@abco20/btxml-checker 0.1.2 → 0.1.3

package/dist/editor-node.js

@@ -1,32 +1,32 @@
-import{constants as Zp}from"fs";import Gt from"fs/promises";import _e from"path";import{fileURLToPath as Qp,pathToFileURL as mo}from"url";var Kt=["off","info","warn","error"];var fo={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"}}},il={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 Qe(){return structuredClone(il)}function pt(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 b={Error:"error",Warning:"warning",Info:"info"};function w(e,t,n,r,o="",i,s){return{code:e,severity:t,message:n,uri:o,...r?{range:r}:{},...i?{details:i}:{},...s?{data:s}:{}}}function et(e,t,n){return{line:e,character:t,offset:n}}function D(e,t){return{start:e,end:t}}function H(e,t){return e?e.start.offset<=t&&t<=e.end.offset:!1}function sl(e){let t=[0];for(let n=0;n<e.length;n+=1)e[n]===`
-`&&t.push(n+1);return t}function Ln(e,t,n){return Math.min(Math.max(e,t),n)}function tt(e,t,n=0,r="xml"){let o=sl(t),i=c=>{let u=Ln(c,0,t.length),d=0,p=o.length;for(;d<p;){let g=Math.floor((d+p)/2);o[g]>u?p=g:d=g+1}let m=Math.max(0,d-1);return{line:m,character:u-o[m],offset:u}},s=c=>{let u=Ln(c.line,0,Math.max(0,o.length-1)),d=o[u],p=u+1<o.length?o[u+1]:t.length;return Ln(d+c.character,d,p)};return{uri:e,languageId:r,version:n,text:t,lineOffsets:o,positionAt:i,offsetAt:s,getText:c=>c?t.slice(s(c.start),s(c.end)):t}}var al=/^[A-Za-z_][A-Za-z0-9_./:-]*$/;function jn(e){return{ok:!0,reference:e}}function Ie(e,t,n){return{ok:!1,error:{kind:e,raw:t,message:n}}}function go(e){return al.test(e)}function yo(e){if(!e)return Ie("empty-key",e,"Blackboard reference key must not be empty");if(e[0]==="@"){let t=e.slice(1);return t?go(t)?{ok:!0,scope:"global",key:t}:Ie("invalid-global-key",e,`Invalid global blackboard reference key: ${e}`):Ie("empty-key",e,"Global blackboard reference key must not be empty")}return go(e)?{ok:!0,scope:"local",key:e}:Ie("invalid-key",e,`Invalid blackboard reference key: ${e}`)}function X(e){let{portName:t}=e,n=e.rawValue.trim();if(n==="="||n==="{=}")return jn({scope:"local",key:t,raw:n,syntax:"shorthand"});if(!n.startsWith("{")&&!n.endsWith("}"))return Ie("not-a-reference",n,`Not a blackboard reference: ${n}`);if(!(n.startsWith("{")&&n.endsWith("}")))return Ie("unbalanced-braces",n,`Unbalanced blackboard reference braces: ${n}`);let r=n.slice(1,-1).trim(),o=yo(r);return o.ok?jn({scope:o.scope,key:o.key,raw:n,syntax:"braced"}):o}function mt(e){let{rawName:t}=e;if(!t.startsWith("@"))return Ie("not-a-reference",t,`Not a script blackboard identifier: ${t}`);let n=yo(t);return n.ok?n.scope!=="global"?Ie("not-a-reference",t,`Script blackboard identifiers must use the global scope marker: ${t}`):jn({scope:n.scope,key:n.key,raw:t,syntax:"script"}):n}function je(e){return e.scope==="global"?`{@${e.key}}`:`{${e.key}}`}function z(e){return`${e.scope}:${e.key}`}var ll={DuplicateNodeModelId:"BT006_DUPLICATE_NODE_MODEL_ID"};function cl(e){return e.kind==="bt-document"?"bt-xml":e.kind==="model-document"?"model-xml":"unknown"}function fe(e,t){return e.attributes.find(n=>n.name===t)}function ul(e){return e==="Action"||e==="Condition"||e==="Control"||e==="Decorator"||e==="SubTree"}function dl(e){if(e)return{uri:e.uri,range:e.range,value:e.value}}function pl(e,t="inline-tree-nodes-model"){return e.kind==="model-document"?"external-tree-nodes-model":t}function bo(e,t){let n=e.line,r=e.character,o=e.offset;for(let i of t){if(o+=i.length,i===`
-`){n+=1,r=0;continue}r+=i.length}return{line:n,character:r,offset:o}}function ml(e,t,n){let r=bo(e,t),o=bo(r,n);return{start:r,end:o}}function ho(e,t,n,r){for(let o of e.attributes||[]){let i=o.valueContentRange??o.valueRange,s=r.slice(i.start.offset,i.end.offset),a=c=>{let u=X({portName:o.name,rawValue:c.parsedRaw});if(!u.ok)return;let d=u.reference.raw.length;t.push({raw:u.reference.raw,key:u.reference.key,scope:u.reference.scope,identity:z(u.reference),syntax:u.reference.syntax,attributeName:o.name,element:e,uri:n,range:ml(i.start,s.slice(0,c.parsedOffset),u.reference.raw.slice(0,d))})},l=X({portName:o.name,rawValue:s});if(l.ok){let c=Math.max(0,s.indexOf(l.reference.raw));a({parsedRaw:l.reference.raw,parsedOffset:c});continue}for(let c of s.matchAll(/\{[^}]*\}/g)){let u=c[0],d=c.index??0;a({parsedRaw:u,parsedOffset:d})}}for(let o of e.children||[])o.kind==="element"&&ho(o,t,n,r)}function fl(e,t,n,r){let o=[];for(let i of e.children||[]){if(i.kind!=="element"||!ul(i.name))continue;let s=fe(i,"ID");if(!s)continue;let a=[];for(let l of i.children||[]){if(l.kind!=="element"||l.name!=="input_port"&&l.name!=="output_port"&&l.name!=="inout_port")continue;let c=fe(l,"name"),u=fe(l,"type"),d=fe(l,"default")||fe(l,"default_value"),p=fe(l,"enum"),m=(l.children||[]).filter(x=>x.kind==="text").map(x=>x.text).join("").trim()||void 0,g=l.name==="input_port"?"input":l.name==="output_port"?"output":"inout",f=(g==="input"||g==="inout")&&d===void 0;a.push({source:n,direction:g,name:c?c.value:"",type:u?.value||void 0,defaultValue:d?.value||void 0,description:m,required:f,element:l,uri:t,range:l.range,nameRange:c?.range,enum:p?.value?p.value.split(";"):void 0})}o.push({id:s.value,kind:i.name,source:n,sourceMeta:{sourceKind:n,file:t,range:i.range},editable:r,ports:a,element:i,uri:t,range:i.range,elementRange:i.range,idRange:s.range})}return o}function gl(e,t){let n=[];for(let r of e.children||[]){if(r.kind!=="element"||r.name!=="BehaviorTree")continue;let o=fe(r,"ID");o&&n.push({id:o.value,kind:"BehaviorTree",uri:t,element:r,range:r.range,elementRange:r.range,idRange:o.range})}return n}function yl(e,t){let n=[],r=(o,i,s=!1)=>{if(s)return;let a=o.name==="BehaviorTree"?fe(o,"ID")?.value??i:i,l=o.name==="TreeNodesModel";if(o.name==="SubTree"){let c=fe(o,"ID");c&&n.push({id:c.value,uri:t,element:o,range:o.range,elementRange:o.range,idRange:c.range,parentBehaviorTreeId:a,attributes:o.attributes})}for(let c of o.children||[])c.kind==="element"&&r(c,a,l)};if(e.name==="TreeNodesModel")return n;for(let o of e.children||[])o.kind==="element"&&r(o);return n}function bl(e){return{id:e.id,kind:e.kind,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange}}function So(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 hl(e){return{id:e.id,kind:e.kind,editable:e.editable,ports:e.ports.map(So),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 Sl(e){return{id:e.id,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function vl(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 Rl(e){return{uri:e.uri,path:e.path,isBtXml:e.isBtXml,kind:e.kind,behaviorTrees:e.behaviorTrees.map(bl),subtreeReferences:e.subtreeReferences.map(Sl),blackboardReferences:e.blackboardReferences.map(vl),treeNodesModel:e.treeNodesModel.map(hl),genericSubTreePorts:e.genericSubTreePorts.map(So),rootMainTreeToExecute:dl(e.rootMainTreeToExecute)}}function kl(e){return e.node.kind==="SubTree"&&e.node.id==="SubTree"?(e.genericSubTreePorts.push(...e.node.ports),!0):(e.treeNodesModel.push(e.node),!1)}function Tl(e){return w(ll.DuplicateNodeModelId,b.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 xl(e,t){let n=[],r=t?.uri||e.uri,o=e.root,i=e.isBtXml,s=cl(e),a=pl(e),l=((t?.path??e.path)||r==="")&&e.kind==="model-document"?!0:e.kind!=="model-document",c=o&&e.kind!=="model-document"?gl(o,r):[],u=[],d=[],p=o?o.name==="TreeNodesModel"?[o]:o.children.filter(B=>B.kind==="element"&&B.name==="TreeNodesModel"):[];for(let B of p){let k=fl(B,r,a,l),E=new Map;for(let y of k)kl({node:y,treeNodesModel:u,genericSubTreePorts:d})||(E.has(y.id)?n.push(Tl(y)):E.set(y.id,y))}let m=o?yl(o,r):[],g=o?(()=>{let B=[];return ho(o,B,r,e.originalText),B})():[],f=o?fe(o,"main_tree_to_execute"):void 0;return{extracted:{publicModel:Rl({uri:r,path:t?.path??e.path,isBtXml:i,kind:s,behaviorTrees:c,subtreeReferences:m,blackboardReferences:g,treeNodesModel:u,genericSubTreePorts:d,rootMainTreeToExecute:f?{uri:r,range:f.range,value:f.value}:void 0}),extractedBehaviorTrees:c,extractedTreeNodesModel:u,extractedSubTreeReferences:m,extractedBlackboardReferences:g},diagnostics:n}}function vo(e,t){let{extracted:n,diagnostics:r}=xl(e,t);return{model:n.publicModel,diagnostics:r}}function Fn(e,t){return vo(e,t)}var Ro=new Set(["ID","name","_name","_autoremap","_failureIf","_successIf","_skipIf","_while","_onSuccess","_onFailure","_onHalted","_post"]),Il=new Set([...Ro,"_autoremap","_description","__shared_blackboard"]),Dl=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 On(e){return Ro.has(e)}function ko(e){return Il.has(e)}function Un(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(ko(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 r=Dl.get(t);if(r)return r}}function To(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 ft(e,t){return{id:e,kind:t.kind,source:"config",sourceMeta:{sourceKind:"config"},editable:!0,ports:Object.entries(t.ports??{}).map(([n,r])=>To(n,r))}}var Cl=[{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"]}],gt=new Map,xo=new Map;for(let e of Cl){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};xo.set(e.name,t),gt.set(e.name,e.name);for(let n of e.aliases)gt.set(n,e.name)}function Bl(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 Vn(e){return gt.get(e)??e}function El(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 yt(e){return gt.get(e)}function nt(e=[]){let t=new Map,n=new Map(gt);for(let r of xo.values())t.set(r.canonical,{name:r.name,kind:r.kind,canonical:r.canonical,aliases:new Set([r.name,r.canonical,...r.aliases]),compatibleWith:new Set(r.compatibleWith),validate:r.validate,source:r.source});for(let r of e)for(let[o,i]of Object.entries(r.types??{})){let s=Vn(i.canonical??o),l=t.get(s)??Bl(o,s,i);l.name=o,l.kind=i.kind,l.canonical=s,l.source="augmentation",l.validate=i.validate??l.validate,l.aliases.add(o),l.aliases.add(s);for(let c of i.aliases??[])l.aliases.add(c);for(let c of i.compatibleWith??[])l.compatibleWith.add(c);t.set(s,l),n.set(o,s),n.set(s,s);for(let c of i.aliases??[])n.set(c,s)}for(let r of t.values())r.compatibleWith=new Set([...r.compatibleWith].map(o=>n.get(o)??Vn(o))),r.compatibleWith.delete(r.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([r,o])=>[r,El(o)])),namesToCanonical:n}}function ce(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??Vn(t),r=e.entriesByCanonical.get(n);return r||{name:t,kind:"opaque",canonical:n,aliases:[],compatibleWith:[],source:"custom"}}function Ht(e,t){return ce(e,t)?.canonical}function bt(e,t,n){let r=ce(e,t),o=ce(e,n);return!r||!o?!1:r.kind==="any"||o.kind==="any"||r.canonical===o.canonical?!0:r.compatibleWith.includes(o.canonical)||o.compatibleWith.includes(r.canonical)}var Io=[{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:[]}],Do={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 Co=[{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:[]}],Bo={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 Eo=[{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:[]}],Po={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 No=["4.6.2","4.8.2","4.9.0"],qn="4.9.0",ht={"4.6.2":{models:Io,genericSubTreeModel:Do},"4.8.2":{models:Co,genericSubTreeModel:Bo},"4.9.0":{models:Eo,genericSubTreeModel:Po}};var wo=No.map(e=>`btcpp-v${e}`),St=["btcpp-v4",...wo],Mo=`btcpp-v${qn}`;function Ao(e){return{source:"builtin",direction:e.direction,name:e.name,type:e.type,defaultValue:e.defaultValue,description:e.description,required:e.required,enum:e.enum}}function Pl(e){return e.map(t=>({id:t.id,kind:t.kind,ports:t.ports.map(Ao)}))}function _o(e){if(e)return{id:e.id,kind:e.kind,ports:e.ports.map(Ao)}}function Nl(){let e={};for(let[t,n]of Object.entries(ht))e[`btcpp-v${t}`]=Pl(n.models);return e}function wl(){let e={};for(let[t,n]of Object.entries(ht))e[`btcpp-v${t}`]=_o(n.genericSubTreeModel);return e}var Ml=Nl(),Al=wl();function _l(e){let t=e.replace(/^btcpp-v/,"");return Object.hasOwn(ht,t)}function Lo(e){return e==="btcpp-v4"?Mo:e}function Ll(e){return e==="btcpp-v4"?qn:e.replace(/^btcpp-v/,"")}function jo(e){if(e&&e!=="btcpp-v4"&&!_l(e))throw new Error(`unsupported builtin model set: ${e}`)}function $n(e="btcpp-v4"){jo(e);let t=Lo(e);return Ml[t].map(r=>Fo(r))}function Xn(e="btcpp-v4"){jo(e);let t=Al[Lo(e)]??_o(ht[Ll(e)].genericSubTreeModel);return t?(t.ports??[]).map(n=>({...n,enum:n.enum?[...n.enum]:void 0})):[]}function Fo(e){return{id:e.id,kind:e.kind,source:"builtin",sourceMeta:{sourceKind:"builtin"},editable:!1,ports:(e.ports??[]).map(t=>({...t,enum:t.enum?[...t.enum]:void 0}))}}function vt(e){return{id:e.id,kind:e.kind,ports:[...e.ports].sort((t,n)=>{let r=t.name.localeCompare(n.name);if(r!==0)return r;let o=t.direction.localeCompare(n.direction);if(o!==0)return o;let i=(t.type??"").localeCompare(n.type??"");if(i!==0)return i;let s=(t.defaultValue??"").localeCompare(n.defaultValue??"");return s!==0?s:(t.description??"").localeCompare(n.description??"")}).map(t=>({name:t.name,direction:t.direction,type:t.type,required:t.required,defaultValue:t.defaultValue,enum:t.enum?[...t.enum].sort():void 0,description:t.description}))}}function Yt(e,t){let n=vt(e),r=vt(t);return JSON.stringify(n)===JSON.stringify(r)}function zn(e,t){if(Yt(e,t))return"none";let n=vt(e),r=vt(t);if(n.kind!==r.kind)return"kind";if(n.ports.length!==r.ports.length)return"ports";let o=new Map(r.ports.map(a=>[a.name,a])),i=!1,s=!1;for(let a of n.ports){let l=o.get(a.name);if(!l){s=!0;continue}(a.direction!==l.direction||a.type!==l.type||a.required!==l.required)&&(s=!0);let c=a.enum?JSON.stringify(a.enum):"",u=l.enum?JSON.stringify(l.enum):"";c!==u&&(s=!0),a.description!==l.description&&(s=!0),a.defaultValue!==l.defaultValue&&(i=!0)}return s?"ports":i?"port-default":"mixed"}import{findNodeAtLocation as ql,parse as $l,parseTree as Xl}from"jsonc-parser";import{z as N}from"zod";var Oo=N.discriminatedUnion("kind",[N.object({kind:N.literal("pattern"),pattern:N.string()}).strict(),N.object({kind:N.literal("enum"),values:N.array(N.string())}).strict(),N.object({kind:N.literal("tuple"),separator:N.string(),items:N.array(N.string())}).strict(),N.object({kind:N.literal("json-schema"),schema:N.unknown()}).strict()]),jl=N.object({kind:N.enum(["primitive","opaque","any"]),canonical:N.string().optional(),aliases:N.array(N.string()).optional(),compatibleWith:N.array(N.string()).optional(),validate:Oo.optional()}).strict(),Fl=N.object({from:N.string().optional(),to:N.string()}).strict(),Ol=N.object({typeRefinement:Fl.optional(),validate:Oo.optional(),required:N.boolean().optional(),enum:N.array(N.string()).optional(),description:N.string().optional()}).strict(),Ul=N.object({ports:N.record(N.string(),Ol).optional()}).strict(),Vl=N.object({enums:N.record(N.string(),N.number().finite()).optional()}).strict(),Uo=N.object({version:N.literal(1),types:N.record(N.string(),jl).optional(),augment:N.record(N.string(),Ul).optional(),script:Vl.optional()}).strict();function zl(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
-`&&t.push(n+1);return n=>{let r=0,o=t.length-1;for(;r<=o;){let s=Math.floor((r+o)/2);t[s]<=n?r=s+1:o=s-1}let i=Math.max(0,r-1);return{line:i,character:n-t[i],offset:n}}}function Wl(e,t){if(e)return{start:t(e.offset),end:t(e.offset+e.length)}}function Vo(e){return e.filter(t=>typeof t=="string"||typeof t=="number")}function Gl(e){if(e.code==="unrecognized_keys"){let[t]=e.keys;if(typeof t=="string"||typeof t=="number")return[...Vo(e.path),t]}return Vo(e.path)}function Kl(e){if(e.code==="unrecognized_keys"){let[t]=e.keys;return{message:`Unrecognized key: "${t??""}"`,path:[...e.path,t].filter(n=>n!==void 0).join(".")}}return{message:e.message,path:e.path.length>0?e.path.join("."):void 0}}function Wn(e,t){let n=t?.uri??"",r=[],o=Xl(e,r,{allowTrailingComma:!0,disallowComments:!1});try{let i=$l(e,r,{allowTrailingComma:!0,disallowComments:!1});if(r.length>0||!o)throw new Error(`JSON parse error at offset ${r[0]?.offset??0}`);let s=Uo.safeParse(i);if(!s.success){let a=zl(e);return{ok:!1,uri:n,path:t?.path,issues:s.error.issues.map(l=>{let c=Gl(l),{message:u,path:d}=Kl(l);return{kind:"schema",message:u,path:d,range:Wl(ql(o,c),a),notes:d?[d]:void 0}})}}return{ok:!0,data:{...s.data,uri:n,path:t?.path},issues:[],uri:n,path:t?.path}}catch(i){return{ok:!1,uri:n,path:t?.path,issues:[{kind:"json",message:"the file could not be parsed as JSON",notes:[String(i.message||i)]}]}}}import{z as W}from"zod";var qo=W.object({direction:W.enum(["input","output","inout"]).optional(),type:W.string().optional(),required:W.boolean().optional(),default:W.string().optional(),description:W.string().optional(),enum:W.array(W.string()).optional()}).strict(),Jt=W.object({kind:W.enum(["Action","Condition","Control","Decorator","SubTree"]),ports:W.record(W.string(),qo).optional(),description:W.string().optional()}).strict(),Gn=W.object({nodes:W.record(W.string(),Jt)}).strict();import{z as I}from"zod";var $o=I.enum(["off","info","warn","error"]),Xo=I.union([$o,I.tuple([$o,I.record(I.string(),I.unknown())])]),Hl=I.object({include:I.array(I.string()).optional(),ignore:I.array(I.string()).optional(),useGitignore:I.boolean().optional(),followSymlinks:I.boolean().optional(),maxSize:I.number().int().positive().optional()}).strict(),Yl=I.string(),Jl=I.object({name:I.string(),attribute:I.string(),base:I.enum(["file","project-root"]).optional()}).strict(),Zl=I.object({elements:I.array(Jl).optional(),variables:I.record(I.string(),I.string()).optional(),allowOutsideRoot:I.boolean().optional(),maxDepth:I.number().int().min(1).optional(),maxFiles:I.number().int().min(1).optional()}).strict(),Ql=I.object({entrypoints:I.array(Yl).optional(),includes:Zl.optional(),behaviorTreeIds:I.enum(["workspace-unique","file-local-first","allow-ambiguous"]).optional()}).strict(),ec=I.object({builtins:I.array(I.enum(St)).optional(),files:I.array(I.string()).optional(),augmentations:I.array(I.string()).optional(),definitions:I.array(I.string()).optional(),inline:I.record(I.string(),Jt).optional()}).strict(),zo=I.object({inline:I.enum(["allow","deny"]).optional()}).strict(),tc=I.object({enabled:I.boolean().optional(),rules:I.record(I.string(),Xo).optional(),baseline:I.string().optional(),suppressions:zo.optional()}).strict(),nc=I.object({rules:I.record(I.string(),Xo).optional(),suppressions:zo.optional()}).strict(),Wo=I.object({indentWidth:I.number().int().min(1).max(8).optional(),xmlDeclaration:I.enum(["always","never","preserve"]).optional(),blankLineBetweenBehaviorTrees:I.boolean().optional(),lineEnding:I.enum(["lf","crlf","auto"]).optional()}).strict(),rc=I.object({files:I.array(I.string()),linter:nc.optional(),formatter:Wo.optional()}).strict(),Go=I.object({$schema:I.string().optional(),strict:I.boolean().optional(),files:Hl.optional(),resolver:Ql.optional(),models:ec.optional(),linter:tc.optional(),formatter:Wo.optional(),overrides:I.array(rc).optional()}).strict();function Yo(e){return e.flatMap(oc)}function oc(e){if(String(e.code)==="unrecognized_keys")return(Array.isArray(e.keys)?e.keys??[]:[]).map(o=>{let i=Ko([...e.path,String(o)]);return{code:"CFG002_UNKNOWN_CONFIG_FIELD",severity:"error",path:i,message:`unknown config field \`${i}\``}});let n=Ko(e.path);return Jo(e)?[{code:"CFG003_INVALID_CONFIG_VALUE",severity:"error",path:n,message:n?`invalid config value at \`${n}\``:"invalid config value"}]:[{code:"CFG001_INVALID_CONFIG",severity:"error",path:n,message:n?`invalid config at \`${n}\``:"invalid config"}]}function Ko(e){return e.map(String).join(".")||void 0}function Jo(e){let t=String(e.code);if(t==="invalid_value"||t==="invalid_enum_value"||t==="invalid_literal")return!0;if(t!=="invalid_union")return!1;let n=e.errors;if(Array.isArray(n))return n.flat().some(Ho);let r=e.unionErrors;return Array.isArray(r)?r.flatMap(o=>o.issues??[]).some(Ho):!1}function Ho(e){return typeof e=="object"&&e!==null&&Jo(e)}function Rt(e){let t=Go.safeParse(e);return t.success?{ok:!0,value:t.data,diagnostics:[]}:{ok:!1,diagnostics:Yo(t.error.issues)}}function ic(e){if(!e)return;let t={};return e.indentWidth!==void 0&&(t.indentWidth=e.indentWidth),e.xmlDeclaration!==void 0&&(t.xmlDeclaration=e.xmlDeclaration),e.blankLineBetweenBehaviorTrees!==void 0&&(t.blankLineBetweenBehaviorTrees=e.blankLineBetweenBehaviorTrees),e.lineEnding!==void 0&&(t.lineEnding=e.lineEnding),t}function sc(e){if(!e)return;let t={};return e.rules!==void 0&&(t.rules=e.rules),e.suppressions!==void 0&&(t.suppressions={},e.suppressions.inline!==void 0&&(t.suppressions.inline=e.suppressions.inline)),t}function ac(e){return e.map(t=>w(t.code,t.severity==="error"?b.Error:b.Warning,t.message,void 0,"",t.help?{help:t.help}:void 0))}function lc(e){let t=[],n=Qe(),{$schema:r,strict:o,overrides:i,...s}=e;o&&(n=pt(n,fo)),n=pt(n,s),n.overrides=(i??[]).map(l=>({files:l.files,linter:sc(l.linter),formatter:ic(l.formatter)}));let a=!t.some(l=>l.severity===b.Error);return{config:n,diagnostics:t,ok:a}}function kt(e){let t=Rt(e);return t.ok?lc(t.value):{ok:!1,config:Qe(),diagnostics:ac(t.diagnostics)}}function cc(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 Zt(e,t){let n=e.replace(/\\/g,"/"),r=t.startsWith("!"),o=r?t.slice(1):t,s=cc(o).test(n);return r?!s:s}function Zo(e,t){return e.overrides.filter(n=>n.files.some(r=>Zt(t,r)))}function Tt(e){return e.replaceAll("\\","/")}function uc(e){try{return decodeURIComponent(e)}catch{return e}}function xt(e){if(!e.startsWith("file://"))return e;let t;try{t=new URL(e)}catch{return e}let n=uc(t.pathname);return/^\/[A-Za-z]:/.test(n)?Tt(n.slice(1)):t.host?Tt(`//${t.host}${n}`):Tt(n)}function Qt(e,t){let n=Tt(t);return e.files.ignore.some(r=>Zt(n,r))?!1:e.files.include.some(r=>Zt(n,r))}function Kn(e,t){return Qt(e,xt(t))}function ee(e,t){let n=Tt(t),r=Zo(e,n),o=e;for(let i of r)o=pt(o,{linter:i.linter,formatter:i.formatter});return{files:o.files,resolver:o.resolver,models:o.models,linter:o.linter,formatter:o.formatter}}function Hn(e,t){return ee(e,xt(t))}import{z as en}from"zod";var S={InvalidScriptSyntax:"BT401_INVALID_SCRIPT_SYNTAX",EmptyScript:"BT402_EMPTY_SCRIPT",InvalidScriptToken:"BT403_INVALID_SCRIPT_TOKEN",UnknownScriptVariable:"BT404_UNKNOWN_SCRIPT_VARIABLE",AssignmentToUnknownVariable:"BT405_ASSIGNMENT_TO_UNKNOWN_VARIABLE",InvalidCompoundAssignment:"BT406_INVALID_COMPOUND_ASSIGNMENT",InvalidScriptOperandType:"BT407_INVALID_SCRIPT_OPERAND_TYPE",ScriptResultNotBoolCompatible:"BT408_SCRIPT_RESULT_NOT_BOOL_COMPATIBLE",ScriptVariableTypeMismatch:"BT410_SCRIPT_VARIABLE_TYPE_MISMATCH",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"},Yn=Object.values(S).sort();var dc=en.object({subTreePorts:en.enum(["loose","strict"]).optional()}).strict(),pc=en.object({allowStringEntryCompatibility:en.boolean().optional()}).strict(),ue={"script/valid-syntax":{code:S.InvalidScriptSyntax,defaultSeverity:"error",description:"Script-bearing attributes must parse as valid BT.CPP scripts."},"script/no-unknown-variable":{code:S.UnknownScriptVariable,defaultSeverity:"warn",description:"Script-bearing attributes should not reference unknown variables."},"script/valid-assignment":{code:S.AssignmentToUnknownVariable,codes:[S.AssignmentToUnknownVariable,S.InvalidCompoundAssignment,S.ScriptVariableTypeMismatch,S.InvalidGlobalBlackboardIdentifier],defaultSeverity:"error",description:"Script assignments must target known variables and use compatible types."},"script/valid-expression-type":{code:S.InvalidScriptOperandType,defaultSeverity:"error",description:"Script expressions must use operators with compatible operand types."},"script/valid-result-type":{code:S.ScriptResultNotBoolCompatible,defaultSeverity:"error",description:"Condition-style script attributes must have a bool-compatible inferred result."},"xml/valid-root":{code:S.InvalidRootElement,defaultSeverity:"error",description:"Root element must be <root>."},"xml/require-btcpp-format":{code:S.MissingBTCPPFormat,defaultSeverity:"warn",description:'Root element must declare BTCPP_format="4".'},"tree/require-id":{code:S.MissingBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree elements require an ID attribute."},"tree/no-duplicate-id-in-file":{code:S.DuplicateBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree IDs must be unique within a file."},"tree/no-duplicate-id":{code:S.DuplicateBehaviorTreeIdInWorkspace,defaultSeverity:"error",description:"BehaviorTree IDs must be unique across the workspace."},"tree/no-unknown-subtree":{code:S.UnknownSubTree,defaultSeverity:"error",description:"A SubTree must resolve to a BehaviorTree or a configured model."},"tree/no-unknown-main-tree":{code:S.UnknownMainTree,defaultSeverity:"error",description:"main_tree_to_execute must reference a known BehaviorTree."},"tree/no-ambiguous-subtree":{code:S.AmbiguousSubTree,defaultSeverity:"error",description:"SubTree references must resolve to a single definition."},"tree/no-duplicate-node-model-id":{code:S.DuplicateNodeModelId,defaultSeverity:"error",description:"TreeNodesModel elements must have unique IDs within the same model block."},"xml/no-unknown-top-level-element":{code:S.UnknownTopLevelElement,defaultSeverity:"warn",description:"Top-level elements must be BehaviorTree, TreeNodesModel, or configured include elements."},"include/require-path":{code:S.MissingIncludePath,defaultSeverity:"error",description:"include elements require a path attribute."},"include/no-missing-file":{code:S.IncludeNotFound,defaultSeverity:"error",description:"Referenced include file does not exist."},"include/no-cycle":{code:S.IncludeCycle,defaultSeverity:"error",description:"Include graph cycles are not allowed."},"include/no-outside-root":{code:S.IncludeOutsideWorkspace,defaultSeverity:"error",description:"Includes must stay within the workspace root."},"include/no-unresolved-variable":{code:S.UnresolvedIncludePathVariable,defaultSeverity:"error",description:"Include path variables must resolve before lookup."},"include/no-depth-exceeded":{code:S.IncludeDepthExceeded,defaultSeverity:"error",description:"Include resolution must stay within the configured maximum depth."},"include/no-too-many-files":{code:S.TooManyResolvedFiles,defaultSeverity:"error",description:"Include resolution must stay within the configured file limit."},"include/require-ros-package-resolver":{code:S.RosPackageResolverMissing,defaultSeverity:"error",description:"When include uses ros_pkg, a host resolvePackageUri capability must be provided."},"include/no-missing-ros-package":{code:S.RosPackageNotFound,defaultSeverity:"error",description:"ros_pkg include must resolve to an existing ROS package root URI."},"include/report-external-used":{code:S.ExternalIncludeUsed,defaultSeverity:"info",description:"Reports when an allowed include resolves outside the workspace root."},"model/no-unknown-node":{code:S.UnknownNode,defaultSeverity:"warn",description:"Node usages must resolve to a known model."},"model/require-port":{code:S.MissingRequiredPort,defaultSeverity:"error",description:"Required ports must be supplied."},"model/require-port-name":{code:S.MissingPortName,defaultSeverity:"error",description:"Port elements require a name attribute."},"model/no-duplicate-port-name":{code:S.DuplicatePortName,defaultSeverity:"error",description:"Ports with the same name are not allowed."},"model/valid-port-name":{code:S.InvalidPortName,defaultSeverity:"error",description:"Port names must be valid XML attribute names for BT nodes."},"model/no-unknown-port":{code:S.UnknownPort,defaultSeverity:"warn",optionsSchema:dc,options:[{name:"subTreePorts",type:'"loose" | "strict"',default:"loose",description:"Controls whether SubTree remap attributes are checked strictly."}],description:"Reports ports that are not declared by the resolved node model."},"model/valid-port-value":{code:S.InvalidPortValueType,defaultSeverity:"error",description:"Port values must match the declared type."},"model/no-blackboard-type-mismatch":{code:S.BlackboardTypeMismatch,defaultSeverity:"error",optionsSchema:pc,options:[{name:"allowStringEntryCompatibility",type:"boolean",default:"true",description:"Treat std::string blackboard entries as runtime-compatible with other port types, matching BT.CPP's existing-entry special case."}],description:"Blackboard entries must not mix incompatible resolved port types."},"model/valid-port-default-value":{code:S.InvalidPortDefaultValue,defaultSeverity:"error",description:"TreeNodesModel port defaults must match the declared type."},"model/require-output-port-remap":{code:S.OutputPortRequiresRemap,defaultSeverity:"warn",description:"Resolved output ports must write to a blackboard remap."},"model/no-childless-control-shape-mismatch":{code:S.ChildCapableNodeSelfClosing,defaultSeverity:"warn",description:"Control and decorator nodes should normally use open/close tags."},"model/no-leaf-block-shape":{code:S.LeafNodeOpenClose,defaultSeverity:"warn",description:"Leaf nodes should normally be self-closing unless they contain child nodes."},"model/valid-child-count":{code:S.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:S.ConflictingNodeModel,defaultSeverity:"error",description:"Node model definitions must agree on kind and port shape."},"suppression/no-unused":{code:S.UnusedSuppression,defaultSeverity:"warn",description:"Suppressions should match at least one diagnostic."},"suppression/require-reason":{code:S.MissingSuppressionReason,defaultSeverity:"off",description:"Suppressions should include a reason when required."}};function oe(e){let t=e.linter.rules["model/no-unknown-port"];return Array.isArray(t)&&t.length>=2&&t[1].subTreePorts==="strict"?{unknownSubTreePorts:"reject"}:{unknownSubTreePorts:"allow"}}function Jn(e){return e in ue}function ke(e){if(typeof e=="string")return Kt.includes(e)?{severity:e}:null;if(Array.isArray(e)&&e.length>=1&&e.length<=2){let[t,n]=e;if(typeof t=="string"&&Kt.includes(t)&&(n===void 0||typeof n=="object"&&n!==null&&!Array.isArray(n))){let r={severity:t};return n!==void 0&&(r.options=n),r}}return null}function It(e,t){let n=e[t];if(n!==void 0){let r=ke(n);if(r)return r.severity}return ue[t].defaultSeverity}function Zn(e,t){let n=[],o=ue[e].optionsSchema;if(!o)return n;let i=o.safeParse(t);if(i.success)return n;for(let s of i.error.issues)n.push(...mc(e,s));return n}function mc(e,t){if(t.code==="unrecognized_keys")return t.keys.map(r=>w("CFG011_INVALID_RULE_OPTION",b.Error,`unknown option \`${String(r)}\` for rule \`${e}\``,void 0,void 0,{help:Qo(e)}));let n=typeof t.path[0]=="string"?t.path[0]:void 0;return[w("CFG011_INVALID_RULE_OPTION",b.Error,n?`invalid option \`${n}\`: ${t.message}`:`invalid options for rule \`${e}\`: ${t.message}`,void 0,void 0,{help:Qo(e)})]}function Qo(e){let n=ue[e].options?.map(r=>r.name)??[];return n.length>0?`valid options are: ${n.join(", ")}`:void 0}function Qn(e){let t=[];ei(e.linter,"linter.rules",t);for(let[n,r]of(e.overrides??[]).entries())ei(r.linter,`overrides.${n}.linter.rules`,t);return t}function ei(e,t,n){for(let[r,o]of Object.entries(e?.rules??{})){let i=`${t}.${r}`;if(!Jn(r)){n.push({code:"CFG010_UNKNOWN_RULE",severity:"error",path:i,message:`unknown lint rule \`${r}\``,help:"see docs/rules.md for a list of valid rule names"});continue}let s=ke(o);if(s?.options)for(let a of Zn(r,s.options))n.push({code:"CFG011_INVALID_RULE_OPTION",severity:"error",path:fc(i,s.options,a.message),message:a.message,help:a.details?.help})}}function fc(e,t,n){let r=Object.keys(t).find(o=>n.includes(`\`${o}\``));return r?`${e}.1.${r}`:`${e}.1`}function ti(e,t){if(t)return Ht(e,t)}function ni(e){return e.source==="inline-tree-nodes-model"||e.source==="external-tree-nodes-model",e.source}function ri(e){let t=e.port?.uri??e.model?.uri??"",n=e.port?.nameRange??e.port?.range??e.model?.idRange??e.model?.range;return w(e.code,b.Error,e.message,n,t,{primaryLabel:e.message,help:e.help,notes:e.notes},e.data)}function gc(e,t,n,r,o){let i=n.effectiveType??n.type,s=n.originalType??n.type,a={...n,originalType:s,effectiveType:i,typeSource:n.typeSource??ni(n),validate:r.validate??n.validate,required:r.required??n.required,enum:r.enum?[...r.enum]:n.enum,description:r.description??n.description},l=r.typeRefinement;if(!l)return{...a,type:a.effectiveType};let c=ti(e,l.from),u=ti(e,i);return c&&c!==u?(o.push(ri({code:"BT119_INVALID_TYPE_REFINEMENT",message:`invalid type refinement for port \`${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: ${l.from??"(unspecified)"}`]:void 0})),{...a,type:a.effectiveType}):{...a,type:l.to,effectiveType:l.to,typeSource:"model-augmentation",typeRefinement:l}}function yc(e,t,n,r){let o=new Map(t.ports.map(i=>[i.name,i]));for(let[i,s]of Object.entries(n.ports??{})){let a=o.get(i);if(!a){r.push(ri({code:"BT118_AUGMENT_PORT_NOT_FOUND",message:`augmentation port \`${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}o.set(i,gc(e,t,a,s,r))}return{...t,ports:t.ports.map(i=>o.get(i.name)??i)}}function bc(e){let t=e.effectiveType??e.type,n=e.originalType??e.type;return{...e,type:t,effectiveType:t,originalType:n,typeSource:e.typeSource??ni(e)}}function oi(e,t,n){let r=[],o=new Map([...e.entries()].map(([i,s])=>[i,{...s,ports:s.ports.map(bc)}]));for(let i of n)for(let[s,a]of Object.entries(i.augment??{})){let l=o.get(s);if(!l){r.push(w("BT117_AUGMENT_TARGET_NOT_FOUND",b.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}o.set(s,yc(t,l,a,r))}return{modelsById:o,diagnostics:r}}function ai(e){return Dt("builtin",0,!1,e)}function li(e){return Dt("xml-tree-nodes-model",10,!0,e)}function ci(e){return Dt("external-tree-nodes-model",15,e.some(t=>t.editable!==!1),e)}function ui(e){return Dt("node-definition-file",20,!0,e)}function di(e){return Dt("config-inline",30,!0,e)}function Dt(e,t,n,r){return{kind:e,precedence:t,editable:n,models:r.map(o=>pi(o,e,n&&o.editable!==!1))}}function hc(e){return e==="config-inline"?"config":e==="xml-tree-nodes-model"?"inline-tree-nodes-model":e}function pi(e,t,n){let r=hc(t);return{...e,source:r,sourceMeta:e.sourceMeta??{sourceKind:r,file:e.uri,range:e.range},editable:n,ports:e.ports.map(o=>({...o,source:r}))}}function rt(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 ii(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 r=new Map(e.ports.map(i=>[i.name,i])),o=new Map(t.ports.map(i=>[i.name,i]));for(let[i,s]of r)o.has(i)||n.push({kind:"port-removed",portName:i,sourceIndex:0,port:ii(s)});for(let[i,s]of o)r.has(i)||n.push({kind:"port-added",portName:i,sourceIndex:1,port:ii(s)});for(let[i,s]of r){let a=o.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()):"",c=a.enum?JSON.stringify([...a.enum].sort()):"";l!==c&&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 si(e,t){let n=new Map;for(let r of e){let o=n.get(r.id);if(!o){n.set(r.id,r);continue}if(Yt(o,r))continue;let i=zn(o,r),s=Sc(o,r),a;if(i==="port-default"){let l=new Map(o.ports.map(p=>[p.name,p])),c=r.ports.find(p=>{let m=l.get(p.name);return m&&m.defaultValue!==p.defaultValue}),u=c?.name??"unknown",d=[rt(o,0),rt(r,1)];a={kind:"port-default-conflict",nodeId:r.id,portName:u,sources:[{source:rt(o,0),value:l.get(u)?.defaultValue},{source:rt(r,1),value:c?.defaultValue}]},t.push({id:r.id,definitions:[o,r],sources:d,code:"BT107_CONFLICTING_PORT_DEFAULT",message:`conflicting default for port \`${u}\` on node \`${r.id}\``,uri:r.uri,range:r.idRange||r.range,details:{primaryLabel:"the same port has different default values across model definitions",help:`use the same default value in every \`${r.id}\` definition or remove the duplicate model`},data:a,relatedInformation:o.uri&&o.range?[{uri:o.uri,range:o.range,message:"previous definition"}]:void 0})}else{let l=[rt(o,0),rt(r,1)];a={kind:"node-model-conflict",nodeId:r.id,sources:l,differences:s},t.push({id:r.id,definitions:[o,r],sources:l,code:"BT012_CONFLICTING_NODE_MODEL",message:`conflicting node model \`${r.id}\``,uri:r.uri,range:r.idRange||r.range,details:{primaryLabel:"another model with this ID defines a different kind or port shape",help:`make all \`${r.id}\` model definitions agree, or keep only one definition at the same precedence level`},data:a,relatedInformation:o.uri&&o.range?[{uri:o.uri,range:o.range,message:"previous definition"}]:void 0})}}return n}function vc(e,t){if(!e)return{...t,ports:[...t.ports]};let n=new Map(e.ports.map(r=>[r.name,r]));for(let r of t.ports)n.set(r.name,r);return{...e,...t,sourceMeta:t.sourceMeta||e.sourceMeta,ports:[...n.values()]}}function mi(e){let t=[],n=new Map,r=new Map,o=[...e].sort((a,l)=>a.precedence-l.precedence),i=new Map,s=new Map;for(let a of o){let l=i.get(a.precedence)??[],c=a.models.map(u=>pi(u,a.kind,a.editable&&u.editable!==!1));l.push(...c),i.set(a.precedence,l);for(let u of c)s.set(u.id,a.precedence)}for(let[a,l]of[...i.entries()].sort((c,u)=>c[0]-u[0])){let c=l.filter(m=>s.get(m.id)===a),u=l.filter(m=>s.get(m.id)!==a),d=si(u,[]);for(let[m,g]of si(c,t))d.set(m,g);let p=new Set(l.map(m=>m.id));for(let m of p)s.get(m)===a&&n.set(m,l.filter(g=>g.id===m));for(let[m,g]of d)r.set(m,vc(r.get(m),g))}return{nodeModelsById:n,mergedNodeModelsById:r,conflicts:t}}function Rc(e){return St.includes(e)}function kc(){return{documents:new Map,behaviorTreesById:new Map,nodeModelsById:new Map,mergedNodeModelsById:new Map,modelLayers:[],builtins:new Map,genericSubTreePorts:[],modelConflicts:[],typeRegistry:nt(),augmentations:[]}}function Tc(e,t,n){let r=e.get(t)||[];r.push(n),e.set(t,r)}function xc(e,t,n){for(let r of new Set(n))if(Rc(r)){for(let o of $n(r))e.builtins.set(o.id,o),t.push(o);e.genericSubTreePorts.push(...Xn(r))}}function Ic(e,t,n,r,o){for(let i of o){let s=Fn(i,{uri:i.uri,path:i.path}),a=s.model;t.push(...s.diagnostics),e.documents.set(i.uri,a);for(let l of a.behaviorTrees)Tc(e.behaviorTreesById,l.id,l);i.kind==="model-document"?r.push(...a.treeNodesModel):n.push(...a.treeNodesModel),e.genericSubTreePorts.push(...a.genericSubTreePorts)}}function Dc(e){return JSON.stringify({name:e.name,direction:e.direction,type:e.type,required:e.required,defaultValue:e.defaultValue,enum:e.enum?[...e.enum].sort((t,n)=>t.localeCompare(n)):void 0,description:e.description})}function Cc(e){let t=new Set,n=[];for(let r of e.genericSubTreePorts){let o=Dc(r);t.has(o)||(t.add(o),n.push(r))}e.genericSubTreePorts=n}function Bc(e,t,n,r,o){e.modelLayers.push(ai(t),li(n),ci(r)),o.models?.length&&e.modelLayers.push(ui([...o.models])),e.modelLayers.push(...o.additionalModelLayers??[])}function Fe(e,t){return Ec(e,t)}function Ec(e,t){let n=kc(),r=[],o=[],i=[],s=[];xc(n,o,t.config.models.builtins),n.augmentations=t.augmentations??[],n.typeRegistry=nt(t.augmentations??[]),Ic(n,r,i,s,e),Cc(n),Bc(n,o,i,s,t);let a=t.config.models.inline;if(a){let u=[];for(let[d,p]of Object.entries(a))u.push(ft(d,p));n.modelLayers.push(di(u))}let l=mi(n.modelLayers),c=oi(l.mergedNodeModelsById,n.typeRegistry,t.augmentations??[]);return n.nodeModelsById=l.nodeModelsById,n.mergedNodeModelsById=c.modelsById,n.modelConflicts=l.conflicts,r.push(...c.diagnostics),{ok:r.every(u=>u.severity!==b.Error),index:n,diagnostics:r}}var fi={unknownSubTreePorts:"allow"};function gi(e){return{...fi,...e}}var Pc=["Action","Condition","Control","Decorator"],Nc=new Set(Pc);var wc=new Set(["input_port","output_port","inout_port"]);function Ct(e){return Nc.has(e)}function Oe(e){return Ct(e)?e:void 0}function tn(e,t){return e.attributes.find(n=>n.name===t)?.value}function er(e,t){if(e===t)return!0;for(let n of e.children)if(n.kind==="element"&&er(n,t))return!0;return!1}function yi(e,t){if(!e)return!1;if(e.name==="TreeNodesModel")return er(e,t);for(let n of e.children)if(!(n.kind!=="element"||n.name!=="TreeNodesModel")&&er(n,t))return!0;return!1}function nn(e){return wc.has(e.name)}function bi(e){return e.name==="root"?"root":e.name==="BehaviorTree"?"behavior-tree":e.name==="TreeNodesModel"?"tree-nodes-model":e.name==="include"?"include":e.name==="SubTree"?"subtree":Ct(e.name)?"generic-node":nn(e)?"unknown-xml":"concrete-node"}function rn(e){if(e.name==="SubTree")return tn(e,"ID")||"SubTree";if(Ct(e.name))return tn(e,"ID");if(!(e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"||e.name==="include"||nn(e)))return e.name}function te(e){return e.typeRegistry}function Z(e,t){return ce(te(e),t)}function De(e,t,n){return bt(te(e),t,n)}function Bt(e,t){return e.documents.get(t)}function Y(e,t){return e.behaviorTreesById.get(t)??[]}function tr(e,t){return e.behaviorTreesById.has(t)}function nr(e){return[...e.behaviorTreesById.values()].flat()}function rr(e,t){return hi(e).flatMap(n=>n.subtreeReferences.filter(r=>r.id===t))}function Ce(e){return[...e.behaviorTreesById.keys()]}function hi(e){return[...e.documents.values()]}function ie(e,t){let n=e;return n.mergedNodeModelsById.get(t)??n.builtins.get(t)}function Ue(e,t){return e.modelLayers.flatMap(n=>n.models.filter(r=>r.id===t))}function on(e){return[...e.mergedNodeModelsById.values()]}function or(e){return e.modelLayers.flatMap(t=>t.models)}function Et(e){return[...e.mergedNodeModelsById.values()]}function ir(e){return[...e.nodeModelsById.keys()]}function sr(e){return[...e.genericSubTreePorts]}function Pt(e){return[...e.augmentations]}function Nt(e){return e.modelConflicts}function wt(e,t){let{id:n,fileLocalUri:r,config:o}=t,i=Y(e,n);if(i.length>0){if((o?.resolver?.behaviorTreeIds==="file-local-first"||o?.resolver?.behaviorTreeIds==="allow-ambiguous")&&r){let c=i.filter(u=>u.uri===r);c.length>0&&(i=c)}let a=ie(e,n),l=a?.kind==="SubTree"?[a]:[];return i.length===1?{status:"resolved",kind:"behavior-tree",treeId:i[0].id,behaviorTree:i[0]}:{status:"ambiguous",candidates:[...i.map(c=>c.id),...l.map(c=>c.id)],behaviorTrees:i,definitions:l}}let s=ie(e,n);return s?.kind==="SubTree"?{status:"resolved",kind:"node-model",modelId:s.id,model:s}:{status:"unresolved",id:n}}function ar(e,t){if(!t)return{status:"unresolved",nodeType:t};let n=ie(e,t);if(n){let o=Nt(e).find(i=>i.id===t&&i.code==="BT012_CONFLICTING_NODE_MODEL");return o?{status:"ambiguous",nodeType:t,candidates:o.definitions}:{status:"resolved",model:n}}let r=Ue(e,t);return r.length===1?{status:"resolved",model:r[0]}:r.length>1?{status:"ambiguous",nodeType:t,candidates:r}:{status:"unresolved",nodeType:t}}function lr(e){let t=new Map;for(let n of e)t.has(n.name)||t.set(n.name,n);return[...t.values()]}function cr(e){let t=sr(e.index);if(e.tagForm==="subtree"){let n=e.model.status==="resolved"?e.model.model.ports:e.subtreeModelPorts??[];return lr([...n,...t])}return e.model.status==="resolved"?[...e.model.model.ports]:[]}function ur(e){let{attribute:t}=e,n=e.ports.find(r=>r.name===t.name);return n?{status:"resolved",attribute:t,name:t.name,value:t.value,port:n}:On(t.name)?{status:"reserved-attribute",attribute:t,name:t.name,value:t.value}:e.allowsArbitraryAttributes?{status:"allowed-arbitrary",attribute:t,name:t.name,value:t.value}:e.unknownModelPortStatus==="undeclared"?{status:"undeclared",attribute:t,name:t.name,value:t.value}:e.model.status==="unresolved"||e.model.status==="ambiguous"?{status:"unknown-node-model",attribute:t,name:t.name,value:t.value}:{status:"undeclared",attribute:t,name:t.name,value:t.value}}function O(e,t){let n=gi(t.policy),r=t.element,o=bi(r),i=yi(t.documentRoot,r);if((t.isModelDefinition||i&&(o==="generic-node"||o==="subtree"))&&(o="model-definition"),i&&nn(r)&&(o="unknown-xml"),o==="root"||o==="behavior-tree"||o==="tree-nodes-model"||o==="include"||o==="model-definition"||o==="unknown-xml")return{element:r,tagName:r.name,tagForm:o,model:{status:"not-a-node"},ports:[],allowsArbitraryAttributes:!1,portUsages:[]};let s=rn(r);if(o!=="subtree"){let m=ar(e,s),g=cr({index:e,tagForm:o,model:m}),f=r.attributes.map(x=>ur({attribute:x,ports:g,allowsArbitraryAttributes:!1,model:m}));return{element:r,tagName:r.name,tagForm:o,nodeType:s,model:m,ports:g,allowsArbitraryAttributes:!1,portUsages:f}}let a=tn(r,"ID"),l=a?wt(e,{id:a,fileLocalUri:t.uri,config:t.config}):{status:"unresolved",id:void 0},c={status:"unresolved",nodeType:a},u=!1;if(l.status==="resolved"&&l.kind==="node-model")c={status:"resolved",model:l.model};else if(l.status==="resolved"&&l.kind==="behavior-tree"){let m=ar(e,l.treeId);m.status==="resolved"&&m.model.kind==="SubTree"?c=m:u=n.unknownSubTreePorts==="allow"}else l.status==="ambiguous"&&l.definitions.length>0?c=l.definitions.length===1?{status:"resolved",model:l.definitions[0]}:{status:"ambiguous",nodeType:a??"SubTree",candidates:l.definitions}:u=n.unknownSubTreePorts==="allow";let d=cr({index:e,tagForm:o,model:c,subtreeModelPorts:l.status==="ambiguous"?lr(l.definitions.flatMap(m=>m.ports)):void 0}),p=r.attributes.map(m=>ur({attribute:m,ports:d,allowsArbitraryAttributes:u,model:c,unknownModelPortStatus:!u&&c.status!=="resolved"?"undeclared":void 0}));return{element:r,tagName:r.name,tagForm:o,nodeType:s,model:c,subtree:{id:a,target:l},ports:d,allowsArbitraryAttributes:u,portUsages:p}}function ge(e,t){return O(e,t).portUsages.find(r=>r.name===t.attributeName)}function _c(e){return e==="Action"||e==="Condition"||e==="Control"||e==="Decorator"||e==="SubTree"}function Lc(e){let t=e.root;return t?t.name==="BehaviorTree"?[t]:t.children.filter(n=>n.kind==="element"&&n.name==="BehaviorTree"):[]}function Si(e,t){let n=e.line,r=e.character,o=e.offset;for(let i of t){if(o+=i.length,i===`
-`){n+=1,r=0;continue}r+=i.length}return{line:n,character:r,offset:o}}function dr(e,t,n){let r=Si(e,t),o=Si(r,n);return{start:r,end:o}}function Ri(e,t,n){let r=n.valueContentRange||n.valueRange,o=e.originalText.slice(r.start.offset,r.end.offset),i=[];for(let s of o.matchAll(/\{[^}]*\}/g)){let a=s[0],l=s.index??0,c=X({portName:t,rawValue:a});if(c.ok){i.push({raw:a,key:c.reference.key,scope:c.reference.scope,identity:z(c.reference),range:dr(r.start,o.slice(0,l),a),syntax:c.reference.syntax==="shorthand"?"shorthand":"braced"});continue}i.push({raw:a,key:a,scope:"local",identity:`invalid:${a}`,range:dr(r.start,o.slice(0,l),a),syntax:"invalid"})}if(i.length===0){let s=X({portName:t,rawValue:o});if(s.ok){let a=Math.max(0,o.indexOf(s.reference.raw));return i.push({raw:s.reference.raw,key:s.reference.key,scope:s.reference.scope,identity:z(s.reference),range:dr(r.start,o.slice(0,a),s.reference.raw),syntax:s.reference.syntax==="shorthand"?"shorthand":"braced"}),i}}return i.length===0&&(o.includes("{")||o.includes("}"))&&i.push({raw:o,key:o,scope:"local",identity:`invalid:${o}`,range:r,syntax:"invalid"}),i}function jc(e,t){return _c(e.name)?e.name:t.model.status==="resolved"?t.model.model.kind:"unknown"}function ki(e){let t=[];for(let n of e)t.push(n),t.push(...ki(n.children));return t}function Fc(e){return e.kind==="bt-document"?"bt-xml":e.kind==="model-document"?"model-xml":"unknown"}function Oc(e){let t=new Map(e.map((n,r)=>[n,r]));return n=>`bt:${t.get(n.behaviorTree)??0}/node:${n.path.join(".")}`}function Uc(e){return{name:e.name,value:e.value,range:e.range,nameRange:e.nameRange,valueRange:e.valueContentRange||e.valueRange}}function Ti(e){return Be(e,"name")?.value}function Vc(e){return Ti(e)||Be(e,"ID")?.value||e.name}function qc(e){let t=[],n=e;for(;n;){let r=n.path.at(-1)??0;t.unshift(`${r}:${Vc(n.element)}`),n=n.parent}return[e.behaviorTree.id||"<anonymous>",...t].join("/")}function xi(e){return e.model.status==="resolved"?{status:"resolved",model:e.model.model,source:e.model.model.sourceMeta}:e.model.status==="ambiguous"?{status:"ambiguous",nodeType:e.model.nodeType,candidates:e.model.candidates}:{status:"unresolved",nodeType:e.nodeType??e.tagName}}function Ii(e){return e.status==="resolved"?{status:"resolved",port:e.port}:e.status==="allowed-arbitrary"?{status:"allowed-arbitrary",name:e.name}:e.status==="undeclared"?{status:"undeclared",name:e.name}:{status:"unknown-node-model"}}function $c(e){return e.status==="resolved"?e.port.direction:"unknown"}function Xc(e,t){return e===""?"empty":e==="{=}"||e==="="?"substitution":t.some(n=>n.syntax==="braced")?"blackboard-reference":t.some(n=>n.syntax==="shorthand")?"substitution":t.some(n=>n.syntax==="invalid")?"unknown":"literal"}function vi(e,t){return{nodeId:e,portName:t.name,rawValue:t.value,direction:$c(t.usage),valueKind:Xc(t.value,t.blackboardReferences),range:t.attribute.range,nameRange:t.attribute.nameRange,valueRange:t.attribute.valueContentRange||t.attribute.valueRange,resolution:t.declaredPort,usage:t.usage,blackboardReferences:t.blackboardReferences}}function zc(e){let t=new Set;for(let n of[e.name,e.idAttr,e.nodeType,e.tagName,e.instancePath,e.behaviorTreeId&&!e.instancePath.startsWith(`${e.behaviorTreeId}/`)?`${e.behaviorTreeId}/${e.instancePath}`:void 0,e.nodeId])n&&t.add(n);return[...t]}function Be(e,t){return e.attributes.find(n=>n.name===t)}function Wc(e){return e.root?Be(e.root,"main_tree_to_execute")?.value:void 0}function Gc(e){let t=new Set;if(!e)return t;let n=r=>{t.add(r);for(let o of r.children)o.kind==="element"&&n(o)};if(e.name==="TreeNodesModel")return n(e),t;for(let r of e.children)r.kind!=="element"||r.name!=="TreeNodesModel"||n(r);return t}function G(e,t){let n=t.semantic,r=Gc(e.root),o=Lc(e).map(l=>({id:Be(l,"ID")?.value,element:l,rootNode:void 0,nodes:[]})),i=[],s=[],a=(l,c,u,d)=>{let p=O(n,{element:l,uri:e.uri,documentRoot:e.root,config:t?.config,policy:t?.policy,isModelDefinition:r.has(l)}),m=xi(p),g={element:l,path:d,tagName:l.name,kind:jc(l,p),model:m,usage:p,portBindings:[],children:[],parent:u,behaviorTree:c};if(g.portBindings=p.portUsages.filter(f=>f.status!=="reserved-attribute").map(f=>({name:f.name,value:f.value,attribute:f.attribute,declaredPort:Ii(f),usage:f,blackboardReferences:Ri(e,f.name,f.attribute)})),g.children=l.children.filter(f=>f.kind==="element").map((f,x)=>a(f,c,g,[...d,x])),l.name==="SubTree"){let f=Be(l,"ID")?.value;i.push({node:g,id:f,target:p.subtree?.target??{status:"unresolved",id:f},portRemaps:g.portBindings})}return g};for(let l of o){let c=l.element.children.filter(u=>u.kind==="element").map((u,d)=>a(u,l,void 0,[d]));l.rootNode=c[0],l.nodes=ki(c),s.push(...l.nodes)}return{document:e,behaviorTrees:o,subtreeCalls:i,nodes:s}}function sn(e,t,n){let r=G(e,{semantic:t,config:n?.config,policy:n?.policy}),o=Oc(r.behaviorTrees),i=r.nodes.map(c=>{let u=o(c),d=c.usage,p=d.nodeType??c.tagName,m=Ti(c.element),g=Be(c.element,"ID")?.value,f=qc(c);return{nodeId:u,path:c.path,instancePath:f,tagName:c.tagName,nodeType:p,name:m,idAttr:g,kind:c.kind,range:c.element.range,fullRange:c.element.fullRange,nameRange:c.element.nameRange,parentNodeId:c.parent?o(c.parent):void 0,childNodeIds:c.children.map(o),behaviorTreeId:c.behaviorTree.id,attributes:c.element.attributes.map(Uc),identityCandidates:zc({name:m,idAttr:g,nodeType:p,tagName:c.tagName,instancePath:f,behaviorTreeId:c.behaviorTree.id,nodeId:u}),model:xi(d),usage:d,portBindings:d.portUsages.filter(x=>x.status!=="reserved-attribute").map(x=>vi(u,{name:x.name,value:x.value,attribute:x.attribute,declaredPort:Ii(x),usage:x,blackboardReferences:Ri(e,x.name,x.attribute)}))}}),s=r.behaviorTrees.map(c=>({id:c.id,range:c.element.range,idRange:Be(c.element,"ID")?.valueContentRange,rootNodeId:c.rootNode?o(c.rootNode):void 0,nodeIds:c.nodes.map(o)})),a=r.subtreeCalls.map(c=>({nodeId:o(c.node),callId:c.id,range:c.node.element.range,target:c.target,portBindings:c.portRemaps.map(u=>vi(o(c.node),u))})),l=e.root?Be(e.root,"main_tree_to_execute"):void 0;return{uri:e.uri,kind:Fc(e),mainTreeToExecute:Wc(e),mainTreeToExecuteRange:l?.valueContentRange||l?.valueRange,behaviorTrees:s,nodes:i,subtreeCalls:a}}function Kc(e,t){let n=e.element.fullRange||e.element.range;return H(n,t)}function Hc(e,t){let n=e.element.fullRange||e.element.range,r=t.element.fullRange||t.element.range;return n.end.offset-n.start.offset<r.end.offset-r.start.offset}function an(e,t){let n;for(let r of e.nodes)Kc(r,t.offset)&&(!n||Hc(r,n))&&(n=r);return n}function ot(e,t){for(let n of e.nodes)for(let r of n.portBindings)if(H(r.attribute.range,t.offset))return r}function Yc(e,t){return H(e.fullRange||e.range,t)}function Jc(e,t){let n=e.fullRange||e.range,r=t.fullRange||t.range;return n.end.offset-n.start.offset<r.end.offset-r.start.offset}function ln(e,t){let n;for(let r of e.nodes)Yc(r,t.offset)&&(!n||Jc(r,n))&&(n=r);return n}function cn(e,t){for(let n of e.nodes)for(let r of n.portBindings)if(H(r.range,t.offset))return r}function Di(e){let{document:t,diagnostics:n,options:r,partial:o}=e,i=n.some(a=>a.severity===b.Error),s="generic-xml";if(i)s="invalid-xml";else if(t.root){let a=t.root,l=a.children.some(p=>p.kind==="element"&&p.name==="BehaviorTree"),c=a.children.some(p=>p.kind==="element"&&p.name==="TreeNodesModel"),u=a.attributes.some(p=>p.name==="BTCPP_format"&&p.value==="4"),d=a.name==="TreeNodesModel"||a.name==="root"&&!l&&c;r.kind==="model-xml"||d?s="model-document":(a.name==="BehaviorTree"||a.name==="root"&&(u||l)||r.kind==="bt-xml")&&(s="bt-document")}return t.kind=s,t.isBtXml=s==="bt-document"||s==="model-document",!i&&!o?{ok:!0,document:t,diagnostics:n,partial:!1}:{ok:!1,document:t,diagnostics:n,partial:o}}function su(e){if(e.name==="input_port"||e.name==="output_port")return!1;let t=e.children||[],n=t.some(o=>o.kind==="text"&&o.text.trim()!==""),r=t.some(o=>o.kind==="element");return n&&r}function pr(e,t){if(e.kind==="element"){su(e)&&t(e);for(let n of e.children||[])pr(n,t)}}function q(e,t){let n=0,r=0;for(let o=0;o<Math.min(t,e.length);o++)e[o]===`
