feat(intersection): aggressively peek into attention area if traffic light does not exist #5192
CodeScene PR Check
❌ Quality Gates: FAILED
- Declining Code Health: 1 findings(s) 🚩
- Improving Code Health: 3 findings(s) ✅
- Affected Hotspots: 1 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Negative Code Health Impact (highest to lowest):
- Complex Method manager.cpp: IntersectionModuleManager::launchNewModules
✅ Positive Code Health Impact (highest to lowest):
- Overall Code Complexity scene_intersection.cpp 🔥
- Deep, Nested Complexity scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail 🔥
- Bumpy Road Ahead scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail 🔥
Annotations
Check warning on line 186 in planning/behavior_velocity_intersection_module/src/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
IntersectionModuleManager::launchNewModules has a cyclomatic complexity of 10, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
Check notice on line 1 in planning/behavior_velocity_intersection_module/src/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 6.11 to 6.33, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
Check notice on line 1 in planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 1362 to 1428, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
Check notice on line 1 in planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Excess Number of Function Arguments
prepareRTCByDecisionResult has 6 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
Check notice on line 1 in planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 7.43 to 7.28, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Bumpy Road Ahead
IntersectionModule::modifyPathVelocityDetail decreases from 5 to 2 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Complex Method
IntersectionModule::modifyPathVelocityDetail increases in cyclomatic complexity from 56 to 57, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Complex Method
formatDecisionResult increases in cyclomatic complexity from 9 to 10, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Deep, Nested Complexity
IntersectionModule::modifyPathVelocityDetail is no longer above the threshold for nested complexity depth. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
Check notice on line 1 in planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Primitive Obsession
The ratio of primitive types in function arguments increases from 41.18% to 42.59%, threshold = 30.0%. The functions in this file have too many primitive types (e.g. int, double, float) in their function argument lists. Using many primitive types lead to the code smell Primitive Obsession. Avoid adding more primitive arguments.