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feat!: remove planning factor type #5793

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merged 2 commits into from
Dec 28, 2023
Merged

feat!: remove planning factor type #5793

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abd7c80
remove planning factor type
isamu-takagi Dec 1, 2023
ab04a93
Merge branch 'main' into feat/remove-planning-factor-type
h-ohta Dec 28, 2023
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3 changes: 0 additions & 3 deletions common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,10 +173,7 @@
switch (e.status) {
case SteeringFactor::APPROACHING:
label->setText("APPROACHING");
break;

Check notice on line 176 in common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

VelocitySteeringFactorsPanel::onSteeringFactors decreases in cyclomatic complexity from 11 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.
case SteeringFactor::TRYING:
label->setText("TRYING");
break;
case SteeringFactor::TURNING:
label->setText("TURNING");
break;
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8 changes: 1 addition & 7 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -490,16 +490,10 @@ void BehaviorPathPlannerNode::publish_steering_factor(

const auto [intersection_pose, intersection_distance] =
planner_data->turn_signal_decider.getIntersectionPoseAndDistance();
const uint16_t steering_factor_state = std::invoke([&intersection_flag]() {
if (intersection_flag) {
return SteeringFactor::TURNING;
}
return SteeringFactor::TRYING;
});

steering_factor_interface_ptr_->updateSteeringFactor(
{intersection_pose, intersection_pose}, {intersection_distance, intersection_distance},
PlanningBehavior::INTERSECTION, steering_factor_direction, steering_factor_state, "");
PlanningBehavior::INTERSECTION, steering_factor_direction, SteeringFactor::TURNING, "");
} else {
steering_factor_interface_ptr_->clearSteeringFactors();
}
Expand Down
86 changes: 0 additions & 86 deletions system/default_ad_api/src/planning.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Overall Code Complexity 

The mean cyclomatic complexity in this module is no longer above the threshold
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -62,83 +62,7 @@
}
return message;
}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

convert_velocity_behavior is no longer above the threshold for cyclomatic complexity. 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.
uint16_t convert_velocity_behavior(const std::string & behavior)
{
using autoware_adapi_v1_msgs::msg::PlanningBehavior;
using autoware_adapi_v1_msgs::msg::VelocityFactor;

if (behavior == PlanningBehavior::AVOIDANCE) {
return VelocityFactor::AVOIDANCE;
}
if (behavior == PlanningBehavior::CROSSWALK) {
return VelocityFactor::CROSSWALK;
}
if (behavior == PlanningBehavior::INTERSECTION) {
return VelocityFactor::INTERSECTION;
}
if (behavior == PlanningBehavior::LANE_CHANGE) {
return VelocityFactor::LANE_CHANGE;
}
if (behavior == PlanningBehavior::MERGE) {
return VelocityFactor::MERGE;
}
if (behavior == PlanningBehavior::NO_DRIVABLE_LANE) {
return VelocityFactor::NO_DRIVABLE_LANE;
}
if (behavior == PlanningBehavior::NO_STOPPING_AREA) {
return VelocityFactor::NO_STOPPING_AREA;
}
if (behavior == PlanningBehavior::REAR_CHECK) {
return VelocityFactor::REAR_CHECK;
}
if (behavior == PlanningBehavior::ROUTE_OBSTACLE) {
return VelocityFactor::ROUTE_OBSTACLE;
}
if (behavior == PlanningBehavior::SIDEWALK) {
return VelocityFactor::SIDEWALK;
}
if (behavior == PlanningBehavior::STOP_SIGN) {
return VelocityFactor::STOP_SIGN;
}
if (behavior == PlanningBehavior::SURROUNDING_OBSTACLE) {
return VelocityFactor::SURROUNDING_OBSTACLE;
}
if (behavior == PlanningBehavior::TRAFFIC_SIGNAL) {
return VelocityFactor::TRAFFIC_SIGNAL;
}
if (behavior == PlanningBehavior::USER_DEFINED_DETECTION_AREA) {
return VelocityFactor::USER_DEFINED_DETECTION_AREA;
}
if (behavior == PlanningBehavior::VIRTUAL_TRAFFIC_LIGHT) {
return VelocityFactor::V2I_GATE_CONTROL_ENTER;
}
return VelocityFactor::UNKNOWN;
}

uint16_t convert_steering_behavior(const std::string & behavior)
{
using autoware_adapi_v1_msgs::msg::PlanningBehavior;
using autoware_adapi_v1_msgs::msg::SteeringFactor;

if (behavior == PlanningBehavior::AVOIDANCE) {
return SteeringFactor::AVOIDANCE_PATH_CHANGE;
}
if (behavior == PlanningBehavior::GOAL_PLANNER) {
return SteeringFactor::GOAL_PLANNER;
}
if (behavior == PlanningBehavior::INTERSECTION) {
return SteeringFactor::INTERSECTION;
}
if (behavior == PlanningBehavior::LANE_CHANGE) {
return SteeringFactor::LANE_CHANGE;
}
if (behavior == PlanningBehavior::START_PLANNER) {
return SteeringFactor::START_PLANNER;
}
return SteeringFactor::UNKNOWN;
}

PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning", options)
{
// TODO(Takagi, Isamu): remove default value
Expand Down Expand Up @@ -202,17 +126,7 @@
using autoware_adapi_v1_msgs::msg::VelocityFactor;
auto velocity = merge_factors<VelocityFactorArray>(now(), velocity_factors_);
auto steering = merge_factors<SteeringFactorArray>(now(), steering_factors_);

Check notice on line 129 in system/default_ad_api/src/planning.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Complex Method 

PlanningNode::on_timer decreases in cyclomatic complexity from 12 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.
// Set velocity factor type for compatibility.
for (auto & factor : velocity.factors) {
factor.type = convert_velocity_behavior(factor.behavior);
}

// Set steering factor type for compatibility.
for (auto & factor : steering.factors) {
factor.type = convert_steering_behavior(factor.behavior);
}

// Set the distance if it is nan.
if (trajectory_ && kinematic_state_) {
for (auto & factor : velocity.factors) {
Expand Down
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