-`?(n++,r=0):r++;return et(n,r,t)}function mr(e,t,n,r){for(let o=0;o<e.length;o++){if(e[o]!=="&")continue;let i=e.slice(o+1),s=o;if(i.startsWith("amp;")){o+=4;continue}if(i.startsWith("lt;")){o+=3;continue}if(i.startsWith("gt;")){o+=3;continue}if(i.startsWith("quot;")){o+=5;continue}if(i.startsWith("apos;")){o+=5;continue}if(i.startsWith("#")){let d=1;if(i[d]==="x"||i[d]==="X"){d++;let x="";for(;d<i.length&&/[0-9a-fA-F]/.test(i[d]);)x+=i[d],d++;if(d<i.length&&i[d]===";"){d++;let y=e.slice(s,s+1+d),h=q(n,t+s),R=q(n,t+s+y.length);if(x){let T=Number.parseInt(x,16);if(T>0&&T<=1114111&&(T<55296||T>57343)){o+=d-1;continue}r("XML014_INVALID_NUMERIC_ENTITY",b.Error,`invalid numeric XML entity \`${y}\``,h,R,{primaryLabel:"this numeric entity is outside the valid Unicode range",help:"replace it with a valid Unicode code point or normal text"}),o+=d-1;continue}r("XML001_INVALID_SYNTAX",b.Error,`malformed numeric XML entity \`${y}\``,h,R,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as `&#10;` or escape the ampersand as `&amp;`"}),o+=d-1;continue}let B=e.slice(s,s+1+d),k=q(n,t+s),E=q(n,t+s+B.length);r("XML001_INVALID_SYNTAX",b.Error,`malformed numeric XML entity \`${B}\``,k,E,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as `&#10;` or escape the ampersand as `&amp;`"}),o+=d-1;continue}let p="";for(;d<i.length&&/[0-9]/.test(i[d]);)p+=i[d],d++;if(d<i.length&&i[d]===";"){d++;let x=e.slice(s,s+1+d),B=q(n,t+s),k=q(n,t+s+x.length);if(p){let E=Number.parseInt(p,10);if(E>0&&E<=1114111&&(E<55296||E>57343)){o+=d-1;continue}r("XML014_INVALID_NUMERIC_ENTITY",b.Error,`invalid numeric XML entity \`${x}\``,B,k,{primaryLabel:"this numeric entity is outside the valid Unicode range",help:"replace it with a valid Unicode code point or normal text"}),o+=d-1;continue}r("XML001_INVALID_SYNTAX",b.Error,`malformed numeric XML entity \`${x}\``,B,k,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as `&#10;` or escape the ampersand as `&amp;`"}),o+=d-1;continue}let m=e.slice(s,s+1+d),g=q(n,t+s),f=q(n,t+s+m.length);r("XML001_INVALID_SYNTAX",b.Error,`malformed numeric XML entity \`${m}\``,g,f,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as `&#10;` or escape the ampersand as `&amp;`"}),o+=d-1;continue}let a=i.match(/^[a-zA-Z][a-zA-Z0-9]*;/);if(a){let d=`&${a[0]}`,p=q(n,t+s),m=q(n,t+s+d.length);r("XML013_UNKNOWN_ENTITY",b.Error,`unknown XML entity \`${d}\``,p,m,{primaryLabel:"this entity is not one of XML's predefined entities",help:"use one of `&amp;`, `&lt;`, `&gt;`, `&quot;`, `&apos;`, or a valid numeric entity"}),o+=d.length-1;continue}let l=i.match(/^[a-zA-Z][a-zA-Z0-9]*/);if(l){let d=`&${l[0]}`,p=q(n,t+s),m=q(n,t+s+d.length);r("XML001_INVALID_SYNTAX",b.Error,"bare ampersand in XML content",p,m,{primaryLabel:"escape `&` as `&amp;`",help:"replace `&` with `&amp;` unless this is a valid XML entity"}),o+=d.length-1;continue}let c=q(n,t+s),u=q(n,t+s+1);r("XML001_INVALID_SYNTAX",b.Error,"bare ampersand in XML content",c,u,{primaryLabel:"escape `&` as `&amp;`",help:"replace `&` with `&amp;` unless this is a valid XML entity"})}}function Mt(e){return e.replace(/&quot;/g,'"').replace(/&apos;/g,"'").replace(/&lt;/g,"<").replace(/&gt;/g,">").replace(/&amp;/g,"&").replace(/&#x([0-9a-fA-F]+);/g,(t,n)=>{let r=Number.parseInt(n,16);return r<=0||r>1114111||r>=55296&&r<=57343?t:String.fromCodePoint(r)}).replace(/&#([0-9]+);/g,(t,n)=>{let r=Number.parseInt(n,10);return r<=0||r>1114111||r>=55296&&r<=57343?t:String.fromCodePoint(r)})}function Ci(e){let t="",n=[0];for(let r=0;r<e.length;){let o=au(e,r);if(!o){t+=e[r]??"",r+=1,n.push(r);continue}t+=o.value,r=o.end,n.push(r)}return{value:t,offsets:n}}function au(e,t){let n=e.slice(t);if(n.startsWith("&quot;")||n.startsWith("&apos;")||n.startsWith("&lt;")||n.startsWith("&gt;")||n.startsWith("&amp;")){let s=n.startsWith("&quot;")?"&quot;":n.startsWith("&apos;")?"&apos;":n.startsWith("&lt;")?"&lt;":n.startsWith("&gt;")?"&gt;":"&amp;";return{value:Mt(s),end:t+s.length}}let o=/^&#x([0-9a-fA-F]+);/.exec(n);if(o){let s=o[0];return{value:Mt(s),end:t+s.length}}let i=/^&#([0-9]+);/.exec(n);if(i){let s=i[0];return{value:Mt(s),end:t+s.length}}}function Bi(e){return et(e.line,e.character,e.offset)}function lu(e){return!!e&&/[A-Za-z_:]/.test(e||"")}function cu(e){return!!e&&/[A-Za-z0-9_.:\-]/.test(e||"")}function uu(e){return e===" "||e==="	"||e===`
-`||e==="\r"}function du(e){let t=e.codePointAt(0);return t!==void 0&&t<32&&e!=="	"&&e!==`
-`&&e!=="\r"}function ye(e,t={}){let n=[],r=t.mode==="tolerant",o={uri:t.uri||"",path:t.path,kind:"generic-xml",isBtXml:!1,xmlDeclaration:void 0,root:void 0,nodes:[],diagnostics:n,originalText:e},i=0,s=0,a=0,l=[],c=!1;function u(){return et(s,a,i)}function d(){return i>=e.length}function p(v=0){return e[i+v]}function m(v=1){for(let M=0;M<v;M+=1)e[i++]===`
-`?(s+=1,a=0):a+=1}function g(){for(;!d()&&uu(p());)m()}let f=(v,M,_,L,C,J)=>{n.push(w(v,M,_,D(L,C),o.uri,J))};function x(v,M,_,L,C,J){n.push(w(v,M,_,L&&C?D(L,C):void 0,o.uri,J))}function B(){if(!lu(p()))return"";let v=i;for(m();!d()&&cu(p());)m();return e.slice(v,i)}function k(){let v=p();if(v!=='"'&&v!=="'")return{value:"",ok:!1};let M=u();m();let _=u(),L=i;for(;!d()&&p()!==v&&p()!=="<";)m();let C=u();if(d()||p()!==v)return{value:e.slice(L,i),ok:!1,valueRange:D(M,C),valueContentRange:D(_,C)};let J=e.slice(L,i);m(),mr(J,_.offset,e,f);let Re=Ci(J);return{value:Re.value,valueOffsets:Re.offsets,ok:!0,valueRange:D(M,u()),valueContentRange:D(_,C)}}function E(){let v=[],M=new Set;for(;;){g();let _=p();if(!_||_===">"||_==="/"&&p(1)===">")break;let L=u(),C=B(),J=u();if(!C)break;g();let Re=u();if(p()!=="="){if(f("XML001_INVALID_SYNTAX",b.Error,"invalid attribute syntax",L,J,{primaryLabel:`expected \`=\` after attribute \`${C}\``,help:`write the attribute as \`${C}="..."\``}),c=!0,r)continue;break}m();let ol=u();g();let _n=u(),Le=k(),Ze=u();if(!Le.ok&&(f("XML005_INVALID_ATTRIBUTE_VALUE",b.Error,"invalid attribute value",_n,Ze,{primaryLabel:"expected a quoted attribute value",help:`write the value with quotes, for example \`${C}="value"\``}),c=!0,!r)||(M.has(C)?f("XML004_DUPLICATE_ATTRIBUTE",b.Error,`duplicate attribute \`${C}\``,L,Ze,{primaryLabel:`attribute \`${C}\` is already defined on this element`,help:`remove one of the duplicate \`${C}\` attributes`}):M.add(C),v.push({name:C,value:Le.value,...Le.valueOffsets?{valueOffsets:Le.valueOffsets}:{},range:D(L,Ze),fullRange:D(L,Ze),nameRange:D(L,J),equalsRange:D(Re,ol),valueRange:Le.valueRange||D(_n,Ze),valueContentRange:Le.valueContentRange||D(_n,Ze)}),!Le.ok&&r))break}return v}function y(v){l.length>0?l[l.length-1].children.push(v):(o.nodes.push(v),!o.root&&v.kind==="element"&&(o.root=v))}function h(){let v=u(),M=i;for(;!d()&&p()!=="<";)m();let _=e.slice(M,i);if(_.length===0)return;for(let C of _)if(du(C)){f("XML007_INVALID_CHARACTER",b.Error,"invalid XML character",v,u(),{primaryLabel:"this control character is not allowed in XML",help:"remove the character or replace it with valid text"});break}mr(_,M,e,f);let L={kind:"text",text:Mt(_),range:D(v,u()),fullRange:D(v,u())};y(L)}function R(){let v=u();m(4);let M=u(),_=i;for(;!d()&&!(p()==="-"&&p(1)==="-"&&p(2)===">");)m();let L=e.slice(_,i);if(d()){if(f("XML001_INVALID_SYNTAX",b.Error,"unterminated XML comment",v,u(),{primaryLabel:"comment started here but no closing `-->` was found",help:"close the comment with `-->`"}),c=!0,!r)return;let Re={kind:"comment",text:L,range:D(v,u()),fullRange:D(v,u()),contentRange:D(M,u())};y(Re);return}(L.includes("--")||L.endsWith("-"))&&f("XML001_INVALID_SYNTAX",b.Error,"invalid XML comment",M,u(),{primaryLabel:"XML comments cannot contain `--`",help:"remove `--` from the comment body or split it into separate comments"});let C=u();m(3);let J={kind:"comment",text:L,range:D(v,u()),fullRange:D(v,u()),contentRange:D(M,C)};y(J)}function T(){let v=u();m(5),g();let M=E();g(),p()==="?"&&p(1)===">"?m(2):f("XML001_INVALID_SYNTAX",b.Error,"invalid XML declaration",v,u(),{primaryLabel:"expected `?>` to close the XML declaration",help:'close the declaration as `<?xml version="1.0" encoding="UTF-8"?>`'});let _={range:D(v,u()),attributes:M};for(let L of M)L.name==="version"&&(_.version=L.value),L.name==="encoding"&&(_.encoding=L.value),L.name==="standalone"&&(_.standalone=L.value);o.xmlDeclaration=_}function A(){let v=u();m(2),g();let M=u(),_=B(),L=u();if(g(),p()!==">")for(f("XML001_INVALID_SYNTAX",b.Error,"invalid closing tag syntax",v,u(),{primaryLabel:"expected `>` to close the tag",help:"close the tag with `>`"}),c=!0;!d()&&p()!==">";)m();p()===">"&&m();let C=l.pop();if(!C||C.name!==_){let J=C?C.name:_||"",Re=_||"";f("XML006_MISSING_CLOSING_TAG",b.Error,`mismatched closing tag \`</${Re}>\``,v,u(),{primaryLabel:`opened as \`<${J}>\` but closed as \`</${Re}>\``,help:`change the closing tag to \`</${J}>\` or fix the nesting`});return}C.closeTagRange=D(v,u()),C.endTagRange=D(v,u()),C.nameRange||(C.nameRange=D(M,L)),C.range=D(C.range.start,u()),C.fullRange=D(C.range.start,u())}for(;!d();)if(p()==="<")if(p(1)==="?")if(e.slice(i,i+5).toLowerCase()==="<?xml"&&e.charAt(i+5)===" ")T();else{let v=u();for(;!d()&&!(p()==="?"&&p(1)===">");)m();d()||m(2),f("XML012_UNSUPPORTED_PROCESSING_INSTRUCTION",b.Error,"processing instruction is not supported",v,u(),{primaryLabel:"only the XML declaration is supported",help:"remove this processing instruction"})}else if(p(1)==="!"&&p(2)==="-"&&p(3)==="-")R();else if(p(1)==="!"&&p(2)==="["&&e.slice(i+3,i+9)==="CDATA["){let v=u();for(m(8);!d()&&!(p()==="]"&&p(1)==="]"&&p(2)===">");)m();d()||m(3),f("XML010_UNSUPPORTED_CDATA",b.Error,"CDATA is not supported",v,u(),{primaryLabel:"CDATA sections are not supported by btxml",help:"replace the CDATA section with normal escaped XML text",notes:["escape `<` as `&lt;`, `>` as `&gt;`, and `&` as `&amp;`"]})}else if(p(1)==="!"&&e.slice(i+2,i+9)==="DOCTYPE"){let v=u();for(m(8);!d()&&p()!==">";)m();d()||m(1),f("XML011_UNSUPPORTED_DOCTYPE",b.Error,"DOCTYPE is not supported",v,u(),{primaryLabel:"DOCTYPE declarations are not supported by btxml",help:"remove the DOCTYPE declaration"})}else if(p(1)==="/")A();else{let v=u();m();let M=u(),_=B(),L=u();if(!_){if(f("XML001_INVALID_SYNTAX",b.Error,"invalid XML tag",v,u(),{primaryLabel:"expected an XML element name after `<`",help:"start the tag with a valid XML name such as `<root>` or `<BehaviorTree>`"}),c=!0,r){m();continue}break}let C={kind:"element",name:_,attributes:[],children:[],range:D(v,v),fullRange:D(v,v),openTagRange:D(v,v),startTagRange:D(v,v),nameRange:D(M,L),selfClosing:!1};if(C.attributes=E(),g(),p()==="/"&&p(1)===">"){m(2),C.selfClosing=!0,C.openTagRange=D(v,u()),C.startTagRange=C.openTagRange,C.range=D(v,u()),C.fullRange=D(v,u()),y(C);continue}if(p()!==">"){if(f("XML001_INVALID_SYNTAX",b.Error,"invalid XML tag",v,u(),{primaryLabel:"expected `>` or `/>` to close the start tag",help:"close the start tag with `>` or make it self-closing with `/>`"}),c=!0,r){C.openTagRange=D(v,u()),C.startTagRange=C.openTagRange,C.range=D(v,u()),C.fullRange=D(v,u()),y(C);continue}break}m(),C.openTagRange=D(v,u()),C.startTagRange=C.openTagRange,C.range=D(v,u()),C.fullRange=D(v,u()),y(C),l.push(C)}else h();if(l.length>0){let v=l[l.length-1];if(f("XML006_MISSING_CLOSING_TAG",b.Error,`missing closing tag for \`<${v.name}>\``,v.openTagRange.start,v.openTagRange.end,{primaryLabel:"this tag is not closed",help:`add \`</${v.name}>\` before the end of the file`}),c=!0,r)for(;l.length>0;){let M=l.pop();if(!M)break;M.range=D(M.range.start,u()),M.fullRange=D(M.range.start,u())}}let j=o.nodes.filter(v=>v.kind==="element");j.length===0?x("XML002_MISSING_ROOT",b.Error,"missing root element",void 0,void 0,{help:'add a single root element, usually `<root BTCPP_format="4">...</root>`'}):j.length>1&&x("XML003_MULTIPLE_ROOTS",b.Error,"multiple root elements",void 0,void 0,{primaryLabel:"this document has more than one top-level element",help:'wrap the document content in one `<root BTCPP_format="4">...</root>` element'});let F=o.root,ve=F?.name==="BehaviorTree"||F?.name==="TreeNodesModel"||F?.name==="root"&&(F.attributes.some(v=>v.name==="BTCPP_format"&&v.value==="4")||F.children.some(v=>v.kind==="element"&&(v.name==="BehaviorTree"||v.name==="TreeNodesModel")));if(F)for(let v of o.nodes)v!==F&&v.kind==="text"&&v.text.trim().length>0&&f("XML016_TEXT_OUTSIDE_ROOT",b.Error,"text outside root element",v.range.start,v.range.end,{primaryLabel:"non-whitespace text appears outside the root element",help:"move this text inside `<root>` or remove it"});if(!o.xmlDeclaration&&!ve)x("XML008_MISSING_DECLARATION",b.Warning,"missing XML declaration",void 0,void 0,{help:'add `<?xml version="1.0" encoding="UTF-8"?>` at the top of the file',notes:["this is a warning because BehaviorTree.CPP can still parse many files without a declaration"]});else if(o.xmlDeclaration?.encoding&&o.xmlDeclaration.encoding.toUpperCase()!=="UTF-8"){let v=o.xmlDeclaration.encoding;f("XML009_INVALID_ENCODING",b.Warning,"XML encoding should be UTF-8",o.xmlDeclaration.range.start,o.xmlDeclaration.range.end,{primaryLabel:`declared encoding is \`${v}\``,help:'change the XML declaration to `encoding="UTF-8"`'})}return F&&pr(F,v=>{f("XML015_UNSUPPORTED_MIXED_CONTENT",b.Warning,"mixed XML content is not supported",Bi(v.range.start),Bi(v.range.end),{primaryLabel:"this element contains both text and child elements",help:"move the text into an attribute or split it into separate elements",notes:["text inside `<input_port>` and `<output_port>` remains allowed"]})}),Di({document:o,diagnostics:n,partial:c,options:t})}var At={indentWidth:2,xmlDeclaration:"always",blankLineBetweenBehaviorTrees:!0,lineEnding:"lf"};function Ei(e){if(!e)return At;let t=typeof e.indentWidth=="number"?e.indentWidth:At.indentWidth,n=e.xmlDeclaration==="always"||e.xmlDeclaration==="never"||e.xmlDeclaration==="preserve"?e.xmlDeclaration:At.xmlDeclaration,r=typeof e.blankLineBetweenBehaviorTrees=="boolean"?e.blankLineBetweenBehaviorTrees:At.blankLineBetweenBehaviorTrees,o=e.lineEnding==="lf"||e.lineEnding==="crlf"||e.lineEnding==="auto"?e.lineEnding:At.lineEnding;return{indentWidth:t,xmlDeclaration:n,blankLineBetweenBehaviorTrees:r,lineEnding:o}}function un(e){return String(e).replace(/&/g,"&amp;").replace(/</g,"&lt;").replace(/>/g,"&gt;")}function dn(e){return un(e).replace(/"/g,"&quot;")}function pu(e){return e.filter(t=>!(t.kind==="text"&&t.text.trim()===""))}function mu(e,t,n){return`${" ".repeat(e*n)}${t}`}function it(e,t,n,r){let o=" ".repeat(t*r),i=e.attributes||[];if(i.length===0)return[`${o}<${e.name}${n}`];if(i.length===1)return[`${o}<${e.name} ${i[0].name}="${dn(i[0].value)}"${n}`];let s=[`${o}<${e.name} ${i[0].name}="${dn(i[0].value)}"`],a=" ".repeat(o.length+1+e.name.length+1);for(let l=1;l<i.length;l+=1){let c=i[l],u=l===i.length-1?n:"";s.push(`${a}${c.name}="${dn(c.value)}"${u}`)}return s}function pn(e,t,n,r){let o=" ".repeat(t*n);if(e.kind==="comment")return[`${o}<!--${e.text}-->`];if(e.kind==="text"){let u=e.text.trim();return u?[mu(t,un(u),n)]:[]}let i=pu(e.children||[]),s=e.kind==="element"&&(e.name==="input_port"||e.name==="output_port"),a=(e.children||[]).filter(u=>u.kind==="text").map(u=>u.text).join("").trim(),l=i.some(u=>u.kind==="element"||u.kind==="comment");if(a&&l&&!s&&r.push({code:"XML015_UNSUPPORTED_MIXED_CONTENT",severity:"error",message:"Mixed XML content is not supported by btxml-checker formatter",uri:""}),a&&!l){if((e.attributes||[]).length<=1){let u=(e.attributes||[]).length===0?"":` ${e.attributes[0].name}="${dn(e.attributes[0].value)}"`;return[`${o}<${e.name}${u}>${un(a)}</${e.name}>`]}return it(e,t,`>${un(a)}</${e.name}>`,n)}if(i.length===0){if(e.selfClosing)return it(e,t,"/>".slice(0),n);let u=it(e,t,">",n);return u.push(`${o}</${e.name}>`),u}let c=it(e,t,">",n);for(let u of e.children||[])u.kind==="text"&&u.text.trim()===""||c.push(...pn(u,t+1,n,r));return c.push(`${o}</${e.name}>`),c}function fu(e){return e.filter(t=>!(t.kind==="text"&&t.text.trim()===""))}function Pi(e,t,n,r){let o=[],i=fu(e);for(let s=0;s<i.length;s+=1){let a=i[s],l=i[s-1],c=i[s+1],u=n&&a.kind==="element"&&a.name==="BehaviorTree"&&l&&l.kind==="element"&&l.name==="BehaviorTree",d=a.kind==="element"&&a.name==="TreeNodesModel"&&l!==void 0&&l.kind!=="comment",p=a.kind==="comment"&&c&&c.kind==="element"&&c.name==="TreeNodesModel"&&l!==void 0;(u||d||p)&&o.length>0&&o[o.length-1]!==""&&o.push(""),a.kind==="element"?(o.push(...pn(a,1,t,r)),a.name==="TreeNodesModel"&&o.push("")):o.push(...pn(a,1,t,r))}return o}function _t(e,t={}){let n=ye(e);if(!n.ok||!n.document||!n.document.root)return{ok:!1,skipped:!1,diagnostics:n.diagnostics};if(n.diagnostics.find(f=>["XML010_UNSUPPORTED_CDATA","XML011_UNSUPPORTED_DOCTYPE","XML012_UNSUPPORTED_PROCESSING_INSTRUCTION","XML013_UNKNOWN_ENTITY","XML014_INVALID_NUMERIC_ENTITY","XML001_INVALID_SYNTAX"].includes(f.code)))return{ok:!1,skipped:!1,diagnostics:n.diagnostics};if(n.document.kind==="generic-xml"&&!t.force)return{ok:!0,skipped:!0,diagnostics:[]};let o=n.document.root,i=Ei(t),s=i.indentWidth,a=[],l=n.document.xmlDeclaration!==void 0;if((i.xmlDeclaration==="always"||i.xmlDeclaration==="preserve"&&l)&&a.push('<?xml version="1.0" encoding="UTF-8"?>'),a.push(...it(o,0,">",s)),a.push(...Pi(o.children||[],s,i.blankLineBetweenBehaviorTrees,n.diagnostics)),a.push(`</${o.name}>`),n.diagnostics.some(f=>f.code==="XML015_UNSUPPORTED_MIXED_CONTENT"))return{ok:!1,skipped:!1,diagnostics:n.diagnostics};let c=`
+import{constants as Sm}from"fs";import Ht from"fs/promises";import Le from"path";import{fileURLToPath as vm,pathToFileURL as Ro}from"url";var Yt=["off","info","warn","error"];var ko={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"}}},bl={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:{},convention:"allow-unused"},linter:{enabled:!0,rules:{},baseline:void 0,suppressions:{inline:"allow"}},formatter:{indentWidth:2,xmlDeclaration:"always",blankLineBetweenBehaviorTrees:!0,lineEnding:"lf"},overrides:[]};function tt(){return structuredClone(bl)}function ft(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 P(e,t,n,r,o="",i,s){return{code:e,severity:t,message:n,uri:o,...r?{range:r}:{},...i?{details:i}:{},...s?{data:s}:{}}}function nt(e,t,n){return{line:e,character:t,offset:n}}function I(e,t){return{start:e,end:t}}function H(e,t){return e?e.start.offset<=t&&t<=e.end.offset:!1}function hl(e){let t=[0];for(let n=0;n<e.length;n+=1)e[n]===`
+`&&t.push(n+1);return t}function Fn(e,t,n){return Math.min(Math.max(e,t),n)}function rt(e,t,n=0,r="xml"){let o=hl(t),i=c=>{let d=Fn(c,0,t.length),u=0,p=o.length;for(;u<p;){let g=Math.floor((u+p)/2);o[g]>d?p=g:u=g+1}let m=Math.max(0,u-1);return{line:m,character:d-o[m],offset:d}},s=c=>{let d=Fn(c.line,0,Math.max(0,o.length-1)),u=o[d],p=d+1<o.length?o[d+1]:t.length;return Fn(u+c.character,u,p)};return{uri:e,languageId:r,version:n,text:t,lineOffsets:o,positionAt:i,offsetAt:s,getText:c=>c?t.slice(s(c.start),s(c.end)):t}}var Sl=/^[A-Za-z_][A-Za-z0-9_./:-]*$/;function Un(e){return{ok:!0,reference:e}}function Ie(e,t,n){return{ok:!1,error:{kind:e,raw:t,message:n}}}function To(e){return Sl.test(e)}function xo(e){if(!e)return Ie("empty-key",e,"Blackboard reference key must not be empty");if(e[0]==="@"){let t=e.slice(1);return t?To(t)?{ok:!0,scope:"global",key:t}:Ie("invalid-global-key",e,`Invalid global blackboard reference key: ${e}`):Ie("empty-key",e,"Global blackboard reference key must not be empty")}return To(e)?{ok:!0,scope:"local",key:e}:Ie("invalid-key",e,`Invalid blackboard reference key: ${e}`)}function X(e){let{portName:t}=e,n=e.rawValue.trim();if(n==="="||n==="{=}")return Un({scope:"local",key:t,raw:n,syntax:"shorthand"});if(!n.startsWith("{")&&!n.endsWith("}"))return Ie("not-a-reference",n,`Not a blackboard reference: ${n}`);if(!(n.startsWith("{")&&n.endsWith("}")))return Ie("unbalanced-braces",n,`Unbalanced blackboard reference braces: ${n}`);let r=n.slice(1,-1).trim(),o=xo(r);return o.ok?Un({scope:o.scope,key:o.key,raw:n,syntax:"braced"}):o}function gt(e){let{rawName:t}=e;if(!t.startsWith("@"))return Ie("not-a-reference",t,`Not a script blackboard identifier: ${t}`);let n=xo(t);return n.ok?n.scope!=="global"?Ie("not-a-reference",t,`Script blackboard identifiers must use the global scope marker: ${t}`):Un({scope:n.scope,key:n.key,raw:t,syntax:"script"}):n}function Fe(e){return e.scope==="global"?`{@${e.key}}`:`{${e.key}}`}function z(e){return`${e.scope}:${e.key}`}var vl={DuplicateNodeModelId:"BT006_DUPLICATE_NODE_MODEL_ID"};function Rl(e){return e.kind==="bt-document"?"bt-xml":e.kind==="model-document"?"model-xml":"unknown"}function oe(e,t){return e.attributes.find(n=>n.name===t)}function kl(e){return e==="Action"||e==="Condition"||e==="Control"||e==="Decorator"||e==="SubTree"}function Tl(e){if(e)return{uri:e.uri,range:e.range,value:e.value}}function xl(e,t="inline-tree-nodes-model"){return e.kind==="model-document"?"external-tree-nodes-model":t}function Do(e,t){let n=e.line,r=e.character,o=e.offset;for(let i of t){if(o+=i.length,i===`
+`){n+=1,r=0;continue}r+=i.length}return{line:n,character:r,offset:o}}function Dl(e,t,n){let r=Do(e,t),o=Do(r,n);return{start:r,end:o}}function Io(e,t,n,r){for(let o of e.attributes||[]){let i=o.valueContentRange??o.valueRange,s=r.slice(i.start.offset,i.end.offset),a=c=>{let d=X({portName:o.name,rawValue:c.parsedRaw});if(!d.ok)return;let u=d.reference.raw.length;t.push({raw:d.reference.raw,key:d.reference.key,scope:d.reference.scope,identity:z(d.reference),syntax:d.reference.syntax,attributeName:o.name,element:e,uri:n,range:Dl(i.start,s.slice(0,c.parsedOffset),d.reference.raw.slice(0,u))})},l=X({portName:o.name,rawValue:s});if(l.ok){let c=Math.max(0,s.indexOf(l.reference.raw));a({parsedRaw:l.reference.raw,parsedOffset:c});continue}for(let c of s.matchAll(/\{[^}]*\}/g)){let d=c[0],u=c.index??0;a({parsedRaw:d,parsedOffset:u})}}for(let o of e.children||[])o.kind==="element"&&Io(o,t,n,r)}function Il(e,t,n,r){let o=[];for(let i of e.children||[]){if(i.kind!=="element"||!kl(i.name))continue;let s=oe(i,"ID");if(!s)continue;let a=[];for(let l of i.children||[]){if(l.kind!=="element"||l.name!=="input_port"&&l.name!=="output_port"&&l.name!=="inout_port")continue;let c=oe(l,"name"),d=oe(l,"type"),u=oe(l,"default")||oe(l,"default_value"),p=oe(l,"enum"),m=(l.children||[]).filter(T=>T.kind==="text").map(T=>T.text).join("").trim()||void 0,g=l.name==="input_port"?"input":l.name==="output_port"?"output":"inout",f=(g==="input"||g==="inout")&&u===void 0;a.push({source:n,direction:g,name:c?c.value:"",type:d?.value||void 0,defaultValue:u?.value||void 0,description:m,required:f,element:l,uri:t,range:l.range,nameRange:c?.range,enum:p?.value?p.value.split(";"):void 0})}o.push({id:s.value,kind:i.name,source:n,sourceMeta:{sourceKind:n,file:t,range:i.range},editable:r,ports:a,element:i,uri:t,range:i.range,elementRange:i.range,idRange:s.range})}return o}function Cl(e,t){let n=[];for(let r of e.children||[]){if(r.kind!=="element"||r.name!=="BehaviorTree")continue;let o=oe(r,"ID");o&&n.push({id:o.value,kind:"BehaviorTree",uri:t,element:r,range:r.range,elementRange:r.range,idRange:o.range})}return n}function Bl(e,t){let n=[],r=(o,i,s=!1)=>{if(s)return;let a=o.name==="BehaviorTree"?oe(o,"ID")?.value??i:i,l=o.name==="TreeNodesModel";if(o.name==="SubTree"){let c=oe(o,"ID");c&&n.push({id:c.value,uri:t,element:o,range:o.range,elementRange:o.range,idRange:c.range,parentBehaviorTreeId:a,attributes:o.attributes})}for(let c of o.children||[])c.kind==="element"&&r(c,a,l)};if(e.name==="TreeNodesModel")return n;for(let o of e.children||[])o.kind==="element"&&r(o);return n}function El(e){return{id:e.id,kind:e.kind,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange}}function Co(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 Nl(e){return{id:e.id,kind:e.kind,editable:e.editable,ports:e.ports.map(Co),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 Pl(e){return{id:e.id,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function wl(e){return{id:e.id,uri:e.uri,kind:e.kind,range:e.range,elementRange:e.elementRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function Ml(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 Al(e){return{uri:e.uri,path:e.path,isBtXml:e.isBtXml,kind:e.kind,behaviorTrees:e.behaviorTrees.map(El),subtreeReferences:e.subtreeReferences.map(Pl),nodeUsages:e.nodeUsages.map(wl),blackboardReferences:e.blackboardReferences.map(Ml),treeNodesModel:e.treeNodesModel.map(Nl),genericSubTreePorts:e.genericSubTreePorts.map(Co),rootMainTreeToExecute:Tl(e.rootMainTreeToExecute)}}function _l(e,t){if(e.name==="TreeNodesModel")return[];let n=[],r=(o,i,s=!1)=>{if(s)return;let a=o.name==="TreeNodesModel",l=o.name==="BehaviorTree"?oe(o,"ID")?.value??i:i,c=l!==void 0;if(o.name==="SubTree"){let d=oe(o,"ID");d&&c&&n.push({id:d.value,kind:"SubTree",uri:t,range:o.range,elementRange:o.range,parentBehaviorTreeId:l})}else c&&o.name!=="root"&&o.name!=="BehaviorTree"&&o.name!=="TreeNodesModel"&&n.push({id:o.name,kind:"node",uri:t,range:o.range,elementRange:o.range,parentBehaviorTreeId:l});for(let d of o.children||[])d.kind==="element"&&r(d,l,a)};for(let o of e.children||[])o.kind==="element"&&r(o);return n}function Ll(e){return e.node.kind==="SubTree"&&e.node.id==="SubTree"?(e.genericSubTreePorts.push(...e.node.ports),!0):(e.treeNodesModel.push(e.node),!1)}function jl(e){return P(vl.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 Fl(e,t){let n=[],r=t?.uri||e.uri,o=e.root,i=e.isBtXml,s=Rl(e),a=xl(e),l=((t?.path??e.path)||r==="")&&e.kind==="model-document"?!0:e.kind!=="model-document",c=o&&e.kind!=="model-document"?Cl(o,r):[],d=[],u=[],p=o?o.name==="TreeNodesModel"?[o]:o.children.filter(R=>R.kind==="element"&&R.name==="TreeNodesModel"):[];for(let R of p){let E=Il(R,r,a,l),y=new Map;for(let b of E)Ll({node:b,treeNodesModel:d,genericSubTreePorts:u})||(y.has(b.id)?n.push(jl(b)):y.set(b.id,b))}let m=o?Bl(o,r):[],g=o?_l(o,r):[],f=o?(()=>{let R=[];return Io(o,R,r,e.originalText),R})():[],T=o?oe(o,"main_tree_to_execute"):void 0;return{extracted:{publicModel:Al({uri:r,path:t?.path??e.path,isBtXml:i,kind:s,behaviorTrees:c,subtreeReferences:m,nodeUsages:g,blackboardReferences:f,treeNodesModel:d,genericSubTreePorts:u,rootMainTreeToExecute:T?{uri:r,range:T.range,value:T.value}:void 0}),extractedBehaviorTrees:c,extractedTreeNodesModel:d,extractedSubTreeReferences:m,extractedBlackboardReferences:f},diagnostics:n}}function Bo(e,t){let{extracted:n,diagnostics:r}=Fl(e,t);return{model:n.publicModel,diagnostics:r}}function On(e,t){return Bo(e,t)}var Eo=new Set(["ID","name","_name","_autoremap","_failureIf","_successIf","_skipIf","_while","_onSuccess","_onFailure","_onHalted","_post"]),Ul=new Set([...Eo,"_autoremap","_description","__shared_blackboard"]),Ol=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 Vn(e){return Eo.has(e)}function No(e){return Ul.has(e)}function qn(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(No(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 r=Ol.get(t);if(r)return r}}function Po(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 yt(e,t){return{id:e,kind:t.kind,source:"config",sourceMeta:{sourceKind:"config"},editable:!0,ports:Object.entries(t.ports??{}).map(([n,r])=>Po(n,r))}}var Vl=[{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"]}],bt=new Map,wo=new Map;for(let e of Vl){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};wo.set(e.name,t),bt.set(e.name,e.name);for(let n of e.aliases)bt.set(n,e.name)}function ql(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 $n(e){return bt.get(e)??e}function $l(e){return{name:e.name,kind:e.kind,canonical:e.canonical,aliases:[...e.aliases].filter(t=>t!==e.canonical),compatibleWith:[...e.compatibleWith],validate:e.validate,source:e.source}}function ht(e){return bt.get(e)}function ot(e=[]){let t=new Map,n=new Map(bt);for(let r of wo.values())t.set(r.canonical,{name:r.name,kind:r.kind,canonical:r.canonical,aliases:new Set([r.name,r.canonical,...r.aliases]),compatibleWith:new Set(r.compatibleWith),validate:r.validate,source:r.source});for(let r of e)for(let[o,i]of Object.entries(r.types??{})){let s=$n(i.canonical??o),l=t.get(s)??ql(o,s,i);l.name=o,l.kind=i.kind,l.canonical=s,l.source="augmentation",l.validate=i.validate??l.validate,l.aliases.add(o),l.aliases.add(s);for(let c of i.aliases??[])l.aliases.add(c);for(let c of i.compatibleWith??[])l.compatibleWith.add(c);t.set(s,l),n.set(o,s),n.set(s,s);for(let c of i.aliases??[])n.set(c,s)}for(let r of t.values())r.compatibleWith=new Set([...r.compatibleWith].map(o=>n.get(o)??$n(o))),r.compatibleWith.delete(r.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([r,o])=>[r,$l(o)])),namesToCanonical:n}}function de(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??$n(t),r=e.entriesByCanonical.get(n);return r||{name:t,kind:"opaque",canonical:n,aliases:[],compatibleWith:[],source:"custom"}}function Jt(e,t){return de(e,t)?.canonical}function St(e,t,n){let r=de(e,t),o=de(e,n);return!r||!o?!1:r.kind==="any"||o.kind==="any"||r.canonical===o.canonical?!0:r.compatibleWith.includes(o.canonical)||o.compatibleWith.includes(r.canonical)}var Mo=[{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:[]}],Ao={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 _o=[{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:[]}],Lo={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 jo=[{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:[]}],Fo={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 Uo=["4.6.2","4.8.2","4.9.0"],Xn="4.9.0",vt={"4.6.2":{models:Mo,genericSubTreeModel:Ao},"4.8.2":{models:_o,genericSubTreeModel:Lo},"4.9.0":{models:jo,genericSubTreeModel:Fo}};var Oo=Uo.map(e=>`btcpp-v${e}`),Rt=["btcpp-v4",...Oo],Vo=`btcpp-v${Xn}`;function qo(e){return{source:"builtin",direction:e.direction,name:e.name,type:e.type,defaultValue:e.defaultValue,description:e.description,required:e.required,enum:e.enum}}function Xl(e){return e.map(t=>({id:t.id,kind:t.kind,ports:t.ports.map(qo)}))}function $o(e){if(e)return{id:e.id,kind:e.kind,ports:e.ports.map(qo)}}function zl(){let e={};for(let[t,n]of Object.entries(vt))e[`btcpp-v${t}`]=Xl(n.models);return e}function Wl(){let e={};for(let[t,n]of Object.entries(vt))e[`btcpp-v${t}`]=$o(n.genericSubTreeModel);return e}var Gl=zl(),Kl=Wl();function Hl(e){let t=e.replace(/^btcpp-v/,"");return Object.hasOwn(vt,t)}function Xo(e){return e==="btcpp-v4"?Vo:e}function Yl(e){return e==="btcpp-v4"?Xn:e.replace(/^btcpp-v/,"")}function zo(e){if(e&&e!=="btcpp-v4"&&!Hl(e))throw new Error(`unsupported builtin model set: ${e}`)}function zn(e="btcpp-v4"){zo(e);let t=Xo(e);return Gl[t].map(r=>Wo(r))}function Wn(e="btcpp-v4"){zo(e);let t=Kl[Xo(e)]??$o(vt[Yl(e)].genericSubTreeModel);return t?(t.ports??[]).map(n=>({...n,enum:n.enum?[...n.enum]:void 0})):[]}function Wo(e){return{id:e.id,kind:e.kind,source:"builtin",sourceMeta:{sourceKind:"builtin"},editable:!1,ports:(e.ports??[]).map(t=>({...t,enum:t.enum?[...t.enum]:void 0}))}}function kt(e){return{id:e.id,kind:e.kind,ports:[...e.ports].sort((t,n)=>{let r=t.name.localeCompare(n.name);if(r!==0)return r;let o=t.direction.localeCompare(n.direction);if(o!==0)return o;let i=(t.type??"").localeCompare(n.type??"");if(i!==0)return i;let s=(t.defaultValue??"").localeCompare(n.defaultValue??"");return s!==0?s:(t.description??"").localeCompare(n.description??"")}).map(t=>({name:t.name,direction:t.direction,type:t.type,required:t.required,defaultValue:t.defaultValue,enum:t.enum?[...t.enum].sort():void 0,description:t.description}))}}function Zt(e,t){let n=kt(e),r=kt(t);return JSON.stringify(n)===JSON.stringify(r)}function Gn(e,t){if(Zt(e,t))return"none";let n=kt(e),r=kt(t);if(n.kind!==r.kind)return"kind";if(n.ports.length!==r.ports.length)return"ports";let o=new Map(r.ports.map(a=>[a.name,a])),i=!1,s=!1;for(let a of n.ports){let l=o.get(a.name);if(!l){s=!0;continue}(a.direction!==l.direction||a.type!==l.type||a.required!==l.required)&&(s=!0);let c=a.enum?JSON.stringify(a.enum):"",d=l.enum?JSON.stringify(l.enum):"";c!==d&&(s=!0),a.description!==l.description&&(s=!0),a.defaultValue!==l.defaultValue&&(i=!0)}return s?"ports":i?"port-default":"mixed"}import{findNodeAtLocation as nc,parse as rc,parseTree as oc}from"jsonc-parser";import{z as w}from"zod";var Go=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()]),Jl=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:Go.optional()}).strict(),Zl=w.object({from:w.string().optional(),to:w.string()}).strict(),Ql=w.object({typeRefinement:Zl.optional(),validate:Go.optional(),required:w.boolean().optional(),enum:w.array(w.string()).optional(),description:w.string().optional()}).strict(),ec=w.object({ports:w.record(w.string(),Ql).optional()}).strict(),tc=w.object({enums:w.record(w.string(),w.number().finite()).optional()}).strict(),Ko=w.object({version:w.literal(1),types:w.record(w.string(),Jl).optional(),augment:w.record(w.string(),ec).optional(),script:tc.optional()}).strict();function ic(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
+`&&t.push(n+1);return n=>{let r=0,o=t.length-1;for(;r<=o;){let s=Math.floor((r+o)/2);t[s]<=n?r=s+1:o=s-1}let i=Math.max(0,r-1);return{line:i,character:n-t[i],offset:n}}}function sc(e,t){if(e)return{start:t(e.offset),end:t(e.offset+e.length)}}function Ho(e){return e.filter(t=>typeof t=="string"||typeof t=="number")}function ac(e){if(e.code==="unrecognized_keys"){let[t]=e.keys;if(typeof t=="string"||typeof t=="number")return[...Ho(e.path),t]}return Ho(e.path)}function lc(e){if(e.code==="unrecognized_keys"){let[t]=e.keys;return{message:`Unrecognized key: "${t??""}"`,path:[...e.path,t].filter(n=>n!==void 0).join(".")}}return{message:e.message,path:e.path.length>0?e.path.join("."):void 0}}function Kn(e,t){let n=t?.uri??"",r=[],o=oc(e,r,{allowTrailingComma:!0,disallowComments:!1});try{let i=rc(e,r,{allowTrailingComma:!0,disallowComments:!1});if(r.length>0||!o)throw new Error(`JSON parse error at offset ${r[0]?.offset??0}`);let s=Ko.safeParse(i);if(!s.success){let a=ic(e);return{ok:!1,uri:n,path:t?.path,issues:s.error.issues.map(l=>{let c=ac(l),{message:d,path:u}=lc(l);return{kind:"schema",message:d,path:u,range:sc(nc(o,c),a),notes:u?[u]: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 W}from"zod";var Yo=W.object({direction:W.enum(["input","output","inout"]).optional(),type:W.string().optional(),required:W.boolean().optional(),default:W.string().optional(),description:W.string().optional(),enum:W.array(W.string()).optional()}).strict(),Qt=W.object({kind:W.enum(["Action","Condition","Control","Decorator","SubTree"]),ports:W.record(W.string(),Yo).optional(),description:W.string().optional()}).strict(),Hn=W.object({nodes:W.record(W.string(),Qt)}).strict();import{z as D}from"zod";var Jo=D.enum(["off","info","warn","error"]),Zo=D.union([Jo,D.tuple([Jo,D.record(D.string(),D.unknown())])]),cc=D.object({include:D.array(D.string()).optional(),ignore:D.array(D.string()).optional(),useGitignore:D.boolean().optional(),followSymlinks:D.boolean().optional(),maxSize:D.number().int().positive().optional()}).strict(),dc=D.string(),uc=D.object({name:D.string(),attribute:D.string(),base:D.enum(["file","project-root"]).optional()}).strict(),pc=D.object({elements:D.array(uc).optional(),variables:D.record(D.string(),D.string()).optional(),allowOutsideRoot:D.boolean().optional(),maxDepth:D.number().int().min(1).optional(),maxFiles:D.number().int().min(1).optional()}).strict(),mc=D.object({entrypoints:D.array(dc).optional(),includes:pc.optional(),behaviorTreeIds:D.enum(["workspace-unique","file-local-first","allow-ambiguous"]).optional()}).strict(),fc=D.enum(["allow-unused","used-only","single-source"]),gc=D.object({builtins:D.array(D.enum(Rt)).optional(),files:D.array(D.string()).optional(),augmentations:D.array(D.string()).optional(),definitions:D.array(D.string()).optional(),inline:D.record(D.string(),Qt).optional(),convention:fc.optional()}).strict(),Qo=D.object({inline:D.enum(["allow","deny"]).optional()}).strict(),yc=D.object({enabled:D.boolean().optional(),rules:D.record(D.string(),Zo).optional(),baseline:D.string().optional(),suppressions:Qo.optional()}).strict(),bc=D.object({rules:D.record(D.string(),Zo).optional(),suppressions:Qo.optional()}).strict(),ei=D.object({indentWidth:D.number().int().min(1).max(8).optional(),xmlDeclaration:D.enum(["always","never","preserve"]).optional(),blankLineBetweenBehaviorTrees:D.boolean().optional(),lineEnding:D.enum(["lf","crlf","auto"]).optional()}).strict(),hc=D.object({files:D.array(D.string()),linter:bc.optional(),formatter:ei.optional()}).strict(),ti=D.object({$schema:D.string().optional(),strict:D.boolean().optional(),files:cc.optional(),resolver:mc.optional(),models:gc.optional(),linter:yc.optional(),formatter:ei.optional(),overrides:D.array(hc).optional()}).strict();function oi(e){return e.flatMap(Sc)}function Sc(e){if(String(e.code)==="unrecognized_keys")return(Array.isArray(e.keys)?e.keys??[]:[]).map(o=>{let i=ni([...e.path,String(o)]);return{code:"CFG002_UNKNOWN_CONFIG_FIELD",severity:"error",path:i,message:`unknown config field \`${i}\``}});let n=ni(e.path);return ii(e)?[{code:"CFG003_INVALID_CONFIG_VALUE",severity:"error",path:n,message:n?`invalid config value at \`${n}\``:"invalid config value"}]:[{code:"CFG001_INVALID_CONFIG",severity:"error",path:n,message:n?`invalid config at \`${n}\``:"invalid config"}]}function ni(e){return e.map(String).join(".")||void 0}function ii(e){let t=String(e.code);if(t==="invalid_value"||t==="invalid_enum_value"||t==="invalid_literal")return!0;if(t!=="invalid_union")return!1;let n=e.errors;if(Array.isArray(n))return n.flat().some(ri);let r=e.unionErrors;return Array.isArray(r)?r.flatMap(o=>o.issues??[]).some(ri):!1}function ri(e){return typeof e=="object"&&e!==null&&ii(e)}function Tt(e){let t=ti.safeParse(e);return t.success?{ok:!0,value:t.data,diagnostics:[]}:{ok:!1,diagnostics:oi(t.error.issues)}}function vc(e){if(!e)return;let t={};return e.indentWidth!==void 0&&(t.indentWidth=e.indentWidth),e.xmlDeclaration!==void 0&&(t.xmlDeclaration=e.xmlDeclaration),e.blankLineBetweenBehaviorTrees!==void 0&&(t.blankLineBetweenBehaviorTrees=e.blankLineBetweenBehaviorTrees),e.lineEnding!==void 0&&(t.lineEnding=e.lineEnding),t}function Rc(e){if(!e)return;let t={};return e.rules!==void 0&&(t.rules=e.rules),e.suppressions!==void 0&&(t.suppressions={},e.suppressions.inline!==void 0&&(t.suppressions.inline=e.suppressions.inline)),t}function kc(e){return e.map(t=>P(t.code,t.severity==="error"?h.Error:h.Warning,t.message,void 0,"",t.help?{help:t.help}:void 0))}function Tc(e){let t=[],n=tt(),{$schema:r,strict:o,overrides:i,...s}=e;o&&(n=ft(n,ko)),n=ft(n,s),n.overrides=(i??[]).map(l=>({files:l.files,linter:Rc(l.linter),formatter:vc(l.formatter)}));let a=!t.some(l=>l.severity===h.Error);return{config:n,diagnostics:t,ok:a}}function xt(e){let t=Tt(e);return t.ok?Tc(t.value):{ok:!1,config:tt(),diagnostics:kc(t.diagnostics)}}function xc(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 en(e,t){let n=e.replace(/\\/g,"/"),r=t.startsWith("!"),o=r?t.slice(1):t,s=xc(o).test(n);return r?!s:s}function si(e,t){return e.overrides.filter(n=>n.files.some(r=>en(t,r)))}function Dt(e){return e.replaceAll("\\","/")}function Dc(e){try{return decodeURIComponent(e)}catch{return e}}function It(e){if(!e.startsWith("file://"))return e;let t;try{t=new URL(e)}catch{return e}let n=Dc(t.pathname);return/^\/[A-Za-z]:/.test(n)?Dt(n.slice(1)):t.host?Dt(`//${t.host}${n}`):Dt(n)}function tn(e,t){let n=Dt(t);return e.files.ignore.some(r=>en(n,r))?!1:e.files.include.some(r=>en(n,r))}function Yn(e,t){return tn(e,It(t))}function ee(e,t){let n=Dt(t),r=si(e,n),o=e;for(let i of r)o=ft(o,{linter:i.linter,formatter:i.formatter});return{files:o.files,resolver:o.resolver,models:o.models,linter:o.linter,formatter:o.formatter}}function Jn(e,t){return ee(e,It(t))}import{z as nn}from"zod";var S={InvalidScriptSyntax:"BT401_INVALID_SCRIPT_SYNTAX",EmptyScript:"BT402_EMPTY_SCRIPT",InvalidScriptToken:"BT403_INVALID_SCRIPT_TOKEN",UnknownScriptVariable:"BT404_UNKNOWN_SCRIPT_VARIABLE",AssignmentToUnknownVariable:"BT405_ASSIGNMENT_TO_UNKNOWN_VARIABLE",InvalidCompoundAssignment:"BT406_INVALID_COMPOUND_ASSIGNMENT",InvalidScriptOperandType:"BT407_INVALID_SCRIPT_OPERAND_TYPE",ScriptResultNotBoolCompatible:"BT408_SCRIPT_RESULT_NOT_BOOL_COMPATIBLE",ScriptVariableTypeMismatch:"BT410_SCRIPT_VARIABLE_TYPE_MISMATCH",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"},Zn=Object.values(S).sort();var Ic=nn.object({subTreePorts:nn.enum(["loose","strict"]).optional()}).strict(),Cc=nn.object({allowStringEntryCompatibility:nn.boolean().optional()}).strict(),ue={"script/valid-syntax":{code:S.InvalidScriptSyntax,defaultSeverity:"error",description:"Script-bearing attributes must parse as valid BT.CPP scripts."},"script/no-unknown-variable":{code:S.UnknownScriptVariable,defaultSeverity:"warn",description:"Script-bearing attributes should not reference unknown variables."},"script/valid-assignment":{code:S.AssignmentToUnknownVariable,codes:[S.AssignmentToUnknownVariable,S.InvalidCompoundAssignment,S.ScriptVariableTypeMismatch,S.InvalidGlobalBlackboardIdentifier],defaultSeverity:"error",description:"Script assignments must target known variables and use compatible types."},"script/valid-expression-type":{code:S.InvalidScriptOperandType,defaultSeverity:"error",description:"Script expressions must use operators with compatible operand types."},"script/valid-result-type":{code:S.ScriptResultNotBoolCompatible,defaultSeverity:"error",description:"Condition-style script attributes must have a bool-compatible inferred result."},"xml/valid-root":{code:S.InvalidRootElement,defaultSeverity:"error",description:"Root element must be <root>."},"xml/require-btcpp-format":{code:S.MissingBTCPPFormat,defaultSeverity:"warn",description:'Root element must declare BTCPP_format="4".'},"tree/require-id":{code:S.MissingBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree elements require an ID attribute."},"tree/no-duplicate-id-in-file":{code:S.DuplicateBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree IDs must be unique within a file."},"tree/no-duplicate-id":{code:S.DuplicateBehaviorTreeIdInWorkspace,defaultSeverity:"error",description:"BehaviorTree IDs must be unique across the workspace."},"tree/no-unknown-subtree":{code:S.UnknownSubTree,defaultSeverity:"error",description:"A SubTree must resolve to a BehaviorTree or a configured model."},"tree/no-unknown-main-tree":{code:S.UnknownMainTree,defaultSeverity:"error",description:"main_tree_to_execute must reference a known BehaviorTree."},"tree/no-ambiguous-subtree":{code:S.AmbiguousSubTree,defaultSeverity:"error",description:"SubTree references must resolve to a single definition."},"tree/no-duplicate-node-model-id":{code:S.DuplicateNodeModelId,defaultSeverity:"error",description:"TreeNodesModel elements must have unique IDs within the same model block."},"xml/no-unknown-top-level-element":{code:S.UnknownTopLevelElement,defaultSeverity:"warn",description:"Top-level elements must be BehaviorTree, TreeNodesModel, or configured include elements."},"include/require-path":{code:S.MissingIncludePath,defaultSeverity:"error",description:"include elements require a path attribute."},"include/no-missing-file":{code:S.IncludeNotFound,defaultSeverity:"error",description:"Referenced include file does not exist."},"include/no-cycle":{code:S.IncludeCycle,defaultSeverity:"error",description:"Include graph cycles are not allowed."},"include/no-outside-root":{code:S.IncludeOutsideWorkspace,defaultSeverity:"error",description:"Includes must stay within the workspace root."},"include/no-unresolved-variable":{code:S.UnresolvedIncludePathVariable,defaultSeverity:"error",description:"Include path variables must resolve before lookup."},"include/no-depth-exceeded":{code:S.IncludeDepthExceeded,defaultSeverity:"error",description:"Include resolution must stay within the configured maximum depth."},"include/no-too-many-files":{code:S.TooManyResolvedFiles,defaultSeverity:"error",description:"Include resolution must stay within the configured file limit."},"include/require-ros-package-resolver":{code:S.RosPackageResolverMissing,defaultSeverity:"error",description:"When include uses ros_pkg, a host resolvePackageUri capability must be provided."},"include/no-missing-ros-package":{code:S.RosPackageNotFound,defaultSeverity:"error",description:"ros_pkg include must resolve to an existing ROS package root URI."},"include/report-external-used":{code:S.ExternalIncludeUsed,defaultSeverity:"info",description:"Reports when an allowed include resolves outside the workspace root."},"model/no-unknown-node":{code:S.UnknownNode,defaultSeverity:"warn",description:"Node usages must resolve to a known model."},"model/require-port":{code:S.MissingRequiredPort,defaultSeverity:"error",description:"Required ports must be supplied."},"model/require-port-name":{code:S.MissingPortName,defaultSeverity:"error",description:"Port elements require a name attribute."},"model/no-duplicate-port-name":{code:S.DuplicatePortName,defaultSeverity:"error",description:"Ports with the same name are not allowed."},"model/valid-port-name":{code:S.InvalidPortName,defaultSeverity:"error",description:"Port names must be valid XML attribute names for BT nodes."},"model/no-unknown-port":{code:S.UnknownPort,defaultSeverity:"warn",optionsSchema:Ic,options:[{name:"subTreePorts",type:'"loose" | "strict"',default:"loose",description:"Controls whether SubTree remap attributes are checked strictly."}],description:"Reports ports that are not declared by the resolved node model."},"model/valid-port-value":{code:S.InvalidPortValueType,defaultSeverity:"error",description:"Port values must match the declared type."},"model/no-blackboard-type-mismatch":{code:S.BlackboardTypeMismatch,defaultSeverity:"error",optionsSchema:Cc,options:[{name:"allowStringEntryCompatibility",type:"boolean",default:"true",description:"Treat std::string blackboard entries as runtime-compatible with other port types, matching BT.CPP's existing-entry special case."}],description:"Blackboard entries must not mix incompatible resolved port types."},"model/valid-port-default-value":{code:S.InvalidPortDefaultValue,defaultSeverity:"error",description:"TreeNodesModel port defaults must match the declared type."},"model/require-output-port-remap":{code:S.OutputPortRequiresRemap,defaultSeverity:"warn",description:"Resolved output ports must write to a blackboard remap."},"model/no-childless-control-shape-mismatch":{code:S.ChildCapableNodeSelfClosing,defaultSeverity:"warn",description:"Control and decorator nodes should normally use open/close tags."},"model/no-leaf-block-shape":{code:S.LeafNodeOpenClose,defaultSeverity:"warn",description:"Leaf nodes should normally be self-closing unless they contain child nodes."},"model/valid-child-count":{code:S.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:S.ConflictingNodeModel,defaultSeverity:"error",description:"Node model definitions must agree on kind and port shape."},"model/no-conflicting-kind-for-id":{code:S.ConflictingModelKind,defaultSeverity:"error",description:"A model ID must not be defined with different kinds."},"model/no-unused-definition":{code:S.UnusedModelDefinition,defaultSeverity:"error",description:"Inline model definitions should be used in the same BT XML file."},"model/no-duplicate-definition":{code:S.DuplicateModelDefinition,defaultSeverity:"error",description:"A user-defined model (ID, kind) should be defined only once."},"suppression/no-unused":{code:S.UnusedSuppression,defaultSeverity:"warn",description:"Suppressions should match at least one diagnostic."},"suppression/require-reason":{code:S.MissingSuppressionReason,defaultSeverity:"off",description:"Suppressions should include a reason when required."}};function ie(e){let t=e.linter.rules["model/no-unknown-port"];return Array.isArray(t)&&t.length>=2&&t[1].subTreePorts==="strict"?{unknownSubTreePorts:"reject"}:{unknownSubTreePorts:"allow"}}function Qn(e){return e in ue}function ke(e){if(typeof e=="string")return Yt.includes(e)?{severity:e}:null;if(Array.isArray(e)&&e.length>=1&&e.length<=2){let[t,n]=e;if(typeof t=="string"&&Yt.includes(t)&&(n===void 0||typeof n=="object"&&n!==null&&!Array.isArray(n))){let r={severity:t};return n!==void 0&&(r.options=n),r}}return null}function Ue(e,t){let n=e[t];if(n!==void 0){let r=ke(n);if(r)return r.severity}return ue[t].defaultSeverity}function er(e,t){let n=[],o=ue[e].optionsSchema;if(!o)return n;let i=o.safeParse(t);if(i.success)return n;for(let s of i.error.issues)n.push(...Bc(e,s));return n}function Bc(e,t){if(t.code==="unrecognized_keys")return t.keys.map(r=>P("CFG011_INVALID_RULE_OPTION",h.Error,`unknown option \`${String(r)}\` for rule \`${e}\``,void 0,void 0,{help:ai(e)}));let n=typeof t.path[0]=="string"?t.path[0]:void 0;return[P("CFG011_INVALID_RULE_OPTION",h.Error,n?