Added codespell as a pre-commit hook.

.codespell_ignore_words

@@ -0,0 +1,7 @@
+INOUT
+InOut
+delimeter
+Succesful
+worl
+valu
+Exeption

.pre-commit-config.yaml

@@ -42,3 +42,13 @@ repos:
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
+
+  # Spell check
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.4.1
+    hooks:
+      - id: codespell
+        additional_dependencies:
+        -   tomli
+        args:
+            [--toml=./pyproject.toml]

CHANGELOG.rst

@@ -17,7 +17,7 @@ Changelog for package behaviortree_cpp
 * Fix dangling‐capture in TestNodeConfig
 * Fix Precondition to only check condition once (`#904 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/904>`_)
 * fix issue 945
-* extend JSON convertion to include vectors (`#965 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/965>`_)
+* extend JSON conversion to include vectors (`#965 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/965>`_)
 * Fix CI, add BUILD_TESTS and remove catkin support
 * Fix testing CMake issue to resolve Rolling regression (`#961 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/961>`_)
 * Bug fix/set blackboard (`#955 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/955>`_)
@@ -116,7 +116,7 @@ Changelog for package behaviortree_cpp
 * warn about overwritten enums
 * fix ambiguous to_json
 * Extend unit test for blackboard backup to run the second tree (`#789 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/789>`_)
-* json convertion changed and
+* json conversion changed and
 * issue `#755 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/755>`_ : add backchaining test and change reactive nodes checks (`#770 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/770>`_)
 * Update switch_node.h
 * test moved and port remapping fixed
@@ -393,7 +393,7 @@ Changelog for package behaviortree_cpp
 * better include paths
 * Control node and Decorators RUNNING before first child
 * blackboard: update getKeys and add mutex to scripting
-* add [[nodiscard]] and some othe minor changes
+* add [[nodiscard]] and some other minor changes
 * add screenshot
 * change the behavior of tickOnce to actually loop is wake up signal is… (`#522 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/522>`_)
   * change the behavior of tickOnce to actually loop is wake up signal is received
@@ -492,7 +492,7 @@ Changelog for package behaviortree_cpp
   dependency explicitly.
 * Change order of lock to prevent deadlock. (`#368 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/368>`_)
   Resolves `#367 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/367>`_.
-* Fix `#320 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/320>`_ : forbit refrences in Any
+* Fix `#320 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/320>`_ : forbid references in Any
 * Update action_node.h
 * Contributors: Adam Sasine, Davide Faconti, Fabian Schurig, Griswald Brooks, Hyeongsik Min, Robodrome, imgbot[bot], panwauu
 
@@ -839,9 +839,9 @@ Changelog for package behaviortree_cpp
 * Conan package distribution (#39)
 * Non-functional refactoring of xml_parsing to clean up the code
 * cosmetic changes in the code of BehaviorTreeFactory
-* XML schema. Related to enchancement #40
+* XML schema. Related to enhancement #40
 * call setRegistrationName() for built-in Nodes
-  The methos is called by BehaviorTreefactory, therefore it
+  The method is called by BehaviorTreefactory, therefore it
   registrationName is empty if trees are created programmatically.
 * Reset reference count when destroying logger (issue #38)
 * Contributors: Davide Facont, Davide Faconti, Uilian Ries
@@ -857,7 +857,7 @@ Changelog for package behaviortree_cpp
 ------------------
 * adding virtual TreeNode::onInit() [issue #33]
 * fix issue #34 : if you don't implement convertFromString, it will compile but it may throw
-* Pretty demangled names and obsolate comments removed
+* Pretty demangled names and obsolete comments removed
 * bug fixes
 * more comments
 * [enhancement #32]: add CoroActionNode and rename ActionNode as "AsynActionNode"
@@ -924,7 +924,7 @@ Changelog for package behaviortree_cpp
 * Fix: registerBuilder did not register the manifest. It was "broken" as public API method
 * Use the Pimpl idiom to hide zmq from the header file
 * move header of minitrace in the cpp file
-* Fixed a crash occuring when you didn't initialized a Tree object (#20)
+* Fixed a crash occurring when you didn't initialized a Tree object (#20)
 * Fix issue #16
 * add ParallelNode to pre-registered entries in factory (issue #13)
 * removed M_PI

cmake/conan.cmake

@@ -116,7 +116,7 @@ macro(_conan_check_language)
         set(LANGUAGE C)
         set(USING_CXX 0)
     else ()
-        message(FATAL_ERROR "Conan: Neither C or C++ was detected as a language for the project. Unabled to detect compiler version.")
+        message(FATAL_ERROR "Conan: Neither C or C++ was detected as a language for the project. Unable to detect compiler version.")
     endif()
 endmacro()
 
