Small improvements

include/behaviortree_cpp/basic_types.h

@@ -292,7 +292,8 @@ std::pair<std::string, PortInfo> CreatePort(PortDirection direction, StringView
   auto sname = static_cast<std::string>(name);
   if (!IsAllowedPortName(sname))
   {
-    throw RuntimeError("The name of a port must start with an alphabetic character. "
+    throw RuntimeError("The name of a port must not be `name` or `ID` "
+                       "and must start with an alphabetic character. "
                        "Underscore is reserved.");
   }
 

include/behaviortree_cpp/tree_node.h

@@ -14,6 +14,7 @@
 #pragma once
 
 #include <condition_variable>
+#include <exception>
 #include <mutex>
 #include <map>
 
@@ -343,9 +344,9 @@ inline Result TreeNode::getInput(const std::string& key, T& destination) const
 
     std::unique_lock<std::mutex> entry_lock(config_.blackboard->entryMutex());
     const Any* val = config_.blackboard->getAny(static_cast<std::string>(remapped_key));
-    if (val && val->empty() == false)
+    if (val && !val->empty())
     {
-      if (std::is_same<T, std::string>::value == false &&
+      if (!std::is_same_v<T, std::string> &&
           val->type() == typeid(std::string))
       {
         destination = convertFromString<T>(val->cast<std::string>());

src/basic_types.cpp

@@ -253,7 +253,10 @@ PortDirection convertFromString<PortDirection>(StringView str)
     return PortDirection::INPUT;
   if (str == "Output" || str == "OUTPUT")
     return PortDirection::OUTPUT;
-  return PortDirection::INOUT;
+  if (str == "InOut" || str == "INOUT")
+    return PortDirection::INOUT;
+  throw RuntimeError(std::string("Cannot convert this to PortDirection: ") +
+                     static_cast<std::string>(str));
 }
 
 std::ostream& operator<<(std::ostream& os, const NodeType& type)
@@ -287,7 +290,7 @@ std::vector<StringView> splitString(const StringView& strToSplit, char delimeter
     {
       new_pos = strToSplit.size();
     }
-    StringView sv = {&strToSplit.data()[pos], new_pos - pos};
+    const auto sv = StringView{&strToSplit.data()[pos], new_pos - pos};
     splitted_strings.push_back(sv);
     pos = new_pos + 1;
   }

src/controls/fallback_node.cpp

@@ -12,7 +12,7 @@
 */
 
 #include "behaviortree_cpp/controls/fallback_node.h"
-#include "behaviortree_cpp/action_node.h"
+
 namespace BT
 {
 FallbackNode::FallbackNode(const std::string& name) :

src/decorators/repeat_node.cpp

@@ -15,7 +15,6 @@
 
 namespace BT
 {
-constexpr const char* RepeatNode::NUM_CYCLES;
 
 RepeatNode::RepeatNode(const std::string& name, int NTries) :
   DecoratorNode(name, {}),