feat(avoidance): wait and see ambiguous stopped vehicle #6631
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 4 findings(s) 🚩
- Improving Code Health: 1 findings(s) ✅
- Affected Hotspots: 2 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):
- Large Method manager.cpp: AvoidanceByLaneChangeModuleManager::init
- Large Method debug.cpp: createDebugMarkerArray
- Complex Method utils.cpp: isParkedVehicle 🔥
- Complex Method utils.cpp: isNeverAvoidanceTarget 🔥
✅ Improving Code Health:
- Complex Method utils.cpp: isAmbiguousStoppedVehicle 🔥
Annotations
Check notice on line 1 in planning/behavior_path_avoidance_module/src/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 1901 to 1960, 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_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Number of Functions in a Single Module
The number of functions increases from 80 to 82, threshold = 75. This file contains too many functions. Beyond a certain threshold, more functions lower the code health.
Check warning on line 638 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
isParkedVehicle increases in cyclomatic complexity from 11 to 13, 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 749 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Method
isAmbiguousStoppedVehicle 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.
Check warning on line 722 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
isNeverAvoidanceTarget has a cyclomatic complexity of 11, 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 722 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Bumpy Road Ahead
isNeverAvoidanceTarget has 3 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested 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 notice on line 1 in planning/behavior_path_avoidance_module/src/utils.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.94 to 5.00, 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 583 in planning/behavior_path_avoidance_module/src/debug.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
createDebugMarkerArray increases from 110 to 112 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_avoidance_module/src/scene.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 1185 to 1186, 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_path_avoidance_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.93 to 4.95, 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 142 in planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
AvoidanceByLaneChangeModuleManager::init increases from 125 to 128 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.