added full Language server for URDF and xacro

.github/workflows/build.yml

@@ -0,0 +1,61 @@
+name: Build and Package
+
+on:
+  push:
+    branches: [master, main]
+  pull_request:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Rust
+        uses: dtolnay/rust-toolchain@stable
+
+      - name: Set up Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: '20'
+          cache: 'npm'
+          cache-dependency-path: client/package-lock.json
+
+      - name: Cache Rust dependencies
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/registry
+            ~/.cargo/git
+            server/target
+          key: ${{ runner.os }}-cargo-${{ hashFiles('server/Cargo.lock') }}
+
+      - name: Test server
+        run: cargo test --manifest-path server/Cargo.toml --release
+
+      - name: Build server (release)
+        run: cargo build --release --manifest-path server/Cargo.toml
+
+      - name: Stage server binary
+        run: |
+          mkdir -p server/bin
+          cp server/target/release/urdf-lsp server/bin/urdf-lsp
+          chmod +x server/bin/urdf-lsp
+
+      - name: Install client dependencies
+        run: npm --prefix client ci
+
+      - name: Build client
+        run: npm run build:client
+
+      - name: Package extension
+        run: |
+          npm install -g @vscode/vsce
+          vsce package --no-dependencies --out urdf-$(node -p "require('./package.json').version")-linux-x64.vsix
+
+      - name: Upload .vsix artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: urdf-extension
+          path: '*.vsix'
+          retention-days: 30

.github/workflows/release.yml

@@ -0,0 +1,109 @@
+name: Release
+
+on:
+  push:
+    tags:
+      - 'v*.*.*'
+
+jobs:
+  build:
+    name: Build ${{ matrix.label }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            label: linux-x64
+            rust-targets: x86_64-unknown-linux-gnu
+            vsce-targets: linux-x64
+          - os: macos-latest
+            label: darwin-universal
+            rust-targets: x86_64-apple-darwin aarch64-apple-darwin
+            vsce-targets: darwin-x64 darwin-arm64
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Rust
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: ${{ matrix.rust-targets }}
+
+      - name: Set up Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: '20'
+          cache: 'npm'
+          cache-dependency-path: client/package-lock.json
+
+      - name: Cache Rust dependencies
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/registry
+            ~/.cargo/git
+            server/target
+          key: ${{ runner.os }}-${{ matrix.label }}-cargo-${{ hashFiles('server/Cargo.lock') }}
+
+      - name: Test server
+        if: matrix.label == 'linux-x64'
+        run: cargo test --manifest-path server/Cargo.toml --release
+
+      - name: Build server (release) for each Rust target
+        run: |
+          for t in ${{ matrix.rust-targets }}; do
+            cargo build --release --manifest-path server/Cargo.toml --target "$t"
+          done
+
+      - name: Stage server binary
+        run: |
+          mkdir -p server/bin
+          targets=(${{ matrix.rust-targets }})
+          if [ ${#targets[@]} -eq 1 ]; then
+            cp "server/target/${targets[0]}/release/urdf-lsp" server/bin/urdf-lsp
+          else
+            lipo -create -output server/bin/urdf-lsp \
+              server/target/x86_64-apple-darwin/release/urdf-lsp \
+              server/target/aarch64-apple-darwin/release/urdf-lsp
+          fi
+          chmod +x server/bin/urdf-lsp
+
+      - name: Install client dependencies
+        run: npm --prefix client ci
+
+      - name: Build client
+        run: npm run build:client
+
+      - name: Package extension(s)
+        run: |
+          npm install -g @vscode/vsce
+          for t in ${{ matrix.vsce-targets }}; do
+            vsce package --no-dependencies --target "$t" --out "urdf-$t.vsix"
+          done
+
+      - name: Upload .vsix
+        uses: actions/upload-artifact@v4
+        with:
+          name: vsix-${{ matrix.label }}
+          path: urdf-*.vsix
+          retention-days: 7
+
+  release:
+    name: Create GitHub Release
+    needs: build
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Download .vsix artifacts
+        uses: actions/download-artifact@v4
+        with:
+          pattern: vsix-*
+          merge-multiple: true
+
+      - name: Create release
+        uses: softprops/action-gh-release@v2
+        with:
+          files: '*.vsix'
+          fail_on_unmatched_files: true
+          generate_release_notes: true

.gitignore

@@ -1,4 +1,7 @@
 out
 node_modules
 .vscode-test/
-.vsix
+server/target/
+server/bin/
+client/out/
+*.vsix

