feat(autoware_utils): replace autoware_universe_utils with autoware_utils #10191
CodeScene PR Check
Quality Gate Failed
(14 files improve in Code Health)
Gates Failed
(1 hotspot with Complex Method)
(6 files with Large Method, Complex Method)
Gates Passed
See analysis details in CodeScene
Reason for failure
| Prevent hotspot decline | Violations | Code Health Impact | |
|---|---|---|---|
| manager.cpp | 1 rule in this hotspot | 6.74 → 6.72 | Suppress |
| Enforce advisory code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| manager.cpp | 1 advisory rule | 6.74 → 6.72 | Suppress |
| manager.cpp | 1 advisory rule | 8.19 → 8.18 | Suppress |
| data_structs.cpp | 1 advisory rule | 8.48 → 8.47 | Suppress |
| manager.cpp | 1 advisory rule | 6.77 → 6.76 | Suppress |
| manager.cpp | 1 advisory rule | 8.83 → 8.82 | Suppress |
| manager.cpp | 1 advisory rule | 9.29 → 9.28 | Suppress |
View Improvements
| File | Code Health Impact | Categories Improved |
|---|---|---|
| node.cpp | 3.63 → 3.64 | Lines of Code in a Single File, Large Method |
| pid_based_planner.cpp | no change | Overall Function Size |
| node.cpp | 2.90 → 2.90 | Lines of Code in a Single File, Large Method |
| mpt_optimizer.cpp | no change | Lines of Code in a Single File |
| scene.cpp | no change | Lines of Code in a Single File |
| goal_planner_module.cpp | 3.30 → 3.30 | Lines of Code in a Single File |
| static_drivable_area.cpp | no change | Lines of Code in a Single File |
| utils.cpp | 4.14 → 4.25 | Lines of Code in a Single File, Code Duplication |
| test_safety_check.cpp | 7.86 → 7.86 | Large Method |
| scene_crosswalk.cpp | no change | Lines of Code in a Single File |
| scene_intersection_collision.cpp | 3.66 → 3.66 | Overall Function Size |
| pid_based_planner.cpp | no change | Overall Function Size |
| obstacle_stop_module.cpp | 6.56 → 6.57 | Lines of Code in a Single File |
| polygon_utils.cpp | 8.47 → 8.47 | Large Method |
| vehicle_cmd_gate.cpp | 6.82 → 6.82 | Large Method |
| node.cpp | 9.21 → 9.22 | Large Method |
| map_based_prediction_node.cpp | 3.73 → 3.74 | Lines of Code in a Single File, Large Method |
| multi_object_tracker_node.cpp | 9.38 → 9.39 | Large Method |
| tensorrt_yolox_node.cpp | 7.33 → 7.34 | Large Method |
| test_distortion_corrector_node.cpp | 6.44 → 6.45 | Large Method |
| ll2_decomposer_core.cpp | no change | Code Duplication |
Quality Gate Profile: Clean Code Collective
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Details
🚩 Declining Code Health (highest to lowest):
- Large Method manager.cpp: StartPlannerModuleManager::updateModuleParams
- Large Method manager.cpp: GoalPlannerModuleManager::updateModuleParams
- Large Method data_structs.cpp: StartPlannerParameters::init
- Complex Method manager.cpp: LaneChangeModuleManager::set_params 🔥
- Complex Method manager.cpp: StaticObstacleAvoidanceModuleManager::updateModuleParams
- Large Method manager.cpp: AvoidanceByLaneChangeModuleManager::init
✅ Improving Code Health:
- Code Duplication utils.cpp 🔥
- Large Method node.cpp: ObstacleStopPlannerNode::ObstacleStopPlannerNode
- Large Method vehicle_cmd_gate.cpp: VehicleCmdGate::VehicleCmdGate
- Large Method map_based_prediction_node.cpp: MapBasedPredictionNode::MapBasedPredictionNode 🔥
- Code Duplication ll2_decomposer_core.cpp
- Lines of Code in a Single File map_based_prediction_node.cpp 🔥
- Lines of Code in a Single File node.cpp 🔥
- Overall Function Size pid_based_planner.cpp
- Lines of Code in a Single File node.cpp
- Lines of Code in a Single File mpt_optimizer.cpp
- Lines of Code in a Single File scene.cpp
- Lines of Code in a Single File goal_planner_module.cpp 🔥
- Lines of Code in a Single File static_drivable_area.cpp
- Lines of Code in a Single File utils.cpp 🔥
- Lines of Code in a Single File scene_crosswalk.cpp 🔥
- Overall Function Size scene_intersection_collision.cpp
- Overall Function Size pid_based_planner.cpp
- Lines of Code in a Single File obstacle_stop_module.cpp
- Large Method multi_object_tracker_node.cpp: MultiObjectTracker::MultiObjectTracker 🔥
- Large Method node.cpp: LidarCenterPointNode::LidarCenterPointNode
- Large Method test_distortion_corrector_node.cpp: TEST:DistortionCorrectorTest:TestUndistortPointcloudWithPureRotationalMotion
- Large Method test_safety_check.cpp: TEST:BehaviorPathPlanningSafetyUtilsTest:createExtendedEgoPolygon
