@abco20/btxml-checker 0.1.3 → 0.1.4
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/cli.js +27 -27
- package/dist/editor-node.js +21 -21
- package/dist/server.cjs +8 -5
- package/dist/server.cjs.map +1 -1
- package/package.json +1 -1
package/dist/editor-node.js
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import{constants as
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`&&t.push(n+1);return t}function
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`){n+=1,r=0;continue}r+=i.length}return{line:n,character:r,offset:o}}function
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`||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 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s!==0?s:(t.description??"").localeCompare(n.description??"")}).map(t=>({name:t.name,direction:t.direction,type:t.type,required:t.required,defaultValue:t.defaultValue,enum:t.enum?[...t.enum].sort():void 0,description:t.description}))}}function 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 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`&&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 ${r[0]?.offset??0}`);let s=Ko.safeParse(i);if(!s.success){let a=ic(e);return{ok:!1,uri:n,path:t?.path,issues:s.error.issues.map(l=>{let c=ac(l),{message:d,path:u}=lc(l);return{kind:"schema",message:d,path:u,range:sc(nc(o,c),a),notes:u?[u]:void 0}})}}return{ok:!0,data:{...s.data,uri:n,path:t?.path},issues:[],uri:n,path:t?.path}}catch(i){return{ok:!1,uri:n,path:t?.path,issues:[{kind:"json",message:"the file could not be parsed as JSON",notes:[String(i.message||i)]}]}}}import{z as W}from"zod";var Yo=W.object({direction:W.enum(["input","output","inout"]).optional(),type:W.string().optional(),required:W.boolean().optional(),default:W.string().optional(),description:W.string().optional(),enum:W.array(W.string()).optional()}).strict(),Qt=W.object({kind:W.enum(["Action","Condition","Control","Decorator","SubTree"]),ports:W.record(W.string(),Yo).optional(),description:W.string().optional()}).strict(),Hn=W.object({nodes:W.record(W.string(),Qt)}).strict();import{z as D}from"zod";var 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oi(e){return e.flatMap(Sc)}function Sc(e){if(String(e.code)==="unrecognized_keys")return(Array.isArray(e.keys)?e.keys??[]:[]).map(o=>{let i=ni([...e.path,String(o)]);return{code:"CFG002_UNKNOWN_CONFIG_FIELD",severity:"error",path:i,message:`unknown config field \`${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 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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 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6
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-
`){n+=1,r=0;continue}r+=i.length}return{line:n,character:r,offset:o}}function
|
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7
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-
`?(n++,r=0):r++;return
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8
|
-
`||e==="\r"}function
|
|
9
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-
`&&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
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10
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`?(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 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1
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2
