@abco20/btxml-checker 0.1.4 → 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.
- package/dist/cli.js +42 -29
- package/dist/editor-node.js +22 -22
- 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 +316 -91
- package/dist/server.cjs.map +1 -1
- package/package.json +1 -1
- package/schemas/btxml.config.schema.json +2 -0
package/dist/editor.js
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import{z as xt}from"zod";var b={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"},pn=Object.values(b).sort();var ka=xt.object({subTreePorts:xt.enum(["loose","strict"]).optional()}).strict(),xa=xt.object({allowStringEntryCompatibility:xt.boolean().optional()}).strict(),Dr={"script/valid-syntax":{code:b.InvalidScriptSyntax,defaultSeverity:"error",description:"Script-bearing attributes must parse as valid BT.CPP scripts."},"script/no-unknown-variable":{code:b.UnknownScriptVariable,defaultSeverity:"warn",description:"Script-bearing attributes should not reference unknown variables."},"script/valid-assignment":{code:b.AssignmentToUnknownVariable,codes:[b.AssignmentToUnknownVariable,b.InvalidCompoundAssignment,b.ScriptVariableTypeMismatch,b.InvalidGlobalBlackboardIdentifier],defaultSeverity:"error",description:"Script assignments must target known variables and use compatible types."},"script/valid-expression-type":{code:b.InvalidScriptOperandType,defaultSeverity:"error",description:"Script expressions must use operators with compatible operand types."},"script/valid-result-type":{code:b.ScriptResultNotBoolCompatible,defaultSeverity:"error",description:"Condition-style script attributes must have a bool-compatible inferred result."},"xml/valid-root":{code:b.InvalidRootElement,defaultSeverity:"error",description:"Root element must be <root>."},"xml/require-btcpp-format":{code:b.MissingBTCPPFormat,defaultSeverity:"warn",description:'Root element must declare BTCPP_format="4".'},"tree/require-id":{code:b.MissingBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree elements require an ID attribute."},"tree/no-duplicate-id-in-file":{code:b.DuplicateBehaviorTreeID,defaultSeverity:"error",description:"BehaviorTree IDs must be unique within a file."},"tree/no-duplicate-id":{code:b.DuplicateBehaviorTreeIdInWorkspace,defaultSeverity:"error",description:"BehaviorTree IDs must be unique across the workspace."},"tree/no-unknown-subtree":{code:b.UnknownSubTree,defaultSeverity:"error",description:"A SubTree must resolve to a BehaviorTree or a configured model."},"tree/no-unknown-main-tree":{code:b.UnknownMainTree,defaultSeverity:"error",description:"main_tree_to_execute must reference a known BehaviorTree."},"tree/no-ambiguous-subtree":{code:b.AmbiguousSubTree,defaultSeverity:"error",description:"SubTree references must resolve to a single definition."},"tree/no-duplicate-node-model-id":{code:b.DuplicateNodeModelId,defaultSeverity:"error",description:"TreeNodesModel elements must have unique IDs within the same model block."},"xml/no-unknown-top-level-element":{code:b.UnknownTopLevelElement,defaultSeverity:"warn",description:"Top-level elements must be BehaviorTree, TreeNodesModel, or configured include elements."},"include/require-path":{code:b.MissingIncludePath,defaultSeverity:"error",description:"include elements require a path attribute."},"include/no-missing-file":{code:b.IncludeNotFound,defaultSeverity:"error",description:"Referenced include file does not exist."},"include/no-cycle":{code:b.IncludeCycle,defaultSeverity:"error",description:"Include graph cycles are not allowed."},"include/no-outside-root":{code:b.IncludeOutsideWorkspace,defaultSeverity:"error",description:"Includes must stay within the workspace root."},"include/no-unresolved-variable":{code:b.UnresolvedIncludePathVariable,defaultSeverity:"error",description:"Include path variables must resolve before lookup."},"include/no-depth-exceeded":{code:b.IncludeDepthExceeded,defaultSeverity:"error",description:"Include resolution must stay within the configured maximum depth."},"include/no-too-many-files":{code:b.TooManyResolvedFiles,defaultSeverity:"error",description:"Include resolution must stay within the configured file limit."},"include/require-ros-package-resolver":{code:b.RosPackageResolverMissing,defaultSeverity:"error",description:"When include uses ros_pkg, a host resolvePackageUri capability must be provided."},"include/no-missing-ros-package":{code:b.RosPackageNotFound,defaultSeverity:"error",description:"ros_pkg include must resolve to an existing ROS package root URI."},"include/report-external-used":{code:b.ExternalIncludeUsed,defaultSeverity:"info",description:"Reports when an allowed include resolves outside the workspace root."},"model/no-unknown-node":{code:b.UnknownNode,defaultSeverity:"warn",description:"Node usages must resolve to a known model."},"model/require-port":{code:b.MissingRequiredPort,defaultSeverity:"error",description:"Required ports must be supplied."},"model/require-port-name":{code:b.MissingPortName,defaultSeverity:"error",description:"Port elements require a name attribute."},"model/no-duplicate-port-name":{code:b.DuplicatePortName,defaultSeverity:"error",description:"Ports with the same name are not allowed."},"model/valid-port-name":{code:b.InvalidPortName,defaultSeverity:"error",description:"Port names must be valid XML attribute names for BT nodes."},"model/no-unknown-port":{code:b.UnknownPort,defaultSeverity:"warn",optionsSchema:ka,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:b.InvalidPortValueType,defaultSeverity:"error",description:"Port values must match the declared type."},"model/no-blackboard-type-mismatch":{code:b.BlackboardTypeMismatch,defaultSeverity:"error",optionsSchema:xa,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:b.InvalidPortDefaultValue,defaultSeverity:"error",description:"TreeNodesModel port defaults must match the declared type."},"model/require-output-port-remap":{code:b.OutputPortRequiresRemap,defaultSeverity:"warn",description:"Resolved output ports must write to a blackboard remap."},"model/no-childless-control-shape-mismatch":{code:b.ChildCapableNodeSelfClosing,defaultSeverity:"warn",description:"Control and decorator nodes should normally use open/close tags."},"model/no-leaf-block-shape":{code:b.LeafNodeOpenClose,defaultSeverity:"warn",description:"Leaf nodes should normally be self-closing unless they contain child nodes."},"model/valid-child-count":{code:b.InvalidChildCount,defaultSeverity:"warn",description:"Child count must match the expected count for the node kind (Action/Condition: 0, Decorator: 1, Control: >=1, special builtins: fixed range)."},"model/no-conflicting-definition":{code:b.ConflictingNodeModel,defaultSeverity:"error",description:"Node model definitions must agree on kind and port shape."},"model/no-conflicting-kind-for-id":{code:b.ConflictingModelKind,defaultSeverity:"error",description:"A model ID must not be defined with different kinds."},"model/no-unused-definition":{code:b.UnusedModelDefinition,defaultSeverity:"error",description:"Inline model definitions should be used in the same BT XML file."},"model/no-duplicate-definition":{code:b.DuplicateModelDefinition,defaultSeverity:"error",description:"A user-defined model (ID, kind) should be defined only once."},"suppression/no-unused":{code:b.UnusedSuppression,defaultSeverity:"warn",description:"Suppressions should match at least one diagnostic."},"suppression/require-reason":{code:b.MissingSuppressionReason,defaultSeverity:"off",description:"Suppressions should include a reason when required."}};var It=["off","info","warn","error"];var Br={linter:{rules:{"xml/require-btcpp-format":"error","xml/no-unknown-top-level-element":"error","model/no-unknown-node":"error","model/no-unknown-port":["error",{subTreePorts:"strict"}],"script/no-unknown-variable":"error","model/no-childless-control-shape-mismatch":"error","model/no-leaf-block-shape":"error","model/valid-child-count":"error","suppression/no-unused":"error","suppression/require-reason":"warn"}}},Ia={files:{include:["**/*.xml"],ignore:["build/**","install/**","log/**","node_modules/**",".git/**"],useGitignore:!0,followSymlinks:!1,maxSize:5*1024*1024},resolver:{entrypoints:[],includes:{elements:[{name:"include",attribute:"path",base:"file"}],variables:{},allowOutsideRoot:!1,maxDepth:32,maxFiles:1e3},behaviorTreeIds:"workspace-unique"},models:{builtins:["btcpp-v4"],files:[],augmentations:[],definitions:[],inline:{},convention:"allow-unused"},linter:{enabled:!0,rules:{},baseline:void 0,suppressions:{inline:"allow"}},formatter:{indentWidth:2,xmlDeclaration:"always",blankLineBetweenBehaviorTrees:!0,lineEnding:"lf"},overrides:[]};function Le(){return structuredClone(Ia)}function We(e,t){return{files:t.files?{...e.files,...t.files}:e.files,resolver:t.resolver?{...e.resolver,...t.resolver,includes:{...e.resolver.includes,...t.resolver.includes||{},variables:{...e.resolver.includes.variables,...t.resolver.includes?.variables||{}}}}:e.resolver,models:t.models?{...e.models,...t.models}:e.models,linter:t.linter?{...e.linter,...t.linter,rules:t.linter.rules?{...e.linter.rules,...t.linter.rules}:e.linter.rules,suppressions:t.linter.suppressions?{...e.linter.suppressions,...t.linter.suppressions}:e.linter.suppressions}:e.linter,formatter:t.formatter?{...e.formatter,...t.formatter}:e.formatter,overrides:t.overrides?[...e.overrides,...t.overrides]:e.overrides}}var C={Error:"error",Warning:"warning",Info:"info"};function W(e,t,n,r,o="",i,a){return{code:e,severity:t,message:n,uri:o,...r?{range:r}:{},...i?{details:i}:{},...a?{data:a}:{}}}function Oe(e,t,n){return{line:e,character:t,offset:n}}function v(e,t){return{start:e,end:t}}function K(e,t){return e?e.start.offset<=t&&t<=e.end.offset:!1}function Ca(e){let t=[0];for(let n=0;n<e.length;n+=1)e[n]===`