`invalid option \`${n}\`: ${t.message}`:`invalid options for rule \`${e}\`: ${t.message}`,void 0,void 0,{help:ai(e)})]}function ai(e){let n=ue[e].options?.map(r=>r.name)??[];return n.length>0?`valid options are: ${n.join(", ")}`:void 0}function tr(e){let t=[];li(e.linter,"linter.rules",t);for(let[n,r]of(e.overrides??[]).entries())li(r.linter,`overrides.${n}.linter.rules`,t);return t}function li(e,t,n){for(let[r,o]of Object.entries(e?.rules??{})){let i=`${t}.${r}`;if(!Qn(r)){n.push({code:"CFG010_UNKNOWN_RULE",severity:"error",path:i,message:`unknown lint rule \`${r}\``,help:"see docs/rules.md for a list of valid rule names"});continue}let s=ke(o);if(s?.options)for(let a of er(r,s.options))n.push({code:"CFG011_INVALID_RULE_OPTION",severity:"error",path:Ec(i,s.options,a.message),message:a.message,help:a.details?.help})}}function Ec(e,t,n){let r=Object.keys(t).find(o=>n.includes(`\`${o}\``));return r?`${e}.1.${r}`:`${e}.1`}function ci(e,t){if(t)return Jt(e,t)}function di(e){return e.source==="inline-tree-nodes-model"||e.source==="external-tree-nodes-model",e.source}function ui(e){let t=e.port?.uri??e.model?.uri??"",n=e.port?.nameRange??e.port?.range??e.model?.idRange??e.model?.range;return P(e.code,h.Error,e.message,n,t,{primaryLabel:e.message,help:e.help,notes:e.notes},e.data)}function Nc(e,t,n,r,o){let i=n.effectiveType??n.type,s=n.originalType??n.type,a={...n,originalType:s,effectiveType:i,typeSource:n.typeSource??di(n),validate:r.validate??n.validate,required:r.required??n.required,enum:r.enum?[...r.enum]:n.enum,description:r.description??n.description},l=r.typeRefinement;if(!l)return{...a,type:a.effectiveType};let c=ci(e,l.from),d=ci(e,i);return c&&c!==d?(o.push(ui({code:"BT119_INVALID_TYPE_REFINEMENT",message:`invalid type refinement for port \`${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: ${l.from??"(unspecified)"}`]:void 0})),{...a,type:a.effectiveType}):{...a,type:l.to,effectiveType:l.to,typeSource:"model-augmentation",typeRefinement:l}}function Pc(e,t,n,r){let o=new Map(t.ports.map(i=>[i.name,i]));for(let[i,s]of Object.entries(n.ports??{})){let a=o.get(i);if(!a){r.push(ui({code:"BT118_AUGMENT_PORT_NOT_FOUND",message:`augmentation port \`${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}o.set(i,Nc(e,t,a,s,r))}return{...t,ports:t.ports.map(i=>o.get(i.name)??i)}}function wc(e){let t=e.effectiveType??e.type,n=e.originalType??e.type;return{...e,type:t,effectiveType:t,originalType:n,typeSource:e.typeSource??di(e)}}function pi(e,t,n){let r=[],o=new Map([...e.entries()].map(([i,s])=>[i,{...s,ports:s.ports.map(wc)}]));for(let i of n)for(let[s,a]of Object.entries(i.augment??{})){let l=o.get(s);if(!l){r.push(P("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}o.set(s,Pc(t,l,a,r))}return{modelsById:o,diagnostics:r}}function gi(e){return Ct("builtin",0,!1,e)}function yi(e){return Ct("xml-tree-nodes-model",10,!0,e)}function bi(e){return Ct("external-tree-nodes-model",15,e.some(t=>t.editable!==!1),e)}function hi(e){return Ct("node-definition-file",20,!0,e)}function Si(e){return Ct("config-inline",30,!0,e)}function Ct(e,t,n,r){return{kind:e,precedence:t,editable:n,models:r.map(o=>vi(o,e,n&&o.editable!==!1))}}function Mc(e){return e==="config-inline"?"config":e==="xml-tree-nodes-model"?"inline-tree-nodes-model":e}function vi(e,t,n){let r=Mc(t);return{...e,source:r,sourceMeta:e.sourceMeta??{sourceKind:r,file:e.uri,range:e.range},editable:n,ports:e.ports.map(o=>({...o,source:r}))}}function it(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 mi(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 Ac(e,t){let n=[];e.kind!==t.kind&&n.push({kind:"node-kind",left:e.kind,right:t.kind});let r=new Map(e.ports.map(i=>[i.name,i])),o=new Map(t.ports.map(i=>[i.name,i]));for(let[i,s]of r)o.has(i)||n.push({kind:"port-removed",portName:i,sourceIndex:0,port:mi(s)});for(let[i,s]of o)r.has(i)||n.push({kind:"port-added",portName:i,sourceIndex:1,port:mi(s)});for(let[i,s]of r){let a=o.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()):"",c=a.enum?JSON.stringify([...a.enum].sort()):"";l!==c&&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 fi(e,t){let n=new Map;for(let r of e){let o=n.get(r.id);if(!o){n.set(r.id,r);continue}if(Zt(o,r))continue;let i=Gn(o,r),s=Ac(o,r),a;if(i==="port-default"){let l=new Map(o.ports.map(p=>[p.name,p])),c=r.ports.find(p=>{let m=l.get(p.name);return m&&m.defaultValue!==p.defaultValue}),d=c?.name??"unknown",u=[it(o,0),it(r,1)];a={kind:"port-default-conflict",nodeId:r.id,portName:d,sources:[{source:it(o,0),value:l.get(d)?.defaultValue},{source:it(r,1),value:c?.defaultValue}]},t.push({id:r.id,definitions:[o,r],sources:u,code:"BT107_CONFLICTING_PORT_DEFAULT",message:`conflicting default for port \`${d}\` on node \`${r.id}\``,uri:r.uri,range:r.idRange||r.range,details:{primaryLabel:"the same port has different default values across model definitions",help:`use the same default value in every \`${r.id}\` definition or remove the duplicate model`},data:a,relatedInformation:o.uri&&o.range?[{uri:o.uri,range:o.range,message:"previous definition"}]:void 0})}else{let l=[it(o,0),it(r,1)];a={kind:"node-model-conflict",nodeId:r.id,sources:l,differences:s},t.push({id:r.id,definitions:[o,r],sources:l,code:"BT012_CONFLICTING_NODE_MODEL",message:`conflicting node model \`${r.id}\``,uri:r.uri,range:r.idRange||r.range,details:{primaryLabel:"another model with this ID defines a different kind or port shape",help:`make all \`${r.id}\` model definitions agree, or keep only one definition at the same precedence level`},data:a,relatedInformation:o.uri&&o.range?[{uri:o.uri,range:o.range,message:"previous definition"}]:void 0})}}return n}function _c(e,t){if(!e)return{...t,ports:[...t.ports]};let n=new Map(e.ports.map(r=>[r.name,r]));for(let r of t.ports)n.set(r.name,r);return{...e,...t,sourceMeta:t.sourceMeta||e.sourceMeta,ports:[...n.values()]}}function Ri(e){let t=[],n=new Map,r=new Map,o=[...e].sort((a,l)=>a.precedence-l.precedence),i=new Map,s=new Map;for(let a of o){let l=i.get(a.precedence)??[],c=a.models.map(d=>vi(d,a.kind,a.editable&&d.editable!==!1));l.push(...c),i.set(a.precedence,l);for(let d of c)s.set(d.id,a.precedence)}for(let[a,l]of[...i.entries()].sort((c,d)=>c[0]-d[0])){let c=l.filter(m=>s.get(m.id)===a),d=l.filter(m=>s.get(m.id)!==a),u=fi(d,[]);for(let[m,g]of fi(c,t))u.set(m,g);let p=new Set(l.map(m=>m.id));for(let m of p)s.get(m)===a&&n.set(m,l.filter(g=>g.id===m));for(let[m,g]of u)r.set(m,_c(r.get(m),g))}return{nodeModelsById:n,mergedNodeModelsById:r,conflicts:t}}function Lc(e){return Rt.includes(e)}function jc(){return{documents:new Map,behaviorTreesById:new Map,nodeModelsById:new Map,mergedNodeModelsById:new Map,modelLayers:[],builtins:new Map,genericSubTreePorts:[],modelConflicts:[],typeRegistry:ot(),augmentations:[]}}function Fc(e,t,n){let r=e.get(t)||[];r.push(n),e.set(t,r)}function Uc(e,t,n){for(let r of new Set(n))if(Lc(r)){for(let o of zn(r))e.builtins.set(o.id,o),t.push(o);e.genericSubTreePorts.push(...Wn(r))}}function Oc(e,t,n,r,o){for(let i of o){let s=On(i,{uri:i.uri,path:i.path}),a=s.model;t.push(...s.diagnostics),e.documents.set(i.uri,a);for(let l of a.behaviorTrees)Fc(e.behaviorTreesById,l.id,l);i.kind==="model-document"?r.push(...a.treeNodesModel):n.push(...a.treeNodesModel),e.genericSubTreePorts.push(...a.genericSubTreePorts)}}function Vc(e){return JSON.stringify({name:e.name,direction:e.direction,type:e.type,required:e.required,defaultValue:e.defaultValue,enum:e.enum?[...e.enum].sort((t,n)=>t.localeCompare(n)):void 0,description:e.description})}function qc(e){let t=new Set,n=[];for(let r of e.genericSubTreePorts){let o=Vc(r);t.has(o)||(t.add(o),n.push(r))}e.genericSubTreePorts=n}function $c(e,t,n,r,o){e.modelLayers.push(gi(t),yi(n),bi(r)),o.models?.length&&e.modelLayers.push(hi([...o.models])),e.modelLayers.push(...o.additionalModelLayers??[])}function Oe(e,t){return Xc(e,t)}function Xc(e,t){let n=jc(),r=[],o=[],i=[],s=[];Uc(n,o,t.config.models.builtins),n.augmentations=t.augmentations??[],n.typeRegistry=ot(t.augmentations??[]),Oc(n,r,i,s,e),qc(n),$c(n,o,i,s,t);let a=t.config.models.inline;if(a){let d=[];for(let[u,p]of Object.entries(a))d.push(yt(u,p));n.modelLayers.push(Si(d))}let l=Ri(n.modelLayers),c=pi(l.mergedNodeModelsById,n.typeRegistry,t.augmentations??[]);return n.nodeModelsById=l.nodeModelsById,n.mergedNodeModelsById=c.modelsById,n.modelConflicts=l.conflicts,r.push(...c.diagnostics),{ok:r.every(d=>d.severity!==h.Error),index:n,diagnostics:r}}var ki={unknownSubTreePorts:"allow"};function Ti(e){return{...ki,...e}}var zc=["Action","Condition","Control","Decorator"],Wc=new Set(zc);var Gc=new Set(["input_port","output_port","inout_port"]);function Bt(e){return Wc.has(e)}function Ve(e){return Bt(e)?e:void 0}function rn(e,t){return e.attributes.find(n=>n.name===t)?.value}function nr(e,t){if(e===t)return!0;for(let n of e.children)if(n.kind==="element"&&nr(n,t))return!0;return!1}function xi(e,t){if(!e)return!1;if(e.name==="TreeNodesModel")return nr(e,t);for(let n of e.children)if(!(n.kind!=="element"||n.name!=="TreeNodesModel")&&nr(n,t))return!0;return!1}function on(e){return Gc.has(e.name)}function Di(e){return e.name==="root"?"root":e.name==="BehaviorTree"?"behavior-tree":e.name==="TreeNodesModel"?"tree-nodes-model":e.name==="include"?"include":e.name==="SubTree"?"subtree":Bt(e.name)?"generic-node":on(e)?"unknown-xml":"concrete-node"}function sn(e){if(e.name==="SubTree")return rn(e,"ID")||"SubTree";if(Bt(e.name))return rn(e,"ID");if(!(e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"||e.name==="include"||on(e)))return e.name}function te(e){return e.typeRegistry}function Z(e,t){return de(te(e),t)}function Ce(e,t,n){return St(te(e),t,n)}function Et(e,t){return e.documents.get(t)}function Y(e,t){return e.behaviorTreesById.get(t)??[]}function rr(e,t){return e.behaviorTreesById.has(t)}function or(e){return[...e.behaviorTreesById.values()].flat()}function ir(e,t){return ar(e).flatMap(n=>n.subtreeReferences.filter(r=>r.id===t))}function Ii(e){return ar(e).flatMap(t=>t.nodeUsages)}function sr(e){let t=new Map;for(let n of Ii(e)){let r=t.get(n.uri)??[];r.push(n),t.set(n.uri,r)}return t}function Be(e){return[...e.behaviorTreesById.keys()]}function ar(e){return[...e.documents.values()]}function se(e,t){let n=e;return n.mergedNodeModelsById.get(t)??n.builtins.get(t)}function qe(e,t){return e.modelLayers.flatMap(n=>n.models.filter(r=>r.id===t))}function an(e){return[...e.mergedNodeModelsById.values()]}function Nt(e){return e.modelLayers.flatMap(t=>t.models)}function Pt(e){return[...e.mergedNodeModelsById.values()]}function lr(e){return[...e.nodeModelsById.keys()]}function cr(e){return[...e.genericSubTreePorts]}function wt(e){return[...e.augmentations]}function Mt(e){return e.modelConflicts}function At(e,t){let{id:n,fileLocalUri:r,config:o}=t,i=Y(e,n);if(i.length>0){if((o?.resolver?.behaviorTreeIds==="file-local-first"||o?.resolver?.behaviorTreeIds==="allow-ambiguous")&&r){let c=i.filter(d=>d.uri===r);c.length>0&&(i=c)}let a=se(e,n),l=a?.kind==="SubTree"?[a]:[];return i.length===1?{status:"resolved",kind:"behavior-tree",treeId:i[0].id,behaviorTree:i[0]}:{status:"ambiguous",candidates:[...i.map(c=>c.id),...l.map(c=>c.id)],behaviorTrees:i,definitions:l}}let s=se(e,n);return s?.kind==="SubTree"?{status:"resolved",kind:"node-model",modelId:s.id,model:s}:{status:"unresolved",id:n}}function dr(e,t){if(!t)return{status:"unresolved",nodeType:t};let n=se(e,t);if(n){let o=Mt(e).find(i=>i.id===t&&i.code==="BT012_CONFLICTING_NODE_MODEL");return o?{status:"ambiguous",nodeType:t,candidates:o.definitions}:{status:"resolved",model:n}}let r=qe(e,t);return r.length===1?{status:"resolved",model:r[0]}:r.length>1?{status:"ambiguous",nodeType:t,candidates:r}:{status:"unresolved",nodeType:t}}function ur(e){let t=new Map;for(let n of e)t.has(n.name)||t.set(n.name,n);return[...t.values()]}function pr(e){let t=cr(e.index);if(e.tagForm==="subtree"){let n=e.model.status==="resolved"?e.model.model.ports:e.subtreeModelPorts??[];return ur([...n,...t])}return e.model.status==="resolved"?[...e.model.model.ports]:[]}function mr(e){let{attribute:t}=e,n=e.ports.find(r=>r.name===t.name);return n?{status:"resolved",attribute:t,name:t.name,value:t.value,port:n}:Vn(t.name)?{status:"reserved-attribute",attribute:t,name:t.name,value:t.value}:e.allowsArbitraryAttributes?{status:"allowed-arbitrary",attribute:t,name:t.name,value:t.value}:e.unknownModelPortStatus==="undeclared"?{status:"undeclared",attribute:t,name:t.name,value:t.value}:e.model.status==="unresolved"||e.model.status==="ambiguous"?{status:"unknown-node-model",attribute:t,name:t.name,value:t.value}:{status:"undeclared",attribute:t,name:t.name,value:t.value}}function U(e,t){let n=Ti(t.policy),r=t.element,o=Di(r),i=xi(t.documentRoot,r);if((t.isModelDefinition||i&&(o==="generic-node"||o==="subtree"))&&(o="model-definition"),i&&on(r)&&(o="unknown-xml"),o==="root"||o==="behavior-tree"||o==="tree-nodes-model"||o==="include"||o==="model-definition"||o==="unknown-xml")return{element:r,tagName:r.name,tagForm:o,model:{status:"not-a-node"},ports:[],allowsArbitraryAttributes:!1,portUsages:[]};let s=sn(r);if(o!=="subtree"){let m=dr(e,s),g=pr({index:e,tagForm:o,model:m}),f=r.attributes.map(T=>mr({attribute:T,ports:g,allowsArbitraryAttributes:!1,model:m}));return{element:r,tagName:r.name,tagForm:o,nodeType:s,model:m,ports:g,allowsArbitraryAttributes:!1,portUsages:f}}let a=rn(r,"ID"),l=a?At(e,{id:a,fileLocalUri:t.uri,config:t.config}):{status:"unresolved",id:void 0},c={status:"unresolved",nodeType:a},d=!1;if(l.status==="resolved"&&l.kind==="node-model")c={status:"resolved",model:l.model};else if(l.status==="resolved"&&l.kind==="behavior-tree"){let m=dr(e,l.treeId);m.status==="resolved"&&m.model.kind==="SubTree"?c=m:d=n.unknownSubTreePorts==="allow"}else l.status==="ambiguous"&&l.definitions.length>0?c=l.definitions.length===1?{status:"resolved",model:l.definitions[0]}:{status:"ambiguous",nodeType:a??"SubTree",candidates:l.definitions}:d=n.unknownSubTreePorts==="allow";let u=pr({index:e,tagForm:o,model:c,subtreeModelPorts:l.status==="ambiguous"?ur(l.definitions.flatMap(m=>m.ports)):void 0}),p=r.attributes.map(m=>mr({attribute:m,ports:u,allowsArbitraryAttributes:d,model:c,unknownModelPortStatus:!d&&c.status!=="resolved"?"undeclared":void 0}));return{element:r,tagName:r.name,tagForm:o,nodeType:s,model:c,subtree:{id:a,target:l},ports:u,allowsArbitraryAttributes:d,portUsages:p}}function ge(e,t){return U(e,t).portUsages.find(r=>r.name===t.attributeName)}function Yc(e){return e==="Action"||e==="Condition"||e==="Control"||e==="Decorator"||e==="SubTree"}function Jc(e){let t=e.root;return t?t.name==="BehaviorTree"?[t]:t.children.filter(n=>n.kind==="element"&&n.name==="BehaviorTree"):[]}function Ci(e,t){let n=e.line,r=e.character,o=e.offset;for(let i of t){if(o+=i.length,i===`
+`){n+=1,r=0;continue}r+=i.length}return{line:n,character:r,offset:o}}function fr(e,t,n){let r=Ci(e,t),o=Ci(r,n);return{start:r,end:o}}function Ei(e,t,n){let r=n.valueContentRange||n.valueRange,o=e.originalText.slice(r.start.offset,r.end.offset),i=[];for(let s of o.matchAll(/\{[^}]*\}/g)){let a=s[0],l=s.index??0,c=X({portName:t,rawValue:a});if(c.ok){i.push({raw:a,key:c.reference.key,scope:c.reference.scope,identity:z(c.reference),range:fr(r.start,o.slice(0,l),a),syntax:c.reference.syntax==="shorthand"?"shorthand":"braced"});continue}i.push({raw:a,key:a,scope:"local",identity:`invalid:${a}`,range:fr(r.start,o.slice(0,l),a),syntax:"invalid"})}if(i.length===0){let s=X({portName:t,rawValue:o});if(s.ok){let a=Math.max(0,o.indexOf(s.reference.raw));return i.push({raw:s.reference.raw,key:s.reference.key,scope:s.reference.scope,identity:z(s.reference),range:fr(r.start,o.slice(0,a),s.reference.raw),syntax:s.reference.syntax==="shorthand"?"shorthand":"braced"}),i}}return i.length===0&&(o.includes("{")||o.includes("}"))&&i.push({raw:o,key:o,scope:"local",identity:`invalid:${o}`,range:r,syntax:"invalid"}),i}function Zc(e,t){return Yc(e.name)?e.name:t.model.status==="resolved"?t.model.model.kind:"unknown"}function Ni(e){let t=[];for(let n of e)t.push(n),t.push(...Ni(n.children));return t}function Qc(e){return e.kind==="bt-document"?"bt-xml":e.kind==="model-document"?"model-xml":"unknown"}function ed(e){let t=new Map(e.map((n,r)=>[n,r]));return n=>`bt:${t.get(n.behaviorTree)??0}/node:${n.path.join(".")}`}function td(e){return{name:e.name,value:e.value,range:e.range,nameRange:e.nameRange,valueRange:e.valueContentRange||e.valueRange}}function Pi(e){return Ee(e,"name")?.value}function nd(e){return Pi(e)||Ee(e,"ID")?.value||e.name}function rd(e){let t=[],n=e;for(;n;){let r=n.path.at(-1)??0;t.unshift(`${r}:${nd(n.element)}`),n=n.parent}return[e.behaviorTree.id||"<anonymous>",...t].join("/")}function wi(e){return e.model.status==="resolved"?{status:"resolved",model:e.model.model,source:e.model.model.sourceMeta}:e.model.status==="ambiguous"?{status:"ambiguous",nodeType:e.model.nodeType,candidates:e.model.candidates}:{status:"unresolved",nodeType:e.nodeType??e.tagName}}function Mi(e){return e.status==="resolved"?{status:"resolved",port:e.port}:e.status==="allowed-arbitrary"?{status:"allowed-arbitrary",name:e.name}:e.status==="undeclared"?{status:"undeclared",name:e.name}:{status:"unknown-node-model"}}function od(e){return e.status==="resolved"?e.port.direction:"unknown"}function id(e,t){return e===""?"empty":e==="{=}"||e==="="?"substitution":t.some(n=>n.syntax==="braced")?"blackboard-reference":t.some(n=>n.syntax==="shorthand")?"substitution":t.some(n=>n.syntax==="invalid")?"unknown":"literal"}function Bi(e,t){return{nodeId:e,portName:t.name,rawValue:t.value,direction:od(t.usage),valueKind:id(t.value,t.blackboardReferences),range:t.attribute.range,nameRange:t.attribute.nameRange,valueRange:t.attribute.valueContentRange||t.attribute.valueRange,resolution:t.declaredPort,usage:t.usage,blackboardReferences:t.blackboardReferences}}function sd(e){let t=new Set;for(let n of[e.name,e.idAttr,e.nodeType,e.tagName,e.instancePath,e.behaviorTreeId&&!e.instancePath.startsWith(`${e.behaviorTreeId}/`)?`${e.behaviorTreeId}/${e.instancePath}`:void 0,e.nodeId])n&&t.add(n);return[...t]}function Ee(e,t){return e.attributes.find(n=>n.name===t)}function ad(e){return e.root?Ee(e.root,"main_tree_to_execute")?.value:void 0}function ld(e){let t=new Set;if(!e)return t;let n=r=>{t.add(r);for(let o of r.children)o.kind==="element"&&n(o)};if(e.name==="TreeNodesModel")return n(e),t;for(let r of e.children)r.kind!=="element"||r.name!=="TreeNodesModel"||n(r);return t}function G(e,t){let n=t.semantic,r=ld(e.root),o=Jc(e).map(l=>({id:Ee(l,"ID")?.value,element:l,rootNode:void 0,nodes:[]})),i=[],s=[],a=(l,c,d,u)=>{let p=U(n,{element:l,uri:e.uri,documentRoot:e.root,config:t?.config,policy:t?.policy,isModelDefinition:r.has(l)}),m=wi(p),g={element:l,path:u,tagName:l.name,kind:Zc(l,p),model:m,usage:p,portBindings:[],children:[],parent:d,behaviorTree:c};if(g.portBindings=p.portUsages.filter(f=>f.status!=="reserved-attribute").map(f=>({name:f.name,value:f.value,attribute:f.attribute,declaredPort:Mi(f),usage:f,blackboardReferences:Ei(e,f.name,f.attribute)})),g.children=l.children.filter(f=>f.kind==="element").map((f,T)=>a(f,c,g,[...u,T])),l.name==="SubTree"){let f=Ee(l,"ID")?.value;i.push({node:g,id:f,target:p.subtree?.target??{status:"unresolved",id:f},portRemaps:g.portBindings})}return g};for(let l of o){let c=l.element.children.filter(d=>d.kind==="element").map((d,u)=>a(d,l,void 0,[u]));l.rootNode=c[0],l.nodes=Ni(c),s.push(...l.nodes)}return{document:e,behaviorTrees:o,subtreeCalls:i,nodes:s}}function ln(e,t,n){let r=G(e,{semantic:t,config:n?.config,policy:n?.policy}),o=ed(r.behaviorTrees),i=r.nodes.map(c=>{let d=o(c),u=c.usage,p=u.nodeType??c.tagName,m=Pi(c.element),g=Ee(c.element,"ID")?.value,f=rd(c);return{nodeId:d,path:c.path,instancePath:f,tagName:c.tagName,nodeType:p,name:m,idAttr:g,kind:c.kind,range:c.element.range,fullRange:c.element.fullRange,nameRange:c.element.nameRange,parentNodeId:c.parent?o(c.parent):void 0,childNodeIds:c.children.map(o),behaviorTreeId:c.behaviorTree.id,attributes:c.element.attributes.map(td),identityCandidates:sd({name:m,idAttr:g,nodeType:p,tagName:c.tagName,instancePath:f,behaviorTreeId:c.behaviorTree.id,nodeId:d}),model:wi(u),usage:u,portBindings:u.portUsages.filter(T=>T.status!=="reserved-attribute").map(T=>Bi(d,{name:T.name,value:T.value,attribute:T.attribute,declaredPort:Mi(T),usage:T,blackboardReferences:Ei(e,T.name,T.attribute)}))}}),s=r.behaviorTrees.map(c=>({id:c.id,range:c.element.range,idRange:Ee(c.element,"ID")?.valueContentRange,rootNodeId:c.rootNode?o(c.rootNode):void 0,nodeIds:c.nodes.map(o)})),a=r.subtreeCalls.map(c=>({nodeId:o(c.node),callId:c.id,range:c.node.element.range,target:c.target,portBindings:c.portRemaps.map(d=>Bi(o(c.node),d))})),l=e.root?Ee(e.root,"main_tree_to_execute"):void 0;return{uri:e.uri,kind:Qc(e),mainTreeToExecute:ad(e),mainTreeToExecuteRange:l?.valueContentRange||l?.valueRange,behaviorTrees:s,nodes:i,subtreeCalls:a}}function cd(e,t){let n=e.element.fullRange||e.element.range;return H(n,t)}function dd(e,t){let n=e.element.fullRange||e.element.range,r=t.element.fullRange||t.element.range;return n.end.offset-n.start.offset<r.end.offset-r.start.offset}function cn(e,t){let n;for(let r of e.nodes)cd(r,t.offset)&&(!n||dd(r,n))&&(n=r);return n}function st(e,t){for(let n of e.nodes)for(let r of n.portBindings)if(H(r.attribute.range,t.offset))return r}function ud(e,t){return H(e.fullRange||e.range,t)}function pd(e,t){let n=e.fullRange||e.range,r=t.fullRange||t.range;return n.end.offset-n.start.offset<r.end.offset-r.start.offset}function dn(e,t){let n;for(let r of e.nodes)ud(r,t.offset)&&(!n||pd(r,n))&&(n=r);return n}function un(e,t){for(let n of e.nodes)for(let r of n.portBindings)if(H(r.range,t.offset))return r}function Rd(e){return`${e.kind}\0${e.id}`}function gr(e){return Nt(e).map(t=>{let n=t.source??t.sourceMeta?.sourceKind;return{key:{id:t.id,kind:t.kind},model:t,id:t.id,kind:t.kind,uri:t.uri,range:t.range,sourceKind:n,isBuiltin:n==="builtin",isCanonicalModelFile:n==="external-tree-nodes-model",editable:t.editable!==!1}})}function yr(e){let t=new Map;for(let n of e){let r=t.get(n.id)??[];r.push(n),t.set(n.id,r)}return t}function br(e){let t=new Map;for(let n of e){let r=Rd(n.key),o=t.get(r)??[];o.push(n),t.set(r,o)}return t}function Ai(e){let{document:t,diagnostics:n,options:r,partial:o}=e,i=n.some(a=>a.severity===h.Error),s="generic-xml";if(i)s="invalid-xml";else if(t.root){let a=t.root,l=a.children.some(p=>p.kind==="element"&&p.name==="BehaviorTree"),c=a.children.some(p=>p.kind==="element"&&p.name==="TreeNodesModel"),d=a.attributes.some(p=>p.name==="BTCPP_format"&&p.value==="4"),u=a.name==="TreeNodesModel"||a.name==="root"&&!l&&c;r.kind==="model-xml"||u?s="model-document":(a.name==="BehaviorTree"||a.name==="root"&&(d||l)||r.kind==="bt-xml")&&(s="bt-document")}return t.kind=s,t.isBtXml=s==="bt-document"||s==="model-document",!i&&!o?{ok:!0,document:t,diagnostics:n,partial:!1}:{ok:!1,document:t,diagnostics:n,partial:o}}function kd(e){if(e.name==="input_port"||e.name==="output_port")return!1;let t=e.children||[],n=t.some(o=>o.kind==="text"&&o.text.trim()!==""),r=t.some(o=>o.kind==="element");return n&&r}function hr(e,t){if(e.kind==="element"){kd(e)&&t(e);for(let n of e.children||[])hr(n,t)}}function q(e,t){let n=0,r=0;for(let o=0;o<Math.min(t,e.length);o++)e[o]===`
+`?(n++,r=0):r++;return nt(n,r,t)}function Sr(e,t,n,r){for(let o=0;o<e.length;o++){if(e[o]!=="&")continue;let i=e.slice(o+1),s=o;if(i.startsWith("amp;")){o+=4;continue}if(i.startsWith("lt;")){o+=3;continue}if(i.startsWith("gt;")){o+=3;continue}if(i.startsWith("quot;")){o+=5;continue}if(i.startsWith("apos;")){o+=5;continue}if(i.startsWith("#")){let u=1;if(i[u]==="x"||i[u]==="X"){u++;let T="";for(;u<i.length&&/[0-9a-fA-F]/.test(i[u]);)T+=i[u],u++;if(u<i.length&&i[u]===";"){u++;let y=e.slice(s,s+1+u),b=q(n,t+s),k=q(n,t+s+y.length);if(T){let x=Number.parseInt(T,16);if(x>0&&x<=1114111&&(x<55296||x>57343)){o+=u-1;continue}r("XML014_INVALID_NUMERIC_ENTITY",h.Error,`invalid numeric XML entity \`${y}\``,b,k,{primaryLabel:"this numeric entity is outside the valid Unicode range",help:"replace it with a valid Unicode code point or normal text"}),o+=u-1;continue}r("XML001_INVALID_SYNTAX",h.Error,`malformed numeric XML entity \`${y}\``,b,k,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as `&#10;` or escape the ampersand as `&amp;`"}),o+=u-1;continue}let B=e.slice(s,s+1+u),R=q(n,t+s),E=q(n,t+s+B.length);r("XML001_INVALID_SYNTAX",h.Error,`malformed numeric XML entity \`${B}\``,R,E,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as `&#10;` or escape the ampersand as `&amp;`"}),o+=u-1;continue}let p="";for(;u<i.length&&/[0-9]/.test(i[u]);)p+=i[u],u++;if(u<i.length&&i[u]===";"){u++;let T=e.slice(s,s+1+u),B=q(n,t+s),R=q(n,t+s+T.length);if(p){let E=Number.parseInt(p,10);if(E>0&&E<=1114111&&(E<55296||E>57343)){o+=u-1;continue}r("XML014_INVALID_NUMERIC_ENTITY",h.Error,`invalid numeric XML entity \`${T}\``,B,R,{primaryLabel:"this numeric entity is outside the valid Unicode range",help:"replace it with a valid Unicode code point or normal text"}),o+=u-1;continue}r("XML001_INVALID_SYNTAX",h.Error,`malformed numeric XML entity \`${T}\``,B,R,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as `&#10;` or escape the ampersand as `&amp;`"}),o+=u-1;continue}let m=e.slice(s,s+1+u),g=q(n,t+s),f=q(n,t+s+m.length);r("XML001_INVALID_SYNTAX",h.Error,`malformed numeric XML entity \`${m}\``,g,f,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as `&#10;` or escape the ampersand as `&amp;`"}),o+=u-1;continue}let a=i.match(/^[a-zA-Z][a-zA-Z0-9]*;/);if(a){let u=`&${a[0]}`,p=q(n,t+s),m=q(n,t+s+u.length);r("XML013_UNKNOWN_ENTITY",h.Error,`unknown XML entity \`${u}\``,p,m,{primaryLabel:"this entity is not one of XML's predefined entities",help:"use one of `&amp;`, `&lt;`, `&gt;`, `&quot;`, `&apos;`, or a valid numeric entity"}),o+=u.length-1;continue}let l=i.match(/^[a-zA-Z][a-zA-Z0-9]*/);if(l){let u=`&${l[0]}`,p=q(n,t+s),m=q(n,t+s+u.length);r("XML001_INVALID_SYNTAX",h.Error,"bare ampersand in XML content",p,m,{primaryLabel:"escape `&` as `&amp;`",help:"replace `&` with `&amp;` unless this is a valid XML entity"}),o+=u.length-1;continue}let c=q(n,t+s),d=q(n,t+s+1);r("XML001_INVALID_SYNTAX",h.Error,"bare ampersand in XML content",c,d,{primaryLabel:"escape `&` as `&amp;`",help:"replace `&` with `&amp;` unless this is a valid XML entity"})}}function _t(e){return e.replace(/&quot;/g,'"').replace(/&apos;/g,"'").replace(/&lt;/g,"<").replace(/&gt;/g,">").replace(/&amp;/g,"&").replace(/&#x([0-9a-fA-F]+);/g,(t,n)=>{let r=Number.parseInt(n,16);return r<=0||r>1114111||r>=55296&&r<=57343?t:String.fromCodePoint(r)}).replace(/&#([0-9]+);/g,(t,n)=>{let r=Number.parseInt(n,10);return r<=0||r>1114111||r>=55296&&r<=57343?t:String.fromCodePoint(r)})}function _i(e){let t="",n=[0];for(let r=0;r<e.length;){let o=Td(e,r);if(!o){t+=e[r]??"",r+=1,n.push(r);continue}t+=o.value,r=o.end,n.push(r)}return{value:t,offsets:n}}function Td(e,t){let n=e.slice(t);if(n.startsWith("&quot;")||n.startsWith("&apos;")||n.startsWith("&lt;")||n.startsWith("&gt;")||n.startsWith("&amp;")){let s=n.startsWith("&quot;")?"&quot;":n.startsWith("&apos;")?"&apos;":n.startsWith("&lt;")?"&lt;":n.startsWith("&gt;")?"&gt;":"&amp;";return{value:_t(s),end:t+s.length}}let o=/^&#x([0-9a-fA-F]+);/.exec(n);if(o){let s=o[0];return{value:_t(s),end:t+s.length}}let i=/^&#([0-9]+);/.exec(n);if(i){let s=i[0];return{value:_t(s),end:t+s.length}}}function Li(e){return nt(e.line,e.character,e.offset)}function xd(e){return!!e&&/[A-Za-z_:]/.test(e||"")}function Dd(e){return!!e&&/[A-Za-z0-9_.:\-]/.test(e||"")}function Id(e){return e===" "||e==="	"||e===`
+`||e==="\r"}function Cd(e){let t=e.codePointAt(0);return t!==void 0&&t<32&&e!=="	"&&e!==`
+`&&e!=="\r"}function ye(e,t={}){let n=[],r=t.mode==="tolerant",o={uri:t.uri||"",path:t.path,kind:"generic-xml",isBtXml:!1,xmlDeclaration:void 0,root:void 0,nodes:[],diagnostics:n,originalText:e},i=0,s=0,a=0,l=[],c=!1;function d(){return nt(s,a,i)}function u(){return i>=e.length}function p(v=0){return e[i+v]}function m(v=1){for(let M=0;M<v;M+=1)e[i++]===`
+`?(s+=1,a=0):a+=1}function g(){for(;!u()&&Id(p());)m()}let f=(v,M,_,L,C,J)=>{n.push(P(v,M,_,I(L,C),o.uri,J))};function T(v,M,_,L,C,J){n.push(P(v,M,_,L&&C?I(L,C):void 0,o.uri,J))}function B(){if(!xd(p()))return"";let v=i;for(m();!u()&&Dd(p());)m();return e.slice(v,i)}function R(){let v=p();if(v!=='"'&&v!=="'")return{value:"",ok:!1};let M=d();m();let _=d(),L=i;for(;!u()&&p()!==v&&p()!=="<";)m();let C=d();if(u()||p()!==v)return{value:e.slice(L,i),ok:!1,valueRange:I(M,C),valueContentRange:I(_,C)};let J=e.slice(L,i);m(),Sr(J,_.offset,e,f);let Re=_i(J);return{value:Re.value,valueOffsets:Re.offsets,ok:!0,valueRange:I(M,d()),valueContentRange:I(_,C)}}function E(){let v=[],M=new Set;for(;;){g();let _=p();if(!_||_===">"||_==="/"&&p(1)===">")break;let L=d(),C=B(),J=d();if(!C)break;g();let Re=d();if(p()!=="="){if(f("XML001_INVALID_SYNTAX",h.Error,"invalid attribute syntax",L,J,{primaryLabel:`expected \`=\` after attribute \`${C}\``,help:`write the attribute as \`${C}="..."\``}),c=!0,r)continue;break}m();let yl=d();g();let jn=d(),je=R(),et=d();if(!je.ok&&(f("XML005_INVALID_ATTRIBUTE_VALUE",h.Error,"invalid attribute value",jn,et,{primaryLabel:"expected a quoted attribute value",help:`write the value with quotes, for example \`${C}="value"\``}),c=!0,!r)||(M.has(C)?f("XML004_DUPLICATE_ATTRIBUTE",h.Error,`duplicate attribute \`${C}\``,L,et,{primaryLabel:`attribute \`${C}\` is already defined on this element`,help:`remove one of the duplicate \`${C}\` attributes`}):M.add(C),v.push({name:C,value:je.value,...je.valueOffsets?{valueOffsets:je.valueOffsets}:{},range:I(L,et),fullRange:I(L,et),nameRange:I(L,J),equalsRange:I(Re,yl),valueRange:je.valueRange||I(jn,et),valueContentRange:je.valueContentRange||I(jn,et)}),!je.ok&&r))break}return v}function y(v){l.length>0?l[l.length-1].children.push(v):(o.nodes.push(v),!o.root&&v.kind==="element"&&(o.root=v))}function b(){let v=d(),M=i;for(;!u()&&p()!=="<";)m();let _=e.slice(M,i);if(_.length===0)return;for(let C of _)if(Cd(C)){f("XML007_INVALID_CHARACTER",h.Error,"invalid XML character",v,d(),{primaryLabel:"this control character is not allowed in XML",help:"remove the character or replace it with valid text"});break}Sr(_,M,e,f);let L={kind:"text",text:_t(_),range:I(v,d()),fullRange:I(v,d())};y(L)}function k(){let v=d();m(4);let M=d(),_=i;for(;!u()&&!(p()==="-"&&p(1)==="-"&&p(2)===">");)m();let L=e.slice(_,i);if(u()){if(f("XML001_INVALID_SYNTAX",h.Error,"unterminated XML comment",v,d(),{primaryLabel:"comment started here but no closing `-->` was found",help:"close the comment with `-->`"}),c=!0,!r)return;let Re={kind:"comment",text:L,range:I(v,d()),fullRange:I(v,d()),contentRange:I(M,d())};y(Re);return}(L.includes("--")||L.endsWith("-"))&&f("XML001_INVALID_SYNTAX",h.Error,"invalid XML comment",M,d(),{primaryLabel:"XML comments cannot contain `--`",help:"remove `--` from the comment body or split it into separate comments"});let C=d();m(3);let J={kind:"comment",text:L,range:I(v,d()),fullRange:I(v,d()),contentRange:I(M,C)};y(J)}function x(){let v=d();m(5),g();let M=E();g(),p()==="?"&&p(1)===">"?m(2):f("XML001_INVALID_SYNTAX",h.Error,"invalid XML declaration",v,d(),{primaryLabel:"expected `?>` to close the XML declaration",help:'close the declaration as `<?xml version="1.0" encoding="UTF-8"?>`'});let _={range:I(v,d()),attributes:M};for(let L of M)L.name==="version"&&(_.version=L.value),L.name==="encoding"&&(_.encoding=L.value),L.name==="standalone"&&(_.standalone=L.value);o.xmlDeclaration=_}function A(){let v=d();m(2),g();let M=d(),_=B(),L=d();if(g(),p()!==">")for(f("XML001_INVALID_SYNTAX",h.Error,"invalid closing tag syntax",v,d(),{primaryLabel:"expected `>` to close the tag",help:"close the tag with `>`"}),c=!0;!u()&&p()!==">";)m();p()===">"&&m();let C=l.pop();if(!C||C.name!==_){let J=C?C.name:_||"",Re=_||"";f("XML006_MISSING_CLOSING_TAG",h.Error,`mismatched closing tag \`</${Re}>\``,v,d(),{primaryLabel:`opened as \`<${J}>\` but closed as \`</${Re}>\``,help:`change the closing tag to \`</${J}>\` or fix the nesting`});return}C.closeTagRange=I(v,d()),C.endTagRange=I(v,d()),C.nameRange||(C.nameRange=I(M,L)),C.range=I(C.range.start,d()),C.fullRange=I(C.range.start,d())}for(;!u();)if(p()==="<")if(p(1)==="?")if(e.slice(i,i+5).toLowerCase()==="<?xml"&&e.charAt(i+5)===" ")x();else{let v=d();for(;!u()&&!(p()==="?"&&p(1)===">");)m();u()||m(2),f("XML012_UNSUPPORTED_PROCESSING_INSTRUCTION",h.Error,"processing instruction is not supported",v,d(),{primaryLabel:"only the XML declaration is supported",help:"remove this processing instruction"})}else if(p(1)==="!"&&p(2)==="-"&&p(3)==="-")k();else if(p(1)==="!"&&p(2)==="["&&e.slice(i+3,i+9)==="CDATA["){let v=d();for(m(8);!u()&&!(p()==="]"&&p(1)==="]"&&p(2)===">");)m();u()||m(3),f("XML010_UNSUPPORTED_CDATA",h.Error,"CDATA is not supported",v,d(),{primaryLabel:"CDATA sections are not supported by btxml",help:"replace the CDATA section with normal escaped XML text",notes:["escape `<` as `&lt;`, `>` as `&gt;`, and `&` as `&amp;`"]})}else if(p(1)==="!"&&e.slice(i+2,i+9)==="DOCTYPE"){let v=d();for(m(8);!u()&&p()!==">";)m();u()||m(1),f("XML011_UNSUPPORTED_DOCTYPE",h.Error,"DOCTYPE is not supported",v,d(),{primaryLabel:"DOCTYPE declarations are not supported by btxml",help:"remove the DOCTYPE declaration"})}else if(p(1)==="/")A();else{let v=d();m();let M=d(),_=B(),L=d();if(!_){if(f("XML001_INVALID_SYNTAX",h.Error,"invalid XML tag",v,d(),{primaryLabel:"expected an XML element name after `<`",help:"start the tag with a valid XML name such as `<root>` or `<BehaviorTree>`"}),c=!0,r){m();continue}break}let C={kind:"element",name:_,attributes:[],children:[],range:I(v,v),fullRange:I(v,v),openTagRange:I(v,v),startTagRange:I(v,v),nameRange:I(M,L),selfClosing:!1};if(C.attributes=E(),g(),p()==="/"&&p(1)===">"){m(2),C.selfClosing=!0,C.openTagRange=I(v,d()),C.startTagRange=C.openTagRange,C.range=I(v,d()),C.fullRange=I(v,d()),y(C);continue}if(p()!==">"){if(f("XML001_INVALID_SYNTAX",h.Error,"invalid XML tag",v,d(),{primaryLabel:"expected `>` or `/>` to close the start tag",help:"close the start tag with `>` or make it self-closing with `/>`"}),c=!0,r){C.openTagRange=I(v,d()),C.startTagRange=C.openTagRange,C.range=I(v,d()),C.fullRange=I(v,d()),y(C);continue}break}m(),C.openTagRange=I(v,d()),C.startTagRange=C.openTagRange,C.range=I(v,d()),C.fullRange=I(v,d()),y(C),l.push(C)}else b();if(l.length>0){let v=l[l.length-1];if(f("XML006_MISSING_CLOSING_TAG",h.Error,`missing closing tag for \`<${v.name}>\``,v.openTagRange.start,v.openTagRange.end,{primaryLabel:"this tag is not closed",help:`add \`</${v.name}>\` before the end of the file`}),c=!0,r)for(;l.length>0;){let M=l.pop();if(!M)break;M.range=I(M.range.start,d()),M.fullRange=I(M.range.start,d())}}let j=o.nodes.filter(v=>v.kind==="element");j.length===0?T("XML002_MISSING_ROOT",h.Error,"missing root element",void 0,void 0,{help:'add a single root element, usually `<root BTCPP_format="4">...</root>`'}):j.length>1&&T("XML003_MULTIPLE_ROOTS",h.Error,"multiple root elements",void 0,void 0,{primaryLabel:"this document has more than one top-level element",help:'wrap the document content in one `<root BTCPP_format="4">...</root>` element'});let F=o.root,ve=F?.name==="BehaviorTree"||F?.name==="TreeNodesModel"||F?.name==="root"&&(F.attributes.some(v=>v.name==="BTCPP_format"&&v.value==="4")||F.children.some(v=>v.kind==="element"&&(v.name==="BehaviorTree"||v.name==="TreeNodesModel")));if(F)for(let v of o.nodes)v!==F&&v.kind==="text"&&v.text.trim().length>0&&f("XML016_TEXT_OUTSIDE_ROOT",h.Error,"text outside root element",v.range.start,v.range.end,{primaryLabel:"non-whitespace text appears outside the root element",help:"move this text inside `<root>` or remove it"});if(!o.xmlDeclaration&&!ve)T("XML008_MISSING_DECLARATION",h.Warning,"missing XML declaration",void 0,void 0,{help:'add `<?xml version="1.0" encoding="UTF-8"?>` at the top of the file',notes:["this is a warning because BehaviorTree.CPP can still parse many files without a declaration"]});else if(o.xmlDeclaration?.encoding&&o.xmlDeclaration.encoding.toUpperCase()!=="UTF-8"){let v=o.xmlDeclaration.encoding;f("XML009_INVALID_ENCODING",h.Warning,"XML encoding should be UTF-8",o.xmlDeclaration.range.start,o.xmlDeclaration.range.end,{primaryLabel:`declared encoding is \`${v}\``,help:'change the XML declaration to `encoding="UTF-8"`'})}return F&&hr(F,v=>{f("XML015_UNSUPPORTED_MIXED_CONTENT",h.Warning,"mixed XML content is not supported",Li(v.range.start),Li(v.range.end),{primaryLabel:"this element contains both text and child elements",help:"move the text into an attribute or split it into separate elements",notes:["text inside `<input_port>` and `<output_port>` remains allowed"]})}),Ai({document:o,diagnostics:n,partial:c,options:t})}var Lt={indentWidth:2,xmlDeclaration:"always",blankLineBetweenBehaviorTrees:!0,lineEnding:"lf"};function ji(e){if(!e)return Lt;let t=typeof e.indentWidth=="number"?e.indentWidth:Lt.indentWidth,n=e.xmlDeclaration==="always"||e.xmlDeclaration==="never"||e.xmlDeclaration==="preserve"?e.xmlDeclaration:Lt.xmlDeclaration,r=typeof e.blankLineBetweenBehaviorTrees=="boolean"?e.blankLineBetweenBehaviorTrees:Lt.blankLineBetweenBehaviorTrees,o=e.lineEnding==="lf"||e.lineEnding==="crlf"||e.lineEnding==="auto"?e.lineEnding:Lt.lineEnding;return{indentWidth:t,xmlDeclaration:n,blankLineBetweenBehaviorTrees:r,lineEnding:o}}function pn(e){return String(e).replace(/&/g,"&amp;").replace(/</g,"&lt;").replace(/>/g,"&gt;")}function mn(e){return pn(e).replace(/"/g,"&quot;")}function Bd(e){return e.filter(t=>!(t.kind==="text"&&t.text.trim()===""))}function Ed(e,t,n){return`${" ".repeat(e*n)}${t}`}function at(e,t,n,r){let o=" ".repeat(t*r),i=e.attributes||[];if(i.length===0)return[`${o}<${e.name}${n}`];if(i.length===1)return[`${o}<${e.name} ${i[0].name}="${mn(i[0].value)}"${n}`];let s=[`${o}<${e.name} ${i[0].name}="${mn(i[0].value)}"`],a=" ".repeat(o.length+1+e.name.length+1);for(let l=1;l<i.length;l+=1){let c=i[l],d=l===i.length-1?n:"";s.push(`${a}${c.name}="${mn(c.value)}"${d}`)}return s}function fn(e,t,n,r){let o=" ".repeat(t*n);if(e.kind==="comment")return[`${o}<!--${e.text}-->`];if(e.kind==="text"){let d=e.text.trim();return d?[Ed(t,pn(d),n)]:[]}let i=Bd(e.children||[]),s=e.kind==="element"&&(e.name==="input_port"||e.name==="output_port"),a=(e.children||[]).filter(d=>d.kind==="text").map(d=>d.text).join("").trim(),l=i.some(d=>d.kind==="element"||d.kind==="comment");if(a&&l&&!s&&r.push({code:"XML015_UNSUPPORTED_MIXED_CONTENT",severity:"error",message:"Mixed XML content is not supported by btxml-checker formatter",uri:""}),a&&!l){if((e.attributes||[]).length<=1){let d=(e.attributes||[]).length===0?"":` ${e.attributes[0].name}="${mn(e.attributes[0].value)}"`;return[`${o}<${e.name}${d}>${pn(a)}</${e.name}>`]}return at(e,t,`>${pn(a)}</${e.name}>`,n)}if(i.length===0){if(e.selfClosing)return at(e,t,"/>".slice(0),n);let d=at(e,t,">",n);return d.push(`${o}</${e.name}>`),d}let c=at(e,t,">",n);for(let d of e.children||[])d.kind==="text"&&d.text.trim()===""||c.push(...fn(d,t+1,n,r));return c.push(`${o}</${e.name}>`),c}function Nd(e){return e.filter(t=>!(t.kind==="text"&&t.text.trim()===""))}function Fi(e,t,n,r){let o=[],i=Nd(e);for(let s=0;s<i.length;s+=1){let a=i[s],l=i[s-1],c=i[s+1],d=n&&a.kind==="element"&&a.name==="BehaviorTree"&&l&&l.kind==="element"&&l.name==="BehaviorTree",u=a.kind==="element"&&a.name==="TreeNodesModel"&&l!==void 0&&l.kind!=="comment",p=a.kind==="comment"&&c&&c.kind==="element"&&c.name==="TreeNodesModel"&&l!==void 0;(d||u||p)&&o.length>0&&o[o.length-1]!==""&&o.push(""),a.kind==="element"?(o.push(...fn(a,1,t,r)),a.name==="TreeNodesModel"&&o.push("")):o.push(...fn(a,1,t,r))}return o}function jt(e,t={}){let n=ye(e);if(!n.ok||!n.document||!n.document.root)return{ok:!1,skipped:!1,diagnostics:n.diagnostics};if(n.diagnostics.find(f=>["XML010_UNSUPPORTED_CDATA","XML011_UNSUPPORTED_DOCTYPE","XML012_UNSUPPORTED_PROCESSING_INSTRUCTION","XML013_UNKNOWN_ENTITY","XML014_INVALID_NUMERIC_ENTITY","XML001_INVALID_SYNTAX"].includes(f.code)))return{ok:!1,skipped:!1,diagnostics:n.diagnostics};if(n.document.kind==="generic-xml"&&!t.force)return{ok:!0,skipped:!0,diagnostics:[]};let o=n.document.root,i=ji(t),s=i.indentWidth,a=[],l=n.document.xmlDeclaration!==void 0;if((i.xmlDeclaration==="always"||i.xmlDeclaration==="preserve"&&l)&&a.push('<?xml version="1.0" encoding="UTF-8"?>'),a.push(...at(o,0,">",s)),a.push(...Fi(o.children||[],s,i.blankLineBetweenBehaviorTrees,n.diagnostics)),a.push(`</${o.name}>`),n.diagnostics.some(f=>f.code==="XML015_UNSUPPORTED_MIXED_CONTENT"))return{ok:!1,skipped:!1,diagnostics:n.diagnostics};let c=`
 `;(i.lineEnding==="crlf"||i.lineEnding==="auto"&&e.includes(`\r
 `))&&(c=`\r
-`);let u=a.join(c),d=c.replace(/\\/g,"\\\\").replace(/\r/g,"\\r").replace(/\n/g,"\\n"),p=new RegExp(`(?:${d})+$`,"u"),g=`${u.replace(p,"")}${c}`;return{ok:!0,text:g,changed:g!==e,skipped:!1,diagnostics:n.diagnostics.filter(f=>f.severity!==b.Error)}}function st(e,t){if(!(!H(e.range,t)&&!H(e.fullRange,t))){for(let n of e.children){if(n.kind!=="element")continue;let r=st(n,t);if(r)return r}return e}}var wi=/^[A-Za-z_:][A-Za-z0-9_.:-]*/,gu=/([A-Za-z_:][A-Za-z0-9_.:-]*)\s*=\s*("([^"]*)"|'([^']*)')/gs;function yu(e,t){let n=[],r=0;for(;r<t;){let o=e.indexOf("<",r);if(o<0||o>=t)break;if(e.startsWith("<!--",o)){let c=e.indexOf("-->",o+4);if(c<0||c+3>t)break;r=c+3;continue}if(e.startsWith("<![CDATA[",o)){let c=e.indexOf("]]>",o+9);if(c<0||c+3>t)break;r=c+3;continue}if(e.startsWith("<?",o)){let c=e.indexOf("?>",o+2);if(c<0||c+2>t)break;r=c+2;continue}if(e.startsWith("<!",o)){let c=e.indexOf(">",o+2);if(c<0||c+1>t)break;r=c+1;continue}if(e[o+1]==="/"){let u=e.slice(o+2).match(wi)?.[0];if(u){for(let p=n.length-1;p>=0;p-=1)if(n[p]===u){n.length=p;break}}let d=e.indexOf(">",o+2);if(d<0||d>=t)break;r=d+1;continue}let s=e.slice(o+1).match(/^\s*([A-Za-z_:][A-Za-z0-9_.:-]*)/)?.[1];if(!s){r=o+1;continue}let a=e.indexOf(">",o+1);if(a<0||a>=t)break;e.slice(o+1,a).trimEnd().endsWith("/")||n.push(s),r=a+1}return n.at(-1)}function mn(e,t){let n=e.positionAt(t);return D(n,n)}function se(e,t,n){return D(e.positionAt(t),e.positionAt(n))}function fn(e){return{name:e.name,value:e.value,range:se(e.document,e.nameStart,e.valueEnd),fullRange:se(e.document,e.nameStart,e.valueEnd),nameRange:se(e.document,e.nameStart,e.nameEnd),equalsRange:e.equalsStart!==void 0&&e.equalsEnd!==void 0?se(e.document,e.equalsStart,e.equalsEnd):void 0,valueRange:se(e.document,e.valueStart,e.valueEnd),valueContentRange:e.valueContentStart!==void 0&&e.valueContentEnd!==void 0?se(e.document,e.valueContentStart,e.valueContentEnd):void 0}}function bu(e,t,n){let r=[];for(let o of t.matchAll(gu)){let i=o.index??0,s=o[1],a=o[2],l=o[3],c=o[4],u=o[0].indexOf(s),d=o[0].indexOf("=",u+s.length),p=o[0].indexOf(a,d+1),m=n+i+p,g=m+a.length;r.push(fn({document:e,name:s,value:l??c??"",nameStart:n+i+u,nameEnd:n+i+u+s.length,equalsStart:n+i+d,equalsEnd:n+i+d+1,valueStart:m,valueEnd:g,valueContentStart:m+1,valueContentEnd:g-1}))}return r}function hu(e,t){let n=Math.max(0,t-4e3),r=e.text.slice(n,t),o=r.lastIndexOf("<"),i=r.lastIndexOf(">");if(o<0||o<i||!r.startsWith("</",o))return;let s=n+o,a=r.slice(o+2);if(!/\s/.test(a))return{kind:"closing-tag-name",tagNamePrefix:a,replacementRange:se(e,s+2,t)}}function Ni(e,t){let n=Math.max(0,t-4e3),r=e.text.slice(n,t),o=r.lastIndexOf("<"),i=r.lastIndexOf(">");if(o<0||o<i)return;let s=n+o,a=s+1,l=r.slice(o+1);if(/^\s*[!?/]/.test(l))return;let c=l.match(/^\s*/)?.[0].length??0,u=l.slice(c).match(wi);if(!u)return{kind:"tag-name"};let d=u[0],p=c,m=p+d.length,g=se(e,a+p,a+m),f={kind:"element",name:d,attributes:bu(e,l,a),children:[],range:se(e,s,t),fullRange:se(e,s,t),openTagRange:se(e,s,t),startTagRange:se(e,s,t),nameRange:g,selfClosing:!1};if(l.length<=m&&!/\s/.test(l.slice(m)))return{kind:"tag-name",element:f,replacementRange:g};let x=l.match(/(?:^|\s)([A-Za-z_:][A-Za-z0-9_.:-]*)\s*=\s*(?:(['"])([^"']*)|([^\s>"']*))?$/s);if(x){let E=x[0].indexOf(x[1]),y=(x.index??0)+E,h=y+x[1].length,R=l.indexOf("=",h),T=x[2],A=x[4]??"";if(T){let F=l.indexOf(T,R+1),ve=a+F+1,v=fn({document:e,name:x[1],value:x[3]??"",nameStart:a+y,nameEnd:a+h,equalsStart:a+R,equalsEnd:a+R+1,valueStart:a+F,valueEnd:t,valueContentStart:ve,valueContentEnd:t});return{kind:"attribute-value",element:f,attribute:v,valuePrefix:e.text.slice(ve,t)}}let j=A.length>0?t-a-A.length:t-a;return{kind:"attribute-value",element:f,attribute:fn({document:e,name:x[1],value:A,nameStart:a+y,nameEnd:a+h,equalsStart:a+R,equalsEnd:a+R+1,valueStart:a+j,valueEnd:t,valueContentStart:a+j,valueContentEnd:t}),valuePrefix:e.text.slice(a+j,t)}}let B=l.match(/(?:^|\s)([A-Za-z_:][A-Za-z0-9_.:-]*)?$/s);if(B){let k=B[1]??"",E=t-a-k.length;return{kind:"attribute-name",element:f,attribute:fn({document:e,name:k,value:"",nameStart:a+E,nameEnd:t,valueStart:t,valueEnd:t})}}return{kind:"attribute-name",element:f,attribute:{name:"",value:"",range:mn(e,t),fullRange:mn(e,t),nameRange:mn(e,t),valueRange:mn(e,t)}}}function ne(e){let{document:t,parsed:n,position:r}=e,o=r.offset,i=t.text.length>0?{kind:"text"}:{kind:"unknown"},s=hu(t,o);if(s)return{kind:"closing-tag-name",tagNamePrefix:s.tagNamePrefix,replacementRange:s.replacementRange,tagText:yu(t.text,o)};if(n?.root){let c=st(n.root,o);if(c){for(let u of c.attributes){if(H(u.nameRange,o))return{kind:"attribute-name",element:c,attribute:u};if(H(u.valueRange,o)||H(u.valueContentRange,o))return{kind:"attribute-value",element:c,attribute:u,valuePrefix:u.valueContentRange&&o>=u.valueContentRange.start.offset?t.text.slice(u.valueContentRange.start.offset,o):""}}if(H(c.nameRange||c.openTagRange,o))return{kind:"tag-name",element:c,replacementRange:c.nameRange};if(H(c.openTagRange,o)){let u=Ni(t,o);if(u)return u.kind==="tag-name"?{...u,element:u.element??c}:u}i={kind:"element",element:c}}}let a=Ni(t,o);if(a)return a;let l=t.text.slice(Math.max(0,o-200),o);return/<!--\s*btxml-disable-next-line\s+[A-Z0-9_]*$/.test(l)?{kind:"comment"}:i}function gn(e,t){let n=e.valueOffsets;return!n||n.length===0?t:t<=0?0:t>=n.length?n[n.length-1]??0:n[t]??0}function Te(e,t,n){let r=t.valueContentRange??t.valueRange,o=gn(t,n.start),i=gn(t,n.end),s=q(e.originalText,r.start.offset+o),a=q(e.originalText,r.start.offset+i);return D(s,a)}function fr(e){return e.rootUri}function gr(e){return e.resolvedConfig}var Mi={InvalidJson:S.InvalidAugmentationJson,InvalidSchema:S.InvalidAugmentationSchema};function Su(e){return w(e.code,b.Error,e.message,e.range,e.filePath,{primaryLabel:e.primaryLabel,help:e.help,notes:e.notes?[...e.notes]:void 0})}function vu(e,t){return t.issues.map(n=>Su({filePath:e,code:n.kind==="json"?Mi.InvalidJson:Mi.InvalidSchema,message:n.kind==="json"?`invalid augmentation JSON \`${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 \`${n.path}\``:"fix the schema issue in the file",notes:n.notes}))}async function yn(e){let t=e.project,n=e.host??t.host,r=[],o=[];for(let i of t.augmentationFiles){if(!await n.exists(i.uri)){r.push(w(S.AugmentationFileNotFound,b.Error,`model augmentation file not found \`${i.path}\``,void 0,i.path,{help:"check `models.augmentations` and make sure the file exists"}));continue}let s=await n.readFile(i.uri),a=Wn(s,{uri:i.uri,path:i.path});if(!a.ok){r.push(...vu(i.path,a));continue}o.push(a.data)}return{ok:r.every(i=>i.severity!==b.Error),augmentations:o,diagnostics:r}}function Ru(e){let t=e.root;if(!t)return;if(t.name==="TreeNodesModel")return{...e,kind:"model-document",isBtXml:!0};let n=t.children.find(o=>o.kind==="element"&&o.name==="TreeNodesModel");if(!n)return;let r=e.nodes.flatMap(o=>o===t?t.children.filter(i=>i===n||i.kind==="comment"):o.kind==="comment"?[o]:[]);return{...e,kind:"model-document",root:n,nodes:r,isBtXml:!0}}async function ku(e,t){return ye(await t.readFile(e.uri),{uri:e.uri,path:e.path})}async function yr(e,t){if(!await t.exists(e.uri))return{diagnostics:[w(S.ExternalModelFileNotFound,b.Error,`external TreeNodesModel file not found \`${e.path}\``,void 0,e.path,{help:"check `models.files` and make sure the file exists"})]};let n=await ku(e,t);if(!n.document||n.diagnostics.some(o=>o.severity===b.Error)){let o=n.diagnostics[0];return{diagnostics:[w(S.ExternalModelXmlParseError,b.Error,`failed to parse external TreeNodesModel file \`${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:o?[`first XML error: ${o.code} ${o.message}`]:void 0})]}}let r=Ru(n.document);return r?{document:r,diagnostics:[]}:{diagnostics:[w(S.MissingTreeNodesModel,b.Error,"missing `<TreeNodesModel>` in external model file",n.document.root?.range,e.path,{primaryLabel:"this file does not contain a `<TreeNodesModel>` element",help:"add a `<TreeNodesModel>` element or remove the file from `models.files`"})]}}async function Ve(e,t){let n=e,r=t??n.host,o=[];for(let c of n.selectedFiles){if(!await r.exists(c.uri))continue;let u=await r.readFile(c.uri),d=ye(u,{uri:c.uri,path:c.path});d.document&&o.push(d.document)}let i=await Promise.all(n.modelFiles.map(c=>yr(c,r))),s=await yn({project:e,host:r}),a=i.flatMap(c=>c.diagnostics),l=i.flatMap(c=>c.document?[c.document]:[]);return{documents:o,externalModelDocuments:l,augmentations:[...s.augmentations],diagnostics:[...a,...s.diagnostics]}}function Tu(e){return e.endsWith("/")?e:`${e}/`}function xu(e,t=!1){return t?e.split("/").filter(n=>n.length>0&&n!=="."):br(e.split("/"))}function br(e){let t=[];for(let n of e)if(!(!n||n===".")){if(n===".."){t.pop();continue}t.push(n)}return t}function qe(e,t={}){let n=e.replace(/\\/g,"/"),r=s=>xu(s,t.preserveDotSegments),o=/^(?<scheme>[A-Za-z][A-Za-z\d+.-]*):\/\/(?<authority>[^/]*)(?<path>\/.*)?$/.exec(n);if(o?.groups)return{scheme:o.groups.scheme,authority:o.groups.authority,absolute:!0,segments:r(o.groups.path||"/")};let i=/^(?<drive>[A-Za-z]:)(?<rest>\/.*)?$/.exec(n);return i?.groups?{authority:i.groups.drive,absolute:!0,segments:r(i.groups.rest||"/")}:{absolute:n.startsWith("/"),segments:r(n)}}function bn(e){let n=br(e.segments).join("/");if(e.scheme){let r=`${e.scheme}://${e.authority??""}`;return n?`${r}/${n}`:`${r}/`}return e.authority&&e.absolute?n?`${e.authority}/${n}`:`${e.authority}/`:e.absolute?n?`/${n}`:"/":n}function Iu(e,t){return e.scheme===t.scheme&&e.authority===t.authority&&e.absolute===t.absolute}function Lt(e){return bn(qe(e))}function Du(e,...t){let n=qe(e),r=[...n.segments];for(let o of t){let i=qe(o,{preserveDotSegments:!0});if(i.scheme||i.absolute&&i.authority)return Lt(o);i.absolute&&(r.length=0),r.push(...i.segments)}return bn({...n,segments:br(r)})}function Cu(e){let t=qe(e);return t.segments.length===0?bn(t):bn({...t,segments:t.segments.slice(0,-1)})}function Bu(e){return qe(e).segments.at(-1)??""}function Eu(e,t){let n=qe(e),r=qe(t);if(!Iu(n,r))return Lt(t);let o=0;for(;o<n.segments.length&&o<r.segments.length&&n.segments[o]===r.segments[o];)o+=1;let i=new Array(n.segments.length-o).fill(".."),s=r.segments.slice(o);return[...i,...s].join("/")}function Pu(e,t){let n=Tu(Lt(e)),r=Lt(t);return r===n.slice(0,-1)||r.startsWith(n)}var Q={normalize:Lt,join:Du,dirname:Cu,basename:Bu,relative:Eu,isWithin:Pu};function be(e,...t){return Q.join(e,...t)}function Ai(e){return Q.dirname(e)}function _i(e){return Q.basename(e)}function Ee(e,t){return Q.relative(e,t)}function Li(e,t){return Q.isWithin(e,t)}import Nu from"ignore";function hr(e){return e.replace(/\\/g,"/")}function $(e,t){return hr(Ee(e,t))}function wu(e){let t=e.replace(/\\/g,"/"),n="^";for(let r=0;r<t.length;r+=1){let o=t[r],i=t[r+1],s=t[r+2];if(o==="*"&&i==="*"&&s==="/"){n+="(?:.*/)?",r+=2;continue}if(o==="*"&&i==="*"){n+=".*",r+=1;continue}if(o==="*"){n+="[^/]*";continue}if(o==="?"){n+="[^/]";continue}".+-^${}()|[]\\".includes(o)?n+=`\\${o}`:n+=o}return n+="$",new RegExp(n)}function Pe(e,t){let n=e.replace(/\\/g,"/"),r=t.replace(/\\/g,"/");return!r.includes("*")&&!r.includes("?")?n===r||_i(n)===r:wu(r).test(n)}function Mu(e){return e.includes("*")||e.includes("?")}async function ji(e,t,n,r,o,i,s,a){let l=$(n,t);if(l&&r.some(u=>Pe(l,u)||Pe(`${l}/`,u)||Pe(`${l}/dummy`,u))||a&&l&&a.ignores(l))return;let c;try{c=await e.readDir(t)}catch{return}for(let u of c){let d=be(t,u.name),p=u.type==="directory",m=u.type==="file";if(u.type==="other"&&i&&e.realpath)try{let g=await e.realpath(d);if(s.has(g))continue;s.add(g);let f=await e.stat(g);p=f?.type==="directory",m=f?.type==="file"}catch{continue}p?await ji(e,d,n,r,o,i,s,a):m&&o.push(d)}}async function jt(e,t,n,r,o,i,s){let a=new Set,l=new Set,c=[],u=o??t;for(let p of e){let m=be(u,p);if((await s.stat(m))?.type==="file"){let g=$(t,m),f=!g.startsWith("..");!n.some(x=>Pe(g,x))&&(!f||!i?.ignores(g))&&a.add(m);continue}if(!Mu(p)){l.add(p);continue}c.push(p)}let d=[];if(c.length>0&&await s.exists(t)){let p=new Set([s.realpath?await s.realpath(t):t]);await ji(s,t,t,n,d,r,p,i)}for(let p of d){let m=$(u,p);c.some(g=>Pe(m,g))&&(n.some(g=>Pe($(t,p),g))||i?.ignores($(t,p))||a.add(p))}for(let p of c)d.some(g=>{let f=$(u,g);return Pe(f,p)&&!n.some(x=>Pe($(t,g),x))&&!i?.ignores($(t,g))})||l.add(p);return{files:[...a].sort((p,m)=>$(t,p).localeCompare($(t,m))),unmatchedPatterns:[...l].sort()}}async function Au(e,t){let n=be(e,".gitignore");return await t.exists(n)?(await t.readFile(n)).split(/\r?\n/).map(o=>o.trim()).filter(o=>o&&!o.startsWith("#")):[]}function _u(e){return Nu().add(e)}async function Fi(e,t,n,r,o){let i=[...t.ignore],s=t.useGitignore?await Au(e,o):[],a=_u(s),l=n?.length?n:t.include,c=await jt(l,e,i,t.followSymlinks,n?.length?r:void 0,a,o),u=t.maxSize,d=[],p=[];for(let m of c.files){let g=$(e,m),f=await o.stat(m);if(f){if((f.size??0)>u){p.push({path:g,reason:"too-large"});continue}d.push({path:g,uri:m,kind:"unknown"})}}return{selectedFiles:d,skippedFiles:p,unmatchedPatterns:c.unmatchedPatterns}}function Oi(e){return e.entrypoints.map(t=>({file:hr(t)}))}function Sr(e){return e.resolver.entrypoints.length>0?"entrypoints":"workspace"}async function Ui(e,t,n,r){let o=[];for(let i of t)await r.exists(be(e,i.file))||o.push(w(S.EntrypointNotFound,b.Error,`entrypoint file not found \`${i.file}\``,void 0,n,{help:"check `resolver.entrypoints` and make sure the file exists under the project root"}));return o}function Vi(e,t){return e.attributes.find(n=>n.name===t)}function qi(e,t){return Ee(e,t).replace(/\\/g,"/")}function Lu(e,t,n,r,o){return e.replace(/\$\{([^}]+)\}/g,(i,s)=>s.startsWith("env:")?process.env[s.slice(4)]??i:t[s]!==void 0?t[s]:(n.push({kind:"unresolved-variable",uri:o,variable:s,range:r,message:`unresolved include path variable \`${s}\``}),i))}function ju(e,t){let n=t.resolvedConfig.resolver.includes.elements.map(i=>({name:i.name,pathAttribute:i.attribute,base:i.base==="project-root"?"project-root":"current-file"})),r=e.root;if(!r)return[];let o=[];for(let i of r.children||[]){if(i.kind!=="element")continue;let s=n.find(a=>a.name===i.name);s&&o.push({element:i,pathAttr:Vi(i,s.pathAttribute),rosPackageAttr:Vi(i,"ros_pkg"),base:s.base??"current-file"})}return o}async function $i(e){let t=e.project,n=e.host??t.host,r=e.resolvedConfig.resolver.includes.allowOutsideRoot,o=e.resolvedConfig.resolver.includes.maxDepth,i=e.resolvedConfig.resolver.includes.maxFiles,s=[],a=new Map(e.documents.map(f=>[qi(t.rootUri,f.path||f.uri),f])),l={nodes:new Map,edges:[],entrypointFiles:[],reachableFiles:new Set,cycles:[]},c=new Map,u=new Set,d=t.entrypoints.length?t.entrypoints.map(f=>f.file):t.selectedFiles.map(f=>f.path);l.entrypointFiles=[...new Set(d)];let p=new Set,m=new Set,g=async(f,x,B)=>{if(x.length>=o){s.push({kind:"depth-exceeded",uri:B?.uri??f,path:f,range:B?.range,message:`include \`${f}\` exceeds the configured maximum include depth`});return}if(l.reachableFiles.size>=i){s.push({kind:"too-many-files",uri:B?.uri??f,path:f,range:B?.range,message:`resolving \`${f}\` would exceed the configured file limit`});return}let k=f.replaceAll("\\","/");if(p.has(k)){let T=[...x.slice(x.indexOf(k)),k];l.cycles.push({files:T}),s.push({kind:"cycle",uri:B?.uri??k,path:k,cycle:T,range:B?.range,message:"include cycle detected"});return}if(m.has(k))return;p.add(k),l.reachableFiles.add(k);let E=be(t.rootUri,k);u.add(E);let y=await n.exists(E),h=a.get(k);!h&&y&&(h=ye(await n.readFile(E),{uri:E,path:k}).document,h&&a.set(k,h)),l.nodes.set(k,{path:k,document:h,exists:y}),h&&c.set(h.uri,h);let R=h?.uri??E;if(!y){s.push({kind:"not-found",uri:B?.uri??R,path:k,range:B?.range,message:`include file not found \`${k}\``}),p.delete(k);return}if(!h){p.delete(k);return}for(let T of ju(h,e)){if(!T.pathAttr){s.push({kind:"missing-path",uri:R,range:T.element.range,message:"missing include path"});continue}let A=Lu(T.pathAttr.value,e.resolvedConfig.resolver.includes.variables,s,T.pathAttr.range,R),j;if(T.rosPackageAttr){let M=T.rosPackageAttr.value.trim();if(!n.resolvePackageUri){s.push({kind:"ros-package-resolver-missing",uri:R,packageName:M,range:T.rosPackageAttr.range,message:`include uses ros_pkg=\`${M}\` but ProjectHost.resolvePackageUri is not available`});continue}let _=await n.resolvePackageUri(M);if(!_){s.push({kind:"ros-package-not-found",uri:R,packageName:M,path:A,range:T.rosPackageAttr.range,message:`ROS package \`${M}\` could not be resolved for include path \`${A}\``});continue}j=be(_,A)}else{let M=T.base==="project-root"?t.rootUri:Ai(E);j=be(M,A)}let F=qi(t.rootUri,j),ve=j;try{await n.exists(j)&&(ve=n.realpath?await n.realpath(j):j)}catch{}if(!Li(t.rootUri,ve)){if(!r){s.push({kind:"outside-root",uri:R,path:F,range:T.pathAttr.range,message:"include target is outside the workspace"});continue}s.push({kind:"external-used",uri:R,path:F,range:T.pathAttr.range,message:`external include used \`${A}\``})}l.edges.push({from:k,to:F,includeElementRange:T.element.range,includePathRange:T.pathAttr.range}),await g(F,[...x,k],{uri:R,range:T.pathAttr.range})}p.delete(k),m.add(k)};for(let f of l.entrypointFiles)await g(f,[]);return{graph:l,reachableUris:u,reachableDocuments:c,issues:s}}import{findNodeAtLocation as Xi,parse as Fu,parseTree as Ou}from"jsonc-parser";function Uu(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
