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fix(autoware_behavior_path_planner_common): fix unusedFunction #8654

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merged 3 commits into from
Aug 28, 2024
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fix(autoware_behavior_path_planner_common): fix unusedFunction #8654

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4301865
fix:unusedFunction 0-2
kobayu858 Aug 28, 2024
aabc015
fix:unusedFunction 3-5
kobayu858 Aug 28, 2024
ba88409
fix:unusedFunction
kobayu858 Aug 28, 2024
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9 changes: 0 additions & 9 deletions ...or_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,11 +67,6 @@ void clipPathLength(
void clipPathLength(
PathWithLaneId & path, const size_t target_idx, const BehaviorPathPlannerParameters & params);

std::pair<TurnIndicatorsCommand, double> getPathTurnSignal(
const lanelet::ConstLanelets & current_lanes, const ShiftedPath & path,
const ShiftLine & shift_line, const Pose & pose, const double & velocity,
const BehaviorPathPlannerParameters & common_parameter);

PathWithLaneId convertWayPointsToPathWithLaneId(
const autoware::freespace_planning_algorithms::PlannerWaypoints & waypoints,
const double velocity, const lanelet::ConstLanelets & lanelets);
Expand All @@ -83,8 +78,6 @@ std::vector<PathWithLaneId> dividePath(

void correctDividedPathVelocity(std::vector<PathWithLaneId> & divided_paths);

bool isCloseToPath(const PathWithLaneId & path, const Pose & pose, const double distance_threshold);

// only two points is supported
std::vector<double> splineTwoPoints(
const std::vector<double> & base_s, const std::vector<double> & base_x, const double begin_diff,
Expand All @@ -103,8 +96,6 @@ PathWithLaneId calcCenterLinePath(

PathWithLaneId combinePath(const PathWithLaneId & path1, const PathWithLaneId & path2);

std::optional<Pose> getFirstStopPoseFromPath(const PathWithLaneId & path);

BehaviorModuleOutput getReferencePath(
const lanelet::ConstLanelet & current_lane,
const std::shared_ptr<const PlannerData> & planner_data);
Expand Down
21 changes: 0 additions & 21 deletions ...ehavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,8 +104,6 @@ FrenetPoint convertToFrenetPoint(
return frenet_point;
}

std::vector<lanelet::Id> getIds(const lanelet::ConstLanelets & lanelets);

// distance (arclength) calculation

double l2Norm(const Vector3 vector);
Expand All @@ -126,14 +124,6 @@ double getArcLengthToTargetLanelet(
const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelet & target_lane,
const Pose & pose);

double getDistanceBetweenPredictedPaths(
const PredictedPath & path1, const PredictedPath & path2, const double start_time,
const double end_time, const double resolution);

double getDistanceBetweenPredictedPathAndObject(
const PredictedObject & object, const PredictedPath & path, const double start_time,
const double end_time, const double resolution);

/**
* @brief Check collision between ego path footprints with extra longitudinal stopping margin and
* objects.
Expand Down Expand Up @@ -223,8 +213,6 @@ PathWithLaneId refinePathForGoal(
const double search_radius_range, const double search_rad_range, const PathWithLaneId & input,
const Pose & goal, const int64_t goal_lane_id);

bool containsGoal(const lanelet::ConstLanelets & lanes, const lanelet::Id & goal_id);

bool isAllowedGoalModification(const std::shared_ptr<RouteHandler> & route_handler);
bool checkOriginalGoalIsInShoulder(const std::shared_ptr<RouteHandler> & route_handler);

Expand Down Expand Up @@ -269,10 +257,6 @@ Polygon2d toPolygon2d(const lanelet::ConstLanelet & lanelet);

Polygon2d toPolygon2d(const lanelet::BasicPolygon2d & polygon);

std::vector<Polygon2d> getTargetLaneletPolygons(
const lanelet::ConstLanelets & lanelets, const Pose & pose, const double check_length,
const std::string & target_type);

PathWithLaneId getCenterLinePathFromLanelet(
const lanelet::ConstLanelet & current_route_lanelet,
const std::shared_ptr<const PlannerData> & planner_data);
Expand All @@ -283,11 +267,6 @@ PathWithLaneId getCenterLinePath(
const Pose & pose, const double backward_path_length, const double forward_path_length,
const BehaviorPathPlannerParameters & parameter);

PathWithLaneId setDecelerationVelocity(
const RouteHandler & route_handler, const PathWithLaneId & input,
const lanelet::ConstLanelets & lanelet_sequence, const double lane_change_prepare_duration,
const double lane_change_buffer);

// object label
std::uint8_t getHighestProbLabel(const std::vector<ObjectClassification> & classification);

Expand Down
1 change: 1 addition & 0 deletions ...ng/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp
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Expand Up @@ -341,6 +341,7 @@ MarkerArray createObjectsMarkerArray(
return msg;
}

// cppcheck-suppress unusedFunction
MarkerArray createDrivableLanesMarkerArray(
const std::vector<DrivableLanes> & drivable_lanes, std::string && ns)
{
Expand Down
14 changes: 0 additions & 14 deletions ...e_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
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@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1449 to 1437, 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.

