||a.direction==="inout",compatibilityKey:c})}}for(let s of t)for(let a of s.portBindings){if(a.usage.status!=="resolved")continue;let l=Q({portName:a.usage.port.name,rawValue:a.usage.value});if(!l.ok||l.reference.scope==="global")continue;let d=We(a.usage.port),p=he(e.semantic,d)?.canonical??d,m=a.usage.port.direction,g=s.usage.model.status==="resolved"?s.usage.model.model.id:s.usage.nodeType;o.push({name:l.reference.key,type:zt(n,d),source:{kind:"port-remap",nodeType:g,portName:a.usage.port.name,direction:m},readable:m==="input"||m==="output"||m==="inout",writable:m==="output"||m==="inout",compatibilityKey:p})}return r.push(...Iu(e,n)),jo({symbols:o,globalBlackboardSymbols:r,augmentations:So(e.semantic),areTypesCompatible:(s,a)=>s&&a?ut(e.semantic,s,a):!0})}function Iu(e,t){let n=[];for(let o of e.view.nodes){let r=o.usage.model.status==="resolved"?o.usage.model.model.id:o.usage.nodeType;for(let i of o.portBindings){if(i.usage.status!=="resolved")continue;let s=Q({portName:i.usage.port.name,rawValue:i.usage.value});if(!s.ok||s.reference.scope!=="global")continue;let a=We(i.usage.port),d=he(e.semantic,a)?.canonical??a,c=i.usage.port.direction;n.push({name:s.reference.key,type:zt(t,a),source:{kind:"global-blackboard-remap",nodeType:r,portName:i.usage.port.name,direction:c,key:s.reference.key},readable:c==="input"||c==="output"||c==="inout",writable:c==="output"||c==="inout",compatibilityKey:d})}}return n}var vs=I({name:"script/no-unknown-variable",create(e){return{Element(t){for(let n of Le(e,t))if(n.analysis)for(let o of n.analysis.unknownIdentifiers)e.report({code:u.UnknownScriptVariable,message:`unknown script variable \`${o.name}\``,range:fe(e,n.attribute,o.range),details:{primaryLabel:`\`${o.name}\` is not defined in the script environment`,help:"introduce it earlier with `:=`, add a matching blackboard remap, or define a script enum in btxml.model-augment.json"}})}}}});var Ss=I({name:"script/valid-assignment",create(e){return{Element(t){for(let n of Le(e,t))if(n.analysis)for(let o of n.analysis.diagnostics){let r=o.code==="assignment-to-unknown-variable"?u.AssignmentToUnknownVariable:o.code==="invalid-compound-assignment"?u.InvalidCompoundAssignment:o.code==="variable-type-mismatch"?u.ScriptVariableTypeMismatch:o.code==="invalid-global-blackboard-identifier"?u.InvalidGlobalBlackboardIdentifier:void 0;r&&e.report({code:r,message:o.message,range:fe(e,n.attribute,o.range),details:o.details})}}}}});var xs=I({name:"script/valid-expression-type",create(e){return{Element(t){for(let n of Le(e,t))if(n.analysis)for(let o of n.analysis.diagnostics)o.code==="invalid-operand-type"&&e.report({code:u.InvalidScriptOperandType,message:o.message,range:fe(e,n.attribute,o.range),details:o.details})}}}});var ks=I({name:"script/valid-result-type",create(e){return{Element(t){for(let n of Le(e,t)){if(n.info.expectedResult!=="bool-compatible"||!n.parseResult.ok||!n.analysis)continue;let o=n.parseResult.program.statements.at(-1),r=n.analysis.finalType;!o||!r||Ye(r)||e.report({code:u.ScriptResultNotBoolCompatible,message:`script result for \`${n.attribute.name}\` is not bool-compatible`,range:fe(e,n.attribute,o.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 Rs=I({name:"script/valid-syntax",create(e){return{Element(t){for(let n of kn(e,t))if(!n.parseResult.ok)for(let o of n.parseResult.errors){let r=o.kind==="empty-script"?u.EmptyScript:o.kind==="invalid-token"?u.InvalidScriptToken:u.InvalidScriptSyntax;e.report({code:r,message:o.message,range:o.kind==="empty-script"?n.attribute.valueContentRange??n.attribute.valueRange??fe(e,n.attribute,hs(n.attribute)):fe(e,n.attribute,o.range),details:{primaryLabel:`invalid script in \`${n.attribute.name}\``}})}}}}});var Ts=[Rs,vs,Ss,xs,ks];var Eu={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"};function Ds(e){return I({name:Eu[e],create(t){return{ProgramExit(){for(let n of t.getSuppressionIssues(e))t.report({message:n.message,range:n.range,data:wu(n)})}}}})}function wu(e){return e.code?{code:e.code}:void 0}var Cs=[Ds("unused"),Ds("missing-reason")];function Rn(e,t){return e.attributes.find(n=>n.name===t)}function Is(e,t){if(!e)return!1;let n=(o,r)=>{let i=r||o.name==="TreeNodesModel";if(o===t)return i;for(let s of o.children)if(s.kind==="element"&&n(s,i))return!0;return!1};return n(e,!1)}var Es=[I({name:"tree/require-id",create(e){return{Element(t){t.name!=="BehaviorTree"||Rn(t,"ID")||e.report({message:"BehaviorTree must have ID attribute",range:t.range})}}}}),I({name:"tree/no-duplicate-id-in-file",create(e){let t=new Set;return{ProgramExit(){let n=_t(e.semantic,e.document.uri);for(let o of n?.behaviorTrees??[])o.idRange&&(t.has(o.id)&&e.report({message:`Duplicate BehaviorTree ID: ${o.id}`,range:o.idRange}),t.add(o.id))}}}}),I({name:"tree/no-duplicate-id",create(e){return{ProgramExit(){if(e.config.resolver.behaviorTreeIds!=="allow-ambiguous")for(let t of pt(e.semantic)){let n=be(e.semantic,t);if(n.length<=1||new Set(n.map(i=>i.uri)).size<=1)continue;let r=n.filter(i=>i.uri===e.document.uri);r.length>0&&e.report({message:`Duplicate BehaviorTree ID: ${t}`,range:r[0]?.idRange})}}}}}),I({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=Rn(t,"main_tree_to_execute");!n?.value||go(e.semantic,n.value)||e.report({message:`main_tree_to_execute references unknown BehaviorTree: ${n.value}`,range:n.range})}}}}),I({name:"tree/no-unknown-subtree",create(e){return{Element(t){if(t.name!=="SubTree"||Is(e.document.root,t))return;let n=e.getSubTreeCallView(t),o=n?.node.element.attributes.find(i=>i.name==="ID")??Rn(t,"ID");!o||n?.target.status==="resolved"||e.resolveSubTree(o.value,e.document.uri).status!=="unresolved"||e.report({message:`unknown subtree \`${o.value}\``,range:o.valueContentRange||o.valueRange})}}}}),I({name:"tree/no-ambiguous-subtree",create(e){return{Element(t){if(t.name!=="SubTree"||Is(e.document.root,t))return;let n=Rn(t,"ID");if(!n||e.getSubTreeCallView(t)?.target.status==="resolved")return;let r=e.resolveSubTree(n.value,e.document.uri);r.status!=="ambiguous"||r.behaviorTrees.length<=1||e.report({message:`ambiguous subtree \`${n.value}\``,range:n.valueContentRange||n.valueRange})}}}}),I({name:"tree/no-duplicate-node-model-id",meta:{description:"TreeNodesModel elements must have unique IDs within the same model block."},create(){return{}}})];var Nu=new Map([["IfThenElse",{min:2,max:3}],["WhileDoElse",{min:2,max:3}]]);function Pu(e,t){return e===t?String(e):`${e}\u2013${t}`}var ws=I({name:"model/valid-child-count",create(e){return{Element(t){if(me(t))return;let n=e.getNodeUsage(t);n.model.status==="resolved"&&Mu(e,t,n.model.model.id,n.model.model.kind)}}}});function Mu(e,t,n,o){let r=Hi(t).length,i=Nu.get(n);if(i){if(r<i.min||r>i.max){let s=Pu(i.min,i.max);e.report({message:`\`${n}\` requires ${s} child node(s), but has ${r}.`,range:t.range})}return}if(o==="Action"||o==="Condition"){r>0&&e.report({message:`${o} node \`${n}\` must not have child nodes, but has ${r}.`,range:t.range});return}if(o==="Decorator"){r!==1&&e.report({message:`Decorator node \`${n}\` must have exactly 1 child node, but has ${r}.`,range:t.range});return}if(o==="Control"){r<1&&e.report({message:`Control node \`${n}\` must have at least 1 child node.`,range:t.range});return}o==="SubTree"&&r>0&&e.report({message:`SubTree node \`${n}\` must not have child nodes, but has ${r}.`,range:t.range})}var Ns=I({name:"model/valid-port-value",create(e){return{Element(t){if(me(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let o of t.attributes){let r=e.getPortUsage(t,o.name);r?.status==="resolved"&&bn(e,{port:r.port,value:o.value,range:o.range,registry:pe(e.semantic),typeDefinition:he(e.semantic,r.port.type),allowRemap:!0,diagnosticCode:u.InvalidPortValueType,customLiteralDiagnosticCode:u.CustomLiteralRequiresValidator,portLabel:o.name})}}}}});var Ps=I({name:"model/require-port",create(e){return{Element(t){if(me(t))return;let n=e.getNodeUsage(t);if(!(n.tagForm==="subtree"&&n.allowsArbitraryAttributes)&&!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let o of n.ports)!o.required||n.portUsages.some(i=>i.name===o.name&&i.status==="resolved")||e.report({message:`missing required port \`${o.name}\``,range:t.range,details:n.tagForm==="subtree"?{primaryLabel:n.model.status==="resolved"?`node \`${n.model.model.id}\` requires port \`${o.name}\``:`SubTree requires port \`${o.name}\``,help:`add \`${o.name}="..."\` or provide a blackboard reference such as \`${o.name}="{value}"\``}:void 0})}}}});var Ms=[I({name:"model/no-childless-control-shape-mismatch",create(e){return{Element(t){if(me(t)||!t.selfClosing)return;let n=e.getTreeNodeView(t);if(n?.model.status!=="resolved")return;let o=n.model.model.kind;o!=="Control"&&o!=="Decorator"||e.report({message:`${o} node \`${n.model.model.id}\` normally expects child nodes.`,range:t.range})}}}}),I({name:"model/no-leaf-block-shape",create(e){return{Element(t){if(me(t)||t.selfClosing||Ji(t))return;let n=e.getTreeNodeView(t);if(n?.model.status!=="resolved")return;let o=n.model.model.kind;o!=="Action"&&o!=="Condition"&&o!=="SubTree"||e.report({message:`${o} node \`${n.model.model.id}\` should be self-closing or have no children.`,range:t.range})}}}})];var Bs=I({name:"model/no-unknown-node",create(e){return{Element(t){let n=e.getNodeUsage(t);if(n.tagForm==="root"||n.tagForm==="behavior-tree"||n.tagForm==="tree-nodes-model"||n.tagForm==="include"||n.tagForm==="model-definition"||n.tagForm==="subtree"||n.tagForm==="unknown-xml"||n.model.status==="resolved"||n.model.status==="ambiguous")return;let o=t.attributes.find(r=>r.name==="ID");e.report({message:`unknown node \`${n.nodeType??n.tagName}\``,range:o?.valueContentRange??o?.valueRange??t.range})}}}});var _s=I({name:"model/no-unknown-port",create(e){return{Element(t){if(me(t))return;let n=e.getNodeUsage(t);for(let o of n.portUsages){if(o.status!=="undeclared")continue;let r=n.ports.map(s=>s.name).sort(),i=r.length>=1&&r.length<=8?[`note: defined ports: ${r.map(s=>`\`${s}\``).join(", ")}`]:void 0;e.report({message:`unknown port \`${o.name}\``,range:o.attribute.range,details:n.tagForm==="subtree"?{primaryLabel:n.model.status==="resolved"?`node \`${n.model.model.id}\` does not define this port`:"SubTree does not define this port in strict mode",help:n.model.status==="resolved"?`remove \`${o.name}\` or add it to the \`${n.model.model.id}\` SubTree model`:`remove \`${o.name}\`, add it to a SubTree model, or set the \`model/no-unknown-port\` rule option \`subTreePorts\` to \`loose\``,notes:i}:void 0})}}}}});var As=[Bs,_s,Ps,Ns,...Ms,ws];function Bu(e,t){return e.attributes.find(n=>n.name===t)}function _u(e){let t=e.resolver.includes.elements;return new Set(["BehaviorTree","TreeNodesModel",...t.map(n=>n.name)])}var js=[I({name:"xml/valid-root",create(e){return{Document(){let t=e.document.root;e.document.kind!=="bt-document"||!t||t.name==="root"||e.report({message:"Root element must be 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\`${Ce}\``})}l.edges.push({from:S,to:L,includeElementRange:P.element.range,includePathRange:P.pathAttr.range}),await y(L,[...x,S],{uri:_,range:P.pathAttr.range})}m.delete(S),g.add(S)};for(let f of l.entrypointFiles)await y(f,[]);return{graph:l,reachableUris:c,reachableDocuments:d,issues:s}}import{findNodeAtLocation as aa,parse as lp,parseTree as dp}from"jsonc-parser";function cp(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
-`&&t.push(n+1);return n=>{let o=0,r=t.length-1;for(;o<=r;){let s=Math.floor((o+r)/2);t[s]<=n?o=s+1:r=s-1}let i=Math.max(0,o-1);return{line:i,character:n-t[i],offset:n}}}function la(e,t){if(e)return{start:t(e.offset),end:t(e.offset+e.length)}}async function da(e){let t=e.project,n=e.host??t.host,o=[],r=[],i=new Set;for(let s of t.definitionFiles){if(!await n.exists(s.uri)){o.push(E(u.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,l=await n.readFile(s.uri),d=[],c=dp(l,d,{allowTrailingComma:!0,disallowComments:!1});try{if(a=lp(l,d,{allowTrailingComma:!0,disallowComments:!1}),d.length>0||!c)throw new Error(`JSON parse error at offset ${d[0]?.offset??0}`)}catch(m){let g=String(m.message||m);o.push(E(u.InvalidNodeDefinitionJson,h.Error,`invalid node definition JSON \`${s.path}\``,void 0,"",{primaryLabel:"the file could not be parsed as JSON",help:`fix the JSON 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T=la(aa(c,["nodes",m,"ports",S.name]),y);return{...S,source:"node-definition-file",uri:s.path,range:T,nameRange:T}});r.push({...x,ports:b,source:"node-definition-file",sourceMeta:{sourceKind:"node-definition-file",file:s.path,range:f},editable:!0,uri:s.path,range:f,elementRange:f})}}return{ok:o.every(s=>s.severity!==h.Error),nodeModels:r,diagnostics:o}}function ca(e,t){return Oe(e,t).replace(/\\/g,"/")}function up(e){return[...e.reachableDocuments.values()]}function ir(e){let t=new Map;for(let n of e)t.set(n.uri,n);return[...t.values()]}function ua(e){let t=new Map;for(let n of e)t.set(n.path,n);return[...t.values()]}function pp(e){let t=new Map;for(let n of e){let o=t.get(n.uri)??[];o.push(n),t.set(n.uri,o)}return t}async function sr(e){let t=[],n=e.project,o=e.resolvedConfig,r=e.resolutionMode??Ko(o),i=r==="entrypoints"||e.resolveGraph?await sa({project:e.project,documents:e.documents,resolvedConfig:o,host:e.host}):void 0,s=e.externalModelDocuments,a=e.augmentations,l=await da({project:e.project,host:e.host});t.push(...l.diagnostics);let d=l.nodeModels,c=i&&(r==="entrypoints"||e.resolveGraph)?ir([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)&&i.reachableUris.has(f.uri)),...i.reachableDocuments.values(),...s]):ir([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)),...s]),p=Bt(c,{config:o,models:d,augmentations:a}),m={includeIssuesByUri:pp(i?.issues??