feat(avoidance): use traffic light signal info
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):
- Large Method behavior_planning.launch.py: launch_setup
- Large Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::getCommonParam 🔥
- Complex Method behavior_path_planner_node.cpp: BehaviorPathPlannerNode::BehaviorPathPlannerNode 🔥
✅ Improving Code Health:
- Overall Code Complexity behavior_path_planner_node.cpp 🔥
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
launch_setup increases from 213 to 217 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 warning on line 112 in planning/behavior_path_planner/src/behavior_path_planner_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
BehaviorPathPlannerNode::BehaviorPathPlannerNode already has high cyclomatic complexity, and now it increases in Lines of Code from 162 to 166. 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 284 in planning/behavior_path_planner/src/behavior_path_planner_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
BehaviorPathPlannerNode::getCommonParam increases from 104 to 105 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/behavior_path_planner_node.cpp
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