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`&&t.push(n+1);return t}function mn(e,t,n){return Math.min(Math.max(e,t),n)}function Ve(e,t,n=0,r="xml"){let o=
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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=Wa.get(t);if(r)return r}}function Or(e,t){let n=t.direction??"input";return{source:"config",name:e,direction:n,type:t.type,defaultValue:t.default,description:t.description,required:t.required??((n==="input"||n==="inout")&&t.default===void 0),enum:t.enum}}function Sn(e,t){return{id:e,kind:t.kind,source:"config",sourceMeta:{sourceKind:"config"},editable:!0,ports:Object.entries(t.ports??{}).map(([n,r])=>Or(n,r))}}var Ya=[{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"]}],He=new Map,Vr=new Map;for(let e of Ya){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};Vr.set(e.name,t),He.set(e.name,e.name);for(let n of e.aliases)He.set(n,e.name)}function Ha(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 Rn(e){return He.get(e)??e}function Za(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 Ze(e){return He.get(e)}function Ue(e=[]){let t=new Map,n=new Map(He);for(let r of Vr.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 a=Rn(i.canonical??o),l=t.get(a)??Ha(o,a,i);l.name=o,l.kind=i.kind,l.canonical=a,l.source="augmentation",l.validate=i.validate??l.validate,l.aliases.add(o),l.aliases.add(a);for(let u of i.aliases??[])l.aliases.add(u);for(let u of i.compatibleWith??[])l.compatibleWith.add(u);t.set(a,l),n.set(o,a),n.set(a,a);for(let u of i.aliases??[])n.set(u,a)}for(let r of t.values())r.compatibleWith=new Set([...r.compatibleWith].map(o=>n.get(o)??Rn(o))),r.compatibleWith.delete(r.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([r,o])=>[r,Za(o)])),namesToCanonical:n}}function ie(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??Rn(t),r=e.entriesByCanonical.get(n);return r||{name:t,kind:"opaque",canonical:n,aliases:[],compatibleWith:[],source:"custom"}}function Ct(e,t){return ie(e,t)?.canonical}function Je(e,t,n){let r=ie(e,t),o=ie(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 Ur=[{id:"AlwaysFailure",kind:"Action",ports:[]},{id:"AlwaysSuccess",kind:"Action",ports:[]},{id:"AsyncFallback",kind:"Control",ports:[]},{id:"AsyncSequence",kind:"Control",ports:[]},{id:"Delay",kind:"Decorator",ports:[{name:"delay_msec",direction:"input",type:"unsigned int",description:"Tick the child after a few milliseconds",required:!0}]},{id:"Fallback",kind:"Control",ports:[]},{id:"ForceFailure",kind:"Decorator",ports:[]},{id:"ForceSuccess",kind:"Decorator",ports:[]},{id:"IfThenElse",kind:"Control",ports:[]},{id:"Inverter",kind:"Decorator",ports:[]},{id:"KeepRunningUntilFailure",kind:"Decorator",ports:[]},{id:"LoopBool",kind:"Decorator",ports:[{name:"value",direction:"output",type:"bool",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<bool, std::allocator<bool> > >",required:!0}]},{id:"LoopDouble",kind:"Decorator",ports:[{name:"value",direction:"output",type:"double",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<double, std::allocator<double> > >",required:!0}]},{id:"LoopInt",kind:"Decorator",ports:[{name:"value",direction:"output",type:"int",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<int, std::allocator<int> > >",required:!0}]},{id:"LoopString",kind:"Decorator",ports:[{name:"value",direction:"output",type:"std::string",required:!1},{name:"if_empty",direction:"input",type:"BT::NodeStatus",defaultValue:"SUCCESS",description:"Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED",required:!1},{name:"queue",direction:"inout",type:"std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >",required:!0}]},{id:"Parallel",kind:"Control",ports:[{name:"failure_count",direction:"input",type:"int",defaultValue:"1",description:"number of children that need to fail to trigger a FAILURE",required:!1},{name:"success_count",direction:"input",type:"int",defaultValue:"-1",description:"number of children that need to succeed to trigger a SUCCESS",required:!1}]},{id:"ParallelAll",kind:"Control",ports:[{name:"max_failures",direction:"input",type:"int",defaultValue:"1",description:"If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE",required:!1}]},{id:"Precondition",kind:"Decorator",ports:[{name:"else",direction:"input",type:"BT::NodeStatus",defaultValue:"FAILURE",description:"Return status if condition is false",required:!1},{name:"if",direction:"input",type:"std::string",required:!0}]},{id:"ReactiveFallback",kind:"Control",ports:[]},{id:"ReactiveSequence",kind:"Control",ports:[]},{id:"Repeat",kind:"Decorator",ports:[{name:"num_cycles",direction:"input",type:"int",description:"Repeat a successful child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RetryUntilSuccessful",kind:"Decorator",ports:[{name:"num_attempts",direction:"input",type:"int",description:"Execute again a failing child up to N times. Use -1 to create an infinite loop.",required:!0}]},{id:"RunOnce",kind:"Decorator",ports:[{name:"then_skip",direction:"input",type:"bool",defaultValue:"true",description:"If true, skip after the first execution, otherwise return the same NodeStatus returned once bu the child.",required:!1}]},{id:"Script",kind:"Action",ports:[{name:"code",direction:"input",type:"std::string",description:"Piece of code that can be parsed",required:!0}]},{id:"ScriptCondition",kind:"Condition",ports:[{name:"code",direction:"input",type:"BT::AnyTypeAllowed",description:"Piece of code that can be parsed. Must return false or true",required:!0}]},{id:"Sequence",kind:"Control",ports:[]},{id:"SequenceWithMemory",kind:"Control",ports:[]},{id:"SetBlackboard",kind:"Action",ports:[{name:"output_key",direction:"inout",type:"BT::AnyTypeAllowed",description:"Name of the blackboard entry where the value should be written",required:!0},{name:"value",direction:"input",type:"BT::AnyTypeAllowed",description:"Value to be written int othe output_key",required:!0}]},{id:"SkipUnlessUpdated",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"Sleep",kind:"Action",ports:[{name:"msec",direction:"input",type:"unsigned int",required:!0}]},{id:"Switch2",kind:"Control",ports:[{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch3",kind:"Control",ports:[{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch4",kind:"Control",ports:[{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch5",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Switch6",kind:"Control",ports:[{name:"case_5",direction:"input",type:"std::string",required:!0},{name:"case_4",direction:"input",type:"std::string",required:!0},{name:"case_6",direction:"input",type:"std::string",required:!0},{name:"case_3",direction:"input",type:"std::string",required:!0},{name:"case_2",direction:"input",type:"std::string",required:!0},{name:"case_1",direction:"input",type:"std::string",required:!0},{name:"variable",direction:"input",type:"std::string",required:!0}]},{id:"Timeout",kind:"Decorator",ports:[{name:"msec",direction:"input",type:"unsigned int",description:"After a certain amount of time, halt() the child if it is still running.",required:!0}]},{id:"UnsetBlackboard",kind:"Action",ports:[{name:"key",direction:"input",type:"std::string",description:"Key of the entry to remove",required:!0}]},{id:"WaitValueUpdate",kind:"Decorator",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WasEntryUpdated",kind:"Action",ports:[{name:"entry",direction:"input",type:"BT::Any",description:"Entry to check",required:!0}]},{id:"WhileDoElse",kind:"Control",ports:[]}],qr={id:"SubTree",kind:"SubTree",ports:[{name:"_autoremap",direction:"input",type:"bool",defaultValue:"false",description:"If true, all the ports with the same name will be remapped",required:!1}]};var 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Zr(e){if(e&&e!=="btcpp-v4"&&!rs(e))throw new Error(`unsupported builtin model set: ${e}`)}function vn(e="btcpp-v4"){Zr(e);let t=Hr(e);return ts[t].map(r=>Jr(r))}function hn(e="btcpp-v4"){Zr(e);let t=ns[Hr(e)]??Yr(Qe[os(e)].genericSubTreeModel);return t?(t.ports??[]).map(n=>({...n,enum:n.enum?[...n.enum]:void 0})):[]}function Jr(e){return{id:e.id,kind:e.kind,source:"builtin",sourceMeta:{sourceKind:"builtin"},editable:!1,ports:(e.ports??[]).map(t=>({...t,enum:t.enum?[...t.enum]:void 0}))}}function tt(e){return{id:e.id,kind:e.kind,ports:[...e.ports].sort((t,n)=>{let r=t.name.localeCompare(n.name);if(r!==0)return r;let o=t.direction.localeCompare(n.direction);if(o!==0)return o;let i=(t.type??"").localeCompare(n.type??"");if(i!==0)return i;let a=(t.defaultValue??"").localeCompare(n.defaultValue??"");return 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|
-
