feat(intersection): check path margin for overshoot vehicles on red light #5394
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 4 findings(s) 🚩
- Improving Code Health: 0 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
🚩 Declining Code Health (highest to lowest):
- Complex Method util.cpp: getObjectiveLanelets
- Complex Method scene_intersection.cpp: IntersectionModule::checkCollision 🔥
- Complex Conditional scene_intersection.cpp: IntersectionModule::checkCollision 🔥
- Complex Method debug.cpp: IntersectionModule::createDebugMarkerArray
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Conditional
IntersectionModule::checkCollision has 2 complex conditionals with 4 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
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 1695 to 1741, 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 Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 8.08 to 8.35, 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 worse: Complex Method
IntersectionModule::checkCollision increases in cyclomatic complexity from 26 to 36, 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 warning on line 238 in planning/behavior_velocity_intersection_module/src/debug.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
IntersectionModule::createDebugMarkerArray already has high cyclomatic complexity, and now it increases in Lines of Code from 95 to 100. 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/util.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 1191 to 1199, 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/util.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 7.24 to 7.32, 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 853 in planning/behavior_velocity_intersection_module/src/util.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Bumpy Road Ahead
getObjectiveLanelets increases from 12 to 13 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.
Check warning on line 853 in planning/behavior_velocity_intersection_module/src/util.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
getObjectiveLanelets increases in cyclomatic complexity from 49 to 52, 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.