[]),suppressionIssuesByUri:new Map};t.push(...p.diagnostics);let g=new Map(pt(p.index).map(f=>[f,be(p.index,f)])),y={mode:r,files:new Map(c.map(f=>[ca(n.rootUri,f.path||f.uri),f])),documentViews:new Map(c.map(f=>[f.uri,(()=>{let x=ee(o,ca(n.rootUri,f.path||f.uri));return Ae(f,{semantic:p.index,config:x,policy:ye(x)})})()])),includeGraph:i?.graph,reachableDocuments:i?.reachableDocuments??new Map,behaviorTreesById:new Map(pt(p.index).map(f=>[f,be(p.index,f)])),reachableBehaviorTreesById:g,nodeModelsById:new Map(ho(p.index).map(f=>[f.id,f])),nodeModelSources:new Map(bo(p.index).map(f=>[f,jt(p.index,f).flatMap(x=>x.sourceMeta?[x.sourceMeta]:[])])),nodeDefinitionModels:[...d],entrypoints:n.entrypoints,workspace:p.index,facts:m};return{ok:t.every(f=>f.severity!==h.Error),index:y,diagnostics:t}}async function pa(e){let t=e.project,n=e.resolvedConfig??t.resolvedConfig;if(!n)throw new Error("Invariant: resolvedConfig is required");let o=[...e.projectDiagnostics??[]],r=e.host??t.host,i=e.externalModelDocuments!==void 0?[...e.externalModelDocuments]:(await Promise.all(t.modelFiles.map(async y=>{let f=await rr(y,r);return o.push(...f.diagnostics),f.document?[f.document]:[]}))).flat(),s=e.augmentations!==void 0?[...e.augmentations]:void 0;if(!s){let y=await Dn({project:e.project,host:r});o.push(...y.diagnostics),s=[...y.augmentations]}let a=e.resolutionMode??Ko(n),l=a==="entrypoints"?new Set(e.documents.filter(y=>y.kind==="bt-document").map(y=>y.uri)):new Set(e.documents.map(y=>y.uri)),d=await sr({project:e.project,documents:e.documents,activeDocumentUris:l,externalModelDocuments:i,augmentations:s,resolutionMode:a,resolveGraph:e.mode==="check",resolvedConfig:n,host:r}),c=ir([...e.documents,...up(d.index),...i]),p=n.linter.enabled!==!1,m=e.showSuppressed,g=[...d.index.nodeDefinitionModels];return{input:e,project:e.project,documents:e.documents,externalModelDocuments:i,augmentations:s,projectDiagnostics:o,indexResult:d,nodeDefinitionModels:g,fileDocuments:c,lintEnabled:p,showSuppressed:m,resolvedConfig:n,suppressionIssuesByUri:void 0}}var mp={"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","ros-package-resolver-missing":"include/require-ros-package-resolver","ros-package-not-found":"include/no-missing-ros-package"};function ma(e){if(e!=="off")return e==="info"?h.Info:e==="warn"?h.Warning:h.Error}function fp(e,t){let n=we(e.linter.rules[t]);return ma(n?n.severity:z[t].defaultSeverity)}function gp(e){switch(e.kind){case"missing-path":return;case"unresolved-variable":return{variable:e.variable};case"ros-package-resolver-missing":return{packageName:e.packageName};case"ros-package-not-found":return{packageName:e.packageName,path:e.path};case"cycle":return{path:e.path,cycle:e.cycle};default:return{path:e.path}}}function fa(e){let t=[];for(let n of e.issues){let o=mp[n.kind],r=fp(e.config,o);if(!r)continue;let i=E(z[o].code,r,n.message,n.range,n.uri,void 0,gp(n));t.push({...i,rule:o})}return t}function ga(e,t){return Oe(e,t).replace(/\\/g,"/")}function yp(e){return e.length>0&&!e.startsWith("/")&&!e.startsWith("../")&&!/^[A-Za-z][A-Za-z\d+.-]*:\/\//.test(e)&&!/^[A-Za-z]:\//.test(e)}function hp(e,t){for(let n of[t.path,t.uri]){if(!n)continue;let o=ga(e,n);if(yp(o))return o}return ga(e,t.uri)}function ya(e){let{project:t,indexResult:n,externalModelDocuments:o,fileDocuments:r,lintEnabled:i,resolvedConfig:s}=e,a=t,l=n.index.mode;return r.map(d=>{let c=hp(a.rootUri,d);if(l==="entrypoints"&&n.index.includeGraph&&d.kind==="bt-document"&&!n.index.reachableDocuments.has(d.uri))return{path:c,uri:d.uri,kind:d.kind,diagnostics:[],skipped:!0,skipReason:"unreachable",originalText:d.originalText};let p=l==="single-file"?Bt([d,...o],{config:s,models:e.nodeDefinitionModels,augmentations:e.augmentations}).index:n.index.workspace,m=l==="single-file"?(()=>{let y=ee(s,c);return Ae(d,{semantic:p,config:y,policy:ye(y)})})():n.index.documentViews.get(d.uri),g=[];if(i){let y=ee(s,c);g=Go(d,p,{config:y,documentView:m});let f=n.index.facts.includeIssuesByUri.get(d.uri)??[];g.push(...fa({issues:f,config:y}))}return e.input.mode==="check"&&d.kind==="generic-xml"?{path:c,uri:d.uri,kind:d.kind,documentView:m,diagnostics:[],rawDiagnostics:g,skipped:!0,skipReason:"generic-xml",originalText:d.originalText}:{path:c,uri:d.uri,kind:d.kind,documentView:m,diagnostics:g,rawDiagnostics:void 0,skipped:!1,originalText:d.originalText}})}function ha(e){let t=[];for(let n of e)n.kind==="comment"&&t.push(n),n.kind==="element"&&t.push(...ha(n.children));return t}function bp(e,t,n){let o=[],r=[];for(let i of e){let s=ha(i.nodes);for(let a of s){let l=a.text.trim();if(!l.includes("btxml-disable"))continue;let 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n.suppressions)i.used||n.issues.push({kind:"unused",uri:i.uri,code:i.code,range:i.range,message:i.code?`unused suppression for \`${i.code}\``:"unused suppression"});if(t.showSuppressed){let i=r.map(s=>({...s,severity:h.Info,suppressed:!0}));return{diagnostics:[...o,...i],suppressedDiagnostics:r,issues:n.issues}}return{diagnostics:o,suppressedDiagnostics:r,issues:n.issues}}function ar(e,t,n,o=e.resolvedConfig){let r=Pt(o.linter.rules,"suppression/require-reason")!=="off";return ba(t,{documents:n??e.fileDocuments,requireReason:r,allowInline:o.linter.suppressions.inline!=="deny",showSuppressed:e.showSuppressed})}function Cn(e){let t=2166136261;for(let n=0;n<e.length;n+=1)t^=e.charCodeAt(n),t=Math.imul(t,16777619);return(t>>>0).toString(16).padStart(8,"0")}function va(e,t){if(!e.input.baseline)return{diagnostics:t,baselineDiagnostics:[],staleEntries:[]};let n=new Set,o=[],r=[];for(let i of t){let s=e.input.baseline.diagnostics.findIndex(a=>a.path===i.uri&&a.code===i.code&&a.messageHash===Cn(i.message)&&a.range?.start?.line===i.range?.start?.line&&a.range?.start?.character===i.range?.start?.character);if(s>=0){n.add(s),r.push(i);continue}o.push(i)}return{diagnostics:o,baselineDiagnostics:r,staleEntries:e.input.baseline.diagnostics.filter((i,s)=>!n.has(s))}}var Sa={error:0,warning:1,info:2};function xa(e,t){return e.some(n=>n.severity===h.Error||t===0&&n.severity===h.Warning)}function In(e){return e.flat().sort((t,n)=>{let o=t.uri.localeCompare(n.uri);if(o!==0)return o;let r=t.range?.start.offset??-1,i=n.range?.start.offset??-1;if(r!==i)return r-i;let s=Sa[t.severity]-Sa[n.severity];if(s!==0)return s;let a=t.code.localeCompare(n.code);return a!==0?a:t.message.localeCompare(n.message)})}function ka(e,t,n){let o=t.filter(i=>!i.skipped),r=In([n,o.flatMap(i=>i.diagnostics)]);return{files:o.length,errors:r.filter(i=>i.severity===h.Error).length,warnings:r.filter(i=>i.severity===h.Warning).length,infos:r.filter(i=>i.severity===h.Info).length,suppressed:0,baselineFiltered:0,staleEntries:[]}}function vp(e,t){return e.map(({path:n,uri:o,kind:r,diagnostics:i,rawDiagnostics:s,skipped:a,skipReason:l})=>({path:n,uri:o,kind:r,diagnostics:i,rawDiagnostics:t?s:void 0,skipped:a,skipReason:l}))}function Ra(e,t){let n=In([e.finalProjectDiagnostics??e.projectDiagnostics,e.files?.flatMap(o=>o.diagnostics)??[]]);return{ok:!xa(n,e.input.maxWarnings),files:e.files?vp(e.files,e.input.includeRawDiagnostics):[],projectDiagnostics:e.finalProjectDiagnostics??e.projectDiagnostics,summary:t}}var Sp={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"},xp={unused:u.UnusedSuppression,"missing-reason":u.MissingSuppressionReason};function kp(e){if(e!=="off")return e==="info"?h.Info:e==="warn"?h.Warning:h.Error}function Rp(e,t){return kp(Pt(e.linter.rules,t))}function lr(e){let t=[];for(let n of e.issues){let o=Sp[n.kind],r=Rp(e.config,o);if(!r)continue;let i=E(xp[n.kind],r,n.message,n.range,n.uri,void 0,n.code?{code:n.code}:void 0);t.push({...i,rule:o})}return t}async function Tp(e){let t=await pa(e),n=[...t.projectDiagnostics,...t.indexResult.diagnostics];t.files=ya(t);let o=ar(t,n);n=[...o.diagnostics,...lr({issues:o.issues,config:t.resolvedConfig})];let r=o.suppressedDiagnostics.length;for(let l=0;l<t.files.length;l++){let d=t.files[l],c=t.fileDocuments[l];if(d.skipped)continue;let p=ee(t.resolvedConfig,d.path),m=ar(t,d.diagnostics,[c],p);d.diagnostics=[...m.diagnostics,...lr({issues:m.issues,config:p})],d.rawDiagnostics=[...d.diagnostics],r+=m.suppressedDiagnostics.length}let i=0,s=[];for(let l of t.files){if(l.skipped||l.diagnostics.length===0)continue;let d=va(t,l.diagnostics);l.diagnostics=d.diagnostics,i+=d.baselineDiagnostics.length,d.staleEntries.length>0&&(s=s.concat(d.staleEntries))}t.files=ua(t.files),t.finalProjectDiagnostics=n;let a=ka(t,t.files,n);return a.suppressed=r,a.baselineFiltered=i,a.staleEntries=s,{...Ra(t,a),files:t.files??[]}}async function yt(e){let t=e.project,n=e.host??t.host,o=e.documents,r=e.externalModelDocuments,i=e.augmentations,s=[...e.projectDiagnostics??[]];if(!o||!r||!i){let a=await H(e.project,n);o??=a.documents,r??=a.externalModelDocuments,i??=a.augmentations,s=[...s,...a.diagnostics]}return Tp({...e,host:n,documents:o,externalModelDocuments:r,augmentations:i,projectDiagnostics:s,resolvedConfig:t.resolvedConfig})}import{z as X}from"zod";var En=X.object({version:X.literal(1),diagnostics:X.array(X.object({path:X.string(),code:X.string(),messageHash:X.string(),range:X.object({start:X.object({line:X.number(),character:X.number(),offset:X.number()}).strict(),end:X.object({line:X.number(),character:X.number(),offset:X.number()}).strict()}).strict().optional()}).strict())}).strict();function dr(e){return{path:e.uri,code:e.code,messageHash:Cn(e.message),range:e.range}}function cr(e){return e.linter.baseline}function Ta(e){return[...e.files.values()]}function Da(e){return[...e.reachableDocuments.values()]}function Ca(e){return e.workspace}function Ia(e){return[...e.nodeDefinitionModels]}function Ea(e){if(!e.includeGraph)return;let t=new Map;for(let s of e.files.values())s.path&&t.set(s.path,s.uri);let n=[];for(let[s,a]of e.includeGraph.nodes.entries()){let l=a.document?.uri??t.get(s)??s;n.push({path:s,uri:l,exists:a.exists})}let o=e.includeGraph.edges.map(s=>({from:s.from,to:s.to,includeElementRange:s.includeElementRange,includePathRange:s.includePathRange})),r=[];for(let s of e.facts.includeIssuesByUri.values())for(let a of s)r.push({kind:a.kind,uri:a.uri,path:"path"in a?a.path:void 0,message:a.message,range:a.range});let i=[...n];return i.sort((s,a)=>s.path.localeCompare(a.path)),{nodes:i,edges:o,issues:r}}async function nt(e){let t=e.project,n=t.resolvedConfig;if(!n)throw new Error("Invariant: resolvedConfig is required");let o=e.host??t.host,r=e.documents,i=e.externalModelDocuments,s=e.augmentations,a=[];if(!r||!i||!s){let d=await H(e.project,o);a.push(...d.diagnostics),r??=d.documents,i??=d.externalModelDocuments,s??=d.augmentations}let l=await sr({project:e.project,documents:r,activeDocumentUris:new Set(r.map(d=>d.uri)),externalModelDocuments:i,augmentations:s,resolveGraph:e.resolveGraph,resolvedConfig:n,host:o});return a.push(...l.diagnostics),{ok:l.ok,diagnostics:a,semanticIndex:Ca(l.index),documents:Ta(l.index),reachableDocuments:Da(l.index),nodeDefinitionModels:Ia(l.index),includeGraph:Ea(l.index)}}function ur(e){return e.map(t=>({...t,absolutePath:ne(t.uri)}))}function le(e){return ne(Ho(e))}function pr(e){let t=Jo(e);return t?ne(t):void 0}function J(e){return ur(Zo(e))}function xe(e){return ur(Qo(e))}function ot(e){return ur(er(e))}import fr from"fs";import Na from"path";import{createColors as Cp}from"picocolors";function wn(e){return e.noColor?{enabled:!1}:e.env?.NO_COLOR!==void 0?{enabled:!1}:e.stream&&!e.stream.isTTY?{enabled:!1}:{enabled:!0}}function oe(e,t,n){let o=Cp(e.enabled);switch(t){case"error":return o.red(n);case"warning":return o.yellow(n);case"info":return o.cyan(n);case"help":return o.green(n);case"note":return o.dim(n);case"dim":return o.dim(n)}}function mr(e){let t=wn({noColor:e.noColor,stream:e.stream,env:process.env}),n=[];if(n.push(`${oe(t,"error","error:")} 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c=T(d.code??e.code,e.severity,d.message,d.range,t.uri,d.details,d.data);e.diagnostics.push({...c,rule:e.rule,...d.relatedInformation?{relatedInformation:d.relatedInformation}:{}})},getIncludeIssues(d){let c=Qr(e.facts,t.uri);return d?c.filter(p=>p.kind===d):c},getSuppressionIssues(d){let c=es(e.facts,t.uri);return d?c.filter(p=>p.kind===d):c},getNodeUsage(d){return je(n,{element:d,documentRoot:t.root,uri:t.uri,config:o,policy:a,isModelDefinition:l.has(d)})},getPortUsage(d,c){return bn(n,{element:d,documentRoot:t.root,attributeName:c,uri:t.uri,config:o,policy:a,isModelDefinition:l.has(d)})},resolveSubTree(d,c){return Ut(n,{id:d,fileLocalUri:c,config:o})},getNodeModel(d){return Ae(n,d)},getBehaviorTrees(d){return Se(n,d)},getTreeNodeView(d){return r.get(d)},getSubTreeCallView(d){return s.get(d)}}}function ou(e){let t=new Set;if(!e)return t;if(e.name==="TreeNodesModel")return Fo(e,t),t;for(let n of e.children)n.kind!=="element"||n.name!=="TreeNodesModel"||Fo(n,t);return t}function Fo(e,t){t.add(e);for(let n of e.children)n.kind==="element"&&Fo(n,t)}function C(e){let t=W[e.name];return{...e,code:t.code,defaultSeverity:t.defaultSeverity,optionsSchema:t.optionsSchema,meta:e.meta??