@abco20/btxml-checker 0.1.2 → 0.1.4

package/dist/editor-node.js

@@ -1,32 +1,32 @@
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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 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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 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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. 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ql=[{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"]}],yt=new Map,Mo=new Map;for(let e of ql){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};Mo.set(e.name,t),yt.set(e.name,e.name);for(let n of e.aliases)yt.set(n,e.name)}function $l(e,t,n){return{name:e,kind:n.kind,canonical:t,aliases:new Set([e,t,...n.aliases??[]]),compatibleWith:new Set(n.compatibleWith??[]),validate:n.validate,source:"augmentation"}}function Xn(e){return yt.get(e)??e}function Xl(e){return{name:e.name,kind:e.kind,canonical:e.canonical,aliases:[...e.aliases].filter(t=>t!==e.canonical),compatibleWith:[...e.compatibleWith],validate:e.validate,source:e.source}}function bt(e){return yt.get(e)}function rt(e=[]){let t=new Map,n=new Map(yt);for(let r of Mo.values())t.set(r.canonical,{name:r.name,kind:r.kind,canonical:r.canonical,aliases:new Set([r.name,r.canonical,...r.aliases]),compatibleWith:new Set(r.compatibleWith),validate:r.validate,source:r.source});for(let r of e)for(let[o,i]of Object.entries(r.types??{})){let s=Xn(i.canonical??o),l=t.get(s)??$l(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)??Xn(o))),r.compatibleWith.delete(r.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([r,o])=>[r,Xl(o)])),namesToCanonical:n}}function de(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??Xn(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 ht(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 Ao=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, 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:[]}],_o={id:"SubTree",kind:"SubTree",ports:[{name:"_autoremap",direction:"input",type:"bool",defaultValue:"false",description:"If true, all the ports with the same name will be remapped",required:!1}]};var Lo=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",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:[]}],jo={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 Fo=[{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:[]}],Uo={id:"SubTree",kind:"SubTree",ports:[{name:"_autoremap",direction:"input",type:"bool",defaultValue:"false",description:"If true, all the ports with the same name will be remapped",required:!1}]};var 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Ko=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()]),Zl=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:Ko.optional()}).strict(),Ql=w.object({from:w.string().optional(),to:w.string()}).strict(),ec=w.object({typeRefinement:Ql.optional(),validate:Ko.optional(),required:w.boolean().optional(),enum:w.array(w.string()).optional(),description:w.string().optional()}).strict(),tc=w.object({ports:w.record(w.string(),ec).optional()}).strict(),nc=w.object({enums:w.record(w.string(),w.number().finite()).optional()}).strict(),Ho=w.object({version:w.literal(1),types:w.record(w.string(),Zl).optional(),augment:w.record(w.string(),tc).optional(),script:nc.optional()}).strict();function sc(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
