npm - @abco20/btxml-checker - Versions diffs - 0.1.3 → 0.1.5 - Mend

@abco20/btxml-checker 0.1.3 → 0.1.5

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.

Files changed (11) hide show

package/dist/cli.js +42 -29
package/dist/editor-node.js +21 -21
package/dist/editor.js +19 -19
package/dist/index.d.ts +30 -0
package/dist/index.js +7 -7
package/dist/rules.d.ts +9 -3
package/dist/rules.js +4 -4
package/dist/server.cjs +323 -95
package/dist/server.cjs.map +1 -1
package/package.json +1 -1
package/schemas/btxml.config.schema.json +2 -0

package/dist/editor-node.js CHANGED Viewed

@@ -1,32 +1,32 @@
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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 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 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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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Po(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 Ll(e){return{id:e.id,kind:e.kind,editable:e.editable,ports:e.ports.map(Po),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 Fl(e){return{id:e.id,uri:e.uri,range:e.range,elementRange:e.elementRange,idRange:e.idRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function jl(e){return{id:e.id,uri:e.uri,kind:e.kind,range:e.range,elementRange:e.elementRange,parentBehaviorTreeId:e.parentBehaviorTreeId}}function Ul(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 Ol(e){return{uri:e.uri,path:e.path,isBtXml:e.isBtXml,kind:e.kind,behaviorTrees:e.behaviorTrees.map(_l),subtreeReferences:e.subtreeReferences.map(Fl),nodeUsages:e.nodeUsages.map(jl),blackboardReferences:e.blackboardReferences.map(Ul),treeNodesModel:e.treeNodesModel.map(Ll),genericSubTreePorts:e.genericSubTreePorts.map(Po),rootMainTreeToExecute:El(e.rootMainTreeToExecute)}}function Vl(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"?ie(o,"ID")?.value??i:i,c=l!==void 0;if(o.name==="SubTree"){let d=ie(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 ql(e){return e.node.kind==="SubTree"&&e.node.id==="SubTree"?(e.genericSubTreePorts.push(...e.node.ports),!0):(e.treeNodesModel.push(e.node),!1)}function $l(e){return P(Il.DuplicateNodeModelId,h.Error,`duplicate node model ID \`${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 Xl(e,t){let n=[],r=t?.uri||e.uri,o=e.root,i=e.isBtXml,s=Cl(e),a=Nl(e),l=((t?.path??e.path)||r==="")&&e.kind==="model-document"?!0:e.kind!=="model-document",c=o&&e.kind!=="model-document"?Ml(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=wl(R,r,a,l),y=new Map;for(let b of E)ql({node:b,treeNodesModel:d,genericSubTreePorts:u})||(y.has(b.id)?n.push($l(b)):y.set(b.id,b))}let m=o?Al(o,r):[],g=o?Vl(o,r):[],f=o?(()=>{let R=[];return No(o,R,r,e.originalText),R})():[],T=o?ie(o,"main_tree_to_execute"):void 0;return{extracted:{publicModel:Ol({uri:r,path:t?.path??e.path,isBtXml:i,kind:s,behaviorTrees:c,subtreeReferences:m,nodeUsages:g,blackboardReferences:f,treeNodesModel:d,genericSubTreePorts:u,rootMainTreeToExecute:T?{uri:r,range:T.range,value:T.value}:void 0}),extractedBehaviorTrees:c,extractedTreeNodesModel:d,extractedSubTreeReferences:m,extractedBlackboardReferences:f},diagnostics:n}}function wo(e,t){let{extracted:n,diagnostics:r}=Xl(e,t);return{model:n.publicModel,diagnostics:r}}function $n(e,t){return wo(e,t)}var Mo=new Set(["ID","name","_name","_autoremap","_failureIf","_successIf","_skipIf","_while","_onSuccess","_onFailure","_onHalted","_post"]),zl=new Set([...Mo,"_autoremap","_description","__shared_blackboard"]),Wl=new Map([[".","port names must not contain `.`"],["<","port names must not contain `<`"],[">","port names must not contain `>`"],["&","port names must not contain `&`"],['"','port names must not contain `"`'],["'","port names must not contain `'`"],["/","port names must not contain `/`"],["\\","port names must not contain `\\`"],[":","port names must not contain `:`"],["*","port names must not contain `*`"],["?","port names must not contain `?`"],["|","port names must not contain `|`"]]);function Xn(e){return Mo.has(e)}function Ao(e){return zl.has(e)}function zn(e){if(e.length===0)return"port names must not be empty";if(/^[0-9]/.test(e))return"port names must not start with a digit";if(Ao(e))return`\`${e}\` is a reserved attribute name`;for(let t of e){let n=t.charCodeAt(0);if(n<=31||n===127)return"port names must not contain ASCII control characters";if(t===" "||t==="	"||t===`