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 8.91 to 9.12, 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 @@ -622,20 +622,6 @@
return updated_bound;
}

[[maybe_unused]] geometry_msgs::msg::Point calcCenterOfGeometry(const Polygon2d & obj_poly)
{
geometry_msgs::msg::Point center_pos;
for (const auto & point : obj_poly.outer()) {
center_pos.x += point.x();
center_pos.y += point.y();
}

center_pos.x = center_pos.x / obj_poly.outer().size();
center_pos.y = center_pos.y / obj_poly.outer().size();
center_pos.z = center_pos.z / obj_poly.outer().size();

return center_pos;
}
} // namespace autoware::behavior_path_planner::utils::drivable_area_processing

namespace autoware::behavior_path_planner::utils
Expand Down
10 changes: 0 additions & 10 deletions ..._path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp
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Expand Up @@ -104,16 +104,6 @@ void initializeCollisionCheckDebugMap(CollisionCheckDebugMap & collision_check_d
collision_check_debug_map.clear();
}

void updateSafetyCheckTargetObjectsData(
StartGoalPlannerData & data, const PredictedObjects & filtered_objects,
const TargetObjectsOnLane & target_objects_on_lane,
const std::vector<PoseWithVelocityStamped> & ego_predicted_path)
{
data.filtered_objects = filtered_objects;
data.target_objects_on_lane = target_objects_on_lane;
data.ego_predicted_path = ego_predicted_path;
}

std::pair<double, double> getPairsTerminalVelocityAndAccel(
const std::vector<std::pair<double, double>> & pairs_terminal_velocity_and_accel,
const size_t current_path_idx)
Expand Down
143 changes: 0 additions & 143 deletions ...ning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 5.11 to 4.63, 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 @@ -208,128 +208,7 @@
{
clipPathLength(path, target_idx, params.forward_path_length, params.backward_path_length);
}

Check notice on line 211 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

getPathTurnSignal is no longer above the threshold for cyclomatic complexity. 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 211 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Bumpy Road Ahead 

getPathTurnSignal is no longer above the threshold for logical blocks with deeply nested code. 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.

Check notice on line 211 in planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Excess Number of Function Arguments 

getPathTurnSignal is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
std::pair<TurnIndicatorsCommand, double> getPathTurnSignal(
const lanelet::ConstLanelets & current_lanes, const ShiftedPath & path,
const ShiftLine & shift_line, const Pose & pose, const double & velocity,
const BehaviorPathPlannerParameters & common_parameter)
{
TurnIndicatorsCommand turn_signal;
turn_signal.command = TurnIndicatorsCommand::NO_COMMAND;
const double max_time = std::numeric_limits<double>::max();
const double max_distance = std::numeric_limits<double>::max();
if (path.shift_length.size() < shift_line.end_idx + 1) {
return std::make_pair(turn_signal, max_distance);
}
const auto base_link2front = common_parameter.base_link2front;
const auto vehicle_width = common_parameter.vehicle_width;
const auto shift_to_outside = vehicle_width / 2;
const auto turn_signal_shift_length_threshold =
common_parameter.turn_signal_shift_length_threshold;
const auto turn_signal_minimum_search_distance =
common_parameter.turn_signal_minimum_search_distance;
const auto turn_signal_search_time = common_parameter.turn_signal_search_time;
constexpr double epsilon = 1e-6;
const auto arc_position_current_pose = lanelet::utils::getArcCoordinates(current_lanes, pose);

// Start turn signal when 1 or 2 is satisfied
// 1. time to shift start point is less than prev_sec
// 2. distance to shift point is shorter than tl_on_threshold_long

// Turn signal on when conditions below are satisfied
// 1. lateral offset is larger than tl_on_threshold_lat for left signal
// smaller than tl_on_threshold_lat for right signal
// 2. side point at shift start/end point cross the line
const double distance_to_shift_start =
std::invoke([&current_lanes, &shift_line, &arc_position_current_pose]() {
const auto arc_position_shift_start =
lanelet::utils::getArcCoordinates(current_lanes, shift_line.start);
return arc_position_shift_start.length - arc_position_current_pose.length;
});

const auto time_to_shift_start =
(std::abs(velocity) < epsilon) ? max_time : distance_to_shift_start / velocity;

const double diff =
path.shift_length.at(shift_line.end_idx) - path.shift_length.at(shift_line.start_idx);