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a=sc(e);return{ok:!1,uri:n,path:t?.path,issues:s.error.issues.map(l=>{let c=lc(l),{message:d,path:u}=cc(l);return{kind:"schema",message:d,path:u,range:ac(rc(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 Jo=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(),Jo).optional(),description:W.string().optional()}).strict(),Yn=W.object({nodes:W.record(W.string(),Qt)}).strict();import{z as D}from"zod";var 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ii(e){return e.flatMap(vc)}function vc(e){if(String(e.code)==="unrecognized_keys")return(Array.isArray(e.keys)?e.keys??[]:[]).map(o=>{let i=ri([...e.path,String(o)]);return{code:"CFG002_UNKNOWN_CONFIG_FIELD",severity:"error",path:i,message:`unknown config field \`${i}\``}});let n=ri(e.path);return si(e)?[{code:"CFG003_INVALID_CONFIG_VALUE",severity:"error",path:n,message:n?`invalid config value at \`${n}\``:"invalid config value"}]:[{code:"CFG001_INVALID_CONFIG",severity:"error",path:n,message:n?`invalid config at \`${n}\``:"invalid config"}]}function ri(e){return e.map(String).join(".")||void 0}function si(e){let t=String(e.code);if(t==="invalid_value"||t==="invalid_enum_value"||t==="invalid_literal")return!0;if(t!=="invalid_union")return!1;let n=e.errors;if(Array.isArray(n))return n.flat().some(oi);let r=e.unionErrors;return Array.isArray(r)?r.flatMap(o=>o.issues??[]).some(oi):!1}function oi(e){return typeof e=="object"&&e!==null&&si(e)}function kt(e){let t=ni.safeParse(e);return t.success?{ok:!0,value:t.data,diagnostics:[]}:{ok:!1,diagnostics:ii(t.error.issues)}}function Rc(e){if(!e)return;let t={};return e.indentWidth!==void 0&&(t.indentWidth=e.indentWidth),e.xmlDeclaration!==void 0&&(t.xmlDeclaration=e.xmlDeclaration),e.blankLineBetweenBehaviorTrees!==void 0&&(t.blankLineBetweenBehaviorTrees=e.blankLineBetweenBehaviorTrees),e.lineEnding!==void 0&&(t.lineEnding=e.lineEnding),t}function kc(e){if(!e)return;let t={};return e.rules!==void 0&&(t.rules=e.rules),e.suppressions!==void 0&&(t.suppressions={},e.suppressions.inline!==void 0&&(t.suppressions.inline=e.suppressions.inline)),t}function Tc(e){return e.map(t=>P(t.code,t.severity==="error"?h.Error:h.Warning,t.message,void 0,"",t.help?{help:t.help}:void 0))}function xc(e){let t=[],n=et(),{$schema:r,strict:o,overrides:i,...s}=e;o&&(n=mt(n,To)),n=mt(n,s),n.overrides=(i??[]).map(l=>({files:l.files,linter:kc(l.linter),formatter:Rc(l.formatter)}));let a=!t.some(l=>l.severity===h.Error);return{config:n,diagnostics:t,ok:a}}function Tt(e){let t=kt(e);return t.ok?xc(t.value):{ok:!1,config:et(),diagnostics:Tc(t.diagnostics)}}function Dc(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=Dc(o).test(n);return r?!s:s}function ai(e,t){return e.overrides.filter(n=>n.files.some(r=>en(t,r)))}function xt(e){return e.replaceAll("\\","/")}function Ic(e){try{return decodeURIComponent(e)}catch{return e}}function Dt(e){if(!e.startsWith("file://"))return e;let t;try{t=new URL(e)}catch{return e}let n=Ic(t.pathname);return/^\/[A-Za-z]:/.test(n)?xt(n.slice(1)):t.host?xt(`//${t.host}${n}`):xt(n)}function tn(e,t){let n=xt(t);return e.files.ignore.some(r=>en(n,r))?!1:e.files.include.some(r=>en(n,r))}function Jn(e,t){return tn(e,Dt(t))}function ee(e,t){let n=xt(t),r=ai(e,n),o=e;for(let i of r)o=mt(o,{linter:i.linter,formatter:i.formatter});return{files:o.files,resolver:o.resolver,models:o.models,linter:o.linter,formatter:o.formatter}}function Zn(e,t){return ee(e,Dt(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"},Qn=Object.values(S).sort();var 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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 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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 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pp(e){if(e.configUri)return Q.dirname(e.configUri);let t=e.startUri;for(;;){if(await e.host.exists(Q.join(t,".git"))||await e.host.exists(Q.join(t,".colcon")))return t;let n=Q.dirname(t);if(n===t)return e.startUri;t=n}}async function jr(e){let t=await fa({startUri:e.rootUri,configUri:e.configUri,noConfig:e.noConfig,host:e.host});if(!t.ok||!t.config)return{ok:!1,diagnostics:t.diagnostics};let n=kt(t.config);if(!n.ok)return{ok:!1,diagnostics:[...t.diagnostics,...n.diagnostics]};let r=n.config,o=await pp({startUri:e.rootUri,configUri:t.configUri,host:e.host}),{selectedFiles:i,skippedFiles:s}=await Fi(o,r.files,e.cliFiles,e.rootUri,e.host),a=[...t.diagnostics,...n.diagnostics],l=t.configUri?