+`||t==="\r")return"port names must not contain whitespace";let r=Wl.get(t);if(r)return r}}function _o(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 bt(e,t){return{id:e,kind:t.kind,source:"config",sourceMeta:{sourceKind:"config"},editable:!0,ports:Object.entries(t.ports??{}).map(([n,r])=>_o(n,r))}}var Gl=[{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"]}],ht=new Map,Lo=new Map;for(let e of Gl){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};Lo.set(e.name,t),ht.set(e.name,e.name);for(let n of e.aliases)ht.set(n,e.name)}function Kl(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 Wn(e){return ht.get(e)??e}function Hl(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 St(e){return ht.get(e)}function ot(e=[]){let t=new Map,n=new Map(ht);for(let r of Lo.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=Wn(i.canonical??o),l=t.get(s)??Kl(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)??Wn(o))),r.compatibleWith.delete(r.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([r,o])=>[r,Hl(o)])),namesToCanonical:n}}function de(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??Wn(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 vt(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 Fo=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"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:[]}],jo={id:"SubTree",kind:"SubTree",ports:[{name:"_autoremap",direction:"input",type:"bool",defaultValue:"false",description:"If true, all the ports with the same name will be remapped",required:!1}]};var Uo=[{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. 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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",MissingLocalModelDefinition:"BT123_MISSING_LOCAL_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"},tr=Object.values(S).sort();var wc=nn.object({subTreePorts:nn.enum(["loose","strict"]).optional()}).strict(),Mc=nn.object({allowStringEntryCompatibility:nn.boolean().optional()}).strict(),ue={"script/valid-syntax":{code:S.InvalidScriptSyntax,defaultSeverity:"error",description:"Script-bearing attributes must parse as valid BT.CPP scripts."},"script/no-unknown-variable":{code:S.UnknownScriptVariable,defaultSeverity:"warn",description:"Script-bearing attributes should not reference unknown variables."},"script/valid-assignment":{code:S.AssignmentToUnknownVariable,codes:[S.AssignmentToUnknownVariable,S.InvalidCompoundAssignment,S.ScriptVariableTypeMismatch,S.InvalidGlobalBlackboardIdentifier],defaultSeverity:"error",description:"Script assignments must target known variables and use compatible types."},"script/valid-expression-type":{code:S.InvalidScriptOperandType,defaultSeverity:"error",description:"Script expressions must use operators with compatible operand types."},"script/valid-result-type":{code:S.ScriptResultNotBoolCompatible,defaultSeverity:"error",description:"Condition-style script attributes must have a bool-compatible inferred result."},"xml/valid-root":{code:S.InvalidRootElement,defaultSeverity:"error",description:"Root element must be <root>."},"xml/require-btcpp-format":{code:S.MissingBTCPPFormat,defaultSeverity:"warn",description:'Root element must declare BTCPP_format="4".'},"tree/require-id":{code:S.MissingBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree elements require an ID attribute."},"tree/no-duplicate-id-in-file":{code:S.DuplicateBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree IDs must be unique within a file."},"tree/no-duplicate-id":{code:S.DuplicateBehaviorTreeIdInWorkspace,defaultSeverity:"error",description:"BehaviorTree IDs must be unique across the workspace."},"tree/no-unknown-subtree":{code:S.UnknownSubTree,defaultSeverity:"error",description:"A SubTree must resolve to a BehaviorTree or a configured model."},"tree/no-unknown-main-tree":{code:S.UnknownMainTree,defaultSeverity:"error",description:"main_tree_to_execute must reference a known BehaviorTree."},"tree/no-ambiguous-subtree":{code:S.AmbiguousSubTree,defaultSeverity:"error",description:"SubTree references must resolve to a single definition."},"tree/no-duplicate-node-model-id":{code:S.DuplicateNodeModelId,defaultSeverity:"error",description:"TreeNodesModel elements must have unique IDs within the same model block."},"xml/no-unknown-top-level-element":{code:S.UnknownTopLevelElement,defaultSeverity:"warn",description:"Top-level elements must be BehaviorTree, TreeNodesModel, or configured include elements."},"include/require-path":{code:S.MissingIncludePath,defaultSeverity:"error",description:"include elements require a path attribute."