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chore(object_type_panel): update rosparam name config #6347

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Feb 7, 2024
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chore(object_type_panel): update rosparam name config #6347

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106 changes: 87 additions & 19 deletions common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,76 +60,125 @@
modules_ = {
"avoidance",
"avoidance_by_lane_change",
"dynamic_avoidance",
"lane_change",
"start_planner",
"goal_planner",
"crosswalk",
"surround_obstacle_checker",
"obstacle_cruise (inside)",
"obstacle_cruise (outside)",
"obstacle_stop",
"obstacle_slowdown"};

// Parameter will be investigated for targets in each module
targets_ = {"car", "truck", "bus", "trailer", "unknown", "bicycle", "motorcycle", "pedestrian"};

// TODO(Horibe): If the param naming strategy is aligned, this should be done automatically based
// on the modules_ and targets_.

// default
ParamNameEnableObject default_param_name;
default_param_name.name.emplace("car", "car");
default_param_name.name.emplace("truck", "truck");
default_param_name.name.emplace("bus", "bus");
default_param_name.name.emplace("trailer", "trailer");
default_param_name.name.emplace("unknown", "unknown");
default_param_name.name.emplace("bicycle", "bicycle");
default_param_name.name.emplace("motorcycle", "motorcycle");
default_param_name.name.emplace("pedestrian", "pedestrian");

// avoidance
{
const auto module = "avoidance";
ParamNameEnableObject param_name;
param_name.node =
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner";
param_name.ns = "avoidance.target_object";
param_name.name.emplace("car", "car.is_target");
param_name.name.emplace("truck", "truck.is_target");
param_name.name.emplace("bus", "bus.is_target");
param_name.name.emplace("trailer", "trailer.is_target");
param_name.name.emplace("unknown", "unknown.is_target");
param_name.name.emplace("bicycle", "bicycle.is_target");
param_name.name.emplace("motorcycle", "motorcycle.is_target");
param_name.name.emplace("pedestrian", "pedestrian.is_target");
param_name.ns = "avoidance.target_filtering.target_type";
param_name.name = default_param_name.name;
param_names_.emplace(module, param_name);
}

// avoidance_by_lane_change
{
const auto module = "avoidance_by_lane_change";
ParamNameEnableObject param_name;
param_name.node =
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner";
param_name.ns = "avoidance_by_lane_change.target_object";
param_name.name.emplace("car", "car.is_target");
param_name.name.emplace("truck", "truck.is_target");
param_name.name.emplace("bus", "bus.is_target");
param_name.name.emplace("trailer", "trailer.is_target");
param_name.name.emplace("unknown", "unknown.is_target");
param_name.name.emplace("bicycle", "bicycle.is_target");
param_name.name.emplace("motorcycle", "motorcycle.is_target");
param_name.name.emplace("pedestrian", "pedestrian.is_target");
param_name.ns = "avoidance_by_lane_change.target_filtering.target_type";
param_name.name = default_param_name.name;
param_names_.emplace(module, param_name);
}

// lane_change
{
const auto module = "lane_change";
ParamNameEnableObject param_name;
param_name.node =
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner";
param_name.ns = "lane_change.target_object";
param_name.name = default_param_name.name;
param_names_.emplace(module, param_name);
}

// start_planner
{
const auto module = "start_planner";

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ParamNameEnableObject param_name;
param_name.node =
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner";
param_name.ns = "start_planner.path_safety_check.target_filtering.object_types_to_check";
param_name.name.emplace("car", "check_car");
param_name.name.emplace("truck", "check_truck");
param_name.name.emplace("bus", "check_bus");
param_name.name.emplace("trailer", "check_trailer");
param_name.name.emplace("unknown", "check_unknown");
param_name.name.emplace("bicycle", "check_bicycle");
param_name.name.emplace("motorcycle", "check_motorcycle");
param_name.name.emplace("pedestrian", "check_pedestrian");
param_names_.emplace(module, param_name);
}

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// goal_planner
{
const auto module = "goal_planner";

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ParamNameEnableObject param_name;
param_name.node =
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner";
param_name.ns = "goal_planner.path_safety_check.target_filtering.object_types_to_check";
param_name.name.emplace("car", "check_car");
param_name.name.emplace("truck", "check_truck");
param_name.name.emplace("bus", "check_bus");
param_name.name.emplace("trailer", "check_trailer");
param_name.name.emplace("unknown", "check_unknown");
param_name.name.emplace("bicycle", "check_bicycle");
param_name.name.emplace("motorcycle", "check_motorcycle");
param_name.name.emplace("pedestrian", "check_pedestrian");
param_names_.emplace(module, param_name);
}

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// dynamic_avoidance
{
const auto module = "dynamic_avoidance";

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ParamNameEnableObject param_name;
param_name.node =
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner";
param_name.ns = "dynamic_avoidance.target_object";
param_name.name = default_param_name.name;
param_names_.emplace(module, param_name);
}

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// crosswalk
{
const auto module = "crosswalk";

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ParamNameEnableObject param_name;
param_name.node =
"/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner";
param_name.ns = "crosswalk.object_filtering.target_object";
param_name.name = default_param_name.name;
param_names_.emplace(module, param_name);
}

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// obstacle cruise (inside)
{
const auto module = "obstacle_cruise (inside)";
Expand All @@ -152,6 +201,24 @@
param_names_.emplace(module, param_name);
}

// surround_obstacle_check
{
const auto module = "surround_obstacle_checker";

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ParamNameEnableObject param_name;
param_name.node =
"/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker";
param_name.ns = "";
param_name.name.emplace("car", "car.enable_check");
param_name.name.emplace("truck", "truck.enable_check");
param_name.name.emplace("bus", "bus.enable_check");
param_name.name.emplace("trailer", "trailer.enable_check");
param_name.name.emplace("unknown", "unknown.enable_check");
param_name.name.emplace("bicycle", "bicycle.enable_check");
param_name.name.emplace("motorcycle", "motorcycle.enable_check");
param_name.name.emplace("pedestrian", "pedestrian.enable_check");
param_names_.emplace(module, param_name);
}

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TargetObjectTypePanel::setParameters increases from 98 to 155 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.
// obstacle stop
{
const auto module = "obstacle_stop";
Expand Down Expand Up @@ -225,7 +292,8 @@
continue;
}

std::string param_name = module_params.ns + "." + module_params.name.at(target);
std::string param_name =
(module_params.ns.empty() ? "" : module_params.ns + ".") + module_params.name.at(target);

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TargetObjectTypePanel::updateMatrix increases in cyclomatic complexity from 14 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.

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auto parameter_result = parameters_client->get_parameters({param_name});

if (!parameter_result.empty()) {
Expand Down
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