@@ -1050,7 +1050,7 @@ macro(conan_config_install)
     endif()
 
     if(DEFINED CONAN_ARGS)
-	# Convert ; seperated multi arg list into space seperated string
+	# Convert ; separated multi arg list into space separated string
 	string(REPLACE ";" " " l_CONAN_ARGS "${CONAN_ARGS}")
 	set(CONAN_ARGS_ARGS "--args=${l_CONAN_ARGS}")
     endif()

examples/t12_default_ports.cpp

@@ -22,7 +22,7 @@ struct Point2D
   }
 };
 
-// Allow bi-directional convertion to JSON
+// Allow bi-directional conversion to JSON
 BT_JSON_CONVERTER(Point2D, point)
 {
   add_field("x", &point.x);

examples/t15_nodes_mocking.cpp

@@ -147,7 +147,7 @@ int main(int argc, char** argv)
     factory.loadSubstitutionRuleFromJSON(json_text);
   }
   //---------------------------------------------------------------
-  // IMPORTANT: all substiutions must be done BEFORE creating the tree
+  // IMPORTANT: all substitutions must be done BEFORE creating the tree
   // During the construction phase of the tree, the substitution
   // rules will be used to instantiate the test nodes, instead of the
   // original ones.
@@ -158,7 +158,7 @@ int main(int argc, char** argv)
   return 0;
 }
 
-/* Expecte output:
+/* Expected output:
 
 ----- Nodes fullPath() -------
 Sequence::1

examples/t16_global_blackboard.cpp

@@ -97,7 +97,7 @@ int main()
   return 0;
 }
 
-/* Expecte output:
+/* Expected output:
 
 [main_print] val: 1
 [sub_print] val: 1

include/behaviortree_cpp/action_node.h

@@ -99,10 +99,10 @@ class SimpleActionNode : public SyncActionNode
  * IMPORTANT: this action is quite hard to implement correctly.
  * Please make sure that you know what you are doing.
  *
- * - In your overriden tick() method, you must check periodically
+ * - In your overridden tick() method, you must check periodically
  *   the result of the method isHaltRequested() and stop your execution accordingly.
  *
- * - in the overriden halt() method, you can do some cleanup, but do not forget to
+ * - in the overridden halt() method, you can do some cleanup, but do not forget to
  *   invoke the base class method ThreadedAction::halt();
  *
  * - remember, with few exceptions, a halted ThreadedAction must return NodeStatus::IDLE.

include/behaviortree_cpp/actions/pop_from_queue.hpp

@@ -20,7 +20,7 @@
 /**
  * Template Action used in ex04_waypoints.cpp example.
  *
- * Its purpose is to do make it easy to create while loops wich consume the elements of a queue.
+ * Its purpose is to do make it easy to create while loops which consume the elements of a queue.
  *
  * Note that modifying the queue is not thread safe, therefore the action that creates the queue
  * or push elements into it, must be Synchronous.
@@ -47,7 +47,7 @@ struct ProtectedQueue
  *
  * We avoid this using reference semantic (wrapping the object in a shared_ptr).
  * Unfortunately, remember that this makes our access to the list not thread-safe!
- * This is the reason why we add a mutex to be used when modyfying the ProtectedQueue::items
+ * This is the reason why we add a mutex to be used when modifying the ProtectedQueue::items
  *
  * */
 
@@ -95,7 +95,7 @@ class PopFromQueue : public SyncActionNode
 };
 
 /**
- * Get the size of a queue. Usefull is you want to write something like:
+ * Get the size of a queue. Useful when you want to write something like:
  *
  *  <QueueSize queue="{waypoints}" size="{wp_size}" />
  *  <Repeat num_cycles="{wp_size}" >

include/behaviortree_cpp/actions/set_blackboard_node.h

@@ -44,7 +44,7 @@ class SetBlackboardNode : public SyncActionNode
 
   static PortsList providedPorts()
   {
-    return { InputPort("value", "Value to be written int othe output_key"),
+    return { InputPort("value", "Value to be written into the output_key"),
              BidirectionalPort("output_key", "Name of the blackboard entry where the "
                                              "value should be written") };
   }