},"include/no-missing-file":{code:S.IncludeNotFound,defaultSeverity:"error",description:"Referenced include file does not 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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:wc,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:Mc,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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r=Object.keys(t).find(o=>n.includes(`\`${o}\``));return r?`${e}.1.${r}`:`${e}.1`}function mi(e,t){if(t)return Jt(e,t)}function fi(e){return e.source==="inline-tree-nodes-model"||e.source==="external-tree-nodes-model",e.source}function gi(e){let t=e.port?.uri??e.model?.uri??"",n=e.port?.nameRange??e.port?.range??e.model?.idRange??e.model?.range;return P(e.code,h.Error,e.message,n,t,{primaryLabel:e.message,help:e.help,notes:e.notes},e.data)}function Lc(e,t,n,r,o){let i=n.effectiveType??n.type,s=n.originalType??n.type,a={...n,originalType:s,effectiveType:i,typeSource:n.typeSource??fi(n),validate:r.validate??n.validate,required:r.required??n.required,enum:r.enum?[...r.enum]:n.enum,description:r.description??n.description},l=r.typeRefinement;if(!l)return{...a,type:a.effectiveType};let c=mi(e,l.from),d=mi(e,i);return c&&c!==d?(o.push(gi({code:"BT119_INVALID_TYPE_REFINEMENT",message:`invalid type refinement for port \`${n.name}\` on node \`${t.id}\``,help:`make \`typeRefinement.from\` match 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r of e){let o=n.get(r.id);if(!o){n.set(r.id,r);continue}if(Zt(o,r))continue;let i=Yn(o,r),s=Oc(o,r),a;if(i==="port-default"){let l=new Map(o.ports.map(p=>[p.name,p])),c=r.ports.find(p=>{let m=l.get(p.name);return m&&m.defaultValue!==p.defaultValue}),d=c?.name??"unknown",u=[it(o,0),it(r,1)];a={kind:"port-default-conflict",nodeId:r.id,portName:d,sources:[{source:it(o,0),value:l.get(d)?.defaultValue},{source:it(r,1),value:c?.defaultValue}]},t.push({id:r.id,definitions:[o,r],sources:u,code:"BT107_CONFLICTING_PORT_DEFAULT",message:`conflicting default for port \`${d}\` on node \`${r.id}\``,uri:r.uri,range:r.idRange||r.range,details:{primaryLabel:"the same port has different default values across model definitions",help:`use the same default value in every \`${r.id}\` definition or remove the duplicate model`},data:a,relatedInformation:o.uri&&o.range?[{uri:o.uri,range:o.range,message:"previous definition"}]:void 0})}else{let 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(${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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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 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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 ${Bu(a.port,a.typeDefinition)}`),help:"use different blackboard keys, align the port types, or declare compatibility in btxml.model-augment.json"}})}}}}}),N({name:"model/require-output-port-remap",meta:{description:"Resolved output ports must write to a blackboard remap."},create(e){return{Element(t){if(Nu(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of t.attributes){let 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r=n.parseResult.program.statements.at(-1),o=n.analysis.finalType;!r||!o||Ye(o)||e.report({code:S.ScriptResultNotBoolCompatible,message:`script result for \`${n.attribute.name}\` is not bool-compatible`,range:me(e,n.attribute,r.range),details:{primaryLabel:"script result is not bool-compatible here",help:"return a boolean or numeric expression, or move side effects into a postcondition/script node"}})}}}}});var Ws=N({name:"script/valid-syntax",create(e){return{Element(t){for(let n of Cn(e,t))if(!n.parseResult.ok)for(let r of n.parseResult.errors){let o=r.kind==="empty-script"?S.EmptyScript:r.kind==="invalid-token"?S.InvalidScriptToken:S.InvalidScriptSyntax;e.report({code:o,message:r.message,range:r.kind==="empty-script"?n.attribute.valueContentRange??n.attribute.valueRange??me(e,n.attribute,Os(n.attribute)):me(e,n.attribute,r.range),details:{primaryLabel:`invalid script in \`${n.attribute.name}\``}})}}}}});var Gs=[Ws,qs,$s,Xs,zs];var pp={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"};function Ks(e){return N({name:pp[e],create(t){return{ProgramExit(){for(let n of t.getSuppressionIssues(e))t.report({message:n.message,range:n.range,data:mp(n)})}}}})}function mp(e){return e.code?{code:e.code}:void 0}var Hs=[Ks("unused"),Ks("missing-reason")];function Bn(e,t){return e.attributes.find(n=>n.name===t)}function Ys(e,t){if(!e)return!1;let n=(r,o)=>{let i=o||r.name==="TreeNodesModel";if(r===t)return i;for(let s of r.children)if(s.kind==="element"&&n(s,i))return!0;return!1};return n(e,!1)}var Js=[N({name:"tree/require-id",create(e){return{Element(t){t.name!