`?(n++,r=0):r++;return Oe(n,r,t)}function Fn(e,t,n,r){for(let o=0;o<e.length;o++){if(e[o]!=="&")continue;let i=e.slice(o+1),a=o;if(i.startsWith("amp;")){o+=4;continue}if(i.startsWith("lt;")){o+=3;continue}if(i.startsWith("gt;")){o+=3;continue}if(i.startsWith("quot;")){o+=5;continue}if(i.startsWith("apos;")){o+=5;continue}if(i.startsWith("#")){let c=1;if(i[c]==="x"||i[c]==="X"){c++;let D="";for(;c<i.length&&/[0-9a-fA-F]/.test(i[c]);)D+=i[c],c++;if(c<i.length&&i[c]===";"){c++;let f=e.slice(a,a+1+c),y=q(n,t+a),R=q(n,t+a+f.length);if(D){let I=Number.parseInt(D,16);if(I>0&&I<=1114111&&(I<55296||I>57343)){o+=c-1;continue}r("XML014_INVALID_NUMERIC_ENTITY",C.Error,`invalid numeric XML entity \`${f}\``,y,R,{primaryLabel:"this numeric entity is outside the valid Unicode range",help:"replace it with a valid Unicode code point or normal text"}),o+=c-1;continue}r("XML001_INVALID_SYNTAX",C.Error,`malformed numeric XML entity \`${f}\``,y,R,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as ` ` or escape the ampersand as `&`"}),o+=c-1;continue}let A=e.slice(a,a+1+c),h=q(n,t+a),E=q(n,t+a+A.length);r("XML001_INVALID_SYNTAX",C.Error,`malformed numeric XML entity \`${A}\``,h,E,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as ` ` or escape the ampersand as `&`"}),o+=c-1;continue}let p="";for(;c<i.length&&/[0-9]/.test(i[c]);)p+=i[c],c++;if(c<i.length&&i[c]===";"){c++;let D=e.slice(a,a+1+c),A=q(n,t+a),h=q(n,t+a+D.length);if(p){let E=Number.parseInt(p,10);if(E>0&&E<=1114111&&(E<55296||E>57343)){o+=c-1;continue}r("XML014_INVALID_NUMERIC_ENTITY",C.Error,`invalid numeric XML entity \`${D}\``,A,h,{primaryLabel:"this numeric entity is outside the valid Unicode range",help:"replace it with a valid Unicode code point or normal text"}),o+=c-1;continue}r("XML001_INVALID_SYNTAX",C.Error,`malformed numeric XML entity \`${D}\``,A,h,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as ` ` or escape the ampersand as `&`"}),o+=c-1;continue}let m=e.slice(a,a+1+c),x=q(n,t+a),S=q(n,t+a+m.length);r("XML001_INVALID_SYNTAX",C.Error,`malformed numeric XML entity \`${m}\``,x,S,{primaryLabel:"this entity is incomplete",help:"use a valid numeric entity such as ` ` or escape the ampersand as `&`"}),o+=c-1;continue}let s=i.match(/^[a-zA-Z][a-zA-Z0-9]*;/);if(s){let c=`&${s[0]}`,p=q(n,t+a),m=q(n,t+a+c.length);r("XML013_UNKNOWN_ENTITY",C.Error,`unknown XML entity \`${c}\``,p,m,{primaryLabel:"this entity is not one of XML's predefined entities",help:"use one of `&`, `<`, `>`, `"`, `'`, or a valid numeric entity"}),o+=c.length-1;continue}let l=i.match(/^[a-zA-Z][a-zA-Z0-9]*/);if(l){let c=`&${l[0]}`,p=q(n,t+a),m=q(n,t+a+c.length);r("XML001_INVALID_SYNTAX",C.Error,"bare ampersand in XML content",p,m,{primaryLabel:"escape `&` as `&`",help:"replace `&` with `&` unless this is a valid XML entity"}),o+=c.length-1;continue}let u=q(n,t+a),d=q(n,t+a+1);r("XML001_INVALID_SYNTAX",C.Error,"bare ampersand in XML content",u,d,{primaryLabel:"escape `&` as `&`",help:"replace `&` with `&` unless this is a valid XML entity"})}}function
|
|
7
|
-
`||e==="\r"}function
|
|
8
|
-
`&&e!=="\r"}function
|
|
9
|
-
`?(a+=1,s=0):s+=1}function x(){for(;!c()&&Sl(p());)m()}let S=(g,N,M,P,k,z)=>{n.push(W(g,N,M,v(P,k),o.uri,z))};function D(g,N,M,P,k,z){n.push(W(g,N,M,P&&k?v(P,k):void 0,o.uri,z))}function A(){if(!yl(p()))return"";let g=i;for(m();!c()&&bl(p());)m();return e.slice(g,i)}function h(){let g=p();if(g!=='"'&&g!=="'")return{value:"",ok:!1};let N=d();m();let M=d(),P=i;for(;!c()&&p()!==g&&p()!=="<";)m();let k=d();if(c()||p()!==g)return{value:e.slice(P,i),ok:!1,valueRange:v(N,k),valueContentRange:v(M,k)};let z=e.slice(P,i);m(),Fn(z,M.offset,e,S);let pe=Vo(z);return{value:pe.value,valueOffsets:pe.offsets,ok:!0,valueRange:v(N,d()),valueContentRange:v(M,k)}}function E(){let g=[],N=new Set;for(;;){x();let M=p();if(!M||M===">"||M==="/"&&p(1)===">")break;let P=d(),k=A(),z=d();if(!k)break;x();let pe=d();if(p()!=="="){if(S("XML001_INVALID_SYNTAX",C.Error,"invalid attribute syntax",P,z,{primaryLabel:`expected \`=\` after attribute \`${k}\``,help:`write the attribute as \`${k}="..."\``}),u=!0,r)continue;break}m();let ha=d();x();let cn=d(),he=h(),_e=d();if(!he.ok&&(S("XML005_INVALID_ATTRIBUTE_VALUE",C.Error,"invalid attribute value",cn,_e,{primaryLabel:"expected a quoted attribute value",help:`write the value with quotes, for example \`${k}="value"\``}),u=!0,!r)||(N.has(k)?S("XML004_DUPLICATE_ATTRIBUTE",C.Error,`duplicate attribute \`${k}\``,P,_e,{primaryLabel:`attribute \`${k}\` is already defined on this element`,help:`remove one of the duplicate \`${k}\` attributes`}):N.add(k),g.push({name:k,value:he.value,...he.valueOffsets?{valueOffsets:he.valueOffsets}:{},range:v(P,_e),fullRange:v(P,_e),nameRange:v(P,z),equalsRange:v(pe,ha),valueRange:he.valueRange||v(cn,_e),valueContentRange:he.valueContentRange||v(cn,_e)}),!he.ok&&r))break}return g}function f(g){l.length>0?l[l.length-1].children.push(g):(o.nodes.push(g),!o.root&&g.kind==="element"&&(o.root=g))}function y(){let g=d(),N=i;for(;!c()&&p()!=="<";)m();let M=e.slice(N,i);if(M.length===0)return;for(let k of M)if(Rl(k)){S("XML007_INVALID_CHARACTER",C.Error,"invalid XML character",g,d(),{primaryLabel:"this control character is not allowed in XML",help:"remove the character or replace it with valid text"});break}Fn(M,N,e,S);let P={kind:"text",text:pt(M),range:v(g,d()),fullRange:v(g,d())};f(P)}function R(){let g=d();m(4);let N=d(),M=i;for(;!c()&&!(p()==="-"&&p(1)==="-"&&p(2)===">");)m();let P=e.slice(M,i);if(c()){if(S("XML001_INVALID_SYNTAX",C.Error,"unterminated XML comment",g,d(),{primaryLabel:"comment started here but no closing `-->` was found",help:"close the comment with `-->`"}),u=!0,!r)return;let pe={kind:"comment",text:P,range:v(g,d()),fullRange:v(g,d()),contentRange:v(N,d())};f(pe);return}(P.includes("--")||P.endsWith("-"))&&S("XML001_INVALID_SYNTAX",C.Error,"invalid XML comment",N,d(),{primaryLabel:"XML comments cannot contain `--`",help:"remove `--` from the comment body or split it into separate comments"});let k=d();m(3);let z={kind:"comment",text:P,range:v(g,d()),fullRange:v(g,d()),contentRange:v(N,k)};f(z)}function I(){let g=d();m(5),x();let N=E();x(),p()==="?"&&p(1)===">"?m(2):S("XML001_INVALID_SYNTAX",C.Error,"invalid XML declaration",g,d(),{primaryLabel:"expected `?>` to close the XML declaration",help:'close the declaration as `<?xml version="1.0" encoding="UTF-8"?>`'});let M={range:v(g,d()),attributes:N};for(let P of N)P.name==="version"&&(M.version=P.value),P.name==="encoding"&&(M.encoding=P.value),P.name==="standalone"&&(M.standalone=P.value);o.xmlDeclaration=M}function w(){let g=d();m(2),x();let N=d(),M=A(),P=d();if(x(),p()!==">")for(S("XML001_INVALID_SYNTAX",C.Error,"invalid closing tag syntax",g,d(),{primaryLabel:"expected `>` to close the tag",help:"close the tag with `>`"}),u=!0;!c()&&p()!==">";)m();p()===">"&&m();let k=l.pop();if(!k||k.name!==M){let z=k?k.name:M||"",pe=M||"";S("XML006_MISSING_CLOSING_TAG",C.Error,`mismatched closing tag \`</${pe}>\``,g,d(),{primaryLabel:`opened as \`<${z}>\` but closed as \`</${pe}>\``,help:`change the closing tag to \`</${z}>\` or fix the nesting`});return}k.closeTagRange=v(g,d()),k.endTagRange=v(g,d()),k.nameRange||(k.nameRange=v(N,P)),k.range=v(k.range.start,d()),k.fullRange=v(k.range.start,d())}for(;!c();)if(p()==="<")if(p(1)==="?")if(e.slice(i,i+5).toLowerCase()==="<?xml"&&e.charAt(i+5)===" ")I();else{let g=d();for(;!c()&&!(p()==="?"&&p(1)===">");)m();c()||m(2),S("XML012_UNSUPPORTED_PROCESSING_INSTRUCTION",C.Error,"processing instruction is not supported",g,d(),{primaryLabel:"only the XML declaration is supported",help:"remove this processing instruction"})}else if(p(1)==="!"&&p(2)==="-"&&p(3)==="-")R();else if(p(1)==="!"&&p(2)==="["&&e.slice(i+3,i+9)==="CDATA["){let g=d();for(m(8);!c()&&!(p()==="]"&&p(1)==="]"&&p(2)===">");)m();c()||m(3),S("XML010_UNSUPPORTED_CDATA",C.Error,"CDATA is not supported",g,d(),{primaryLabel:"CDATA sections are not supported by btxml",help:"replace the CDATA section with normal escaped XML text",notes:["escape `<` as `<`, `>` as `>`, and `&` as `&`"]})}else if(p(1)==="!"&&e.slice(i+2,i+9)==="DOCTYPE"){let g=d();for(m(8);!c()&&p()!==">";)m();c()||m(1),S("XML011_UNSUPPORTED_DOCTYPE",C.Error,"DOCTYPE is not supported",g,d(),{primaryLabel:"DOCTYPE declarations are not supported by btxml",help:"remove the DOCTYPE declaration"})}else if(p(1)==="/")w();else{let g=d();m();let N=d(),M=A(),P=d();if(!M){if(S("XML001_INVALID_SYNTAX",C.Error,"invalid XML tag",g,d(),{primaryLabel:"expected an XML element name after `<`",help:"start the tag with a valid XML name such as `<root>` or `<BehaviorTree>`"}),u=!0,r){m();continue}break}let k={kind:"element",name:M,attributes:[],children:[],range:v(g,g),fullRange:v(g,g),openTagRange:v(g,g),startTagRange:v(g,g),nameRange:v(N,P),selfClosing:!1};if(k.attributes=E(),x(),p()==="/"&&p(1)===">"){m(2),k.selfClosing=!0,k.openTagRange=v(g,d()),k.startTagRange=k.openTagRange,k.range=v(g,d()),k.fullRange=v(g,d()),f(k);continue}if(p()!==">"){if(S("XML001_INVALID_SYNTAX",C.Error,"invalid XML tag",g,d(),{primaryLabel:"expected `>` or `/>` to close the start tag",help:"close the start tag with `>` or make it self-closing with `/>`"}),u=!0,r){k.openTagRange=v(g,d()),k.startTagRange=k.openTagRange,k.range=v(g,d()),k.fullRange=v(g,d()),f(k);continue}break}m(),k.openTagRange=v(g,d()),k.startTagRange=k.openTagRange,k.range=v(g,d()),k.fullRange=v(g,d()),f(k),l.push(k)}else y();if(l.length>0){let g=l[l.length-1];if(S("XML006_MISSING_CLOSING_TAG",C.Error,`missing closing tag for \`<${g.name}>\``,g.openTagRange.start,g.openTagRange.end,{primaryLabel:"this tag is not closed",help:`add \`</${g.name}>\` before the end of the file`}),u=!0,r)for(;l.length>0;){let N=l.pop();if(!N)break;N.range=v(N.range.start,d()),N.fullRange=v(N.range.start,d())}}let _=o.nodes.filter(g=>g.kind==="element");_.length===0?D("XML002_MISSING_ROOT",C.Error,"missing root element",void 0,void 0,{help:'add a single root element, usually `<root BTCPP_format="4">...</root>`'}):_.length>1&&D("XML003_MULTIPLE_ROOTS",C.Error,"multiple root elements",void 0,void 0,{primaryLabel:"this document has more than one top-level element",help:'wrap the document content in one `<root BTCPP_format="4">...</root>` element'});let V=o.root,Ae=V?.name==="BehaviorTree"||V?.name==="TreeNodesModel"||V?.name==="root"&&(V.attributes.some(g=>g.name==="BTCPP_format"&&g.value==="4")||V.children.some(g=>g.kind==="element"&&(g.name==="BehaviorTree"||g.name==="TreeNodesModel")));if(V)for(let g of o.nodes)g!