feat(avoidance): make it possible to use freespace areas in avoidance module #6001
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 5 findings(s) 🚩
- Improving Code Health: 6 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 static_drivable_area.cpp: postProcess
- Complex Method static_drivable_area.cpp: getBoundWithFreeSpaceAreas
- Large Method scene.cpp: AvoidanceModule::plan 🔥
- Complex Method static_drivable_area.cpp: combineDrivableLanes
- Complex Method static_drivable_area.cpp: calcBound
✅ Improving Code Health:
- Complex Method static_drivable_area.cpp: makeBoundLongitudinallyMonotonic
- Complex Method static_drivable_area.cpp: generateDrivableArea
- Complex Method static_drivable_area.cpp: generateDrivableArea
- Complex Conditional static_drivable_area.cpp: generateDrivableArea
- Bumpy Road Ahead static_drivable_area.cpp: generateDrivableArea
- Bumpy Road Ahead static_drivable_area.cpp: generateDrivableArea
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Lines of Code in a Single File
The lines of code increases from 1498 to 1644, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Complex Method
makeBoundLongitudinallyMonotonic decreases in cyclomatic complexity from 52 to 50, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
combineDrivableLanes increases in cyclomatic complexity from 14 to 16, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Complex Method
generateDrivableArea decreases in cyclomatic complexity from 34 to 14, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
calcBound increases in cyclomatic complexity from 10 to 12, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Method
generateDrivableArea 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
postProcess has a cyclomatic complexity of 28, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
getBoundWithFreeSpaceAreas has a cyclomatic complexity of 20, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Conditional
generateDrivableArea no longer has a complex conditional. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Bumpy Road Ahead
generateDrivableArea decreases from 6 to 3 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)
✅ No longer an issue: Bumpy Road Ahead
generateDrivableArea is no longer above the threshold for logical blocks with deeply nested code. 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)
ℹ New issue: Bumpy Road Ahead
postProcess has 5 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 10.03 to 10.09, 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: Excess Number of Function Arguments
calcBound increases from 5 to 8 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Excess Number of Function Arguments
postProcess has 8 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
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 1122 to 1125, 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 944 in planning/behavior_path_avoidance_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
AvoidanceModule::plan increases from 78 to 79 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.