$(o,t.configUri):"",c=Oi(r.resolver);for(let f of c){let x=Q.join(o,f.file);await e.host.exists(x)&&!i.some(B=>B.uri===x)&&i.push({path:f.file,uri:x,kind:"bt-xml"})}let{modelFiles:u,augmentationFiles:d,definitionFiles:p,unmatchedPatterns:m}=await ga(o,r.models,r.files,e.host);for(let f of 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Set(i.map(l=>l.kind)).size<=1)continue;let a=i[0];if(a)for(let l of i.slice(1)){if(l.kind===a.kind)continue;let c=Ut(a),d=a.uri&&c?[{uri:a.uri,range:c,message:"first conflicting definition"}]:void 0;n.push(Cr({code:"BT120_CONFLICTING_MODEL_KIND",message:`model ID \`${o}\` has conflicting kinds (\`${a.kind}\` vs \`${l.kind}\`)`,uri:l.uri,range:Ut(l),rule:Qi,severity:t,data:{kind:"conflicting-model-kind",nodeId:o,definitions:i.map(tu)},relatedInformation:d}))}}return n}function ru(e){if(e.config.models.convention!=="used-only")return[];let t=Br(e.config,es);if(!t)return[];let n=[],r=ar(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(Cr({code:"BT121_UNUSED_MODEL_DEFINITION",message:`unused inline model definition \`${o.id}\` in this 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E=os(rs(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 ss(e,t){return Ee(e,t).replace(/\\/g,"/")}function cu(e){return[...e.reachableDocuments.values()]}function Er(e){let t=new Map;for(let n of e)t.set(n.uri,n);return[...t.values()]}function as(e){let t=new Map;for(let n of e)t.set(n.path,n);return[...t.values()]}function du(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 Nr(e){let t=[],n=e.project,r=e.resolvedConfig,o=e.resolutionMode??Ir(r),i=o==="entrypoints"||e.resolveGraph?await Zi({project:e.project,documents:e.documents,resolvedConfig:r,host:e.host}):void 0,s=e.externalModelDocuments,a=e.augmentations,l=await is({project:e.project,host:e.host});t.push(...l.diagnostics);let c=l.nodeModels,d=i&&(o==="entrypoints"||e.resolveGraph)?Er([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)&&i.reachableUris.has(f.uri)),...i.reachableDocuments.values(),...s]):Er([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)),...s]),u=Ue(d,{config:r,models:c,augmentations:a}),p={includeIssuesByUri:du(i?.issues??[]),suppressionIssuesByUri:new Map};t.push(...u.diagnostics,...ns({config:r,index:u.index}));let m=new Map(Ce(u.index).map(f=>[f,Y(u.index,f)])),g={mode:o,files:new Map(d.map(f=>[ss(n.rootUri,f.path||f.uri),f])),documentViews:new Map(d.map(f=>[f.uri,(()=>{let T=ee(r,ss(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(Ce(u.index).map(f=>[f,Y(u.index,f)])),reachableBehaviorTreesById:m,nodeModelsById:new Map(Nt(u.index).map(f=>[f.id,f])),nodeModelSources:new Map(cr(u.index).map(f=>[f,Ve(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 ls(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 Tr(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??Ir(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 Nr({project:e.project,documents:e.documents,activeDocumentUris:l,externalModelDocuments:i,augmentations:s,resolutionMode:a,resolveGraph:e.mode==="check",resolvedConfig:n,host:o}),d=Er([...e.documents,...cu(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 cs(){return{includeIssuesByUri:new Map,suppressionIssuesByUri:new Map}}function ds(e,t){return e.includeIssuesByUri.get(t)??[]}function us(e,t){return e.suppressionIssuesByUri.get(t)??[]}function ps(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=uu(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=ds(e.facts,t.uri);return c?d.filter(u=>u.kind===c):d},getSuppressionIssues(c){let d=us(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 Mt(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 uu(e){let t=new Set;if(!e)return t;if(e.name==="TreeNodesModel")return Pr(e,t),t;for(let n of e.children)n.kind!=="element"||n.name!