==V&&g.kind==="text"&&g.text.trim().length>0&&S("XML016_TEXT_OUTSIDE_ROOT",C.Error,"text outside root element",g.range.start,g.range.end,{primaryLabel:"non-whitespace text appears outside the root element",help:"move this text inside `<root>` or remove it"});if(!o.xmlDeclaration&&!Ae)D("XML008_MISSING_DECLARATION",C.Warning,"missing XML declaration",void 0,void 0,{help:'add `<?xml version="1.0" encoding="UTF-8"?>` at the top of the file',notes:["this is a warning because BehaviorTree.CPP can still parse many files without a declaration"]});else if(o.xmlDeclaration?.encoding&&o.xmlDeclaration.encoding.toUpperCase()!=="UTF-8"){let g=o.xmlDeclaration.encoding;S("XML009_INVALID_ENCODING",C.Warning,"XML encoding should be UTF-8",o.xmlDeclaration.range.start,o.xmlDeclaration.range.end,{primaryLabel:`declared encoding is \`${g}\``,help:'change the XML declaration to `encoding="UTF-8"`'})}return V&&qn(V,g=>{S("XML015_UNSUPPORTED_MIXED_CONTENT",C.Warning,"mixed XML content is not supported",Uo(g.range.start),Uo(g.range.end),{primaryLabel:"this element contains both text and child elements",help:"move the text into an attribute or split it into separate elements",notes:["text inside `<input_port>` and `<output_port>` remains allowed"]})}),Oo({document:o,diagnostics:n,partial:u,options:t})}var ft={indentWidth:2,xmlDeclaration:"always",blankLineBetweenBehaviorTrees:!0,lineEnding:"lf"};function qo(e){if(!e)return ft;let t=typeof e.indentWidth=="number"?e.indentWidth:ft.indentWidth,n=e.xmlDeclaration==="always"||e.xmlDeclaration==="never"||e.xmlDeclaration==="preserve"?e.xmlDeclaration:ft.xmlDeclaration,r=typeof e.blankLineBetweenBehaviorTrees=="boolean"?e.blankLineBetweenBehaviorTrees:ft.blankLineBetweenBehaviorTrees,o=e.lineEnding==="lf"||e.lineEnding==="crlf"||e.lineEnding==="auto"?e.lineEnding:ft.lineEnding;return{indentWidth:t,xmlDeclaration:n,blankLineBetweenBehaviorTrees:r,lineEnding:o}}function Ft(e){return String(e).replace(/&/g,"&").replace(/</g,"<").replace(/>/g,">")}function $t(e){return Ft(e).replace(/"/g,""")}function Tl(e){return e.filter(t=>!(t.kind==="text"&&t.text.trim()===""))}function vl(e,t,n){return`${" ".repeat(e*n)}${t}`}function $e(e,t,n,r){let o=" ".repeat(t*r),i=e.attributes||[];if(i.length===0)return[`${o}<${e.name}${n}`];if(i.length===1)return[`${o}<${e.name} ${i[0].name}="${$t(i[0].value)}"${n}`];let a=[`${o}<${e.name} ${i[0].name}="${$t(i[0].value)}"`],s=" ".repeat(o.length+1+e.name.length+1);for(let l=1;l<i.length;l+=1){let u=i[l],d=l===i.length-1?n:"";a.push(`${s}${u.name}="${$t(u.value)}"${d}`)}return a}function Xt(e,t,n,r){let o=" ".repeat(t*n);if(e.kind==="comment")return[`${o}<!--${e.text}-->`];if(e.kind==="text"){let d=e.text.trim();return d?[vl(t,Ft(d),n)]:[]}let i=Tl(e.children||[]),a=e.kind==="element"&&(e.name==="input_port"||e.name==="output_port"),s=(e.children||[]).filter(d=>d.kind==="text").map(d=>d.text).join("").trim(),l=i.some(d=>d.kind==="element"||d.kind==="comment");if(s&&l&&!a&&r.push({code:"XML015_UNSUPPORTED_MIXED_CONTENT",severity:"error",message:"Mixed XML content is not supported by btxml-checker formatter",uri:""}),s&&!l){if((e.attributes||[]).length<=1){let d=(e.attributes||[]).length===0?"":` ${e.attributes[0].name}="${$t(e.attributes[0].value)}"`;return[`${o}<${e.name}${d}>${Ft(s)}</${e.name}>`]}return $e(e,t,`>${Ft(s)}</${e.name}>`,n)}if(i.length===0){if(e.selfClosing)return $e(e,t,"/>".slice(0),n);let d=$e(e,t,">",n);return d.push(`${o}</${e.name}>`),d}let u=$e(e,t,">",n);for(let d of e.children||[])d.kind==="text"&&d.text.trim()===""||u.push(...Xt(d,t+1,n,r));return u.push(`${o}</${e.name}>`),u}function hl(e){return e.filter(t=>!(t.kind==="text"&&t.text.trim()===""))}function Fo(e,t,n,r){let o=[],i=hl(e);for(let a=0;a<i.length;a+=1){let s=i[a],l=i[a-1],u=i[a+1],d=n&&s.kind==="element"&&s.name==="BehaviorTree"&&l&&l.kind==="element"&&l.name==="BehaviorTree",c=s.kind==="element"&&s.name==="TreeNodesModel"&&l!==void 0&&l.kind!=="comment",p=s.kind==="comment"&&u&&u.kind==="element"&&u.name==="TreeNodesModel"&&l!==void 0;(d||c||p)&&o.length>0&&o[o.length-1]!==""&&o.push(""),s.kind==="element"?(o.push(...Xt(s,1,t,r)),s.name==="TreeNodesModel"&&o.push("")):o.push(...Xt(s,1,t,r))}return o}function gt(e,t={}){let n=mt(e);if(!n.ok||!n.document||!n.document.root)return{ok:!1,skipped:!1,diagnostics:n.diagnostics};if(n.diagnostics.find(S=>["XML010_UNSUPPORTED_CDATA","XML011_UNSUPPORTED_DOCTYPE","XML012_UNSUPPORTED_PROCESSING_INSTRUCTION","XML013_UNKNOWN_ENTITY","XML014_INVALID_NUMERIC_ENTITY","XML001_INVALID_SYNTAX"].includes(S.code)))return{ok:!1,skipped:!1,diagnostics:n.diagnostics};if(n.document.kind==="generic-xml"&&!t.force)return{ok:!0,skipped:!0,diagnostics:[]};let o=n.document.root,i=qo(t),a=i.indentWidth,s=[],l=n.document.xmlDeclaration!==void 0;if((i.xmlDeclaration==="always"||i.xmlDeclaration==="preserve"&&l)&&s.push('<?xml version="1.0" encoding="UTF-8"?>'),s.push(...$e(o,0,">",a)),s.push(...Fo(o.children||[],a,i.blankLineBetweenBehaviorTrees,n.diagnostics)),s.push(`</${o.name}>`),n.diagnostics.some(S=>S.code==="XML015_UNSUPPORTED_MIXED_CONTENT"))return{ok:!1,skipped:!1,diagnostics:n.diagnostics};let u=`
|
|
1
|
+
import{z as xt}from"zod";var b={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"},pn=Object.values(b).sort();var 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n}function Wa(e){return e.node.kind==="SubTree"&&e.node.id==="SubTree"?(e.genericSubTreePorts.push(...e.node.ports),!0):(e.treeNodesModel.push(e.node),!1)}function Ga(e){return G(wa.DuplicateNodeModelId,C.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 Ya(e,t){let n=[],r=t?.uri||e.uri,o=e.root,i=e.isBtXml,a=Ma(e),s=_a(e),l=((t?.path??e.path)||r==="")&&e.kind==="model-document"?!0:e.kind!=="model-document",u=o&&e.kind!=="model-document"?Va(o,r):[],d=[],c=[],p=o?o.name==="TreeNodesModel"?[o]:o.children.filter(h=>h.kind==="element"&&h.name==="TreeNodesModel"):[];for(let h of p){let E=Oa(h,r,s,l),f=new Map;for(let y of E)Wa({node:y,treeNodesModel:d,genericSubTreePorts:c})||(f.has(y.id)?n.push(Ga(y)):f.set(y.id,y))}let m=o?Ua(o,r):[],x=o?za(o,r):[],S=o?(()=>{let h=[];return 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contain `"`'],["'","port names must not contain `'`"],["/","port names must not contain `/`"],["\\","port names must not contain `\\`"],[":","port names must not contain `:`"],["*","port names must not contain `*`"],["?","port names must not contain `?`"],["|","port names must not contain `|`"]]);function yn(e){return Or.has(e)}function Vr(e){return Ha.has(e)}function bn(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(Vr(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===`
|
|
4
|
+
`||t==="\r")return"port names must not contain whitespace";let r=Za.get(t);if(r)return r}}function Ur(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 Sn(e,t){return{id:e,kind:t.kind,source:"config",sourceMeta:{sourceKind:"config"},editable:!0,ports:Object.entries(t.ports??{}).map(([n,r])=>Ur(n,r))}}var Ja=[{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"]}],Ze=new Map,qr=new Map;for(let e of Ja){let t={name:e.name,kind:e.kind,canonical:e.name,aliases:e.aliases,compatibleWith:[],source:"builtin"};qr.set(e.name,t),Ze.set(e.name,e.name);for(let n of e.aliases)Ze.set(n,e.name)}function Qa(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 Rn(e){return Ze.get(e)??e}function es(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 Je(e){return Ze.get(e)}function Ue(e=[]){let t=new Map,n=new Map(Ze);for(let r of qr.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 a=Rn(i.canonical??o),l=t.get(a)??Qa(o,a,i);l.name=o,l.kind=i.kind,l.canonical=a,l.source="augmentation",l.validate=i.validate??l.validate,l.aliases.add(o),l.aliases.add(a);for(let u of i.aliases??[])l.aliases.add(u);for(let u of i.compatibleWith??[])l.compatibleWith.add(u);t.set(a,l),n.set(o,a),n.set(a,a);for(let u of i.aliases??[])n.set(u,a)}for(let r of t.values())r.compatibleWith=new Set([...r.compatibleWith].map(o=>n.get(o)??Rn(o))),r.compatibleWith.delete(r.canonical);return{entriesByCanonical:new Map([...t.entries()].map(([r,o])=>[r,es(o)])),namesToCanonical:n}}function ie(e,t){if(!t)return;let n=e.namesToCanonical.get(t)??Rn(t),r=e.entriesByCanonical.get(n);return r||{name:t,kind:"opaque",canonical:n,aliases:[],compatibleWith:[],source:"custom"}}function Ct(e,t){return ie(e,t)?.canonical}function Qe(e,t,n){let r=ie(e,t),o=ie(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 Fr=[{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:[]}],$r={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 Xr=[{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:[]}],jr={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 Kr=[{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 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n=Bo(t.policy),r=t.element,o=No(r),i=Eo(t.documentRoot,r);if((t.isModelDefinition||i&&(o==="generic-node"||o==="subtree"))&&(o="model-definition"),i&&At(r)&&(o="unknown-xml"),o==="root"||o==="behavior-tree"||o==="tree-nodes-model"||o==="include"||o==="model-definition"||o==="unknown-xml")return{element:r,tagName:r.name,tagForm:o,model:{status:"not-a-node"},ports:[],allowsArbitraryAttributes:!1,portUsages:[]};let a=_t(r);if(o!=="subtree"){let m=_n(e,a),x=On({index:e,tagForm:o,model:m}),S=r.attributes.map(D=>Vn({attribute:D,ports:x,allowsArbitraryAttributes:!1,model:m}));return{element:r,tagName:r.name,tagForm:o,nodeType:a,model:m,ports:x,allowsArbitraryAttributes:!1,portUsages:S}}let s=Pt(r,"ID"),l=s?pt(e,{id:s,fileLocalUri:t.uri,config:t.config}):{status:"unresolved",id:void 0},u={status:"unresolved",nodeType:s},d=!1;if(l.status==="resolved"&&l.kind==="node-model")u={status:"resolved",model:l.model};else if(l.status==="resolved"&&l.kind==="behavior-tree"){let 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n=t.semantic,r=ol(e.root),o=Ws(e).map(l=>({id:Se(l,"ID")?.value,element:l,rootNode:void 0,nodes:[]})),i=[],a=[],s=(l,u,d,c)=>{let p=L(n,{element:l,uri:e.uri,documentRoot:e.root,config:t?.config,policy:t?.policy,isModelDefinition:r.has(l)}),m=Oo(p),x={element:l,path:c,tagName:l.name,kind:Gs(l,p),model:m,usage:p,portBindings:[],children:[],parent:d,behaviorTree:u};if(x.portBindings=p.portUsages.filter(S=>S.status!=="reserved-attribute").map(S=>({name:S.name,value:S.value,attribute:S.attribute,declaredPort:Vo(S),usage:S,blackboardReferences:Ao(e,S.name,S.attribute)})),x.children=l.children.filter(S=>S.kind==="element").map((S,D)=>s(S,u,x,[...c,D])),l.name==="SubTree"){let S=Se(l,"ID")?.value;i.push({node:x,id:S,target:p.subtree?.target??{status:"unresolved",id:S},portRemaps:x.portBindings})}return x};for(let l of o){let u=l.element.children.filter(d=>d.kind==="element").map((d,c)=>s(d,l,void 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6
