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refactor(obstacle_cruise): refactor a function checkConsistency() #7105

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May 24, 2024
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refactor(obstacle_cruise): refactor a function checkConsistency() #7105

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44 changes: 11 additions & 33 deletions planning/obstacle_cruise_planner/src/node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 1252 to 1240, 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.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 4.42 to 4.37, 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.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
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{
const auto current_closest_stop_obstacle =
obstacle_cruise_utils::getClosestStopObstacle(stop_obstacles);

// If previous closest obstacle ptr is not set
if (!prev_closest_stop_obstacle_ptr_) {
if (current_closest_stop_obstacle) {
prev_closest_stop_obstacle_ptr_ =
std::make_shared<StopObstacle>(*current_closest_stop_obstacle);
}
return;
}

// Put previous closest target obstacle if necessary
const auto predicted_object_itr = std::find_if(
predicted_objects.objects.begin(), predicted_objects.objects.end(),
[&](PredictedObject predicted_object) {
return tier4_autoware_utils::toHexString(predicted_object.object_id) ==
prev_closest_stop_obstacle_ptr_->uuid;
});

// If previous closest obstacle is not in the current perception lists
// just return the current target obstacles
// If previous closest obstacle disappear from the perception result, do nothing anymore.
if (predicted_object_itr == predicted_objects.objects.end()) {
return;
}

// Previous closest obstacle is in the perception lists
const auto obstacle_itr = std::find_if(
const auto is_disappeared_from_stop_obstacle = std::none_of(
stop_obstacles.begin(), stop_obstacles.end(),
[&](const auto & obstacle) { return obstacle.uuid == prev_closest_stop_obstacle_ptr_->uuid; });

// Previous closest obstacle is both in the perception lists and target obstacles
if (obstacle_itr != stop_obstacles.end()) {
if (current_closest_stop_obstacle) {
if ((current_closest_stop_obstacle->uuid == prev_closest_stop_obstacle_ptr_->uuid)) {
// prev_closest_obstacle is current_closest_stop_obstacle just return the target
// obstacles(in target obstacles)
prev_closest_stop_obstacle_ptr_ =
std::make_shared<StopObstacle>(*current_closest_stop_obstacle);
} else {
// New obstacle becomes new stop obstacle
prev_closest_stop_obstacle_ptr_ =
std::make_shared<StopObstacle>(*current_closest_stop_obstacle);
}
} else {
// Previous closest stop obstacle becomes cruise obstacle
prev_closest_stop_obstacle_ptr_ = nullptr;
}
} else {
// prev obstacle is not in the target obstacles, but in the perception list
if (is_disappeared_from_stop_obstacle) {
// re-evaluate as a stop candidate, and overwrite the current decision if "maintain stop"
// condition is satisfied
const double elapsed_time = (current_time - prev_closest_stop_obstacle_ptr_->stamp).seconds();
if (
predicted_object_itr->kinematics.initial_twist_with_covariance.twist.linear.x <
behavior_determination_param_.obstacle_velocity_threshold_from_stop_to_cruise &&
elapsed_time < behavior_determination_param_.stop_obstacle_hold_time_threshold) {
stop_obstacles.push_back(*prev_closest_stop_obstacle_ptr_);
return;
}
}

if (current_closest_stop_obstacle) {
prev_closest_stop_obstacle_ptr_ =
std::make_shared<StopObstacle>(*current_closest_stop_obstacle);
} else {
prev_closest_stop_obstacle_ptr_ = nullptr;
}
if (current_closest_stop_obstacle) {
prev_closest_stop_obstacle_ptr_ =
std::make_shared<StopObstacle>(*current_closest_stop_obstacle);
} else {
prev_closest_stop_obstacle_ptr_ = nullptr;

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Complex Method 

ObstacleCruisePlannerNode::checkConsistency 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 1420 in planning/obstacle_cruise_planner/src/node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Bumpy Road Ahead 

ObstacleCruisePlannerNode::checkConsistency decreases from 3 to 2 logical blocks with deeply nested code, threshold is one single 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.
}
}

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