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refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread #9006

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merged 1 commit into from
Oct 7, 2024

refactor(goal_planner): save modified_goal_pose in PullOverPlannerBase

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Merged

refactor(goal planner): hold modified_goal in PullOverPath ,copy modified goal once from background thread #9006

refactor(goal_planner): save modified_goal_pose in PullOverPlannerBase
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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) succeeded Oct 4, 2024 in 45s

CodeScene PR Check

✅ Code Health Quality Gates: OK

Change in average Code Health of affected files: +0.04 (4.35 -> 4.39)

  • Declining Code Health: 2 findings(s) 🚩
  • Improving Code Health: 3 findings(s) ✅
  • Affected Hotspots: 1 files(s) 🔥

View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method shift_pull_over.cpp: ShiftPullOver::generatePullOverPath
  • Complex Method freespace_pull_over.cpp: FreespacePullOver::plan

✅ Improving Code Health:

  • Lines of Code in a Single File goal_planner_module.cpp 🔥
  • Excess Number of Function Arguments pull_over_planner_base.cpp: PullOverPath::create
  • Excess Number of Function Arguments shift_pull_over.cpp: ShiftPullOver::plan

Annotations

Check notice on line 1 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 2017 to 2015, 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 warning on line 151 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

FreespacePullOver::plan already has high cyclomatic complexity, and now it increases in Lines of Code from 79 to 81. 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 80 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Excess Number of Function Arguments 

PullOverPath::create decreases from 7 to 6 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

Check warning on line 263 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

ShiftPullOver::generatePullOverPath already has high cyclomatic complexity, and now it increases in Lines of Code from 144 to 145. 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 63 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp

See this annotation in the file changed.

@codescene-delta-analysis codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Excess Number of Function Arguments 

ShiftPullOver::plan is no longer above the threshold for number of arguments
View more details on CodeScene Delta Analysis