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jo(){return{includeIssuesByUri:new Map,suppressionIssuesByUri:new Map}}function Ko(e,t){return e.includeIssuesByUri.get(t)??[]}function zo(e,t){return e.suppressionIssuesByUri.get(t)??[]}function Go(e){let{document:t,semantic:n,config:r,view:o}=e,i=new Map(o.nodes.map(u=>[u.element,u])),a=new Map(o.subtreeCalls.map(u=>[u.node.element,u])),s=ye(r),l=Dl(t.root);return{document:t,view:o,semantic:n,config:r,options:e.options,facts:e.facts,report(u){let d=W(u.code??e.code,e.severity,u.message,u.range,t.uri,u.details,u.data);e.diagnostics.push({...d,rule:e.rule,...u.relatedInformation?{relatedInformation:u.relatedInformation}:{}})},getIncludeIssues(u){let d=Ko(e.facts,t.uri);return u?d.filter(c=>c.kind===u):d},getSuppressionIssues(u){let d=zo(e.facts,t.uri);return u?d.filter(c=>c.kind===u):d},getNodeUsage(u){return L(n,{element:u,documentRoot:t.root,uri:t.uri,config:r,policy:s,isModelDefinition:l.has(u)})},getPortUsage(u,d){return 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zo(){return{includeIssuesByUri:new Map,suppressionIssuesByUri:new Map}}function Wo(e,t){return e.includeIssuesByUri.get(t)??[]}function Go(e,t){return e.suppressionIssuesByUri.get(t)??[]}function Yo(e){let{document:t,semantic:n,config:r,view:o}=e,i=new Map(o.nodes.map(u=>[u.element,u])),a=new Map(o.subtreeCalls.map(u=>[u.node.element,u])),s=ye(r),l=Nl(t.root);return{document:t,view:o,semantic:n,config:r,options:e.options,facts:e.facts,report(u){let d=G(u.code??e.code,e.severity,u.message,u.range,t.uri,u.details,u.data);e.diagnostics.push({...d,rule:e.rule,...u.relatedInformation?{relatedInformation:u.relatedInformation}:{}})},getIncludeIssues(u){let d=Wo(e.facts,t.uri);return u?d.filter(c=>c.kind===u):d},getSuppressionIssues(u){let d=Go(e.facts,t.uri);return u?d.filter(c=>c.kind===u):d},getNodeUsage(u){return L(n,{element:u,documentRoot:t.root,uri:t.uri,config:r,policy:s,isModelDefinition:l.has(u)})},getPortUsage(u,d){return 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wl={"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 Re(e){return B({name:wl[e],create(t){return{ProgramExit(){for(let n of t.getIncludeIssues(e))t.report({message:n.message,range:n.range,data:Ml(n)})}}}})}function Ml(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 Ho=[Re("missing-path"),Re("not-found"),Re("cycle"),Re("outside-root"),Re("unresolved-variable"),Re("depth-exceeded"),Re("too-many-files"),Re("external-used")];import Pl from"ajv";var Al=Pl,_l=new 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o=n.portUsages.find(i=>i.name===r.name&&i.status==="resolved");if(o){if(je(r.name,o.value)!==void 0)continue;e.report({code:b.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 \`${r.name}="{some_key}"\``}});continue}r.defaultValue!==void 0&&je(r.name,r.defaultValue)!==void 0||e.report({code:b.OutputPortRequiresRemap,message:`output port \`${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 jl(e,t){return e.diagnostics.some(n=>n.code===b.DuplicateNodeModelId&&n.message.includes(`\`${t}\``))}function Kl(e){return e.name==="input_port"||e.name==="output_port"||e.name==="inout_port"}function zl(e,t){if(!e)return;return 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ru(e,n)?(n=St(e,n),Rt(e,t,n)):{type:r,text:e.slice(t,n),start:t,end:n}}function St(e,t){let n=t;for(;n<e.length;){let r=e[n];if(li(r)||si.has(r)||ai.has(e.slice(n,n+2))||r==="."&&e[n+1]===".")break;n++}return n}function Rt(e,t,n){return{type:"Error",text:e.slice(t,n),start:t,end:n}}function li(e){return e===" "||e===" "||e===`
|
|
13
|
+
`||e==="\r"}function jn(e){return e!==void 0&&/[A-Za-z_@]/.test(e)}function tu(e){return e!==void 0&&/[A-Za-z0-9_]/.test(e)}function De(e){return e!==void 0&&/[0-9]/.test(e)}function nu(e){return e!==void 0&&/[0-9A-Fa-f]/.test(e)}function ru(e,t){let n=e[t];return jn(n)||De(n)}function ou(e,t){let n=e[t];return n==="."||jn(n)||De(n)}var iu=new Map([["ColonEqual",":="],["Equal","="],["PlusEqual","+="],["MinusEqual","-="],["StarEqual","*="],["SlashEqual","/="]]),au=new Map([["PipePipe","||"],["AmpAmp","&&"],["Pipe","|"],["Caret","^"],["Ampersand","&"],["Plus","+"],["Minus","-"],["DotDot",".."],["Star","*"],["Slash","/"]]),ui=new Map([["EqualEqual","=="],["BangEqual","!="],["Less","<"],["Greater",">"],["LessEqual","<="],["GreaterEqual",">="]]),re={assignment:2,ternary:4,pipePipe:6,ampAmp:8,comparison:10,pipeCaret:12,ampersand:14,additive:16,multiplicative:18};function Ee(e){let t=Ke(e),n=t.filter(r=>r.type==="Error");return 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o=`${r.uri}:${r.documentRange.start.offset}:${r.documentRange.end.offset}:${r.reference.kind}`;t.has(o)||(t.add(o),n.push(r))}return n}function ua(e,t){return dr(e).flatMap(({uri:n,trees:r})=>r.flatMap(o=>o.nodes.flatMap(i=>i.portBindings.flatMap(a=>a.blackboardReferences.filter(s=>s.scope==="global"&&s.key===t).map(s=>({uri:n,attributeContext:{id:`${i.path.join(".")}:${a.attribute.name}:${i.element.attributes.indexOf(a.attribute)}`,node:i,element:i.element,attribute:a.attribute,source:a.attribute.value,behaviorTree:i.behaviorTree},identifier:{name:`@${s.key}`,kind:"read",range:{start:0,end:0},identifier:{kind:"Identifier",name:`@${s.key}`,range:{start:0,end:0}},statementIndex:-1},reference:{kind:"global-blackboard",key:s.key,origin:"port-remap"},documentRange:s.range}))))))}function da(e){return dr(e).flatMap(({uri:t,trees:n})=>n.flatMap(r=>{let o=rd(e,t);return on(o,r).flatMap(i=>nd(o,t,i))}))}function nd(e,t,n){return la(e,n).map(r=>({...r,uri:t}))}function dr(e){let t=e.documentView?[{uri:e.document.uri,trees:e.documentView.behaviorTrees}]:[],r=(e.workspace?.documents??[]).filter(o=>o.uri!==e.document.uri).map(o=>{let i=te(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 rd(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=Ve(t,n.originalText,0,"btcpp-xml"),o=te(n,{semantic:e.semantic,config:e.config,policy:e.nodeUsagePolicy});return{...e,document:r,parsed:n,documentView:o}}function ca(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function ar(e,t,n){return me(e.parsed??{originalText:e.document.text},t.attribute,n)}function cr(e,t){let n=e.valueOffsets;if(!n||n.length===0)return t;if(t<=0)return 0;for(let r=1;r<n.length;r+=1){let o=n[r];if(o!==void 0&&o>=t){let i=n[r-1]??0;return t<=i?r-1:r}}return Math.max(0,n.length-1)}function pa(e,t,n){let r=e.parsed??{originalText:e.document.text};return me(r,t,n)}function ma(e){if(e.declaredPort.status!=="resolved")return;let t=F({portName:e.declaredPort.port.name,rawValue:e.value});return t.ok?t.reference:void 0}function od(e,t,n){let r=e.documentView?.nodes.find(i=>i.element===t)?.usage,o=r?.model.status==="resolved"?r.model.model.id:r?.nodeType;return Ce({elementName:t.name,attributeName:n.name,resolvedNodeType:o})}function fa(e,t,n,r){let o=od(e,n,r);if(!o)return;let i=r.valueContentRange??r.valueRange,a=aa(e,n,r),s=Math.max(0,t.position.offset-i.start.offset);return Jn({source:r.value,cursorOffset:cr(r,s),environment:a,attributeName:r.name,attributeInfo:o}).map(u=>id(e,r,u))}function id(e,t,n){return O(n.label,ad(n.kind),n.detail,{range:pa(e,t,n.replaceRange),newText:n.insertText??n.label},{insertText:n.insertText??n.label,insertTextFormat:n.insertTextFormat,filterText:n.filterText,sortText:n.sortText})}function ad(e){switch(e){case"identifier":return"Variable";case"enum":return"Enum";case"value":return"Value";case"operator":return"Keyword";case"snippet":return"Snippet"}}var an={enumLiteral:"0",boolLiteral:"1",matchingKey:"2",unknownKey:"3"};function ga(e){return!!(e?.valueContentRange&&e.valueRange&&(e.valueContentRange.start.offset!==e.valueRange.start.offset||e.valueContentRange.end.offset!==e.valueRange.end.offset))}function ya(e,t){if(!e)return;let n=ga(e)?e.valueContentRange:e.valueRange;if(n)return j(n,ga(e)?t:`"${t}"`)}function ba(e,t,n,r){let o=[],i=[];for(let a of lt(e)){let s=Q(e,a),l=O(a,"Value","BehaviorTree ID",r?ya(r,a):j(n,a));s.some(u=>u.uri===t)?o.push({...l,sortText:`0-${a}`}):i.push({...l,sortText:`1-${a}`})}return[...o,...i]}function sd(e){return O("SubTree","Class","Built-in subtree tag",j(e,"SubTree"),{sortText:"0-SubTree"})}function ld(e){if(e.kind!=="closing-tag-name")return[];let t=e.tagText;if(!t)return[];let n=e.tagNamePrefix||"";return t.toLowerCase().startsWith(n.toLowerCase())?[O(`${t}>`,"Value","Close current parent tag",j(e.replacementRange,`${t}>`))]:[]}function ud(e,t){let n=[...["BehaviorTree","TreeNodesModel","include"].map(o=>O(o,"Class",void 0,j(t,o))),...["Action","Condition","Control","Decorator"].map(o=>O(o,"Class",void 0,j(t,o))),sd(t)],r=new Set;for(let o of Lt(e))o.id!