feat(avoidance): configurable object type for safety check #5699
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 3 findings(s) 🚩
- Improving Code Health: 1 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 manager.cpp: AvoidanceModuleManager::AvoidanceModuleManager
- Large Method manager.cpp: AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager
- Complex Method utils.cpp: getSafetyCheckTargetObjects 🔥
✅ Improving Code Health:
- Overall Code Complexity utils.cpp 🔥
Annotations
Check warning on line 183 in planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
AvoidanceModuleManager::AvoidanceModuleManager increases in cyclomatic complexity from 16 to 18, 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 340 in planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
AvoidanceByLaneChangeModuleManager::AvoidanceByLaneChangeModuleManager increases from 107 to 121 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check notice on line 1 in planning/behavior_path_planner/src/utils/avoidance/utils.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 1551 to 1562, 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 warning on line 1725 in planning/behavior_path_planner/src/utils/avoidance/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
getSafetyCheckTargetObjects increases in cyclomatic complexity from 17 to 18, 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_path_planner/src/utils/avoidance/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 4.70 to 4.68, 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.