{description:t.description}}}var iu={"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 Oe(e){return C({name:iu[e],create(t){return{ProgramExit(){for(let n of t.getIncludeIssues(e))t.report({message:n.message,range:n.range,data:ru(n)})}}}})}function ru(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 ns=[Oe("missing-path"),Oe("not-found"),Oe("cycle"),Oe("outside-root"),Oe("unresolved-variable"),Oe("depth-exceeded"),Oe("too-many-files"),Oe("external-used")];import su from"ajv";var au=su,lu=new 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n=e.port.validate??e.typeDefinition?.validate;if(n)return gu(e.registry,n,e.value)?void 0:kn(e.diagnosticCode,e.value,e.portLabel);let o=e.typeDefinition?.canonical??e.port.type;if(o&&!ls(o,e.value))return uu(o)?kn(e.diagnosticCode,e.value,e.portLabel):{code:e.customLiteralDiagnosticCode,message:`literal value for custom type \`${o}\` requires a validator`,details:{primaryLabel:`literal value requires a validator for custom type \`${o}\``,help:`use a blackboard remap such as \`${e.portLabel}="{${e.port.name}}"\`, or define a validator in btxml.model-augment.json`}}}function He(e){return e.effectiveType??e.type}function as(e,t){return fe(e,He(t))}function Gt(e,t){let n=Z({portName:e,rawValue:t.trim()});return n.ok?n.reference:void 0}function kn(e,t,n){return{code:e,message:`invalid value \`${t}\` for port \`${n}\``}}function uu(e){let t=Mt(e)??e;return ds(e)!==void 0||yu.has(t.toLowerCase())}function ls(e,t){let n=ds(e);if(n)return pu(n,t);let o=(Mt(e)??e).toLowerCase();switch(o){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+)?$/.test(t);case"bt::nodestatus":case"nodestatus":return du.includes(t);default:return Lo.has(o)||os.has(o)?cs(o,t):!1}}function ds(e){return/^std::vector<\s*(.+?)\s*>$/.exec(e)?.[1]}function pu(e,t){let n=fu(t);return n?n.every(o=>mu(e,o)):!1}function mu(e,t){if(t.kind==="string")return ls(e,t.value);let n=(Mt(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 Lo.has(n)||os.has(n)?typeof t.value=="number"&&Number.isInteger(t.value)&&cs(n,String(t.value)):!1}}function cs(e,t){let n=cu[e];if(!n)return!1;if(Lo.has(e)){if(!/^-?\d+$/.test(t))return!1}else if(!/^\d+$/.test(t))return!1;try{let o=BigInt(t);return o>=n.min&&o<=n.max}catch{return!1}}function fu(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 gu(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 o=n.split(t.separator);return o.length!==t.items.length?!1:o.every((i,r)=>{let s=t.items[r];return s?ss({port:{name:`tuple[${r}]`,type:s},value:i,registry:e,typeDefinition:fe(e,s),allowRemap:!1,diagnosticCode:"BT103_INVALID_PORT_VALUE_TYPE",customLiteralDiagnosticCode:"BT112_CUSTOM_LITERAL_REQUIRES_VALIDATOR",portLabel:`tuple[${r}]`})===void 0:!1})}case"json-schema":try{let o=JSON.parse(n);return lu.compile(t.schema)(o)===!0}catch{return!1}}}var yu=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 us=[C({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})}}}}),C({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 o of t.ports)o.name&&(n.has(o.name)&&e.report({message:`Duplicate port name "${o.name}" in 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type."},create(e){return{Element(t){if(!bu(t))return;let n=t.attributes.find(l=>l.name==="default")??t.attributes.find(l=>l.name==="default_value");if(!n)return;let o=t.attributes.find(l=>l.name==="name")?.value;if(!o)return;let r=vu(e.document.root,t)?.attributes.find(l=>l.name==="ID")?.value;if(!r)return;let a=e.getNodeModel(r)?.ports.find(l=>l.name===o);if(a){if(a.direction==="output"){Gt(a.name,n.value)===void 0&&e.report({code:u.InvalidPortDefaultValue,message:`output port default for \`${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}="{${a.name}}"\` or 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s=i.find(a=>a.typeDefinition.canonical===r[0]);e.report({code:u.BlackboardTypeMismatch,message:`blackboard entry \`${s?.displayName??i[0]?.displayName??i[0]?.key??""}\` is used with incompatible port types: ${r.map(a=>`\`${a}\``).join(", ")}`,range:s?.range,details:{primaryLabel:`blackboard entry \`${s?.displayName??i[0]?.displayName??i[0]?.key??""}\` mixes incompatible port types`,notes:i.filter(a=>r.includes(a.typeDefinition.canonical)).map(a=>`${a.nodeId}.${a.port.name} declares ${xu(a.port,a.typeDefinition)}`),help:"use different blackboard keys, align the port types, or declare compatibility in btxml.model-augment.json"}})}}}}}),C({name:"model/require-output-port-remap",meta:{description:"Resolved output ports must write to a blackboard remap."},create(e){return{Element(t){if(Ru(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let o of t.attributes){let i=e.getPortUsage(t,o.name);i?.status==="resolved"&&i.port.direction==="output"&&Gt(i.port.name,o.value)===void 0&&e.report({code:u.OutputPortRequiresRemap,message:`output port \`${i.port.name}\` must be remapped to a blackboard entry`,range:o.range,details:{primaryLabel:`output port \`${i.port.name}\` requires a blackboard remap`,help:`use \`${i.port.name}="{${i.port.name}}"\` or \`${i.port.name}="{some_key}"\``}})}}}}})];function hu(e,t){return e.diagnostics.some(n=>n.code===u.DuplicateNodeModelId&&n.message.includes(`\`${t}\``))}function bu(e){return e.name==="input_port"||e.name==="output_port"||e.name==="inout_port"}function vu(e,t){if(!e)return;return n(e,!1,void 0);function n(o,i,r){let s=i||o.name==="TreeNodesModel",a=s&&(o.name==="Action"||o.name==="Condition"||o.name==="Control"||o.name==="Decorator"||o.name==="SubTree")?o:r;if(o===t)return a;for(let l of o.children){if(l.kind!=="element")continue;let d=n(l,s,a);if(d)return d}}}function Su(e,t,n){let o=new Set;for(let i=0;i<t.length;i+=1){let r=t[i];if(r)for(let s=i+1;s<t.length;s+=1){let a=t[s];a&&(n&&(r.typeDefinition.canonical==="std::string"||a.typeDefinition.canonical==="std::string")||ft(e,r.typeDefinition.canonical,a.typeDefinition.canonical)||(o.add(r.typeDefinition.canonical),o.add(a.typeDefinition.canonical)))}}return[...o].sort()}function xu(e,t){return He(e)??t.canonical}function ku(e){return e.attributes.find(t=>t.name==="name")?.value??e.attributes.find(t=>t.name==="ID")?.value??e.name}function Ru(e){return e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"}var Du=new Set(["_failureIf","_successIf","_skipIf","_while"]),Tu=new Set(["_onSuccess","_onFailure","_onHalted","_post"]);function Oo(e){if(Du.has(e.attributeName))return{kind:"precondition",expectedResult:"bool-compatible"};if(Tu.has(e.attributeName))return{kind:"postcondition",expectedResult:"ignored"};let 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e.isFile()?"file":e.isDirectory()?"directory":"other"}function Me(e=process.cwd(),t={}){let n=bp.resolve(e),o=ot(n);return{rootUri(){return o},async readFile(i){return en.readFile(te(i),"utf8")},async exists(i){try{return await en.access(te(i),hp.F_OK),!0}catch(r){if(r.code!=="ENOENT")throw r;return!1}},async stat(i){try{let r=await en.stat(te(i));return{type:vp(r),size:r.size}}catch{return}},async readDir(i){return(await en.readdir(te(i),{withFileTypes:!0})).map(s=>({name:s.name,type:s.isFile()?"file":s.isDirectory()?"directory":"other"}))},async realpath(i){return ot(await en.realpath(te(i)))},async resolvePackageUri(i){return t.resolvePackageUri?.(i)}}}async function ci(e={}){let t=di.resolve(e.cwd??process.cwd()),n=e.projectRoot?di.resolve(t,e.projectRoot):t,o=Me(n,e.hostOptions);return da({rootUri:ot(n),host:o,configUri:e.configPath?ot(di.resolve(t,e.configPath)):void 0,noConfig:e.noConfig,cliFiles:e.cliFiles,command:e.command})}var pa={InvalidJson:u.InvalidAugmentationJson,InvalidSchema:u.InvalidAugmentationSchema};function Sp(e){return T(e.code,h.Error,e.message,e.range,e.filePath,{primaryLabel:e.primaryLabel,help:e.help,notes:e.notes?[...e.notes]:void 0})}function xp(e,t){return t.issues.map(n=>Sp({filePath:e,code:n.kind==="json"?pa.InvalidJson:pa.InvalidSchema,message:n.kind==="json"?`invalid augmentation JSON \`${e}\``:`invalid augmentation schema \`${e}\``,range:n.range,primaryLabel:n.message,help:n.kind==="json"?`fix the JSON syntax in \`${e}\``:n.path?`fix the schema issue at \`${n.path}\``:"fix the schema issue in the file",notes:n.notes}))}async function Mn(e){let t=e.project,n=e.host??t.host,o=[],i=[];for(let r of t.augmentationFiles){if(!await n.exists(r.uri)){o.push(T(u.AugmentationFileNotFound,h.Error,`model augmentation file not found \`${r.path}\``,void 0,r.path,{help:"check `models.augmentations` and make sure the file exists"}));continue}let s=await 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i=n.diagnostics[0];return{diagnostics:[T(u.ExternalModelXmlParseError,h.Error,`failed to parse external TreeNodesModel file \`${e.path}\``,n.diagnostics[0]?.range,e.path,{primaryLabel:"the external model file is not valid XML",help:`fix the XML syntax in \`${e.path}\` before using it as an external model file`,notes:i?[`first XML error: ${i.code} ${i.message}`]:void 0})]}}let o=kp(n.document);return o?{document:o,diagnostics:[]}:{diagnostics:[T(u.MissingTreeNodesModel,h.Error,"missing `<TreeNodesModel>` in external model file",n.document.root?.range,e.path,{primaryLabel:"this file does not contain a `<TreeNodesModel>` element",help:"add a `<TreeNodesModel>` element or remove the file from `models.files`"})]}}async function H(e,t){let n=e,o=t??n.host,i=[];for(let d of n.selectedFiles){if(!await o.exists(d.uri))continue;let c=await o.readFile(d.uri),p=Le(c,{uri:d.uri,path:d.path});p.document&&i.push(p.document)}let r=await Promise.all(n.modelFiles.map(d=>ui(d,o))),s=await 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nl=Te.pipe(ie.object({configPath:ie.string().optional(),projectRoot:ie.string().optional(),noConfig:ie.boolean().optional(),quiet:ie.boolean().optional(),verbose:ie.boolean().optional(),noColor:ie.boolean().optional(),output:de,reporter:Yt.optional(),json:ie.boolean().optional(),warningsAsErrors:ie.boolean().optional(),maxWarnings:ie.number().optional(),showSkipped:ie.boolean().optional(),showSuppressed:ie.boolean().optional(),fix:ie.boolean().optional()}).merge(Fn).merge(Re).transform(e=>({...e,output:e.json?"json":e.output,reporter:e.json?"json":e.reporter??e.output,maxWarnings:e.warningsAsErrors?0:e.maxWarnings})));function ol(e){let t=new Map;for(let n of e.diagnostics){if(n.code!=="BT002_MISSING_BTCPP_FORMAT")continue;let o=e.documents.find(a=>a.uri===n.uri);if(!o?.root||o.root.name!=="root"||o.root.attributes.some(a=>a.name==="BTCPP_format"))continue;let r;if(o.root.nameRange?r=o.root.nameRange.end.offset:o.root.openTagRange&&(r=o.root.openTagRange.start.offset+5),r===void 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T=J(e).find(_=>_.absolutePath===b.uri||_.path===b.uri||_.uri===b.uri)?.absolutePath??(b.uri.startsWith("file://")?ne(b.uri):b.uri),N=re(T),A=Rt(N,b.edits);St(T,A),f.has(b.uri)||(f.add(b.uri),l++),a+=b.edits.length}let x=await H(e,n);o=x.documents,r=x.externalModelDocuments,i=x.diagnostics,s=await yt({project:e,documents:o,externalModelDocuments:r,mode:"lint",showSuppressed:t.showSuppressed,baseline:t.baseline,maxWarnings:t.maxWarnings,includeRawDiagnostics:!0,projectDiagnostics:[...t.projectDiagnostics||[],...i],host:n})}}let d=[...t.projectDiagnostics||[],...s.projectDiagnostics],c=s.files.map(g=>({path:g.path,diagnostics:g.diagnostics,rawDiagnostics:g.rawDiagnostics,skipped:g.skipped,skipReason:g.skipReason})),p=!Nn(Zt({projectDiagnostics:d,files:c}),t.maxWarnings),m=Qt({projectDiagnostics:d,files:c});if(t.reporter==="json"&&console.log(Bn({ok:p,files:c,projectDiagnostics:d,summary:s.summary})),!t.quiet&&t.reporter==="human"){t.fix&&(a>0?console.log(`fixed ${a} problem${a===1?"":"s"} 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al=Te.pipe(De.object({configPath:De.string().optional(),projectRoot:De.string().optional(),noConfig:De.boolean().optional(),quiet:De.boolean().optional(),verbose:De.boolean().optional(),noColor:De.boolean().optional(),output:de,json:De.boolean().optional(),write:De.boolean().optional(),show:De.string().optional()}).merge(Re).transform(e=>({...e,output:e.json?"json":e.output})));import{stdin as _p,stdout as ll}from"process";import{createInterface as Ap}from"readline/promises";async function Ln(e){let t=Ap({input:_p,output:ll});try{let n=[`? ${e.message}`];for(let o=0;o<e.choices.length;o++)n.push(`  ${o+1}. ${e.choices[o].label}`),e.choices[o].description&&n.push(`     ${e.choices[o].description}`);for(n.push(`Select an action [1-${e.choices.length}]:`);;){let o=await t.question(`${n.join(`