=="SubTree"&&(r.has(o.id)||(r.add(o.id),n.push(O(o.id,"Class",void 0,j(t,o.id)))));return ve(n)}function sn(e,t,n){return L(e.semantic,{element:n,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy})}function pr(e,t){let n=new Set(e.element.attributes.map(r=>r.name));return e.ports.filter(r=>!n.has(r.name)).map(r=>O(r.name,"Property",`${r.direction}${r.type?` ${r.type}`:""}`,j(t,r.name)))}function dd(e,t,n){let r=[O("ID","Property",void 0,j(n,"ID"))];return r.push(...pr(t,n)),r.filter(o=>!e.attributes.some(i=>i.name===o.label))}function cd(e,t,n,r){if(!e)return[];if(xe(e.name)){let i=[];e.attributes.some(s=>s.name==="ID")||i.push(O("ID","Property",void 0,j(r,"ID")));let a=sn(n,t,e);return i.push(...pr(a,r)),i}return e.name==="SubTree"?dd(e,sn(n,t,e),r):e.name==="include"?[O("path","Property",void 0,j(r,"path"))]:pr(sn(n,t,e),r)}function pd(e,t,n,r){return ba(t.semantic,e.document.uri,n,r)}function md(e,t,n,r){let o=[],i=new Set;for(let a of Lt(e))a.kind===t&&(i.has(a.id)||(i.add(a.id),o.push(O(a.id,"Value",`${t} node ID`,r?ya(r,a.id):j(n,a.id)))));return o}function fd(e,t,n){if(t.kind!=="attribute-value")return[];let{attribute:r,element:o}=t;if(!r||!o)return[];let i=xe(o.name);if(i&&r.name==="ID")return md(n.semantic,i,r.valueContentRange||r.valueRange,r);if(o.name==="SubTree"&&r.name==="ID")return pd(e,n,r.valueContentRange||r.valueRange,r);if(o.name==="root"&&r.name==="main_tree_to_execute")return ba(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",j(r.valueContentRange||r.valueRange,E)));let a=fa(n,e,o,r);if(a)return a;let s=sn(n,e,o);if(i&&s.model.status!=="resolved")return[];let l=ue(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 u=l.port,d=r.valueContentRange||r.valueRange,c=[];u.enum?.length&&c.push(...u.enum.map(h=>O(h,"Enum",u.type,j(d,h),{sortText:`${an.enumLiteral}-${h}`}))),(u.type||"").toLowerCase()==="bool"&&c.push(...["true","false"].map(h=>O(h,"Value","bool",j(d,h),{sortText:`${an.boolLiteral}-${h}`})));let p=ta(n),m=Pe(u.type),x=p.filter(h=>!h.conflict&&ea(u.type,h.type)),S=p.filter(h=>!h.conflict&&!Pe(h.type)&&m),D=x.flatMap(h=>{let E=ir({document:e.document,attribute:r,cursorOffset:e.position.offset,symbol:h,detail:h.scope==="global"?`${h.type||"unknown"} global blackboard key from ${h.nodeType}.${h.portName}`:`${h.type||"unknown"} blackboard key from ${h.nodeType}.${h.portName}`});return E?[{...E,sortText:`${an.matchingKey}-${h.scope==="global"?h.identity:h.key}`}]:[]}),A=S.flatMap(h=>{let E=ir({document:e.document,attribute:r,cursorOffset:e.position.offset,symbol:h,detail:h.scope==="global"?`unknown-type global blackboard key from ${h.nodeType}.${h.portName}`:`unknown-type blackboard key from ${h.nodeType}.${h.portName}`});return E?[{...E,sortText:`${an.unknownKey}-${h.scope==="global"?h.identity:h.key}`}]:[]});return c.push(...D,...A),c.length>0?ve(c):(t.valuePrefix||"").includes("{")?ve(c):c}function mr(e,t){let n=H({document:t.document,parsed:e.parsed,position:t.position});return n.kind==="comment"?{items:pn.map(r=>O(r,"Reference","Diagnostic rule code"))}:n.kind==="attribute-value"?{items:ve(fd(t,n,e))}:n.kind==="attribute-name"?{items:ve(cd(n.element,t,e,n.attribute?.nameRange))}:n.kind==="tag-name"?{items:ve(ud(e.semantic,n.element?.nameRange))}:n.kind==="closing-tag-name"?{items:ve(ld(n))}:{items:[]}}function ln(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function gd(e,t,n){return ut(e,t).filter(r=>r.kind==="SubTree").map(r=>{if(r.idRange)return{uri:r.uri||n,range:r.idRange};if(r.range)return{uri:r.uri||n,range:r.range}}).filter(r=>!!r)}function fr(e,t,n){return e?ln(e.nodes.flatMap(r=>r.portBindings.flatMap(o=>o.blackboardReferences.filter(i=>i.identity===t).map(i=>({uri:n,range:i.range}))))):[]}function gr(e,t,n,r,o,i,a){let s=fr(e,i,a),l=(t??[]).flatMap(u=>{if(u.uri===a)return[];let d=te(u,{semantic:n,config:r,policy:o});return fr(d,i,u.uri)});return ln([...s,...l])}function yr(e,t,n){return fr(e,t,n)}function un(e,t,n,r,o,i,a){if(!e)return[];let s=H({document:{uri:e.uri,languageId:"xml",version:0,text:e.originalText,positionAt:()=>n,offsetAt:()=>n.offset,getText:()=>e.originalText},parsed:e,position:n}),l="element"in s?s.element:void 0,u="attribute"in s?s.attribute:void 0,d=l?L(r,{element:l,documentRoot:e.root,uri:e.uri,config:o,policy:i}):void 0;if(l?.name==="SubTree"&&u?.name==="ID"){if(d?.tagForm==="model-definition")return Q(r,u.value).map(m=>m.idRange?{uri:m.uri,range:m.idRange}:void 0).filter(m=>!!m);let c=gd(r,u.value,e.uri),p=d?.subtree?.target;if(p?.status==="resolved"&&p.kind==="behavior-tree"){let m=p.behaviorTree;return m.idRange?ln([{uri:m.uri,range:m.idRange},...c]):c}if(p?.status==="ambiguous")return ln([...p.behaviorTrees.map(m=>m.idRange?{uri:m.uri||e.uri,range:m.idRange}:void 0),...c].filter(m=>!!m));if(p?.status==="resolved"&&p.kind==="node-model"){if(c.length>0)return c;if(p.model.idRange)return[{uri:p.model.uri||e.uri,range:p.model.idRange}]}return c}if(l?.name==="root"&&u?.name==="main_tree_to_execute")return Q(r,u.value).map(c=>c.idRange?{uri:c.uri,range:c.idRange}:void 0).filter(c=>!!c);if(l?.name==="include"&&u?.name==="path"&&a){let c=a.find(p=>p.uri===u.value||p.path===u.value||(p.path?p.path.endsWith(`/${u.value}`):!1));if(c?.root?.range)return[{uri:c.uri,range:c.root.range}]}if(u&&l){let c=t?Fe(t,n):void 0,p=c?.blackboardReferences.find(m=>n.offset>=m.range.start.offset&&n.offset<=m.range.end.offset);if(p)return p.scope==="global"?gr(t,a,r,o,i,p.identity,e.uri):yr(t,p.identity,e.uri);if(c?.declaredPort.status==="resolved"){let m=c.declaredPort.port;if(m.nameRange)return[{uri:m.uri||e.uri,range:m.nameRange}]}}if(s.kind==="tag-name"&&l&&d?.model.status==="resolved"){let c=d.model.model;if(c.idRange)return[{uri:c.uri||e.uri,range:c.idRange}];if(c.range)return[{uri:c.uri||e.uri,range:c.range}]}if(u?.name==="ID"&&d?.tagForm==="generic-node"&&d.model.status==="resolved"){let c=d.model.model;if(c.idRange)return[{uri:c.uri||e.uri,range:c.idRange}];if(c.range)return[{uri:c.uri||e.uri,range:c.range}]}return[]}function br(e,t){let n=Ge(e,t.position);if(n?.reference.kind==="symbol"){let r=n.reference.symbol;if(r.source.kind==="script-assignment"){let o=r.source,a=sr(e,n.attributeContext.behaviorTree).find(s=>s.id===o.originId)?.context??n.attributeContext;return{locations:[{uri:e.document.uri,range:me(e.parsed??{originalText:e.document.text},a.attribute,o.range)}]}}if(r.source.kind==="port-remap"||r.source.kind==="global-blackboard-remap"){let o=r.source,i=$({scope:o.kind==="global-blackboard-remap"?"global":"local",key:r.name}),a=e.documentView?.nodes.filter(l=>l.behaviorTree===n.attributeContext.behaviorTree).flatMap(l=>l.portBindings).filter(l=>l.declaredPort.status==="resolved").find(l=>l.declaredPort.port.name===o.portName&&l.declaredPort.port.direction===o.direction&&l.blackboardReferences.some(u=>u.identity===i)),s=a?.declaredPort.port.nameRange;if(s)return{locations:[{uri:a.declaredPort.port.uri||e.document.uri,range:s}]}}if(r.source.kind==="subtree-port"){let o=r.source,a=(o.nodeType?ee(e.semantic,o.nodeType):void 0)?.ports.find(s=>s.name===o.portName&&s.direction===o.direction);if(a?.nameRange)return{locations:[{uri:a.uri||e.document.uri,range:a.nameRange}]}}}if(n?.reference.kind==="global-blackboard"){let r=$({scope:"global",key:n.reference.key}),o=oa(e,n.reference.key);if(o.length>0)return{locations:o};let i=n.reference.symbol;if(i?.source.kind==="global-blackboard"){let a=i.source,l=sr(e,n.attributeContext.behaviorTree).find(u=>u.id===a.originId)?.context??n.attributeContext;return{locations:[{uri:e.document.uri,range:me(e.parsed??{originalText:e.document.text},l.attribute,a.range)}]}}}return{locations:un(e.parsed,e.documentView,t.position,e.semantic,e.config,e.nodeUsagePolicy,e.workspace?.documents)}}function Sr(e,t){return{diagnostics:e.diagnostics,document:e.parsed,partial:e.partial}}function Sa(e,t){let n=yt(e.document.text,{indentWidth:t?.indentWidth,xmlDeclaration:t?.xmlDeclaration,blankLineBetweenBehaviorTrees:t?.blankLineBetweenBehaviorTrees,lineEnding:t?.lineEnding});return!n.ok||n.skipped?{edits:[],diagnostics:n.diagnostics}:n.text===e.document.text?{edits:[],diagnostics:[]}:{edits:[{range:nn(e.document),newText:n.text}],diagnostics:[]}}function Rr(e,t){return Sa(t,e.config.formatter)}function Ra(e){return[`**Port** \`${e.name}\``,"",`Direction: ${e.direction} `,`Type: \`${e.type||"unknown"}\` `,`Required: ${e.required?"yes":"no"}${e.description?`
|
|
15
15
|
Description: ${e.description}`:""}`].join(`
|
|
16
|
-
`)}function
|
|
16
|
+
`)}function Ta(e){let t=e.source==="builtin"?`${e.kind.toLowerCase()} node`:`${e.kind} node`;return`**${t[0].toUpperCase()}${t.slice(1)}** \`${e.id}\`${e.ports.length?`
|
|
17
17
|
|
|
18
|
-
Ports: ${e.ports.map(n=>`\`${n.name}\``).join(", ")}`:""}`}function
|
|
18
|
+
Ports: ${e.ports.map(n=>`\`${n.name}\``).join(", ")}`:""}`}function yd(e,t){return`**SubTree** \`${e}\`
|
|
19
19
|
|
|
20
20
|
Resolves ambiguously across ${t.length} candidates:
|
|
21
21
|
${t.map(n=>`- \`${n}\``).join(`
|
|
22
|
-
`)}`}function
|
|
22
|
+
`)}`}function bd(e,t){return e.map(n=>{let r=n.uri||t,o=n.idRange?.start.offset??-1;return`${r}:${o}`})}function Tr(e,t){let n=Ge(e,t.position);if(n){if(n.reference.kind==="enum")return{range:n.range,contents:`**Enum** \`${n.reference.name}\`
|
|
23
23
|
|
|
24
|
-
Value: \`${n.reference.value}\``};if(n.reference.kind==="global-blackboard"){let u=n.reference.symbol;return{range:n.range,contents:u?[`**Global Blackboard** \`@${n.reference.key}\``,"",`Type: \`${rn(u.type)}\``,`Source: ${
|
|
25
|
-
`):`**Global Blackboard** \`@${n.reference.key}\``}}let l=n.reference.symbol;return{range:n.range,contents:[`**Script Symbol** \`${l.name}\``,"",`Type: \`${rn(l.type)}\``,`Source: ${
|
|
24
|
+
Value: \`${n.reference.value}\``};if(n.reference.kind==="global-blackboard"){let u=n.reference.symbol;return{range:n.range,contents:u?[`**Global Blackboard** \`@${n.reference.key}\``,"",`Type: \`${rn(u.type)}\``,`Source: ${lr(u)}`].join(`
