[WIP] refactoring planning_evaluator #10310
CodeScene PR Check
Quality Gate Failed
Gates Failed
(1 new file with code health below 9.00)
(2 files with Bumpy Road Ahead, Deep, Nested Complexity)
(4 files with Complex Method, Complex Conditional, Code Duplication, Primitive Obsession, Excess Number of Function Arguments)
Gates Passed
See analysis details in CodeScene
Reason for failure
| New code is healthy | Violations | Code Health Impact | |
|---|---|---|---|
| planning_factor_accumulator.cpp | 4 rules | 10.00 → 8.61 | Suppress |
| Enforce critical code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| planning_factor_accumulator.cpp | 2 critical rules | 10.00 → 8.61 | Suppress |
| planning_evaluator_node.cpp | 1 critical rule | 8.50 → 7.91 | Suppress |
| Enforce advisory code health rules | Violations | Code Health Impact | |
|---|---|---|---|
| planning_factor_accumulator.cpp | 2 advisory rules | 10.00 → 8.61 | Suppress |
| test_planning_evaluator_node.cpp | 3 advisory rules | 9.39 → 8.28 | Suppress |
| planning_evaluator_node.cpp | 2 advisory rules | 8.50 → 7.91 | Suppress |
| steer_accuulator.cpp | 1 advisory rule | 10.00 → 9.69 | Suppress |
Quality Gate Profile: Clean Code Collective
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Details
🚩 Declining Code Health (highest to lowest):
- Code Duplication test_planning_evaluator_node.cpp
- Deep, Nested Complexity planning_factor_accumulator.cpp: PlanningFactorAccumulator::update
- Complex Method planning_factor_accumulator.cpp: PlanningFactorAccumulator::update
- Complex Conditional planning_factor_accumulator.cpp: PlanningFactorAccumulator::update
- Complex Method steer_accuulator.cpp: SteerAccumulator::update
- Complex Conditional planning_evaluator_node.cpp: PlanningEvaluatorNode::onPlanningFactors
- Primitive Obsession test_planning_evaluator_node.cpp
- Excess Number of Function Arguments test_planning_evaluator_node.cpp: publishEgoPose
- Complex Method planning_evaluator_node.cpp: ~PlanningEvaluatorNode
- Bumpy Road Ahead planning_factor_accumulator.cpp: PlanningFactorAccumulator::update
- Bumpy Road Ahead planning_evaluator_node.cpp: ~PlanningEvaluatorNode
✅ Improving Code Health:
- Overall Code Complexity planning_evaluator_node.cpp
Annotations
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
PlanningFactorAccumulator::update has a cyclomatic complexity of 13, 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)
❌ New issue: Complex Conditional
PlanningFactorAccumulator::update has 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Bumpy Road Ahead
PlanningFactorAccumulator::update has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested 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)
❌ New issue: Deep, Nested Complexity
PlanningFactorAccumulator::update has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
SteerAccumulator::update has a cyclomatic complexity of 9, 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 159 in evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Method
~PlanningEvaluatorNode has a cyclomatic complexity of 9, 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 461 in evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Complex Conditional
PlanningEvaluatorNode::onPlanningFactors has 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.
Check warning on line 159 in evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Bumpy Road Ahead
~PlanningEvaluatorNode has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested 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.
Check notice on line 1 in evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 4.75 to 4.73, 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 worse: Code Duplication
introduced similar code in: TEST:EvalTest:TestAbnormalStopDecisionDistance,TEST:EvalTest:TestAbnormalStopDecisionDuration,TEST:EvalTest:TestSteeringChangeCount,TEST:EvalTest:TestSteeringChangeCountTimeOut and 2 more functions. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Primitive Obsession
In this module, 60.0% of all function arguments are primitive types, 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)
❌ New issue: Excess Number of Function Arguments
publishEgoPose has 5 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.