-`&&t.push(n+1);return n=>{let r=0,o=t.length-1;for(;r<=o;){let s=Math.floor((r+o)/2);t[s]<=n?r=s+1:o=s-1}let i=Math.max(0,r-1);return{line:i,character:n-t[i],offset:n}}}function zi(e,t){if(e)return{start:t(e.offset),end:t(e.offset+e.length)}}async function Wi(e){let t=e.project,n=e.host??t.host,r=[],o=[],i=new Set;for(let s of t.definitionFiles){if(!await n.exists(s.uri)){r.push(w(S.NodeDefinitionFileNotFound,b.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),c=[],u=Ou(l,c,{allowTrailingComma:!0,disallowComments:!1});try{if(a=Fu(l,c,{allowTrailingComma:!0,disallowComments:!1}),c.length>0||!u)throw new Error(`JSON parse error at offset ${c[0]?.offset??0}`)}catch(p){let m=String(p.message||p);r.push(w(S.InvalidNodeDefinitionJson,b.Error,`invalid node definition JSON \`${s.path}\``,void 0,"",{primaryLabel:"the file could not be parsed as JSON",help:`fix the JSON syntax in \`${s.path}\``,notes:[m]}));continue}let d=Gn.safeParse(a);if(!d.success){for(let p of d.error.issues){let m=p.code==="unrecognized_keys"?p.keys.map(g=>({label:`Unrecognized key: "${g}"`,path:[...p.path,g].join(".")})):[{label:p.message,path:p.path.join(".")}];for(let{label:g,path:f}of m)r.push(w(S.InvalidNodeDefinitionSchema,b.Error,`invalid node definition schema \`${s.path}\``,void 0,"",{primaryLabel:g,help:f?`fix the schema issue at \`${f}\``:"fix the schema issue in the file",notes:f?[f]:[]}))}continue}for(let[p,m]of Object.entries(d.data.nodes)){i.has(p)&&r.push(w(S.DuplicateNodeDefinitionId,b.Error,`duplicate node definition ID \`${p}\``,void 0,"",{primaryLabel:"this ID was already loaded from another node definition file",help:"remove one definition or rename one of the duplicate IDs"})),i.add(p);let g=Uu(l),f=zi(Xi(u,["nodes",p]),g),x=ft(p,m),B=x.ports.map(k=>{let E=zi(Xi(u,["nodes",p,"ports",k.name]),g);return{...k,source:"node-definition-file",uri:s.path,range:E,nameRange:E}});o.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:r.every(s=>s.severity!==b.Error),nodeModels:o,diagnostics:r}}function Gi(e,t){return Ee(e,t).replace(/\\/g,"/")}function Vu(e){return[...e.reachableDocuments.values()]}function vr(e){let t=new Map;for(let n of e)t.set(n.uri,n);return[...t.values()]}function Ki(e){let t=new Map;for(let n of e)t.set(n.path,n);return[...t.values()]}function qu(e){let t=new Map;for(let n of e){let r=t.get(n.uri)??[];r.push(n),t.set(n.uri,r)}return t}async function Rr(e){let t=[],n=e.project,r=e.resolvedConfig,o=e.resolutionMode??Sr(r),i=o==="entrypoints"||e.resolveGraph?await $i({project:e.project,documents:e.documents,resolvedConfig:r,host:e.host}):void 0,s=e.externalModelDocuments,a=e.augmentations,l=await Wi({project:e.project,host:e.host});t.push(...l.diagnostics);let c=l.nodeModels,u=i&&(o==="entrypoints"||e.resolveGraph)?vr([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)&&i.reachableUris.has(f.uri)),...i.reachableDocuments.values(),...s]):vr([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)),...s]),d=Fe(u,{config:r,models:c,augmentations:a}),p={includeIssuesByUri:qu(i?.issues??[]),suppressionIssuesByUri:new Map};t.push(...d.diagnostics);let m=new Map(Ce(d.index).map(f=>[f,Y(d.index,f)])),g={mode:o,files:new Map(u.map(f=>[Gi(n.rootUri,f.path||f.uri),f])),documentViews:new Map(u.map(f=>[f.uri,(()=>{let x=ee(r,Gi(n.rootUri,f.path||f.uri));return G(f,{semantic:d.index,config:x,policy:oe(x)})})()])),includeGraph:i?.graph,reachableDocuments:i?.reachableDocuments??new Map,behaviorTreesById:new Map(Ce(d.index).map(f=>[f,Y(d.index,f)])),reachableBehaviorTreesById:m,nodeModelsById:new Map(Et(d.index).map(f=>[f.id,f])),nodeModelSources:new Map(ir(d.index).map(f=>[f,Ue(d.index,f).flatMap(x=>x.sourceMeta?[x.sourceMeta]:[])])),nodeDefinitionModels:[...c],entrypoints:n.entrypoints,workspace:d.index,facts:p};return{ok:t.every(f=>f.severity!==b.Error),index:g,diagnostics:t}}async function Hi(e){let t=e.project,n=e.resolvedConfig??t.resolvedConfig;if(!n)throw new Error("Invariant: resolvedConfig is required");let r=[...e.projectDiagnostics??[]],o=e.host??t.host,i=e.externalModelDocuments!==void 0?[...e.externalModelDocuments]:(await Promise.all(t.modelFiles.map(async g=>{let f=await yr(g,o);return r.push(...f.diagnostics),f.document?[f.document]:[]}))).flat(),s=e.augmentations!==void 0?[...e.augmentations]:void 0;if(!s){let g=await yn({project:e.project,host:o});r.push(...g.diagnostics),s=[...g.augmentations]}let a=e.resolutionMode??Sr(n),l=a==="entrypoints"?new Set(e.documents.filter(g=>g.kind==="bt-document").map(g=>g.uri)):new Set(e.documents.map(g=>g.uri)),c=await Rr({project:e.project,documents:e.documents,activeDocumentUris:l,externalModelDocuments:i,augmentations:s,resolutionMode:a,resolveGraph:e.mode==="check",resolvedConfig:n,host:o}),u=vr([...e.documents,...Vu(c.index),...i]),d=n.linter.enabled!==!1,p=e.showSuppressed,m=[...c.index.nodeDefinitionModels];return{input:e,project:e.project,documents:e.documents,externalModelDocuments:i,augmentations:s,projectDiagnostics:r,indexResult:c,nodeDefinitionModels:m,fileDocuments:u,lintEnabled:d,showSuppressed:p,resolvedConfig:n,suppressionIssuesByUri:void 0}}function Yi(){return{includeIssuesByUri:new Map,suppressionIssuesByUri:new Map}}function Ji(e,t){return e.includeIssuesByUri.get(t)??[]}function Zi(e,t){return e.suppressionIssuesByUri.get(t)??[]}function Qi(e){let{document:t,semantic:n,config:r,view:o}=e,i=new Map(o.nodes.map(c=>[c.element,c])),s=new Map(o.subtreeCalls.map(c=>[c.node.element,c])),a=oe(r),l=$u(t.root);return{document:t,view:o,semantic:n,config:r,options:e.options,facts:e.facts,report(c){let u=w(c.code??e.code,e.severity,c.message,c.range,t.uri,c.details,c.data);e.diagnostics.push({...u,rule:e.rule,...c.relatedInformation?{relatedInformation:c.relatedInformation}:{}})},getIncludeIssues(c){let u=Ji(e.facts,t.uri);return c?u.filter(d=>d.kind===c):u},getSuppressionIssues(c){let u=Zi(e.facts,t.uri);return c?u.filter(d=>d.kind===c):u},getNodeUsage(c){return O(n,{element:c,documentRoot:t.root,uri:t.uri,config:r,policy:a,isModelDefinition:l.has(c)})},getPortUsage(c,u){return ge(n,{element:c,documentRoot:t.root,attributeName:u,uri:t.uri,config:r,policy:a,isModelDefinition:l.has(c)})},resolveSubTree(c,u){return wt(n,{id:c,fileLocalUri:u,config:r})},getNodeModel(c){return ie(n,c)},getBehaviorTrees(c){return Y(n,c)},getTreeNodeView(c){return i.get(c)},getSubTreeCallView(c){return s.get(c)}}}function $u(e){let t=new Set;if(!e)return t;if(e.name==="TreeNodesModel")return kr(e,t),t;for(let n of e.children)n.kind!=="element"||n.name!=="TreeNodesModel"||kr(n,t);return t}function kr(e,t){t.add(e);for(let n of e.children)n.kind==="element"&&kr(n,t)}function P(e){let t=ue[e.name];return{...e,code:t.code,defaultSeverity:t.defaultSeverity,optionsSchema:t.optionsSchema,meta:e.meta??{description:t.description}}}var Xu={"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 Ne(e){return P({name:Xu[e],create(t){return{ProgramExit(){for(let n of t.getIncludeIssues(e))t.report({message:n.message,range:n.range,data:zu(n)})}}}})}function zu(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 es=[Ne("missing-path"),Ne("not-found"),Ne("cycle"),Ne("outside-root"),Ne("unresolved-variable"),Ne("depth-exceeded"),Ne("too-many-files"),Ne("external-used")];import Wu from"ajv";var Gu=Wu,Ku=new Gu,Hu=["IDLE","RUNNING","SUCCESS","FAILURE","SKIPPED"],Yu={int8_t:{min:-128n,max:127n},"std::int8_t":{min:-128n,max:127n},int16_t:{min:-32768n,max:32767n},"std::int16_t":{min:-32768n,max:32767n},int32:{min:-2147483648n,max:2147483647n},int32_t:{min:-2147483648n,max:2147483647n},"std::int32_t":{min:-2147483648n,max:2147483647n},int64_t:{min:-9223372036854775808n,max:9223372036854775807n},int64:{min:-9223372036854775808n,max:9223372036854775807n},"std::int64_t":{min:-9223372036854775808n,max:9223372036854775807n},int:{min:-2147483648n,max:2147483647n},long:{min:-9223372036854775808n,max:9223372036854775807n},short:{min:-32768n,max:32767n},uint8_t:{min:0n,max:255n},"std::uint8_t":{min:0n,max:255n},uint16_t:{min:0n,max:65535n},"std::uint16_t":{min:0n,max:65535n},uint32:{min:0n,max:4294967295n},uint32_t:{min:0n,max:4294967295n},"std::uint32_t":{min:0n,max:4294967295n},uint64_t:{min:0n,max:18446744073709551615n},uint64:{min:0n,max:18446744073709551615n},"std::uint64_t":{min:0n,max:18446744073709551615n},uint:{min:0n,max:4294967295n},unsigned:{min:0n,max:4294967295n},"unsigned int":{min:0n,max:4294967295n},size_t:{min:0n,max:18446744073709551615n},"std::size_t":{min:0n,max:18446744073709551615n}},Tr=new Set(["int8_t","int16_t","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","int","long","short","std::int8_t","std::int16_t"]),ts=new Set(["uint8_t","uint16_t","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","uint","unsigned","unsigned int","std::uint8_t","std::uint16_t","size_t","std::size_t"]);function ns(e){return e.children.filter(t=>t.kind==="element")}function de(e){return e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"}function rs(e){return e.children.some(t=>t.kind==="element")}function Sn(e,t){let n=os(t);n&&e.report({code:n.code,message:n.message,range:t.range,details:n.details})}function os(e){let t=Ft(e.port.name,e.value);if(e.allowRemap&&t!==void 0)return;if(!e.allowRemap&&t!==void 0||e.port.enum&&!e.port.enum.includes(e.value))return hn(e.diagnosticCode,e.value,e.portLabel);let n=e.port.validate??e.typeDefinition?.validate;if(n)return td(e.registry,n,e.value)?void 0:hn(e.diagnosticCode,e.value,e.portLabel);let r=e.typeDefinition?.canonical??e.port.type;if(r&&!ss(r,e.value))return Ju(r)?hn(e.diagnosticCode,e.value,e.portLabel):{code:e.customLiteralDiagnosticCode,message:`literal value for custom type \`${r}\` requires a validator`,details:{primaryLabel:`literal value requires a validator for custom type \`${r}\``,help:`use a blackboard remap such as \`${e.portLabel}="{${e.port.name}}"\`, or define a validator in btxml.model-augment.json`}}}function $e(e){return e.effectiveType??e.type}function is(e,t){return ce(e,$e(t))}function Ft(e,t){let n=X({portName:e,rawValue:t.trim()});return n.ok?n.reference:void 0}function hn(e,t,n){return{code:e,message:`invalid value \`${t}\` for port \`${n}\``}}function Ju(e){let t=yt(e)??e;return as(e)!==void 0||nd.has(t.toLowerCase())}function ss(e,t){let n=as(e);if(n)return Zu(n,t);let r=(yt(e)??e).toLowerCase();switch(r){case"std::string":case"string":case"bt::any":case"bt::anytypeallowed":case"bt::anytype":case"any":return!0;case"bool":return t==="0"||t==="1"||t==="true"||t==="TRUE"||t==="True"||t==="false"||t==="FALSE"||t==="False";case"float":case"double":return/^-?(?:\d+\.?\d*|\.\d+)(?:[eE][-+]?\d+)?$/.test(t);case"bt::nodestatus":case"nodestatus":return Hu.includes(t);default:return Tr.has(r)||ts.has(r)?ls(r,t):!1}}function as(e){return/^std::vector<\s*(.+?)\s*>$/.exec(e)?.[1]}function Zu(e,t){let n=ed(t);return n?n.every(r=>Qu(e,r)):!1}function Qu(e,t){if(t.kind==="string")return ss(e,t.value);let n=(yt(e)??e).toLowerCase();switch(n){case"std::string":return typeof t.value=="string";case"bool":return typeof t.value=="boolean";case"float":case"double":return typeof t.value=="number"&&Number.isFinite(t.value);default:return Tr.has(n)||ts.has(n)?typeof t.value=="number"&&Number.isInteger(t.value)&&ls(n,String(t.value)):!1}}function ls(e,t){let n=Yu[e];if(!n)return!1;if(Tr.has(e)){if(!/^-?\d+$/.test(t))return!1}else if(!/^\d+$/.test(t))return!1;try{let r=BigInt(t);return r>=n.min&&r<=n.max}catch{return!1}}function ed(e){if(e.startsWith("json:"))try{let t=JSON.parse(e.slice(5));return Array.isArray(t)?t.map(n=>({kind:"json",value:n})):void 0}catch{return}return e.split(";").map(t=>({kind:"string",value:t}))}function td(e,t,n){switch(t.kind){case"pattern":return new RegExp(`^(?:${t.pattern})$`).test(n);case"enum":return t.values.includes(n);case"tuple":{let r=n.split(t.separator);return r.length!==t.items.length?!1:r.every((o,i)=>{let s=t.items[i];return s?os({port:{name:`tuple[${i}]`,type:s},value:o,registry:e,typeDefinition:ce(e,s),allowRemap:!1,diagnosticCode:"BT103_INVALID_PORT_VALUE_TYPE",customLiteralDiagnosticCode:"BT112_CUSTOM_LITERAL_REQUIRES_VALIDATOR",portLabel:`tuple[${i}]`})===void 0:!1})}case"json-schema":try{let r=JSON.parse(n);return Ku.compile(t.schema)(r)===!0}catch{return!1}}}var nd=new Set(["std::string","string","bool","int8_t","std::int8_t","int16_t","std::int16_t","int","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","long","short","uint8_t","std::uint8_t","uint16_t","std::uint16_t","uint","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","size_t","std::size_t","unsigned","unsigned int","float","double","bt::nodestatus","nodestatus","bt::any","bt::anytypeallowed","bt::anytype","any"]);var cs=[P({name:"model/require-port-name",meta:{description:"Port elements require a name attribute."},create(e){return{TreeNodeModel(t){for(let n of t.ports)n.name||e.report({message:"Port must have name attribute",range:n.range||n.nameRange||t.idRange||t.range})}}}}),P({name:"model/no-duplicate-port-name",meta:{description:"Ports with the same name are not allowed."},create(e){return{TreeNodeModel(t){let n=new Set;for(let r of t.ports)r.name&&(n.has(r.name)&&e.report({message:`Duplicate port name "${r.name}" in ${t.id}`,range:r.nameRange||r.range||t.idRange||t.range}),n.add(r.name))}}}}),P({name:"model/valid-port-name",meta:{description:"Port names must be valid XML attribute names for BT nodes."},create(e){return{TreeNodeModel(t){for(let n of t.ports){if(!n.name)continue;let r=Un(n.name);r&&e.report({code:S.InvalidPortName,message:`invalid port name \`${n.name}\`: ${r}`,range:n.nameRange||n.range||t.idRange||t.range,details:{primaryLabel:`invalid port name \`${n.name}\``,help:"rename the port to a non-reserved XML attribute name without forbidden characters"}})}}}}}),P({name:"model/no-conflicting-definition",create(e){return{ProgramExit(){for(let t of Nt(e.semantic))t.uri&&t.uri!==e.document.uri||rd(e.document,t.id)||e.report({code:t.code,message:t.message,range:t.range,details:t.details,data:t.data,relatedInformation:t.relatedInformation})}}}}),P({name:"model/valid-port-default-value",meta:{description:"TreeNodesModel port defaults must match the declared type."},create(e){return{Element(t){if(!od(t))return;let n=t.attributes.find(l=>l.name==="default")??t.attributes.find(l=>l.name==="default_value");if(!n)return;let r=t.attributes.find(l=>l.name==="name")?.value;if(!r)return;let i=id(e.document.root,t)?.attributes.find(l=>l.name==="ID")?.value;if(!i)return;let a=e.getNodeModel(i)?.ports.find(l=>l.name===r);if(a){if(a.direction==="output"){Ft(a.name,n.value)===void 0&&e.report({code:S.InvalidPortDefaultValue,message:`output port default for \`${a.name}\` must be a blackboard remap`,range:n.range,details:{primaryLabel:`output port default for \`${a.name}\` must be a blackboard remap`,help:`use \`${a.name}="{${a.name}}"\` or \`${a.name}="{=}"\``}});return}Sn(e,{port:a,value:n.value,range:n.range,registry:te(e.semantic),typeDefinition:Z(e.semantic,a.type),allowRemap:!0,diagnosticCode:S.InvalidPortDefaultValue,customLiteralDiagnosticCode:S.CustomLiteralRequiresValidator,portLabel:a.name})}}}}}),P({name:"model/no-blackboard-type-mismatch",meta:{description:"Blackboard entries must not mix incompatible resolved port types."},create(e){return{ProgramExit(){let t=te(e.semantic),n=new Map,r=e.options.allowStringEntryCompatibility??!0;for(let o of e.view.nodes)for(let i of o.portBindings){if(i.declaredPort.status!=="resolved")continue;let s=Ft(i.name,i.value);if(!s)continue;let a=is(t,i.declaredPort.port);if(!a||a.kind==="any")continue;let l=z(s),c=n.get(l)??[];c.push({key:s.key,scope:s.scope,displayName:je(s),identity:l,nodeId:ld(o.element),port:i.declaredPort.port,typeDefinition:a,range:i.attribute.range}),n.set(l,c)}for(let o of n.values()){let i=sd(e.semantic,o,r);if(i.length<2)continue;let s=o.find(a=>a.typeDefinition.canonical===i[0]);e.report({code:S.BlackboardTypeMismatch,message:`blackboard entry \`${s?.displayName??o[0]?.displayName??o[0]?.key??""}\` is used with incompatible port types: ${i.map(a=>`\`${a}\``).join(", ")}`,range:s?.range,details:{primaryLabel:`blackboard entry \`${s?.displayName??o[0]?.displayName??o[0]?.key??""}\` mixes incompatible port types`,notes:o.filter(a=>i.includes(a.typeDefinition.canonical)).map(a=>`${a.nodeId}.${a.port.name} declares ${ad(a.port,a.typeDefinition)}`),help:"use different blackboard keys, align the port types, or declare compatibility in btxml.model-augment.json"}})}}}}}),P({name:"model/require-output-port-remap",meta:{description:"Resolved output ports must write to a blackboard remap."},create(e){return{Element(t){if(cd(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of t.attributes){let o=e.getPortUsage(t,r.name);o?.status==="resolved"&&o.port.direction==="output"&&Ft(o.port.name,r.value)===void 0&&e.report({code:S.OutputPortRequiresRemap,message:`output port \`${o.port.name}\` must be remapped to a blackboard entry`,range:r.range,details:{primaryLabel:`output port \`${o.port.name}\` requires a blackboard remap`,help:`use \`${o.port.name}="{${o.port.name}}"\` or \`${o.port.name}="{some_key}"\``}})}}}}})];function rd(e,t){return e.diagnostics.some(n=>n.code===S.DuplicateNodeModelId&&n.message.includes(`\`${t}\``))}function od(e){return e.name==="input_port"||e.name==="output_port"||e.name==="inout_port"}function id(e,t){if(!e)return;return n(e,!1,void 0);function n(r,o,i){let s=o||r.name==="TreeNodesModel",a=s&&(r.name==="Action"||r.name==="Condition"||r.name==="Control"||r.name==="Decorator"||r.name==="SubTree")?r:i;if(r===t)return a;for(let l of r.children){if(l.kind!=="element")continue;let c=n(l,s,a);if(c)return c}}}function sd(e,t,n){let r=new Set;for(let o=0;o<t.length;o+=1){let i=t[o];if(i)for(let s=o+1;s<t.length;s+=1){let a=t[s];a&&(n&&(i.typeDefinition.canonical==="std::string"||a.typeDefinition.canonical==="std::string")||De(e,i.typeDefinition.canonical,a.typeDefinition.canonical)||(r.add(i.typeDefinition.canonical),r.add(a.typeDefinition.canonical)))}}return[...r].sort()}function ad(e,t){return $e(e)??t.canonical}function ld(e){return e.attributes.find(t=>t.name==="name")?.value??e.attributes.find(t=>t.name==="ID")?.value??e.name}function cd(e){return e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"}var ud=new Set(["_failureIf","_successIf","_skipIf","_while"]),dd=new Set(["_onSuccess","_onFailure","_onHalted","_post"]);function Xe(e){if(ud.has(e.attributeName))return{kind:"precondition",expectedResult:"bool-compatible"};if(dd.has(e.attributeName))return{kind:"postcondition",expectedResult:"ignored"};let t=e.resolvedNodeType??e.elementName;if(e.attributeName==="code"&&t==="Script")return{kind:"script-node-code",expectedResult:"ignored"};if(e.attributeName==="code"&&t==="ScriptCondition")return{kind:"script-condition-code",expectedResult:"bool-compatible"};if(e.attributeName==="if"&&t==="Precondition")return{kind:"precondition-node-if",expectedResult:"bool-compatible"}}function Ot(e){if(!e.startsWith("@"))return{kind:"local",name:e};let t=mt({rawName:e});return t.ok?{kind:"global-blackboard",key:t.reference.key}:{kind:"invalid-global-blackboard",raw:e,message:`invalid global blackboard identifier \`${e}\``}}var us=new Map([["..","DotDot"],["&&","AmpAmp"],["||","PipePipe"],["==","EqualEqual"],["!=","BangEqual"],["<=","LessEqual"],[">=","GreaterEqual"],[":=","ColonEqual"],["+=","PlusEqual"],["-=","MinusEqual"],["*=","StarEqual"],["/=","SlashEqual"]]),ds=new Map([["+","Plus"],["-","Minus"],["*","Star"],["/","Slash"],["&","Ampersand"],["|","Pipe"],["^","Caret"],["~","Tilde"],["!","Bang"],["<","Less"],[">","Greater"],["=","Equal"],["?","Question"],[":","Colon"],["(","LeftParen"],[")","RightParen"],[";","Semicolon"]]);function at(e){let t=[],n=0;for(;n<e.length;){let r=e[n];if(ps(r)){n++;continue}if(xr(r)){let a=n;for(n++;n<e.length&&fd(e[n]);)n++;let l=e.slice(a,n);t.push({type:l==="true"||l==="false"?"Boolean":"Identifier",text:l,start:a,end:n});continue}if(ze(r)){let a=md(e,n);t.push(a),n=a.end;continue}if(r==="'"){let a=pd(e,n);t.push(a),n=a.end;continue}let o=e.slice(n,n+2),i=us.get(o);if(i){t.push({type:i,text:o,start:n,end:n+2}),n+=2;continue}let s=ds.get(r);if(s){t.push({type:s,text:r,start:n,end:n+1}),n+=1;continue}t.push({type:"Error",text:r,start:n,end:n+1}),n+=1}return t.push({type:"EndOfInput",text:"",start:e.length,end:e.length}),t}function pd(e,t){let n=t+1;for(;n<e.length&&e[n]!=="'";)n++;return n>=e.length?{type:"Error",text:e.slice(t),start:t,end:e.length}:{type:"String",text:e.slice(t+1,n),start:t,end:n+1}}function md(e,t){let n=t;if(e[n]==="0"&&(e[n+1]==="x"||e[n+1]==="X")){n+=2;let o=n;for(;n<e.length&&gd(e[n]);)n++;return o===n||bd(e,n)?(n=Ut(e,n),Vt(e,t,n)):{type:"Integer",text:e.slice(t,n),start:t,end:n}}for(;n<e.length&&ze(e[n]);)n++;let r="Integer";if(e[n]==="."){if(e[n+1]===".")return{type:r,text:e.slice(t,n),start:t,end:n};if(!ze(e[n+1]))return n=Ut(e,n+1),Vt(e,t,n);for(r="Real",n+=1;n<e.length&&ze(e[n]);)n++}if(e[n]==="e"||e[n]==="E"){let o=n;n+=1,(e[n]==="+"||e[n]==="-")&&(n+=1);let i=n;for(;n<e.length&&ze(e[n]);)n++;if(i===n)return n=Ut(e,Math.max(n,o+1)),Vt(e,t,n);r="Real"}return yd(e,n)?(n=Ut(e,n),Vt(e,t,n)):{type:r,text:e.slice(t,n),start:t,end:n}}function Ut(e,t){let n=t;for(;n<e.length;){let r=e[n];if(ps(r)||ds.has(r)||us.has(e.slice(n,n+2))||r==="."&&e[n+1]===".")break;n++}return n}function Vt(e,t,n){return{type:"Error",text:e.slice(t,n),start:t,end:n}}function ps(e){return e===" "||e==="	"||e===`
-`||e==="\r"}function xr(e){return e!==void 0&&/[A-Za-z_@]/.test(e)}function fd(e){return e!==void 0&&/[A-Za-z0-9_]/.test(e)}function ze(e){return e!==void 0&&/[0-9]/.test(e)}function gd(e){return e!==void 0&&/[0-9A-Fa-f]/.test(e)}function yd(e,t){let n=e[t];return xr(n)||ze(n)}function bd(e,t){let n=e[t];return n==="."||xr(n)||ze(n)}var hd=new Map([["ColonEqual",":="],["Equal","="],["PlusEqual","+="],["MinusEqual","-="],["StarEqual","*="],["SlashEqual","/="]]),Sd=new Map([["PipePipe","||"],["AmpAmp","&&"],["Pipe","|"],["Caret","^"],["Ampersand","&"],["Plus","+"],["Minus","-"],["DotDot",".."],["Star","*"],["Slash","/"]]),ms=new Map([["EqualEqual","=="],["BangEqual","!="],["Less","<"],["Greater",">"],["LessEqual","<="],["GreaterEqual",">="]]),ae={assignment:2,ternary:4,pipePipe:6,ampAmp:8,comparison:10,pipeCaret:12,ampersand:14,additive:16,multiplicative:18};function Ge(e){let t=at(e),n=t.filter(r=>r.type==="Error");return n.length>0?{ok:!1,errors:n.map(r=>({kind:"invalid-token",message:`invalid token \`${r.text}\``,range:{start:r.start,end:r.end}})),tokens:t}:fs(t,e)}function fs(e,t=""){let n=new Ir(e,t),r=[];if(n.peek().type==="EndOfInput")return{ok:!1,errors:[{kind:"empty-script",message:"empty script",range:{start:0,end:0}}],tokens:e};for(;n.peek().type!=="EndOfInput";){let i=n.parseExpression(0);if(!i)return{ok:!1,errors:n.errors,tokens:e};for(r.push(i);n.match("Semicolon"););}if(n.errors.length>0)return{ok:!1,errors:n.errors,tokens:e};let o=xd(r);return{ok:!0,program:{kind:"Program",statements:r,range:o},tokens:e}}var Ir=class{constructor(t,n,r=0){this.tokens=t;this.source=n;this.index=r}tokens;source;index;errors=[];parseExpression(t){let n=this.parsePrefix();if(n){for(;;){let r=this.peek();if(r.type==="EndOfInput"||r.type==="Semicolon"||r.type==="RightParen"||r.type==="Colon")break;let o=hd.get(r.type);if(o){if(t>=ae.assignment)break;this.consume();let l=this.parseExpression(0);if(!l)return;n={kind:"AssignmentExpression",operator:o,left:n,right:l,range:qt(n.range,l.range)};break}if(r.type==="Question"){if(t>=ae.ternary)break;this.consume();let l=this.parseExpression(0);if(!l)return;if(!this.match("Colon")){this.reportError("expected-ternary-colon","expected ':' in ternary expression",this.peek());return}let c=this.parseExpression(ae.ternary);if(!c)return;n={kind:"ConditionalExpression",condition:n,thenExpression:l,elseExpression:c,range:qt(n.range,c.range)};break}let i=ms.get(r.type);if(i){if(t>=ae.comparison)break;this.consume();let l=[n],c=[i],u=this.parseExpression(ae.comparison);if(!u)return;for(l.push(u);;){let d=ms.get(this.peek().type);if(!d)break;this.consume();let p=this.parseExpression(ae.comparison);if(!p)return;c.push(d),l.push(p)}n={kind:"ComparisonChain",operands:l,operators:c,range:qt(l[0].range,l[l.length-1].range)};continue}let s=Sd.get(r.type),a=s?kd(r.type):void 0;if(s&&a!==void 0){if(t>=a)break;this.consume();let l=this.parseExpression(a);if(!l)return;n={kind:"BinaryExpression",operator:s,left:n,right:l,range:qt(n.range,l.range)};continue}this.reportError("unexpected-token-after-expression",`unexpected token after expression: \`${r.text||r.type}\``,r);return}return n}}parsePrefix(){let t=this.peek();switch(t.type){case"Identifier":return this.consume(),{kind:"Identifier",name:t.text,range:We(t)};case"Integer":case"Real":case"Boolean":case"String":return this.consume(),vd(t,this.source);case"Minus":case"Tilde":case"Bang":{this.consume();let n=this.parseExpression(20);return n?{kind:"UnaryExpression",operator:Rd(t.type),argument:n,range:qt(We(t),n.range)}:void 0}case"LeftParen":{let n=this.consume(),r=this.parseExpression(0);if(!r)return;let o=this.peek();if(o.type!=="RightParen"){this.reportError("expected-right-paren","expected ')'",o);return}return this.consume(),Td(r,{start:n.start,end:o.end})}default:this.reportError("expected-operand","expected operand",t);return}}peek(){return this.tokens[this.index]??this.tokens[this.tokens.length-1]}consume(){let t=this.peek();return this.index+=1,t}match(t){return this.peek().type!==t?!1:(this.consume(),!0)}reportError(t,n,r){this.errors.push({kind:t,message:n,range:We(r)})}};function vd(e,t){switch(e.type){case"Integer":return{kind:"Literal",valueKind:"integer",raw:t.slice(e.start,e.end),value:e.text.startsWith("0x")||e.text.startsWith("0X")?Number(e.text):Number.parseInt(e.text,10),range:We(e)};case"Real":return{kind:"Literal",valueKind:"real",raw:t.slice(e.start,e.end),value:Number(e.text),range:We(e)};case"Boolean":return{kind:"Literal",valueKind:"boolean",raw:t.slice(e.start,e.end),value:e.text==="true",range:We(e)};case"String":return{kind:"Literal",valueKind:"string",raw:t.slice(e.start,e.end),value:e.text,range:We(e)};default:throw new Error(`unsupported literal token ${e.type}`)}}function Rd(e){switch(e){case"Minus":return"-";case"Tilde":return"~";case"Bang":return"!";default:throw new Error(`unsupported unary token ${e}`)}}function kd(e){switch(e){case"PipePipe":return ae.pipePipe;case"AmpAmp":return ae.ampAmp;case"Pipe":case"Caret":return ae.pipeCaret;case"Ampersand":return ae.ampersand;case"Plus":case"Minus":case"DotDot":return ae.additive;case"Star":case"Slash":return ae.multiplicative;default:return}}function We(e){return{start:e.start,end:e.end}}function qt(e,t){return{start:e.start,end:t.end}}function Td(e,t){return{...e,range:t}}function xd(e){return{start:e[0]?.range.start??0,end:e[e.length-1]?.range.end??0}}var Id=new Set(["int8_t","std::int8_t","int16_t","std::int16_t","int32","int32_t","std::int32_t","int64","int64_t","std::int64_t","int","long","short","uint8_t","std::uint8_t","uint16_t","std::uint16_t","uint32","uint32_t","std::uint32_t","uint64","uint64_t","std::uint64_t","uint","unsigned","unsigned int","size_t","std::size_t","float","double"]);function $t(e={}){let t=nt(e.augmentations??[]),n=e.areTypesCompatible??((s,a)=>bt(t,s,a)),r=new Map,o=new Map,i={symbols:new Map,globalBlackboard:new Map,enums:Dd(e.enums,e.augmentations??[])};for(let s of e.symbols??[])gs(i.symbols,r,s,n);for(let s of e.globalBlackboardSymbols??[])gs(i.globalBlackboard,o,s,n);return i}function he(e){return{symbols:new Map([...e?.symbols.entries()??[]].map(([t,n])=>[t,{...n}])),globalBlackboard:new Map([...e?.globalBlackboard.entries()??[]].map(([t,n])=>[t,{...n}])),enums:new Map(e?.enums??[])}}function Xt(e){let t=he(e.baseEnvironment),n=[];for(let r of e.entries){let o=he(t),i=r.parseResult??Ge(r.source),s=he(o),a;i.ok&&(a=He({program:i.program,environment:o,attributeName:r.attributeName,originId:r.originId??String(r.id)}),s=he(a.environment)),n.push({id:r.id,parseResult:i,environmentBefore:o,environmentAfter:s,...a?{analysis:a}:{}}),t.symbols.clear(),t.globalBlackboard.clear(),t.enums.clear();for(let[l,c]of s.symbols)t.symbols.set(l,{...c});for(let[l,c]of s.globalBlackboard)t.globalBlackboard.set(l,{...c});for(let[l,c]of s.enums)t.enums.set(l,c)}return n}function ys(e){let t=new Map;for(let n of e)for(let[r,o]of Object.entries(n.script?.enums??{}))t.set(r,o);return t}function xe(e,t){let n=ce(e,t);return bs(t,n)}function bs(e,t){if(!e||!t)return{kind:"unknown"};if(t.kind==="any")return{kind:"any"};let n=t.canonical.toLowerCase();return n==="bool"?{kind:"bool"}:n==="std::string"||n==="string"?{kind:"string"}:Id.has(n)?{kind:"number"}:{kind:"custom",name:t.name??e,canonical:t.canonical}}function hs(e,t){return e.kind==="any"||t.kind==="any"||e.kind==="unknown"||t.kind==="unknown"||e.kind==="error"||t.kind==="error"?!0:e.kind==="custom"&&t.kind==="custom"?e.canonical===t.canonical:e.kind===t.kind}function lt(e,t){return e.kind==="any"||t.kind==="any"||e.kind==="unknown"||t.kind==="unknown"||e.kind==="error"||t.kind==="error"?!0:e.kind==="custom"||t.kind==="custom"?e.kind==="custom"&&t.kind==="custom"?e.canonical===t.canonical:!1:e.kind==="bool"&&t.kind==="number"?!0:e.kind===t.kind}function Ke(e){return e.kind==="bool"||e.kind==="number"||e.kind==="unknown"||e.kind==="any"||e.kind==="error"}function Dr(e,t){return e.kind==="error"||t.kind==="error"?{kind:"error"}:e.kind==="unknown"||t.kind==="unknown"?{kind:"unknown"}:e.kind==="any"||t.kind==="any"?e.kind===t.kind?e:{kind:"unknown"}:e.kind==="custom"||t.kind==="custom"?e.kind==="custom"&&t.kind==="custom"&&e.canonical===t.canonical?e:void 0:e.kind===t.kind?e:void 0}function Dd(e,t){if(e instanceof Map)return new Map(e);let n=ys(t??[]);for(let[r,o]of Object.entries(e??{}))n.set(r,o);return n}function gs(e,t,n,r){let o=e.get(n.name);if(!o){e.set(n.name,{name:n.name,type:n.type,source:n.source,writable:n.writable,readable:n.readable}),t.set(n.name,n.compatibilityKey);return}let i=t.get(n.name),s=o.conflict===!0||i!==void 0&&n.compatibilityKey!==void 0&&!r(i,n.compatibilityKey)||!hs(o.type,n.type);e.set(n.name,{...o,readable:o.readable||n.readable,writable:o.writable||n.writable,conflict:s}),i===void 0&&t.set(n.name,n.compatibilityKey)}var Ye={kind:"number"},Rn={kind:"string"},vn={kind:"bool"},le={kind:"unknown"},V={kind:"error"};function He(e){let t=he(e.environment),n=[],r=[],o=[],i=[],s=[],a=[],l=[],c=[];return e.program.statements.forEach((u,d)=>{c.push(Se({expression:u,statementIndex:d,environment:t,identifiers:n,resolvedIdentifiers:r,unknownIdentifiers:o,globalBlackboardAccesses:i,invalidGlobalBlackboardIdentifiers:s,introducedSymbols:a,diagnostics:l,attributeName:e.attributeName??"code",originId:e.originId}))}),{environment:t,identifiers:n,resolvedIdentifiers:r,unknownIdentifiers:o,globalBlackboardAccesses:i,invalidGlobalBlackboardIdentifiers:s,introducedSymbols:a,diagnostics:l,statementTypes:c,finalType:c.at(-1)}}function Se(e){let{expression:t}=e;switch(t.kind){case"Literal":return t.valueKind==="integer"||t.valueKind==="real"?Ye:t.valueKind==="string"?Rn:t.valueKind==="boolean"?vn:le;case"Identifier":return Bd(e,t.name,t.range);case"UnaryExpression":{let n=Se({...e,expression:t.argument});return t.operator==="!"?Ke(n)?vn:(re(e,"invalid-operand-type",t.range,`operator \`${t.operator}\` requires a bool-compatible operand`,`operand for \`${t.operator}\` is not bool-compatible`,"use a boolean, number, or unknown-compatible expression here"),V):n.kind==="number"?Ye:n.kind==="unknown"||n.kind==="any"||n.kind==="error"?n.kind==="any"?n:n.kind==="error"?V:le:(re(e,"invalid-operand-type",t.range,`operator \`${t.operator}\` requires a numeric operand`,`operand for \`${t.operator}\` is not numeric`,"use a number expression here"),V)}case"BinaryExpression":{let n=Se({...e,expression:t.left}),r=Se({...e,expression:t.right});switch(t.operator){case"&&":case"||":return vs(n)||vs(r)?(re(e,"invalid-operand-type",t.range,`operator \`${t.operator}\` requires bool-compatible operands`,`operands for \`${t.operator}\` are not bool-compatible`,"use boolean or numeric expressions here"),V):vn;case"+":return n.kind==="string"&&r.kind==="string"?Rn:n.kind==="number"&&r.kind==="number"?Ye:Cr(n,r)?le:(Br(e,t.range,t.operator),V);case"-":case"*":case"/":case"&":case"|":case"^":return n.kind==="number"&&r.kind==="number"?Ye:Cr(n,r)?le:(Br(e,t.range,t.operator),V);case"..":return n.kind==="string"&&(r.kind==="string"||r.kind==="number")||r.kind==="string"&&(n.kind==="string"||n.kind==="number")?Rn:Cr(n,r)?le:(Br(e,t.range,t.operator),V)}return le}case"ComparisonChain":{let n=t.operands.map(r=>Se({...e,expression:r}));for(let r=0;r<t.operators.length;r+=1){let o=t.operators[r],i=n[r],s=n[r+1];if(!Ed(o,i,s))return re(e,"invalid-operand-type",{start:t.operands[r]?.range.start??t.range.start,end:t.operands[r+1]?.range.end??t.range.end},`operator \`${o}\` cannot compare these operand types`,`comparison operands for \`${o}\` are not compatible`,"compare values of the same primitive type, or use == / != for matching custom types"),V}return vn}case"ConditionalExpression":{let n=Se({...e,expression:t.condition});Ke(n)||re(e,"invalid-operand-type",t.condition.range,"ternary condition must be bool-compatible","ternary condition is not bool-compatible","use a boolean or numeric condition expression here");let r=Se({...e,expression:t.thenExpression}),o=Se({...e,expression:t.elseExpression}),i=Dr(r,o);return i||(re(e,"invalid-operand-type",t.range,"ternary branches must produce compatible types","then and else branches have incompatible types","return the same type from both ternary branches"),V)}case"AssignmentExpression":return Cd(e)}}function Cd(e){let{environment:t,attributeName:n,identifiers:r,introducedSymbols:o}=e,i=e.expression,s=Se({...e,expression:i.right});if(i.left.kind!=="Identifier")return Se({...e,expression:i.left}),re(e,"invalid-operand-type",i.left.range,"assignment target must be an identifier","this assignment target is not writable","assign to a variable name instead of an expression"),V;let a=i.left,l=i.operator===":="?"declare":i.operator==="="?"write":"readwrite",c={name:a.name,kind:l,range:a.range,identifier:a,statementIndex:e.statementIndex};r.push(c);let u=Ot(a.name);if(u.kind==="invalid-global-blackboard")return e.invalidGlobalBlackboardIdentifiers.push(c),Rs(e,a.range,u.raw,u.message),V;if(u.kind==="global-blackboard"){let m=t.globalBlackboard.get(u.key),g=i.operator===":="?s:i.operator==="="?m&&lt(m.type,s)?s:m?void 0:s:Ss(m?.type??le,s,i.operator);if(i.operator!==":="&&i.operator!=="="&&!g)return re(e,"invalid-compound-assignment",i.range,`operator \`${i.operator}\` is not valid for these operand types`,`compound assignment \`${i.operator}\` is not allowed here`,i.operator==="+="?"use number += number or string += string":"use numeric operands for this compound assignment"),V;if((i.operator===":="||i.operator==="=")&&m&&!lt(m.type,s))return Er(e,a,m.type,s),V;let f=m?{...m}:{name:u.key,type:s,source:{kind:"global-blackboard",key:u.key,range:a.range,originId:e.originId},readable:!0,writable:!0};return f.type=g??s,t.globalBlackboard.set(u.key,f),e.resolvedIdentifiers.push({access:c,resolution:{kind:"global-blackboard",key:u.key,symbol:f}}),e.globalBlackboardAccesses.push({key:u.key,rawName:a.name,kind:l,range:a.range,inferredType:f.type}),f.type}let d=t.symbols.get(a.name);if(i.operator===":="&&!d){let m={name:a.name,type:s,source:{kind:"script-assignment",attributeName:n,range:a.range,originId:e.originId},readable:!0,writable:!0};return t.symbols.set(a.name,m),e.resolvedIdentifiers.push({access:c,resolution:{kind:"symbol",symbol:m}}),o.push(m),s}if(!d)return e.resolvedIdentifiers.push({access:c,resolution:{kind:"unknown"}}),re(e,"assignment-to-unknown-variable",a.range,`assignment target \`${a.name}\` is not defined`,`\`${a.name}\` must already exist before this assignment`,"introduce the variable earlier with `:=` or add a matching blackboard remap"),V;if(e.resolvedIdentifiers.push({access:c,resolution:{kind:"symbol",symbol:d}}),i.operator==="=")return lt(d.type,s)?(Pr(d,s),s):(Er(e,a,d.type,s),V);if(i.operator===":=")return lt(d.type,s)?(Pr(d,s),s):(Er(e,a,d.type,s),V);let p=Ss(d.type,s,i.operator);return p?(Pr(d,p),p):(re(e,"invalid-compound-assignment",i.range,`operator \`${i.operator}\` is not valid for these operand types`,`compound assignment \`${i.operator}\` is not allowed here`,i.operator==="+="?"use number += number or string += string":"use numeric operands for this compound assignment"),V)}function Bd(e,t,n){let r={name:t,kind:"read",range:n,identifier:e.expression,statementIndex:e.statementIndex};e.identifiers.push(r);let o=Ot(t);if(o.kind==="invalid-global-blackboard")return e.invalidGlobalBlackboardIdentifiers.push(r),Rs(e,n,o.raw,o.message),V;if(o.kind==="global-blackboard"){let a=e.environment.globalBlackboard.get(o.key);return e.globalBlackboardAccesses.push({key:o.key,rawName:t,kind:"read",range:n,inferredType:a?.type??le}),e.resolvedIdentifiers.push({access:r,resolution:{kind:"global-blackboard",key:o.key,...a?{symbol:a}:{}}}),a?.type??le}let i=e.environment.enums.get(t);if(i!==void 0)return e.resolvedIdentifiers.push({access:r,resolution:{kind:"enum",name:t,value:i}}),Ye;let s=e.environment.symbols.get(t);return s?(e.resolvedIdentifiers.push({access:r,resolution:{kind:"symbol",symbol:s}}),s.type):(e.resolvedIdentifiers.push({access:r,resolution:{kind:"unknown"}}),e.unknownIdentifiers.push(r),le)}function Ss(e,t,n){return e.kind==="error"||t.kind==="error"?V:e.kind==="unknown"||t.kind==="unknown"||e.kind==="any"||t.kind==="any"?le:n==="+="?e.kind==="number"&&t.kind==="number"?Ye:e.kind==="string"&&t.kind==="string"?Rn:void 0:e.kind==="number"&&t.kind==="number"?Ye:void 0}function Cr(e,t){return kn(e)||kn(t)}function kn(e){return e.kind==="unknown"||e.kind==="any"||e.kind==="error"}function vs(e){return!Ke(e)}function Ed(e,t,n){return kn(t)||kn(n)?!0:e==="=="||e==="!="?t.kind==="custom"||n.kind==="custom"?t.kind==="custom"&&n.kind==="custom"&&t.canonical===n.canonical:t.kind===n.kind:t.kind==="custom"||n.kind==="custom"?!1:t.kind==="number"&&n.kind==="number"||t.kind==="string"&&n.kind==="string"}function Br(e,t,n){re(e,"invalid-operand-type",t,`operator \`${n}\` cannot be applied to these operand types`,`operands for \`${n}\` are not compatible`,"use operands with the types required by this operator")}function Er(e,t,n,r){re(e,"variable-type-mismatch",t.range,`cannot assign ${Nr(r)} to variable \`${t.name}\` of type ${Nr(n)}`,`\`${t.name}\` expects ${Nr(n)} here`,"assign a compatible value or change the variable's source type")}function Rs(e,t,n,r){re(e,"invalid-global-blackboard-identifier",t,r,`\`${n}\` is not a valid global blackboard identifier`,"use `@name` with a valid blackboard key that starts with a letter or underscore")}function Pr(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 re(e,t,n,r,o,i){e.diagnostics.push({code:t,range:n,message:r,details:{primaryLabel:o,help:i}})}function Nr(e){return e.kind==="custom"?e.name:e.kind}var ks=new Set(["Identifier","Integer","Real","String","Boolean","RightParen"]),Pd=new Set(["LeftParen","Semicolon","Question","Colon","Plus","Minus","Star","Slash","DotDot","Ampersand","Pipe","Caret","Tilde","AmpAmp","PipePipe","Bang","EqualEqual","BangEqual","Less","Greater","LessEqual","GreaterEqual","ColonEqual","Equal","PlusEqual","MinusEqual","StarEqual","SlashEqual"]),Nd=["==","!=","<",">","<=",">=","&&","||","+","-","*","/","..","?",":"],wd=[":=","=","+=","-=","*=","/="],Ts=new Set(["!","<",">","=",":","+","-","*","/","&","|","^","?","."]);function wr(e){let t=e.source,n=Ds(t,e.cursorOffset),r=xn({source:t,cursorOffset:n}),o=[];return r.kind==="identifier"&&(o.push(...Md(e,r)),Od(e.attributeInfo,t,n)&&o.push(...Ld(r.range))),(r.kind==="operator"||r.kind==="after-assignment-lhs")&&o.push(...Ad(r.range,r.prefix)),r.kind==="after-assignment-lhs"&&o.push(..._d(r.range,r.prefix)),qd(o)}function xn(e){let t=e.source,n=Ds(t,e.cursorOffset),r=at(t).filter(l=>l.type!=="EndOfInput"),o=r.find(l=>l.start<=n&&n<=l.end);if(o?.type==="Identifier")return{kind:"identifier",prefix:o.text.slice(0,Math.max(0,n-o.start)),range:{start:o.start,end:o.end}};if(o&&(o.type==="Integer"||o.type==="Real"||o.type==="String"||o.type==="Boolean"))return{kind:"literal",range:{start:o.start,end:o.end}};let i=Ud(t,n),s=Tn(r,i.start);if(i.start<i.end&&s&&ks.has(s.type))return{kind:s.type==="Identifier"&&Is(r,s)?"after-assignment-lhs":"operator",prefix:t.slice(i.start,n),range:i};let a=Tn(r,n);return a&&ks.has(a.type)&&a.end<=n?{kind:a.type==="Identifier"&&Is(r,a)?"after-assignment-lhs":"operator",prefix:"",range:{start:n,end:n}}:!a||Pd.has(a.type)?{kind:"identifier",prefix:"",range:{start:n,end:n}}:{kind:"unknown",range:{start:n,end:n}}}function Md(e,t){let n=jd(e),r=t.prefix.toLowerCase(),o=[];for(let[i,s]of n.enums)ct(i,r)&&o.push({label:i,kind:"enum",detail:`enum value ${s}`,replaceRange:t.range,sortText:`0-${i}`});for(let i of n.symbols.values())i.conflict||i.readable&&ct(i.name,r)&&o.push({label:i.name,kind:"identifier",detail:xs(i),replaceRange:t.range,sortText:i.source.kind==="script-assignment"?`1-${i.name}`:`2-${i.name}`});for(let i of n.globalBlackboard.values()){if(i.conflict||!i.readable)continue;let s=`@${i.name}`;ct(s,r)&&o.push({label:s,kind:"identifier",detail:xs(i),replaceRange:t.range,sortText:`2-${s}`})}for(let i of["true","false"])ct(i,r)&&o.push({label:i,kind:"value",detail:"bool",replaceRange:t.range,sortText:`3-${i}`});return o}function Ad(e,t){return Nd.filter(n=>ct(n,t)).map(n=>({label:n,kind:"operator",detail:"script operator",replaceRange:e,sortText:`4-${n}`}))}function _d(e,t){return wd.filter(n=>ct(n,t)).map(n=>({label:n,kind:"operator",detail:"assignment operator",replaceRange:e,sortText:`5-${n}`}))}function Ld(e){return[{label:"name := value",kind:"snippet",detail:"Declare local script variable",replaceRange:e,insertText:"${1:name} := ${2:value}",insertTextFormat:"snippet",sortText:"6-name := value"},{label:"name = value",kind:"snippet",detail:"Assign existing variable",replaceRange:e,insertText:"${1:name} = ${2:value}",insertTextFormat:"snippet",sortText:"6-name = value"}]}function jd(e){let t=he(e.environment),n=at(e.source),r=Ge(e.source);if(r.ok){let o=He({program:r.program,environment:t,attributeName:e.attributeName}),i=he(e.environment);for(let s of o.introducedSymbols)s.source.kind==="script-assignment"&&(s.source.range.end>e.cursorOffset||i.symbols.set(s.name,s));for(let s of o.globalBlackboardAccesses){if(s.kind==="read"||s.range.end>e.cursorOffset)continue;let a=o.environment.globalBlackboard.get(s.key),l=i.globalBlackboard.get(s.key),c;a?c={...a}:l?c={...l,type:s.inferredType}:c={name:s.key,type:s.inferredType,source:{kind:"global-blackboard",key:s.key,range:s.range},readable:!0,writable:!0},i.globalBlackboard.set(s.key,c)}return i}for(let o of n){if(o.type!=="Identifier")continue;if(o.end>e.cursorOffset)break;let i=Vd(n,o.end);if(i?.type!=="ColonEqual"||i.end>e.cursorOffset)continue;let s=Ot(o.text);if(s.kind!=="invalid-global-blackboard"){if(s.kind==="global-blackboard"){if(t.globalBlackboard.has(s.key))continue;t.globalBlackboard.set(s.key,{name:s.key,type:{kind:"unknown"},source:{kind:"global-blackboard",key:s.key,range:{start:o.start,end:o.end}},readable:!0,writable:!0});continue}t.symbols.has(s.name)||t.symbols.set(s.name,{name:s.name,type:{kind:"unknown"},source:{kind:"script-assignment",attributeName:e.attributeName??"code",range:{start:o.start,end:o.end}},readable:!0,writable:!0})}}return t}function xs(e){let t=Fd(e.type);switch(e.source.kind){case"port-remap":return`${t} from ${e.source.nodeType??"node"}.