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feat(intersection): check path margin for overshoot vehicles on red light #5394

find stop line for non_preceding

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feat(intersection): check path margin for overshoot vehicles on red light #5394

find stop line for non_preceding
a5235c4
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed Oct 24, 2023 in 50s

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

Check warning on line 1577 in planning/behavior_velocity_intersection_module/src/scene_intersection.cpp

See this annotation in the file changed.

@codescene-delta-analysis 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

See this annotation in the file changed.

@codescene-delta-analysis 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

See this annotation in the file changed.

@codescene-delta-analysis 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.

Check warning on line 1580 in planning/behavior_velocity_intersection_module/src/scene_intersection.cpp

See this annotation in the file changed.

@codescene-delta-analysis 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

See this annotation in the file changed.

@codescene-delta-analysis 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

See this annotation in the file changed.

@codescene-delta-analysis 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

See this annotation in the file changed.

@codescene-delta-analysis 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

See this annotation in the file changed.

@codescene-delta-analysis 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

See this annotation in the file changed.

@codescene-delta-analysis 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.