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e)switch(n.kind){case"node-kind":t.push(`node-kind:${Y(n.left)}:${Y(n.right)}`);break;case"port-added":t.push(`added:${n.portName}`);break;case"port-removed":t.push(`removed:${n.portName}`);break;case"port-direction":t.push(`direction:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-type":t.push(`type:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-required":t.push(`required:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-default":t.push(`default:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-enum":t.push(`enum:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-description":t.push(`description:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break}return t.sort().join("|")}function jp(e){return"portName"in e}function Sr(e){let t=e.filter(o=>o.kind.startsWith("port-"));if(t.length===0)return e.length===1&&e[0].kind==="node-kind"?"node kind differs":`${e.length} structural differences`;let n=new Set(t.filter(jp).map(o=>o.portName));if(n.size===1){let o=Array.from(n)[0];return`${t.map(i=>i.kind.replace("port-","")).join(", ")} on \`${o}\``}return`${n.size} differing ports`}function pl(e){return JSON.stringify({direction:e.direction,name:e.name,type:e.type??null,required:e.required,defaultValue:e.defaultValue??null,enumValues:e.enum??null,description:e.description??null})}function Fp(e){return JSON.stringify({kind:e.kind,ports:e.ports.map(t=>({name:t.name,direction:t.direction,type:t.type??null,required:t.required,defaultValue:t.defaultValue??null,enum:t.enum?[...t.enum].sort():null,description:t.description??null})).sort((t,n)=>t.name.localeCompare(n.name))})}function Lp(e){let t=[e.name];e.type&&t.push(`: ${e.type}`),!e.required&&e.defaultValue!==void 0&&t.push(` = "${e.defaultValue}"`);let n=t.join("");return e.direction==="output"?`${n} [output]`:e.direction==="inout"?`${n} [inout]`:n}function ul(e){return`${e.kind} ${e.id}(${e.ports.map(Lp).join(", ")})`}function ml(e){let t=new Map;for(let r of e){let i=Fp(r),s=t.get(i)??[];s.push(r),t.set(i,s)}let n=Array.from(t.entries());n.sort((r,i)=>{let s=r[1][0],a=i[1][0],l=s.uri??"",d=a.uri??"";if(l!==d)return l.localeCompare(d);let c=s.range?.start.offset??0,p=a.range?.start.offset??0;return c-p});let o="ABCDEFGHIJKLMNOPQRSTUVWXYZ".split("");return n.map(([r,i],s)=>{let a=o[s]??`S${s}`,l=i[0],d=i.map(c=>({definitionId:`${c.id}:${c.uri??""}:${c.range?.start.offset??0}`,uri:c.uri,sourceKind:c.source||"inline-tree-nodes-model",kind:c.kind,range:c.range,signatureKey:r,signatureId:a,signatureText:ul(c),model:c}));return{id:a,signatureKey:r,signatureText:ul(l),kind:l.kind,definitions:d,editableDefinitions:d.filter(c=>c.model.editable!==!1),nonEditableDefinitions:d.filter(c=>c.model.editable===!1)}})}function Op(e){return/^\{[^}]+\}$/.test(e.trim())}function $p(e){return e.name==="SubTree"?e.attributes.find(n=>n.name==="ID")?.value??e.name:e.name}function fl(e,t,n,o){let r=0;if($p(e)===t){r++;for(let i of n){let s=o.get(i);s||(s={providedCount:0,omittedCount:0,literalValues:{},blackboardReferenceCount:0},o.set(i,s));let a=e.attributes.find(l=>l.name===i);a?(s.providedCount++,Op(a.value)?s.blackboardReferenceCount++:s.literalValues[a.value]=(s.literalValues[a.value]||0)+1):s.omittedCount++}}for(let i of e.children)i.kind==="element"&&(r+=fl(i,t,n,o));return r}function xr(e){let t=new Map,n=0;for(let r of e.documents)if(r.root)for(let i of r.root.children)i.kind==="element"&&i.name==="TreeNodesModel"||i.kind==="element"&&(n+=fl(i,e.nodeId,e.candidatePorts,t));let o={};for(let r of e.candidatePorts)o[r]=t.get(r)||{providedCount:0,omittedCount:0,literalValues:{},blackboardReferenceCount:0};return{nodeId:e.nodeId,totalUsages:n,byPort:o}}function On(e){let t={signatureId:e.signature.id,newMissingRequiredPorts:[],removedPortsUsedByUsages:[],directionChanges:[]},n=new Set(Object.keys(e.usageEvidence.byPort));for(let o of n){let r=e.usageEvidence.byPort[o],i=e.signature.definitions[0]?.model.ports.find(s=>s.name===o);i?.required&&r.omittedCount>0&&t.newMissingRequiredPorts.push({portName:o,omittedCount:r.omittedCount}),!i&&r.providedCount>0&&t.removedPortsUsedByUsages.push({portName:o,providedCount:r.providedCount})}return t}function Up(e){let t=0;for(let n=0;n<e.length;n++)for(let o=n+1;o<e.length;o++)lt(e[n],e[o])||t++;return t}function Vp(e,t){return e.definitions.some(n=>n.model.editable===!1||n.range==null?!1:t.some(o=>o.uri===n.uri))}function qp(e){let t=e.targetSignature.definitions[0];if(!t)return[];let n=e.documents.find(i=>i.uri===t.uri);if(!n||!t.range)return[];let o=n.originalText.slice(t.range.start.offset,t.range.end.offset),r=[];for(let i of e.allDefinitions)i.signatureId===e.targetSignature.id||i.model.editable===!1||i.range==null||!e.documents.find(a=>a.uri===i.uri)||r.push({uri:i.uri??"",edits:[{range:i.range,newText:o}]});return r}function Xp(e){let t=[];for(let n of e.allDefinitions)n.definitionId!==e.keepDefinition.definitionId&&n.model.editable!==!1&&n.range!=null&&t.push({uri:n.uri??"",edits:[{range:n.range,newText:""}]});return t}function Gp(e){if(e.model.editable===!1)return[];let t=[],n=e.keepDefinition.range?.start.offset,o=e.model.ports.filter(r=>r.name===e.portName);for(let r of o){let i=r.range??r.nameRange;i&&(n!=null&&i.start.offset===n||t.push({uri:e.model.uri??"",edits:[{range:i,newText:""}]}))}return t}function kr(e){let t=new Set,n=0;for(let o of e)t.add(o.uri),n+=o.edits.length;return{files:t.size,definitions:n,edits:n,affectedUris:Array.from(t).sort()}}function rt(e){return e.definitions===0?"edits: none":e.definitions===1&&e.files===1?"edits: 1 definition in 1 file":`edits: ${e.definitions} definition${e.definitions===1?"":"s"} in ${e.files} file${e.files===1?"":"s"}`}function yl(e){let t=[],{group:n,documents:o}=e,r=n.signatures.some(i=>i.nonEditableDefinitions.length>0);if(n.kind==="model-signature-conflict")for(let i of n.signatures){if(!Vp(i,o)||n.definitions.filter(l=>l.signatureId!==i.id&&l.model.editable!==!1&&l.range!=null).length===0)continue;let a=qp({targetSignature:i,allDefinitions:n.definitions,documents:o});a.length!==0&&t.push({id:`match-signature-${i.id}`,title:r?`Make editable definitions match signature ${i.id}`:`Make all definitions match signature ${i.id}`,description:`Replace editable definitions that do not match signature ${i.id}.`,kind:"match-signature",applicable:!0,targetSignatureId:i.id,workspaceEdits:a,editSummary:kr(a),usageImpact:On({signature:i,usageEvidence:n.usageEvidence})})}else if(n.kind==="duplicate-model-id"){let i=new Set;for(let s of n.definitions){if(i.has(s.signatureKey))continue;i.add(s.signatureKey);let a=Xp({keepDefinition:s,allDefinitions:n.definitions}),l=n.definitions.filter(d=>d.signatureKey===s.signatureKey).length;a.length!==0&&t.push({id:`keep-definition-${s.signatureId}`,title:l>1?"Keep the first definition and delete duplicate copies":`Keep variant ${s.signatureId} and delete duplicate \`${n.nodeId}\` definitions in this file`,description:l>1?`Keep one definition and remove ${l-1} duplicate copies.`:`Keep ${s.definitionId} and remove other duplicate definitions.`,kind:"keep-model-definition",applicable:!0,workspaceEdits:a,editSummary:kr(a)})}}else if(n.kind==="duplicate-port-name"){let i=new Set;for(let s of n.definitions){if(i.has(s.signatureKey))continue;i.add(s.signatureKey);let a=Gp({model:s.model,portName:n.portName??n.nodeId,keepDefinition:s});if(a.length===0)continue;let l=n.definitions.filter(d=>d.signatureKey===s.signatureKey).length;t.push({id:`keep-port-${s.signatureId}`,title:l>1?`Keep the first \`${n.portName??n.nodeId}\` port and delete duplicate copies`:`Keep port variant ${s.signatureId} and delete other \`${n.portName??n.nodeId}\` ports`,description:l>1?`Keep one \`${n.portName??n.nodeId}\` port and remove duplicate copies.`:`Keep \`${n.portName??n.nodeId}\` port variant ${s.signatureId} and remove others.`,kind:"keep-port-definition",applicable:!0,workspaceEdits:a,editSummary:kr(a)})}}return t.length===0&&t.push({id:"manual",title:"Manual update required",description:"No editable definitions are available for automatic repair.",kind:"manual",applicable:!1,workspaceEdits:[],editSummary:{files:0,definitions:0,edits:0,affectedUris:[]}}),t.push({id:"skip",title:"Skip this model group",description:"Do not change any definitions for this node model.",kind:"skip",applicable:!1,workspaceEdits:[],editSummary:{files:0,definitions:0,edits:0,affectedUris:[]}}),t}function zp(e,t){let n=[];e.direction!==t.direction&&n.push({kind:"port-direction",portName:e.name,left:e.direction,right:t.direction}),e.type!==t.type&&n.push({kind:"port-type",portName:e.name,left:e.type,right:t.type}),e.required!==t.required&&n.push({kind:"port-required",portName:e.name,left:e.required,right:t.required}),e.defaultValue!==t.defaultValue&&n.push({kind:"port-default",portName:e.name,left:e.defaultValue,right:t.defaultValue});let o=e.enum?JSON.stringify([...e.enum].sort()):"",r=t.enum?JSON.stringify([...t.enum].sort()):"";return o!==r&&n.push({kind:"port-enum",portName:e.name,left:e.enum?[...e.enum].sort():void 0,right:t.enum?[...t.enum].sort():void 0}),n}function Rr(e){let t=[];for(let n=0;n<e.length;n++)for(let o=n+1;o<e.length;o++){let r=e[n].definitions[0]?.model,i=e[o].definitions[0]?.model;if(!r||!i)continue;let s=cl(r,i);s.length>0&&t.push({leftSignatureId:e[n].id,rightSignatureId:e[o].id,differences:s})}return t}function gl(e){let t=e.flatMap(i=>i.differences),n=t.some(i=>i.kind!=="port-default"),o=t.some(i=>i.kind==="port-default"),r=[];return n&&r.push("BT012_CONFLICTING_NODE_MODEL"),o&&r.push("BT107_CONFLICTING_PORT_DEFAULT"),{codes:r,severity:n?"error":"warning"}}function hl(e){let{nodeId:t,models:n,documents:o,code:r}=e;if(n.length<2)return;let i=ml(n);if(i.length<2&&r!=="BT006_DUPLICATE_NODE_MODEL_ID")return;let s=i.flatMap(b=>b.definitions),a=Up(n),l,d;if(r==="BT006_DUPLICATE_NODE_MODEL_ID")if(i.length===1)l=["BT006_DUPLICATE_NODE_MODEL_ID"],d="error";else{let b=Rr(i),S=gl(b);l=["BT006_DUPLICATE_NODE_MODEL_ID",...S.codes],d=S.severity}else{let b=Rr(i),S=gl(b);if(l=S.codes,d=S.severity,l.length===0)return}let c=[...new Set(s.flatMap(b=>b.model.ports.map(S=>S.name)))],p=xr({nodeId:t,documents:o,candidatePorts:c}),m=Rr(i),g=m.flatMap(b=>b.differences),y=vr(g),f=Sr(g),x={id:`model-group:${t}:${y}`,kind:e.kind??(r==="BT006_DUPLICATE_NODE_MODEL_ID"?"duplicate-model-id":"model-signature-conflict"),nodeId:t,displayName:t,codes:l,severity:d,definitions:s,signatures:i,differences:m,usageEvidence:p,differencePattern:{key:y,label:f},pairwiseConflictCount:a};return{...x,actions:yl({group:x,documents:o}),usageImpacts:i.map(b=>On({signature:b,usageEvidence:p}))}}function Wp(e,t){let n=[];for(let o of At(e)){let r=new Map;for(let i of o.treeNodesModel){let s=r.get(i.id)??[];s.push(i),r.set(i.id,s)}for(let[i,s]of r){if(s.length<2)continue;let a=hl({nodeId:i,models:s,documents:t,code:"BT006_DUPLICATE_NODE_MODEL_ID",kind:"duplicate-model-id"});a&&n.push(a)}}return n}function Kp(e){let{model:t,portName:n,ports:o,documents:r}=e,i=new Map;for(let m of o){let g=pl(m),y=i.get(g)??[];y.push(m),i.set(g,y)}let s=Array.from(i.entries()).sort((m,g)=>(m[1][0]?.range?.start.offset??0)-(g[1][0]?.range?.start.offset??0)),a="ABCDEFGHIJKLMNOPQRSTUVWXYZ".split(""),l=[];for(let m=0;m<s.length;m++){let[g,y]=s[m],f=a[m]??`S${m}`,x=y[0],b=`${t.kind} ${t.id}(${x.direction} ${x.name}${x.type?`: ${x.type}`:""}${x.defaultValue?` = "${x.defaultValue}"`:""})`,S=y.map((T,N)=>{let A=T.range??T.nameRange;return{definitionId:`${t.id}:${t.uri??""}:${t.range?.start.offset??0}:port:${n}:${A?.start.offset??N}`,uri:t.uri,sourceKind:t.source||"inline-tree-nodes-model",kind:t.kind,range:A,signatureKey:g,signatureId:f,signatureText:b,model:t}});l.push({id:f,signatureKey:g,signatureText:b,kind:t.kind,definitions:S,editableDefinitions:S.filter(T=>T.model.editable!==!1),nonEditableDefinitions:S.filter(T=>T.model.editable===!1)})}let d=[];for(let m=0;m<l.length;m++)for(let g=m+1;g<l.length;g++){let y=l[m].definitions[0]?.model.ports.find(b=>{let S=b.range??b.nameRange,T=l[m].definitions[0]?.range;return S&&T&&S.start.offset===T.start.offset}),f=l[g].definitions[0]?.model.ports.find(b=>{let S=b.range??b.nameRange,T=l[g].definitions[0]?.range;return S&&T&&S.start.offset===T.start.offset});if(!y||!f)continue;let x=zp(y,f);x.length>0&&d.push({leftSignatureId:l[m].id,rightSignatureId:l[g].id,differences:x})}let c=d.flatMap(m=>m.differences),p={id:`duplicate-port:${t.id}:${n}:${t.uri??""}:${o[0]?.range?.start.offset??0}`,kind:"duplicate-port-name",nodeId:t.id,portName:n,displayName:`${t.id}.${n}`,codes:["BT008_DUPLICATE_PORT_NAME"],severity:"error",definitions:l.flatMap(m=>m.definitions),signatures:l,differences:d,usageEvidence:xr({nodeId:t.id,documents:r,candidatePorts:[n]}),differencePattern:{key:vr(c),label:Sr(c)},pairwiseConflictCount:Math.max(1,o.length-1)};return{...p,actions:yl({group:p,documents:r}),usageImpacts:l.map(m=>On({signature:m,usageEvidence:p.usageEvidence}))}}function Hp(e,t){let n=[];for(let o of At(e))for(let r of o.treeNodesModel){let i=new Map;for(let s of r.ports){let a=i.get(s.name)??[];a.push(s),i.set(s.name,a)}for(let[s,a]of i){if(a.length<2)continue;let l=Kp({model:r,portName:s,ports:a,documents:t});l&&n.push(l)}}return n}function Jp(e){let t=new Set;for(let n of At(e)){let o=new Map;for(let r of n.treeNodesModel){let i=o.get(r.id)??[];i.push(r),o.set(r.id,i)}for(let[r,i]of o)i.length>=2&&t.add(r)}return t}function Yp(e){let t=new Map;for(let n of yo(e)){let o=t.get(n.id)??