include/behaviortree_cpp/actions/test_node.h

@@ -50,7 +50,7 @@ struct TestNodeConfig
  * 3. Either complete immediately (synchronous action), or after a
  *    given period of time (asynchronous action)
  *
- * This behavior is changed by the parameters pased with TestNodeConfig.
+ * This behavior is changed by the parameters passed with TestNodeConfig.
  *
  * This particular node is created by the factory when TestNodeConfig is
  * added as a substitution rule:

include/behaviortree_cpp/bt_factory.h

@@ -475,7 +475,7 @@ class BehaviorTreeFactory
   /**
    * @brief addSubstitutionRule replace a node with another one when the tree is
    * created.
-   * If the rule ia a string, we will use a diferent node type (already registered)
+   * If the rule ia a string, we will use a different node type (already registered)
    * instead.
    * If the rule is a TestNodeConfig, a test node with that configuration will be created instead.
    *
@@ -526,7 +526,7 @@ std::vector<Blackboard::Ptr> BlackboardBackup(const BT::Tree& tree);
  * @brief BlackboardRestore uses Blackboard::cloneInto to restore
  * all the blackboards of the tree
  *
- * @param backup a vectror of blackboards
+ * @param backup a vector of blackboards
  * @param tree the destination
  */
 void BlackboardRestore(const std::vector<Blackboard::Ptr>& backup, BT::Tree& tree);

include/behaviortree_cpp/decorators/run_once_node.h

@@ -42,7 +42,7 @@ class RunOnceNode : public DecoratorNode
   {
     return { InputPort<bool>("then_skip", true,
                              "If true, skip after the first execution, "
-                             "otherwise return the same NodeStatus returned once bu the "
+                             "otherwise return the same NodeStatus returned once by the "
                              "child.") };
   }
 

include/behaviortree_cpp/flatbuffers/bt_flatbuffer_helper.h

@@ -136,7 +136,7 @@ inline void CreateFlatbuffersBehaviorTree(flatbuffers::FlatBufferBuilder& builde
   builder.Finish(behavior_tree);
 }
 
-/** Serialize manually the informations about state transition
+/** Serialize manually the information about state transition
  * No flatbuffer serialization here
  */
 inline SerializedTransition SerializeTransition(uint16_t UID, Duration timestamp,

include/behaviortree_cpp/json_export.h

@@ -83,25 +83,25 @@ class JsonExporter
   /**
    * @brief Register new JSON converters with addConverter<Foo>().
    * You should used first the macro BT_JSON_CONVERTER.
-   * The convertions from/to vector<T> are automatically registered.
+   * The conversions from/to vector<T> are automatically registered.
    */
   template <typename T>
   void addConverter();
 
   /**
    * @brief addConverter register a to_json function that converts a json to a type T.
-   * The convertion to std:vector<T> is automatically registered.
+   * The conversion to std:vector<T> is automatically registered.
    *
    * @param to_json the function with signature void(const T&, nlohmann::json&)
-   * @param add_type if true, add a field called [__type] with the name ofthe type.
+   * @param add_type if true, add a field called [__type] with the name of the type.
    */
   template <typename T>
   void addConverter(std::function<void(const T&, nlohmann::json&)> to_json,
                     bool add_type = true);
 
   /**
    * @brief addConverter register a from_json function that converts a json to a type T.
-   * The convertions from std::vector<T> is automatically registered.
+   * The conversions from std::vector<T> is automatically registered.
    *
    * @param from_json the function with signature void(const nlohmann::json&, T&)
    */

include/behaviortree_cpp/loggers/groot2_protocol.h

@@ -27,11 +27,11 @@ namespace BT::Monitor
 
 enum RequestType : uint8_t
 {
-  // Request the entire tree defintion as XML
+  // Request the entire tree definition as XML
   FULLTREE = 'T',
-  // Request the staus of all the nodes
+  // Request the status of all the nodes
   STATUS = 'S',
-  // retrieve the valus in a set of blackboards
+  // retrieve the values in a set of blackboards
   BLACKBOARD = 'B',
 
   // Groot requests the insertion of a hook

include/behaviortree_cpp/scripting/operators.hpp

@@ -27,7 +27,7 @@ using SimpleString = SafeAny::SimpleString;
 
 using expr_ptr = std::shared_ptr<struct ExprBase>;
 