Pose shift_start_point = path.path.points.at(shift_line.start_idx).point.pose;
Pose shift_end_point = path.path.points.at(shift_line.end_idx).point.pose;
Pose left_start_point = shift_start_point;
Pose right_start_point = shift_start_point;
Pose left_end_point = shift_end_point;
Pose right_end_point = shift_end_point;
{
const double start_yaw = tf2::getYaw(shift_line.start.orientation);
const double end_yaw = tf2::getYaw(shift_line.end.orientation);
left_start_point.position.x -= std::sin(start_yaw) * (shift_to_outside);
left_start_point.position.y += std::cos(start_yaw) * (shift_to_outside);
right_start_point.position.x -= std::sin(start_yaw) * (-shift_to_outside);
right_start_point.position.y += std::cos(start_yaw) * (-shift_to_outside);
left_end_point.position.x -= std::sin(end_yaw) * (shift_to_outside);
left_end_point.position.y += std::cos(end_yaw) * (shift_to_outside);
right_end_point.position.x -= std::sin(end_yaw) * (-shift_to_outside);
right_end_point.position.y += std::cos(end_yaw) * (-shift_to_outside);
}

bool left_start_point_is_in_lane = false;
bool right_start_point_is_in_lane = false;
bool left_end_point_is_in_lane = false;
bool right_end_point_is_in_lane = false;
{
for (const auto & llt : current_lanes) {
if (lanelet::utils::isInLanelet(left_start_point, llt, 0.1)) {
left_start_point_is_in_lane = true;
}
if (lanelet::utils::isInLanelet(right_start_point, llt, 0.1)) {
right_start_point_is_in_lane = true;
}
if (lanelet::utils::isInLanelet(left_end_point, llt, 0.1)) {
left_end_point_is_in_lane = true;
}
if (lanelet::utils::isInLanelet(right_end_point, llt, 0.1)) {
right_end_point_is_in_lane = true;
}
}
}

const bool cross_line = std::invoke([&]() {
constexpr bool temporary_set_cross_line_true =
true; // due to a bug. See link:
// https://github.com/autowarefoundation/autoware.universe/pull/748
if (temporary_set_cross_line_true) {
return true;
}
return (
left_start_point_is_in_lane != left_end_point_is_in_lane ||
right_start_point_is_in_lane != right_end_point_is_in_lane);
});

if (
time_to_shift_start < turn_signal_search_time ||
distance_to_shift_start < turn_signal_minimum_search_distance) {
if (diff > turn_signal_shift_length_threshold && cross_line) {
turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT;
} else if (diff < -turn_signal_shift_length_threshold && cross_line) {
turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT;
}
}

// calc distance from ego vehicle front to shift end point.
const double distance_from_vehicle_front =
std::invoke([&current_lanes, &shift_line, &arc_position_current_pose, &base_link2front]() {
const auto arc_position_shift_end =
lanelet::utils::getArcCoordinates(current_lanes, shift_line.end);
return arc_position_shift_end.length - arc_position_current_pose.length - base_link2front;
});

if (distance_from_vehicle_front >= 0.0) {
return std::make_pair(turn_signal, distance_from_vehicle_front);
}

return std::make_pair(turn_signal, max_distance);
}

PathWithLaneId convertWayPointsToPathWithLaneId(
const autoware::freespace_planning_algorithms::PlannerWaypoints & waypoints,
const double velocity, const lanelet::ConstLanelets & lanelets)
Expand Down Expand Up @@ -431,18 +310,6 @@
}
}

bool isCloseToPath(const PathWithLaneId & path, const Pose & pose, const double distance_threshold)
{
for (const auto & point : path.points) {
const auto & p = point.point.pose.position;
const double dist = std::hypot(pose.position.x - p.x, pose.position.y - p.y);
if (dist < distance_threshold) {
return true;
}
}
return false;
}

// only two points is supported
std::vector<double> splineTwoPoints(
const std::vector<double> & base_s, const std::vector<double> & base_x, const double begin_diff,
Expand Down Expand Up @@ -579,16 +446,6 @@
return filtered_path;
}

std::optional<Pose> getFirstStopPoseFromPath(const PathWithLaneId & path)
{
for (const auto & p : path.points) {
if (std::abs(p.point.longitudinal_velocity_mps) < 0.01) {
return p.point.pose;
}
}
return std::nullopt;
}

BehaviorModuleOutput getReferencePath(
const lanelet::ConstLanelet & current_lane,
const std::shared_ptr<const PlannerData> & planner_data)
Expand Down
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