${e.source.portName}`;case"global-blackboard-remap":return`${t} from global blackboard ${e.source.nodeType??"node"}.${e.source.portName}`;case"subtree-port":return`${t} from ${e.source.nodeType??"SubTree"}.${e.source.portName}`;case"script-assignment":return`${t} from earlier ${e.source.attributeName} declaration`;case"global-blackboard":return`${t} from global blackboard @${e.source.key}`;case"augmentation":return`${t} from augmentation`;case"enum":return`${t} enum`}}function Fd(e){switch(e.kind){case"number":case"string":case"bool":case"any":case"unknown":case"error":return e.kind;case"custom":return e.name}}function Od(e,t,n){if(e?.expectedResult!=="ignored")return!1;let r=at(t).filter(i=>i.type!=="EndOfInput"),o=Tn(r,n);return!o||o.type==="Semicolon"}function Ud(e,t){let n=t;for(;n>0&&Ts.has(e[n-1]??"");)n-=1;let r=t;for(;r<e.length&&Ts.has(e[r]??"");)r+=1;return{start:n,end:r}}function Tn(e,t){for(let n=e.length-1;n>=0;n-=1){let r=e[n];if(r.end<=t)return r}}function Is(e,t){if(t.type!=="Identifier")return!1;let n=Tn(e,t.start);return!n||n.type==="Semicolon"}function Vd(e,t){return e.find(n=>n.start>=t&&n.type!=="EndOfInput")}function ct(e,t){return t.length===0||e.toLowerCase().startsWith(t.toLowerCase())}function Ds(e,t){return Math.max(0,Math.min(e.length,t))}function qd(e){let t=new Set;return e.filter(n=>{let r=`${n.kind}:${n.label}:${n.insertText??""}`;return t.has(r)?!1:(t.add(r),!0)})}var Cs=new WeakMap;function In(e,t){let n=e.getNodeUsage(t),r=n.model.status==="resolved"?n.model.model.id:n.nodeType;return t.attributes.flatMap(o=>{let i=Xe({elementName:t.name,attributeName:o.name,resolvedNodeType:r});return i?[{attribute:o,info:i,parseResult:Ge(o.value)}]:[]})}function pe(e,t,n){return Te(e.document,t,n)}function Bs(e){return{start:0,end:e.value.length}}function we(e,t){let n=e.getTreeNodeView(t),r=n?.behaviorTree;return!n||!r?In(e,t).map(o=>{let i=Es(e,[]);return{...o,environment:i,analysis:o.parseResult.ok?He({program:o.parseResult.program,environment:i,attributeName:o.attribute.name}):void 0}}):$d(e,r).filter(o=>o.node.element===t).map(o=>({...o.candidate,environment:o.environmentBefore,analysis:o.analysis}))}function $d(e,t){let n=Cs.get(e.view);n||(n=new WeakMap,Cs.set(e.view,n));let r=n.get(t);if(r)return r;let o=t.nodes.flatMap(s=>In(e,s.element).map((a,l)=>({id:`${s.path.join(".")}:${a.attribute.name}:${l}`,node:s,candidate:a}))),i=Xt({baseEnvironment:Es(e,t.nodes),entries:o.map(s=>({id:s.id,source:s.candidate.attribute.value,attributeName:s.candidate.attribute.name,originId:s.id,parseResult:s.candidate.parseResult}))}).flatMap((s,a)=>{let l=o[a];return l?[{...s,node:l.node,candidate:l.candidate}]:[]});return n.set(t,i),i}function Es(e,t){let n=te(e.semantic),r=[],o=[],i=t[0]?.behaviorTree.id;if(i){let s=e.getNodeModel(i);if(s?.kind==="SubTree")for(let a of s.ports){let l=$e(a),u=Z(e.semantic,l)?.canonical??l;r.push({name:a.name,type:xe(n,l),source:{kind:"subtree-port",nodeType:i,portName:a.name,direction:a.direction},readable:!0,writable:a.direction==="output"||a.direction==="inout",compatibilityKey:u})}}for(let s of t)for(let a of s.portBindings){if(a.usage.status!=="resolved")continue;let l=X({portName:a.usage.port.name,rawValue:a.usage.value});if(!l.ok||l.reference.scope==="global")continue;let c=$e(a.usage.port),d=Z(e.semantic,c)?.canonical??c,p=a.usage.port.direction,m=s.usage.model.status==="resolved"?s.usage.model.model.id:s.usage.nodeType;r.push({name:l.reference.key,type:xe(n,c),source:{kind:"port-remap",nodeType:m,portName:a.usage.port.name,direction:p},readable:p==="input"||p==="output"||p==="inout",writable:p==="output"||p==="inout",compatibilityKey:d})}return o.push(...Xd(e,n)),$t({symbols:r,globalBlackboardSymbols:o,augmentations:Pt(e.semantic),areTypesCompatible:(s,a)=>s&&a?De(e.semantic,s,a):!0})}function Xd(e,t){let n=[];for(let r of e.view.nodes){let o=r.usage.model.status==="resolved"?r.usage.model.model.id:r.usage.nodeType;for(let i of r.portBindings){if(i.usage.status!=="resolved")continue;let s=X({portName:i.usage.port.name,rawValue:i.usage.value});if(!s.ok||s.reference.scope!=="global")continue;let a=$e(i.usage.port),c=Z(e.semantic,a)?.canonical??a,u=i.usage.port.direction;n.push({name:s.reference.key,type:xe(t,a),source:{kind:"global-blackboard-remap",nodeType:o,portName:i.usage.port.name,direction:u,key:s.reference.key},readable:u==="input"||u==="output"||u==="inout",writable:u==="output"||u==="inout",compatibilityKey:c})}}return n}var Ps=P({name:"script/no-unknown-variable",create(e){return{Element(t){for(let n of we(e,t))if(n.analysis)for(let r of n.analysis.unknownIdentifiers)e.report({code:S.UnknownScriptVariable,message:`unknown script variable \`${r.name}\``,range:pe(e,n.attribute,r.range),details:{primaryLabel:`\`${r.name}\` is not defined in the script environment`,help:"introduce it earlier with `:=`, add a matching blackboard remap, or define a script enum in btxml.model-augment.json"}})}}}});var Ns=P({name:"script/valid-assignment",create(e){return{Element(t){for(let n of we(e,t))if(n.analysis)for(let r of n.analysis.diagnostics){let o=r.code==="assignment-to-unknown-variable"?S.AssignmentToUnknownVariable:r.code==="invalid-compound-assignment"?S.InvalidCompoundAssignment:r.code==="variable-type-mismatch"?S.ScriptVariableTypeMismatch:r.code==="invalid-global-blackboard-identifier"?S.InvalidGlobalBlackboardIdentifier:void 0;o&&e.report({code:o,message:r.message,range:pe(e,n.attribute,r.range),details:r.details})}}}}});var ws=P({name:"script/valid-expression-type",create(e){return{Element(t){for(let n of we(e,t))if(n.analysis)for(let r of n.analysis.diagnostics)r.code==="invalid-operand-type"&&e.report({code:S.InvalidScriptOperandType,message:r.message,range:pe(e,n.attribute,r.range),details:r.details})}}}});var Ms=P({name:"script/valid-result-type",create(e){return{Element(t){for(let n of we(e,t)){if(n.info.expectedResult!=="bool-compatible"||!n.parseResult.ok||!n.analysis)continue;let r=n.parseResult.program.statements.at(-1),o=n.analysis.finalType;!r||!o||Ke(o)||e.report({code:S.ScriptResultNotBoolCompatible,message:`script result for \`${n.attribute.name}\` is not bool-compatible`,range:pe(e,n.attribute,r.range),details:{primaryLabel:"script result is not bool-compatible here",help:"return a boolean or numeric expression, or move side effects into a postcondition/script node"}})}}}}});var As=P({name:"script/valid-syntax",create(e){return{Element(t){for(let n of In(e,t))if(!n.parseResult.ok)for(let r of n.parseResult.errors){let o=r.kind==="empty-script"?S.EmptyScript:r.kind==="invalid-token"?S.InvalidScriptToken:S.InvalidScriptSyntax;e.report({code:o,message:r.message,range:r.kind==="empty-script"?n.attribute.valueContentRange??n.attribute.valueRange??pe(e,n.attribute,Bs(n.attribute)):pe(e,n.attribute,r.range),details:{primaryLabel:`invalid script in \`${n.attribute.name}\``}})}}}}});var _s=[As,Ps,Ns,ws,Ms];var zd={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"};function Ls(e){return P({name:zd[e],create(t){return{ProgramExit(){for(let n of t.getSuppressionIssues(e))t.report({message:n.message,range:n.range,data:Wd(n)})}}}})}function Wd(e){return e.code?{code:e.code}:void 0}var js=[Ls("unused"),Ls("missing-reason")];function Dn(e,t){return e.attributes.find(n=>n.name===t)}function Fs(e,t){if(!e)return!1;let n=(r,o)=>{let i=o||r.name==="TreeNodesModel";if(r===t)return i;for(let s of r.children)if(s.kind==="element"&&n(s,i))return!0;return!1};return n(e,!1)}var Os=[P({name:"tree/require-id",create(e){return{Element(t){t.name!=="BehaviorTree"||Dn(t,"ID")||e.report({message:"BehaviorTree must have ID attribute",range:t.range})}}}}),P({name:"tree/no-duplicate-id-in-file",create(e){let t=new Set;return{ProgramExit(){let n=Bt(e.semantic,e.document.uri);for(let r of n?.behaviorTrees??[])r.idRange&&(t.has(r.id)&&e.report({message:`Duplicate BehaviorTree ID: ${r.id}`,range:r.idRange}),t.add(r.id))}}}}),P({name:"tree/no-duplicate-id",create(e){return{ProgramExit(){if(e.config.resolver.behaviorTreeIds!=="allow-ambiguous")for(let t of Ce(e.semantic)){let n=Y(e.semantic,t);if(n.length<=1||new Set(n.map(i=>i.uri)).size<=1)continue;let o=n.filter(i=>i.uri===e.document.uri);o.length>0&&e.report({message:`Duplicate BehaviorTree ID: ${t}`,range:o[0]?.idRange})}}}}}),P({name:"tree/no-unknown-main-tree",create(e){return{Document(){let t=e.document.root;if(e.document.kind!=="bt-document"||!t)return;let n=Dn(t,"main_tree_to_execute");!n?.value||tr(e.semantic,n.value)||e.report({message:`main_tree_to_execute references unknown BehaviorTree: ${n.value}`,range:n.range})}}}}),P({name:"tree/no-unknown-subtree",create(e){return{Element(t){if(t.name!=="SubTree"||Fs(e.document.root,t))return;let n=e.getSubTreeCallView(t),r=n?.node.element.attributes.find(i=>i.name==="ID")??Dn(t,"ID");!r||n?.target.status==="resolved"||e.resolveSubTree(r.value,e.document.uri).status!=="unresolved"||e.report({message:`unknown subtree \`${r.value}\``,range:r.valueContentRange||r.valueRange})}}}}),P({name:"tree/no-ambiguous-subtree",create(e){return{Element(t){if(t.name!=="SubTree"||Fs(e.document.root,t))return;let n=Dn(t,"ID");if(!n||e.getSubTreeCallView(t)?.target.status==="resolved")return;let o=e.resolveSubTree(n.value,e.document.uri);o.status!=="ambiguous"||o.behaviorTrees.length<=1||e.report({message:`ambiguous subtree \`${n.value}\``,range:n.valueContentRange||n.valueRange})}}}}),P({name:"tree/no-duplicate-node-model-id",meta:{description:"TreeNodesModel elements must have unique IDs within the same model block."},create(){return{}}})];var Gd=new Map([["IfThenElse",{min:2,max:3}],["WhileDoElse",{min:2,max:3}]]);function Kd(e,t){return e===t?String(e):`${e}\u2013${t}`}var Us=P({name:"model/valid-child-count",create(e){return{Element(t){if(de(t))return;let n=e.getNodeUsage(t);n.model.status==="resolved"&&Hd(e,t,n.model.model.id,n.model.model.kind)}}}});function Hd(e,t,n,r){let o=ns(t).length,i=Gd.get(n);if(i){if(o<i.min||o>i.max){let s=Kd(i.min,i.max);e.report({message:`\`${n}\` requires ${s} child node(s), but has ${o}.`,range:t.range})}return}if(r==="Action"||r==="Condition"){o>0&&e.report({message:`${r} node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range});return}if(r==="Decorator"){o!==1&&e.report({message:`Decorator node \`${n}\` must have exactly 1 child node, but has ${o}.`,range:t.range});return}if(r==="Control"){o<1&&e.report({message:`Control node \`${n}\` must have at least 1 child node.`,range:t.range});return}r==="SubTree"&&o>0&&e.report({message:`SubTree node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range})}var Vs=P({name:"model/valid-port-value",create(e){return{Element(t){if(de(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of t.attributes){let o=e.getPortUsage(t,r.name);o?.status==="resolved"&&Sn(e,{port:o.port,value:r.value,range:r.range,registry:te(e.semantic),typeDefinition:Z(e.semantic,o.port.type),allowRemap:!0,diagnosticCode:S.InvalidPortValueType,customLiteralDiagnosticCode:S.CustomLiteralRequiresValidator,portLabel:r.name})}}}}});var qs=P({name:"model/require-port",create(e){return{Element(t){if(de(t))return;let n=e.getNodeUsage(t);if(!(n.tagForm==="subtree"&&n.allowsArbitraryAttributes)&&!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of n.ports)!r.required||n.portUsages.some(i=>i.name===r.name&&i.status==="resolved")||e.report({message:`missing required port \`${r.name}\``,range:t.range,details:n.tagForm==="subtree"?{primaryLabel:n.model.status==="resolved"?`node \`${n.model.model.id}\` requires port \`${r.name}\``:`SubTree requires port \`${r.name}\``,help:`add \`${r.name}="..."\` or provide a blackboard reference such as \`${r.name}="{value}"\``}:void 0})}}}});var $s=[P({name:"model/no-childless-control-shape-mismatch",create(e){return{Element(t){if(de(t)||!t.selfClosing)return;let n=e.getTreeNodeView(t);if(n?.model.status!=="resolved")return;let r=n.model.model.kind;r!=="Control"&&r!=="Decorator"||e.report({message:`${r} node \`${n.model.model.id}\` normally expects child nodes.`,range:t.range})}}}}),P({name:"model/no-leaf-block-shape",create(e){return{Element(t){if(de(t)||t.selfClosing||rs(t))return;let n=e.getTreeNodeView(t);if(n?.model.status!=="resolved")return;let r=n.model.model.kind;r!=="Action"&&r!=="Condition"&&r!=="SubTree"||e.report({message:`${r} node \`${n.model.model.id}\` should be self-closing or have no children.`,range:t.range})}}}})];var Xs=P({name:"model/no-unknown-node",create(e){return{Element(t){let n=e.getNodeUsage(t);if(n.tagForm==="root"||n.tagForm==="behavior-tree"||n.tagForm==="tree-nodes-model"||n.tagForm==="include"||n.tagForm==="model-definition"||n.tagForm==="subtree"||n.tagForm==="unknown-xml"||n.model.status==="resolved"||n.model.status==="ambiguous")return;let r=t.attributes.find(o=>o.name==="ID");e.report({message:`unknown node \`${n.nodeType??n.tagName}\``,range:r?.valueContentRange??r?.valueRange??t.range})}}}});var zs=P({name:"model/no-unknown-port",create(e){return{Element(t){if(de(t))return;let n=e.getNodeUsage(t);for(let r of n.portUsages){if(r.status!=="undeclared")continue;let o=n.ports.map(s=>s.name).sort(),i=o.length>=1&&o.length<=8?[`note: defined ports: ${o.map(s=>`\`${s}\``).join(", ")}`]:void 0;e.report({message:`unknown port \`${r.name}\``,range:r.attribute.range,details:n.tagForm==="subtree"?{primaryLabel:n.model.status==="resolved"?`node \`${n.model.model.id}\` does not define this port`:"SubTree does not define this port in strict mode",help:n.model.status==="resolved"?`remove \`${r.name}\` or add it to the \`${n.model.model.id}\` SubTree model`:`remove \`${r.name}\`, add it to a SubTree model, or set the \`model/no-unknown-port\` rule option \`subTreePorts\` to \`loose\``,notes:i}:void 0})}}}}});var Ws=[Xs,zs,qs,Vs,...$s,Us];function Yd(e,t){return e.attributes.find(n=>n.name===t)}function Jd(e){let t=e.resolver.includes.elements;return new Set(["BehaviorTree","TreeNodesModel",...t.map(n=>n.name)])}var Gs=[P({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 <root>",range:t.range})}}}}),{name:"xml/require-btcpp-format",code:S.MissingBTCPPFormat,defaultSeverity:"error",meta:{description:'Root element must declare BTCPP_format="4".'},create(e){return{Document(){let t=e.document.root;e.document.kind!=="bt-document"||!t||Yd(t,"BTCPP_format")?.value==="4"||e.report({message:'Root element must have BTCPP_format="4"',range:t.range})}}}},P({name:"xml/no-unknown-top-level-element",meta:{description:"Top-level elements must be BehaviorTree, TreeNodesModel, or configured include elements."},create(e){return{Element(t){let n=e.document.root;e.document.kind!=="bt-document"||!n||t===n||!n.children.includes(t)||Jd(e.config).has(t.name)||e.report({message:`Unknown top-level element: ${t.name}`,range:t.range})}}}})];var Mr=[...Gs,..._s,...Os,...cs,...Ws,...es,...js],_S=new Map(Mr.map(e=>[e.name,e]));function Ks(e){if(e!=="off")return e==="info"?b.Info:e==="warn"?b.Warning:b.Error}function Hs(e,t){return ke(e.linter.rules[t])?.options??{}}function Ys(e){let t=ke(e.config.linter.rules[e.rule]);return Ks(t?t.severity:e.defaultSeverity)}function Js(e){let t=[],n=e.facts??Yi(),r=e.rules?new Set(e.rules):void 0,o=[];for(let s of Mr){if(r&&!r.has(s.name))continue;let a=Ys({config:e.config,rule:s.name,defaultSeverity:s.defaultSeverity});if(!a)continue;let l=Hs(e.config,s.name),c=s.optionsSchema?.safeParse(l),u=c?.success?c.data:l,d=Qi({document:e.document,view:e.view,semantic:e.semantic,config:e.config,options:u,diagnostics:t,rule:s.name,code:s.code,severity:a,facts:n});o.push(s.create(d))}for(let s of o)s.Document?.();e.document.root&&Zs(e.document.root,o);let i=Bt(e.semantic,e.document.uri);for(let s of i?.treeNodesModel??[])for(let a of o)a.TreeNodeModel?.(s);for(let s of o)s.ProgramExit?.();return t.map((s,a)=>({diag:s,index:a})).sort((s,a)=>Zd(s.diag,a.diag)||s.index-a.index).map(s=>s.diag)}function Zs(e,t){for(let n of t)n.Element?.(e);for(let n of e.children)n.kind==="element"&&Zs(n,t)}function Zd(e,t){let n=e.range,r=t.range;return!n&&!r?0:n?r?n.start.line-r.start.line||n.start.character-r.start.character||n.end.line-r.end.line||n.end.character-r.end.character:-1:1}function zt(e,t,n){if(e.kind==="invalid-xml"||e.kind==="generic-xml")return[...e.diagnostics];let r=[...e.diagnostics],o=n.documentView??G(e,{semantic:t,config:n.config,policy:oe(n.config)});return r.push(...Js({document:e,view:o,semantic:t,config:n.config})),r}var Qd={"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 Qs(e){if(e!=="off")return e==="info"?b.Info:e==="warn"?b.Warning:b.Error}function ep(e,t){let n=ke(e.linter.rules[t]);return Qs(n?n.severity:ue[t].defaultSeverity)}function tp(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 ea(e){let t=[];for(let n of e.issues){let r=Qd[n.kind],o=ep(e.config,r);if(!o)continue;let i=w(ue[r].code,o,n.message,n.range,n.uri,void 0,tp(n));t.push({...i,rule:r})}return t}function ta(e,t){return Ee(e,t).replace(/\\/g,"/")}function np(e){return e.length>0&&!e.startsWith("/")&&!e.startsWith("../")&&!/^[A-Za-z][A-Za-z\d+.-]*:\/\//.test(e)&&!/^[A-Za-z]:\//.test(e)}function rp(e,t){for(let n of[t.path,t.uri]){if(!n)continue;let r=ta(e,n);if(np(r))return r}return ta(e,t.uri)}function na(e){let{project:t,indexResult:n,externalModelDocuments:r,fileDocuments:o,lintEnabled:i,resolvedConfig:s}=e,a=t,l=n.index.mode;return o.map(c=>{let u=rp(a.rootUri,c);if(l==="entrypoints"&&n.index.includeGraph&&c.kind==="bt-document"&&!n.index.reachableDocuments.has(c.uri))return{path:u,uri:c.uri,kind:c.kind,diagnostics:[],skipped:!0,skipReason:"unreachable",originalText:c.originalText};let d=l==="single-file"?Fe([c,...r],{config:s,models:e.nodeDefinitionModels,augmentations:e.augmentations}).index:n.index.workspace,p=l==="single-file"?(()=>{let g=ee(s,u);return G(c,{semantic:d,config:g,policy:oe(g)})})():n.index.documentViews.get(c.uri),m=[];if(i){let g=ee(s,u);m=zt(c,d,{config:g,documentView:p});let f=n.index.facts.includeIssuesByUri.get(c.uri)??[];m.push(...ea({issues:f,config:g}))}return e.input.mode==="check"&&c.kind==="generic-xml"?{path:u,uri:c.uri,kind:c.kind,documentView:p,diagnostics:[],rawDiagnostics:m,skipped:!0,skipReason:"generic-xml",originalText:c.originalText}:{path:u,uri:c.uri,kind:c.kind,documentView:p,diagnostics:m,rawDiagnostics:void 0,skipped:!1,originalText:c.originalText}})}function ra(e){let t=[];for(let n of e)n.kind==="comment"&&t.push(n),n.kind==="element"&&t.push(...ra(n.children));return t}function op(e,t,n){let r=[],o=[];for(let i of e){let s=ra(i.nodes);for(let a of s){let l=a.text.trim();if(!l.includes("btxml-disable"))continue;let c=l.match(/\b(BT\d+|BT\d+_[A-Z0-9_]+|CFG\d+_[A-Z0-9_]+|XML\d+_[A-Z0-9_]+)\b/)?.[1],u=l.match(/reason:\s*(.+)$/)?.[1];t&&!u&&o.push({kind:"missing-reason",uri:i.uri,code:c,range:a.range,message:"missing suppression reason"}),l.startsWith("btxml-disable-file")?r.push({uri:i.uri,code:c,file:!0,range:a.range,used:!1,reason:u}):l.startsWith("btxml-disable-next-line")?n&&r.push({uri:i.uri,code:c,line:a.range.end.line+1,range:a.range,used:!1,reason:u}):l.startsWith("btxml-disable")&&n&&r.push({uri:i.uri,code:c,line:a.range.end.line+1,range:a.range,used:!1,reason:u})}}return{suppressions:r,issues:o}}function oa(e,t){let n=op(t.documents??[],!!t.requireReason,t.allowInline!==!1),r=[],o=[];for(let i of e){let s=n.suppressions.find(a=>a.uri===i.uri&&(!a.code||a.code===i.code||i.code.startsWith(a.code))&&(a.file||a.line===i.range?.start.line||a.line===(i.range?.start.line??0)+1));if(s){s.used=!0,o.push(i);continue}r.push(i)}for(let i of 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=o.map(s=>({...s,severity:b.Info,suppressed:!0}));return{diagnostics:[...r,...i],suppressedDiagnostics:o,issues:n.issues}}return{diagnostics:r,suppressedDiagnostics:o,issues:n.issues}}function Ar(e,t,n,r=e.resolvedConfig){let o=It(r.linter.rules,"suppression/require-reason")!=="off";return oa(t,{documents:n??e.fileDocuments,requireReason:o,allowInline:r.linter.suppressions.inline!=="deny",showSuppressed:e.showSuppressed})}function ia(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 sa(e,t){if(!e.input.baseline)return{diagnostics:t,baselineDiagnostics:[],staleEntries:[]};let n=new Set,r=[],o=[];for(let i of t){let s=e.input.baseline.diagnostics.findIndex(a=>a.path===i.uri&&a.code===i.code&&a.messageHash===ia(i.message)&&a.range?.start?.line===i.range?.start?.line&&a.range?.start?.character===i.range?.start?.character);if(s>=0){n.add(s),o.push(i);continue}r.push(i)}return{diagnostics:r,baselineDiagnostics:o,staleEntries:e.input.baseline.diagnostics.filter((i,s)=>!n.has(s))}}var aa={error:0,warning:1,info:2};function la(e,t){return e.some(n=>n.severity===b.Error||t===0&&n.severity===b.Warning)}function Cn(e){return e.flat().sort((t,n)=>{let r=t.uri.localeCompare(n.uri);if(r!==0)return r;let o=t.range?.start.offset??-1,i=n.range?.start.offset??-1;if(o!==i)return o-i;let s=aa[t.severity]-aa[n.severity];if(s!==0)return s;let a=t.code.localeCompare(n.code);return a!==0?a:t.message.localeCompare(n.message)})}function ca(e,t,n){let r=t.filter(i=>!i.skipped),o=Cn([n,r.flatMap(i=>i.diagnostics)]);return{files:r.length,errors:o.filter(i=>i.severity===b.Error).length,warnings:o.filter(i=>i.severity===b.Warning).length,infos:o.filter(i=>i.severity===b.Info).length,suppressed:0,baselineFiltered:0,staleEntries:[]}}function ip(e,t){return e.map(({path:n,uri:r,kind:o,diagnostics:i,rawDiagnostics:s,skipped:a,skipReason:l})=>({path:n,uri:r,kind:o,diagnostics:i,rawDiagnostics:t?s:void 0,skipped:a,skipReason:l}))}function ua(e,t){let n=Cn([e.finalProjectDiagnostics??e.projectDiagnostics,e.files?.flatMap(r=>r.diagnostics)??[]]);return{ok:!la(n,e.input.maxWarnings),files:e.files?ip(e.files,e.input.includeRawDiagnostics):[],projectDiagnostics:e.finalProjectDiagnostics??e.projectDiagnostics,summary:t}}var sp={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"},ap={unused:S.UnusedSuppression,"missing-reason":S.MissingSuppressionReason};function lp(e){if(e!=="off")return e==="info"?b.Info:e==="warn"?b.Warning:b.Error}function cp(e,t){return lp(It(e.linter.rules,t))}function _r(e){let t=[];for(let n of e.issues){let r=sp[n.kind],o=cp(e.config,r);if(!o)continue;let i=w(ap[n.kind],o,n.message,n.range,n.uri,void 0,n.code?{code:n.code}:void 0);t.push({...i,rule:r})}return t}async function up(e){let t=await Hi(e),n=[...t.projectDiagnostics,...t.indexResult.diagnostics];t.files=na(t);let r=Ar(t,n);n=[...r.diagnostics,..._r({issues:r.issues,config:t.resolvedConfig})];let o=r.suppressedDiagnostics.length;for(let l=0;l<t.files.length;l++){let c=t.files[l],u=t.fileDocuments[l];if(c.skipped)continue;let d=ee(t.resolvedConfig,c.path),p=Ar(t,c.diagnostics,[u],d);c.diagnostics=[...p.diagnostics,..._r({issues:p.issues,config:d})],c.rawDiagnostics=[...c.diagnostics],o+=p.suppressedDiagnostics.length}let i=0,s=[];for(let l of t.files){if(l.skipped||l.diagnostics.length===0)continue;let c=sa(t,l.diagnostics);l.diagnostics=c.diagnostics,i+=c.baselineDiagnostics.length,c.staleEntries.length>0&&(s=s.concat(c.staleEntries))}t.files=Ki(t.files),t.finalProjectDiagnostics=n;let a=ca(t,t.files,n);return a.suppressed=o,a.baselineFiltered=i,a.staleEntries=s,{...ua(t,a),files:t.files??[]}}async function Lr(e){let t=e.project,n=e.host??t.host,r=e.documents,o=e.externalModelDocuments,i=e.augmentations,s=[...e.projectDiagnostics??[]];if(!r||!o||!i){let a=await Ve(e.project,n);r??=a.documents,o??=a.externalModelDocuments,i??=a.augmentations,s=[...s,...a.diagnostics]}return up({...e,host:n,documents:r,externalModelDocuments:o,augmentations:i,projectDiagnostics:s,resolvedConfig:t.resolvedConfig})}async function ma(e,t,n){let r=e;for(;;){for(let i of t){let s=Q.join(r,i);if(await n.exists(s))return s}let o=Q.dirname(r);if(o===r)return;r=o}}async function dp(e,t){return ma(e,["btxml.config.json"],t)}async function da(e,t){return JSON.parse(await t.readFile(e))}function pa(e,t){return e.map(n=>w(n.code,n.severity==="error"?b.Error:b.Warning,n.message,void 0,t??"",n.help?{help:n.help}:void 0))}async function fa(e){if(e.noConfig)return{ok:!0,config:{},diagnostics:[]};let t=e.configUri,n={};if(t||(t=await dp(e.startUri,e.host)),t){if(!await e.host.exists(t))return{ok:!1,diagnostics:[w("CFG006_CONFIG_PATH_NOT_FOUND",b.Error,`config file not found \`${t}\``,void 0,t,{help:"check the `--config` path or run without `--config` to use config discovery"})]};try{n=await da(t,e.host)}catch(i){let s=String(i.message||i);return{ok:!1,configUri:t,diagnostics:[w("CFG001_INVALID_CONFIG_JSON",b.Error,"invalid configuration JSON",void 0,t,{primaryLabel:"the config file could not be parsed as JSON",help:"fix the JSON syntax in the config file",notes:[s]})]}}}else{let i=await ma(e.startUri,["package.json"],e.host);if(i)try{let s=await da(i,e.host);s.btxml&&(n=s.btxml,t=i)}catch{n={}}}let r=Rt(n);if(!r.ok)return{ok:!1,configUri:t,diagnostics:pa(r.diagnostics,t)};let o=Qn(r.value);return o.length>0?{ok:!1,configUri:t,diagnostics:pa(o,t)}:{ok:!0,config:r.value,configUri:t,diagnostics:[]}}async function ga(e,t,n,r){let o=await jt(t.files,e,[],n.followSymlinks,void 0,void 0,r),i=await jt(t.definitions,e,[],n.followSymlinks,void 0,void 0,r),s=await jt(t.augmentations,e,[],n.followSymlinks,void 0,void 0,r),a=o.files.map(u=>({path:$(e,u),uri:u,kind:"model-xml"})),l=i.files.map(u=>({path:$(e,u),uri:u,kind:"node-definition"})),c=s.files.map(u=>({path:$(e,u),uri:u,kind:"model-augmentation"}));return{modelFiles:a,augmentationFiles:c,definitionFiles:l,unmatchedPatterns:{models:o.unmatchedPatterns,augmentations:s.unmatchedPatterns,definitions:i.unmatchedPatterns}}}async function pp(e){if(e.configUri)return Q.dirname(e.configUri);let t=e.startUri;for(;;){if(await e.host.exists(Q.join(t,".git"))||await e.host.exists(Q.join(t,".colcon")))return t;let n=Q.dirname(t);if(n===t)return e.startUri;t=n}}async function jr(e){let t=await fa({startUri:e.rootUri,configUri:e.configUri,noConfig:e.noConfig,host:e.host});if(!t.ok||!t.config)return{ok:!1,diagnostics:t.diagnostics};let n=kt(t.config);if(!n.ok)return{ok:!1,diagnostics:[...t.diagnostics,...n.diagnostics]};let r=n.config,o=await pp({startUri:e.rootUri,configUri:t.configUri,host:e.host}),{selectedFiles:i,skippedFiles:s}=await Fi(o,r.files,e.cliFiles,e.rootUri,e.host),a=[...t.diagnostics,...n.diagnostics],l=t.configUri?$(o,t.configUri):"",c=Oi(r.resolver);for(let f of c){let x=Q.join(o,f.file);await e.host.exists(x)&&!i.some(B=>B.uri===x)&&i.push({path:f.file,uri:x,kind:"bt-xml"})}let{modelFiles:u,augmentationFiles:d,definitionFiles:p,unmatchedPatterns:m}=await ga(o,r.models,r.files,e.host);for(let f of m.models)a.push(w(S.ExternalModelFileNotFound,b.Error,`external TreeNodesModel file not found \`${f}\``,void 0,l,{help:"check `models.files` and make sure the file exists"}));for(let f of m.definitions)a.push(w(S.NodeDefinitionFileNotFound,b.Error,`node definition file not found \`${f}\``,void 0,l,{help:"check `models.definitions` and make sure the file exists"}));for(let f of m.augmentations)a.push(w(S.AugmentationFileNotFound,b.Error,`model augmentation file not found \`${f}\``,void 0,l,{help:"check `models.augmentations` and make sure the file exists"}));let g=r.models.builtins;return a.push(...await Ui(o,c,l,e.host)),{ok:!0,diagnostics:a,project:{rootUri:o,configUri:t.configUri,host:e.host,config:t.config,resolvedConfig:r,selectedFiles:i,entrypoints:c,modelFiles:u,augmentationFiles:d,definitionFiles:p,skippedFiles:s,modelsBuiltins:g}}}function ya(e){return[...e.files.values()]}function ba(e){return[...e.reachableDocuments.values()]}function ha(e){return e.workspace}function Sa(e){return[...e.nodeDefinitionModels]}function va(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 r=e.includeGraph.edges.map(s=>({from:s.from,to:s.to,includeElementRange:s.includeElementRange,includePathRange:s.includePathRange})),o=[];for(let s of e.facts.includeIssuesByUri.values())for(let a of s)o.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:r,issues:o}}async function Fr(e){let t=e.project,n=t.resolvedConfig;if(!n)throw new Error("Invariant: resolvedConfig is required");let r=e.host??t.host,o=e.documents,i=e.externalModelDocuments,s=e.augmentations,a=[];if(!o||!i||!s){let c=await Ve(e.project,r);a.push(...c.diagnostics),o??=c.documents,i??=c.externalModelDocuments,s??=c.augmentations}let l=await Rr({project:e.project,documents:o,activeDocumentUris:new Set(o.map(c=>c.uri)),externalModelDocuments:i,augmentations:s,resolveGraph:e.resolveGraph,resolvedConfig:n,host:r});return a.push(...l.diagnostics),{ok:l.ok,diagnostics:a,semanticIndex:ha(l.index),documents:ya(l.index),reachableDocuments:ba(l.index),nodeDefinitionModels:Sa(l.index),includeGraph:va(l.index)}}import Ra from"path";import{fileURLToPath as hp,pathToFileURL as ka}from"url";function Sp(e){return e.startsWith("file://")?e:ka(Ra.resolve(e)).href}function Or(e){return hp(Sp(e))}function ut(e){return ka(Ra.resolve(e)).href}function Ur(e){return Or(fr(e))}function Ta(e){return e?.documents??[]}function vp(e,t){if(t.uri===e.uri)return!0;if(e.uri.startsWith("file://"))try{let n=new URL(e.uri).pathname;if(t.uri.startsWith("file://")&&new URL(t.uri).pathname===n||t.path&&(t.path.startsWith("file://")?new URL(t.path).pathname:t.path)===n)return!0}catch{return!1}return!1}function Rp(e){let t=Qe();return e?{files:e.files??t.files,resolver:e.resolver??t.resolver,models:e.models??t.models,linter:e.linter??t.linter,formatter:e.formatter??t.formatter}:t}function me(e,t){let n=ye(e.document.text,{kind:e.document.languageId==="btcpp-xml"?"bt-xml":void 0,uri:e.document.uri,mode:"mode"in e?e.mode??"tolerant":"tolerant"}),r="workspace"in e?e.workspace:void 0,o=n.document?[n.document,...Ta(r).filter(u=>!vp(e.document,u))]:Ta(r),i=Rp(e.config||t.config),s=oe(i),a=r?.nodeDefinitionModels??[],l=Fe(o,{config:i,models:a,augmentations:t.augmentations}).index,c=n.document?G(n.document,{semantic:l,config:i,policy:s}):void 0;return{document:e.document,parsed:n.document,documentView:c,diagnostics:n.document?zt(n.document,l,{config:i,documentView:c}):n.diagnostics,partial:n.partial===!0,semantic:l,config:i,nodeUsagePolicy:s,workspace:r}}function xa(e,t,n){let r=e.positionAt(e.offsetAt({line:t,character:0}));return{range:D(r,r),newText:n}}function Ia(e,t){let r=(t.fullRange?.start||t.range.start).offset;for(;r>0&&/[ \t]/.test(e.text[r-1]||"");)r-=1;return{range:D(e.positionAt(r),e.positionAt(t.range.end.offset)),newText:""}}function Da(e,t,n){let r=Math.max(t.openTagRange.end.offset-(t.selfClosing?2:1),t.openTagRange.start.offset),o=e.positionAt(r);return{range:D(o,o),newText:` ${n}=""`}}function Bn(e){return D(e.positionAt(0),e.positionAt(e.text.length))}function Vr(e,t){let n=t.diagnostics||e.diagnostics,r=[],o=_t(t.document.text,e.config.formatter);o.ok&&!o.skipped&&o.text!==t.document.text&&r.push({title:"Format document",kind:"source.format",edits:[{range:Bn(t.document),newText:o.text}]});for(let i of n){if(!i.range)continue;let s=ne({document:t.document,parsed:e.parsed,position:i.range.start});if(i.code==="BT101_MISSING_REQUIRED_PORT"){let a=Math.min(i.range.start.offset+1,i.range.end.offset),l=e.parsed?.root&&st(e.parsed.root,a)||("element"in s?s.element:void 0);if(!l)continue;let c=O(e.semantic,{element:l,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}),u=c.ports.find(d=>d.required&&!c.portUsages.some(p=>p.status==="resolved"&&p.name===d.name));u&&r.push({title:`Add missing port ${u.name}`,kind:"quickfix",diagnostics:[i],edits:[Da(t.document,l,u.name)]})}if(i.code==="BT102_UNKNOWN_PORT"&&"attribute"in s&&"element"in s&&s.attribute){let l=(s.element?O(e.semantic,{element:s.element,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}):void 0)?.portUsages.find(u=>u.status==="undeclared"&&u.attribute===s.attribute),c=l?Ia(t.document,s.attribute):void 0;c&&l&&r.push({title:`Remove unknown port ${s.attribute.name}`,kind:"quickfix",diagnostics:[i],edits:[c]})}if(i.code==="BT002_MISSING_BTCPP_FORMAT"&&e.parsed?.root){let a=t.document.positionAt(e.parsed.root.nameRange?.end.offset||e.parsed.root.openTagRange.end.offset-1);r.push({title:'Add BTCPP_format="4" to <root>',kind:"quickfix",diagnostics:[i],edits:[{range:D(a,a),newText:' BTCPP_format="4"'}]})}r.push({title:`Suppress ${i.code} for next line`,kind:"quickfix",diagnostics:[i],edits:[xa(t.document,i.range.start.line,`<!-- btxml-disable-next-line ${i.code} reason: TODO -->
-`)]})}return{actions:r}}function U(e,t,n,r,o){return{label:e,kind:t,detail:n,textEdit:r,insertText:e,sortText:e,...o}}function K(e,t){return e?{range:e,newText:t}:void 0}function Me(e){let t=new Set;return e.filter(n=>{let r=`${n.kind}:${n.label}:${n.insertText||""}`;return t.has(r)?!1:(t.add(r),!0)})}function qr(e){return je(e)}function Je(e){return e?.trim().replace(/^const\s+/,"").replace(/[&*]\s*$/,"").replace(/\s+/g," ").toLowerCase()}function Ca(e,t){return!e||!t?!1:Je(e)===Je(t)}function Ba(e){let t=new Map;for(let n of e.documentView?.nodes??[])for(let r of n.portBindings){if(r.declaredPort.status!=="resolved")continue;let o=r.declaredPort.port;for(let i of r.blackboardReferences){if(i.syntax==="invalid")continue;let s={identity:i.identity,key:i.key,scope:i.scope,type:o.type,direction:o.direction,nodeType:n.usage.nodeType||n.tagName,portName:o.name},a=t.get(i.identity);if(!a){t.set(i.identity,s);continue}let l=Je(a.type),c=Je(s.type);if(l&&c&&l!==c){t.set(i.identity,{...a,conflict:!0});continue}!l&&c&&t.set(i.identity,{...a,type:s.type})}}return[...t.values()]}function kp(e,t,n){return D(e.positionAt(t),e.positionAt(n))}function Tp(e,t,n){let r=t.valueContentRange;if(!r)return;let o=r.start.offset,i=r.end.offset,s=e.text.slice(o,i),a=s.startsWith("{"),l=s.endsWith("}");if(a&&n>o){let c=o+1,u=s[1]==="@"?c+1:c,d=l?i-1:i;return{replacementRange:kp(e,u,Math.max(u,d)),wrapsReference:!1,hasScopeMarker:s[1]==="@"}}return{insertText:t.value,replacementRange:r,wrapsReference:!0,hasScopeMarker:!1}}function $r(e){let{document:t,attribute:n,cursorOffset:r,symbol:o,detail:i}=e,s=Tp(t,n,r),a=s?.wrapsReference??!1,l=s?.hasScopeMarker??!1;if(l&&o.scope!=="global")return;let c=o.key;a?c=qr(o):o.scope==="global"&&(c=`@${o.key}`);let u=o.key;a?u=qr(o):o.scope==="global"&&(u=l?o.key:`@${o.key}`);let d=o.scope==="global"?` @${o.key}`:"",p=`${o.key} ${c}${d}`.trim();return U(c,"Reference",i,s?{range:s.replacementRange,newText:u}:void 0,{filterText:p,insertText:u})}var Ea=new WeakMap;function dt(e,t){let n=e.parsed?ne({document:e.document,parsed:e.parsed,position:t}):void 0;if(!n||n.kind!=="attribute-value")return;let r=Gr(e,n.element,n.attribute);if(!r)return;let o=r.attribute.valueContentRange??r.attribute.valueRange,i=t.offset-o.start.offset,s=Hr(r.attribute,i),a=xn({source:r.source,cursorOffset:s});if(a.kind!=="identifier"||s<a.range.start||s>a.range.end)return;let l=Aa(e,r),c=l.analysis?.resolvedIdentifiers.find(d=>d.access.range.start===a.range.start&&d.access.range.end===a.range.end&&d.resolution.kind!=="unknown");if(!c||c.resolution.kind==="unknown")return;let u=c.resolution.kind==="symbol"?{kind:"symbol",symbol:c.resolution.symbol}:c.resolution.kind==="global-blackboard"?{...c.resolution,origin:"script"}:c.resolution;return{attributeContext:r,range:Xr(e,r,a.range),reference:u,flowState:l,occurrence:{uri:e.document.uri,attributeContext:r,identifier:c.access,reference:u,documentRange:Xr(e,r,c.access.range)}}}function Pa(e,t){let n=(t.reference.kind==="global-blackboard"?ja(e):Pn(e,t.attributeContext.behaviorTree).flatMap(r=>_a(e,r))).filter(r=>t.reference.kind==="enum"?r.reference.kind==="enum"&&r.reference.name===t.reference.name:t.reference.kind==="global-blackboard"?r.reference.kind==="global-blackboard"&&r.reference.key===t.reference.key:Dp(t.reference.symbol,r.reference));return t.reference.kind==="global-blackboard"?Cp([...n,...La(e,t.reference.key)]):n}function Na(e,t){return Fa(La(e,t).map(n=>({uri:n.uri,range:n.documentRange})))}function wa(e,t){return Fa(ja(e).filter(n=>n.reference.kind==="global-blackboard"&&n.reference.key===t).map(n=>({uri:n.uri,range:n.documentRange})))}function zr(e,t){return Pn(e,t)}function Ma(e,t,n){let r=Gr(e,t,n);if(r)return Aa(e,r).environmentBefore}function Wr(e){let t=En(e.type);switch(e.source.kind){case"port-remap":return`${t} from ${e.source.nodeType??"node"}.${e.source.portName}`;case"global-blackboard-remap":return`${t} from global blackboard ${e.source.nodeType??"node"}.${e.source.portName}`;case"subtree-port":return`${t} from ${e.source.nodeType??"SubTree"}.${e.source.portName}`;case"script-assignment":return`${t} from earlier ${e.source.attributeName} declaration`;case"global-blackboard":return`${t} from global blackboard @${e.source.key}`;case"augmentation":return`${t} from augmentation`;case"enum":return`${t} enum`}}function En(e){return e.kind==="custom"?e.name:e.kind}function Aa(e,t){let r=Pn(e,t.behaviorTree).find(o=>o.id===t.id);if(!r)throw new Error(`missing script flow state for ${t.id}`);return r}function Pn(e,t){let n=Ea.get(e);n||(n=new WeakMap,Ea.set(e,n));let r=n.get(t);if(r)return r;let o=t.nodes.flatMap(a=>a.element.attributes.flatMap(l=>{let c=Gr(e,a.element,l);return c?[c]:[]})),i=o.map(a=>({id:a.id,source:a.source,attributeName:a.attribute.name,originId:a.id})),s=Xt({baseEnvironment:xp(e,t.nodes),entries:i}).flatMap((a,l)=>{let c=o[l];return c?[{...a,context:c}]:[]});return n.set(t,s),s}function Gr(e,t,n){let r=e.documentView?.nodes.find(a=>a.element===t);if(!r)return;let o=r.usage.model.status==="resolved"?r.usage.model.model.id:r.usage.nodeType;if(!Xe({elementName:t.name,attributeName:n.name,resolvedNodeType:o}))return;let s=t.attributes.indexOf(n);return{id:`${r.path.join(".")}:${n.name}:${s}`,node:r,element:t,attribute:n,source:n.value,behaviorTree:r.behaviorTree}}function xp(e,t){let n=te(e.semantic),r=[],o=[],i=t[0]?.behaviorTree.id;if(i){let a=ie(e.semantic,i);if(a?.kind==="SubTree")for(let l of a.ports){let c=l.effectiveType??l.type,d=Z(e.semantic,c)?.canonical??c;r.push({name:l.name,type:xe(n,c),source:{kind:"subtree-port",nodeType:i,portName:l.name,direction:l.direction},readable:!0,writable:l.direction==="output"||l.direction==="inout",compatibilityKey:d})}}for(let a of t)for(let l of a.portBindings){if(l.declaredPort.status!=="resolved")continue;let c=Ua(l);if(!c||c.scope==="global")continue;let u=l.declaredPort.port.type,p=Z(e.semantic,u)?.canonical??u,m=l.declaredPort.port.direction,g=a.usage.model.status==="resolved"?a.usage.model.model.id:a.usage.nodeType;r.push({name:c.key,type:xe(n,u),source:{kind:"port-remap",nodeType:g,portName:l.declaredPort.port.name,direction:m},readable:m==="input"||m==="output"||m==="inout",writable:m==="output"||m==="inout",compatibilityKey:p})}let s=Kr(e).flatMap(({trees:a})=>a.flatMap(l=>l.nodes));return o.push(...Ip(e,n,s)),$t({symbols:r,globalBlackboardSymbols:o,augmentations:Pt(e.semantic),areTypesCompatible:(a,l)=>a&&l?De(e.semantic,a,l):!0})}function Ip(e,t,n){let r=[];for(let o of n){let i=o.usage.model.status==="resolved"?o.usage.model.model.id:o.usage.nodeType;for(let s of o.portBindings){if(s.declaredPort.status!=="resolved")continue;let a=Ua(s);if(!a||a.scope!=="global")continue;let l=s.declaredPort.port.type,u=Z(e.semantic,l)?.canonical??l,d=s.declaredPort.port.direction;r.push({name:a.key,type:xe(t,l),source:{kind:"global-blackboard-remap",nodeType:i,portName:s.declaredPort.port.name,direction:d,key:a.key},readable:d==="input"||d==="output"||d==="inout",writable:d==="output"||d==="inout",compatibilityKey:u})}}return r}function _a(e,t){return t.analysis?t.analysis.resolvedIdentifiers.flatMap(n=>{if(n.resolution.kind==="unknown")return[];let r=n.resolution.kind==="symbol"?{kind:"symbol",symbol:n.resolution.symbol}:n.resolution.kind==="global-blackboard"?{...n.resolution,origin:"script"}:n.resolution;return[{uri:e.document.uri,attributeContext:t.context,identifier:n.access,reference:r,documentRange:Xr(e,t.context,n.access.range)}]}):[]}function Dp(e,t){if(t.kind!=="symbol")return!1;let n=t.symbol;return e.source.kind==="script-assignment"||n.source.kind==="script-assignment"?e.source.kind==="script-assignment"&&n.source.kind==="script-assignment"&&e.name===n.name&&e.source.originId===n.source.originId&&e.source.range.start===n.source.range.start&&e.source.range.end===n.source.range.end:(e.source.kind==="port-remap"||e.source.kind==="subtree-port")&&e.source.kind===n.source.kind?e.name===n.name&&e.source.portName===n.source.portName&&e.source.nodeType===n.source.nodeType:e.name===n.name&&e.source.kind===n.source.kind}function Cp(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.documentRange.start.offset}:${r.documentRange.end.offset}:${r.reference.kind}`;t.has(o)||(t.add(o),n.push(r))}return n}function La(e,t){return Kr(e).flatMap(({uri:n,trees:r})=>r.flatMap(o=>o.nodes.flatMap(i=>i.portBindings.flatMap(s=>s.blackboardReferences.filter(a=>a.scope==="global"&&a.key===t).map(a=>({uri:n,attributeContext:{id:`${i.path.join(".")}:${s.attribute.name}:${i.element.attributes.indexOf(s.attribute)}`,node:i,element:i.element,attribute:s.attribute,source:s.attribute.value,behaviorTree:i.behaviorTree},identifier:{name:`@${a.key}`,kind:"read",range:{start:0,end:0},identifier:{kind:"Identifier",name:`@${a.key}`,range:{start:0,end:0}},statementIndex:-1},reference:{kind:"global-blackboard",key:a.key,origin:"port-remap"},documentRange:a.range}))))))}function ja(e){return Kr(e).flatMap(({uri:t,trees:n})=>n.flatMap(r=>{let o=Ep(e,t);return Pn(o,r).flatMap(i=>Bp(o,t,i))}))}function Bp(e,t,n){return _a(e,n).map(r=>({...r,uri:t}))}function Kr(e){let t=e.documentView?[{uri:e.document.uri,trees:e.documentView.behaviorTrees}]:[],r=(e.workspace?.documents??[]).filter(o=>o.uri!==e.document.uri).map(o=>{let i=G(o,{semantic:e.semantic,config:e.config,policy:e.nodeUsagePolicy});return{uri:o.uri,trees:i.behaviorTrees}}).filter(o=>o.trees.length>0);return[...t,...r]}function Ep(e,t){if(t===e.document.uri)return e;let n=e.workspace?.documents.find(i=>i.uri===t);if(!n)return e;let r=tt(t,n.originalText,0,"btcpp-xml"),o=G(n,{semantic:e.semantic,config:e.config,policy:e.nodeUsagePolicy});return{...e,document:r,parsed:n,documentView:o}}function Fa(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function Xr(e,t,n){return Te(e.parsed??{originalText:e.document.text},t.attribute,n)}function Hr(e,t){let n=e.valueOffsets;if(!n||n.length===0)return t;if(t<=0)return 0;for(let r=1;r<n.length;r+=1){let o=n[r];if(o!==void 0&&o>=t){let i=n[r-1]??0;return t<=i?r-1:r}}return Math.max(0,n.length-1)}function Oa(e,t,n){let r=e.parsed??{originalText:e.document.text};return Te(r,t,n)}function Ua(e){if(e.declaredPort.status!=="resolved")return;let t=X({portName:e.declaredPort.port.name,rawValue:e.value});return t.ok?t.reference:void 0}function Pp(e,t,n){let r=e.documentView?.nodes.find(i=>i.element===t)?.usage,o=r?.model.status==="resolved"?r.model.model.id:r?.nodeType;return Xe({elementName:t.name,attributeName:n.name,resolvedNodeType:o})}function Va(e,t,n,r){let o=Pp(e,n,r);if(!o)return;let i=r.valueContentRange??r.valueRange,s=Ma(e,n,r),a=Math.max(0,t.position.offset-i.start.offset);return wr({source:r.value,cursorOffset:Hr(r,a),environment:s,attributeName:r.name,attributeInfo:o}).map(c=>Np(e,r,c))}function Np(e,t,n){return U(n.label,wp(n.kind),n.detail,{range:Oa(e,t,n.replaceRange),newText:n.insertText??n.label},{insertText:n.insertText??n.label,insertTextFormat:n.insertTextFormat,filterText:n.filterText,sortText:n.sortText})}function wp(e){switch(e){case"identifier":return"Variable";case"enum":return"Enum";case"value":return"Value";case"operator":return"Keyword";case"snippet":return"Snippet"}}var Nn={enumLiteral:"0",boolLiteral:"1",matchingKey:"2",unknownKey:"3"};function qa(e){return!!(e?.valueContentRange&&e.valueRange&&(e.valueContentRange.start.offset!==e.valueRange.start.offset||e.valueContentRange.end.offset!==e.valueRange.end.offset))}function $a(e,t){if(!e)return;let n=qa(e)?e.valueContentRange:e.valueRange;if(n)return K(n,qa(e)?t:`"${t}"`)}function Xa(e,t,n,r){let o=[],i=[];for(let s of Ce(e)){let a=Y(e,s),l=U(s,"Value","BehaviorTree ID",r?$a(r,s):K(n,s));a.some(c=>c.uri===t)?o.push({...l,sortText:`0-${s}`}):i.push({...l,sortText:`1-${s}`})}return[...o,...i]}function Mp(e){return U("SubTree","Class","Built-in subtree tag",K(e,"SubTree"),{sortText:"0-SubTree"})}function Ap(e){if(e.kind!=="closing-tag-name")return[];let t=e.tagText;if(!t)return[];let n=e.tagNamePrefix||"";return t.toLowerCase().startsWith(n.toLowerCase())?[U(`${t}>`,"Value","Close current parent tag",K(e.replacementRange,`${t}>`))]:[]}function _p(e,t){let n=[...["BehaviorTree","TreeNodesModel","include"].map(o=>U(o,"Class",void 0,K(t,o))),...["Action","Condition","Control","Decorator"].map(o=>U(o,"Class",void 0,K(t,o))),Mp(t)],r=new Set;for(let o of on(e))o.id!=="SubTree"&&(r.has(o.id)||(r.add(o.id),n.push(U(o.id,"Class",void 0,K(t,o.id)))));return Me(n)}function wn(e,t,n){return O(e.semantic,{element:n,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy})}function Yr(e,t){let n=new Set(e.element.attributes.map(r=>r.name));return e.ports.filter(r=>!n.has(r.name)).map(r=>U(r.name,"Property",`${r.direction}${r.type?` ${r.type}`:""}`,K(t,r.name)))}function Lp(e,t,n){let r=[U("ID","Property",void 0,K(n,"ID"))];return r.push(...Yr(t,n)),r.filter(o=>!e.attributes.some(i=>i.name===o.label))}function jp(e,t,n,r){if(!e)return[];if(Oe(e.name)){let i=[];e.attributes.some(a=>a.name==="ID")||i.push(U("ID","Property",void 0,K(r,"ID")));let s=wn(n,t,e);return i.push(...Yr(s,r)),i}return e.name==="SubTree"?Lp(e,wn(n,t,e),r):e.name==="include"?[U("path","Property",void 0,K(r,"path"))]:Yr(wn(n,t,e),r)}function Fp(e,t,n,r){return Xa(t.semantic,e.document.uri,n,r)}function Op(e,t,n,r){let o=[],i=new Set;for(let s of on(e))s.kind===t&&(i.has(s.id)||(i.add(s.id),o.push(U(s.id,"Value",`${t} node ID`,r?$a(r,s.id):K(n,s.id)))));return o}function Up(e,t,n){if(t.kind!=="attribute-value")return[];let{attribute:r,element:o}=t;if(!r||!o)return[];let i=Oe(o.name);if(i&&r.name==="ID")return Op(n.semantic,i,r.valueContentRange||r.valueRange,r);if(o.name==="SubTree"&&r.name==="ID")return Fp(e,n,r.valueContentRange||r.valueRange,r);if(o.name==="root"&&r.name==="main_tree_to_execute")return Xa(n.semantic,e.document.uri,r.valueContentRange||r.valueRange,r);if(o.name==="include"&&r.name==="path")return(n.workspace?n.workspace.documents.map(E=>E.path||E.uri).filter(E=>E.endsWith(".xml")):[]).map(E=>U(E,"File","XML file",K(r.valueContentRange||r.valueRange,E)));let s=Va(n,e,o,r);if(s)return s;let a=wn(n,e,o);if(i&&a.model.status!=="resolved")return[];let l=ge(n.semantic,{element:o,documentRoot:n.parsed?.root,attributeName:r.name,uri:e.document.uri,config:n.config,policy:n.nodeUsagePolicy});if(l?.status!=="resolved")return[];let c=l.port,u=r.valueContentRange||r.valueRange,d=[];c.enum?.length&&d.push(...c.enum.map(k=>U(k,"Enum",c.type,K(u,k),{sortText:`${Nn.enumLiteral}-${k}`}))),(c.type||"").toLowerCase()==="bool"&&d.push(...["true","false"].map(k=>U(k,"Value","bool",K(u,k),{sortText:`${Nn.boolLiteral}-${k}`})));let p=Ba(n),m=Je(c.type),g=p.filter(k=>!k.conflict&&Ca(c.type,k.type)),f=p.filter(k=>!k.conflict&&!Je(k.type)&&m),x=g.flatMap(k=>{let E=$r({document:e.document,attribute:r,cursorOffset:e.position.offset,symbol:k,detail:k.scope==="global"?`${k.type||"unknown"} global blackboard key from ${k.nodeType}.${k.portName}`:`${k.type||"unknown"} blackboard key from ${k.nodeType}.${k.portName}`});return E?[{...E,sortText:`${Nn.matchingKey}-${k.scope==="global"?k.identity:k.key}`}]:[]}),B=f.flatMap(k=>{let E=$r({document:e.document,attribute:r,cursorOffset:e.position.offset,symbol:k,detail:k.scope==="global"?`unknown-type global blackboard key from ${k.nodeType}.${k.portName}`:`unknown-type blackboard key from ${k.nodeType}.${k.portName}`});return E?[{...E,sortText:`${Nn.unknownKey}-${k.scope==="global"?k.identity:k.key}`}]:[]});return d.push(...x,...B),d.length>0?Me(d):(t.valuePrefix||"").includes("{")?Me(d):d}function Jr(e,t){let n=ne({document:t.document,parsed:e.parsed,position:t.position});return n.kind==="comment"?{items:Yn.map(r=>U(r,"Reference","Diagnostic rule code"))}:n.kind==="attribute-value"?{items:Me(Up(t,n,e))}:n.kind==="attribute-name"?{items:Me(jp(n.element,t,e,n.attribute?.nameRange))}:n.kind==="tag-name"?{items:Me(_p(e.semantic,n.element?.nameRange))}:n.kind==="closing-tag-name"?{items:Me(Ap(n))}:{items:[]}}function Mn(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function Vp(e,t,n){return Ue(e,t).filter(r=>r.kind==="SubTree").map(r=>{if(r.idRange)return{uri:r.uri||n,range:r.idRange};if(r.range)return{uri:r.uri||n,range:r.range}}).filter(r=>!!r)}function Zr(e,t,n){return e?Mn(e.nodes.flatMap(r=>r.portBindings.flatMap(o=>o.blackboardReferences.filter(i=>i.identity===t).map(i=>({uri:n,range:i.range}))))):[]}function Qr(e,t,n,r,o,i,s){let a=Zr(e,i,s),l=(t??[]).flatMap(c=>{if(c.uri===s)return[];let u=G(c,{semantic:n,config:r,policy:o});return Zr(u,i,c.uri)});return Mn([...a,...l])}function eo(e,t,n){return Zr(e,t,n)}function An(e,t,n,r,o,i,s){if(!e)return[];let a=ne({document:{uri:e.uri,languageId:"xml",version:0,text:e.originalText,positionAt:()=>n,offsetAt:()=>n.offset,getText:()=>e.originalText},parsed:e,position:n}),l="element"in a?a.element:void 0,c="attribute"in a?a.attribute:void 0,u=l?O(r,{element:l,documentRoot:e.root,uri:e.uri,config:o,policy:i}):void 0;if(l?.name==="SubTree"&&c?.name==="ID"){if(u?.tagForm==="model-definition")return Y(r,c.value).map(m=>m.idRange?{uri:m.uri,range:m.idRange}:void 0).filter(m=>!!m);let d=Vp(r,c.value,e.uri),p=u?.subtree?.target;if(p?.status==="resolved"&&p.kind==="behavior-tree"){let m=p.behaviorTree;return m.idRange?Mn([{uri:m.uri,range:m.idRange},...d]):d}if(p?.status==="ambiguous")return Mn([...p.behaviorTrees.map(m=>m.idRange?{uri:m.uri||e.uri,range:m.idRange}:void 0),...d].filter(m=>!!m));if(p?.status==="resolved"&&p.kind==="node-model"){if(d.length>0)return d;if(p.model.idRange)return[{uri:p.model.uri||e.uri,range:p.model.idRange}]}return d}if(l?.name==="root"&&c?.name==="main_tree_to_execute")return Y(r,c.value).map(d=>d.idRange?{uri:d.uri,range:d.idRange}:void 0).filter(d=>!!d);if(l?.name==="include"&&c?.name==="path"&&s){let d=s.find(p=>p.uri===c.value||p.path===c.value||(p.path?p.path.endsWith(`/${c.value}`):!1));if(d?.root?.range)return[{uri:d.uri,range:d.root.range}]}if(c&&l){let d=t?ot(t,n):void 0,p=d?.blackboardReferences.find(m=>n.offset>=m.range.start.offset&&n.offset<=m.range.end.offset);if(p)return p.scope==="global"?Qr(t,s,r,o,i,p.identity,e.uri):eo(t,p.identity,e.uri);if(d?.declaredPort.status==="resolved"){let m=d.declaredPort.port;if(m.nameRange)return[{uri:m.uri||e.uri,range:m.nameRange}]}}if(a.kind==="tag-name"&&l&&u?.model.status==="resolved"){let d=u.model.model;if(d.idRange)return[{uri:d.uri||e.uri,range:d.idRange}];if(d.range)return[{uri:d.uri||e.uri,range:d.range}]}if(c?.name==="ID"&&u?.tagForm==="generic-node"&&u.model.status==="resolved"){let d=u.model.model;if(d.idRange)return[{uri:d.uri||e.uri,range:d.idRange}];if(d.range)return[{uri:d.uri||e.uri,range:d.range}]}return[]}function to(e,t){let n=dt(e,t.position);if(n?.reference.kind==="symbol"){let r=n.reference.symbol;if(r.source.kind==="script-assignment"){let o=r.source,s=zr(e,n.attributeContext.behaviorTree).find(a=>a.id===o.originId)?.context??n.attributeContext;return{locations:[{uri:e.document.uri,range:Te(e.parsed??{originalText:e.document.text},s.attribute,o.range)}]}}if(r.source.kind==="port-remap"||r.source.kind==="global-blackboard-remap"){let o=r.source,i=z({scope:o.kind==="global-blackboard-remap"?"global":"local",key:r.name}),s=e.documentView?.nodes.filter(l=>l.behaviorTree===n.attributeContext.behaviorTree).flatMap(l=>l.portBindings).filter(l=>l.declaredPort.status==="resolved").find(l=>l.declaredPort.port.name===o.portName&&l.declaredPort.port.direction===o.direction&&l.blackboardReferences.some(c=>c.identity===i)),a=s?.declaredPort.port.nameRange;if(a)return{locations:[{uri:s.declaredPort.port.uri||e.document.uri,range:a}]}}if(r.source.kind==="subtree-port"){let o=r.source,s=(o.nodeType?ie(e.semantic,o.nodeType):void 0)?.ports.find(a=>a.name===o.portName&&a.direction===o.direction);if(s?.nameRange)return{locations:[{uri:s.uri||e.document.uri,range:s.nameRange}]}}}if(n?.reference.kind==="global-blackboard"){let r=z({scope:"global",key:n.reference.key}),o=Na(e,n.reference.key);if(o.length>0)return{locations:o};let i=n.reference.symbol;if(i?.source.kind==="global-blackboard"){let s=i.source,l=zr(e,n.attributeContext.behaviorTree).find(c=>c.id===s.originId)?.context??n.attributeContext;return{locations:[{uri:e.document.uri,range:Te(e.parsed??{originalText:e.document.text},l.attribute,s.range)}]}}}return{locations:An(e.parsed,e.documentView,t.position,e.semantic,e.config,e.nodeUsagePolicy,e.workspace?.documents)}}function no(e,t){return{diagnostics:e.diagnostics,document:e.parsed,partial:e.partial}}function za(e,t){let n=_t(e.document.text,{indentWidth:t?.indentWidth,xmlDeclaration:t?.xmlDeclaration,blankLineBetweenBehaviorTrees:t?.blankLineBetweenBehaviorTrees,lineEnding:t?.lineEnding});return!n.ok||n.skipped?{edits:[],diagnostics:n.diagnostics}:n.text===e.document.text?{edits:[],diagnostics:[]}:{edits:[{range:Bn(e.document),newText:n.text}],diagnostics:[]}}function ro(e,t){return za(t,e.config.formatter)}function Wa(e){return[`**Port** \`${e.name}\``,"",`Direction: ${e.direction}  `,`Type: \`${e.type||"unknown"}\`  `,`Required: ${e.required?"yes":"no"}${e.description?`  
