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fix(autonomous_emergency_braking): fix debug marker visual bug #8611

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merged 1 commit into from
Aug 26, 2024
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fix(autonomous_emergency_braking): fix debug marker visual bug #8611

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5 changes: 1 addition & 4 deletions ...oware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -156,10 +156,7 @@ class CollisionDataKeeper
* @brief Get the closest object data
* @return Object data of the closest object
*/
[[nodiscard]] ObjectData get() const
{
return (closest_object_.has_value()) ? closest_object_.value() : ObjectData();
}
[[nodiscard]] std::optional<ObjectData> get() const { return closest_object_; }

/**
* @brief Get the previous closest object data
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25 changes: 15 additions & 10 deletions control/autoware_autonomous_emergency_braking/src/node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

Check notice on line 1 in control/autoware_autonomous_emergency_braking/src/node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.68 to 5.74, 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.
//
// 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 @@ -393,12 +393,15 @@
const auto diag_level = DiagnosticStatus::ERROR;
stat.summary(diag_level, error_msg);
const auto & data = collision_data_keeper_.get();
stat.addf("RSS", "%.2f", data.rss);
stat.addf("Distance", "%.2f", data.distance_to_object);
stat.addf("Object Speed", "%.2f", data.velocity);
if (publish_debug_markers_) {
addCollisionMarker(data, debug_markers);
if (data.has_value()) {
stat.addf("RSS", "%.2f", data.value().rss);
stat.addf("Distance", "%.2f", data.value().distance_to_object);
stat.addf("Object Speed", "%.2f", data.value().velocity);
if (publish_debug_markers_) {
addCollisionMarker(data.value(), debug_markers);
}
}

addVirtualStopWallMarker(info_markers);
} else {
const std::string error_msg = "[AEB]: No Collision";
Expand Down Expand Up @@ -476,17 +479,19 @@
return std::make_optional<ObjectData>(*closest_object_point_itr);
});

const bool has_collision = (closest_object_point.has_value())
? hasCollision(current_v, closest_object_point.value())
: false;

// Add debug markers
if (publish_debug_markers_) {
const auto [color_r, color_g, color_b, color_a] = debug_colors;
addMarker(
this->get_clock()->now(), path, ego_polys, objects, closest_object_point, color_r, color_g,
color_b, color_a, debug_ns, debug_markers);
this->get_clock()->now(), path, ego_polys, objects, collision_data_keeper_.get(), color_r,
color_g, color_b, color_a, debug_ns, debug_markers);
}
// check collision using rss distance
return (closest_object_point.has_value())
? hasCollision(current_v, closest_object_point.value())
: false;
return has_collision;

Check notice on line 494 in control/autoware_autonomous_emergency_braking/src/node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Complex Method 

AEB::checkCollision already has high cyclomatic complexity, and now it increases in Lines of Code from 92 to 93. 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.
};

// step3. make function to check collision with ego path created with sensor data
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