=="TreeNodesModel"||Pr(n,t);return t}function Pr(e,t){t.add(e);for(let n of e.children)n.kind==="element"&&Pr(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 pu={"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 Pe(e){return N({name:pu[e],create(t){return{ProgramExit(){for(let n of t.getIncludeIssues(e))t.report({message:n.message,range:n.range,data:mu(n)})}}}})}function mu(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 ms=[Pe("missing-path"),Pe("not-found"),Pe("cycle"),Pe("outside-root"),Pe("unresolved-variable"),Pe("depth-exceeded"),Pe("too-many-files"),Pe("external-used")];import fu from"ajv";var gu=fu,yu=new gu,bu=["IDLE","RUNNING","SUCCESS","FAILURE","SKIPPED"],hu={int8_t:{min:-128n,max:127n},"std::int8_t":{min:-128n,max:127n},int16_t:{min:-32768n,max:32767n},"std::int16_t":{min:-32768n,max:32767n},int32:{min:-2147483648n,max:2147483647n},int32_t:{min:-2147483648n,max:2147483647n},"std::int32_t":{min:-2147483648n,max:2147483647n},int64_t:{min:-9223372036854775808n,max:9223372036854775807n},int64:{min:-9223372036854775808n,max:9223372036854775807n},"std::int64_t":{min:-9223372036854775808n,max:9223372036854775807n},int:{min:-2147483648n,max:2147483647n},long:{min:-9223372036854775808n,max:9223372036854775807n},short:{min:-32768n,max:32767n},uint8_t:{min:0n,max:255n},"std::uint8_t":{min:0n,max:255n},uint16_t:{min:0n,max:65535n},"std::uint16_t":{min:0n,max:65535n},uint32:{min:0n,max:4294967295n},uint32_t:{min:0n,max:4294967295n},"std::uint32_t":{min:0n,max:4294967295n},uint64_t:{min:0n,max:18446744073709551615n},uint64:{min:0n,max:18446744073709551615n},"std::uint64_t":{min:0n,max:18446744073709551615n},uint:{min:0n,max:4294967295n},unsigned:{min:0n,max:4294967295n},"unsigned 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n=e.port.validate??e.typeDefinition?.validate;if(n)return Tu(e.registry,n,e.value)?void 0:Rn(e.diagnosticCode,e.value,e.portLabel);let r=e.typeDefinition?.canonical??e.port.type;if(r&&!Ss(r,e.value))return Su(r)?Rn(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}="{${e.port.name}}"\`, or define a validator in btxml.model-augment.json`}}}function Xe(e){return e.effectiveType??e.type}function hs(e,t){return de(e,Xe(t))}function Ot(e,t){let n=X({portName:e,rawValue:t.trim()});return n.ok?n.reference:void 0}function Rn(e,t,n){return{code:e,message:`invalid value \`${t}\` for port \`${n}\``}}function Su(e){let t=bt(e)??e;return vs(e)!==void 0||xu.has(t.toLowerCase())}function Ss(e,t){let n=vs(e);if(n)return vu(n,t);let r=(bt(e)??e).toLowerCase();switch(r){case"std::string":case"string":case"bt::any":case"bt::anytypeallowed":case"bt::anytype":case"any":return!0;case"bool":return t==="0"||t==="1"||t==="true"||t==="TRUE"||t==="True"||t==="false"||t==="FALSE"||t==="False";case"float":case"double":return/^-?(?:\d+\.?\d*|\.\d+)(?:[eE][-+]?\d+)?$/.test(t);case"bt::nodestatus":case"nodestatus":return bu.includes(t);default:return wr.has(r)||fs.has(r)?Rs(r,t):!1}}function vs(e){return/^std::vector<\s*(.+?)\s*>$/.exec(e)?.[1]}function vu(e,t){let n=ku(t);return n?n.every(r=>Ru(e,r)):!1}function Ru(e,t){if(t.kind==="string")return Ss(e,t.value);let n=(bt(e)??e).toLowerCase();switch(n){case"std::string":return typeof t.value=="string";case"bool":return typeof t.value=="boolean";case"float":case"double":return typeof t.value=="number"&&Number.isFinite(t.value);default:return wr.has(n)||fs.has(n)?typeof t.value=="number"&&Number.isInteger(t.value)&&Rs(n,String(t.value)):!1}}function Rs(e,t){let n=hu[e];if(!n)return!1;if(wr.has(e)){if(!/^-?\d+$/.test(t))return!1}else if(!/^\d+$/.test(t))return!1;try{let r=BigInt(t);return r>=n.min&&r<=n.max}catch{return!1}}function ku(e){if(e.startsWith("json:"))try{let t=JSON.parse(e.slice(5));return Array.isArray(t)?t.map(n=>({kind:"json",value:n})):void 0}catch{return}return e.split(";").map(t=>({kind:"string",value:t}))}function Tu(e,t,n){switch(t.kind){case"pattern":return new RegExp(`^(?:${t.pattern})$`).test(n);case"enum":return t.values.includes(n);case"tuple":{let r=n.split(t.separator);return r.length!