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fix(lane_change): update rtc status for some failure condition #8604

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Aug 26, 2024
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fix(lane_change): update rtc status for some failure condition #8604

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6 changes: 6 additions & 0 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -258,11 +258,17 @@

if (!module_type_->isValidPath()) {
log_debug_throttled("Transit to failure state due not to find valid path");
updateRTCStatus(

Check warning on line 261 in planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp

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Codecov / codecov/patch

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp#L261 

Added line #L261 was not covered by tests
std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), true,
State::FAILED);
return true;
}

if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) {
log_debug_throttled("Abort process has completed.");
updateRTCStatus(

Check warning on line 269 in planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp

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Codecov / codecov/patch

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp#L269 

Added line #L269 was not covered by tests
std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), true,
State::FAILED);

Check notice on line 271 in planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Complex Method 

LaneChangeInterface::canTransitFailureState already has high cyclomatic complexity, and now it increases in Lines of Code from 100 to 106. 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.
return true;
}

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