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e.children||[]){if(i.kind!=="element"||!Tl(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 Bl(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 El(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 Nl(e){return{id:e.id,kind:e.kind,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange}}function Bo(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 Pl(e){return{id:e.id,kind:e.kind,editable:e.editable,ports:e.ports.map(Bo),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 wl(e){return{id:e.id,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function Ml(e){return{id:e.id,uri:e.uri,kind:e.kind,range:e.range,elementRange:e.elementRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function Al(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 _l(e){return{uri:e.uri,path:e.path,isBtXml:e.isBtXml,kind:e.kind,behaviorTrees:e.behaviorTrees.map(Nl),subtreeReferences:e.subtreeReferences.map(wl),nodeUsages:e.nodeUsages.map(Ml),blackboardReferences:e.blackboardReferences.map(Al),treeNodesModel:e.treeNodesModel.map(Pl),genericSubTreePorts:e.genericSubTreePorts.map(Bo),rootMainTreeToExecute:xl(e.rootMainTreeToExecute)}}function Ll(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 jl(e){return e.node.kind==="SubTree"&&e.node.id==="SubTree"?(e.genericSubTreePorts.push(...e.node.ports),!0):(e.treeNodesModel.push(e.node),!1)}function Fl(e){return P(Rl.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 Ul(e,t){let n=[],r=t?.uri||e.uri,o=e.root,i=e.isBtXml,s=kl(e),a=Dl(e),l=((t?.path??e.path)||r==="")&&e.kind==="model-document"?!0:e.kind!=="model-document",c=o&&e.kind!=="model-document"?Bl(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=Cl(R,r,a,l),y=new Map;for(let b of E)jl({node:b,treeNodesModel:d,genericSubTreePorts:u})||(y.has(b.id)?n.push(Fl(b)):y.set(b.id,b))}let m=o?El(o,r):[],g=o?Ll(o,r):[],f=o?(()=>{let R=[];return 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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 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Wo(e){if(e&&e!=="btcpp-v4"&&!Yl(e))throw new Error(`unsupported builtin model set: ${e}`)}function Wn(e="btcpp-v4"){Wo(e);let t=zo(e);return Kl[t].map(r=>Go(r))}function Gn(e="btcpp-v4"){Wo(e);let t=Hl[zo(e)]??Xo(St[Jl(e)].genericSubTreeModel);return t?(t.ports??[]).map(n=>({...n,enum:n.enum?[...n.enum]:void 0})):[]}function Go(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 Rt(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 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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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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 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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:Cc,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:Bc,options:[{name:"allowStringEntryCompatibility",type:"boolean",default:"true",description:"Treat std::string blackboard entries as runtime-compatible with other port types, matching BT.CPP's existing-entry special case."}],description:"Blackboard entries must not mix incompatible resolved port types."},"model/valid-port-default-value":{code:S.InvalidPortDefaultValue,defaultSeverity:"error",description:"TreeNodesModel port defaults 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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 Fe(e,t){let n=e[t];if(n!==void 0){let r=ke(n);if(r)return r.severity}return ue[t].defaultSeverity}function tr(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(...Ec(e,s));return n}function Ec(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:li(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:li(e)})]}function li(e){let n=ue[e].options?.map(r=>r.name)??[];return n.length>0?`valid options are: ${n.join(", ")}`:void 0}function nr(e){let t=[];ci(e.linter,"linter.rules",t);for(let[n,r]of(e.overrides??[]).entries())ci(r.linter,`overrides.${n}.linter.rules`,t);return t}function ci(e,t,n){for(let[r,o]of Object.entries(e?.rules??