==t.items.length?!1:r.every((o,i)=>{let s=t.items[i];return s?bs({port:{name:`tuple[${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[${i}]`})===void 0:!1})}case"json-schema":try{let r=JSON.parse(n);return yu.compile(t.schema)(r)===!0}catch{return!1}}}var xu=new Set(["std::string","string","bool","int8_t","std::int8_t","int16_t","std::int16_t","int","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","long","short","uint8_t","std::uint8_t","uint16_t","std::uint16_t","uint","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","size_t","std::size_t","unsigned","unsigned int","float","double","bt::nodestatus","nodestatus","bt::any","bt::anytypeallowed","bt::anytype","any"]);var ks=[N({name:"model/require-port-name",meta:{description:"Port elements require a name attribute."},create(e){return{TreeNodeModel(t){for(let n of t.ports)n.name||e.report({message:"Port must have name attribute",range:n.range||n.nameRange||t.idRange||t.range})}}}}),N({name:"model/no-duplicate-port-name",meta:{description:"Ports with the same name are not allowed."},create(e){return{TreeNodeModel(t){let n=new Set;for(let r of t.ports)r.name&&(n.has(r.name)&&e.report({message:`Duplicate port name "${r.name}" in 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type."},create(e){return{Element(t){if(!Iu(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=Cu(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 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s=o.find(a=>a.typeDefinition.canonical===i[0]);e.report({code:S.BlackboardTypeMismatch,message:`blackboard entry \`${s?.displayName??o[0]?.displayName??o[0]?.key??""}\` is used with incompatible port types: ${i.map(a=>`\`${a}\``).join(", ")}`,range:s?.range,details:{primaryLabel:`blackboard entry \`${s?.displayName??o[0]?.displayName??o[0]?.key??""}\` mixes incompatible port types`,notes:o.filter(a=>i.includes(a.typeDefinition.canonical)).map(a=>`${a.nodeId}.${a.port.name} declares ${Eu(a.port,a.typeDefinition)}`),help:"use different blackboard keys, align the port types, or declare compatibility in btxml.model-augment.json"}})}}}}}),N({name:"model/require-output-port-remap",meta:{description:"Resolved output ports must write to a blackboard remap."},create(e){return{Element(t){if(Pu(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of t.attributes){let o=e.getPortUsage(t,r.name);o?.status==="resolved"&&o.port.direction==="output"&&Ot(o.port.name,r.value)===void 0&&e.report({code:S.OutputPortRequiresRemap,message:`output port \`${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 Du(e,t){return e.diagnostics.some(n=>n.code===S.DuplicateNodeModelId&&n.message.includes(`\`${t}\``))}function Iu(e){return e.name==="input_port"||e.name==="output_port"||e.name==="inout_port"}function Cu(e,t){if(!e)return;return n(e,!1,void 0);function n(r,o,i){let s=o||r.name==="TreeNodesModel",a=s&&(r.name==="Action"||r.name==="Condition"||r.name==="Control"||r.name==="Decorator"||r.name==="SubTree")?r:i;if(r===t)return a;for(let l of r.children){if(l.kind!=="element")continue;let c=n(l,s,a);if(c)return c}}}function Bu(e,t,n){let r=new Set;for(let o=0;o<t.length;o+=1){let i=t[o];if(i)for(let s=o+1;s<t.length;s+=1){let a=t[s];a&&(n&&(i.typeDefinition.canonical==="std::string"||a.typeDefinition.canonical==="std::string")||Ie(e,i.typeDefinition.canonical,a.typeDefinition.canonical)||(r.add(i.typeDefinition.canonical),r.add(a.typeDefinition.canonical)))}}return[...r].sort()}function Eu(e,t){return Xe(e)??t.canonical}function Nu(e){return e.attributes.find(t=>t.name==="name")?.value??e.attributes.find(t=>t.name==="ID")?.value??e.name}function Pu(e){return e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"}var wu=new Set(["_failureIf","_successIf","_skipIf","_while"]),Mu=new Set(["_onSuccess","_onFailure","_onHalted","_post"]);function ze(e){if(wu.has(e.attributeName))return{kind:"precondition",expectedResult:"bool-compatible"};if(Mu.has(e.attributeName))return{kind:"postcondition",expectedResult:"ignored"};let t=e.resolvedNodeType??e.elementName;if(e.attributeName==="code"&&t==="Script")return{kind:"script-node-code",expectedResult:"ignored"};if(e.attributeName==="code"&&t==="ScriptCondition")return{kind:"script-condition-code",expectedResult:"bool-compatible"};if(e.attributeName==="if"&&t==="Precondition")return{kind:"precondition-node-if",expectedResult:"bool-compatible"}}function Vt(e){if(!e.startsWith("@"))return{kind:"local",name:e};let t=ft({rawName:e});return t.ok?