.vscode/launch.json

@@ -1,28 +1,19 @@
-// A launch configuration that compiles the extension and then opens it inside a new window
 {
-    "version": "0.1.0",
+    "version": "0.2.0",
     "configurations": [
         {
-            "name": "Extension",
+            "name": "Run Extension",
             "type": "extensionHost",
             "request": "launch",
             "runtimeExecutable": "${execPath}",
-            "args": ["--extensionDevelopmentPath=${workspaceRoot}" ],
-            "stopOnEntry": false,
+            "args": [
+                "--extensionDevelopmentPath=${workspaceFolder}"
+            ],
             "sourceMaps": true,
-            "outFiles": [ "${workspaceRoot}/out/**/*.js" ],
-            "preLaunchTask": "npm: watch"
-        },
-        {
-            "name": "Extension Tests",
-            "type": "extensionHost",
-            "request": "launch",
-            "runtimeExecutable": "${execPath}",
-            "args": ["--extensionDevelopmentPath=${workspaceRoot}", "--extensionTestsPath=${workspaceRoot}/out/test" ],
-            "stopOnEntry": false,
-            "sourceMaps": true,
-            "outFiles": [ "${workspaceRoot}/out/test/**/*.js" ],
-            "preLaunchTask": "npm: watch"
+            "outFiles": [
+                "${workspaceFolder}/client/out/**/*.js"
+            ],
+            "preLaunchTask": "build"
         }
     ]
 }

.vscode/tasks.json

@@ -1,20 +1,36 @@
-// See https://go.microsoft.com/fwlink/?LinkId=733558
-// for the documentation about the tasks.json format
 {
     "version": "2.0.0",
     "tasks": [
         {
-            "type": "npm",
-            "script": "watch",
-            "problemMatcher": "$tsc-watch",
-            "isBackground": true,
-            "presentation": {
-                "reveal": "never"
+            "label": "build",
+            "type": "shell",
+            "command": "npm run build",
+            "options": {
+                "cwd": "${workspaceFolder}"
             },
+            "problemMatcher": ["$tsc", "$rustc"],
             "group": {
                 "kind": "build",
                 "isDefault": true
             }
+        },
+        {
+            "label": "build:server",
+            "type": "shell",
+            "command": "cargo build",
+            "options": {
+                "cwd": "${workspaceFolder}/server"
+            },
+            "problemMatcher": ["$rustc"]
+        },
+        {
+            "label": "build:client",
+            "type": "shell",
+            "command": "npm run compile",
+            "options": {
+                "cwd": "${workspaceFolder}/client"
+            },
+            "problemMatcher": ["$tsc"]
         }
     ]
-}
+}

.vscodeignore

@@ -1,8 +1,23 @@
 .vscode/**
 .vscode-test/**
-out/test/**
-out/**/*.map
-src/**
+*.vsix
+client/out/**/*.map
+client/src/**
+client/tsconfig.json
+client/node_modules/**
+client/package.json
+client/package-lock.json
+server/src/**
+server/target/**
+server/Cargo.toml
+server/Cargo.lock
+.github/**
 .gitignore
-tsconfig.json
 vsc-extension-quickstart.md
+examples/**
+.claude/**
+build/**
+install/**
+log/**
+**/COLCON_IGNORE
+**/.built_by

CHANGELOG.md

@@ -4,8 +4,35 @@ All notable changes to the "urdf" extension will be documented in this file.
 
 Check [Keep a Changelog](http://keepachangelog.com/) for recommendations on how to structure this file.
 
+## [0.5.2] - 2026-05-22
+
+### Added
+- **Joint type dropdown**: typing `type="` inside a `<joint>` element now shows a completion dropdown with all 6 valid URDF joint types (`revolute`, `continuous`, `prismatic`, `fixed`, `floating`, `planar`).
+- **Workspace cross-file analysis**: links, joints, and xacro properties defined in other open or workspace-scanned files no longer produce false-positive diagnostics. On startup the server scans all `.urdf`/`.xacro` files in the workspace; files opened later update the index incrementally. Cross-file references in `.xacro` fragment files are suppressed entirely when the entity is found in the workspace.
+
+## [0.5.1] - 2026-05-22
+
+### Fixed
+- Tag-mismatch diagnostic now points at the unexpected closing tag (where the problem is), not the last open element on the stack.
+- Undefined xacro properties inside complex `${...}` expressions (e.g. `${(1/12)*mass*(width*typo_var)}`) are now flagged; previously only single-identifier expressions like `${typo_var}` were checked.
+
+## [0.5.0] - 2026-05-22
+
+First marketplace release.
+
+- Published to VS Code Marketplace and Open VSX under publisher `Roy-Pichifkes`.
+- Platform-specific .vsix per target: `linux-x64`, `darwin-x64`, `darwin-arm64`. The two Darwin .vsix files share one lipo'd universal binary built on a single Apple Silicon CI runner.
+- Native server binary bundled inside each .vsix; no Rust toolchain required for end users.
+
 ## [Unreleased]
 
+### 0.4.0-dev
+
+- Reworked from a snippets-only extension into a full language extension.
+- Added Rust-based language server (`urdf-lsp`, built with `tower-lsp`) and a thin TypeScript client.
+- Registered `urdf` as a first-class language id (no longer aliased to `xml`); kept `.urdf` and `.xacro` file associations.
+- Linux x86_64 only for now.
+
 ## [0.0.1]
 
 - Initial release