+`);let d=a.join(c),u=c.replace(/\\/g,"\\\\").replace(/\r/g,"\\r").replace(/\n/g,"\\n"),p=new RegExp(`(?:${u})+$`,"u"),g=`${d.replace(p,"")}${c}`;return{ok:!0,text:g,changed:g!==e,skipped:!1,diagnostics:n.diagnostics.filter(f=>f.severity!==h.Error)}}function lt(e,t){if(!(!H(e.range,t)&&!H(e.fullRange,t))){for(let n of e.children){if(n.kind!=="element")continue;let r=lt(n,t);if(r)return r}return e}}var Oi=/^[A-Za-z_:][A-Za-z0-9_.:-]*/,Pd=/([A-Za-z_:][A-Za-z0-9_.:-]*)\s*=\s*("([^"]*)"|'([^']*)')/gs;function wd(e,t){let n=[],r=0;for(;r<t;){let o=e.indexOf("<",r);if(o<0||o>=t)break;if(e.startsWith("<!--",o)){let c=e.indexOf("-->",o+4);if(c<0||c+3>t)break;r=c+3;continue}if(e.startsWith("<![CDATA[",o)){let c=e.indexOf("]]>",o+9);if(c<0||c+3>t)break;r=c+3;continue}if(e.startsWith("<?",o)){let c=e.indexOf("?>",o+2);if(c<0||c+2>t)break;r=c+2;continue}if(e.startsWith("<!",o)){let c=e.indexOf(">",o+2);if(c<0||c+1>t)break;r=c+1;continue}if(e[o+1]==="/"){let d=e.slice(o+2).match(Oi)?.[0];if(d){for(let p=n.length-1;p>=0;p-=1)if(n[p]===d){n.length=p;break}}let u=e.indexOf(">",o+2);if(u<0||u>=t)break;r=u+1;continue}let s=e.slice(o+1).match(/^\s*([A-Za-z_:][A-Za-z0-9_.:-]*)/)?.[1];if(!s){r=o+1;continue}let a=e.indexOf(">",o+1);if(a<0||a>=t)break;e.slice(o+1,a).trimEnd().endsWith("/")||n.push(s),r=a+1}return n.at(-1)}function gn(e,t){let n=e.positionAt(t);return I(n,n)}function ae(e,t,n){return I(e.positionAt(t),e.positionAt(n))}function yn(e){return{name:e.name,value:e.value,range:ae(e.document,e.nameStart,e.valueEnd),fullRange:ae(e.document,e.nameStart,e.valueEnd),nameRange:ae(e.document,e.nameStart,e.nameEnd),equalsRange:e.equalsStart!==void 0&&e.equalsEnd!==void 0?ae(e.document,e.equalsStart,e.equalsEnd):void 0,valueRange:ae(e.document,e.valueStart,e.valueEnd),valueContentRange:e.valueContentStart!==void 0&&e.valueContentEnd!==void 0?ae(e.document,e.valueContentStart,e.valueContentEnd):void 0}}function Md(e,t,n){let r=[];for(let o of t.matchAll(Pd)){let i=o.index??0,s=o[1],a=o[2],l=o[3],c=o[4],d=o[0].indexOf(s),u=o[0].indexOf("=",d+s.length),p=o[0].indexOf(a,u+1),m=n+i+p,g=m+a.length;r.push(yn({document:e,name:s,value:l??c??"",nameStart:n+i+d,nameEnd:n+i+d+s.length,equalsStart:n+i+u,equalsEnd:n+i+u+1,valueStart:m,valueEnd:g,valueContentStart:m+1,valueContentEnd:g-1}))}return r}function Ad(e,t){let n=Math.max(0,t-4e3),r=e.text.slice(n,t),o=r.lastIndexOf("<"),i=r.lastIndexOf(">");if(o<0||o<i||!r.startsWith("</",o))return;let s=n+o,a=r.slice(o+2);if(!/\s/.test(a))return{kind:"closing-tag-name",tagNamePrefix:a,replacementRange:ae(e,s+2,t)}}function Ui(e,t){let n=Math.max(0,t-4e3),r=e.text.slice(n,t),o=r.lastIndexOf("<"),i=r.lastIndexOf(">");if(o<0||o<i)return;let s=n+o,a=s+1,l=r.slice(o+1);if(/^\s*[!?/]/.test(l))return;let c=l.match(/^\s*/)?.[0].length??0,d=l.slice(c).match(Oi);if(!d)return{kind:"tag-name"};let u=d[0],p=c,m=p+u.length,g=ae(e,a+p,a+m),f={kind:"element",name:u,attributes:Md(e,l,a),children:[],range:ae(e,s,t),fullRange:ae(e,s,t),openTagRange:ae(e,s,t),startTagRange:ae(e,s,t),nameRange:g,selfClosing:!1};if(l.length<=m&&!/\s/.test(l.slice(m)))return{kind:"tag-name",element:f,replacementRange:g};let T=l.match(/(?:^|\s)([A-Za-z_:][A-Za-z0-9_.:-]*)\s*=\s*(?:(['"])([^"']*)|([^\s>"']*))?$/s);if(T){let E=T[0].indexOf(T[1]),y=(T.index??0)+E,b=y+T[1].length,k=l.indexOf("=",b),x=T[2],A=T[4]??"";if(x){let F=l.indexOf(x,k+1),ve=a+F+1,v=yn({document:e,name:T[1],value:T[3]??"",nameStart:a+y,nameEnd:a+b,equalsStart:a+k,equalsEnd:a+k+1,valueStart:a+F,valueEnd:t,valueContentStart:ve,valueContentEnd:t});return{kind:"attribute-value",element:f,attribute:v,valuePrefix:e.text.slice(ve,t)}}let j=A.length>0?t-a-A.length:t-a;return{kind:"attribute-value",element:f,attribute:yn({document:e,name:T[1],value:A,nameStart:a+y,nameEnd:a+b,equalsStart:a+k,equalsEnd:a+k+1,valueStart:a+j,valueEnd:t,valueContentStart:a+j,valueContentEnd:t}),valuePrefix:e.text.slice(a+j,t)}}let B=l.match(/(?:^|\s)([A-Za-z_:][A-Za-z0-9_.:-]*)?$/s);if(B){let R=B[1]??"",E=t-a-R.length;return{kind:"attribute-name",element:f,attribute:yn({document:e,name:R,value:"",nameStart:a+E,nameEnd:t,valueStart:t,valueEnd:t})}}return{kind:"attribute-name",element:f,attribute:{name:"",value:"",range:gn(e,t),fullRange:gn(e,t),nameRange:gn(e,t),valueRange:gn(e,t)}}}function ne(e){let{document:t,parsed:n,position:r}=e,o=r.offset,i=t.text.length>0?{kind:"text"}:{kind:"unknown"},s=Ad(t,o);if(s)return{kind:"closing-tag-name",tagNamePrefix:s.tagNamePrefix,replacementRange:s.replacementRange,tagText:wd(t.text,o)};if(n?.root){let c=lt(n.root,o);if(c){for(let d of c.attributes){if(H(d.nameRange,o))return{kind:"attribute-name",element:c,attribute:d};if(H(d.valueRange,o)||H(d.valueContentRange,o))return{kind:"attribute-value",element:c,attribute:d,valuePrefix:d.valueContentRange&&o>=d.valueContentRange.start.offset?t.text.slice(d.valueContentRange.start.offset,o):""}}if(H(c.nameRange||c.openTagRange,o))return{kind:"tag-name",element:c,replacementRange:c.nameRange};if(H(c.openTagRange,o)){let d=Ui(t,o);if(d)return d.kind==="tag-name"?{...d,element:d.element??c}:d}i={kind:"element",element:c}}}let a=Ui(t,o);if(a)return a;let l=t.text.slice(Math.max(0,o-200),o);return/<!--\s*btxml-disable-next-line\s+[A-Z0-9_]*$/.test(l)?{kind:"comment"}:i}function bn(e,t){let n=e.valueOffsets;return!n||n.length===0?t:t<=0?0:t>=n.length?n[n.length-1]??0:n[t]??0}function Te(e,t,n){let r=t.valueContentRange??t.valueRange,o=bn(t,n.start),i=bn(t,n.end),s=q(e.originalText,r.start.offset+o),a=q(e.originalText,r.start.offset+i);return I(s,a)}function vr(e){return e.rootUri}function Rr(e){return e.resolvedConfig}var Vi={InvalidJson:S.InvalidAugmentationJson,InvalidSchema:S.InvalidAugmentationSchema};function _d(e){return P(e.code,h.Error,e.message,e.range,e.filePath,{primaryLabel:e.primaryLabel,help:e.help,notes:e.notes?[...e.notes]:void 0})}function Ld(e,t){return t.issues.map(n=>_d({filePath:e,code:n.kind==="json"?Vi.InvalidJson:Vi.InvalidSchema,message:n.kind==="json"?`invalid augmentation JSON \`${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 \`${n.path}\``:"fix the schema issue in the file",notes:n.notes}))}async function hn(e){let t=e.project,n=e.host??t.host,r=[],o=[];for(let i of t.augmentationFiles){if(!await n.exists(i.uri)){r.push(P(S.AugmentationFileNotFound,h.Error,`model augmentation file not found \`${i.path}\``,void 0,i.path,{help:"check `models.augmentations` and make sure the file exists"}));continue}let s=await n.readFile(i.uri),a=Kn(s,{uri:i.uri,path:i.path});if(!a.ok){r.push(...Ld(i.path,a));continue}o.push(a.data)}return{ok:r.every(i=>i.severity!==h.Error),augmentations:o,diagnostics:r}}function jd(e){let t=e.root;if(!t)return;if(t.name==="TreeNodesModel")return{...e,kind:"model-document",isBtXml:!0};let n=t.children.find(o=>o.kind==="element"&&o.name==="TreeNodesModel");if(!n)return;let r=e.nodes.flatMap(o=>o===t?t.children.filter(i=>i===n||i.kind==="comment"):o.kind==="comment"?[o]:[]);return{...e,kind:"model-document",root:n,nodes:r,isBtXml:!0}}async function Fd(e,t){return ye(await t.readFile(e.uri),{uri:e.uri,path:e.path})}async function kr(e,t){if(!await t.exists(e.uri))return{diagnostics:[P(S.ExternalModelFileNotFound,h.Error,`external TreeNodesModel file not found \`${e.path}\``,void 0,e.path,{help:"check `models.files` and make sure the file exists"})]};let n=await Fd(e,t);if(!n.document||n.diagnostics.some(o=>o.severity===h.Error)){let o=n.diagnostics[0];return{diagnostics:[P(S.ExternalModelXmlParseError,h.Error,`failed to parse external TreeNodesModel file \`${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:o?[`first XML error: ${o.code} ${o.message}`]:void 0})]}}let r=jd(n.document);return r?{document:r,diagnostics:[]}:{diagnostics:[P(S.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 $e(e,t){let n=e,r=t??n.host,o=[];for(let c of n.selectedFiles){if(!await r.exists(c.uri))continue;let d=await r.readFile(c.uri),u=ye(d,{uri:c.uri,path:c.path});u.document&&o.push(u.document)}let i=await Promise.all(n.modelFiles.map(c=>kr(c,r))),s=await hn({project:e,host:r}),a=i.flatMap(c=>c.diagnostics),l=i.flatMap(c=>c.document?[c.document]:[]);return{documents:o,externalModelDocuments:l,augmentations:[...s.augmentations],diagnostics:[...a,...s.diagnostics]}}function Ud(e){return e.endsWith("/")?e:`${e}/`}function Od(e,t=!1){return t?e.split("/").filter(n=>n.length>0&&n!=="."):Tr(e.split("/"))}function Tr(e){let t=[];for(let n of e)if(!(!n||n===".")){if(n===".."){t.pop();continue}t.push(n)}return t}function Xe(e,t={}){let n=e.replace(/\\/g,"/"),r=s=>Od(s,t.preserveDotSegments),o=/^(?<scheme>[A-Za-z][A-Za-z\d+.-]*):\/\/(?<authority>[^/]*)(?<path>\/.*)?$/.exec(n);if(o?.groups)return{scheme:o.groups.scheme,authority:o.groups.authority,absolute:!0,segments:r(o.groups.path||"/")};let i=/^(?<drive>[A-Za-z]:)(?<rest>\/.*)?$/.exec(n);return i?.groups?{authority:i.groups.drive,absolute:!0,segments:r(i.groups.rest||"/")}:{absolute:n.startsWith("/"),segments:r(n)}}function Sn(e){let n=Tr(e.segments).join("/");if(e.scheme){let r=`${e.scheme}://${e.authority??""}`;return n?`${r}/${n}`:`${r}/`}return e.authority&&e.absolute?n?`${e.authority}/${n}`:`${e.authority}/`:e.absolute?n?`/${n}`:"/":n}function Vd(e,t){return e.scheme===t.scheme&&e.authority===t.authority&&e.absolute===t.absolute}function Ft(e){return Sn(Xe(e))}function qd(e,...t){let n=Xe(e),r=[...n.segments];for(let o of t){let i=Xe(o,{preserveDotSegments:!0});if(i.scheme||i.absolute&&i.authority)return Ft(o);i.absolute&&(r.length=0),r.push(...i.segments)}return Sn({...n,segments:Tr(r)})}function $d(e){let t=Xe(e);return t.segments.length===0?Sn(t):Sn({...t,segments:t.segments.slice(0,-1)})}function Xd(e){return Xe(e).segments.at(-1)??""}function zd(e,t){let n=Xe(e),r=Xe(t);if(!Vd(n,r))return Ft(t);let o=0;for(;o<n.segments.length&&o<r.segments.length&&n.segments[o]===r.segments[o];)o+=1;let i=new Array(n.segments.length-o).fill(".."),s=r.segments.slice(o);return[...i,...s].join("/")}function Wd(e,t){let n=Ud(Ft(e)),r=Ft(t);return r===n.slice(0,-1)||r.startsWith(n)}var Q={normalize:Ft,join:qd,dirname:$d,basename:Xd,relative:zd,isWithin:Wd};function be(e,...t){return Q.join(e,...t)}function qi(e){return Q.dirname(e)}function $i(e){return Q.basename(e)}function Ne(e,t){return Q.relative(e,t)}function Xi(e,t){return Q.isWithin(e,t)}import Gd from"ignore";function xr(e){return e.replace(/\\/g,"/")}function $(e,t){return xr(Ne(e,t))}function Kd(e){let t=e.replace(/\\/g,"/"),n="^";for(let r=0;r<t.length;r+=1){let o=t[r],i=t[r+1],s=t[r+2];if(o==="*"&&i==="*"&&s==="/"){n+="(?:.*/)?",r+=2;continue}if(o==="*"&&i==="*"){n+=".*",r+=1;continue}if(o==="*"){n+="[^/]*";continue}if(o==="?"){n+="[^/]";continue}".+-^${}()|[]\\".includes(o)?n+=`\\${o}`:n+=o}return n+="$",new RegExp(n)}function Pe(e,t){let n=e.replace(/\\/g,"/"),r=t.replace(/\\/g,"/");return!r.includes("*")&&!r.includes("?")?n===r||$i(n)===r:Kd(r).test(n)}function Hd(e){return e.includes("*")||e.includes("?")}async function zi(e,t,n,r,o,i,s,a){let l=$(n,t);if(l&&r.some(d=>Pe(l,d)||Pe(`${l}/`,d)||Pe(`${l}/dummy`,d))||a&&l&&a.ignores(l))return;let c;try{c=await e.readDir(t)}catch{return}for(let d of c){let u=be(t,d.name),p=d.type==="directory",m=d.type==="file";if(d.type==="other"&&i&&e.realpath)try{let g=await e.realpath(u);if(s.has(g))continue;s.add(g);let f=await e.stat(g);p=f?.type==="directory",m=f?.type==="file"}catch{continue}p?await zi(e,u,n,r,o,i,s,a):m&&o.push(u)}}async function Ut(e,t,n,r,o,i,s){let a=new Set,l=new Set,c=[],d=o??t;for(let p of e){let m=be(d,p);if((await s.stat(m))?.type==="file"){let g=$(t,m),f=!g.startsWith("..");!n.some(T=>Pe(g,T))&&(!f||!i?.ignores(g))&&a.add(m);continue}if(!Hd(p)){l.add(p);continue}c.push(p)}let u=[];if(c.length>0&&await s.exists(t)){let p=new Set([s.realpath?await s.realpath(t):t]);await zi(s,t,t,n,u,r,p,i)}for(let p of u){let m=$(d,p);c.some(g=>Pe(m,g))&&(n.some(g=>Pe($(t,p),g))||i?.ignores($(t,p))||a.add(p))}for(let p of c)u.some(g=>{let f=$(d,g);return Pe(f,p)&&!n.some(T=>Pe($(t,g),T))&&!i?.ignores($(t,g))})||l.add(p);return{files:[...a].sort((p,m)=>$(t,p).localeCompare($(t,m))),unmatchedPatterns:[...l].sort()}}async function Yd(e,t){let n=be(e,".gitignore");return await t.exists(n)?(await t.readFile(n)).split(/\r?\n/).map(o=>o.trim()).filter(o=>o&&!o.startsWith("#")):[]}function Jd(e){return Gd().add(e)}async function Wi(e,t,n,r,o){let i=[...t.ignore],s=t.useGitignore?await Yd(e,o):[],a=Jd(s),l=n?.length?n:t.include,c=await Ut(l,e,i,t.followSymlinks,n?.length?r:void 0,a,o),d=t.maxSize,u=[],p=[];for(let m of c.files){let g=$(e,m),f=await o.stat(m);if(f){if((f.size??0)>d){p.push({path:g,reason:"too-large"});continue}u.push({path:g,uri:m,kind:"unknown"})}}return{selectedFiles:u,skippedFiles:p,unmatchedPatterns:c.unmatchedPatterns}}function Gi(e){return e.entrypoints.map(t=>({file:xr(t)}))}function Dr(e){return e.resolver.entrypoints.length>0?"entrypoints":"workspace"}async function Ki(e,t,n,r){let o=[];for(let i of t)await r.exists(be(e,i.file))||o.push(P(S.EntrypointNotFound,h.Error,`entrypoint file not found \`${i.file}\``,void 0,n,{help:"check `resolver.entrypoints` and make sure the file exists under the project root"}));return o}function Hi(e,t){return e.attributes.find(n=>n.name===t)}function Yi(e,t){return Ne(e,t).replace(/\\/g,"/")}function Zd(e,t,n,r,o){return e.replace(/\$\{([^}]+)\}/g,(i,s)=>s.startsWith("env:")?process.env[s.slice(4)]??i:t[s]!==void 0?t[s]:(n.push({kind:"unresolved-variable",uri:o,variable:s,range:r,message:`unresolved include path variable \`${s}\``}),i))}function Qd(e,t){let n=t.resolvedConfig.resolver.includes.elements.map(i=>({name:i.name,pathAttribute:i.attribute,base:i.base==="project-root"?"project-root":"current-file"})),r=e.root;if(!r)return[];let o=[];for(let i of r.children||[]){if(i.kind!=="element")continue;let s=n.find(a=>a.name===i.name);s&&o.push({element:i,pathAttr:Hi(i,s.pathAttribute),rosPackageAttr:Hi(i,"ros_pkg"),base:s.base??"current-file"})}return o}async function Ji(e){let t=e.project,n=e.host??t.host,r=e.resolvedConfig.resolver.includes.allowOutsideRoot,o=e.resolvedConfig.resolver.includes.maxDepth,i=e.resolvedConfig.resolver.includes.maxFiles,s=[],a=new Map(e.documents.map(f=>[Yi(t.rootUri,f.path||f.uri),f])),l={nodes:new Map,edges:[],entrypointFiles:[],reachableFiles:new Set,cycles:[]},c=new Map,d=new Set,u=t.entrypoints.length?t.entrypoints.map(f=>f.file):t.selectedFiles.map(f=>f.path);l.entrypointFiles=[...new Set(u)];let p=new Set,m=new Set,g=async(f,T,B)=>{if(T.length>=o){s.push({kind:"depth-exceeded",uri:B?.uri??f,path:f,range:B?.range,message:`include \`${f}\` exceeds the configured maximum include depth`});return}if(l.reachableFiles.size>=i){s.push({kind:"too-many-files",uri:B?.uri??f,path:f,range:B?.range,message:`resolving \`${f}\` would exceed the configured file limit`});return}let R=f.replaceAll("\\","/");if(p.has(R)){let x=[...T.slice(T.indexOf(R)),R];l.cycles.push({files:x}),s.push({kind:"cycle",uri:B?.uri??R,path:R,cycle:x,range:B?.range,message:"include cycle detected"});return}if(m.has(R))return;p.add(R),l.reachableFiles.add(R);let E=be(t.rootUri,R);d.add(E);let y=await n.exists(E),b=a.get(R);!b&&y&&(b=ye(await n.readFile(E),{uri:E,path:R}).document,b&&a.set(R,b)),l.nodes.set(R,{path:R,document:b,exists:y}),b&&c.set(b.uri,b);let k=b?.uri??E;if(!y){s.push({kind:"not-found",uri:B?.uri??k,path:R,range:B?.range,message:`include file not found \`${R}\``}),p.delete(R);return}if(!b){p.delete(R);return}for(let x of Qd(b,e)){if(!x.pathAttr){s.push({kind:"missing-path",uri:k,range:x.element.range,message:"missing include path"});continue}let A=Zd(x.pathAttr.value,e.resolvedConfig.resolver.includes.variables,s,x.pathAttr.range,k),j;if(x.rosPackageAttr){let M=x.rosPackageAttr.value.trim();if(!n.resolvePackageUri){s.push({kind:"ros-package-resolver-missing",uri:k,packageName:M,range:x.rosPackageAttr.range,message:`include uses ros_pkg=\`${M}\` but ProjectHost.resolvePackageUri is not available`});continue}let _=await n.resolvePackageUri(M);if(!_){s.push({kind:"ros-package-not-found",uri:k,packageName:M,path:A,range:x.rosPackageAttr.range,message:`ROS package \`${M}\` could not be resolved for include path \`${A}\``});continue}j=be(_,A)}else{let M=x.base==="project-root"?t.rootUri:qi(E);j=be(M,A)}let F=Yi(t.rootUri,j),ve=j;try{await n.exists(j)&&(ve=n.realpath?await n.realpath(j):j)}catch{}if(!Xi(t.rootUri,ve)){if(!r){s.push({kind:"outside-root",uri:k,path:F,range:x.pathAttr.range,message:"include target is outside the workspace"});continue}s.push({kind:"external-used",uri:k,path:F,range:x.pathAttr.range,message:`external include used \`${A}\``})}l.edges.push({from:R,to:F,includeElementRange:x.element.range,includePathRange:x.pathAttr.range}),await g(F,[...T,R],{uri:k,range:x.pathAttr.range})}p.delete(R),m.add(R)};for(let f of l.entrypointFiles)await g(f,[]);return{graph:l,reachableUris:d,reachableDocuments:c,issues:s}}var Zi="model/no-conflicting-kind-for-id",Qi="model/no-unused-definition",es="model/no-duplicate-definition";function Ir(e){return{...P(e.code,e.severity,e.message,e.range,e.uri,void 0,e.data),rule:e.rule,...e.relatedInformation?{relatedInformation:e.relatedInformation}:{}}}function Cr(e,t){let n=Ue(e.linter.rules,t);if(n!=="off")return n==="info"?h.Info:n==="warn"?h.Warning:h.Error}function xe(e){return e.model.idRange??e.range}function eu(e){return{uri:e.uri,sourceKind:e.sourceKind,modelKind:e.kind,range:e.range}}function tu(e){let t=Cr(e.config,Zi);if(!t)return[];let n=[],r=yr(e.facts.filter(o=>!o.isBuiltin));for(let[o,i]of r){if(new Set(i.map(l=>l.kind)).size<=1)continue;let a=i[0];if(a)for(let l of i.slice(1)){if(l.kind===a.kind)continue;let c=xe(a),d=a.uri&&c?[{uri:a.uri,range:c,message:"first conflicting definition"}]:void 0;n.push(Ir({code:"BT120_CONFLICTING_MODEL_KIND",message:`model ID \`${o}\` has conflicting kinds (\`${a.kind}\` vs \`${l.kind}\`)`,uri:l.uri,range:xe(l),rule:Zi,severity:t,data:{kind:"conflicting-model-kind",nodeId:o,definitions:i.map(eu)},relatedInformation:d}))}}return n}function nu(e){if(e.config.models.convention!=="used-only")return[];let t=Cr(e.config,Qi);if(!t)return[];let n=[],r=sr(e.index);for(let o of e.facts){if(o.isBuiltin||o.sourceKind!=="inline-tree-nodes-model"||o.kind==="SubTree")continue;let i=r.get(o.uri??"")??[];new Set(i.filter(a=>a.kind==="node").map(a=>a.id)).has(o.id)||n.push(Ir({code:"BT121_UNUSED_MODEL_DEFINITION",message:`unused inline model definition \`${o.id}\` in this file`,uri:o.uri,range:xe(o),rule:Qi,severity:t,data:{kind:"unused-model-definition",nodeId:o.id,modelKind:o.kind,sourceKind:"inline-tree-nodes-model",fix:o.uri&&xe(o)&&o.editable?{kind:"delete-definition",uri:o.uri,range:xe(o)}:void 0}}))}return n}function ru(e){let t=e.filter(o=>o.isCanonicalModelFile);if(t.length!==1)return;let n=t[0];if(!n?.uri)return;let r=e.filter(o=>o!==n);if(!r.some(o=>!o.uri||!xe(o)||!o.editable))return{kind:"delete-non-canonical-definitions",keep:{uri:n.uri,range:xe(n)},delete:r.map(o=>({uri:o.uri,range:xe(o)}))}}function ou(e){if(e.config.models.convention!=="single-source")return[];let t=Cr(e.config,es);if(!t)return[];let n=[],r=br(e.facts.filter(o=>!o.isBuiltin));for(let o of r.values()){if(o.length<=1)continue;let i=o[0];i&&n.push(Ir({code:"BT122_DUPLICATE_MODEL_DEFINITION",message:`duplicate model definition for \`${i.id}\` (${i.kind})`,uri:i.uri,range:xe(i),rule:es,severity:t,data:{kind:"duplicate-model-definition",nodeId:i.id,modelKind:i.kind,definitions:o.map(s=>({uri:s.uri,sourceKind:s.sourceKind,range:s.range,canonical:s.isCanonicalModelFile,editable:s.editable})),fix:ru(o)}}))}return n}function ts(e){if(e.config.linter.enabled===!1)return[];let t=gr(e.index);return[...tu({config:e.config,facts:t}),...nu({config:e.config,index:e.index,facts:t}),...ou({config:e.config,facts:t})]}import{findNodeAtLocation as ns,parse as iu,parseTree as su}from"jsonc-parser";function au(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
+`&&t.push(n+1);return n=>{let r=0,o=t.length-1;for(;r<=o;){let s=Math.floor((r+o)/2);t[s]<=n?r=s+1:o=s-1}let i=Math.max(0,r-1);return{line:i,character:n-t[i],offset:n}}}function rs(e,t){if(e)return{start:t(e.offset),end:t(e.offset+e.length)}}async function os(e){let t=e.project,n=e.host??t.host,r=[],o=[],i=new Set;for(let s of t.definitionFiles){if(!await n.exists(s.uri)){r.push(P(S.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),c=[],d=su(l,c,{allowTrailingComma:!0,disallowComments:!1});try{if(a=iu(l,c,{allowTrailingComma:!0,disallowComments:!1}),c.length>0||!d)throw new Error(`JSON parse error at offset ${c[0]?.offset??0}`)}catch(p){let m=String(p.message||p);r.push(P(S.InvalidNodeDefinitionJson,h.Error,`invalid node definition JSON \`${s.path}\``,void 0,"",{primaryLabel:"the file could not be parsed as JSON",help:`fix the JSON syntax in \`${s.path}\``,notes:[m]}));continue}let u=Hn.safeParse(a);if(!u.success){for(let p of u.error.issues){let m=p.code==="unrecognized_keys"?p.keys.map(g=>({label:`Unrecognized key: "${g}"`,path:[...p.path,g].join(".")})):[{label:p.message,path:p.path.join(".")}];for(let{label:g,path:f}of m)r.push(P(S.InvalidNodeDefinitionSchema,h.Error,`invalid node definition schema \`${s.path}\``,void 0,"",{primaryLabel:g,help:f?`fix the schema issue at \`${f}\``:"fix the schema issue in the file",notes:f?[f]:[]}))}continue}for(let[p,m]of Object.entries(u.data.nodes)){i.has(p)&&r.push(P(S.DuplicateNodeDefinitionId,h.Error,`duplicate node definition ID \`${p}\``,void 0,"",{primaryLabel:"this ID was already loaded from another node definition file",help:"remove one definition or rename one of the duplicate IDs"})),i.add(p);let g=au(l),f=rs(ns(d,["nodes",p]),g),T=yt(p,m),B=T.ports.map(R=>{let E=rs(ns(d,["nodes",p,"ports",R.name]),g);return{...R,source:"node-definition-file",uri:s.path,range:E,nameRange:E}});o.push({...T,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:r.every(s=>s.severity!==h.Error),nodeModels:o,diagnostics:r}}function is(e,t){return Ne(e,t).replace(/\\/g,"/")}function lu(e){return[...e.reachableDocuments.values()]}function Br(e){let t=new Map;for(let n of e)t.set(n.uri,n);return[...t.values()]}function ss(e){let t=new Map;for(let n of e)t.set(n.path,n);return[...t.values()]}function cu(e){let t=new Map;for(let n of e){let r=t.get(n.uri)??[];r.push(n),t.set(n.uri,r)}return t}async function Er(e){let t=[],n=e.project,r=e.resolvedConfig,o=e.resolutionMode??Dr(r),i=o==="entrypoints"||e.resolveGraph?await Ji({project:e.project,documents:e.documents,resolvedConfig:r,host:e.host}):void 0,s=e.externalModelDocuments,a=e.augmentations,l=await os({project:e.project,host:e.host});t.push(...l.diagnostics);let c=l.nodeModels,d=i&&(o==="entrypoints"||e.resolveGraph)?Br([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)&&i.reachableUris.has(f.uri)),...i.reachableDocuments.values(),...s]):Br([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)),...s]),u=Oe(d,{config:r,models:c,augmentations:a}),p={includeIssuesByUri:cu(i?.issues??[]),suppressionIssuesByUri:new Map};t.push(...u.diagnostics,...ts({config:r,index:u.index}));let m=new Map(Be(u.index).map(f=>[f,Y(u.index,f)])),g={mode:o,files:new Map(d.map(f=>[is(n.rootUri,f.path||f.uri),f])),documentViews:new Map(d.map(f=>[f.uri,(()=>{let T=ee(r,is(n.rootUri,f.path||f.uri));return G(f,{semantic:u.index,config:T,policy:ie(T)})})()])),includeGraph:i?.graph,reachableDocuments:i?.reachableDocuments??new Map,behaviorTreesById:new Map(Be(u.index).map(f=>[f,Y(u.index,f)])),reachableBehaviorTreesById:m,nodeModelsById:new Map(Pt(u.index).map(f=>[f.id,f])),nodeModelSources:new Map(lr(u.index).map(f=>[f,qe(u.index,f).flatMap(T=>T.sourceMeta?[T.sourceMeta]:[])])),nodeDefinitionModels:[...c],entrypoints:n.entrypoints,workspace:u.index,facts:p};return{ok:t.every(f=>f.severity!==h.Error),index:g,diagnostics:t}}async function as(e){let t=e.project,n=e.resolvedConfig??t.resolvedConfig;if(!n)throw new Error("Invariant: resolvedConfig is required");let r=[...e.projectDiagnostics??[]],o=e.host??t.host,i=e.externalModelDocuments!==void 0?[...e.externalModelDocuments]:(await Promise.all(t.modelFiles.map(async g=>{let f=await kr(g,o);return r.push(...f.diagnostics),f.document?[f.document]:[]}))).flat(),s=e.augmentations!==void 0?[...e.augmentations]:void 0;if(!s){let g=await hn({project:e.project,host:o});r.push(...g.diagnostics),s=[...g.augmentations]}let a=e.resolutionMode??Dr(n),l=a==="entrypoints"?new Set(e.documents.filter(g=>g.kind==="bt-document").map(g=>g.uri)):new Set(e.documents.map(g=>g.uri)),c=await Er({project:e.project,documents:e.documents,activeDocumentUris:l,externalModelDocuments:i,augmentations:s,resolutionMode:a,resolveGraph:e.mode==="check",resolvedConfig:n,host:o}),d=Br([...e.documents,...lu(c.index),...i]),u=n.linter.enabled!==!1,p=e.showSuppressed,m=[...c.index.nodeDefinitionModels];return{input:e,project:e.project,documents:e.documents,externalModelDocuments:i,augmentations:s,projectDiagnostics:r,indexResult:c,nodeDefinitionModels:m,fileDocuments:d,lintEnabled:u,showSuppressed:p,resolvedConfig:n,suppressionIssuesByUri:void 0}}function ls(){return{includeIssuesByUri:new Map,suppressionIssuesByUri:new Map}}function cs(e,t){return e.includeIssuesByUri.get(t)??[]}function ds(e,t){return e.suppressionIssuesByUri.get(t)??[]}function us(e){let{document:t,semantic:n,config:r,view:o}=e,i=new Map(o.nodes.map(c=>[c.element,c])),s=new Map(o.subtreeCalls.map(c=>[c.node.element,c])),a=ie(r),l=du(t.root);return{document:t,view:o,semantic:n,config:r,options:e.options,facts:e.facts,report(c){let d=P(c.code??e.code,e.severity,c.message,c.range,t.uri,c.details,c.data);e.diagnostics.push({...d,rule:e.rule,...c.relatedInformation?{relatedInformation:c.relatedInformation}:{}})},getIncludeIssues(c){let d=cs(e.facts,t.uri);return c?d.filter(u=>u.kind===c):d},getSuppressionIssues(c){let d=ds(e.facts,t.uri);return c?d.filter(u=>u.kind===c):d},getNodeUsage(c){return U(n,{element:c,documentRoot:t.root,uri:t.uri,config:r,policy:a,isModelDefinition:l.has(c)})},getPortUsage(c,d){return ge(n,{element:c,documentRoot:t.root,attributeName:d,uri:t.uri,config:r,policy:a,isModelDefinition:l.has(c)})},resolveSubTree(c,d){return At(n,{id:c,fileLocalUri:d,config:r})},getNodeModel(c){return se(n,c)},getBehaviorTrees(c){return Y(n,c)},getTreeNodeView(c){return i.get(c)},getSubTreeCallView(c){return s.get(c)}}}function du(e){let t=new Set;if(!e)return t;if(e.name==="TreeNodesModel")return Nr(e,t),t;for(let n of e.children)n.kind!=="element"||n.name!=="TreeNodesModel"||Nr(n,t);return t}function Nr(e,t){t.add(e);for(let n of e.children)n.kind==="element"&&Nr(n,t)}function N(e){let t=ue[e.name];return{...e,code:t.code,defaultSeverity:t.defaultSeverity,optionsSchema:t.optionsSchema,meta:e.meta??{description:t.description}}}var uu={"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 we(e){return N({name:uu[e],create(t){return{ProgramExit(){for(let n of t.getIncludeIssues(e))t.report({message:n.message,range:n.range,data:pu(n)})}}}})}function pu(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 ps=[we("missing-path"),we("not-found"),we("cycle"),we("outside-root"),we("unresolved-variable"),we("depth-exceeded"),we("too-many-files"),we("external-used")];import mu from"ajv";var fu=mu,gu=new fu,yu=["IDLE","RUNNING","SUCCESS","FAILURE","SKIPPED"],bu={int8_t:{min:-128n,max:127n},"std::int8_t":{min:-128n,max:127n},int16_t:{min:-32768n,max:32767n},"std::int16_t":{min:-32768n,max:32767n},int32:{min:-2147483648n,max:2147483647n},int32_t:{min:-2147483648n,max:2147483647n},"std::int32_t":{min:-2147483648n,max:2147483647n},int64_t:{min:-9223372036854775808n,max:9223372036854775807n},int64:{min:-9223372036854775808n,max:9223372036854775807n},"std::int64_t":{min:-9223372036854775808n,max:9223372036854775807n},int:{min:-2147483648n,max:2147483647n},long:{min:-9223372036854775808n,max:9223372036854775807n},short:{min:-32768n,max:32767n},uint8_t:{min:0n,max:255n},"std::uint8_t":{min:0n,max:255n},uint16_t:{min:0n,max:65535n},"std::uint16_t":{min:0n,max:65535n},uint32:{min:0n,max:4294967295n},uint32_t:{min:0n,max:4294967295n},"std::uint32_t":{min:0n,max:4294967295n},uint64_t:{min:0n,max:18446744073709551615n},uint64:{min:0n,max:18446744073709551615n},"std::uint64_t":{min:0n,max:18446744073709551615n},uint:{min:0n,max:4294967295n},unsigned:{min:0n,max:4294967295n},"unsigned int":{min:0n,max:4294967295n},size_t:{min:0n,max:18446744073709551615n},"std::size_t":{min:0n,max:18446744073709551615n}},Pr=new Set(["int8_t","int16_t","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","int","long","short","std::int8_t","std::int16_t"]),ms=new Set(["uint8_t","uint16_t","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","uint","unsigned","unsigned int","std::uint8_t","std::uint16_t","size_t","std::size_t"]);function fs(e){return e.children.filter(t=>t.kind==="element")}function pe(e){return e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"}function gs(e){return e.children.some(t=>t.kind==="element")}function Rn(e,t){let n=ys(t);n&&e.report({code:n.code,message:n.message,range:t.range,details:n.details})}function ys(e){let t=Ot(e.port.name,e.value);if(e.allowRemap&&t!==void 0)return;if(!e.allowRemap&&t!==void 0||e.port.enum&&!e.port.enum.includes(e.value))return vn(e.diagnosticCode,e.value,e.portLabel);let n=e.port.validate??e.typeDefinition?.validate;if(n)return ku(e.registry,n,e.value)?void 0:vn(e.diagnosticCode,e.value,e.portLabel);let r=e.typeDefinition?.canonical??e.port.type;if(r&&!hs(r,e.value))return hu(r)?vn(e.diagnosticCode,e.value,e.portLabel):{code:e.customLiteralDiagnosticCode,message:`literal value for custom type \`${r}\` requires a validator`,details:{primaryLabel:`literal value requires a validator for custom type \`${r}\``,help:`use a blackboard remap such as \`${e.portLabel}="{${e.port.name}}"\`, or define a validator in btxml.model-augment.json`}}}function ze(e){return e.effectiveType??e.type}function bs(e,t){return de(e,ze(t))}function Ot(e,t){let n=X({portName:e,rawValue:t.trim()});return n.ok?n.reference:void 0}function vn(e,t,n){return{code:e,message:`invalid value \`${t}\` for port \`${n}\``}}function hu(e){let t=ht(e)??e;return Ss(e)!==void 0||Tu.has(t.toLowerCase())}function hs(e,t){let n=Ss(e);if(n)return Su(n,t);let r=(ht(e)??e).toLowerCase();switch(r){case"std::string":case"string":case"bt::any":case"bt::anytypeallowed":case"bt::anytype":case"any":return!0;case"bool":return t==="0"||t==="1"||t==="true"||t==="TRUE"||t==="True"||t==="false"||t==="FALSE"||t==="False";case"float":case"double":return/^-?(?:\d+\.?\d*|\.\d+)(?:[eE][-+]?\d+)?$/.test(t);case"bt::nodestatus":case"nodestatus":return yu.includes(t);default:return Pr.has(r)||ms.has(r)?vs(r,t):!1}}function Ss(e){return/^std::vector<\s*(.+?)\s*>$/.exec(e)?.[1]}function Su(e,t){let n=Ru(t);return n?n.every(r=>vu(e,r)):!1}function vu(e,t){if(t.kind==="string")return hs(e,t.value);let n=(ht(e)??e).toLowerCase();switch(n){case"std::string":return typeof t.value=="string";case"bool":return typeof t.value=="boolean";case"float":case"double":return typeof t.value=="number"&&Number.isFinite(t.value);default:return Pr.has(n)||ms.has(n)?typeof t.value=="number"&&Number.isInteger(t.value)&&vs(n,String(t.value)):!1}}function vs(e,t){let n=bu[e];if(!n)return!1;if(Pr.has(e)){if(!/^-?\d+$/.test(t))return!1}else if(!/^\d+$/.test(t))return!1;try{let r=BigInt(t);return r>=n.min&&r<=n.max}catch{return!1}}function Ru(e){if(e.startsWith("json:"))try{let t=JSON.parse(e.slice(5));return Array.isArray(t)?t.map(n=>({kind:"json",value:n})):void 0}catch{return}return e.split(";").map(t=>({kind:"string",value:t}))}function ku(e,t,n){switch(t.kind){case"pattern":return new RegExp(`^(?:${t.pattern})$`).test(n);case"enum":return t.values.includes(n);case"tuple":{let r=n.split(t.separator);return r.length!==t.items.length?!1:r.every((o,i)=>{let s=t.items[i];return s?ys({port:{name:`tuple[${i}]`,type:s},value:o,registry:e,typeDefinition:de(e,s),allowRemap:!1,diagnosticCode:"BT103_INVALID_PORT_VALUE_TYPE",customLiteralDiagnosticCode:"BT112_CUSTOM_LITERAL_REQUIRES_VALIDATOR",portLabel:`tuple[${i}]`})===void 0:!1})}case"json-schema":try{let r=JSON.parse(n);return gu.compile(t.schema)(r)===!0}catch{return!1}}}var Tu=new Set(["std::string","string","bool","int8_t","std::int8_t","int16_t","std::int16_t","int","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","long","short","uint8_t","std::uint8_t","uint16_t","std::uint16_t","uint","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","size_t","std::size_t","unsigned","unsigned int","float","double","bt::nodestatus","nodestatus","bt::any","bt::anytypeallowed","bt::anytype","any"]);var Rs=[N({name:"model/require-port-name",meta:{description:"Port elements require a name attribute."},create(e){return{TreeNodeModel(t){for(let n of t.ports)n.name||e.report({message:"Port must have name attribute",range:n.range||n.nameRange||t.idRange||t.range})}}}}),N({name:"model/no-duplicate-port-name",meta:{description:"Ports with the same name are not allowed."},create(e){return{TreeNodeModel(t){let n=new Set;for(let r of t.ports)r.name&&(n.has(r.name)&&e.report({message:`Duplicate port name "${r.name}" in ${t.id}`,range:r.nameRange||r.range||t.idRange||t.range}),n.add(r.name))}}}}),N({name:"model/valid-port-name",meta:{description:"Port names must be valid XML attribute names for BT nodes."},create(e){return{TreeNodeModel(t){for(let n of t.ports){if(!n.name)continue;let r=qn(n.name);r&&e.report({code:S.InvalidPortName,message:`invalid port name \`${n.name}\`: ${r}`,range:n.nameRange||n.range||t.idRange||t.range,details:{primaryLabel:`invalid port name \`${n.name}\``,help:"rename the port to a non-reserved XML attribute name without forbidden characters"}})}}}}}),N({name:"model/no-conflicting-definition",create(e){return{ProgramExit(){for(let t of Mt(e.semantic))t.uri&&t.uri!==e.document.uri||xu(e.document,t.id)||e.report({code:t.code,message:t.message,range:t.range,details:t.details,data:t.data,relatedInformation:t.relatedInformation})}}}}),N({name:"model/valid-port-default-value",meta:{description:"TreeNodesModel port defaults must match the declared type."},create(e){return{Element(t){if(!Du(t))return;let n=t.attributes.find(l=>l.name==="default")??t.attributes.find(l=>l.name==="default_value");if(!n)return;let r=t.attributes.find(l=>l.name==="name")?.value;if(!r)return;let i=Iu(e.document.root,t)?.attributes.find(l=>l.name==="ID")?.value;if(!i)return;let a=e.getNodeModel(i)?.ports.find(l=>l.name===r);if(a){if(a.direction==="output"){Ot(a.name,n.value)===void 0&&e.report({code:S.InvalidPortDefaultValue,message:`output port default for \`${a.name}\` must be a blackboard remap`,range:n.range,details:{primaryLabel:`output port default for \`${a.name}\` must be a blackboard remap`,help:`use \`${a.name}="{${a.name}}"\` or \`${a.name}="{=}"\``}});return}Rn(e,{port:a,value:n.value,range:n.range,registry:te(e.semantic),typeDefinition:Z(e.semantic,a.type),allowRemap:!0,diagnosticCode:S.InvalidPortDefaultValue,customLiteralDiagnosticCode:S.CustomLiteralRequiresValidator,portLabel:a.name})}}}}}),N({name:"model/no-blackboard-type-mismatch",meta:{description:"Blackboard entries must not mix incompatible resolved port types."},create(e){return{ProgramExit(){let t=te(e.semantic),n=new Map,r=e.options.allowStringEntryCompatibility??!0;for(let o of e.view.nodes)for(let i of o.portBindings){if(i.declaredPort.status!=="resolved")continue;let s=Ot(i.name,i.value);if(!s)continue;let a=bs(t,i.declaredPort.port);if(!a||a.kind==="any")continue;let l=z(s),c=n.get(l)??[];c.push({key:s.key,scope:s.scope,displayName:Fe(s),identity:l,nodeId:Eu(o.element),port:i.declaredPort.port,typeDefinition:a,range:i.attribute.range}),n.set(l,c)}for(let o of n.values()){let i=Cu(e.semantic,o,r);if(i.length<2)continue;let s=o.find(a=>a.typeDefinition.canonical===i[0]);e.report({code:S.BlackboardTypeMismatch,message:`blackboard entry \`${s?.displayName??o[0]?.displayName??o[0]?.key??""}\` is used with incompatible port types: ${i.map(a=>`\`${a}\``).join(", ")}`,range:s?.range,details:{primaryLabel:`blackboard entry \`${s?.displayName??o[0]?.displayName??o[0]?.key??""}\` mixes incompatible port types`,notes:o.filter(a=>i.includes(a.typeDefinition.canonical)).map(a=>`${a.nodeId}.${a.port.name} declares ${Bu(a.port,a.typeDefinition)}`),help:"use different blackboard keys, align the port types, or declare compatibility in btxml.model-augment.json"}})}}}}}),N({name:"model/require-output-port-remap",meta:{description:"Resolved output ports must write to a blackboard remap."},create(e){return{Element(t){if(Nu(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of t.attributes){let o=e.getPortUsage(t,r.name);o?.status==="resolved"&&o.port.direction==="output"&&Ot(o.port.name,r.value)===void 0&&e.report({code:S.OutputPortRequiresRemap,message:`output port \`${o.port.name}\` must be remapped to a blackboard entry`,range:r.range,details:{primaryLabel:`output port \`${o.port.name}\` requires a blackboard remap`,help:`use \`${o.port.name}="{${o.port.name}}"\` or \`${o.port.name}="{some_key}"\``}})}}}}})];function xu(e,t){return e.diagnostics.some(n=>n.code===S.DuplicateNodeModelId&&n.message.includes(`\`${t}\``))}function Du(e){return e.name==="input_port"||e.name==="output_port"||e.name==="inout_port"}function Iu(e,t){if(!e)return;return n(e,!1,void 0);function n(r,o,i){let s=o||r.name==="TreeNodesModel",a=s&&(r.name==="Action"||r.name==="Condition"||r.name==="Control"||r.name==="Decorator"||r.name==="SubTree")?r:i;if(r===t)return a;for(let l of r.children){if(l.kind!=="element")continue;let c=n(l,s,a);if(c)return c}}}function Cu(e,t,n){let r=new Set;for(let o=0;o<t.length;o+=1){let i=t[o];if(i)for(let s=o+1;s<t.length;s+=1){let a=t[s];a&&(n&&(i.typeDefinition.canonical==="std::string"||a.typeDefinition.canonical==="std::string")||Ce(e,i.typeDefinition.canonical,a.typeDefinition.canonical)||(r.add(i.typeDefinition.canonical),r.add(a.typeDefinition.canonical)))}}return[...r].sort()}function Bu(e,t){return ze(e)??t.canonical}function Eu(e){return e.attributes.find(t=>t.name==="name")?.value??e.attributes.find(t=>t.name==="ID")?.value??e.name}function Nu(e){return e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"}var Pu=new Set(["_failureIf","_successIf","_skipIf","_while"]),wu=new Set(["_onSuccess","_onFailure","_onHalted","_post"]);function We(e){if(Pu.has(e.attributeName))return{kind:"precondition",expectedResult:"bool-compatible"};if(wu.has(e.attributeName))return{kind:"postcondition",expectedResult:"ignored"};let t=e.resolvedNodeType??e.elementName;if(e.attributeName==="code"&&t==="Script")return{kind:"script-node-code",expectedResult:"ignored"};if(e.attributeName==="code"&&t==="ScriptCondition")return{kind:"script-condition-code",expectedResult:"bool-compatible"};if(e.attributeName==="if"&&t==="Precondition")return{kind:"precondition-node-if",expectedResult:"bool-compatible"}}function Vt(e){if(!e.startsWith("@"))return{kind:"local",name:e};let t=gt({rawName:e});return t.ok?{kind:"global-blackboard",key:t.reference.key}:{kind:"invalid-global-blackboard",raw:e,message:`invalid global blackboard identifier \`${e}\``}}var ks=new Map([["..","DotDot"],["&&","AmpAmp"],["||","PipePipe"],["==","EqualEqual"],["!=","BangEqual"],["<=","LessEqual"],[">=","GreaterEqual"],[":=","ColonEqual"],["+=","PlusEqual"],["-=","MinusEqual"],["*=","StarEqual"],["/=","SlashEqual"]]),Ts=new Map([["+","Plus"],["-","Minus"],["*","Star"],["/","Slash"],["&","Ampersand"],["|","Pipe"],["^","Caret"],["~","Tilde"],["!","Bang"],["<","Less"],[">","Greater"],["=","Equal"],["?","Question"],[":","Colon"],["(","LeftParen"],[")","RightParen"],[";","Semicolon"]]);function ct(e){let t=[],n=0;for(;n<e.length;){let r=e[n];if(xs(r)){n++;continue}if(wr(r)){let a=n;for(n++;n<e.length&&_u(e[n]);)n++;let l=e.slice(a,n);t.push({type:l==="true"||l==="false"?"Boolean":"Identifier",text:l,start:a,end:n});continue}if(Ge(r)){let a=Au(e,n);t.push(a),n=a.end;continue}if(r==="'"){let a=Mu(e,n);t.push(a),n=a.end;continue}let o=e.slice(n,n+2),i=ks.get(o);if(i){t.push({type:i,text:o,start:n,end:n+2}),n+=2;continue}let s=Ts.get(r);if(s){t.push({type:s,text:r,start:n,end:n+1}),n+=1;continue}t.push({type:"Error",text:r,start:n,end:n+1}),n+=1}return t.push({type:"EndOfInput",text:"",start:e.length,end:e.length}),t}function Mu(e,t){let n=t+1;for(;n<e.length&&e[n]!=="'";)n++;return n>=e.length?{type:"Error",text:e.slice(t),start:t,end:e.length}:{type:"String",text:e.slice(t+1,n),start:t,end:n+1}}function Au(e,t){let n=t;if(e[n]==="0"&&(e[n+1]==="x"||e[n+1]==="X")){n+=2;let o=n;for(;n<e.length&&Lu(e[n]);)n++;return o===n||Fu(e,n)?(n=qt(e,n),$t(e,t,n)):{type:"Integer",text:e.slice(t,n),start:t,end:n}}for(;n<e.length&&Ge(e[n]);)n++;let r="Integer";if(e[n]==="."){if(e[n+1]===".")return{type:r,text:e.slice(t,n),start:t,end:n};if(!Ge(e[n+1]))return n=qt(e,n+1),$t(e,t,n);for(r="Real",n+=1;n<e.length&&Ge(e[n]);)n++}if(e[n]==="e"||e[n]==="E"){let o=n;n+=1,(e[n]==="+"||e[n]==="-")&&(n+=1);let i=n;for(;n<e.length&&Ge(e[n]);)n++;if(i===n)return n=qt(e,Math.max(n,o+1)),$t(e,t,n);r="Real"}return ju(e,n)?(n=qt(e,n),$t(e,t,n)):{type:r,text:e.slice(t,n),start:t,end:n}}function qt(e,t){let n=t;for(;n<e.length;){let r=e[n];if(xs(r)||Ts.has(r)||ks.has(e.slice(n,n+2))||r==="."&&e[n+1]===".")break;n++}return n}function $t(e,t,n){return{type:"Error",text:e.slice(t,n),start:t,end:n}}function xs(e){return e===" "||e==="	"||e===`