-// extended strin to number that consider enums and booleans
+// extended string to number that consider enums and booleans
 inline double StringToDouble(const Any& value, const Environment& env)
 {
   const auto str = value.cast<std::string>();

include/behaviortree_cpp/tree_node.h

@@ -99,7 +99,7 @@ struct NodeConfig
 
   const TreeNodeManifest* manifest = nullptr;
 
-  // Numberic unique identifier
+  // Numeric unique identifier
   uint16_t uid = 0;
   // Unique human-readable name, that encapsulate the subtree
   // hierarchy, for instance, given 2 nested trees, it should be:
@@ -209,7 +209,7 @@ class TreeNode
    *     NodeStatus myCallback(TreeNode& node, NodeStatus status)
    *
    * This callback is executed AFTER the tick() and, if it returns SUCCESS or FAILURE,
-   * the value returned by the actual tick() is overriden with this one.
+   * the value returned by the actual tick() is overridden with this one.
    */
   void setPostTickFunction(PostTickCallback callback);
 
@@ -251,7 +251,7 @@ class TreeNode
 
   /**
    * @brief getInputStamped is similar to getInput(dey, destination),
-   * but it returne also the Timestamp object, that can be used to check if
+   * but it returns also the Timestamp object, that can be used to check if
    * a value was updated and when.
    *
    * @param key   the name of the port.
@@ -298,7 +298,7 @@ class TreeNode
    * @brief setOutput modifies the content of an Output port
    * @param key    the name of the port.
    * @param value  new value
-   * @return       valid Result, if succesful.
+   * @return       valid Result, if successful.
    */
   template <typename T>
   Result setOutput(const std::string& key, const T& value);

include/behaviortree_cpp/utils/safe_any.hpp

@@ -494,7 +494,7 @@ inline nonstd::expected<T, std::string> Any::tryCast() const
   }
 
   // special case when the output is an enum.
-  // We will try first a int convertion
+  // We will try first a int conversion
   if constexpr(std::is_enum_v<T>)
   {
     if(isNumber())

pyproject.toml

@@ -0,0 +1,2 @@
+[tool.codespell]
+ignore-words = ".codespell_ignore_words"

src/blackboard.cpp

@@ -176,7 +176,7 @@ void Blackboard::cloneInto(Blackboard& dst) const
     auto it = dst_storage.find(src_key);
     if(it != dst_storage.end())
     {
-      // overwite
+      // overwrite
       auto& dst_entry = it->second;
       dst_entry->string_converter = src_entry->string_converter;
       dst_entry->value = src_entry->value;

src/controls/fallback_node.cpp

@@ -55,7 +55,7 @@ NodeStatus FallbackNode::tick()
       case NodeStatus::FAILURE: {
         current_child_idx_++;
         // Return the execution flow if the child is async,
-        // to make this interruptable.
+        // to make this interruptible.
         if(asynch_ && requiresWakeUp() && prev_status == NodeStatus::IDLE &&
            current_child_idx_ < children_count)
         {

src/controls/sequence_node.cpp

@@ -62,7 +62,7 @@ NodeStatus SequenceNode::tick()
       case NodeStatus::SUCCESS: {
         current_child_idx_++;
         // Return the execution flow if the child is async,
-        // to make this interruptable.
+        // to make this interruptible.
         if(asynch_ && requiresWakeUp() && prev_status == NodeStatus::IDLE &&
            current_child_idx_ < children_count)
         {

src/controls/sequence_with_memory_node.cpp

@@ -55,7 +55,7 @@ NodeStatus SequenceWithMemory::tick()
       case NodeStatus::SUCCESS: {
         current_child_idx_++;
         // Return the execution flow if the child is async,
-        // to make this interruptable.
+        // to make this interruptible.
         if(requiresWakeUp() && prev_status == NodeStatus::IDLE &&
            current_child_idx_ < children_count)
         {

src/decorators/repeat_node.cpp

@@ -59,7 +59,7 @@ NodeStatus RepeatNode::tick()
         resetChild();
 
         // Return the execution flow if the child is async,
-        // to make this interruptable.
+        // to make this interruptible.
         if(requiresWakeUp() && prev_status == NodeStatus::IDLE && do_loop)
         {
           emitWakeUpSignal();

src/decorators/retry_node.cpp

@@ -74,7 +74,7 @@ NodeStatus RetryNode::tick()
         resetChild();
 
         // Return the execution flow if the child is async,
-        // to make this interruptable.
+        // to make this interruptible.
         if(requiresWakeUp() && prev_status == NodeStatus::IDLE && do_loop)
         {
           emitWakeUpSignal();