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feat(start_planner): output objects of interest #6078

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merged 2 commits into from
Jan 16, 2024
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feat(start_planner): output objects of interest #6078

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6b9bde8
feat(start_planner): output objects of interest
kosuke55 Jan 15, 2024
da7be23
style(pre-commit): autofix
pre-commit-ci[bot] Jan 15, 2024
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2 changes: 1 addition & 1 deletion ..._start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -254,7 +254,7 @@ class StartPlannerModule : public SceneModuleInterface
void onFreespacePlannerTimer();
bool planFreespacePath();

void setDebugData() const;
void setDebugData();
void logPullOutStatus(rclcpp::Logger::Level log_level = rclcpp::Logger::Level::Info) const;
};
} // namespace behavior_path_planner
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9 changes: 8 additions & 1 deletion planning/behavior_path_start_planner_module/src/start_planner_module.cpp
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@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1161 to 1165, 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.
//
// 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 @@ -1325,7 +1325,7 @@
}
}

void StartPlannerModule::setDebugData() const
void StartPlannerModule::setDebugData()

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Codecov / codecov/patch

planning/behavior_path_start_planner_module/src/start_planner_module.cpp#L1328 

Added line #L1328 was not covered by tests
{
using marker_utils::addFootprintMarker;
using marker_utils::createFootprintMarkerArray;
Expand Down Expand Up @@ -1432,6 +1432,13 @@
add(showSafetyCheckInfo(start_planner_data_.collision_check, "object_debug_info"));
add(showPredictedPath(start_planner_data_.collision_check, "ego_predicted_path"));
add(showPolygon(start_planner_data_.collision_check, "ego_and_target_polygon_relation"));

// set objects of interest
for (const auto & [uuid, data] : start_planner_data_.collision_check) {
const auto color = data.is_safe ? ColorName::GREEN : ColorName::RED;
setObjectsOfInterestData(data.current_obj_pose, data.obj_shape, color);

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planning/behavior_path_start_planner_module/src/start_planner_module.cpp#L1437-L1439 

Added lines #L1437 - L1439 were not covered by tests
}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

StartPlannerModule::setDebugData 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.
initializeCollisionCheckDebugMap(start_planner_data_.collision_check);
}

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