{})){let i=`${t}.${r}`;if(!er(r)){n.push({code:"CFG010_UNKNOWN_RULE",severity:"error",path:i,message:`unknown lint rule \`${r}\``,help:"see docs/rules.md for a list of valid rule names"});continue}let s=ke(o);if(s?.options)for(let a of tr(r,s.options))n.push({code:"CFG011_INVALID_RULE_OPTION",severity:"error",path:Nc(i,s.options,a.message),message:a.message,help:a.details?.help})}}function Nc(e,t,n){let r=Object.keys(t).find(o=>n.includes(`\`${o}\``));return r?`${e}.1.${r}`:`${e}.1`}function di(e,t){if(t)return Jt(e,t)}function ui(e){return e.source==="inline-tree-nodes-model"||e.source==="external-tree-nodes-model",e.source}function pi(e){let 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|
|
7
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+
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|
8
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+
`||e==="\r"}function Bd(e){let t=e.codePointAt(0);return t!==void 0&&t<32&&e!==" "&&e!==`
|
|
9
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+
`&&e!=="\r"}function ye(e,t={}){let n=[],r=t.mode==="tolerant",o={uri:t.uri||"",path:t.path,kind:"generic-xml",isBtXml:!1,xmlDeclaration:void 0,root:void 0,nodes:[],diagnostics:n,originalText:e},i=0,s=0,a=0,l=[],c=!1;function d(){return tt(s,a,i)}function u(){return i>=e.length}function p(v=0){return e[i+v]}function m(v=1){for(let M=0;M<v;M+=1)e[i++]===`
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10
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J={kind:"comment",text:L,range:I(v,d()),fullRange:I(v,d()),contentRange:I(M,C)};y(J)}function x(){let v=d();m(5),g();let M=E();g(),p()==="?"&&p(1)===">"?m(2):f("XML001_INVALID_SYNTAX",h.Error,"invalid XML declaration",v,d(),{primaryLabel:"expected `?>` to close the XML declaration",help:'close the declaration as `<?xml version="1.0" encoding="UTF-8"?>`'});let _={range:I(v,d()),attributes:M};for(let L of M)L.name==="version"&&(_.version=L.value),L.name==="encoding"&&(_.encoding=L.value),L.name==="standalone"&&(_.standalone=L.value);o.xmlDeclaration=_}function A(){let v=d();m(2),g();let M=d(),_=B(),L=d();if(g(),p()!==">")for(f("XML001_INVALID_SYNTAX",h.Error,"invalid closing tag syntax",v,d(),{primaryLabel:"expected `>` to close the tag",help:"close the tag with `>`"}),c=!0;!u()&&p()!==">";)m();p()===">"&&m();let C=l.pop();if(!C||C.name!==_){let J=C?C.name:_||"",Re=_||"";f("XML006_MISSING_CLOSING_TAG",h.Error,`mismatched closing tag \`</${Re}>\``,v,d(),{primaryLabel:`opened as \`<${J}>\` 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C={kind:"element",name:_,attributes:[],children:[],range:I(v,v),fullRange:I(v,v),openTagRange:I(v,v),startTagRange:I(v,v),nameRange:I(M,L),selfClosing:!1};if(C.attributes=E(),g(),p()==="/"&&p(1)===">"){m(2),C.selfClosing=!0,C.openTagRange=I(v,d()),C.startTagRange=C.openTagRange,C.range=I(v,d()),C.fullRange=I(v,d()),y(C);continue}if(p()!==">"){if(f("XML001_INVALID_SYNTAX",h.Error,"invalid XML tag",v,d(),{primaryLabel:"expected `>` or `/>` to close the start tag",help:"close the start tag with `>` or make it self-closing with `/>`"}),c=!0,r){C.openTagRange=I(v,d()),C.startTagRange=C.openTagRange,C.range=I(v,d()),C.fullRange=I(v,d()),y(C);continue}break}m(),C.openTagRange=I(v,d()),C.startTagRange=C.openTagRange,C.range=I(v,d()),C.fullRange=I(v,d()),y(C),l.push(C)}else b();if(l.length>0){let v=l[l.length-1];if(f("XML006_MISSING_CLOSING_TAG",h.Error,`missing closing tag for \`<${v.name}>\``,v.openTagRange.start,v.openTagRange.end,{primaryLabel:"this tag is not closed",help:`add 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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 \`${A}\``});continue}j=be(_,A)}else{let