feat(intersection): yield initially on green light
CodeScene PR Check
❌ Quality Gates: FAILED
- Declining Code Health: 1 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
🚩 Negative Code Health Impact (highest to lowest):
- Complex Method scene_intersection.cpp: IntersectionModule::modifyPathVelocityDetail 🔥
✅ Positive Code Health Impact (highest to lowest):
- Primitive Obsession scene_intersection.cpp 🔥
Annotations
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 1431 to 1485, 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 7.28 to 7.48, 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)
ℹ Getting worse: Bumpy Road Ahead
IntersectionModule::modifyPathVelocityDetail increases from 2 to 4 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
IntersectionModule::modifyPathVelocityDetail increases in cyclomatic complexity from 57 to 63, 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_velocity_intersection_module/src/scene_intersection.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Primitive Obsession
The ratio of primitive types in function arguments decreases from 42.59% to 41.82%, threshold = 30.0%. The functions in this file have too many primitive types (e.g. int, double, float) in their function argument lists. Using many primitive types lead to the code smell Primitive Obsession. Avoid adding more primitive arguments.