=="BehaviorTree"||Bn(t,"ID")||e.report({message:"BehaviorTree must have ID attribute",range:t.range})}}}}),N({name:"tree/no-duplicate-id-in-file",create(e){let t=new Set;return{ProgramExit(){let n=Et(e.semantic,e.document.uri);for(let r of n?.behaviorTrees??[])r.idRange&&(t.has(r.id)&&e.report({message:`Duplicate BehaviorTree ID: 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n=e.getSubTreeCallView(t),r=n?.node.element.attributes.find(i=>i.name==="ID")??Bn(t,"ID");!r||n?.target.status==="resolved"||e.resolveSubTree(r.value,e.document.uri).status!=="unresolved"||e.report({message:`unknown subtree \`${r.value}\``,range:r.valueContentRange||r.valueRange})}}}}),N({name:"tree/no-ambiguous-subtree",create(e){return{Element(t){if(t.name!=="SubTree"||Ys(e.document.root,t))return;let n=Bn(t,"ID");if(!n||e.getSubTreeCallView(t)?.target.status==="resolved")return;let o=e.resolveSubTree(n.value,e.document.uri);o.status!=="ambiguous"||o.behaviorTrees.length<=1||e.report({message:`ambiguous subtree \`${n.value}\``,range:n.valueContentRange||n.valueRange})}}}}),N({name:"tree/no-duplicate-node-model-id",meta:{description:"TreeNodesModel elements must have unique IDs within the same model block."},create(){return{}}})];var fp=new Map([["IfThenElse",{min:2,max:3}],["WhileDoElse",{min:2,max:3}]]);function gp(e,t){return e===t?String(e):`${e}\u2013${t}`}var Zs=N({name:"model/valid-child-count",create(e){return{Element(t){if(pe(t))return;let n=e.getNodeUsage(t);n.model.status==="resolved"&&yp(e,t,n.model.model.id,n.model.model.kind)}}}});function yp(e,t,n,r){let o=fs(t).length,i=fp.get(n);if(i){if(o<i.min||o>i.max){let s=gp(i.min,i.max);e.report({message:`\`${n}\` requires ${s} child node(s), but has ${o}.`,range:t.range})}return}if(r==="Action"||r==="Condition"){o>0&&e.report({message:`${r} node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range});return}if(r==="Decorator"){o!==1&&e.report({message:`Decorator node \`${n}\` must have exactly 1 child node, but has ${o}.`,range:t.range});return}if(r==="Control"){o<1&&e.report({message:`Control node \`${n}\` must have at least 1 child node.`,range:t.range});return}r==="SubTree"&&o>0&&e.report({message:`SubTree node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range})}var Qs=N({name:"model/valid-port-value",create(e){return{Element(t){if(pe(t))return;let 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n=Q(e,t);if(!(!n||!Er(n.kind)||qe(e).some(o=>o.id===t&&(o.code==="BT012_CONFLICTING_NODE_MODEL"||o.code==="BT107_CONFLICTING_PORT_DEFAULT"))))return{id:n.id,kind:n.kind,ports:n.ports.map(o=>({direction:o.direction,name:o.name,type:o.type,defaultValue:o.defaultValue,description:o.description,enum:o.enum}))}}function cu(e){let t=vn(e.config,ns);if(!t)return[];let n=[],r=Sr(e.facts.filter(o=>!o.isBuiltin));for(let[o,i]of r){if(new Set(i.map(l=>l.kind)).size<=1)continue;let a=i[0];if(a)for(let l of i.slice(1)){if(l.kind===a.kind)continue;let c=Ot(a),d=a.uri&&c?[{uri:a.uri,range:c,message:"first conflicting definition"}]:void 0;n.push(kn({code:"BT120_CONFLICTING_MODEL_KIND",message:`model ID \`${o}\` has conflicting kinds (\`${a.kind}\` vs \`${l.kind}\`)`,uri:l.uri,range:Ot(l),rule:ns,severity:t,data:{kind:"conflicting-model-kind",nodeId:o,definitions:i.map(au)},relatedInformation:d}))}}return n}function du(e){if(e.config.models.convention!=="used-only")return[];let t=vn(e.config,os),n=vn(e.config,is);if(!t&&!n)return[];let r=[],o=cr(e.index),i=uu(e.facts),s=pu(e.facts),a=new Set([...o.keys(),...s.keys(),...i.keys()]);for(let l of a){let c=o.get(l)??[],d=mu(c),u=s.get(l)??[],p=new Set(u.map(g=>g.id)),m=new Set((i.get(l)??[]).map(g=>g.id));t&&r.push(...fu(u,d,t)),n&&r.push(...gu({index:e.index,uri:l,usedNodeIds:d,localNormalIds:p,localAnyIds:m,sameFileNodeUsages:c,severity:n}))}return r}function uu(e){let t=new Map;for(let n of e){if(n.sourceKind!=="inline-tree-nodes-model"||!n.uri)continue;let r=t.get(n.uri)??[];r.push(n),t.set(n.uri,r)}return t}function pu(e){let t=new Map;for(let n of e){if(n.sourceKind!=="inline-tree-nodes-model"||!n.uri||!Er(n.kind))continue;let r=t.get(n.uri)??[];r.push(n),t.set(n.uri,r)}return t}function mu(e){return new Set(e.filter(t=>t.kind==="node").map(t=>t.id))}function fu(e,t,n){let r=[];for(let o of e)t.has(o.id)||r.push(kn({code:"BT121_UNUSED_MODEL_DEFINITION",message:`unused inline model definition \`${o.id}\` in this file`,uri:o.uri,range:Ot(o),rule:os,severity:n,data:{kind:"unused-model-definition",nodeId:o.id,modelKind:o.kind,sourceKind:"inline-tree-nodes-model",fix:o.uri&&Rn(o)&&o.editable?