fix(controller): revival of dry steering #7903
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
Change in average Code Health of affected files: -0.41 (6.66 -> 6.25)
- Declining Code Health: 3 findings(s) 🚩
- Improving Code Health: 1 findings(s) ✅
Details
🚩 Declining Code Health (highest to lowest):
- Complex Method pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
- Bumpy Road Ahead pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
- Deep, Nested Complexity pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
✅ Improving Code Health:
- Complex Conditional pid_longitudinal_controller.cpp: PidLongitudinalController::updateControlState
Annotations
Check notice on line 774 in control/autoware_mpc_lateral_controller/src/mpc.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Complex Method
MPC::calcSteerRateLimitOnTrajectory has a cyclomatic complexity of 9, 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 control/autoware_mpc_lateral_controller/src/mpc.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 4.79 to 4.84, 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 notice on line 581 in control/autoware_mpc_lateral_controller/src/mpc.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Excess Number of Function Arguments
MPC::executeOptimization has 5 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)
❌ Getting worse: Complex Method
PidLongitudinalController::updateControlState already has high cyclomatic complexity, and now it increases in Lines of Code from 137 to 142. 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: Bumpy Road Ahead
PidLongitudinalController::updateControlState increases from 9 to 10 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)
❌ New issue: Deep, Nested Complexity
PidLongitudinalController::updateControlState has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Conditional
PidLongitudinalController::updateControlState no longer has a complex conditional