|
|
25
|
+
`):`**Global Blackboard** \`@${n.reference.key}\``}}let l=n.reference.symbol;return{range:n.range,contents:[`**Script Symbol** \`${l.name}\``,"",`Type: \`${rn(l.type)}\``,`Source: ${lr(l)}`].join(`
|
|
26
26
|
`)}}let r=H({document:t.document,parsed:e.parsed,position:t.position}),o="element"in r?r.element:void 0,i="attribute"in r?r.attribute:void 0,a=o?L(e.semantic,{element:o,documentRoot:e.parsed?.root,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy}):void 0;if(o?.name==="SubTree"&&i?.name==="ID"){let l=a?.subtree?.target;if(l?.status==="resolved"&&l.kind==="behavior-tree"){let u=l.behaviorTree;return{range:i.valueContentRange||i.valueRange,contents:`**SubTree** \`${i.value}\`
|
|
27
27
|
|
|
28
|
-
Resolves to \`BehaviorTree ID="${i.value}"\` in \`${u.uri}\`.`}}if(l?.status==="ambiguous"){let u=e.parsed?.uri||"workspace",d=
|
|
28
|
+
Resolves to \`BehaviorTree ID="${i.value}"\` in \`${u.uri}\`.`}}if(l?.status==="ambiguous"){let u=e.parsed?.uri||"workspace",d=bd([...l.behaviorTrees,...l.definitions],u);return{range:i.valueContentRange||i.valueRange,contents:yd(i.value,d)}}if(l?.status==="resolved"&&l.kind==="node-model")return{range:i.valueContentRange||i.valueRange,contents:`**SubTree** \`${i.value}\`
|
|
29
29
|
|
|
30
|
-
Resolves to SubTree model in \`${l.model.uri||e.parsed?.uri||"workspace"}\`.`}}if(i&&o){let l=e.documentView?Fe(e.documentView,t.position):void 0;if(l?.declaredPort.status==="resolved")return{range:i.nameRange,contents:ya(l.declaredPort.port)};let u=ue(e.semantic,{element:o,documentRoot:e.parsed?.root,attributeName:i.name,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy});if(u?.status==="resolved")return{range:i.nameRange,contents:ya(u.port)}}let s=e.documentView?Vt(e.documentView,t.position):void 0;if(s&&s.usage.model.status==="resolved"){let l=s.usage.model.model;return{range:s.element.nameRange||s.element.openTagRange,contents:ba(l)}}return o&&a?.model.status==="resolved"?{range:o.nameRange||o.openTagRange,contents:ba(a.model.model)}:{}}function Rr(e,t){return wn(e.semantic,t).filter(n=>n.parentBehaviorTreeId&&n.idRange).map(n=>({uri:n.uri,range:n.idRange})).filter(n=>!!n.range)}function Tr(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function sd(e,t){let n=new Set;for(let r of t){let o=Nn(e.semantic).find(a=>vr(r,{uri:a.uri,range:a.idRange}));o&&n.add(o.id);let i=Mn(e.semantic).find(a=>a.kind==="SubTree"&&(vr(r,{uri:a.uri,range:a.idRange})||vr(r,{uri:a.uri,range:a.range})));i&&n.add(i.id)}return[...n]}function vr(e,t){return t.uri===e.uri&&t.range?.start.offset===e.range.start.offset&&t.range?.end.offset===e.range.end.offset}function hr(e,t){let n=Ge(e,t.position);if(n)return{locations:Tr(ea(e,n).map(d=>({uri:d.uri,range:d.documentRange})))};let r=e.parsed?H({document:t.document,parsed:e.parsed,position:t.position}):void 0,o=r&&"element"in r?r.element:void 0,i=r&&"attribute"in r?r.attribute:void 0,s=(e.documentView&&e.parsed?e.documentView.nodes.flatMap(d=>d.portBindings).find(d=>d.attribute===i&&t.position.offset>=(d.attribute.valueContentRange??d.attribute.valueRange).start.offset&&t.position.offset<=(d.attribute.valueContentRange??d.attribute.valueRange).end.offset):void 0)?.blackboardReferences.find(d=>t.position.offset>=d.range.start.offset&&t.position.offset<=d.range.end.offset);if(s){let d=$({scope:s.scope,key:s.key});return{locations:Tr([...s.scope==="global"?mr(e.documentView,e.workspace?.documents,e.semantic,e.config,e.nodeUsagePolicy,d,e.document.uri):fr(e.documentView,d,e.document.uri),...s.scope==="global"?na(e,s.key):[]])}}if(o?.name==="BehaviorTree"&&i?.name==="ID")return{locations:Rr(e,i.value)};if(o&&i?.name==="ID"&&L(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:Rr(e,i.value)};let l=un(e.parsed,e.documentView,t.position,e.semantic,e.config,e.nodeUsagePolicy,e.workspace?.documents);if(l.length===0)return{locations:[]};let u=sd(e,l);return u.length>0?{locations:Tr(u.flatMap(d=>Rr(e,d)))}:{locations:[]}}function ld(e,t){return e.attributes.find(n=>n.name===t)}function kr(e){let t=e.name==="BehaviorTree"?ld(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=>kr(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 xr(e,t){return e.parsed?.root?{symbols:[kr(e.parsed.root)]}:{symbols:[]}}function ud(e){return{diagnostics:e.diagnostics,partial:e.partial||void 0}}function dn(e={}){return{getDiagnostics(t){return ud(yr(le(t,e),t))},getCompletions(t){return cr(le(t,e),t)},getHover(t){return Sr(le(t,e),t)},getDefinition(t){return gr(le(t,e),t)},getReferences(t){return hr(le(t,e),t)},getDocumentSymbols(t){return xr(le(t,e),t)},getCodeActions(t){return tr(le(t,e),t)},getFormattingEdits(t){return br(le(t,e),t)}}}var Sa={line:0,character:0,offset:0},kt={start:Sa,end:Sa};function dd(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 cd(e,t){return{kind:"element",name:e,attributes:dd(t),children:[],range:kt,openTagRange:kt,selfClosing:!0}}function pd(e){return{capable:e==="Control"||e==="Decorator",reason:"model-kind",kind:e}}function Ir(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)?`[${e.map(t=>Ir(t)).join(",")}]`:typeof e=="object"?`{${Object.entries(e).sort(([n],[r])=>n.localeCompare(r)).map(([n,r])=>`${JSON.stringify(n)}:${Ir(r)}`).join(",")}}`:JSON.stringify(String(e))}function md(e){return Ir(e)}function fd(e,t,n,r,o){let i=le({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 Ra(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 Ta(e){return e.replaceAll("\\","/").replace(/\/$/,"")}function va(e,t){if(!t.startsWith("file://"))return;let n=Ta(e),r=Ta(rt(t));if(r===n)return"";if(r.startsWith(`${n}/`))return r.slice(n.length+1)}function Cr(e={}){let t=e,n=new Map,r=new Map,o=dn(),i=[],a=e.config?xn(e.config).config:void 0;function s(){return t.getRuntimeState?.()}function l(){return s()?.workspace}function u(){return s()?.version??0}function d(f,y){let R=l(),I=u(),w=md(y),_=r.get(f.uri);if(_&&_.documentVersion===f.version&&_.workspaceVersion===I&&_.document===f&&_.workspace===R&&_.configFingerprint===w)return _;let V=fd(f,R,I,y,w);return r.set(f.uri,V),V}function c(f){if(f.parsed)return f.view||(f.view=Ot(f.parsed,f.semantic,{config:f.config,policy:f.nodeUsagePolicy})),f.view}function p(f){return f.models||(f.models=Pn(f.semantic)),f.models}function m(f){let y=l();return y?y.documents.some(R=>R.isBtXml&&R.uri===f):!1}function x(f){let y=E.getResolvedConfig();if(!y)return!1;let R=l()?.rootDir??e.configBasePath,I=R?va(R,f):void 0;return I!==void 0?Nt(y,I):In(y,f)}function S(f,y){return f.languageId==="btcpp-xml"||y.parsed?.isBtXml===!0||Ra(y.parsed)||x(f.uri)||m(f.uri)}function D(f,y){return f.languageId==="btcpp-xml"||y.parsed?.isBtXml===!0||Ra(y.parsed)||m(f.uri)}function A(f){let y=n.get(f);if(!y)return;let R=E.getEffectiveConfigForDocument(y.uri),I=d(y,R);if(S(y,I))return{document:y,effectiveConfig:R,snapshot:I,emitDiagnostics:D(y,I)}}function h(f,y){let R=n.get(f);if(!R)return{diagnostics:[]};let I=d(R,y),w=c(I);return w?{view:w,diagnostics:I.diagnostics.diagnostics,partial:I.diagnostics.partial}:{diagnostics:I.diagnostics.diagnostics,partial:I.diagnostics.partial}}let E={openDocument(f,y,R=0,I="xml"){n.set(f,Ve(f,y,R,I)),r.delete(f)},updateDocument(f,y,R=0,I="xml"){n.set(f,Ve(f,y,R,I)),r.delete(f)},closeDocument(f){n.delete(f),r.delete(f)},getResolvedConfig(){return s()?.resolvedConfig??a},getEffectiveConfigForDocument(f){let y=this.getResolvedConfig();if(!y)return;let R=l()?.rootDir??e.configBasePath,I=R?va(R,f):void 0;return I!==void 0?wt(y,I):Cn(y,f)},getDocument(f){return n.get(f)},getDiagnostics(f){let y=A(f);if(!y||!y.emitDiagnostics)return{diagnostics:[]};let R={diagnostics:y.snapshot.diagnostics.diagnostics};return y.snapshot.diagnostics.partial&&(R.partial=!0),R},getWorkspaceDiagnostics(){return{diagnostics:[...s()?.diagnostics??i]}},getSemanticDocumentView(f){let y=A(f);return y?h(f,y.effectiveConfig):{diagnostics:[]}},getNodeCatalog(f){let y=A(f);return y?{models:p(y.snapshot)}:{models:[]}},getSemanticNode(f,y){let R=A(f);return R?{node:h(f,R.effectiveConfig).view?.nodes.find(w=>w.nodeId===y)}:{}},getNodeUsageAt(f,y){let R=A(f);if(!R)return{};let I=c(R.snapshot);if(!R.snapshot.parsed||!I)return{};let w=Ut(I,y);return w?{node:w,usage:w.usage}:{}},getNodeModelById(f,y){let R=y??n.keys().next().value;return R?{model:this.getNodeCatalog(R).models.find(w=>w.id===f)}:{}},getChildCapability(f,y,R){if(y==="BehaviorTree")return{capable:!0,reason:"behavior-tree"};let I=xe(y);if(I==="Control")return{capable:!0,reason:"generic-control"};if(I==="Decorator")return{capable:!0,reason:"generic-decorator"};if(I==="Action"||I==="Condition")return{capable:!1,reason:"generic-leaf"};let w=A(f);if(!w)return{capable:!1,reason:"unknown-model"};let _=L(w.snapshot.semantic,{element:cd(y,R),documentRoot:w.snapshot.parsed?.root,uri:f,config:w.snapshot.config,policy:w.snapshot.nodeUsagePolicy});return _.model.status!=="resolved"?{capable:!1,reason:"unknown-model",modelId:_.nodeType}:{...pd(_.model.model.kind),modelId:_.model.model.id}},getPortInfoAt(f,y){let R=A(f);if(!R)return{};let I=c(R.snapshot);if(!R.snapshot.parsed||!I)return{};let w=qt(I,y),_=this.getNodeUsageAt(f,y),V=_.node,Ae=w&&V?ue(R.snapshot.semantic,{element:V.usage.element,documentRoot:R.snapshot.parsed.root,attributeName:w.portName,uri:f,config:R.snapshot.config,policy:R.snapshot.nodeUsagePolicy}):void 0;return{node:V,binding:w,port:w?.resolution.status==="resolved"?w.resolution.port:void 0,usage:Ae,nodeUsage:_.usage}},getFormattingEdits(f){let y=A(f);return y?o.getFormattingEdits({document:y.document,config:y.effectiveConfig}):{edits:[],diagnostics:[]}},getCompletions(f,y,R){let I=A(f);return I?o.getCompletions({document:I.document,position:y,workspace:l(),triggerCharacter:R,config:I.effectiveConfig}):{items:[]}},getHover(f,y){let R=A(f);return R?o.getHover({document:R.document,position:y,workspace:l(),config:R.effectiveConfig}):{}},getDefinition(f,y){let R=A(f);return R?o.getDefinition({document:R.document,position:y,workspace:l(),config:R.effectiveConfig}):{locations:[]}},getReferences(f,y){let R=A(f);return R?o.getReferences({document:R.document,position:y,workspace:l(),config:R.effectiveConfig}):{locations:[]}},getDocumentSymbols(f){let y=A(f);return y?o.getDocumentSymbols({document:y.document,workspace:l(),config:y.effectiveConfig}):{symbols:[]}},getCodeActions(f,y,R){let I=A(f);return I?o.getCodeActions({document:I.document,range:y,diagnostics:R,workspace:l(),config:I.effectiveConfig}):{actions:[]}},getLanguageService(){return o},dispose(){n.clear(),r.clear(),i.length=0}};return E}function zb(e={}){return Cr(e)}export{zb as createBtEditorService,dn as createLanguageService};