+`||e==="\r"}function wr(e){return e!==void 0&&/[A-Za-z_@]/.test(e)}function _u(e){return e!==void 0&&/[A-Za-z0-9_]/.test(e)}function Ge(e){return e!==void 0&&/[0-9]/.test(e)}function Lu(e){return e!==void 0&&/[0-9A-Fa-f]/.test(e)}function ju(e,t){let n=e[t];return wr(n)||Ge(n)}function Fu(e,t){let n=e[t];return n==="."||wr(n)||Ge(n)}var Uu=new Map([["ColonEqual",":="],["Equal","="],["PlusEqual","+="],["MinusEqual","-="],["StarEqual","*="],["SlashEqual","/="]]),Ou=new Map([["PipePipe","||"],["AmpAmp","&&"],["Pipe","|"],["Caret","^"],["Ampersand","&"],["Plus","+"],["Minus","-"],["DotDot",".."],["Star","*"],["Slash","/"]]),Ds=new Map([["EqualEqual","=="],["BangEqual","!="],["Less","<"],["Greater",">"],["LessEqual","<="],["GreaterEqual",">="]]),le={assignment:2,ternary:4,pipePipe:6,ampAmp:8,comparison:10,pipeCaret:12,ampersand:14,additive:16,multiplicative:18};function He(e){let t=ct(e),n=t.filter(r=>r.type==="Error");return n.length>0?{ok:!1,errors:n.map(r=>({kind:"invalid-token",message:`invalid token \`${r.text}\``,range:{start:r.start,end:r.end}})),tokens:t}:Is(t,e)}function Is(e,t=""){let n=new Mr(e,t),r=[];if(n.peek().type==="EndOfInput")return{ok:!1,errors:[{kind:"empty-script",message:"empty script",range:{start:0,end:0}}],tokens:e};for(;n.peek().type!=="EndOfInput";){let i=n.parseExpression(0);if(!i)return{ok:!1,errors:n.errors,tokens:e};for(r.push(i);n.match("Semicolon"););}if(n.errors.length>0)return{ok:!1,errors:n.errors,tokens:e};let o=zu(r);return{ok:!0,program:{kind:"Program",statements:r,range:o},tokens:e}}var Mr=class{constructor(t,n,r=0){this.tokens=t;this.source=n;this.index=r}tokens;source;index;errors=[];parseExpression(t){let n=this.parsePrefix();if(n){for(;;){let r=this.peek();if(r.type==="EndOfInput"||r.type==="Semicolon"||r.type==="RightParen"||r.type==="Colon")break;let o=Uu.get(r.type);if(o){if(t>=le.assignment)break;this.consume();let l=this.parseExpression(0);if(!l)return;n={kind:"AssignmentExpression",operator:o,left:n,right:l,range:Xt(n.range,l.range)};break}if(r.type==="Question"){if(t>=le.ternary)break;this.consume();let l=this.parseExpression(0);if(!l)return;if(!this.match("Colon")){this.reportError("expected-ternary-colon","expected ':' in ternary expression",this.peek());return}let c=this.parseExpression(le.ternary);if(!c)return;n={kind:"ConditionalExpression",condition:n,thenExpression:l,elseExpression:c,range:Xt(n.range,c.range)};break}let i=Ds.get(r.type);if(i){if(t>=le.comparison)break;this.consume();let l=[n],c=[i],d=this.parseExpression(le.comparison);if(!d)return;for(l.push(d);;){let u=Ds.get(this.peek().type);if(!u)break;this.consume();let p=this.parseExpression(le.comparison);if(!p)return;c.push(u),l.push(p)}n={kind:"ComparisonChain",operands:l,operators:c,range:Xt(l[0].range,l[l.length-1].range)};continue}let s=Ou.get(r.type),a=s?$u(r.type):void 0;if(s&&a!==void 0){if(t>=a)break;this.consume();let l=this.parseExpression(a);if(!l)return;n={kind:"BinaryExpression",operator:s,left:n,right:l,range:Xt(n.range,l.range)};continue}this.reportError("unexpected-token-after-expression",`unexpected token after expression: \`${r.text||r.type}\``,r);return}return n}}parsePrefix(){let t=this.peek();switch(t.type){case"Identifier":return this.consume(),{kind:"Identifier",name:t.text,range:Ke(t)};case"Integer":case"Real":case"Boolean":case"String":return this.consume(),Vu(t,this.source);case"Minus":case"Tilde":case"Bang":{this.consume();let n=this.parseExpression(20);return n?{kind:"UnaryExpression",operator:qu(t.type),argument:n,range:Xt(Ke(t),n.range)}:void 0}case"LeftParen":{let n=this.consume(),r=this.parseExpression(0);if(!r)return;let o=this.peek();if(o.type!=="RightParen"){this.reportError("expected-right-paren","expected ')'",o);return}return this.consume(),Xu(r,{start:n.start,end:o.end})}default:this.reportError("expected-operand","expected operand",t);return}}peek(){return this.tokens[this.index]??this.tokens[this.tokens.length-1]}consume(){let t=this.peek();return this.index+=1,t}match(t){return this.peek().type!==t?!1:(this.consume(),!0)}reportError(t,n,r){this.errors.push({kind:t,message:n,range:Ke(r)})}};function Vu(e,t){switch(e.type){case"Integer":return{kind:"Literal",valueKind:"integer",raw:t.slice(e.start,e.end),value:e.text.startsWith("0x")||e.text.startsWith("0X")?Number(e.text):Number.parseInt(e.text,10),range:Ke(e)};case"Real":return{kind:"Literal",valueKind:"real",raw:t.slice(e.start,e.end),value:Number(e.text),range:Ke(e)};case"Boolean":return{kind:"Literal",valueKind:"boolean",raw:t.slice(e.start,e.end),value:e.text==="true",range:Ke(e)};case"String":return{kind:"Literal",valueKind:"string",raw:t.slice(e.start,e.end),value:e.text,range:Ke(e)};default:throw new Error(`unsupported literal token ${e.type}`)}}function qu(e){switch(e){case"Minus":return"-";case"Tilde":return"~";case"Bang":return"!";default:throw new Error(`unsupported unary token ${e}`)}}function $u(e){switch(e){case"PipePipe":return le.pipePipe;case"AmpAmp":return le.ampAmp;case"Pipe":case"Caret":return le.pipeCaret;case"Ampersand":return le.ampersand;case"Plus":case"Minus":case"DotDot":return le.additive;case"Star":case"Slash":return le.multiplicative;default:return}}function Ke(e){return{start:e.start,end:e.end}}function Xt(e,t){return{start:e.start,end:t.end}}function Xu(e,t){return{...e,range:t}}function zu(e){return{start:e[0]?.range.start??0,end:e[e.length-1]?.range.end??0}}var Wu=new Set(["int8_t","std::int8_t","int16_t","std::int16_t","int32","int32_t","std::int32_t","int64","int64_t","std::int64_t","int","long","short","uint8_t","std::uint8_t","uint16_t","std::uint16_t","uint32","uint32_t","std::uint32_t","uint64","uint64_t","std::uint64_t","uint","unsigned","unsigned int","size_t","std::size_t","float","double"]);function zt(e={}){let t=ot(e.augmentations??[]),n=e.areTypesCompatible??((s,a)=>St(t,s,a)),r=new Map,o=new Map,i={symbols:new Map,globalBlackboard:new Map,enums:Gu(e.enums,e.augmentations??[])};for(let s of e.symbols??[])Cs(i.symbols,r,s,n);for(let s of e.globalBlackboardSymbols??[])Cs(i.globalBlackboard,o,s,n);return i}function he(e){return{symbols:new Map([...e?.symbols.entries()??[]].map(([t,n])=>[t,{...n}])),globalBlackboard:new Map([...e?.globalBlackboard.entries()??[]].map(([t,n])=>[t,{...n}])),enums:new Map(e?.enums??[])}}function Wt(e){let t=he(e.baseEnvironment),n=[];for(let r of e.entries){let o=he(t),i=r.parseResult??He(r.source),s=he(o),a;i.ok&&(a=Je({program:i.program,environment:o,attributeName:r.attributeName,originId:r.originId??String(r.id)}),s=he(a.environment)),n.push({id:r.id,parseResult:i,environmentBefore:o,environmentAfter:s,...a?{analysis:a}:{}}),t.symbols.clear(),t.globalBlackboard.clear(),t.enums.clear();for(let[l,c]of s.symbols)t.symbols.set(l,{...c});for(let[l,c]of s.globalBlackboard)t.globalBlackboard.set(l,{...c});for(let[l,c]of s.enums)t.enums.set(l,c)}return n}function Bs(e){let t=new Map;for(let n of e)for(let[r,o]of Object.entries(n.script?.enums??{}))t.set(r,o);return t}function De(e,t){let n=de(e,t);return Es(t,n)}function Es(e,t){if(!e||!t)return{kind:"unknown"};if(t.kind==="any")return{kind:"any"};let n=t.canonical.toLowerCase();return n==="bool"?{kind:"bool"}:n==="std::string"||n==="string"?{kind:"string"}:Wu.has(n)?{kind:"number"}:{kind:"custom",name:t.name??e,canonical:t.canonical}}function Ns(e,t){return e.kind==="any"||t.kind==="any"||e.kind==="unknown"||t.kind==="unknown"||e.kind==="error"||t.kind==="error"?!0:e.kind==="custom"&&t.kind==="custom"?e.canonical===t.canonical:e.kind===t.kind}function dt(e,t){return e.kind==="any"||t.kind==="any"||e.kind==="unknown"||t.kind==="unknown"||e.kind==="error"||t.kind==="error"?!0:e.kind==="custom"||t.kind==="custom"?e.kind==="custom"&&t.kind==="custom"?e.canonical===t.canonical:!1:e.kind==="bool"&&t.kind==="number"?!0:e.kind===t.kind}function Ye(e){return e.kind==="bool"||e.kind==="number"||e.kind==="unknown"||e.kind==="any"||e.kind==="error"}function Ar(e,t){return e.kind==="error"||t.kind==="error"?{kind:"error"}:e.kind==="unknown"||t.kind==="unknown"?{kind:"unknown"}:e.kind==="any"||t.kind==="any"?e.kind===t.kind?e:{kind:"unknown"}:e.kind==="custom"||t.kind==="custom"?e.kind==="custom"&&t.kind==="custom"&&e.canonical===t.canonical?e:void 0:e.kind===t.kind?e:void 0}function Gu(e,t){if(e instanceof Map)return new Map(e);let n=Bs(t??[]);for(let[r,o]of Object.entries(e??{}))n.set(r,o);return n}function Cs(e,t,n,r){let o=e.get(n.name);if(!o){e.set(n.name,{name:n.name,type:n.type,source:n.source,writable:n.writable,readable:n.readable}),t.set(n.name,n.compatibilityKey);return}let i=t.get(n.name),s=o.conflict===!0||i!==void 0&&n.compatibilityKey!==void 0&&!r(i,n.compatibilityKey)||!Ns(o.type,n.type);e.set(n.name,{...o,readable:o.readable||n.readable,writable:o.writable||n.writable,conflict:s}),i===void 0&&t.set(n.name,n.compatibilityKey)}var Ze={kind:"number"},Tn={kind:"string"},kn={kind:"bool"},ce={kind:"unknown"},V={kind:"error"};function Je(e){let t=he(e.environment),n=[],r=[],o=[],i=[],s=[],a=[],l=[],c=[];return e.program.statements.forEach((d,u)=>{c.push(Se({expression:d,statementIndex:u,environment:t,identifiers:n,resolvedIdentifiers:r,unknownIdentifiers:o,globalBlackboardAccesses:i,invalidGlobalBlackboardIdentifiers:s,introducedSymbols:a,diagnostics:l,attributeName:e.attributeName??"code",originId:e.originId}))}),{environment:t,identifiers:n,resolvedIdentifiers:r,unknownIdentifiers:o,globalBlackboardAccesses:i,invalidGlobalBlackboardIdentifiers:s,introducedSymbols:a,diagnostics:l,statementTypes:c,finalType:c.at(-1)}}function Se(e){let{expression:t}=e;switch(t.kind){case"Literal":return t.valueKind==="integer"||t.valueKind==="real"?Ze:t.valueKind==="string"?Tn:t.valueKind==="boolean"?kn:ce;case"Identifier":return Hu(e,t.name,t.range);case"UnaryExpression":{let n=Se({...e,expression:t.argument});return t.operator==="!"?Ye(n)?kn:(re(e,"invalid-operand-type",t.range,`operator \`${t.operator}\` requires a bool-compatible operand`,`operand for \`${t.operator}\` is not bool-compatible`,"use a boolean, number, or unknown-compatible expression here"),V):n.kind==="number"?Ze:n.kind==="unknown"||n.kind==="any"||n.kind==="error"?n.kind==="any"?n:n.kind==="error"?V:ce:(re(e,"invalid-operand-type",t.range,`operator \`${t.operator}\` requires a numeric operand`,`operand for \`${t.operator}\` is not numeric`,"use a number expression here"),V)}case"BinaryExpression":{let n=Se({...e,expression:t.left}),r=Se({...e,expression:t.right});switch(t.operator){case"&&":case"||":return ws(n)||ws(r)?(re(e,"invalid-operand-type",t.range,`operator \`${t.operator}\` requires bool-compatible operands`,`operands for \`${t.operator}\` are not bool-compatible`,"use boolean or numeric expressions here"),V):kn;case"+":return n.kind==="string"&&r.kind==="string"?Tn:n.kind==="number"&&r.kind==="number"?Ze:_r(n,r)?ce:(Lr(e,t.range,t.operator),V);case"-":case"*":case"/":case"&":case"|":case"^":return n.kind==="number"&&r.kind==="number"?Ze:_r(n,r)?ce:(Lr(e,t.range,t.operator),V);case"..":return n.kind==="string"&&(r.kind==="string"||r.kind==="number")||r.kind==="string"&&(n.kind==="string"||n.kind==="number")?Tn:_r(n,r)?ce:(Lr(e,t.range,t.operator),V)}return ce}case"ComparisonChain":{let n=t.operands.map(r=>Se({...e,expression:r}));for(let r=0;r<t.operators.length;r+=1){let o=t.operators[r],i=n[r],s=n[r+1];if(!Yu(o,i,s))return re(e,"invalid-operand-type",{start:t.operands[r]?.range.start??t.range.start,end:t.operands[r+1]?.range.end??t.range.end},`operator \`${o}\` cannot compare these operand types`,`comparison operands for \`${o}\` are not compatible`,"compare values of the same primitive type, or use == / != for matching custom types"),V}return kn}case"ConditionalExpression":{let n=Se({...e,expression:t.condition});Ye(n)||re(e,"invalid-operand-type",t.condition.range,"ternary condition must be bool-compatible","ternary condition is not bool-compatible","use a boolean or numeric condition expression here");let r=Se({...e,expression:t.thenExpression}),o=Se({...e,expression:t.elseExpression}),i=Ar(r,o);return i||(re(e,"invalid-operand-type",t.range,"ternary branches must produce compatible types","then and else branches have incompatible types","return the same type from both ternary branches"),V)}case"AssignmentExpression":return Ku(e)}}function Ku(e){let{environment:t,attributeName:n,identifiers:r,introducedSymbols:o}=e,i=e.expression,s=Se({...e,expression:i.right});if(i.left.kind!=="Identifier")return Se({...e,expression:i.left}),re(e,"invalid-operand-type",i.left.range,"assignment target must be an identifier","this assignment target is not writable","assign to a variable name instead of an expression"),V;let a=i.left,l=i.operator===":="?"declare":i.operator==="="?"write":"readwrite",c={name:a.name,kind:l,range:a.range,identifier:a,statementIndex:e.statementIndex};r.push(c);let d=Vt(a.name);if(d.kind==="invalid-global-blackboard")return e.invalidGlobalBlackboardIdentifiers.push(c),Ms(e,a.range,d.raw,d.message),V;if(d.kind==="global-blackboard"){let m=t.globalBlackboard.get(d.key),g=i.operator===":="?s:i.operator==="="?m&&dt(m.type,s)?s:m?void 0:s:Ps(m?.type??ce,s,i.operator);if(i.operator!==":="&&i.operator!=="="&&!g)return re(e,"invalid-compound-assignment",i.range,`operator \`${i.operator}\` is not valid for these operand types`,`compound assignment \`${i.operator}\` is not allowed here`,i.operator==="+="?"use number += number or string += string":"use numeric operands for this compound assignment"),V;if((i.operator===":="||i.operator==="=")&&m&&!dt(m.type,s))return jr(e,a,m.type,s),V;let f=m?{...m}:{name:d.key,type:s,source:{kind:"global-blackboard",key:d.key,range:a.range,originId:e.originId},readable:!0,writable:!0};return f.type=g??s,t.globalBlackboard.set(d.key,f),e.resolvedIdentifiers.push({access:c,resolution:{kind:"global-blackboard",key:d.key,symbol:f}}),e.globalBlackboardAccesses.push({key:d.key,rawName:a.name,kind:l,range:a.range,inferredType:f.type}),f.type}let u=t.symbols.get(a.name);if(i.operator===":="&&!u){let m={name:a.name,type:s,source:{kind:"script-assignment",attributeName:n,range:a.range,originId:e.originId},readable:!0,writable:!0};return t.symbols.set(a.name,m),e.resolvedIdentifiers.push({access:c,resolution:{kind:"symbol",symbol:m}}),o.push(m),s}if(!u)return e.resolvedIdentifiers.push({access:c,resolution:{kind:"unknown"}}),re(e,"assignment-to-unknown-variable",a.range,`assignment target \`${a.name}\` is not defined`,`\`${a.name}\` must already exist before this assignment`,"introduce the variable earlier with `:=` or add a matching blackboard remap"),V;if(e.resolvedIdentifiers.push({access:c,resolution:{kind:"symbol",symbol:u}}),i.operator==="=")return dt(u.type,s)?(Fr(u,s),s):(jr(e,a,u.type,s),V);if(i.operator===":=")return dt(u.type,s)?(Fr(u,s),s):(jr(e,a,u.type,s),V);let p=Ps(u.type,s,i.operator);return p?(Fr(u,p),p):(re(e,"invalid-compound-assignment",i.range,`operator \`${i.operator}\` is not valid for these operand types`,`compound assignment \`${i.operator}\` is not allowed here`,i.operator==="+="?"use number += number or string += string":"use numeric operands for this compound assignment"),V)}function Hu(e,t,n){let r={name:t,kind:"read",range:n,identifier:e.expression,statementIndex:e.statementIndex};e.identifiers.push(r);let o=Vt(t);if(o.kind==="invalid-global-blackboard")return e.invalidGlobalBlackboardIdentifiers.push(r),Ms(e,n,o.raw,o.message),V;if(o.kind==="global-blackboard"){let a=e.environment.globalBlackboard.get(o.key);return e.globalBlackboardAccesses.push({key:o.key,rawName:t,kind:"read",range:n,inferredType:a?.type??ce}),e.resolvedIdentifiers.push({access:r,resolution:{kind:"global-blackboard",key:o.key,...a?{symbol:a}:{}}}),a?.type??ce}let i=e.environment.enums.get(t);if(i!==void 0)return e.resolvedIdentifiers.push({access:r,resolution:{kind:"enum",name:t,value:i}}),Ze;let s=e.environment.symbols.get(t);return s?(e.resolvedIdentifiers.push({access:r,resolution:{kind:"symbol",symbol:s}}),s.type):(e.resolvedIdentifiers.push({access:r,resolution:{kind:"unknown"}}),e.unknownIdentifiers.push(r),ce)}function Ps(e,t,n){return e.kind==="error"||t.kind==="error"?V:e.kind==="unknown"||t.kind==="unknown"||e.kind==="any"||t.kind==="any"?ce:n==="+="?e.kind==="number"&&t.kind==="number"?Ze:e.kind==="string"&&t.kind==="string"?Tn:void 0:e.kind==="number"&&t.kind==="number"?Ze:void 0}function _r(e,t){return xn(e)||xn(t)}function xn(e){return e.kind==="unknown"||e.kind==="any"||e.kind==="error"}function ws(e){return!Ye(e)}function Yu(e,t,n){return xn(t)||xn(n)?!0:e==="=="||e==="!="?t.kind==="custom"||n.kind==="custom"?t.kind==="custom"&&n.kind==="custom"&&t.canonical===n.canonical:t.kind===n.kind:t.kind==="custom"||n.kind==="custom"?!1:t.kind==="number"&&n.kind==="number"||t.kind==="string"&&n.kind==="string"}function Lr(e,t,n){re(e,"invalid-operand-type",t,`operator \`${n}\` cannot be applied to these operand types`,`operands for \`${n}\` are not compatible`,"use operands with the types required by this operator")}function jr(e,t,n,r){re(e,"variable-type-mismatch",t.range,`cannot assign ${Ur(r)} to variable \`${t.name}\` of type ${Ur(n)}`,`\`${t.name}\` expects ${Ur(n)} here`,"assign a compatible value or change the variable's source type")}function Ms(e,t,n,r){re(e,"invalid-global-blackboard-identifier",t,r,`\`${n}\` is not a valid global blackboard identifier`,"use `@name` with a valid blackboard key that starts with a letter or underscore")}function Fr(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 re(e,t,n,r,o,i){e.diagnostics.push({code:t,range:n,message:r,details:{primaryLabel:o,help:i}})}function Ur(e){return e.kind==="custom"?e.name:e.kind}var As=new Set(["Identifier","Integer","Real","String","Boolean","RightParen"]),Ju=new Set(["LeftParen","Semicolon","Question","Colon","Plus","Minus","Star","Slash","DotDot","Ampersand","Pipe","Caret","Tilde","AmpAmp","PipePipe","Bang","EqualEqual","BangEqual","Less","Greater","LessEqual","GreaterEqual","ColonEqual","Equal","PlusEqual","MinusEqual","StarEqual","SlashEqual"]),Zu=["==","!=","<",">","<=",">=","&&","||","+","-","*","/","..","?",":"],Qu=[":=","=","+=","-=","*=","/="],_s=new Set(["!","<",">","=",":","+","-","*","/","&","|","^","?","."]);function Or(e){let t=e.source,n=Fs(t,e.cursorOffset),r=In({source:t,cursorOffset:n}),o=[];return r.kind==="identifier"&&(o.push(...ep(e,r)),sp(e.attributeInfo,t,n)&&o.push(...rp(r.range))),(r.kind==="operator"||r.kind==="after-assignment-lhs")&&o.push(...tp(r.range,r.prefix)),r.kind==="after-assignment-lhs"&&o.push(...np(r.range,r.prefix)),cp(o)}function In(e){let t=e.source,n=Fs(t,e.cursorOffset),r=ct(t).filter(l=>l.type!=="EndOfInput"),o=r.find(l=>l.start<=n&&n<=l.end);if(o?.type==="Identifier")return{kind:"identifier",prefix:o.text.slice(0,Math.max(0,n-o.start)),range:{start:o.start,end:o.end}};if(o&&(o.type==="Integer"||o.type==="Real"||o.type==="String"||o.type==="Boolean"))return{kind:"literal",range:{start:o.start,end:o.end}};let i=ap(t,n),s=Dn(r,i.start);if(i.start<i.end&&s&&As.has(s.type))return{kind:s.type==="Identifier"&&js(r,s)?"after-assignment-lhs":"operator",prefix:t.slice(i.start,n),range:i};let a=Dn(r,n);return a&&As.has(a.type)&&a.end<=n?{kind:a.type==="Identifier"&&js(r,a)?"after-assignment-lhs":"operator",prefix:"",range:{start:n,end:n}}:!a||Ju.has(a.type)?{kind:"identifier",prefix:"",range:{start:n,end:n}}:{kind:"unknown",range:{start:n,end:n}}}function ep(e,t){let n=op(e),r=t.prefix.toLowerCase(),o=[];for(let[i,s]of n.enums)ut(i,r)&&o.push({label:i,kind:"enum",detail:`enum value ${s}`,replaceRange:t.range,sortText:`0-${i}`});for(let i of n.symbols.values())i.conflict||i.readable&&ut(i.name,r)&&o.push({label:i.name,kind:"identifier",detail:Ls(i),replaceRange:t.range,sortText:i.source.kind==="script-assignment"?`1-${i.name}`:`2-${i.name}`});for(let i of n.globalBlackboard.values()){if(i.conflict||!i.readable)continue;let s=`@${i.name}`;ut(s,r)&&o.push({label:s,kind:"identifier",detail:Ls(i),replaceRange:t.range,sortText:`2-${s}`})}for(let i of["true","false"])ut(i,r)&&o.push({label:i,kind:"value",detail:"bool",replaceRange:t.range,sortText:`3-${i}`});return o}function tp(e,t){return Zu.filter(n=>ut(n,t)).map(n=>({label:n,kind:"operator",detail:"script operator",replaceRange:e,sortText:`4-${n}`}))}function np(e,t){return Qu.filter(n=>ut(n,t)).map(n=>({label:n,kind:"operator",detail:"assignment operator",replaceRange:e,sortText:`5-${n}`}))}function rp(e){return[{label:"name := value",kind:"snippet",detail:"Declare local script variable",replaceRange:e,insertText:"${1:name} := ${2:value}",insertTextFormat:"snippet",sortText:"6-name := value"},{label:"name = value",kind:"snippet",detail:"Assign existing variable",replaceRange:e,insertText:"${1:name} = ${2:value}",insertTextFormat:"snippet",sortText:"6-name = value"}]}function op(e){let t=he(e.environment),n=ct(e.source),r=He(e.source);if(r.ok){let o=Je({program:r.program,environment:t,attributeName:e.attributeName}),i=he(e.environment);for(let s of o.introducedSymbols)s.source.kind==="script-assignment"&&(s.source.range.end>e.cursorOffset||i.symbols.set(s.name,s));for(let s of o.globalBlackboardAccesses){if(s.kind==="read"||s.range.end>e.cursorOffset)continue;let a=o.environment.globalBlackboard.get(s.key),l=i.globalBlackboard.get(s.key),c;a?c={...a}:l?c={...l,type:s.inferredType}:c={name:s.key,type:s.inferredType,source:{kind:"global-blackboard",key:s.key,range:s.range},readable:!0,writable:!0},i.globalBlackboard.set(s.key,c)}return i}for(let o of n){if(o.type!=="Identifier")continue;if(o.end>e.cursorOffset)break;let i=lp(n,o.end);if(i?.type!=="ColonEqual"||i.end>e.cursorOffset)continue;let s=Vt(o.text);if(s.kind!=="invalid-global-blackboard"){if(s.kind==="global-blackboard"){if(t.globalBlackboard.has(s.key))continue;t.globalBlackboard.set(s.key,{name:s.key,type:{kind:"unknown"},source:{kind:"global-blackboard",key:s.key,range:{start:o.start,end:o.end}},readable:!0,writable:!0});continue}t.symbols.has(s.name)||t.symbols.set(s.name,{name:s.name,type:{kind:"unknown"},source:{kind:"script-assignment",attributeName:e.attributeName??"code",range:{start:o.start,end:o.end}},readable:!0,writable:!0})}}return t}function Ls(e){let t=ip(e.type);switch(e.source.kind){case"port-remap":return`${t} from ${e.source.nodeType??"node"}.${e.source.portName}`;case"global-blackboard-remap":return`${t} from global blackboard ${e.source.nodeType??"node"}.${e.source.portName}`;case"subtree-port":return`${t} from ${e.source.nodeType??"SubTree"}.${e.source.portName}`;case"script-assignment":return`${t} from earlier ${e.source.attributeName} declaration`;case"global-blackboard":return`${t} from global blackboard @${e.source.key}`;case"augmentation":return`${t} from augmentation`;case"enum":return`${t} enum`}}function ip(e){switch(e.kind){case"number":case"string":case"bool":case"any":case"unknown":case"error":return e.kind;case"custom":return e.name}}function sp(e,t,n){if(e?.expectedResult!=="ignored")return!1;let r=ct(t).filter(i=>i.type!=="EndOfInput"),o=Dn(r,n);return!o||o.type==="Semicolon"}function ap(e,t){let n=t;for(;n>0&&_s.has(e[n-1]??"");)n-=1;let r=t;for(;r<e.length&&_s.has(e[r]??"");)r+=1;return{start:n,end:r}}function Dn(e,t){for(let n=e.length-1;n>=0;n-=1){let r=e[n];if(r.end<=t)return r}}function js(e,t){if(t.type!=="Identifier")return!1;let n=Dn(e,t.start);return!n||n.type==="Semicolon"}function lp(e,t){return e.find(n=>n.start>=t&&n.type!=="EndOfInput")}function ut(e,t){return t.length===0||e.toLowerCase().startsWith(t.toLowerCase())}function Fs(e,t){return Math.max(0,Math.min(e.length,t))}function cp(e){let t=new Set;return e.filter(n=>{let r=`${n.kind}:${n.label}:${n.insertText??""}`;return t.has(r)?!1:(t.add(r),!0)})}var Us=new WeakMap;function Cn(e,t){let n=e.getNodeUsage(t),r=n.model.status==="resolved"?n.model.model.id:n.nodeType;return t.attributes.flatMap(o=>{let i=We({elementName:t.name,attributeName:o.name,resolvedNodeType:r});return i?[{attribute:o,info:i,parseResult:He(o.value)}]:[]})}function me(e,t,n){return Te(e.document,t,n)}function Os(e){return{start:0,end:e.value.length}}function Me(e,t){let n=e.getTreeNodeView(t),r=n?.behaviorTree;return!n||!r?Cn(e,t).map(o=>{let i=Vs(e,[]);return{...o,environment:i,analysis:o.parseResult.ok?Je({program:o.parseResult.program,environment:i,attributeName:o.attribute.name}):void 0}}):dp(e,r).filter(o=>o.node.element===t).map(o=>({...o.candidate,environment:o.environmentBefore,analysis:o.analysis}))}function dp(e,t){let n=Us.get(e.view);n||(n=new WeakMap,Us.set(e.view,n));let r=n.get(t);if(r)return r;let o=t.nodes.flatMap(s=>Cn(e,s.element).map((a,l)=>({id:`${s.path.join(".")}:${a.attribute.name}:${l}`,node:s,candidate:a}))),i=Wt({baseEnvironment:Vs(e,t.nodes),entries:o.map(s=>({id:s.id,source:s.candidate.attribute.value,attributeName:s.candidate.attribute.name,originId:s.id,parseResult:s.candidate.parseResult}))}).flatMap((s,a)=>{let l=o[a];return l?[{...s,node:l.node,candidate:l.candidate}]:[]});return n.set(t,i),i}function Vs(e,t){let n=te(e.semantic),r=[],o=[],i=t[0]?.behaviorTree.id;if(i){let s=e.getNodeModel(i);if(s?.kind==="SubTree")for(let a of s.ports){let l=ze(a),d=Z(e.semantic,l)?.canonical??l;r.push({name:a.name,type:De(n,l),source:{kind:"subtree-port",nodeType:i,portName:a.name,direction:a.direction},readable:!0,writable:a.direction==="output"||a.direction==="inout",compatibilityKey:d})}}for(let s of t)for(let a of s.portBindings){if(a.usage.status!=="resolved")continue;let l=X({portName:a.usage.port.name,rawValue:a.usage.value});if(!l.ok||l.reference.scope==="global")continue;let c=ze(a.usage.port),u=Z(e.semantic,c)?.canonical??c,p=a.usage.port.direction,m=s.usage.model.status==="resolved"?s.usage.model.model.id:s.usage.nodeType;r.push({name:l.reference.key,type:De(n,c),source:{kind:"port-remap",nodeType:m,portName:a.usage.port.name,direction:p},readable:p==="input"||p==="output"||p==="inout",writable:p==="output"||p==="inout",compatibilityKey:u})}return o.push(...up(e,n)),zt({symbols:r,globalBlackboardSymbols:o,augmentations:wt(e.semantic),areTypesCompatible:(s,a)=>s&&a?Ce(e.semantic,s,a):!0})}function up(e,t){let n=[];for(let r of e.view.nodes){let o=r.usage.model.status==="resolved"?r.usage.model.model.id:r.usage.nodeType;for(let i of r.portBindings){if(i.usage.status!=="resolved")continue;let s=X({portName:i.usage.port.name,rawValue:i.usage.value});if(!s.ok||s.reference.scope!=="global")continue;let a=ze(i.usage.port),c=Z(e.semantic,a)?.canonical??a,d=i.usage.port.direction;n.push({name:s.reference.key,type:De(t,a),source:{kind:"global-blackboard-remap",nodeType:o,portName:i.usage.port.name,direction:d,key:s.reference.key},readable:d==="input"||d==="output"||d==="inout",writable:d==="output"||d==="inout",compatibilityKey:c})}}return n}var qs=N({name:"script/no-unknown-variable",create(e){return{Element(t){for(let n of Me(e,t))if(n.analysis)for(let r of n.analysis.unknownIdentifiers)e.report({code:S.UnknownScriptVariable,message:`unknown script variable \`${r.name}\``,range:me(e,n.attribute,r.range),details:{primaryLabel:`\`${r.name}\` is not defined in the script environment`,help:"introduce it earlier with `:=`, add a matching blackboard remap, or define a script enum in btxml.model-augment.json"}})}}}});var $s=N({name:"script/valid-assignment",create(e){return{Element(t){for(let n of Me(e,t))if(n.analysis)for(let r of n.analysis.diagnostics){let o=r.code==="assignment-to-unknown-variable"?S.AssignmentToUnknownVariable:r.code==="invalid-compound-assignment"?S.InvalidCompoundAssignment:r.code==="variable-type-mismatch"?S.ScriptVariableTypeMismatch:r.code==="invalid-global-blackboard-identifier"?S.InvalidGlobalBlackboardIdentifier:void 0;o&&e.report({code:o,message:r.message,range:me(e,n.attribute,r.range),details:r.details})}}}}});var Xs=N({name:"script/valid-expression-type",create(e){return{Element(t){for(let n of Me(e,t))if(n.analysis)for(let r of n.analysis.diagnostics)r.code==="invalid-operand-type"&&e.report({code:S.InvalidScriptOperandType,message:r.message,range:me(e,n.attribute,r.range),details:r.details})}}}});var zs=N({name:"script/valid-result-type",create(e){return{Element(t){for(let n of Me(e,t)){if(n.info.expectedResult!=="bool-compatible"||!n.parseResult.ok||!n.analysis)continue;let r=n.parseResult.program.statements.at(-1),o=n.analysis.finalType;!r||!o||Ye(o)||e.report({code:S.ScriptResultNotBoolCompatible,message:`script result for \`${n.attribute.name}\` is not bool-compatible`,range:me(e,n.attribute,r.range),details:{primaryLabel:"script result is not bool-compatible here",help:"return a boolean or numeric expression, or move side effects into a postcondition/script node"}})}}}}});var Ws=N({name:"script/valid-syntax",create(e){return{Element(t){for(let n of Cn(e,t))if(!n.parseResult.ok)for(let r of n.parseResult.errors){let o=r.kind==="empty-script"?S.EmptyScript:r.kind==="invalid-token"?S.InvalidScriptToken:S.InvalidScriptSyntax;e.report({code:o,message:r.message,range:r.kind==="empty-script"?n.attribute.valueContentRange??n.attribute.valueRange??me(e,n.attribute,Os(n.attribute)):me(e,n.attribute,r.range),details:{primaryLabel:`invalid script in \`${n.attribute.name}\``}})}}}}});var Gs=[Ws,qs,$s,Xs,zs];var pp={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"};function Ks(e){return N({name:pp[e],create(t){return{ProgramExit(){for(let n of t.getSuppressionIssues(e))t.report({message:n.message,range:n.range,data:mp(n)})}}}})}function mp(e){return e.code?{code:e.code}:void 0}var Hs=[Ks("unused"),Ks("missing-reason")];function Bn(e,t){return e.attributes.find(n=>n.name===t)}function Ys(e,t){if(!e)return!1;let n=(r,o)=>{let i=o||r.name==="TreeNodesModel";if(r===t)return i;for(let s of r.children)if(s.kind==="element"&&n(s,i))return!0;return!1};return n(e,!1)}var Js=[N({name:"tree/require-id",create(e){return{Element(t){t.name!=="BehaviorTree"||Bn(t,"ID")||e.report({message:"BehaviorTree must have ID attribute",range:t.range})}}}}),N({name:"tree/no-duplicate-id-in-file",create(e){let t=new Set;return{ProgramExit(){let n=Et(e.semantic,e.document.uri);for(let r of n?.behaviorTrees??[])r.idRange&&(t.has(r.id)&&e.report({message:`Duplicate BehaviorTree ID: ${r.id}`,range:r.idRange}),t.add(r.id))}}}}),N({name:"tree/no-duplicate-id",create(e){return{ProgramExit(){if(e.config.resolver.behaviorTreeIds!=="allow-ambiguous")for(let t of Be(e.semantic)){let n=Y(e.semantic,t);if(n.length<=1||new Set(n.map(i=>i.uri)).size<=1)continue;let o=n.filter(i=>i.uri===e.document.uri);o.length>0&&e.report({message:`Duplicate BehaviorTree ID: ${t}`,range:o[0]?.idRange})}}}}}),N({name:"tree/no-unknown-main-tree",create(e){return{Document(){let t=e.document.root;if(e.document.kind!=="bt-document"||!t)return;let n=Bn(t,"main_tree_to_execute");!n?.value||rr(e.semantic,n.value)||e.report({message:`main_tree_to_execute references unknown BehaviorTree: ${n.value}`,range:n.range})}}}}),N({name:"tree/no-unknown-subtree",create(e){return{Element(t){if(t.name!=="SubTree"||Ys(e.document.root,t))return;let n=e.getSubTreeCallView(t),r=n?.node.element.attributes.find(i=>i.name==="ID")??Bn(t,"ID");!r||n?.target.status==="resolved"||e.resolveSubTree(r.value,e.document.uri).status!=="unresolved"||e.report({message:`unknown subtree \`${r.value}\``,range:r.valueContentRange||r.valueRange})}}}}),N({name:"tree/no-ambiguous-subtree",create(e){return{Element(t){if(t.name!=="SubTree"||Ys(e.document.root,t))return;let n=Bn(t,"ID");if(!n||e.getSubTreeCallView(t)?.target.status==="resolved")return;let o=e.resolveSubTree(n.value,e.document.uri);o.status!=="ambiguous"||o.behaviorTrees.length<=1||e.report({message:`ambiguous subtree \`${n.value}\``,range:n.valueContentRange||n.valueRange})}}}}),N({name:"tree/no-duplicate-node-model-id",meta:{description:"TreeNodesModel elements must have unique IDs within the same model block."},create(){return{}}})];var fp=new Map([["IfThenElse",{min:2,max:3}],["WhileDoElse",{min:2,max:3}]]);function gp(e,t){return e===t?String(e):`${e}\u2013${t}`}var Zs=N({name:"model/valid-child-count",create(e){return{Element(t){if(pe(t))return;let n=e.getNodeUsage(t);n.model.status==="resolved"&&yp(e,t,n.model.model.id,n.model.model.kind)}}}});function yp(e,t,n,r){let o=fs(t).length,i=fp.get(n);if(i){if(o<i.min||o>i.max){let s=gp(i.min,i.max);e.report({message:`\`${n}\` requires ${s} child node(s), but has ${o}.`,range:t.range})}return}if(r==="Action"||r==="Condition"){o>0&&e.report({message:`${r} node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range});return}if(r==="Decorator"){o!==1&&e.report({message:`Decorator node \`${n}\` must have exactly 1 child node, but has ${o}.`,range:t.range});return}if(r==="Control"){o<1&&e.report({message:`Control node \`${n}\` must have at least 1 child node.`,range:t.range});return}r==="SubTree"&&o>0&&e.report({message:`SubTree node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range})}var Qs=N({name:"model/valid-port-value",create(e){return{Element(t){if(pe(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of t.attributes){let o=e.getPortUsage(t,r.name);o?.status==="resolved"&&Rn(e,{port:o.port,value:r.value,range:r.range,registry:te(e.semantic),typeDefinition:Z(e.semantic,o.port.type),allowRemap:!0,diagnosticCode:S.InvalidPortValueType,customLiteralDiagnosticCode:S.CustomLiteralRequiresValidator,portLabel:r.name})}}}}});var ea=N({name:"model/require-port",create(e){return{Element(t){if(pe(t))return;let n=e.getNodeUsage(t);if(!(n.tagForm==="subtree"&&n.allowsArbitraryAttributes)&&!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of n.ports)!r.required||n.portUsages.some(i=>i.name===r.name&&i.status==="resolved")||e.report({message:`missing required port \`${r.name}\``,range:t.range,details:n.tagForm==="subtree"?{primaryLabel:n.model.status==="resolved"?`node \`${n.model.model.id}\` requires port \`${r.name}\``:`SubTree requires port \`${r.name}\``,help:`add \`${r.name}="..."\` or provide a blackboard reference such as \`${r.name}="{value}"\``}:void 0})}}}});var ta=[N({name:"model/no-childless-control-shape-mismatch",create(e){return{Element(t){if(pe(t)||!t.selfClosing)return;let n=e.getTreeNodeView(t);if(n?.model.status!=="resolved")return;let r=n.model.model.kind;r!=="Control"&&r!=="Decorator"||e.report({message:`${r} node \`${n.model.model.id}\` normally expects child nodes.`,range:t.range})}}}}),N({name:"model/no-leaf-block-shape",create(e){return{Element(t){if(pe(t)||t.selfClosing||gs(t))return;let n=e.getTreeNodeView(t);if(n?.model.status!=="resolved")return;let r=n.model.model.kind;r!=="Action"&&r!=="Condition"&&r!=="SubTree"||e.report({message:`${r} node \`${n.model.model.id}\` should be self-closing or have no children.`,range:t.range})}}}})];var na=N({name:"model/no-unknown-node",create(e){return{Element(t){let n=e.getNodeUsage(t);if(n.tagForm==="root"||n.tagForm==="behavior-tree"||n.tagForm==="tree-nodes-model"||n.tagForm==="include"||n.tagForm==="model-definition"||n.tagForm==="subtree"||n.tagForm==="unknown-xml"||n.model.status==="resolved"||n.model.status==="ambiguous")return;let r=t.attributes.find(o=>o.name==="ID");e.report({message:`unknown node \`${n.nodeType??n.tagName}\``,range:r?.valueContentRange??r?.valueRange??t.range})}}}});var ra=N({name:"model/no-unknown-port",create(e){return{Element(t){if(pe(t))return;let n=e.getNodeUsage(t);for(let r of n.portUsages){if(r.status!=="undeclared")continue;let o=n.ports.map(s=>s.name).sort(),i=o.length>=1&&o.length<=8?[`note: defined ports: ${o.map(s=>`\`${s}\``).join(", ")}`]:void 0;e.report({message:`unknown port \`${r.name}\``,range:r.attribute.range,details:n.tagForm==="subtree"?{primaryLabel:n.model.status==="resolved"?`node \`${n.model.model.id}\` does not define this port`:"SubTree does not define this port in strict mode",help:n.model.status==="resolved"?`remove \`${r.name}\` or add it to the \`${n.model.model.id}\` SubTree model`:`remove \`${r.name}\`, add it to a SubTree model, or set the \`model/no-unknown-port\` rule option \`subTreePorts\` to \`loose\``,notes:i}:void 0})}}}}});var oa=[na,ra,ea,Qs,...ta,Zs];function bp(e,t){return e.attributes.find(n=>n.name===t)}function hp(e){let t=e.resolver.includes.elements;return new Set(["BehaviorTree","TreeNodesModel",...t.map(n=>n.name)])}var ia=[N({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 <root>",range:t.range})}}}}),{name:"xml/require-btcpp-format",code:S.MissingBTCPPFormat,defaultSeverity:"error",meta:{description:'Root element must declare BTCPP_format="4".'},create(e){return{Document(){let t=e.document.root;e.document.kind!=="bt-document"||!t||bp(t,"BTCPP_format")?.value==="4"||e.report({message:'Root element must have BTCPP_format="4"',range:t.range})}}}},N({name:"xml/no-unknown-top-level-element",meta:{description:"Top-level elements must be BehaviorTree, TreeNodesModel, or configured include elements."},create(e){return{Element(t){let n=e.document.root;e.document.kind!=="bt-document"||!n||t===n||!n.children.includes(t)||hp(e.config).has(t.name)||e.report({message:`Unknown top-level element: ${t.name}`,range:t.range})}}}})];var Vr=[...ia,...Gs,...Js,...Rs,...oa,...ps,...Hs],dv=new Map(Vr.map(e=>[e.name,e]));function sa(e){if(e!=="off")return e==="info"?h.Info:e==="warn"?h.Warning:h.Error}function aa(e,t){return ke(e.linter.rules[t])?.options??{}}function la(e){let t=ke(e.config.linter.rules[e.rule]);return sa(t?t.severity:e.defaultSeverity)}function ca(e){let t=[],n=e.facts??ls(),r=e.rules?new Set(e.rules):void 0,o=[];for(let s of Vr){if(r&&!r.has(s.name))continue;let a=la({config:e.config,rule:s.name,defaultSeverity:s.defaultSeverity});if(!a)continue;let l=aa(e.config,s.name),c=s.optionsSchema?.safeParse(l),d=c?.success?c.data:l,u=us({document:e.document,view:e.view,semantic:e.semantic,config:e.config,options:d,diagnostics:t,rule:s.name,code:s.code,severity:a,facts:n});o.push(s.create(u))}for(let s of o)s.Document?.();e.document.root&&da(e.document.root,o);let i=Et(e.semantic,e.document.uri);for(let s of i?.treeNodesModel??[])for(let a of o)a.TreeNodeModel?.(s);for(let s of o)s.ProgramExit?.();return t.map((s,a)=>({diag:s,index:a})).sort((s,a)=>Sp(s.diag,a.diag)||s.index-a.index).map(s=>s.diag)}function da(e,t){for(let n of t)n.Element?.(e);for(let n of e.children)n.kind==="element"&&da(n,t)}function Sp(e,t){let n=e.range,r=t.range;return!n&&!r?0:n?r?n.start.line-r.start.line||n.start.character-r.start.character||n.end.line-r.end.line||n.end.character-r.end.character:-1:1}function Gt(e,t,n){if(e.kind==="invalid-xml"||e.kind==="generic-xml")return[...e.diagnostics];let r=[...e.diagnostics],o=n.documentView??G(e,{semantic:t,config:n.config,policy:ie(n.config)});return r.push(...ca({document:e,view:o,semantic:t,config:n.config})),r}var vp={"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 ua(e){if(e!=="off")return e==="info"?h.Info:e==="warn"?h.Warning:h.Error}function Rp(e,t){let n=ke(e.linter.rules[t]);return ua(n?n.severity:ue[t].defaultSeverity)}function kp(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 pa(e){let t=[];for(let n of e.issues){let r=vp[n.kind],o=Rp(e.config,r);if(!o)continue;let i=P(ue[r].code,o,n.message,n.range,n.uri,void 0,kp(n));t.push({...i,rule:r})}return t}function ma(e,t){return Ne(e,t).replace(/\\/g,"/")}function Tp(e){return e.length>0&&!e.startsWith("/")&&!e.startsWith("../")&&!/^[A-Za-z][A-Za-z\d+.-]*:\/\//.test(e)&&!/^[A-Za-z]:\//.test(e)}function xp(e,t){for(let n of[t.path,t.uri]){if(!n)continue;let r=ma(e,n);if(Tp(r))return r}return ma(e,t.uri)}function fa(e){let{project:t,indexResult:n,externalModelDocuments:r,fileDocuments:o,lintEnabled:i,resolvedConfig:s}=e,a=t,l=n.index.mode;return o.map(c=>{let d=xp(a.rootUri,c);if(l==="entrypoints"&&n.index.includeGraph&&c.kind==="bt-document"&&!n.index.reachableDocuments.has(c.uri))return{path:d,uri:c.uri,kind:c.kind,diagnostics:[],skipped:!0,skipReason:"unreachable",originalText:c.originalText};let u=l==="single-file"?Oe([c,...r],{config:s,models:e.nodeDefinitionModels,augmentations:e.augmentations}).index:n.index.workspace,p=l==="single-file"?(()=>{let g=ee(s,d);return G(c,{semantic:u,config:g,policy:ie(g)})})():n.index.documentViews.get(c.uri),m=[];if(i){let g=ee(s,d);m=Gt(c,u,{config:g,documentView:p});let f=n.index.facts.includeIssuesByUri.get(c.uri)??[];m.push(...pa({issues:f,config:g}))}return e.input.mode==="check"&&c.kind==="generic-xml"?{path:d,uri:c.uri,kind:c.kind,documentView:p,diagnostics:[],rawDiagnostics:m,skipped:!0,skipReason:"generic-xml",originalText:c.originalText}:{path:d,uri:c.uri,kind:c.kind,documentView:p,diagnostics:m,rawDiagnostics:void 0,skipped:!1,originalText:c.originalText}})}function ga(e){let t=[];for(let n of e)n.kind==="comment"&&t.push(n),n.kind==="element"&&t.push(...ga(n.children));return t}function Dp(e,t,n){let r=[],o=[];for(let i of e){let s=ga(i.nodes);for(let a of s){let l=a.text.trim();if(!l.includes("btxml-disable"))continue;let c=l.match(/\b(BT\d+|BT\d+_[A-Z0-9_]+|CFG\d+_[A-Z0-9_]+|XML\d+_[A-Z0-9_]+)\b/)?.[1],d=l.match(/reason:\s*(.+)$/)?.[1];t&&!d&&o.push({kind:"missing-reason",uri:i.uri,code:c,range:a.range,message:"missing suppression reason"}),l.startsWith("btxml-disable-file")?r.push({uri:i.uri,code:c,file:!0,range:a.range,used:!1,reason:d}):l.startsWith("btxml-disable-next-line")?n&&r.push({uri:i.uri,code:c,line:a.range.end.line+1,range:a.range,used:!1,reason:d}):l.startsWith("btxml-disable")&&n&&r.push({uri:i.uri,code:c,line:a.range.end.line+1,range:a.range,used:!1,reason:d})}}return{suppressions:r,issues:o}}function ya(e,t){let n=Dp(t.documents??[],!!t.requireReason,t.allowInline!==!1),r=[],o=[];for(let i of e){let s=n.suppressions.find(a=>a.uri===i.uri&&(!a.code||a.code===i.code||i.code.startsWith(a.code))&&(a.file||a.line===i.range?.start.line||a.line===(i.range?.start.line??0)+1));if(s){s.used=!0,o.push(i);continue}r.push(i)}for(let i of 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=o.map(s=>({...s,severity:h.Info,suppressed:!0}));return{diagnostics:[...r,...i],suppressedDiagnostics:o,issues:n.issues}}return{diagnostics:r,suppressedDiagnostics:o,issues:n.issues}}function qr(e,t,n,r=e.resolvedConfig){let o=Ue(r.linter.rules,"suppression/require-reason")!=="off";return ya(t,{documents:n??e.fileDocuments,requireReason:o,allowInline:r.linter.suppressions.inline!=="deny",showSuppressed:e.showSuppressed})}function ba(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 ha(e,t){if(!e.input.baseline)return{diagnostics:t,baselineDiagnostics:[],staleEntries:[]};let n=new Set,r=[],o=[];for(let i of t){let s=e.input.baseline.diagnostics.findIndex(a=>a.path===i.uri&&a.code===i.code&&a.messageHash===ba(i.message)&&a.range?.start?.line===i.range?.start?.line&&a.range?.start?.character===i.range?.start?.character);if(s>=0){n.add(s),o.push(i);continue}r.push(i)}return{diagnostics:r,baselineDiagnostics:o,staleEntries:e.input.baseline.diagnostics.filter((i,s)=>!n.has(s))}}var Sa={error:0,warning:1,info:2};function va(e,t){return e.some(n=>n.severity===h.Error||t===0&&n.severity===h.Warning)}function En(e){return e.flat().sort((t,n)=>{let r=t.uri.localeCompare(n.uri);if(r!==0)return r;let o=t.range?.start.offset??-1,i=n.range?.start.offset??-1;if(o!==i)return o-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 Ra(e,t,n){let r=t.filter(i=>!i.skipped),o=En([n,r.flatMap(i=>i.diagnostics)]);return{files:r.length,errors:o.filter(i=>i.severity===h.Error).length,warnings:o.filter(i=>i.severity===h.Warning).length,infos:o.filter(i=>i.severity===h.Info).length,suppressed:0,baselineFiltered:0,staleEntries:[]}}function Ip(e,t){return e.map(({path:n,uri:r,kind:o,diagnostics:i,rawDiagnostics:s,skipped:a,skipReason:l})=>({path:n,uri:r,kind:o,diagnostics:i,rawDiagnostics:t?s:void 0,skipped:a,skipReason:l}))}function ka(e,t){let n=En([e.finalProjectDiagnostics??e.projectDiagnostics,e.files?.flatMap(r=>r.diagnostics)??[]]);return{ok:!va(n,e.input.maxWarnings),files:e.files?Ip(e.files,e.input.includeRawDiagnostics):[],projectDiagnostics:e.finalProjectDiagnostics??e.projectDiagnostics,summary:t}}var Cp={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"},Bp={unused:S.UnusedSuppression,"missing-reason":S.MissingSuppressionReason};function Ep(e){if(e!=="off")return e==="info"?h.Info:e==="warn"?h.Warning:h.Error}function Np(e,t){return Ep(Ue(e.linter.rules,t))}function $r(e){let t=[];for(let n of e.issues){let r=Cp[n.kind],o=Np(e.config,r);if(!o)continue;let i=P(Bp[n.kind],o,n.message,n.range,n.uri,void 0,n.code?{code:n.code}:void 0);t.push({...i,rule:r})}return t}async function Pp(e){let t=await as(e),n=[...t.projectDiagnostics,...t.indexResult.diagnostics];t.files=fa(t);let r=qr(t,n);n=[...r.diagnostics,...$r({issues:r.issues,config:t.resolvedConfig})];let o=r.suppressedDiagnostics.length;for(let l=0;l<t.files.length;l++){let c=t.files[l],d=t.fileDocuments[l];if(c.skipped)continue;let u=ee(t.resolvedConfig,c.path),p=qr(t,c.diagnostics,[d],u);c.diagnostics=[...p.diagnostics,...$r({issues:p.issues,config:u})],c.rawDiagnostics=[...c.diagnostics],o+=p.suppressedDiagnostics.length}let i=0,s=[];for(let l of t.files){if(l.skipped||l.diagnostics.length===0)continue;let c=ha(t,l.diagnostics);l.diagnostics=c.diagnostics,i+=c.baselineDiagnostics.length,c.staleEntries.length>0&&(s=s.concat(c.staleEntries))}t.files=ss(t.files),t.finalProjectDiagnostics=n;let a=Ra(t,t.files,n);return a.suppressed=o,a.baselineFiltered=i,a.staleEntries=s,{...ka(t,a),files:t.files??[]}}async function Xr(e){let t=e.project,n=e.host??t.host,r=e.documents,o=e.externalModelDocuments,i=e.augmentations,s=[...e.projectDiagnostics??[]];if(!r||!o||!i){let a=await $e(e.project,n);r??=a.documents,o??=a.externalModelDocuments,i??=a.augmentations,s=[...s,...a.diagnostics]}return Pp({...e,host:n,documents:r,externalModelDocuments:o,augmentations:i,projectDiagnostics:s,resolvedConfig:t.resolvedConfig})}async function Da(e,t,n){let r=e;for(;;){for(let i of t){let s=Q.join(r,i);if(await n.exists(s))return s}let o=Q.dirname(r);if(o===r)return;r=o}}async function wp(e,t){return Da(e,["btxml.config.json"],t)}async function Ta(e,t){return JSON.parse(await t.readFile(e))}function xa(e,t){return e.map(n=>P(n.code,n.severity==="error"?h.Error:h.Warning,n.message,void 0,t??"",n.help?{help:n.help}:void 0))}async function Ia(e){if(e.noConfig)return{ok:!0,config:{},diagnostics:[]};let t=e.configUri,n={};if(t||(t=await wp(e.startUri,e.host)),t){if(!await e.host.exists(t))return{ok:!1,diagnostics:[P("CFG006_CONFIG_PATH_NOT_FOUND",h.Error,`config file not found \`${t}\``,void 0,t,{help:"check the `--config` path or run without `--config` to use config discovery"})]};try{n=await Ta(t,e.host)}catch(i){let s=String(i.message||i);return{ok:!1,configUri:t,diagnostics:[P("CFG001_INVALID_CONFIG_JSON",h.Error,"invalid configuration JSON",void 0,t,{primaryLabel:"the config file could not be parsed as JSON",help:"fix the JSON syntax in the config file",notes:[s]})]}}}else{let i=await Da(e.startUri,["package.json"],e.host);if(i)try{let s=await Ta(i,e.host);s.btxml&&(n=s.btxml,t=i)}catch{n={}}}let r=Tt(n);if(!r.ok)return{ok:!1,configUri:t,diagnostics:xa(r.diagnostics,t)};let o=tr(r.value);return o.length>0?{ok:!1,configUri:t,diagnostics:xa(o,t)}:{ok:!0,config:r.value,configUri:t,diagnostics:[]}}async function Ca(e,t,n,r){let o=await Ut(t.files,e,[],n.followSymlinks,void 0,void 0,r),i=await Ut(t.definitions,e,[],n.followSymlinks,void 0,void 0,r),s=await Ut(t.augmentations,e,[],n.followSymlinks,void 0,void 0,r),a=o.files.map(d=>({path:$(e,d),uri:d,kind:"model-xml"})),l=i.files.map(d=>({path:$(e,d),uri:d,kind:"node-definition"})),c=s.files.map(d=>({path:$(e,d),uri:d,kind:"model-augmentation"}));return{modelFiles:a,augmentationFiles:c,definitionFiles:l,unmatchedPatterns:{models:o.unmatchedPatterns,augmentations:s.unmatchedPatterns,definitions:i.unmatchedPatterns}}}async function Mp(e){if(e.configUri)return Q.dirname(e.configUri);let t=e.startUri;for(;;){if(await e.host.exists(Q.join(t,".git"))||await e.host.exists(Q.join(t,".colcon")))return t;let n=Q.dirname(t);if(n===t)return e.startUri;t=n}}async function zr(e){let t=await Ia({startUri:e.rootUri,configUri:e.configUri,noConfig:e.noConfig,host:e.host});if(!t.ok||!t.config)return{ok:!1,diagnostics:t.diagnostics};let n=xt(t.config);if(!n.ok)return{ok:!1,diagnostics:[...t.diagnostics,...n.diagnostics]};let r=n.config,o=await Mp({startUri:e.rootUri,configUri:t.configUri,host:e.host}),{selectedFiles:i,skippedFiles:s}=await Wi(o,r.files,e.cliFiles,e.rootUri,e.host),a=[...t.diagnostics,...n.diagnostics],l=t.configUri?$(o,t.configUri):"",c=Gi(r.resolver);for(let f of c){let T=Q.join(o,f.file);await e.host.exists(T)&&!i.some(B=>B.uri===T)&&i.push({path:f.file,uri:T,kind:"bt-xml"})}let{modelFiles:d,augmentationFiles:u,definitionFiles:p,unmatchedPatterns:m}=await Ca(o,r.models,r.files,e.host);for(let f of m.models)a.push(P(S.ExternalModelFileNotFound,h.Error,`external TreeNodesModel file not found \`${f}\``,void 0,l,{help:"check `models.files` and make sure the file exists"}));for(let f of m.definitions)a.push(P(S.NodeDefinitionFileNotFound,h.Error,`node definition file not found \`${f}\``,void 0,l,{help:"check `models.definitions` and make sure the file exists"}));for(let f of m.augmentations)a.push(P(S.AugmentationFileNotFound,h.Error,`model augmentation file not found \`${f}\``,void 0,l,{help:"check `models.augmentations` and make sure the file exists"}));let g=r.models.builtins;return a.push(...await Ki(o,c,l,e.host)),{ok:!0,diagnostics:a,project:{rootUri:o,configUri:t.configUri,host:e.host,config:t.config,resolvedConfig:r,selectedFiles:i,entrypoints:c,modelFiles:d,augmentationFiles:u,definitionFiles:p,skippedFiles:s,modelsBuiltins:g}}}function Ba(e){return[...e.files.values()]}function Ea(e){return[...e.reachableDocuments.values()]}function Na(e){return e.workspace}function Pa(e){return[...e.nodeDefinitionModels]}function wa(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 r=e.includeGraph.edges.map(s=>({from:s.from,to:s.to,includeElementRange:s.includeElementRange,includePathRange:s.includePathRange})),o=[];for(let s of e.facts.includeIssuesByUri.values())for(let a of s)o.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:r,issues:o}}async function Wr(e){let t=e.project,n=t.resolvedConfig;if(!n)throw new Error("Invariant: resolvedConfig is required");let r=e.host??t.host,o=e.documents,i=e.externalModelDocuments,s=e.augmentations,a=[];if(!o||!i||!s){let c=await $e(e.project,r);a.push(...c.diagnostics),o??=c.documents,i??=c.externalModelDocuments,s??=c.augmentations}let l=await Er({project:e.project,documents:o,activeDocumentUris:new Set(o.map(c=>c.uri)),externalModelDocuments:i,augmentations:s,resolveGraph:e.resolveGraph,resolvedConfig:n,host:r});return a.push(...l.diagnostics),{ok:l.ok,diagnostics:a,semanticIndex:Na(l.index),documents:Ba(l.index),reachableDocuments:Ea(l.index),nodeDefinitionModels:Pa(l.index),includeGraph:wa(l.index)}}import Ma from"path";import{fileURLToPath as Up,pathToFileURL as Aa}from"url";function Op(e){return e.startsWith("file://")?e:Aa(Ma.resolve(e)).href}function Gr(e){return Up(Op(e))}function pt(e){return Aa(Ma.resolve(e)).href}function Kr(e){return Gr(vr(e))}function _a(e){return e?.documents??[]}function Vp(e,t){if(t.uri===e.uri)return!0;if(e.uri.startsWith("file://"))try{let n=new URL(e.uri).pathname;if(t.uri.startsWith("file://")&&new URL(t.uri).pathname===n||t.path&&(t.path.startsWith("file://")?new URL(t.path).pathname:t.path)===n)return!0}catch{return!1}return!1}function qp(e){let t=tt();return e?{files:e.files??t.files,resolver:e.resolver??t.resolver,models:e.models??t.models,linter:e.linter??t.linter,formatter:e.formatter??t.formatter}:t}function fe(e,t){let n=ye(e.document.text,{kind:e.document.languageId==="btcpp-xml"?"bt-xml":void 0,uri:e.document.uri,mode:"mode"in e?e.mode??"tolerant":"tolerant"}),r="workspace"in e?e.workspace:void 0,o=n.document?[n.document,..._a(r).filter(d=>!Vp(e.document,d))]:_a(r),i=qp(e.config||t.config),s=ie(i),a=r?.nodeDefinitionModels??[],l=Oe(o,{config:i,models:a,augmentations:t.augmentations}).index,c=n.document?G(n.document,{semantic:l,config:i,policy:s}):void 0;return{document:e.document,parsed:n.document,documentView:c,diagnostics:n.document?Gt(n.document,l,{config:i,documentView:c}):n.diagnostics,partial:n.partial===!0,semantic:l,config:i,nodeUsagePolicy:s,workspace:r}}function La(e,t,n){let r=e.positionAt(e.offsetAt({line:t,character:0}));return{range:I(r,r),newText:n}}function ja(e,t){let r=(t.fullRange?.start||t.range.start).offset;for(;r>0&&/[ \t]/.test(e.text[r-1]||"");)r-=1;return{range:I(e.positionAt(r),e.positionAt(t.range.end.offset)),newText:""}}function Fa(e,t,n){let r=Math.max(t.openTagRange.end.offset-(t.selfClosing?2:1),t.openTagRange.start.offset),o=e.positionAt(r);return{range:I(o,o),newText:` ${n}=""`}}function Nn(e){return I(e.positionAt(0),e.positionAt(e.text.length))}function Hr(e,t){let n=t.diagnostics||e.diagnostics,r=[],o=jt(t.document.text,e.config.formatter);o.ok&&!o.skipped&&o.text!==t.document.text&&r.push({title:"Format document",kind:"source.format",edits:[{range:Nn(t.document),newText:o.text}]});for(let i of n){if(!i.range)continue;let s=ne({document:t.document,parsed:e.parsed,position:i.range.start});if(i.code==="BT101_MISSING_REQUIRED_PORT"){let a=Math.min(i.range.start.offset+1,i.range.end.offset),l=e.parsed?.root&&lt(e.parsed.root,a)||("element"in s?s.element:void 0);if(!l)continue;let c=U(e.semantic,{element:l,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}),d=c.ports.find(u=>u.required&&!c.portUsages.some(p=>p.status==="resolved"&&p.name===u.name));d&&r.push({title:`Add missing port ${d.name}`,kind:"quickfix",diagnostics:[i],edits:[Fa(t.document,l,d.name)]})}if(i.code==="BT102_UNKNOWN_PORT"&&"attribute"in s&&"element"in s&&s.attribute){let l=(s.element?U(e.semantic,{element:s.element,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}):void 0)?.portUsages.find(d=>d.status==="undeclared"&&d.attribute===s.attribute),c=l?ja(t.document,s.attribute):void 0;c&&l&&r.push({title:`Remove unknown port ${s.attribute.name}`,kind:"quickfix",diagnostics:[i],edits:[c]})}if(i.code==="BT002_MISSING_BTCPP_FORMAT"&&e.parsed?.root){let a=t.document.positionAt(e.parsed.root.nameRange?.end.offset||e.parsed.root.openTagRange.end.offset-1);r.push({title:'Add BTCPP_format="4" to <root>',kind:"quickfix",diagnostics:[i],edits:[{range:I(a,a),newText:' BTCPP_format="4"'}]})}r.push({title:`Suppress ${i.code} for next line`,kind:"quickfix",diagnostics:[i],edits:[La(t.document,i.range.start.line,`<!-- btxml-disable-next-line ${i.code} reason: TODO -->