[];o.push(n),t.set(n.id,o)}return t}function $n(e){let t=[],n=Jp(e.workspace);for(let[o,r]of Yp(e.workspace)){if(r.length<2||n.has(o))continue;let i=hl({nodeId:o,models:r,documents:e.documents,code:"BT012_CONFLICTING_NODE_MODEL"});i&&t.push(i)}return t.push(...Wp(e.workspace,e.documents)),t.push(...Hp(e.workspace,e.documents)),t}function Un(e){return e.applicable===!0}function bl(e){return e.actions.filter(Un)}function vl(e){return e.actions.filter(t=>t.kind==="manual")}function Sl(e){return{signatureConflictGroups:e.filter(t=>t.kind==="model-signature-conflict").length,duplicateModelGroups:e.filter(t=>t.kind==="duplicate-model-id").length,duplicatePortGroups:e.filter(t=>t.kind==="duplicate-port-name").length,pairwiseSignatureConflicts:e.filter(t=>t.kind==="model-signature-conflict").reduce((t,n)=>t+n.pairwiseConflictCount,0)}}function Zp(e){switch(e.kind){case"duplicate-port-name":return`1 model definition, ${e.definitions.length} duplicate ports, ${e.signatures.length} variants`;case"duplicate-model-id":return`1 file, ${e.definitions.length} duplicate model definitions, ${e.signatures.length} variants`;case"model-signature-conflict":return`${e.definitions.length} definitions, ${e.signatures.length} signatures`}}function xl(e){let t=e.usageEvidence.totalUsages,n=[];if(n.push(`${e.displayName} usages: ${t}`),t===0)return n.push("  no usage evidence available"),n;for(let[o,r]of Object.entries(e.usageEvidence.byPort)){let i=[];i.push(`provided ${r.providedCount}/${t}`),r.blackboardReferenceCount>0&&i.push(`blackboard refs ${r.blackboardReferenceCount}`),n.push(`  ${o}: ${i.join(", ")}`)}return n}function kl(e){let t=[];if(e.newMissingRequiredPorts.length>0)for(let n of e.newMissingRequiredPorts)t.push(`would produce ${n.omittedCount} missing required-port report${n.omittedCount===1?"":"s"} for \`${n.portName}\``);if(e.removedPortsUsedByUsages.length>0)for(let n of e.removedPortsUsedByUsages)t.push(`\`${n.portName}\` is used in ${n.providedCount} usage${n.providedCount===1?"":"s"} but is not defined by this signature`);if(e.directionChanges.length>0)for(let n of e.directionChanges)t.push(`changes \`${n.portName}\` direction from ${n.from} to ${n.to}`);return t.length===0?"no existing usage omits required ports in this signature":t.join("; ")}function Rl(e){let t=[];for(let n of e.differences){t.push(`  ${n.leftSignatureId} vs ${n.rightSignatureId}:`);for(let o of n.differences)switch(o.kind){case"node-kind":t.push(`    node kind: ${n.leftSignatureId}: ${o.left}, ${n.rightSignatureId}: ${o.right}`);break;case"port-added":t.push(`    ${o.portName}: ${n.rightSignatureId}: exists, ${n.leftSignatureId}: not defined`);break;case"port-removed":t.push(`    ${o.portName}: ${n.leftSignatureId}: exists, ${n.rightSignatureId}: not defined`);break;case"port-direction":t.push(`    ${o.portName}: ${n.leftSignatureId}: ${o.left}, ${n.rightSignatureId}: ${o.right}`);break;case"port-type":t.push(`    ${o.portName}: ${n.leftSignatureId}: type ${o.left??"not specified"}, ${n.rightSignatureId}: type ${o.right??"not specified"}`);break;case"port-required":t.push(`    ${o.portName}: ${n.leftSignatureId}: ${o.left?"required":"optional"}, ${n.rightSignatureId}: ${o.right?"required":"optional"}`);break;case"port-default":t.push(`    ${o.portName}: ${n.leftSignatureId}: default ${o.left??"not set"}, ${n.rightSignatureId}: default ${o.right??"not set"}`);break;case"port-enum":t.push(`    ${o.portName}: ${n.leftSignatureId}: enum ${o.left?.join(";")??"not set"}, ${n.rightSignatureId}: enum ${o.right?.join(";")??"not set"}`);break;case"port-description":{let r=i=>i?i.length>120?`${i.slice(0,120)}...`:i:"not set";t.push(`    - port \`${o.portName}\` description differs`,`      ${n.leftSignatureId}: "${r(o.left)}"`,`      ${n.rightSignatureId}: "${r(o.right)}"`);break}}}return t}function Tr(e,t){let n=[],o=t?.index!==void 0?`[${t.index}${t.total?`/${t.total}`:""}] `:"";n.push(`${o}${e.displayName}`),n.push(""),e.kind==="duplicate-port-name"?n.push(`1 model definition contains ${e.definitions.length} ports named \`${e.portName??e.nodeId}\`.`):e.kind==="duplicate-model-id"?n.push(`1 file contains ${e.definitions.length} definitions with ID \`${e.nodeId}\`.`):n.push(`${e.definitions.length} definitions have ${e.signatures.length} signatures.`),n.push(`codes: ${e.codes.join(", ")}`),n.push("");for(let s of e.signatures){let a=e.kind==="duplicate-port-name"?"port variant":e.kind==="model-signature-conflict"?"signature":"variant";n.push(`${a} ${s.id}`),n.push(`  ${s.signatureText}`),n.push("  locations:");for(let l of s.definitions){let d=l.range?`${l.uri??""}:${l.range.start.line+1}:${l.range.start.character+1}`:l.uri??"unknown";n.push(`    ${d}`)}n.push("")}if(e.differences.length>0&&(n.push("differences:"),n.push(...Rl(e)),n.push("")),n.push("usage:"),n.push(...xl(e).map(s=>`  ${s}`)),n.push(""),e.usageImpacts.length>0){n.push("usage check:");for(let s of e.usageImpacts)n.push(`  choose ${s.signatureId}: ${kl(s)}`);n.push("")}let r=bl(e);if(r.length>0){n.push("actions:");for(let s=0;s<r.length;s++){let a=r[s];n.push(`  ${s+1}. ${a.title}`);let l=rt(a.editSummary);if(l!=="edits: none"&&n.push(`     ${l}`),a.warnings)for(let d of a.warnings)n.push(`     warning: ${d}`)}n.push("")}let i=vl(e);if(i.length>0){n.push("manual:");for(let s of i)if(n.push(`  ${s.description}`),s.warnings)for(let a of s.warnings)n.push(`  warning: ${a}`);n.push("")}return n.join(`
-`)}function Vn(e){if(e.groups.length===0)return"ok: no model conflicts found";let t=Sl(e.groups),n=[];n.push(`model repair: ${e.groups.length} group${e.groups.length===1?"":"s"} need${e.groups.length===1?"s":""} attention`),t.signatureConflictGroups>0&&n.push(`  ${t.signatureConflictGroups} signature conflict group${t.signatureConflictGroups===1?"":"s"}`),t.duplicateModelGroups>0&&n.push(`  ${t.duplicateModelGroups} duplicate model group${t.duplicateModelGroups===1?"":"s"}`),t.duplicatePortGroups>0&&n.push(`  ${t.duplicatePortGroups} duplicate port group${t.duplicatePortGroups===1?"":"s"}`),t.pairwiseSignatureConflicts>0&&n.push(`${t.pairwiseSignatureConflicts} pairwise signature conflict${t.pairwiseSignatureConflicts===1?"":"s"} collapsed into ${t.signatureConflictGroups} group${t.signatureConflictGroups===1?"":"s"}`),n.push("");let o=10;if(e.groups.length<=o)for(let r=0;r<e.groups.length;r++){let i=e.groups[r];n.push(`[${r+1}] ${i.displayName}`),n.push(`    ${Zp(i)}`),n.push(`    codes: ${i.codes.join(", ")}`),n.push(""),n.push("    signatures:");for(let l of i.signatures)n.push(`      ${l.id}  ${l.definitions.length} definition${l.definitions.length===1?"":"s"}`),n.push(`         ${l.signatureText}`);if(n.push(""),i.differences.length>0&&(n.push("    differences:"),n.push(...Rl(i).map(l=>`      ${l}`)),n.push("")),n.push("    usage:"),n.push(...xl(i).map(l=>`      ${l}`)),n.push(""),i.usageImpacts.length>0){n.push("    usage check:");for(let l of i.usageImpacts)n.push(`      choose ${l.signatureId}: ${kl(l)}`);n.push("")}let s=bl(i);if(s.length>0){n.push("    actions:");for(let l=0;l<s.length;l++){let d=s[l];n.push(`      ${l+1}. ${d.title}`);let c=rt(d.editSummary);if(c!=="edits: none"&&n.push(`         ${c}`),d.warnings)for(let p of d.warnings)n.push(`         warning: ${p}`)}n.push("")}let a=vl(i);if(a.length>0){n.push("    manual:");for(let l of a)if(n.push(`      ${l.description}`),l.warnings)for(let d of l.warnings)n.push(`      warning: ${d}`);n.push("")}}else{n.push(`showing first ${o} groups. Use \`btxmlc repair --show <nodeId|index>\` for full details.`),n.push("");for(let r=0;r<o;r++){let i=e.groups[r],s=i.differences.flatMap(a=>a.differences).length;n.push(`[${r+1}] ${i.displayName.padEnd(20)} ${i.definitions.length} definitions, ${i.signatures.length} signatures, ${s} differing port${s===1?"":"s"}`)}n.push(""),n.push("remaining groups:");for(let r=o;r<e.groups.length;r++)n.push(`  [${r+1}] ${e.groups[r].nodeId}`);n.push("")}return n.push("run `btxmlc repair --write` to resolve model groups interactively"),n.push("run `btxmlc repair --show <model|model.port|index>` to inspect one model group"),n.join(`
-`)}function Dr(e){let t=e.groups.filter(r=>r.severity==="error").length,n=e.groups.filter(r=>r.severity==="warning").length,o=Sl(e.groups);return JSON.stringify({ok:e.ok,version:2,schemaVersion:"2",toolVersion:Pe,groups:e.groups.map(r=>({id:r.id,kind:r.kind,nodeId:r.nodeId,portName:r.portName,displayName:r.displayName,codes:r.codes,severity:r.severity,pairwiseConflictCount:r.pairwiseConflictCount,definitions:r.definitions.map(i=>({definitionId:i.definitionId,uri:i.uri,sourceKind:i.sourceKind,kind:i.kind,range:i.range,signatureId:i.signatureId,signatureText:i.signatureText})),signatures:r.signatures.map(i=>({id:i.id,signatureKey:i.signatureKey,signatureText:i.signatureText,definitions:i.definitions.map(s=>({definitionId:s.definitionId,uri:s.uri,range:s.range})),editableDefinitions:i.editableDefinitions.map(s=>({definitionId:s.definitionId,uri:s.uri,range:s.range})),nonEditableDefinitions:i.nonEditableDefinitions.map(s=>({definitionId:s.definitionId,uri:s.uri,range:s.range}))})),differences:r.differences,usageEvidence:r.usageEvidence,usageImpacts:r.usageImpacts,differencePattern:r.differencePattern,actions:r.actions.map(i=>({id:i.id,title:i.title,description:i.description,kind:i.kind,applicable:i.applicable,targetSignatureId:i.targetSignatureId,editSummary:i.editSummary,workspaceEdits:i.workspaceEdits,usageImpact:i.usageImpact,warnings:i.warnings}))})),summary:{groups:e.groups.length,signatureConflictGroups:o.signatureConflictGroups,duplicateModelGroups:o.duplicateModelGroups,duplicatePortGroups:o.duplicatePortGroups,pairwiseSignatureConflicts:o.pairwiseSignatureConflicts,errors:t,warnings:n}},null,2)}function Cr(e){let t=new Map;for(let n of e){let o=t.get(n.uri)??[];o.push(...n.edits),t.set(n.uri,o)}return Array.from(t.entries()).map(([n,o])=>({uri:n,edits:o}))}function Qp(e,t){let n=Number(t);return!Number.isNaN(n)&&n>=1&&n<=e.length?e[n-1]:e.find(o=>o.displayName===t)??e.find(o=>o.nodeId===t&&o.kind!=="duplicate-port-name")}function qn(e){let t=new Map;for(let n of e)t.set(n.uri,n);return Array.from(t.values())}function Ir(e){return ot(e).flatMap(t=>{try{return[{uri:t.path,path:t.absolutePath,kind:"generic-xml",isBtXml:!1,nodes:[],diagnostics:[],originalText:re(t.absolutePath)}]}catch{return[]}})}function Dl(e,t){return[...J(e),...xe(e),...ot(e)].find(r=>r.absolutePath===t||r.path===t)?.absolutePath??t}function em(e,t){for(let n of Cr(t)){let o=Dl(e,n.uri),r=re(o),i=Rt(r,n.edits);St(o,i)}}function Tl(e,t){for(let n of Cr(t)){let o=Dl(e,n.uri),r=re(o);console.log(`
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-Edit preview for: ${v.title}`),Tl(e,v.workspaceEdits));continue}let P=S.actions.find(L=>L.id===_);if(!P||!Un(P)){m.add(S.id);continue}let Ce=[{label:"Apply",value:"apply",description:rt(P.editSummary)},{label:"Show edit preview",value:"preview",description:""},{label:"Back",value:"back",description:""}],Z=await Ln({message:`Apply edits for \`${S.displayName}\`?`,choices:Ce});if(Z!=="back"){if(Z==="preview"){console.log(`
-Edit preview for: ${P.title}`),Tl(e,P.workspaceEdits);continue}em(e,P.workspaceEdits)}}let g=await H(e,n);i=g.documents,s=g.externalModelDocuments;let y=qn([...i,...s]);l=await nt({project:e,documents:i,externalModelDocuments:s}),d=$n({documents:qn([...y,...Ir(e)]),workspace:l.semanticIndex,project:e}),c&&d.length>0&&t.output==="human"&&!t.quiet&&console.log(Vn({ok:!1,groups:d}))}let p=d.length===0;return t.output==="json"?console.log(Dr({ok:p,groups:d})):t.quiet||(t.write?p?console.log("ok: all model conflicts resolved"):c||console.log(Vn({ok:p,groups:d})):console.log(Vn({ok:p,groups:d}))),{ok:p,groups:d}}var Il={command:"repair [files..]",describe:"Inspect and resolve conflicting node model signatures",builder:e=>e.positional("files",{type:"string",array:!0}).option("config",{type:"string"}).option("project-root",{type:"string"}).option("no-config",{type:"boolean"}).option("quiet",{type:"boolean"}).option("verbose",{type:"boolean"}).option("no-color",{type:"boolean"}).option("output",{type:"string"}).option("json",{type:"boolean"}).option("write",{type:"boolean"}).option("show",{type:"string"}),handler:async e=>{let t=G(al,e);process.exitCode=await El(t)}};import Xn from"fs";import Xe from"path";function wl(e,t){for(let n of Xn.readdirSync(e,{withFileTypes:!0})){let o=Xe.join(e,n.name);t.push(o),n.isDirectory()&&!n.isSymbolicLink()&&wl(o,t)}}function tm(e){let t=e.replace(/\\/g,"/"),n="^";for(let o=0;o<t.length;o+=1){let r=t[o],i=t[o+1],s=t[o+2];if(r==="*"&&i==="*"&&s==="/"){n+="(?:.*/)?",o+=2;continue}if(r==="*"&&i==="*"){n+=".*",o+=1;continue}if(r==="*"){n+="[^/]*";continue}if(r==="?"){n+="[^/]";continue}if(".+^${}()|[]\\".includes(r)){n+=`\\${r}`;continue}n+=r}return n+="$",new RegExp(n)}function Er(e,t){let n=e.split(Xe.sep).join("/"),o=t.replace(/\\/g,"/");return!o.includes("*")&&!o.includes("?")?n===o||Xe.basename(n)===o:tm(o).test(n)}function nm(e){return e.includes("*")||e.includes("?")}function Nl(e,t,n=[]){let o=[],r=[];for(let i of e){let s=i.replace(/\\/g,Xe.sep);if(Xn.existsSync(s)&&Xn.statSync(s).isFile()){let a=Xe.relative(t,s).split(Xe.sep).join("/");n.some(l=>Er(a,l))||o.push(i);continue}nm(i)&&r.push(i)}if(r.length>0){let i=[];wl(t,i);for(let s of i.filter(a=>Xn.statSync(a).isFile())){let a=Xe.relative(t,s).split(Xe.sep).join("/"),l=r.some(c=>Er(a,c)),d=n.some(c=>Er(a,c));l&&!d&&o.push(s)}}return[...new Set(o)].sort()}async function xt(e,t){let n=await or({cwd:process.cwd(),cliFiles:t.files??t._?.slice(1)??[],configPath:t.configPath,noConfig:t.noConfig,command:e,projectRoot:t.projectRoot});if(!n.project){let i=Ve({diagnostics:n.diagnostics});return i&&console.error(i),null}let o=n.project,r=et(o);return r?{...n,project:o,resolvedConfig:r}:null}import om from"path";function Gn(e,t,n="file.xml"){if(e===t)return"";let o=e.split(/\r?\n/),r=t.split(/\r?\n/),i=[`--- ${n}`,`+++ ${n}`],s=Math.max(o.length,r.length);for(let a=0;a<s;a+=1)o[a]!==r[a]&&(o[a]!==void 0&&i.push(`- ${o[a]}`),r[a]!==void 0&&i.push(`+ ${r[a]}`));return i.join(`