{kind:"delete-definition",uri:o.uri,range:Rn(o)}:void 0}}));return r}function gu(e){let t=[];for(let n of e.usedNodeIds){if(e.localNormalIds.has(n)||!Te(e.index,n).some(a=>Er(a.kind)))continue;let o=e.localAnyIds.has(n),i=e.sameFileNodeUsages.find(a=>a.kind==="node"&&a.id===n),s=o?void 0:lu(e.index,n);t.push(kn({code:"BT123_MISSING_LOCAL_MODEL_DEFINITION",message:`missing local model definition \`${n}\` in this file`,uri:e.uri,range:i?.elementRange??i?.range,rule:is,severity:e.severity,data:{kind:"missing-local-model-definition",nodeId:n,sourceKind:"inline-tree-nodes-model",fix:s&&e.uri?{kind:"add-local-definition",uri:e.uri,nodeId:n,model:s}:void 0}}))}return t}function yu(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||!Rn(o)||!o.editable))return{kind:"delete-non-canonical-definitions",keep:{uri:n.uri,range:Ot(n)},delete:r.map(o=>({uri:o.uri,range:Rn(o)}))}}function bu(e){if(e.config.models.convention!=="single-source")return[];let t=vn(e.config,rs);if(!t)return[];let n=[],r=vr(e.facts.filter(o=>!o.isBuiltin));for(let o of r.values()){if(o.length<=1)continue;let i=o[0];i&&n.push(kn({code:"BT122_DUPLICATE_MODEL_DEFINITION",message:`duplicate model definition for \`${i.id}\` (${i.kind})`,uri:i.uri,range:Ot(i),rule:rs,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:yu(o)}}))}return n}function ss(e){if(e.config.linter.enabled===!1)return[];let t=hr(e.index);return[...cu({config:e.config,facts:t}),...du({config:e.config,index:e.index,facts:t}),...bu({config:e.config,facts:t})]}import{findNodeAtLocation 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E=ls(as(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 ds(e,t){return Ne(e,t).replace(/\\/g,"/")}function Ru(e){return[...e.reachableDocuments.values()]}function Nr(e){let t=new Map;for(let n of e)t.set(n.uri,n);return[...t.values()]}function us(e){let t=new Map;for(let n of e)t.set(n.path,n);return[...t.values()]}function ku(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 Pr(e){let t=[],n=e.project,r=e.resolvedConfig,o=e.resolutionMode??Br(r),i=o==="entrypoints"||e.resolveGraph?await ts({project:e.project,documents:e.documents,resolvedConfig:r,host:e.host}):void 0,s=e.externalModelDocuments,a=e.augmentations,l=await cs({project:e.project,host:e.host});t.push(...l.diagnostics);let c=l.nodeModels,d=i&&(o==="entrypoints"||e.resolveGraph)?Nr([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)&&i.reachableUris.has(f.uri)),...i.reachableDocuments.values(),...s]):Nr([...e.documents.filter(f=>e.activeDocumentUris.has(f.uri)),...s]),u=Oe(d,{config:r,models:c,augmentations:a}),p={includeIssuesByUri:ku(i?.issues??[]),suppressionIssuesByUri:new Map};t.push(...u.diagnostics,...ss({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=>[ds(n.rootUri,f.path||f.uri),f])),documentViews:new Map(d.map(f=>[f.uri,(()=>{let T=te(r,ds(n.rootUri,f.path||f.uri));return G(f,{semantic:u.index,config:T,policy:se(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(wt(u.index).map(f=>[f.id,f])),nodeModelSources:new Map(ur(u.index).map(f=>[f,Te(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 ps(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 Dr(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??Br(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 Pr({project:e.project,documents:e.documents,activeDocumentUris:l,externalModelDocuments:i,augmentations:s,resolutionMode:a,resolveGraph:e.mode==="check",resolvedConfig:n,host:o}),d=Nr([...e.documents,...Ru(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 ms(){return{includeIssuesByUri:new Map,suppressionIssuesByUri:new Map}}function fs(e,t){return e.includeIssuesByUri.get(t)??[]}function gs(e,t){return e.suppressionIssuesByUri.get(t)??[]}function ys(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=se(r),l=Tu(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=fs(e.facts,t.uri);return c?d.filter(u=>u.kind===c):d},getSuppressionIssues(c){let d=gs(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 Q(n,c)},getBehaviorTrees(c){return Y(n,c)},getTreeNodeView(c){return i.get(c)},getSubTreeCallView(c){return s.get(c)}}}function Tu(e){let t=new Set;if(!e)return t;if(e.name==="TreeNodesModel")return wr(e,t),t;for(let n of e.children)n.kind!=="element"||n.name!