M=x.base==="project-root"?t.rootUri:qi(E);j=be(M,A)}let F=Yi(t.rootUri,j),ve=j;try{await n.exists(j)&&(ve=n.realpath?await n.realpath(j):j)}catch{}if(!Xi(t.rootUri,ve)){if(!r){s.push({kind:"outside-root",uri:k,path:F,range:x.pathAttr.range,message:"include target is outside the workspace"});continue}s.push({kind:"external-used",uri:k,path:F,range:x.pathAttr.range,message:`external include used 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file`,uri:o.uri,range:xe(o),rule:Qi,severity:t,data:{kind:"unused-model-definition",nodeId:o.id,modelKind:o.kind,sourceKind:"inline-tree-nodes-model",fix:o.uri&&xe(o)&&o.editable?{kind:"delete-definition",uri:o.uri,range:xe(o)}:void 0}}))}return n}function ru(e){let t=e.filter(o=>o.isCanonicalModelFile);if(t.length!==1)return;let n=t[0];if(!n?.uri)return;let r=e.filter(o=>o!==n);if(!r.some(o=>!o.uri||!xe(o)||!o.editable))return{kind:"delete-non-canonical-definitions",keep:{uri:n.uri,range:xe(n)},delete:r.map(o=>({uri:o.uri,range:xe(o)}))}}function ou(e){if(e.config.models.convention!=="single-source")return[];let t=Cr(e.config,es);if(!t)return[];let n=[],r=br(e.facts.filter(o=>!o.isBuiltin));for(let o of r.values()){if(o.length<=1)continue;let i=o[0];i&&n.push(Ir({code:"BT122_DUPLICATE_MODEL_DEFINITION",message:`duplicate model definition for \`${i.id}\` (${i.kind})`,uri:i.uri,range:xe(i),rule:es,severity:t,data:{kind:"duplicate-model-definition",nodeId:i.id,modelKind:i.kind,definitions:o.map(s=>({uri:s.uri,sourceKind:s.sourceKind,range:s.range,canonical:s.isCanonicalModelFile,editable:s.editable})),fix:ru(o)}}))}return n}function ts(e){if(e.config.linter.enabled===!1)return[];let t=gr(e.index);return[...tu({config:e.config,facts:t}),...nu({config:e.config,index:e.index,facts:t}),...ou({config:e.config,facts:t})]}import{findNodeAtLocation as ns,parse as iu,parseTree as su}from"jsonc-parser";function au(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
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`&&t.push(n+1);return n=>{let r=0,o=t.length-1;for(;r<=o;){let s=Math.floor((r+o)/2);t[s]<=n?r=s+1:o=s-1}let i=Math.max(0,r-1);return{line:i,character:n-t[i],offset:n}}}function rs(e,t){if(e)return{start:t(e.offset),end:t(e.offset+e.length)}}async function os(e){let t=e.project,n=e.host??t.host,r=[],o=[],i=new Set;for(let s of t.definitionFiles){if(!await n.exists(s.uri)){r.push(P(S.NodeDefinitionFileNotFound,h.Error,`node definition file not found \`${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 $t(e,t,n){return{type:"Error",text:e.slice(t,n),start:t,end:n}}function xs(e){return e===" "||e===" "||e===`
|
|
15
|
-
`||e==="\r"}function wr(e){return e!==void 0&&/[A-Za-z_@]/.test(e)}function _u(e){return e!==void 0&&/[A-Za-z0-9_]/.test(e)}function Ge(e){return e!==void 0&&/[0-9]/.test(e)}function Lu(e){return e!==void 0&&/[0-9A-Fa-f]/.test(e)}function ju(e,t){let n=e[t];return wr(n)||Ge(n)}function Fu(e,t){let n=e[t];return n==="."||wr(n)||Ge(n)}var Uu=new Map([["ColonEqual",":="],["Equal","="],["PlusEqual","+="],["MinusEqual","-="],["StarEqual","*="],["SlashEqual","/="]]),Ou=new Map([["PipePipe","||"],["AmpAmp","&&"],["Pipe","|"],["Caret","^"],["Ampersand","&"],["Plus","+"],["Minus","-"],["DotDot",".."],["Star","*"],["Slash","/"]]),Ds=new Map([["EqualEqual","=="],["BangEqual","!="],["Less","<"],["Greater",">"],["LessEqual","<="],["GreaterEqual",">="]]),le={assignment:2,ternary:4,pipePipe:6,ampAmp:8,comparison:10,pipeCaret:12,ampersand:14,additive:16,multiplicative:18};function He(e){let t=ct(e),n=t.filter(r=>r.type==="Error");return n.length>0?{ok:!1,errors:n.map(r=>({kind:"invalid-token",message:`invalid token \`${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 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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 ${i.code} reason: TODO -->
