add param to override lane_departure_check when starting outside lane
CodeScene PR Check
❌ Code Health Quality Gates: FAILED
- Declining Code Health: 4 findings(s) 🚩
- Improving Code Health: 5 findings(s) ✅
- Affected Hotspots: 1 files(s) 🔥
Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene
Details
🚩 Declining Code Health (highest to lowest):
- Large Method manager.cpp: StartPlannerModuleManager::updateModuleParams
- Large Method manager.cpp: StartPlannerModuleManager::init
- Complex Method geometric_parallel_parking.cpp: GeometricParallelParking::planOneTrial
- Bumpy Road Ahead geometric_parallel_parking.cpp: GeometricParallelParking::planOneTrial
✅ Improving Code Health:
- Lines of Code in a Single File start_planner_module.cpp 🔥
- Complex Method start_planner_module.cpp: StartPlannerModule::plan 🔥
- Complex Method shift_pull_out.cpp: ShiftPullOut::plan
- Primitive Obsession geometric_parallel_parking.cpp
- Deep, Nested Complexity shift_pull_out.cpp: ShiftPullOut::plan
Annotations
Check notice on line 1 in planning/behavior_path_start_planner_module/src/start_planner_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1316 to 1282, 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 478 in planning/behavior_path_start_planner_module/src/start_planner_module.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Complex Method
StartPlannerModule::plan decreases in cyclomatic complexity from 17 to 15, 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 warning on line 58 in planning/behavior_path_start_planner_module/src/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
StartPlannerModuleManager::init increases from 267 to 269 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Check warning on line 676 in planning/behavior_path_start_planner_module/src/manager.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Large Method
StartPlannerModuleManager::updateModuleParams has 325 lines, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
GeometricParallelParking::planOneTrial increases in cyclomatic complexity from 22 to 25, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Bumpy Road Ahead
GeometricParallelParking::planOneTrial increases from 4 to 5 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)
ℹ Getting worse: Overall Code Complexity
The mean cyclomatic complexity increases from 5.35 to 5.53, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Primitive Obsession
The ratio of primitive types in function arguments decreases from 57.41% to 55.36%, threshold = 30.0%. The functions in this file have too many primitive types (e.g. int, double, float) in their function argument lists. Using many primitive types lead to the code smell Primitive Obsession. Avoid adding more primitive arguments.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Excess Number of Function Arguments
GeometricParallelParking::planPullOut increases from 5 to 6 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)
ℹ Getting worse: Excess Number of Function Arguments
GeometricParallelParking::planOneTrial increases from 10 to 11 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
Check notice on line 114 in planning/behavior_path_start_planner_module/src/shift_pull_out.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Method
ShiftPullOut::plan 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 114 in planning/behavior_path_start_planner_module/src/shift_pull_out.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Deep, Nested Complexity
ShiftPullOut::plan is no longer above the threshold for nested complexity depth