=="TreeNodesModel"||wr(n,t);return t}function wr(e,t){t.add(e);for(let n of e.children)n.kind==="element"&&wr(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 xu={"missing-path":"include/require-path","not-found":"include/no-missing-file",cycle:"include/no-cycle","unresolved-variable":"include/no-unresolved-variable","outside-root":"include/no-outside-root","external-used":"include/report-external-used","depth-exceeded":"include/no-depth-exceeded","too-many-files":"include/no-too-many-files"};function we(e){return N({name:xu[e],create(t){return{ProgramExit(){for(let n of t.getIncludeIssues(e))t.report({message:n.message,range:n.range,data:Du(n)})}}}})}function 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n=e.port.validate??e.typeDefinition?.validate;if(n)return _u(e.registry,n,e.value)?void 0:Tn(e.diagnosticCode,e.value,e.portLabel);let r=e.typeDefinition?.canonical??e.port.type;if(r&&!Ts(r,e.value))return Pu(r)?Tn(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 ks(e,t){return de(e,ze(t))}function ct(e,t){let n=X({portName:e,rawValue:t.trim()});return n.ok?n.reference:void 0}function Tn(e,t,n){return{code:e,message:`invalid value \`${t}\` for port \`${n}\``}}function Pu(e){let t=St(e)??e;return xs(e)!==void 0||Lu.has(t.toLowerCase())}function Ts(e,t){let n=xs(e);if(n)return wu(n,t);let r=(St(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+)?$/.test(t);case"bt::nodestatus":case"nodestatus":return Eu.includes(t);default:return Mr.has(r)||hs.has(r)?Ds(r,t):!1}}function xs(e){return/^std::vector<\s*(.+?)\s*>$/.exec(e)?.[1]}function wu(e,t){let n=Au(t);return n?n.every(r=>Mu(e,r)):!1}function Mu(e,t){if(t.kind==="string")return Ts(e,t.value);let n=(St(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 Mr.has(n)||hs.has(n)?typeof t.value=="number"&&Number.isInteger(t.value)&&Ds(n,String(t.value)):!1}}function Ds(e,t){let n=Nu[e];if(!n)return!1;if(Mr.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 Au(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 _u(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?Rs({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 Bu.compile(t.schema)(r)===!0}catch{return!1}}}var Lu=new Set(["std::string","string","bool","int8_t","std::int8_t","int16_t","std::int16_t","int","int32","int32_t","std::int32_t","int64_t","int64","std::int64_t","long","short","uint8_t","std::uint8_t","uint16_t","std::uint16_t","uint","uint32","uint32_t","std::uint32_t","uint64_t","uint64","std::uint64_t","size_t","std::size_t","unsigned","unsigned int","float","double","bt::nodestatus","nodestatus","bt::any","bt::anytypeallowed","bt::anytype","any"]);var Is=[N({name:"model/require-port-name",meta:{description:"Port elements require a name attribute."},create(e){return{TreeNodeModel(t){for(let n of t.ports)n.name||e.report({message:"Port must have name attribute",range:n.range||n.nameRange||t.idRange||t.range})}}}}),N({name:"model/no-duplicate-port-name",meta:{description:"Ports with the same name are not allowed."},create(e){return{TreeNodeModel(t){let n=new Set;for(let r of t.ports)r.name&&(n.has(r.name)&&e.report({message:`Duplicate port name "${r.name}" in 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s=o.find(a=>a.typeDefinition.canonical===i[0]);e.report({code:S.BlackboardTypeMismatch,message:`blackboard entry \`${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 ${Vu(a.port,a.typeDefinition)}`),help:"use different blackboard keys, align the port types, or declare compatibility in btxml.model-augment.json"}})}}}}}),N({name:"model/require-output-port-remap",meta:{description:"Resolved output ports must be explicitly or default-remapped to a blackboard entry."},create(e){return{Element(t){if($u(t))return;let n=e.getNodeUsage(t);if(!(n.model.status!=="resolved"&&n.tagForm!=="subtree"))for(let r of n.ports){if(r.direction!=="output")continue;let o=n.portUsages.find(i=>i.name===r.name&&i.status==="resolved");if(o){if(ct(r.name,o.value)!==void 0)continue;e.report({code:S.OutputPortRequiresRemap,message:`output port \`${r.name}\` must be remapped to a blackboard entry`,range:o.attribute.range,details:{primaryLabel:`output port \`${r.name}\` requires a blackboard remap`,help:`use \`${r.name}="{${r.name}}"\` or \`${r.name}="{some_key}"\``}});continue}r.defaultValue!==void 0&&ct(r.name,r.defaultValue)!==void 0||e.report({code:S.OutputPortRequiresRemap,message:`output port \`${r.name}\` must be remapped to a blackboard entry`,range:t.range,details:{primaryLabel:`output port \`${r.name}\` requires a blackboard remap`,help:`use \`${r.name}="{${r.name}}"\` or \`${r.name}="{some_key}"\``}})}}}}})];function Fu(e,t){return e.diagnostics.some(n=>n.code===S.DuplicateNodeModelId&&n.message.includes(`\`${t}\``))}function ju(e){return e.name==="input_port"||e.name==="output_port"||e.name==="inout_port"}function Uu(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 Ou(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 Vu(e,t){return ze(e)??t.canonical}function qu(e){return e.attributes.find(t=>t.name==="name")?.value??e.attributes.find(t=>t.name==="ID")?.value??e.name}function $u(e){return e.name==="root"||e.name==="BehaviorTree"||e.name==="TreeNodesModel"}var Xu=new Set(["_failureIf","_successIf","_skipIf","_while"]),zu=new 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Fs(e){return!Ye(e)}function cp(e,t,n){return Cn(t)||Cn(n)?!0:e==="=="||e==="!