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yt({project:e,documents:r,externalModelDocuments:i,mode:"check",showSuppressed:t.showSuppressed,baseline:t.baseline,maxWarnings:t.maxWarnings,includeRawDiagnostics:!0,projectDiagnostics:[...t.projectDiagnostics||[],...s],host:o}),d=l?.projectDiagnostics??t.projectDiagnostics??[],c=new Map((l?.files||[]).map(b=>[b.path,b])),p=[],m=rm([...J(e),...xe(e)]).map(b=>{let S=re(b.absolutePath);return a.set(b.path,S),{path:b.path,uri:b.path,diagnostics:[],originalText:S}}),g=l?.files||m;for(let b of g){let S=a.get(b.path)??re(om.resolve(n,b.path)),T=im(b.path,S,t),N=c.get(b.path),A=[...N?.diagnostics||b.diagnostics||[],...T.diagnostics],_={path:b.path,diagnostics:A,rawDiagnostics:N?.rawDiagnostics,needsFormat:T.needsFormat,skipped:N?.skipped,skipReason:N?.skipReason,formatted:T.formatted};p.push(_)}let y=Zt({projectDiagnostics:d,files:p}),f=!Nn(y,t.maxWarnings),x=Qt({projectDiagnostics:d,files:p});if(t.reporter==="json"&&console.log(Bn({ok:f,files:p,projectDiagnostics:d,summary:l?.summary})),!t.quiet&&t.reporter==="human"){let b=Mn(d,t.reporter,a);b&&console.error(b);for(let N of p){let A=a.get(N.path)??"",_=Pn(N.path,N.diagnostics,t.reporter,a);_&&console.error(_),N.needsFormat&&t.diff&&N.formatted&&console.log(Gn(A,N.formatted,N.path))}let S=l?.summary?.staleEntries?.length,T=_n(f,p.length,S,"check",x.errors,x.warnings,t.maxWarnings===0);if(f)console.log(T);else{console.error(T);let N=An(S);N&&console.error(N)}}return{ok:f,files:p,projectDiagnostics:d,summary:x}}function sm(e,t,n,o){o.quiet||(console.error(ja(e)),o.diff&&console.log(Gn(t,n,e)))}function am(e,t,n){let o=ee(n.config,e),r=ft(t,{indentWidth:o.formatter.indentWidth,xmlDeclaration:o.formatter.xmlDeclaration,blankLineBetweenBehaviorTrees:o.formatter.blankLineBetweenBehaviorTrees,lineEnding:o.formatter.lineEnding,force:n.force});if(r.skipped)return!n.quiet&&n.output!=="json"&&console.log(`skipped ${e}`),{changed:!1,failed:!1};if(!r.ok||!r.text){if(!n.quiet){let i=new Map;i.set(e,t),console.error(Ve({diagnostics:r.diagnostics,defaultPath:e,sourceTextByUri:i}))}return{changed:!1,failed:!0}}if(n.check){let i=r.text!==t;return i&&sm(e,t,r.text,n),{changed:i,failed:i}}return n.stdout?(process.stdout.write(r.text),{changed:r.text!==t,failed:!1}):(r.text!==t&&St(e,r.text),{changed:r.text!==t,failed:!1})}function zn(e,t){let n=[],o=!1;for(let r of e){let i=re(r),s=am(r,i,t);n.push({path:r,changed:s.changed}),s.failed&&(o=!0)}return{ok:!o,results:n}}function lm(e){return Nl(e.map(t=>t.replace(/\\/g,"/")),process.cwd(),[])}async function Pl(e){let t=await xt("format",e);if(!t)return 2;let n=e.output??"human",o={...e,output:n,config:t.resolvedConfig};if(e.stdout){let i=lm(e.files??[]);if(i.length!==1)throw new F("`--stdout` requires exactly one file",2,"pass exactly one XML file when using `--stdout`");if(e.check)throw new F("`--stdout` cannot be used with `--check`",2,"remove either `--stdout` or `--check`");if(e.diff)throw new F("`--stdout` cannot be used with `--diff`",2,"remove either `--stdout` or `--diff`");return zn(i,o).ok?0:1}let r=(e.files??[]).length>0?J(t.project):[...J(t.project),...xe(t.project)];return zn([...new Map(r.map(i=>[i.absolutePath,i])).values()].map(i=>i.absolutePath),o).ok?0:1}async function sl(e){let t=await xt("lint",e);if(!t)return 2;let n=e.reporter??e.output??"human",o=gr(t.project,e),r={...e,reporter:n,baseline:o,resolvedConfig:t.resolvedConfig,projectDiagnostics:t.diagnostics},i=await rl(t.project,r);return yr(t.project,e,[...i.projectDiagnostics,...i.files.flatMap(s=>s.rawDiagnostics??s.diagnostics)]),i.ok?0:1}async function Ml(e){let t=await xt("check",e);if(!t)return 2;let n=e.reporter??e.output??"human",o=gr(t.project,e),r={...e,reporter:n,baseline:o,resolvedConfig:t.resolvedConfig,projectDiagnostics:t.diagnostics},i=await wr(t.project,r);return yr(t.project,e,[...i.projectDiagnostics,...i.files.flatMap(s=>s.rawDiagnostics??s.diagnostics)]),i.ok?0:1}async function El(e){let t=await xt("repair",e);if(!t)return 2;let n=e.output??"human";return(await Cl(t.project,{...e,output:n,show:e.show})).ok?0:1}async function Oa(e){let t=await xt("check",e);if(!t)return 2;let n=e.output??"human";return(await Fa(t.project,{output:n})).ok?0:1}async function Ha(e){return Wa({type:e.type,force:e.force}).ok?0:2}async function Xa(e){return Va(e.rule).ok?0:2}async function tl(e){return await Qa({stdio:e.stdio}),0}import{z as U}from"zod";var Bl=Te.pipe(U.object({configPath:U.string().optional(),projectRoot:U.string().optional(),noConfig:U.boolean().optional(),quiet:U.boolean().optional(),verbose:U.boolean().optional(),noColor:U.boolean().optional(),output:de,reporter:Yt.optional(),json:U.boolean().optional(),warningsAsErrors:U.boolean().optional(),noFormat:U.boolean().optional(),noLint:U.boolean().optional(),formatOnly:U.boolean().optional(),lintOnly:U.boolean().optional(),maxWarnings:U.number().optional(),showSkipped:U.boolean().optional(),showSuppressed:U.boolean().optional(),diff:U.boolean().optional(),fix:U.boolean().optional()}).merge(Fn).merge(Re).superRefine((e,t)=>{e.noFormat&&e.formatOnly&&t.addIssue({code:"custom",message:"`--no-format` and `--format-only` cannot be used together"}),e.noLint&&e.lintOnly&&t.addIssue({code:"custom",message:"`--no-lint` and `--lint-only` cannot be used together"}),e.fix&&t.addIssue({code:"custom",message:"error: `--fix` is only supported for 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lint",builder:e=>e.positional("files",{type:"string",array:!0}).option("config",{type:"string"}).option("project-root",{type:"string"}).option("no-config",{type:"boolean"}).option("quiet",{type:"boolean"}).option("verbose",{type:"boolean"}).option("no-color",{type:"boolean"}).option("output",{type:"string"}).option("reporter",{type:"string"}).option("json",{type:"boolean"}).option("warnings-as-errors",{type:"boolean"}).option("max-warnings",{type:"number"}).option("show-skipped",{type:"boolean"}).option("show-suppressed",{type:"boolean"}).option("baseline",{type:"string"}).option("update-baseline",{type:"string"}).option("no-baseline",{type:"boolean"}).option("diff",{type:"boolean"}).option("no-format",{type:"boolean"}).option("no-lint",{type:"boolean"}).option("format-only",{type:"boolean"}).option("lint-only",{type:"boolean"}).option("fix",{type:"boolean"}).option("stdout",{type:"boolean",hidden:!0}),handler:async e=>{if(e.stdout)throw new F("--stdout is not supported for 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e)switch(n.kind){case"node-kind":t.push(`node-kind:${Y(n.left)}:${Y(n.right)}`);break;case"port-added":t.push(`added:${n.portName}`);break;case"port-removed":t.push(`removed:${n.portName}`);break;case"port-direction":t.push(`direction:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-type":t.push(`type:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-required":t.push(`required:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-default":t.push(`default:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-enum":t.push(`enum:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break;case"port-description":t.push(`description:${n.portName}:${Y(n.left)}:${Y(n.right)}`);break}return t.sort().join("|")}function lm(e){return"portName"in e}function Ni(e){let t=e.filter(o=>o.kind.startsWith("port-"));if(t.length===0)return e.length===1&&e[0].kind==="node-kind"?"node kind differs":`${e.length} structural differences`;let n=new Set(t.filter(lm).map(o=>o.portName));if(n.size===1){let o=Array.from(n)[0];return`${t.map(r=>r.kind.replace("port-","")).join(", ")} on \`${o}\``}return`${n.size} differing ports`}function Tl(e){return JSON.stringify({direction:e.direction,name:e.name,type:e.type??null,required:e.required,defaultValue:e.defaultValue??null,enumValues:e.enum??null,description:e.description??null})}function dm(e){return JSON.stringify({kind:e.kind,ports:e.ports.map(t=>({name:t.name,direction:t.direction,type:t.type??null,required:t.required,defaultValue:t.defaultValue??null,enum:t.enum?[...t.enum].sort():null,description:t.description??null})).sort((t,n)=>t.name.localeCompare(n.name))})}function cm(e){let t=[e.name];e.type&&t.push(`: ${e.type}`),!e.required&&e.defaultValue!==void 0&&t.push(` = "${e.defaultValue}"`);let n=t.join("");return e.direction==="output"?`${n} [output]`:e.direction==="inout"?`${n} [inout]`:n}function Dl(e){return`${e.kind} ${e.id}(${e.ports.map(cm).join(", ")})`}function Il(e){let t=new Map;for(let i of e){let r=dm(i),s=t.get(r)??[];s.push(i),t.set(r,s)}let n=Array.from(t.entries());n.sort((i,r)=>{let s=i[1][0],a=r[1][0],l=s.uri??"",d=a.uri??"";if(l!==d)return l.localeCompare(d);let c=s.range?.start.offset??0,p=a.range?.start.offset??0;return c-p});let o="ABCDEFGHIJKLMNOPQRSTUVWXYZ".split("");return n.map(([i,r],s)=>{let a=o[s]??`S${s}`,l=r[0],d=r.map(c=>({definitionId:`${c.id}:${c.uri??""}:${c.range?.start.offset??0}`,uri:c.uri,sourceKind:c.source||"inline-tree-nodes-model",kind:c.kind,range:c.range,signatureKey:i,signatureId:a,signatureText:Dl(c),model:c}));return{id:a,signatureKey:i,signatureText:Dl(l),kind:l.kind,definitions:d,editableDefinitions:d.filter(c=>c.model.editable!==!1),nonEditableDefinitions:d.filter(c=>c.model.editable===!1)}})}function um(e){return/^\{[^}]+\}$/.test(e.trim())}function pm(e){return e.name==="SubTree"?e.attributes.find(n=>n.name==="ID")?.value??e.name:e.name}function Cl(e,t,n,o){let i=0;if(pm(e)===t){i++;for(let r of n){let s=o.get(r);s||(s={providedCount:0,omittedCount:0,literalValues:{},blackboardReferenceCount:0},o.set(r,s));let a=e.attributes.find(l=>l.name===r);a?(s.providedCount++,um(a.value)?s.blackboardReferenceCount++:s.literalValues[a.value]=(s.literalValues[a.value]||0)+1):s.omittedCount++}}for(let r of e.children)r.kind==="element"&&(i+=Cl(r,t,n,o));return i}function Xn(e){let t=new Map,n=0;for(let i of e.documents)if(i.root)for(let r of i.root.children)r.kind==="element"&&r.name==="TreeNodesModel"||r.kind==="element"&&(n+=Cl(r,e.nodeId,e.candidatePorts,t));let o={};for(let i of e.candidatePorts)o[i]=t.get(i)||{providedCount:0,omittedCount:0,literalValues:{},blackboardReferenceCount:0};return{nodeId:e.nodeId,totalUsages:n,byPort:o}}function st(e){let t={signatureId:e.signature.id,newMissingRequiredPorts:[],removedPortsUsedByUsages:[],directionChanges:[]},n=new Set(Object.keys(e.usageEvidence.byPort));for(let o of n){let i=e.usageEvidence.byPort[o],r=e.signature.definitions[0]?.model.ports.find(s=>s.name===o);r?.required&&i.omittedCount>0&&t.newMissingRequiredPorts.push({portName:o,omittedCount:i.omittedCount}),!r&&i.providedCount>0&&t.removedPortsUsedByUsages.push({portName:o,providedCount:i.providedCount})}return t}function mm(e){let t=0;for(let n=0;n<e.length;n++)for(let o=n+1;o<e.length;o++)ut(e[n],e[o])||t++;return t}function fm(e,t){return e.definitions.some(n=>n.model.editable===!1||n.range==null?!1:t.some(o=>o.uri===n.uri))}function El(e){let t=e.targetSignature.definitions[0];if(!t)return[];let n=e.documents.find(r=>r.uri===t.uri);if(!n||!t.range)return[];let o=n.originalText.slice(t.range.start.offset,t.range.end.offset),i=[];for(let r of e.allDefinitions)r.signatureId===e.targetSignature.id||r.model.editable===!1||r.range==null||!e.documents.find(a=>a.uri===r.uri)||i.push({uri:r.uri??"",edits:[{range:r.range,newText:o}]});return i}function Nl(e){let t=[];for(let n of e.allDefinitions)n.definitionId!==e.keepDefinition.definitionId&&n.model.editable!==!1&&n.range!=null&&t.push({uri:n.uri??"",edits:[{range:n.range,newText:""}]});return t}function gm(e){if(e.model.editable===!1)return[];let t=[],n=e.keepDefinition.range?.start.offset,o=e.model.ports.filter(i=>i.name===e.portName);for(let i of o){let r=i.range??i.nameRange;r&&(n!=null&&r.start.offset===n||t.push({uri:e.model.uri??"",edits:[{range:r,newText:""}]}))}return t}function rn(e){let t=new Set,n=0;for(let o of e)t.add(o.uri),n+=o.edits.length;return{files:t.size,definitions:n,edits:n,affectedUris:Array.from(t).sort()}}function at(e){return e.definitions===0?"edits: none":e.definitions===1&&e.files===1?"edits: 1 definition in 1 file":`edits: ${e.definitions} definition${e.definitions===1?"":"s"} in ${e.files} file${e.files===1?"":"s"}`}function wi(e){let t=[],{group:n,documents:o}=e,i=n.signatures.some(r=>r.nonEditableDefinitions.length>0);if(n.kind==="model-signature-conflict")for(let r of n.signatures){if(!fm(r,o)||n.definitions.filter(l=>l.signatureId!==r.id&&l.model.editable!==!1&&l.range!=null).length===0)continue;let a=El({targetSignature:r,allDefinitions:n.definitions,documents:o});a.length!==0&&t.push({id:`match-signature-${r.id}`,title:i?`Make editable definitions match signature ${r.id}`:`Make all definitions match signature ${r.id}`,description:`Replace editable definitions that do not match signature ${r.id}.`,kind:"match-signature",applicable:!0,targetSignatureId:r.id,workspaceEdits:a,editSummary:rn(a),usageImpact:st({signature:r,usageEvidence:n.usageEvidence})})}else if(n.kind==="duplicate-model-id"){let r=new Set;for(let s of n.definitions){if(r.has(s.signatureKey))continue;r.add(s.signatureKey);let a=Nl({keepDefinition:s,allDefinitions:n.definitions}),l=n.definitions.filter(d=>d.signatureKey===s.signatureKey).length;a.length!==0&&t.push({id:`keep-definition-${s.signatureId}`,title:l>1?"Keep the first definition and delete duplicate copies":`Keep variant ${s.signatureId} and delete duplicate \`${n.nodeId}\` definitions in this file`,description:l>1?`Keep one definition and remove ${l-1} duplicate copies.`:`Keep ${s.definitionId} and remove other duplicate definitions.`,kind:"keep-model-definition",applicable:!0,workspaceEdits:a,editSummary:rn(a)})}}else if(n.kind==="duplicate-port-name"){let r=new Set;for(let s of n.definitions){if(r.has(s.signatureKey))continue;r.add(s.signatureKey);let a=gm({model:s.model,portName:n.portName??n.nodeId,keepDefinition:s});if(a.length===0)continue;let l=n.definitions.filter(d=>d.signatureKey===s.signatureKey).length;t.push({id:`keep-port-${s.signatureId}`,title:l>1?`Keep the first \`${n.portName??n.nodeId}\` port and delete duplicate copies`:`Keep port variant ${s.signatureId} and delete other \`${n.portName??n.nodeId}\` ports`,description:l>1?`Keep one \`${n.portName??n.nodeId}\` port and remove duplicate copies.`:`Keep \`${n.portName??n.nodeId}\` port variant ${s.signatureId} and remove others.