refactor(blind_spot): devide scene into Categories and act accordingly #7110
CodeScene PR Check
✅ Code Health Quality Gates: OK
- Declining Code Health: 1 findings(s) 🚩
- Improving Code Health: 6 findings(s) ✅
Details
🚩 Declining Code Health (highest to lowest):
- Code Duplication decisions.cpp
✅ Improving Code Health:
- Overall Code Complexity scene.cpp
- Complex Method scene.cpp: BlindSpotModule::checkObstacleInBlindSpot
- Complex Method scene.cpp: BlindSpotModule::modifyPathVelocity
- Excess Number of Function Arguments debug.cpp: createPoseMarkerArray
- Code Duplication scene.cpp
- Excess Number of Function Arguments scene.cpp: BlindSpotModule::checkObstacleInBlindSpot
Annotations
Check notice on line 73 in planning/behavior_velocity_blind_spot_module/src/debug.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Excess Number of Function Arguments
createPoseMarkerArray is no longer above the threshold for number of arguments. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.
Check notice on line 726 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ Getting worse: Complex Method
BlindSpotModule::generateBlindSpotPolygons already has high cyclomatic complexity, and now it increases in Lines of Code from 119 to 127. 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 474 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Method
BlindSpotModule::checkObstacleInBlindSpot 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 160 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Complex Method
BlindSpotModule::modifyPathVelocity 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 474 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Complex Method
BlindSpotModule::isCollisionDetected has a cyclomatic complexity of 10, 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 notice on line 120 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
ℹ New issue: Complex Method
BlindSpotModule::modifyPathVelocityDetail 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 notice on line 1 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ Getting better: Overall Code Complexity
The mean cyclomatic complexity decreases from 5.79 to 4.78, 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.
Check notice on line 1 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Code Duplication
The module no longer contains too many functions with similar structure
Check notice on line 474 in planning/behavior_velocity_blind_spot_module/src/scene.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
✅ No longer an issue: Excess Number of Function Arguments
BlindSpotModule::checkObstacleInBlindSpot is no longer above the threshold for number of arguments
Check warning on line 116 in planning/behavior_velocity_blind_spot_module/src/decisions.cpp
codescene-delta-analysis / CodeScene Cloud Delta Analysis (main)
❌ New issue: Code Duplication
The module contains 2 functions with similar structure: BlindSpotModule::reactRTCApprovalByDecision,BlindSpotModule::reactRTCApprovalByDecision. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.