="?t.kind==="custom"||n.kind==="custom"?t.kind==="custom"&&n.kind==="custom"&&t.canonical===n.canonical:t.kind===n.kind:t.kind==="custom"||n.kind==="custom"?!1:t.kind==="number"&&n.kind==="number"||t.kind==="string"&&n.kind==="string"}function jr(e,t,n){oe(e,"invalid-operand-type",t,`operator \`${n}\` cannot be applied to these operand types`,`operands for \`${n}\` are not compatible`,"use operands with the types required by this operator")}function Ur(e,t,n,r){oe(e,"variable-type-mismatch",t.range,`cannot assign ${Vr(r)} to variable \`${t.name}\` of type ${Vr(n)}`,`\`${t.name}\` expects ${Vr(n)} here`,"assign a compatible value or change the variable's source type")}function js(e,t,n,r){oe(e,"invalid-global-blackboard-identifier",t,r,`\`${n}\` is not a valid global blackboard identifier`,"use `@name` with a valid blackboard key that starts with a letter or underscore")}function 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a=ze(i.usage.port),c=Z(e.semantic,a)?.canonical??a,d=i.usage.port.direction;n.push({name:s.reference.key,type:De(t,a),source:{kind:"global-blackboard-remap",nodeType:o,portName:i.usage.port.name,direction:d,key:s.reference.key},readable:d==="input"||d==="output"||d==="inout",writable:d==="output"||d==="inout",compatibilityKey:c})}}return n}var Gs=N({name:"script/no-unknown-variable",create(e){return{Element(t){for(let n of Me(e,t))if(n.analysis)for(let r of n.analysis.unknownIdentifiers)e.report({code:S.UnknownScriptVariable,message:`unknown script variable \`${r.name}\``,range:me(e,n.attribute,r.range),details:{primaryLabel:`\`${r.name}\` is not defined in the script environment`,help:"introduce it earlier with `:=`, add a matching blackboard remap, or define a script enum in btxml.model-augment.json"}})}}}});var Ks=N({name:"script/valid-assignment",create(e){return{Element(t){for(let n of Me(e,t))if(n.analysis)for(let r of n.analysis.diagnostics){let 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r=n.parseResult.program.statements.at(-1),o=n.analysis.finalType;!r||!o||Ye(o)||e.report({code:S.ScriptResultNotBoolCompatible,message:`script result for \`${n.attribute.name}\` is not bool-compatible`,range:me(e,n.attribute,r.range),details:{primaryLabel:"script result is not bool-compatible here",help:"return a boolean or numeric expression, or move side effects into a postcondition/script node"}})}}}}});var Js=N({name:"script/valid-syntax",create(e){return{Element(t){for(let n of Nn(e,t))if(!n.parseResult.ok)for(let r of n.parseResult.errors){let o=r.kind==="empty-script"?S.EmptyScript:r.kind==="invalid-token"?S.InvalidScriptToken:S.InvalidScriptSyntax;e.report({code:o,message:r.message,range:r.kind==="empty-script"?n.attribute.valueContentRange??n.attribute.valueRange??me(e,n.attribute,zs(n.attribute)):me(e,n.attribute,r.range),details:{primaryLabel:`invalid script in \`${n.attribute.name}\``}})}}}}});var Zs=[Js,Gs,Ks,Hs,Ys];var Dp={unused:"suppression/no-unused","missing-reason":"suppression/require-reason"};function Qs(e){return N({name:Dp[e],create(t){return{ProgramExit(){for(let n of t.getSuppressionIssues(e))t.report({message:n.message,range:n.range,data:Ip(n)})}}}})}function Ip(e){return e.code?{code:e.code}:void 0}var ea=[Qs("unused"),Qs("missing-reason")];function Pn(e,t){return e.attributes.find(n=>n.name===t)}function ta(e,t){if(!e)return!1;let n=(r,o)=>{let i=o||r.name==="TreeNodesModel";if(r===t)return i;for(let s of r.children)if(s.kind==="element"&&n(s,i))return!0;return!1};return n(e,!1)}var na=[N({name:"tree/require-id",create(e){return{Element(t){t.name!=="BehaviorTree"||Pn(t,"ID")||e.report({message:"BehaviorTree must have ID attribute",range:t.range})}}}}),N({name:"tree/no-duplicate-id-in-file",create(e){let t=new Set;return{ProgramExit(){let n=Nt(e.semantic,e.document.uri);for(let r of n?.behaviorTrees??[])r.idRange&&(t.has(r.id)&&e.report({message:`Duplicate BehaviorTree ID: 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ra=N({name:"model/valid-child-count",create(e){return{Element(t){if(pe(t))return;let n=e.getNodeUsage(t);n.model.status==="resolved"&&Ep(e,t,n.model.model.id,n.model.model.kind)}}}});function Ep(e,t,n,r){let o=Ss(t).length,i=Cp.get(n);if(i){if(o<i.min||o>i.max){let s=Bp(i.min,i.max);e.report({message:`\`${n}\` requires ${s} child node(s), but has ${o}.