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x=[...T.slice(T.indexOf(R)),R];l.cycles.push({files:x}),s.push({kind:"cycle",uri:B?.uri??R,path:R,cycle:x,range:B?.range,message:"include cycle detected"});return}if(m.has(R))return;p.add(R),l.reachableFiles.add(R);let E=be(t.rootUri,R);d.add(E);let y=await n.exists(E),b=a.get(R);!b&&y&&(b=ye(await n.readFile(E),{uri:E,path:R}).document,b&&a.set(R,b)),l.nodes.set(R,{path:R,document:b,exists:y}),b&&c.set(b.uri,b);let k=b?.uri??E;if(!y){s.push({kind:"not-found",uri:B?.uri??k,path:R,range:B?.range,message:`include file not found \`${R}\``}),p.delete(R);return}if(!b){p.delete(R);return}for(let x of eu(b,e)){if(!x.pathAttr){s.push({kind:"missing-path",uri:k,range:x.element.range,message:"missing include path"});continue}let A=Qd(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 \`${A}\``});continue}j=be(_,A)}else{let M=x.base==="project-root"?t.rootUri:$i(E);j=be(M,A)}let F=Ji(t.rootUri,j),ve=j;try{await n.exists(j)&&(ve=n.realpath?await n.realpath(j):j)}catch{}if(!zi(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 \`${A}\``})}l.edges.push({from:R,to:F,includeElementRange:x.element.range,includePathRange:x.pathAttr.range}),await g(F,[...T,R],{uri:k,range:x.pathAttr.range})}p.delete(R),m.add(R)};for(let f of l.entrypointFiles)await g(f,[]);return{graph:l,reachableUris:d,reachableDocuments:c,issues:s}}var Qi="model/no-conflicting-kind-for-id",es="model/no-unused-definition",ts="model/no-duplicate-definition";function Cr(e){return{...P(e.code,e.severity,e.message,e.range,e.uri,void 0,e.data),rule:e.rule,...e.relatedInformation?{relatedInformation:e.relatedInformation}:{}}}function Br(e,t){let n=Fe(e.linter.rules,t);if(n!=="off")return n==="info"?h.Info:n==="warn"?h.Warning:h.Error}function Ut(e){return e.model.idRange??e.range}function vn(e){return e.range}function tu(e){return{uri:e.uri,sourceKind:e.sourceKind,modelKind:e.kind,range:e.range}}function nu(e){let t=Br(e.config,Qi);if(!t)return[];let n=[],r=br(e.facts.filter(o=>!o.isBuiltin));for(let[o,i]of r){if(new Set(i.map(l=>l.kind)).size<=1)continue;let a=i[0];if(a)for(let l of i.slice(1)){if(l.kind===a.kind)continue;let c=Ut(a),d=a.uri&&c?[{uri:a.uri,range:c,message:"first conflicting definition"}]:void 0;n.push(Cr({code:"BT120_CONFLICTING_MODEL_KIND",message:`model ID \`${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 \`${o.id}\` in this file`,uri:o.uri,range:Ut(o),rule:es,severity:t,data:{kind:"unused-model-definition",nodeId:o.id,modelKind:o.kind,sourceKind:"inline-tree-nodes-model",fix:o.uri&&vn(o)&&o.editable?{kind:"delete-definition",uri:o.uri,range:vn(o)}:void 0}}))}return n}function ou(e){let t=e.filter(o=>o.isCanonicalModelFile);if(t.length!==1)return;let n=t[0];if(!n?.uri)return;let r=e.filter(o=>o!==n);if(!r.some(o=>!o.uri||!vn(o)||!o.editable))return{kind:"delete-non-canonical-definitions",keep:{uri:n.uri,range:Ut(n)},delete:r.map(o=>({uri:o.uri,range:vn(o)}))}}function iu(e){if(e.config.models.convention!=="single-source")return[];let t=Br(e.config,ts);if(!t)return[];let n=[],r=hr(e.facts.filter(o=>!o.isBuiltin));for(let o of r.values()){if(o.length<=1)continue;let i=o[0];i&&n.push(Cr({code:"BT122_DUPLICATE_MODEL_DEFINITION",message:`duplicate model definition for \`${i.id}\` (${i.kind})`,uri:i.uri,range:Ut(i),rule:ts,severity:t,data:{kind:"duplicate-model-definition",nodeId:i.id,modelKind:i.kind,definitions:o.map(s=>({uri:s.uri,sourceKind:s.sourceKind,range:s.range,canonical:s.isCanonicalModelFile,editable:s.editable})),fix:ou(o)}}))}return n}function ns(e){if(e.config.linter.enabled===!1)return[];let t=yr(e.index);return[...nu({config:e.config,facts:t}),...ru({config:e.config,index:e.index,facts:t}),...iu({config:e.config,facts:t})]}import{findNodeAtLocation as rs,parse as su,parseTree as au}from"jsonc-parser";function lu(e){let t=[0];for(let n=0;n<e.length;n++)e[n]===`