- Large Method tensorrt_yolox_node.cpp: TrtYoloXNode::TrtYoloXNode
- Large Method node.cpp: ObstacleCruisePlannerNode::createOneStepPolygons 🔥
- Large Method polygon_utils.cpp: create_one_step_polygons
Annotations
Check notice on line 1 in planning/autoware_obstacle_cruise_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1736 to 1730, 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 803 in planning/autoware_obstacle_cruise_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Large Method
ObstacleCruisePlannerNode::createOneStepPolygons decreases from 72 to 71 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Function Size
The median function size decrease from 55.5 to 55.0 LOC, threshold = 50.0. This file contains overly long functions, measured by their lines of code.
Check notice on line 1 in planning/autoware_obstacle_stop_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1254 to 1253, 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 249 in planning/autoware_obstacle_stop_planner/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Large Method
ObstacleStopPlannerNode::ObstacleStopPlannerNode decreases from 151 to 150 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 notice on line 1 in planning/autoware_path_optimizer/src/mpt_optimizer.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1255 to 1254, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
AvoidanceByLaneChangeModuleManager::init increases from 130 to 131 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1689 to 1682, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1976 to 1974, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
GoalPlannerModuleManager::updateModuleParams increases from 350 to 353 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
LaneChangeModuleManager::set_params already has high cyclomatic complexity, and now it increases in Lines of Code from 218 to 225. 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 better: Lines of Code in a Single File
The lines of code decreases from 1438 to 1433, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1120 to 1111, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Code Duplication
reduced similar code in: toPolygon2d,toPolygon2d. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Large Method
TEST:BehaviorPathPlanningSafetyUtilsTest:createExtendedEgoPolygon decreases from 79 to 78 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
StartPlannerParameters::init increases from 291 to 294 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Large Method
StartPlannerModuleManager::updateModuleParams increases from 353 to 357 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ Getting worse: Complex Method
StaticObstacleAvoidanceModuleManager::updateModuleParams already has high cyclomatic complexity, and now it increases in Lines of Code from 220 to 222. 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 better: Lines of Code in a Single File
The lines of code decreases from 1076 to 1073, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Function Size
The median function size decrease from 59.0 to 58.5 LOC, threshold = 50.0. This file contains overly long functions, measured by their lines of code.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Function Size
The median function size decrease from 58.0 to 57.5 LOC, threshold = 50.0. This file contains overly long functions, measured by their lines of code.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Lines of Code in a Single File
The lines of code decreases from 1054 to 1050, 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.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Large Method
create_one_step_polygons decreases from 72 to 71 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 notice on line 221 in control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Large Method
VehicleCmdGate::VehicleCmdGate decreases from 144 to 143 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 notice on line 133 in perception/autoware_lidar_centerpoint/src/node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Large Method
LidarCenterPointNode::LidarCenterPointNode decreases from 89 to 88 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.