`,kind:"keep-port-definition",applicable:!0,workspaceEdits:a,editSummary:rn(a)})}}if(e.options?.canonicalSource==="model-files"){if(new Set(n.definitions.map(a=>a.kind)).size>1)return[...t,{id:"manual",title:"Manual update required",description:"No editable definitions are available for automatic repair.",kind:"manual",applicable:!1,workspaceEdits:[],editSummary:{files:0,definitions:0,edits:0,affectedUris:[]}},{id:"skip",title:"Skip this model group",description:"Do not change any definitions for this node model.",kind:"skip",applicable:!1,workspaceEdits:[],editSummary:{files:0,definitions:0,edits:0,affectedUris:[]}}];let s=n.definitions.filter(a=>a.sourceKind==="external-tree-nodes-model");if(s.length===1){let a=s[0],l=n.signatures.find(d=>d.id===a.signatureId);if(l){if(e.options.canonicalMode==="sync"){let d=El({targetSignature:l,allDefinitions:n.definitions,documents:o});d.length>0&&t.push({id:"match-canonical-model-file",title:"Make definitions match canonical model file",description:"Replace editable non-canonical definitions with the canonical model-file definition.",kind:"match-canonical-model-file",applicable:!0,targetSignatureId:l.id,workspaceEdits:d,editSummary:rn(d),usageImpact:st({signature:l,usageEvidence:n.usageEvidence})})}if(e.options.canonicalMode==="dedupe"){let d=Nl({keepDefinition:a,allDefinitions:n.definitions});d.length>0&&t.push({id:"keep-canonical-model-file-definition",title:"Keep canonical model file definition and delete duplicates",description:"Delete editable non-canonical duplicate definitions and keep the canonical model-file definition.",kind:"keep-canonical-model-file-definition",applicable:!0,targetSignatureId:l.id,workspaceEdits:d,editSummary:rn(d),usageImpact:st({signature:l,usageEvidence:n.usageEvidence})})}}}}return t.length===0&&t.push({id:"manual",title:"Manual update required",description:"No editable definitions are available for automatic repair.",kind:"manual",applicable:!1,workspaceEdits:[],editSummary:{files:0,definitions:0,edits:0,affectedUris:[]}}),t.push({id:"skip",title:"Skip this model group",description:"Do not change any definitions for this node model.",kind:"skip",applicable:!1,workspaceEdits:[],editSummary:{files:0,definitions:0,edits:0,affectedUris:[]}}),t}function ym(e,t){let n=[];e.direction!==t.direction&&n.push({kind:"port-direction",portName:e.name,left:e.direction,right:t.direction}),e.type!==t.type&&n.push({kind:"port-type",portName:e.name,left:e.type,right:t.type}),e.required!==t.required&&n.push({kind:"port-required",portName:e.name,left:e.required,right:t.required}),e.defaultValue!==t.defaultValue&&n.push({kind:"port-default",portName:e.name,left:e.defaultValue,right:t.defaultValue});let o=e.enum?JSON.stringify([...e.enum].sort()):"",i=t.enum?JSON.stringify([...t.enum].sort()):"";return o!==i&&n.push({kind:"port-enum",portName:e.name,left:e.enum?[...e.enum].sort():void 0,right:t.enum?[...t.enum].sort():void 0}),n}function Mi(e){let t=[];for(let n=0;n<e.length;n++)for(let o=n+1;o<e.length;o++){let i=e[n].definitions[0]?.model,r=e[o].definitions[0]?.model;if(!i||!r)continue;let s=Rl(i,r);s.length>0&&t.push({leftSignatureId:e[n].id,rightSignatureId:e[o].id,differences:s})}return t}function Ml(e){let t=e.flatMap(r=>r.differences),n=t.some(r=>r.kind!=="port-default"),o=t.some(r=>r.kind==="port-default"),i=[];return n&&i.push("BT012_CONFLICTING_NODE_MODEL"),o&&i.push("BT107_CONFLICTING_PORT_DEFAULT"),{codes:i,severity:n?"error":"warning"}}function wl(e){let{nodeId:t,models:n,documents:o,code:i}=e;if(n.length<2)return;let r=Il(n);if(r.length<2&&i!=="BT006_DUPLICATE_NODE_MODEL_ID"&&!e.forceIncludeEquivalent)return;let s=r.flatMap(v=>v.definitions),a=mm(n),l,d;if(i==="BT006_DUPLICATE_NODE_MODEL_ID")if(r.length===1)l=["BT006_DUPLICATE_NODE_MODEL_ID"],d="error";else{let v=Mi(r),x=Ml(v);l=["BT006_DUPLICATE_NODE_MODEL_ID",...x.codes],d=x.severity}else{if(r.length<2&&e.forceIncludeEquivalent){l=[i],d="error";let D=[...new Set(s.flatMap(B=>B.model.ports.map(A=>A.name)))],M=Xn({nodeId:t,documents:o,candidatePorts:D}),P={id:`model-group:${t}:equivalent`,kind:e.kind??"model-signature-conflict",nodeId:t,displayName:t,codes:l,severity:d,definitions:s,signatures:r,differences:[],usageEvidence:M,differencePattern:{key:"equivalent",label:"equivalent signatures"},pairwiseConflictCount:a};return{...P,actions:wi({group:P,documents:o,options:e.options}),usageImpacts:r.map(B=>st({signature:B,usageEvidence:P.usageEvidence}))}}let v=Mi(r),x=Ml(v);if(l=x.codes,d=x.severity,l.length===0)return}let c=[...new Set(s.flatMap(v=>v.model.ports.map(x=>x.name)))],p=Xn({nodeId:t,documents:o,candidatePorts:c}),m=Mi(r),f=m.flatMap(v=>v.differences),y=Ei(f),g=Ni(f),S={id:`model-group:${t}:${y}`,kind:e.kind??(i==="BT006_DUPLICATE_NODE_MODEL_ID"?"duplicate-model-id":"model-signature-conflict"),nodeId:t,displayName:t,codes:l,severity:d,definitions:s,signatures:r,differences:m,usageEvidence:p,differencePattern:{key:y,label:g},pairwiseConflictCount:a};return{...S,actions:wi({group:S,documents:o,options:e.options}),usageImpacts:r.map(v=>st({signature:v,usageEvidence:p}))}}function hm(e,t){let n=[];for(let o of yt(e)){let i=new Map;for(let r of o.treeNodesModel){let s=i.get(r.id)??[];s.push(r),i.set(r.id,s)}for(let[r,s]of i){if(s.length<2)continue;let a=wl({nodeId:r,models:s,documents:t,code:"BT006_DUPLICATE_NODE_MODEL_ID",kind:"duplicate-model-id"});a&&n.push(a)}}return n}function bm(e){let{model:t,portName:n,ports:o,documents:i}=e,r=new Map;for(let m of o){let f=Tl(m),y=r.get(f)??[];y.push(m),r.set(f,y)}let s=Array.from(r.entries()).sort((m,f)=>(m[1][0]?.range?.start.offset??0)-(f[1][0]?.range?.start.offset??0)),a="ABCDEFGHIJKLMNOPQRSTUVWXYZ".split(""),l=[];for(let m=0;m<s.length;m++){let[f,y]=s[m],g=a[m]??`S${m}`,S=y[0],v=`${t.kind} ${t.id}(${S.direction} ${S.name}${S.type?`: ${S.type}`:""}${S.defaultValue?` = "${S.defaultValue}"`:""})`,x=y.map((D,M)=>{let P=D.range??D.nameRange;return{definitionId:`${t.id}:${t.uri??""}:${t.range?.start.offset??0}:port:${n}:${P?.start.offset??M}`,uri:t.uri,sourceKind:t.source||"inline-tree-nodes-model",kind:t.kind,range:P,signatureKey:f,signatureId:g,signatureText:v,model:t}});l.push({id:g,signatureKey:f,signatureText:v,kind:t.kind,definitions:x,editableDefinitions:x.filter(D=>D.model.editable!==!1),nonEditableDefinitions:x.filter(D=>D.model.editable===!1)})}let d=[];for(let m=0;m<l.length;m++)for(let f=m+1;f<l.length;f++){let y=l[m].definitions[0]?.model.ports.find(v=>{let x=v.range??v.nameRange,D=l[m].definitions[0]?.range;return x&&D&&x.start.offset===D.start.offset}),g=l[f].definitions[0]?.model.ports.find(v=>{let x=v.range??v.nameRange,D=l[f].definitions[0]?.range;return x&&D&&x.start.offset===D.start.offset});if(!y||!g)continue;let S=ym(y,g);S.length>0&&d.push({leftSignatureId:l[m].id,rightSignatureId:l[f].id,differences:S})}let c=d.flatMap(m=>m.differences),p={id:`duplicate-port:${t.id}:${n}:${t.uri??""}:${o[0]?.range?.start.offset??0}`,kind:"duplicate-port-name",nodeId:t.id,portName:n,displayName:`${t.id}.${n}`,codes:["BT008_DUPLICATE_PORT_NAME"],severity:"error",definitions:l.flatMap(m=>m.definitions),signatures:l,differences:d,usageEvidence:Xn({nodeId:t.id,documents:i,candidatePorts:[n]}),differencePattern:{key:Ei(c),label:Ni(c)},pairwiseConflictCount:Math.max(1,o.length-1)};return{...p,actions:wi({group:p,documents:i}),usageImpacts:l.map(m=>st({signature:m,usageEvidence:p.usageEvidence}))}}function vm(e,t){let n=[];for(let o of yt(e))for(let i of o.treeNodesModel){let r=new Map;for(let s of i.ports){let a=r.get(s.name)??[];a.push(s),r.set(s.name,a)}for(let[s,a]of r){if(a.length<2)continue;let l=bm({model:i,portName:s,ports:a,documents:t});l&&n.push(l)}}return n}function Sm(e){let t=new Set;for(let n of yt(e)){let o=new Map;for(let i of n.treeNodesModel){let r=o.get(i.id)??[];r.push(i),o.set(i.id,r)}for(let[i,r]of o)r.length>=2&&t.add(i)}return t}function xm(e){let t=qt($t(e)),n=new Map;for(let[o,i]of t)n.set(o,i.map(r=>r.model));return n}function Gn(e){let t=[],n=Sm(e.workspace);for(let[o,i]of xm(e.workspace)){if(i.length<2||n.has(o))continue;let r=wl({nodeId:o,models:i,documents:e.documents,code:e.options?.includeConventionGroups===!0?"BT122_DUPLICATE_MODEL_DEFINITION":"BT012_CONFLICTING_NODE_MODEL",forceIncludeEquivalent:e.options?.includeConventionGroups===!0,options:e.options});r&&t.push(r)}return t.push(...hm(e.workspace,e.documents)),t.push(...vm(e.workspace,e.documents)),t}function zn(e){return e.applicable===!0}function Pl(e){return e.actions.filter(zn)}function Bl(e){return e.actions.filter(t=>t.kind==="manual")}function _l(e){return{signatureConflictGroups:e.filter(t=>t.kind==="model-signature-conflict").length,duplicateModelGroups:e.filter(t=>t.kind==="duplicate-model-id").length,duplicatePortGroups:e.filter(t=>t.kind==="duplicate-port-name").length,pairwiseSignatureConflicts:e.filter(t=>t.kind==="model-signature-conflict").reduce((t,n)=>t+n.pairwiseConflictCount,0)}}function km(e){switch(e.kind){case"duplicate-port-name":return`1 model definition, ${e.definitions.length} duplicate ports, ${e.signatures.length} variants`;case"duplicate-model-id":return`1 file, ${e.definitions.length} duplicate model definitions, ${e.signatures.length} variants`;case"model-signature-conflict":return`${e.definitions.length} definitions, ${e.signatures.length} signatures`}}function Al(e){let t=e.usageEvidence.totalUsages,n=[];if(n.push(`${e.displayName} usages: ${t}`),t===0)return n.push("  no usage evidence available"),n;for(let[o,i]of Object.entries(e.usageEvidence.byPort)){let r=[];r.push(`provided ${i.providedCount}/${t}`),i.blackboardReferenceCount>0&&r.push(`blackboard refs ${i.blackboardReferenceCount}`),n.push(`  ${o}: ${r.join(", ")}`)}return n}function jl(e){let t=[];if(e.newMissingRequiredPorts.length>0)for(let n of e.newMissingRequiredPorts)t.push(`would produce ${n.omittedCount} missing required-port report${n.omittedCount===1?"":"s"} for \`${n.portName}\``);if(e.removedPortsUsedByUsages.length>0)for(let n of e.removedPortsUsedByUsages)t.push(`\`${n.portName}\` is used in ${n.providedCount} usage${n.providedCount===1?"":"s"} but is not defined by this signature`);if(e.directionChanges.length>0)for(let n of e.directionChanges)t.push(`changes \`${n.portName}\` direction from ${n.from} to ${n.to}`);return t.length===0?"no existing usage omits required ports in this signature":t.join("; ")}function Fl(e){let t=[];for(let n of e.differences){t.push(`  ${n.leftSignatureId} vs ${n.rightSignatureId}:`);for(let o of n.differences)switch(o.kind){case"node-kind":t.push(`    node kind: ${n.leftSignatureId}: ${o.left}, ${n.rightSignatureId}: ${o.right}`);break;case"port-added":t.push(`    ${o.portName}: ${n.rightSignatureId}: exists, ${n.leftSignatureId}: not defined`);break;case"port-removed":t.push(`    ${o.portName}: ${n.leftSignatureId}: exists, ${n.rightSignatureId}: not defined`);break;case"port-direction":t.push(`    ${o.portName}: ${n.leftSignatureId}: ${o.left}, ${n.rightSignatureId}: ${o.right}`);break;case"port-type":t.push(`    ${o.portName}: ${n.leftSignatureId}: type ${o.left??"not specified"}, ${n.rightSignatureId}: type ${o.right??"not specified"}`);break;case"port-required":t.push(`    ${o.portName}: ${n.leftSignatureId}: ${o.left?"required":"optional"}, ${n.rightSignatureId}: ${o.right?"required":"optional"}`);break;case"port-default":t.push(`    ${o.portName}: ${n.leftSignatureId}: default ${o.left??"not set"}, ${n.rightSignatureId}: default ${o.right??"not set"}`);break;case"port-enum":t.push(`    ${o.portName}: ${n.leftSignatureId}: enum ${o.left?.join(";")??"not set"}, ${n.rightSignatureId}: enum ${o.right?.join(";")??"not set"}`);break;case"port-description":{let i=r=>r?r.length>120?`${r.slice(0,120)}...`:r:"not set";t.push(`    - port \`${o.portName}\` description differs`,`      ${n.leftSignatureId}: "${i(o.left)}"`,`      ${n.rightSignatureId}: "${i(o.right)}"`);break}}}return t}function Pi(e,t){let n=[],o=t?.index!==void 0?`[${t.index}${t.total?`/${t.total}`:""}] `:"";n.push(`${o}${e.displayName}`),n.push(""),e.kind==="duplicate-port-name"?n.push(`1 model definition contains ${e.definitions.length} ports named \`${e.portName??e.nodeId}\`.`):e.kind==="duplicate-model-id"?n.push(`1 file contains ${e.definitions.length} definitions with ID \`${e.nodeId}\`.`):n.push(`${e.definitions.length} definitions have ${e.signatures.length} signatures.`),n.push(`codes: ${e.codes.join(", ")}`),n.push("");for(let s of e.signatures){let a=e.kind==="duplicate-port-name"?"port variant":e.kind==="model-signature-conflict"?"signature":"variant";n.push(`${a} ${s.id}`),n.push(`  ${s.signatureText}`),n.push("  locations:");for(let l of s.definitions){let d=l.range?`${l.uri??""}:${l.range.start.line+1}:${l.range.start.character+1}`:l.uri??"unknown";n.push(`    ${d}`)}n.push("")}if(e.differences.length>0&&(n.push("differences:"),n.push(...Fl(e)),n.push("")),n.push("usage:"),n.push(...Al(e).map(s=>`  ${s}`)),n.push(""),e.usageImpacts.length>0){n.push("usage check:");for(let s of e.usageImpacts)n.push(`  choose ${s.signatureId}: ${jl(s)}`);n.push("")}let i=Pl(e);if(i.length>0){n.push("actions:");for(let s=0;s<i.length;s++){let a=i[s];n.push(`  ${s+1}. ${a.title}`);let l=at(a.editSummary);if(l!=="edits: none"&&n.push(`     ${l}`),a.warnings)for(let d of a.warnings)n.push(`     warning: ${d}`)}n.push("")}let r=Bl(e);if(r.length>0){n.push("manual:");for(let s of r)if(n.push(`  ${s.description}`),s.warnings)for(let a of s.warnings)n.push(`  warning: ${a}`);n.push("")}return n.join(`