|
|
14
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`&&t.push(n+1);return n=>{let r=0,o=t.length-1;for(;r<=o;){let s=Math.floor((r+o)/2);t[s]<=n?r=s+1:o=s-1}let i=Math.max(0,r-1);return{line:i,character:n-t[i],offset:n}}}function os(e,t){if(e)return{start:t(e.offset),end:t(e.offset+e.length)}}async function is(e){let t=e.project,n=e.host??t.host,r=[],o=[],i=new Set;for(let s of t.definitionFiles){if(!await n.exists(s.uri)){r.push(P(S.NodeDefinitionFileNotFound,h.Error,`node definition file not found \`${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=au(l,c,{allowTrailingComma:!0,disallowComments:!1});try{if(a=su(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 \`${s.path}\``,notes:[m]}));continue}let u=Yn.safeParse(a);if(!u.success){for(let p of u.error.issues){let m=p.code==="unrecognized_keys"?p.keys.map(g=>({label:`Unrecognized key: "${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=lu(l),f=os(rs(d,["nodes",p]),g),T=gt(p,m),B=T.ports.map(R=>{let 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 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a=Math.min(i.range.start.offset+1,i.range.end.offset),l=e.parsed?.root&&at(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:[Ua(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?Fa(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:[ja(t.document,i.range.start.line,`<!-- btxml-disable-next-line ${i.code} reason: TODO -->
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t=e.documentView?[{uri:e.document.uri,trees:e.documentView.behaviorTrees}]:[],r=(e.workspace?.documents??[]).filter(o=>o.uri!==e.document.uri).map(o=>{let i=G(o,{semantic:e.semantic,config:e.config,policy:e.nodeUsagePolicy});return{uri:o.uri,trees:i.behaviorTrees}}).filter(o=>o.trees.length>0);return[...t,...r]}function Jp(e,t){if(t===e.document.uri)return e;let n=e.workspace?.documents.find(i=>i.uri===t);if(!n)return e;let r=nt(t,n.originalText,0,"btcpp-xml"),o=G(n,{semantic:e.semantic,config:e.config,policy:e.nodeUsagePolicy});return{...e,document:r,parsed:n,documentView:o}}function Ja(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function Qr(e,t,n){return Te(e.parsed??{originalText:e.document.text},t.attribute,n)}function oo(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 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rl(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=el(n,e,o,r);if(s)return s;let a=_n(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:`${An.enumLiteral}-${R}`}))),(c.type||"").toLowerCase()==="bool"&&u.push(...["true","false"].map(R=>O(R,"Value","bool",K(d,R),{sortText:`${An.boolLiteral}-${R}`})));let p=Va(n),m=Ze(c.type),g=p.filter(R=>!R.conflict&&Oa(c.type,R.type)),f=p.filter(R=>!R.conflict&&!Ze(R.type)&&m),T=g.flatMap(R=>{let E=Zr({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:`${An.matchingKey}-${R.scope==="global"?R.identity:R.key}`}]:[]}),B=f.flatMap(R=>{let E=Zr({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:`${An.unknownKey}-${R.scope==="global"?R.identity:R.key}`}]:[]});return u.push(...T,...B),u.length>0?Me(u):(t.valuePrefix||"").includes("{")?Me(u):u}function so(e,t){let n=ne({document:t.document,parsed:e.parsed,position:t.position});return n.kind==="comment"?{items:Qn.map(r=>O(r,"Reference","Diagnostic rule 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jn(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=cm(r,c.value,e.uri),p=d?.subtree?.target;if(p?.status==="resolved"&&p.kind==="behavior-tree"){let m=p.behaviorTree;return m.idRange?Ln([{uri:m.uri,range:m.idRange},...u]):u}if(p?.status==="ambiguous")return Ln([...