|
|
30
|
+
Resolves to SubTree model in \`${l.model.uri||e.parsed?.uri||"workspace"}\`.`}}if(i&&o){let l=e.documentView?Fe(e.documentView,t.position):void 0;if(l?.declaredPort.status==="resolved")return{range:i.nameRange,contents:Ra(l.declaredPort.port)};let u=ue(e.semantic,{element:o,documentRoot:e.parsed?.root,attributeName:i.name,uri:t.document.uri,config:e.config,policy:e.nodeUsagePolicy});if(u?.status==="resolved")return{range:i.nameRange,contents:Ra(u.port)}}let s=e.documentView?Vt(e.documentView,t.position):void 0;if(s&&s.usage.model.status==="resolved"){let l=s.usage.model.model;return{range:s.element.nameRange||s.element.openTagRange,contents:Ta(l)}}return o&&a?.model.status==="resolved"?{range:o.nameRange||o.openTagRange,contents:Ta(a.model.model)}:{}}function vr(e,t){return wn(e.semantic,t).filter(n=>n.parentBehaviorTreeId&&n.idRange).map(n=>({uri:n.uri,range:n.idRange})).filter(n=>!!n.range)}function hr(e){let t=new Set,n=[];for(let r of e){let o=`${r.uri}:${r.range.start.offset}:${r.range.end.offset}`;t.has(o)||(t.add(o),n.push(r))}return n}function Sd(e,t){let n=new Set;for(let r of t){let o=Nn(e.semantic).find(a=>kr(r,{uri:a.uri,range:a.idRange}));o&&n.add(o.id);let i=Mn(e.semantic).find(a=>a.kind==="SubTree"&&(kr(r,{uri:a.uri,range:a.idRange})||kr(r,{uri:a.uri,range:a.range})));i&&n.add(i.id)}return[...n]}function kr(e,t){return t.uri===e.uri&&t.range?.start.offset===e.range.start.offset&&t.range?.end.offset===e.range.end.offset}function xr(e,t){let n=Ge(e,t.position);if(n)return{locations:hr(ra(e,n).map(d=>({uri:d.uri,range:d.documentRange})))};let r=e.parsed?H({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,s=(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(s){let d=$({scope:s.scope,key:s.key});return{locations:hr([...s.scope==="global"?gr(e.documentView,e.workspace?.documents,e.semantic,e.config,e.nodeUsagePolicy,d,e.document.uri):yr(e.documentView,d,e.document.uri),...s.scope==="global"?ia(e,s.key):[]])}}if(o?.name==="BehaviorTree"&&i?.name==="ID")return{locations:vr(e,i.value)};if(o&&i?.name==="ID"&&L(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:vr(e,i.value)};let l=un(e.parsed,e.documentView,t.position,e.semantic,e.config,e.nodeUsagePolicy,e.workspace?.documents);if(l.length===0)return{locations:[]};let u=Sd(e,l);return u.length>0?{locations:hr(u.flatMap(d=>vr(e,d)))}:{locations:[]}}function Rd(e,t){return e.attributes.find(n=>n.name===t)}function Ir(e){let t=e.name==="BehaviorTree"?Rd(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=>Ir(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 Cr(e,t){return e.parsed?.root?{symbols:[Ir(e.parsed.root)]}:{symbols:[]}}function Td(e){return{diagnostics:e.diagnostics,partial:e.partial||void 0}}function dn(e={}){return{getDiagnostics(t){return Td(Sr(le(t,e),t))},getCompletions(t){return mr(le(t,e),t)},getHover(t){return Tr(le(t,e),t)},getDefinition(t){return br(le(t,e),t)},getReferences(t){return xr(le(t,e),t)},getDocumentSymbols(t){return Cr(le(t,e),t)},getCodeActions(t){return nr(le(t,e),t)},getFormattingEdits(t){return Rr(le(t,e),t)}}}var va={line:0,character:0,offset:0},kt={start:va,end:va};function vd(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 hd(e,t){return{kind:"element",name:e,attributes:vd(t),children:[],range:kt,openTagRange:kt,selfClosing:!0}}function kd(e){return{capable:e==="Control"||e==="Decorator",reason:"model-kind",kind:e}}function Dr(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=>Dr(t)).join(",")}]`:typeof 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n=ka(e),r=ka(ot(t));if(r===n)return"";if(r.startsWith(`${n}/`))return r.slice(n.length+1)}function Br(e={}){let t=e,n=new Map,r=new Map,o=dn(),i=[],a=e.config?xn(e.config).config:void 0;function s(){return t.getRuntimeState?.()}function l(){return s()?.workspace}function u(){return s()?.version??0}function d(f,y){let R=l(),I=u(),w=xd(y),_=r.get(f.uri);if(_&&_.documentVersion===f.version&&_.workspaceVersion===I&&_.document===f&&_.workspace===R&&_.configFingerprint===w)return _;let V=Id(f,R,I,y,w);return r.set(f.uri,V),V}function c(f){if(f.parsed)return f.view||(f.view=Ot(f.parsed,f.semantic,{config:f.config,policy:f.nodeUsagePolicy})),f.view}function p(f){return f.models||(f.models=Pn(f.semantic)),f.models}function m(f){let y=l();return y?y.documents.some(R=>R.isBtXml&&R.uri===f):!1}function x(f){let y=E.getResolvedConfig();if(!y)return!1;let R=l()?.rootDir??e.configBasePath,I=R?xa(R,f):void 0;return I!==void 0?Nt(y,I):In(y,f)}function S(f,y){return f.languageId==="btcpp-xml"||y.parsed?.isBtXml===!0||ha(y.parsed)||x(f.uri)||m(f.uri)}function D(f,y){return f.languageId==="btcpp-xml"||y.parsed?.isBtXml===!0||ha(y.parsed)||m(f.uri)}function A(f){let y=n.get(f);if(!y)return;let R=E.getEffectiveConfigForDocument(y.uri),I=d(y,R);if(S(y,I))return{document:y,effectiveConfig:R,snapshot:I,emitDiagnostics:D(y,I)}}function h(f,y){let R=n.get(f);if(!R)return{diagnostics:[]};let I=d(R,y),w=c(I);return w?{view:w,diagnostics:I.diagnostics.diagnostics,partial:I.diagnostics.partial}:{diagnostics:I.diagnostics.diagnostics,partial:I.diagnostics.partial}}let E={openDocument(f,y,R=0,I="xml"){n.set(f,Ve(f,y,R,I)),r.delete(f)},updateDocument(f,y,R=0,I="xml"){n.set(f,Ve(f,y,R,I)),r.delete(f)},closeDocument(f){n.delete(f),r.delete(f)},getResolvedConfig(){return s()?.resolvedConfig??a},getEffectiveConfigForDocument(f){let y=this.getResolvedConfig();if(!y)return;let R=l()?.rootDir??e.configBasePath,I=R?xa(R,f):void 0;return I!==void 0?wt(y,I):Cn(y,f)},getDocument(f){return n.get(f)},getDiagnostics(f){let y=A(f);if(!y||!y.emitDiagnostics)return{diagnostics:[]};let R={diagnostics:y.snapshot.diagnostics.diagnostics};return y.snapshot.diagnostics.partial&&(R.partial=!0),R},getWorkspaceDiagnostics(){return{diagnostics:[...s()?.diagnostics??i]}},getSemanticDocumentView(f){let y=A(f);return y?h(f,y.effectiveConfig):{diagnostics:[]}},getNodeCatalog(f){let y=A(f);return y?{models:p(y.snapshot)}:{models:[]}},getSemanticNode(f,y){let R=A(f);return R?{node:h(f,R.effectiveConfig).view?.nodes.find(w=>w.nodeId===y)}:{}},getNodeUsageAt(f,y){let R=A(f);if(!R)return{};let I=c(R.snapshot);if(!R.snapshot.parsed||!I)return{};let w=Ut(I,y);return w?{node:w,usage:w.usage}:{}},getNodeModelById(f,y){let R=y??n.keys().next().value;return R?{model:this.getNodeCatalog(R).models.find(w=>w.id===f)}:{}},getChildCapability(f,y,R){if(y==="BehaviorTree")return{capable:!0,reason:"behavior-tree"};let I=xe(y);if(I==="Control")return{capable:!0,reason:"generic-control"};if(I==="Decorator")return{capable:!0,reason:"generic-decorator"};if(I==="Action"||I==="Condition")return{capable:!1,reason:"generic-leaf"};let w=A(f);if(!w)return{capable:!1,reason:"unknown-model"};let _=L(w.snapshot.semantic,{element:hd(y,R),documentRoot:w.snapshot.parsed?.root,uri:f,config:w.snapshot.config,policy:w.snapshot.nodeUsagePolicy});return _.model.status!=="resolved"?{capable:!1,reason:"unknown-model",modelId:_.nodeType}:{...kd(_.model.model.kind),modelId:_.model.model.id}},getPortInfoAt(f,y){let R=A(f);if(!R)return{};let I=c(R.snapshot);if(!R.snapshot.parsed||!I)return{};let w=qt(I,y),_=this.getNodeUsageAt(f,y),V=_.node,Ae=w&&V?ue(R.snapshot.semantic,{element:V.usage.element,documentRoot:R.snapshot.parsed.root,attributeName:w.portName,uri:f,config:R.snapshot.config,policy:R.snapshot.nodeUsagePolicy}):void 0;return{node:V,binding:w,port:w?.resolution.status==="resolved"?w.resolution.port:void 0,usage:Ae,nodeUsage:_.usage}},getFormattingEdits(f){let y=A(f);return y?o.getFormattingEdits({document:y.document,config:y.effectiveConfig}):{edits:[],diagnostics:[]}},getCompletions(f,y,R){let I=A(f);return I?o.getCompletions({document:I.document,position:y,workspace:l(),triggerCharacter:R,config:I.effectiveConfig}):{items:[]}},getHover(f,y){let R=A(f);return R?o.getHover({document:R.document,position:y,workspace:l(),config:R.effectiveConfig}):{}},getDefinition(f,y){let R=A(f);return R?o.getDefinition({document:R.document,position:y,workspace:l(),config:R.effectiveConfig}):{locations:[]}},getReferences(f,y){let R=A(f);return R?o.getReferences({document:R.document,position:y,workspace:l(),config:R.effectiveConfig}):{locations:[]}},getDocumentSymbols(f){let y=A(f);return y?o.getDocumentSymbols({document:y.document,workspace:l(),config:y.effectiveConfig}):{symbols:[]}},getCodeActions(f,y,R){let I=A(f);return I?o.getCodeActions({document:I.document,range:y,diagnostics:R,workspace:l(),config:I.effectiveConfig}):{actions:[]}},getLanguageService(){return o},dispose(){n.clear(),r.clear(),i.length=0}};return E}function rS(e={}){return Br(e)}export{rS as createBtEditorService,dn as createLanguageService};
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