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fix(autoware_pointcloud_preprocessor): blockage diag node add runtime error when the parameter is wrong #8564

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merged 6 commits into from
Aug 27, 2024
+8 −0
Merged

fix(autoware_pointcloud_preprocessor): blockage diag node add runtime error when the parameter is wrong #8564

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126fe3d
fix: add runtime error
vividf Aug 21, 2024
7a48bb9
Update blockage_diag_node.cpp
vividf Aug 23, 2024
af09fc0
Merge branch 'main' into fix/blockage_diag_should_throw_error_message
vividf Aug 23, 2024
5dbabd6
fix: add RCLCPP error logging
vividf Aug 26, 2024
65b3ac7
chore: remove unused variable
vividf Aug 26, 2024
caef352
Merge branch 'main' into fix/blockage_diag_should_throw_error_message
vividf Aug 27, 2024
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8 changes: 8 additions & 0 deletions sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -190,6 +190,14 @@
sky_blockage_range_deg_[1] = angle_range_deg_[1];
} else {
for (const auto p : pcl_input->points) {
if (p.channel >= vertical_bins) {
RCLCPP_ERROR(
this->get_logger(),
"p.channel: %d is larger than vertical_bins: %d .Please check the parameter "
"'vertical_bins'.",
p.channel, vertical_bins);
throw std::runtime_error("Parameter is not valid");
}

Check warning on line 200 in sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

BlockageDiagComponent::filter increases in cyclomatic complexity from 27 to 29, 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 200 in sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Bumpy Road Ahead 

BlockageDiagComponent::filter increases from 8 to 9 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.
double azimuth_deg = p.azimuth * (180.0 / M_PI);
if (
((azimuth_deg > angle_range_deg_[0]) &&
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