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?it(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"?lo(t,s,r,o,i,p.identity,e.uri):co(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 uo(e,t){let n=pt(e,t.position);if(n?.reference.kind==="symbol"){let r=n.reference.symbol;if(r.source.kind==="script-assignment"){let o=r.source,s=eo(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=Xa(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=eo(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:jn(e.parsed,e.documentView,t.position,e.semantic,e.config,e.nodeUsagePolicy,e.workspace?.documents)}}function po(e,t){return{diagnostics:e.diagnostics,document:e.parsed,partial:e.partial}}function ol(e,t){let n=Lt(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:Pn(e.document),newText:n.text}],diagnostics:[]}}function mo(e,t){return ol(t,e.config.formatter)}function il(e){return[`**Port** \`${e.name}\``,"",`Direction: ${e.direction} `,`Type: \`${e.type||"unknown"}\` `,`Required: ${e.required?"yes":"no"}${e.description?`
|
|
17
17
|
Description: ${e.description}`:""}`].join(`
|
|
18
|
-
`)}function
|
|
18
|
+
`)}function sl(e){let t=e.source==="builtin"?`${e.kind.toLowerCase()} node`:`${e.kind} node`;return`**${t[0].toUpperCase()}${t.slice(1)}** \`${e.id}\`${e.ports.length?`
|
|
19
19
|
|
|
20
|
-
Ports: ${e.ports.map(n=>`\`${n.name}\``).join(", ")}`:""}`}function
|
|
20
|
+
Ports: ${e.ports.map(n=>`\`${n.name}\``).join(", ")}`:""}`}function dm(e,t){return`**SubTree** \`${e}\`
|
|
21
21
|
|
|
22
22
|
Resolves ambiguously across ${t.length} candidates:
|
|
23
23
|
${t.map(n=>`- \`${n}\``).join(`
|
|
24
|
-
`)}`}function
|
|
24
|
+
`)}`}function um(e,t){return e.map(n=>{let r=n.uri||t,o=n.idRange?.start.offset??-1;return`${r}:${o}`})}function fo(e,t){let n=pt(e,t.position);if(n){if(n.reference.kind==="enum")return{range:n.range,contents:`**Enum** \`${n.reference.name}\`
|
|
25
25
|
|
|
26
|
-
Value: \`${n.reference.value}\``};if(n.reference.kind==="global-blackboard"){let c=n.reference.symbol;return{range:n.range,contents:c?[`**Global Blackboard** \`@${n.reference.key}\``,"",`Type: \`${
|
|
27
|
-
`):`**Global Blackboard** \`@${n.reference.key}\``}}let l=n.reference.symbol;return{range:n.range,contents:[`**Script Symbol** \`${l.name}\``,"",`Type: \`${
|
|
26
|
+
Value: \`${n.reference.value}\``};if(n.reference.kind==="global-blackboard"){let c=n.reference.symbol;return{range:n.range,contents:c?[`**Global Blackboard** \`@${n.reference.key}\``,"",`Type: \`${wn(c.type)}\``,`Source: ${to(c)}`].join(`
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`):`**Global Blackboard** \`@${n.reference.key}\``}}let l=n.reference.symbol;return{range:n.range,contents:[`**Script Symbol** \`${l.name}\``,"",`Type: \`${wn(l.type)}\``,`Source: ${to(l)}`].join(`
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`)}}let r=ne({document:t.document,parsed:e.parsed,position:t.position}),o="element"in r?r.element:void 0,i="attribute"in r?r.attribute:void 0,s=o?U(e.semantic,{element:o,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}):void 0;if(o?.name==="SubTree"&&i?.name==="ID"){let l=s?.subtree?.target;if(l?.status==="resolved"&&l.kind==="behavior-tree"){let c=l.behaviorTree;return{range:i.valueContentRange||i.valueRange,contents:`**SubTree** \`${i.value}\`
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Resolves to \`BehaviorTree ID="${i.value}"\` in \`${c.uri}\`.`}}if(l?.status==="ambiguous"){let c=e.parsed?.uri||"workspace",d=