`,range:t.range})}return}if(r==="Action"||r==="Condition"){o>0&&e.report({message:`${r} node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range});return}if(r==="Decorator"){o!==1&&e.report({message:`Decorator node \`${n}\` must have exactly 1 child node, but has ${o}.`,range:t.range});return}if(r==="Control"){o<1&&e.report({message:`Control node \`${n}\` must have at least 1 child node.`,range:t.range});return}r==="SubTree"&&o>0&&e.report({message:`SubTree node \`${n}\` must not have child nodes, but has ${o}.`,range:t.range})}var oa=N({name:"model/valid-port-value",create(e){return{Element(t){if(pe(t))return;let 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Wp(e){if(e.configUri)return ee.dirname(e.configUri);let t=e.startUri;for(;;){if(await e.host.exists(ee.join(t,".git"))||await e.host.exists(ee.join(t,".colcon")))return t;let n=ee.dirname(t);if(n===t)return e.startUri;t=n}}async function Gr(e){let t=await Pa({startUri:e.rootUri,configUri:e.configUri,noConfig:e.noConfig,host:e.host});if(!t.ok||!t.config)return{ok:!1,diagnostics:t.diagnostics};let n=Dt(t.config);if(!n.ok)return{ok:!1,diagnostics:[...t.diagnostics,...n.diagnostics]};let r=n.config,o=await Wp({startUri:e.rootUri,configUri:t.configUri,host:e.host}),{selectedFiles:i,skippedFiles:s}=await Yi(o,r.files,e.cliFiles,e.rootUri,e.host),a=[...t.diagnostics,...n.diagnostics],l=t.configUri?$(o,t.configUri):"",c=Ji(r.resolver);for(let f of c){let T=ee.join(o,f.file);await e.host.exists(T)&&!i.some(B=>B.uri===T)&&i.push({path:f.file,uri:T,kind:"bt-xml"})}let{modelFiles:d,augmentationFiles:u,definitionFiles:p,unmatchedPatterns:m}=await wa(o,r.models,r.files,e.host);for(let f of 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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 qm(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 mt(Le.resolve(e,n))}function hl(e,t){return t.map(n=>{let r=qm(e,n),o=n.path?.startsWith("file://")?_e(n.path):n.path;return{...n,uri:r,path:o}})}function $m(e){return e.isFile()?"file":e.isDirectory()?"directory":"other"}function Xm(e){return e.startsWith("file://")?e:Do(Le.resolve(e)).href}function _e(e){return Vm(Xm(e))}function zm(e){return Do(Le.resolve(e)).href}function Wm(e){let t=e.toLowerCase();return t.endsWith(".xml")||t.endsWith(".json")||t.endsWith("btxml.config.json")||t.includes("treenodesmodel")}function Gm(e){return e.replace(/\\/g,"/").replace(/\/$/,"")}function Km(e,t){let n=Gm(e),r=_e(t).replace(/\\/g,"/");return r===n?"":r.startsWith(`${n}/`)?r.slice(n.length+1):t}function Hm(e,t,n,r){return e&&t&&n.startsWith("file://")?te(e,Km(t,n)):r}function Ym(e,t){let n=zm(t),r=e.realpath;return{rootUri(){return n},readFile(i){return e.readFile(i)},exists(i){return e.exists(i)},async stat(i){return e.stat?e.stat(i):void 0},async readDir(i){return[...await e.readDir(i)]},realpath:r?async i=>r(i):void 0}}function Sl(e){return{ok:e.projectOk??e.ok,diagnostics:e.diagnostics}}function vl(e=process.cwd()){let t=Le.resolve(e);return{async readFile(n){return Ht.readFile(_e(n),"utf8")},async exists(n){try{return await Ht.access(_e(n),Om.F_OK),!0}catch(r){if(r.code!=="ENOENT")throw r;return!1}},async stat(n){try{let r=await Ht.stat(_e(n));return{type:$m(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 Do(Le.isAbsolute(r)?r:Le.resolve(t,r)).href}}}function Rl(e={}){let t=e.host??vl(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=Ym(d.host??t,p),f=await Gr({rootUri:mt(p),configUri:d.configPath||e.configPath?mt(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=hl(p,T.documents),R=hl(p,T.externalModelDocuments),E=xr(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 Kr({project:f.project,documents:B,externalModelDocuments:R,resolveGraph:!0,host:g}),b=await Wr({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:Yr(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=bl({config:e.config,getRuntimeState:()=>n});return{...c,getResolvedConfig(){return n?.resolvedConfig??c.getResolvedConfig()},getEffectiveConfigForDocument(d){return Hm(this.getResolvedConfig(),n?.workspace?.rootDir,d,c.getEffectiveConfigForDocument(d))},async loadProject(d){return Sl(await a(d))},async refreshProject(d){let u=await a(d);return{ok:u.ok,diagnostics:u.diagnostics}},notifyWatchedFileChanged(d){return Wm(d)?l().then(u=>Sl(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 ux(e={}){return Rl(e)}export{ux as createBtProjectEditorService,vl as createNodeWorkspaceHost,_e as fileUriToPath,mt as pathToFileUri};