+`)]})}return{actions:r}}function O(e,t,n,r,o){return{label:e,kind:t,detail:n,textEdit:r,insertText:e,sortText:e,...o}}function K(e,t){return e?{range:e,newText:t}:void 0}function Ae(e){let t=new Set;return e.filter(n=>{let r=`${n.kind}:${n.label}:${n.insertText||""}`;return t.has(r)?!1:(t.add(r),!0)})}function Yr(e){return Fe(e)}function Qe(e){return e?.trim().replace(/^const\s+/,"").replace(/[&*]\s*$/,"").replace(/\s+/g," ").toLowerCase()}function Ua(e,t){return!e||!t?!1:Qe(e)===Qe(t)}function Oa(e){let t=new Map;for(let n of e.documentView?.nodes??[])for(let r of n.portBindings){if(r.declaredPort.status!=="resolved")continue;let o=r.declaredPort.port;for(let i of r.blackboardReferences){if(i.syntax==="invalid")continue;let s={identity:i.identity,key:i.key,scope:i.scope,type:o.type,direction:o.direction,nodeType:n.usage.nodeType||n.tagName,portName:o.name},a=t.get(i.identity);if(!a){t.set(i.identity,s);continue}let l=Qe(a.type),c=Qe(s.type);if(l&&c&&l!==c){t.set(i.identity,{...a,conflict:!0});continue}!l&&c&&t.set(i.identity,{...a,type:s.type})}}return[...t.values()]}function $p(e,t,n){return I(e.positionAt(t),e.positionAt(n))}function Xp(e,t,n){let r=t.valueContentRange;if(!r)return;let o=r.start.offset,i=r.end.offset,s=e.text.slice(o,i),a=s.startsWith("{"),l=s.endsWith("}");if(a&&n>o){let c=o+1,d=s[1]==="@"?c+1:c,u=l?i-1:i;return{replacementRange:$p(e,d,Math.max(d,u)),wrapsReference:!1,hasScopeMarker:s[1]==="@"}}return{insertText:t.value,replacementRange:r,wrapsReference:!0,hasScopeMarker:!1}}function Jr(e){let{document:t,attribute:n,cursorOffset:r,symbol:o,detail:i}=e,s=Xp(t,n,r),a=s?.wrapsReference??!1,l=s?.hasScopeMarker??!1;if(l&&o.scope!=="global")return;let c=o.key;a?c=Yr(o):o.scope==="global"&&(c=`@${o.key}`);let d=o.key;a?d=Yr(o):o.scope==="global"&&(d=l?o.key:`@${o.key}`);let u=o.scope==="global"?` @${o.key}`:"",p=`${o.key} ${c}${u}`.trim();return O(c,"Reference",i,s?{range:s.replacementRange,newText:d}:void 0,{filterText:p,insertText:d})}var Va=new WeakMap;function mt(e,t){let n=e.parsed?ne({document:e.document,parsed:e.parsed,position:t}):void 0;if(!n||n.kind!=="attribute-value")return;let r=to(e,n.element,n.attribute);if(!r)return;let o=r.attribute.valueContentRange??r.attribute.valueRange,i=t.offset-o.start.offset,s=ro(r.attribute,i),a=In({source:r.source,cursorOffset:s});if(a.kind!=="identifier"||s<a.range.start||s>a.range.end)return;let l=Wa(e,r),c=l.analysis?.resolvedIdentifiers.find(u=>u.access.range.start===a.range.start&&u.access.range.end===a.range.end&&u.resolution.kind!=="unknown");if(!c||c.resolution.kind==="unknown")return;let d=c.resolution.kind==="symbol"?{kind:"symbol",symbol:c.resolution.symbol}:c.resolution.kind==="global-blackboard"?{...c.resolution,origin:"script"}:c.resolution;return{attributeContext:r,range:Zr(e,r,a.range),reference:d,flowState:l,occurrence:{uri:e.document.uri,attributeContext:r,identifier:c.access,reference:d,documentRange:Zr(e,r,c.access.range)}}}function qa(e,t){let n=(t.reference.kind==="global-blackboard"?Ha(e):wn(e,t.attributeContext.behaviorTree).flatMap(r=>Ga(e,r))).filter(r=>t.reference.kind==="enum"?r.reference.kind==="enum"&&r.reference.name===t.reference.name:t.reference.kind==="global-blackboard"?r.reference.kind==="global-blackboard"&&r.reference.key===t.reference.key:Gp(t.reference.symbol,r.reference));return t.reference.kind==="global-blackboard"?Kp([...n,...Ka(e,t.reference.key)]):n}function $a(e,t){return Ya(Ka(e,t).map(n=>({uri:n.uri,range:n.documentRange})))}function Xa(e,t){return Ya(Ha(e).filter(n=>n.reference.kind==="global-blackboard"&&n.reference.key===t).map(n=>({uri:n.uri,range:n.documentRange})))}function Qr(e,t){return wn(e,t)}function za(e,t,n){let r=to(e,t,n);if(r)return Wa(e,r).environmentBefore}function eo(e){let t=Pn(e.type);switch(e.source.kind){case"port-remap":return`${t} from ${e.source.nodeType??"node"}.${e.source.portName}`;case"global-blackboard-remap":return`${t} from global blackboard ${e.source.nodeType??"node"}.${e.source.portName}`;case"subtree-port":return`${t} from ${e.source.nodeType??"SubTree"}.${e.source.portName}`;case"script-assignment":return`${t} from earlier ${e.source.attributeName} declaration`;case"global-blackboard":return`${t} from global blackboard @${e.source.key}`;case"augmentation":return`${t} from augmentation`;case"enum":return`${t} enum`}}function Pn(e){return e.kind==="custom"?e.name:e.kind}function Wa(e,t){let r=wn(e,t.behaviorTree).find(o=>o.id===t.id);if(!r)throw new Error(`missing script flow state for ${t.id}`);return r}function wn(e,t){let n=Va.get(e);n||(n=new WeakMap,Va.set(e,n));let r=n.get(t);if(r)return r;let o=t.nodes.flatMap(a=>a.element.attributes.flatMap(l=>{let c=to(e,a.element,l);return c?[c]:[]})),i=o.map(a=>({id:a.id,source:a.source,attributeName:a.attribute.name,originId:a.id})),s=Wt({baseEnvironment:zp(e,t.nodes),entries:i}).flatMap((a,l)=>{let c=o[l];return c?[{...a,context:c}]:[]});return n.set(t,s),s}function to(e,t,n){let r=e.documentView?.nodes.find(a=>a.element===t);if(!r)return;let o=r.usage.model.status==="resolved"?r.usage.model.model.id:r.usage.nodeType;if(!We({elementName:t.name,attributeName:n.name,resolvedNodeType:o}))return;let s=t.attributes.indexOf(n);return{id:`${r.path.join(".")}:${n.name}:${s}`,node:r,element:t,attribute:n,source:n.value,behaviorTree:r.behaviorTree}}function zp(e,t){let n=te(e.semantic),r=[],o=[],i=t[0]?.behaviorTree.id;if(i){let a=se(e.semantic,i);if(a?.kind==="SubTree")for(let l of a.ports){let c=l.effectiveType??l.type,u=Z(e.semantic,c)?.canonical??c;r.push({name:l.name,type:De(n,c),source:{kind:"subtree-port",nodeType:i,portName:l.name,direction:l.direction},readable:!0,writable:l.direction==="output"||l.direction==="inout",compatibilityKey:u})}}for(let a of t)for(let l of a.portBindings){if(l.declaredPort.status!=="resolved")continue;let c=Za(l);if(!c||c.scope==="global")continue;let d=l.declaredPort.port.type,p=Z(e.semantic,d)?.canonical??d,m=l.declaredPort.port.direction,g=a.usage.model.status==="resolved"?a.usage.model.model.id:a.usage.nodeType;r.push({name:c.key,type:De(n,d),source:{kind:"port-remap",nodeType:g,portName:l.declaredPort.port.name,direction:m},readable:m==="input"||m==="output"||m==="inout",writable:m==="output"||m==="inout",compatibilityKey:p})}let s=no(e).flatMap(({trees:a})=>a.flatMap(l=>l.nodes));return o.push(...Wp(e,n,s)),zt({symbols:r,globalBlackboardSymbols:o,augmentations:wt(e.semantic),areTypesCompatible:(a,l)=>a&&l?Ce(e.semantic,a,l):!0})}function Wp(e,t,n){let r=[];for(let o of n){let i=o.usage.model.status==="resolved"?o.usage.model.model.id:o.usage.nodeType;for(let s of o.portBindings){if(s.declaredPort.status!=="resolved")continue;let a=Za(s);if(!a||a.scope!=="global")continue;let l=s.declaredPort.port.type,d=Z(e.semantic,l)?.canonical??l,u=s.declaredPort.port.direction;r.push({name:a.key,type:De(t,l),source:{kind:"global-blackboard-remap",nodeType:i,portName:s.declaredPort.port.name,direction:u,key:a.key},readable:u==="input"||u==="output"||u==="inout",writable:u==="output"||u==="inout",compatibilityKey:d})}}return r}function Ga(e,t){return t.analysis?t.analysis.resolvedIdentifiers.flatMap(n=>{if(n.resolution.kind==="unknown")return[];let r=n.resolution.kind==="symbol"?{kind:"symbol",symbol:n.resolution.symbol}:n.resolution.kind==="global-blackboard"?{...n.resolution,origin:"script"}:n.resolution;return[{uri:e.document.uri,attributeContext:t.context,identifier:n.access,reference:r,documentRange:Zr(e,t.context,n.access.range)}]}):[]}function Gp(e,t){if(t.kind!=="symbol")return!1;let n=t.symbol;return e.source.kind==="script-assignment"||n.source.kind==="script-assignment"?e.source.kind==="script-assignment"&&n.source.kind==="script-assignment"&&e.name===n.name&&e.source.originId===n.source.originId&&e.source.range.start===n.source.range.start&&e.source.range.end===n.source.range.end:(e.source.kind==="port-remap"||e.source.kind==="subtree-port")&&e.source.kind===n.source.kind?e.name===n.name&&e.source.portName===n.source.portName&&e.source.nodeType===n.source.nodeType:e.name===n.name&&e.source.kind===n.source.kind}function Kp(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.documentRange.start.offset}:${r.documentRange.end.offset}:${r.reference.kind}`;t.has(o)||(t.add(o),n.push(r))}return n}function Ka(e,t){return no(e).flatMap(({uri:n,trees:r})=>r.flatMap(o=>o.nodes.flatMap(i=>i.portBindings.flatMap(s=>s.blackboardReferences.filter(a=>a.scope==="global"&&a.key===t).map(a=>({uri:n,attributeContext:{id:`${i.path.join(".")}:${s.attribute.name}:${i.element.attributes.indexOf(s.attribute)}`,node:i,element:i.element,attribute:s.attribute,source:s.attribute.value,behaviorTree:i.behaviorTree},identifier:{name:`@${a.key}`,kind:"read",range:{start:0,end:0},identifier:{kind:"Identifier",name:`@${a.key}`,range:{start:0,end:0}},statementIndex:-1},reference:{kind:"global-blackboard",key:a.key,origin:"port-remap"},documentRange:a.range}))))))}function Ha(e){return no(e).flatMap(({uri:t,trees:n})=>n.flatMap(r=>{let o=Yp(e,t);return wn(o,r).flatMap(i=>Hp(o,t,i))}))}function Hp(e,t,n){return Ga(e,n).map(r=>({...r,uri:t}))}function no(e){let t=e.documentView?[{uri:e.document.uri,trees:e.documentView.behaviorTrees}]:[],r=(e.workspace?.documents??[]).filter(o=>o.uri!==e.document.uri).map(o=>{let i=G(o,{semantic:e.semantic,config:e.config,policy:e.nodeUsagePolicy});return{uri:o.uri,trees:i.behaviorTrees}}).filter(o=>o.trees.length>0);return[...t,...r]}function Yp(e,t){if(t===e.document.uri)return e;let n=e.workspace?.documents.find(i=>i.uri===t);if(!n)return e;let r=rt(t,n.originalText,0,"btcpp-xml"),o=G(n,{semantic:e.semantic,config:e.config,policy:e.nodeUsagePolicy});return{...e,document:r,parsed:n,documentView:o}}function Ya(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function Zr(e,t,n){return Te(e.parsed??{originalText:e.document.text},t.attribute,n)}function ro(e,t){let n=e.valueOffsets;if(!n||n.length===0)return t;if(t<=0)return 0;for(let r=1;r<n.length;r+=1){let o=n[r];if(o!==void 0&&o>=t){let i=n[r-1]??0;return t<=i?r-1:r}}return Math.max(0,n.length-1)}function Ja(e,t,n){let r=e.parsed??{originalText:e.document.text};return Te(r,t,n)}function Za(e){if(e.declaredPort.status!=="resolved")return;let t=X({portName:e.declaredPort.port.name,rawValue:e.value});return t.ok?t.reference:void 0}function Jp(e,t,n){let r=e.documentView?.nodes.find(i=>i.element===t)?.usage,o=r?.model.status==="resolved"?r.model.model.id:r?.nodeType;return We({elementName:t.name,attributeName:n.name,resolvedNodeType:o})}function Qa(e,t,n,r){let o=Jp(e,n,r);if(!o)return;let i=r.valueContentRange??r.valueRange,s=za(e,n,r),a=Math.max(0,t.position.offset-i.start.offset);return Or({source:r.value,cursorOffset:ro(r,a),environment:s,attributeName:r.name,attributeInfo:o}).map(c=>Zp(e,r,c))}function Zp(e,t,n){return O(n.label,Qp(n.kind),n.detail,{range:Ja(e,t,n.replaceRange),newText:n.insertText??n.label},{insertText:n.insertText??n.label,insertTextFormat:n.insertTextFormat,filterText:n.filterText,sortText:n.sortText})}function Qp(e){switch(e){case"identifier":return"Variable";case"enum":return"Enum";case"value":return"Value";case"operator":return"Keyword";case"snippet":return"Snippet"}}var Mn={enumLiteral:"0",boolLiteral:"1",matchingKey:"2",unknownKey:"3"};function el(e){return!!(e?.valueContentRange&&e.valueRange&&(e.valueContentRange.start.offset!==e.valueRange.start.offset||e.valueContentRange.end.offset!==e.valueRange.end.offset))}function tl(e,t){if(!e)return;let n=el(e)?e.valueContentRange:e.valueRange;if(n)return K(n,el(e)?t:`"${t}"`)}function nl(e,t,n,r){let o=[],i=[];for(let s of Be(e)){let a=Y(e,s),l=O(s,"Value","BehaviorTree ID",r?tl(r,s):K(n,s));a.some(c=>c.uri===t)?o.push({...l,sortText:`0-${s}`}):i.push({...l,sortText:`1-${s}`})}return[...o,...i]}function em(e){return O("SubTree","Class","Built-in subtree tag",K(e,"SubTree"),{sortText:"0-SubTree"})}function tm(e){if(e.kind!=="closing-tag-name")return[];let t=e.tagText;if(!t)return[];let n=e.tagNamePrefix||"";return t.toLowerCase().startsWith(n.toLowerCase())?[O(`${t}>`,"Value","Close current parent tag",K(e.replacementRange,`${t}>`))]:[]}function nm(e,t){let n=[...["BehaviorTree","TreeNodesModel","include"].map(o=>O(o,"Class",void 0,K(t,o))),...["Action","Condition","Control","Decorator"].map(o=>O(o,"Class",void 0,K(t,o))),em(t)],r=new Set;for(let o of an(e))o.id!=="SubTree"&&(r.has(o.id)||(r.add(o.id),n.push(O(o.id,"Class",void 0,K(t,o.id)))));return Ae(n)}function An(e,t,n){return U(e.semantic,{element:n,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy})}function oo(e,t){let n=new Set(e.element.attributes.map(r=>r.name));return e.ports.filter(r=>!n.has(r.name)).map(r=>O(r.name,"Property",`${r.direction}${r.type?` ${r.type}`:""}`,K(t,r.name)))}function rm(e,t,n){let r=[O("ID","Property",void 0,K(n,"ID"))];return r.push(...oo(t,n)),r.filter(o=>!e.attributes.some(i=>i.name===o.label))}function om(e,t,n,r){if(!e)return[];if(Ve(e.name)){let i=[];e.attributes.some(a=>a.name==="ID")||i.push(O("ID","Property",void 0,K(r,"ID")));let s=An(n,t,e);return i.push(...oo(s,r)),i}return e.name==="SubTree"?rm(e,An(n,t,e),r):e.name==="include"?[O("path","Property",void 0,K(r,"path"))]:oo(An(n,t,e),r)}function im(e,t,n,r){return nl(t.semantic,e.document.uri,n,r)}function sm(e,t,n,r){let o=[],i=new Set;for(let s of an(e))s.kind===t&&(i.has(s.id)||(i.add(s.id),o.push(O(s.id,"Value",`${t} node ID`,r?tl(r,s.id):K(n,s.id)))));return o}function am(e,t,n){if(t.kind!=="attribute-value")return[];let{attribute:r,element:o}=t;if(!r||!o)return[];let i=Ve(o.name);if(i&&r.name==="ID")return sm(n.semantic,i,r.valueContentRange||r.valueRange,r);if(o.name==="SubTree"&&r.name==="ID")return im(e,n,r.valueContentRange||r.valueRange,r);if(o.name==="root"&&r.name==="main_tree_to_execute")return nl(n.semantic,e.document.uri,r.valueContentRange||r.valueRange,r);if(o.name==="include"&&r.name==="path")return(n.workspace?n.workspace.documents.map(E=>E.path||E.uri).filter(E=>E.endsWith(".xml")):[]).map(E=>O(E,"File","XML file",K(r.valueContentRange||r.valueRange,E)));let s=Qa(n,e,o,r);if(s)return s;let a=An(n,e,o);if(i&&a.model.status!=="resolved")return[];let l=ge(n.semantic,{element:o,documentRoot:n.parsed?.root,attributeName:r.name,uri:e.document.uri,config:n.config,policy:n.nodeUsagePolicy});if(l?.status!=="resolved")return[];let c=l.port,d=r.valueContentRange||r.valueRange,u=[];c.enum?.length&&u.push(...c.enum.map(R=>O(R,"Enum",c.type,K(d,R),{sortText:`${Mn.enumLiteral}-${R}`}))),(c.type||"").toLowerCase()==="bool"&&u.push(...["true","false"].map(R=>O(R,"Value","bool",K(d,R),{sortText:`${Mn.boolLiteral}-${R}`})));let p=Oa(n),m=Qe(c.type),g=p.filter(R=>!R.conflict&&Ua(c.type,R.type)),f=p.filter(R=>!R.conflict&&!Qe(R.type)&&m),T=g.flatMap(R=>{let E=Jr({document:e.document,attribute:r,cursorOffset:e.position.offset,symbol:R,detail:R.scope==="global"?`${R.type||"unknown"} global blackboard key from ${R.nodeType}.${R.portName}`:`${R.type||"unknown"} blackboard key from ${R.nodeType}.${R.portName}`});return E?[{...E,sortText:`${Mn.matchingKey}-${R.scope==="global"?R.identity:R.key}`}]:[]}),B=f.flatMap(R=>{let E=Jr({document:e.document,attribute:r,cursorOffset:e.position.offset,symbol:R,detail:R.scope==="global"?`unknown-type global blackboard key from ${R.nodeType}.${R.portName}`:`unknown-type blackboard key from ${R.nodeType}.${R.portName}`});return E?[{...E,sortText:`${Mn.unknownKey}-${R.scope==="global"?R.identity:R.key}`}]:[]});return u.push(...T,...B),u.length>0?Ae(u):(t.valuePrefix||"").includes("{")?Ae(u):u}function io(e,t){let n=ne({document:t.document,parsed:e.parsed,position:t.position});return n.kind==="comment"?{items:Zn.map(r=>O(r,"Reference","Diagnostic rule code"))}:n.kind==="attribute-value"?{items:Ae(am(t,n,e))}:n.kind==="attribute-name"?{items:Ae(om(n.element,t,e,n.attribute?.nameRange))}:n.kind==="tag-name"?{items:Ae(nm(e.semantic,n.element?.nameRange))}:n.kind==="closing-tag-name"?{items:Ae(tm(n))}:{items:[]}}function _n(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function lm(e,t,n){return qe(e,t).filter(r=>r.kind==="SubTree").map(r=>{if(r.idRange)return{uri:r.uri||n,range:r.idRange};if(r.range)return{uri:r.uri||n,range:r.range}}).filter(r=>!!r)}function so(e,t,n){return e?_n(e.nodes.flatMap(r=>r.portBindings.flatMap(o=>o.blackboardReferences.filter(i=>i.identity===t).map(i=>({uri:n,range:i.range}))))):[]}function ao(e,t,n,r,o,i,s){let a=so(e,i,s),l=(t??[]).flatMap(c=>{if(c.uri===s)return[];let d=G(c,{semantic:n,config:r,policy:o});return so(d,i,c.uri)});return _n([...a,...l])}function lo(e,t,n){return so(e,t,n)}function Ln(e,t,n,r,o,i,s){if(!e)return[];let a=ne({document:{uri:e.uri,languageId:"xml",version:0,text:e.originalText,positionAt:()=>n,offsetAt:()=>n.offset,getText:()=>e.originalText},parsed:e,position:n}),l="element"in a?a.element:void 0,c="attribute"in a?a.attribute:void 0,d=l?U(r,{element:l,documentRoot:e.root,uri:e.uri,config:o,policy:i}):void 0;if(l?.name==="SubTree"&&c?.name==="ID"){if(d?.tagForm==="model-definition")return Y(r,c.value).map(m=>m.idRange?{uri:m.uri,range:m.idRange}:void 0).filter(m=>!!m);let u=lm(r,c.value,e.uri),p=d?.subtree?.target;if(p?.status==="resolved"&&p.kind==="behavior-tree"){let m=p.behaviorTree;return m.idRange?_n([{uri:m.uri,range:m.idRange},...u]):u}if(p?.status==="ambiguous")return _n([...p.behaviorTrees.map(m=>m.idRange?{uri:m.uri||e.uri,range:m.idRange}:void 0),...u].filter(m=>!!m));if(p?.status==="resolved"&&p.kind==="node-model"){if(u.length>0)return u;if(p.model.idRange)return[{uri:p.model.uri||e.uri,range:p.model.idRange}]}return u}if(l?.name==="root"&&c?.name==="main_tree_to_execute")return Y(r,c.value).map(u=>u.idRange?{uri:u.uri,range:u.idRange}:void 0).filter(u=>!!u);if(l?.name==="include"&&c?.name==="path"&&s){let u=s.find(p=>p.uri===c.value||p.path===c.value||(p.path?p.path.endsWith(`/${c.value}`):!1));if(u?.root?.range)return[{uri:u.uri,range:u.root.range}]}if(c&&l){let u=t?st(t,n):void 0,p=u?.blackboardReferences.find(m=>n.offset>=m.range.start.offset&&n.offset<=m.range.end.offset);if(p)return p.scope==="global"?ao(t,s,r,o,i,p.identity,e.uri):lo(t,p.identity,e.uri);if(u?.declaredPort.status==="resolved"){let m=u.declaredPort.port;if(m.nameRange)return[{uri:m.uri||e.uri,range:m.nameRange}]}}if(a.kind==="tag-name"&&l&&d?.model.status==="resolved"){let u=d.model.model;if(u.idRange)return[{uri:u.uri||e.uri,range:u.idRange}];if(u.range)return[{uri:u.uri||e.uri,range:u.range}]}if(c?.name==="ID"&&d?.tagForm==="generic-node"&&d.model.status==="resolved"){let u=d.model.model;if(u.idRange)return[{uri:u.uri||e.uri,range:u.idRange}];if(u.range)return[{uri:u.uri||e.uri,range:u.range}]}return[]}function co(e,t){let n=mt(e,t.position);if(n?.reference.kind==="symbol"){let r=n.reference.symbol;if(r.source.kind==="script-assignment"){let o=r.source,s=Qr(e,n.attributeContext.behaviorTree).find(a=>a.id===o.originId)?.context??n.attributeContext;return{locations:[{uri:e.document.uri,range:Te(e.parsed??{originalText:e.document.text},s.attribute,o.range)}]}}if(r.source.kind==="port-remap"||r.source.kind==="global-blackboard-remap"){let o=r.source,i=z({scope:o.kind==="global-blackboard-remap"?"global":"local",key:r.name}),s=e.documentView?.nodes.filter(l=>l.behaviorTree===n.attributeContext.behaviorTree).flatMap(l=>l.portBindings).filter(l=>l.declaredPort.status==="resolved").find(l=>l.declaredPort.port.name===o.portName&&l.declaredPort.port.direction===o.direction&&l.blackboardReferences.some(c=>c.identity===i)),a=s?.declaredPort.port.nameRange;if(a)return{locations:[{uri:s.declaredPort.port.uri||e.document.uri,range:a}]}}if(r.source.kind==="subtree-port"){let o=r.source,s=(o.nodeType?se(e.semantic,o.nodeType):void 0)?.ports.find(a=>a.name===o.portName&&a.direction===o.direction);if(s?.nameRange)return{locations:[{uri:s.uri||e.document.uri,range:s.nameRange}]}}}if(n?.reference.kind==="global-blackboard"){let r=z({scope:"global",key:n.reference.key}),o=$a(e,n.reference.key);if(o.length>0)return{locations:o};let i=n.reference.symbol;if(i?.source.kind==="global-blackboard"){let s=i.source,l=Qr(e,n.attributeContext.behaviorTree).find(c=>c.id===s.originId)?.context??n.attributeContext;return{locations:[{uri:e.document.uri,range:Te(e.parsed??{originalText:e.document.text},l.attribute,s.range)}]}}}return{locations:Ln(e.parsed,e.documentView,t.position,e.semantic,e.config,e.nodeUsagePolicy,e.workspace?.documents)}}function uo(e,t){return{diagnostics:e.diagnostics,document:e.parsed,partial:e.partial}}function rl(e,t){let n=jt(e.document.text,{indentWidth:t?.indentWidth,xmlDeclaration:t?.xmlDeclaration,blankLineBetweenBehaviorTrees:t?.blankLineBetweenBehaviorTrees,lineEnding:t?.lineEnding});return!n.ok||n.skipped?{edits:[],diagnostics:n.diagnostics}:n.text===e.document.text?{edits:[],diagnostics:[]}:{edits:[{range:Nn(e.document),newText:n.text}],diagnostics:[]}}function po(e,t){return rl(t,e.config.formatter)}function ol(e){return[`**Port** \`${e.name}\``,"",`Direction: ${e.direction}  `,`Type: \`${e.type||"unknown"}\`  `,`Required: ${e.required?"yes":"no"}${e.description?`  
 Description: ${e.description}`:""}`].join(`
-`)}function Ga(e){let t=e.source==="builtin"?`${e.kind.toLowerCase()} node`:`${e.kind} node`;return`**${t[0].toUpperCase()}${t.slice(1)}** \`${e.id}\`${e.ports.length?`
+`)}function il(e){let t=e.source==="builtin"?`${e.kind.toLowerCase()} node`:`${e.kind} node`;return`**${t[0].toUpperCase()}${t.slice(1)}** \`${e.id}\`${e.ports.length?`
 
-Ports: ${e.ports.map(n=>`\`${n.name}\``).join(", ")}`:""}`}function qp(e,t){return`**SubTree** \`${e}\`
+Ports: ${e.ports.map(n=>`\`${n.name}\``).join(", ")}`:""}`}function cm(e,t){return`**SubTree** \`${e}\`
 
 Resolves ambiguously across ${t.length} candidates:
 ${t.map(n=>`- \`${n}\``).join(`
-`)}`}function $p(e,t){return e.map(n=>{let r=n.uri||t,o=n.idRange?.start.offset??-1;return`${r}:${o}`})}function oo(e,t){let n=dt(e,t.position);if(n){if(n.reference.kind==="enum")return{range:n.range,contents:`**Enum** \`${n.reference.name}\`
+`)}`}function dm(e,t){return e.map(n=>{let r=n.uri||t,o=n.idRange?.start.offset??-1;return`${r}:${o}`})}function mo(e,t){let n=mt(e,t.position);if(n){if(n.reference.kind==="enum")return{range:n.range,contents:`**Enum** \`${n.reference.name}\`
 
-Value: \`${n.reference.value}\``};if(n.reference.kind==="global-blackboard"){let c=n.reference.symbol;return{range:n.range,contents:c?[`**Global Blackboard** \`@${n.reference.key}\``,"",`Type: \`${En(c.type)}\``,`Source: ${Wr(c)}`].join(`
-`):`**Global Blackboard** \`@${n.reference.key}\``}}let l=n.reference.symbol;return{range:n.range,contents:[`**Script Symbol** \`${l.name}\``,"",`Type: \`${En(l.type)}\``,`Source: ${Wr(l)}`].join(`
-`)}}let r=ne({document:t.document,parsed:e.parsed,position:t.position}),o="element"in r?r.element:void 0,i="attribute"in r?r.attribute:void 0,s=o?O(e.semantic,{element:o,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}):void 0;if(o?.name==="SubTree"&&i?.name==="ID"){let l=s?.subtree?.target;if(l?.status==="resolved"&&l.kind==="behavior-tree"){let c=l.behaviorTree;return{range:i.valueContentRange||i.valueRange,contents:`**SubTree** \`${i.value}\`
+Value: \`${n.reference.value}\``};if(n.reference.kind==="global-blackboard"){let c=n.reference.symbol;return{range:n.range,contents:c?[`**Global Blackboard** \`@${n.reference.key}\``,"",`Type: \`${Pn(c.type)}\``,`Source: ${eo(c)}`].join(`
+`):`**Global Blackboard** \`@${n.reference.key}\``}}let l=n.reference.symbol;return{range:n.range,contents:[`**Script Symbol** \`${l.name}\``,"",`Type: \`${Pn(l.type)}\``,`Source: ${eo(l)}`].join(`
+`)}}let r=ne({document:t.document,parsed:e.parsed,position:t.position}),o="element"in r?r.element:void 0,i="attribute"in r?r.attribute:void 0,s=o?U(e.semantic,{element:o,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}):void 0;if(o?.name==="SubTree"&&i?.name==="ID"){let l=s?.subtree?.target;if(l?.status==="resolved"&&l.kind==="behavior-tree"){let c=l.behaviorTree;return{range:i.valueContentRange||i.valueRange,contents:`**SubTree** \`${i.value}\`
 
-Resolves to \`BehaviorTree ID="${i.value}"\` in \`${c.uri}\`.`}}if(l?.status==="ambiguous"){let c=e.parsed?.uri||"workspace",u=$p([...l.behaviorTrees,...l.definitions],c);return{range:i.valueContentRange||i.valueRange,contents:qp(i.value,u)}}if(l?.status==="resolved"&&l.kind==="node-model")return{range:i.valueContentRange||i.valueRange,contents:`**SubTree** \`${i.value}\`
+Resolves to \`BehaviorTree ID="${i.value}"\` in \`${c.uri}\`.`}}if(l?.status==="ambiguous"){let c=e.parsed?.uri||"workspace",d=dm([...l.behaviorTrees,...l.definitions],c);return{range:i.valueContentRange||i.valueRange,contents:cm(i.value,d)}}if(l?.status==="resolved"&&l.kind==="node-model")return{range:i.valueContentRange||i.valueRange,contents:`**SubTree** \`${i.value}\`
 
-Resolves to SubTree model in \`${l.model.uri||e.parsed?.uri||"workspace"}\`.`}}if(i&&o){let l=e.documentView?ot(e.documentView,t.position):void 0;if(l?.declaredPort.status==="resolved")return{range:i.nameRange,contents:Wa(l.declaredPort.port)};let c=ge(e.semantic,{element:o,documentRoot:e.parsed?.root,attributeName:i.name,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy});if(c?.status==="resolved")return{range:i.nameRange,contents:Wa(c.port)}}let a=e.documentView?an(e.documentView,t.position):void 0;if(a&&a.usage.model.status==="resolved"){let l=a.usage.model.model;return{range:a.element.nameRange||a.element.openTagRange,contents:Ga(l)}}return o&&s?.model.status==="resolved"?{range:o.nameRange||o.openTagRange,contents:Ga(s.model.model)}:{}}function io(e,t){return rr(e.semantic,t).filter(n=>n.parentBehaviorTreeId&&n.idRange).map(n=>({uri:n.uri,range:n.idRange})).filter(n=>!!n.range)}function so(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function Xp(e,t){let n=new Set;for(let r of t){let o=nr(e.semantic).find(s=>ao(r,{uri:s.uri,range:s.idRange}));o&&n.add(o.id);let i=or(e.semantic).find(s=>s.kind==="SubTree"&&(ao(r,{uri:s.uri,range:s.idRange})||ao(r,{uri:s.uri,range:s.range})));i&&n.add(i.id)}return[...n]}function ao(e,t){return t.uri===e.uri&&t.range?.start.offset===e.range.start.offset&&t.range?.end.offset===e.range.end.offset}function lo(e,t){let n=dt(e,t.position);if(n)return{locations:so(Pa(e,n).map(u=>({uri:u.uri,range:u.documentRange})))};let r=e.parsed?ne({document:t.document,parsed:e.parsed,position:t.position}):void 0,o=r&&"element"in r?r.element:void 0,i=r&&"attribute"in r?r.attribute:void 0,a=(e.documentView&&e.parsed?e.documentView.nodes.flatMap(u=>u.portBindings).find(u=>u.attribute===i&&t.position.offset>=(u.attribute.valueContentRange??u.attribute.valueRange).start.offset&&t.position.offset<=(u.attribute.valueContentRange??u.attribute.valueRange).end.offset):void 0)?.blackboardReferences.find(u=>t.position.offset>=u.range.start.offset&&t.position.offset<=u.range.end.offset);if(a){let u=z({scope:a.scope,key:a.key});return{locations:so([...a.scope==="global"?Qr(e.documentView,e.workspace?.documents,e.semantic,e.config,e.nodeUsagePolicy,u,e.document.uri):eo(e.documentView,u,e.document.uri),...a.scope==="global"?wa(e,a.key):[]])}}if(o?.name==="BehaviorTree"&&i?.name==="ID")return{locations:io(e,i.value)};if(o&&i?.name==="ID"&&O(e.semantic,{element:o,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}).tagForm==="model-definition"&&o.name==="SubTree")return{locations:io(e,i.value)};let l=An(e.parsed,e.documentView,t.position,e.semantic,e.config,e.nodeUsagePolicy,e.workspace?.documents);if(l.length===0)return{locations:[]};let c=Xp(e,l);return c.length>0?{locations:so(c.flatMap(u=>io(e,u)))}:{locations:[]}}function zp(e,t){return e.attributes.find(n=>n.name===t)}function co(e){let t=e.name==="BehaviorTree"?zp(e,"ID")?.value||"BehaviorTree":e.name,n=e.name==="BehaviorTree"?"Class":e.name==="TreeNodesModel"?"Namespace":e.name==="include"?"File":e.name==="SubTree"?"Reference":["input_port","output_port"].includes(e.name)?"Property":"Function",r=e.children.filter(o=>o.kind==="element").map(o=>co(o));return{name:t,detail:e.name,kind:n,range:e.range,selectionRange:e.nameRange||e.openTagRange,children:r.length>0?r:void 0}}function uo(e,t){return e.parsed?.root?{symbols:[co(e.parsed.root)]}:{symbols:[]}}function Wp(e){return{diagnostics:e.diagnostics,partial:e.partial||void 0}}function Ka(e={}){return{getDiagnostics(t){return Wp(no(me(t,e),t))},getCompletions(t){return Jr(me(t,e),t)},getHover(t){return oo(me(t,e),t)},getDefinition(t){return to(me(t,e),t)},getReferences(t){return lo(me(t,e),t)},getDocumentSymbols(t){return uo(me(t,e),t)},getCodeActions(t){return Vr(me(t,e),t)},getFormattingEdits(t){return ro(me(t,e),t)}}}var Ha={line:0,character:0,offset:0},Wt={start:Ha,end:Ha};function Gp(e){return e?Object.entries(e).filter(([,t])=>t!==void 0).map(([t,n])=>({name:t,value:n??"",range:Wt,nameRange:Wt,valueRange:Wt})):[]}function Kp(e,t){return{kind:"element",name:e,attributes:Gp(t),children:[],range:Wt,openTagRange:Wt,selfClosing:!0}}function Hp(e){return{capable:e==="Control"||e==="Decorator",reason:"model-kind",kind:e}}function po(e){return e===null?"null":e===void 0?"undefined":typeof e=="string"?JSON.stringify(e):typeof e=="number"||typeof e=="boolean"?String(e):Array.isArray(e)?`[${e.map(t=>po(t)).join(",")}]`:typeof e=="object"?`{${Object.entries(e).sort(([n],[r])=>n.localeCompare(r)).map(([n,r])=>`${JSON.stringify(n)}:${po(r)}`).join(",")}}`:JSON.stringify(String(e))}function Yp(e){return po(e)}function Jp(e,t,n,r,o){let i=me({document:e,workspace:t,config:r,mode:"tolerant"},{});return{document:e,documentVersion:e.version,workspace:t,workspaceVersion:n,configFingerprint:o,diagnostics:{diagnostics:i.diagnostics,partial:i.partial},parsed:i.parsed,semantic:i.semantic,config:i.config,nodeUsagePolicy:i.nodeUsagePolicy}}function Ya(e){let t=e?.root;if(!t)return!1;if(t.name==="BehaviorTree"||t.name==="TreeNodesModel")return!0;let n=t.children.some(i=>i.kind==="element"&&i.name==="BehaviorTree"),r=t.children.some(i=>i.kind==="element"&&i.name==="TreeNodesModel"),o=t.attributes.some(i=>i.name==="BTCPP_format"&&i.value==="4");return t.name==="root"&&(o||n||r)}function Ja(e){return e.replaceAll("\\","/").replace(/\/$/,"")}function Za(e,t){if(!t.startsWith("file://"))return;let n=Ja(e),r=Ja(xt(t));if(r===n)return"";if(r.startsWith(`${n}/`))return r.slice(n.length+1)}function Qa(e={}){let t=e,n=new Map,r=new Map,o=Ka(),i=[],s=e.config?kt(e.config).config:void 0;function a(){return t.getRuntimeState?.()}function l(){return a()?.workspace}function c(){return a()?.version??0}function u(y,h){let R=l(),T=c(),A=Yp(h),j=r.get(y.uri);if(j&&j.documentVersion===y.version&&j.workspaceVersion===T&&j.document===y&&j.workspace===R&&j.configFingerprint===A)return j;let F=Jp(y,R,T,h,A);return r.set(y.uri,F),F}function d(y){if(y.parsed)return y.view||(y.view=sn(y.parsed,y.semantic,{config:y.config,policy:y.nodeUsagePolicy})),y.view}function p(y){return y.models||(y.models=Et(y.semantic)),y.models}function m(y){let h=l();return h?h.documents.some(R=>R.isBtXml&&R.uri===y):!1}function g(y){let h=E.getResolvedConfig();if(!h)return!1;let R=l()?.rootDir??e.configBasePath,T=R?Za(R,y):void 0;return T!==void 0?Qt(h,T):Kn(h,y)}function f(y,h){return y.languageId==="btcpp-xml"||h.parsed?.isBtXml===!0||Ya(h.parsed)||g(y.uri)||m(y.uri)}function x(y,h){return y.languageId==="btcpp-xml"||h.parsed?.isBtXml===!0||Ya(h.parsed)||m(y.uri)}function B(y){let h=n.get(y);if(!h)return;let R=E.getEffectiveConfigForDocument(h.uri),T=u(h,R);if(f(h,T))return{document:h,effectiveConfig:R,snapshot:T,emitDiagnostics:x(h,T)}}function k(y,h){let R=n.get(y);if(!R)return{diagnostics:[]};let T=u(R,h),A=d(T);return A?{view:A,diagnostics:T.diagnostics.diagnostics,partial:T.diagnostics.partial}:{diagnostics:T.diagnostics.diagnostics,partial:T.diagnostics.partial}}let E={openDocument(y,h,R=0,T="xml"){n.set(y,tt(y,h,R,T)),r.delete(y)},updateDocument(y,h,R=0,T="xml"){n.set(y,tt(y,h,R,T)),r.delete(y)},closeDocument(y){n.delete(y),r.delete(y)},getResolvedConfig(){return a()?.resolvedConfig??s},getEffectiveConfigForDocument(y){let h=this.getResolvedConfig();if(!h)return;let R=l()?.rootDir??e.configBasePath,T=R?Za(R,y):void 0;return T!==void 0?ee(h,T):Hn(h,y)},getDocument(y){return n.get(y)},getDiagnostics(y){let h=B(y);if(!h||!h.emitDiagnostics)return{diagnostics:[]};let R={diagnostics:h.snapshot.diagnostics.diagnostics};return h.snapshot.diagnostics.partial&&(R.partial=!0),R},getWorkspaceDiagnostics(){return{diagnostics:[...a()?.diagnostics??i]}},getSemanticDocumentView(y){let h=B(y);return h?k(y,h.effectiveConfig):{diagnostics:[]}},getNodeCatalog(y){let h=B(y);return h?{models:p(h.snapshot)}:{models:[]}},getSemanticNode(y,h){let R=B(y);return R?{node:k(y,R.effectiveConfig).view?.nodes.find(A=>A.nodeId===h)}:{}},getNodeUsageAt(y,h){let R=B(y);if(!R)return{};let T=d(R.snapshot);if(!R.snapshot.parsed||!T)return{};let A=ln(T,h);return A?{node:A,usage:A.usage}:{}},getNodeModelById(y,h){let R=h??n.keys().next().value;return R?{model:this.getNodeCatalog(R).models.find(A=>A.id===y)}:{}},getChildCapability(y,h,R){if(h==="BehaviorTree")return{capable:!0,reason:"behavior-tree"};let T=Oe(h);if(T==="Control")return{capable:!0,reason:"generic-control"};if(T==="Decorator")return{capable:!0,reason:"generic-decorator"};if(T==="Action"||T==="Condition")return{capable:!1,reason:"generic-leaf"};let A=B(y);if(!A)return{capable:!1,reason:"unknown-model"};let j=O(A.snapshot.semantic,{element:Kp(h,R),documentRoot:A.snapshot.parsed?.root,uri:y,config:A.snapshot.config,policy:A.snapshot.nodeUsagePolicy});return j.model.status!=="resolved"?{capable:!1,reason:"unknown-model",modelId:j.nodeType}:{...Hp(j.model.model.kind),modelId:j.model.model.id}},getPortInfoAt(y,h){let R=B(y);if(!R)return{};let T=d(R.snapshot);if(!R.snapshot.parsed||!T)return{};let A=cn(T,h),j=this.getNodeUsageAt(y,h),F=j.node,ve=A&&F?ge(R.snapshot.semantic,{element:F.usage.element,documentRoot:R.snapshot.parsed.root,attributeName:A.portName,uri:y,config:R.snapshot.config,policy:R.snapshot.nodeUsagePolicy}):void 0;return{node:F,binding:A,port:A?.resolution.status==="resolved"?A.resolution.port:void 0,usage:ve,nodeUsage:j.usage}},getFormattingEdits(y){let h=B(y);return h?o.getFormattingEdits({document:h.document,config:h.effectiveConfig}):{edits:[],diagnostics:[]}},getCompletions(y,h,R){let T=B(y);return T?o.getCompletions({document:T.document,position:h,workspace:l(),triggerCharacter:R,config:T.effectiveConfig}):{items:[]}},getHover(y,h){let R=B(y);return R?o.getHover({document:R.document,position:h,workspace:l(),config:R.effectiveConfig}):{}},getDefinition(y,h){let R=B(y);return R?o.getDefinition({document:R.document,position:h,workspace:l(),config:R.effectiveConfig}):{locations:[]}},getReferences(y,h){let R=B(y);return R?o.getReferences({document:R.document,position:h,workspace:l(),config:R.effectiveConfig}):{locations:[]}},getDocumentSymbols(y){let h=B(y);return h?o.getDocumentSymbols({document:h.document,workspace:l(),config:h.effectiveConfig}):{symbols:[]}},getCodeActions(y,h,R){let T=B(y);return T?o.getCodeActions({document:T.document,range:h,diagnostics:R,workspace:l(),config:T.effectiveConfig}):{actions:[]}},getLanguageService(){return o},dispose(){n.clear(),r.clear(),i.length=0}};return E}function em(e,t){if(t.uri.startsWith("file://"))return t.uri;if(t.path?.startsWith("file://"))return t.path;let n=t.path&&!_e.isAbsolute(t.path)?t.path:t.uri;return ut(_e.resolve(e,n))}function el(e,t){return t.map(n=>{let r=em(e,n),o=n.path?.startsWith("file://")?Ae(n.path):n.path;return{...n,uri:r,path:o}})}function tm(e){return e.isFile()?"file":e.isDirectory()?"directory":"other"}function nm(e){return e.startsWith("file://")?e:mo(_e.resolve(e)).href}function Ae(e){return Qp(nm(e))}function rm(e){return mo(_e.resolve(e)).href}function om(e){let t=e.toLowerCase();return t.endsWith(".xml")||t.endsWith(".json")||t.endsWith("btxml.config.json")||t.includes("treenodesmodel")}function im(e){return e.replace(/\\/g,"/").replace(/\/$/,"")}function sm(e,t){let n=im(e),r=Ae(t).replace(/\\/g,"/");return r===n?"":r.startsWith(`${n}/`)?r.slice(n.length+1):t}function am(e,t,n,r){return e&&t&&n.startsWith("file://")?ee(e,sm(t,n)):r}function lm(e,t){let n=rm(t),r=e.realpath;return{rootUri(){return n},readFile(i){return e.readFile(i)},exists(i){return e.exists(i)},async stat(i){return e.stat?e.stat(i):void 0},async readDir(i){return[...await e.readDir(i)]},realpath:r?async i=>r(i):void 0}}function tl(e){return{ok:e.projectOk??e.ok,diagnostics:e.diagnostics}}function nl(e=process.cwd()){let t=_e.resolve(e);return{async readFile(n){return Gt.readFile(Ae(n),"utf8")},async exists(n){try{return await Gt.access(Ae(n),Zp.F_OK),!0}catch(r){if(r.code!=="ENOENT")throw r;return!1}},async stat(n){try{let r=await Gt.stat(Ae(n));return{type:tm(r),size:r.size}}catch{return}},async readDir(n){return(await Gt.readdir(Ae(n),{withFileTypes:!0})).map(o=>({name:o.name,type:o.isFile()?"file":o.isDirectory()?"directory":"other"}))},async realpath(n){let r=await Gt.realpath(Ae(n));return mo(_e.isAbsolute(r)?r:_e.resolve(t,r)).href}}}function rl(e={}){let t=e.host??nl(e.cwd),n,r=0,o,i,s;async function a(u={}){i=Object.keys(u).length>0?{...u}:void 0;let d=e.config,p=u.projectRoot||e.projectRoot||u.cwd||e.cwd||process.cwd(),m=u.cwd||e.cwd||p,g=lm(u.host??t,p),f=await jr({rootUri:ut(p),configUri:u.configPath||e.configPath?ut(_e.resolve(m,u.configPath||e.configPath||"")):void 0,host:g});if(!f.project)return n={version:++r,diagnostics:f.diagnostics,rawConfig:d},{ok:!1,projectOk:!1,diagnostics:f.diagnostics,rawConfig:d};let x=await Ve(f.project,g),B=el(p,x.documents),k=el(p,x.externalModelDocuments),E=gr(f.project);if(!E)return n={version:++r,diagnostics:f.diagnostics,rawConfig:d},{ok:!1,projectOk:!1,diagnostics:f.diagnostics,rawConfig:d};let y=await Fr({project:f.project,documents:B,externalModelDocuments:k,resolveGraph:!0,host:g}),h=await Lr({project:f.project,documents:B,externalModelDocuments:k,projectDiagnostics:[...f.diagnostics,...x.diagnostics],host:g}),R=[...f.diagnostics,...x.diagnostics,...y.diagnostics,...h.projectDiagnostics,...h.files.flatMap(T=>T.diagnostics)];return n={version:++r,diagnostics:R,rawConfig:d,resolvedConfig:E,workspace:{rootDir:Ur(f.project),documents:B,nodeDefinitionModels:y.nodeDefinitionModels}},{ok:f.ok&&y.ok,projectOk:h.ok,diagnostics:[...R],rawConfig:d,resolvedConfig:E,workspace:n.workspace}}function l(u=300){if(o&&clearTimeout(o),!s){let d,p;s={promise:new Promise((g,f)=>{d=g,p=f}),resolve(g){d?.(g)},reject(g){p?.(g)}}}return o=setTimeout(()=>{o=void 0;let d=s;a(i).then(p=>{d?.resolve(p)}).catch(p=>{d?.reject(p)}).finally(()=>{s===d&&(s=void 0)})},u),s.promise}let c=Qa({config:e.config,getRuntimeState:()=>n});return{...c,getResolvedConfig(){return n?.resolvedConfig??c.getResolvedConfig()},getEffectiveConfigForDocument(u){return am(this.getResolvedConfig(),n?.workspace?.rootDir,u,c.getEffectiveConfigForDocument(u))},async loadProject(u){return tl(await a(u))},async refreshProject(u){let d=await a(u);return{ok:d.ok,diagnostics:d.diagnostics}},notifyWatchedFileChanged(u){return om(u)?l().then(d=>tl(d)):Promise.resolve(void 0)},getProjectConfig(){return n?.rawConfig??e.config},dispose(){c.dispose(),n=void 0,o&&clearTimeout(o),s?.reject(new Error("Node workspace service disposed during pending reload")),s=void 0}}}function gT(e={}){return rl(e)}export{gT as createBtProjectEditorService,nl as createNodeWorkspaceHost,Ae as fileUriToPath,ut as pathToFileUri};
+Resolves to SubTree model in \`${l.model.uri||e.parsed?.uri||"workspace"}\`.`}}if(i&&o){let l=e.documentView?st(e.documentView,t.position):void 0;if(l?.declaredPort.status==="resolved")return{range:i.nameRange,contents:ol(l.declaredPort.port)};let c=ge(e.semantic,{element:o,documentRoot:e.parsed?.root,attributeName:i.name,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy});if(c?.status==="resolved")return{range:i.nameRange,contents:ol(c.port)}}let a=e.documentView?cn(e.documentView,t.position):void 0;if(a&&a.usage.model.status==="resolved"){let l=a.usage.model.model;return{range:a.element.nameRange||a.element.openTagRange,contents:il(l)}}return o&&s?.model.status==="resolved"?{range:o.nameRange||o.openTagRange,contents:il(s.model.model)}:{}}function fo(e,t){return ir(e.semantic,t).filter(n=>n.parentBehaviorTreeId&&n.idRange).map(n=>({uri:n.uri,range:n.idRange})).filter(n=>!!n.range)}function go(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function um(e,t){let n=new Set;for(let r of t){let o=or(e.semantic).find(s=>yo(r,{uri:s.uri,range:s.idRange}));o&&n.add(o.id);let i=Nt(e.semantic).find(s=>s.kind==="SubTree"&&(yo(r,{uri:s.uri,range:s.idRange})||yo(r,{uri:s.uri,range:s.range})));i&&n.add(i.id)}return[...n]}function yo(e,t){return t.uri===e.uri&&t.range?.start.offset===e.range.start.offset&&t.range?.end.offset===e.range.end.offset}function bo(e,t){let n=mt(e,t.position);if(n)return{locations:go(qa(e,n).map(d=>({uri:d.uri,range:d.documentRange})))};let r=e.parsed?ne({document:t.document,parsed:e.parsed,position:t.position}):void 0,o=r&&"element"in r?r.element:void 0,i=r&&"attribute"in r?r.attribute:void 0,a=(e.documentView&&e.parsed?e.documentView.nodes.flatMap(d=>d.portBindings).find(d=>d.attribute===i&&t.position.offset>=(d.attribute.valueContentRange??d.attribute.valueRange).start.offset&&t.position.offset<=(d.attribute.valueContentRange??d.attribute.valueRange).end.offset):void 0)?.blackboardReferences.find(d=>t.position.offset>=d.range.start.offset&&t.position.offset<=d.range.end.offset);if(a){let d=z({scope:a.scope,key:a.key});return{locations:go([...a.scope==="global"?ao(e.documentView,e.workspace?.documents,e.semantic,e.config,e.nodeUsagePolicy,d,e.document.uri):lo(e.documentView,d,e.document.uri),...a.scope==="global"?Xa(e,a.key):[]])}}if(o?.name==="BehaviorTree"&&i?.name==="ID")return{locations:fo(e,i.value)};if(o&&i?.name==="ID"&&U(e.semantic,{element:o,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}).tagForm==="model-definition"&&o.name==="SubTree")return{locations:fo(e,i.value)};let l=Ln(e.parsed,e.documentView,t.position,e.semantic,e.config,e.nodeUsagePolicy,e.workspace?.documents);if(l.length===0)return{locations:[]};let c=um(e,l);return c.length>0?{locations:go(c.flatMap(d=>fo(e,d)))}:{locations:[]}}function pm(e,t){return e.attributes.find(n=>n.name===t)}function ho(e){let t=e.name==="BehaviorTree"?pm(e,"ID")?.value||"BehaviorTree":e.name,n=e.name==="BehaviorTree"?"Class":e.name==="TreeNodesModel"?"Namespace":e.name==="include"?"File":e.name==="SubTree"?"Reference":["input_port","output_port"].includes(e.name)?"Property":"Function",r=e.children.filter(o=>o.kind==="element").map(o=>ho(o));return{name:t,detail:e.name,kind:n,range:e.range,selectionRange:e.nameRange||e.openTagRange,children:r.length>0?r:void 0}}function So(e,t){return e.parsed?.root?{symbols:[ho(e.parsed.root)]}:{symbols:[]}}function mm(e){return{diagnostics:e.diagnostics,partial:e.partial||void 0}}function sl(e={}){return{getDiagnostics(t){return mm(uo(fe(t,e),t))},getCompletions(t){return io(fe(t,e),t)},getHover(t){return mo(fe(t,e),t)},getDefinition(t){return co(fe(t,e),t)},getReferences(t){return bo(fe(t,e),t)},getDocumentSymbols(t){return So(fe(t,e),t)},getCodeActions(t){return Hr(fe(t,e),t)},getFormattingEdits(t){return po(fe(t,e),t)}}}var al={line:0,character:0,offset:0},Kt={start:al,end:al};function fm(e){return e?Object.entries(e).filter(([,t])=>t!==void 0).map(([t,n])=>({name:t,value:n??"",range:Kt,nameRange:Kt,valueRange:Kt})):[]}function gm(e,t){return{kind:"element",name:e,attributes:fm(t),children:[],range:Kt,openTagRange:Kt,selfClosing:!0}}function ym(e){return{capable:e==="Control"||e==="Decorator",reason:"model-kind",kind:e}}function vo(e){return e===null?"null":e===void 0?"undefined":typeof e=="string"?JSON.stringify(e):typeof e=="number"||typeof e=="boolean"?String(e):Array.isArray(e)?`[${e.map(t=>vo(t)).join(",")}]`:typeof e=="object"?`{${Object.entries(e).sort(([n],[r])=>n.localeCompare(r)).map(([n,r])=>`${JSON.stringify(n)}:${vo(r)}`).join(",")}}`:JSON.stringify(String(e))}function bm(e){return vo(e)}function hm(e,t,n,r,o){let i=fe({document:e,workspace:t,config:r,mode:"tolerant"},{});return{document:e,documentVersion:e.version,workspace:t,workspaceVersion:n,configFingerprint:o,diagnostics:{diagnostics:i.diagnostics,partial:i.partial},parsed:i.parsed,semantic:i.semantic,config:i.config,nodeUsagePolicy:i.nodeUsagePolicy}}function ll(e){let t=e?.root;if(!t)return!1;if(t.name==="BehaviorTree"||t.name==="TreeNodesModel")return!0;let n=t.children.some(i=>i.kind==="element"&&i.name==="BehaviorTree"),r=t.children.some(i=>i.kind==="element"&&i.name==="TreeNodesModel"),o=t.attributes.some(i=>i.name==="BTCPP_format"&&i.value==="4");return t.name==="root"&&(o||n||r)}function cl(e){return e.replaceAll("\\","/").replace(/\/$/,"")}function dl(e,t){if(!t.startsWith("file://"))return;let n=cl(e),r=cl(It(t));if(r===n)return"";if(r.startsWith(`${n}/`))return r.slice(n.length+1)}function ul(e={}){let t=e,n=new Map,r=new Map,o=sl(),i=[],s=e.config?xt(e.config).config:void 0;function a(){return t.getRuntimeState?.()}function l(){return a()?.workspace}function c(){return a()?.version??0}function d(y,b){let k=l(),x=c(),A=bm(b),j=r.get(y.uri);if(j&&j.documentVersion===y.version&&j.workspaceVersion===x&&j.document===y&&j.workspace===k&&j.configFingerprint===A)return j;let F=hm(y,k,x,b,A);return r.set(y.uri,F),F}function u(y){if(y.parsed)return y.view||(y.view=ln(y.parsed,y.semantic,{config:y.config,policy:y.nodeUsagePolicy})),y.view}function p(y){return y.models||(y.models=Pt(y.semantic)),y.models}function m(y){let b=l();return b?b.documents.some(k=>k.isBtXml&&k.uri===y):!1}function g(y){let b=E.getResolvedConfig();if(!b)return!1;let k=l()?.rootDir??e.configBasePath,x=k?dl(k,y):void 0;return x!==void 0?tn(b,x):Yn(b,y)}function f(y,b){return y.languageId==="btcpp-xml"||b.parsed?.isBtXml===!0||ll(b.parsed)||g(y.uri)||m(y.uri)}function T(y,b){return y.languageId==="btcpp-xml"||b.parsed?.isBtXml===!0||ll(b.parsed)||m(y.uri)}function B(y){let b=n.get(y);if(!b)return;let k=E.getEffectiveConfigForDocument(b.uri),x=d(b,k);if(f(b,x))return{document:b,effectiveConfig:k,snapshot:x,emitDiagnostics:T(b,x)}}function R(y,b){let k=n.get(y);if(!k)return{diagnostics:[]};let x=d(k,b),A=u(x);return A?{view:A,diagnostics:x.diagnostics.diagnostics,partial:x.diagnostics.partial}:{diagnostics:x.diagnostics.diagnostics,partial:x.diagnostics.partial}}let E={openDocument(y,b,k=0,x="xml"){n.set(y,rt(y,b,k,x)),r.delete(y)},updateDocument(y,b,k=0,x="xml"){n.set(y,rt(y,b,k,x)),r.delete(y)},closeDocument(y){n.delete(y),r.delete(y)},getResolvedConfig(){return a()?.resolvedConfig??s},getEffectiveConfigForDocument(y){let b=this.getResolvedConfig();if(!b)return;let k=l()?.rootDir??e.configBasePath,x=k?dl(k,y):void 0;return x!==void 0?ee(b,x):Jn(b,y)},getDocument(y){return n.get(y)},getDiagnostics(y){let b=B(y);if(!b||!b.emitDiagnostics)return{diagnostics:[]};let k={diagnostics:b.snapshot.diagnostics.diagnostics};return b.snapshot.diagnostics.partial&&(k.partial=!0),k},getWorkspaceDiagnostics(){return{diagnostics:[...a()?.diagnostics??i]}},getSemanticDocumentView(y){let b=B(y);return b?R(y,b.effectiveConfig):{diagnostics:[]}},getNodeCatalog(y){let b=B(y);return b?{models:p(b.snapshot)}:{models:[]}},getSemanticNode(y,b){let k=B(y);return k?{node:R(y,k.effectiveConfig).view?.nodes.find(A=>A.nodeId===b)}:{}},getNodeUsageAt(y,b){let k=B(y);if(!k)return{};let x=u(k.snapshot);if(!k.snapshot.parsed||!x)return{};let A=dn(x,b);return A?{node:A,usage:A.usage}:{}},getNodeModelById(y,b){let k=b??n.keys().next().value;return k?{model:this.getNodeCatalog(k).models.find(A=>A.id===y)}:{}},getChildCapability(y,b,k){if(b==="BehaviorTree")return{capable:!0,reason:"behavior-tree"};let x=Ve(b);if(x==="Control")return{capable:!0,reason:"generic-control"};if(x==="Decorator")return{capable:!0,reason:"generic-decorator"};if(x==="Action"||x==="Condition")return{capable:!1,reason:"generic-leaf"};let A=B(y);if(!A)return{capable:!1,reason:"unknown-model"};let j=U(A.snapshot.semantic,{element:gm(b,k),documentRoot:A.snapshot.parsed?.root,uri:y,config:A.snapshot.config,policy:A.snapshot.nodeUsagePolicy});return j.model.status!=="resolved"?{capable:!1,reason:"unknown-model",modelId:j.nodeType}:{...ym(j.model.model.kind),modelId:j.model.model.id}},getPortInfoAt(y,b){let k=B(y);if(!k)return{};let x=u(k.snapshot);if(!k.snapshot.parsed||!x)return{};let A=un(x,b),j=this.getNodeUsageAt(y,b),F=j.node,ve=A&&F?ge(k.snapshot.semantic,{element:F.usage.element,documentRoot:k.snapshot.parsed.root,attributeName:A.portName,uri:y,config:k.snapshot.config,policy:k.snapshot.nodeUsagePolicy}):void 0;return{node:F,binding:A,port:A?.resolution.status==="resolved"?A.resolution.port:void 0,usage:ve,nodeUsage:j.usage}},getFormattingEdits(y){let b=B(y);return b?o.getFormattingEdits({document:b.document,config:b.effectiveConfig}):{edits:[],diagnostics:[]}},getCompletions(y,b,k){let x=B(y);return x?o.getCompletions({document:x.document,position:b,workspace:l(),triggerCharacter:k,config:x.effectiveConfig}):{items:[]}},getHover(y,b){let k=B(y);return k?o.getHover({document:k.document,position:b,workspace:l(),config:k.effectiveConfig}):{}},getDefinition(y,b){let k=B(y);return k?o.getDefinition({document:k.document,position:b,workspace:l(),config:k.effectiveConfig}):{locations:[]}},getReferences(y,b){let k=B(y);return k?o.getReferences({document:k.document,position:b,workspace:l(),config:k.effectiveConfig}):{locations:[]}},getDocumentSymbols(y){let b=B(y);return b?o.getDocumentSymbols({document:b.document,workspace:l(),config:b.effectiveConfig}):{symbols:[]}},getCodeActions(y,b,k){let x=B(y);return x?o.getCodeActions({document:x.document,range:b,diagnostics:k,workspace:l(),config:x.effectiveConfig}):{actions:[]}},getLanguageService(){return o},dispose(){n.clear(),r.clear(),i.length=0}};return E}function Rm(e,t){if(t.uri.startsWith("file://"))return t.uri;if(t.path?.startsWith("file://"))return t.path;let n=t.path&&!Le.isAbsolute(t.path)?t.path:t.uri;return pt(Le.resolve(e,n))}function pl(e,t){return t.map(n=>{let r=Rm(e,n),o=n.path?.startsWith("file://")?_e(n.path):n.path;return{...n,uri:r,path:o}})}function km(e){return e.isFile()?"file":e.isDirectory()?"directory":"other"}function Tm(e){return e.startsWith("file://")?e:Ro(Le.resolve(e)).href}function _e(e){return vm(Tm(e))}function xm(e){return Ro(Le.resolve(e)).href}function Dm(e){let t=e.toLowerCase();return t.endsWith(".xml")||t.endsWith(".json")||t.endsWith("btxml.config.json")||t.includes("treenodesmodel")}function Im(e){return e.replace(/\\/g,"/").replace(/\/$/,"")}function Cm(e,t){let n=Im(e),r=_e(t).replace(/\\/g,"/");return r===n?"":r.startsWith(`${n}/`)?r.slice(n.length+1):t}function Bm(e,t,n,r){return e&&t&&n.startsWith("file://")?ee(e,Cm(t,n)):r}function Em(e,t){let n=xm(t),r=e.realpath;return{rootUri(){return n},readFile(i){return e.readFile(i)},exists(i){return e.exists(i)},async stat(i){return e.stat?e.stat(i):void 0},async readDir(i){return[...await e.readDir(i)]},realpath:r?async i=>r(i):void 0}}function ml(e){return{ok:e.projectOk??e.ok,diagnostics:e.diagnostics}}function fl(e=process.cwd()){let t=Le.resolve(e);return{async readFile(n){return Ht.readFile(_e(n),"utf8")},async exists(n){try{return await Ht.access(_e(n),Sm.F_OK),!0}catch(r){if(r.code!=="ENOENT")throw r;return!1}},async stat(n){try{let r=await Ht.stat(_e(n));return{type:km(r),size:r.size}}catch{return}},async readDir(n){return(await Ht.readdir(_e(n),{withFileTypes:!0})).map(o=>({name:o.name,type:o.isFile()?"file":o.isDirectory()?"directory":"other"}))},async realpath(n){let r=await Ht.realpath(_e(n));return Ro(Le.isAbsolute(r)?r:Le.resolve(t,r)).href}}}function gl(e={}){let t=e.host??fl(e.cwd),n,r=0,o,i,s;async function a(d={}){i=Object.keys(d).length>0?{...d}:void 0;let u=e.config,p=d.projectRoot||e.projectRoot||d.cwd||e.cwd||process.cwd(),m=d.cwd||e.cwd||p,g=Em(d.host??t,p),f=await zr({rootUri:pt(p),configUri:d.configPath||e.configPath?pt(Le.resolve(m,d.configPath||e.configPath||"")):void 0,host:g});if(!f.project)return n={version:++r,diagnostics:f.diagnostics,rawConfig:u},{ok:!1,projectOk:!1,diagnostics:f.diagnostics,rawConfig:u};let T=await $e(f.project,g),B=pl(p,T.documents),R=pl(p,T.externalModelDocuments),E=Rr(f.project);if(!E)return n={version:++r,diagnostics:f.diagnostics,rawConfig:u},{ok:!1,projectOk:!1,diagnostics:f.diagnostics,rawConfig:u};let y=await Wr({project:f.project,documents:B,externalModelDocuments:R,resolveGraph:!0,host:g}),b=await Xr({project:f.project,documents:B,externalModelDocuments:R,projectDiagnostics:[...f.diagnostics,...T.diagnostics],host:g}),k=[...f.diagnostics,...T.diagnostics,...y.diagnostics,...b.projectDiagnostics,...b.files.flatMap(x=>x.diagnostics)];return n={version:++r,diagnostics:k,rawConfig:u,resolvedConfig:E,workspace:{rootDir:Kr(f.project),documents:B,nodeDefinitionModels:y.nodeDefinitionModels}},{ok:f.ok&&y.ok,projectOk:b.ok,diagnostics:[...k],rawConfig:u,resolvedConfig:E,workspace:n.workspace}}function l(d=300){if(o&&clearTimeout(o),!s){let u,p;s={promise:new Promise((g,f)=>{u=g,p=f}),resolve(g){u?.(g)},reject(g){p?.(g)}}}return o=setTimeout(()=>{o=void 0;let u=s;a(i).then(p=>{u?.resolve(p)}).catch(p=>{u?.reject(p)}).finally(()=>{s===u&&(s=void 0)})},d),s.promise}let c=ul({config:e.config,getRuntimeState:()=>n});return{...c,getResolvedConfig(){return n?.resolvedConfig??c.getResolvedConfig()},getEffectiveConfigForDocument(d){return Bm(this.getResolvedConfig(),n?.workspace?.rootDir,d,c.getEffectiveConfigForDocument(d))},async loadProject(d){return ml(await a(d))},async refreshProject(d){let u=await a(d);return{ok:u.ok,diagnostics:u.diagnostics}},notifyWatchedFileChanged(d){return Dm(d)?l().then(u=>ml(u)):Promise.resolve(void 0)},getProjectConfig(){return n?.rawConfig??e.config},dispose(){c.dispose(),n=void 0,o&&clearTimeout(o),s?.reject(new Error("Node workspace service disposed during pending reload")),s=void 0}}}function XT(e={}){return gl(e)}export{XT as createBtProjectEditorService,fl as createNodeWorkspaceHost,_e as fileUriToPath,pt as pathToFileUri};