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Resolves to \`BehaviorTree ID="${i.value}"\` in \`${c.uri}\`.`}}if(l?.status==="ambiguous"){let c=e.parsed?.uri||"workspace",d=um([...l.behaviorTrees,...l.definitions],c);return{range:i.valueContentRange||i.valueRange,contents:dm(i.value,d)}}if(l?.status==="resolved"&&l.kind==="node-model")return{range:i.valueContentRange||i.valueRange,contents:`**SubTree** \`${i.value}\`
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Resolves to SubTree model in \`${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 $e(f.project,g),B=pl(p,T.documents),R=pl(p,T.externalModelDocuments),E=Rr(f.project);if(!E)return n={version:++r,diagnostics:f.diagnostics,rawConfig:u},{ok:!1,projectOk:!1,diagnostics:f.diagnostics,rawConfig:u};let y=await Wr({project:f.project,documents:B,externalModelDocuments:R,resolveGraph:!0,host:g}),b=await Xr({project:f.project,documents:B,externalModelDocuments:R,projectDiagnostics:[...f.diagnostics,...T.diagnostics],host:g}),k=[...f.diagnostics,...T.diagnostics,...y.diagnostics,...b.projectDiagnostics,...b.files.flatMap(x=>x.diagnostics)];return n={version:++r,diagnostics:k,rawConfig:u,resolvedConfig:E,workspace:{rootDir:Kr(f.project),documents:B,nodeDefinitionModels:y.nodeDefinitionModels}},{ok:f.ok&&y.ok,projectOk:b.ok,diagnostics:[...k],rawConfig:u,resolvedConfig:E,workspace:n.workspace}}function l(d=300){if(o&&clearTimeout(o),!s){let u,p;s={promise:new Promise((g,f)=>{u=g,p=f}),resolve(g){u?.(g)},reject(g){p?.(g)}}}return o=setTimeout(()=>{o=void 0;let u=s;a(i).then(p=>{u?.resolve(p)}).catch(p=>{u?.reject(p)}).finally(()=>{s===u&&(s=void 0)})},d),s.promise}let c=ul({config:e.config,getRuntimeState:()=>n});return{...c,getResolvedConfig(){return n?.resolvedConfig??c.getResolvedConfig()},getEffectiveConfigForDocument(d){return Bm(this.getResolvedConfig(),n?.workspace?.rootDir,d,c.getEffectiveConfigForDocument(d))},async loadProject(d){return ml(await a(d))},async refreshProject(d){let u=await a(d);return{ok:u.ok,diagnostics:u.diagnostics}},notifyWatchedFileChanged(d){return Dm(d)?l().then(u=>ml(u)):Promise.resolve(void 0)},getProjectConfig(){return n?.rawConfig??e.config},dispose(){c.dispose(),n=void 0,o&&clearTimeout(o),s?.reject(new Error("Node workspace service disposed during pending reload")),s=void 0}}}function XT(e={}){return gl(e)}export{XT as createBtProjectEditorService,fl as createNodeWorkspaceHost,_e as fileUriToPath,pt as pathToFileUri};
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32
|
+
Resolves to SubTree model in \`${l.model.uri||e.parsed?.uri||"workspace"}\`.`}}if(i&&o){let l=e.documentView?it(e.documentView,t.position):void 0;if(l?.declaredPort.status==="resolved")return{range:i.nameRange,contents:il(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:il(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:sl(l)}}return o&&s?.model.status==="resolved"?{range:o.nameRange||o.openTagRange,contents:sl(s.model.model)}:{}}function go(e,t){return sr(e.semantic,t).filter(n=>n.parentBehaviorTreeId&&n.idRange).map(n=>({uri:n.uri,range:n.idRange})).filter(n=>!!n.range)}function yo(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function pm(e,t){let n=new Set;for(let r of t){let o=ir(e.semantic).find(s=>bo(r,{uri:s.uri,range:s.idRange}));o&&n.add(o.id);let i=Et(e.semantic).find(s=>s.kind==="SubTree"&&(bo(r,{uri:s.uri,range:s.idRange})||bo(r,{uri:s.uri,range:s.range})));i&&n.add(i.id)}return[...n]}function bo(e,t){return t.uri===e.uri&&t.range?.start.offset===e.range.start.offset&&t.range?.end.offset===e.range.end.offset}function ho(e,t){let n=pt(e,t.position);if(n)return{locations:yo($a(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 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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};
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