+`)}function Wn(e){if(e.groups.length===0)return"ok: no model conflicts found";let t=_l(e.groups),n=[];n.push(`model repair: ${e.groups.length} group${e.groups.length===1?"":"s"} need${e.groups.length===1?"s":""} attention`),t.signatureConflictGroups>0&&n.push(`  ${t.signatureConflictGroups} signature conflict group${t.signatureConflictGroups===1?"":"s"}`),t.duplicateModelGroups>0&&n.push(`  ${t.duplicateModelGroups} duplicate model group${t.duplicateModelGroups===1?"":"s"}`),t.duplicatePortGroups>0&&n.push(`  ${t.duplicatePortGroups} duplicate port group${t.duplicatePortGroups===1?"":"s"}`),t.pairwiseSignatureConflicts>0&&n.push(`${t.pairwiseSignatureConflicts} pairwise signature conflict${t.pairwiseSignatureConflicts===1?"":"s"} collapsed into ${t.signatureConflictGroups} group${t.signatureConflictGroups===1?"":"s"}`),n.push("");let o=10;if(e.groups.length<=o)for(let i=0;i<e.groups.length;i++){let r=e.groups[i];n.push(`[${i+1}] ${r.displayName}`),n.push(`    ${km(r)}`),n.push(`    codes: ${r.codes.join(", ")}`),n.push(""),n.push("    signatures:");for(let l of r.signatures)n.push(`      ${l.id}  ${l.definitions.length} definition${l.definitions.length===1?"":"s"}`),n.push(`         ${l.signatureText}`);if(n.push(""),r.differences.length>0&&(n.push("    differences:"),n.push(...Fl(r).map(l=>`      ${l}`)),n.push("")),n.push("    usage:"),n.push(...Al(r).map(l=>`      ${l}`)),n.push(""),r.usageImpacts.length>0){n.push("    usage check:");for(let l of r.usageImpacts)n.push(`      choose ${l.signatureId}: ${jl(l)}`);n.push("")}let s=Pl(r);if(s.length>0){n.push("    actions:");for(let l=0;l<s.length;l++){let d=s[l];n.push(`      ${l+1}. ${d.title}`);let c=at(d.editSummary);if(c!=="edits: none"&&n.push(`         ${c}`),d.warnings)for(let p of d.warnings)n.push(`         warning: ${p}`)}n.push("")}let a=Bl(r);if(a.length>0){n.push("    manual:");for(let l of a)if(n.push(`      ${l.description}`),l.warnings)for(let d of l.warnings)n.push(`      warning: ${d}`);n.push("")}}else{n.push(`showing first ${o} groups. Use \`btxmlc repair --show <nodeId|index>\` for full details.`),n.push("");for(let i=0;i<o;i++){let r=e.groups[i],s=r.differences.flatMap(a=>a.differences).length;n.push(`[${i+1}] ${r.displayName.padEnd(20)} ${r.definitions.length} definitions, ${r.signatures.length} signatures, ${s} differing port${s===1?"":"s"}`)}n.push(""),n.push("remaining groups:");for(let i=o;i<e.groups.length;i++)n.push(`  [${i+1}] ${e.groups[i].nodeId}`);n.push("")}return n.push("run `btxmlc repair --write` to resolve model groups interactively"),n.push("run `btxmlc repair --show <model|model.port|index>` to inspect one model group"),n.join(`
+`)}function Bi(e){let t=e.groups.filter(i=>i.severity==="error").length,n=e.groups.filter(i=>i.severity==="warning").length,o=_l(e.groups);return JSON.stringify({ok:e.ok,version:2,schemaVersion:"2",toolVersion:Pe,groups:e.groups.map(i=>({id:i.id,kind:i.kind,nodeId:i.nodeId,portName:i.portName,displayName:i.displayName,codes:i.codes,severity:i.severity,pairwiseConflictCount:i.pairwiseConflictCount,definitions:i.definitions.map(r=>({definitionId:r.definitionId,uri:r.uri,sourceKind:r.sourceKind,kind:r.kind,range:r.range,signatureId:r.signatureId,signatureText:r.signatureText})),signatures:i.signatures.map(r=>({id:r.id,signatureKey:r.signatureKey,signatureText:r.signatureText,definitions:r.definitions.map(s=>({definitionId:s.definitionId,uri:s.uri,range:s.range})),editableDefinitions:r.editableDefinitions.map(s=>({definitionId:s.definitionId,uri:s.uri,range:s.range})),nonEditableDefinitions:r.nonEditableDefinitions.map(s=>({definitionId:s.definitionId,uri:s.uri,range:s.range}))})),differences:i.differences,usageEvidence:i.usageEvidence,usageImpacts:i.usageImpacts,differencePattern:i.differencePattern,actions:i.actions.map(r=>({id:r.id,title:r.title,description:r.description,kind:r.kind,applicable:r.applicable,targetSignatureId:r.targetSignatureId,editSummary:r.editSummary,workspaceEdits:r.workspaceEdits,usageImpact:r.usageImpact,warnings:r.warnings}))})),summary:{groups:e.groups.length,signatureConflictGroups:o.signatureConflictGroups,duplicateModelGroups:o.duplicateModelGroups,duplicatePortGroups:o.duplicatePortGroups,pairwiseSignatureConflicts:o.pairwiseSignatureConflicts,errors:t,warnings:n}},null,2)}function _i(e){let t=new Map;for(let n of e){let o=t.get(n.uri)??[];o.push(...n.edits),t.set(n.uri,o)}return Array.from(t.entries()).map(([n,o])=>({uri:n,edits:o}))}function Rm(e,t){let n=Number(t);return!Number.isNaN(n)&&n>=1&&n<=e.length?e[n-1]:e.find(o=>o.displayName===t)??e.find(o=>o.nodeId===t&&o.kind!=="duplicate-port-name")}function Kn(e){let t=new Map;for(let n of e)t.set(n.uri,n);return Array.from(t.values())}function Ai(e){return rt(e).flatMap(t=>{try{return[{uri:t.path,path:t.absolutePath,kind:"generic-xml",isBtXml:!1,nodes:[],diagnostics:[],originalText:oe(t.absolutePath)}]}catch{return[]}})}function Ol(e,t){return[...J(e),...Re(e),...rt(e)].find(i=>i.absolutePath===t||i.path===t)?.absolutePath??t}function Dm(e,t){for(let n of _i(t)){let o=Ol(e,n.uri),i=oe(o),r=Ct(i,n.edits);Dt(o,r)}}function Ll(e,t){for(let n of _i(t)){let o=Ol(e,n.uri),i=oe(o);console.log(`
+--- ${n.uri} ---`);for(let r of n.edits){let s=i.slice(Math.max(0,r.range.start.offset-40),r.range.start.offset),a=i.slice(r.range.end.offset,r.range.end.offset+40);console.log(`-${s}[...]${a}`),console.log(`+${s}${r.newText}${a}`)}}console.log("")}async function Ul(e,t){let n=Me(de(e)),o=nt(e);if(!o)throw new Error("Invariant: resolvedConfig is required");let i=t.source,r=t.mode==="dedupe"||t.mode==="sync"?t.mode:void 0,s=i==="model-files"?r??(o.models.convention==="single-source"?"dedupe":"sync"):void 0,a=o.models.convention==="single-source"||s==="dedupe",l=await H(e,n),{documents:d}=l,{externalModelDocuments:c}=l,p=Kn([...d,...c,...Ai(e)]),m=await it({project:e,documents:d,externalModelDocuments:c,host:n}),f=Gn({documents:p,workspace:m.semanticIndex,project:e,options:{includeConventionGroups:a,convention:o.models.convention,canonicalSource:i,canonicalMode:s}});if(t.show){let S=Rm(f,t.show);if(!S)throw new F(`error: no model group found for \`${t.show}\``,2,"run `btxmlc repair` to see available model groups");return t.output==="json"?console.log(Bi({ok:!1,groups:[S]})):console.log(Pi(S)),{ok:!1,groups:[S]}}let y=!1;if(t.write){if(process.stdin.isTTY!==!0)throw new F("error: `btxmlc repair --write` requires an interactive terminal",2,"run `btxmlc repair --json` to inspect model conflicts in non-interactive environments");let S=new Set;for(;;){let D=await H(e,n);d=D.documents,c=D.externalModelDocuments;let M=Kn([...d,...c,...Ai(e)]);m=await it({project:e,documents:d,externalModelDocuments:c,host:n}),f=Gn({documents:M,workspace:m.semanticIndex,project:e,options:{includeConventionGroups:a,convention:o.models.convention,canonicalSource:i,canonicalMode:s}});let P=f.filter(E=>!S.has(E.id));if(P.length===0)break;let B=P[0];t.output==="human"&&!t.quiet&&console.log(Pi(B,{index:f.indexOf(B)+1,total:f.length}));let A=B.actions.filter(zn),re=[...A.map(E=>({label:E.title,value:E.id,description:at(E.editSummary)})),...A.length>0?[{label:"Preview an action",value:"preview",description:""}]:[],{label:"Skip this model group",value:"skip",description:""},{label:"Quit",value:"quit",description:""}],O=await Vn({message:`Resolve \`${B.displayName}\``,choices:re});if(O==="quit"){y=!0;break}if(O==="skip"){S.add(B.id);continue}if(O==="preview"){let E=A.map(L=>({label:L.title,value:L.id,description:at(L.editSummary)}));E.push({label:"Back",value:"back",description:""});let _=await Vn({message:"Preview which action?",choices:E});if(_==="back")continue;let R=B.actions.find(L=>L.id===_);R&&t.output==="human"&&!t.quiet&&(console.log(`
+Edit preview for: ${R.title}`),Ll(e,R.workspaceEdits));continue}let me=B.actions.find(E=>E.id===O);if(!me||!zn(me)){S.add(B.id);continue}let b=[{label:"Apply",value:"apply",description:at(me.editSummary)},{label:"Show edit preview",value:"preview",description:""},{label:"Back",value:"back",description:""}],w=await Vn({message:`Apply edits for \`${B.displayName}\`?`,choices:b});if(w!=="back"){if(w==="preview"){console.log(`
+Edit preview for: ${me.title}`),Ll(e,me.workspaceEdits);continue}Dm(e,me.workspaceEdits)}}let v=await H(e,n);d=v.documents,c=v.externalModelDocuments;let x=Kn([...d,...c]);m=await it({project:e,documents:d,externalModelDocuments:c}),f=Gn({documents:Kn([...x,...Ai(e)]),workspace:m.semanticIndex,project:e,options:{includeConventionGroups:a,convention:o.models.convention,canonicalSource:i,canonicalMode:s}}),y&&f.length>0&&t.output==="human"&&!t.quiet&&console.log(Wn({ok:!1,groups:f}))}let g=f.length===0;return t.output==="json"?console.log(Bi({ok:g,groups:f})):t.quiet||(t.write?g?console.log("ok: all model conflicts resolved"):y||console.log(Wn({ok:g,groups:f})):console.log(Wn({ok:g,groups:f}))),{ok:g,groups:f}}var $l={command:"repair [files..]",describe:"Inspect and resolve conflicting node model signatures",builder:e=>e.positional("files",{type:"string",array:!0}).option("config",{type:"string"}).option("project-root",{type:"string"}).option("no-config",{type:"boolean"}).option("quiet",{type:"boolean"}).option("verbose",{type:"boolean"}).option("no-color",{type:"boolean"}).option("output",{type:"string"}).option("json",{type:"boolean"}).option("write",{type:"boolean"}).option("show",{type:"string"}).option("source",{type:"string"}).option("mode",{type:"string"}),handler:async e=>{let t=z(Sl,e);process.exitCode=await ql(t)}};import Hn from"fs";import ze from"path";function Vl(e,t){for(let n of Hn.readdirSync(e,{withFileTypes:!0})){let o=ze.join(e,n.name);t.push(o),n.isDirectory()&&!n.isSymbolicLink()&&Vl(o,t)}}function Tm(e){let t=e.replace(/\\/g,"/"),n="^";for(let o=0;o<t.length;o+=1){let i=t[o],r=t[o+1],s=t[o+2];if(i==="*"&&r==="*"&&s==="/"){n+="(?:.*/)?",o+=2;continue}if(i==="*"&&r==="*"){n+=".*",o+=1;continue}if(i==="*"){n+="[^/]*";continue}if(i==="?"){n+="[^/]";continue}if(".+^${}()|[]\\".includes(i)){n+=`\\${i}`;continue}n+=i}return n+="$",new RegExp(n)}function ji(e,t){let n=e.split(ze.sep).join("/"),o=t.replace(/\\/g,"/");return!o.includes("*")&&!o.includes("?")?n===o||ze.basename(n)===o:Tm(o).test(n)}function Im(e){return e.includes("*")||e.includes("?")}function Xl(e,t,n=[]){let o=[],i=[];for(let r of e){let s=r.replace(/\\/g,ze.sep);if(Hn.existsSync(s)&&Hn.statSync(s).isFile()){let a=ze.relative(t,s).split(ze.sep).join("/");n.some(l=>ji(a,l))||o.push(r);continue}Im(r)&&i.push(r)}if(i.length>0){let r=[];Vl(t,r);for(let s of r.filter(a=>Hn.statSync(a).isFile())){let a=ze.relative(t,s).split(ze.sep).join("/"),l=i.some(c=>ji(a,c)),d=n.some(c=>ji(a,c));l&&!d&&o.push(s)}}return[...new Set(o)].sort()}async function Tt(e,t){let n=await ci({cwd:process.cwd(),cliFiles:t.files??t._?.slice(1)??[],configPath:t.configPath,noConfig:t.noConfig,command:e,projectRoot:t.projectRoot});if(!n.project){let r=Xe({diagnostics:n.diagnostics});return r&&console.error(r),null}let o=n.project,i=nt(o);return i?{...n,project:o,resolvedConfig:i}:null}import Cm from"path";function Jn(e,t,n="file.xml"){if(e===t)return"";let o=e.split(/\r?\n/),i=t.split(/\r?\n/),r=[`--- ${n}`,`+++ ${n}`],s=Math.max(o.length,i.length);for(let a=0;a<s;a+=1)o[a]!==i[a]&&(o[a]!==void 0&&r.push(`- ${o[a]}`),i[a]!==void 0&&r.push(`+ ${i[a]}`));return r.join(`
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St({project:e,documents:i,externalModelDocuments:r,mode:"check",showSuppressed:t.showSuppressed,baseline:t.baseline,maxWarnings:t.maxWarnings,includeRawDiagnostics:!0,projectDiagnostics:[...t.projectDiagnostics||[],...s],host:o}),d=l?.projectDiagnostics??t.projectDiagnostics??[],c=new Map((l?.files||[]).map(v=>[v.path,v])),p=[],m=Em([...J(e),...Re(e)]).map(v=>{let x=oe(v.absolutePath);return a.set(v.path,x),{path:v.path,uri:v.path,diagnostics:[],originalText:x}}),f=l?.files||m;for(let v of f){let x=a.get(v.path)??oe(Cm.resolve(n,v.path)),D=Nm(v.path,x,t),M=c.get(v.path),P=[...M?.diagnostics||v.diagnostics||[],...D.diagnostics],B={path:v.path,diagnostics:P,rawDiagnostics:M?.rawDiagnostics,needsFormat:D.needsFormat,skipped:M?.skipped,skipReason:M?.skipReason,formatted:D.formatted};p.push(B)}let y=nn({projectDiagnostics:d,files:p}),g=!An(y,t.maxWarnings),S=on({projectDiagnostics:d,files:p});if(t.reporter==="json"&&console.log(Ln({ok:g,files:p,projectDiagnostics:d,summary:l?.summary})),!t.quiet&&t.reporter==="human"){let v=Fn(d,t.reporter,a);v&&console.error(v);for(let M of p){let P=a.get(M.path)??"",B=jn(M.path,M.diagnostics,t.reporter,a);B&&console.error(B),M.needsFormat&&t.diff&&M.formatted&&console.log(Jn(P,M.formatted,M.path))}let x=l?.summary?.staleEntries?.length,D=On(g,p.length,x,"check",S.errors,S.warnings,t.maxWarnings===0);if(g)console.log(D);else{console.error(D);let M=Un(x);M&&console.error(M)}}return{ok:g,files:p,projectDiagnostics:d,summary:S}}function Mm(e,t,n,o){o.quiet||(console.error(Ha(e)),o.diff&&console.log(Jn(t,n,e)))}function wm(e,t,n){let o=Q(n.config,e),i=bt(t,{indentWidth:o.formatter.indentWidth,xmlDeclaration:o.formatter.xmlDeclaration,blankLineBetweenBehaviorTrees:o.formatter.blankLineBetweenBehaviorTrees,lineEnding:o.formatter.lineEnding,force:n.force});if(i.skipped)return!n.quiet&&n.output!=="json"&&console.log(`skipped ${e}`),{changed:!1,failed:!1};if(!i.ok||!i.text){if(!n.quiet){let r=new Map;r.set(e,t),console.error(Xe({diagnostics:i.diagnostics,defaultPath:e,sourceTextByUri:r}))}return{changed:!1,failed:!0}}if(n.check){let r=i.text!==t;return r&&Mm(e,t,i.text,n),{changed:r,failed:r}}return n.stdout?(process.stdout.write(i.text),{changed:i.text!==t,failed:!1}):(i.text!==t&&Dt(e,i.text),{changed:i.text!==t,failed:!1})}function Yn(e,t){let n=[],o=!1;for(let i of e){let r=oe(i),s=wm(i,r,t);n.push({path:i,changed:s.changed}),s.failed&&(o=!0)}return{ok:!o,results:n}}function Pm(e){return Xl(e.map(t=>t.replace(/\\/g,"/")),process.cwd(),[])}async function Gl(e){let t=await Tt("format",e);if(!t)return 2;let 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