{kind:"global-blackboard",key:t.reference.key}:{kind:"invalid-global-blackboard",raw:e,message:`invalid global blackboard identifier \`${e}\``}}var Ts=new Map([["..","DotDot"],["&&","AmpAmp"],["||","PipePipe"],["==","EqualEqual"],["!=","BangEqual"],["<=","LessEqual"],[">=","GreaterEqual"],[":=","ColonEqual"],["+=","PlusEqual"],["-=","MinusEqual"],["*=","StarEqual"],["/=","SlashEqual"]]),xs=new 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r=n.parseResult.program.statements.at(-1),o=n.analysis.finalType;!r||!o||He(o)||e.report({code:S.ScriptResultNotBoolCompatible,message:`script result for \`${n.attribute.name}\` is not bool-compatible`,range:me(e,n.attribute,r.range),details:{primaryLabel:"script result is not bool-compatible here",help:"return a boolean or numeric expression, or move side effects into a postcondition/script node"}})}}}}});var Gs=N({name:"script/valid-syntax",create(e){return{Element(t){for(let n of Bn(e,t))if(!n.parseResult.ok)for(let r of n.parseResult.errors){let o=r.kind==="empty-script"?S.EmptyScript:r.kind==="invalid-token"?S.InvalidScriptToken:S.InvalidScriptSyntax;e.report({code:o,message:r.message,range:r.kind==="empty-script"?n.attribute.valueContentRange??n.attribute.valueRange??me(e,n.attribute,Vs(n.attribute)):me(e,n.attribute,r.range),details:{primaryLabel:`invalid script in \`${n.attribute.name}\``}})}}}}});var Ks=[Gs,$s,Xs,zs,Ws];var mp={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"};function Hs(e){return N({name:mp[e],create(t){return{ProgramExit(){for(let n of t.getSuppressionIssues(e))t.report({message:n.message,range:n.range,data:fp(n)})}}}})}function fp(e){return e.code?{code:e.code}:void 0}var Ys=[Hs("unused"),Hs("missing-reason")];function En(e,t){return e.attributes.find(n=>n.name===t)}function Js(e,t){if(!e)return!1;let n=(r,o)=>{let i=o||r.name==="TreeNodesModel";if(r===t)return i;for(let s of r.children)if(s.kind==="element"&&n(s,i))return!0;return!1};return n(e,!1)}var Zs=[N({name:"tree/require-id",create(e){return{Element(t){t.name!=="BehaviorTree"||En(t,"ID")||e.report({message:"BehaviorTree must have ID attribute",range:t.range})}}}}),N({name:"tree/no-duplicate-id-in-file",create(e){let t=new Set;return{ProgramExit(){let n=Bt(e.semantic,e.document.uri);for(let r of n?.behaviorTrees??[])r.idRange&&(t.has(r.id)&&e.report({message:`Duplicate BehaviorTree ID: 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n=e.getNodeUsage(t);if(n.tagForm==="root"||n.tagForm==="behavior-tree"||n.tagForm==="tree-nodes-model"||n.tagForm==="include"||n.tagForm==="model-definition"||n.tagForm==="subtree"||n.tagForm==="unknown-xml"||n.model.status==="resolved"||n.model.status==="ambiguous")return;let r=t.attributes.find(o=>o.name==="ID");e.report({message:`unknown node \`${n.nodeType??n.tagName}\``,range:r?.valueContentRange??r?.valueRange??t.range})}}}});var oa=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 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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};
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Em(this.getResolvedConfig(),n?.workspace?.rootDir,d,c.getEffectiveConfigForDocument(d))},async loadProject(d){return fl(await a(d))},async refreshProject(d){let u=await a(d);return{ok:u.ok,diagnostics:u.diagnostics}},notifyWatchedFileChanged(d){return Im(d)?l().then(u=>fl(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 zT(e={}){return yl(e)}export{zT as createBtProjectEditorService,gl as createNodeWorkspaceHost,Ae as fileUriToPath,ut as pathToFileUri};